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fix: KCP日志在A端记录

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Mock
2026-04-11 20:43:14 +08:00
parent 9009107a64
commit d819f9ca4d
6 changed files with 181 additions and 3 deletions
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27
scripts/dev/README.md
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@@ -26,6 +26,7 @@ If your `robot-command-center` is elsewhere, set `ROBOT_COMMAND_CENTER_ROOT` in
- `load-env.sh`: loads the shared environment into the current shell
- `apply-camera-controls.sh`: applies the camera preset before `b_side_omnid` starts
- `start-backend.sh`: starts Django ASGI with `uvicorn`
- `log-network-summary.py`: polls the backend `network/latest` API and appends compact JSONL snapshots
- `start-frontend.sh`: starts the Vite dev server
- `start-ros-receiver.sh`: starts the ROS2 `udp_teleop_bridge` receiver
- `start-b-side-omnid.sh`: applies camera controls, then starts `./bin/b_side_omnid` and uses `sudo -E` by default
@@ -81,6 +82,12 @@ Edit `scripts/dev/robot-remote.env` for shared changes such as:
- `OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS`
- `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS`
- `OMNI_VIDEO_MAX_FRAME_AGE_MS`
- `OMNISOCKET_TELEMETRY_PEER_ID`
- `OMNISOCKET_TELEMETRY_INTERVAL_MS`
- `OMNISOCKET_TELEMETRY_STALE_AFTER_MS`
- `OMNI_NETWORK_SUMMARY_LOG_ENABLED`
- `OMNI_NETWORK_SUMMARY_LOG_PATH`
- `OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS`
Camera presets use `v4l2-ctl` from `v4l-utils` on the robot side.
@@ -96,6 +103,25 @@ New repair knobs:
- `OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS`, `OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS`, and `OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS` are used by `b_side_omnid`
- `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS` is used by `b_side_omnid`
- `OMNI_VIDEO_MAX_FRAME_AGE_MS` is used by `start-backend.sh` on the A-side backend, not by `b_side_omnid`
- `OMNISOCKET_TELEMETRY_INTERVAL_MS` and `OMNISOCKET_TELEMETRY_STALE_AFTER_MS` tune the backend's D-side telemetry freshness window
- `OMNI_NETWORK_SUMMARY_LOG_*` controls the A-side JSONL summary logger that polls `GET /api/network/latest/`
Default long-run network logging:
- A-side starts a compact JSONL logger by default at `${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl`
- The default A-side polling interval is `2000 ms`
- For D-side long runs, prefer:
```bash
./bin/kcpserver -listen 0.0.0.0:10909 \
-telemetry-peer peer-a-telemetry \
-telemetry-interval 1000ms \
-kcp-session-stats-log logs/d-kcp-stats.jsonl \
-kcp-session-stats-interval 1000ms
```
- Keep `-latency-log` and `-kcp-ts-debug-log` off by default for multi-hour runs
- Do not continuously redirect relay `C` stderr to a file unless you are reproducing a short issue window
Put machine-specific overrides into `scripts/dev/robot-remote.env.local`. Example:
@@ -103,6 +129,7 @@ Put machine-specific overrides into `scripts/dev/robot-remote.env.local`. Exampl
ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
OMNI_CAMERA_DEVICE="/dev/video30"
B_SIDE_OMNID_USE_SUDO="0"
OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="5000"
```
Default camera behavior is the `night` preset: