ros_contorl/scripts/fix_robot_lan.sh

#!/usr/bin/env bash
# 工控机 User1（enp4s0）↔ 交换机 ↔ 两台 Flexiv
#
# 本机 192.168.2.10/24（User1）。两台臂：063989=192.168.2.101  063991=192.168.2.100
#
#   bash ~/ros2/scripts/fix_robot_lan.sh
#   bash ~/ros2/scripts/fix_robot_lan.sh --only   # 不要办公网 DHCP（独立交换机）

set -euo pipefail

ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true

PC_IP_PRIMARY="${SITE_PC_IP:-192.168.2.10}"
PC_ADDRS=("192.168.2.10/24" "192.168.100.10/24")
ROBOT_IPS=("${SITE_ROBOT_IP:-192.168.2.100}")
# catalog 里的额外项（第二条臂）
if [[ -n "${SITE_ROBOT_CATALOG:-}" ]]; then
  :
fi
MODE=secondary

while [[ $# -gt 0 ]]; do
  case "$1" in
    --only) MODE=only; shift ;;
    --secondary) MODE=secondary; shift ;;
    -h|--help)
      sed -n '2,12p' "$0"
      exit 0
      ;;
    *) echo "Unknown: $1" >&2; exit 1 ;;
  esac
done

pick_iface() {
  if [[ -n "${IFACE:-}" ]]; then
    echo "$IFACE"
    return
  fi
  if [[ -n "${SITE_NET_IFACE:-}" && -d "/sys/class/net/${SITE_NET_IFACE}" ]]; then
    echo "${SITE_NET_IFACE}"
    return
  fi
  # 内核有时把 USB 网卡叫 eth0，不再用 enx+MAC。按 MAC 找回，禁止误选办公网 enp4s0。
  local want="${SITE_NET_IFACE:-}"
  if [[ "${want}" == enx* && ${#want} -ge 15 ]]; then
    local mac
    mac="$(printf '%s' "${want#enx}" | sed 's/../&:/g;s/:$//')"
    local d
    for d in /sys/class/net/*; do
      [[ -f "${d}/address" ]] || continue
      if [[ "$(cat "${d}/address")" == "${mac}" ]]; then
        echo "$(basename "$d")"
        return
      fi
    done
  fi
  local d
  for d in /sys/class/net/*; do
    [[ -f "${d}/address" ]] || continue
    if ip -4 -o addr show "$(basename "$d")" 2>/dev/null | grep -q '192.168.2.10'; then
      echo "$(basename "$d")"
      return
    fi
  done
  for d in eth0 enp4s0 enp5s0; do
    [[ -d /sys/class/net/$d ]] || continue
    echo "$d"
    return
  done
  return 1
}

IFACE="$(pick_iface)" || {
  echo "ERROR: 找不到 User1 有线网卡" >&2
  ip -br link
  exit 1
}

ADDR_CSV="$(IFS=,; echo "${PC_ADDRS[*]}")"

echo "=== User1 / ${IFACE}  模式=${MODE} ==="
echo "本机副 IP: ${ADDR_CSV}"
echo "当前臂: SN=${SITE_ROBOT_SN:-?} IP=${SITE_ROBOT_IP:-?}  catalog=${SITE_ROBOT_CATALOG:-}"
ip -4 -br addr
echo

if ! command -v nmcli >/dev/null; then
  echo "ERROR: 需要 nmcli" >&2
  exit 1
fi

CON="$(nmcli -t -f NAME,DEVICE connection show --active | awk -F: -v d="$IFACE" '$2==d{print $1; exit}')"
if [[ -z "$CON" ]]; then
  CON="$(nmcli -t -f NAME,DEVICE connection show | awk -F: -v d="$IFACE" '$2==d{print $1; exit}')"
fi
if [[ -z "$CON" ]]; then
  echo "ERROR: NetworkManager 没有绑定 $IFACE" >&2
  nmcli device status
  exit 1
fi
echo "NM 连接: $CON"

nmcli_mod() {
  if nmcli connection modify "$CON" "$@"; then
    return 0
  fi
  sudo nmcli connection modify "$CON" "$@"
}

nmcli_up() {
  if nmcli connection up "$CON"; then
    return 0
  fi
  sudo nmcli connection up "$CON"
}

if [[ "$MODE" == only ]]; then
  nmcli_mod \
    ipv4.method manual \
    ipv4.addresses "${PC_IP_PRIMARY}/24" \
    ipv4.gateway "" \
    ipv4.dns "" \
    ipv4.ignore-auto-dns yes \
    ipv4.never-default yes
else
  nmcli_mod \
    ipv4.method auto \
    ipv4.addresses "${ADDR_CSV}" \
    ipv4.never-default no
fi

nmcli_up

echo
echo "=== 修复后 ==="
ip -4 -br addr show "$IFACE"
echo

ping_one() {
  local ip="$1"
  if ping -c 2 -W 1 "$ip" >/dev/null 2>&1; then
    echo "  UP   $ip"
    return 0
  fi
  echo "  down $ip"
  return 1
}

echo "=== ping 机器人网段 ==="
ok=0
for ip in 192.168.2.100 192.168.101.1 192.168.2.101 "${SITE_ROBOT_IP:-}"; do
  [[ -z "$ip" ]] && continue
  ping_one "$ip" && ok=1 || true
done
# 去重
echo
if ping -c 1 -W 1 "${SITE_ROBOT_IP:-192.168.2.100}" >/dev/null 2>&1; then
  echo "OK — 当前臂 ${SITE_ROBOT_SN:-} @ ${SITE_ROBOT_IP} 可达。RDK 用 SN 连接。"
  echo "  063989 @ 192.168.2.101；063991 @ 192.168.2.100。"
else
  echo "当前臂 ${SITE_ROBOT_IP:-192.168.2.100} 仍不通。检查："
  echo "  1) User1 网线 ↔ 交换机 ↔ 控制柜网口（灯亮）"
  echo "  2) 示教器 About 里的 IPv4（出厂多为 192.168.2.100）"
  echo "  3) Remote / Ethernet RDK 已开"
  exit 2
fi