add wust typr mpc and mutipule x
This commit is contained in:
cyy_mac
6
wust_vision-main/script/install_depences.sh
Executable file
6
wust_vision-main/script/install_depences.sh
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#!/usr/bin/env bash
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sudo apt update && sudo apt install -y \
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rsync ninja-build \
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libfmt-dev libceres-dev libeigen3-dev \
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nlohmann-json3-dev libyaml-cpp-dev
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28
wust_vision-main/script/rsync.sh
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28
wust_vision-main/script/rsync.sh
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#!/usr/bin/env bash
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SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
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WORK_DIR="$(dirname "$SCRIPT_DIR")"
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echo "脚本目录: $SCRIPT_DIR"
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echo "wust_vision目录: $WORK_DIR"
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# 用法说明
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if [ $# -ne 2 ]; then
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echo "Usage: $0 <remote_user> <remote_ip>"
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echo "Example:"
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echo " $0 nvidiaa 192.168.10.100"
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exit 1
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fi
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REMOTE_USER="$1"
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REMOTE_IP="$2"
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TARGET_PATH="/home/${REMOTE_USER}/wust_vision"
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rsync -avz \
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--exclude='.cache/' \
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--exclude='.vscode/' \
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--exclude='.git/' \
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--exclude='bin/' \
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--exclude='build/' \
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--exclude='model/' \
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--exclude='config/' \
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--exclude='CMakeLists.txt' \
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"${WORK_DIR}/" \
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"${REMOTE_USER}@${REMOTE_IP}:${TARGET_PATH}/"
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65
wust_vision-main/script/setup_devenv.sh
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65
wust_vision-main/script/setup_devenv.sh
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#!/usr/bin/env bash
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set -euo pipefail
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BASHRC="$HOME/.bashrc"
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MARKER_START="# >>> wust_vision dev >>>"
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MARKER_END="# <<< wust_vision dev <<<"
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BACKUP="$BASHRC.bak.$(date +%Y%m%d_%H%M%S)"
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# 备份
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cp "$BASHRC" "$BACKUP"
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echo "💾 已备份 $BASHRC 到 $BACKUP"
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# 临时文件
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TMP=$(mktemp)
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# 写入 bashrc 除去旧 block
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awk -v start="$MARKER_START" -v end="$MARKER_END" '
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$0 == start {inside=1; next}
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inside && $0 == end {inside=0; next}
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!inside {print}
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' "$BASHRC" > "$TMP"
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# 使用 cat <<EOF 方式追加 block，保证特殊字符安全
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cat <<'EOF' >> "$TMP"
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# >>> wust_vision dev >>>
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py() {
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source ~/anaconda3/etc/profile.d/conda.sh
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echo "已激活 conda, conda activate激活环境，conda deactivate退出环境， conda info --envs查看环境"
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}
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buildme() {
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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}
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builddebug() {
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colcon build --packages-select "$1" --cmake-args -DCMAKE_BUILD_TYPE=Debug
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}
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killros() {
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pkill -f ros && ros2 daemon stop && ros2 daemon start
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}
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format() {
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find . -path ./build -prune -o \
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-type f \( -name '*.h' -o -name '*.hpp' -o -name '*.c' -o -name '*.cu' -o -name '*.cpp' \) \
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-exec clang-format -i {} +
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}
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s() {
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source install/setup.bash
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}
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hik() {
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export MVCAM_SDK_PATH=/opt/MVS
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export MVCAM_COMMON_RUNENV=/opt/MVS/lib
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export MVCAM_GENICAM_CLPROTOCOL=/opt/MVS/lib/CLProtocol
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export ALLUSERSPROFILE=/opt/MVS/MVFG
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export LD_LIBRARY_PATH=/opt/MVS/lib/64:/opt/MVS/lib/32:$LD_LIBRARY_PATH
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}
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# <<< wust_vision dev <<<
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EOF
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# 原子替换
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mv "$TMP" "$BASHRC"
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echo "✅ 已安全替换或追加 block 到 $BASHRC"
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109
wust_vision-main/script/setup_service.sh
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109
wust_vision-main/script/setup_service.sh
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#!/usr/bin/env bash
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# 自动管理 systemd service 文件
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# 工作目录 = 脚本所在路径的上一级目录
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SERVICE_NAME="wust_vision"
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SERVICE_FILE="/etc/systemd/system/${SERVICE_NAME}.service"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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WORK_DIR="$(dirname "$SCRIPT_DIR")"
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ACTION=$1
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echo "正在操作： standard"
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echo "📂 脚本路径: $SCRIPT_DIR"
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echo "🏗 工作区路径: $WORK_DIR"
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echo "🧾 目标 Service 文件: $SERVICE_FILE"
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echo
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uninstall_service() {
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if [[ ! -f "$SERVICE_FILE" ]]; then
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echo "⚠️ Service 文件不存在，无需卸载。"
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exit 0
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fi
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echo "🛑 停止并卸载 Service..."
