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fix: rename delay_stream_start_after_reboot to delay_stream_start_after_reconnect

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This commit is contained in:
ob-yalian
2026-07-14 11:34:03 +08:00
parent 0fb04ce00c
commit ad6045912e
2 changed files with 7 additions and 6 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+6 -5
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@@ -37,7 +37,7 @@
std::string g_camera_name = "orbbec_camera"; // Assuming this is declared elsewhere
std::string g_time_domain = "global"; // Assuming this is declared elsewhere
namespace {
constexpr auto kStreamStartDelayAfterReboot = std::chrono::seconds(5);
constexpr auto kStreamStartDelayAfterReconnect = std::chrono::seconds(5);
std::string getLogDirectoryForCamera(const std::string &camera_name) {
const char *log_dir_override = std::getenv("ORBBEC_LOG_DIR");
@@ -477,6 +477,7 @@ void OBCameraNodeDriver::onDeviceDisconnected(const std::shared_ptr<ob::DeviceLi
if (uid == device_unique_id_ || serial_number_ == serial_number) {
RCLCPP_INFO_STREAM(logger_,
"device with " << uid << " disconnected, notify reset device thread");
delay_stream_start_after_reconnect_ = true;
reset_device_flag_ = true;
reset_device_cond_.notify_all();
break;
@@ -907,7 +908,7 @@ void OBCameraNodeDriver::rebootDeviceCallback(
} else {
std::string current_device_uid = device_unique_id_;
RCLCPP_INFO_STREAM(logger_, "Rebooting device with UID: " << current_device_uid);
delay_stream_start_after_reboot_ = true;
delay_stream_start_after_reconnect_ = true;
if (ob_lidar_node_) {
ob_lidar_node_->rebootDevice();
} else if (ob_camera_node_) {
@@ -1332,10 +1333,10 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
}
}
const bool should_delay_stream_start = delay_stream_start_after_reboot_.exchange(false) &&
const bool should_delay_stream_start = delay_stream_start_after_reconnect_.exchange(false) &&
isGemini305SeriesPID(device_info_->getPid());
if (should_delay_stream_start) {
std::this_thread::sleep_for(kStreamStartDelayAfterReboot);
std::this_thread::sleep_for(kStreamStartDelayAfterReconnect);
}
if (ob_camera_node_) {
@@ -1748,7 +1749,7 @@ void OBCameraNodeDriver::firmwareUpdateCallback(OBFwUpdateState state, const cha
RCLCPP_WARN_STREAM(logger_, "Exception during sync timer cleanup in firmware update");
}
}
delay_stream_start_after_reboot_ = true;
delay_stream_start_after_reconnect_ = true;
device_->reboot();
} else if (ob_lidar_node_) {
ob_lidar_node_.reset();