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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.cpp
+6 -7
View File
@@ -458,8 +458,6 @@ void OBCameraNode::setupDevices() {
} }
if (!sync_mode_str_.empty()) { if (!sync_mode_str_.empty()) {
auto sync_config = device_->getMultiDeviceSyncConfig(); auto sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));
std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper); std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper);
sync_mode_ = OBSyncModeFromString(sync_mode_str_); sync_mode_ = OBSyncModeFromString(sync_mode_str_);
sync_config.syncMode = sync_mode_; sync_config.syncMode = sync_mode_;
@@ -471,7 +469,8 @@ void OBCameraNode::setupDevices() {
sync_config.framesPerTrigger = frames_per_trigger_; sync_config.framesPerTrigger = frames_per_trigger_;
TRY_EXECUTE_BLOCK(device_->setMultiDeviceSyncConfig(sync_config)); TRY_EXECUTE_BLOCK(device_->setMultiDeviceSyncConfig(sync_config));
sync_config = device_->getMultiDeviceSyncConfig(); sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_, "Set sync mode: " << magic_enum::enum_name(sync_config.syncMode)); RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));
if (sync_mode_ == OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING) { if (sync_mode_ == OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING) {
RCLCPP_INFO_STREAM(logger_, "Frames per trigger: " << sync_config.framesPerTrigger); RCLCPP_INFO_STREAM(logger_, "Frames per trigger: " << sync_config.framesPerTrigger);
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_,
@@ -924,8 +923,8 @@ void OBCameraNode::setupDevices() {
device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) { device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff = auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT); device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default noise removal filter min diff: " RCLCPP_DEBUG_STREAM(logger_, "default noise removal filter min diff: "
<< default_noise_removal_filter_min_diff); << default_noise_removal_filter_min_diff);
if (noise_removal_filter_min_diff_ != -1 && if (noise_removal_filter_min_diff_ != -1 &&
default_noise_removal_filter_min_diff != noise_removal_filter_min_diff_) { default_noise_removal_filter_min_diff != noise_removal_filter_min_diff_) {
auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_MAX_DIFF_INT); auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_MAX_DIFF_INT);
@@ -949,8 +948,8 @@ void OBCameraNode::setupDevices() {
device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) { device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size = auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT); device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "default noise removal filter max size: " RCLCPP_DEBUG_STREAM(logger_, "default noise removal filter max size: "
<< default_noise_removal_filter_max_size); << default_noise_removal_filter_max_size);
if (noise_removal_filter_max_size_ != -1 && if (noise_removal_filter_max_size_ != -1 &&
default_noise_removal_filter_max_size != noise_removal_filter_max_size_) { default_noise_removal_filter_max_size != noise_removal_filter_max_size_) {
auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT); auto range = device_->getIntPropertyRange(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
orbbec_camera/src/ob_camera_node_driver.cpp
+7 -11
View File
@@ -405,11 +405,9 @@ void OBCameraNodeDriver::onDeviceDisconnected(const std::shared_ptr<ob::DeviceLi
RCLCPP_INFO_STREAM(logger_, "device with " << uid << " disconnected"); RCLCPP_INFO_STREAM(logger_, "device with " << uid << " disconnected");
if (uid == device_unique_id_ || serial_number_ == serial_number) { if (uid == device_unique_id_ || serial_number_ == serial_number) {
RCLCPP_INFO_STREAM(logger_, 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_flag_ = true;
reset_device_cond_.notify_all(); reset_device_cond_.notify_all();
RCLCPP_INFO_STREAM(logger_,
"device with " << uid << " disconnected, notify reset device thread 2.");
break; 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), std::transform(serial_number.begin(), serial_number.end(), std::back_inserter(lower_sn),
[](auto ch) { return isalpha(ch) ? tolower(ch) : static_cast<int>(ch); }); [](auto ch) { return isalpha(ch) ? tolower(ch) : static_cast<int>(ch); });
for (size_t i = 0; i < list->getCount(); i++) { for (size_t i = 0; i < list->getCount(); i++) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000, RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Before lock: Select device serial number: " << serial_number); "Selecting device by serial number: " << serial_number);
std::lock_guard<decltype(device_lock_)> lock(device_lock_); 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 { try {
auto pid = list->getPid(i); auto pid = list->getPid(i);
if (isOpenNIDevice(pid)) { if (isOpenNIDevice(pid)) {
@@ -854,15 +850,16 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
if (device_info->getSerialNumber() == serial_number) { if (device_info->getSerialNumber() == serial_number) {
RCLCPP_INFO_STREAM_THROTTLE( RCLCPP_INFO_STREAM_THROTTLE(
logger_, *get_clock(), 5000, logger_, *get_clock(), 5000,
"Device serial number " << device_info->getSerialNumber() << " matched"); "Matched device serial number: " << device_info->getSerialNumber());
return device; return device;
} }
} else { } else {
std::string sn = list->getSerialNumber(i); 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) { if (sn == serial_number) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000, 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_); return list->getDevice(i, device_access_mode_);
} }
} }
@@ -879,7 +876,6 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
} }
return nullptr; return nullptr;
} }
std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort( std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
const std::shared_ptr<ob::DeviceList> &list, const std::string &usb_port) { const std::shared_ptr<ob::DeviceList> &list, const std::string &usb_port) {
try { try {