chore: 框架科学优化前的完整基线

在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态，使后续任何删除/重构都可回退。本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
2026-09-23 10:53:06 +08:00
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+#!/usr/bin/env bash
+# 工控机 User1（enp4s0）↔ 交换机 ↔ 两台 Flexiv
+#
+# 本机 192.168.2.10/24（User1）。两台臂：063989=192.168.2.101  063991=192.168.2.100
+#
+#   bash ~/ros2/scripts/fix_robot_lan.sh
+#   bash ~/ros2/scripts/fix_robot_lan.sh --only   # 不要办公网 DHCP（独立交换机）
+
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true
+
+PC_IP_PRIMARY="${SITE_PC_IP:-192.168.2.10}"
+PC_ADDRS=("192.168.2.10/24" "192.168.100.10/24")
+ROBOT_IPS=("${SITE_ROBOT_IP:-192.168.2.100}")
+# Catalog extras (second arm)
+if [[ -n "${SITE_ROBOT_CATALOG:-}" ]]; then
+  :
+fi
+MODE=secondary
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --only) MODE=only; shift ;;
+    --secondary) MODE=secondary; shift ;;
+    -h|--help)
+      sed -n '2,12p' "$0"
+      exit 0
+      ;;
+    *) echo "Unknown: $1" >&2; exit 1 ;;
+  esac
+done
+
+pick_iface() {
+  if [[ -n "${IFACE:-}" ]]; then
+    echo "$IFACE"
+    return
+  fi
+  if [[ -n "${SITE_NET_IFACE:-}" && -d "/sys/class/net/${SITE_NET_IFACE}" ]]; then
+    echo "${SITE_NET_IFACE}"
+    return
+  fi
+  for d in enp4s0 enp5s0 eth0; do
+    [[ -d /sys/class/net/$d ]] || continue
+    echo "$d"
+    return
+  done
+  return 1
+}
+
+IFACE="$(pick_iface)" || {
+  echo "ERROR: 找不到 User1 有线网卡" >&2
+  ip -br link
+  exit 1
+}
+
+ADDR_CSV="$(IFS=,; echo "${PC_ADDRS[*]}")"
+
+echo "=== User1 / ${IFACE}  模式=${MODE} ==="
+echo "本机副 IP: ${ADDR_CSV}"
+echo "当前臂: SN=${SITE_ROBOT_SN:-?} IP=${SITE_ROBOT_IP:-?}  catalog=${SITE_ROBOT_CATALOG:-}"
+ip -4 -br addr
+echo
+
+if ! command -v nmcli >/dev/null; then
+  echo "ERROR: 需要 nmcli" >&2
+  exit 1
+fi
+
+CON="$(nmcli -t -f NAME,DEVICE connection show --active | awk -F: -v d="$IFACE" '$2==d{print $1; exit}')"
+if [[ -z "$CON" ]]; then
+  CON="$(nmcli -t -f NAME,DEVICE connection show | awk -F: -v d="$IFACE" '$2==d{print $1; exit}')"
+fi
+if [[ -z "$CON" ]]; then
+  echo "ERROR: NetworkManager 没有绑定 $IFACE" >&2
+  nmcli device status
+  exit 1
+fi
+echo "NM 连接: $CON"
+
+nmcli_mod() {
+  if nmcli connection modify "$CON" "$@"; then
+    return 0
+  fi
+  sudo nmcli connection modify "$CON" "$@"
+}
+
+nmcli_up() {
+  if nmcli connection up "$CON"; then
+    return 0
+  fi
+  sudo nmcli connection up "$CON"
+}
+
+if [[ "$MODE" == only ]]; then
+  nmcli_mod \
+    ipv4.method manual \
+    ipv4.addresses "${PC_IP_PRIMARY}/24" \
+    ipv4.gateway "" \
+    ipv4.dns "" \
+    ipv4.ignore-auto-dns yes \
+    ipv4.never-default yes
+else
+  nmcli_mod \
+    ipv4.method auto \
+    ipv4.addresses "${ADDR_CSV}" \
+    ipv4.never-default no
+fi
+
+nmcli_up
+
+echo
+echo "=== 修复后 ==="
+ip -4 -br addr show "$IFACE"
+echo
+
+ping_one() {
+  local ip="$1"
+  if ping -c 2 -W 1 "$ip" >/dev/null 2>&1; then
+    echo "  UP   $ip"
+    return 0
+  fi
+  echo "  down $ip"
+  return 1
+}
+
+echo "=== ping 机器人网段 ==="
+ok=0
+for ip in 192.168.2.100 192.168.101.1 192.168.2.101 "${SITE_ROBOT_IP:-}"; do
+  [[ -z "$ip" ]] && continue
+  ping_one "$ip" && ok=1 || true
+done
+# unique
+echo
+if ping -c 1 -W 1 "${SITE_ROBOT_IP:-192.168.2.100}" >/dev/null 2>&1; then
+  echo "OK — 当前臂 ${SITE_ROBOT_SN:-} @ ${SITE_ROBOT_IP} 可达。RDK 用 SN 连接。"
+  echo "  063989 @ 192.168.2.101；063991 @ 192.168.2.100。"
+else
+  echo "当前臂 ${SITE_ROBOT_IP:-192.168.2.100} 仍不通。检查："
+  echo "  1) User1 网线 ↔ 交换机 ↔ 控制柜网口（灯亮）"
+  echo "  2) 示教器 About 里的 IPv4（出厂多为 192.168.2.100）"
+  echo "  3) Remote / Ethernet RDK 已开"
+  exit 2
+fi