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Revert upstream changes to to run initialization on a separate thread #29

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Revert upstream changes to to run initialization on a separate thread #29

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2 changes: 0 additions & 2 deletions realsense2_camera/include/realsense_node_factory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,6 @@ namespace realsense2_camera
rs2::context _ctx;
std::string _serial_no;
bool _initial_reset;
std::thread _query_thread;
bool _is_alive;
bool _initialized;
double _data_timeout;

Expand Down
77 changes: 29 additions & 48 deletions realsense2_camera/src/realsense_node_factory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,6 @@ constexpr auto realsense_ros_camera_version = REALSENSE_ROS_EMBEDDED_VERSION_STR
PLUGINLIB_EXPORT_CLASS(realsense2_camera::RealSenseNodeFactory, nodelet::Nodelet)

RealSenseNodeFactory::RealSenseNodeFactory() :
_is_alive(true),
_initialized(false)
{
ROS_INFO("RealSense ROS v%s", REALSENSE_ROS_VERSION_STR);
Expand All @@ -44,11 +43,6 @@ RealSenseNodeFactory::~RealSenseNodeFactory()
{
_initialized = false;
_data_monitor_timer.stop();
_is_alive = false;
if (_query_thread.joinable())
{
_query_thread.join();
}

_realSenseNode.reset();
if (_device)
Expand Down Expand Up @@ -125,6 +119,7 @@ void RealSenseNodeFactory::onInit()

void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored)
{
ROS_INFO("Initializing ...");
_device = rs2::device();
try
{
Expand Down Expand Up @@ -174,42 +169,34 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored)
}
else
{
_is_alive = true;
_query_thread = std::thread([=]()
{
ROS_DEBUG("Waiting for device...");


std::chrono::milliseconds timespan(6000);
while (_is_alive && !_device)
{
ROS_DEBUG("Checking for device...");
_device = getDevice();
if (_device)
{
ROS_DEBUG("got device");
if (_initial_reset)
{
ROS_DEBUG("Resetting device...");
_initial_reset = false;
_device.hardware_reset();
std::this_thread::sleep_for(std::chrono::seconds(10));
_device = getDevice();
}
if (_device)
{
ROS_DEBUG("starting device...");
std::function<void(rs2::event_information&)> change_device_callback_function = [this](rs2::event_information& info){change_device_callback(info);};
_ctx.set_devices_changed_callback(change_device_callback_function);
StartDevice();
}
}
else
{
std::this_thread::sleep_for(timespan);
}
}
});
std::this_thread::sleep_for(std::chrono::seconds(2));
ROS_INFO("Checking for device...");
_device = getDevice();
if (_device)
{
ROS_DEBUG("got device");
if (_initial_reset)
{
ROS_INFO("Resetting device...");
_initial_reset = false;
_device.hardware_reset();
std::this_thread::sleep_for(std::chrono::seconds(10));
_device = getDevice();
}
if (_device)
{
ROS_DEBUG("starting device...");
std::function<void(rs2::event_information&)> change_device_callback_function = [this](rs2::event_information& info){change_device_callback(info);};
_ctx.set_devices_changed_callback(change_device_callback_function);
StartDevice();
}
}
else
{
ROS_ERROR("Failed to file device. Driver exiting...");
shutdown();
return;
}

if (!_shutdown_srv)
{
Expand Down Expand Up @@ -373,12 +360,6 @@ bool RealSenseNodeFactory::reset()

_data_monitor_timer.stop();

_is_alive = false;
if (_query_thread.joinable())
{
_query_thread.join();
}

try
{
_realSenseNode.reset();
Expand Down