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feat: bound and diagnose color frame queues

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This commit is contained in:
slz
2026-08-19 10:27:58 +08:00
parent ac4346468e
commit c141430c62
23 changed files with 244 additions and 42 deletions
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orbbec_camera/src/ros_service.cpp
+47
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@@ -121,6 +121,11 @@ std::string OBSyncModeToString(const OBMultiDeviceSyncMode& mode) {
void OBCameraNode::setupCameraCtrlServices() {
using std_srvs::srv::SetBool;
get_color_queue_stats_srv_ = node_->create_service<SetBool>(
"get_color_queue_stats", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
getColorQueueStatsCallback(request, response);
});
for (auto stream_index : IMAGE_STREAMS) {
if (!enable_stream_[stream_index]) {
continue;
@@ -458,6 +463,48 @@ void OBCameraNode::setupCameraCtrlServices() {
}
}
void OBCameraNode::getColorQueueStatsCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
const auto to_json = [](const ColorQueueStatsSnapshot& stats) {
return nlohmann::json{
{"capacity_frames", stats.capacity_frames},
{"queue_size", stats.queue_size},
{"max_queue_size", stats.max_queue_size},
{"overflow_count", stats.overflow_count},
{"oldest_queue_wait_ms", stats.oldest_queue_wait_ms},
{"max_queue_wait_ms", stats.max_queue_wait_ms},
};
};
nlohmann::json queues;
queues["color"] = to_json(getColorQueueStats(color_frame_queue_, color_frame_queue_lock_,
color_frame_queue_stats_,
color_frame_queue_max_frames_, request->data));
queues["left_color"] = to_json(getColorQueueStats(
left_color_frame_queue_, left_color_frame_queue_lock_, left_color_frame_queue_stats_,
left_color_frame_queue_max_frames_, request->data));
queues["right_color"] = to_json(getColorQueueStats(
right_color_frame_queue_, right_color_frame_queue_lock_, right_color_frame_queue_stats_,
right_color_frame_queue_max_frames_, request->data));
const uint64_t overflow_count = queues["color"]["overflow_count"].get<uint64_t>() +
queues["left_color"]["overflow_count"].get<uint64_t>() +
queues["right_color"]["overflow_count"].get<uint64_t>();
response->success = true;
response->message =
nlohmann::json{
{"namespace", node_->get_namespace()},
{"overflow_count", overflow_count},
{"statistics_reset", request->data},
{"queues", queues},
}
.dump();
} catch (const std::exception& error) {
response->success = false;
response->message = error.what();
}
}
void OBCameraNode::getPointCloudDecimationCallback(
const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) {