Initial import of FaRui Autoware Dual-Orin Stack

2026-06-05 13:34:38 +08:00
commit 45e3325700
6548 changed files with 1335203 additions and 0 deletions
@@ -0,0 +1,117 @@
+#!/usr/bin/env bash
+# Clean leftover slave-board Autoware/control/vehicle processes.
+#
+# Usage:
+#   ./cleanup_slave_autoware.sh
+#
+# Notes:
+#   This script is intended for the slave Orin. It stops the slave launch,
+#   control containers, chassis/CAN bridge, MRM, diagnostics, and derived ROS
+#   processes. Do not run it on a board where you intentionally keep another
+#   Autoware stack running in the same ROS environment.
+
+set -euo pipefail
+
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m'
+
+log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
+log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
+
+script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+find_workspace_root() {
+  if [[ -n "${SLAVE_WORKSPACE_ROOT:-}" ]]; then
+    echo "${SLAVE_WORKSPACE_ROOT}"
+    return
+  fi
+
+  local candidates=(
+    "${PWD}"
+    "${script_dir}"
+  )
+  for candidate in "${candidates[@]}"; do
+    if [[ -f "${candidate}/install/setup.bash" ]]; then
+      (cd "${candidate}" && pwd)
+      return
+    fi
+  done
+
+  echo "${script_dir}"
+}
+
+WORKSPACE_ROOT="$(find_workspace_root)"
+
+PATTERNS=(
+  "run_slave_real_vehicle.sh"
+  "ros2 launch.*ecar_slave"
+  "ros2 launch.*farui_launch.*/launch/ecar_slave"
+  "launch_ros_[0-9]+"
+  "launch_ros"
+  "component_container"
+  "component_container_mt"
+  "robot_state_publisher"
+  "ecar_can"
+  "ecar_can_receiver"
+  "ecar_can_sender"
+  "socket_can"
+  "socket_can_receiver"
+  "socket_can_sender"
+  "vehicle_velocity_converter"
+  "mrm_emergency_stop_operator"
+  "mrm_handler"
+  "hazard_status_converter"
+  "diagnostic_graph_aggregator"
+  "autoware_trajectory_follower"
+  "autoware_lane_departure_checker"
+  "autoware_shift_decider"
+  "autoware_vehicle_cmd_gate"
+  "autoware_operation_mode_transition_manager"
+  "autoware_autonomous_emergency_braking"
+  "autoware_control_evaluator"
+  "glog_component"
+  "heartbeat_monitor.sh"
+)
+
+MATCH_RE='run_slave_real_vehicle|ecar_slave|component_container|robot_state_publisher|ecar_can|socket_can|vehicle_velocity_converter|mrm_|hazard_status|diagnostic_graph|trajectory_follower|lane_departure|shift_decider|vehicle_cmd_gate|operation_mode_transition|autonomous_emergency_braking|control_evaluator|glog_component|launch_ros|heartbeat_monitor'
+
+terminate_patterns() {
+  local signal="$1"
+  local pattern
+
+  for pattern in "${PATTERNS[@]}"; do
+    pkill "-${signal}" -f "${pattern}" 2>/dev/null || true
+  done
+}
+
+log_info "Workspace: ${WORKSPACE_ROOT}"
+
+if [[ -f "${WORKSPACE_ROOT}/install/setup.bash" ]]; then
+  cd "${WORKSPACE_ROOT}"
+  set +u
+  source install/setup.bash
+  set -u
+else
+  log_warn "Workspace setup file not found; continuing without sourcing: ${WORKSPACE_ROOT}/install/setup.bash"
+fi
+
+log_info "Sending TERM to leftover slave Autoware processes."
+terminate_patterns TERM
+sleep 3
+
+if pgrep -f "${MATCH_RE}" >/dev/null 2>&1; then
+  log_warn "Some slave processes are still alive; sending KILL."
+  terminate_patterns KILL
+  sleep 1
+fi
+
+log_info "Restarting ROS daemon to refresh node discovery."
+ros2 daemon stop >/dev/null 2>&1 || true
+ros2 daemon start >/dev/null 2>&1 || true
+
+log_info "Remaining matching processes:"
+ps -ef | grep -E "${MATCH_RE}" | grep -v grep || true
+
+log_info "Remaining ROS nodes:"
+ros2 node list 2>/dev/null || true