#!/usr/bin/env python3 """读取 ``~/ros2/config/site.yaml``，打印 bash 的 export 行或 JSON。 用法: eval "$(python3 ~/ros2/scripts/lib/export_site_env.py)" python3 ~/ros2/scripts/lib/export_site_env.py --json python3 ~/ros2/scripts/lib/export_site_env.py --print """ from __future__ import annotations import argparse import json import os import sys from pathlib import Path try: import yaml except ImportError: yaml = None # type: ignore def _root() -> Path: return Path(__file__).resolve().parents[2] def site_path() -> Path: env = os.environ.get("SITE_CONFIG", "").strip() if env: return Path(env).expanduser() return _root() / "config" / "site.yaml" def load_site(path: Path | None = None) -> dict: path = path or site_path() if not path.is_file(): raise FileNotFoundError(f"找不到 site 配置: {path}") text = path.read_text(encoding="utf-8") if yaml is None: raise RuntimeError("需要 PyYAML：pip/conda install pyyaml") data = yaml.safe_load(text) or {} if not isinstance(data, dict): raise ValueError(f"无效的 site.yaml: {path}") return data def list_robots(data: dict) -> list[dict]: """从 robot.robots 取清单条目（列表或按 SN 索引的映射）。""" raw = (data.get("robot") or {}).get("robots") or [] out: list[dict] = [] if isinstance(raw, dict): for sn, item in raw.items(): row = dict(item or {}) if isinstance(item, dict) else {} row.setdefault("sn", str(sn)) out.append(row) return out if isinstance(raw, list): for item in raw: if isinstance(item, dict) and str(item.get("sn") or "").strip(): out.append(dict(item)) return out # 侧别词 —— 这是**语言别名**，不是站点数据：任何站点都希望 # `--arm left` / `--arm 左` / `--arm 左臂` 能选中 `robots[]` 里 `arm: left` 的那台。 # # 这里**绝不允许**出现具体 SN（`Rizon4-063989` 之类）。历史上这里是一张 # `89 -> Rizon4-063989` 的写死映射表：换一台机器人后 `--arm 89` 仍然会选中 # 上一台，而且不报错（R1.1）。现在 `89` 这个写法的来源是 # **这台机器 SN 的末两位**，由 `_arm_index()` 从 `robots[]` 现算出来。 _SIDE_WORDS = { "left": "left", "l": "left", "左": "left", "左臂": "left", "right": "right", "r": "right", "右": "right", "右臂": "right", } _ARM_SECTION_KEYS = ( "camera", "gripper", "paths", "servo", "handeye", "go_home", "yolo", "perception", ) def arm_short_id(sn: str) -> str: """Flexiv 序列号的"臂号"= 末两位数字（``Rizon4-063989`` → ``89``）。 手眼文件名、结果文件都用这个编号。它是从 SN 派生出来的，不是常量。 """ tail = str(sn or "").strip().rsplit("-", 1)[-1] return tail[-2:] if tail.isdigit() and len(tail) >= 2 else "" def _arm_index(data: dict) -> dict[str, str]: """从 ``robots[]`` 派生 ``别名 -> SN`` 索引。 别名包括：完整 SN、``label``（如 ``左臂89``）、侧别词（``left``/``左``）、 SN 末两位（``89``）。全部来自 site.yaml —— 这是"换一台机器人只改配置"的前提。 """ index: dict[str, str] = {} for item in list_robots(data): sn = str(item.get("sn") or "").strip() if not sn: continue names = {sn.lower()} label = str(item.get("label") or "").strip() if label: names.add(label.lower()) arm = str(item.get("arm") or "").strip().lower() if arm: names.add(arm) names.update(word for word, side in _SIDE_WORDS.items() if side == arm) short = arm_short_id(sn) if short: names.add(short) if arm: names.add(f"{arm}{short}") for name in names: if name: index.setdefault(name, sn) return index def _looks_like_full_sn(token: str) -> bool: """区分"完整 SN"与"臂别名"。 ``Rizon4-063989`` 这种带连字符的写法允许不在 ``robots[]`` 里 （单臂站点可以只写 ``robot.sn`` 不登记清单）；而 ``89`` / ``left`` 这类 **别名**查不到就必须报错，不能当成 SN 硬用。 """ return "-" in token def normalize_robot_sn(data: dict, want: str) -> str: """把 89 / left / 左臂 / label / 完整 SN 归一成完整 SN（查不到则原样返回）。""" return resolve_robot_sn(data, want)[0] def resolve_robot_sn(data: dict, want: str) -> tuple[str, bool]: """归一化并报告是否命中。 返回 ``(sn, matched)``。``matched=False`` 表示这个写法在 ``robots[]`` 里 查不到 —— 调用方必须**报错**（见 ``resolve_robot``），不能静默拿它当 SN， 否则会去连一台不存在的机器人。 """ w = (want or "").strip() if not w: return "", False index = _arm_index(data) hit = index.get(w.lower()) if hit: return hit, True if _looks_like_full_sn(w): return w, True return w, False def describe_arms(data: dict) -> str: """给报错信息用：列出本配置里可选的全部机械臂。""" lines = [] for item in list_robots(data): sn = str(item.get("sn") or "").strip() if not sn: continue bits = [f" - {sn}"] arm = str(item.get("arm") or "").strip() label = str(item.get("label") or "").strip() if arm or label: bits.append(f"arm={arm or '?'}") if label: bits.append(f"label={label}") short = arm_short_id(sn) if short: bits.append(f"--arm {short}") lines.append(" ".join(bits)) return "\n".join(lines) or " （robot.robots[] 是空的）" def _deep_merge(base: dict, overlay: dict) -> dict: out = dict(base) for k, v in overlay.items(): if isinstance(out.get(k), dict) and isinstance(v, dict): out[k] = _deep_merge(out[k], v) else: out[k] = v return out def resolve_robot(data: dict, sn: str | None = None) -> dict: """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。 选不出来时**抛 ``ValueError``**，绝不猜： - 给了别名（``89`` / ``left``）但 ``robots[]`` 里没有对应的臂； - ``robot.sn`` 没写、也没给 ``--arm``。 以前这两种情况会静默落回一个写死的 SN 或一个空的 ``sn``，结果就是 "配置漏了一键，程序照样启动，连的是哪台看运气"。 """ robot = dict(data.get("robot") or {}) catalog = list_robots(data) raw = ( sn or os.environ.get("ROBOT_SN") or os.environ.get("ROBOT_ARM") or robot.get("sn") or "" ) want, matched = resolve_robot_sn(data, raw) if str(raw).strip() and not matched: raise ValueError( f"选不出机械臂：{str(raw).strip()!r} 既不是 robot.robots[] 里的别名，" f"也不像完整 SN（完整 SN 形如 Rizon4-063989）。\n" f"config/site.yaml 里现有：\n{describe_arms(data)}\n" f"用法：所有终端加同一个 --arm，或直接写完整 SN。" ) if not want: raise ValueError( "config/site.yaml 没有指定机械臂：robot.sn 为空，也没给 --arm。\n" f"可选：\n{describe_arms(data)}" ) match: dict = {} for item in catalog: if str(item.get("sn") or "").strip() == want: match = dict(item) break out = {k: v for k, v in robot.items() if k != "robots"} out.update({k: v for k, v in match.items() if k != "robots"}) out["sn"] = want # 侧别只认 robots[].arm。**不要**从 SN 里猜数字（"063989 就是左臂"）—— # 那是站点数据写进了代码，换个站点就会把左右搞反。 if not str(out.get("joint_prefix") or "").strip(): out["joint_prefix"] = f"{want}_" if not str(out.get("base_frame") or "").strip(): out["base_frame"] = f"{want}_base_link" if not str(out.get("ee_frame") or "").strip(): out["ee_frame"] = f"{want}_flange" net = data.get("network") or {} if not str(out.get("iface") or "").strip(): out["iface"] = str(net.get("prefer_iface") or "") if not str(out.get("ip") or "").strip(): out["ip"] = "192.168.100.1" if not str(out.get("pc_ip") or "").strip(): out["pc_ip"] = "192.168.100.10" return out def apply_active_arm(data: dict, sn: str | None = None) -> tuple[dict, dict]: """把 robots[] 里的 camera/gripper/paths/servo 合并到当前 SN 对应的 site 默认值上。""" robot = resolve_robot(data, sn) merged = dict(data) for key in _ARM_SECTION_KEYS: base = merged.get(key) if isinstance(merged.get(key), dict) else {} ov = robot.get(key) if isinstance(robot.get(key), dict) else {} merged[key] = _deep_merge(dict(base or {}), dict(ov or {})) return merged, robot def camera_ns(data: dict) -> str: """当前腕部相机（d405_left / d405_right）的话题命名空间。""" cam = data.get("camera") or {} name = str(cam.get("name") or "d405").strip().strip("/") return name or "d405" def camera_frames(data: dict) -> tuple[str, str, str]: """当前机械臂的（命名空间, 光学坐标系, 深度话题）。""" ns = camera_ns(data) yolo = data.get("yolo") or {} frame = str(yolo.get("camera_frame") or "").strip() depth = str(yolo.get("depth_topic") or "").strip() if frame in ("", "d405_color_optical_frame"): frame = f"{ns}_color_optical_frame" if depth in ("", "/d405/aligned_depth_to_color/image_raw"): depth = f"/{ns}/aligned_depth_to_color/image_raw" return ns, frame, depth def flatten(data: dict) -> dict: """供 bash 脚本使用的扁平 ``SITE_*`` 环境变量映射。""" data, robot = apply_active_arm(data) paths = data.get("paths") or {} cam = data.get("camera") or {} yolo = data.get("yolo") or {} servo = data.get("servo") or {} home = data.get("go_home") or {} net = data.get("network") or {} he = data.get("handeye") or {} grip = data.get("gripper") or {} named_poses = str( robot.get("named_poses_file") or paths.get("named_poses_file") or str(_root() / "src" / "arm_control" / "config" / "named_poses.yaml") ) weights = str(paths.get("yolo_weights") or "") # 解析符号链接，方便日志里看到真实文件（历史上有人用 active.pt 做切换，已废弃） try: weights_resolved = str(Path(weights).expanduser().resolve()) except Exception: weights_resolved = weights # 派生文件名的口径：臂号 = 当前 SN 末两位（见 arm_short_id）。 # 用当前臂现算，**不要**钉死 "89" —— 否则换成 91 或另一台臂时， # 两边会共用同一个手眼文件，表现是"标定做了但不生效"。 short = arm_short_id(str(robot.get("sn") or "")) he_mode = str(he.get("mode") or "eye_in_hand") he_stem = f"{short}_{he_mode}" if short else he_mode out = { "SITE_CONFIG": str(site_path()), "SITE_ROS2_ROOT": str(_root()), # 必须来自配置。缺了就留空让调用方报错 —— 兜底成某个真实 SN # 等于"配置漏了照样启动，连的是哪台看运气"。 "SITE_ROBOT_SN": str(robot.get("sn") or ""), "SITE_ROBOT_IP": str(robot.get("ip") or "192.168.100.1"), "SITE_PC_IP": str(robot.get("pc_ip") or "192.168.100.10"), "SITE_JOINT_PREFIX": str(robot.get("joint_prefix") or ""), "SITE_BASE_FRAME": str(robot.get("base_frame") or ""), "SITE_EE_FRAME": str(robot.get("ee_frame") or ""), "SITE_ROBOT_TOOL_NAME": str(robot.get("tool_name") or ""), "SITE_ROBOT_LABEL": str(robot.get("label") or ""), "SITE_ROBOT_ARM": str(robot.get("arm") or ""), "SITE_ROBOT_SHORT_ID": short, # 本臂有没有装 Orisys 触觉。以前脚本靠 `SN == Rizon4-063989` 来判断， # 于是"哪台臂有传感器"变成了代码里的常量。现在由 site.yaml 说了算。 "SITE_ROBOT_HAS_TACTILE": "1" if robot.get("tactile") else "0", "SITE_NAMED_POSES_FILE": named_poses, "SITE_ROBOT_CATALOG": ",".join( str(r.get("sn") or "") for r in list_robots(data) if r.get("sn") ), "SITE_YOLO_WEIGHTS": weights, "SITE_YOLO_WEIGHTS_RESOLVED": weights_resolved, "SITE_HANDEYE_WAYPOINTS": str( paths.get("handeye_waypoints") or str(_root() / "handeye" / "poses" / f"{he_stem}.yaml") ), "SITE_HANDEYE_CALIBRATE": str( paths.get("handeye_calibrate") or str(_root() / "handeye" / "calibrate.yaml") ), "SITE_HANDEYE_TOUR": str( paths.get("handeye_tour") or str(_root() / "handeye" / "waypoints.yaml") ), "SITE_HANDEYE_WORKDIR": str( paths.get("handeye_workdir") or str(_root() / "handeye" / "tmp" / short) ), "SITE_HANDEYE_FILE": str( paths.get("handeye_file") or str(_root() / "handeye" / "results" / f"{he_stem}.yaml") ), "SITE_HANDEYE_MODE": he_mode, # 板尺寸默认值必须与 site.yaml / 结果文件头里的实际板子一致。 # 这里原先是 11/16/0.011（一张早期用过、现已不存在的板），与 site.yaml 的 # 8/11/0.015 冲突：一旦 site.yaml 缺这几个键就会静默用错尺寸， # 表现为"标定能跑完但结果明显不对"。 "SITE_HANDEYE_BOARD_COLS": str(int(he.get("board_cols") or 8)), "SITE_HANDEYE_BOARD_ROWS": str(int(he.get("board_rows") or 11)), "SITE_HANDEYE_SQUARE_M": str(float(he.get("square_size_m") or 0.015)), "SITE_HANDEYE_VEL_SCALE": str(float(he.get("velocity_scale") or 0.05)), "SITE_HANDEYE_MOVE_T": str(float(he.get("move_time_sec") or 8.0)), "SITE_HANDEYE_SETTLE_SEC": str(float(he.get("settle_sec") or 1.5)), "SITE_HANDEYE_SETTLE_QD": str(float(he.get("settle_qd_max") or 0.015)), "SITE_HANDEYE_SETTLE_STABLE": str(float(he.get("settle_stable_sec") or 0.6)), "SITE_HANDEYE_SETTLE_TO": str(float(he.get("settle_timeout_sec") or 8.0)), "SITE_HANDEYE_PIN_HOLDS": str(int(he.get("pin_holds") if he.get("pin_holds") is not None else 2)), "SITE_HANDEYE_PIN_SEC": str(float(he.get("pin_hold_sec") or 0.45)), "SITE_HANDEYE_SKIP_UNSTABLE": ( "true" if he.get("skip_unstable_poses", True) else "false" ), "SITE_FASTDDS_PROFILE": str(paths.get("fastdds_profile") or ""), "SITE_CAM_NAME": camera_ns(data), "SITE_CAM_SERIAL": str(cam.get("serial") or ""), "SITE_CAM_WIDTH": str(int(cam.get("width") or 848)), "SITE_CAM_HEIGHT": str(int(cam.get("height") or 480)), "SITE_CAM_FPS": str(int(cam.get("fps") or 30)), "SITE_CAM_ENABLE_DEPTH": "1" if cam.get("enable_depth", True) else "0", "SITE_CAM_ENABLE_INFRA": "1" if cam.get("enable_infra", True) else "0", "SITE_CAM_PREVIEW": "1" if cam.get("preview", True) else "0", "SITE_CAM_PREVIEW_STEREO": "1" if cam.get("preview_stereo", True) else "0", "SITE_CAM_OVERLAY_HOLD": str(float(cam.get("overlay_hold_sec") or 1.5)), "SITE_CAM_USE_SITE_RES": "1" if cam.get("use_site_resolution", True) else "0", "SITE_CAM_AUTO_EXPOSURE": "1" if cam.get("auto_exposure", True) else "0", "SITE_CAM_AE_LIMIT_US": str(float(cam.get("ae_limit_us") if cam.get("ae_limit_us") is not None else 4000)), "SITE_CAM_EMITTER": "1" if cam.get("emitter_enabled", False) else "0", "SITE_CAM_LASER_POWER": str(float(cam.get("laser_power") if cam.get("laser_power") is not None else 0)), "SITE_CAM_EXPOSURE_US": str(float(cam.get("exposure_us") or 0)), "SITE_CAM_GAIN": str(float(cam.get("gain") or 0)), "SITE_D435_SERIAL": str(((data.get("cameras") or {}).get("d435") or {}).get("serial") or ""), "SITE_D435_WIDTH": str(int(((data.get("cameras") or {}).get("d435") or {}).get("width") or 1280)), "SITE_D435_HEIGHT": str(int(((data.get("cameras") or {}).get("d435") or {}).get("height") or 720)), "SITE_D435_FPS": str(int(((data.get("cameras") or {}).get("d435") or {}).get("fps") or 30)), # 序列号**不给默认值**：兜底成某个真实序列号 = 换站点后悄悄打开别人的相机。 # 缺了就让相机节点以"序列号为空"报错，比连错设备好得多（M1）。 "SITE_D405_LEFT_SERIAL": str(((data.get("cameras") or {}).get("d405_left") or {}).get("serial") or ""), "SITE_D405_RIGHT_SERIAL": str(((data.get("cameras") or {}).get("d405_right") or {}).get("serial") or ""), "SITE_YOLO_CONF": str(yolo.get("conf") or 0.10), "SITE_YOLO_IMGSZ": str(int(yolo.get("imgsz") or 640)), "SITE_YOLO_DEVICE": str(yolo.get("device") or "0"), "SITE_YOLO_MIN_CONF": str(yolo.get("min_conf") or 0.12), "SITE_GO_HOME_POSE": str(home.get("pose") or "home"), "SITE_GO_HOME_SPEED": str(home.get("speed") or 0.25), "SITE_NET_IFACE": str(robot.get("iface") or net.get("prefer_iface") or ""), "SITE_SERVO_Z_REF": str(servo.get("z_ref_m") or 0.40), "SITE_EE_X_M": str(float(servo.get("ee_x_m") or 0.25)), "SITE_EE_Y_M": str(float(servo.get("ee_y_m") or 0.0)), "SITE_EE_Z_M": str(float(servo.get("ee_z_m") or 0.24)), "SITE_SERVO_WATCHDOG": str(servo.get("watchdog_timeout_sec") or 0.3), "SITE_CAMERA_FRAME": camera_frames(data)[1], "SITE_GRIP_VENDOR": str(grip.get("vendor") or "dh"), "SITE_GRIP_MODEL": str(grip.get("model") or "PGEA-100-20-W"), "SITE_GRIP_SN": str(grip.get("sn") or ""), "SITE_GRIP_BACKEND": str(grip.get("backend") or "usb"), "SITE_GRIP_DEVICE": str(grip.get("device_name") or "GripperDahuanModbus"), "SITE_GRIP_FORCE_N": str(float(grip.get("force_n") or 50.0)), "SITE_GRIP_VEL_MPS": str(float(grip.get("vel_mps") or 0.05)), "SITE_GRIP_PORT": str(grip.get("port") or "/dev/ttyUSB0"), "SITE_GRIP_BAUD": str(int(grip.get("baud") or 115200)), "SITE_GRIP_SLAVE": str(int(grip.get("slave_id") or 1)), "SITE_GRIP_STROKE_MM": str(float(grip.get("stroke_mm") or 20.0)), "SITE_GRIP_FORCE": str(int(grip.get("force_pct") or 50)), "SITE_GRIP_SPEED": str(int(grip.get("speed_pct") or 50)), "SITE_GRIP_AUTO_INIT": "true" if grip.get("auto_init", True) else "false", "SITE_GRIP_RS485_RTS": str(grip.get("rs485_rts") or ""), "SITE_HOLE_BACKEND": str((data.get("hole_detect") or {}).get("backend") or "two_stage"), "SITE_HOLE_WEIGHTS": str( (data.get("hole_detect") or {}).get("weights") or paths.get("hole_weights") or str(_root() / "models" / "hole_insert" / "detect_best_1.onnx") ), "SITE_HOLE_WORKPIECE_WEIGHTS": str( (data.get("hole_detect") or {}).get("workpiece_weights") or paths.get("hole_workpiece_weights") or weights ), "SITE_HOLE_CONFIG": str( (data.get("hole_detect") or {}).get("config") or ( str(_root() / "src" / "arm_application" / "config" / "hole_detect.yaml") if str((data.get("hole_detect") or {}).get("backend") or "two_stage") in ("two_stage", "hough_roi") else str(_root() / "src" / "arm_application" / "config" / "hole_insert.yaml") ) ), "SITE_TACTILE_BACKEND": str((data.get("tactile") or {}).get("backend") or "orisys"), "SITE_TACTILE_CONFIG": str((data.get("tactile") or {}).get("config") or "dd03"), "SITE_TACTILE_CONFIG_FILE": str( (data.get("tactile") or {}).get("config_file") or str(_root() / "src" / "arm_application" / "config" / "orisys" / "dd03.json") ), "SITE_TACTILE_LEFT": str((data.get("tactile") or {}).get("left_video", 0)), "SITE_TACTILE_RIGHT": str((data.get("tactile") or {}).get("right_video", 2)), } return out def gripper_overrides(data: dict) -> dict: """供 dh_pgea_node 使用的 ROS 参数字典（DH Modbus，不是 Flexiv 夹爪）。""" data, _robot = apply_active_arm(data) g = data.get("gripper") or {} return { "port": str(g.get("port") or "/dev/ttyUSB0"), "baud": int(g.get("baud") or 115200), "slave_id": int(g.get("slave_id") or 1), "stroke_mm": float(g.get("stroke_mm") or 20.0), "force_pct": int(g.get("force_pct") or 50), "speed_pct": int(g.get("speed_pct") or 50), "auto_init": bool(g.get("auto_init", True)), "state_hz": float(g.get("state_hz") or 20.0), "model": str(g.get("model") or "PGEA-100-20-W"), "serial_number": str(g.get("sn") or ""), "open_position": int(g.get("open_position") if g.get("open_position") is not None else 1000), "close_position": int(g.get("close_position") if g.get("close_position") is not None else 0), "rs485_rts": str(g.get("rs485_rts") or ""), } def perception_overrides(data: dict) -> dict: """供 perception_node 使用的 ROS 参数字典。""" data, _robot = apply_active_arm(data) paths = data.get("paths") or {} yolo = data.get("yolo") or {} cam_ns, cam_frame, depth_topic = camera_frames(data) obj = str(yolo.get("object_frame") or "").strip() if not obj or obj == "tracked_object": # 跟踪目标的坐标系按**臂号**派生（SN 末两位），两侧互不干扰。 # 以前是从 SN 里找 "063989"/"063991" 子串，换个站点就失去意义了。 short = arm_short_id(str((_robot or {}).get("sn") or "")) obj = f"tracked_object_{short}" if short else "tracked_object" return { "weights": str(paths.get("yolo_weights") or ""), "conf": float(yolo.get("conf") or 0.10), "iou": float(yolo.get("iou") or 0.45), "imgsz": int(yolo.get("imgsz") or 640), "device": str(yolo.get("device") or "0"), "half_precision": bool(yolo.get("half_precision", True)), "backend": str(yolo.get("backend") or "auto"), "mp_infer": bool(yolo.get("mp_infer", True)), "min_conf": float(yolo.get("min_conf") or 0.12), "vision_hz": float(yolo.get("vision_hz") or 30.0), "infer_max_width": int(yolo.get("infer_max_width") if yolo.get("infer_max_width") is not None else 0), "box_ema_alpha": float(yolo.get("box_ema_alpha") or 0.85), "miss_clear_frames": int(yolo.get("miss_clear_frames") or 12), "overlay_hold_on_miss": bool(yolo.get("overlay_hold_on_miss", True)), "jump_px": float(yolo.get("jump_px") or 280.0), "jump_z_m": float(yolo.get("jump_z_m") or 0.20), "z_ref_m": float(yolo.get("z_ref_m") or 0.22), "min_depth_m": float(yolo.get("min_depth_m") or 0.04), "max_depth_m": float(yolo.get("max_depth_m") or 0.55), "work_z_max_m": float(yolo.get("work_z_max_m") or 0.50), "hold_point_on_miss": bool(yolo.get("hold_point_on_miss", True)), "miss_hold_point_frames": int(yolo.get("miss_hold_point_frames") or 2), "meas_blend": float(yolo.get("meas_blend") or 0.65), "z_alpha_min": float(yolo.get("z_alpha_min") or 0.10), "z_alpha_max": float(yolo.get("z_alpha_max") or 