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feat: add help command and LLA parameter support in set_device_ip tool

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ob-yalian
2026-03-24 15:31:57 +08:00
parent 6344b2cfa0
commit 2a283e1874
1 changed files with 36 additions and 1 deletions
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orbbec_camera/tools/set_device_ip.cpp
+36 -1
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@@ -1,6 +1,7 @@
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include <orbbec_camera/ob_camera_node_driver.h> #include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/utils.h> #include <orbbec_camera/utils.h>
#include <iostream>
#include <sstream> #include <sstream>
#include <string> #include <string>
@@ -23,7 +24,33 @@ bool parseIpString(const std::string &ip_str, uint8_t ip[4]) {
return i == 4; return i == 4;
} }
void printHelp() {
std::cout << "Usage:\n"
<< " ros2 run orbbec_camera set_device_ip --ros-args [params]\n\n"
<< "Parameters:\n"
<< " -p old_ip:=<ip> Current device IP (default: 192.168.1.10)\n"
<< " -p port:=<port> Device port (default: 8090)\n"
<< " -p dhcp:=<bool> Enable DHCP (default: false)\n"
<< " -p lla:=<bool> Enable LLA (default: false)\n"
<< " -p new_ip:=<ip> New static IP (default: 192.168.1.200)\n"
<< " -p mask:=<ip> Subnet mask (default: 255.255.255.0)\n"
<< " -p gateway:=<ip> Gateway (default: 192.168.1.1)\n\n"
<< "Examples:\n"
<< " ros2 run orbbec_camera set_device_ip --ros-args "
"-p old_ip:=192.168.1.10 -p new_ip:=192.168.1.200\n"
<< " ros2 run orbbec_camera set_device_ip --ros-args "
"-p old_ip:=192.168.1.10 -p dhcp:=true\n";
}
int main(int argc, char **argv) { int main(int argc, char **argv) {
for (int i = 1; i < argc; ++i) {
const std::string arg(argv[i]);
if (arg == "-h" || arg == "--help") {
printHelp();
return 0;
}
}
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
auto node = std::make_shared<rclcpp::Node>("set_device_ip"); auto node = std::make_shared<rclcpp::Node>("set_device_ip");
auto logger = node->get_logger(); auto logger = node->get_logger();
@@ -31,6 +58,7 @@ int main(int argc, char **argv) {
std::string device_ip_str = node->declare_parameter<std::string>("old_ip", "192.168.1.10"); std::string device_ip_str = node->declare_parameter<std::string>("old_ip", "192.168.1.10");
int port = node->declare_parameter<int>("port", 8090); int port = node->declare_parameter<int>("port", 8090);
bool dhcp = node->declare_parameter<bool>("dhcp", false); bool dhcp = node->declare_parameter<bool>("dhcp", false);
bool lla = node->declare_parameter<bool>("lla", false);
std::string new_ip_str = node->declare_parameter<std::string>("new_ip", "192.168.1.200"); 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 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"); std::string gateway_str = node->declare_parameter<std::string>("gateway", "192.168.1.1");
@@ -61,6 +89,13 @@ int main(int argc, char **argv) {
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));
if (device->isPropertySupported(OB_PROP_DEVICE_NETWORK_LLA_BOOL, OB_PERMISSION_READ_WRITE)) {
device->setBoolProperty(OB_PROP_DEVICE_NETWORK_LLA_BOOL, lla);
RCLCPP_INFO(logger, "LLA mode %s.", lla ? "enabled" : "disabled");
} else {
RCLCPP_WARN(logger, "LLA property is not supported on this device.");
}
RCLCPP_INFO(logger, "IP configuration applied successfully."); RCLCPP_INFO(logger, "IP configuration applied successfully.");
if (dhcp) { if (dhcp) {
RCLCPP_INFO(logger, "DHCP mode enabled."); RCLCPP_INFO(logger, "DHCP mode enabled.");
@@ -83,4 +118,4 @@ int main(int argc, char **argv) {
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;
} }