feat: add support for Gemini 305 series in camera node and related components

orbbec_camera/include/orbbec_camera/constants.h

@@ -18,6 +18,7 @@
 
 #include <string>
 #include <cstdlib>
+#include <cstdint>
 
 #define THREAD_NUM 4
 
@@ -136,5 +137,11 @@ const int32_t DABAI_MAX_PID = 0x069a;                     // dabai max
 const int32_t GEMINI_338_PID = 0x0818;                    // Gemini 338
 const uint16_t GEMINI_435Le_PID = 0x815;                  // Gemini 435Le
 const uint16_t GEMINI_305_PID = 0x0840;                   // Gemini 305
+const uint16_t GEMINI_305_PID2 = 0x0841;                  // Gemini 305
+const uint16_t GEMINI_305G_PID = 0x0842;                  // Gemini 305g
+
+inline bool isGemini305SeriesPID(uint32_t pid) {
+  return pid == GEMINI_305_PID || pid == GEMINI_305_PID2 || pid == GEMINI_305G_PID;
+}
 
 }  // namespace orbbec_camera

orbbec_camera/src/ob_camera_node.cpp

@@ -1465,19 +1465,19 @@ void OBCameraNode::setupProfiles() {
             format_[elem] == OB_FORMAT_UNKNOWN) {
           selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
         } else {
-          if (pid_ == GEMINI_305_PID && elem == DEPTH) {
+          if (isGemini305SeriesPID(pid_) && elem == DEPTH) {
             OBHardwareDecimationConfig conf;
             conf.originWidth = width_[elem];
             conf.originHeight = height_[elem];
             conf.factor = depth_decimation_factor_;
             selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
-          } else if (pid_ == GEMINI_305_PID && elem == INFRA1) {
+          } else if (isGemini305SeriesPID(pid_) && elem == INFRA1) {
             OBHardwareDecimationConfig conf;
             conf.originWidth = width_[elem];
             conf.originHeight = height_[elem];
             conf.factor = left_ir_decimation_factor_;
             selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
-          } else if (pid_ == GEMINI_305_PID && elem == INFRA2) {
+          } else if (isGemini305SeriesPID(pid_) && elem == INFRA2) {
             OBHardwareDecimationConfig conf;
             conf.originWidth = width_[elem];
             conf.originHeight = height_[elem];
@@ -4428,12 +4428,12 @@ bool OBCameraNode::isGemini335PID(uint32_t pid) {
 
 bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; }
 bool OBCameraNode::isPublishMetaData(uint32_t pid) {
-  return isGemini335PID(pid) || isGemini435LePID(pid) || pid == GEMINI_305_PID;
+  return isGemini335PID(pid) || isGemini435LePID(pid) || isGemini305SeriesPID(pid);
 }
 
 bool OBCameraNode::isDepthWorkModeDevices(uint32_t pid) { return pid == GEMINI_435Le_PID; }
 
-bool OBCameraNode::isnotLaserDevices(uint32_t pid) { return pid == GEMINI_305_PID; }
+bool OBCameraNode::isnotLaserDevices(uint32_t pid) { return isGemini305SeriesPID(pid); }
 
 orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
     const stream_index_pair &stream_index) {

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -1331,8 +1331,8 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
     if (GEMINI_335LG_PID == pid) {
       ob_camera_node_->startGmslTrigger();
     }
-    if (pid == GEMINI_305_PID) {
-      // Fixing 305 hot-swap not outputting power
+    if (isGemini305SeriesPID(pid)) {
+      // Fixing 305 series hot-swap not outputting power
       ob_camera_node_->startStreams();
     }
   } catch (ob::Error &e) {

orbbec_camera/src/ros_service.cpp

@@ -665,13 +665,13 @@ void OBCameraNode::setAeRoiCallback(const std::shared_ptr<SetArrays ::Request>&
                                     std::shared_ptr<SetArrays::Response>& response,
                                     const stream_index_pair& stream_index) {
   auto stream = stream_index.first;
-  if (device_->getDeviceInfo()->getPid() == GEMINI_305_PID &&
+  if (isGemini305SeriesPID(device_->getDeviceInfo()->getPid()) &&
       (stream != OB_STREAM_COLOR && ae_mode_ == "colorbased")) {
     response->success = false;
     response->message = "AE MODE is colorbased, other sensors setting is not supported";
     return;
   }
-  if (device_->getDeviceInfo()->getPid() == GEMINI_305_PID &&
+  if (isGemini305SeriesPID(device_->getDeviceInfo()->getPid()) &&
       (stream != OB_STREAM_DEPTH && ae_mode_ == "depthbased")) {
     response->success = false;
     response->message = "AE MODE is depthbased, other sensors sensor setting is not supported";

orbbec_camera/tools/list_camera_profile.cpp

@@ -26,8 +26,8 @@ void listSensorProfiles(const std::shared_ptr<ob::Device>& device) {
       auto origin_profile = profile_list->getProfile(j);
       if ((sensor->getType() == OB_SENSOR_DEPTH || sensor->getType() == OB_SENSOR_IR_LEFT ||
            sensor->getType() == OB_SENSOR_IR_RIGHT) &&
-          pid == GEMINI_305_PID) {
-        // Gemini 305
+          isGemini305SeriesPID(pid)) {
+        // Gemini 305 series
         auto profile = origin_profile->as<ob::VideoStreamProfile>();
         std::cout << magic_enum::enum_name(sensor->getType()) << " profile: " << profile->getWidth()
                   << "x" << profile->getHeight() << " " << profile->getFps() << "fps "