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
+24
-24
@@ -105,13 +105,13 @@ class SoftDrag:
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robot.SetJointImpedance(g, soft)
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log(f'SetJointImpedance {g} K={soft}')
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except Exception as exc:
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log(f'SetJointImpedance group {g}: {exc}')
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log(f'SetJointImpedance 组 {g}: {exc}')
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else:
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n = max(7, len(self.latest_q))
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try:
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robot.SetJointImpedance([35.0] * n, [0.7] * n)
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except Exception as exc:
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log(f'SetJointImpedance flat: {exc}')
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log(f'SetJointImpedance flat（不分组）: {exc}')
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self._stop.clear()
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self._thread = threading.Thread(target=self._loop, name='soft-drag', daemon=True)
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@@ -144,9 +144,9 @@ class SoftDrag:
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n = len(q)
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robot.SendJointPosition(q, [0.0] * n, [1.5] * n, [2.0] * n)
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except Exception as exc:
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log(f'soft loop: {exc}')
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log(f'soft 循环: {exc}')
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time.sleep(0.15)
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# ~20 Hz — keep lock released most of the time
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# 约 20 Hz —— 大部分时间让锁保持释放状态
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for _ in range(10):
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if self._stop.is_set():
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return
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@@ -158,7 +158,7 @@ class SoftDrag:
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if th is not None:
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th.join(timeout=4.0)
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if th.is_alive():
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log('soft loop still alive after join (will idle anyway)')
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log('join 之后 soft 循环仍然存活（无论如何都会切到 IDLE）')
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self._thread = None
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@@ -168,7 +168,7 @@ def _ensure_operational(robot) -> Optional[str]:
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def _idle_async(robot, lock: threading.Lock, flexivrdk, timeout: float = 4.0) -> bool:
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"""Switch to IDLE without blocking the stdin loop forever."""
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"""切到 IDLE，同时避免把 stdin 循环永久阻塞住。"""
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done = threading.Event()
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def run() -> None:
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@@ -193,7 +193,7 @@ def _idle_async(robot, lock: threading.Lock, flexivrdk, timeout: float = 4.0) ->
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threading.Thread(target=run, name='idle', daemon=True).start()
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ok = done.wait(timeout)
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if not ok:
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log('IDLE/Stop timed out — stdin loop continues')
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log('IDLE/Stop 超时 —— stdin 循环继续运行')
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return ok
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@@ -213,7 +213,7 @@ def main() -> int:
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try:
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msg = json.loads(line)
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except Exception as exc: # noqa: BLE001
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reply({'ok': False, 'error': f'bad json: {exc}'})
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reply({'ok': False, 'error': f'JSON 解析失败: {exc}'})
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continue
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cmd = str(msg.get('cmd', '')).strip()
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@@ -233,17 +233,17 @@ def main() -> int:
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for args in attempts:
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try:
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robot = flexivrdk.Robot(*args)
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log(f'connected {sn} args={args!r}')
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log(f'已连接 {sn} args={args!r}')
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last_err = None
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break
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except TypeError:
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continue
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except Exception as exc:
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last_err = exc
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log(f'connect {args!r}: {exc}')
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log(f'连接 {args!r}: {exc}')
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robot = None
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if robot is None:
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reply({'ok': False, 'error': str(last_err or 'connect failed')})
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reply({'ok': False, 'error': str(last_err or '连接失败')})
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continue
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err = _ensure_operational(robot)
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if err:
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@@ -256,7 +256,7 @@ def main() -> int:
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elif cmd == 'drag_on':
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if robot is None:
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reply({'ok': False, 'error': 'not connected'})
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reply({'ok': False, 'error': '尚未连接'})
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continue
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err = _ensure_operational(robot)
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if err:
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@@ -274,7 +274,7 @@ def main() -> int:
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reply({'ok': True, 'drag': True, 'mode': 'floating', 'primitive': name})
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continue
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except Exception as exc:
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log(f'Floating failed, fallback soft: {exc}')
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log(f'Floating 失败，退回 soft 模式: {exc}')
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try:
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if soft is not None:
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@@ -284,18 +284,18 @@ def main() -> int:
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if soft.latest_q:
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cached_q = list(soft.latest_q)
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drag_on = True
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log('soft drag ON')
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log('软拖拽已开启')
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reply({
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'ok': True,
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'drag': True,
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'mode': 'soft',
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'hint': 'Push the arm gently; low joint impedance. Enter=photo (s=hold).',
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'hint': '轻推机械臂即可，关节阻抗已调低。Enter=拍照（s=保持）。',
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})
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except Exception as exc:
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reply({'ok': False, 'error': f'soft drag failed: {exc}'})
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reply({'ok': False, 'error': f'软拖拽失败: {exc}'})
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elif cmd == 'drag_off':
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log('drag_off requested')
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log('收到 drag_off 请求')
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if soft is not None:
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if soft.latest_q:
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cached_q = list(soft.latest_q)
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@@ -304,7 +304,7 @@ def main() -> int:
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if robot is not None:
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_idle_async(robot, rlock, flexivrdk, timeout=4.0)
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drag_on = False
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log('drag_off done')
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log('drag_off 已完成')
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reply({'ok': True, 'drag': False, 'q': cached_q})
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elif cmd == 'joints':
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@@ -314,14 +314,14 @@ def main() -> int:
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elif len(cached_q) >= 7:
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q = list(cached_q)
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if q is None or len(q) < 7:
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reply({'ok': False, 'error': 'no joint cache'})
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reply({'ok': False, 'error': '没有关节缓存'})
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continue
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cached_q = q
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reply({'ok': True, 'q': q, 'drag': drag_on})
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elif cmd == 'enable':
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if robot is None:
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reply({'ok': False, 'error': '尚未 connect'})
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reply({'ok': False, 'error': '尚未连接'})
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continue
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err = ensure_operational(robot)
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reply({
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@@ -332,7 +332,7 @@ def main() -> int:
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elif cmd == 'clear_fault':
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if robot is None:
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reply({'ok': False, 'error': '尚未 connect'})
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reply({'ok': False, 'error': '尚未连接'})
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continue
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err = rdk_clear_fault(robot)
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if err:
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@@ -349,7 +349,7 @@ def main() -> int:
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elif cmd == 'switch_tool':
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if robot is None:
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reply({'ok': False, 'error': '尚未 connect'})
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reply({'ok': False, 'error': '尚未连接'})
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continue
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want = str(msg.get('name', '')).strip()
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@@ -428,9 +428,9 @@ def main() -> int:
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return 0
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else:
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reply({'ok': False, 'error': f'unknown cmd {cmd}'})
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reply({'ok': False, 'error': f'未知命令 {cmd}'})
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except Exception as exc: # noqa: BLE001
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log(f'cmd={cmd} error: {exc}')
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log(f'cmd={cmd} 出错: {exc}')
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reply({'ok': False, 'error': str(exc)})
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return 0
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