cheng
100 lines
3.8 KiB
Bash
Executable File
100 lines
3.8 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Orisys 通止规工位桌面程序（窗口，不是网页）。
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#
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# bash ~/桌面/orisys_arm/station/run_station.sh
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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case "${1:-}" in
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-h|--help)
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echo "用法：bash station/run_station.sh [--offline | --self-test]"
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echo "默认启动工位和独立后端；--offline 禁止设备访问；--self-test 运行离线回归。"
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exit 0
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;;
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esac
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# 这份搬迁的 symlink-install 在 /tmp/orisys_mnt 构建；只在私有挂载空间恢复它，
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# 否则工位虽然能开，ROS 消息和相机桥的安装链接却失效。
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_arm_hook="${ROOT}/install/arm_msgs/share/arm_msgs/local_setup.bash"
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if [[ "${ROOT}" != /tmp/orisys_mnt && -L "${_arm_hook}" && ! -e "${_arm_hook}" && "$(readlink "${_arm_hook}")" == /tmp/orisys_mnt/* ]]; then
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exec unshare -rm bash -c '
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set -e
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mkdir -p /tmp/orisys_mnt
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mount --bind "$1" /tmp/orisys_mnt
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shift
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exec bash /tmp/orisys_mnt/station/run_station.sh "$@"
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' bash "${ROOT}" "$@"
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fi
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unset _arm_hook
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export XDG_CACHE_HOME="${XDG_CACHE_HOME:-${HOME}/.cache}"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/env.sh"
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# 源码在最前。conda 的 site-packages 要排在 Humble 的 python3.10 之前，
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# 否则 3.11 的解释器会去加载 cpython-310 的 rclpy，相机预览线程直接失败。
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_conda_site=""
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if [[ -n "${CONDA_PREFIX:-}" ]]; then
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_py_mm="$(python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}")')"
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if [[ -d "${CONDA_PREFIX}/lib/python${_py_mm}/site-packages" ]]; then
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_conda_site="${CONDA_PREFIX}/lib/python${_py_mm}/site-packages"
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fi
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fi
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export PYTHONPATH="${ROOT}/station/src:${ROOT}/src/arm_application${_conda_site:+:${_conda_site}}${PYTHONPATH:+:${PYTHONPATH}}"
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unset _conda_site _py_mm
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# 屏幕跟当前登录会话走。这台工控机是 :1，别的 Linux 桌面常常是 :0。
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if [[ -n "${DISPLAY:-}" ]]; then
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_disp="${DISPLAY#:}"
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_disp="${_disp%%.*}"
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if [[ ! -S "/tmp/.X11-unix/X${_disp}" ]]; then
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unset DISPLAY
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fi
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unset _disp
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fi
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if [[ -z "${DISPLAY:-}" ]]; then
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_seat="$(who | awk -v u="$(id -un)" '$1==u && $2 ~ /^:/ {print $2; exit}')"
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_seat="${_seat%%.*}"
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_n="${_seat#:}"
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if [[ -n "${_n}" && -S "/tmp/.X11-unix/X${_n}" ]]; then
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export DISPLAY="${_seat}"
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else
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for _sock in /tmp/.X11-unix/X*; do
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if [[ -S "${_sock}" ]]; then
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export DISPLAY=":${_sock##*/X}"
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break
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fi
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done
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fi
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unset _seat _n _sock
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fi
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# 有真实屏幕时不要留在 offscreen，否则 OpenGL 窗口起不来，模型也不会画到显卡上。
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if [[ "${QT_QPA_PLATFORM:-}" == "offscreen" && -n "${DISPLAY:-}" ]]; then
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_disp="${DISPLAY#:}"
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_disp="${_disp%%.*}"
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if [[ -S "/tmp/.X11-unix/X${_disp}" ]]; then
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unset QT_QPA_PLATFORM
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fi
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unset _disp
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fi
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if [[ -z "${XAUTHORITY:-}" ]]; then
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if [[ -r "${HOME}/.Xauthority" ]]; then
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export XAUTHORITY="${HOME}/.Xauthority"
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elif [[ -r "/run/user/$(id -u)/gdm/Xauthority" ]]; then
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export XAUTHORITY="/run/user/$(id -u)/gdm/Xauthority"
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fi
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fi
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# Qt 6.5 起 xcb 插件依赖 libxcb-cursor。系统没装这个包时，用用户目录里单独放的那一份，
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# 不要把整个 conda lib 塞进 LD_LIBRARY_PATH（会和系统的 glib/pango 撞符号）。
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_cursor_dir="${HOME}/.local/lib/xcb-cursor"
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if [[ ! -e /usr/lib/x86_64-linux-gnu/libxcb-cursor.so.0 && -e "${_cursor_dir}/libxcb-cursor.so.0" ]]; then
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export LD_LIBRARY_PATH="${_cursor_dir}${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
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fi
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unset _cursor_dir
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# 工位单独固定 Qt 绑定版本，不修改 ROS/conda 内的包。
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source "${ROOT}/scripts/lib/qt_env.sh"
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orisys_qt_env
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if [[ "${1:-}" == "--self-test" ]]; then
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export QT_QPA_PLATFORM=offscreen
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exec python3 -m unittest discover -s "${ROOT}/station/test" -v
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fi
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exec python3 -m station.operator_app "$@"
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