arm_dev
6edb8d39ab
在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态， 使后续任何删除/重构都可回退。 本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
147 lines
3.5 KiB
Bash
Executable File
147 lines
3.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 工控机 User1（enp4s0）↔ 交换机 ↔ 两台 Flexiv
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#
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# 本机 192.168.2.10/24（User1）。两台臂：063989=192.168.2.101 063991=192.168.2.100
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#
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# bash ~/ros2/scripts/fix_robot_lan.sh
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# bash ~/ros2/scripts/fix_robot_lan.sh --only # 不要办公网 DHCP（独立交换机）
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true
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PC_IP_PRIMARY="${SITE_PC_IP:-192.168.2.10}"
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PC_ADDRS=("192.168.2.10/24" "192.168.100.10/24")
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ROBOT_IPS=("${SITE_ROBOT_IP:-192.168.2.100}")
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# Catalog extras (second arm)
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if [[ -n "${SITE_ROBOT_CATALOG:-}" ]]; then
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:
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fi
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MODE=secondary
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--only) MODE=only; shift ;;
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--secondary) MODE=secondary; shift ;;
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-h|--help)
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sed -n '2,12p' "$0"
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exit 0
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;;
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*) echo "Unknown: $1" >&2; exit 1 ;;
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esac
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done
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pick_iface() {
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if [[ -n "${IFACE:-}" ]]; then
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echo "$IFACE"
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return
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fi
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if [[ -n "${SITE_NET_IFACE:-}" && -d "/sys/class/net/${SITE_NET_IFACE}" ]]; then
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echo "${SITE_NET_IFACE}"
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return
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fi
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for d in enp4s0 enp5s0 eth0; do
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[[ -d /sys/class/net/$d ]] || continue
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echo "$d"
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return
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done
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return 1
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}
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IFACE="$(pick_iface)" || {
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echo "ERROR: 找不到 User1 有线网卡" >&2
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ip -br link
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exit 1
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}
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ADDR_CSV="$(IFS=,; echo "${PC_ADDRS[*]}")"
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echo "=== User1 / ${IFACE} 模式=${MODE} ==="
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echo "本机副 IP: ${ADDR_CSV}"
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echo "当前臂: SN=${SITE_ROBOT_SN:-?} IP=${SITE_ROBOT_IP:-?} catalog=${SITE_ROBOT_CATALOG:-}"
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ip -4 -br addr
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echo
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if ! command -v nmcli >/dev/null; then
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echo "ERROR: 需要 nmcli" >&2
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exit 1
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fi
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CON="$(nmcli -t -f NAME,DEVICE connection show --active | awk -F: -v d="$IFACE" '$2==d{print $1; exit}')"
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if [[ -z "$CON" ]]; then
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CON="$(nmcli -t -f NAME,DEVICE connection show | awk -F: -v d="$IFACE" '$2==d{print $1; exit}')"
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fi
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if [[ -z "$CON" ]]; then
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echo "ERROR: NetworkManager 没有绑定 $IFACE" >&2
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nmcli device status
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exit 1
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fi
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echo "NM 连接: $CON"
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nmcli_mod() {
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if nmcli connection modify "$CON" "$@"; then
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return 0
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fi
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sudo nmcli connection modify "$CON" "$@"
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}
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nmcli_up() {
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if nmcli connection up "$CON"; then
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return 0
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fi
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sudo nmcli connection up "$CON"
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}
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if [[ "$MODE" == only ]]; then
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nmcli_mod \
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ipv4.method manual \
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ipv4.addresses "${PC_IP_PRIMARY}/24" \
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ipv4.gateway "" \
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ipv4.dns "" \
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ipv4.ignore-auto-dns yes \
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ipv4.never-default yes
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else
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nmcli_mod \
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ipv4.method auto \
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ipv4.addresses "${ADDR_CSV}" \
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ipv4.never-default no
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fi
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nmcli_up
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echo
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echo "=== 修复后 ==="
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ip -4 -br addr show "$IFACE"
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echo
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ping_one() {
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local ip="$1"
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if ping -c 2 -W 1 "$ip" >/dev/null 2>&1; then
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echo " UP $ip"
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return 0
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fi
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echo " down $ip"
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return 1
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}
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echo "=== ping 机器人网段 ==="
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ok=0
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for ip in 192.168.2.100 192.168.101.1 192.168.2.101 "${SITE_ROBOT_IP:-}"; do
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[[ -z "$ip" ]] && continue
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ping_one "$ip" && ok=1 || true
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done
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# unique
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echo
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if ping -c 1 -W 1 "${SITE_ROBOT_IP:-192.168.2.100}" >/dev/null 2>&1; then
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echo "OK — 当前臂 ${SITE_ROBOT_SN:-} @ ${SITE_ROBOT_IP} 可达。RDK 用 SN 连接。"
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echo " 063989 @ 192.168.2.101；063991 @ 192.168.2.100。"
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else
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echo "当前臂 ${SITE_ROBOT_IP:-192.168.2.100} 仍不通。检查："
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echo " 1) User1 网线 ↔ 交换机 ↔ 控制柜网口（灯亮）"
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echo " 2) 示教器 About 里的 IPv4（出厂多为 192.168.2.100）"
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echo " 3) Remote / Ethernet RDK 已开"
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exit 2
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fi
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