init pro_sdk

tools/diff_real_lowcmd.sh

@@ -0,0 +1,76 @@
+#!/bin/bash
+# 抓 Legged_sport 真实 LowCmd → 解密 → 跟本地脚本生成的对比
+#
+# 前提: Legged_sport 必须在跑且正常向 MCU 发包 (狗在工作状态, 不能是idle)
+# 用法: bash tools/onboard/diff_real_lowcmd.sh [seconds]
+#
+# 输出:
+#   data/lowlevel_captures/real_lowcmd_<ts>.pcap   - 抓的原包
+#   data/lowlevel_captures/real_lowcmd_<ts>.bin    - 一帧密文 (616B)
+#   data/lowlevel_captures/real_lowcmd_dec_<ts>.bin - 解密后 (616B)
+#   字节级 diff 输出到屏幕
+
+PI_HOST="${PI_HOST:-192.168.123.161}"
+PI_USER="${PI_USER:-pi}"
+DURATION="${1:-3}"
+TS=$(date +%Y%m%d_%H%M%S)
+
+PCAP_REMOTE=/tmp/real_lowcmd.pcap
+PCAP_LOCAL=data/lowlevel_captures/real_lowcmd_${TS}.pcap
+CIPHER_BIN=data/lowlevel_captures/real_lowcmd_${TS}.bin
+PLAIN_BIN=data/lowlevel_captures/real_lowcmd_dec_${TS}.bin
+
+mkdir -p $(dirname ${PCAP_LOCAL})
+
+echo "============================================"
+echo "🔍 抓真实 LowCmd 跟本地对比"
+echo "============================================"
+echo ""
+
+# 0. 确认 Legged_sport 在发包 (而不是 idle)
+echo "[0/4] 确认 Legged_sport 在向 MCU 发包..."
+COUNT=$(ssh ${PI_USER}@${PI_HOST} \
+    "sudo timeout 1 /usr/sbin/tcpdump -i any -nn -c 5 'udp and dst host 192.168.123.10 and dst port 8007' 2>/dev/null | grep -c 'IP 192' || true")
+if [ "$COUNT" -lt 1 ]; then
+    echo "  ❌ Legged_sport 没在发 LowCmd!"
+    echo "  可能原因:"
+    echo "  - 狗在 idle/damping 待机, 需要遥控器唤醒 (L2+A 让它站起来)"
+    echo "  - MCU 被其他客户端 (我们 Mac 的脚本) 抢占了"
+    echo "  - sportMode 服务挂了"
+    exit 1
+fi
+echo "  ✅ 检测到 ${COUNT} 个发往 MCU 的包"
+echo ""
+
+# 1. 抓包
+echo "[1/4] tcpdump 抓 ${DURATION}s ..."
+ssh ${PI_USER}@${PI_HOST} bash -s <<EOF
+set +e
+sudo rm -f ${PCAP_REMOTE}
+sudo timeout ${DURATION} /usr/sbin/tcpdump -i any -w ${PCAP_REMOTE} -s 0 -n \
+    'udp and dst host 192.168.123.10 and dst port 8007' 2>/tmp/tcpdump.log
+sudo chmod 644 ${PCAP_REMOTE}
+echo "pcap 大小: \$(stat -c%s ${PCAP_REMOTE}) 字节"
+EOF
+
+# 2. 拉回
+echo ""
+echo "[2/4] 拉回本地..."
+scp ${PI_USER}@${PI_HOST}:${PCAP_REMOTE} ${PCAP_LOCAL}
+echo "  ✅ ${PCAP_LOCAL}"
+
+# 3. 解析+解密+对比
+echo ""
+echo "[3/4] 解析+解密..."
+conda run -n free_dog_sdk python tools/onboard/_compare_lowcmd.py \
+    ${PCAP_LOCAL} \
+    --cipher-out ${CIPHER_BIN} \
+    --plain-out ${PLAIN_BIN}
+
+echo ""
+echo "============================================"
+echo "完成. 文件:"
+echo "  pcap:    ${PCAP_LOCAL}"
+echo "  密文:    ${CIPHER_BIN}"
+echo "  明文:    ${PLAIN_BIN}"
+echo "============================================"