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
+38
-38
@@ -1,8 +1,8 @@
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#!/usr/bin/env python3
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"""Switch the Flexiv active tool (TCP + payload) to a Studio-configured name.
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"""把 Flexiv 当前工具（TCP + 负载）切换成 Studio 里配置好的名字。
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Must run under RDK Python (rdk_py310). Robot must be IDLE; stop run_real.sh first
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if ros2_control already owns the RDK connection.
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必须在 RDK 的 Python（rdk_py310）下运行。机器人必须处于 IDLE；如果
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ros2_control 已经占住了 RDK 连接，请先停掉 run_real.sh。
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/home/cc/rdk_py310/bin/python ~/ros2/scripts/rdk_switch_tool.py --list
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/home/cc/rdk_py310/bin/python ~/ros2/scripts/rdk_switch_tool.py --name Flange
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@@ -17,7 +17,7 @@ import time
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def _single_arm_groups(robot):
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"""RDK 1.9 Tool API is single-arm (no JointGroup). Older builds use groups."""
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"""RDK 1.9 的 Tool API 是单臂的（没有 JointGroup）。老版本用 groups。"""
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info = robot.info()
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groups = getattr(info, "single_arm_groups", None) or {}
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if isinstance(groups, dict):
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@@ -33,7 +33,7 @@ def _single_arm_groups(robot):
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return [flexivrdk.JointGroup.ARM_1]
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except Exception:
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pass
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return [None] # sentinel: call Tool.name()/Switch() without a group
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return [None] # 哨兵：调用 Tool.name()/Switch() 时不带 group
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def _tool_name(tool, group):
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@@ -57,7 +57,7 @@ def _tool_switch(tool, group, target: str) -> None:
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def _group_name(group) -> str:
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if group is None:
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return "arm"
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return "单臂"
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try:
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import flexivrdk
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@@ -91,7 +91,7 @@ def _ensure_idle(robot, mode) -> None:
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time.sleep(0.25)
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if not robot.operational():
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raise RuntimeError(
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"robot not operational — AUTO Remote + Enable, release E-stop"
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"机器人未处于 operational 状态 —— 请在示教器切 AUTO Remote 并使能，松开急停"
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)
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robot.SwitchMode(mode.IDLE)
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@@ -108,13 +108,13 @@ def _resolve_name(tool, want: str) -> str:
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if hit:
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return hit
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raise SystemExit(
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"tool %r not found in Studio pool.\n available: %s"
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% (want, ", ".join(names) or "(empty)")
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"工具 %r 不在 Studio 工具池里。\n 可选: %s"
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% (want, ", ".join(names) or "（空）")
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)
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def _iface_ipv4s(name: str) -> list:
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"""FastDDS whitelist wants IPv4 addresses, not NIC names like enp4s0."""
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"""FastDDS 白名单要的是 IPv4 地址，而不是 enp4s0 这类网卡名。"""
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import socket
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import fcntl
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import struct
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@@ -147,7 +147,7 @@ def _iface_ipv4s(name: str) -> list:
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addrs.append(cidr.split("/")[0])
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except Exception:
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pass
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# unique, keep order
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# 去重，保持原有顺序
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seen = set()
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uniq = []
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for a in addrs:
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@@ -170,7 +170,7 @@ def _rdk_whitelist(iface: str) -> list[list[str]]:
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robot_lan = [a for a in _iface_ipv4s(iface) if a.startswith("192.168.2.")]
