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Fixed connect device

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This commit is contained in:
Joe Dong
2024-04-13 15:45:10 +08:00
parent 5a87a99a07
commit 7edf4c3d49
1 changed files with 6 additions and 3 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+6 -3
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@@ -61,7 +61,7 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
void OBCameraNodeDriver::init() {
auto log_level_str = declare_parameter<std::string>("log_level", "none");
auto log_level = obLogSeverityFromString(log_level_str);
connection_delay_ = declare_parameter<int>("connection_delay", 100);
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
ob::Context::setLoggerToConsole(log_level);
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) {
@@ -165,13 +165,15 @@ void OBCameraNodeDriver::checkConnectTimer() {
}
void OBCameraNodeDriver::queryDevice() {
if (!device_connected_.load()) {
while (is_alive_ && rclcpp::ok() && !device_connected_.load()) {
if (!net_device_ip_.empty() && net_device_port_ != 0) {
connectNetDevice(net_device_ip_, net_device_port_);
} else {
auto device_list = ctx_->queryDeviceList();
if (device_list->deviceCount() == 0) {
RCLCPP_INFO_STREAM(logger_, "queryDevice : No device found");
RCLCPP_INFO_STREAM(logger_,
"queryDevice :No Device found, using usb event to trigger "
"OBCameraNodeDriver::onDeviceConnected");
return;
}
startDevice(device_list);
@@ -325,6 +327,7 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
RCLCPP_ERROR_STREAM(logger_, "Invalid net device ip or port");
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(connection_delay_));
auto device = ctx_->createNetDevice(net_device_ip.c_str(), net_device_port);
if (device == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Failed to connect to net device " << net_device_ip);