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[service]add set_sync_interleaverlaser and set_sync_hosttime

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This commit is contained in:
jj
2024-11-21 15:51:00 +08:00
parent 60fec1d8f8
commit 87463a6d1f
3 changed files with 65 additions and 2 deletions
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.vscode/settings.json
Vendored
+3 -1
View File
@@ -72,6 +72,8 @@
"typeindex": "cpp",
"typeinfo": "cpp",
"variant": "cpp",
"*.ipp": "cpp"
"*.ipp": "cpp",
"filesystem": "cpp",
"shared_mutex": "cpp"
}
}
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+16
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@@ -293,6 +293,10 @@ class OBCameraNode {
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setSYNCInterleaveLaserCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response);
void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
@@ -359,6 +363,10 @@ class OBCameraNode {
void setupDepthPostProcessFilter();
// interleave AE
int init_interleave_hdr_param();
int init_interleave_laser_param();
private:
rclcpp::Node* node_ = nullptr;
std::shared_ptr<ob::Device> device_ = nullptr;
@@ -439,6 +447,8 @@ class OBCameraNode {
rclcpp::Service<GetInt32>::SharedPtr get_ldp_measure_distance_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_immediately_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false;
@@ -602,5 +612,11 @@ class OBCameraNode {
bool use_intra_process_ = false;
std::string cloud_frame_id_;
std::vector<std::shared_ptr<ob::Filter>> filter_list_;
// interleave AE
std::string interleave_ae_mode_ = "hdr"; // hdr or laser
bool interleave_frame_enable_ = false;
bool interleave_skip_enable_ = false;
int interleave_skip_index_ = 1;
};
} // namespace orbbec_camera
orbbec_camera/src/ros_service.cpp
+46 -1
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@@ -179,6 +179,16 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setRESETTimestampCallback(request, response);
});
set_interleaver_laser_sync_srv_ = node_->create_service<SetInt32>(
"set_sync_interleaverlaser", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setSYNCInterleaveLaserCallback(request, response);
});
set_sync_host_time_srv_ = node_->create_service<SetBool>(
"set_sync_hosttime", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -815,5 +825,40 @@ void OBCameraNode::setRESETTimestampCallback(
response->success = false;
}
}
void OBCameraNode::setSYNCInterleaveLaserCallback(
const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response) {
(void)request;
try {
device_->setIntProperty(OB_PROP_TIMER_RESET_TRIGGER_OUT_ENABLE_BOOL, request->data);
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::setSYNCHostimeCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request;
try {
device_->timerSyncWithHost();
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;
}
}
} // namespace orbbec_camera