feat: enhance ip_config_tool with CLI argument parsing and improved help documentation

orbbec_camera/tools/ip_config_tool.cpp

@@ -1,14 +1,33 @@
 #include "rclcpp/rclcpp.hpp"
 #include <orbbec_camera/ob_camera_node_driver.h>
 #include <orbbec_camera/utils.h>
+
+#include <chrono>
+#include <cstring>
 #include <iostream>
 #include <sstream>
 #include <string>
-#include <chrono>
 #include <thread>
 
 using namespace ob;
 
+struct CliArgs {
+  enum class Operation {
+    NONE,
+    SET_IP,
+    FORCE_IP,
+  };
+  bool help = false;
+  Operation operation = Operation::NONE;
+  bool dhcp = false;
+  std::string force_ip_mac;
+  std::string old_ip = "192.168.1.10";
+  int port = 8090;
+  std::string new_ip = "192.168.1.200";
+  std::string mask = "255.255.255.0";
+  std::string gateway = "192.168.1.1";
+};
+
 bool parseIpString(const std::string &ip_str, uint8_t ip[4]) {
   std::stringstream ss(ip_str);
   std::string item;
@@ -26,87 +45,247 @@ bool parseIpString(const std::string &ip_str, uint8_t ip[4]) {
   return i == 4;
 }
 
