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Merge branch 'feature/dhcp_alone' into merge/sdk_2.8.1

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ob-yalian
2026-04-03 16:55:07 +08:00
parent 2119a7d79b 24591deac6
commit 9aa802083d
2 changed files with 337 additions and 122 deletions
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orbbec_camera/CMakeLists.txt
+1 -1
View File
@@ -254,7 +254,7 @@ if(DEFINED ENV{BUILDING_PACKAGE})
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules DESTINATION /etc/udev/rules.d)
endif()
install(TARGETS list_devices_node list_depth_work_mode_node list_camera_profile_mode_node firmware_update_tool topic_statistics_node service_benchmark_node ob_benchmark_node 435le_example_node set_device_ip image_sync_example_node DESTINATION lib/${PROJECT_NAME}/
install(TARGETS list_devices_node list_depth_work_mode_node list_camera_profile_mode_node firmware_update_tool topic_statistics_node service_benchmark_node ob_benchmark_node 435le_example_node ip_config_tool set_device_ip image_sync_example_node DESTINATION lib/${PROJECT_NAME}/
)
if(BUILD_TESTING)
orbbec_camera/tools/ip_config_tool.cpp
+336 -121
View File
@@ -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;
@@ -26,175 +45,371 @@ bool parseIpString(const std::string &ip_str, uint8_t ip[4]) {
return i == 4;
}
bool isParamProvided(int argc, char **argv, const std::string &key) {
const std::string pattern = key + ":=";
for (int i = 1; i < argc; ++i) {
const std::string arg(argv[i]);
if (arg.find(pattern) != std::string::npos) {
return true;
}
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"
<< " -p port:=<port> Device port (default: 8090)\n"
<< " -p enable_lla:=<bool> Set LLA switch directly (true: enable, false: disable, "
"default: false)\n"
<< " Note: LLA is applied only when this parameter is "
"explicitly provided.\n"
<< " -p enable_set_ip:=<bool> Enable set-ip operation (default: false)\n"
<< " -p dhcp:=<bool> DHCP flag for set-ip/force-ip config (default: false)\n"
<< " -p new_ip:=<ip> Static IP for set-ip/force-ip (default: 192.168.1.200)\n"
<< " -p mask:=<ip> Subnet mask for set-ip/force-ip (default: 255.255.255.0)\n"
<< " -p gateway:=<ip> Gateway for set-ip/force-ip (default: 192.168.1.1)\n"
<< " -p enable_force_ip:=<bool> Enable force-ip operation (default: false)\n"
<< " -p force_ip_mac:=<mac> Target MAC for force-ip (required, e.g. "
"54:14:FD:06:07:DA)\n\n"
<< " --enable_dhcp <bool> DHCP flag for set-ip/force-ip (default: false).\n"
<< " --old_ip <ip> Current device IP for set-ip (default: 192.168.1.10).\n"
<< " --port <port> Device port for set-ip (default: 8090).\n"
<< " --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"
<< " --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. "
"54:14:FD:06:07:DA).\n\n"
<< "Examples:\n"
<< "\n"
<< " [LLA]\n"
<< " enable: ros2 run orbbec_camera ip_config_tool --ros-args -p old_ip:=192.168.1.10 -p "
"enable_lla:=true\n"
<< " disable: ros2 run orbbec_camera ip_config_tool --ros-args -p old_ip:=192.168.1.10 -p "
"enable_lla:=false\n"
<< "\n"
<< " [Set IP]\n"
<< " DHCP: ros2 run orbbec_camera ip_config_tool --ros-args \\\n"
<< " -p old_ip:=192.168.1.10 -p enable_set_ip:=true -p dhcp:=true\n"
<< " Static: ros2 run orbbec_camera ip_config_tool --ros-args \\\n"
<< " -p old_ip:=192.168.1.10 -p enable_set_ip:=true -p dhcp:=false \\\n"
<< " -p new_ip:=192.168.1.200 -p mask:=255.255.255.0 -p gateway:=192.168.1.1\n"
<< " DHCP: ros2 run orbbec_camera ip_config_tool -- \\\n"
<< " set_ip \\\n"
<< " --old_ip 192.168.1.10 \\\n"
<< " --enable_dhcp true\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"
<< " -p enable_force_ip:=true \\\n"
<< " -p force_ip_mac:=54:14:FD:06:07:DA -p dhcp:=false \\\n"
<< " -p new_ip:=192.168.1.200 -p mask:=255.255.255.0 -p gateway:=192.168.1.1\n";
