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chore: Add TRY_EXECUTE_BLOCK macro for error handling in OBCameraNodeDriver

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This commit is contained in:
Joe Dong
2024-08-30 10:30:00 +08:00
parent c205ca0552
commit e8b7e2b1c3
3 changed files with 31 additions and 16 deletions
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orbbec_camera/src/ob_camera_node.cpp
-13
View File
@@ -138,19 +138,6 @@ void OBCameraNode::clean() noexcept {
RCLCPP_WARN_STREAM(logger_, "Destroy ~OBCameraNode DONE");
}
#define TRY_TO_SET_PROPERTY(func, property, value) \
try { \
device_->func(property, value); \
} catch (const ob::Error &e) { \
RCLCPP_ERROR_STREAM( \
logger_, "Failed to set " << property << " to " << value << ": " << e.getMessage()); \
} catch (const std::exception &e) { \
RCLCPP_ERROR_STREAM(logger_, \
"Failed to set " << property << " to " << value << ": " << e.what()); \
} catch (...) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value); \
}
void OBCameraNode::setupDevices() {
auto sensor_list = device_->getSensorList();
for (size_t i = 0; i < sensor_list->count(); i++) {
orbbec_camera/src/ob_camera_node_driver.cpp
+4 -3
View File
@@ -15,6 +15,7 @@
*******************************************************************************/
#include "orbbec_camera/ob_camera_node_driver.h"
#include "orbbec_camera/utils.h"
#include <fcntl.h>
#include <semaphore.h>
#include <sys/shm.h>
@@ -371,7 +372,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
ob_camera_node_.reset();
}
int retry_count = 0;
const int max_retries = 3;
constexpr int max_retries = 3;
bool initialized = false;
device_info_ = device_->getDeviceInfo();
RCLCPP_INFO_STREAM(logger_, "Try to connect device via " << device_info_->connectionType());
@@ -410,10 +411,10 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->uid();
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
device_->timerSyncWithHost();
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
if (device_) {
device_->timerSyncWithHost();
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
}
});
}