refactor: minor changes in fixing failure exit codes

FraunhoferIOSB · Dec 6, 2024 · 5ab8f23 · 5ab8f23
1 parent 8ef02f2
commit 5ab8f23
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Showing 11 changed files with 55 additions and 54 deletions.
diff --git a/camera_aravis2/include/camera_aravis2/camera_aravis_node_base.h b/camera_aravis2/include/camera_aravis2/camera_aravis_node_base.h
@@ -92,8 +92,9 @@ class CameraAravisNodeBase : public rclcpp::Node
     /**
      * @brief List available camera devices.
      *
+     * @return Number of available devices.
      */
-    [[nodiscard]] bool listAvailableCameraDevices() const;
+    uint listAvailableCameraDevices() const;
 
   protected:
     /**

diff --git a/camera_aravis2/include/camera_aravis2/camera_xml_exporter.h b/camera_aravis2/include/camera_aravis2/camera_xml_exporter.h
@@ -65,7 +65,7 @@ class CameraXmlExporter : public CameraAravisNodeBase
      *
      * @return True if successful. False, otherwise.
      */
-    [[nodiscard]] bool export_xml_data_to_file();
+    [[nodiscard]] bool exportXmlDataToFile();
 
   protected:
     /**

diff --git a/camera_aravis2/src/camera_aravis_node_base.cpp b/camera_aravis2/src/camera_aravis_node_base.cpp
@@ -70,30 +70,31 @@ bool CameraAravisNodeBase::isInitialized() const
 }
 
 //==================================================================================================
-[[nodiscard]] bool CameraAravisNodeBase::listAvailableCameraDevices() const
+uint CameraAravisNodeBase::listAvailableCameraDevices() const
 {
     //--- Discover available interfaces and devices.
 
     arv_update_device_list();
     auto n_interfaces = arv_get_n_interfaces();
     auto n_devices    = arv_get_n_devices();
 
-    if (n_devices == 0)
+    if (n_devices > 0)
     {
-        RCLCPP_FATAL(logger_, "No cameras detected.");
-        return false;
+        RCLCPP_INFO(logger_, "Attached cameras (Num. Interfaces: %d | Num. Devices: %d):",
+                    n_interfaces, n_devices);
+        for (uint i = 0; i < n_devices; i++)
+        {
+            RCLCPP_INFO(logger_, "  Device %d: %s (%s)", i,
+                        arv_get_device_id(i),
+                        arv_get_device_address(i));
+        }
     }
-
-    RCLCPP_INFO(logger_, "Attached cameras (Num. Interfaces: %d | Num. Devices: %d):",
-                n_interfaces, n_devices);
-    for (uint i = 0; i < n_devices; i++)
+    else
     {
-        RCLCPP_INFO(logger_, "  Device %d: %s (%s)", i,
-                    arv_get_device_id(i),
-                    arv_get_device_address(i));
+        RCLCPP_FATAL(logger_, "No cameras detected.");
     }
 
-    return true;
+    return n_devices;
 }
 
 //==================================================================================================
@@ -115,8 +116,8 @@ void CameraAravisNodeBase::setupParameters()
 
     //--- Discover available interfaces and devices.
 
-    bool is_successful = listAvailableCameraDevices();
-    if (!is_successful)
+    uint n_devices = listAvailableCameraDevices();
+    if (n_devices == 0)
         return false;
 
     //--- connect to camera specified by guid parameter

diff --git a/camera_aravis2/src/camera_driver.cpp b/camera_aravis2/src/camera_driver.cpp
@@ -1064,7 +1064,7 @@ void CameraDriver::handleMessageSubscriptionChange(rclcpp::MatchedInfo& iEventIn
         //--- no subscriber so far, start acquisition
         if (iEventInfo.current_count > 0 && current_num_subscribers_ == 0)
         {
-            RCLCPP_INFO(logger_, "-> Acquisition start.");
+            RCLCPP_INFO(logger_, "|-> Acquisition start.");
 
             arv_device_execute_command(p_device_, "AcquisitionStart", err.ref());
             CHECK_GERROR_MSG(err, logger_, "In executing 'AcquisitionStart'.");
@@ -1073,7 +1073,7 @@ void CameraDriver::handleMessageSubscriptionChange(rclcpp::MatchedInfo& iEventIn
         //--- subscribers until now, stop acquisition
         else if (iEventInfo.current_count == 0 && current_num_subscribers_ > 0)
         {
-            RCLCPP_INFO(logger_, "-> Acquisition stop.");
+            RCLCPP_INFO(logger_, "->| Acquisition stop.");
 
             arv_device_execute_command(p_device_, "AcquisitionStop", err.ref());
             CHECK_GERROR_MSG(err, logger_, "In executing 'AcquisitionStop'.");
@@ -1707,7 +1707,7 @@ void CameraDriver::spawnCameraStreams()
     //--- When there are already subscribers to the image topic, start acquisition.
     if (current_num_subscribers_ > 0)
     {
-        RCLCPP_INFO(logger_, "-> Acquisition start at initialization.");
+        RCLCPP_INFO(logger_, "|-> Acquisition start at initialization.");
 
         arv_device_execute_command(p_device_, "AcquisitionStart", err.ref());
         CHECK_GERROR_MSG(err, logger_, "In executing 'AcquisitionStart'.");

