IB_Robot/scripts/setup.sh-代码预览-IB_Robot:基于 LeRobot 与 ROS 2 生态的智能具身机器人开发框架 - AtomGit

BreezeWuscripts: refactor setup.sh into modular components
#!/bin/bash
# setup.sh - Workspace setup script for ROS 2 Humble
# Handles repository import, dependency installation, and environment setup
#
# Usage:
#   ./scripts/setup.sh                               # Interactive mode
#   ./scripts/setup.sh --yes                         # Auto-yes mode
#   ./scripts/setup.sh --skip-submodules             # Keep current submodule state

#   ./scripts/setup.sh --skip-verify                 # Skip final ROS/Python verification
#   ./scripts/setup.sh --platform <id>               # Override detected platform
#   ./scripts/setup.sh --help                        # Show help
#
# Auto-yes defaults:
#   - Missing submodules:       initialized
#   - Existing submodule update: skipped
#   - Fork setup:               skipped
#   - Other prompts:            confirmed automatically
set -euo pipefail

# ============================================================================
# Configuration
# ============================================================================
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
WORKSPACE="${WORKSPACE:-$(pwd)}"
AUTO_YES=false
VERBOSE=${VERBOSE:-false}
DRY_RUN=${DRY_RUN:-false}
USE_SUDO=true
SUMMARY=()
SETUP_PLATFORM_ID="unknown"
SETUP_OS_ID="unknown"
SETUP_OS_VERSION="unknown"
SETUP_OS_PRETTY_NAME="unknown"
SETUP_ARCH="unknown"
SETUP_KERNEL="unknown"
SETUP_PACKAGE_MANAGER="unknown"
SETUP_ACTIVE_VENV=""
SETUP_PYTHONPATH=""
SETUP_SHELL_PYTHON_BIN=""
SETUP_SHELL_PYTHON_VERSION=""
SETUP_BOOTSTRAP_PYTHON_BIN=""
SETUP_BOOTSTRAP_PYTHON_VERSION=""
SETUP_ROS_SETUP_PATH=""
SETUP_GPU_SUMMARY="unknown"
SETUP_RAM_SUMMARY="unknown"
SETUP_DISK_FREE_SUMMARY="unknown"
SETUP_ROS_SUMMARY="unknown"
SUDO_AUTH_READY=false
PLATFORM_OVERRIDE=""
SKIP_SUBMODULES=false

SKIP_VERIFY=false
CURRENT_STAGE="initializing"
SYSTEM_DEPS_STATUS="pending"
PYTHON_ENV_STATUS="pending"
SETUP_ROSDISTRO_INDEX_URL="${SETUP_ROSDISTRO_INDEX_URL:-https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml}"
SETUP_ROSDEP_DEFAULT_SOURCES_URL="${SETUP_ROSDEP_DEFAULT_SOURCES_URL:-https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list}"
SETUP_ROSDEP_DEFAULT_SOURCES_FILE="${SETUP_ROSDEP_DEFAULT_SOURCES_FILE:-/etc/ros/rosdep/sources.list.d/20-default.list}"
SETUP_PIP_INDEX_URL="${SETUP_PIP_INDEX_URL:-https://repo.huaweicloud.com/repository/pypi/simple/}"
SETUP_PIP_TRUSTED_HOST="${SETUP_PIP_TRUSTED_HOST:-repo.huaweicloud.com}"

# Mirror build.sh / .shrc_local: ignore ~/.local site-packages so that the
# install-time view of Python packages matches what the build/runtime sees.
# Otherwise tools installed via `pip install --user` (e.g. legacy colcon in
# ~/.local) can make setup verification pass while build.sh fails with
# "No module named colcon" because PYTHONNOUSERSITE=1 is set there.
export PYTHONNOUSERSITE=1

# NOTE on NumPy / OpenCV pinning strategy
# ---------------------------------------
# We deliberately do NOT pass `-c numpy==1.26.4` to the lerobot install.
# lerobot's transitive dependency graph (rerun-sdk, opencv, datasets, ...)
# is solved against numpy>=2.x, and forcing numpy==1.26.4 as a constraint
# during the lerobot resolution explodes pip backtracking into
# `resolution-too-deep`. Instead, we let lerobot install whatever NumPy/
# OpenCV it wants, and AFTERWARDS force-reinstall numpy==1.26.4 +
# opencv-python-headless<4.12 to restore ROS 2 Humble ABI compatibility.
# This produces a few cosmetic dependency-resolver warnings during install,
# which are harmless because we never call the numpy-2-only APIs in the
# affected packages from the ROS pipeline.

