Add reboot service #359
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Add reboot service #359
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Pull Request Overview
Adds a new /reboot service to allow restarting the ZED camera on failure, with support for both USB and GMSL inputs.
- Registers the reboot service in
initServices - Implements camera restart logic (
restartCamera,threadFunc_zedRestart) and synchronization helpers (guardDataThread,releaseDataThread) - Updates grab and sensor threads to pause during camera reboot
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| zed_camera_component_main.cpp | Added reboot service, restart logic, synchronization, and callback |
| zed_camera_component.hpp | Declared new methods, members, and service pointer for reboot |
| sl_types.hpp | Added rebootSrvPtr typedef |
Comments suppressed due to low confidence (3)
zed_components/src/zed_camera/include/zed_camera_component.hpp:1017
- [nitpick] The name
mSrvReboot(service name) is ambiguous next tomRebootSrv(service pointer). Rename it tomSrvRebootNamefor consistency with other service name members.
const std::string mSrvReboot = "reboot";
zed_components/src/zed_camera/include/zed_camera_component.hpp:44
- [nitpick] New methods (
guardDataThread,releaseDataThread,restartCamera,threadFunc_zedRestart,callback_reboot) lack comments. Please add Doxygen or inline documentation explaining their purpose and usage.
void guardDataThread();
zed_components/src/zed_camera/src/zed_camera_component_main.cpp:294
- The new
/rebootservice andrestartCameralogic are not covered by existing tests. Consider adding unit or integration tests for both successful and failure reboot scenarios.
srv_name = srv_prefix + mSrvReboot;
| // Wait until camera has been closed by reboot service call | ||
| mRebootCondVar.wait(lock, [&]() { return !mCameraRebooting; }); | ||
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||
| if (mRestartThread.joinable()) { |
There was a problem hiding this comment.
Joining the restart thread while holding mRebootMutex can lead to deadlocks or block other camera threads. Consider moving the join() call outside the locked section or unlocking before joining.
Suggested change
| if (mRestartThread.joinable()) { | |
| bool shouldJoin = mRestartThread.joinable(); | |
| lock.unlock(); | |
| if (shouldJoin) { |
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Add /reboot service to restart camera on failure. Support USB and GMSL.
Please note that GMSL reboot impacts all connected cameras.