init pro_sdk

tools/run_on_pi.sh

@@ -0,0 +1,104 @@
+#!/bin/bash
+# 部署+执行测试 (在树莓派上, 源IP=192.168.123.161)
+#
+# 用法:
+#   bash tools/onboard/run_on_pi.sh sin       # 单腿正弦
+#   bash tools/onboard/run_on_pi.sh damping   # 零力矩连通性
+#   bash tools/onboard/run_on_pi.sh deploy    # 仅部署不执行
+set -e
+
+PI_HOST="${PI_HOST:-192.168.123.161}"
+PI_USER="${PI_USER:-pi}"
+TEST="${1:-sin}"
+REMOTE_DIR=/tmp/dog_test
+
+echo "=== 部署到 ${PI_USER}@${PI_HOST}:${REMOTE_DIR} ==="
+
+# 1. 创建远程目录结构
+ssh ${PI_USER}@${PI_HOST} "rm -rf ${REMOTE_DIR} && mkdir -p ${REMOTE_DIR}/ucl"
+
+# 2. 拷贝文件 (所有.py平铺在REMOTE_DIR, ucl/子目录放SDK文件)
+echo "[1/2] 拷贝文件..."
+scp tools/onboard/blowfish_codec.py \
+    tools/onboard/build_pro_lowcmd.py \
+    tools/onboard/test_sin_leg.py \
+    tools/onboard/test_lowcmd.py \
+    tools/onboard/example_position_pro.py \
+    data/lowlevel_captures/blowfish_state.bin \
+    ${PI_USER}@${PI_HOST}:${REMOTE_DIR}/
+
+# 空 __init__.py 让 ucl 成为 package
+ssh ${PI_USER}@${PI_HOST} "touch ${REMOTE_DIR}/ucl/__init__.py"
+scp ucl/lowCmd.py ucl/lowState.py ucl/common.py ucl/complex.py ucl/enums.py \
+    ${PI_USER}@${PI_HOST}:${REMOTE_DIR}/ucl/
+
+# 提前杀掉 MCU:8007 的所有抢占者:
+#   1. keep_sport_alive.sh - Legged_sport 看门狗 (每0.2秒重启Legged_sport, 必须先杀)
+#   2. Legged_sport - 主控制循环
+#   3. appTransit - 也跟 MCU:8007 通信
+echo ""
+echo "=== 停止 MCU:8007 抢占源 (顺序: 看门狗 → Legged_sport → appTransit) ==="
+ssh ${PI_USER}@${PI_HOST} bash <<'EOF' || true
+set +e
+if sudo pkill -9 -f keep_sport_alive 2>/dev/null; then
+    echo '  ✅ keep_sport_alive.sh (看门狗)'
+else
+    echo '  (无看门狗)'
+fi
+sleep 0.3
+if sudo pkill -9 -f Legged_sport 2>/dev/null; then
+    echo '  ✅ Legged_sport'
+else
+    echo '  (无)'
+fi
+if sudo pkill -9 -f appTransit 2>/dev/null; then
+    echo '  ✅ appTransit'
+else
+    echo '  (无)'
+fi
+sleep 0.5
+echo '--- 验证残留: ---'
+if pgrep -fl 'Legged_sport|appTransit|keep_sport_alive' 2>/dev/null; then
+    echo '  ⚠️  仍有残留, 可能看门狗在别处'
+else
+    echo '  ✅ 全部清除'
+fi
+EOF
+sleep 1
+
+echo ""
+echo "[2/2] 执行测试..."
+
+case "$TEST" in
+    sin)
+        echo "=== 单腿正弦测试 (Pi端) ==="
+        ssh -t ${PI_USER}@${PI_HOST} \
+            "cd ${REMOTE_DIR} && python3 test_sin_leg.py --amplitude 0.3 --freq 0.5 --duration 10"
+        ;;
+    damping)
+        echo "=== 零力矩连通性测试 (Pi端) ==="
+        ssh -t ${PI_USER}@${PI_HOST} \
+            "cd ${REMOTE_DIR} && python3 test_lowcmd.py --skip-stop --skip-mqtt"
+        ;;
+    example)
+        echo "=== example_position(lowlevel) PRO 版本 (Pi端) ==="
+        ssh -t ${PI_USER}@${PI_HOST} \
+            "cd ${REMOTE_DIR} && python3 example_position_pro.py --max-steps 5000"
+        ;;
+    deploy)
+        echo "✅ 已部署到 ${PI_USER}@${PI_HOST}:${REMOTE_DIR}"
+        echo "   ssh ${PI_USER}@${PI_HOST}"
+        echo "   cd ${REMOTE_DIR} && python3 test_sin_leg.py ..."
+        ;;
+    *)
+        echo "用法: bash run_on_pi.sh [sin|damping|example|deploy]"
+        exit 1
+        ;;
+esac
+
+echo ""
+echo "============================================"
+echo "恢复 sportMode:"
+echo "  bash tools/onboard/stop_sportmode.sh start"
+echo "  或 ssh ${PI_USER}@${PI_HOST} sudo systemctl start sportMode"
+echo "============================================"