# Detect if running as root
if [[ $EUID -eq 0 ]]; then
    USE_SUDO=false
fi

# Load shared infrastructure
# shellcheck disable=SC1091
source "${SCRIPT_DIR}/setup/common.sh"
# shellcheck disable=SC1091
source "${SCRIPT_DIR}/setup/submodules.sh"
# shellcheck disable=SC1091
source "${SCRIPT_DIR}/setup/rosdep.sh"
# shellcheck disable=SC1091
source "${SCRIPT_DIR}/setup/python_venv.sh"

# Overrides for setup.sh specific logging behavior
log_done()    { SUMMARY+=("${GREEN}✓${NC} $*"); }
log_skipped() { SUMMARY+=("${YELLOW}⊘${NC} $* (skipped by --yes)"); }

# Override common.sh default (which hides output unless VERBOSE=1)
# to pass-through output for long-running operations in setup.sh
run_with_live_output() {
    local title="$1"
    shift
    log_info "${title}"
    "$@"
    return $?
}

print_banner() {
    local cols banner
    cols=$(stty size 2>/dev/null </dev/tty | awk '{print $2}') \
        || cols=$(tput cols 2>/dev/null) \
        || cols=80

    if [[ ${cols} -ge 90 ]]; then
        banner="$(cat <<'EOF'
   ██╗██████╗     ██████╗  ██████╗ ██████╗  ██████╗ ████████╗
   ██║██╔══██╗    ██╔══██╗██╔═══██╗██╔══██╗██╔═══██╗╚══██╔══╝
   ██║██████╔╝    ██████╔╝██║   ██║██████╔╝██║   ██║   ██║
   ██║██╔══██╗    ██╔══██╗██║   ██║██╔══██╗██║   ██║   ██║
   ██║██████╔╝    ██║  ██║╚██████╔╝██████╔╝╚██████╔╝   ██║
   ╚═╝╚═════╝     ╚═╝  ╚═╝ ╚═════╝ ╚═════╝  ╚═════╝    ╚═╝
EOF
)"
    elif [[ ${cols} -ge 56 ]]; then
        banner="$(cat <<'EOF'
   ██╗██████╗   ██████╗  ██████╗
   ██║██╔══██╗  ██╔══██╗██╔═══██╗
   ██║██████╔╝  ██████╔╝██║   ██║
   ██║██╔══██╗  ██╔══██╗██║   ██║
   ██║██████╔╝  ██║  ██║╚██████╔╝
   ╚═╝╚═════╝   ╚═╝  ╚═╝ ╚═════╝
EOF
)"
    else
        banner="IB Robot"
    fi

    echo ""
    echo "${banner}"
    echo ""
    echo -e "\033[38;5;245m   Intelligent BooM Robot · workspace installer${NC}"
    echo ""
}

set_stage() {
    CURRENT_STAGE="$1"
    echo ""
    echo -e "${YELLOW}▸ ${CURRENT_STAGE}...${NC}"
}

on_setup_failure() {
    local exit_code="$1"
    local line_no="$2"
    trap - ERR
    echo ""
    log_error "Setup failed during stage: ${CURRENT_STAGE} (line ${line_no})"
    if [[ ${#SUMMARY[@]} -gt 0 ]]; then
        echo -e "${YELLOW}Partial summary:${NC}"
        for entry in "${SUMMARY[@]}"; do
            echo -e "  ${entry}"
        done
    fi
    exit "${exit_code}"
}

on_setup_interrupt() {
    trap - INT
    echo ""
    log_error "Setup interrupted during stage: ${CURRENT_STAGE}"
    exit 130
}

# shellcheck disable=SC1091
source "${SCRIPT_DIR}/setup/detect.sh"
# shellcheck disable=SC1091
source "${SCRIPT_DIR}/setup/lerobot_patches.sh"

show_help() {
    cat <<'EOF'
Workspace setup script for IB_Robot

Usage:
  ./scripts/setup.sh [OPTIONS]

Options:
  -y, --yes              Auto-confirm prompts using defaults
      --sudo             Force sudo for privileged operations
      --no-sudo          Never use sudo
      --skip-submodules  Skip submodule initialization/update