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if robot_lan:
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lists.append(robot_lan)
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# unique
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# 去重
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seen: set[tuple[str, ...]] = set()
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out: list[list[str]] = []
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for item in lists:
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@@ -185,7 +185,7 @@ def connect_rdk(sn: str, iface: str = ""):
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import flexivrdk
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for listen in _rdk_whitelist(iface):
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print("RDK whitelist:", ", ".join(listen))
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print("RDK 白名单:", ", ".join(listen))
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for args in ((sn, listen), (sn, listen, True), (sn, listen, True, False)):
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try:
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return flexivrdk.Robot(*args)
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@@ -194,51 +194,51 @@ def connect_rdk(sn: str, iface: str = ""):
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except RuntimeError as exc:
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msg = str(exc)
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if "whitelist" in msg.lower() or "filtered out" in msg.lower():
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print(" whitelist rejected, try next")
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print(" 白名单被拒，试下一个")
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break
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if "Failed to connect" in msg or "failed to connect" in msg.lower():
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print(" search timeout with this whitelist")
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print(" 用这个白名单搜索超时")
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break
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raise
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print("retry without iface filter")
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print("不带 iface 过滤再试一次")
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return flexivrdk.Robot(sn)
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def main() -> int:
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ap = argparse.ArgumentParser(description="Switch Flexiv Studio tool / TCP")
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ap.add_argument("--sn", default="", help="robot serial (default: site.yaml)")
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ap.add_argument("--iface", default="", help="NIC whitelist for RDK (e.g. enp4s0)")
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ap = argparse.ArgumentParser(description="切换 Flexiv Studio 工具 / TCP")
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ap.add_argument("--sn", default="", help="机械臂序列号（默认取 site.yaml）")
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ap.add_argument("--iface", default="", help="RDK 用的网卡白名单（如 enp4s0）")
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ap.add_argument(
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"--name",
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default="",
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help="Studio tool name (Flange = no tool). Empty = site.yaml robot.tool_name",
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help="Studio 工具名（Flange = 不装工具）。留空 = 用 site.yaml 的 robot.tool_name",
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)
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ap.add_argument("--list", action="store_true", help="list tools and exit")
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ap.add_argument("--list", action="store_true", help="列出工具后退出")
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args = ap.parse_args()
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sn = (args.sn or "").strip()
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want = (args.name or "").strip()
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if not sn:
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print("ERROR: --sn is required (run via run_real.sh / rdk_switch_tool.sh)", file=sys.stderr)
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print("错误：必须提供 --sn（请通过 run_real.sh / rdk_switch_tool.sh 运行）", file=sys.stderr)
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return 2
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import flexivrdk
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mode = flexivrdk.Mode
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iface = (args.iface or "").strip()
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print(f"=== RDK tool SN={sn} iface={iface or 'auto'} ===")
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print(f"=== RDK 工具 SN={sn} iface={iface or 'auto'} ===")
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robot = None
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try:
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robot = connect_rdk(sn, iface)
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if robot.fault():
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print("fault present, ClearFault ...")
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print("检测到故障，正在 ClearFault ...")
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if not robot.ClearFault():
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print("ERROR: fault cannot be cleared", file=sys.stderr)
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print("错误：故障无法清除", file=sys.stderr)
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return 1
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tool = flexivrdk.Tool(robot)
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names = list(tool.list() or [])
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groups = _single_arm_groups(robot)
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print("Studio tools:", ", ".join(names) or "(none)")
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print("Studio 工具:", ", ".join(names) or "（无）")
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for g in groups:
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cur = _tool_name(tool, g)
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extra = ""
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@@ -246,23 +246,23 @@ def main() -> int:
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extra = " " + _fmt_params(_tool_params(tool, g))
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except Exception:
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pass
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print(f" active [{_group_name(g)}]: {cur}{extra}")
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print(f" 当前 [{_group_name(g)}]: {cur}{extra}")
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if args.list:
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return 0
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if not want:
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print("tool_name empty — keep current (set robot.tool_name in site.yaml to switch)")
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print("RDK OK")
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print("tool_name 为空 —— 保持当前工具（要切换请在 site.yaml 里设置 robot.tool_name）")
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print("RDK 正常")
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return 0
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target = _resolve_name(tool, want)
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already = all(_tool_name(tool, g) == target for g in groups)
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if already:
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print(f"already on [{target}]")
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print("RDK OK")
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print(f"已经处于 [{target}]")
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print("RDK 正常")
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return 0
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print(f"switching → [{target}] (requires IDLE)")
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print(f"正在切换到 → [{target}]（需要 IDLE）")
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_ensure_idle(robot, mode)
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for g in groups:
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_tool_switch(tool, g, target)
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@@ -273,16 +273,16 @@ def main() -> int:
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extra = " " + _fmt_params(_tool_params(tool, g))
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except Exception:
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pass
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print(f" now [{_group_name(g)}]: {cur}{extra}")
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print(f" 现在 [{_group_name(g)}]: {cur}{extra}")
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if cur != target:
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print(f"ERROR: switch failed, still {cur!r}", file=sys.stderr)
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print(f"错误：切换失败，当前仍是 {cur!r}", file=sys.stderr)
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return 1
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print("RDK OK")
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print("RDK 正常")
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return 0
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except Exception as exc:
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print(f"ERROR: {exc}", file=sys.stderr)
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print(" Stop run_real.sh first (RDK is exclusive).", file=sys.stderr)
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print(" Pendant: AUTO Remote + Enable Ethernet/RDK.", file=sys.stderr)
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print(f"错误：{exc}", file=sys.stderr)
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print(" 请先停掉 run_real.sh（RDK 是独占的）。", file=sys.stderr)
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print(" 示教器：切 AUTO Remote，并使能 Ethernet/RDK。", file=sys.stderr)
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return 1
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finally:
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robot = None
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