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feat: add StreamConfigurationError exception handling for stream setup

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This commit is contained in:
ob-yalian
2026-09-21 15:43:33 +08:00
parent 80f9a24778
commit d28886c9a1
4 changed files with 62 additions and 39 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+19 -1
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@@ -480,6 +480,10 @@ void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList>
return;
}
if (stream_configuration_error_.load()) {
return;
}
if (!device_) {
startDevice(device_list);
}
@@ -552,6 +556,10 @@ void OBCameraNodeDriver::checkConnectTimer() {
void OBCameraNodeDriver::queryDevice() {
while (is_alive_ && rclcpp::ok()) {
if (stream_configuration_error_.load()) {
return;
}
// Check if device reset is in progress before attempting to connect
{
std::unique_lock<decltype(reset_device_mutex_)> reset_lock(reset_device_mutex_);
@@ -1204,6 +1212,12 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
}
initialized = true;
} catch (const StreamConfigurationError &e) {
if (!stream_configuration_error_.exchange(true)) {
RCLCPP_ERROR_STREAM(logger_, "Invalid stream configuration; shutting down: " << e.what());
rclcpp::shutdown();
}
throw;
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device (Attempt "
<< retry_count + 1 << " of " << max_retries
@@ -1507,6 +1521,8 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
if (!device_connected_) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize net device " << net_device_ip);
}
} catch (const StreamConfigurationError &) {
device_connected_ = false;
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Exception during net device initialization: " << e.what());
device_connected_ = false;
@@ -1517,7 +1533,7 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
}
void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list) {
if (device_connected_.load()) {
if (device_connected_.load() || stream_configuration_error_.load()) {
return;
}
@@ -1608,6 +1624,8 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
// // Fixing 301 series hot-swap not outputting power
// ob_camera_node_->startStreams();
// }
} catch (const StreamConfigurationError &) {
device_connected_ = false;
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));