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refactor: update log messages for clarity and consistency

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This commit is contained in:
slz
2026-03-27 09:25:54 +08:00
parent bec918f73a
commit 87f30c70b1
2 changed files with 32 additions and 33 deletions
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orbbec_camera/src/ob_camera_node.cpp
+31 -31
View File
@@ -144,17 +144,17 @@ void OBCameraNode::setAndGetNodeParameter(
OBCameraNode::~OBCameraNode() noexcept { clean(); }
void OBCameraNode::rebootDevice() {
RCLCPP_INFO_STREAM(logger_, "Do clean before rebooting device");
RCLCPP_DEBUG_STREAM(logger_, "Cleaning before rebooting device");
malloc_trim(0);
clean();
malloc_trim(0);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "Reboot device");
RCLCPP_INFO_STREAM(logger_, "Rebooting device");
if (device_) {
device_->reboot();
}
malloc_trim(0);
RCLCPP_INFO_STREAM(logger_, "Reboot device DONE");
RCLCPP_DEBUG_STREAM(logger_, "Reboot device complete");
}
void OBCameraNode::clean() noexcept {
@@ -264,7 +264,7 @@ void OBCameraNode::clean() noexcept {
RCLCPP_DEBUG_STREAM(logger_, "Exception while cleaning up buffers");
}
RCLCPP_WARN_STREAM(logger_, "Do OBCameraNode clean DONE");
RCLCPP_DEBUG_STREAM(logger_, "OBCameraNode cleanup complete");
cleaning_.store(false);
}
@@ -318,11 +318,11 @@ void OBCameraNode::setupDevices() {
}
RCLCPP_INFO_STREAM(
logger_, "Setting preset resolution config to "
<< "width: " << presetResolutionConfig.width
<< ", height: " << presetResolutionConfig.height << ", ir decimation factor: "
<< presetResolutionConfig.irDecimationFactor << ", depth decimation factor: "
<< presetResolutionConfig.depthDecimationFactor);
logger_, "Set preset resolution config: "
<< "width=" << presetResolutionConfig.width
<< ", height=" << presetResolutionConfig.height
<< ", ir_decimation=" << presetResolutionConfig.irDecimationFactor
<< ", depth_decimation=" << presetResolutionConfig.depthDecimationFactor);
TRY_EXECUTE_BLOCK(device_->setStructuredData(OB_STRUCT_PRESET_RESOLUTION_CONFIG,
(uint8_t *)&presetResolutionConfig,
@@ -345,9 +345,8 @@ void OBCameraNode::setupDevices() {
for (const auto &[stream_index, enable] : enable_stream_) {
if (enable && sensors_.find(stream_index) == sensors_.end()) {
RCLCPP_INFO_STREAM(logger_,
magic_enum::enum_name(stream_index.first)
<< "sensor isn't supported by current device! -- Skipping...");
RCLCPP_WARN_STREAM(logger_, magic_enum::enum_name(stream_index.first)
<< " sensor not supported by current device, skipping");
enable_stream_[stream_index] = false;
}
}
@@ -366,9 +365,8 @@ void OBCameraNode::setupDevices() {
logger_,
"Current heartbeat: " << (device_->getBoolProperty(OB_PROP_HEARTBEAT_BOOL) ? "ON" : "OFF"));
}
RCLCPP_INFO_STREAM(logger_, "Setting firmware log to "
<< (enable_firmware_log_ ? "ON" : "OFF"));
device_->enableFirmwareLog(enable_firmware_log_);
RCLCPP_INFO_STREAM(logger_, "Set firmware log to " << (enable_firmware_log_ ? "ON" : "OFF"));
if (max_depth_limit_ > 0 &&
device_->isPropertySupported(OB_PROP_MAX_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_MAX_DEPTH_INT, max_depth_limit_);
@@ -394,7 +392,7 @@ void OBCameraNode::setupDevices() {
}
}
if (depth_registration_ && align_mode_ == "SW") {
RCLCPP_INFO_STREAM(logger_, "Create align filter");
RCLCPP_DEBUG_STREAM(logger_, "Create align filter");
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
if (sensors_.find(DEPTH) != sensors_.end() &&
@@ -403,17 +401,18 @@ void OBCameraNode::setupDevices() {
if (disparity_to_depth_mode_ == "HW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 1);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is HW");
RCLCPP_INFO_STREAM(logger_, "Disparity to depth mode: HW");
} else if (disparity_to_depth_mode_ == "SW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 1);
RCLCPP_INFO_STREAM(logger_, "Depth process is SW");
RCLCPP_INFO_STREAM(logger_, "Disparity to depth mode: SW");
