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feat: harden TG3 teleop and add right-B point gesture

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This commit is contained in:
LengedZhao
2026-08-08 15:51:21 +08:00
parent eab60273bc
commit 1a79fca36f
17 changed files with 1725 additions and 196 deletions
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42
verify.sh
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@@ -4,13 +4,45 @@ set -euo pipefail
repo_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
expected_omnisocket_commit="de3f5c96779dbe1571c10feb22fc7f2331b6b222"
for executable in \
"$repo_dir/tg3_omnisocket_transport/omnisocket_xtele_sender.py" \
"$repo_dir/tg3_local_teleop/tg3_local_teleop.py" \
"$repo_dir/tg3_local_teleop/run.sh" \
"$repo_dir/tg3_local_teleop/wait_ros_ready.sh" \
"$repo_dir/tg3_local_teleop/home.sh" \
"$repo_dir/tg3_local_teleop/status.sh"; do
if [[ ! -x "$executable" ]]; then
echo "Required executable bit is missing: $executable" >&2
exit 1
fi
done
python3 -m py_compile \
"$repo_dir/tg3_omnisocket_transport/omnisocket_xtele_sender.py" \
"$repo_dir/tg3_local_teleop/tg3_local_teleop.py" \
"$repo_dir/tg3_local_teleop/gesture_toggle.py"
python3 "$repo_dir/tg3_omnisocket_transport/test_session_gate.py"
python3 "$repo_dir/tg3_local_teleop/test_session_gate.py"
python3 "$repo_dir/tg3_local_teleop/test_gesture_toggle.py"
python3 "$repo_dir/tg3_local_teleop/test_idle_session_refresh.py"
python3 - "$repo_dir/tg3_local_teleop/config.toml" <<'PY'
import sys
import tomllib
actual_omnisocket_commit="$(git -C "$repo_dir/OmniSocketGo" rev-parse HEAD)"
if [[ "$actual_omnisocket_commit" != "$expected_omnisocket_commit" ]]; then
echo "OmniSocketGo commit mismatch: $actual_omnisocket_commit" >&2
exit 1
with open(sys.argv[1], "rb") as stream:
tomllib.load(stream)
print("config.toml parse passed")
PY
if [[ -n "${OMNISOCKETGO_DIR:-}" ]]; then
actual_omnisocket_commit="$(git -C "$OMNISOCKETGO_DIR" rev-parse HEAD)"
if [[ "$actual_omnisocket_commit" != "$expected_omnisocket_commit" ]]; then
echo "OmniSocketGo commit mismatch: $actual_omnisocket_commit" >&2
exit 1
fi
echo "OmniSocketGo commit verified: $actual_omnisocket_commit"
else
echo "OmniSocketGo is external and was not checked; expected commit: $expected_omnisocket_commit"
fi
echo "Offline checks passed; OmniSocketGo is pinned to $actual_omnisocket_commit"
echo "All offline TG3 checks passed"