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fix: remove firmware upgrade arguments and related code from launch files and driver

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This commit is contained in:
ob-yalian
2026-09-24 11:17:08 +08:00
parent 77c636e266
commit 9bdc6d7bd6
15 changed files with 0 additions and 282 deletions
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orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
-2
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@@ -57,8 +57,6 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/examples/multi_camera_shared_container/gemini_330_series_shared_container.launch.py
-2
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@@ -102,8 +102,6 @@ def generate_launch_description():
# Bag playback: load a previously recorded .bag file as a virtual device
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
-2
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@@ -57,8 +57,6 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
-11
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@@ -87,12 +87,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
void setBagRecordingCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Response> response);
void presetUpdateCallback(bool firstCall, OBFwUpdateState state, const char* message,
uint8_t percent);
void updatePresetFirmware(std::string path);
void firmwareUpdateCallback(OBFwUpdateState state, const char* message, uint8_t percent);
bool applyForceIpConfig();
OBDeviceAccessMode stringToAccessMode(const std::string& mode_str);
@@ -145,17 +139,12 @@ class OBCameraNodeDriver : public rclcpp::Node {
bool enable_sync_host_time_ = true;
std::chrono::milliseconds time_sync_period_{6000};
std::string timestamp_clock_type_str_;
std::string preset_firmware_path_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
rclcpp::Service<orbbec_camera_msgs::srv::SetBagRecording>::SharedPtr set_bag_recording_srv_ =
nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;
std::string extension_path_;
static backward::SignalHandling sh; // for stack trace
std::string upgrade_firmware_;
std::atomic<bool> firmware_update_success_{false};
std::atomic<bool> need_reupdate_{false};
std::atomic<bool> is_reupdating_{false}; // Flag to track if we're in reupdate process
std::atomic<bool> delay_stream_start_after_reconnect_{false};
rclcpp::TimerBase::SharedPtr device_status_timer_ = nullptr;
rclcpp::Publisher<orbbec_camera_msgs::msg::DeviceStatus>::SharedPtr device_status_pub_ = nullptr;
orbbec_camera/launch/dabai_a.launch.py
-2
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@@ -78,8 +78,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/dabai_al.launch.py
-2
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@@ -78,8 +78,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/gemini345.launch.py
-2
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@@ -77,8 +77,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/gemini345_lg.launch.py
-2
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@@ -78,8 +78,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/gemini435_le.launch.py
-2
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@@ -78,8 +78,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/gemini_301_series.launch.py
-2
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@@ -101,8 +101,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/gemini_330_series.launch.py
-2
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@@ -91,8 +91,6 @@ def generate_launch_description():
# Bag playback: load a previously recorded .bag file as a virtual device
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
-2
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@@ -89,8 +89,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
orbbec_camera/launch/gemini_330_series_sdk_json.launch.py
-2
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@@ -77,8 +77,6 @@ def generate_launch_description():
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
orbbec_camera/launch/lidar.launch.py
-5
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@@ -66,11 +66,6 @@ def generate_launch_description():
default_value='1',
description='Number of devices to start. Required when launching multiple devices.'
),
DeclareLaunchArgument(
'upgrade_firmware',
default_value='',
description='Firmware file path. If set, attempts firmware upgrade on startup; empty means no upgrade.'
