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feat: add delay for stream start after device reboot

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This commit is contained in:
ob-yalian
2026-07-10 15:31:11 +08:00
parent a9be99832f
commit 4e67a1ad73
2 changed files with 11 additions and 0 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+10
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@@ -37,6 +37,8 @@
std::string g_camera_name = "orbbec_camera"; // Assuming this is declared elsewhere
std::string g_time_domain = "global"; // Assuming this is declared elsewhere
namespace {
constexpr auto kStreamStartDelayAfterReboot = std::chrono::seconds(5);
std::string getLogDirectoryForCamera(const std::string &camera_name) {
const char *log_dir_override = std::getenv("ORBBEC_LOG_DIR");
if (log_dir_override && log_dir_override[0] != '\0') {
@@ -905,6 +907,7 @@ void OBCameraNodeDriver::rebootDeviceCallback(
} else {
std::string current_device_uid = device_unique_id_;
RCLCPP_INFO_STREAM(logger_, "Rebooting device with UID: " << current_device_uid);
delay_stream_start_after_reboot_ = true;
if (ob_lidar_node_) {
ob_lidar_node_->rebootDevice();
} else if (ob_camera_node_) {
@@ -1329,6 +1332,12 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
}
}
const bool should_delay_stream_start = delay_stream_start_after_reboot_.exchange(false) &&
isGemini305SeriesPID(device_info_->getPid());
if (should_delay_stream_start) {
std::this_thread::sleep_for(kStreamStartDelayAfterReboot);
}
if (ob_camera_node_) {
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
@@ -1739,6 +1748,7 @@ void OBCameraNodeDriver::firmwareUpdateCallback(OBFwUpdateState state, const cha
RCLCPP_WARN_STREAM(logger_, "Exception during sync timer cleanup in firmware update");
}
}
delay_stream_start_after_reboot_ = true;
device_->reboot();
} else if (ob_lidar_node_) {
ob_lidar_node_.reset();