+bool parseBool(const std::string &value, bool &out) {
+  if (value == "true" || value == "1") {
+    out = true;
+    return true;
+  }
+  if (value == "false" || value == "0") {
+    out = false;
+    return true;
+  }
+  return false;
+}
+
+bool parseInt(const std::string &value, int &out) {
+  try {
+    size_t consumed = 0;
+    const int parsed = std::stoi(value, &consumed);
+    if (consumed != value.size()) {
+      return false;
+    }
+    out = parsed;
+    return true;
+  } catch (...) {
+    return false;
+  }
+}
+
 void printHelp() {
   std::cout
       << "Usage:\n"
-      << "  ros2 run orbbec_camera ip_config_tool --ros-args [params]\n"
+      << "  ros2 run orbbec_camera ip_config_tool --\\\n"
+      << "      <set_ip|force_ip> [options]\n"
+      << "  ros2 run orbbec_camera ip_config_tool -- set_ip [--enable_dhcp <true|false>]\\\n"
+      << "      [--old_ip <ip>] [--port <port>] [--new_ip <ip>] [--mask <ip>] [--gateway <ip>]\n"
+      << "  ros2 run orbbec_camera ip_config_tool -- force_ip --force_ip_mac <mac>\\\n"
+      << "      [--enable_dhcp <true|false>] [--new_ip <ip>] [--mask <ip>] [--gateway <ip>]\n"
       << "  (legacy alias: set_device_ip)\n\n"
+      << "Subcommands:\n"
+      << "  set_ip                     Configure IP on device by current device address.\n"
+      << "  force_ip                   Force IP by MAC address.\n\n"
       << "Parameters:\n"
-      << "  -p old_ip:=<ip>            Current device IP (default: 192.168.1.10)\n"
+      << "  --enable_dhcp <bool>       DHCP flag for set-ip/force-ip (default: false).\n"
-      << "  -p port:=<port>            Device port (default: 8090)\n"
+      << "  --old_ip <ip>              Current device IP for set-ip (default: 192.168.1.10).\n"
-      << "  -p enable_set_ip:=<bool>   Enable set-ip operation (default: false)\n"
+      << "  --port <port>              Device port for set-ip (default: 8090).\n"
-      << "  -p dhcp:=<bool>            DHCP flag for set-ip/force-ip config (default: false)\n"
+      << "  --new_ip <ip>              Static IP for set-ip/force-ip (default: 192.168.1.200).\n"
-      << "  -p new_ip:=<ip>            Static IP for set-ip/force-ip (default: 192.168.1.200)\n"
+      << "  --mask <ip>                Subnet mask for set-ip/force-ip (default: 255.255.255.0).\n"
-      << "  -p mask:=<ip>              Subnet mask for set-ip/force-ip (default: 255.255.255.0)\n"
+      << "  --gateway <ip>             Gateway for set-ip/force-ip (default: 192.168.1.1).\n"
-      << "  -p gateway:=<ip>           Gateway for set-ip/force-ip (default: 192.168.1.1)\n"
+      << "  --force_ip_mac <mac>       Target MAC for force-ip (required, e.g. "
-      << "  -p enable_force_ip:=<bool> Enable force-ip operation (default: false)\n"
+         "54:14:FD:06:07:DA).\n\n"
-      << "  -p force_ip_mac:=<mac>     Target MAC for force-ip (required, e.g. "
-         "54:14:FD:06:07:DA)\n\n"
       << "Examples:\n"
       << "\n"
       << "  [Set IP]\n"
-      << "    DHCP:    ros2 run orbbec_camera ip_config_tool --ros-args \\\n"
+      << "    DHCP:    ros2 run orbbec_camera ip_config_tool -- \\\n"
-      << "             -p old_ip:=192.168.1.10 -p enable_set_ip:=true -p dhcp:=true\n"
+      << "             set_ip \\\n"
-      << "    Static:  ros2 run orbbec_camera ip_config_tool --ros-args \\\n"
+      << "             --old_ip 192.168.1.10 \\\n"
-      << "             -p old_ip:=192.168.1.10 -p enable_set_ip:=true -p dhcp:=false \\\n"
+      << "             --enable_dhcp true\n"
-      << "             -p new_ip:=192.168.1.200 -p mask:=255.255.255.0 -p gateway:=192.168.1.1\n"
+      << "    Static:  ros2 run orbbec_camera ip_config_tool -- \\\n"
+      << "             set_ip \\\n"
+      << "             --old_ip 192.168.1.10 \\\n"
+      << "             --enable_dhcp false \\\n"
+      << "             --new_ip 192.168.1.200 \\\n"
+      << "             --mask 255.255.255.0 \\\n"
+      << "             --gateway 192.168.1.1\n"
       << "\n"
       << "  [Force IP]\n"
-      << "    by MAC:  ros2 run orbbec_camera ip_config_tool --ros-args \\\n"
+      << "    by MAC:  ros2 run orbbec_camera ip_config_tool -- \\\n"
-      << "             -p enable_force_ip:=true \\\n"
+      << "             force_ip \\\n"
-      << "             -p force_ip_mac:=54:14:FD:06:07:DA -p dhcp:=false \\\n"
+      << "             --force_ip_mac 54:14:FD:06:07:DA \\\n"
-      << "             -p new_ip:=192.168.1.200 -p mask:=255.255.255.0 -p gateway:=192.168.1.1\n";
+      << "             --enable_dhcp false \\\n"
+      << "             --new_ip 192.168.1.200 \\\n"
+      << "             --mask 255.255.255.0 \\\n"
+      << "             --gateway 192.168.1.1\n";
+}
+
+bool parseArgs(int argc, char **argv, CliArgs &args, std::string &error) {
+  for (int i = 1; i < argc; ++i) {
+    const std::string current = argv[i];
+
+    if (current == "-h" || current == "--help") {
+      args.help = true;
+      return true;
+    }
+    if (current == "set_ip" || current == "set-ip") {
+      if (args.operation != CliArgs::Operation::NONE) {
+        error = "Only one subcommand is allowed: set_ip or force_ip";
+        return false;
+      }
+      args.operation = CliArgs::Operation::SET_IP;
+      continue;
+    }
+    if (current == "force_ip" || current == "force-ip") {
+      if (args.operation != CliArgs::Operation::NONE) {
+        error = "Only one subcommand is allowed: set_ip or force_ip";
+        return false;
+      }
+      args.operation = CliArgs::Operation::FORCE_IP;
+      continue;
+    }
+
+    if (current.rfind("--enable_dhcp=", 0) == 0) {
+      if (!parseBool(current.substr(std::strlen("--enable_dhcp=")), args.dhcp)) {
+        error = "--enable_dhcp expects true/false";
+        return false;
+      }
+      continue;
+    }
+    if (current == "--enable_dhcp") {
+      if (++i >= argc || !parseBool(argv[i], args.dhcp)) {
+        error = "--enable_dhcp expects true/false";
+        return false;
+      }
+      continue;
+    }
+
+    if (current.rfind("--old_ip=", 0) == 0) {
+      args.old_ip = current.substr(std::strlen("--old_ip="));
+      continue;
+    }
+    if (current == "--old_ip") {
+      if (++i >= argc) {
+        error = "--old_ip requires a value";
+        return false;
+      }
+      args.old_ip = argv[i];
+      continue;
+    }
+
+    if (current.rfind("--port=", 0) == 0) {
+      if (!parseInt(current.substr(std::strlen("--port=")), args.port)) {
+        error = "--port expects an integer";
+        return false;
+      }
+      continue;
+    }
+    if (current == "--port") {
+      if (++i >= argc || !parseInt(argv[i], args.port)) {
+        error = "--port expects an integer";
+        return false;
+      }
+      continue;
+    }
+
+    if (current.rfind("--new_ip=", 0) == 0) {
+      args.new_ip = current.substr(std::strlen("--new_ip="));
+      continue;
+    }
+    if (current == "--new_ip") {
+      if (++i >= argc) {
+        error = "--new_ip requires a value";
+        return false;
+      }
+      args.new_ip = argv[i];
+      continue;
+    }
+
+    if (current.rfind("--mask=", 0) == 0) {
+      args.mask = current.substr(std::strlen("--mask="));
+      continue;
+    }
+    if (current == "--mask") {
+      if (++i >= argc) {
+        error = "--mask requires a value";
+        return false;
+      }
+      args.mask = argv[i];
+      continue;
+    }
+
+    if (current.rfind("--gateway=", 0) == 0) {
+      args.gateway = current.substr(std::strlen("--gateway="));
+      continue;
+    }
+    if (current == "--gateway") {
+      if (++i >= argc) {
+        error = "--gateway requires a value";
+        return false;
+      }
+      args.gateway = argv[i];
+      continue;
+    }
+
+    if (current.rfind("--force_ip_mac=", 0) == 0) {
+      args.force_ip_mac = current.substr(std::strlen("--force_ip_mac="));
+      continue;
+    }
+    if (current == "--force_ip_mac") {
+      if (++i >= argc) {
+        error = "--force_ip_mac requires a value";
+        return false;
+      }
+      args.force_ip_mac = argv[i];
+      continue;
+    }
+
+    error = "Unknown argument: " + current;
+    return false;
+  }
+
+  if (args.operation == CliArgs::Operation::NONE) {
+    error = "Missing subcommand. Use one of: set_ip, force_ip";
+    return false;
+  }
+  if (args.operation == CliArgs::Operation::FORCE_IP && args.force_ip_mac.empty()) {
+    error = "force_ip requires --force_ip_mac <mac>";
+    return false;
+  }
+
+  return true;
 }
 
