From b61f03f4e8489e125bc97e6f3a4e492d2cacfb3a Mon Sep 17 00:00:00 2001
From: li-shihao-code <2469171725@qq.com>
Date: Fri, 5 Jun 2026 13:59:13 +0800
Subject: [PATCH] Update project

---
 .gitignore    |   1 +
 README.md     |  38 ++++++------
 upload_git.sh | 156 ++++++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 173 insertions(+), 22 deletions(-)
 create mode 100644 upload_git.sh

diff --git a/.gitignore b/.gitignore
index d4dd5f3..41059e1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,7 @@
 build/
 install/
 log/
+docs/
 
 # Python cache and virtual environments
 __pycache__/
diff --git a/README.md b/README.md
index 0520c76..918a825 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,17 @@
-# FaRui Autoware Dual-Orin Stack
+# 法睿园区自动驾驶系统
 
-`FaRui Autoware Dual-Orin Stack` 是一个面向实车部署的 ROS 2 /
-Autoware 工作空间。当前代码按双 Orin 主从域控架构组织：主控板负责上层
-Autoware 算法和任务工具，从控板负责车辆接口、CAN、控制和安全反馈。
+`法睿园区自动驾驶系统`（FaRui Campus Autonomous Driving System）是一个面向园区实车部署的 ROS 2 工作空间。当前代码按双 Orin 主从域控架构组织：主控板负责上层算法和任务工具，从控板负责车辆接口、CAN、控制和安全反馈。
 
 ## 项目标识
 
 | 项 | 值 |
 | --- | --- |
-| 正式名称 | FaRui Autoware Dual-Orin Stack |
-| 简称 | FaRui Stack |
-| 工作空间 ID | `farui_autoware_dual_orin` |
-| 主 launch 包 | `farui_launch` |
-| 车辆入口前缀 | `ecar_*` |
-| 默认车型 | `ecar_vehicle` |
+| 正式名称 | 法睿园区自动驾驶系统 |
+| 英文名称 | FaRui Campus Autonomous Driving System |
+| 简称 | FaRui Campus ADS |
+| 工作空间 ID | `farui_campus_ads` |
+| 代码版本 | `v3.2` |
 
-工作空间名称用于文档、交付和仓库识别；ROS 包名仍保持现状。除非计划做完整
-迁移，不建议直接重命名 `farui_launch`、`ecar_vehicle_description`、
-`ecar_can_driver` 等包。
 
 ## 架构概览
 
@@ -29,7 +23,7 @@ Autoware 算法和任务工具，从控板负责车辆接口、CAN、控制和
 | --- | --- | --- |
 | 地图、感知、定位、规划 | 是 | 否 |
 | 传感器驱动、点云容器 | 是 | 否 |
-| Autoware API、RViz、任务路线工具 | 是 | 否 |
+| API、RViz、任务路线工具 | 是 | 否 |
 | Control 控制模块 | 否 | 是 |
 | SocketCAN、ECAR CAN 驱动 | 否 | 是 |
 | 车辆状态、速度转换、system 反馈 | 否 | 是 |
@@ -51,7 +45,7 @@ Autoware 算法和任务工具，从控板负责车辆接口、CAN、控制和
 ```text
 .
 ├── master/                  # 主控板工作空间
-│   ├── src/                 # Autoware、驱动、UI、地图、规划等 ROS 包
+│   ├── src/                 # 上层算法、驱动、UI、地图、规划等 ROS 包
 │   ├── debug/               # 主控板调试脚本
 │   ├── build.sh             # 主控板编译入口
 │   ├── run_ecar_master_debug.sh
@@ -77,8 +71,8 @@ Autoware 算法和任务工具，从控板负责车辆接口、CAN、控制和
 ## 编译
 
 分别在主控板和从控板进入对应工作空间执行编译脚本。脚本内部使用
-`colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release`，并设置
-`AUTOWARE_COMPILE_WITH_CUDA=1`。
+`colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release`，并开启
+CUDA 编译相关配置。
 
 主控板：
 
@@ -127,7 +121,7 @@ cd /home/nvidia/FaRui/v3.2/slave
 
 ### 2. 启动主控板调试栈
 
-只启动主控板 Autoware，不启动预设路线 UI：
+只启动主控板核心运行栈，不启动预设路线 UI：
 
