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refactor: remove commented-out rebootDeviceCallback implementation

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ob-yalian
2025-12-08 16:02:08 +08:00
parent 1c10c78a91
commit f8e66a8301
1 changed files with 0 additions and 91 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
-91
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@@ -754,97 +754,6 @@ void OBCameraNodeDriver::rebootDeviceCallback(
malloc_trim(0);
return;
}
// void OBCameraNodeDriver::rebootDeviceCallback(
// const std::shared_ptr<std_srvs::srv::Empty::Request> request,
// std::shared_ptr<std_srvs::srv::Empty::Response> response) {
// (void)request;
// (void)response;
// malloc_trim(0);
// RCLCPP_INFO(logger_, "Reboot device service called");
// struct timespec timeout;
// clock_gettime(CLOCK_REALTIME, &timeout);
// timeout.tv_sec += 15;
// int lock_result = pthread_mutex_timedlock(orb_device_lock_, &timeout);
// if (lock_result != 0) {
// RCLCPP_WARN(logger_, "Failed to acquire process lock for reboot: %s", strerror(lock_result));
// return;
// }
// if (ob_camera_node_) {
// std::shared_ptr<int> process_lock_guard(
// nullptr, [this](int *) { pthread_mutex_unlock(orb_device_lock_); });
// try {
// std::unique_lock<decltype(reset_device_mutex_)> reset_lock(reset_device_mutex_);
// reset_device_flag_ = true;
// {
// std::lock_guard<decltype(device_lock_)> device_lock(device_lock_);
// if (!device_connected_ || !ob_camera_node_) {
// RCLCPP_INFO(logger_, "Device not connected");
// reset_device_flag_ = false;
// } else {
// std::string current_device_uid = device_unique_id_;
// RCLCPP_INFO_STREAM(logger_, "Rebooting device with UID: " << current_device_uid);
// ob_camera_node_->rebootDevice();
// }
// }
// if (reset_device_flag_) {
// RCLCPP_INFO(logger_, "Device reboot initiated, waiting for reconnection");
// }
// } catch (std::exception &e) {
// RCLCPP_ERROR_STREAM(logger_, "Failed to reboot device: " << e.what());
// } catch (...) {
// RCLCPP_ERROR_STREAM(logger_, "Failed to reboot device: unknown error");
// }
// process_lock_guard.reset();
// if (reset_device_flag_) {
// reset_device_cond_.notify_all();
// }
// malloc_trim(0);
// return;
// } else if (ob_lidar_node_) {
// std::shared_ptr<int> process_lock_guard(
// nullptr, [this](int *) { pthread_mutex_unlock(orb_device_lock_); });
// try {
// std::unique_lock<decltype(reset_device_mutex_)> reset_lock(reset_device_mutex_);
// reset_device_flag_ = true;
// {
// std::lock_guard<decltype(device_lock_)> device_lock(device_lock_);
// if (!device_connected_ || !ob_lidar_node_) {
// RCLCPP_INFO(logger_, "Device not connected");
// reset_device_flag_ = false;
// } else {
// std::string current_device_uid = device_unique_id_;
// RCLCPP_INFO_STREAM(logger_, "Rebooting lidar device with UID: " << current_device_uid);
// ob_lidar_node_->rebootDevice();
// }
// }
// if (reset_device_flag_) {
// RCLCPP_INFO(logger_, "Lidar device reboot initiated, waiting for reconnection");
// }
// } catch (std::exception &e) {
// RCLCPP_ERROR_STREAM(logger_, "Failed to reboot lidar device: " << e.what());
// } catch (...) {
// RCLCPP_ERROR_STREAM(logger_, "Failed to reboot lidar device: unknown error");
// }
// process_lock_guard.reset();
// if (reset_device_flag_) {
// reset_device_cond_.notify_all();
// }
// malloc_trim(0);
// } else {
// // No device node exists, just unlock
// pthread_mutex_unlock(orb_device_lock_);
// }
// }
std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDevice(
const std::shared_ptr<ob::DeviceList> &list) {