update

cmvr/camera_client.py

@@ -160,3 +160,60 @@ class CameraClient:
         except grpc.RpcError as e:
             print(f"停止录像失败: {e}")
             return CMVRErrorCode.CMVR_RPC_FAILED
+
+    def create_rgb_stream_request(self):
+        """创建流请求（无参数）"""
+        generated = self._import_generated()
+        request = generated.camera_command_pb2.GetRGBImageStreamCommand.Request()
+        request.header.CopyFrom(self._create_command_header())
+        # 不需要设置其他参数
+        return request
+
+    def get_rgb_stream(self, request_generator):
+        """
+        双向流获取传感器数据
+        参数:
+            request_generator: 请求生成器
+        返回:
+            传感器数据流迭代器
+        """
+        generated = self._import_generated()
+        return self.stub.GetRGBImageStream(request_generator)
+
+    def create_depth_stream_request(self):
+        """创建流请求（无参数）"""
+        generated = self._import_generated()
+        request = generated.camera_command_pb2.GetDepthImageStreamCommand.Request()
+        request.header.CopyFrom(self._create_command_header())
+        # 不需要设置其他参数
+        return request
+
+    def get_depth_stream(self, request_generator):
+        """
+        双向流获取传感器数据
+        参数:
+            request_generator: 请求生成器
+        返回:
+            传感器数据流迭代器
+        """
+        generated = self._import_generated()
+        return self.stub.GetDepthImageStream(request_generator)
+
+    def create_rgbd_stream_request(self):
+        """创建流请求（无参数）"""
+        generated = self._import_generated()
+        request = generated.camera_command_pb2.GetRGBDImageStreamCommand.Request()
+        request.header.CopyFrom(self._create_command_header())
+        # 不需要设置其他参数
+        return request
+
+    def get_rgbd_stream(self, request_generator):
+        """
+        双向流获取传感器数据
+        参数:
+            request_generator: 请求生成器
+        返回:
+            传感器数据流迭代器
+        """
+        generated = self._import_generated()
+        return self.stub.GetRGBDImageStream(request_generator)

cmvr/client.py

@@ -5,7 +5,8 @@ from .enums import CMVRErrorCode
 from .biohead_client import BioHeadClient
 from .camera_client import CameraClient
 from .dexhand_client import DexHandClient
-
+from .micphone_client import MicphoneClient
+from .speaker_client import SpeakerClient
 class CMVRGrpcClient:
     """CMVR gRPC 主客户端"""
 
@@ -27,6 +28,12 @@ class CMVRGrpcClient:
         self.dexhand_stub = None
         self.dexhand_map: Dict[str, DexHandClient] = {}
 
+        self.micphone_stub = None
+        self.micphone_map: Dict[str, MicphoneClient] = {}
+
+        self.speaker_stub = None
+        self.speaker_map: Dict[str, SpeakerClient] = {}
+
         # 检查连接状态
         try:
             grpc.channel_ready_future(self.channel).result(timeout=5)
@@ -38,6 +45,10 @@ class CMVRGrpcClient:
 
             self.dexhand_stub = self.generated.dexhand_service_pb2_grpc.DexHandServiceStub(self.channel)
 
+            self.speaker_stub = self.generated.speaker_service_pb2_grpc.SpeakerServiceStub(self.channel)
+
+            self.micphone_stub = self.generated.microphone_service_pb2_grpc.MicPhoneServiceStub(self.channel)
+
         except grpc.FutureTimeoutError:
             print(f"连接服务器超时: {server_address}")
             self.connected = False
@@ -53,6 +64,11 @@ class CMVRGrpcClient:
                 from generated.cmvr.api import camera_command_pb2
                 from generated.cmvr.api import dexhand_command_pb2
                 from generated.cmvr.api import dexhand_service_pb2_grpc
+                from generated.cmvr.api import speaker_command_pb2
+                from generated.cmvr.api import speaker_service_pb2_grpc
+                from generated.cmvr.api import microphone_command_pb2
+                from generated.cmvr.api import microphone_service_pb2_grpc
+
                 self.generated = type('GeneratedModules', (), {
                     'biohead_service_pb2_grpc': biohead_service_pb2_grpc,
                     'common_pb2': common_pb2,
@@ -60,7 +76,11 @@ class CMVRGrpcClient:
                     'camera_service_pb2_grpc': camera_service_pb2_grpc,
                     'camera_command_pb2': camera_command_pb2,
                     'dexhand_service_pb2_grpc': dexhand_service_pb2_grpc,
-                    'dexhand_command_pb2': dexhand_command_pb2
+                    'dexhand_command_pb2': dexhand_command_pb2,
+                    'speaker_service_pb2_grpc': speaker_service_pb2_grpc,
+                    'speaker_command_pb2': speaker_command_pb2,
+                    'microphone_service_pb2_grpc': microphone_service_pb2_grpc,
+                    'microphone_command_pb2': microphone_command_pb2
                 })
 
             except ImportError as e:
@@ -89,6 +109,16 @@ class CMVRGrpcClient:
             self.dexhand_map[device_id] = DexHandClient(device_id, self.dexhand_stub)
         return self.dexhand_map[device_id]
 
+    def get_speaker(self, device_id: str) -> SpeakerClient:
+        if device_id not in self.speaker_map:
+            self.speaker_map[device_id] = SpeakerClient(device_id, self.speaker_stub)
+        return self.speaker_map[device_id]
+
+    def get_micphone(self, device_id: str) -> MicphoneClient:
+        if device_id not in self.micphone_map:
+            self.micphone_map[device_id] = MicphoneClient(device_id, self.micphone_stub)
+        return self.micphone_map[device_id]
+
     def close(self):
         """关闭所有连接"""
         # 关闭所有流式连接

cmvr/dexhand_client.py

@@ -231,21 +231,6 @@ class DexHandClient:
             print(f"获取灵巧手传感器数据失败: {e}")
             return CMVRErrorCode.CMVR_RPC_FAILED, HandTactileSensors()
 
-    def sensor_data_stream(self):
-        try:
-            generated = self._import_generated()
-            # 创建传感器数据请求
-            request = generated.dexhand_command_pb2.GetSensorDataCommand.Request()
-            request.header.CopyFrom(self._create_command_header())
-
-            # 调用RPC接口获取数据
-            response = self.stub.GetSensorData(request)
-
-            if not response.header.success:
-                return CMVRErrorCode.CMVR_RPC_FAILED, HandTactileSensors()
-        except grpc.RpcError as e:
-            print(f"获取灵巧手传感器数据失败: {e}")
-
     def create_stream_request(self):
         """创建流请求（无参数）"""
         generated = self._import_generated()

example_usage.py

@@ -231,6 +231,82 @@ def test_camera():
 
     client.close()
 
+def test_rgb_image_stream():
+    """测试双向流视频帧数据接口"""
+    print("=== 测试双向流视频帧数据接口 ===")
+
+    # 初始化GRPC客户端
+    client = CMVRGrpcClient("192.168.1.222:50060")
+    if not client.is_connected():
+        print("连接服务器失败")
+        return
+
+    # 获取camera客户端
+    camera = client.get_camera("cam4")
+    if not camera:
+        print("获取camera客户端失败")
+        client.close()
+        return
+    # 启动相机
+    start_result = camera.start_camera()
+    if start_result == CMVRErrorCode.CMVR_SUCCESS:
+        print("相机启动成功")
+    else:
+        print(f"相机启动失败，错误码: {start_result}")
+        client.close()
+        return
+    # 等待相机启动
+    time.sleep(1)
+    try:
+        # 1. 启动传感器数据流
+        print("\n--- 启动rgb数据流 ---")
+        # 创建请求生成器（双向流不需要参数，发送空请求）
+        def request_generator() -> Generator:
+            # 发送初始请求启动流
+            yield camera.create_rgb_stream_request()
+            # 保持流连接，每5秒发送一次心跳（可选）
+            try:
+                while True:
+                    time.sleep(5)
+                    # 发送空请求保持连接
+                    yield camera.create_rgb_stream_request()
+            except GeneratorExit:
+                print("请求生成器已关闭")
+                return
+
+        # 2. 接收并处理流数据
+        print("开始接收rgb流数据（5秒后自动停止）...")
+        start_time = time.time()
+        stream_duration = 15  # 接收15秒数据
+
+        keyframe_count = 0  # 关键帧计数器
+        total_frame_count = 0  # 总帧数计数器
+        # 存储流迭代器的变量
+        stream_iterator = camera.get_rgb_stream(request_generator())
+        # 调用双向流接口
+        for feedback in stream_iterator:
+            # 检查是否超时
+            if time.time() - start_time > stream_duration:
+                print("\n达到预设接收时间，停止接收")
+                break
+            total_frame_count += 1  # 累加总帧数
+            # 检查是否为关键帧并计数
+            if feedback.color_frame.is_key_frame:
+                keyframe_count += 1
+                print(f"[关键帧 #{keyframe_count}] 收到关键帧 (总帧数: {total_frame_count})")
+        stream_iterator.cancel()
+        print(f"\n流接收结束 - 总帧数: {total_frame_count}, 关键帧数: {keyframe_count}, 关键帧占比: {keyframe_count/total_frame_count:.2%}")
+
+
+    except grpc.RpcError as e:
+        print(f"双向流通信错误: {e}")
+    except Exception as e:
+        print(f"处理流数据时发生错误: {e}")
+    finally:
+        # 关闭连接
+        client.close()
+        print("\n=== 双向流传感器数据测试完成 ===")
+
 def test_dexhand():
     """测试DexHand功能（获取状态、设置角度和传感器数据）"""
     print("=== 测试DexHand功能 ===")
@@ -466,8 +542,126 @@ def test_sensor_data_stream():
         # 关闭连接
         client.close()
         print("\n=== 双向流传感器数据测试完成 ===")
+
+def test_speaker():
+    """测试扬声器功能"""
+    print("\n=== 测试扬声器功能 ===")
+
+    # 初始化GRPC客户端
+    client = CMVRGrpcClient("192.168.1.222:50060")
+    if not client.is_connected():
+        print("连接服务器失败")
+        return
+
+    speaker = client.get_speaker("spk1")
+    if speaker is None:
+        print("获取扬声器失败")
+        return
+
+    # 获取状态
+    result, status = speaker.get_status()
+    if result == CMVRErrorCode.CMVR_SUCCESS:
+        print(f"扬声器状态: 初始化={status.is_initialized}, 运行中={status.is_running}")
+    else:
+        print(f"获取扬声器状态失败，错误码: {result}")
+
+    # 设置音量
+    result = speaker.set_volume(80)  # 80%音量
+    if result == CMVRErrorCode.CMVR_SUCCESS:
+        print("设置音量成功")
+    else:
+        print(f"设置音量失败，错误码: {result}")
+
+    # 获取音量
+    result, volume = speaker.get_volume()
+    if result == CMVRErrorCode.CMVR_SUCCESS:
+        print(f"当前音量: {volume}%")
+    else:
+        print(f"获取音量失败，错误码: {result}")
+
+    # 播放音频 (需要替换为实际存在的音频文件路径)
+    audio_path = "/home/share/assets/upload/员工女_车内温度有点低，是否需要调高空调？.wav"
+    print(f"尝试播放音频: {audio_path}")
+    result = speaker.play_audio(audio_path)
+    if result == CMVRErrorCode.CMVR_SUCCESS:
+        print("开始播放音频")
+
+        # 等待3秒
+        time.sleep(3)
+
+        # 暂停播放
+        result = speaker.pause_audio()
+        if result == CMVRErrorCode.CMVR_SUCCESS:
+            print("暂停播放")
+
+            # 等待1秒
+            time.sleep(1)
+
+            # 继续播放
+            result = speaker.resume_audio()
+            if result == CMVRErrorCode.CMVR_SUCCESS:
+                print("继续播放")
+
+                # 等待2秒
+                time.sleep(2)
+
+                # 停止播放
+                result = speaker.stop_audio()
+                if result == CMVRErrorCode.CMVR_SUCCESS:
+                    print("停止播放")
+                else:
+                    print(f"停止播放失败，错误码: {result}")
+            else:
+                print(f"继续播放失败，错误码: {result}")
+        else:
+            print(f"暂停播放失败，错误码: {result}")
+    else:
+        print(f"播放音频失败，错误码: {result}")
+
+def test_microphone():
+    """测试麦克风功能"""
+    print("\n=== 测试麦克风功能 ===")
+    # 初始化GRPC客户端
+    client = CMVRGrpcClient("192.168.1.222:50060")
+    if not client.is_connected():
+        print("连接服务器失败")
+        return
+
+    microphone = client.get_micphone("mic2")
+    if microphone is None:
+        print("获取麦克风失败")
+        return
+
+    # 获取状态
+    result, status = microphone.get_status()
+    if result == CMVRErrorCode.CMVR_SUCCESS:
+        print(f"麦克风状态: 初始化={status.is_initialized}, 录音中={status.is_recording}")
+    else:
+        print(f"获取麦克风状态失败，错误码: {result}")
+
+    # 开始录音
+    audio_path = "/home/linbo/Data/Audio/recorded_audio.mp3"
+    result = microphone.start_record(audio_path)
+    if result == CMVRErrorCode.CMVR_SUCCESS:
+        print(f"开始录音，保存到: {audio_path}")
+
+        # 录音5秒
+        time.sleep(5)
+
+        # 停止录音
+        result = microphone.stop_record()
+        if result == CMVRErrorCode.CMVR_SUCCESS:
+            print("停止录音")
+        else:
+            print(f"停止录音失败，错误码: {result}")
+    else:
+        print(f"开始录音失败，错误码: {result}")
+
 if __name__ == "__main__":
-    test_biohead()
+    # test_biohead()
     # test_camera()
+    # test_rgb_image_stream()
     # test_dexhand()
     # test_sensor_data_stream()
+    # test_speaker()
+    test_microphone()