0.60), "z_alpha_gain": float(yolo.get("z_alpha_gain") or 2.0), "camera_frame": cam_frame, "object_frame": obj, "depth_topic": depth_topic, "camera_source": cam_ns, "feature_mode": str(yolo.get("feature_mode") or "plane"), "plane_inlier_m": float(yolo.get("plane_inlier_m") or 0.008), "plane_band_m": float(yolo.get("plane_band_m") or 0.06), } def servo_overrides(data: dict) -> dict: """供 servo_node 使用的 ROS 参数字典。""" data, robot = apply_active_arm(data) paths = data.get("paths") or {} yolo = data.get("yolo") or {} servo = data.get("servo") or {} _ns, cam_frame, _depth = camera_frames(data) out = { "joint_prefix": str(robot.get("joint_prefix") or ""), "base_frame": str(robot.get("base_frame") or ""), "ee_frame": str(robot.get("ee_frame") or ""), "handeye_file": str(paths.get("handeye_file") or ""), "camera_frame": cam_frame, "handeye_child_frame": cam_frame, "arm_label": str(robot.get("label") or robot.get("arm") or ""), "z_ref_m": float(servo.get("z_ref_m") or yolo.get("z_ref_m") or 0.40), } # 透传其余与节点参数同名的 servo 键 keys = [ "control_hz", "watchdog_timeout_sec", "lost_timeout_sec", "stale_hold_sec", "max_extrapolate_sec", "predict_enable", "predict_sec", "predict_v_max", "predict_jump_m", "kp_xy", "ki_xy", "kd_xy", "kp_z", "ki_z", "kd_z", "i_sep_pos_m", "deadzone_m", "deadzone_z_m", "v_max_xy", "v_max_z", "v_approach_z", "z_min_m", "approach_xy_gate_m", "min_ee_z_m", "e_xy_clip_m", "ee_x_m", "ee_y_m", "ee_z_m", "ee_hold_xy", "ee_vertical_down", "xy_track", "hover_offset_ee_xy_m", "arm_label", "ee_hold_kp", "ee_w_max", "lock_hold_sec", "a_max", "max_qdot", "damping", "vel_lpf_alpha", "dq_window_size", "traj_stream_hz", "exec_horizon_sec", "min_cmd_delta_rad", "point_topic", "traj_topic", "use_static_handeye_tf", "workspace_xyz_min", "workspace_xyz_max", ] for k in keys: if k in servo: out[k] = servo[k] return out def main() -> int: ap = argparse.ArgumentParser() ap.add_argument("--json", action="store_true") ap.add_argument("--print", action="store_true", dest="do_print") ap.add_argument("--config", default="") ap.add_argument("--sn", "--arm", dest="sn", default="", help="89|91|left|right|完整 SN") args = ap.parse_args() if args.sn: os.environ["ROBOT_SN"] = str(args.sn) path = Path(args.config).expanduser() if args.config else site_path() data = load_site(path) try: flat = flatten(data) except ValueError as exc: # 调用方是 `eval "$(python3 export_site_env.py)"`，抛栈对使用者毫无意义， # 而且 eval 拿到空字符串后 SITE_* 全是空的，真正失败的地方会离这里很远。 # 所以这里必须打印一句人能看懂的原因并明确非零退出。 print(f"错误：{exc}", file=sys.stderr) return 2 if args.json: print(json.dumps({"site": data, "env": flat}, ensure_ascii=False, indent=2)) return 0 if args.do_print: print(f"site 配置: {path}") print( f" 机械臂 SN : {flat['SITE_ROBOT_SN']}" f"{(' (' + flat['SITE_ROBOT_LABEL'] + ')') if flat.get('SITE_ROBOT_LABEL') else ''}" f" arm={flat.get('SITE_ROBOT_ARM') or '?'}" ) print(f" 清单 : {flat.get('SITE_ROBOT_CATALOG') or '（无）'}") print(f" 机械臂 IP : {flat['SITE_ROBOT_IP']} pc={flat['SITE_PC_IP']} iface={flat.get('SITE_NET_IFACE') or '?'