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fix: align set_filter response handling

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This commit is contained in:
ob-yalian
2026-04-13 14:27:26 +08:00
parent f1ee63028e
commit d195044756
1 changed files with 13 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+13 -5
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@@ -4778,6 +4778,12 @@ orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request> &request, void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request> &request,
std::shared_ptr<SetFilter ::Response> &response) { std::shared_ptr<SetFilter ::Response> &response) {
try { try {
response->success = false;
response->message.clear();
auto fail = [&response](const std::string &msg) {
response->success = false;
response->message = msg;
};
const auto normalized_request_filter_name = normalizeDepthFilterName(request->filter_name); const auto normalized_request_filter_name = normalizeDepthFilterName(request->filter_name);
bool in_recommended_filter_list = false; bool in_recommended_filter_list = false;
{ {
@@ -4806,8 +4812,7 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
(is_hardware_noise_removal && hardware_noise_removal_property_writable); (is_hardware_noise_removal && hardware_noise_removal_property_writable);
if (!in_recommended_filter_list && !supported_by_writable_property) { if (!in_recommended_filter_list && !supported_by_writable_property) {
response->success = false; fail("Filter '" + request->filter_name + "' is not supported by this device");
response->message = "Filter '" + request->filter_name + "' is not supported by this device";
return; return;
} }
@@ -5196,14 +5201,17 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
publishDepthFiltersStatus(); publishDepthFiltersStatus();
response->success = true; response->success = true;
} catch (const ob::Error &e) { } catch (const ob::Error &e) {
response->message = orbbec_camera::formatObErrorWithStatus(e);
response->success = false; response->success = false;
response->message = "Failed to set filter: " + orbbec_camera::formatObErrorWithStatus(e);
RCLCPP_ERROR_STREAM(logger_, "Failed to set filter: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) { } catch (const std::exception &e) {
response->message = e.what();
response->success = false; response->success = false;
response->message = std::string("Failed to set filter: ") + e.what();
RCLCPP_ERROR_STREAM(logger_, "Failed to set filter: " << e.what());
} catch (...) { } catch (...) {
response->message = "unknown error";
response->success = false; response->success = false;
response->message = "unknown error";
RCLCPP_ERROR_STREAM(logger_, "unknown error");
} }
} }
bool OBCameraNode::isWriteCustomerDataSuccess() const { bool OBCameraNode::isWriteCustomerDataSuccess() const {