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lite: logging added when camera failed to stream #1

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1db5fa9
added logging
ckwolfe Aug 13, 2023
d4592a6
lite: revert unecessary changes
ckwolfe Aug 13, 2023
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4 changes: 4 additions & 0 deletions avt_vimba_camera/include/avt_vimba_camera/avt_vimba_camera.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -163,6 +163,10 @@ class AvtVimbaCamera
rcl_interfaces::msg::SetParametersResult parameterCallback(const std::vector<rclcpp::Parameter>& parameters);
void updateCameraInfo();
void getCurrentState(diagnostic_updater::DiagnosticStatusWrapper& stat);

double last_frame_sec = 0.0;
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace avt_vimba_camera
#endif
11 changes: 10 additions & 1 deletion avt_vimba_camera/src/avt_vimba_camera.cpp
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Expand Up @@ -64,8 +64,16 @@ AvtVimbaCamera::AvtVimbaCamera(rclcpp::Node::SharedPtr owner_node)

updater_.setHardwareID("unknown");
updater_.add(owner_node->get_name(), this, &AvtVimbaCamera::getCurrentState);
timer_ = nh_->create_wall_timer(std::chrono::milliseconds(1000), std::bind(&AvtVimbaCamera::timerCallback, this));
last_frame_sec = nh_->now().seconds();
}
void AvtVimbaCamera::timerCallback()
{
if ( this->nh_->now().seconds() - last_frame_sec > 2)
{
RCLCPP_ERROR_STREAM(nh_->get_logger(), "Did not get frame after " << this->nh_->now().seconds() - last_frame_sec << " seconds");
}
}

void AvtVimbaCamera::start(const std::string& ip_str, const std::string& guid_str, const std::string& frame_id,
const std::string& camera_info_url)
{
Expand Down Expand Up @@ -277,6 +285,7 @@ CameraPtr AvtVimbaCamera::openCamera(const std::string& id_str)
void AvtVimbaCamera::frameCallback(const FramePtr vimba_frame_ptr)
{
std::unique_lock<std::mutex> lock(config_mutex_);
last_frame_sec = this->nh_->now().seconds();
camera_state_ = OK;
diagnostic_msg_ = "Camera operating normally";

Expand Down