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Roll back enable_lrm to enable_ldp

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This commit is contained in:
jj
2025-02-28 10:50:43 +08:00
parent bafcf487d9
commit be6d098782
12 changed files with 39 additions and 39 deletions
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orbbec_camera/src/ros_service.cpp
+13 -13
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@@ -100,18 +100,18 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setLaserEnableCallback(request_header, request, response);
});
set_lrm_enable_srv_ = node_->create_service<SetBool>(
"set_lrm_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
set_ldp_enable_srv_ = node_->create_service<SetBool>(
"set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setLrmEnableCallback(request_header, request, response);
setLdpEnableCallback(request_header, request, response);
});
get_lrm_status_srv_ = node_->create_service<GetBool>(
"get_lrm_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
get_ldp_status_srv_ = node_->create_service<GetBool>(
"get_ldp_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;
getLrmStatusCallback(request, response);
getLdpStatusCallback(request, response);
});
get_white_balance_srv_ = node_->create_service<GetInt32>(
@@ -494,26 +494,26 @@ void OBCameraNode::setLaserEnableCallback(
}
}
void OBCameraNode::setLrmEnableCallback(
void OBCameraNode::setLdpEnableCallback(
const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header;
(void)response;
bool lrm_enable = request->data;
bool ldp_enable = request->data;
try {
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, lrm_enable);
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)) {
if (!lrm_enable) {
if (!ldp_enable) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
} else {
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
}
}
response->success = true;
@@ -647,7 +647,7 @@ void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& re
}
}
void OBCameraNode::getLrmStatusCallback(const std::shared_ptr<GetBool::Request>& request,
void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try {