注释与提示信息全面中文化：源码 66 个 .py + 脚本/配置 45 个文件
背景：现场读代码的人只读中文。此前代码里的 docstring 是英文、行内注释是中文，
一半英文一半中文反而更难看懂 —— 新手打开一个 .py 不知道这个模块为什么存在。
范围（本仓库自己的代码，厂商上游不动）
src/arm_application/** 37 个文件：servo_node / perception_node / handeye_* / dh_pgea /
yolo_detector / kalman_filter / goto_ee_plane / dual_gripper …
src/arm_interfaces/** 11 个文件：paths / manifest / loader / config_guard / errors …
src/arm_control/** 5 个文件
src/arm_bringup/** 3 个 launch
scripts/** 6 个 .py + 29 个 .sh（scripts/ 是"唯一操作入口"，用户屏幕上
看到的就是这些提示，所以提示信息也一并中文化）
config/ handeye/ devices/ src/arm_*/config/ 17 个 .yaml/.xml/.xacro/.cfg
口径（写进 docs/FRAMEWORK_RULES.md 新增的 R6.5，作为长期约束）
注释、docstring、print/日志/异常里给人看的句子 = 中文；
标识符、API 名、话题名、参数名、字段名、命令名 = 保留英文原文（用 `` `` 包起来）；
单位、十六进制、协议报文、CRC 值、命令示例 = 原样保留；
src/flexiv_*/ = 厂商上游代码，不许改也不许翻译（R4.4）。
翻译保原意与原有详细程度：那些"为什么不能用另一种做法""踩过什么坑"的说明
全部完整保留 —— 它们才是这份代码里最贵的部分。
新增 scripts/check_text_only.py：只改文字时的自证工具
人工 review 靠不住（115 个文件、3000 多行 diff）。这个脚本把改动前后的源码解析成
语法树，删掉 docstring、抹平字符串常量、把 f-string 只留"插值了几次 + 插值是什么"，
再比对：完全相同 = 改动范围内没有逻辑变化。
留了一个口子：f-string 的插值按内容排序后再比 —— 因为中文语序常常要和英文反着来
（f"on {port} read {idx} failed" → f"在 {port} 上读 {idx} 失败"），只换显示顺序不该判失败；
但多插一个、少插一个、换掉被插入的表达式，立刻会报出来。
本次 66 个 .py 全部通过该闸门。
验收
改动的 66 个 .py：scripts/check_text_only.py 全部通过（零逻辑变化）
45 个非 .py 文件：去注释后与 HEAD 逐字节相同（零配置变化）
docstring 总数：没有一个文件减少（不存在"翻译时顺手删了说明"）
单测：arm_application 233 / arm_driver_flexiv 69 / arm_interfaces 46 /
arm_kinematics 24 / arm_sim_gazebo 236 = 608 passed，与改动前一致
全部 .sh：bash -n 通过；并额外实际执行了 --help 验证（见下一个提交：
bash -n 对 CRLF 脚本会漏报，只有真跑才暴露）
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
@@ -1,7 +1,7 @@
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#!/usr/bin/env python3
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"""Load ~/ros2/config/site.yaml and print bash export lines or JSON.
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"""读取 ``~/ros2/config/site.yaml``，打印 bash 的 export 行或 JSON。
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Usage:
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用法:
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eval "$(python3 ~/ros2/scripts/lib/export_site_env.py)"
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python3 ~/ros2/scripts/lib/export_site_env.py --json
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python3 ~/ros2/scripts/lib/export_site_env.py --print
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@@ -35,18 +35,18 @@ def site_path() -> Path:
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def load_site(path: Path | None = None) -> dict:
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path = path or site_path()
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if not path.is_file():
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raise FileNotFoundError(f"site config not found: {path}")
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raise FileNotFoundError(f"找不到 site 配置: {path}")
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text = path.read_text(encoding="utf-8")
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if yaml is None:
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raise RuntimeError("PyYAML required: pip/conda install pyyaml")
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raise RuntimeError("需要 PyYAML：pip/conda install pyyaml")
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data = yaml.safe_load(text) or {}
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if not isinstance(data, dict):
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raise ValueError(f"invalid site.yaml: {path}")
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raise ValueError(f"无效的 site.yaml: {path}")
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return data
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def list_robots(data: dict) -> list[dict]:
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"""Catalog entries from robot.robots (list or SN-keyed map)."""
