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