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add read device usb port

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This commit is contained in:
Joe Dong
2023-07-05 15:00:34 +08:00
parent 8c6d0212e1
commit 15ca0e347b
11 changed files with 134 additions and 39 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+7
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@@ -51,6 +51,9 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::shared_ptr<ob::Device> selectDeviceBySerialNumber(
const std::shared_ptr<ob::DeviceList>& list, const std::string& serial_number);
std::shared_ptr<ob::Device> selectDeviceByUSBPort(const std::shared_ptr<ob::DeviceList>& list,
const std::string& usb_port);
void initializeDevice(const std::shared_ptr<ob::Device>& device);
void startDevice(const std::shared_ptr<ob::DeviceList>& list);
@@ -67,6 +70,8 @@ class OBCameraNodeDriver : public rclcpp::Node {
void deviceCountUpdate();
void syncTime();
private:
std::string config_path_;
std::unique_ptr<ob::Context> ctx_ = nullptr;
@@ -78,6 +83,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::atomic_bool device_connected_{false};
std::string serial_number_;
std::string device_unique_id_;
std::string usb_port_;
std::shared_ptr<Parameters> parameters_ = nullptr;
std::shared_ptr<std::thread> query_thread_ = nullptr;
std::shared_ptr<std::thread> device_count_update_thread_ = nullptr;
@@ -85,5 +91,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
int device_num_ = 1;
int num_devices_connected_ = 0;
rclcpp::TimerBase::SharedPtr check_connect_timer_ = nullptr;
std::shared_ptr<std::thread> sync_time_thread_ = nullptr;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/utils.h
+2
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@@ -61,4 +61,6 @@ OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string& full_scale_ra
OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string& full_scale_range);
std::string parseUsbPort(const std::string& line);
} // namespace orbbec_camera