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"""从 robot.robots 取清单条目（列表或按 SN 索引的映射）。"""
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raw = (data.get("robot") or {}).get("robots") or []
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out: list[dict] = []
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if isinstance(raw, dict):
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@@ -90,7 +90,7 @@ def _deep_merge(base: dict, overlay: dict) -> dict:
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def normalize_robot_sn(data: dict, want: str) -> str:
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"""Map 89/91/left/right/label → full Flexiv SN."""
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"""把 89/91/left/right/label 映射成完整的 Flexiv SN。"""
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w = (want or "").strip()
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if not w:
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return w
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@@ -109,7 +109,7 @@ def normalize_robot_sn(data: dict, want: str) -> str:
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def resolve_robot(data: dict, sn: str | None = None) -> dict:
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"""Active arm: ROBOT_SN env overrides robot.sn; catalog fills ip/iface/frames."""
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"""当前生效的机械臂：环境变量 ``ROBOT_SN`` 覆盖 robot.sn；清单补齐 ip/iface/frames。"""
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robot = dict(data.get("robot") or {})
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catalog = list_robots(data)
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want = normalize_robot_sn(
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@@ -146,7 +146,7 @@ def resolve_robot(data: dict, sn: str | None = None) -> dict:
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def apply_active_arm(data: dict, sn: str | None = None) -> tuple[dict, dict]:
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"""Merge robots[] camera/gripper/paths/servo onto site defaults for the active SN."""
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"""把 robots[] 里的 camera/gripper/paths/servo 合并到当前 SN 对应的 site 默认值上。"""
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robot = resolve_robot(data, sn)
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merged = dict(data)
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for key in _ARM_SECTION_KEYS:
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@@ -157,14 +157,14 @@ def apply_active_arm(data: dict, sn: str | None = None) -> tuple[dict, dict]:
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def camera_ns(data: dict) -> str:
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"""Topic namespace for the active wrist camera (d405_left / d405_right)."""
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"""当前腕部相机（d405_left / d405_right）的话题命名空间。"""
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cam = data.get("camera") or {}
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name = str(cam.get("name") or "d405").strip().strip("/")
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return name or "d405"
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def camera_frames(data: dict) -> tuple[str, str, str]:
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"""(namespace, optical_frame, depth_topic) for the active arm."""
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"""当前机械臂的（命名空间, 光学坐标系, 深度话题）。"""
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ns = camera_ns(data)
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yolo = data.get("yolo") or {}
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frame = str(yolo.get("camera_frame") or "").strip()
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@@ -177,7 +177,7 @@ def camera_frames(data: dict) -> tuple[str, str, str]:
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def flatten(data: dict) -> dict:
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"""Flat SITE_* env map for bash scripts."""
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"""供 bash 脚本使用的扁平 ``SITE_*`` 环境变量映射。"""
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data, robot = apply_active_arm(data)
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paths = data.get("paths") or {}
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cam = data.get("camera") or {}
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@@ -341,7 +341,7 @@ def flatten(data: dict) -> dict:
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def gripper_overrides(data: dict) -> dict:
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"""ROS parameter dict for dh_pgea_node (DH Modbus, not Flexiv gripper)."""
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"""供 dh_pgea_node 使用的 ROS 参数字典（DH Modbus，不是 Flexiv 夹爪）。"""
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data, _robot = apply_active_arm(data)
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g = data.get("gripper") or {}
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return {
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@@ -362,7 +362,7 @@ def gripper_overrides(data: dict) -> dict:
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def perception_overrides(data: dict) -> dict:
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"""ROS parameter dict for perception_node."""
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"""供 perception_node 使用的 ROS 参数字典。"""
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data, _robot = apply_active_arm(data)
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paths = data.get("paths") or {}
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yolo = data.get("yolo") or {}
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@@ -415,7 +415,7 @@ def perception_overrides(data: dict) -> dict:
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def servo_overrides(data: dict) -> dict:
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"""ROS parameter dict for servo_node."""
