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change 'get_api_version' to 'get_sdk_version'

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This commit is contained in:
Joe Dong
2022-06-10 14:52:49 +08:00
parent 361105ac9e
commit 8225a70836
2 changed files with 24 additions and 4 deletions
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orbbec_camera/src/ros_service.cpp
+23 -3
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@@ -17,6 +17,7 @@
#include "orbbec_camera/utils.h"
namespace orbbec_camera {
void OBCameraNode::setupCameraCtrlServices() {
using std_srvs::srv::SetBool;
for (auto stream_index : IMAGE_STREAMS) {
@@ -113,10 +114,10 @@ void OBCameraNode::setupCameraCtrlServices() {
getDeviceInfoCallback(request_header, request, response);
});
get_api_version_srv_ = node_->create_service<GetString>(
"get_api_version", [this](const std::shared_ptr<rmw_request_id_t> request_header,
"get_sdk_version", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetString::Request> request,
std::shared_ptr<GetString::Response> response) {
getApiVersion(request_header, request, response);
getSDKVersion(request_header, request, response);
});
}
@@ -172,11 +173,15 @@ void OBCameraNode::getGainCallback(const std::shared_ptr<GetInt32::Request>& req
RCLCPP_ERROR(logger_, " %s NOT a video stream", __FUNCTION__);
break;
}
response->success = true;
} catch (ob::Error& e) {
response->success = false;
response->message = e.getMessage();
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
@@ -218,11 +223,15 @@ void OBCameraNode::getWhiteBalanceCallback(const std::shared_ptr<rmw_request_id_
std::shared_ptr<GetInt32::Response>& response) {
try {
response->data = device_->getIntProperty(OB_PROP_COLOR_WHITE_BALANCE_INT);
response->success = true;
} catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage();
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
@@ -332,12 +341,16 @@ void OBCameraNode::setLaserEnableCallback(
bool laser_enable = request->data;
try {
device_->setBoolProperty(OB_PROP_LASER_BOOL, laser_enable);
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;
}
}
@@ -362,6 +375,7 @@ void OBCameraNode::setLdpEnableCallback(
response->message = "unknown error";
}
}
void OBCameraNode::getExposureCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32 ::Response>& response,
const stream_index_pair& stream_index) {
@@ -381,14 +395,19 @@ void OBCameraNode::getExposureCallback(const std::shared_ptr<GetInt32::Request>&
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::getDeviceInfoCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetDeviceInfo::Request>& request,
std::shared_ptr<GetDeviceInfo::Response>& response) {
@@ -412,7 +431,8 @@ void OBCameraNode::getDeviceInfoCallback(const std::shared_ptr<rmw_request_id_t>
response->message = "unknown error";
}
}
void OBCameraNode::getApiVersion(const std::shared_ptr<rmw_request_id_t>& request_header,
void OBCameraNode::getSDKVersion(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetString::Request>& request,
std::shared_ptr<GetString::Response>& response) {
try {