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add enable hardware reset param

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This commit is contained in:
Joe Dong
2024-09-29 16:41:04 +08:00
parent 5ab70451b1
commit 18847bc73c
4 changed files with 20 additions and 2 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+15 -2
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@@ -114,6 +114,7 @@ void OBCameraNodeDriver::init() {
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);
g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
enable_hardware_reset_ = declare_parameter<bool>("enable_hardware_reset", false);
ob::Context::setLoggerToConsole(log_level);
orb_device_lock_shm_fd_ = shm_open(ORB_DEFAULT_LOCK_NAME.c_str(), O_CREAT | O_RDWR, 0666);
if (orb_device_lock_shm_fd_ < 0) {
@@ -365,6 +366,18 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
}
void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &device) {
if (device_) {
RCLCPP_INFO_STREAM(logger_, "Device is not nullptr, reset device");
device_.reset();
}
if (enable_hardware_reset_ && !hardware_reset_done_) {
RCLCPP_INFO_STREAM(logger_, "Enable hardware reset, reboot device");
device->reboot();
RCLCPP_INFO_STREAM(logger_, "Reboot device done");
hardware_reset_done_ = true;
device_connected_ = false;
return;
}
device_ = device;
CHECK_NOTNULL(device_);
CHECK_NOTNULL(device_.get());
@@ -435,8 +448,8 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
RCLCPP_ERROR_STREAM(logger_, "Invalid net device ip or port");
return;
}
RCLCPP_INFO_STREAM(logger_, "Connecting to net device ip: " << net_device_ip
<< " port: " << net_device_port);
RCLCPP_INFO_STREAM(
logger_, "Connecting to net device ip: " << net_device_ip << " port: " << net_device_port);
std::this_thread::sleep_for(std::chrono::milliseconds(connection_delay_));
auto device = ctx_->createNetDevice(net_device_ip.c_str(), net_device_port);
if (device == nullptr) {