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refactor: improve logging messages for clarity and consistency across camera and lidar nodes

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This commit is contained in:
slz
2026-04-07 17:39:00 +08:00
parent 194de7e339
commit 5a799bfc21
4 changed files with 125 additions and 110 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+38 -31
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@@ -244,7 +244,8 @@ void OBCameraNodeDriver::init() {
ob::Context::setLoggerFileName(log_file_name);
RCLCPP_INFO_STREAM(logger_, "SDK log file name set to: " << log_file_name);
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: "
<< orbbec_camera::formatObErrorWithStatus(e));
}
}
// Force IP
@@ -310,14 +311,14 @@ void OBCameraNodeDriver::init() {
<< device_access_mode_ << ")");
if (uvc_backend_ == "libuvc") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else if (uvc_backend_ == "v4l2") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_,
"not support uvc_backend:" << uvc_backend_ << ", set to default libuvc");
RCLCPP_WARN_STREAM(logger_,
"Unsupported uvc_backend '" << uvc_backend_ << "', using default libuvc");
}
ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
device_changed_callback_id_ = ctx_->registerDeviceChangedCallback(
@@ -347,17 +348,16 @@ void OBCameraNodeDriver::init() {
void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList> &device_list) {
CHECK_NOTNULL(device_list);
{
RCLCPP_INFO_STREAM(logger_, "onDeviceConnected called");
RCLCPP_INFO_STREAM(logger_, "Device connected callback triggered");
std::unique_lock<decltype(reset_device_mutex_)> reset_lock(reset_device_mutex_);
if (reset_device_flag_) {
RCLCPP_INFO_STREAM(logger_, "onDeviceConnected : device reset in progress, waiting...");
RCLCPP_INFO_STREAM(logger_, "Device reset in progress, waiting before connecting");
reset_device_cond_.wait(
reset_lock, [this]() { return !reset_device_flag_ || !is_alive_ || !rclcpp::ok(); });
if (!is_alive_) {
return;
}
RCLCPP_INFO_STREAM(logger_,
"onDeviceConnected : device reset completed, continuing connection");
RCLCPP_INFO_STREAM(logger_, "Device reset completed, continuing connection");
}
}
if (device_list->getCount() == 0) {
@@ -525,7 +525,7 @@ void OBCameraNodeDriver::resetDevice() {
}
}
RCLCPP_INFO_STREAM(logger_, "resetDevice : Reset device uid: " << device_unique_id_);
RCLCPP_INFO_STREAM(logger_, "Resetting device UID: " << device_unique_id_);
std::lock_guard<decltype(device_lock_)> device_lock(device_lock_);
{
// Mark device as disconnected immediately to prevent other threads from accessing it
@@ -544,7 +544,7 @@ void OBCameraNodeDriver::resetDevice() {
if (device_) {
try {
RCLCPP_INFO_STREAM(logger_, "Resetting device_");
RCLCPP_INFO_STREAM(logger_, "Resetting device handle");
// Force free any idle memory before device reset
if (ctx_) {
try {
@@ -554,9 +554,10 @@ void OBCameraNodeDriver::resetDevice() {
}
}
device_.reset();
RCLCPP_INFO_STREAM(logger_, "device_ reset completed");
RCLCPP_INFO_STREAM(logger_, "Device handle reset complete");
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Standard exception during device reset: " << e.what());
} catch (...) {
@@ -566,9 +567,9 @@ void OBCameraNodeDriver::resetDevice() {
if (device_info_) {
try {
RCLCPP_INFO_STREAM(logger_, "Resetting device_info_");
RCLCPP_INFO_STREAM(logger_, "Resetting device info");
device_info_.reset();
RCLCPP_INFO_STREAM(logger_, "device_info_ reset completed");
RCLCPP_INFO_STREAM(logger_, "Device info reset complete");
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception during device_info reset");
}
@@ -581,7 +582,7 @@ void OBCameraNodeDriver::resetDevice() {
}
reset_device_cond_.notify_all();
malloc_trim(0);
RCLCPP_INFO_STREAM(logger_, "Reset device uid: " << device_unique_id_ << " done");
RCLCPP_INFO_STREAM(logger_, "Device reset complete");
}
}
@@ -866,8 +867,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
}
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
@@ -899,8 +901,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
}
return device;
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
@@ -935,8 +938,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
return list->getDevice(i, device_access_mode_);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
continue;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
@@ -1091,14 +1095,14 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
RCLCPP_INFO_STREAM(logger_, "Current node pid: " << getpid());
auto time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start_time_);
RCLCPP_INFO_STREAM(logger_, "Start device cost " << time_cost.count() << " ms");
RCLCPP_DEBUG_STREAM(logger_, "Start device cost: " << time_cost.count() << " ms");
if (!upgrade_firmware_.empty()) {
// Check if this is a second update (reupdate scenario)
bool is_second_update = is_reupdating_.load();
if (is_second_update) {
RCLCPP_INFO(logger_, "Device reconnected, starting the second firmware update...");
RCLCPP_INFO(logger_, "Device reconnected, starting the second firmware update");
} else {
RCLCPP_INFO(logger_, "Starting firmware update from file: %s", upgrade_firmware_.c_str());
}
@@ -1126,7 +1130,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (need_reupdate_) {
// Some devices require a second update after reboot
RCLCPP_INFO(logger_, "The device will reboot and perform a second update automatically.");
RCLCPP_INFO(logger_, "The device will reboot and perform a second update automatically");
// Set flag to indicate we're waiting for device to reboot for second update
is_reupdating_ = true;
// Keep upgrade_firmware_ path and wait for device to reconnect
@@ -1136,10 +1140,10 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (firmware_update_success_) {
if (is_second_update) {
RCLCPP_INFO(logger_, "Second firmware update completed successfully!");
RCLCPP_INFO(logger_, "Second firmware update completed successfully");
is_reupdating_ = false;
} else {
RCLCPP_INFO(logger_, "Firmware update completed successfully!");
RCLCPP_INFO(logger_, "Firmware update completed successfully");
}
return;
}
@@ -1224,7 +1228,8 @@ bool OBCameraNodeDriver::applyForceIpConfig() {
RCLCPP_ERROR(logger_, "[ForceIP] Failed to apply config (SDK returned false)");
}
} catch (const ob::Error &e) {
RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s", orbbec_camera::formatObErrorWithStatus(e).c_str());
RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s",
orbbec_camera::formatObErrorWithStatus(e).c_str());
} catch (const std::exception &e) {
RCLCPP_ERROR(logger_, "[ForceIP] std::exception: %s", e.what());
} catch (...) {
@@ -1342,7 +1347,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
initializeDevice(device);
end_time = std::chrono::high_resolution_clock::now();
time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
RCLCPP_INFO_STREAM(logger_, "Initialize device cost " << time_cost.count() << " ms");
RCLCPP_DEBUG_STREAM(logger_, "Initialize device cost: " << time_cost.count() << " ms");
if (firmware_update_success_) {
firmware_update_success_ = false;
@@ -1364,7 +1369,8 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
ob_camera_node_->startStreams();
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(
logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));
start_device_failed = true;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.what());
@@ -1437,7 +1443,8 @@ void OBCameraNodeDriver::updatePresetFirmware(std::string path) {
}
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << e.what());
} catch (...) {