arm_dev
45 lines
1.3 KiB
Bash
Executable File
45 lines
1.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 通过 RDK 切换 / 列出 Flexiv Studio 工具（工具名从 site.yaml 读取）。
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#
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# bash ~/ros2/scripts/rdk_switch_tool.sh # 切换到 robot.tool_name
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# bash ~/ros2/scripts/rdk_switch_tool.sh --list # 打印 Studio 工具池
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# bash ~/ros2/scripts/rdk_switch_tool.sh --name Flange
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#
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# 先停掉 `run_real.sh` —— RDK 只允许一个客户端。
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set -eo 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"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/dev_tools.sh"
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RDK_PYTHON="$(dev_rdk_python)"
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SN="${ROBOT_SN:-${SITE_ROBOT_SN:-}}"
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NAME="${SITE_ROBOT_TOOL_NAME:-}"
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IFACE="${SITE_NET_IFACE:-}"
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LIST=false
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--list|-l) LIST=true; shift ;;
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--name) NAME="$2"; shift 2 ;;
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--sn) SN="$2"; shift 2 ;;
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--iface) IFACE="$2"; shift 2 ;;
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-h|--help) sed -n '2,12p' "$0"; exit 0 ;;
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*) echo "Unknown: $1" >&2; exit 1 ;;
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esac
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done
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ARGS=(--sn "${SN}")
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if [[ -n "${IFACE}" ]]; then
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ARGS+=(--iface "${IFACE}")
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fi
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if [[ "${LIST}" == true ]]; then
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ARGS+=(--list)
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elif [[ -n "${NAME}" ]]; then
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ARGS+=(--name "${NAME}")
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fi
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exec "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${ARGS[@]}"
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