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add get ldp status

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This commit is contained in:
Joe Dong
2023-02-17 15:42:53 +08:00
parent ba696d46c5
commit 2a37e884c1
3 changed files with 85 additions and 8 deletions
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orbbec_camera/src/ros_service.cpp
+70 -5
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@@ -71,11 +71,18 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
toggleSensorCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_mirror";
set_mirror_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setMirrorCallback(request, response, stream_index);
});
}
set_fan_mode_srv_ = node_->create_service<SetInt32>(
set_fan_work_mode_srv_ = node_->create_service<SetInt32>(
"set_fan_work_mode", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setFanModeCallback(request, response);
std::shared_ptr<SetInt32::Response> response) {
setFanWorkModeCallback(request, response);
});
set_floor_enable_srv_ = node_->create_service<SetBool>(
"set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
@@ -95,6 +102,13 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setLdpEnableCallback(request_header, request, response);
});
get_ldp_status_srv_ = node_->create_service<GetBool>(
"get_ldp_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) {
(void)request_header;
getLdpStatusCallback(request, response);
});
get_white_balance_srv_ = node_->create_service<GetInt32>(
"get_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
@@ -329,8 +343,8 @@ void OBCameraNode::setAutoExposureCallback(
}
}
void OBCameraNode::setFanModeCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response) {
void OBCameraNode::setFanWorkModeCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response) {
(void)response;
bool fan_mode = request->data;
try {
@@ -495,6 +509,57 @@ void OBCameraNode::getSDKVersion(const std::shared_ptr<GetString::Request>& requ
}
}
void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response,
const stream_index_pair& stream_index) {
(void)request;
auto stream = stream_index.first;
try {
switch (stream) {
case OB_STREAM_IR:
device_->setBoolProperty(OB_PROP_IR_MIRROR_BOOL, request->data);
break;
case OB_STREAM_DEPTH:
device_->setBoolProperty(OB_PROP_DEPTH_MIRROR_BOOL, request->data);
break;
case OB_STREAM_COLOR:
device_->setBoolProperty(OB_PROP_COLOR_MIRROR_BOOL, request->data);
break;
default:
RCLCPP_ERROR(logger_, " %s NOT a video stream", __FUNCTION__);
break;
}
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try {
response->data = device_->getBoolProperty(OB_PROP_LDP_STATUS_BOOL);
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::toggleSensorCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response,
const stream_index_pair& stream_index) {