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feat: add sync IO voltage level configuration and service

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This commit is contained in:
ob-yalian
2026-06-18 18:18:47 +08:00
parent 541575257a
commit dd9c0dcd42
5 changed files with 69 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+14
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@@ -890,6 +890,19 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_);
}
if (sync_io_voltage_level_ != -1 &&
device_->isPropertySupported(OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT, OB_PERMISSION_READ_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT);
if (sync_io_voltage_level_ < range.min || sync_io_voltage_level_ > range.max) {
RCLCPP_ERROR_STREAM(
logger_, "sync IO voltage level is out of range " << range.min << " - " << range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT,
sync_io_voltage_level_);
RCLCPP_INFO_STREAM(logger_, "Current sync IO voltage level: " << device_->getIntProperty(
OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT));
}
}
if (should_apply_launch_config("enable_heartbeat") &&
device_->isPropertySupported(OB_PROP_HEARTBEAT_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
@@ -3820,6 +3833,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(disparity_offset_config_, "disparity_offset_config", false);
setAndGetNodeParameter<int>(offset_index0_, "offset_index0", -1);
setAndGetNodeParameter<int>(offset_index1_, "offset_index1", -1);
setAndGetNodeParameter<int>(sync_io_voltage_level_, "sync_io_voltage_level", -1);
setAndGetNodeParameter<std::string>(frame_aggregate_mode_, "frame_aggregate_mode", "ANY");
frame_aggregate_mode_ =