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add get verion api

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This commit is contained in:
Joe Dong
2022-06-09 15:47:02 +08:00
parent 265d88dd35
commit e230b6443a
7 changed files with 55 additions and 2 deletions
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orbbec_camera/src/ros_service.cpp
+30
View File
@@ -12,6 +12,7 @@
#include "orbbec_camera/ob_camera_node.h"
#include <rclcpp/rclcpp.hpp>
#include <nlohmann/json.hpp>
#include <thread>
#include "orbbec_camera/utils.h"
@@ -111,6 +112,12 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<GetDeviceInfo::Response> response) {
getDeviceInfoCallback(request_header, request, response);
});
get_api_version_srv_ = node_->create_service<GetString>(
"get_api_version", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetString::Request> request,
std::shared_ptr<GetString::Response> response) {
getApiVersion(request_header, request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -405,4 +412,27 @@ void OBCameraNode::getDeviceInfoCallback(const std::shared_ptr<rmw_request_id_t>
response->message = "unknown error";
}
}
void OBCameraNode::getApiVersion(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetString::Request>& request,
std::shared_ptr<GetString::Response>& response) {
try {
auto device_info = device_->getDeviceInfo();
nlohmann::json data;
data["firmware_version"] = device_info->firmwareVersion();
data["supported_min_sdk_version"] = device_info->supportedMinSdkVersion();
data["ros_sdk_version"] = OB_ROS_VERSION_STR;
data["ob_sdk_version"] = getObSDKVersion();
response->data = data.dump(2);
response->success = true;
} catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage();
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
} // namespace orbbec_camera
orbbec_camera/src/utils.cpp
+9 -1
View File
@@ -139,8 +139,16 @@ orbbec_camera_msgs::msg::Extrinsics obExtrinsicsToMsg(const OBD2CTransform &extr
rclcpp::Time frameTimeStampToROSTime(uint64_t ms) {
auto total = static_cast<uint64_t>(ms * 1e6);
uint64_t sec = total / 1000000000;
uint64_t nano_sec = total % 1000000000;
uint64_t nano_sec = total % 1000000000;
rclcpp::Time stamp(sec, nano_sec);
return stamp;
}
std::string getObSDKVersion() {
int major = ob::Version::getMajor();
int minor = ob::Version::getMinor();
int patch = ob::Version::getPatch();
std::string version = std::to_string(major) + std::to_string(minor) + std::to_string(patch);
return version;
}
} // namespace orbbec_camera