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feat: add get_laser_status service and callback to retrieve laser status

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This commit is contained in:
ob-yalian
2025-11-03 14:24:53 +08:00
parent 0b2b33d138
commit 87a3ffd05f
2 changed files with 32 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -1
View File
@@ -350,7 +350,8 @@ class OBCameraNode {
void setRotationCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response,
const stream_index_pair& stream_index);
void getLaserStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getPtpConfigCallback(const std::shared_ptr<GetBool::Request>& request,
@@ -559,6 +560,7 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_laser_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ptp_config_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ptp_config_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
orbbec_camera/src/ros_service.cpp
+29
View File
@@ -135,6 +135,13 @@ void OBCameraNode::setupCameraCtrlServices() {
(void)request_header;
getLdpStatusCallback(request, response);
});
get_laser_status_srv_ = node_->create_service<GetBool>(
"get_laser_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) {
(void)request_header;
getLaserStatusCallback(request, response);
});
set_ptp_config_srv_ = node_->create_service<SetBool>(
"set_ptp_config", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
@@ -950,6 +957,28 @@ void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>&
}
}
void OBCameraNode::getLaserStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
response->data = device_->getBoolProperty(OB_PROP_LASER_CONTROL_INT);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
response->data = device_->getBoolProperty(OB_PROP_LASER_BOOL);
}
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::setPtpConfigCallback(
const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,