 int main(int argc, char **argv) {
-  for (int i = 1; i < argc; ++i) {
+  CliArgs args;
-    const std::string arg(argv[i]);
+  std::string parse_error;
-    if (arg == "-h" || arg == "--help") {
+  if (!parseArgs(argc, argv, args, parse_error)) {
-      printHelp();
+    std::cerr << "Argument error: " << parse_error << std::endl;
-      return 0;
+    printHelp();
-    }
+    return 1;
+  }
+  if (args.help) {
+    printHelp();
+    return 0;
   }
 
   rclcpp::init(argc, argv);
-  auto node = std::make_shared<rclcpp::Node>("ip_config_tool");
+  auto logger = rclcpp::get_logger("ip_config_tool");
-  auto logger = node->get_logger();
-
-  std::string device_ip_str = node->declare_parameter<std::string>("old_ip", "192.168.1.10");
-  int port = node->declare_parameter<int>("port", 8090);
-
-  bool enable_set_ip = node->declare_parameter<bool>("enable_set_ip", false);
-  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");
-
-  bool enable_force_ip = node->declare_parameter<bool>("enable_force_ip", false);
-  std::string force_ip_mac = node->declare_parameter<std::string>("force_ip_mac", "");
-
-  if (!enable_set_ip && !enable_force_ip) {
-    RCLCPP_ERROR(logger,
-                 "No operation enabled. Please enable at least one of: enable_set_ip, "
-                 "enable_force_ip.");
-    rclcpp::shutdown();
-    return 1;
-  }
 