} else if (disparity_to_depth_mode_ == "disable") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is disable");
RCLCPP_INFO_STREAM(logger_, "Disparity to depth mode: disabled");
} else {
RCLCPP_ERROR_STREAM(logger_, "Depth process is keep default");
RCLCPP_WARN_STREAM(logger_, "Unknown disparity to depth mode '%s', keeping default settings"
<< disparity_to_depth_mode_.c_str());
}
}
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
@@ -794,9 +793,10 @@ void OBCameraNode::setupDevices() {
}
if (isGemini335PID(pid_) &&
device_->isPropertySupported(OB_PROP_COLOR_ANTI_FLICKER_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_,
"Setting color anti-flicker to " << (color_anti_flicker_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_ANTI_FLICKER_BOOL, color_anti_flicker_);
RCLCPP_INFO_STREAM(
logger_, "Current color anti-flicker to "
<< (device_->getBoolProperty(OB_PROP_COLOR_ANTI_FLICKER_BOOL) ? "ON" : "OFF"));
}
if (!color_powerline_freq_.empty() &&
device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
@@ -1750,7 +1750,7 @@ void OBCameraNode::startStreams() {
device_->loadFrameInterleave("Laser On-Off");
init_interleave_laser_param();
} else {
RCLCPP_INFO_STREAM(logger_, "Set interleave mode to nothing");
RCLCPP_DEBUG_STREAM(logger_, "Set interleave mode to nothing");
}
// enable interleave frame
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
@@ -3236,9 +3236,9 @@ void OBCameraNode::setDepthAutoExposureROI() {
sizeof(config));
device_->getStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size);
RCLCPP_INFO_STREAM(logger_, "Setting depth AE ROI to "
<< config.x0_left << ", " << config.x1_right << ", "
<< config.y0_top << ", " << config.y1_bottom);
RCLCPP_INFO_STREAM(logger_, "Set depth AE ROI to " << config.x0_left << ", " << config.x1_right
<< ", " << config.y0_top << ", "
<< config.y1_bottom);
}
depth_roi_has_run = true;
}
@@ -3276,9 +3276,9 @@ void OBCameraNode::setColorAutoExposureROI() {
sizeof(config));
device_->getStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<uint8_t *>(&config),
&data_size);
RCLCPP_INFO_STREAM(logger_, "Setting color AE ROI to "
<< config.x0_left << ", " << config.x1_right << ", "
<< config.y0_top << ", " << config.y1_bottom);
RCLCPP_INFO_STREAM(logger_, "Set color AE ROI to " << config.x0_left << ", " << config.x1_right
<< ", " << config.y0_top << ", "
<< config.y1_bottom);
}
color_roi_has_run = true;
}
@@ -3477,7 +3477,7 @@ void OBCameraNode::onNewColorFrameCallback() {
color_frame_queue_.pop();
}
RCLCPP_INFO_STREAM(logger_, "Color frame thread exit!");
RCLCPP_DEBUG_STREAM(logger_, "Color frame thread exit!");
}
void OBCameraNode::onNewLeftColorFrameCallback() {
@@ -3495,7 +3495,7 @@ void OBCameraNode::onNewLeftColorFrameCallback() {
onNewFrameCallback(frameSet->getFrame(OB_FRAME_COLOR_LEFT), COLOR_LEFT);
left_color_frame_queue_.pop();
}
RCLCPP_INFO_STREAM(logger_, "Left Color frame thread exit!");
RCLCPP_DEBUG_STREAM(logger_, "Left Color frame thread exit!");
}
void OBCameraNode::onNewRightColorFrameCallback() {
@@ -3513,7 +3513,7 @@ void OBCameraNode::onNewRightColorFrameCallback() {
onNewFrameCallback(frameSet->getFrame(OB_FRAME_COLOR_RIGHT), COLOR_RIGHT);
right_color_frame_queue_.pop();
}
RCLCPP_INFO_STREAM(logger_, "Right Color frame thread exit!");
RCLCPP_DEBUG_STREAM(logger_, "Right Color frame thread exit!");
}
std::shared_ptr<ob::Frame> OBCameraNode::softwareDecodeColorFrame(
orbbec_camera/src/ob_lidar_node.cpp
+1 -2
View File
@@ -207,9 +207,8 @@ void OBLidarNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
}
RCLCPP_INFO_STREAM(logger_, "Setting firmware log to "
<< (enable_firmware_log_ ? "ON" : "OFF"));
device_->enableFirmwareLog(enable_firmware_log_);
RCLCPP_INFO_STREAM(logger_, "Set firmware log to " << (enable_firmware_log_ ? "ON" : "OFF"));
if (!echo_mode_.empty() &&
device_->isPropertySupported(OB_PROP_LIDAR_SPECIFIC_MODE_INT, OB_PERMISSION_READ_WRITE)) {
if (echo_mode_ == "Last Echo") {