}") print(f" 坐标系 : prefix={flat['SITE_JOINT_PREFIX']} ee={flat['SITE_EE_FRAME']}") print(f" 工具名 : {flat.get('SITE_ROBOT_TOOL_NAME') or '（保持当前）'}") catalog_sns = [str(r.get("sn") or "") for r in list_robots(data)] if catalog_sns and flat["SITE_ROBOT_SN"] not in catalog_sns: print( f" 警告：robot.sn {flat['SITE_ROBOT_SN']!r} 不在 robots[] 里", file=sys.stderr, ) print(f" YOLO 权重 : {flat['SITE_YOLO_WEIGHTS']}") print(f" 解析后 : {flat['SITE_YOLO_WEIGHTS_RESOLVED']}") print(f" 手眼 : {flat['SITE_HANDEYE_FILE']}") print(f" 手眼路点 : {flat['SITE_HANDEYE_WAYPOINTS']}") print(f" 手眼目录 : {flat['SITE_HANDEYE_WORKDIR']}") print(f" 命名位姿 : {flat.get('SITE_NAMED_POSES_FILE')}") print( " 标定板 : " f"{flat['SITE_HANDEYE_BOARD_COLS']}x{flat['SITE_HANDEYE_BOARD_ROWS']} " f"内角点, square={flat['SITE_HANDEYE_SQUARE_M']} m" ) print( f" 相机 : serial={flat['SITE_CAM_SERIAL'] or '（空）'} " f"{flat['SITE_CAM_WIDTH']}x{flat['SITE_CAM_HEIGHT']}@{flat['SITE_CAM_FPS']} " f"ae={flat.get('SITE_CAM_AUTO_EXPOSURE')} " f"exp={flat.get('SITE_CAM_EXPOSURE_US')}us " f"gain={flat.get('SITE_CAM_GAIN')} " f"ae_limit={flat.get('SITE_CAM_AE_LIMIT_US')}us emitter={flat.get('SITE_CAM_EMITTER')}" ) print( f" 清单相机 : leftD405={flat.get('SITE_D405_LEFT_SERIAL')} " f"rightD405={flat.get('SITE_D405_RIGHT_SERIAL')} " f"D435={flat.get('SITE_D435_SERIAL')}" ) print( f" 夹爪 : {flat.get('SITE_GRIP_MODEL')} port={flat.get('SITE_GRIP_PORT')}" ) print( f" hole_detect : backend={flat.get('SITE_HOLE_BACKEND')} " f"weights={flat.get('SITE_HOLE_WEIGHTS')}" ) print( f" 触觉 : backend={flat.get('SITE_TACTILE_BACKEND')} " f"L={flat.get('SITE_TACTILE_LEFT')} R={flat.get('SITE_TACTILE_RIGHT')} " f"cfg={flat.get('SITE_TACTILE_CONFIG')}" ) print(f" go_home : pose={flat['SITE_GO_HOME_POSE']} speed={flat['SITE_GO_HOME_SPEED']}") he_path = Path(flat["SITE_HANDEYE_FILE"]).expanduser() if not he_path.is_file(): print(f" 警告：手眼文件缺失: {he_path}", file=sys.stderr) else: try: he_data = yaml.safe_load(he_path.read_text(encoding="utf-8")) or {} except Exception: he_data = {} if isinstance(he_data, dict) and ( he_data.get("uncalibrated") or "T_4x4" not in he_data ): arm_hint = flat.get("SITE_ROBOT_SHORT_ID") or flat.get("SITE_ROBOT_ARM") or "?" print( f" 警告：{he_path.name} 没有针对该机械臂标定 " f"(run_handeye.sh teach/calibrate --arm {arm_hint})", file=sys.stderr, ) # 右臂不该用左腕 D405 的序列号 —— 判据是**侧别**，不是 SN 里的数字。 # （两台臂的相机装反了不会报错，只会"跟踪一直差几厘米"。） if ( flat.get("SITE_ROBOT_ARM") == "right" and flat.get("SITE_CAM_SERIAL") and flat.get("SITE_CAM_SERIAL") == flat.get("SITE_D405_LEFT_SERIAL") ): print( " 警告：右臂用的是左腕 D405 的序列号 — 请检查 robots[].camera.serial", file=sys.stderr, ) if "RGI" in str(flat.get("SITE_GRIP_MODEL") or ""): arm_hint = flat.get("SITE_ROBOT_SHORT_ID") or flat.get("SITE_ROBOT_ARM") or "?" print( f" 提示：本臂是 RGI。CLI: bash ~/ros2/scripts/run_gripper.sh --arm {arm_hint} --cli open|rotate", file=sys.stderr, ) w = Path(flat["SITE_YOLO_WEIGHTS"]).expanduser() if not w.is_file(): print(f" 警告：权重文件缺失: {w}", file=sys.stderr) return 2 return 0 # bash 导出 for k, v in flat.items(): # 为 eval 转义 vv = str(v).replace("'", "'\"'\"'") print(f"export {k}='{vv}'") return 0 if __name__ == "__main__": raise SystemExit(main())