清理了一些没有用到的vlm_detect文件

bashes/radar-driver-switch.sh

@@ -1,101 +1,172 @@
-#!/bin/bash
+#!/usr/bin/env bash
+set -euo pipefail
 
-# 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：雷达端口上未找到CH34x设备
-# 4 - 错误：未从cdc_acm找到雷达接口
-# 5 - 错误：解绑cdc_acm驱动失败
-# 6 - 错误：绑定usb_ch343驱动失败
+# Physical USB ports on the RDKx5 carrier.
+RADAR_PORT="1-1.4"
+IMU_PORT="1-1.1"
 
-# ── 配置 ────────────────────────────────────────────
-TTY_DEVICE="/dev/ttyACM*"
-CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
-USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
-RADAR_USB_PORT="1-1.4"          # 雷达 CH34x 的 USB 物理端口（固定不变）
-CHECK_INTERVAL=1
-MAX_WAIT_SECONDS=30
+# RADAR -> usb_ch343, IMU -> cdc_acm.
+RADAR_DRIVER="usb_ch343"
+IMU_DRIVER="cdc_acm"
 
-# ── 初始化 ──────────────────────────────────────────
-start_time=$(cut -d. -f1 /proc/uptime)
+DRIVER_ROOT="/sys/bus/usb/drivers"
+MAX_WAIT_SECONDS="${MAX_WAIT_SECONDS:-30}"
+WAIT_INTERVAL_SECONDS="${WAIT_INTERVAL_SECONDS:-1}"
+INTERFACES=()
 
-# ── 1. 等待 TTY 设备就绪 ────────────────────────────
-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
+log() {
+    local message="[radar-driver-switch] $*"
+    if [ -w /dev/kmsg ]; then
+        printf '%s\n' "$message" > /dev/kmsg
+    else
+        printf '%s\n' "$message"
+    fi
+}
+
+load_driver() {
+    local driver="$1"
+    case "$driver" in
+        cdc_acm)
+            modprobe cdc_acm 2>/dev/null || true
+            ;;
+        usb_ch343)
+            modprobe ch343 2>/dev/null || true
+            ;;
+    esac
+}
+
+driver_path() {
+    printf '%s/%s\n' "$DRIVER_ROOT" "$1"
+}
+
+require_driver() {
+    local driver="$1"
+    local path
+    path="$(driver_path "$driver")"
+    if [ ! -d "$path" ]; then
+        log "error: driver path missing: $path"
+        exit 2
+    fi
+}
+
+collect_interfaces() {
+    local port="$1"
+    shopt -s nullglob
+    INTERFACES=(/sys/bus/usb/devices/"${port}":*)
+    shopt -u nullglob
+    [ "${#INTERFACES[@]}" -gt 0 ]
+}
+
+wait_for_interfaces() {
+    local label="$1"
+    local port="$2"
+    local attempt=0
+    while [ "$attempt" -le "$MAX_WAIT_SECONDS" ]; do
+        if collect_interfaces "$port"; then
+            return 0
+        fi
+        log "waiting for $label port $port interfaces (${attempt}s)"
+        sleep "$WAIT_INTERVAL_SECONDS"
+        attempt=$((attempt + WAIT_INTERVAL_SECONDS))
+    done
+    log "error: timed out waiting for $label port $port interfaces"
+    exit 1
+}
+
+current_driver() {
+    local iface="$1"
+    local target
+    target="$(readlink -f "$iface/driver" 2>/dev/null || true)"
+    if [ -n "$target" ]; then
+        basename "$target"
+    fi
+}
+
+unbind_from_current_driver() {
+    local iface="$1"
+    local iface_name
+    local driver
+    iface_name="$(basename "$iface")"
+    driver="$(current_driver "$iface")"
+    if [ -z "$driver" ]; then
+        return 0
+    fi
+    if [ ! -w "$(driver_path "$driver")/unbind" ]; then
+        log "error: cannot unbind $iface_name from $driver"
+        exit 5
+    fi
+    printf '%s\n' "$iface_name" > "$(driver_path "$driver")/unbind"
+    log "unbound $iface_name from $driver"
+}
+
+bind_to_driver() {
+    local iface="$1"
+    local driver="$2"
+    local iface_name
+    local bind_path
+    iface_name="$(basename "$iface")"
+    bind_path="$(driver_path "$driver")/bind"
+    if [ ! -w "$bind_path" ]; then
+        log "error: cannot bind $iface_name to $driver"
+        exit 6
+    fi
+    if printf '%s\n' "$iface_name" > "$bind_path" 2>/dev/null; then
+        log "bound $iface_name to $driver"
+    else
+        log "warning: $iface_name did not bind to $driver"
+    fi
+}
+
+ensure_port_bound() {
+    local label="$1"
+    local port="$2"
+    local desired_driver="$3"
+    local iface
+    local iface_name
+    local driver
+    local bound_count=0
+
+    wait_for_interfaces "$label" "$port"
+
+    for iface in "${INTERFACES[@]}"; do
+        iface_name="$(basename "$iface")"
+        driver="$(current_driver "$iface")"
+        if [ "$driver" = "$desired_driver" ]; then
+            log "$label $iface_name already uses $desired_driver"
+            bound_count=$((bound_count + 1))
+            continue
+        fi
+
+        if [ -n "$driver" ]; then
+            unbind_from_current_driver "$iface"
+            sleep 0.2
+        fi
+
+        bind_to_driver "$iface" "$desired_driver"
+        sleep 0.2
+        driver="$(current_driver "$iface")"
+        if [ "$driver" = "$desired_driver" ]; then
+            bound_count=$((bound_count + 1))
         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
+    if [ "$bound_count" -eq 0 ]; then
+        log "error: no $label interface on $port is bound to $desired_driver"
+        exit 7
     fi
-    sleep ${CHECK_INTERVAL}
-done
+}
 
