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fix: improve device status publisher initialization and firmware update logic

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This commit is contained in:
ob-yalian
2025-12-11 14:32:56 +08:00
parent 6a50737ed6
commit 765394f260
1 changed files with 23 additions and 16 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+23 -16
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@@ -283,13 +283,13 @@ void OBCameraNodeDriver::init() {
device_status_timer_ =
this->create_wall_timer(std::chrono::milliseconds(1000 / device_status_interval_hz),
[this]() { deviceStatusTimer(); });
auto qos = rclcpp::QoS(1).transient_local();
if (node_options_.use_intra_process_comms()) {
qos = rclcpp::QoS(1);
}
device_status_pub_ =
this->create_publisher<orbbec_camera_msgs::msg::DeviceStatus>("device_status", qos);
}
auto qos = rclcpp::QoS(1).transient_local();
if (node_options_.use_intra_process_comms()) {
qos = rclcpp::QoS(1);
}
device_status_pub_ =
this->create_publisher<orbbec_camera_msgs::msg::DeviceStatus>("device_status", qos);
query_thread_ = std::make_shared<std::thread>([this]() { queryDevice(); });
reset_device_thread_ = std::make_shared<std::thread>([this]() { resetDevice(); });
}
@@ -956,7 +956,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->getUid();
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid()) && device_type_ == "camera") {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
if (g_time_domain != "global") {
sync_host_time_timer_ = this->create_wall_timer(time_sync_period_, [this]() {
@@ -1027,16 +1027,23 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (!upgrade_firmware_.empty()) {
firmware_update_success_ = false;
TRY_EXECUTE_BLOCK({
ob_camera_node_->withDeviceLock([&]() {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
if (ob_camera_node_) {
TRY_EXECUTE_BLOCK({
ob_camera_node_->withDeviceLock([&]() {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
});
});
});
} else if (ob_lidar_node_) {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
}
if (firmware_update_success_) {
return;
}