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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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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