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"""供 servo_node 使用的 ROS 参数字典。"""
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data, robot = apply_active_arm(data)
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paths = data.get("paths") or {}
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yolo = data.get("yolo") or {}
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@@ -431,7 +431,7 @@ def servo_overrides(data: dict) -> dict:
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"arm_label": str(robot.get("label") or robot.get("arm") or ""),
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"z_ref_m": float(servo.get("z_ref_m") or yolo.get("z_ref_m") or 0.40),
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}
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# Pass through remaining servo keys that match node params
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# 透传其余与节点参数同名的 servo 键
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keys = [
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"control_hz", "watchdog_timeout_sec", "lost_timeout_sec", "stale_hold_sec",
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"max_extrapolate_sec", "predict_enable", "predict_sec",
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@@ -460,7 +460,7 @@ def main() -> int:
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ap.add_argument("--json", action="store_true")
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ap.add_argument("--print", action="store_true", dest="do_print")
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ap.add_argument("--config", default="")
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ap.add_argument("--sn", "--arm", dest="sn", default="", help="89|91|left|right|full SN")
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ap.add_argument("--sn", "--arm", dest="sn", default="", help="89|91|left|right|完整 SN")
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args = ap.parse_args()
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if args.sn:
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os.environ["ROBOT_SN"] = str(args.sn)
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@@ -471,35 +471,35 @@ def main() -> int:
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print(json.dumps({"site": data, "env": flat}, ensure_ascii=False, indent=2))
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return 0
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if args.do_print:
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print(f"site config: {path}")
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print(f"site 配置: {path}")
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print(
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f" robot SN : {flat['SITE_ROBOT_SN']}"
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f" 机械臂 SN : {flat['SITE_ROBOT_SN']}"
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f"{(' (' + flat['SITE_ROBOT_LABEL'] + ')') if flat.get('SITE_ROBOT_LABEL') else ''}"
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f" arm={flat.get('SITE_ROBOT_ARM') or '?'}"
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)
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print(f" catalog : {flat.get('SITE_ROBOT_CATALOG') or '(none)'}")
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print(f" robot IP : {flat['SITE_ROBOT_IP']} pc={flat['SITE_PC_IP']} iface={flat.get('SITE_NET_IFACE') or '?'}")
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print(f" frames : prefix={flat['SITE_JOINT_PREFIX']} ee={flat['SITE_EE_FRAME']}")
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print(f" tool name : {flat.get('SITE_ROBOT_TOOL_NAME') or '(keep current)'}")
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print(f" 清单 : {flat.get('SITE_ROBOT_CATALOG') or '（无）'}")
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print(f" 机械臂 IP : {flat['SITE_ROBOT_IP']} pc={flat['SITE_PC_IP']} iface={flat.get('SITE_NET_IFACE') or '?'}")
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print(f" 坐标系 : prefix={flat['SITE_JOINT_PREFIX']} ee={flat['SITE_EE_FRAME']}")
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print(f" 工具名 : {flat.get('SITE_ROBOT_TOOL_NAME') or '（保持当前）'}")
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catalog_sns = [str(r.get("sn") or "") for r in list_robots(data)]
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if catalog_sns and flat["SITE_ROBOT_SN"] not in catalog_sns:
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print(
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f" WARNING: robot.sn {flat['SITE_ROBOT_SN']!r} is not in robots[]",
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f" 警告：robot.sn {flat['SITE_ROBOT_SN']!r} 不在 robots[] 里",
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file=sys.stderr,
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)
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print(f" yolo weights : {flat['SITE_YOLO_WEIGHTS']}")
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print(f" resolved : {flat['SITE_YOLO_WEIGHTS_RESOLVED']}")
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print(f" handeye : {flat['SITE_HANDEYE_FILE']}")
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print(f" handeye wp : {flat['SITE_HANDEYE_WAYPOINTS']}")
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print(f" handeye dir : {flat['SITE_HANDEYE_WORKDIR']}")
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print(f" named poses : {flat.get('SITE_NAMED_POSES_FILE')}")
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print(f" YOLO 权重 : {flat['SITE_YOLO_WEIGHTS']}")
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print(f" 解析后 : {flat['SITE_YOLO_WEIGHTS_RESOLVED']}")
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print(f" 手眼 : {flat['SITE_HANDEYE_FILE']}")
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print(f" 手眼路点 : {flat['SITE_HANDEYE_WAYPOINTS']}")
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print(f" 手眼目录 : {flat['SITE_HANDEYE_WORKDIR']}")
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print(f" 命名位姿 : {flat.get('SITE_NAMED_POSES_FILE')}")
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print(
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" board : "
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" 标定板 : "
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f"{flat['SITE_HANDEYE_BOARD_COLS']}x{flat['SITE_HANDEYE_BOARD_ROWS']} "
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f"inner, square={flat['SITE_HANDEYE_SQUARE_M']} m"
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f"内角点, square={flat['SITE_HANDEYE_SQUARE_M']} m"
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)
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print(
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f" camera : serial={flat['SITE_CAM_SERIAL'] or '(empty)'} "
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f" 相机 : serial={flat['SITE_CAM_SERIAL'] or '（空）'} "
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f"{flat['SITE_CAM_WIDTH']}x{flat['SITE_CAM_HEIGHT']}@{flat['SITE_CAM_FPS']} "
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f"ae={flat.get('SITE_CAM_AUTO_EXPOSURE')} "
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f"exp={flat.get('SITE_CAM_EXPOSURE_US')}us "
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@@ -507,26 +507,26 @@ def main() -> int:
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f"ae_limit={flat.get('SITE_CAM_AE_LIMIT_US')}us emitter={flat.get('SITE_CAM_EMITTER')}"
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)
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print(
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f" catalog cam : leftD405={flat.get('SITE_D405_LEFT_SERIAL')} "
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f" 清单相机 : leftD405={flat.get('SITE_D405_LEFT_SERIAL')} "
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f"rightD405={flat.get('SITE_D405_RIGHT_SERIAL')} "
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f"D435={flat.get('SITE_D435_SERIAL')}"
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)
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print(
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f" gripper : {flat.get('SITE_GRIP_MODEL')} port={flat.get('SITE_GRIP_PORT')}"
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f" 夹爪 : {flat.get('SITE_GRIP_MODEL')} port={flat.get('SITE_GRIP_PORT')}"
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)
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print(
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f" hole_detect : backend={flat.get('SITE_HOLE_BACKEND')} "
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f"weights={flat.get('SITE_HOLE_WEIGHTS')}"
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)
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print(
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f" tactile : backend={flat.get('SITE_TACTILE_BACKEND')} "
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f" 触觉 : backend={flat.get('SITE_TACTILE_BACKEND')} "
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f"L={flat.get('SITE_TACTILE_LEFT')} R={flat.get('SITE_TACTILE_RIGHT')} "
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f"cfg={flat.get('SITE_TACTILE_CONFIG')}"
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)
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print(f" go_home : pose={flat['SITE_GO_HOME_POSE']} speed={flat['SITE_GO_HOME_SPEED']}")
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he_path = Path(flat["SITE_HANDEYE_FILE"]).expanduser()
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if not he_path.is_file():
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print(f" WARNING: hand-eye file missing: {he_path}", file=sys.stderr)
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print(f" 警告：手眼文件缺失: {he_path}", file=sys.stderr)
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else:
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try:
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he_data = yaml.safe_load(he_path.read_text(encoding="utf-8")) or {}
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@@ -536,28 +536,28 @@ def main() -> int:
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he_data.get("uncalibrated") or "T_4x4" not in he_data
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):
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print(
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f" WARNING: {he_path.name} is not calibrated for this arm "
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f" 警告：{he_path.name} 没有针对该机械臂标定 "
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f"(run_handeye.sh teach/calibrate --arm {flat.get('SITE_ROBOT_ARM') or '91'})",
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file=sys.stderr,
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)
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if "063991" in flat["SITE_ROBOT_SN"] and flat.get("SITE_CAM_SERIAL") == flat.get("SITE_D405_LEFT_SERIAL"):
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print(
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" WARNING: 91 is using the LEFT wrist D405 serial — check robots[].camera.serial",
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" 警告：91 用的是左腕 D405 的序列号 — 请检查 robots[].camera.serial",
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file=sys.stderr,
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)
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if "RGI" in str(flat.get("SITE_GRIP_MODEL") or ""):
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print(
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" NOTE: 本臂是 RGI。CLI: bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli open|rotate",
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" 提示：本臂是 RGI。CLI: bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli open|rotate",
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file=sys.stderr,
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)
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w = Path(flat["SITE_YOLO_WEIGHTS"]).expanduser()
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if not w.is_file():
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print(f" WARNING: weights file missing: {w}", file=sys.stderr)
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print(f" 警告：权重文件缺失: {w}", file=sys.stderr)
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return 2
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return 0
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# bash exports
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# bash 导出
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for k, v in flat.items():
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# escape for eval
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# 为 eval 转义
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vv = str(v).replace("'", "'\"'\"'")
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print(f"export {k}='{vv}'")
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return 0
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Block a user