feat: 启动命令不用环境变量

scripts/dev/load-env.sh

@@ -0,0 +1,78 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+DEFAULT_OMNISOCKETGO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+
+die() {
+  echo "$*" >&2
+  return 1 2>/dev/null || exit 1
+}
+
+is_omnisocketgo_root() {
+  local dir="$1"
+  [[ -f "${dir}/Makefile" && -f "${dir}/cmd/b_side_omnid.c" && -d "${dir}/ros-control-py" ]]
+}
+
+is_robot_command_center_root() {
+  local dir="$1"
+  [[ -f "${dir}/backend/config/asgi.py" && -f "${dir}/frontend/package.json" ]]
+}
+
+export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
+
+ENV_FILES=(
+  "${SCRIPT_DIR}/robot-remote.env"
+  "${SCRIPT_DIR}/robot-remote.env.local"
+)
+
+for env_file in "${ENV_FILES[@]}"; do
+  if [[ -f "${env_file}" ]]; then
+    set -a
+    # shellcheck disable=SC1090
+    source "${env_file}"
+    set +a
+  fi
+done
+
+export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
+export ROBOT_COMMAND_CENTER_ROOT="${ROBOT_COMMAND_CENTER_ROOT:-$(dirname "${OMNISOCKETGO_ROOT}")/robot-command-center}"
+
+if ! is_omnisocketgo_root "${OMNISOCKETGO_ROOT}"; then
+  die "OMNISOCKETGO_ROOT must point to the OmniSocketGo repo root. Current value: ${OMNISOCKETGO_ROOT}"
+fi
+
+if ! is_robot_command_center_root "${ROBOT_COMMAND_CENTER_ROOT}"; then
+  die "ROBOT_COMMAND_CENTER_ROOT must point to the robot-command-center repo root. Current value: ${ROBOT_COMMAND_CENTER_ROOT}. Set it in ${SCRIPT_DIR}/robot-remote.env.local if needed."
+fi
+
+export BACKEND_DIR="${BACKEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/backend}"
+export FRONTEND_DIR="${FRONTEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/frontend}"
+export ROS_CONTROL_PY_DIR="${ROS_CONTROL_PY_DIR:-${OMNISOCKETGO_ROOT}/ros-control-py}"
+export PYTHON3_BIN="${PYTHON3_BIN:-python3}"
+export PYTHON_VENV_PATH="${PYTHON_VENV_PATH:-${OMNISOCKETGO_ROOT}/.venv}"
+export BACKEND_HOST="${BACKEND_HOST:-0.0.0.0}"
+export BACKEND_PORT="${BACKEND_PORT:-8001}"
+export FRONTEND_HOST="${FRONTEND_HOST:-0.0.0.0}"
+export FRONTEND_PORT="${FRONTEND_PORT:-5173}"
+export CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="${CONTROL_SIDE_OMNISOCKET_SERVER_ADDR:-}"
+export CONTROL_SIDE_OMNISOCKET_RELAY_VIA="${CONTROL_SIDE_OMNISOCKET_RELAY_VIA:-}"
+export ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}"
+export ROBOT_SIDE_OMNISOCKET_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}"
+export ROS_DISTRO="${ROS_DISTRO:-jazzy}"
+export ROBOT_RECEIVER_TRANSPORT="${ROBOT_RECEIVER_TRANSPORT:-unix_dgram}"
+export ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_RECEIVER_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
+export ROBOT_RECEIVER_RELAY_VIA="${ROBOT_RECEIVER_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
+export ROBOT_RECEIVER_PEER_ID="${ROBOT_RECEIVER_PEER_ID:-ros-bridge-ctrl}"
+export ROBOT_RECEIVER_EXPECTED_SENDER="${ROBOT_RECEIVER_EXPECTED_SENDER:-}"
+export ROBOT_RECEIVER_LOCAL_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH:-/tmp/omnisocket-b-side-cmd.sock}"
+export ROBOT_RECEIVER_OUTPUT_TOPIC="${ROBOT_RECEIVER_OUTPUT_TOPIC:-/hric/robot/cmd_vel}"
+export ROBOT_RECEIVER_FRAME_ID="${ROBOT_RECEIVER_FRAME_ID:-pelvis}"
+export ROBOT_RECEIVER_WATCHDOG_TIMEOUT="${ROBOT_RECEIVER_WATCHDOG_TIMEOUT:-0.5}"
+export ROBOT_RECEIVER_PUBLISH_RATE_HZ="${ROBOT_RECEIVER_PUBLISH_RATE_HZ:-100.0}"
+export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
+export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
+export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
+export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
+export OMNI_CONTROL_UNIX_SOCKET_PATH="${OMNI_CONTROL_UNIX_SOCKET_PATH:-${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}}"
+export B_SIDE_OMNID_USE_SUDO="${B_SIDE_OMNID_USE_SUDO:-1}"