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fix: update help message and improve code formatting in IP configuration tool

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ob-yalian
2026-04-04 00:54:33 +08:00
parent 8d35f4af4a
commit 11cf429bb3
1 changed files with 12 additions and 10 deletions
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orbbec_camera/tools/ip_config_tool.cpp
+12 -10
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@@ -117,7 +117,6 @@ void printHelp() {
<< " by MAC: ros2 run orbbec_camera ip_config_tool -- \\\n" << " by MAC: ros2 run orbbec_camera ip_config_tool -- \\\n"
<< " force_ip \\\n" << " force_ip \\\n"
<< " --force_ip_mac 54:14:FD:06:07:DA \\\n" << " --force_ip_mac 54:14:FD:06:07:DA \\\n"
<< " --enable_dhcp false \\\n"
<< " --new_ip 192.168.1.200 \\\n" << " --new_ip 192.168.1.200 \\\n"
<< " --mask 255.255.255.0 \\\n" << " --mask 255.255.255.0 \\\n"
<< " --gateway 192.168.1.1\n"; << " --gateway 192.168.1.1\n";
@@ -322,8 +321,8 @@ int main(int argc, char **argv) {
(ip_config_v2.flags & ~OB_NET_IP_FLAG_PERSISTENT) | OB_NET_IP_FLAG_DHCP); (ip_config_v2.flags & ~OB_NET_IP_FLAG_PERSISTENT) | OB_NET_IP_FLAG_DHCP);
} else { } else {
// Disable DHCP and enable persistent mode, keep existing static IP settings. // Disable DHCP and enable persistent mode, keep existing static IP settings.
ip_config_v2.flags = static_cast<uint16_t>( ip_config_v2.flags = static_cast<uint16_t>((ip_config_v2.flags & ~OB_NET_IP_FLAG_DHCP) |
(ip_config_v2.flags & ~OB_NET_IP_FLAG_DHCP) | OB_NET_IP_FLAG_PERSISTENT); OB_NET_IP_FLAG_PERSISTENT);
} }
RCLCPP_INFO(logger, "Applying dhcp configuration with V2 property (1088)..."); RCLCPP_INFO(logger, "Applying dhcp configuration with V2 property (1088)...");
@@ -339,8 +338,9 @@ int main(int argc, char **argv) {
std::memcpy(ip_config.address, old_ip_bytes, sizeof(old_ip_bytes)); std::memcpy(ip_config.address, old_ip_bytes, sizeof(old_ip_bytes));
} }
RCLCPP_WARN(logger, RCLCPP_WARN(
"Device does not support IP config V2 (1088), fallback to legacy property (1041)."); logger,
"Device does not support IP config V2 (1088), fallback to legacy property (1041).");
RCLCPP_INFO(logger, "Applying dhcp configuration..."); RCLCPP_INFO(logger, "Applying dhcp configuration...");
device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG, device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG,
reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config)); reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config));
@@ -378,7 +378,8 @@ int main(int argc, char **argv) {
} }
OBNetIpConfigV2 ip_config_v2{}; OBNetIpConfigV2 ip_config_v2{};
// Preserve current addressing mode flags (DHCP/PERSISTENT/LLA), only update static IP values. // Preserve current addressing mode flags (DHCP/PERSISTENT/LLA), only update static IP
// values.
uint32_t data_size = sizeof(ip_config_v2); uint32_t data_size = sizeof(ip_config_v2);
device->getStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2, device->getStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2,
reinterpret_cast<uint8_t *>(&ip_config_v2), &data_size); reinterpret_cast<uint8_t *>(&ip_config_v2), &data_size);
@@ -406,8 +407,8 @@ int main(int argc, char **argv) {
OBNetIpConfig ip_config{}; OBNetIpConfig ip_config{};
// Preserve current DHCP mode on legacy property as well. // Preserve current DHCP mode on legacy property as well.
uint32_t data_size = sizeof(ip_config); uint32_t data_size = sizeof(ip_config);
device->getStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG, reinterpret_cast<uint8_t *>(&ip_config), device->getStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG,
&data_size); reinterpret_cast<uint8_t *>(&ip_config), &data_size);
uint8_t address[4] = {0}; uint8_t address[4] = {0};
uint8_t mask[4] = {0}; uint8_t mask[4] = {0};
uint8_t gateway[4] = {0}; uint8_t gateway[4] = {0};
@@ -430,8 +431,9 @@ int main(int argc, char **argv) {
std::memcpy(ip_config.mask, mask, sizeof(mask)); std::memcpy(ip_config.mask, mask, sizeof(mask));
std::memcpy(ip_config.gateway, gateway, sizeof(gateway)); std::memcpy(ip_config.gateway, gateway, sizeof(gateway));
RCLCPP_WARN(logger, RCLCPP_WARN(
"Device does not support IP config V2 (1088), fallback to legacy property (1041)."); logger,
"Device does not support IP config V2 (1088), fallback to legacy property (1041).");
RCLCPP_INFO(logger, "Applying set-ip configuration..."); RCLCPP_INFO(logger, "Applying set-ip configuration...");
device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG, device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG,