Organize host and robot streaming releases

robot/ros2/OmniSocketGo_robot_ros/scripts/dev/prepare-camera-device.sh

@@ -0,0 +1,82 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+
+camera_device="${OMNI_CAMERA_DEVICE}"
+occupancy_policy="${OMNI_CAMERA_OCCUPANCY_POLICY:-check}"
+
+die() {
+  echo "[camera-preflight] $*" >&2
+  exit 1
+}
+
+if [[ "${OMNI_CAMERA_SOURCE:-ros2}" == "ros2" ]]; then
+  die "ROS2 camera mode is active; do not inspect or release /dev/video*. Use ensure-ros-camera-services.sh instead."
+fi
+
+camera_pids() {
+  fuser "${camera_device}" 2>/dev/null \
+    | tr ' ' '\n' \
+    | grep -E '^[0-9]+$' \
+    | sort -nu \
+    || true
+}
+
+pid_service() {
+  local pid="$1"
+  local service
+
+  service="$(sed -nE 's#.*[/:]([^/:]+\.service)$#\1#p' "/proc/${pid}/cgroup" 2>/dev/null | head -1)"
+  printf '%s' "${service:-unknown}"
+}
+
+report_owners() {
+  local pid
+  local comm
+  local service
+  local found=0
+
+  while read -r pid; do
+    [[ -n "${pid}" ]] || continue
+    found=1
+    comm="$(cat "/proc/${pid}/comm" 2>/dev/null || printf 'unknown')"
+    service="$(pid_service "${pid}")"
+    echo "[camera-preflight] owner pid=${pid} command=${comm} service=${service}" >&2
+  done < <(camera_pids)
+
+  if [[ "${found}" == "1" ]]; then
+    return 0
+  fi
+  return 1
+}
+
+if [[ ! -e "${camera_device}" ]]; then
+  die "camera device does not exist: ${camera_device}"
+fi
+
+if ! command -v fuser >/dev/null 2>&1; then
+  die "missing required command: fuser (install the psmisc package)"
+fi
+
+resolved_device="$(readlink -f "${camera_device}" 2>/dev/null || printf '%s' "${camera_device}")"
+echo "[camera-preflight] checking ${camera_device} (${resolved_device}) policy=${occupancy_policy}" >&2
+
+if ! report_owners; then
+  echo "[camera-preflight] ${camera_device} is free" >&2
+  exit 0
+fi
+
+case "${occupancy_policy}" in
+  check)
+    die "${camera_device} is busy; no process was stopped"
+    ;;
+  release-known)
+    die "release-known is intentionally removed in OmniSocketGo_robot_ros; stop the owning service manually and use policy=check"
+    ;;
+  *)
+    die "unsupported OMNI_CAMERA_OCCUPANCY_POLICY=${occupancy_policy}; expected check"
+    ;;
+esac