Add threadid to a few of the log statements

zivid · Feb 20, 2025 · c204ecf · c204ecf
1 parent 8d12fcd
commit c204ecf
Showing 1 changed file with 10 additions and 8 deletions.
diff --git a/zivid_camera/src/zivid_camera.cpp b/zivid_camera/src/zivid_camera.cpp
@@ -107,9 +107,9 @@ ZividCamera::ZividCamera(ros::NodeHandle& nh, ros::NodeHandle& priv)
   , zivid_(makeZividApplication())
   , header_seq_(0)
 {
-  ROS_INFO("Zivid ROS driver version %s", ZIVID_ROS_DRIVER_VERSION);
-
+  ROS_INFO_STREAM("Zivid ROS driver version" << ZIVID_ROS_DRIVER_VERSION << " Threadid=" std::this_thread::get_id());
   ROS_INFO("Node's namespace is '%s'", nh_.getNamespace().c_str());
+
   if (nh_.getNamespace() == "")
   {
     // Require the user to specify the namespace that this node will run in.
@@ -264,7 +264,7 @@ ZividCamera::ZividCamera(ros::NodeHandle& nh, ros::NodeHandle& priv)
 
 void ZividCamera::onCameraConnectionKeepAliveTimeout(const ros::TimerEvent&)
 {
-  ROS_INFO_STREAM(__func__);
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
   try
   {
     reconnectToCameraIfNecessary();
@@ -277,7 +277,7 @@ void ZividCamera::onCameraConnectionKeepAliveTimeout(const ros::TimerEvent&)
 
 void ZividCamera::reconnectToCameraIfNecessary()
 {
-  ROS_INFO_STREAM(__func__);
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
 
   const auto state = camera_.state();
   if (state.isConnected().value())
@@ -348,7 +348,7 @@ bool ZividCamera::cameraInfoSerialNumberServiceHandler(zivid_camera::CameraInfoS
 
 bool ZividCamera::captureServiceHandler(Capture::Request&, Capture::Response&)
 {
-  ROS_INFO_STREAM(__func__);
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
 
   invokeCaptureAndPublishFrame();
 
@@ -357,7 +357,7 @@ bool ZividCamera::captureServiceHandler(Capture::Request&, Capture::Response&)
 
 bool ZividCamera::captureAndSaveServiceHandler(CaptureAndSave::Request& req, CaptureAndSave::Response&)
 {
-  ROS_INFO_STREAM(__func__);
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
 
   const auto frame = invokeCaptureAndPublishFrame();
   ROS_INFO("Saving frame to '%s'", req.file_path.c_str());
@@ -368,7 +368,7 @@ bool ZividCamera::captureAndSaveServiceHandler(CaptureAndSave::Request& req, Cap
 
 bool ZividCamera::capture2DServiceHandler(Capture2D::Request&, Capture2D::Response&)
 {
-  ROS_INFO_STREAM(__func__);
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
 
   serviceHandlerHandleCameraConnectionLoss();
 
@@ -452,6 +452,7 @@ bool ZividCamera::loadSettings2DFromFileServiceHandler(LoadSettings2DFromFile::R
 
 void ZividCamera::serviceHandlerHandleCameraConnectionLoss()
 {
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
   reconnectToCameraIfNecessary();
   if (camera_status_ != CameraStatus::Connected)
   {
@@ -468,6 +469,7 @@ bool ZividCamera::isConnectedServiceHandler(IsConnected::Request&, IsConnected::
 
 void ZividCamera::publishFrame(const Zivid::Frame& frame)
 {
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
   const bool publish_points_xyz = shouldPublishPointsXYZ();
   const bool publish_points_xyzrgba = shouldPublishPointsXYZRGBA();
   const bool publish_color_img = shouldPublishColorImg();
@@ -708,7 +710,7 @@ sensor_msgs::CameraInfoConstPtr ZividCamera::makeCameraInfo(const std_msgs::Head
 
 Zivid::Frame ZividCamera::invokeCaptureAndPublishFrame()
 {
-  ROS_INFO_STREAM(__func__);
+  ROS_INFO_STREAM(__func__ << " threadid=" << std::this_thread::get_id());
 
   serviceHandlerHandleCameraConnectionLoss();