diff --git a/camera_aravis2/src/camera_driver_gv.cpp b/camera_aravis2/src/camera_driver_gv.cpp
@@ -118,8 +118,6 @@ CameraDriverGv::~CameraDriverGv()
     //--- stop acquisition
     if (p_device_)
     {
-        RCLCPP_INFO(logger_, "-> Acquisition stop.");
-
         arv_device_execute_command(p_device_, "AcquisitionStop", err.ref());
         CHECK_GERROR_MSG(err, logger_, "In executing 'AcquisitionStop'.");
     }

diff --git a/camera_aravis2/src/camera_driver_gv_main.cpp b/camera_aravis2/src/camera_driver_gv_main.cpp
@@ -37,18 +37,20 @@ int main(int argc, char** argv)
     rclcpp::init(argc, argv);
 
     auto p_node = std::make_shared<camera_aravis2::CameraDriverGv>();
-    if (p_node->isSpawning() || p_node->isInitialized())
+
+    bool is_successful = false;
+    if (p_node)
     {
-        rclcpp::spin(p_node->get_node_base_interface());
-    }
+        if (p_node->isSpawning() || p_node->isInitialized())
+        {
+            rclcpp::spin(p_node->get_node_base_interface());
+        }
 
-    //--- check if driver was initialized, i.e. if it has successfully spawned a camera stream
-    bool is_successful = p_node->isInitialized();
+        //--- check if driver was initialized, i.e. if it has successfully spawned a camera stream
+        is_successful = p_node->isInitialized();
+    }
 
     rclcpp::shutdown();
 
-    if (is_successful)
-        return EXIT_SUCCESS;
-    else
-        return EXIT_FAILURE;
+    return is_successful ? EXIT_SUCCESS : EXIT_FAILURE;
 }
diff --git a/camera_aravis2/src/camera_driver_uv.cpp b/camera_aravis2/src/camera_driver_uv.cpp
@@ -110,8 +110,6 @@ CameraDriverUv::~CameraDriverUv()
     //--- stop acquisition
     if (p_device_)
     {
-        RCLCPP_INFO(logger_, "-> Acquisition stop.");
-
         arv_device_execute_command(p_device_, "AcquisitionStop", err.ref());
         CHECK_GERROR_MSG(err, logger_, "In executing 'AcquisitionStop'.");
     }

diff --git a/camera_aravis2/src/camera_driver_uv_main.cpp b/camera_aravis2/src/camera_driver_uv_main.cpp
@@ -37,18 +37,20 @@ int main(int argc, char** argv)
     rclcpp::init(argc, argv);
 
     auto p_node = std::make_shared<camera_aravis2::CameraDriverUv>();
-    if (p_node->isSpawning() || p_node->isInitialized())
+
+    bool is_successful = false;
+    if (p_node)
     {
-        rclcpp::spin(p_node->get_node_base_interface());
-    }
+        if (p_node->isSpawning() || p_node->isInitialized())
+        {
+            rclcpp::spin(p_node->get_node_base_interface());
+        }
 
-    //--- check if driver was initialized, i.e. if it has successfully spawned a camera stream
-    bool is_successful = p_node->isInitialized();
+        //--- check if driver was initialized, i.e. if it has successfully spawned a camera stream
+        is_successful = p_node->isInitialized();
+    }
 
     rclcpp::shutdown();
 
-    if (is_successful)
-        return EXIT_SUCCESS;
-    else
-        return EXIT_FAILURE;
+    return is_successful ? EXIT_SUCCESS : EXIT_FAILURE;
 }
diff --git a/camera_aravis2/src/camera_finder_main.cpp b/camera_aravis2/src/camera_finder_main.cpp
@@ -36,13 +36,12 @@ int main(int argc, char** argv)
 {
     rclcpp::init(argc, argv);
 
-    auto p_node        = std::make_shared<camera_aravis2::CameraAravisNodeBase>("camera_finder");
-    bool is_successful = p_node->listAvailableCameraDevices();
+    auto p_node = std::make_shared<camera_aravis2::CameraAravisNodeBase>("camera_finder");
+
+    if (p_node)
+        p_node->listAvailableCameraDevices();
 
     rclcpp::shutdown();
 
-    if (is_successful)
-        return EXIT_SUCCESS;
-    else
-        return EXIT_FAILURE;
+    return p_node ? EXIT_SUCCESS : EXIT_FAILURE;
 }
diff --git a/camera_aravis2/src/camera_xml_exporter.cpp b/camera_aravis2/src/camera_xml_exporter.cpp
@@ -63,7 +63,7 @@ CameraXmlExporter::~CameraXmlExporter()
 }
 
 //==================================================================================================
-[[nodiscard]] bool CameraXmlExporter::export_xml_data_to_file()
+[[nodiscard]] bool CameraXmlExporter::exportXmlDataToFile()
 {
     if (!is_initialized_)
     {

diff --git a/camera_aravis2/src/camera_xml_exporter_main.cpp b/camera_aravis2/src/camera_xml_exporter_main.cpp
@@ -36,13 +36,13 @@ int main(int argc, char** argv)
 {
     rclcpp::init(argc, argv);
 
-    auto p_node        = std::make_shared<camera_aravis2::CameraXmlExporter>();
-    bool is_successful = p_node->export_xml_data_to_file();
+    auto p_node = std::make_shared<camera_aravis2::CameraXmlExporter>();
+
+    bool is_successful = false;
+    if (p_node && p_node->isInitialized())
+        is_successful = p_node->exportXmlDataToFile();
 
     rclcpp::shutdown();
 
-    if (is_successful)
-        return EXIT_SUCCESS;
-    else
-        return EXIT_FAILURE;
+    return is_successful ? EXIT_SUCCESS : EXIT_FAILURE;
 }