Return corrected parameter value to dynamic_reconfigure

ros-drivers · Aug 28, 2013 · 14b6108 · 14b6108
1 parent 491e0e1
commit 14b6108
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/src/nodes/trigger.cpp b/src/nodes/trigger.cpp
@@ -439,6 +439,9 @@ bool Trigger::reconfigure(Config *newconfig)
   {
     if (!Trigger::setMode(camera_, triggerMode_))
     {
+      // Possible if driver compiled against different version of libdc1394
+      ROS_ASSERT(triggerMode_ <= DC1394_TRIGGER_MODE_MAX);
+      newconfig->trigger_mode = Trigger::trigger_mode_names_[triggerMode_ - DC1394_TRIGGER_MODE_MIN];
       ROS_ERROR("Failed to set trigger mode");
       is_ok = false;
     }
@@ -455,6 +458,9 @@ bool Trigger::reconfigure(Config *newconfig)
     {
       if (!Trigger::setSource(camera_, triggerSource_))
       {
+        // Possible if driver compiled against different version of libdc1394
+        ROS_ASSERT(triggerSource_ <= DC1394_TRIGGER_SOURCE_MAX);
+        newconfig->trigger_source = Trigger::trigger_source_names_[triggerSource_ - DC1394_TRIGGER_SOURCE_MIN];
         ROS_ERROR("Failed to set trigger source");
         is_ok = false;
       }
@@ -474,6 +480,9 @@ bool Trigger::reconfigure(Config *newconfig)
   {
     if (!Trigger::setPolarity(camera_, triggerPolarity_))
     {
+      // Possible if driver compiled against different version of libdc1394
+      ROS_ASSERT(triggerPolarity_ <= DC1394_TRIGGER_ACTIVE_MAX);
+      newconfig->trigger_polarity = Trigger::trigger_polarity_names_[triggerPolarity_ - DC1394_TRIGGER_ACTIVE_MIN];
       ROS_ERROR("Failed to set trigger polarity");
       is_ok = false;
     }