-# ── 2. 确认 CH343 驱动已加载 ────────────────────────
-if [ -d "${USB_CH343_PATH}" ]; then
-    echo "[雷达驱动自动切换程序] CH343驱动已加载，继续..." > /dev/kmsg
-else
-    echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
-    exit 2
-fi
+main() {
+    load_driver "$RADAR_DRIVER"
+    load_driver "$IMU_DRIVER"
+    require_driver "$RADAR_DRIVER"
+    require_driver "$IMU_DRIVER"
 
-# ── 3. 通过物理端口定位雷达 CH34x ───────────────────
-radar_sysfs="/sys/bus/usb/devices/${RADAR_USB_PORT}"
+    ensure_port_bound "RADAR" "$RADAR_PORT" "$RADAR_DRIVER"
+    ensure_port_bound "IMU" "$IMU_PORT" "$IMU_DRIVER"
 
-if [ ! -d "${radar_sysfs}" ]; then
-    echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上无设备！" > /dev/kmsg
-    exit 3
-fi
+    udevadm settle --timeout=5 2>/dev/null || true
+    log "done; serial devices: $(ls /dev/ttyACM* /dev/ttyCH343USB* 2>/dev/null | tr '\n' ' ')"
+}
 
-vendor_id=$(cat "${radar_sysfs}/idVendor" 2>/dev/null)
-product_id=$(cat "${radar_sysfs}/idProduct" 2>/dev/null)
-
-if [ "${vendor_id}" != "1a86" ] || [ "${product_id}" != "55d4" ]; 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
-    exit 3
-fi
-
-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}:${product_id}" > /dev/kmsg
-
-# ── 4. 查找 cdc_acm 下雷达的接口 ────────────────────
-cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${RADAR_USB_PORT}:" | head -n 1)
-
-if [ -z "${cdc_acm_sub_addr}" ]; then
-    echo "[雷达驱动自动切换程序] 错误：cdc_acm驱动中未找到端口 ${RADAR_USB_PORT} 的接口" > /dev/kmsg
-    exit 4
-fi
-
-echo "[雷达驱动自动切换程序] 雷达 cdc_acm 接口：${cdc_acm_sub_addr}" > /dev/kmsg
-
-# ── 5. 解绑 cdc_acm ─────────────────────────────────
-echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" > /dev/null 2>&1
-if [ $? -eq 0 ]; then
-    echo "[雷达驱动自动切换程序] 已解绑 cdc_acm：${cdc_acm_sub_addr}" > /dev/kmsg
-else
-    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
-fi
-
-echo "[雷达驱动自动切换程序] 雷达驱动切换完毕！" > /dev/kmsg
-exit 0
+main "$@"