2a78f1b609
Dashboard (web/hand_web.py) - Record/replay panel driving g1_record_replay.py as a pty child: take library (replay/download/duplicate/rename/delete/upload/delete-all), pause & resume, and in-take key buttons that grey out in the --fingers modes the recorder ignores (measured: in touch mode the keys change nothing at all). - /api/restart is container-aware: it kills inspire_g1 and lets the supervisor relaunch it. It used to run manage.sh, which started a SECOND inspire_g1 beside the supervised one - two writers on one RS-485 bus - and never returned. - Shape/combo libraries take a .bak on every write, with an undo button. Both files are rewritten in full, so deleting the last entry was unrecoverable. recorder/ - The recorder lives in this project now: one source of truth for the CLI and the dashboard, with pause/resume added to replay. - record.sh picks a runtime by itself (a python with the SDK, the vendored SDK, or the inspire-hand container). bundle.sh packs a ~340KB portable kit. tools/ - preflight.sh: read-only readiness report for a new robot (hardware, docker, build prerequisites, per-robot settings) ending in an install-path verdict. - fetch_deps.sh: stage build dependencies, verifying the libs are aarch64. - export_ui.py: regenerate an embedding app's vendored copy of the UI. docker/ - build_image.sh resolves its dependencies from several layouts: deps/ inside the project, /usr/local, a source install prefix, or a ROS2 colcon workspace (where the idl headers live when /usr/local has none). - web/ is copied in the last layer, so dashboard edits skip the C++ rebuild. - restart=always, and start.sh always builds so an edit cannot silently run a stale image. deps/unitree_sdk2 is vendored so a robot that has never seen the SDK can build. Docs: README quickstart + embedding notes, SETUP_G1 corrected (that udev rule stopped creating /dev/inspire_* symlinks a while ago), ROBOT_README describing a live install.
94 lines
2.1 KiB
C++
94 lines
2.1 KiB
C++
#ifndef __UT_OS_HPP__
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#define __UT_OS_HPP__
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#include <unitree/common/decl.hpp>
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#include <unitree/common/lock/lock.hpp>
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namespace unitree
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{
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namespace common
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{
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enum UT_SCHED_POLICY
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{
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UT_SCHED_POLICY_NORMAL = SCHED_OTHER,
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UT_SCHED_POLICY_FIFO = SCHED_FIFO,
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UT_SCHED_POLICY_RR = SCHED_RR,
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UT_SCHED_POLICY_BATCH = SCHED_BATCH,
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UT_SCHED_POLICY_IDLE = SCHED_IDLE,
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UT_SCHED_POLICY_DEADLINE = SCHED_DEADLINE
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};
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class OsHelper
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{
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public:
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static OsHelper* Instance()
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{
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static OsHelper inst;
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return &inst;
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}
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uid_t GetUID() const;
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gid_t GetGID() const;
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std::string GetUser() const;
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const struct passwd& GetPasswd() const;
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bool GetPasswd(const std::string& name, struct passwd& pwd);
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bool GetUIDAndGID(const std::string& name, uid_t& uid, gid_t& gid);
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int32_t GetProcessorNumber() const;
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int32_t GetProcessorNumberConf() const;
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int32_t GetPageSize() const;
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int64_t Align(int64_t len) const;
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bool IsAligned(int64_t len) const;
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const std::string& GetHostname() const;
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uint32_t GetProcessId();
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const std::string& GetProcessFileName();
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std::string GetProcessName();
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std::string GetProcessDirectory(bool withEndDelim = true);
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uint64_t GetThreadId();
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int32_t GetTid();
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bool GetNetworkInterfaceIps(std::map<std::string,std::string>& networkInterfaceIpMap);
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bool GetIps(std::set<std::string>& ips);
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void CpuSet(const std::string& cpuIds);
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void CpuSet(uint64_t threadId, size_t cpuId);
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void SetThreadName(uint64_t threadId, const std::string& name);
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void SetScheduler(int32_t policy, int32_t priority);
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void SetScheduler(uint64_t threadId, int32_t policy, int32_t priority);
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void SingletonProcessInstance();
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private:
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OsHelper();
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void __Getpwuid();
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void __GetProcessor();
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void __GetPageSize();
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void __GetProcessFileName();
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void __GetHostname();
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private:
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uid_t mUID;
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struct passwd mPasswd;
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int32_t mProcessorNumber;
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int32_t mProcessorNumberConf;
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int32_t mPageSize;
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std::string mHostname;
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std::string mProcessFileName;
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std::shared_ptr<Filelock> mInstanceLockPtr;
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};
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}
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}
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#endif//__UT_OS_HPP__
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