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fix: handle network device connection errors during reconnect

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This commit is contained in:
slz
2026-09-30 11:00:01 +08:00
parent 288b959838
commit f69fb47913
1 changed files with 16 additions and 7 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+16 -7
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@@ -1434,23 +1434,32 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
[this](int *) { device_connecting_.store(false); }); [this](int *) { device_connecting_.store(false); });
std::this_thread::sleep_for(std::chrono::milliseconds(connection_delay_)); std::this_thread::sleep_for(std::chrono::milliseconds(connection_delay_));
auto device = ctx_->createNetDevice(net_device_ip.c_str(), net_device_port, device_access_mode_);
if (device == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Failed to connect to net device " << net_device_ip);
return;
}
try { try {
// The device may still be rebooting; let queryDevice retry connection failures.
auto device =
ctx_->createNetDevice(net_device_ip.c_str(), net_device_port, device_access_mode_);
if (device == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Failed to connect to net device " << net_device_ip);
return;
}
initializeDevice(device); initializeDevice(device);
if (!device_connected_) { if (!device_connected_) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize net device " << net_device_ip); RCLCPP_ERROR_STREAM(logger_, "Failed to initialize net device " << net_device_ip);
} }
} catch (const StreamConfigurationError &) { } catch (const StreamConfigurationError &) {
device_connected_ = false; device_connected_ = false;
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to connect or initialize net device "
<< net_device_ip << ": "
<< orbbec_camera::formatObErrorWithStatus(e));
device_connected_ = false;
} catch (const std::exception &e) { } catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Exception during net device initialization: " << e.what()); RCLCPP_ERROR_STREAM(logger_,
"Exception during net device connection or initialization: " << e.what());
device_connected_ = false; device_connected_ = false;
} catch (...) { } catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Unknown exception during net device initialization"); RCLCPP_ERROR_STREAM(logger_,
"Unknown exception during net device connection or initialization");
device_connected_ = false; device_connected_ = false;
} }
} }