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robot/v4l2/OmniSocketGo_robot/scripts/dev/start-b-side-omnid.sh

@@ -0,0 +1,100 @@
+#!/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="${OMNI_CONTROL_RELAY_VIA}"
+
+logger_pid=""
+
+cleanup() {
+  if [[ -n "${logger_pid}" ]]; then
+    kill "${logger_pid}" 2>/dev/null || true
+    wait "${logger_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
+}
+
+release_known_camera_service() {
+  local service="$1"
+
+  if [[ "${OMNI_CAMERA_OCCUPANCY_POLICY:-check}" != "release-known" || -z "${service}" ]]; then
+    return 0
+  fi
+  if systemctl is-active --quiet "${service}"; then
+    echo "[start-b-side-omnid] stopping known camera service ${service} before discovery" >&2
+    systemctl stop "${service}"
+  fi
+}
+
+resolve_camera_devices() {
+  if [[ "${OMNI_CAMERA_AUTO_DISCOVER:-0}" != "1" ]]; then
+    return 0
+  fi
+
+  OMNI_CAMERA_HEAD_DEVICE="$(
+    bash "${SCRIPT_DIR}/resolve-camera-device.sh" "${OMNI_CAMERA_HEAD_SERIAL}" head
+  )"
+  OMNI_CAMERA_WAIST_DEVICE="$(
+    bash "${SCRIPT_DIR}/resolve-camera-device.sh" "${OMNI_CAMERA_WAIST_SERIAL}" waist
+  )"
+  if [[ "${OMNI_CAMERA_HEAD_DEVICE}" == "${OMNI_CAMERA_WAIST_DEVICE}" ]]; then
+    echo "[start-b-side-omnid] head and waist resolved to the same device: ${OMNI_CAMERA_HEAD_DEVICE}" >&2
+    return 1
+  fi
+  export OMNI_CAMERA_HEAD_DEVICE OMNI_CAMERA_WAIST_DEVICE
+  echo "[start-b-side-omnid] resolved head=${OMNI_CAMERA_HEAD_DEVICE} waist=${OMNI_CAMERA_WAIST_DEVICE}" >&2
+}
+
+if [[ ! -x "./bin/b_side_omnid" ]]; then
+  if [[ "${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
+  release_known_camera_service "${OMNI_CAMERA_HEAD_RELEASE_SERVICE:-orbbec_head.service}"
+  release_known_camera_service "${OMNI_CAMERA_WAIST_RELEASE_SERVICE:-orbbec_waist.service}"
+  resolve_camera_devices
+  OMNI_CAMERA_DEVICE="${OMNI_CAMERA_HEAD_DEVICE}" \
+    OMNI_CAMERA_RELEASE_SERVICE="${OMNI_CAMERA_HEAD_RELEASE_SERVICE:-orbbec_head.service}" \
+    bash "${SCRIPT_DIR}/prepare-camera-device.sh"
+  OMNI_CAMERA_DEVICE="${OMNI_CAMERA_WAIST_DEVICE}" \
+    OMNI_CAMERA_RELEASE_SERVICE="${OMNI_CAMERA_WAIST_RELEASE_SERVICE:-orbbec_waist.service}" \
+    bash "${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"
+  ./bin/b_side_omnid
+}
+
+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