forked from zbw/yiliao2026
添加了雷达驱动
This commit is contained in:
92
README.md
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92
README.md
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# 智慧医疗2026年代码仓库
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# 一、文件夹说明
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## `dependencies`
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`dependencies.txt`存储依赖名称
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## `src`
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存放源代码
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## `bashes`
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自动脚本的存放路径
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---
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<br></br>
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# 二、关于雷达驱动自动配置脚本的说明
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## 1. 配置说明：在设备上配置开机自启动(仅使用雷达的情况直接看第二点)
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1. 放到固定位置并授权
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```bash
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sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh
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sudo chmod +x /usr/local/bin/radar-driver-switch.sh
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sudo chown root:root /usr/local/bin/radar-driver-switch.sh
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```
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2. 创建 systemd 服务文件
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```bash
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sudo vim /etc/systemd/system/radar-driver-switch.service
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```
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编辑内容：
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```ini
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[Unit]
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Description=雷达驱动自动切换程序
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After=sysfs.target udev.target systemd-udevd.service
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Before=multi-user.target
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[Service]
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Type=oneshot
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ExecStart=/usr/local/bin/radar-driver-switch.sh
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User=root
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Group=root
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StandardOutput=journal+console
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StandardError=journal+console
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[Install]
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WantedBy=multi-user.target
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```
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3. 应用开机自启
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```bash
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sudo systemctl daemon-reload
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sudo systemctl enable radar-driver-switch.service
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```
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4. 测试与debug
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- 测试一次
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```bash
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sudo systemctl start radar-driver-switch.service
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```
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- 查看状态 / 日志（排查必用）
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```bash
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sudo systemctl status radar-driver-switch.service
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```
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- 看 dmesg 日志
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```bash
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dmesg | grep 雷达驱动自动切换程序
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```
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---
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### 特别说明
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1. 关于退出码对应的情况，详见sh文件开头
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2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看
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## 2. 使用说明：
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1. 设备开机自动启动脚本连接雷达。若开机时雷达与设备没有物理连接，则需要手动启动脚本连接雷达
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2. 查看雷达是否物理连接
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```bash
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lsusb
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```
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返回的数据中，如果有` ID 1a86:55d4 QinHeng Electronics USB Single Serial`，则物理连接成功。
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3. 查看是否成功驱动雷达
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```bash
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ls /dev/tty*
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```
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看返回数据，默认串口连接设备为`ttyACM*`，名为`ttyACM0`的设备是IMU，如果存在`ttyACM1`，则雷达连接失败；
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如果出现`ttyCH340`，则说明雷达设备驱动成功
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---
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<br></br>
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# 三、其它说明
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我设置了一些自定义指令，方便终端调试：
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```bash
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rosbuild <package_name> # 编译指定包
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build_debug <package_name> # 以调试模式编译指定包
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foxglove # 启动foxbridge
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```
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52
bashes/README.md
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52
bashes/README.md
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@@ -0,0 +1,52 @@
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## 关于雷达驱动自动配置脚本的说明
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### 在设备上配置开机自启动
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1. 放到固定位置并授权
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```bash
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sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh
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sudo chmod +x /usr/local/bin/radar-driver-switch.sh
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sudo chown root:root /usr/local/bin/radar-driver-switch.sh
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```
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2. 创建 systemd 服务文件
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```bash
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sudo vim /etc/systemd/system/radar-driver-switch.service
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```
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编辑内容：
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```ini
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[Unit]
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Description=雷达驱动自动切换程序
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After=sysfs.target udev.target systemd-udevd.service
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Before=multi-user.target
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[Service]
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Type=oneshot
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ExecStart=/usr/local/bin/radar-driver-switch.sh
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User=root
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Group=root
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StandardOutput=journal+console
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StandardError=journal+console
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[Install]
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WantedBy=multi-user.target
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```
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3. 应用开机自启
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```bash
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sudo systemctl daemon-reload
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sudo systemctl enable radar-driver-switch.service
