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feat: implement support for IP configuration V2 in ip_config_tool

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This commit is contained in:
ob-yalian
2026-04-03 16:54:33 +08:00
parent 7cb6ab3e4a
commit 24591deac6
1 changed files with 116 additions and 33 deletions
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orbbec_camera/tools/ip_config_tool.cpp
+116 -33
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@@ -270,27 +270,6 @@ int main(int argc, char **argv) {
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
auto logger = rclcpp::get_logger("ip_config_tool"); auto logger = rclcpp::get_logger("ip_config_tool");
OBNetIpConfig ip_config{};
ip_config.dhcp = args.dhcp ? 1 : 0;
if (!args.dhcp) {
if (!parseIpString(args.new_ip, ip_config.address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.mask, ip_config.mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.gateway, ip_config.gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
rclcpp::shutdown();
return 1;
}
}
try { try {
ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF); ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF);
auto context = std::make_shared<ob::Context>(); auto context = std::make_shared<ob::Context>();
@@ -299,24 +278,128 @@ int main(int argc, char **argv) {
RCLCPP_INFO(logger, "Connecting to device %s:%d ...", args.old_ip.c_str(), args.port); RCLCPP_INFO(logger, "Connecting to device %s:%d ...", args.old_ip.c_str(), args.port);
auto device = context->createNetDevice(args.old_ip.c_str(), args.port); auto device = context->createNetDevice(args.old_ip.c_str(), args.port);
RCLCPP_INFO(logger, "Applying set-ip configuration..."); const bool v2_supported =
device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG, device->isPropertySupported(OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2, OB_PERMISSION_READ_WRITE);
reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config));
RCLCPP_INFO(logger, "Set-ip configuration applied successfully."); if (v2_supported) {
if (args.dhcp) { // V2 supports enabling DHCP and persistent(static) independently.
RCLCPP_INFO(logger, "Set-ip target mode: DHCP."); uint8_t address[4] = {0};
uint8_t mask[4] = {0};
uint8_t gateway[4] = {0};
if (!parseIpString(args.new_ip, address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.mask, mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.gateway, gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
rclcpp::shutdown();
return 1;
}
OBNetIpConfigV2 ip_config_v2{};
ip_config_v2.flags = OB_NET_IP_FLAG_PERSISTENT;
if (args.dhcp) {
ip_config_v2.flags = static_cast<uint16_t>(ip_config_v2.flags | OB_NET_IP_FLAG_DHCP);
}
std::memcpy(ip_config_v2.address, address, sizeof(address));
std::memcpy(ip_config_v2.mask, mask, sizeof(mask));
std::memcpy(ip_config_v2.gateway, gateway, sizeof(gateway));
RCLCPP_INFO(logger, "Applying set-ip configuration with V2 property (1088)...");
device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2,
reinterpret_cast<const uint8_t *>(&ip_config_v2),
sizeof(ip_config_v2));
RCLCPP_INFO(logger, "Set-ip configuration applied successfully (V2).");
RCLCPP_INFO(logger, "Set-ip target DHCP: %s", args.dhcp ? "enabled" : "disabled");
RCLCPP_INFO(logger, "Set-ip target persistent(static): enabled");
RCLCPP_INFO(logger, "Set-ip target static IP: %d.%d.%d.%d", ip_config_v2.address[0],
ip_config_v2.address[1], ip_config_v2.address[2], ip_config_v2.address[3]);
RCLCPP_INFO(logger, "Set-ip target mask: %d.%d.%d.%d", ip_config_v2.mask[0],
ip_config_v2.mask[1], ip_config_v2.mask[2], ip_config_v2.mask[3]);
RCLCPP_INFO(logger, "Set-ip target gateway: %d.%d.%d.%d", ip_config_v2.gateway[0],
ip_config_v2.gateway[1], ip_config_v2.gateway[2], ip_config_v2.gateway[3]);
} else { } else {
RCLCPP_INFO(logger, "Set-ip target static IP: %d.%d.%d.%d", ip_config.address[0], OBNetIpConfig ip_config{};
ip_config.address[1], ip_config.address[2], ip_config.address[3]); ip_config.dhcp = args.dhcp ? 1 : 0;
RCLCPP_INFO(logger, "Set-ip target mask: %d.%d.%d.%d", ip_config.mask[0], ip_config.mask[1],
ip_config.mask[2], ip_config.mask[3]); if (!args.dhcp) {
RCLCPP_INFO(logger, "Set-ip target gateway: %d.%d.%d.%d", ip_config.gateway[0], uint8_t address[4] = {0};
ip_config.gateway[1], ip_config.gateway[2], ip_config.gateway[3]); uint8_t mask[4] = {0};
uint8_t gateway[4] = {0};
if (!parseIpString(args.new_ip, address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.mask, mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.gateway, gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
rclcpp::shutdown();
return 1;
}
std::memcpy(ip_config.address, address, sizeof(address));
std::memcpy(ip_config.mask, mask, sizeof(mask));
std::memcpy(ip_config.gateway, gateway, sizeof(gateway));
}
RCLCPP_WARN(logger,
"Device does not support IP config V2 (1088), fallback to legacy property (1041).");
if (args.dhcp) {
RCLCPP_WARN(logger,
"Legacy IP config does not support DHCP and static IP simultaneously; static fields will be ignored.");
}
RCLCPP_INFO(logger, "Applying set-ip configuration...");
device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG,
reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config));
RCLCPP_INFO(logger, "Set-ip configuration applied successfully.");
if (args.dhcp) {
RCLCPP_INFO(logger, "Set-ip target mode: DHCP.");
} else {
RCLCPP_INFO(logger, "Set-ip target static IP: %d.%d.%d.%d", ip_config.address[0],
ip_config.address[1], ip_config.address[2], ip_config.address[3]);
RCLCPP_INFO(logger, "Set-ip target mask: %d.%d.%d.%d", ip_config.mask[0], ip_config.mask[1],
ip_config.mask[2], ip_config.mask[3]);
RCLCPP_INFO(logger, "Set-ip target gateway: %d.%d.%d.%d", ip_config.gateway[0],
ip_config.gateway[1], ip_config.gateway[2], ip_config.gateway[3]);
}
} }
} }
if (args.operation == CliArgs::Operation::FORCE_IP) { if (args.operation == CliArgs::Operation::FORCE_IP) {
OBNetIpConfig ip_config{};
ip_config.dhcp = args.dhcp ? 1 : 0;
if (!args.dhcp) {
if (!parseIpString(args.new_ip, ip_config.address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.mask, ip_config.mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(args.gateway, ip_config.gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
rclcpp::shutdown();
return 1;
}
}
RCLCPP_INFO(logger, "Applying force-ip to MAC %s ...", args.force_ip_mac.c_str()); RCLCPP_INFO(logger, "Applying force-ip to MAC %s ...", args.force_ip_mac.c_str());
if (context->forceIp(args.force_ip_mac.c_str(), ip_config)) { if (context->forceIp(args.force_ip_mac.c_str(), ip_config)) {
RCLCPP_INFO(logger, "Force-ip operation applied successfully."); RCLCPP_INFO(logger, "Force-ip operation applied successfully.");