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fix: rename floor enable service to flood enable and update related callbacks

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This commit is contained in:
ob-yalian
2026-09-11 11:22:47 +08:00
parent ae44449e12
commit f3bf9efa1a
3 changed files with 9 additions and 9 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2 -2
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@@ -470,7 +470,7 @@ class OBCameraNode {
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response); std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setFloorEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header, void setFloodEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response); std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
@@ -804,7 +804,7 @@ class OBCameraNode {
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_laser_status_srv_; rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_laser_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ptp_config_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ptp_config_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ptp_config_srv_; rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ptp_config_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_flood_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_; rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_lrm_measure_distance_srv_; rclcpp::Service<GetInt32>::SharedPtr get_lrm_measure_distance_srv_;
orbbec_camera/scripts/default_service.yaml
+1 -1
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@@ -192,7 +192,7 @@ services:
- name: /camera/read_customer_data - name: /camera/read_customer_data
type: orbbec_camera_msgs/srv/GetString type: orbbec_camera_msgs/srv/GetString
- name: /camera/set_floor_enable - name: /camera/set_flood_enable
type: std_srvs/srv/SetBool type: std_srvs/srv/SetBool
request: {data: false} request: {data: false}
- name: /camera/set_fan_work_mode - name: /camera/set_fan_work_mode
orbbec_camera/src/ros_service.cpp
+6 -6
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@@ -217,11 +217,11 @@ void OBCameraNode::setupCameraCtrlServices() {
}); });
} }
if (isPropertyWritable(device_, OB_PROP_FLOOD_BOOL)) { if (isPropertyWritable(device_, OB_PROP_FLOOD_BOOL)) {
set_floor_enable_srv_ = node_->create_service<SetBool>( set_flood_enable_srv_ = node_->create_service<SetBool>(
"set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header, "set_flood_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request, const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) { std::shared_ptr<SetBool::Response> response) {
setFloorEnableCallback(request_header, request, response); setFloodEnableCallback(request_header, request, response);
}); });
} }
if (isPropertyWritable(device_, OB_PROP_LASER_CONTROL_INT) || if (isPropertyWritable(device_, OB_PROP_LASER_CONTROL_INT) ||
@@ -1530,15 +1530,15 @@ void OBCameraNode::setFanWorkModeCallback(const std::shared_ptr<SetInt32::Reques
} }
} }
void OBCameraNode::setFloorEnableCallback( void OBCameraNode::setFloodEnableCallback(
const std::shared_ptr<rmw_request_id_t>& request_header, const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) { std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header; (void)request_header;
(void)response; (void)response;
bool floor_enable = request->data; bool flood_enable = request->data;
try { try {
device_->setBoolProperty(OB_PROP_FLOOD_BOOL, floor_enable); device_->setBoolProperty(OB_PROP_FLOOD_BOOL, flood_enable);
response->success = true; response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->success = false; response->success = false;