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Fix the problem that shutting down LDP using service causes laser to shut down

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jj
2025-02-11 18:09:03 +08:00
parent 49cfd33689
commit 9c41e0523f
1 changed files with 9 additions and 1 deletions
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orbbec_camera/src/ros_service.cpp
+9 -1
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@@ -502,7 +502,15 @@ void OBCameraNode::setLdpEnableCallback(
(void)response; (void)response;
bool ldp_enable = request->data; bool ldp_enable = request->data;
try { try {
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable); if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
}
response->success = true; response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false; response->success = false;