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Enhance error handling by formatting error messages

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This commit is contained in:
ob-yalian
2026-04-01 20:52:46 +08:00
parent ad55f90bcc
commit b82fc0c267
9 changed files with 108 additions and 92 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+13 -13
View File
@@ -217,7 +217,7 @@ void OBCameraNodeDriver::init() {
ob::Context::setLoggerFileName(log_file_name);
RCLCPP_INFO_STREAM(logger_, "SDK log file name set to: " << log_file_name);
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: " << e.getMessage());
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: " << orbbec_camera::formatObErrorWithStatus(e));
}
}
// Force IP
@@ -528,7 +528,7 @@ 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());
RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Standard exception during device reset: " << e.what());
} catch (...) {
@@ -586,7 +586,7 @@ void OBCameraNodeDriver::deviceStatusTimer() {
ob_camera_node_->getColorStatus(status_msg);
ob_camera_node_->getDepthStatus(status_msg);
} catch (const ob::Error &e) {
std::string error_msg = e.getMessage() ? e.getMessage() : "Unknown OB error";
std::string error_msg = orbbec_camera::formatObErrorWithStatus(e);
if (error_msg.find("Device is deactivated") != std::string::npos ||
error_msg.find("disconnected") != std::string::npos ||
error_msg.find("Send control transfer failed") != std::string::npos) {
@@ -615,7 +615,7 @@ void OBCameraNodeDriver::deviceStatusTimer() {
status_msg.connection_type = device_info_->getConnectionType();
}
} catch (const ob::Error &e) {
std::string error_msg = e.getMessage() ? e.getMessage() : "Unknown OB error";
std::string error_msg = orbbec_camera::formatObErrorWithStatus(e);
if (error_msg.find("Device is deactivated") != std::string::npos ||
error_msg.find("disconnected") != std::string::npos ||
error_msg.find("Send control transfer failed") != std::string::npos) {
@@ -642,7 +642,7 @@ void OBCameraNodeDriver::deviceStatusTimer() {
status_msg.calibration_from_factory = calibration_from_factory;
}
} catch (const ob::Error &e) {
std::string error_msg = e.getMessage() ? e.getMessage() : "Unknown OB error";
std::string error_msg = orbbec_camera::formatObErrorWithStatus(e);
if (error_msg.find("Device is deactivated") != std::string::npos ||
error_msg.find("disconnected") != std::string::npos ||
error_msg.find("Send control transfer failed") != std::string::npos) {
@@ -681,7 +681,7 @@ void OBCameraNodeDriver::deviceStatusTimer() {
status_msg.customer_calibration_ready = false;
}
} catch (const ob::Error &e) {
std::string error_msg = e.getMessage() ? e.getMessage() : "Unknown OB error";
std::string error_msg = orbbec_camera::formatObErrorWithStatus(e);
if (error_msg.find("Device is deactivated") != std::string::npos ||
error_msg.find("disconnected") != std::string::npos ||
error_msg.find("Send control transfer failed") != std::string::npos) {
@@ -839,7 +839,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.getMessage());
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
@@ -872,7 +872,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
return device;
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.getMessage());
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
@@ -908,7 +908,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.getMessage());
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
continue;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
@@ -953,7 +953,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt "
<< retry_count + 1 << " of " << max_retries
<< "): " << e.getMessage());
<< "): " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt " << retry_count + 1
<< " of " << max_retries
@@ -1180,7 +1180,7 @@ bool OBCameraNodeDriver::applyForceIpConfig() {
RCLCPP_ERROR(logger_, "[ForceIP] Failed to apply config (SDK returned false)");
}
} catch (const ob::Error &e) {
RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s", e.getMessage());
RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s", orbbec_camera::formatObErrorWithStatus(e).c_str());
} catch (const std::exception &e) {
RCLCPP_ERROR(logger_, "[ForceIP] std::exception: %s", e.what());
} catch (...) {
@@ -1320,7 +1320,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
ob_camera_node_->startStreams();
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.getMessage());
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));
start_device_failed = true;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.what());
@@ -1393,7 +1393,7 @@ void OBCameraNodeDriver::updatePresetFirmware(std::string path) {
}
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << e.getMessage());
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << e.what());
} catch (...) {