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2026-06-08 16:23:08 +08:00
parent ea7b0e13c7
commit e047c10277
6 changed files with 200 additions and 76 deletions
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.vscode/browse.vc.db-shm vendored
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116
bashes/radar-driver-switch.sh
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@@ -4,38 +4,30 @@
# 0 - 成功 # 0 - 成功
# 1 - 错误：等待TTY设备就绪超时 # 1 - 错误：等待TTY设备就绪超时
# 2 - 错误：未找到CH343驱动 # 2 - 错误：未找到CH343驱动
# 3 - 错误：未找到含Qingheng的USB设备 # 3 - 错误：雷达端口上未找到CH34x设备
# 4 - 错误：未找到对应USB地址 # 4 - 错误：未从cdc_acm找到雷达接口
# 5 - 错误：未找到cdc_acm绑定的对应USB设备 # 5 - 错误：解绑cdc_acm驱动失败
# 6 - 错误：解绑cdc_acm驱动失败 # 6 - 错误：绑定usb_ch343驱动失败
# 7 - 错误：绑定usb_ch343驱动失败
# 变量设置 # ── 配置 ────────────────────────────────────────────
TTY_DEVICE="/dev/ttyACM*" # 替换为你要等待的tty设备路径 TTY_DEVICE="/dev/ttyACM*"
CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm" CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343" USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒） RADAR_USB_PORT="1-1.4" # 雷达 CH34x 的 USB 物理端口（固定不变）
MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待 CHECK_INTERVAL=1
MAX_WAIT_SECONDS=30
# 初始化变量 # ── 初始化 ──────────────────────────────────────────
start_time=$(cut -d. -f1 /proc/uptime) start_time=$(cut -d. -f1 /proc/uptime)
current_time=0
qinheng_id=""
usb_address=""
vendor_id=""
product_id=""
cdc_acm_sub_addr=""
# ── 1. 等待 TTY 设备就绪 ────────────────────────────
# ----------------- 1. 等待TTY设备就绪 -----------------
# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写）
while true; do while true; do
for dev in /dev/ttyACM*; do for dev in /dev/ttyACM*; do
[ -e "$dev" ] || continue [ -e "$dev" ] || continue
if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
TTY_DEVICE="$dev" TTY_DEVICE="$dev"
break 2 # 跳出两层循环 break 2
fi fi
done done
@@ -48,82 +40,62 @@ while true; do
fi fi
echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
fi fi
sleep ${CHECK_INTERVAL} sleep ${CHECK_INTERVAL}
done done
# ------ 2. 查看CH343是否存在 ------ # ── 2. 确认 CH343 驱动已加载 ────────────────────────
if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then if [ -d "${USB_CH343_PATH}" ]; then
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 echo "[雷达驱动自动切换程序] CH343驱动已加载，继续..." > /dev/kmsg
else else
echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
exit 2 exit 2
fi fi
# ── 3. 通过物理端口定位雷达 CH34x ───────────────────
radar_sysfs="/sys/bus/usb/devices/${RADAR_USB_PORT}"
# ------------- 3. 查找Qingheng对应的usb接口 ------------- if [ ! -d "${radar_sysfs}" ]; then
echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上无设备！" > /dev/kmsg
# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑）
qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1)
# 检查是否提取到ID
if [ -z "${qinheng_id}" ]; then
echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg
exit 3 exit 3
else
echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg
# 将ID拆分为vendor_id和product_id
vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1)
product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2)
fi fi
# -------------------- 4. 提取USB地址 -------------------- vendor_id=$(cat "${radar_sysfs}/idVendor" 2>/dev/null)
echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg product_id=$(cat "${radar_sysfs}/idProduct" 2>/dev/null)
# 核心命令：过滤dmesg日志，提取USB地址
usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1)
# 检查是否提取到USB地址 if [ "${vendor_id}" != "1a86" ] || [ "${product_id}" != "55d4" ]; then
if [ -z "${usb_address}" ]; then echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上 VID:PID=${vendor_id}:${product_id}，非雷达CH34x！" > /dev/kmsg
echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg exit 3
exit 4
else
echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg
fi fi
# ---- 5. 找到cdc_acm驱动对应的usb设备 ---- 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}:${product_id}" > /dev/kmsg
echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg
cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1) # ── 4. 查找 cdc_acm 下雷达的接口 ────────────────────
cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${RADAR_USB_PORT}:" | head -n 1)
if [ -z "${cdc_acm_sub_addr}" ]; then if [ -z "${cdc_acm_sub_addr}" ]; then
echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg echo "[雷达驱动自动切换程序] 错误：cdc_acm驱动中未找到端口 ${RADAR_USB_PORT} 的接口" > /dev/kmsg
exit 5 exit 4
else
echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg
fi fi
# 6. 切换驱动 echo "[雷达驱动自动切换程序] 雷达 cdc_acm 接口：${cdc_acm_sub_addr}" > /dev/kmsg
echo "[雷达驱动自动切换程序] 开始切换cdc_acm驱动到USB地址${usb_address}..." > /dev/kmsg
echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" 2>/dev/null # ── 5. 解绑 cdc_acm ─────────────────────────────────
echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" > /dev/null 2>&1
if [ $? -eq 0 ]; then 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 echo "[雷达驱动自动切换程序] 已解绑 cdc_acm：${cdc_acm_sub_addr}" > /dev/kmsg
else else
echo "[雷达驱动自动切换程序] 错误：解绑cdc_acm驱动失败" > /dev/kmsg echo "[雷达驱动自动切换程序] 错误：解绑 cdc_acm 失败" > /dev/kmsg
exit 5
fi
# ── 6. 绑定 ch343 ───────────────────────────────────
echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" > /dev/null 2>&1
if [ $? -eq 0 ]; then
echo "[雷达驱动自动切换程序] 已绑定 usb_ch343：${cdc_acm_sub_addr}" > /dev/kmsg
else
echo "[雷达驱动自动切换程序] 错误：绑定 usb_ch343 失败" > /dev/kmsg
exit 6 exit 6
fi fi
echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" 2>/dev/null echo "[雷达驱动自动切换程序] 雷达驱动切换完毕！" > /dev/kmsg
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 exit 0

