feat: add config JSON export service

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -237,6 +237,10 @@ class OBCameraNode {
 
   void loadConfigJson();
 
+  bool exportConfigJsonToFile(const std::string &file_path, std::string &message);
+
+  void exportConfigJsonIfRequested();
+
   bool isConfigJsonLoaded() const;
 
   void syncConfigJsonDeviceSettings();
@@ -421,6 +425,9 @@ class OBCameraNode {
   void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
                               std::shared_ptr<SetString::Response>& response);
 
+  void exportConfigJsonCallback(const std::shared_ptr<SetString::Request> &request,
+                                std::shared_ptr<SetString::Response> &response);
+
   bool writeCustomerData(const std::string& data);
 
   bool readCustomerData(std::string& out_data);
@@ -624,6 +631,7 @@ class OBCameraNode {
   rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
   rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
   rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
+  rclcpp::Service<SetString>::SharedPtr export_config_json_srv_;
   rclcpp::Service<SetString>::SharedPtr write_customerdata_srv_;
   rclcpp::Service<GetString>::SharedPtr read_customerdata_srv_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ir_long_exposure_srv_;

orbbec_camera/src/ob_camera_node.cpp

@@ -1405,11 +1405,6 @@ void OBCameraNode::setupDevices() {
     RCLCPP_INFO_STREAM(logger_, "Current exposure range mode: "
                                     << exposureRangeModeToString(current_exposure_range_mode));
   }
-  if (!export_config_json_file_path_.empty()) {
-    device_->exportSettingsAsPresetJsonFile(export_config_json_file_path_.c_str());
-    RCLCPP_INFO_STREAM(logger_,
-                       "Exporting config json file path : " << export_config_json_file_path_);
-  }
   if (device_->isPropertySupported(OB_PROP_SDK_ACCEL_FRAME_TRANSFORMED_BOOL, OB_PERMISSION_WRITE)) {
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_SDK_ACCEL_FRAME_TRANSFORMED_BOOL,
                         enable_accel_data_correction_);
@@ -1465,6 +1460,39 @@ void OBCameraNode::setupDevices() {
   }
 }
 
+bool OBCameraNode::exportConfigJsonToFile(const std::string &file_path, std::string &message) {
+  if (file_path.empty()) {
+    message = "Config json export file path is empty";
+    RCLCPP_ERROR_STREAM(logger_, message);
+    return false;
+  }
+
+  try {
+    device_->exportSettingsAsPresetJsonFile(file_path.c_str());
+    message = "Exported config json file path: " + file_path;
+    RCLCPP_INFO_STREAM(logger_, message);
+    return true;
+  } catch (const ob::Error &e) {
+    message = "Failed to export config json file: " + orbbec_camera::formatObErrorWithStatus(e);
+    RCLCPP_ERROR_STREAM(logger_, message);
+  } catch (const std::exception &e) {
+    message = std::string("Failed to export config json file: ") + e.what();
+    RCLCPP_ERROR_STREAM(logger_, message);
+  } catch (...) {
+    message = "Failed to export config json file";
+    RCLCPP_ERROR_STREAM(logger_, message);
+  }
+  return false;
+}
+
+void OBCameraNode::exportConfigJsonIfRequested() {
+  if (export_config_json_file_path_.empty()) {
+    return;
+  }
+  std::string message;
+  exportConfigJsonToFile(export_config_json_file_path_, message);
+}
+
 bool OBCameraNode::isConfigJsonLoaded() const { return config_json_loaded_; }
 
 void OBCameraNode::loadConfigJson() {
@@ -3442,6 +3470,7 @@ void OBCameraNode::setupTopics() {
     setupCameraCtrlServices();
     setupPublishers();
     setupDiagnosticUpdater();
+    exportConfigJsonIfRequested();
   } catch (const ob::Error &e) {
     RCLCPP_ERROR_STREAM(logger_,
                         "Failed to setup topics: " << orbbec_camera::formatObErrorWithStatus(e));

orbbec_camera/src/ros_service.cpp

@@ -227,6 +227,11 @@ void OBCameraNode::setupCameraCtrlServices() {
                                  std::shared_ptr<std_srvs::srv::Empty::Response> response) {
         savePointCloudCallback(request, response);
       });
+  export_config_json_srv_ = node_->create_service<SetString>(
+      "export_config_json", [this](const std::shared_ptr<SetString::Request> request,
+                                   std::shared_ptr<SetString::Response> response) {
+        exportConfigJsonCallback(request, response);
+      });
   switch_ir_camera_srv_ = node_->create_service<SetString>(
       "switch_ir", [this](const std::shared_ptr<SetString::Request> request,
                           std::shared_ptr<SetString::Response> response) {
@@ -1422,6 +1427,12 @@ void OBCameraNode::switchIRCameraCallback(const std::shared_ptr<SetString::Reque
     response->success = false;
   }
 }
+
+void OBCameraNode::exportConfigJsonCallback(const std::shared_ptr<SetString::Request> &request,
+                                            std::shared_ptr<SetString::Response> &response) {
+  response->success = exportConfigJsonToFile(request->data, response->message);
+}
+
 void OBCameraNode::setIRLongExposureCallback(
     const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
     std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {