136 lines
6.1 KiB
Bash
136 lines
6.1 KiB
Bash
#!/usr/bin/env bash
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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DEFAULT_OMNISOCKETGO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
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die() {
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echo "$*" >&2
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return 1 2>/dev/null || exit 1
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}
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is_omnisocketgo_root() {
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local dir="$1"
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[[ -f "${dir}/Makefile" && -f "${dir}/cmd/b_side_omnid.c" && -d "${dir}/ros-control-py" ]]
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}
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is_robot_command_center_root() {
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local dir="$1"
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[[ -f "${dir}/backend/config/asgi.py" && -f "${dir}/frontend/package.json" ]]
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}
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require_robot_command_center_root() {
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if ! is_robot_command_center_root "${ROBOT_COMMAND_CENTER_ROOT}"; then
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die "ROBOT_COMMAND_CENTER_ROOT must point to the robot-command-center repo root. Current value: ${ROBOT_COMMAND_CENTER_ROOT}. Set it in ${SCRIPT_DIR}/robot-remote.env.local if needed."
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fi
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}
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export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
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omni_camera_device_was_set=0
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omni_camera_profile_was_set=0
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omni_camera_brightness_was_set=0
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omni_camera_custom_ctrl_was_set=0
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omni_camera_verify_was_set=0
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if [[ "${OMNI_CAMERA_DEVICE+x}" == "x" ]]; then
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omni_camera_device_was_set=1
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preserved_omni_camera_device="${OMNI_CAMERA_DEVICE}"
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fi
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if [[ "${OMNI_CAMERA_PROFILE+x}" == "x" ]]; then
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omni_camera_profile_was_set=1
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preserved_omni_camera_profile="${OMNI_CAMERA_PROFILE}"
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fi
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if [[ "${OMNI_CAMERA_BRIGHTNESS+x}" == "x" ]]; then
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omni_camera_brightness_was_set=1
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preserved_omni_camera_brightness="${OMNI_CAMERA_BRIGHTNESS}"
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fi
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if [[ "${OMNI_CAMERA_CUSTOM_CTRL+x}" == "x" ]]; then
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omni_camera_custom_ctrl_was_set=1
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preserved_omni_camera_custom_ctrl="${OMNI_CAMERA_CUSTOM_CTRL}"
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fi
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if [[ "${OMNI_CAMERA_VERIFY+x}" == "x" ]]; then
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omni_camera_verify_was_set=1
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preserved_omni_camera_verify="${OMNI_CAMERA_VERIFY}"
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fi
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ENV_FILES=(
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"${SCRIPT_DIR}/robot-remote.env"
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"${SCRIPT_DIR}/robot-remote.env.local"
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)
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for env_file in "${ENV_FILES[@]}"; do
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if [[ -f "${env_file}" ]]; then
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set -a
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# shellcheck disable=SC1090
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source "${env_file}"
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set +a
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fi
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done
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if [[ "${omni_camera_device_was_set}" == "1" ]]; then
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export OMNI_CAMERA_DEVICE="${preserved_omni_camera_device}"
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fi
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if [[ "${omni_camera_profile_was_set}" == "1" ]]; then
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export OMNI_CAMERA_PROFILE="${preserved_omni_camera_profile}"
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fi
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if [[ "${omni_camera_brightness_was_set}" == "1" ]]; then
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export OMNI_CAMERA_BRIGHTNESS="${preserved_omni_camera_brightness}"
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fi
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if [[ "${omni_camera_custom_ctrl_was_set}" == "1" ]]; then
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export OMNI_CAMERA_CUSTOM_CTRL="${preserved_omni_camera_custom_ctrl}"
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fi
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if [[ "${omni_camera_verify_was_set}" == "1" ]]; then
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export OMNI_CAMERA_VERIFY="${preserved_omni_camera_verify}"
