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updata libOrbbecSDK.so , ob_camera_node and CMakeLists.txt

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This commit is contained in:
jj
2024-09-04 12:47:36 +08:00
parent 3cd3a7fdd3
commit 9f764c8e57
58 changed files with 6218 additions and 5345 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+26 -117
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@@ -15,7 +15,6 @@
*******************************************************************************/
#include "orbbec_camera/ob_camera_node_driver.h"
#include "orbbec_camera/utils.h"
#include <fcntl.h>
#include <semaphore.h>
#include <sys/shm.h>
@@ -24,56 +23,10 @@
#include <csignal>
#include <sys/mman.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <iomanip> // For std::put_time
std::string g_camera_name = "orbbec_camera"; // Assuming this is declared elsewhere
void signalHandler(int sig) {
std::cout << "Received signal: " << sig << std::endl;
std::string log_dir = "Log/";
// get current time
std::time_t now = std::time(nullptr);
std::tm *local_time = std::localtime(&now);
// format date and time to string, format as "2024_05_20_12_34_56"
std::ostringstream time_stream;
time_stream << std::put_time(local_time, "%Y_%m_%d_%H_%M_%S");
// generate log file name
std::string log_file_name = g_camera_name + "_crash_stack_trace_" + time_stream.str() + ".log";
std::string log_file_path = log_dir + log_file_name;
if (!std::filesystem::exists(log_dir)) {
std::filesystem::create_directories(log_dir);
}
std::cout << "Log crash stack trace to " << log_file_path << std::endl;
std::ofstream log_file(log_file_path, std::ios::app);
if (log_file.is_open()) {
log_file << "Received signal: " << sig << std::endl;
backward::StackTrace st;
st.load_here(32); // Capture stack
backward::Printer p;
p.print(st, log_file); // Print stack to log file
}
log_file.close();
exit(sig); // Exit program
}
namespace orbbec_camera {
backward::SignalHandling OBCameraNodeDriver::sh;
OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
: Node("orbbec_camera_node", "/", node_options),
node_options_(node_options),
config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
"/config/OrbbecSDKConfig_v1.0.xml"),
ctx_(std::make_unique<ob::Context>(config_path_.c_str())),
@@ -84,7 +37,6 @@ OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
OBCameraNodeDriver::OBCameraNodeDriver(const std::string &node_name, const std::string &ns,
const rclcpp::NodeOptions &node_options)
: Node(node_name, ns, node_options),
node_options_(node_options),
ctx_(std::make_unique<ob::Context>()),
logger_(this->get_logger()) {
init();
@@ -105,15 +57,10 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
}
void OBCameraNodeDriver::init() {
signal(SIGSEGV, signalHandler); // segment fault
signal(SIGABRT, signalHandler); // abort
signal(SIGFPE, signalHandler); // float point exception
signal(SIGILL, signalHandler); // illegal instruction
auto log_level_str = declare_parameter<std::string>("log_level", "none");
auto log_level = obLogSeverityFromString(log_level_str);
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);
g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
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) {
@@ -162,7 +109,7 @@ void OBCameraNodeDriver::init() {
void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList> &device_list) {
CHECK_NOTNULL(device_list);
if (device_list->deviceCount() == 0) {
if (device_list->getCount() == 0) {
return;
}
if (!device_) {
@@ -172,13 +119,13 @@ void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList>
void OBCameraNodeDriver::onDeviceDisconnected(const std::shared_ptr<ob::DeviceList> &device_list) {
CHECK_NOTNULL(device_list);
if (device_list->deviceCount() == 0) {
if (device_list->getCount() == 0) {
return;
}
RCLCPP_INFO_STREAM(logger_, "onDeviceDisconnected");
for (size_t i = 0; i < device_list->deviceCount(); i++) {
std::string uid = device_list->uid(i);
std::string serial_number = device_list->serialNumber(i);
for (size_t i = 0; i < device_list->getCount(); i++) {
std::string uid = device_list->getUid(i);
std::string serial_number = device_list->getSerialNumber(i);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "device with " << uid << " disconnected");
if (uid == device_unique_id_ || serial_number_ == serial_number) {
@@ -224,7 +171,7 @@ void OBCameraNodeDriver::queryDevice() {
connectNetDevice(net_device_ip_, net_device_port_);
} else {
auto device_list = ctx_->queryDeviceList();
if (device_list->deviceCount() == 0) {
if (device_list->getCount() == 0) {
RCLCPP_INFO_STREAM(logger_,
"queryDevice :No Device found, using usb event to trigger "
"OBCameraNodeDriver::onDeviceConnected");
@@ -302,23 +249,23 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
std::string lower_sn;
std::transform(serial_number.begin(), serial_number.end(), std::back_inserter(lower_sn),
[](auto ch) { return isalpha(ch) ? tolower(ch) : static_cast<int>(ch); });
for (size_t i = 0; i < list->deviceCount(); i++) {
for (size_t i = 0; i < list->getCount(); i++) {
RCLCPP_INFO_STREAM(logger_, "Before lock: Select device serial number: " << serial_number);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "After lock: Select device serial number: " << serial_number);
try {
auto pid = list->pid(i);
auto pid = list->getPid(i);
if (isOpenNIDevice(pid)) {
// openNI device
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
if (device_info->serialNumber() == serial_number) {
if (device_info->getSerialNumber() == serial_number) {
RCLCPP_INFO_STREAM(logger_,
"Device serial number " << device_info->serialNumber() << " matched");
"Device serial number " << device_info->getSerialNumber() << " matched");
return device;
}
} else {
std::string sn = list->serialNumber(i);
std::string sn = list->getSerialNumber(i);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000, "Device serial number: " << sn);
if (sn == serial_number) {
RCLCPP_INFO_STREAM(logger_, "Device serial number " << sn << " matched");
@@ -344,14 +291,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "After lock: Select device usb port: " << usb_port);
auto device = list->getDeviceByUid(usb_port.c_str());
if (device) {
RCLCPP_INFO_STREAM(logger_, "getDeviceByUid device usb port " << usb_port << " done");
} else {
RCLCPP_ERROR_STREAM(logger_, "getDeviceByUid device usb port " << usb_port << " failed");
RCLCPP_ERROR_STREAM(logger_,
"Please use script to get usb port: "
"ros2 run orbbec_camera list_devices_node");
}
RCLCPP_INFO_STREAM(logger_, "Device usb port " << usb_port << " done");
return device;
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.getMessage());
@@ -371,64 +311,33 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (ob_camera_node_) {
ob_camera_node_.reset();
}
int retry_count = 0;
constexpr int max_retries = 3;
bool initialized = false;
device_info_ = device_->getDeviceInfo();
RCLCPP_INFO_STREAM(logger_, "Try to connect device via " << device_info_->connectionType());
while (retry_count < max_retries && !initialized) {
try {
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_,
node_options_.use_intra_process_comms());
initialized = true;
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt "
<< retry_count + 1 << " of " << max_retries
<< "): " << e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt " << retry_count + 1
<< " of " << max_retries
<< "): " << e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt "
<< retry_count + 1 << " of " << max_retries << ")");
}
retry_count++;
}
if (!initialized) {
RCLCPP_ERROR_STREAM(logger_,
"Device initialization failed after " << max_retries << " attempts.");
throw std::runtime_error("Device initialization failed after " + std::to_string(max_retries) +
" attempts.");
}
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_);
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
device_connected_ = true;
serial_number_ = device_info_->serialNumber();
device_info_ = device_->getDeviceInfo();
serial_number_ = device_info_->getSerialNumber();
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->uid();
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
device_unique_id_ = device_info_->getUid();
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->getPid())) {
device_->timerSyncWithHost();
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
if (device_) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
device_->timerSyncWithHost();
}
});
}
RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->name() << " connected");
RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->serialNumber());
RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->firmwareVersion());
RCLCPP_INFO_STREAM(logger_, "Hardware version: " << device_info_->hardwareVersion());
RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->getName() << " connected");
RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->getSerialNumber());
RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->getFirmwareVersion());
RCLCPP_INFO_STREAM(logger_, "Hardware version: " << device_info_->getHardwareVersion());
RCLCPP_INFO_STREAM(logger_, "device unique id: " << device_unique_id_);
RCLCPP_INFO_STREAM(logger_, "Current node pid: " << getpid());
RCLCPP_INFO_STREAM(logger_, "usb connect type: " << device_info_->connectionType());
RCLCPP_INFO_STREAM(logger_, "usb connect type: " << device_info_->getConnectionType());
auto time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start_time_);
RCLCPP_INFO_STREAM(logger_, "Start device cost " << time_cost.count() << " ms");
} // namespace orbbec_camera
}
void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int net_device_port) {
if (net_device_ip.empty() || net_device_port == 0) {
@@ -448,7 +357,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
if (device_connected_) {
return;
}
if (list->deviceCount() == 0) {
if (list->getCount() == 0) {
RCLCPP_WARN(logger_, "No device found");
return;
}