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Fix device lock issue in OBCameraNodeDriver::startDevice

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This commit is contained in:
Joe Dong
2024-10-19 15:07:01 +08:00
parent b48929ff45
commit 20932d1641
1 changed files with 19 additions and 5 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+19 -5
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@@ -472,16 +472,30 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
device_.reset();
}
std::this_thread::sleep_for(std::chrono::milliseconds(connection_delay_));
auto try_lock_result = pthread_mutex_trylock(orb_device_lock_);
if (try_lock_result != 0) {
if (try_lock_result == EBUSY) {
RCLCPP_INFO_STREAM(logger_, "Device lock locked by other process, wait for 10ms");
std::this_thread::sleep_for(std::chrono::milliseconds(10));
int try_lock_count = 0;
int max_try_lock_count = 5;
while (try_lock_count < max_try_lock_count) {
int try_lock_result = pthread_mutex_trylock(orb_device_lock_);
if (try_lock_result == 0) {
// success get lock,break
break;
} else if (try_lock_result == EBUSY) {
RCLCPP_INFO_STREAM(logger_, "Device lock is held by another process, waiting 100ms");
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} else {
RCLCPP_ERROR_STREAM(logger_, "Failed to lock orb_device_lock_");
return; // Not EBUSY, return
}
try_lock_count++;
}
if (try_lock_count >= max_try_lock_count) {
RCLCPP_ERROR_STREAM(logger_, "Failed to lock orb_device_lock_");
return;
}
std::shared_ptr<int> lock_holder(nullptr,
[this](int *) { pthread_mutex_unlock(orb_device_lock_); });
bool start_device_failed = false;