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Add upgrade_firmware param in gemini_330_series.launch.py

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This commit is contained in:
jj
2025-04-23 17:44:19 +08:00
parent a9170edcd7
commit d25ae121c8
3 changed files with 56 additions and 3 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+52 -3
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@@ -129,6 +129,7 @@ void OBCameraNodeDriver::init() {
auto log_level = obLogSeverityFromString(log_level_str);
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);
upgrade_firmware_ = declare_parameter<std::string>("upgrade_firmware", "");
g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
g_time_domain = declare_parameter<std::string>("time_domain", g_time_domain);
preset_firmware_path_ =
@@ -404,13 +405,14 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
try {
device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
if(std::string(device_info->getConnectionType())!="Ethernet"){
if (std::string(device_info->getConnectionType()) != "Ethernet") {
continue;
}
if (device_info->getIpAddress() == nullptr) {
continue;
}
RCLCPP_INFO_STREAM(logger_, "FindDeviceByNetIP device net ip " << device_info->getIpAddress());
RCLCPP_INFO_STREAM(logger_,
"FindDeviceByNetIP device net ip " << device_info->getIpAddress());
if (std::string(device_info->getIpAddress()) == net_ip) {
RCLCPP_INFO_STREAM(logger_, "getDeviceByNetIP device net ip " << net_ip << " done");
return list->getDevice(i);
@@ -463,6 +465,13 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
}
retry_count++;
}
if (!upgrade_firmware_.empty()) {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
}
if (!initialized) {
RCLCPP_ERROR_STREAM(logger_,
@@ -611,7 +620,7 @@ void OBCameraNodeDriver::updatePresetFirmware(std::string path) {
}
uint8_t index = 0;
uint8_t count = static_cast<uint8_t>(paths.size());
char(*filePaths)[OB_PATH_MAX] = new char[count][OB_PATH_MAX];
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());
@@ -700,6 +709,46 @@ void OBCameraNodeDriver::presetUpdateCallback(bool firstCall, OBFwUpdateState st
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_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) {
RCLCPP_INFO(logger_, "Reboot device");
ob_camera_node_->rebootDevice();
device_connected_ = false;
upgrade_firmware_ = "";
}
}
} // namespace orbbec_camera
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::OBCameraNodeDriver)