      --skip-verify      Skip final ROS/Python verification
      --platform ID      Override platform detection
      --lerobot-profiles CSV
                         Override lerobot patch profile selection
                         (e.g. core,ros,hardware,ascend). Highest
                         precedence; overrides IBR_LEROBOT_PROFILES env.
  -h, --help             Show this help

Known platform IDs:
  ubuntu-22.04
  openeuler-embedded-24.03
  openharmony-5.1.0-musl
EOF
}

parse_args() {
    while [[ $# -gt 0 ]]; do
        case "$1" in
            --yes|-y) AUTO_YES=true ;;
            --no-sudo) USE_SUDO=false ;;
            --sudo) USE_SUDO=true ;;
            --skip-submodules) SKIP_SUBMODULES=true ;;

            --skip-verify) SKIP_VERIFY=true ;;
            --platform)
                shift
                if [[ $# -eq 0 ]]; then
                    log_error "--platform requires a platform ID."
                    exit 1
                fi
                PLATFORM_OVERRIDE="$1"
                ;;
            --lerobot-profiles)
                shift
                if [[ $# -eq 0 ]]; then
                    log_error "--lerobot-profiles requires a comma-separated profile list."
                    exit 1
                fi
                # Exported here (not just assigned) so detect.sh's
                # resolve_lerobot_profiles can consume it later.
                export IBR_LEROBOT_PROFILES_CLI="$1"
                ;;
            --help|-h)
                show_help
                exit 0
                ;;
            *)
                log_error "Unknown argument: $1"
                show_help
                exit 1
                ;;
        esac
        shift
    done
}

system_package_installed() {
    local package_name="$1"

    if command -v dpkg-query >/dev/null 2>&1; then
        dpkg-query -W -f='${Status}' "${package_name}" 2>/dev/null | grep -q "install ok installed"
        return $?
    fi

    if command -v rpm >/dev/null 2>&1; then
        rpm -q "${package_name}" >/dev/null 2>&1
        return $?
    fi

    return 1
}

preview_system_packages() {
    case "${SETUP_PLATFORM_ID}" in
        ubuntu-22.04)
            echo "python3-colcon-common-extensions python3-venv python3-pip"
            ;;
        openeuler-embedded-24.03)
            echo "gcc-c++ vim-enhanced ffmpeg-devel libvpx libvpx-devel nlohmann-json-devel python3-virtualenv python3-pip python3-devel"
            ;;
        *)
            echo ""
            ;;
    esac
}

print_dependency_preview() {
    local preview_message=""

    if [[ "${SETUP_PLATFORM_ID}" == "openharmony-5.1.0-musl" || "${SETUP_PACKAGE_MANAGER}" == "unknown" ]]; then
        preview_message="manual system dependency provisioning required on this platform"
        ui_render_block "${preview_message}"
        return 0
    fi

    local package_name
    local missing_packages=()
    for package_name in $(preview_system_packages); do
        if ! system_package_installed "${package_name}"; then
            missing_packages+=("${package_name}")
        fi
    done

    if [[ ${#missing_packages[@]} -gt 0 ]]; then
        preview_message="need to install: ${missing_packages[*]}"
    else
        preview_message="system bootstrap packages already installed"
    fi

    ui_render_block "${preview_message}"
}

# ============================================================================
# Environment Checks
# ============================================================================
check_foreign_env() {
    if [[ -n "${CONDA_PREFIX:-}" ]]; then
        log_error "Active Conda environment detected at: ${CONDA_PREFIX}"
        log_warn "Conda environments are known to conflict with ROS 2 dependencies (especially Python libraries)."
        log_warn "Please deactivate the Conda environment before running this script:"
        echo -e "    ${YELLOW}conda deactivate${NC}"
        exit 1
    fi

    if [[ -n "${VIRTUAL_ENV:-}" && "${VIRTUAL_ENV}" != "${WORKSPACE}/venv" ]]; then
        log_error "Active virtual environment detected at: ${VIRTUAL_ENV}"
        log_error "This is not the workspace venv (${WORKSPACE}/venv)."
        log_error "Please deactivate it before running this script:"
        echo -e "    ${YELLOW}deactivate${NC}"
        exit 1
    fi
}

# --- Platform Template Method Defaults ---
# These functions act as base template methods or hooks.
# They are expected to be overridden by the platform implementation scripts
# loaded from scripts/setup/platforms/*.sh.

