上传文件至「bash」

2026-07-25 14:43:03 +08:00
parent 499822a958
commit 98eae5e050
2 changed files with 256 additions and 0 deletions
@@ -0,0 +1,243 @@
+#!/usr/bin/env bash
+set -Eeuo pipefail
+
+# ============================================
+# 配置项
+# ============================================
+PROJECT_DIR="${PROJECT_DIR:-$HOME/release/ctag2f-90d-sdk}"
+WARMUP_DIR="${WARMUP_DIR:-$HOME/release/orisys-sdk}"
+CONDA_ENV="${CONDA_ENV:-py311}"
+RENDER_MODE="${RENDER_MODE:-auto}"
+GRIPPER_CONFIG="${GRIPPER_CONFIG:-$PROJECT_DIR/config/gripper.json}"
+
+# ============================================
+# 检测 USB 摄像头并返回主设备索引（整数）
+# ============================================
+detect_cameras() {
+    declare -A cam_nodes
+    declare -A cam_paths
+
+    for dev in /dev/video*; do
+        [[ -e "$dev" ]] || continue
+        local dev_num="${dev##*/video}"
+        local info
+        info=$(udevadm info -n "$dev" 2>/dev/null || true)
+
+        # 检查是否为 USB 摄像头（根据 ID_MODEL 或 ID_VENDOR）
+        if echo "$info" | grep -qi "ID_MODEL.*USB Camera" || \
+           echo "$info" | grep -qi "ID_VENDOR.*1bcf" ; then
+            local id_path
+            id_path=$(echo "$info" | grep -i "ID_PATH=" | cut -d'=' -f2 || true)
+            if [[ -z "$id_path" ]]; then
+                id_path=$(udevadm info -q path -n "$dev" 2>/dev/null || true)
+            fi
+            local key="$id_path"
+            if [[ -z "${cam_nodes[$key]:-}" ]]; then
+                cam_nodes[$key]="$dev_num"
+            else
+                local current="${cam_nodes[$key]}"
+                if (( dev_num < current )); then
+                    cam_nodes[$key]="$dev_num"
+                fi
+            fi
+            cam_paths[$key]="$id_path"
+        fi
+    done
+
+    if [[ ${#cam_nodes[@]} -lt 2 ]]; then
+        echo "错误：找到 ${#cam_nodes[@]} 个 USB 摄像头，需要 2 个。" >&2
+        return 1
+    fi
+
+    local cam_left=""
+    local cam_right=""
+    for key in "${!cam_nodes[@]}"; do
+        local path="$key"
+        local num="${cam_nodes[$key]}"
+        if [[ "$path" == *"xhci-hcd.0"* ]] || [[ "$path" == *"usb1"* ]]; then
+            cam_left="$num"
+        elif [[ "$path" == *"xhci-hcd.1"* ]] || [[ "$path" == *"usb2"* ]]; then
+            cam_right="$num"
+        else
+            if [[ -z "$cam_left" ]] || (( num < cam_left )); then
+                cam_right="$cam_left"
+                cam_left="$num"
+            else
+                cam_right="$num"
+            fi
+        fi
+    done
+
+    if [[ -z "$cam_left" ]] || [[ -z "$cam_right" ]]; then
+        local nums=()
+        for n in "${cam_nodes[@]}"; do nums+=("$n"); done
+        IFS=$'\n' sorted=($(sort -n <<<"${nums[*]}"))
+        cam_left="${sorted[0]}"
+        cam_right="${sorted[1]}"
+    fi
+
+    echo "$cam_left $cam_right"
+}
+
+# ============================================
+# 更新 gripper.json 中的 video 路径
+# ============================================
+update_config() {
+    local cam_left_idx="$1"
+    local cam_right_idx="$2"
+    local config_file="$GRIPPER_CONFIG"
+
+    # 检查 jq 是否安装
+    if ! command -v jq &> /dev/null; then
+        echo "jq 未安装，正在安装..."
+        sudo apt update && sudo apt install -y jq
+    fi
+
+    # 构建设备路径
+    local video1="/dev/video$cam_left_idx"
+    local video2="/dev/video$cam_right_idx"
+
+    echo "更新配置文件: $config_file"
+    echo "  video1 = $video1"
+    echo "  video2 = $video2"
+
+    # 使用 jq 更新字段
+    jq --arg v1 "$video1" --arg v2 "$video2" \
+        '.video1 = $v1 | .video2 = $v2' "$config_file" > "$config_file.tmp"
+    mv "$config_file.tmp" "$config_file"
+    echo "✅ 配置文件已更新。"
+}
+
+# ============================================
+# 加载 conda 环境
+# ============================================
+load_conda() {
+    for conda_sh in \
+        "$HOME/miniconda3/etc/profile.d/conda.sh" \
+        "$HOME/anaconda3/etc/profile.d/conda.sh" \
+        "/opt/conda/etc/profile.d/conda.sh"; do
+        if [[ -f "$conda_sh" ]]; then
+            # shellcheck disable=SC1090
+            source "$conda_sh"
+            break
+        fi
+    done
+
+    if ! command -v conda >/dev/null 2>&1; then
+        echo "Conda not found." >&2
+        exit 1
+    fi
+
+    conda activate "$CONDA_ENV"
+    echo "✅ Conda environment '$CONDA_ENV' activated."
