cesarandClaude Opus 5
d8956f269d
Camera::open() retried forever inside a fixed sleep, so a camera that did not come back left the node stuck there: it stopped reading dora events and no longer honoured Stop or AllInputsClosed. Recovery is now a state machine over ticks. open() makes one attempt and returns; the loop decides when to try again from a 1/2/5/10 s backoff deadline, and nothing sleeps, so events keep being read while the camera is down. The first attempt closes the handle; past that the device is wedged and the node escalates to sl::Camera::reboot(), guarded to the ZED 2 and newer since it does nothing on the ZED and ZED Mini. Reopening pins the serial so recovery gets the same physical camera back. Set async_grab_camera_recovery so a link hiccup returns CAMERA_REBOOTING immediately instead of blocking the grab for ~17 s, and enable_image_validity_ check so the SDK flags frames a stalled camera hands back looking valid. Those transient errors no longer drop the handle, since the SDK is already reconnecting it. An all-black frame now counts as a failed grab rather than being published, and a camera delivering nothing usable for 5 s (30 s while the SDK reports it is reconnecting) triggers recovery. A new camera_state output publishes opening/streaming/recovering so a downstream node can tell "no frame yet" from "camera lost". ZED_RETRY_INTERVAL_SECONDS is replaced by the backoff. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
22 lines
480 B
YAML
22 lines
480 B
YAML
nodes:
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- id: zed-camera
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git: ssh://git@gitea.liria.cl:5001/liria/dora-zed.git
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tag: v0.2.0
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build: scripts/build.sh
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path: bin/dora_zed
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inputs:
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tick: dora/timer/millis/100
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outputs:
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- image_bgr
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- depth
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- point_cloud
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- camera_info
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- camera_state
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- id: plot
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git: https://github.com/dora-rs/dora-hub.git
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build: pip install ./node-hub/opencv-plot
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path: opencv-plot
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inputs:
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image: zed-camera/image_bgr
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