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refactor: change log level from WARN to DEBUG in OBCameraNode cleanup and stream management

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This commit is contained in:
slz
2026-03-26 17:05:23 +08:00
parent e8300f6ebc
commit bec918f73a
1 changed files with 18 additions and 18 deletions
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orbbec_camera/src/ob_camera_node.cpp
+18 -18
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@@ -190,19 +190,19 @@ void OBCameraNode::clean() noexcept {
// Now acquire the device lock for the rest of the cleanup
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_WARN_STREAM(logger_, "Do OBCameraNode clean");
RCLCPP_DEBUG_STREAM(logger_, "Do OBCameraNode clean");
RCLCPP_WARN_STREAM(logger_, "Stop tf thread");
RCLCPP_DEBUG_STREAM(logger_, "Stop tf thread");
try {
if (tf_thread_ && tf_thread_->joinable()) {
tf_cv_.notify_all(); // Wake up tf thread if it's waiting
tf_thread_->join();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while stopping tf thread");
RCLCPP_DEBUG_STREAM(logger_, "Exception while stopping tf thread");
}
RCLCPP_WARN_STREAM(logger_, "Stop color frame thread");
RCLCPP_DEBUG_STREAM(logger_, "Stop color frame thread");
try {
if (colorFrameThread_ && colorFrameThread_->joinable()) {
color_frame_queue_cv_.notify_all();
@@ -217,10 +217,10 @@ void OBCameraNode::clean() noexcept {
rightColorFrameThread_->join();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while stopping color frame thread");
RCLCPP_DEBUG_STREAM(logger_, "Exception while stopping color frame thread");
}
RCLCPP_WARN_STREAM(logger_, "stop streams");
RCLCPP_DEBUG_STREAM(logger_, "stop streams");
try {
stopStreams();
stopIMU();
@@ -229,20 +229,20 @@ void OBCameraNode::clean() noexcept {
frame_info_logged_.clear();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while stopping streams");
RCLCPP_DEBUG_STREAM(logger_, "Exception while stopping streams");
}
// Clean up d2c_viewer_ before cleaning buffers
RCLCPP_WARN_STREAM(logger_, "Clean d2c_viewer");
RCLCPP_DEBUG_STREAM(logger_, "Clean d2c_viewer");
try {
if (d2c_viewer_) {
d2c_viewer_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while cleaning up d2c_viewer");
RCLCPP_DEBUG_STREAM(logger_, "Exception while cleaning up d2c_viewer");
}
RCLCPP_WARN_STREAM(logger_, "Clean up buffers");
RCLCPP_DEBUG_STREAM(logger_, "Clean up buffers");
try {
delete[] rgb_buffer_;
rgb_buffer_ = nullptr;
@@ -261,7 +261,7 @@ void OBCameraNode::clean() noexcept {
jpeg_decoder_right_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while cleaning up buffers");
RCLCPP_DEBUG_STREAM(logger_, "Exception while cleaning up buffers");
}
RCLCPP_WARN_STREAM(logger_, "Do OBCameraNode clean DONE");
@@ -1754,11 +1754,11 @@ void OBCameraNode::startStreams() {
}
// enable interleave frame
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
RCLCPP_DEBUG_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
interleave_frame_enable_);
RCLCPP_INFO_STREAM(
RCLCPP_DEBUG_STREAM(
logger_,
"Enable enable_interleave_depth_frame to "
<< (device_->getBoolProperty(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL) ? "true"
@@ -1854,7 +1854,7 @@ void OBCameraNode::stopStreams() {
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
if (!pipeline_started_ || !pipeline_) {
RCLCPP_INFO_STREAM(logger_, "pipeline not started or not exist, skip stop pipeline");
RCLCPP_DEBUG_STREAM(logger_, "pipeline not started or not exist, skip stop pipeline");
return;
}
@@ -1882,12 +1882,12 @@ void OBCameraNode::stopStreams() {
// disable interleave frame only if device is still connected
if ((interleave_ae_mode_ == "hdr") || (interleave_ae_mode_ == "laser")) {
try {
RCLCPP_INFO_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
RCLCPP_DEBUG_STREAM(logger_, "current interleave_ae_mode_: " << interleave_ae_mode_);
if (device_->isPropertySupported(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
OB_PERMISSION_WRITE)) {
interleave_frame_enable_ = false;
RCLCPP_INFO_STREAM(logger_, "Enable enable_interleave_depth_frame to "
<< (interleave_frame_enable_ ? "true" : "false"));
RCLCPP_DEBUG_STREAM(logger_, "Enable enable_interleave_depth_frame to "
<< (interleave_frame_enable_ ? "true" : "false"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
interleave_frame_enable_);
}
@@ -2580,7 +2580,7 @@ void OBCameraNode::setupPipelineConfig() {
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {
RCLCPP_INFO_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream");
RCLCPP_DEBUG_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream");
auto profile = stream_profile_[stream_index]->as<ob::VideoStreamProfile>();
if (stream_index == COLOR && align_target_stream_ == OB_STREAM_COLOR && align_filter_) {