129
bashes/radar-driver-switch.sh.bak Normal file
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@@ -0,0 +1,129 @@
#!/bin/bash
# 退出码说明
# 0 - 成功
# 1 - 错误：等待TTY设备就绪超时
# 2 - 错误：未找到CH343驱动
# 3 - 错误：未找到含Qingheng的USB设备
# 4 - 错误：未找到对应USB地址
# 5 - 错误：未找到cdc_acm绑定的对应USB设备
# 6 - 错误：解绑cdc_acm驱动失败
# 7 - 错误：绑定usb_ch343驱动失败
# 变量设置
TTY_DEVICE="/dev/ttyACM*" # 替换为你要等待的tty设备路径
CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒）
MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待
# 初始化变量
start_time=$(cut -d. -f1 /proc/uptime)
current_time=0
qinheng_id=""
usb_address=""
vendor_id=""
product_id=""
cdc_acm_sub_addr=""
# ----------------- 1. 等待TTY设备就绪 -----------------
# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写）
while true; do
for dev in /dev/ttyACM*; do
[ -e "$dev" ] || continue
if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
TTY_DEVICE="$dev"
break 2 # 跳出两层循环
fi
done
if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
current_time=$(cut -d. -f1 /proc/uptime)
elapsed_seconds=$((current_time - start_time))
if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then
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
exit 1
fi
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
fi
sleep ${CHECK_INTERVAL}
done
# ------ 2. 查看CH343是否存在 ------
if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then
echo "[雷达驱动自动切换程序] 检测到CH343驱动存在，继续执行..." > /dev/kmsg
else
echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
exit 2
fi
# ------------- 3. 查找Qingheng对应的usb接口 -------------
echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg
# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑）
qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1)
# 检查是否提取到ID
if [ -z "${qinheng_id}" ]; then
echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg
exit 3
else
echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg
# 将ID拆分为vendor_id和product_id
vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1)
product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2)
fi
# -------------------- 4. 提取USB地址 --------------------
echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg
# 核心命令：过滤dmesg日志，提取USB地址
usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1)
# 检查是否提取到USB地址
if [ -z "${usb_address}" ]; then
echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg
exit 4
else
echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg
fi
# ---- 5. 找到cdc_acm驱动对应的usb设备 ----
echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg
cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1)
if [ -z "${cdc_acm_sub_addr}" ]; then
echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg
exit 5
else
echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg
fi
# 6. 切换驱动
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

1
src/ground_slam Submodule

Submodule src/ground_slam added at 287e3077d7

5
src/origincar_base/launch/robot_mode_description.launch.py
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@@ -8,13 +8,16 @@ from launch.actions import (DeclareLaunchArgument, GroupAction,LogInfo,
IncludeLaunchDescription, SetEnvironmentVariable) IncludeLaunchDescription, SetEnvironmentVariable)
from launch.substitutions import LaunchConfiguration from launch.substitutions import LaunchConfiguration
urdf_path = os.path.join(get_package_share_directory('origincar_description'),'urdf','origincar.urdf')
def generate_launch_description(): def generate_launch_description():
origincar_description = GroupAction([ origincar_description = GroupAction([
launch_ros.actions.Node( launch_ros.actions.Node(
package='robot_state_publisher', package='robot_state_publisher',
executable='robot_state_publisher', executable='robot_state_publisher',
name='robot_state_publisher', name='robot_state_publisher',
arguments=[os.path.join(get_package_share_directory('origincar_description'),'urdf','origincar.urdf')] parameters=[{'robot_description': open(urdf_path).read()}],
arguments=[]
) )
]) ])

19
调试记录.log Normal file
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@@ -0,0 +1,19 @@
2026/6/1
16:12
关闭了雷达的自启动服务。
\TODO lsusb无法识别雷达usb设备，原本属于lslidar的 QinHeng Electronics USB Single Serial被赋予给了下位机的IMU设备。下面是lsusb的输出：
Bus 002 Device 002: ID 05e3:0626 Genesys Logic, Inc. USB3.1 Hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 004: ID 2ce3:0010 Alcorlink Corp. USB 2.0 Camera
Bus 001 Device 003: ID 1a86:55d4 QinHeng Electronics USB Single Serial
Bus 001 Device 002: ID 05e3:0610 Genesys Logic, Inc. Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
拔插之后lslidar后无改变
串口设备仅有ttyACM0，无ttyACM1.
16:48
雷达串口问题解决，原因是type-c转接线的芯片问题，换了一条转接线后雷达串口设备正常显示为ttyACM0和ttyACM1了。