platform_ros_setup_path() {
    if [[ -n "${ROS_HUMBLE_SETUP_PATH:-}" ]]; then
        echo "${ROS_HUMBLE_SETUP_PATH}"
    elif [[ -f /opt/ros/humble/setup.sh ]]; then
        echo "/opt/ros/humble/setup.sh"
    else
        echo "/opt/ros/humble/setup.bash"
    fi
}

platform_handle_missing_ros() {
    log_info "Running ROS 2 installation script..."

    local install_args=()
    if [[ "${AUTO_YES}" == true ]]; then
        install_args+=("--yes")
    fi
    if [[ "${USE_SUDO}" == false ]]; then
        install_args+=("--no-sudo")
    fi

    if "${WORKSPACE}/scripts/install_ros.sh" "${install_args[@]}"; then
        log_done "ROS 2 Humble installed"
    else
        log_error "ROS 2 installation failed"
        log_error "Please run ${WORKSPACE}/scripts/install_ros.sh manually to diagnose the issue"
        exit 1
    fi
}

platform_prepare_host() { return 0; }
platform_supports_local_workspace_build() { return 0; }
platform_install_colcon() {
    log_error "colcon installation hook not implemented for this platform."
    exit 1
}
platform_install_python_bootstrap() {
    log_error "Python bootstrap hook not implemented for this platform."
    exit 1
}

# --- Template Method Hooks for platform_install_rosdeps ---
platform_skip_rosdep_install() { return 1; }  # Return 0 to skip rosdep install
platform_pre_install_rosdeps() {
    if command -v apt-get &>/dev/null; then
        run_privileged_with_live_output "Updating apt package lists..." apt-get update
    fi
}
platform_get_extra_skip_keys() { echo ""; }
platform_post_install_rosdeps() { return 0; }
# ---------------------------------------------------------

platform_install_rosdeps() {
    if platform_skip_rosdep_install; then
        return 0
    fi

    platform_pre_install_rosdeps

    local rosdep_cmd="${ROSDEP_BIN:-rosdep}"
    local rosdep_install_extra_args=()

    if [[ "${USE_SUDO}" != true ]]; then
        rosdep_install_extra_args+=(--as-root apt:false --as-root dnf:false --as-root pip:false)
    fi

    if ! run_with_live_output "Updating rosdep database..." env ROSDISTRO_INDEX_URL="${SETUP_ROSDISTRO_INDEX_URL}" "${rosdep_cmd}" update --rosdistro=humble; then
        log_error "rosdep update failed. This is usually due to network issues."
        log_error "Please check your network connection and re-run ./scripts/setup.sh"
        exit 1
    fi

    # Base skip keys common to all platforms
    local base_skip_keys=(
        catkin
        roscpp
        lerobot
        trimesh
        "trimesh[easy]"
        simple-parsing
        cupy-cuda12x
        ctl_system_interface
        numpy_lessthan_2
        ament_python
        feetech-servo-sdk
        pyserial
    )

    # Append platform-specific skip keys
    local extra_keys_str
    extra_keys_str="$(platform_get_extra_skip_keys)"
    local all_skip_keys=("${base_skip_keys[@]}")
    if [[ -n "${extra_keys_str}" ]]; then
        read -ra extra_keys_arr <<< "${extra_keys_str}"
        all_skip_keys+=("${extra_keys_arr[@]}")
    fi

    local skip_args=()
    for key in "${all_skip_keys[@]}"; do
        skip_args+=("--skip-keys=${key}")
    done

    if ! run_with_live_output "Installing ROS dependencies..." env ROSDISTRO_INDEX_URL="${SETUP_ROSDISTRO_INDEX_URL}" "${rosdep_cmd}" install \
        "${rosdep_install_extra_args[@]}" \
        --from-paths src \
        --ignore-src \
        --rosdistro=humble \
        -y -r \
        "${skip_args[@]}"; then
        log_warn "rosdep install encountered errors. Some packages may be missing or require manual installation."
    fi

    platform_post_install_rosdeps
}

# ============================================================================
# Dependency Management
# ============================================================================
check_ros_installation() {
    local ros_setup_path
    ros_setup_path="$(platform_ros_setup_path)"