),
DeclareLaunchArgument(
'connection_delay',
default_value='10',
orbbec_camera/src/ob_camera_node_driver.cpp
-242
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@@ -359,10 +359,7 @@ void OBCameraNodeDriver::init() {
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_time_domain = declare_parameter<std::string>("time_domain", g_time_domain);
preset_firmware_path_ =
declare_parameter<std::string>("preset_firmware_path", preset_firmware_path_);
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);
@@ -1165,7 +1162,6 @@ void OBCameraNodeDriver::initializeBagPlayback() {
void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &device) {
device_ = device;
updatePresetFirmware(preset_firmware_path_);
CHECK_NOTNULL(device_);
CHECK_NOTNULL(device_.get());
if (ob_camera_node_) {
@@ -1312,58 +1308,6 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
std::chrono::high_resolution_clock::now() - start_time_);
RCLCPP_DEBUG_STREAM(logger_, "Start device cost: " << time_cost.count() << " ms");
if (!upgrade_firmware_.empty()) {
// Check if this is a second update (reupdate scenario)
bool is_second_update = is_reupdating_.load();
if (is_second_update) {
RCLCPP_INFO(logger_, "Device reconnected, starting the second firmware update");
} else {
RCLCPP_INFO(logger_, "Starting firmware update from file: %s", upgrade_firmware_.c_str());
}
firmware_update_success_ = false;
need_reupdate_ = false;
if (ob_camera_node_) {
TRY_EXECUTE_BLOCK({
ob_camera_node_->withDeviceLock([&]() {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
});
});
} else if (ob_lidar_node_) {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
}
if (need_reupdate_) {
// Some devices require a second update after reboot
RCLCPP_INFO(logger_, "The device will reboot and perform a second update automatically");
// Set flag to indicate we're waiting for device to reboot for second update
is_reupdating_ = true;
// Keep upgrade_firmware_ path and wait for device to reconnect
// The second update will be triggered automatically when device reconnects
return;
}
if (firmware_update_success_) {
if (is_second_update) {
RCLCPP_INFO(logger_, "Second firmware update completed successfully");
is_reupdating_ = false;
} else {
RCLCPP_INFO(logger_, "Firmware update completed successfully");
}
return;
}
}
const bool should_delay_stream_start = delay_stream_start_after_reconnect_.exchange(false) &&
isGemini301SeriesPID(device_info_->getPid());
if (should_delay_stream_start) {
@@ -1584,17 +1528,6 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
RCLCPP_INFO_STREAM(logger_, "Initialize device cost: " << time_cost.count() << " ms");
if (firmware_update_success_) {
firmware_update_success_ = false;
device_connected_ = false;
{
std::unique_lock<decltype(reset_device_mutex_)> reset_device_lock(reset_device_mutex_);
reset_device_flag_ = true;
}
reset_device_cond_.notify_all();
return;
}
auto pid = device->getDeviceInfo()->getPid();
if (isGmslCameraPID(pid)) {
ob_camera_node_->startGmslTrigger();
@@ -1625,181 +1558,6 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
reset_device_cond_.notify_all();
}
}
void OBCameraNodeDriver::updatePresetFirmware(std::string path) {
if (path.empty()) {
return;
} else {
std::stringstream ss(path);
std::string path_segment;
std::vector<std::string> paths;
OBFwUpdateState updateState = STAT_START;
bool firstCall = true;
while (std::getline(ss, path_segment, ',')) {
paths.push_back(path_segment);
}
uint8_t index = 0;
uint8_t count = static_cast<uint8_t>(paths.size());
char(*filePaths)[OB_PATH_MAX] = new char[count][OB_PATH_MAX];
RCLCPP_INFO_STREAM(this->get_logger(), "paths.cout : " << (uint32_t)count);
for (const auto &p : paths) {
strcpy(filePaths[index], p.c_str());
RCLCPP_INFO_STREAM(this->get_logger(),
"path: " << (uint32_t)index << ":" << filePaths[index]);
index++;
}
RCLCPP_INFO_STREAM(this->get_logger(),
"Start to update optional depth preset, please wait a moment...");
try {
device_->updateOptionalDepthPresets(
filePaths, count,
[this, &updateState, &firstCall](OBFwUpdateState state, const char *message,
uint8_t percent) {
updateState = state;
presetUpdateCallback(firstCall, state, message, percent);
// firstCall = false;
});
delete[] filePaths;
filePaths = nullptr;
