refactor: move Action Command sender to standalone node

orbbec_camera/src/gige_action_command_node.cpp

@@ -0,0 +1,78 @@
+/*******************************************************************************
+ * Copyright (c) 2026 Orbbec 3D Technology, Inc
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *******************************************************************************/
+
+#include "orbbec_camera/gige_action_command_node.h"
+
+#include <exception>
+#include <functional>
+#include <sstream>
+#include <string>
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+namespace orbbec_camera {
+namespace {
+
+std::string formatObError(const ob::Error& error) {
+  std::ostringstream stream;
+  stream << (error.getMessage() ? error.getMessage() : "Unknown OB error")
+         << " status:" << static_cast<int>(error.getStatus());
+  return stream.str();
+}
+
+}  // namespace
+
+GigEActionCommandNode::GigEActionCommandNode(const rclcpp::NodeOptions& node_options)
+    : Node("gige_action_command_node", node_options), context_(std::make_unique<ob::Context>()) {
+  context_->enableNetDeviceEnumeration(true);
+  send_action_command_service_ = create_service<orbbec_camera_msgs::srv::SendActionCommand>(
+      "~/send_action_command", std::bind(&GigEActionCommandNode::sendActionCommandCallback, this,
+                                         std::placeholders::_1, std::placeholders::_2));
+  RCLCPP_INFO(get_logger(), "GigE Action Command service is ready");
+}
+
+void GigEActionCommandNode::sendActionCommandCallback(
+    const std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Request> request,
+    std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Response> response) {
+  if (!request) {
+    response->success = false;
+    response->message = "Invalid request";
+    return;
+  }
+
+  const std::string destination_ip =
+      request->destination_ip.empty() ? "255.255.255.255" : request->destination_ip;
+  try {
+    response->success =
+        context_->sendActionCommand(request->device_key, request->group_key, request->group_mask,
+                                    destination_ip.c_str(), request->scheduled_time);
+    response->message =
+        response->success ? "Action Command dispatched" : "SDK failed to send Action Command";
+  } catch (const ob::Error& error) {
+    response->success = false;
+    response->message = formatObError(error);
+  } catch (const std::exception& error) {
+    response->success = false;
+    response->message = error.what();
+  } catch (...) {
+    response->success = false;
+    response->message = "Unknown error";
+  }
+}
+
+}  // namespace orbbec_camera
+
+RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::GigEActionCommandNode)