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chore: Add check when init device failed

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This commit is contained in:
Joe Dong
2024-08-29 15:17:42 +08:00
parent e912829d4f
commit 082f7b2966
2 changed files with 46 additions and 5 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+34 -4
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@@ -363,12 +363,42 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (ob_camera_node_) {
ob_camera_node_.reset();
}
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_,
node_options_.use_intra_process_comms());
int retry_count = 0;
const int max_retries = 3;
bool initialized = false;
device_info_ = device_->getDeviceInfo();
RCLCPP_INFO_STREAM(logger_, "Try to connect device via " << device_info_->connectionType());
while (retry_count < max_retries && !initialized) {
try {
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_,
node_options_.use_intra_process_comms());
initialized = true;
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt "
<< retry_count + 1 << " of " << max_retries
<< "): " << e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt " << retry_count + 1
<< " of " << max_retries
<< "): " << e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt "
<< retry_count + 1 << " of " << max_retries << ")");
}
retry_count++;
}
if (!initialized) {
RCLCPP_ERROR_STREAM(logger_,
"Device initialization failed after " << max_retries << " attempts.");
throw std::runtime_error("Device initialization failed after " + std::to_string(max_retries) +
" attempts.");
}
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
device_connected_ = true;
device_info_ = device_->getDeviceInfo();
serial_number_ = device_info_->serialNumber();
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->uid();
@@ -390,7 +420,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
auto time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start_time_);
RCLCPP_INFO_STREAM(logger_, "Start device cost " << time_cost.count() << " ms");
}
} // namespace orbbec_camera
void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int net_device_port) {
if (net_device_ip.empty() || net_device_port == 0) {