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。
91 lines
2.5 KiB
Bash
Executable File
91 lines
2.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Check PC ↔ Flexiv robot network (addresses from site.yaml)
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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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ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
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ROBOT_SN="${ROBOT_SN:-${SITE_ROBOT_SN:-Rizon4-063989}}"
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PC_IP="${PC_IP:-${SITE_PC_IP:-192.168.100.10}}"
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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 "${SITE_NET_IFACE}"
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return
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fi
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local d
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for d in enp4s0 enp5s0 eth0; do
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[[ -d /sys/class/net/$d ]] && echo "$d" && return
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done
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for d in $(ls /sys/class/net); do
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[[ "$d" == lo ]] && continue
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[[ "$d" == en* || "$d" == eth* ]] || continue
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local state
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state=$(cat /sys/class/net/"$d"/operstate 2>/dev/null || echo down)
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[[ "$state" == up ]] && echo "$d" && return
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done
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echo enp4s0
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}
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IFACE="$(pick_iface)"
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echo "=== 本机网卡 ==="
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ip -4 -br addr
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echo
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echo "=== 目标机器人（site.yaml） ==="
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echo " SN $ROBOT_SN"
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echo " 标签 ${SITE_ROBOT_LABEL:-}"
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echo " 目录 ${SITE_ROBOT_CATALOG:-}"
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echo " IP $ROBOT_IP"
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echo " 本机 $PC_IP"
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echo " 网卡 $IFACE"
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if ping -c 1 -W 1 "$ROBOT_IP" >/dev/null 2>&1; then
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echo " ping UP — 链路 OK"
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else
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echo " ping DOWN — PC 与机器人必须同网段（本机 ${PC_IP} ↔ 机器人 ${ROBOT_IP}）"
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echo
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echo " 一键修复（交换机 / 有线）："
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echo " bash ~/ros2/scripts/fix_robot_lan.sh"
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echo " 独立交换机（不要办公网 DHCP）可用："
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echo " bash ~/ros2/scripts/fix_robot_lan.sh --only"
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fi
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echo
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echo "=== 常见地址探测 ==="
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CANDIDATES=(
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"$ROBOT_IP"
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192.168.2.100 192.168.2.10 192.168.101.1 192.168.101.10
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192.168.100.1 192.168.100.10
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192.168.100.1 192.168.100.2 192.168.100.10
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192.168.1.1
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)
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seen=""
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for ip in "${CANDIDATES[@]}"; do
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[[ " ${seen} " == *" ${ip} "* ]] && continue
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seen+=" ${ip}"
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if ping -c 1 -W 1 "$ip" >/dev/null 2>&1; then
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echo " UP $ip"
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else
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echo " down $ip"
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fi
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done
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echo
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echo "=== 当前邻居 (ARP) ==="
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ip neigh | grep -v FAILED || true
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echo
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echo "说明："
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echo "1) 网线接机器人控制柜网口 ↔ 本机 $IFACE。"
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echo "2) 示教器开启 RDK / 远程控制后再连。"
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echo "3) RDK 连接用 SN（不是 IP）：flexivrdk.Robot('$ROBOT_SN')"
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echo "4) 切换机械臂：改 ~/ros2/config/site.yaml 的 robot.sn"
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echo "5) 手册: https://flexiv.cn/software/rdk/manual/index.html"
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