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fix: harden color queue stats and dual-color qos

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This commit is contained in:
slz
2026-08-19 17:54:49 +08:00
parent db4df46c03
commit e80760c934
3 changed files with 31 additions and 20 deletions
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orbbec_camera/src/ros_service.cpp
+20 -13
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@@ -480,33 +480,40 @@ void OBCameraNode::getColorQueueStatsCallback(
nlohmann::json queues;
uint64_t overflow_count = 0;
if (enable_stream_[COLOR]) {
const bool reset = request->data;
if (enable_stream_[COLOR] || reset) {
const auto stats =
getColorQueueStats(color_frame_queue_, color_frame_queue_lock_, color_frame_queue_stats_,
color_frame_queue_max_frames_, request->data);
queues["color"] = to_json(stats);
overflow_count += stats.overflow_count;
color_frame_queue_max_frames_, reset);
if (enable_stream_[COLOR]) {
queues["color"] = to_json(stats);
overflow_count += stats.overflow_count;
}
}
if (enable_stream_[COLOR_LEFT]) {
if (enable_stream_[COLOR_LEFT] || reset) {
const auto stats = getColorQueueStats(left_color_frame_queue_, left_color_frame_queue_lock_,
left_color_frame_queue_stats_,
left_color_frame_queue_max_frames_, request->data);
queues["left_color"] = to_json(stats);
overflow_count += stats.overflow_count;
left_color_frame_queue_max_frames_, reset);
if (enable_stream_[COLOR_LEFT]) {
queues["left_color"] = to_json(stats);
overflow_count += stats.overflow_count;
}
}
if (enable_stream_[COLOR_RIGHT]) {
if (enable_stream_[COLOR_RIGHT] || reset) {
const auto stats = getColorQueueStats(right_color_frame_queue_, right_color_frame_queue_lock_,
right_color_frame_queue_stats_,
right_color_frame_queue_max_frames_, request->data);
queues["right_color"] = to_json(stats);
overflow_count += stats.overflow_count;
right_color_frame_queue_max_frames_, reset);
if (enable_stream_[COLOR_RIGHT]) {
queues["right_color"] = to_json(stats);
overflow_count += stats.overflow_count;
}
}
response->success = true;
response->message =
nlohmann::json{
{"namespace", node_->get_namespace()},
{"overflow_count", overflow_count},
{"statistics_reset", request->data},
{"statistics_reset", reset},
{"queues", queues},
}
.dump();