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feat: implement mutex and condition variable for diagnostic updates

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slz
2026-01-29 11:48:33 +08:00
parent ef4ce9e8c3
commit 0ed0943036
2 changed files with 26 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+23 -3
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@@ -169,7 +169,11 @@ void OBCameraNode::clean() noexcept {
if (diagnostic_timer_) {
diagnostic_timer_->cancel();
// Wait for any currently executing timer callbacks to complete
std::this_thread::sleep_for(std::chrono::milliseconds(10));
{
std::unique_lock<std::mutex> lk(diagnostic_mutex_);
diagnostic_cv_.wait_for(lk, std::chrono::milliseconds(100),
[this]() { return !diagnostic_running_; });
}
diagnostic_timer_.reset();
}
if (software_trigger_timer_) {
@@ -2406,8 +2410,24 @@ void OBCameraNode::setupDiagnosticUpdater() {
// Device is busy or shutting down, skip this update
return;
}
diagnostic_updater_->force_update();
// Mark diagnostic as running to prevent concurrent reset/publish races
{
std::lock_guard<std::mutex> lk(diagnostic_mutex_);
diagnostic_running_ = true;
}
try {
diagnostic_updater_->force_update();
} catch (...) {
std::lock_guard<std::mutex> lk(diagnostic_mutex_);
diagnostic_running_ = false;
diagnostic_cv_.notify_all();
throw;
}
{
std::lock_guard<std::mutex> lk(diagnostic_mutex_);
diagnostic_running_ = false;
}
diagnostic_cv_.notify_all();
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Diagnostic update failed: "
<< e.getMessage() << " - Device may be disconnected");