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Add periodic host time synchronization and sync period parameter

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This commit is contained in:
xiexun
2025-09-02 17:06:59 +08:00
parent ce52dbd997
commit 27017aa5ed
4 changed files with 54 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+37 -2
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@@ -1882,9 +1882,12 @@ void OBCameraNode::getParameters() {
device_->enableGlobalTimestamp(true);
}
setAndGetNodeParameter<int>(frames_per_trigger_, "frames_per_trigger", 2);
long software_trigger_period = 33;
setAndGetNodeParameter<long>(software_trigger_period, "software_trigger_period", 33);
int software_trigger_period = 33;
setAndGetNodeParameter<int>(software_trigger_period, "software_trigger_period", 33);
software_trigger_period_ = std::chrono::milliseconds(software_trigger_period);
double time_sync_period = 6.0;
setAndGetNodeParameter<double>(time_sync_period, "time_sync_period", 6.0);
time_sync_period_ = std::chrono::milliseconds((int)(time_sync_period*1000));
setAndGetNodeParameter<int>(gmsl_trigger_fps_, "gmsl_trigger_fps", 3000);
setAndGetNodeParameter<bool>(enable_gmsl_trigger_, "enable_gmsl_trigger", false);
setAndGetNodeParameter<std::string>(interleave_ae_mode_, "interleave_ae_mode", "hdr");
@@ -1971,6 +1974,7 @@ void OBCameraNode::setupTopics() {
setupCameraCtrlServices();
setupPublishers();
setupDiagnosticUpdater();
setupPeriodicHostTimeSync();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.getMessage());
throw std::runtime_error(e.getMessage());
@@ -2079,6 +2083,37 @@ void OBCameraNode::setupDiagnosticUpdater() {
}
}
void OBCameraNode::setupPeriodicHostTimeSync() {
if (time_sync_period_.count() <= 0) {
RCLCPP_INFO(logger_, "Periodic host time sync disabled (time_sync_period <= 0)");
return;
}
try {
RCLCPP_INFO_STREAM(logger_, "Enable periodic host time sync every " << time_sync_period_.count() << " ms");
sync_timer_ = node_->create_wall_timer(
std::chrono::milliseconds(time_sync_period_),
[this]() {
try {
device_->timerSyncWithHost();
RCLCPP_DEBUG(logger_, "Camera time synchronized with host");
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Time sync failed: " << e.getMessage());
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Time sync failed: " << e.what());
} catch (...) {
RCLCPP_WARN(logger_, "Time sync failed due to unknown error");
}
}
);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup periodic host time sync: " << e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup periodic host time sync: " << e.what());
} catch (...) {
RCLCPP_ERROR(logger_, "Failed to setup periodic host time sync due to unknown error");
}
}
void OBCameraNode::setupPipelineConfig() {
if (pipeline_config_) {
pipeline_config_.reset();