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refactor: improve logging levels and message clarity in camera node

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slz
2026-04-14 17:29:19 +08:00
parent 5a1ef0ded5
commit 911216ea07
2 changed files with 21 additions and 13 deletions
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orbbec_camera/src/ob_camera_node.cpp
+20 -12
View File
@@ -448,13 +448,15 @@ void OBCameraNode::setupDevices() {
} }
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
RCLCPP_INFO_STREAM(logger_, "Current G300 laser control: " RCLCPP_INFO_STREAM(logger_,
<< device_->getIntProperty(OB_PROP_LASER_CONTROL_INT)); "Current G300 laser control: "
<< (device_->getIntProperty(OB_PROP_LASER_CONTROL_INT) ? "ON" : "OFF"));
} }
if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(
"Current laser control: " << device_->getIntProperty(OB_PROP_LASER_BOOL)); logger_,
"Current laser control: " << (device_->getIntProperty(OB_PROP_LASER_BOOL) ? "ON" : "OFF"));
} }
if (!sync_mode_str_.empty()) { if (!sync_mode_str_.empty()) {
auto sync_config = device_->getMultiDeviceSyncConfig(); auto sync_config = device_->getMultiDeviceSyncConfig();
@@ -622,8 +624,10 @@ void OBCameraNode::setupDevices() {
} }
if (preset_value >= 0) { if (preset_value >= 0) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_PRESET_PRIORITY_INT, preset_value); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_PRESET_PRIORITY_INT, preset_value);
RCLCPP_INFO_STREAM(logger_, "Current color preset: " << device_->getIntProperty( RCLCPP_INFO_STREAM(logger_, "Current color preset: "
OB_PROP_COLOR_PRESET_PRIORITY_INT)); << (device_->getIntProperty(OB_PROP_COLOR_PRESET_PRIORITY_INT)
? "Warm Biased AWB"
: "Default"));
} }
} }
if (color_exposure_ != -1 && if (color_exposure_ != -1 &&
@@ -654,8 +658,10 @@ void OBCameraNode::setupDevices() {
int set_enable_color_auto_exposure_priority = enable_color_auto_exposure_priority_ ? 1 : 0; int set_enable_color_auto_exposure_priority = enable_color_auto_exposure_priority_ ? 1 : 0;
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT, TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT,
set_enable_color_auto_exposure_priority); set_enable_color_auto_exposure_priority);
RCLCPP_INFO_STREAM(logger_, "Current color auto exposure priority: " << device_->getIntProperty( RCLCPP_INFO_STREAM(
OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT)); logger_,
"Current color auto exposure priority: "
<< (device_->getIntProperty(OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT) ? "ON" : "OFF"));
} }
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_COLOR_AUTO_EXPOSURE_BOOL,
@@ -841,8 +847,10 @@ void OBCameraNode::setupDevices() {
int set_enable_depth_auto_exposure_priority = enable_depth_auto_exposure_priority_ ? 1 : 0; int set_enable_depth_auto_exposure_priority = enable_depth_auto_exposure_priority_ ? 1 : 0;
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT, TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT,
set_enable_depth_auto_exposure_priority); set_enable_depth_auto_exposure_priority);
RCLCPP_INFO_STREAM(logger_, "Current depth auto exposure priority: " << device_->getIntProperty( RCLCPP_INFO_STREAM(
OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT)); logger_,
"Current depth auto exposure priority: "
<< (device_->getIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT) ? "ON" : "OFF"));
} }
if (device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_); TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
@@ -1755,11 +1763,11 @@ void OBCameraNode::startStreams() {
} }
// enable interleave frame // enable interleave frame
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) { if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
RCLCPP_DEBUG_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_); RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
interleave_frame_enable_); interleave_frame_enable_);
RCLCPP_DEBUG_STREAM( RCLCPP_INFO_STREAM(
logger_, logger_,
"Enable enable_interleave_depth_frame to " "Enable enable_interleave_depth_frame to "
<< (device_->getBoolProperty(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL) ? "true" << (device_->getBoolProperty(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL) ? "true"
orbbec_camera/src/ob_camera_node_driver.cpp
+1 -1
View File
@@ -1338,7 +1338,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
initializeDevice(device); initializeDevice(device);
end_time = std::chrono::high_resolution_clock::now(); end_time = std::chrono::high_resolution_clock::now();
time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time); time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
RCLCPP_DEBUG_STREAM(logger_, "Initialize device cost: " << time_cost.count() << " ms"); RCLCPP_INFO_STREAM(logger_, "Initialize device cost: " << time_cost.count() << " ms");
if (firmware_update_success_) { if (firmware_update_success_) {
firmware_update_success_ = false; firmware_update_success_ = false;