arm_dev
53 lines
1.6 KiB
Bash
Executable File
53 lines
1.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Orisys 通止规工位桌面程序（窗口，不是网页）。
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#
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# bash ~/ros2/scripts/run_console.sh
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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/env.sh"
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export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
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# 屏幕跟当前登录会话走。这台工控机是 :1，别的 Linux 桌面常常是 :0。
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if [[ -n "${DISPLAY:-}" ]]; then
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_disp="${DISPLAY#:}"
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_disp="${_disp%%.*}"
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if [[ ! -S "/tmp/.X11-unix/X${_disp}" ]]; then
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unset DISPLAY
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fi
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unset _disp
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fi
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if [[ -z "${DISPLAY:-}" ]]; then
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_seat="$(who | awk -v u="$(id -un)" '$1==u && $2 ~ /^:/ {print $2; exit}')"
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_seat="${_seat%%.*}"
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_n="${_seat#:}"
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if [[ -n "${_n}" && -S "/tmp/.X11-unix/X${_n}" ]]; then
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export DISPLAY="${_seat}"
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else
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for _sock in /tmp/.X11-unix/X*; do
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if [[ -S "${_sock}" ]]; then
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export DISPLAY=":${_sock##*/X}"
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break
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fi
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done
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fi
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unset _seat _n _sock
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fi
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# 有真实屏幕时不要留在 offscreen，否则 OpenGL 窗口起不来，模型也不会画到显卡上。
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if [[ "${QT_QPA_PLATFORM:-}" == "offscreen" && -n "${DISPLAY:-}" ]]; then
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_disp="${DISPLAY#:}"
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_disp="${_disp%%.*}"
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if [[ -S "/tmp/.X11-unix/X${_disp}" ]]; then
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unset QT_QPA_PLATFORM
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fi
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unset _disp
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fi
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if [[ -z "${XAUTHORITY:-}" ]]; then
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if [[ -r "${HOME}/.Xauthority" ]]; then
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export XAUTHORITY="${HOME}/.Xauthority"
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elif [[ -r "/run/user/$(id -u)/gdm/Xauthority" ]]; then
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export XAUTHORITY="/run/user/$(id -u)/gdm/Xauthority"
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fi
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fi
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exec python3 -m arm_application.operator_app
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