<< " by MAC: ros2 run orbbec_camera ip_config_tool -- \\\n"
<< " force_ip \\\n"
<< " --force_ip_mac 54:14:FD:06:07:DA \\\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) {
const std::string arg(argv[i]);
if (arg == "-h" || arg == "--help") {
printHelp();
return 0;
}
CliArgs args;
std::string parse_error;
if (!parseArgs(argc, argv, args, parse_error)) {
std::cerr << "Argument error: " << parse_error << std::endl;
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 = 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_lla = node->declare_parameter<bool>("enable_lla", false);
bool do_lla = isParamProvided(argc, argv, "enable_lla");
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 (!do_lla && !enable_set_ip && !enable_force_ip) {
RCLCPP_ERROR(logger,
"No operation enabled. Please enable at least one of: enable_lla, enable_set_ip, "
"enable_force_ip.");
rclcpp::shutdown();
return 1;
}
OBNetIpConfig ip_config{};
ip_config.dhcp = dhcp ? 1 : 0;
if ((enable_set_ip || enable_force_ip) && !dhcp) {
if (!parseIpString(new_ip_str, ip_config.address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", new_ip_str.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(mask_str, ip_config.mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", mask_str.c_str());
rclcpp::shutdown();
return 1;
}
if (!parseIpString(gateway_str, ip_config.gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", gateway_str.c_str());
rclcpp::shutdown();
return 1;
}
}
auto logger = rclcpp::get_logger("ip_config_tool");
try {
ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF);
auto context = std::make_shared<ob::Context>();
if (do_lla || enable_set_ip) {
RCLCPP_INFO(logger, "Connecting to device %s:%d ...", device_ip_str.c_str(), port);
auto device = context->createNetDevice(device_ip_str.c_str(), port);
if (args.operation == CliArgs::Operation::SET_IP) {
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);
if (do_lla) {
if (device->isPropertySupported(OB_PROP_DEVICE_NETWORK_LLA_BOOL,
OB_PERMISSION_READ_WRITE)) {
device->setBoolProperty(OB_PROP_DEVICE_NETWORK_LLA_BOOL, enable_lla);
RCLCPP_INFO(logger, "LLA set successfully. target=%s",
enable_lla ? "enabled" : "disabled");
} else {
RCLCPP_WARN(logger, "LLA property is not supported on this device.");
const bool v2_supported =
device->isPropertySupported(OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2, OB_PERMISSION_READ_WRITE);
if (v2_supported) {
// V2 supports enabling DHCP and persistent(static) independently.
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 {
OBNetIpConfig ip_config{};
ip_config.dhcp = args.dhcp ? 1 : 0;
if (!args.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;
}
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.");
}
} else {
RCLCPP_INFO(logger, "LLA operation skipped (enable_lla not explicitly provided).");
}
if (enable_set_ip) {
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],
ip_config.mask[1], ip_config.mask[2], ip_config.mask[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]);
}
} else {
RCLCPP_INFO(logger, "Set-ip operation skipped (enable_set_ip=false).");
}
}
if (enable_force_ip) {
if (force_ip_mac.empty()) {
RCLCPP_ERROR(logger, "force_ip_mac is required when enable_force_ip=true.");
rclcpp::shutdown();
return 1;
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 ...", force_ip_mac.c_str());
if (context->forceIp(force_ip_mac.c_str(), ip_config)) {
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)) {
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 mask: %s", mask_str.c_str());
RCLCPP_INFO(logger, "Force-ip target gateway: %s", gateway_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", args.mask.c_str());
RCLCPP_INFO(logger, "Force-ip target gateway: %s", args.gateway.c_str());
}
} else {
RCLCPP_ERROR(logger, "Force-ip failed (SDK returned false).");