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set response status

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This commit is contained in:
Joe Dong
2022-06-07 18:22:46 +08:00
parent b51f8bf2b3
commit de53b02478
1 changed files with 30 additions and 0 deletions
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orbbec_camera/src/device_ctrl_service.cpp
+30
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@@ -114,12 +114,16 @@ void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>&
RCLCPP_ERROR(logger_, "%s NOT a video stream", __FUNCTION__); RCLCPP_ERROR(logger_, "%s NOT a video stream", __FUNCTION__);
break; break;
} }
response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage(); response->message = e.getMessage();
} catch (const std::exception& e) { } catch (const std::exception& e) {
response->success = false;
response->message = e.what(); response->message = e.what();
} catch (...) { } catch (...) {
RCLCPP_ERROR(logger_, "%s unknown error %d", __FUNCTION__, __LINE__); RCLCPP_ERROR(logger_, "%s unknown error %d", __FUNCTION__, __LINE__);
response->success = false;
response->message = "unknown error"; response->message = "unknown error";
} }
} }
@@ -171,11 +175,15 @@ void OBCameraNode::setGainCallback(const std::shared_ptr<SetInt32 ::Request>& re
RCLCPP_ERROR(logger_, "%s NOT a video stream", __FUNCTION__); RCLCPP_ERROR(logger_, "%s NOT a video stream", __FUNCTION__);
break; break;
} }
response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage(); response->message = e.getMessage();
} catch (const std::exception& e) { } catch (const std::exception& e) {
response->success = false;
response->message = e.what(); response->message = e.what();
} catch (...) { } catch (...) {
response->success = false;
response->message = "unknown error"; response->message = "unknown error";
} }
} }
@@ -199,12 +207,15 @@ void OBCameraNode::setWhiteBalanceCallback(const std::shared_ptr<rmw_request_id_
std::shared_ptr<SetInt32 ::Response>& response) { std::shared_ptr<SetInt32 ::Response>& response) {
try { try {
device_->setIntProperty(OB_PROP_COLOR_WHITE_BALANCE_INT, request->data); device_->setIntProperty(OB_PROP_COLOR_WHITE_BALANCE_INT, request->data);
response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->message = e.getMessage(); response->message = e.getMessage();
} catch (const std::exception& e) { } catch (const std::exception& e) {
response->message = e.what(); response->message = e.what();
response->success = false;
} catch (...) { } catch (...) {
response->message = "unknown error"; response->message = "unknown error";
response->success = false;
} }
} }
@@ -216,23 +227,30 @@ void OBCameraNode::setAutoExposureCallback(
try { try {
switch (stream) { switch (stream) {
case OB_STREAM_IR: case OB_STREAM_IR:
response->success = false;
response->message = "IR not support set auto exposure"; response->message = "IR not support set auto exposure";
break; break;
case OB_STREAM_DEPTH: case OB_STREAM_DEPTH:
device_->setIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, request->data); device_->setIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL, request->data);
response->success = true;
break; break;
case OB_STREAM_COLOR: case OB_STREAM_COLOR:
device_->setIntProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, request->data); device_->setIntProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, request->data);
response->success = true;
break; break;
default: default:
RCLCPP_ERROR(logger_, "%s NOT a video stream", __FUNCTION__); RCLCPP_ERROR(logger_, "%s NOT a video stream", __FUNCTION__);
response->success = false;
response->message = "NOT a video stream";
break; break;
} }
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage(); response->message = e.getMessage();
} catch (const std::exception& e) { } catch (const std::exception& e) {
response->message = e.what(); response->message = e.what();
} catch (...) { } catch (...) {
response->success = false;
response->message = "unknown error"; response->message = "unknown error";
} }
} }
@@ -245,11 +263,15 @@ void OBCameraNode::setFanModeCallback(const std::shared_ptr<rmw_request_id_t>& r
bool fan_mode = request->data; bool fan_mode = request->data;
try { try {
device_->setBoolProperty(OB_PROP_FAN_WORK_MODE_INT, fan_mode); device_->setBoolProperty(OB_PROP_FAN_WORK_MODE_INT, fan_mode);
response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage(); response->message = e.getMessage();
} catch (const std::exception& e) { } catch (const std::exception& e) {
response->success = false;
response->message = e.what(); response->message = e.what();
} catch (...) { } catch (...) {
response->success = false;
response->message = "unknown error"; response->message = "unknown error";
} }
} }
@@ -263,11 +285,15 @@ void OBCameraNode::setFloorEnableCallback(
bool floor_enable = request->data; bool floor_enable = request->data;
try { try {
device_->setBoolProperty(OB_PROP_FLOOD_BOOL, floor_enable); device_->setBoolProperty(OB_PROP_FLOOD_BOOL, floor_enable);
response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage(); response->message = e.getMessage();
} catch (const std::exception& e) { } catch (const std::exception& e) {
response->success = false;
response->message = e.what(); response->message = e.what();
} catch (...) { } catch (...) {
response->success = false;
response->message = "unknown error"; response->message = "unknown error";
} }
} }
@@ -299,11 +325,15 @@ void OBCameraNode::setLdpEnableCallback(
bool ldp_enable = request->data; bool ldp_enable = request->data;
try { try {
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable); device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage(); response->message = e.getMessage();
} catch (const std::exception& e) { } catch (const std::exception& e) {
response->success = false;
response->message = e.what(); response->message = e.what();
} catch (...) { } catch (...) {
response->success = false;
response->message = "unknown error"; response->message = "unknown error";
} }
} }