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This commit is contained in:
Joe Dong
2023-02-15 21:20:02 +08:00
parent 9f0ee3a8d5
commit 31c0f91372
2 changed files with 10 additions and 7 deletions
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orbbec_camera/src/ob_camera_node_factory.cpp
+7 -4
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@@ -90,7 +90,7 @@ void OBCameraNodeFactory::onDeviceDisconnected(const std::shared_ptr<ob::DeviceL
for (size_t i = 0; i < device_list->deviceCount(); i++) {
std::string uid = device_list->uid(i);
std::scoped_lock<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "device with" << uid << "disconnected");
RCLCPP_INFO_STREAM(logger_, "device with " << uid << " disconnected");
if (uid == device_unique_id_) {
ob_camera_node_.reset();
device_.reset();
@@ -119,7 +119,8 @@ OBLogSeverity OBCameraNodeFactory::obLogSeverityFromString(const std::string_vie
void OBCameraNodeFactory::checkConnectTimer() const {
if (!device_connected_.load()) {
RCLCPP_ERROR_STREAM(logger_, "checkConnectTimer: device not connected");
RCLCPP_ERROR_STREAM(logger_,
"checkConnectTimer: device " << serial_number_ << " not connected");
return;
}
}
@@ -135,6 +136,7 @@ void OBCameraNodeFactory::queryDevice() {
}
onDeviceConnected(device_list);
} else {
RCLCPP_INFO_STREAM(logger_, "Device connected");
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
@@ -182,7 +184,6 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
RCLCPP_INFO_STREAM(logger_, "Failed to open semaphore");
return;
}
RCLCPP_INFO_STREAM(logger_, "Connecting to device with serial number: " << serial_number_);
int sem_value = 0;
sem_getvalue(device_sem, &sem_value);
RCLCPP_INFO_STREAM(logger_, "semaphore value: " << sem_value);
@@ -199,6 +200,7 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
std::string sn = dev->getDeviceInfo()->serialNumber();
RCLCPP_INFO_STREAM(logger_, "Device serial number: " << sn);
if (sn == serial_number_ || lower_sn == sn) {
RCLCPP_INFO_STREAM(logger_, "Device serial number matched: " << sn);
device = dev;
break;
}
@@ -215,7 +217,7 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
}
if (device_ == nullptr) {
// RCLCPP_WARN(logger_, "Device with serial number %s not found", serial_number_.c_str());
RCLCPP_WARN(logger_, "Device with serial number %s not found", serial_number_.c_str());
device_connected_ = false;
return;
} else {
@@ -258,5 +260,6 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->firmwareVersion());
RCLCPP_INFO_STREAM(logger_, "Hardware version: " << device_info_->hardwareVersion());
RCLCPP_INFO_STREAM(logger_, "device type: " << ObDeviceTypeToString(device_info_->deviceType()));
RCLCPP_INFO_STREAM(logger_, "device unique id: " << device_unique_id_);
}
} // namespace orbbec_camera