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feat: show network device access state

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This commit is contained in:
ob-yalian
2026-07-13 17:59:34 +08:00
parent f9887fe865
commit 0fb04ce00c
1 changed files with 40 additions and 0 deletions
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orbbec_camera/tools/list_devices_node.cpp
+40
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@@ -93,6 +93,43 @@ std::string ipSourceTypeToString(int ip_source_type) {
}
}
std::string deviceAccessStateToString(OBDeviceAccessState state) {
switch (state) {
case OB_DEVICE_ACCESS_STATE_UNKNOWN:
return "UNKNOWN";
case OB_DEVICE_ACCESS_STATE_UNSUPPORTED:
return "UNSUPPORTED";
case OB_DEVICE_ACCESS_STATE_AVAILABLE:
return "AVAILABLE";
case OB_DEVICE_ACCESS_STATE_CONTROLLED:
return "CONTROLLED";
case OB_DEVICE_ACCESS_STATE_EXCLUSIVE:
return "EXCLUSIVE";
case OB_DEVICE_ACCESS_STATE_UNREACHABLE:
return "UNREACHABLE";
case OB_DEVICE_ACCESS_STATE_FW_NOT_SUPPORTED:
return "FW_NOT_SUPPORTED";
default:
return "UNKNOWN(" + std::to_string(static_cast<int>(state)) + ")";
}
}
void printDeviceAccessState(const std::shared_ptr<ob::DeviceList> &list, uint32_t index) {
auto logger = rclcpp::get_logger("list_device_node");
try {
const auto state = list->queryDeviceAccessState(index);
RCLCPP_INFO_STREAM(
logger, "device access state [serial: " << list->getSerialNumber(index)
<< ", ip: " << list->getIpAddress(index)
<< "]: " << deviceAccessStateToString(state));
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger, "device access state: UNKNOWN ("
<< orbbec_camera::formatObErrorWithStatus(e) << ")");
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger, "device access state: UNKNOWN (" << e.what() << ")");
}
}
std::string boolToString(bool value) { return value ? "true" : "false"; }
bool isPropertyReadable(const std::shared_ptr<ob::Device> &device, OBPropertyID property_id) {
@@ -224,6 +261,9 @@ int main(int argc, char **argv) {
bool firmware_log_enabled = false;
for (size_t i = 0; i < list->deviceCount(); i++) {
try {
if (std::string(list->getConnectionType(i)) == "Ethernet") {
printDeviceAccessState(list, static_cast<uint32_t>(i));
}
auto device_ = list->getDevice(i);
if (isSdkLogEnabled(args.sdk_log_level)) {
firmware_log_enabled = enableFirmwareLog(device_) || firmware_log_enabled;