From da2f2ccd774d395f1333a0ae0ee10919e75e10cf Mon Sep 17 00:00:00 2001
From: liangyuxuan <16126883+liangyuxuan123@user.noreply.gitee.com>
Date: Mon, 2 Mar 2026 14:52:43 +0800
Subject: [PATCH] add image save interface and  raw control interface

---
 src/CMakeLists.txt                        | 3 +++
 src/action/VisionObjectRecognition.action | 2 +-
 src/srv/SaveCameraImages.srv              | 8 ++++++++
 src/srv/SetCameraRawParams.srv            | 7 +++++++
 src/srv/SetCameraRawStatus.srv            | 7 +++++++
 5 files changed, 26 insertions(+), 1 deletion(-)
 create mode 100644 src/srv/SaveCameraImages.srv
 create mode 100644 src/srv/SetCameraRawParams.srv
 create mode 100644 src/srv/SetCameraRawStatus.srv

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 8330380..f237f0e 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -56,6 +56,9 @@ set(srv_files
   srv/MotorParam.srv
   srv/GripperCmd.srv
   srv/MotorInfo.srv
+  srv/SetCameraRawParams.srv
+  srv/SetCameraRawStatus.srv
+  srv/SaveCameraImages.srv
 )
 
 include_directories(include)
diff --git a/src/action/VisionObjectRecognition.action b/src/action/VisionObjectRecognition.action
index 21fad94..7bfd151 100644
--- a/src/action/VisionObjectRecognition.action
+++ b/src/action/VisionObjectRecognition.action
@@ -1,4 +1,4 @@
-string camera_position
+string[] camera_positions
 string[] classes
 
 ---
diff --git a/src/srv/SaveCameraImages.srv b/src/srv/SaveCameraImages.srv
new file mode 100644
index 0000000..de66c78
--- /dev/null
+++ b/src/srv/SaveCameraImages.srv
@@ -0,0 +1,8 @@
+string[] camera_positions
+string[] image_types
+
+string save_dir
+string save_type
+---
+bool[] success
+string[] info
diff --git a/src/srv/SetCameraRawParams.srv b/src/srv/SetCameraRawParams.srv
new file mode 100644
index 0000000..f4578aa
--- /dev/null
+++ b/src/srv/SetCameraRawParams.srv
@@ -0,0 +1,7 @@
+string camera_position
+string raw
+int32 exposure
+int32 gain
+---
+bool success
+string info
\ No newline at end of file
diff --git a/src/srv/SetCameraRawStatus.srv b/src/srv/SetCameraRawStatus.srv
new file mode 100644
index 0000000..ee5112e
--- /dev/null
+++ b/src/srv/SetCameraRawStatus.srv
@@ -0,0 +1,7 @@
+string camera_position
+bool color_raw
+bool depth_raw
+bool ir_raw
+---
+bool success
+string info
\ No newline at end of file