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feat: add firmware logging functionality to device connection tools

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This commit is contained in:
ob-yalian
2026-05-11 11:28:36 +08:00
parent 1a297ff2fd
commit 3f7fa2cf51
4 changed files with 62 additions and 4 deletions
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orbbec_camera/tools/firmware_update_tool.cpp
+20 -4
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@@ -458,18 +458,34 @@ std::shared_ptr<ob::Device> selectDeviceFromList(const std::shared_ptr<ob::Devic
throw std::runtime_error("Multiple devices detected without explicit selector");
}
void enableFirmwareLog(const rclcpp::Logger &logger, const std::shared_ptr<ob::Device> &device) {
try {
device->enableFirmwareLog(true);
RCLCPP_INFO(logger, "Set firmware log to ON");
} catch (const ob::Error &e) {
RCLCPP_WARN(logger, "Failed to enable firmware log: %s",
orbbec_camera::formatObErrorWithStatus(e).c_str());
} catch (const std::exception &e) {
RCLCPP_WARN(logger, "Failed to enable firmware log: %s", e.what());
}
}
std::shared_ptr<ob::Device> connectDevice(const rclcpp::Logger &logger,
const std::shared_ptr<ob::Context> &ctx,
const CliArgs &args) {
std::shared_ptr<ob::Device> device;
if (!args.device_ip.empty()) {
RCLCPP_INFO(logger, "Connecting network device %s:%d", args.device_ip.c_str(),
args.device_port);
return ctx->createNetDevice(args.device_ip.c_str(), static_cast<uint16_t>(args.device_port),
OB_DEVICE_DEFAULT_ACCESS);
device = ctx->createNetDevice(args.device_ip.c_str(), static_cast<uint16_t>(args.device_port),
OB_DEVICE_DEFAULT_ACCESS);
} else {
auto list = ctx->queryDeviceList();
device = selectDeviceFromList(list, args);
}
auto list = ctx->queryDeviceList();
return selectDeviceFromList(list, args);
enableFirmwareLog(logger, device);
return device;
}
std::shared_ptr<ob::Device> waitForReconnect(const rclcpp::Logger &logger,