Organize host and robot streaming releases

robot/ros2/OmniSocketGo_robot_ros/scripts/dev/start-b-side-omnid.sh

@@ -0,0 +1,125 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+blitz_dev_prepare_bside_logging_env
+
+cd "${OMNISOCKETGO_ROOT}"
+
+export OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+export OMNISOCKET_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR}"
+export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA}"
+export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR}"
+export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA}"
+
+logger_pid=""
+bridge_pid=""
+
+cleanup() {
+  if [[ -n "${logger_pid}" ]]; then
+    kill "${logger_pid}" 2>/dev/null || true
+    wait "${logger_pid}" 2>/dev/null || true
+  fi
+  if [[ -n "${bridge_pid}" ]]; then
+    kill "${bridge_pid}" 2>/dev/null || true
+    wait "${bridge_pid}" 2>/dev/null || true
+  fi
+}
+
+start_5g_link_logger_if_needed() {
+  if [[ "${OMNI_5G_LINK_LOG_ENABLED:-1}" != "1" ]]; then
+    echo "[start-b-side-omnid] 5G link logger disabled" >&2
+    return 0
+  fi
+  if [[ "${OMNI_BOOT_MODE:-0}" == "1" ]]; then
+    return 0
+  fi
+  bash "${SCRIPT_DIR}/start-5g-link-logger.sh" &
+  logger_pid=$!
+  echo "[start-b-side-omnid] 5G link logger -> ${BLITZ_5G_LINK_LOG_PATH:-unset}" >&2
+}
+
+start_ros_camera_bridge_if_needed() {
+  if [[ "${OMNI_ROS2_BRIDGE_AUTO_START:-1}" != "1" ]]; then
+    echo "[start-b-side-omnid] ROS2 camera bridge auto-start disabled" >&2
+    return 0
+  fi
+  if pgrep -af 'omnisocket_ros_camera_bridge' >/dev/null 2>&1; then
+    echo "[start-b-side-omnid] ROS2 camera bridge already running" >&2
+    return 0
+  fi
+  if [[ ! -f "${OMNI_ROS2_BRIDGE_SETUP}" ]]; then
+    echo "[start-b-side-omnid] missing ROS2 bridge setup: ${OMNI_ROS2_BRIDGE_SETUP}" >&2
+    echo "[start-b-side-omnid] build it with: cd ${OMNI_ROS2_BRIDGE_ROOT} && colcon build" >&2
+    return 1
+  fi
+  mkdir -p "$(dirname "${OMNI_ROS2_BRIDGE_LOG_PATH}")"
+  (
+    if [[ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]]; then
+      # shellcheck disable=SC1091
+      set +u
+      source "/opt/ros/${ROS_DISTRO}/setup.bash"
+      set -u
+    fi
+    # shellcheck disable=SC1091
+    set +u
+    source "${OMNI_ROS2_BRIDGE_SETUP}"
+    set -u
+    exec ros2 run omnisocket_camera_bridge omnisocket_ros_camera_bridge \
+      --ros-args \
+      -p "head_topic:=${OMNI_ROS2_HEAD_RGB_TOPIC}" \
+      -p "waist_topic:=${OMNI_ROS2_WAIST_RGB_TOPIC}" \
+      -p "head_shm:=${OMNI_ROS2_HEAD_SHM}" \
+      -p "waist_shm:=${OMNI_ROS2_WAIST_SHM}" \
+      -p "max_frame_bytes:=${OMNI_ROS2_MAX_FRAME_BYTES}"
+  ) >>"${OMNI_ROS2_BRIDGE_LOG_PATH}" 2>&1 &
+  bridge_pid=$!
+  sleep 2
+  if ! kill -0 "${bridge_pid}" 2>/dev/null; then
+    echo "[start-b-side-omnid] ROS2 camera bridge exited; inspect ${OMNI_ROS2_BRIDGE_LOG_PATH}" >&2
+    return 1
+  fi
+  echo "[start-b-side-omnid] ROS2 camera bridge pid=${bridge_pid}" >&2
+}
+
+if [[ ! -x "./bin/b_side_omnid" ]]; then
+  if [[ "${OMNI_BOOT_MODE:-0}" == "1" ]]; then
+    echo "Missing ./bin/b_side_omnid in boot mode; build it before enabling the autostart service." >&2
+    exit 1
+  fi
+  make b_side_omnid
+fi
+
+launch_b_side_omnid() {
+  trap cleanup EXIT INT TERM
+  start_5g_link_logger_if_needed
+  if [[ "${OMNI_CAMERA_SOURCE}" == "ros2" ]]; then
+    bash "${SCRIPT_DIR}/ensure-ros-camera-services.sh"
+    start_ros_camera_bridge_if_needed
+  else
+    OMNI_CAMERA_DEVICE="${OMNI_CAMERA_HEAD_DEVICE}" \
+      OMNI_CAMERA_OCCUPANCY_POLICY=check \
+      bash "${SCRIPT_DIR}/prepare-camera-device.sh"
+    OMNI_CAMERA_DEVICE="${OMNI_CAMERA_WAIST_DEVICE}" \
+      OMNI_CAMERA_OCCUPANCY_POLICY=check \
+      bash "${SCRIPT_DIR}/prepare-camera-device.sh"
+    OMNI_CAMERA_DEVICE="${OMNI_CAMERA_HEAD_DEVICE}" bash "${SCRIPT_DIR}/apply-camera-controls.sh"
+    OMNI_CAMERA_DEVICE="${OMNI_CAMERA_WAIST_DEVICE}" bash "${SCRIPT_DIR}/apply-camera-controls.sh"
+  fi
+  ./bin/b_side_omnid
+}
+
+if [[ "${OMNI_CAMERA_SOURCE}" == "ros2" ]]; then
+  # ROS2/DDS must run as the robot user; the C daemon no longer needs root
+  # because it reads shared memory instead of opening /dev/video*.
+  export B_SIDE_OMNID_USE_SUDO=0
+fi
+
+if [[ "${B_SIDE_OMNID_USE_SUDO}" == "1" && "${EUID}" -ne 0 ]]; then
+  exec sudo -E bash -lc 'cd "$1" && export B_SIDE_OMNID_USE_SUDO=0 && exec bash "$2"' _ "${OMNISOCKETGO_ROOT}" "${SCRIPT_DIR}/start-b-side-omnid.sh"
+fi
+
+launch_b_side_omnid