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fixed race condition

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This commit is contained in:
Joe Dong
2024-05-09 17:07:43 +08:00
parent 27be98d972
commit b205cfdf86
4 changed files with 86 additions and 48 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+7 -3
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@@ -160,6 +160,8 @@ class OBCameraNode {
void setupProfiles();
void updateImageConfig(const stream_index_pair& stream_index);
void printSensorProfiles(const std::shared_ptr<ob::Sensor>& sensor);
void selectBaseStream();
@@ -414,6 +416,7 @@ class OBCameraNode {
bool enable_point_cloud_ = true;
bool enable_colored_point_cloud_ = false;
sensor_msgs::msg::PointCloud2 point_cloud_msg_;
std::recursive_mutex point_cloud_mutex_;
orbbec_camera_msgs::msg::DeviceInfo device_info_;
std::string point_cloud_qos_;
@@ -476,10 +479,10 @@ class OBCameraNode {
bool is_color_frame_decoded_ = false;
std::mutex device_lock_;
// For color
std::queue<std::shared_ptr<ob::FrameSet>> colorFrameQueue_;
std::queue<std::shared_ptr<ob::FrameSet>> color_frame_queue_;
std::shared_ptr<std::thread> colorFrameThread_ = nullptr;
std::mutex colorFrameMtx_;
std::condition_variable colorFrameCV_;
std::mutex color_frame_queue_lock_;
std::condition_variable color_frame_queue_cv_;
bool ordered_pc_ = false;
bool use_hardware_time_ = true;
@@ -520,5 +523,6 @@ class OBCameraNode {
std::unique_ptr<ob::Align> align_filter_ = nullptr;
OBStreamType align_target_stream_ = OB_STREAM_COLOR;
bool retry_on_usb3_detection_failure_ = false;
std::atomic_bool is_camera_node_initialized_{false};
};
} // namespace orbbec_camera