 ```bash
 cd /home/nvidia/FaRui/v3.2/master
@@ -149,7 +143,7 @@ cd /home/nvidia/FaRui/v3.2/master
 ./run_preset_route_real_vehicle.sh
 ```
 
-默认模式是 `ui-only`，只打开预设路线 UI，不启动主板 Autoware 栈。完整参数为：
+默认模式是 `ui-only`，只打开预设路线 UI，不启动主板核心运行栈。完整参数为：
 
 ```bash
 ./run_preset_route_real_vehicle.sh [模式] [站点文件] [是否启动RViz] [地图目录] [车型]
@@ -160,7 +154,7 @@ cd /home/nvidia/FaRui/v3.2/master
 | 模式 | 说明 |
 | --- | --- |
 | `ui-only` | 只启动预设路线 UI |
-| `none` | 启动主板 Autoware，不启动额外路线工具 |
+| `none` | 启动主板核心运行栈，不启动额外路线工具 |
 | `record` | 启动站点记录工具 |
 | `replay` | 启动预设路线发送工具 |
 | `mission` | 启动站点任务管理器 |
@@ -168,10 +162,10 @@ cd /home/nvidia/FaRui/v3.2/master
 示例：
 
 ```bash
-# 只启动主板 Autoware，不启动路线工具
+# 只启动主板核心运行栈，不启动路线工具
 ./run_preset_route_real_vehicle.sh none
 
-# 启动主板 Autoware + 站点任务管理器
+# 启动主板核心运行栈 + 站点任务管理器
 ./run_preset_route_real_vehicle.sh mission
 
 # 指定地图并关闭 RViz
diff --git a/upload_git.sh b/upload_git.sh
new file mode 100644
index 0000000..7c66458
--- /dev/null
+++ b/upload_git.sh
@@ -0,0 +1,156 @@
+#!/usr/bin/env bash
+# Upload this workspace to a Git remote.
+#
+# Usage:
+#   ./upload_git.sh -r <remote-url> [-b branch] [-m "commit message"]
+#   ./upload_git.sh --remote <remote-url> --branch main --message "Update README"
+#
+# Notes:
+#   - If origin already exists, -r/--remote can be omitted.
+#   - If the working tree has changes, provide -m/--message to commit them.
+#   - Git LFS must be available on both local machine and remote hosting service.
+
+set -euo pipefail
+
+REMOTE_NAME="${REMOTE_NAME:-origin}"
+REMOTE_URL="http://git.fairylandtech.com/whut/FaRui_Campus_ADS.git"
+BRANCH="main"
+COMMIT_MESSAGE="Update project"
+NO_COMMIT="false"
+SET_REMOTE="false"
+
+usage() {
+  sed -n '1,12p' "$0"
+  cat <<'EOF'
+
+Options:
+  -r, --remote <url>       Remote repository URL. Required if origin is absent.
+  -b, --branch <name>      Branch to push. Defaults to current branch, then main.
+  -m, --message <message>  Commit message for pending local changes.
+      --no-commit          Refuse to commit local changes; push only if clean.
+      --set-remote         Replace existing origin URL with --remote.
+  -h, --help               Show this help.
+
+Examples:
+  ./upload_git.sh -r git@github.com:org/farui-campus-ads.git
+  ./upload_git.sh -r git@github.com:org/farui-campus-ads.git -m "Update project README"
+  ./upload_git.sh --remote https://github.com/org/farui-campus-ads.git --branch main
+EOF
+}
+
+log() {
+  printf '[INFO] %s\n' "$*"
+}
+
+warn() {
+  printf '[WARN] %s\n' "$*" >&2
+}
+
+die() {
+  printf '[ERROR] %s\n' "$*" >&2
+  exit 1
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    -r|--remote)
+      [[ $# -ge 2 ]] || die "Missing value for $1"
+      REMOTE_URL="$2"
