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fix: validate color powerline frequency parameter and log warnings for invalid values

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ob-yalian
2026-09-14 16:34:20 +08:00
parent ae44449e12
commit 1305860292
1 changed files with 31 additions and 17 deletions
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orbbec_camera/src/ob_camera_node.cpp
+31 -17
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@@ -1652,24 +1652,38 @@ void OBCameraNode::setupDevices() {
"Current color anti-flicker to "
<< (device_->getBoolProperty(OB_PROP_COLOR_ANTI_FLICKER_BOOL) ? "ON" : "OFF")));
}
if (!color_powerline_freq_.empty() &&
device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
if (color_powerline_freq_ == "disable") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 0);
} else if (color_powerline_freq_ == "50hz") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 1);
} else if (color_powerline_freq_ == "60hz") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 2);
} else if (color_powerline_freq_ == "auto") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 3);
if (!color_powerline_freq_.empty()) {
const auto normalized_color_powerline_freq = lowerParameterValue(color_powerline_freq_);
int color_powerline_freq_value = -1;
if (normalized_color_powerline_freq == "disable") {
color_powerline_freq_value = 0;
} else if (normalized_color_powerline_freq == "50hz") {
color_powerline_freq_value = 1;
} else if (normalized_color_powerline_freq == "60hz") {
color_powerline_freq_value = 2;
} else if (normalized_color_powerline_freq == "auto") {
color_powerline_freq_value = 3;
} else {
RCLCPP_WARN_STREAM(logger_,
"Invalid parameter color_powerline_freq "
<< formatParameterValue(color_powerline_freq_) << ". Valid values: "
<< formatValidParameterValues({"disable", "50hz", "60hz", "auto"})
<< ". Skip setting.");
color_powerline_freq_.clear();
}
if (color_powerline_freq_value >= 0 &&
device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
color_powerline_freq_ = normalized_color_powerline_freq;
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT,
color_powerline_freq_value);
TRY_EXECUTE_BLOCK({
const auto current_color_powerline_freq =
device_->getIntProperty(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT);
RCLCPP_INFO_STREAM(logger_,
"Current color powerline freq: "
<< colorPowerLineFrequencyToString(current_color_powerline_freq));
});
}
TRY_EXECUTE_BLOCK({
const auto current_color_powerline_freq =
device_->getIntProperty(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT);
RCLCPP_INFO_STREAM(logger_,
"Current color powerline freq: "
<< colorPowerLineFrequencyToString(current_color_powerline_freq));
});
}
if (depth_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_DEPTH_EXPOSURE_INT, OB_PERMISSION_WRITE)) {