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```
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4. 测试与debug
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- 测试一次
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```bash
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sudo systemctl start radar-driver-switch.service
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```
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- 查看状态 / 日志（排查必用）
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```bash
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sudo systemctl status radar-driver-switch.service
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```
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- 看 dmesg 日志
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```bash
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dmesg | grep 雷达驱动自动切换程序
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```
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---
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### 特别说明
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1. 关于退出码对应的情况，详见sh文件开头
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2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看
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101
bashes/radar-driver-switch.sh
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101
bashes/radar-driver-switch.sh
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#!/bin/bash
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# 退出码说明
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# 0 - 成功
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# 1 - 错误：等待TTY设备就绪超时
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# 2 - 错误：未找到CH343驱动
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# 3 - 错误：雷达端口上未找到CH34x设备
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# 4 - 错误：未从cdc_acm找到雷达接口
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# 5 - 错误：解绑cdc_acm驱动失败
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# 6 - 错误：绑定usb_ch343驱动失败
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# ── 配置 ────────────────────────────────────────────
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TTY_DEVICE="/dev/ttyACM*"
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CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
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USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
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RADAR_USB_PORT="1-1.4" # 雷达 CH34x 的 USB 物理端口（固定不变）
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CHECK_INTERVAL=1
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MAX_WAIT_SECONDS=30
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# ── 初始化 ──────────────────────────────────────────
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start_time=$(cut -d. -f1 /proc/uptime)
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# ── 1. 等待 TTY 设备就绪 ────────────────────────────
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while true; do
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for dev in /dev/ttyACM*; do
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[ -e "$dev" ] || continue
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if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
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echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
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TTY_DEVICE="$dev"
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break 2
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fi
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done
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if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
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current_time=$(cut -d. -f1 /proc/uptime)
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elapsed_seconds=$((current_time - start_time))
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if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then
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echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg
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exit 1
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fi
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echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
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fi
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sleep ${CHECK_INTERVAL}
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done
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# ── 2. 确认 CH343 驱动已加载 ────────────────────────
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if [ -d "${USB_CH343_PATH}" ]; then
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echo "[雷达驱动自动切换程序] CH343驱动已加载，继续..." > /dev/kmsg
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else
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echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
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exit 2
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fi
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# ── 3. 通过物理端口定位雷达 CH34x ───────────────────
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radar_sysfs="/sys/bus/usb/devices/${RADAR_USB_PORT}"
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if [ ! -d "${radar_sysfs}" ]; then
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echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上无设备！" > /dev/kmsg
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exit 3
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fi
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vendor_id=$(cat "${radar_sysfs}/idVendor" 2>/dev/null)
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product_id=$(cat "${radar_sysfs}/idProduct" 2>/dev/null)
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if [ "${vendor_id}" != "1a86" ] || [ "${product_id}" != "55d4" ]; then
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echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上 VID:PID=${vendor_id}:${product_id}，非雷达CH34x！" > /dev/kmsg
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exit 3
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fi
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echo "[雷达驱动自动切换程序] 雷达确认位于端口 ${RADAR_USB_PORT}，VID:PID=${vendor_id}:${product_id}" > /dev/kmsg
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# ── 4. 查找 cdc_acm 下雷达的接口 ────────────────────
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cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${RADAR_USB_PORT}:" | head -n 1)
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if [ -z "${cdc_acm_sub_addr}" ]; then
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echo "[雷达驱动自动切换程序] 错误：cdc_acm驱动中未找到端口 ${RADAR_USB_PORT} 的接口" > /dev/kmsg
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exit 4
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fi
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echo "[雷达驱动自动切换程序] 雷达 cdc_acm 接口：${cdc_acm_sub_addr}" > /dev/kmsg
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# ── 5. 解绑 cdc_acm ─────────────────────────────────
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echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" > /dev/null 2>&1
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if [ $? -eq 0 ]; then
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echo "[雷达驱动自动切换程序] 已解绑 cdc_acm：${cdc_acm_sub_addr}" > /dev/kmsg
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else
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echo "[雷达驱动自动切换程序] 错误：解绑 cdc_acm 失败" > /dev/kmsg
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exit 5
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fi
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# ── 6. 绑定 ch343 ───────────────────────────────────
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echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" > /dev/null 2>&1
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if [ $? -eq 0 ]; then
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echo "[雷达驱动自动切换程序] 已绑定 usb_ch343：${cdc_acm_sub_addr}" > /dev/kmsg
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else
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echo "[雷达驱动自动切换程序] 错误：绑定 usb_ch343 失败" > /dev/kmsg
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exit 6
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fi
