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Fix Gemini2L laser shutdown caused by LDP shutdown

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This commit is contained in:
jj
2025-03-24 16:44:56 +08:00
parent cbd4331e44
commit 79a2406975
1 changed files with 20 additions and 7 deletions
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orbbec_camera/src/ob_camera_node.cpp
+20 -7
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@@ -210,7 +210,20 @@ void OBCameraNode::setupDevices() {
}
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT);
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
if (!enable_ldp_) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, laser_enable);
} else {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
}
}
}
if (ldp_power_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LASER_POWER_LEVEL_CONTROL_INT, OB_PERMISSION_WRITE)) {
@@ -619,7 +632,7 @@ void OBCameraNode::setupColorPostProcessFilter() {
auto color_sensor = device_->getSensor(OB_SENSOR_COLOR);
color_filter_list_ = color_sensor->createRecommendedFilters();
if (color_filter_list_.empty()) {
RCLCPP_ERROR(logger_, "Failed to get color sensor filter list");
RCLCPP_WARN_STREAM(logger_, "Failed to get color sensor filter list");
return;
}
for (size_t i = 0; i < color_filter_list_.size(); i++) {
@@ -656,7 +669,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
// set depth sensor to filter
depth_filter_list_ = depth_sensor->createRecommendedFilters();
if (depth_filter_list_.empty()) {
RCLCPP_ERROR(logger_, "Failed to get depth sensor filter list");
RCLCPP_WARN_STREAM(logger_, "Failed to get depth sensor filter list");
return;
}
for (size_t i = 0; i < depth_filter_list_.size(); i++) {
@@ -2146,8 +2159,8 @@ void OBCameraNode::setDepthAutoExposureROI() {
config.y0_top = depth_ae_roi_top_;
config.x1_right = depth_ae_roi_right_;
config.y1_bottom = depth_ae_roi_bottom_;
device_->setStructuredData(OB_STRUCT_DEPTH_AE_ROI,
reinterpret_cast<const uint8_t*>(&config), sizeof(config));
device_->setStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<const uint8_t *>(&config),
sizeof(config));
}
depth_roi_has_run = true;
}
@@ -2168,8 +2181,8 @@ void OBCameraNode::setColorAutoExposureROI() {
config.y0_top = color_ae_roi_top_;
config.x1_right = color_ae_roi_right_;
config.y1_bottom = color_ae_roi_bottom_;
device_->setStructuredData(OB_STRUCT_COLOR_AE_ROI,
reinterpret_cast<const uint8_t*>(&config), sizeof(config));
device_->setStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<const uint8_t *>(&config),
sizeof(config));
}
color_roi_has_run = true;
}