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sudo systemctl stop "${SERVICE_NAME}.service" 2>/dev/null || true
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sudo systemctl disable "${SERVICE_NAME}.service" 2>/dev/null || true
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sudo rm -f "$SERVICE_FILE"
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sudo systemctl daemon-reload
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echo "✅ Service 已成功卸载。"
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exit 0
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}
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install_service() {
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if [[ -f "$SERVICE_FILE" ]]; then
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echo "⚠️ 检测到已存在的 Service 文件：$SERVICE_FILE"
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read -p "是否覆盖？(y/N): " confirm
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if [[ "$confirm" != "y" && "$confirm" != "Y" ]]; then
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echo "🚫 已取消安装。"
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exit 0
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else
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echo "🧹 删除旧版本 Service..."
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sudo systemctl stop ${SERVICE_NAME}.service 2>/dev/null || true
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sudo systemctl disable ${SERVICE_NAME}.service 2>/dev/null || true
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sudo rm -f "$SERVICE_FILE"
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fi
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fi
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echo "✏️ 正在生成新的 Service 文件..."
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sudo tee "$SERVICE_FILE" > /dev/null <<EOF
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[Unit]
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Description=Wust Vision Standard Service
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After=network.target
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[Service]
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Type=simple
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User=root
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WorkingDirectory=${WORK_DIR}
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ExecStart=${WORK_DIR}/run.sh run standard false
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Restart=always
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RestartSec=5
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StandardOutput=journal
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StandardError=journal
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[Install]
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WantedBy=multi-user.target
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EOF
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sudo chmod 644 "$SERVICE_FILE"
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sudo systemctl daemon-reload
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sudo systemctl enable "${SERVICE_NAME}.service"
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sudo systemctl restart "${SERVICE_NAME}.service"
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echo
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echo "✅ Service 已生成并启动成功！"
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echo "🔍 查看状态：sudo systemctl status ${SERVICE_NAME}.service"
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echo "📜 实时日志：journalctl -u ${SERVICE_NAME}.service -f"
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}
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if [[ -z "$ACTION" ]]; then
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echo "❌ 请输入要执行的操作：$0 [install|uninstall|start|stop|restart|status|journal]"
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exit 1
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fi
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case "$ACTION" in
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install) install_service ;;
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uninstall) uninstall_service ;;
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start)
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sudo systemctl start "${SERVICE_NAME}.service"
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echo "✅ Service 已启动"
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;;
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stop)
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sudo systemctl stop "${SERVICE_NAME}.service"
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echo "🛑 Service 已停止"
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;;
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restart)
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sudo systemctl restart "${SERVICE_NAME}.service"
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echo "🔄 Service 已重启"
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;;
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status)
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sudo systemctl status "${SERVICE_NAME}.service"
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;;
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journal)
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sudo journalctl -u "${SERVICE_NAME}.service" -f
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;;
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*)
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echo "❌ 参数错误: $0 [install|uninstall|start|stop|restart|status|journal]"
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exit 1
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;;
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esac
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109
wust_vision-main/script/setup_service_sentry.sh
Executable file
109
wust_vision-main/script/setup_service_sentry.sh
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@@ -0,0 +1,109 @@
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#!/usr/bin/env bash
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# 自动管理 systemd service 文件
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# 工作目录 = 脚本所在路径的上一级目录
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SERVICE_NAME="wust_vision"
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SERVICE_FILE="/etc/systemd/system/${SERVICE_NAME}.service"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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WORK_DIR="$(dirname "$SCRIPT_DIR")"
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ACTION=$1
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echo "正在操作： sentry"
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echo "📂 脚本路径: $SCRIPT_DIR"
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echo "🏗 工作区路径: $WORK_DIR"
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echo "🧾 目标 Service 文件: $SERVICE_FILE"
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echo
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uninstall_service() {
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if [[ ! -f "$SERVICE_FILE" ]]; then
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echo "⚠️ Service 文件不存在，无需卸载。"
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exit 0
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fi
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echo "🛑 停止并卸载 Service..."
