Organize host and robot streaming releases

robot/ros2/OmniSocketGo_robot_ros/scripts/dev/ensure-ros-camera-services.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+
+if [[ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]]; then
+  # shellcheck disable=SC1091
+  set +u
+  source "/opt/ros/${ROS_DISTRO}/setup.bash"
+  set -u
+fi
+if [[ -f "${HOME}/xos/setup.bash" ]]; then
+  # shellcheck disable=SC1091
+  set +u
+  source "${HOME}/xos/setup.bash"
+  set -u
+fi
+
+service_active() {
+  systemctl is-active --quiet "$1"
+}
+
+start_service_if_allowed() {
+  local service="$1"
+  local auto_start="${2:-0}"
+
+  if service_active "${service}"; then
+    echo "[ros-camera-services] ${service} is active" >&2
+    return 0
+  fi
+  if [[ "${auto_start}" != "1" ]]; then
+    echo "[ros-camera-services] ${service} is inactive; automatic start is disabled" >&2
+    return 1
+  fi
+  echo "[ros-camera-services] starting ${service}" >&2
+  sudo systemctl start "${service}"
+  service_active "${service}"
+}
+
+topic_exists() {
+  local topic="$1"
+  ros2 topic list 2>/dev/null | grep -Fxq "${topic}"
+}
+
+wait_for_topics() {
+  local timeout_sec="${1:-20}"
+  local deadline=$((SECONDS + timeout_sec))
+
+  while (( SECONDS < deadline )); do
+    if topic_exists "${OMNI_ROS2_HEAD_RGB_TOPIC}" \
+      && topic_exists "${OMNI_ROS2_WAIST_RGB_TOPIC}"; then
+      echo "[ros-camera-services] RGB topics are available" >&2
+      return 0
+    fi
+    sleep 1
+  done
+  return 1
+}
+
+camera_devices_are_free() {
+  local device
+  local busy=0
+
+  if ! command -v fuser >/dev/null 2>&1; then
+    echo "[ros-camera-services] fuser is required to verify camera ownership" >&2
+    return 1
+  fi
+  for device in "${OMNI_CAMERA_HEAD_DEVICE}" "${OMNI_CAMERA_WAIST_DEVICE}"; do
+    if [[ ! -e "${device}" ]]; then
+      echo "[ros-camera-services] camera device is missing: ${device}" >&2
+      busy=1
+      continue
+    fi
+    if fuser "${device}" >/dev/null 2>&1; then
+      echo "[ros-camera-services] camera device is busy: ${device}" >&2
+      fuser -v "${device}" 2>&1 || true
+      busy=1
+    fi
+  done
+  return "${busy}"
+}
+
+if ! command -v systemctl >/dev/null 2>&1; then
+  echo "[ros-camera-services] systemctl is required on the robot" >&2
+  exit 1
+fi
+if ! command -v ros2 >/dev/null 2>&1; then
+  echo "[ros-camera-services] ros2 is not in PATH; source the ROS2 and robot setup files first" >&2
+  exit 1
+fi
+
+if ! service_active "${OMNI_PROC_MANAGER_SERVICE}"; then
+  echo "[ros-camera-services] ${OMNI_PROC_MANAGER_SERVICE} is not active" >&2
+  if [[ "${OMNI_PROC_MANAGER_AUTO_START:-0}" == "1" ]]; then
+    start_service_if_allowed "${OMNI_PROC_MANAGER_SERVICE}" "${OMNI_PROC_MANAGER_AUTO_START}"
+  else
+    echo "[ros-camera-services] proc_manager auto-start disabled; using the explicit camera-service fallback if allowed" >&2
+  fi
+fi
+
+# proc_manager owns the ROS camera components when it is active.  Never start
+# separate camera services on top of it: that would create a second device
+# owner and reproduce EBUSY.  The individual services are only a fallback when
+# proc_manager is inactive and explicitly allowed by the environment.
+if wait_for_topics 20; then
+  exit 0
+fi
+
+if service_active "${OMNI_PROC_MANAGER_SERVICE}"; then
+  echo "[ros-camera-services] proc_manager is active but the expected RGB topics are missing" >&2
+  if ! camera_devices_are_free; then
+    echo "[ros-camera-services] refusing to start ${OMNI_CAMERA_HEAD_SERVICE}/${OMNI_CAMERA_WAIST_SERVICE}: a camera device is already owned" >&2
+    exit 1
+  fi
+  echo "[ros-camera-services] proc_manager does not own the head/waist devices; starting the configured camera services" >&2
+fi
+
+if [[ "${OMNI_CAMERA_START_SERVICES:-1}" != "1" ]]; then
+  echo "[ros-camera-services] individual camera service fallback is disabled" >&2
+  exit 1
+fi
+
+if ! camera_devices_are_free; then
+  echo "[ros-camera-services] refusing to start camera services while a device is busy" >&2
+  exit 1
+fi
+
+start_service_if_allowed "${OMNI_CAMERA_HEAD_SERVICE}" "${OMNI_CAMERA_START_SERVICES:-1}"
+start_service_if_allowed "${OMNI_CAMERA_WAIST_SERVICE}" "${OMNI_CAMERA_START_SERVICES:-1}"
+if ! wait_for_topics 20; then
+  echo "[ros-camera-services] camera services started but RGB topics did not appear" >&2
+  exit 1
+fi