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
commit 6edb8d39ab
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+#!/usr/bin/env bash
+# DH grippers on the IPC (Modbus RTU). Not Flexiv Studio / RDK.
+#
+# Left 89  PGEA parallel  /dev/ttyUSB0
+# Right 91 RGI rotary     /dev/ttyUSB1
+#
+#   bash ~/ros2/scripts/run_gripper.sh --arm 89 --cli probe
+#   bash ~/ros2/scripts/run_gripper.sh --arm 89 --cli init
+#   bash ~/ros2/scripts/run_gripper.sh --arm 89 --cli open
+#   bash ~/ros2/scripts/run_gripper.sh --arm 89 --cli close
+#   bash ~/ros2/scripts/run_gripper.sh --arm 89 --cli pos 500
+#   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli open
+#   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli close
+#   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli rotate 90
+#   bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli revolutions 2
+#   bash ~/ros2/scripts/run_gripper.sh --arm 89          # ROS node PGEA
+#   bash ~/ros2/scripts/run_gripper.sh --arm 91          # ROS node RGI
+#   bash ~/ros2/scripts/run_dual_gripper.sh              # both ROS nodes
+
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+CLI=()
+DUAL=0
+
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/parse_arm_args.sh"
+parse_arm_args "$@"
+set -- "${PARSE_ARM_REST[@]}"
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --cli) shift; CLI=("$@"); break ;;
+    --dual) DUAL=1; shift ;;
+    -h|--help) sed -n '2,24p' "$0"; exit 0 ;;
+    *) echo "Unknown: $1" >&2; exit 1 ;;
+  esac
+done
+
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/load_site_config.sh"
+
+BACKEND="${SITE_GRIP_BACKEND:-usb}"
+MODEL="${SITE_GRIP_MODEL:-PGEA-100-20-W}"
+ARM="${SITE_ROBOT_ARM:-}"
+IS_ROTARY=0
+if [[ "${MODEL}" == *RGI* || "${ARM}" == "right" ]]; then
+  IS_ROTARY=1
+fi
+
+if [[ "${BACKEND}" == "rdk" || "${BACKEND}" == "flexiv" ]]; then
+  echo "ERROR: gripper.backend=${BACKEND} is Flexiv Studio. Use usb (IPC Modbus)." >&2
+  exit 1
+fi
+
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/env.sh"
+
+if [[ ${#CLI[@]} -gt 0 ]]; then
+  if [[ "${IS_ROTARY}" -eq 1 ]]; then
+    CMD="${CLI[0]}"
+    REST=("${CLI[@]:1}")
+    ARGS=(--arm right --test "${CMD}")
+    case "${CMD}" in
+      probe|status) ARGS=(--arm right --test probe) ;;
+      pos|move)
+        ARGS=(--arm right --test pos)
+        if [[ -n "${REST[0]:-}" ]]; then ARGS+=(--pos "${REST[0]}"); fi
+        ;;
+      rotate|rotate_to)
+        ARGS=(--arm right --test rotate)
+        if [[ -n "${REST[0]:-}" ]]; then ARGS+=(--angle "${REST[0]}"); fi
+        ;;
+      revolutions)
+        ARGS=(--arm right --test rotate)
+        if [[ -n "${REST[0]:-}" ]]; then ARGS+=(--revolutions "${REST[0]}"); fi
+        ;;
+    esac
+    echo "=== DH RGI  SN=${SITE_GRIP_SN:-?}  ${SITE_GRIP_PORT}  arm=91 ==="
+    exec python3 -m arm_application.dual_gripper_cli "${ARGS[@]}"
+  fi
+  PORT="${SITE_GRIP_PORT:-/dev/ttyUSB0}"
+  BAUD="${SITE_GRIP_BAUD:-115200}"
+  SLAVE="${SITE_GRIP_SLAVE:-1}"
+  echo "=== DH ${MODEL}  SN=${SITE_GRIP_SN:-?}  ${PORT} @${BAUD} slave=${SLAVE} ==="
+  exec python3 "${ROOT}/src/arm_application/arm_application/dh_pgea.py" \
+    --port "${PORT}" --baud "${BAUD}" --slave "${SLAVE}" \
+    --force "${SITE_GRIP_FORCE:-50}" --speed "${SITE_GRIP_SPEED:-50}" \
+    --rts "${SITE_GRIP_RS485_RTS:-}" \
+    "${CLI[@]}"
+fi
+
+if [[ "${DUAL}" -eq 1 ]]; then
+  exec bash "${ROOT}/scripts/run_dual_gripper.sh"
+fi
+
+if [[ "${IS_ROTARY}" -eq 1 ]]; then
+  pkill -f 'arm_application/dual_gripper_node.py' 2>/dev/null || true
+  pkill -f 'lib/arm_application/dual_gripper' 2>/dev/null || true
+  sleep 0.3
+  echo "=== DH RGI ROS node  ${SITE_GRIP_PORT:-/dev/ttyUSB1}  (arm_msgs dual_gripper right) ==="
+  exec ros2 launch arm_application dual_gripper.launch.py sides:=right allow_offline:=true
+fi
+
+PORT="${SITE_GRIP_PORT:-/dev/ttyUSB0}"
+BAUD="${SITE_GRIP_BAUD:-115200}"
+SLAVE="${SITE_GRIP_SLAVE:-1}"
+GSN="${SITE_GRIP_SN:-}"
+PY="${ROOT}/src/arm_application/arm_application/dh_pgea.py"
+NODE_PY="${ROOT}/src/arm_application/arm_application/dh_pgea_node.py"
+
+if [[ ! -e "${PORT}" ]]; then
+  echo "ERROR: ${PORT} missing. Plug USB–RS485 into the IPC." >&2
+  exit 1
+fi
+
+pkill -f 'arm_application/dh_pgea_node.py' 2>/dev/null || true
+pkill -f 'lib/arm_application/dh_pgea' 2>/dev/null || true
+sleep 0.4
+
+echo "=== DH ${MODEL}  SN=${GSN:-?}  ${PORT} @${BAUD}  ROS node ==="
+exec python3 "${NODE_PY}" --ros-args \
+  -p port:="${PORT}" \
+  -p baud:="${BAUD}" \
+  -p slave_id:="${SLAVE}" \
+  -p stroke_mm:="${SITE_GRIP_STROKE_MM:-20.0}" \
+  -p force_pct:="${SITE_GRIP_FORCE:-50}" \
+  -p speed_pct:="${SITE_GRIP_SPEED:-50}" \
+  -p auto_init:="${SITE_GRIP_AUTO_INIT:-true}" \
+  -p model:="${MODEL}" \
+  -p "serial_number:='${GSN}'" \
+  -p "rs485_rts:='${SITE_GRIP_RS485_RTS:-}'"