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Fixed hot-plug crash caused by diagnostic updater

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This commit is contained in:
jj
2025-04-03 20:16:38 +08:00
parent 97da0b5544
commit f5e72317b0
2 changed files with 27 additions and 5 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5 -4
View File
@@ -546,10 +546,10 @@ class OBCameraNode {
int ir_gain_ = -1;
int ir_ae_max_exposure_ = -1;
int ir_brightness_ = -1;
bool enable_right_ir_sequence_id_filter_=false;
int right_ir_sequence_id_filter_id_=-1;
bool enable_left_ir_sequence_id_filter_=false;
int left_ir_sequence_id_filter_id_=-1;
bool enable_right_ir_sequence_id_filter_ = false;
int right_ir_sequence_id_filter_id_ = -1;
bool enable_left_ir_sequence_id_filter_ = false;
int left_ir_sequence_id_filter_id_ = -1;
int soft_filter_max_diff_ = -1;
int soft_filter_speckle_size_ = -1;
bool enable_frame_sync_ = false;
@@ -655,6 +655,7 @@ class OBCameraNode {
std::string time_domain_ = "global"; // device, system, global
// soft ware trigger
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
rclcpp::TimerBase::SharedPtr diagnostic_timer_;
std::chrono::milliseconds software_trigger_period_{33};
bool enable_heartbeat_ = false;
bool enable_color_undistortion_ = false;
orbbec_camera/src/ob_camera_node.cpp
+22 -1
View File
@@ -108,6 +108,11 @@ void OBCameraNode::rebootDevice() {
void OBCameraNode::clean() noexcept {
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_WARN_STREAM(logger_, "Do destroy ~OBCameraNode");
if (diagnostic_updater_) {
RCLCPP_WARN_STREAM(logger_, "diagnostic_updater_ is alive");
} else {
RCLCPP_WARN_STREAM(logger_, "diagnostic_updater_ is clean");
}
is_running_.store(false);
RCLCPP_WARN_STREAM(logger_, "Stop tf thread");
if (tf_thread_ && tf_thread_->joinable()) {
@@ -1718,7 +1723,17 @@ void OBCameraNode::onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapp
status.add("Chip Bottom Temperature", temperature.chipBottomTemp);
status.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Temperature is normal");
} catch (const ob::Error &e) {
if (is_running_.load()) {
diagnostic_timer_->cancel();
diagnostic_timer_.reset();
}
RCLCPP_ERROR_STREAM(logger_, "Failed to TemperatureUpdate: " << e.getMessage());
status.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to TemperatureUpdate: " << e.what());
status.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, e.what());
} catch (...) {
RCLCPP_ERROR(logger_, "Failed to TemperatureUpdate");
}
}
@@ -1730,11 +1745,17 @@ void OBCameraNode::setupDiagnosticUpdater() {
RCLCPP_INFO_STREAM(logger_, "Publish diagnostics every " << diagnostic_period_ << " seconds");
auto info = device_->getDeviceInfo();
std::string serial_number = info->getSerialNumber();
diagnostic_updater_ = std::make_unique<diagnostic_updater::Updater>(node_, diagnostic_period_);
diagnostic_updater_ = std::make_unique<diagnostic_updater::Updater>(node_, 10000.0);
diagnostic_updater_->setHardwareID(serial_number);
diagnostic_updater_->add("Temperatures", this, &OBCameraNode::onTemperatureUpdate);
diagnostic_timer_ = node_->create_wall_timer(std::chrono::seconds(int(diagnostic_period_)),
[this]() { diagnostic_updater_->force_update(); });
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup diagnostic updater: " << e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup diagnostic updater: " << e.what());
} catch (...) {
RCLCPP_ERROR(logger_, "Failed to TemperatureUpdate");
}
}