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feat: implement stream status tracking and update device status message structure

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This commit is contained in:
ob-yalian
2026-09-21 15:45:46 +08:00
parent 80f9a24778
commit c1eda5e187
10 changed files with 246 additions and 299 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+5 -26
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@@ -442,8 +442,7 @@ void OBCameraNodeDriver::init() {
CHECK_NOTNULL(check_connect_timer_);
if (device_type_ == "camera") {
device_status_timer_ =
this->create_wall_timer(std::chrono::milliseconds(1000 / device_status_interval_hz),
[this]() { deviceStatusTimer(); });
this->create_wall_timer(std::chrono::seconds(1), [this]() { deviceStatusTimer(); });
auto qos = rclcpp::QoS(1).transient_local();
if (node_options_.use_intra_process_comms()) {
qos = rclcpp::QoS(1);
@@ -714,6 +713,10 @@ void OBCameraNodeDriver::deviceStatusTimer() {
status_msg.calibration_from_launch_param = false;
status_msg.customer_calibration_ready = false;
if (ob_camera_node_) {
ob_camera_node_->fillStreamStatus(status_msg);
}
// Flag to track if device communication error occurs
bool device_communication_error = false;
@@ -725,30 +728,6 @@ void OBCameraNodeDriver::deviceStatusTimer() {
if (reset_lock.owns_lock() && !reset_device_flag_) {
// Only get device-specific info if we have a valid camera node and device
if (ob_camera_node_) {
// Safely get color and depth status - these may access device
try {
ob_camera_node_->getColorStatus(status_msg);
ob_camera_node_->getDepthStatus(status_msg);
} catch (const ob::Error &e) {
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) {
RCLCPP_WARN(
logger_,
"Device communication error in %s at line %d: %s - Device may be disconnected",
__FUNCTION__, __LINE__, error_msg.c_str());
device_communication_error = true;
} else {
RCLCPP_ERROR(logger_, "Error in %s at line %d: %s", __FUNCTION__, __LINE__,
error_msg.c_str());
}
} catch (const std::exception &e) {
RCLCPP_ERROR(logger_, "Exception in %s at line %d: %s", __FUNCTION__, __LINE__, e.what());
} catch (...) {
RCLCPP_ERROR(logger_, "Unknown exception in %s at line %d", __FUNCTION__, __LINE__);
}
// These should be safe as they don't directly access hardware
status_msg.calibration_from_launch_param = ob_camera_node_->isParamCalibrated();
}