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chore: Refactor OBCameraNode setupTopics() method

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This commit is contained in:
Joe Dong
2024-08-01 17:35:06 +08:00
parent b8906e5825
commit bd28eec3c7
1 changed files with 12 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -4
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@@ -373,22 +373,22 @@ void OBCameraNode::setupDevices() {
RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
device_->setIntProperty(OB_PROP_IR_EXPOSURE_INT, ir_exposure_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_EXPOSURE_INT, ir_exposure_);
}
}
if (ir_gain_ != -1 && device_->isPropertySupported(OB_PROP_IR_GAIN_INT, OB_PERMISSION_WRITE)) {
device_->setBoolProperty(OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
auto range = device_->getIntPropertyRange(OB_PROP_IR_GAIN_INT);
if (ir_gain_ < range.min || ir_gain_ > range.max) {
RCLCPP_ERROR(logger_, "ir gain value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
device_->setIntProperty(OB_PROP_IR_GAIN_INT, ir_gain_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_GAIN_INT, ir_gain_);
}
}
if (device_->isPropertySupported(OB_PROP_IR_LONG_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
device_->setBoolProperty(OB_PROP_IR_LONG_EXPOSURE_BOOL, enable_ir_long_exposure_);
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_LONG_EXPOSURE_BOOL, enable_ir_long_exposure_);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
@@ -1053,6 +1053,7 @@ void OBCameraNode::getParameters() {
}
void OBCameraNode::setupTopics() {
try {
getParameters();
setupDevices();
setupDepthPostProcessFilter();
@@ -1061,6 +1062,13 @@ void OBCameraNode::setupTopics() {
setupCameraCtrlServices();
setupPublishers();
setupDiagnosticUpdater();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.what());
} catch (...) {
RCLCPP_ERROR(logger_, "Failed to setup topics");
}
}
void OBCameraNode::onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapper &status) {