43 lines
2.2 KiB
Bash
Executable File
43 lines
2.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Run the containerized hand stack (service + bridge + dashboard).
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# Stops any host-native inspire_g1/bridge first — two services would collide on
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# the RS-485 bus. Needs --network host (DDS) + --privileged -v /dev:/dev (serial).
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set -e
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IMG="${IMG:-inspire-hand:latest}"
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IFACE="${IFACE:-eth0}"
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echo ">> removing old container, then killing host-native services (avoid double inspire_g1)"
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docker rm -f inspire-hand 2>/dev/null || true # kill container's procs first
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pkill -x inspire_g1 2>/dev/null || true # now only host natives remain
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pkill -x hand_bridge 2>/dev/null || true
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pkill -f hand_web.py 2>/dev/null || true
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sleep 1; pkill -9 -x inspire_g1 2>/dev/null || true
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# INSPIRE_RIGHT_PATH pins which physical USB socket is the RIGHT hand. Both hands answer on
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# RS-485 id 1, so without this the side is inferred from USB path ORDER — correct today, but
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# it would flip undetected if the two dongles were swapped between sockets.
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# Operator-verified at the robot 2026-08-03: usb 1-2.2.1.1 is the physical RIGHT hand.
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# (An earlier wiggle test concluded the opposite; the operator watching the robot corrected
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# it. Flip this one value if the sides ever read swapped again — nothing else needs changing.)
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RIGHT_PATH="${INSPIRE_RIGHT_PATH:-1-2.2.1.1}"
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# Saved shapes/combos on the HOST, so rebuilding the image no longer wipes the library.
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DATA_DIR="${HAND_DATA_DIR:-$HOME/hand_data}"
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# Recordings live on the HOST for the same reason the shape library does: a `docker rm -f`
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# in this script would otherwise destroy every take ever made.
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mkdir -p "$DATA_DIR" "$DATA_DIR/DataG1"
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docker run -d --name inspire-hand --restart unless-stopped \
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--network host --privileged -v /dev:/dev \
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-v "$DATA_DIR":/opt/hand/data \
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-v "$DATA_DIR/DataG1":/opt/recorder/DataG1 \
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-e HAND_DATA=/opt/hand/data \
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-e INSPIRE_RIGHT_PATH="$RIGHT_PATH" \
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-e IFACE="$IFACE" "$IMG"
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echo ">> right hand pinned to usb $RIGHT_PATH · data dir $DATA_DIR · takes $DATA_DIR/DataG1"
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sleep 4
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docker logs --tail 24 inspire-hand || true
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echo ">> inspire_g1 instances (want 1, the container's): $(pgrep -xc inspire_g1)"
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ip=$(hostname -I | awk '{print $1}')
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echo ">> dashboard: http://$ip:8088"
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