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Fix onTemperatureUpdate error

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This commit is contained in:
xiexun
2025-09-05 17:11:07 +08:00
parent 5b47280625
commit 90d54a2e6f
4 changed files with 72 additions and 29 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+20 -1
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@@ -223,6 +223,8 @@ void OBCameraNodeDriver::init() {
orb_device_lock_ = (pthread_mutex_t *)orb_device_lock_shm_addr_;
pthread_mutex_init(orb_device_lock_, &orb_device_lock_attr_);
is_alive_.store(true);
// Initialize the reset device completion time to allow immediate device connection on startup
last_reset_device_completion_time_ = std::chrono::steady_clock::now() - std::chrono::seconds(10);
parameters_ = std::make_shared<Parameters>(this);
serial_number_ = declare_parameter<std::string>("serial_number", "");
device_num_ = static_cast<int>(declare_parameter<int>("device_num", 1));
@@ -385,6 +387,18 @@ void OBCameraNodeDriver::queryDevice() {
// If device is already connected, skip connection attempt
if (!device_connected_.load()) {
// Check if sufficient time has passed since last reset device completion
auto now = std::chrono::steady_clock::now();
auto time_since_last_reset = std::chrono::duration_cast<std::chrono::seconds>(
now - last_reset_device_completion_time_);
if (time_since_last_reset.count() < 10) {
RCLCPP_DEBUG_STREAM(logger_, "queryDevice: Only " << time_since_last_reset.count()
<< " seconds since last reset completion, waiting before starting device...");
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
continue;
}
if (!enumerate_net_device_ && !net_device_ip_.empty() && net_device_port_ != 0) {
connectNetDevice(net_device_ip_, net_device_port_);
} else {
@@ -462,8 +476,12 @@ void OBCameraNodeDriver::resetDevice() {
}
device_.reset();
RCLCPP_INFO_STREAM(logger_, "device_ reset completed");
} catch (const ob::Error& e) {
RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: " << e.getMessage());
} catch (const std::exception& e) {
RCLCPP_WARN_STREAM(logger_, "Standard exception during device reset: " << e.what());
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception during device reset");
RCLCPP_WARN_STREAM(logger_, "Unknown exception during device reset");
}
}
@@ -480,6 +498,7 @@ void OBCameraNodeDriver::resetDevice() {
device_unique_id_.clear();
}
reset_device_flag_ = false;
last_reset_device_completion_time_ = std::chrono::steady_clock::now();
}
reset_device_cond_.notify_all();
malloc_trim(0);