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refactory startDevice

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This commit is contained in:
Joe Dong
2023-02-17 20:18:55 +08:00
parent db5c017ed4
commit ef5218dc6d
2 changed files with 134 additions and 101 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_factory.h
+12
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@@ -14,6 +14,7 @@
#include <thread>
#include <rclcpp/rclcpp.hpp>
#include <semaphore.h>
#include "ob_camera_node.h"
#include "utils.h"
#include "dynamic_params.h"
@@ -31,6 +32,17 @@ class OBCameraNodeFactory : public rclcpp::Node {
private:
void init();
void releaseDeviceSemaphore(sem_t* device_sem, size_t& num_devices_connected);
void updateConnectedDeviceCount(size_t& num_devices_connected);
std::shared_ptr<ob::Device> selectDevice(const std::shared_ptr<ob::DeviceList>& list);
std::shared_ptr<ob::Device> selectDeviceBySerialNumber(
const std::shared_ptr<ob::DeviceList>& list, const std::string& serial_number);
void initializeDevice(const std::shared_ptr<ob::Device>& device);
void startDevice(const std::shared_ptr<ob::DeviceList>& list);
void onDeviceConnected(const std::shared_ptr<ob::DeviceList>& device_list);