128 lines
3.1 KiB
Bash
Executable File
128 lines
3.1 KiB
Bash
Executable File
#!/bin/bash
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# 机械臂客户端启动脚本
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# 包含虚拟环境激活和客户端启动
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# 设置脚本目录
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR"
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# 颜色定义
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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BLUE='\033[0;34m'
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NC='\033[0m' # No Color
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# 打印彩色消息
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print_info() {
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echo -e "${BLUE}[INFO]${NC} $1"
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}
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print_success() {
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echo -e "${GREEN}[SUCCESS]${NC} $1"
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}
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print_warning() {
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echo -e "${YELLOW}[WARNING]${NC} $1"
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}
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print_error() {
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echo -e "${RED}[ERROR]${NC} $1"
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}
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# 显示标题
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echo "================================================"
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echo " 🦾 机械臂客户端启动器"
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echo "================================================"
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echo ""
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# 检查虚拟环境是否存在
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if [ ! -d "venv" ]; then
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print_error "虚拟环境不存在，请先运行 ./start_service.sh 创建虚拟环境"
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exit 1
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fi
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# 激活虚拟环境
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print_info "正在激活虚拟环境..."
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source venv/bin/activate
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if [ $? -eq 0 ]; then
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print_success "虚拟环境已激活"
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else
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print_error "虚拟环境激活失败"
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exit 1
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fi
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# 检查必要文件是否存在
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print_info "检查必要文件..."
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if [ ! -f "src/robot_client.py" ]; then
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print_error "缺少必要文件: src/robot_client.py"
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exit 1
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fi
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print_success "所有必要文件存在"
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# 解析命令行参数
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SERVER="http://192.168.114.26:5000"
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MOCK=""
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while [[ $# -gt 0 ]]; do
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case $1 in
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--server)
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SERVER="$2"
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shift 2
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;;
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--real)
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MOCK=""
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shift
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;;
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--mock)
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MOCK="--mock"
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shift
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;;
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-h|--help)
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echo "用法: $0 [选项]"
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echo ""
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echo "选项:"
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echo " --server SERVER 服务器地址 (默认: http://localhost:5000)"
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echo " --mock 使用模拟控制器 (默认)"
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echo " --real 使用真实机械臂控制器"
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echo " -h, --help 显示帮助信息"
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echo ""
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echo "示例:"
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echo " $0 # 基本启动(模拟模式)"
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echo " $0 --server http://192.168.1.100:5000 # 连接远程服务器"
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echo " $0 --real # 真实机械臂模式"
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exit 0
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;;
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*)
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print_error "未知参数: $1"
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echo "使用 $0 --help 查看帮助"
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exit 1
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;;
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esac
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done
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# 显示启动信息
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echo ""
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print_info "启动配置:"
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echo " - 服务器地址: $SERVER"
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if [ ! -z "$MOCK" ]; then
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echo " - 控制模式: 模拟模式"
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print_warning "当前使用模拟控制器，不会控制真实机械臂"
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else
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echo " - 控制模式: 真实机械臂"
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print_warning "当前使用真实机械臂控制器"
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fi
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echo ""
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print_info "按 Ctrl+C 停止客户端"
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echo "================================================"
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echo ""
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# 切换到src目录
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cd src
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# 启动客户端
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print_info "正在启动机械臂客户端..."
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python3 robot_client.py --server "$SERVER" $MOCK |