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Merge branch 'optimize/list_device_node' into merge/sdk_2.8.7

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ob-yalian
2026-05-27 15:52:21 +08:00
parent 53806e3609 3657223b1d
commit 06e9f559d2
1 changed files with 64 additions and 52 deletions
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orbbec_camera/tools/list_devices_node.cpp
+64 -52
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@@ -170,58 +170,70 @@ int main(int argc, char **argv) {
auto list = context->queryDeviceList();
bool firmware_log_enabled = false;
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device_ = list->getDevice(i);
if (isSdkLogEnabled(args.sdk_log_level)) {
firmware_log_enabled = enableFirmwareLog(device_) || firmware_log_enabled;
}
auto device_info_ = device_->getDeviceInfo();
if (std::string(list->getConnectionType(i)) != "Ethernet") {
std::string serial = list->serialNumber(i);
std::string uid = list->uid(i);
auto usb_port = orbbec_camera::parseUsbPort(uid);
auto connection_type = list->getConnectionType(i);
auto firmware_version = device_info_->getFirmwareVersion();
std::stringstream pid_hex;
pid_hex << std::hex << std::setw(4) << std::setfill('0') << list->getPid(i);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "name: " << list->getName(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "pid: 0x" << pid_hex.str());
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"connection: " << connection_type);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"firmware version: " << firmware_version);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
printPresetInfo(device_);
std::cout << std::endl;
} else {
std::string serial = list->serialNumber(i);
auto connection_type = list->getConnectionType(i);
auto ip_address = list->getIpAddress(i);
std::stringstream pid_hex;
auto firmware_version = device_info_->getFirmwareVersion();
pid_hex << std::hex << std::setw(4) << std::setfill('0') << list->getPid(i);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "name: " << list->getName(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "pid: 0x" << pid_hex.str());
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"connection: " << connection_type);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"firmware version: " << firmware_version);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "ip address: " << ip_address);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"MAC address: " << list->getUid(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"subnet mask: " << list->getSubnetMask(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"gateway: " << list->getGateway(i));
RCLCPP_INFO_STREAM(
rclcpp::get_logger("list_device_node"),
"local net interface: " << list->getLocalNetInterfaceName(static_cast<uint32_t>(i)));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"ip source type: " << ipSourceTypeToString(
static_cast<int>(list->getIpSourceType(static_cast<uint32_t>(i)))));
printPresetInfo(device_);
std::cout << std::endl;
try {
auto device_ = list->getDevice(i);
if (isSdkLogEnabled(args.sdk_log_level)) {
firmware_log_enabled = enableFirmwareLog(device_) || firmware_log_enabled;
}
auto device_info_ = device_->getDeviceInfo();
if (std::string(list->getConnectionType(i)) != "Ethernet") {
std::string serial = list->serialNumber(i);
std::string uid = list->uid(i);
auto usb_port = orbbec_camera::parseUsbPort(uid);
auto connection_type = list->getConnectionType(i);
auto firmware_version = device_info_->getFirmwareVersion();
std::stringstream pid_hex;
pid_hex << std::hex << std::setw(4) << std::setfill('0') << list->getPid(i);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "name: " << list->getName(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "pid: 0x" << pid_hex.str());
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"connection: " << connection_type);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"firmware version: " << firmware_version);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
printPresetInfo(device_);
std::cout << std::endl;
} else {
std::string serial = list->serialNumber(i);
auto connection_type = list->getConnectionType(i);
auto ip_address = list->getIpAddress(i);
std::stringstream pid_hex;
auto firmware_version = device_info_->getFirmwareVersion();
pid_hex << std::hex << std::setw(4) << std::setfill('0') << list->getPid(i);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "name: " << list->getName(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "pid: 0x" << pid_hex.str());
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"connection: " << connection_type);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"firmware version: " << firmware_version);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "ip address: " << ip_address);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"MAC address: " << list->getUid(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"subnet mask: " << list->getSubnetMask(i));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"gateway: " << list->getGateway(i));
RCLCPP_INFO_STREAM(
rclcpp::get_logger("list_device_node"),
"local net interface: " << list->getLocalNetInterfaceName(static_cast<uint32_t>(i)));
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"ip source type: " << ipSourceTypeToString(static_cast<int>(
list->getIpSourceType(static_cast<uint32_t>(i)))));
printPresetInfo(device_);
std::cout << std::endl;
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"),
"Failed to list device at index "
<< i << ": " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"),
"Failed to list device at index " << i << ": " << e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"),
"Failed to list device at index " << i << ": unknown error");
}
}
if (firmware_log_enabled) {