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fix: update CMakeLists.txt to include ip_config_tool and remove LLA parameters from ip_config_tool

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ob-yalian
2026-04-03 16:09:54 +08:00
parent 2119a7d79b
commit e3e016ace4
2 changed files with 16 additions and 57 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) install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules DESTINATION /etc/udev/rules.d)
endif() endif()
install(TARGETS list_devices_node list_depth_work_mode_node list_camera_profile_mode_node firmware_update_tool topic_statistics_node service_benchmark_node ob_benchmark_node 435le_example_node set_device_ip image_sync_example_node DESTINATION lib/${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) if(BUILD_TESTING)
orbbec_camera/tools/ip_config_tool.cpp
+15 -56
View File
@@ -26,17 +26,6 @@ bool parseIpString(const std::string &ip_str, uint8_t ip[4]) {
return i == 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;
}
}
return false;
}
void printHelp() { void printHelp() {
std::cout std::cout
<< "Usage:\n" << "Usage:\n"
@@ -45,10 +34,6 @@ void printHelp() {
<< "Parameters:\n" << "Parameters:\n"
<< " -p old_ip:=<ip> Current device IP (default: 192.168.1.10)\n" << " -p old_ip:=<ip> Current device IP (default: 192.168.1.10)\n"
<< " -p port:=<port> Device port (default: 8090)\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 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 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 new_ip:=<ip> Static IP for set-ip/force-ip (default: 192.168.1.200)\n"
@@ -59,12 +44,6 @@ void printHelp() {
"54:14:FD:06:07:DA)\n\n" "54:14:FD:06:07:DA)\n\n"
<< "Examples:\n" << "Examples:\n"
<< "\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" << " [Set IP]\n"
<< " DHCP: ros2 run orbbec_camera ip_config_tool --ros-args \\\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" << " -p old_ip:=192.168.1.10 -p enable_set_ip:=true -p dhcp:=true\n"
@@ -95,9 +74,6 @@ int main(int argc, char **argv) {
std::string device_ip_str = node->declare_parameter<std::string>("old_ip", "192.168.1.10"); std::string device_ip_str = node->declare_parameter<std::string>("old_ip", "192.168.1.10");
int port = node->declare_parameter<int>("port", 8090); 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 enable_set_ip = node->declare_parameter<bool>("enable_set_ip", false);
bool dhcp = node->declare_parameter<bool>("dhcp", 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 new_ip_str = node->declare_parameter<std::string>("new_ip", "192.168.1.200");
@@ -107,9 +83,9 @@ int main(int argc, char **argv) {
bool enable_force_ip = node->declare_parameter<bool>("enable_force_ip", false); 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", ""); std::string force_ip_mac = node->declare_parameter<std::string>("force_ip_mac", "");
if (!do_lla && !enable_set_ip && !enable_force_ip) { if (!enable_set_ip && !enable_force_ip) {
RCLCPP_ERROR(logger, RCLCPP_ERROR(logger,
"No operation enabled. Please enable at least one of: enable_lla, enable_set_ip, " "No operation enabled. Please enable at least one of: enable_set_ip, "
"enable_force_ip."); "enable_force_ip.");
rclcpp::shutdown(); rclcpp::shutdown();
return 1; return 1;
@@ -140,41 +116,24 @@ int main(int argc, char **argv) {
ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF); ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF);
auto context = std::make_shared<ob::Context>(); auto context = std::make_shared<ob::Context>();
if (do_lla || enable_set_ip) { if (enable_set_ip) {
RCLCPP_INFO(logger, "Connecting to device %s:%d ...", device_ip_str.c_str(), port); RCLCPP_INFO(logger, "Connecting to device %s:%d ...", device_ip_str.c_str(), port);
auto device = context->createNetDevice(device_ip_str.c_str(), port); auto device = context->createNetDevice(device_ip_str.c_str(), port);
if (do_lla) { RCLCPP_INFO(logger, "Applying set-ip configuration...");
if (device->isPropertySupported(OB_PROP_DEVICE_NETWORK_LLA_BOOL, device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG,
OB_PERMISSION_READ_WRITE)) { reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config));
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.");
}
} else {
RCLCPP_INFO(logger, "LLA operation skipped (enable_lla not explicitly provided).");
}
if (enable_set_ip) { RCLCPP_INFO(logger, "Set-ip configuration applied successfully.");
RCLCPP_INFO(logger, "Applying set-ip configuration..."); if (dhcp) {
device->setStructuredData(OB_STRUCT_DEVICE_IP_ADDR_CONFIG, RCLCPP_INFO(logger, "Set-ip target mode: DHCP.");
reinterpret_cast<const uint8_t *>(&ip_config), sizeof(ip_config));
RCLCPP_INFO(logger, "Set-ip configuration applied successfully.");
if (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 gateway: %d.%d.%d.%d", ip_config.gateway[0],
ip_config.gateway[1], ip_config.gateway[2], ip_config.gateway[3]);
}
} else { } else {
RCLCPP_INFO(logger, "Set-ip operation skipped (enable_set_ip=false)."); 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 gateway: %d.%d.%d.%d", ip_config.gateway[0],
ip_config.gateway[1], ip_config.gateway[2], ip_config.gateway[3]);
} }
} }