+}
+
+# ============================================
+# 主逻辑
+# ============================================
+main() {
+    # 检查项目目录
+    if [[ ! -d "$PROJECT_DIR" ]]; then
+        echo "错误：项目目录不存在: $PROJECT_DIR" >&2
+        exit 1
+    fi
+    if [[ ! -d "$WARMUP_DIR" ]]; then
+        echo "警告：warmup 目录不存在: $WARMUP_DIR，跳过预热。" >&2
+        WARMUP_DIR=""
+    fi
+
+    load_conda
+
+    # 移除不兼容的 PyOpenGL-accelerate
+    if python -c 'import OpenGL_accelerate' >/dev/null 2>&1; then
+        echo "移除不兼容的 PyOpenGL-accelerate ..."
+        python -m pip uninstall -y PyOpenGL-accelerate
+    fi
+
+    # 检测摄像头
+    echo "正在检测 USB 摄像头..."
+    CAMERAS=$(detect_cameras)
+    if [[ -z "$CAMERAS" ]]; then
+        echo "错误：无法检测到两个 USB 摄像头。" >&2
+        exit 1
+    fi
+    CAM_LEFT=$(echo "$CAMERAS" | awk '{print $1}')
+    CAM_RIGHT=$(echo "$CAMERAS" | awk '{print $2}')
+    echo "左摄像头索引: $CAM_LEFT"
+    echo "右摄像头索引: $CAM_RIGHT"
+
+    # --- 更新配置文件 ---
+    update_config "$CAM_LEFT" "$CAM_RIGHT"
+
+    # ---------- 执行 warmup ----------
+    if [[ -n "$WARMUP_DIR" ]]; then
+        echo "============================================="
+        echo "🧪 开始传感器预热 (sensor warmup)"
+        echo "   目录: $WARMUP_DIR"
+        echo "============================================="
+        cd "$WARMUP_DIR"
+
+        echo ">>> 执行: python warmup.py -v $CAM_LEFT"
+        python warmup.py -v "$CAM_LEFT"
+        echo "✅ warmup 左摄像头完成"
+
+        echo ">>> 执行: python warmup.py -v $CAM_RIGHT"
+        python warmup.py -v "$CAM_RIGHT"
+        echo "✅ warmup 右摄像头完成"
+
+        cd "$PROJECT_DIR"
+        echo "============================================="
+        echo "✅ 传感器预热全部完成"
+        echo "============================================="
+    fi
+
+    # ---------- 设置渲染模式 ----------
+    if [[ "$RENDER_MODE" == "auto" ]]; then
+        wayland_plugin="$(find "${CONDA_PREFIX:-/nonexistent}" -type f \
+            -path '*/platforms/libqwayland*.so' -print -quit 2>/dev/null || true)"
+        if [[ -n "$wayland_plugin" && -n "${WAYLAND_DISPLAY:-}" ]]; then
+            RENDER_MODE=wayland
+        else
+            echo "Conda Qt 没有 Wayland 插件；使用 XWayland 和软件 OpenGL。"
+            RENDER_MODE=software
+        fi
+    fi
+
+    case "$RENDER_MODE" in
+        wayland)
+            if [[ -z "${WAYLAND_DISPLAY:-}" ]]; then
+                echo "WAYLAND_DISPLAY 为空。请在 Ubuntu 桌面终端中运行此脚本。" >&2
+                exit 1
+            fi
+            export QT_QPA_PLATFORM=wayland
+            export PYOPENGL_PLATFORM=egl
+            unset QT_OPENGL LIBGL_ALWAYS_SOFTWARE QT_XCB_GL_INTEGRATION
+            ;;
+        software)
+            export QT_QPA_PLATFORM=xcb
+            export QT_OPENGL=software
+            export LIBGL_ALWAYS_SOFTWARE=1
+            export PYOPENGL_PLATFORM=glx
+            export QT_XCB_GL_INTEGRATION=xcb_glx
+            ;;
+        xcb)
+            export QT_QPA_PLATFORM=xcb
+            export PYOPENGL_PLATFORM=glx
+            export QT_XCB_GL_INTEGRATION=xcb_glx
+            unset QT_OPENGL LIBGL_ALWAYS_SOFTWARE
+            ;;
+        *)
+            echo "未知的 RENDER_MODE: $RENDER_MODE (可用: auto, wayland, software, xcb)" >&2
+            exit 2
+            ;;
+    esac
+
+    # ---------- 启动主程序 ----------
+    echo "🚀 启动 gripper visualizer: mode=$RENDER_MODE, conda=$CONDA_ENV"
+    exec python -m gripper.visualizer "$@"
+}
+
+# ============================================
+# 执行主函数
+# ============================================
+main "$@"