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Add laser and LDP protection status callbacks and services

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This commit is contained in:
obyalian
2025-08-12 17:31:23 +08:00
parent 863fb0025b
commit d331486bfd
2 changed files with 60 additions and 2 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+8
View File
@@ -274,6 +274,12 @@ class OBCameraNode {
void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request, void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response); std::shared_ptr<GetBool::Response>& response);
void getLaserStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLdpProtectionStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request, void getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response); std::shared_ptr<GetInt32::Response>& response);
@@ -417,6 +423,8 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_; rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_protection_status_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_laser_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_; rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
orbbec_camera/src/ros_service.cpp
+52 -2
View File
@@ -113,7 +113,20 @@ void OBCameraNode::setupCameraCtrlServices() {
(void)request_header; (void)request_header;
getLdpStatusCallback(request, response); getLdpStatusCallback(request, response);
}); });
get_ldp_protection_status_srv_ = node_->create_service<GetBool>(
"get_ldp_protection_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;
getLdpProtectionStatusCallback(request, response);
});
get_laser_status_srv_ = node_->create_service<GetBool>(
"get_laser_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;
getLaserStatusCallback(request, response);
});
get_white_balance_srv_ = node_->create_service<GetInt32>( get_white_balance_srv_ = node_->create_service<GetInt32>(
"get_white_balance", [this](const std::shared_ptr<GetInt32::Request> request, "get_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) { std::shared_ptr<GetInt32::Response> response) {
@@ -635,6 +648,23 @@ void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& re
void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request, void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) { std::shared_ptr<GetBool::Response>& response) {
(void)request; (void)request;
try {
response->data = device_->getBoolProperty(OB_PROP_LDP_BOOL);
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::getLdpProtectionStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try { try {
response->data = device_->getBoolProperty(OB_PROP_LDP_STATUS_BOOL); response->data = device_->getBoolProperty(OB_PROP_LDP_STATUS_BOOL);
response->success = true; response->success = true;
@@ -649,7 +679,27 @@ void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>&
response->success = false; response->success = false;
} }
} }
void OBCameraNode::getLaserStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
response->data = device_->getBoolProperty(OB_PROP_LASER_CONTROL_INT);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
response->data = device_->getBoolProperty(OB_PROP_LASER_BOOL);
}
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request, void OBCameraNode::getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) { std::shared_ptr<GetInt32::Response>& response) {
(void)request; (void)request;