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feat: add device changed callback registration and unregistration in OBCameraNodeDriver

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This commit is contained in:
ob-yalian
2025-12-15 14:24:25 +08:00
parent bc408a244c
commit db77882d35
2 changed files with 19 additions and 5 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+18 -5
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@@ -165,6 +165,18 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
if (ob_camera_node_) {
ob_camera_node_->stopGmslTrigger();
}
// Unregister device changed callback before destroying context
if (ctx_ && device_changed_callback_id_ != 0) {
try {
ctx_->unregisterDeviceChangedCallback(device_changed_callback_id_);
device_changed_callback_id_ = 0;
} catch (...) {
RCLCPP_WARN_STREAM(logger_,
"Exception during device changed callback unregister in destructor");
}
}
if (orb_device_lock_shm_fd_ != -1) {
close(orb_device_lock_shm_fd_);
orb_device_lock_shm_fd_ = -1;
@@ -271,11 +283,12 @@ void OBCameraNodeDriver::init() {
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
}
ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
const std::shared_ptr<ob::DeviceList> &added_list) {
onDeviceDisconnected(removed_list);
onDeviceConnected(added_list);
});
device_changed_callback_id_ = ctx_->registerDeviceChangedCallback(
[this](const std::shared_ptr<ob::DeviceList> &removed_list,
const std::shared_ptr<ob::DeviceList> &added_list) {
onDeviceDisconnected(removed_list);
onDeviceConnected(added_list);
});
check_connect_timer_ =
this->create_wall_timer(std::chrono::milliseconds(1000), [this]() { checkConnectTimer(); });
CHECK_NOTNULL(check_connect_timer_);