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Fix device disconnection after reboot service call

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This commit is contained in:
xiexun
2025-08-13 17:58:38 +08:00
parent 97e7aa524d
commit d91db6b639
4 changed files with 28 additions and 8 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+18 -6
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@@ -557,13 +557,23 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
auto time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start_time_);
RCLCPP_INFO_STREAM(logger_, "Start device cost " << time_cost.count() << " ms");
if (!upgrade_firmware_.empty()) {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
firmware_update_success_ = false;
ob_camera_node_->withDeviceLock([&]() {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
});
if(firmware_update_success_)
{
return;
}
}
if (ob_camera_node_) {
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
@@ -805,9 +815,11 @@ void OBCameraNodeDriver::firmwareUpdateCallback(OBFwUpdateState state, const cha
std::cout << "Message : " << message << std::endl << std::flush;
if (state == STAT_DONE) {
RCLCPP_INFO(logger_, "Reboot device");
ob_camera_node_->rebootDevice();
device_->reboot();
device_connected_ = false;
upgrade_firmware_ = "";
firmware_update_success_ = true;
}
}
} // namespace orbbec_camera