66 lines
2.0 KiB
Bash
Executable File
66 lines
2.0 KiB
Bash
Executable File
#!/bin/bash
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# ============================================================================
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# start_saqr.sh — boot launcher for the Saqr / G1 bridge.
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# ============================================================================
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#
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# What it does:
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# 1. Sources miniconda and activates the target env (default: marcus).
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# 2. cd to the project root (parent of this scripts/ dir).
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# 3. Execs `python -m saqr.robot.bridge` with the production flags.
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#
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# The bridge will:
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# - init the G1 arm + audio + LowState DDS clients
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# - announce "Saqr is running. Press R2 plus X to start." via TtsMaker
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# - sit idle until R2+X is pressed
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#
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# Designed to be run by systemd at boot — see saqr-bridge.service.
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# Can also be run manually: scripts/start_saqr.sh
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# ============================================================================
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set -u
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HERE="$(cd "$(dirname "$0")" && pwd)"
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SAQR_DIR="${SAQR_DIR:-$(cd "$HERE/.." && pwd)}"
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CONDA_ROOT="${CONDA_ROOT:-$HOME/miniconda3}"
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CONDA_ENV="${CONDA_ENV:-marcus}"
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DDS_IFACE="${DDS_IFACE:-eth0}"
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SAQR_SOURCE="${SAQR_SOURCE:-realsense}"
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STREAM_PORT="${STREAM_PORT:-8080}"
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if [ ! -d "$SAQR_DIR" ]; then
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echo "[start_saqr] FATAL: SAQR_DIR not found: $SAQR_DIR" >&2
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exit 1
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fi
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if [ ! -d "$SAQR_DIR/saqr" ]; then
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echo "[start_saqr] FATAL: saqr/ package not found in $SAQR_DIR" >&2
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exit 1
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fi
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if [ ! -f "$CONDA_ROOT/etc/profile.d/conda.sh" ]; then
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echo "[start_saqr] FATAL: conda not found at $CONDA_ROOT" >&2
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exit 1
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fi
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# shellcheck disable=SC1091
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source "$CONDA_ROOT/etc/profile.d/conda.sh"
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conda activate "$CONDA_ENV" || {
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echo "[start_saqr] FATAL: failed to activate conda env: $CONDA_ENV" >&2
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exit 1
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}
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cd "$SAQR_DIR" || {
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echo "[start_saqr] FATAL: cd $SAQR_DIR failed" >&2
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exit 1
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}
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echo "[start_saqr] env=$CONDA_ENV cwd=$PWD iface=$DDS_IFACE source=$SAQR_SOURCE stream=$STREAM_PORT"
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echo "[start_saqr] launching bridge..."
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exec python3 -m saqr.robot.bridge \
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--iface "$DDS_IFACE" \
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--source "$SAQR_SOURCE" \
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--headless \
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-- --stream "$STREAM_PORT"
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