+      shift 2
+      ;;
+    -b|--branch)
+      [[ $# -ge 2 ]] || die "Missing value for $1"
+      BRANCH="$2"
+      shift 2
+      ;;
+    -m|--message)
+      [[ $# -ge 2 ]] || die "Missing value for $1"
+      COMMIT_MESSAGE="$2"
+      shift 2
+      ;;
+    --no-commit)
+      NO_COMMIT="true"
+      shift
+      ;;
+    --set-remote)
+      SET_REMOTE="true"
+      shift
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    *)
+      die "Unknown argument: $1"
+      ;;
+  esac
+done
+
+command -v git >/dev/null 2>&1 || die "git is not installed."
+
+REPO_ROOT="$(git rev-parse --show-toplevel 2>/dev/null)" || die "Not inside a Git repository."
+cd "$REPO_ROOT"
+
+if ! git lfs version >/dev/null 2>&1; then
+  die "Git LFS is not installed. Install git-lfs before pushing this workspace."
+fi
+
+git lfs install --local >/dev/null
+
+if [[ -z "$BRANCH" ]]; then
+  BRANCH="$(git branch --show-current)"
+fi
+if [[ -z "$BRANCH" ]]; then
+  BRANCH="main"
+fi
+
+if ! git show-ref --verify --quiet "refs/heads/$BRANCH"; then
+  current_branch="$(git branch --show-current)"
+  if [[ -n "$current_branch" ]]; then
+    log "Renaming current branch '$current_branch' to '$BRANCH'."
+    git branch -M "$BRANCH"
+  else
+    die "Branch '$BRANCH' does not exist and no current branch is active."
+  fi
+fi
+
+if git remote get-url "$REMOTE_NAME" >/dev/null 2>&1; then
+  existing_remote="$(git remote get-url "$REMOTE_NAME")"
+  if [[ -n "$REMOTE_URL" && "$REMOTE_URL" != "$existing_remote" ]]; then
+    if [[ "$SET_REMOTE" == "true" ]]; then
+      log "Updating $REMOTE_NAME remote URL."
+      git remote set-url "$REMOTE_NAME" "$REMOTE_URL"
+    else
+      die "$REMOTE_NAME already points to '$existing_remote'. Use --set-remote to replace it."
+    fi
+  fi
+else
+  [[ -n "$REMOTE_URL" ]] || die "Remote '$REMOTE_NAME' is absent. Provide -r <remote-url>."
+  log "Adding $REMOTE_NAME remote: $REMOTE_URL"
+  git remote add "$REMOTE_NAME" "$REMOTE_URL"
+fi
+
+status_output="$(git status --short)"
+if [[ -n "$status_output" ]]; then
+  warn "Working tree has local changes:"
+  printf '%s\n' "$status_output" >&2
+
+  if [[ "$NO_COMMIT" == "true" ]]; then
+    die "Working tree is dirty and --no-commit was set."
+  fi
+
+  [[ -n "$COMMIT_MESSAGE" ]] || die "Provide -m \"commit message\" to commit pending changes before upload."
+
+  log "Staging local changes."
+  git add -A
+  log "Creating commit: $COMMIT_MESSAGE"
+  git commit -m "$COMMIT_MESSAGE"
+else
+  log "Working tree is clean."
+fi
+
+log "LFS files tracked: $(git lfs ls-files | wc -l | tr -d ' ')"
+log "Pushing branch '$BRANCH' to '$REMOTE_NAME'."
+git push -u "$REMOTE_NAME" "$BRANCH"
+
+log "Upload finished."