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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/ros_service.cpp
+49
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@@ -387,6 +387,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetInt32::Response> response) {
setDisparitySearchOffsetCallback(request, response);
});
set_sync_io_voltage_level_srv_ = node_->create_service<SetInt32>(
"set_sync_io_voltage_level", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setSyncIoVoltageLevelCallback(request, response);
});
}
void OBCameraNode::getPointCloudDecimationCallback(
@@ -569,6 +574,50 @@ void OBCameraNode::setDisparitySearchOffsetCallback(
}
}
void OBCameraNode::setSyncIoVoltageLevelCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response) {
if (!request) {
response->success = false;
response->message = "Invalid request";
return;
}
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
try {
if (!device_->isPropertySupported(OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT,
OB_PERMISSION_READ_WRITE)) {
response->success = false;
response->message = "Current device does not support sync IO voltage level";
return;
}
auto range = device_->getIntPropertyRange(OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT);
if (request->data < range.min || request->data > range.max) {
response->success = false;
response->message =
"Invalid sync IO voltage level. Allowed values:" + std::to_string(range.min) + " to " +
std::to_string(range.max);
return;
}
device_->setIntProperty(OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT, request->data);
sync_io_voltage_level_ = device_->getIntProperty(OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT);
response->success = true;
response->message =
"sync_io_voltage_level updated to " + std::to_string(sync_io_voltage_level_);
RCLCPP_INFO_STREAM(logger_, response->message);
} catch (const ob::Error& e) {
response->success = false;
response->message = orbbec_camera::formatObErrorWithStatus(e);
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::setStreamsEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
std::shared_ptr<std_srvs::srv::SetBool::Response> response) {