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fix: throttle logging frequency for device selection processes

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This commit is contained in:
obyalian
2025-10-17 15:59:23 +08:00
parent 62af6efe62
commit d586f87949
1 changed files with 30 additions and 18 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+30 -18
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@@ -808,25 +808,31 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
const std::shared_ptr<ob::DeviceList> &list, const std::string &usb_port) {
try {
RCLCPP_INFO_STREAM(logger_, "Before lock: Select device usb port: " << usb_port);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Before lock: Select device usb port: " << usb_port);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "After lock: Select device usb port: " << usb_port);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"After lock: Select device usb port: " << usb_port);
auto device = list->getDeviceByUid(usb_port.c_str());
if (device) {
RCLCPP_INFO_STREAM(logger_, "getDeviceByUid device usb port " << usb_port << " done");
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"getDeviceByUid device usb port " << usb_port << " done");
} else {
RCLCPP_ERROR_STREAM(logger_, "getDeviceByUid device usb port " << usb_port << " failed");
RCLCPP_ERROR_STREAM(logger_,
"Please use script to get usb port: "
"ros2 run orbbec_camera list_devices_node");
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"getDeviceByUid device usb port " << usb_port << " failed");
RCLCPP_ERROR_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Please use script to get usb port: ros2 run orbbec_camera list_devices_node");
}
return device;
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.getMessage());
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.getMessage());
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.what());
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info");
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, "Failed to get device info");
}
return nullptr;
@@ -834,9 +840,11 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
const std::shared_ptr<ob::DeviceList> &list, const std::string &net_ip) {
RCLCPP_INFO_STREAM(logger_, "Before lock: Select device net ip: " << net_ip);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Before lock: Select device net ip: " << net_ip);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "After lock: Select device net ip: " << net_ip);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"After lock: Select device net ip: " << net_ip);
std::shared_ptr<ob::Device> device = nullptr;
for (size_t i = 0; i < list->getCount(); i++) {
try {
@@ -846,19 +854,23 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
if (list->getIpAddress(i) == nullptr) {
continue;
}
RCLCPP_INFO_STREAM(logger_, "FindDeviceByNetIP device net ip " << list->getIpAddress(i));
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"FindDeviceByNetIP device net ip " << list->getIpAddress(i));
if (std::string(list->getIpAddress(i)) == net_ip) {
RCLCPP_INFO_STREAM(logger_, "getDeviceByNetIP device net ip " << net_ip << " done");
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"getDeviceByNetIP device net ip " << net_ip << " done");
return list->getDevice(i);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.getMessage());
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.getMessage());
continue;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.what());
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
continue;
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info");
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, "Failed to get device info");
continue;
}
}
@@ -1145,7 +1157,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
return;
}
RCLCPP_INFO_THROTTLE(logger_, *get_clock(), 1000, "startDevice called");
RCLCPP_INFO_THROTTLE(logger_, *get_clock(), 5000, "startDevice called");
start_time_ = std::chrono::high_resolution_clock::now();
if (device_) {