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add reboot device inteface

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This commit is contained in:
Joe Dong
2024-07-29 09:50:02 +08:00
parent 709d59987f
commit af1e426a81
4 changed files with 32 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2
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@@ -143,6 +143,8 @@ class OBCameraNode {
void clean() noexcept;
void rebootDevice();
void startStreams();
void startIMUSyncStream();
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+5
View File
@@ -25,6 +25,7 @@
#include "libobsensor/ObSensor.hpp"
#include <pthread.h>
#include <std_srvs/srv/empty.hpp>
namespace orbbec_camera {
@@ -64,6 +65,9 @@ class OBCameraNodeDriver : public rclcpp::Node {
void resetDevice();
void rebootDeviceCallback(const std::shared_ptr<std_srvs::srv::Empty::Request> request,
std::shared_ptr<std_srvs::srv::Empty::Response> response);
private:
std::string config_path_;
std::unique_ptr<ob::Context> ctx_ = nullptr;
@@ -98,5 +102,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
int net_device_port_ = 0;
int connection_delay_ = 100;
bool enable_sync_host_time_ = true;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
};
} // namespace orbbec_camera