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.
104 lines
4.5 KiB
Bash
Executable File
104 lines
4.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# =============================================================================
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# fetch_deps.sh — stage the build dependencies into deps/ so a robot that has
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# never seen the Unitree SDK or CycloneDDS can still build the image.
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#
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# ./tools/fetch_deps.sh --from-robot unitree@10.255.254.88
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# ./tools/fetch_deps.sh --check
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#
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# WHY FROM A ROBOT, not from GitHub: CycloneDDS ships as compiled libraries, and
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# the image is arm64. Headers are portable, `libddsc.so` is NOT — building it on
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# an x86 workstation stages the wrong architecture and the in-image link fails
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# in a way that looks like a code bug. A working robot already has the right
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# ones, so we copy those.
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#
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# unitree_sdk2 is different: its repo carries prebuilt lib/aarch64/*.a, so a
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# plain clone is fine — from anywhere with GitHub access.
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# git clone --depth 1 https://github.com/unitreerobotics/unitree_sdk2 deps/unitree_sdk2
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#
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# What lands where (build_image.sh looks in exactly these places):
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# deps/unitree_sdk2/{include,lib}
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# deps/cyclonedds/install/{include,lib}
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# =============================================================================
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set -uo pipefail
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HERE="$(cd "$(dirname "$0")/.." && pwd)"
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DEPS="$HERE/deps"
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ROBOT="${ROBOT:-}"
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MODE=check
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while [ $# -gt 0 ]; do
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case "$1" in
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--from-robot) MODE=robot; shift; ROBOT="${1:-$ROBOT}" ;;
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--check) MODE=check ;;
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-h|--help) sed -n '3,22p' "$0" | sed 's/^# \{0,1\}//'; exit 0 ;;
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*) echo "unknown option: $1" >&2; exit 1 ;;
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esac
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shift || true
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done
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g=$'\033[32m'; r=$'\033[31m'; y=$'\033[33m'; n=$'\033[0m'
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ok_() { printf ' %sOK%s %s\n' "$g" "$n" "$1"; }
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bad_() { printf ' %sMISS%s %s\n' "$r" "$n" "$1"; }
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check() {
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local rc=0
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printf '\nStaged in deps/\n'
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if [ -f "$DEPS/unitree_sdk2/lib/aarch64/libunitree_sdk2.a" ]; then
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ok_ "unitree_sdk2 ($(du -sh "$DEPS/unitree_sdk2" 2>/dev/null | cut -f1))"
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else bad_ "unitree_sdk2 — no lib/aarch64/libunitree_sdk2.a"; rc=1; fi
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if [ -f "$DEPS/cyclonedds/install/include/idl/retcode.h" ]; then
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ok_ "cyclonedds headers (incl. idl/)"
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else bad_ "cyclonedds headers — need install/include/{ddscxx,idl}"; rc=1; fi
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if ls "$DEPS"/cyclonedds/install/lib/libddsc.so* >/dev/null 2>&1; then
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local arch; arch="$(file -b "$(ls "$DEPS"/cyclonedds/install/lib/libddsc.so* | head -1)" 2>/dev/null)"
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case "$arch" in
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*aarch64*|*ARM\ aarch64*) ok_ "cyclonedds libs (aarch64)" ;;
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*) printf ' %sWRONG ARCH%s cyclonedds libs are: %s\n' "$y" "$n" "${arch:-unknown}"
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printf ' the image is arm64 — restage from a robot\n'; rc=1 ;;
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esac
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else bad_ "cyclonedds libs — need install/lib/libddsc.so*"; rc=1; fi
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return $rc
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}
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if [ "$MODE" = check ]; then
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check; rc=$?
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[ $rc -eq 0 ] && printf '\n%sdeps/ is complete%s — this project can build the image on a robot with no system SDK.\n' "$g" "$n" \
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|| printf '\nStage the rest with: %s --from-robot unitree@<ip>\n' "$0"
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exit $rc
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fi
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[ -n "$ROBOT" ] || { echo "give a robot: --from-robot unitree@<ip>" >&2; exit 1; }
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command -v rsync >/dev/null || { echo "rsync not installed" >&2; exit 1; }
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echo ">> staging CycloneDDS from $ROBOT (headers + aarch64 libs)"
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mkdir -p "$DEPS/cyclonedds/install"
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# Prefer the source checkout's install prefix: it is the one that carries the idl/
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# headers a plain `make install` of the C++ side leaves out.
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rsync -az --info=stats0 -e "ssh -o ConnectTimeout=8" \
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"$ROBOT:~/cyclonedds/install/include" "$ROBOT:~/cyclonedds/install/lib" \
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"$DEPS/cyclonedds/install/" 2>/dev/null \
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|| echo " (no ~/cyclonedds/install on that robot — trying /usr/local)"
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# Fill any gap from /usr/local, which is where the runtime libs actually live.
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[ -f "$DEPS/cyclonedds/install/include/idl/retcode.h" ] || \
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rsync -az -e "ssh -o ConnectTimeout=8" "$ROBOT:/usr/local/include/" \
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"$DEPS/cyclonedds/install/include/" 2>/dev/null
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ls "$DEPS"/cyclonedds/install/lib/libddsc.so* >/dev/null 2>&1 || {
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mkdir -p "$DEPS/cyclonedds/install/lib"
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rsync -azL -e "ssh -o ConnectTimeout=8" \
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"$ROBOT:/usr/local/lib/libddsc*" "$ROBOT:/usr/local/lib/libddscxx*" \
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"$ROBOT:/usr/local/lib/libcyclonedds*" "$ROBOT:/usr/local/lib/libdds_security_*" \
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"$DEPS/cyclonedds/install/lib/" 2>/dev/null; }
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if [ ! -f "$DEPS/unitree_sdk2/lib/aarch64/libunitree_sdk2.a" ]; then
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echo ">> staging unitree_sdk2 from $ROBOT"
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mkdir -p "$DEPS/unitree_sdk2"
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rsync -az --exclude '.git/' -e "ssh -o ConnectTimeout=8" \
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"$ROBOT:~/unitree_sdk2/include" "$ROBOT:~/unitree_sdk2/lib" "$DEPS/unitree_sdk2/" 2>/dev/null
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fi
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check
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