arm_dev
59 lines
2.3 KiB
Bash
Executable File
59 lines
2.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 针对站点机器人对 Flexiv RDK Python 做冒烟测试（不需要 ROS / 不访问 GitHub）。
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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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SN="${1:-${ROBOT_SN:-${SITE_ROBOT_SN:-}}}"
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ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
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IFACE="${SITE_NET_IFACE:-}"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/dev_tools.sh"
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PY="$(dev_rdk_python)"
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echo "Using: ${PY}"
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echo "Robot SN: ${SN} IP: ${ROBOT_IP} iface: ${IFACE:-auto}"
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echo "Ping ${ROBOT_IP} ..."
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ping -c 1 -W 1 "${ROBOT_IP}" >/dev/null && echo " network OK" || echo " network FAIL"
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"${PY}" - <<PY
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import flexivrdk
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sn = "${SN}"
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iface = "${IFACE}"
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print("Connecting...", sn, "iface", iface or "auto")
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robot = None
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if iface:
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for args in ((sn, [iface]), (sn, [iface], True), (sn, [iface], True, False)):
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try:
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robot = flexivrdk.Robot(*args)
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break
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except TypeError:
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continue
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except RuntimeError as exc:
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# 这个 iface 用不了（实测：enp4s0 上有 5 个 IPv4 时，RDK 的
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# UDPv4Transport 会把整张白名单都过滤掉，报 "All whitelist
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# interfaces were filtered out"），别再拿它试了，交给下面的
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# 「不指定网卡」兜底。
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#
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# **这一条以前漏了**：老代码只捕获 TypeError，而真实失败是
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# RuntimeError —— 于是异常直接抛出去，下面那行兜底永远走不到。
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# 后果是预检报「机械臂 RDK 连不上」这个**假阻断**，
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# 而真机栈其实连得上（flexiv_hardware_interface.cpp 构造
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# flexiv::rdk::Robot 时只传 robot_sn、不传网卡）。
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print(f" iface={iface} 不可用（{str(exc)[:70]}），回退到不指定网卡")
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break
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if robot is None:
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robot = flexivrdk.Robot(sn)
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print("Connected. Clearing fault if any...")
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try:
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robot.ClearFault()
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except Exception as e:
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print("ClearFault:", e)
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mode = robot.mode()
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print("mode:", mode)
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states = robot.states()
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print("q:", list(states.q))
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print("OK — RDK Python link works. Enable RDK on teach pendant if mode/fault unexpected.")
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PY
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