From 257593fe6bc3ed319d7eddc57624ecde0320a799 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Thu, 31 Aug 2023 14:03:38 -0700 Subject: [PATCH] Revised currentGain function. --- arena_camera/src/base_node.cpp | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/arena_camera/src/base_node.cpp b/arena_camera/src/base_node.cpp index 527d626..bd934a1 100644 --- a/arena_camera/src/base_node.cpp +++ b/arena_camera/src/base_node.cpp @@ -743,14 +743,12 @@ bool ArenaCameraBaseNode::setGain(const arena_camera::Params &p) { } float ArenaCameraBaseNode::currentGain() { - GenApi::CFloatPtr pGain = pDevice_->GetNodeMap()->GetNode("Gain"); - - if (!pGain || !GenApi::IsReadable(pGain)) { - RCLCPP_WARN(this->get_logger(), "No gain value"); - return -1.; - } else { - float gainValue = pGain->GetValue(); - return gainValue; + try { + return Arena::GetNodeValue(pDevice_->GetNodeMap(), "Gain"); + } catch (const GenICam::GenericException &e) { + RCLCPP_ERROR_STREAM(this->get_logger(), + "Unable to read gain: " << e.GetDescription()); + return -1; } }