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Fix the crash problem caused by connecting to network devices

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This commit is contained in:
jj
2025-04-02 19:01:59 +08:00
parent 655dd45c66
commit f9b5dad8ce
1 changed files with 19 additions and 24 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+19 -24
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@@ -250,9 +250,6 @@ void OBCameraNodeDriver::checkConnectTimer() {
void OBCameraNodeDriver::queryDevice() {
while (is_alive_ && rclcpp::ok() && !device_connected_.load()) {
RCLCPP_INFO_STREAM(logger_, "enumerate_net_device: " << enumerate_net_device_);
RCLCPP_INFO_STREAM(logger_, "net_device_ip_: " << net_device_ip_);
RCLCPP_INFO_STREAM(logger_, "net_device_port_: " << net_device_port_);
if (!enumerate_net_device_ && !net_device_ip_.empty() && net_device_port_ != 0) {
connectNetDevice(net_device_ip_, net_device_port_);
} else {
@@ -399,37 +396,35 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
const std::shared_ptr<ob::DeviceList> &list, const std::string &net_ip) {
try {
RCLCPP_INFO_STREAM(logger_, "Before lock: Select device net ip: " << net_ip);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "After lock: Select device net ip: " << net_ip);
std::shared_ptr<ob::Device> device = nullptr;
for (size_t i = 0; i < list->getCount(); i++) {
try {
device = list->getDevice(i);
} catch (ob::Error &e) {
continue;
} catch (std::exception &e) {
continue;
} catch (...) {
RCLCPP_INFO_STREAM(logger_, "Before lock: Select device net ip: " << net_ip);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "After lock: Select device net ip: " << net_ip);
std::shared_ptr<ob::Device> device = nullptr;
for (size_t i = 0; i < list->getCount(); i++) {
try {
device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
if(std::string(device_info->getConnectionType())!="Ethernet"){
continue;
}
auto device_info = device->getDeviceInfo();
RCLCPP_INFO_STREAM(logger_, "FindDeviceByNetIP device net ip " << net_ip);
if (device_info->getIpAddress() == nullptr) {
continue;
}
RCLCPP_INFO_STREAM(logger_, "FindDeviceByNetIP device net ip " << device_info->getIpAddress());
if (std::string(device_info->getIpAddress()) == net_ip) {
RCLCPP_INFO_STREAM(logger_, "getDeviceByNetIP device net ip " << net_ip << " done");
return list->getDevice(i);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.getMessage());
continue;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.what());
continue;
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info");
continue;
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.getMessage());
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info " << e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get device info");
}
return nullptr;