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