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fixed crash

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This commit is contained in:
Joe Dong
2023-10-12 20:52:10 +08:00
parent 4fe1a4ed5f
commit 45765dd29c
4 changed files with 45 additions and 36 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -1
View File
@@ -57,7 +57,6 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
#elif defined(USE_NV_HW_DECODER)
jpeg_decoder_ = std::make_unique<JetsonNvJPEGDecoder>(width_[COLOR], height_[COLOR]);
#endif
startStreams();
if (enable_d2c_viewer_) {
auto rgb_qos = getRMWQosProfileFromString(image_qos_[COLOR]);
auto depth_qos = getRMWQosProfileFromString(image_qos_[DEPTH]);
@@ -252,6 +251,9 @@ void OBCameraNode::startStreams() {
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
onNewFrameSetCallback(frame_set);
});
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline");
throw std::runtime_error("Failed to start pipeline");
}
if (enable_frame_sync_) {
pipeline_->enableFrameSync();
orbbec_camera/src/ob_camera_node_driver.cpp
+22 -15
View File
@@ -114,18 +114,7 @@ void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList>
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000,
"device list count " << device_list->deviceCount());
if (!device_) {
try {
startDevice(device_list);
} catch (ob::Error &e) {
device_.reset();
RCLCPP_ERROR_STREAM(logger_, "startDevice failed: " << e.getMessage());
} catch (const std::exception &e) {
device_.reset();
RCLCPP_ERROR_STREAM(logger_, "startDevice failed: " << e.what());
} catch (...) {
device_.reset();
RCLCPP_ERROR_STREAM(logger_, "startDevice failed");
}
startDevice(device_list);
}
}
@@ -183,7 +172,24 @@ void OBCameraNodeDriver::queryDevice() {
std::this_thread::sleep_for(std::chrono::milliseconds(10));
continue;
}
onDeviceConnected(device_list);
bool start_device_failed = false;
try {
onDeviceConnected(device_list);
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start device " << e.getMessage());
start_device_failed = true;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start device " << e.what());
start_device_failed = true;
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start device");
start_device_failed = true;
}
if (start_device_failed) {
std::unique_lock<decltype(reset_device_mutex_)> lock(reset_device_mutex_);
reset_device_flag_ = true;
reset_device_cond_.notify_all();
}
} else {
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
@@ -203,7 +209,7 @@ void OBCameraNodeDriver::resetDevice() {
while (is_alive_ && rclcpp::ok()) {
std::unique_lock<decltype(reset_device_mutex_)> lock(reset_device_mutex_);
reset_device_cond_.wait(lock,
[this]() { return !is_alive_ || !rclcpp::ok() || reset_device_flag_; });
[this]() { return !is_alive_ || !rclcpp::ok() || reset_device_flag_; });
if (!is_alive_ || !rclcpp::ok()) {
break;
}
@@ -303,6 +309,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
ob_camera_node_.reset();
}
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_);
ob_camera_node_->startStreams();
device_connected_ = true;
device_info_ = device_->getDeviceInfo();
CHECK_NOTNULL(device_info_.get());
@@ -340,4 +347,4 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
}
} // namespace orbbec_camera
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::OBCameraNodeDriver)
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::OBCameraNodeDriver)