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sudo systemctl stop "${SERVICE_NAME}.service" 2>/dev/null || true
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sudo systemctl disable "${SERVICE_NAME}.service" 2>/dev/null || true
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sudo rm -f "$SERVICE_FILE"
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sudo systemctl daemon-reload
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echo "✅ Service 已成功卸载。"
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exit 0
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}
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install_service() {
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if [[ -f "$SERVICE_FILE" ]]; then
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echo "⚠️ 检测到已存在的 Service 文件：$SERVICE_FILE"
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read -p "是否覆盖？(y/N): " confirm
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if [[ "$confirm" != "y" && "$confirm" != "Y" ]]; then
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echo "🚫 已取消安装。"
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exit 0
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else
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echo "🧹 删除旧版本 Service..."
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sudo systemctl stop ${SERVICE_NAME}.service 2>/dev/null || true
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sudo systemctl disable ${SERVICE_NAME}.service 2>/dev/null || true
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sudo rm -f "$SERVICE_FILE"
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fi
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fi
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echo "✏️ 正在生成新的 Service 文件..."
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sudo tee "$SERVICE_FILE" > /dev/null <<EOF
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[Unit]
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Description=Wust Vision Standard Service
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After=network.target
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[Service]
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Type=simple
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User=root
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WorkingDirectory=${WORK_DIR}
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ExecStart=${WORK_DIR}/run.sh run sentry false
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Restart=always
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RestartSec=5
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StandardOutput=journal
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StandardError=journal
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[Install]
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WantedBy=multi-user.target
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EOF
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sudo chmod 644 "$SERVICE_FILE"
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sudo systemctl daemon-reload
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sudo systemctl enable "${SERVICE_NAME}.service"
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sudo systemctl restart "${SERVICE_NAME}.service"
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echo
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echo "✅ Service 已生成并启动成功！"
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echo "🔍 查看状态：sudo systemctl status ${SERVICE_NAME}.service"
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echo "📜 实时日志：journalctl -u ${SERVICE_NAME}.service -f"
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}
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if [[ -z "$ACTION" ]]; then
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echo "❌ 请输入要执行的操作：$0 [install|uninstall|start|stop|restart|status|journal]"
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exit 1
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fi
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case "$ACTION" in
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install) install_service ;;
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uninstall) uninstall_service ;;
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start)
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sudo systemctl start "${SERVICE_NAME}.service"
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echo "✅ Service 已启动"
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;;
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stop)
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sudo systemctl stop "${SERVICE_NAME}.service"
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echo "🛑 Service 已停止"
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;;
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restart)
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sudo systemctl restart "${SERVICE_NAME}.service"
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echo "🔄 Service 已重启"
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;;
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status)
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sudo systemctl status "${SERVICE_NAME}.service"
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;;
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journal)
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sudo journalctl -u "${SERVICE_NAME}.service" -f
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;;
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*)
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echo "❌ 参数错误: $0 [install|uninstall|start|stop|restart|status|journal]"
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exit 1
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;;
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esac
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8
wust_vision-main/script/setup_udev.sh
Executable file
8
wust_vision-main/script/setup_udev.sh
Executable file
@@ -0,0 +1,8 @@
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#!/usr/bin/env bash
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sudo tee /etc/udev/rules.d/99-stm32-acm.rules > /dev/null <<EOF
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SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ATTRS{serial}=="2069398C464D", SYMLINK+="stm32_acm"
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EOF
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sudo udevadm control --reload-rules
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sudo udevadm trigger
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