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robot/v4l2/OmniSocketGo_robot/scripts/dev/resolve-camera-device.sh

@@ -0,0 +1,59 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+camera_serial="${1:-}"
+camera_label="${2:-camera}"
+capture_width="${OMNI_CAMERA_DISCOVERY_WIDTH:-1280}"
+capture_height="${OMNI_CAMERA_DISCOVERY_HEIGHT:-720}"
+timeout_sec="${OMNI_CAMERA_DISCOVERY_TIMEOUT_SEC:-10}"
+
+die() {
+  echo "[camera-discovery] ${camera_label}: $*" >&2
+  exit 1
+}
+
+[[ -n "${camera_serial}" ]] || die "camera serial is required"
+[[ "${timeout_sec}" =~ ^[0-9]+$ ]] || die "OMNI_CAMERA_DISCOVERY_TIMEOUT_SEC must be a non-negative integer"
+
+command -v udevadm >/dev/null 2>&1 || die "missing required command: udevadm"
+command -v v4l2-ctl >/dev/null 2>&1 || die "missing required command: v4l2-ctl"
+
+shopt -s nullglob
+deadline=$((SECONDS + timeout_sec))
+
+while true; do
+  matches=()
+  serial_nodes=()
+
+  for device in /dev/video*; do
+    [[ -c "${device}" ]] || continue
+    device_serial="$(
+      udevadm info --query=property --name="${device}" 2>/dev/null \
+        | sed -n 's/^ID_SERIAL_SHORT=//p' \
+        | head -1
+    )"
+    [[ "${device_serial}" == "${camera_serial}" ]] || continue
+    serial_nodes+=("${device}")
+
+    formats="$(v4l2-ctl -d "${device}" --list-formats-ext 2>/dev/null || true)"
+    grep -q "'MJPG'" <<<"${formats}" || continue
+    grep -q "Size: Discrete ${capture_width}x${capture_height}" <<<"${formats}" || continue
+    matches+=("${device}")
+  done
+
+  if (( ${#matches[@]} == 1 )); then
+    echo "[camera-discovery] ${camera_label}: serial=${camera_serial} -> ${matches[0]} (MJPG ${capture_width}x${capture_height})" >&2
+    printf '%s\n' "${matches[0]}"
+    exit 0
+  fi
+  if (( ${#matches[@]} > 1 )); then
+    die "serial=${camera_serial} matched multiple MJPG nodes: ${matches[*]}"
+  fi
+  if (( SECONDS >= deadline )); then
+    if (( ${#serial_nodes[@]} == 0 )); then
+      die "serial=${camera_serial} was not found under /dev/video*"
+    fi
+    die "serial=${camera_serial} has no MJPG ${capture_width}x${capture_height} node; serial nodes: ${serial_nodes[*]}"
+  fi
+  sleep 0.2
+done