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fi
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export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
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export ROBOT_COMMAND_CENTER_ROOT="${ROBOT_COMMAND_CENTER_ROOT:-$(dirname "${OMNISOCKETGO_ROOT}")/robot-command-center}"
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if ! is_omnisocketgo_root "${OMNISOCKETGO_ROOT}"; then
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die "OMNISOCKETGO_ROOT must point to the OmniSocketGo repo root. Current value: ${OMNISOCKETGO_ROOT}"
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fi
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export BACKEND_DIR="${BACKEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/backend}"
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export FRONTEND_DIR="${FRONTEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/frontend}"
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export ROS_CONTROL_PY_DIR="${ROS_CONTROL_PY_DIR:-${OMNISOCKETGO_ROOT}/ros-control-py}"
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export PYTHON3_BIN="${PYTHON3_BIN:-python3}"
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export PYTHON_VENV_PATH="${PYTHON_VENV_PATH:-${OMNISOCKETGO_ROOT}/.venv}"
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export BACKEND_HOST="${BACKEND_HOST:-0.0.0.0}"
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export BACKEND_PORT="${BACKEND_PORT:-8001}"
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export FRONTEND_HOST="${FRONTEND_HOST:-0.0.0.0}"
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export FRONTEND_PORT="${FRONTEND_PORT:-5173}"
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export OMNISOCKET_TELEMETRY_PEER_ID="${OMNISOCKET_TELEMETRY_PEER_ID:-peer-a-telemetry}"
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export OMNISOCKET_TELEMETRY_INTERVAL_MS="${OMNISOCKET_TELEMETRY_INTERVAL_MS:-1000}"
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export OMNISOCKET_TELEMETRY_STALE_AFTER_MS="${OMNISOCKET_TELEMETRY_STALE_AFTER_MS:-3000}"
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export OMNI_NETWORK_SUMMARY_LOG_ENABLED="${OMNI_NETWORK_SUMMARY_LOG_ENABLED:-1}"
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export OMNI_NETWORK_SUMMARY_LOG_PATH="${OMNI_NETWORK_SUMMARY_LOG_PATH:-${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl}"
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export OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="${OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS:-2000}"
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export OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC="${OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC:-3}"
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export CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="${CONTROL_SIDE_OMNISOCKET_SERVER_ADDR:-}"
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export CONTROL_SIDE_OMNISOCKET_RELAY_VIA="${CONTROL_SIDE_OMNISOCKET_RELAY_VIA:-}"
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export ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}"
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export ROBOT_SIDE_OMNISOCKET_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}"
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export ROS_DISTRO="${ROS_DISTRO:-jazzy}"
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export ROBOT_RECEIVER_TRANSPORT="${ROBOT_RECEIVER_TRANSPORT:-unix_dgram}"
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export ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_RECEIVER_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
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export ROBOT_RECEIVER_RELAY_VIA="${ROBOT_RECEIVER_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
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export ROBOT_RECEIVER_PEER_ID="${ROBOT_RECEIVER_PEER_ID:-ros-bridge-ctrl}"
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export ROBOT_RECEIVER_EXPECTED_SENDER="${ROBOT_RECEIVER_EXPECTED_SENDER:-}"
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export ROBOT_RECEIVER_LOCAL_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH:-/tmp/omnisocket-b-side-cmd.sock}"
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export ROBOT_RECEIVER_OUTPUT_TOPIC="${ROBOT_RECEIVER_OUTPUT_TOPIC:-/hric/robot/cmd_vel}"
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export ROBOT_RECEIVER_FRAME_ID="${ROBOT_RECEIVER_FRAME_ID:-pelvis}"
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export ROBOT_RECEIVER_WATCHDOG_TIMEOUT="${ROBOT_RECEIVER_WATCHDOG_TIMEOUT:-0.5}"
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export ROBOT_RECEIVER_PUBLISH_RATE_HZ="${ROBOT_RECEIVER_PUBLISH_RATE_HZ:-100.0}"
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export OMNI_CAMERA_DEVICE="${OMNI_CAMERA_DEVICE:-/dev/video0}"
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export OMNI_CAMERA_PROFILE="${OMNI_CAMERA_PROFILE:-night}"
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export OMNI_CAMERA_BRIGHTNESS="${OMNI_CAMERA_BRIGHTNESS:-}"
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export OMNI_CAMERA_CUSTOM_CTRL="${OMNI_CAMERA_CUSTOM_CTRL:-}"
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export OMNI_CAMERA_VERIFY="${OMNI_CAMERA_VERIFY:-0}"
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export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
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export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
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export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
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export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
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export OMNI_CONTROL_UNIX_SOCKET_PATH="${OMNI_CONTROL_UNIX_SOCKET_PATH:-${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}}"
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export B_SIDE_OMNID_USE_SUDO="${B_SIDE_OMNID_USE_SUDO:-1}"
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