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Set the device timestamp to 60 seconds

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jj
2025-02-25 10:34:15 +08:00
parent 06713c9e48
commit 67e3c3970b
1 changed files with 9 additions and 0 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+9
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@@ -31,6 +31,7 @@
#include <iomanip> // For std::put_time #include <iomanip> // For std::put_time
std::string g_camera_name = "orbbec_camera"; // Assuming this is declared elsewhere std::string g_camera_name = "orbbec_camera"; // Assuming this is declared elsewhere
std::string g_time_domain = "global"; // Assuming this is declared elsewhere
void signalHandler(int sig) { void signalHandler(int sig) {
std::cout << "Received signal: " << sig << std::endl; std::cout << "Received signal: " << sig << std::endl;
@@ -129,6 +130,7 @@ void OBCameraNodeDriver::init() {
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100)); connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true); enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);
g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name); g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
g_time_domain = declare_parameter<std::string>("time_domain", g_time_domain);
ob::Context::setLoggerToConsole(log_level); ob::Context::setLoggerToConsole(log_level);
orb_device_lock_shm_fd_ = shm_open(ORB_DEFAULT_LOCK_NAME.c_str(), O_CREAT | O_RDWR, 0666); orb_device_lock_shm_fd_ = shm_open(ORB_DEFAULT_LOCK_NAME.c_str(), O_CREAT | O_RDWR, 0666);
if (orb_device_lock_shm_fd_ < 0) { if (orb_device_lock_shm_fd_ < 0) {
@@ -439,6 +441,13 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) { if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost()); TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
if (g_time_domain != "global") {
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(60000), [this]() {
if (device_) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
}
});
}
} }
RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->getName() << " connected"); RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->getName() << " connected");