fix: 摄像头亮度默认夜间

scripts/dev/apply-camera-controls.sh

@@ -0,0 +1,111 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+
+camera_device="${OMNI_CAMERA_DEVICE}"
+camera_profile="${OMNI_CAMERA_PROFILE}"
+camera_brightness="${OMNI_CAMERA_BRIGHTNESS}"
+camera_custom_ctrl="${OMNI_CAMERA_CUSTOM_CTRL}"
+camera_verify="${OMNI_CAMERA_VERIFY}"
+
+is_truthy() {
+  case "${1:-0}" in
+    1|true|TRUE|yes|YES|on|ON)
+      return 0
+      ;;
+    *)
+      return 1
+      ;;
+  esac
+}
+
+require_v4l2_ctl() {
+  if command -v v4l2-ctl >/dev/null 2>&1; then
+    return 0
+  fi
+
+  echo "Missing required command: v4l2-ctl. Install v4l-utils on the robot side before starting b_side_omnid." >&2
+  exit 1
+}
+
+run_v4l2_ctl() {
+  v4l2-ctl -d "${camera_device}" "$@"
+}
+
+set_ctrl() {
+  local ctrl="$1"
+
+  echo "[camera-controls] set ${camera_device} ${ctrl}"
+  run_v4l2_ctl "--set-ctrl=${ctrl}"
+}
+
+verify_ctrl() {
+  local ctrl="$1"
+
+  echo "[camera-controls] verify ${camera_device} ${ctrl}"
+  run_v4l2_ctl "--get-ctrl=${ctrl}"
+}
+
+needs_v4l2_ctl=0
+
+case "${camera_profile}" in
+  night)
+    needs_v4l2_ctl=1
+    ;;
+  day)
+    if [[ -n "${camera_brightness}" ]]; then
+      needs_v4l2_ctl=1
+    fi
+    ;;
+  custom)
+    if [[ -z "${camera_custom_ctrl}" ]]; then
+      echo "OMNI_CAMERA_CUSTOM_CTRL must be non-empty when OMNI_CAMERA_PROFILE=custom." >&2
+      exit 1
+    fi
+    needs_v4l2_ctl=1
+    ;;
+  *)
+    echo "Unsupported OMNI_CAMERA_PROFILE: ${camera_profile}. Expected one of: night, day, custom." >&2
+    exit 1
+    ;;
+esac
+
+if is_truthy "${camera_verify}"; then
+  needs_v4l2_ctl=1
+fi
+
+if [[ "${needs_v4l2_ctl}" == "0" ]]; then
+  echo "[camera-controls] profile=${camera_profile}; no camera controls requested"
+  exit 0
+fi
+
+require_v4l2_ctl
+
+case "${camera_profile}" in
+  night)
+    set_ctrl "auto_exposure=1"
+    set_ctrl "exposure_time_absolute=800"
+    set_ctrl "gain=64"
+    if [[ -n "${camera_brightness}" ]]; then
+      set_ctrl "brightness=${camera_brightness}"
+    fi
+    ;;
+  day)
+    if [[ -n "${camera_brightness}" ]]; then
+      set_ctrl "brightness=${camera_brightness}"
+    fi
+    ;;
+  custom)
+    set_ctrl "${camera_custom_ctrl}"
+    ;;
+esac
+
+if is_truthy "${camera_verify}"; then
+  verify_ctrl "auto_exposure"
+  verify_ctrl "exposure_time_absolute"
+  verify_ctrl "gain"
+  verify_ctrl "brightness"
+fi