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chore(cameras): move _stop_thread under _start_thread methods

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This commit is contained in:
Steven Palma
2025-05-20 18:31:55 +02:00
parent eb2d967c85
commit a653210173
2 changed files with 37 additions and 37 deletions
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34
lerobot/common/cameras/opencv/camera_opencv.py
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@@ -444,6 +444,23 @@ class OpenCVCamera(Camera):
self.thread.start() self.thread.start()
logger.debug(f"Read thread started for {self}.") logger.debug(f"Read thread started for {self}.")
def _stop_read_thread(self) -> None:
"""Signals the background read thread to stop and waits for it to join."""
if self.stop_event is not None:
logger.debug(f"Signaling stop event for read thread of {self}.")
self.stop_event.set()
if self.thread is not None and self.thread.is_alive():
logger.debug(f"Waiting for read thread of {self} to join...")
self.thread.join(timeout=2.0)
if self.thread.is_alive():
logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
else:
logger.debug(f"Read thread for {self} joined successfully.")
self.thread = None
self.stop_event = None
def async_read(self, timeout_ms: float = 2000) -> np.ndarray: def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
""" """
Reads the latest available frame asynchronously. Reads the latest available frame asynchronously.
@@ -488,23 +505,6 @@ class OpenCVCamera(Camera):
logger.exception(f"Unexpected error getting frame from queue for {self}: {e}") logger.exception(f"Unexpected error getting frame from queue for {self}: {e}")
raise RuntimeError(f"Error getting frame from queue for camera {self.index_or_path}: {e}") from e raise RuntimeError(f"Error getting frame from queue for camera {self.index_or_path}: {e}") from e
def _stop_read_thread(self) -> None:
"""Signals the background read thread to stop and waits for it to join."""
if self.stop_event is not None:
logger.debug(f"Signaling stop event for read thread of {self}.")
self.stop_event.set()
if self.thread is not None and self.thread.is_alive():
logger.debug(f"Waiting for read thread of {self} to join...")
self.thread.join(timeout=2.0)
if self.thread.is_alive():
logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
else:
logger.debug(f"Read thread for {self} joined successfully.")
self.thread = None
self.stop_event = None
def disconnect(self): def disconnect(self):
""" """
Disconnects from the camera and cleans up resources. Disconnects from the camera and cleans up resources.

40
lerobot/common/cameras/realsense/camera_realsense.py
View File

@@ -308,15 +308,15 @@ class RealSenseCamera(Camera):
raise DeviceNotConnectedError(f"Cannot validate settings for {self} as it is not connected.") raise DeviceNotConnectedError(f"Cannot validate settings for {self} as it is not connected.")
stream = self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile() stream = self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile()
if self.fps is None: if self.fps is None:
self.fps = stream.fps() self.fps = stream.fps()
else: else:
self._validate_fps(stream) self._validate_fps(stream)
actual_width = int(round(stream.width()))
actual_height = int(round(stream.height()))
if self.width is None or self.height is None: if self.width is None or self.height is None:
actual_width = int(round(stream.width()))
actual_height = int(round(stream.height()))
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]: if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = actual_height, actual_width self.width, self.height = actual_height, actual_width
self.capture_width, self.capture_height = actual_width, actual_height self.capture_width, self.capture_height = actual_width, actual_height
@@ -540,6 +540,23 @@ class RealSenseCamera(Camera):
self.thread.start() self.thread.start()
logger.debug(f"Read thread started for {self}.") logger.debug(f"Read thread started for {self}.")
def _stop_read_thread(self):
"""Signals the background read thread to stop and waits for it to join."""
if self.stop_event is not None:
logger.debug(f"Signaling stop event for read thread of {self}.")
self.stop_event.set()
if self.thread is not None and self.thread.is_alive():
logger.debug(f"Waiting for read thread of {self} to join...")
self.thread.join(timeout=2.0)
if self.thread.is_alive():
logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
else:
logger.debug(f"Read thread for {self} joined successfully.")
self.thread = None
self.stop_event = None
# NOTE(Steven): Missing implementation for depth for now # NOTE(Steven): Missing implementation for depth for now
def async_read(self, timeout_ms: float = 100) -> np.ndarray: def async_read(self, timeout_ms: float = 100) -> np.ndarray:
""" """
@@ -587,23 +604,6 @@ class RealSenseCamera(Camera):
f"Error getting frame data from queue for camera {self.serial_number}: {e}" f"Error getting frame data from queue for camera {self.serial_number}: {e}"
) from e ) from e
def _stop_read_thread(self):
"""Signals the background read thread to stop and waits for it to join."""
if self.stop_event is not None:
logger.debug(f"Signaling stop event for read thread of {self}.")
self.stop_event.set()
if self.thread is not None and self.thread.is_alive():
logger.debug(f"Waiting for read thread of {self} to join...")
self.thread.join(timeout=2.0)
if self.thread.is_alive():
logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
else:
logger.debug(f"Read thread for {self} joined successfully.")
self.thread = None
self.stop_event = None
def disconnect(self): def disconnect(self):
""" """
Disconnects from the camera, stops the pipeline, and cleans up resources. Disconnects from the camera, stops the pipeline, and cleans up resources.