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echo "[雷达驱动自动切换程序] 雷达驱动切换完毕！" > /dev/kmsg
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exit 0
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129
bashes/radar-driver-switch.sh.bak
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129
bashes/radar-driver-switch.sh.bak
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@@ -0,0 +1,129 @@
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#!/bin/bash
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# 退出码说明
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# 0 - 成功
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# 1 - 错误：等待TTY设备就绪超时
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# 2 - 错误：未找到CH343驱动
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# 3 - 错误：未找到含Qingheng的USB设备
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# 4 - 错误：未找到对应USB地址
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# 5 - 错误：未找到cdc_acm绑定的对应USB设备
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# 6 - 错误：解绑cdc_acm驱动失败
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# 7 - 错误：绑定usb_ch343驱动失败
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# 变量设置
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TTY_DEVICE="/dev/ttyACM*" # 替换为你要等待的tty设备路径
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CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
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USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
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CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒）
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MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待
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# 初始化变量
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start_time=$(cut -d. -f1 /proc/uptime)
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current_time=0
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qinheng_id=""
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usb_address=""
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vendor_id=""
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product_id=""
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cdc_acm_sub_addr=""
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# ----------------- 1. 等待TTY设备就绪 -----------------
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# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写）
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while true; do
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for dev in /dev/ttyACM*; do
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[ -e "$dev" ] || continue
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if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
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echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
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TTY_DEVICE="$dev"
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break 2 # 跳出两层循环
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fi
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done
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if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
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current_time=$(cut -d. -f1 /proc/uptime)
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elapsed_seconds=$((current_time - start_time))
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if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then
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echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg
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exit 1
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fi
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echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
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fi
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sleep ${CHECK_INTERVAL}
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done
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# ------ 2. 查看CH343是否存在 ------
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if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then
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echo "[雷达驱动自动切换程序] 检测到CH343驱动存在，继续执行..." > /dev/kmsg
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else
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echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
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exit 2
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fi
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# ------------- 3. 查找Qingheng对应的usb接口 -------------
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echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg
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# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑）
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qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1)
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# 检查是否提取到ID
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if [ -z "${qinheng_id}" ]; then
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echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg
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exit 3
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else
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echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg
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# 将ID拆分为vendor_id和product_id
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vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1)
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product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2)
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fi
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# -------------------- 4. 提取USB地址 --------------------
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echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg
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# 核心命令：过滤dmesg日志，提取USB地址
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usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1)
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# 检查是否提取到USB地址
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if [ -z "${usb_address}" ]; then
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echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg
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exit 4
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else
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echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg
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fi
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# ---- 5. 找到cdc_acm驱动对应的usb设备 ----
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echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg
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cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1)
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if [ -z "${cdc_acm_sub_addr}" ]; then
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echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg
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exit 5
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else
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echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg
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fi
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||||
# 6. 切换驱动
|
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echo "[雷达驱动自动切换程序] 开始切换cdc_acm驱动到USB地址${usb_address}..." > /dev/kmsg
|
||||
|
||||
echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" 2>/dev/null
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "[雷达驱动自动切换程序] 成功解绑cdc_acm驱动：${cdc_acm_sub_addr}" > /dev/kmsg
|
||||
else
|
||||
echo "[雷达驱动自动切换程序] 错误：解绑cdc_acm驱动失败" > /dev/kmsg
|
||||
exit 6
|
||||
fi
|
||||
|
||||
echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" 2>/dev/null
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "[雷达驱动自动切换程序] 成功绑定usb_ch343驱动：${cdc_acm_sub_addr}" > /dev/kmsg
|
||||
else
|
||||
echo "[雷达驱动自动切换程序] 错误：绑定usb_ch343驱动失败（检查驱动是否加载）" > /dev/kmsg
|
||||
exit 7
|
||||
fi
|
||||
|
||||
|
||||
# 执行完成
|
||||
echo "[雷达驱动自动切换程序] 雷达驱动自动切换完毕！" > /dev/kmsg
|
||||
|
||||
exit 0
|
||||
Reference in New Issue
Block a user