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add lock in selectDeviceBySerialNumber func

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This commit is contained in:
Joe Dong
2023-10-14 18:34:54 +08:00
parent 01d65105de
commit 0ec74f92fc
1 changed files with 3 additions and 0 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+3
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@@ -234,6 +234,9 @@ 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->deviceCount(); i++) { for (size_t i = 0; i < list->deviceCount(); i++) {
RCLCPP_INFO_STREAM(logger_, "Before lock: Select device serial number: " << serial_number);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "After lock: Select device serial number: " << serial_number);
try { try {
auto pid = list->pid(i); auto pid = list->pid(i);
if (isOpenNIDevice(pid)) { if (isOpenNIDevice(pid)) {