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feat: improve error messages and response details in disparity range mode and search offset callbacks

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This commit is contained in:
ob-yalian
2026-03-16 15:33:57 +08:00
parent 92df6da74d
commit 4a754f822c
1 changed files with 11 additions and 10 deletions
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orbbec_camera/src/ros_service.cpp
+11 -10
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@@ -380,7 +380,7 @@ void OBCameraNode::setDisparityRangeModeCallback(const std::shared_ptr<SetInt32:
try {
if (!device_->isPropertySupported(OB_PROP_DISP_SEARCH_RANGE_MODE_INT, OB_PERMISSION_WRITE)) {
response->success = false;
response->message = "OB_PROP_DISP_SEARCH_RANGE_MODE_INT is not supported";
response->message = "Current device does not support disparity range mode";
return;
}
@@ -425,11 +425,13 @@ void OBCameraNode::setDisparityRangeModeCallback(const std::shared_ptr<SetInt32:
}
device_->setIntProperty(OB_PROP_DISP_SEARCH_RANGE_MODE_INT, hw_mode_index);
disparity_range_mode_ = requested_mode_value;
RCLCPP_INFO_STREAM(logger_, "Set disparity_range_mode to " << requested_mode_value);
auto current_mode_index = device_->getIntProperty(OB_PROP_DISP_SEARCH_RANGE_MODE_INT);
auto current_mode_value = (current_mode_index == 0) ? 64
: (current_mode_index == 1) ? 128
: (current_mode_index == 2) ? 256
: current_mode_index;
response->success = true;
response->message = "disparity_range_mode updated";
response->message = "disparity_range_mode updated to " + std::to_string(current_mode_value);
} catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage();
@@ -454,7 +456,7 @@ void OBCameraNode::setDisparitySearchOffsetCallback(
try {
if (!device_->isPropertySupported(OB_PROP_DISP_SEARCH_OFFSET_INT, OB_PERMISSION_WRITE)) {
response->success = false;
response->message = "OB_PROP_DISP_SEARCH_OFFSET_INT is not supported";
response->message = "Current device does not support disparity search offset";
return;
}
@@ -484,11 +486,10 @@ void OBCameraNode::setDisparitySearchOffsetCallback(
}
device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, request->data);
disparity_search_offset_ = request->data;
RCLCPP_INFO_STREAM(logger_, "Set disparity_search_offset to " << disparity_search_offset_);
auto current_offset = device_->getIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT);
RCLCPP_INFO_STREAM(logger_, "Set disparity_search_offset to " << current_offset);
response->success = true;
response->message = "disparity_search_offset updated";
response->message = "disparity_search_offset updated to " + std::to_string(current_offset);
} catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage();