[release] 整理比赛最终 ROS 2 Sim2Real（1050分）

2026-07-27 17:54:39 +08:00
parent 765173676f
commit 1b551f974b
124 changed files with 234997 additions and 1187 deletions
@@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+"""
+Print display-related diagnostics for launching the fullscreen quit screen.
+"""
+
+import glob
+import getpass
+import os
+import shlex
+import subprocess
+from typing import List, Optional
+
+
+def run(command: List[str]) -> str:
+    try:
+        result = subprocess.run(
+            command,
+            check=False,
+            capture_output=True,
+            text=True,
+        )
+    except OSError as exc:
+        return f"<failed: {exc}>"
+
+    output = result.stdout.strip()
+    error = result.stderr.strip()
+    if error:
+        return f"{output}\n{error}".strip()
+    return output
+
+
+def current_user() -> str:
+    try:
+        return getpass.getuser()
+    except OSError:
+        return os.environ.get("USER", "unknown")
+
+
+def xauth_from_x_processes() -> List[str]:
+    output = run(["ps", "-eo", "args"])
+    candidates = []
+    for line in output.splitlines():
+        if "Xorg" not in line and "Xwayland" not in line:
+            continue
+        try:
+            parts = shlex.split(line)
+        except ValueError:
+            parts = line.split()
+        for index, part in enumerate(parts[:-1]):
+            if part == "-auth":
+                candidates.append(parts[index + 1])
+    return candidates
+
+
+def print_path_status(label: str, path: Optional[str]) -> None:
+    if not path:
+        print(f"{label}: <unset>")
+        return
+    exists = os.path.exists(path)
+    readable = os.access(path, os.R_OK) if exists else False
+    print(f"{label}: {path} exists={exists} readable={readable}")
+
+
+def main() -> int:
+    uid = os.getuid()
+    print(f"user: {run(['whoami'])}")
+    print(f"uid: {uid}")
+    print(f"DISPLAY: {os.environ.get('DISPLAY', '<unset>')}")
+    print(f"XAUTHORITY: {os.environ.get('XAUTHORITY', '<unset>')}")
+    print()
+
+    print("candidate XAUTHORITY files:")
+    candidates = [
+        os.environ.get("XAUTHORITY"),
+        *xauth_from_x_processes(),
+        os.path.expanduser("~/.Xauthority"),
+        f"/run/user/{uid}/gdm/Xauthority",
+        f"/run/user/{uid}/Xauthority",
+        *glob.glob(f"/run/user/{uid}/*Xauthority*"),
+    ]
+
+    seen = set()
+    for candidate in candidates:
+        key = candidate or "<unset>"
+        if key in seen:
+            continue
+        seen.add(key)
+        print_path_status("  -", candidate)
+
+    print()
+    print("X server processes:")
+    x_lines = [
+        line
+        for line in run(["ps", "-eo", "user,args"]).splitlines()
+        if "Xorg" in line or "Xwayland" in line
+    ]
+    if x_lines:
+        for line in x_lines:
+            print(f"  {line}")
+    else:
+        print("  <none found>")
+
+    print()
+    print("recommended SSH launch:")
+    print("  cd <workspace>/screen")
+    print("  bash run_fullscreen_quit.sh")
+    print()
+    print("if authorization fails, run this on the Nano desktop terminal once:")
+    print(f"  DISPLAY=:0 xhost +SI:localuser:{current_user()}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())