i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-06 13:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add log_file_name parameter for configurable logging in launch files

Browse Source
This commit is contained in:
ob-yalian
2025-11-20 15:02:52 +08:00
parent 53c3d48196
commit 3c2bac59d1
18 changed files with 37 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node_driver.cpp
+16 -17
View File
@@ -180,25 +180,15 @@ void OBCameraNodeDriver::init() {
signal(SIGINT, signalHandler);
signal(SIGTERM, signalHandler);
ob::Context::setExtensionsDirectory(extension_path_.c_str());
if (config_path_.empty()) {
ctx_ = std::make_unique<ob::Context>();
} else {
ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
}
// Force IP
force_ip_enable_ = declare_parameter<bool>("force_ip_enable", false);
force_ip_mac_ = declare_parameter<std::string>("force_ip_mac", "");
force_ip_address_ = declare_parameter<std::string>("force_ip_address", "192.168.1.10");
force_ip_subnet_mask_ = declare_parameter<std::string>("force_ip_subnet_mask", "255.255.255.0");
force_ip_gateway_ = declare_parameter<std::string>("force_ip_gateway", "192.168.1.1");
applyForceIpConfig();
g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
auto log_level_str = declare_parameter<std::string>("log_level", "none");
auto log_level = obLogSeverityFromString(log_level_str);
auto log_file_name = declare_parameter<std::string>("log_file_name", "");
std::string pwd_dir = std::getenv("PWD") ? std::getenv("PWD") : std::getenv("HOME");
std::string log_path = pwd_dir + "/Log/" + g_camera_name;
// Set logger to console
ob::Context::setLoggerToConsole(log_level);
ob::Context::setLoggerToFile(log_level, log_path.c_str());
// Set custom log file name if specified
if (!log_file_name.empty()) {
try {
@@ -208,17 +198,26 @@ void OBCameraNodeDriver::init() {
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: " << e.getMessage());
}
}
// Force IP
force_ip_enable_ = declare_parameter<bool>("force_ip_enable", false);
force_ip_mac_ = declare_parameter<std::string>("force_ip_mac", "");
force_ip_address_ = declare_parameter<std::string>("force_ip_address", "192.168.1.10");
force_ip_subnet_mask_ = declare_parameter<std::string>("force_ip_subnet_mask", "255.255.255.0");
force_ip_gateway_ = declare_parameter<std::string>("force_ip_gateway", "192.168.1.1");
applyForceIpConfig();
if (config_path_.empty()) {
ctx_ = std::make_unique<ob::Context>();
} else {
ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
}
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);
double time_sync_period = declare_parameter<double>("time_sync_period", 60.0);
time_sync_period_ = std::chrono::milliseconds((int)(time_sync_period * 1000));
upgrade_firmware_ = declare_parameter<std::string>("upgrade_firmware", "");
g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
g_time_domain = declare_parameter<std::string>("time_domain", g_time_domain);
preset_firmware_path_ =
declare_parameter<std::string>("preset_firmware_path", preset_firmware_path_);
ob::Context::setLoggerToConsole(log_level);
orb_device_lock_shm_fd_ = shm_open(ORB_DEFAULT_LOCK_NAME.c_str(), O_CREAT | O_RDWR, 0666);
if (orb_device_lock_shm_fd_ < 0) {
RCLCPP_ERROR_STREAM(logger_, "Failed to open shared memory " << ORB_DEFAULT_LOCK_NAME);