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feat: add device access mode configuration and related methods

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This commit is contained in:
ob-yalian
2025-12-04 17:41:10 +08:00
parent 7c74775a9d
commit c2a94692f5
3 changed files with 53 additions and 8 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+47 -8
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@@ -253,6 +253,10 @@ void OBCameraNodeDriver::init() {
net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0));
enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false);
uvc_backend_ = declare_parameter<std::string>("uvc_backend", "libuvc");
device_access_mode_str_ = declare_parameter<std::string>("device_access_mode", "default");
device_access_mode_ = stringToAccessMode(device_access_mode_str_);
RCLCPP_INFO_STREAM(logger_, "Device access mode: " << device_access_mode_str_ << " ("
<< device_access_mode_ << ")");
if (uvc_backend_ == "libuvc") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
@@ -279,8 +283,8 @@ void OBCameraNodeDriver::init() {
if (node_options_.use_intra_process_comms()) {
qos = rclcpp::QoS(1);
}
device_status_pub_ = this->create_publisher<orbbec_camera_msgs::msg::DeviceStatus>(
"device_status", qos);
device_status_pub_ =
this->create_publisher<orbbec_camera_msgs::msg::DeviceStatus>("device_status", qos);
query_thread_ = std::make_shared<std::thread>([this]() { queryDevice(); });
reset_device_thread_ = std::make_shared<std::thread>([this]() { resetDevice(); });
}
@@ -764,7 +768,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDevice(
device = selectDeviceByUSBPort(list, usb_port_);
} else if (device_num_ == 1) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000, "Connecting to the default device");
return list->getDevice(0);
return list->getDevice(0, device_access_mode_);
}
if (device == nullptr) {
RCLCPP_WARN_THROTTLE(logger_, *get_clock(), 5000, "Device with serial number %s not found",
@@ -790,7 +794,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
auto pid = list->getPid(i);
if (isOpenNIDevice(pid)) {
// openNI device
auto device = list->getDevice(i);
auto device = list->getDevice(i, device_access_mode_);
auto device_info = device->getDeviceInfo();
if (device_info->getSerialNumber() == serial_number) {
RCLCPP_INFO_STREAM_THROTTLE(
@@ -804,7 +808,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
if (sn == serial_number) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Device serial number " << sn << " matched");
return list->getDevice(i);
return list->getDevice(i, device_access_mode_);
}
}
} catch (ob::Error &e) {
@@ -828,7 +832,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"After lock: Select device usb port: " << usb_port);
auto device = list->getDeviceByUid(usb_port.c_str());
auto device = list->getDeviceByUid(usb_port.c_str(), device_access_mode_);
if (device) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"getDeviceByUid device usb port " << usb_port << " done");
@@ -874,7 +878,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
if (std::string(list->getIpAddress(i)) == net_ip) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"getDeviceByNetIP device net ip " << net_ip << " done");
return list->getDevice(i);
return list->getDevice(i, device_access_mode_);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
@@ -1130,7 +1134,7 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
[this](int *) { device_connecting_.store(false); });
std::this_thread::sleep_for(std::chrono::milliseconds(connection_delay_));
auto device = ctx_->createNetDevice(net_device_ip.c_str(), net_device_port);
auto device = ctx_->createNetDevice(net_device_ip.c_str(), net_device_port, device_access_mode_);
if (device == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Failed to connect to net device " << net_device_ip);
return;
@@ -1414,6 +1418,41 @@ void OBCameraNodeDriver::firmwareUpdateCallback(OBFwUpdateState state, const cha
firmware_update_success_ = true;
}
}
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),
[](auto ch) { return tolower(ch); });
if (lower_mode == "exclusive") {
return OB_DEVICE_EXCLUSIVE_ACCESS;
} else if (lower_mode == "control") {
return OB_DEVICE_CONTROL_ACCESS;
} else if (lower_mode == "monitor") {
return OB_DEVICE_MONITOR_ACCESS;
} else if (lower_mode == "default") {
return OB_DEVICE_DEFAULT_ACCESS;
} else {
RCLCPP_WARN_STREAM(logger_, "Unknown access mode: " << mode_str << ", using default");
return OB_DEVICE_DEFAULT_ACCESS;
}
}
std::string OBCameraNodeDriver::accessModeToString(OBDeviceAccessMode mode) {
switch (mode) {
case OB_DEVICE_EXCLUSIVE_ACCESS:
return "exclusive";
case OB_DEVICE_CONTROL_ACCESS:
return "control";
case OB_DEVICE_MONITOR_ACCESS:
return "monitor";
case OB_DEVICE_ACCESS_DENIED:
return "denied";
case OB_DEVICE_DEFAULT_ACCESS:
default:
return "default";
}
}
} // namespace orbbec_camera
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::OBCameraNodeDriver)