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update about laser revise

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This commit is contained in:
jj
2024-11-26 18:31:00 +08:00
parent e72b93611f
commit 0a22657f77
2 changed files with 9 additions and 13 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -7
View File
@@ -218,14 +218,12 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
}
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
}
if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
auto device_info = device_->getDeviceInfo();
auto pid = device_info->getPid();
if (isGemini335PID(pid)) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
}
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
}
if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
orbbec_camera/src/ros_service.cpp
+4 -6
View File
@@ -184,9 +184,9 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetInt32::Response> response) {
setSYNCInterleaveLaserCallback(request, response);
});
set_sync_host_time_srv_ = node_->create_service<SetBool>(
set_sync_host_time_srv_ = node_->create_service<SetBool>(
"set_sync_hosttime", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response);
});
}
@@ -479,13 +479,11 @@ void OBCameraNode::setLaserEnableCallback(
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header;
(void)response;
auto device_info = device_->getDeviceInfo();
auto pid = device_info->getPid();
int laser_enable = request->data ? 1 : 0;
try {
if (isGemini335PID(pid)) {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else {
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
}
response->success = true;