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Merge branch 'feat/gige-action-trigger-modes' into v2-main

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slz
2026-09-16 18:24:04 +08:00
parent dc5a11bf3f 2f4e3215ec
commit ee0d36c6bf
4 changed files with 149 additions and 13 deletions
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orbbec_camera_msgs/srv/SendActionCommand.srv
+12 -3
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@@ -1,12 +1,21 @@
uint8 TRIGGER_MODE_IMMEDIATE=0
uint8 TRIGGER_MODE_DELAYED=1
uint8 TRIGGER_MODE_TIMESTAMP=2
uint32 device_key
uint32 group_key
uint32 group_mask
# IPv4 destination. Leave empty to use the SDK broadcast address (255.255.255.255).
string destination_ip
# GVCP/PTP timestamp: upper 32 bits are seconds and lower 32 bits are nanoseconds.
# Zero sends the command immediately.
string broadcast_ip
# Select immediate, relative-delay, or absolute-PTP-time triggering.
uint8 trigger_mode
# Used only with TRIGGER_MODE_DELAYED. Must be positive.
uint32 delay_ms
# Used only with TRIGGER_MODE_TIMESTAMP. Upper 32 bits are seconds and lower 32 bits are nanoseconds.
uint64 scheduled_time
---
# Success means that the SDK dispatched the command; Action Command has no device acknowledgment.
bool success
# Exact GVCP/PTP value sent to the SDK. Zero is used for an immediate command.
uint64 encoded_scheduled_time
string message