if (updateState == STAT_DONE || updateState == STAT_DONE_WITH_DUPLICATES) {
RCLCPP_INFO_STREAM(this->get_logger(), "After updating the preset: ");
auto presetList = device_->getAvailablePresetList();
RCLCPP_INFO_STREAM(this->get_logger(), "Preset count: " << presetList->getCount());
for (uint32_t i = 0; i < presetList->getCount(); ++i) {
RCLCPP_INFO_STREAM(this->get_logger(), " - " << presetList->getName(i));
}
RCLCPP_INFO_STREAM(this->get_logger(),
"Current preset: " << device_->getCurrentPresetName());
std::string key = "PresetVer";
if (device_->isExtensionInfoExist(key)) {
std::string value = device_->getExtensionInfo(key);
RCLCPP_INFO_STREAM(this->get_logger(), "Preset version: " << value);
} else {
RCLCPP_INFO_STREAM(this->get_logger(), "PresetVer: ");
}
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware");
}
}
}
void OBCameraNodeDriver::presetUpdateCallback(bool firstCall, OBFwUpdateState state,
const char *message, uint8_t percent) {
if (!firstCall) {
std::cout << "\033[3F";
}
std::cout << "\033[K";
std::cout << "Progress: " << static_cast<uint32_t>(percent) << "%" << std::endl;
std::cout << "\033[K";
std::cout << "Status : ";
switch (state) {
case STAT_VERIFY_SUCCESS:
std::cout << "Image file verification success" << std::endl;
break;
case STAT_FILE_TRANSFER:
std::cout << "File transfer in progress" << std::endl;
break;
case STAT_DONE:
std::cout << "Update completed" << std::endl;
break;
case STAT_DONE_REBOOT_AND_REUPDATE:
std::cout << "Update completed, requires reboot and reupdate" << std::endl;
break;
case STAT_DONE_WITH_DUPLICATES:
std::cout << "Update completed, duplicated presets have been ignored" << std::endl;
break;
case STAT_IN_PROGRESS:
std::cout << "Update in progress" << std::endl;
break;
case STAT_START:
std::cout << "Starting the update" << std::endl;
break;
case STAT_VERIFY_IMAGE:
std::cout << "Verifying image file" << std::endl;
break;
default:
std::cout << "Unknown status or error" << std::endl;
break;
}
std::cout << "\033[K";
std::cout << "Message : " << message << std::endl << std::flush;
}
void OBCameraNodeDriver::firmwareUpdateCallback(OBFwUpdateState state, const char *message,
uint8_t percent) {
std::cout << "\033[K"; // Clear the current line
std::cout << "Progress: " << static_cast<uint32_t>(percent) << "%" << std::endl;
std::cout << "\033[K";
std::cout << "Status : ";
switch (state) {
case STAT_VERIFY_SUCCESS:
std::cout << "Image file verification success" << std::endl;
break;
case STAT_FILE_TRANSFER:
std::cout << "File transfer in progress" << std::endl;
break;
case STAT_DONE:
std::cout << "Update completed" << std::endl;
break;
case STAT_DONE_REBOOT_AND_REUPDATE:
need_reupdate_ = true;
std::cout << "Update completed (requires reboot and reupdate)" << std::endl;
break;
case STAT_IN_PROGRESS:
std::cout << "Upgrade in progress" << std::endl;
break;
case STAT_START:
std::cout << "Starting the upgrade" << std::endl;
break;
case STAT_VERIFY_IMAGE:
std::cout << "Verifying image file" << std::endl;
break;
default:
std::cout << "Unknown status or error" << std::endl;
break;
}
std::cout << "\033[K";
std::cout << "Message : " << message << std::endl << std::flush;
if (state == STAT_DONE || state == STAT_DONE_REBOOT_AND_REUPDATE) {
RCLCPP_INFO(logger_, "Reboot device");
if (ob_camera_node_) {
// Don't call clean() here to avoid deadlock - just stop timers and reboot
// The resetDevice thread will handle proper cleanup when device disconnects
if (sync_host_time_timer_) {
try {
sync_host_time_timer_->cancel();
sync_host_time_timer_.reset();
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception during sync timer cleanup in firmware update");
}
}
delay_stream_start_after_reconnect_ = true;
device_->reboot();
} else if (ob_lidar_node_) {
ob_lidar_node_.reset();
}
device_connected_ = false;
firmware_update_success_ = true;
if (state == STAT_DONE_REBOOT_AND_REUPDATE) {
// Keep upgrade_firmware_ path for second update
RCLCPP_INFO(logger_, "Firmware update requires a second update after reboot");
} else {
upgrade_firmware_ = "";
}
}
}
OBDeviceAccessMode OBCameraNodeDriver::stringToAccessMode(const std::string &mode_str) {
std::string lower_mode;
std::transform(mode_str.begin(), mode_str.end(), std::back_inserter(lower_mode),