77 lines
2.8 KiB
Bash
77 lines
2.8 KiB
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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repo_root="$(cd "${script_dir}/.." && pwd)"
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port="${OPEN_SOURCE_DASHBOARD_PORT:-8090}"
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map_dir="${GO2_OS_MAP_DIR:-${HOME}/go2_maps}"
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# Source ROS2 环境（setup.bash 内部可能引用未绑定变量）
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set +u
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source /opt/ros/humble/setup.bash
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if [[ -f "${HOME}/unitree_ros2/cyclonedds_ws/install/setup.bash" ]]; then
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source "${HOME}/unitree_ros2/cyclonedds_ws/install/setup.bash"
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fi
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if [[ -f "${repo_root}/install/setup.bash" ]]; then
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source "${repo_root}/install/setup.bash"
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fi
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set -u
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# CycloneDDS 配置（必须和 Nav2 一致才能发现 /map /tf 等 topic）
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ros_iface="${GO2_WIRED_IFACE:-ens160}"
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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export CYCLONEDDS_URI="<CycloneDDS><Domain><General><Interfaces><NetworkInterface name=\"${ros_iface}\" priority=\"default\" multicast=\"default\" /></Interfaces></General></Domain></CycloneDDS>"
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# 加载 dashboard 环境
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dashboard_env="${repo_root}/go2_dashboard/config/dashboard.env"
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if [[ -f "${dashboard_env}" ]]; then
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set -a; source "${dashboard_env}"; set +a
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fi
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runtime_env="${repo_root}/scripts/go2_runtime.env"
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if [[ -f "${runtime_env}" ]]; then source "${runtime_env}"; fi
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# 找最新地图
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latest_map="$(ls -t "${map_dir}"/*.yaml 2>/dev/null | head -1 || true)"
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if [[ -z "${latest_map}" ]]; then
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printf '[go2_restart_dashboard] ERROR: no map found in %s\n' "${map_dir}" >&2
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exit 1
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fi
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printf '[go2_restart_dashboard] latest map: %s\n' "${latest_map}"
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# 停止旧进程
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current_pid="$(pgrep -f 'go2_dashboard/server.py' | head -1 || true)"
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if [[ -n "${current_pid}" ]]; then
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printf '[go2_restart_dashboard] stopping old dashboard (pid=%s)\n' "${current_pid}"
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kill "${current_pid}" 2>/dev/null || true
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sleep 1
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kill -0 "${current_pid}" 2>/dev/null && kill -9 "${current_pid}" 2>/dev/null || true
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fi
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# 启动
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printf '[go2_restart_dashboard] starting dashboard with map: %s\n' "${latest_map}"
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cd "${repo_root}"
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mkdir -p "${repo_root}/log"
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nohup python3 go2_dashboard/server.py \
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--host 0.0.0.0 \
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--port "${port}" \
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--repo-root "${repo_root}" \
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--map-yaml "${latest_map}" \
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--camera-iface "${GO2_CAMERA_IFACE:-ens160}" \
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--nav-log-dir "${repo_root}/log/go2_nav" \
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--pose-config "${repo_root}/go2_dashboard/config/pose_pipeline.json" \
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--waypoint-action-config "${repo_root}/go2_dashboard/config/waypoint_action.json" \
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> "${repo_root}/log/dashboard.log" 2>&1 &
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new_pid=$!
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sleep 2
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if kill -0 "${new_pid}" 2>/dev/null; then
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dashboard_ip="$(hostname -I 2>/dev/null | awk '{print $1}')"
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printf '[go2_restart_dashboard] started (pid=%s)\n' "${new_pid}"
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printf '[go2_restart_dashboard] url: http://%s:%s\n' "${dashboard_ip}" "${port}"
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else
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printf '[go2_restart_dashboard] ERROR: failed to start, check %s/log/dashboard.log\n' "${repo_root}" >&2
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tail -20 "${repo_root}/log/dashboard.log" >&2
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exit 1
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fi
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