   OBNetIpConfig ip_config{};
-  ip_config.dhcp = dhcp ? 1 : 0;
+  ip_config.dhcp = args.dhcp ? 1 : 0;
 
-  if ((enable_set_ip || enable_force_ip) && !dhcp) {
+  if (!args.dhcp) {
-    if (!parseIpString(new_ip_str, ip_config.address)) {
+    if (!parseIpString(args.new_ip, ip_config.address)) {
-      RCLCPP_ERROR(logger, "Invalid new_ip format: %s", new_ip_str.c_str());
+      RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
       rclcpp::shutdown();
       return 1;
     }
-    if (!parseIpString(mask_str, ip_config.mask)) {
+    if (!parseIpString(args.mask, ip_config.mask)) {
-      RCLCPP_ERROR(logger, "Invalid mask format: %s", mask_str.c_str());
+      RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
       rclcpp::shutdown();
       return 1;
     }
-    if (!parseIpString(gateway_str, ip_config.gateway)) {
+    if (!parseIpString(args.gateway, ip_config.gateway)) {
-      RCLCPP_ERROR(logger, "Invalid gateway format: %s", gateway_str.c_str());
+      RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
       rclcpp::shutdown();
       return 1;
     }
@@ -116,44 +295,38 @@ int main(int argc, char **argv) {
     ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF);
     auto context = std::make_shared<ob::Context>();
 
-    if (enable_set_ip) {
+    if (args.operation == CliArgs::Operation::SET_IP) {
-      RCLCPP_INFO(logger, "Connecting to device %s:%d ...", device_ip_str.c_str(), port);
+      RCLCPP_INFO(logger, "Connecting to device %s:%d ...", args.old_ip.c_str(), args.port);
-      auto device = context->createNetDevice(device_ip_str.c_str(), port);
+      auto device = context->createNetDevice(args.old_ip.c_str(), args.port);
 
       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 (dhcp) {
+      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],
+        RCLCPP_INFO(logger, "Set-ip target mask: %d.%d.%d.%d", ip_config.mask[0], ip_config.mask[1],
-                    ip_config.mask[1], ip_config.mask[2], ip_config.mask[3]);
+                    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 (enable_force_ip) {
+    if (args.operation == CliArgs::Operation::FORCE_IP) {
-      if (force_ip_mac.empty()) {
+      RCLCPP_INFO(logger, "Applying force-ip to MAC %s ...", args.force_ip_mac.c_str());
-        RCLCPP_ERROR(logger, "force_ip_mac is required when enable_force_ip=true.");
+      if (context->forceIp(args.force_ip_mac.c_str(), ip_config)) {
-        rclcpp::shutdown();
-        return 1;
-      }
-
-      RCLCPP_INFO(logger, "Applying force-ip to MAC %s ...", force_ip_mac.c_str());
-      if (context->forceIp(force_ip_mac.c_str(), ip_config)) {
         RCLCPP_INFO(logger, "Force-ip operation applied successfully.");
         std::this_thread::sleep_for(std::chrono::seconds(5));
-        if (dhcp) {
+        if (args.dhcp) {
           RCLCPP_INFO(logger, "Force-ip target mode: DHCP.");
         } else {
-          RCLCPP_INFO(logger, "Force-ip target static IP: %s", new_ip_str.c_str());
+          RCLCPP_INFO(logger, "Force-ip target static IP: %s", args.new_ip.c_str());
-          RCLCPP_INFO(logger, "Force-ip target mask: %s", mask_str.c_str());
+          RCLCPP_INFO(logger, "Force-ip target mask: %s", args.mask.c_str());
-          RCLCPP_INFO(logger, "Force-ip target gateway: %s", gateway_str.c_str());
+          RCLCPP_INFO(logger, "Force-ip target gateway: %s", args.gateway.c_str());
         }
       } else {
         RCLCPP_ERROR(logger, "Force-ip failed (SDK returned false).");