    # Check if ROS 2 Humble is installed
    if [[ -n "${ros_setup_path}" && -f "${ros_setup_path}" ]]; then
        log_info "ROS 2 Humble is already installed"
    else
        log_warn "ROS 2 Humble setup script not found${ros_setup_path:+ at ${ros_setup_path}}"
        platform_handle_missing_ros
    fi
}

ensure_colcon() {
    # Note: this only checks whether a colcon CLI exists somewhere on PATH.
    # The authoritative installation that build.sh consumes happens later in
    # setup_python_venv via `${venv_python} -m pip install colcon-common-extensions`,
    # which guarantees the module is importable from the workspace venv even
    # when PYTHONNOUSERSITE=1 is set (which is the case in build.sh and
    # .shrc_local). Installing colcon system-wide here is only a convenience
    # for users invoking `colcon` directly outside of build.sh.
    if command -v colcon &>/dev/null; then
        log_info "colcon CLI is already available on PATH (will also be installed into venv later)"
        return 0
    fi

    log_info "Installing colcon build tool..."
    platform_install_colcon
    log_done "colcon installed"
}

install_system_deps() {
    # Check for ROS 2 installation first
    check_ros_installation

    platform_prepare_host

    if ! platform_supports_local_workspace_build; then
        log_info "Skipping local workspace build prerequisites on ${SETUP_PLATFORM_ID}."
        log_info "This platform consumes a prebuilt ROS runtime and host cross-built deployables."
        SYSTEM_DEPS_STATUS="skipped"
        log_skipped "Local workspace build prerequisites"
        return 0
    fi

    ensure_sudo_session
    platform_install_python_bootstrap
    ensure_colcon
    ensure_rosdep
    platform_install_rosdeps
    SYSTEM_DEPS_STATUS="done"
}

verify_setup() {
    if [[ "${SKIP_VERIFY}" == true ]]; then
        log_info "Skipping ROS/Python verification (--skip-verify)."
        log_skipped "ROS/Python verification"
        return 0
    fi

    export SETUP_ROS_SETUP_PATH="$(platform_ros_setup_path)"
    # shellcheck disable=SC1091
    source "${SCRIPT_DIR}/setup/verify_env.sh"
    if ! verify_env; then
        PYTHON_ENV_STATUS="failed"
        exit 1
    fi
}

# ============================================================================
# Main
# ============================================================================
main() {
    trap 'on_setup_failure $? ${BASH_LINENO[0]}' ERR
    trap 'on_setup_interrupt' INT
    parse_args "$@"
    check_foreign_env

    cd "${WORKSPACE}"
    print_banner
    set_stage "detecting system"
    initialize_platform
    print_platform_summary
    set_stage "checking system dependencies"
    print_dependency_preview
    
    log_info "Setting up workspace at ${WORKSPACE}"
    
    # Update submodules
    set_stage "syncing submodules"
    update_submodules
    
    # Install dependencies
    set_stage "installing system dependencies"
    install_system_deps
    if [[ "${SYSTEM_DEPS_STATUS}" == "done" ]]; then
        log_done "System ROS dependencies installed"
    fi
    set_stage "configuring python environment"
    setup_python_venv
    if [[ "${PYTHON_ENV_STATUS}" == "done" ]]; then
        log_done "Python environment configured"
    fi

    if platform_supports_local_workspace_build; then
        # LeRobot patch stack is normally applied inline by setup_python_venv
        # (before install_lerobot_editable so check_lerobot_python_compat sees
        # the patched pyproject.toml). The call below is an idempotent safety
        # net for edge cases where the workspace patch branch was lost. It is
        # a no-op when the patch stack is already applied.
        set_stage "verifying lerobot patch stack"
        ensure_lerobot_patch_stack_applied
    else
        log_info "Skipping LeRobot patch stack checks on runtime-only platform ${SETUP_PLATFORM_ID}."
    fi

    set_stage "verifying environment"
    verify_setup

    echo ""
    echo -e "${YELLOW}============================================================${NC}"
    echo -e "${YELLOW} Setup Summary${NC}"
    echo -e "${YELLOW}============================================================${NC}"
    for entry in "${SUMMARY[@]}"; do
        echo -e "  ${entry}"
    done
    echo ""
    local completion_message="Setup complete! Run ./scripts/build.sh to build the workspace."
    if ! platform_supports_local_workspace_build; then
        completion_message="Setup complete! OpenHarmony runtime verified; cross-build deployables on the host."
    fi
    echo -e "\033[1;32m[INFO] ${completion_message}${NC}"
}

# Run if executed directly (not sourced)
if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
    main "$@"
fi