i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-12 11:10:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add set_device_ip executable for configuring device IP settings

Browse Source
This commit is contained in:
obyalian
2025-10-11 16:44:12 +08:00
parent d18a5ad585
commit 169f4e66e9
2 changed files with 88 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/CMakeLists.txt
+2 -1
View File
@@ -191,6 +191,7 @@ rclcpp_components_register_node(
add_orbbec_executable(list_devices_node tools/list_devices_node.cpp)
add_orbbec_executable(list_depth_work_mode_node tools/list_depth_work_mode.cpp)
add_orbbec_executable(list_camera_profile_mode_node tools/list_camera_profile.cpp)
add_orbbec_executable(set_device_ip tools/set_device_ip.cpp)
add_orbbec_executable(topic_statistics_node tools/topic_statistics.cpp)
add_orbbec_executable(ob_benchmark_node tools/ob_benchmark.cpp)
add_orbbec_executable(435le_example_node examples/435le_new_interface/camera_example_node.cpp)
@@ -249,7 +250,7 @@ if(DEFINED ENV{BUILDING_PACKAGE})
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules DESTINATION /etc/udev/rules.d)
endif()
install(TARGETS list_devices_node list_depth_work_mode_node list_camera_profile_mode_node topic_statistics_node service_benchmark_node ob_benchmark_node 435le_example_node DESTINATION lib/${PROJECT_NAME}/
install(TARGETS list_devices_node list_depth_work_mode_node list_camera_profile_mode_node topic_statistics_node service_benchmark_node ob_benchmark_node 435le_example_node set_device_ip DESTINATION lib/${PROJECT_NAME}/
)
if(BUILD_TESTING)
orbbec_camera/tools/set_device_ip.cpp
+86
View File
@@ -0,0 +1,86 @@
#include "rclcpp/rclcpp.hpp"
#include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/utils.h>
#include <sstream>
#include <string>
using namespace ob;
bool parseIpString(const std::string &ip_str, uint8_t ip[4]) {
std::stringstream ss(ip_str);
std::string item;
int i = 0;
while (std::getline(ss, item, '.')) {
if (i >= 4) return false;
try {
int num = std::stoi(item);
if (num < 0 || num > 255) return false;
ip[i++] = static_cast<uint8_t>(num);
} catch (...) {
return false;
}
}
return i == 4;
}
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<rclcpp::Node>("set_device_ip");
auto logger = node->get_logger();
std::string device_ip_str = node->declare_parameter<std::string>("device_ip", "192.168.1.10");
int port = node->declare_parameter<int>("port", 8090);
bool dhcp = node->declare_parameter<bool>("dhcp", false);
std::string new_ip_str = node->declare_parameter<std::string>("new_ip", "192.168.1.200");
std::string mask_str = node->declare_parameter<std::string>("mask", "255.255.255.0");
std::string gateway_str = node->declare_parameter<std::string>("gateway", "192.168.1.1");
ob_net_ip_config ip_config{};
ip_config.dhcp = dhcp ? 1 : 0;
if (!parseIpString(new_ip_str, ip_config.address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", new_ip_str.c_str());
return 1;
}
if (!parseIpString(mask_str, ip_config.mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", mask_str.c_str());
return 1;
}
if (!parseIpString(gateway_str, ip_config.gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", gateway_str.c_str());
return 1;
}
try {
RCLCPP_INFO(logger, "Connecting to device %s:%d ...", device_ip_str.c_str(), port);
ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF);
auto context = std::make_shared<ob::Context>();
auto device = context->createNetDevice(device_ip_str.c_str(), port);
RCLCPP_INFO(logger, "Setting new IP configuration...");
device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG,
reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config));
RCLCPP_INFO(logger, "IP configuration applied successfully.");
if (dhcp) {
RCLCPP_INFO(logger, "DHCP mode enabled.");
} else {
RCLCPP_INFO(logger, "Static IP set to %d.%d.%d.%d", ip_config.address[0],
ip_config.address[1], ip_config.address[2], ip_config.address[3]);
RCLCPP_INFO(logger, "Mask: %d.%d.%d.%d", ip_config.mask[0], ip_config.mask[1],
ip_config.mask[2], ip_config.mask[3]);
RCLCPP_INFO(logger, "Gateway: %d.%d.%d.%d", ip_config.gateway[0], ip_config.gateway[1],
ip_config.gateway[2], ip_config.gateway[3]);
}
} catch (ob::Error &e) {
RCLCPP_ERROR(logger, "set_device_ip: %s", e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR(logger, "set_device_ip: %s", e.what());
} catch (...) {
RCLCPP_ERROR(logger, "set_device_ip: unknown error");
}
rclcpp::shutdown();
return 0;
}