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refactor: enhance logging levels and improve message clarity in camera node

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slz
2026-04-07 18:06:10 +08:00
parent 5a799bfc21
commit 0035c0b18c
2 changed files with 13 additions and 18 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+7 -11
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@@ -405,11 +405,9 @@ void OBCameraNodeDriver::onDeviceDisconnected(const std::shared_ptr<ob::DeviceLi
RCLCPP_INFO_STREAM(logger_, "device with " << uid << " disconnected");
if (uid == device_unique_id_ || serial_number_ == serial_number) {
RCLCPP_INFO_STREAM(logger_,
"device with " << uid << " disconnected, notify reset device thread 1.");
"device with " << uid << " disconnected, notify reset device thread");
reset_device_flag_ = true;
reset_device_cond_.notify_all();
RCLCPP_INFO_STREAM(logger_,
"device with " << uid << " disconnected, notify reset device thread 2.");
break;
}
}
@@ -840,11 +838,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
std::transform(serial_number.begin(), serial_number.end(), std::back_inserter(lower_sn),
[](auto ch) { return isalpha(ch) ? tolower(ch) : static_cast<int>(ch); });
for (size_t i = 0; i < list->getCount(); i++) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Before lock: Select device serial number: " << serial_number);
RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Selecting device by serial number: " << serial_number);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"After lock: Select device serial number: " << serial_number);
try {
auto pid = list->getPid(i);
if (isOpenNIDevice(pid)) {
@@ -854,15 +850,16 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
if (device_info->getSerialNumber() == serial_number) {
RCLCPP_INFO_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Device serial number " << device_info->getSerialNumber() << " matched");
"Matched device serial number: " << device_info->getSerialNumber());
return device;
}
} else {
std::string sn = list->getSerialNumber(i);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000, "Device serial number: " << sn);
RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Checking device serial number: " << sn);
if (sn == serial_number) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Device serial number " << sn << " matched");
"Matched device serial number: " << sn);
return list->getDevice(i, device_access_mode_);
}
}
@@ -879,7 +876,6 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
}
return nullptr;
}
std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
const std::shared_ptr<ob::DeviceList> &list, const std::string &usb_port) {
try {