122 lines
4.5 KiB
Bash
Executable File
122 lines
4.5 KiB
Bash
Executable File
#!/bin/bash
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# 停止/启动 sportMode 服务 (从Mac SSH到狗执行)
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# 用法:
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# bash tools/onboard/stop_sportmode.sh stop # 停止sportMode,进入低层控制
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# bash tools/onboard/stop_sportmode.sh start # 重新启动sportMode
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# bash tools/onboard/stop_sportmode.sh status # 检查状态
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set -e
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PI_HOST="${PI_HOST:-192.168.123.161}"
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PI_USER="${PI_USER:-pi}"
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# 等待用户按键继续的 pause 函数
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pause() {
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echo ""
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read -p "按 Enter 继续..." dummy
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}
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cmd="${1:-status}"
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case "$cmd" in
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stop)
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echo "============================================"
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echo "⚠️ 停止 sportMode — 进入低层控制"
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echo "============================================"
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echo ""
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echo "这将会:"
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echo " 1. 先发 damping 让电机失能"
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echo " 2. 停止 Legged_sport 进程"
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echo " 3. 停止后, :8007 将只接受你的 LowCmd"
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echo ""
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echo "⚠️ 停止后狗会软瘫, 确保:"
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echo " - 狗趴在地上或脚架上"
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echo " - 遥控器在手边 (L2+B 紧急停止)"
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echo " - 10分钟内必须重启 (安全看门狗)"
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echo ""
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read -p "确认停止? (yes/no): " confirm
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if [ "$confirm" != "yes" ]; then
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echo "取消"
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exit 0
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fi
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echo ""
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echo "[1/3] 发送 damping ..."
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ssh ${PI_USER}@${PI_HOST} \
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"mosquitto_pub -h localhost -t controller/action -m damping" 2>/dev/null || \
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echo " (MQTT可能不可用, 继续...)"
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sleep 2
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echo "[2/3] 停止 Legged_sport 看门狗 + Legged_sport + appTransit ..."
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# 必须按顺序: 先杀看门狗 keep_sport_alive.sh, 否则它每 0.2s 重拉 Legged_sport
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# 同时杀 appTransit, 它也跟 MCU:8007 通信抢占
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ssh ${PI_USER}@${PI_HOST} \
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"sudo pkill -9 -f keep_sport_alive 2>/dev/null && echo ' ✅ keep_sport_alive (看门狗)' || echo ' (无看门狗)';
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sudo pkill -9 -f Legged_sport 2>/dev/null && echo ' ✅ Legged_sport' || echo ' (无)';
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sudo pkill -9 -f appTransit 2>/dev/null && echo ' ✅ appTransit' || echo ' (无)';
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sudo systemctl stop sportMode 2>/dev/null || true"
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sleep 1
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echo "[3/3] 验证..."
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if ssh ${PI_USER}@${PI_HOST} "! pgrep Legged_sport > /dev/null 2>&1"; then
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echo " ✅ Legged_sport 已完全停止"
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elif ssh ${PI_USER}@${PI_HOST} "pgrep Legged_sport > /dev/null 2>&1"; then
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echo " ⚠️ Legged_sport 可能仍在运行(被STOP暂停)"
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fi
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echo ""
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echo "============================================"
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echo "✅ sportMode 已停止, 现在可以做低层控制测试"
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echo ""
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echo "恢复: bash tools/onboard/stop_sportmode.sh start"
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echo "============================================"
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;;
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start)
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echo "============================================"
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echo "🔄 恢复 sportMode"
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echo "============================================"
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echo ""
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echo "[1/2] 恢复 Legged_sport ..."
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ssh ${PI_USER}@${PI_HOST} \
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"sudo systemctl restart sportMode 2>/dev/null || sudo systemctl restart legged_sport 2>/dev/null || (sudo killall -CONT Legged_sport 2>/dev/null) || echo '尝试手动启动'" && \
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echo " ✅ 重启命令已执行" || \
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echo " ⚠️ 重启失败, 尝试: sudo systemctl start sportMode 或重启狗"
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sleep 3
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echo "[2/2] 验证..."
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if ssh ${PI_USER}@${PI_HOST} "pgrep Legged_sport > /dev/null 2>&1"; then
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echo " ✅ Legged_sport 已恢复运行"
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else
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echo " ⚠️ Legged_sport 未运行, 可能需要重启狗"
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fi
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echo ""
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echo "✅ sportMode 已恢复"
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;;
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status)
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echo "检查 sportMode 状态..."
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echo ""
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echo "--- Legged_sport 进程 ---"
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ssh ${PI_USER}@${PI_HOST} "ps aux | grep -v grep | grep Legged_sport || echo ' 未运行'"
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echo ""
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echo "--- systemd 服务 ---"
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ssh ${PI_USER}@${PI_HOST} \
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"systemctl status sportMode 2>/dev/null || systemctl status Legged_sport 2>/dev/null || echo ' 服务名未知'" 2>/dev/null | head -10
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echo ""
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echo "--- MQTT 状态 ---"
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ssh ${PI_USER}@${PI_HOST} \
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"mosquitto_sub -h localhost -t programming/action -C 1 -W 2 2>/dev/null || echo ' (无消息/timeout)'"
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;;
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*)
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echo "用法: bash stop_sportmode.sh [stop|start|status]"
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exit 1
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;;
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esac
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