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feat: enhance setDisparityRangeModeCallback with valid mode checks and detailed error messages

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ob-yalian
2026-03-16 15:33:57 +08:00
parent 38c32d81f7
commit 92df6da74d
1 changed files with 18 additions and 5 deletions
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orbbec_camera/src/ros_service.cpp
+18 -5
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@@ -401,13 +401,26 @@ void OBCameraNode::setDisparityRangeModeCallback(const std::shared_ptr<SetInt32:
}
auto range = device_->getIntPropertyRange(OB_PROP_DISP_SEARCH_RANGE_MODE_INT);
int requested_mode_value = request->data;
int hw_mode_index = requested_mode_value;
const int requested_mode_value = request->data;
int hw_mode_index = -1;
if (requested_mode_value == 64) {
hw_mode_index = 0;
} else if (requested_mode_value == 128) {
hw_mode_index = 1;
} else if (requested_mode_value == 256) {
hw_mode_index = 2;
}
if (hw_mode_index < range.min || hw_mode_index > range.max) {
response->success = false;
response->message =
"Invalid disparity range mode. Allowed values:" + std::to_string(range.min) + " to " +
std::to_string(range.max);
std::string supported_mode;
for (int i = range.min; i <= range.max; ++i) {
supported_mode += (i == 0) ? "64/"
: (i == 1) ? "128/"
: (i == 2) ? "256"
: std::to_string(i);
}
response->message = "Invalid disparity range mode. Allowed values:" + supported_mode;
return;
}