update
This commit is contained in:
parent
bd79b8fbd1
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5735d899fb
@ -160,3 +160,60 @@ class CameraClient:
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except grpc.RpcError as e:
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print(f"停止录像失败: {e}")
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return CMVRErrorCode.CMVR_RPC_FAILED
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def create_rgb_stream_request(self):
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"""创建流请求（无参数）"""
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generated = self._import_generated()
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request = generated.camera_command_pb2.GetRGBImageStreamCommand.Request()
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request.header.CopyFrom(self._create_command_header())
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# 不需要设置其他参数
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return request
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def get_rgb_stream(self, request_generator):
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"""
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双向流获取传感器数据
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参数:
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request_generator: 请求生成器
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返回:
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传感器数据流迭代器
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"""
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generated = self._import_generated()
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return self.stub.GetRGBImageStream(request_generator)
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def create_depth_stream_request(self):
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"""创建流请求（无参数）"""
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generated = self._import_generated()
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request = generated.camera_command_pb2.GetDepthImageStreamCommand.Request()
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request.header.CopyFrom(self._create_command_header())
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# 不需要设置其他参数
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return request
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def get_depth_stream(self, request_generator):
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"""
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双向流获取传感器数据
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参数:
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request_generator: 请求生成器
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返回:
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传感器数据流迭代器
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"""
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generated = self._import_generated()
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return self.stub.GetDepthImageStream(request_generator)
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def create_rgbd_stream_request(self):
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"""创建流请求（无参数）"""
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generated = self._import_generated()
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request = generated.camera_command_pb2.GetRGBDImageStreamCommand.Request()
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request.header.CopyFrom(self._create_command_header())
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# 不需要设置其他参数
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return request
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def get_rgbd_stream(self, request_generator):
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"""
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双向流获取传感器数据
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参数:
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request_generator: 请求生成器
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返回:
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传感器数据流迭代器
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"""
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generated = self._import_generated()
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return self.stub.GetRGBDImageStream(request_generator)
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@ -5,7 +5,8 @@ from .enums import CMVRErrorCode
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from .biohead_client import BioHeadClient
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from .camera_client import CameraClient
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from .dexhand_client import DexHandClient
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from .micphone_client import MicphoneClient
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from .speaker_client import SpeakerClient
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class CMVRGrpcClient:
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"""CMVR gRPC 主客户端"""
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@ -27,6 +28,12 @@ class CMVRGrpcClient:
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self.dexhand_stub = None
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self.dexhand_map: Dict[str, DexHandClient] = {}
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self.micphone_stub = None
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self.micphone_map: Dict[str, MicphoneClient] = {}
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self.speaker_stub = None
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self.speaker_map: Dict[str, SpeakerClient] = {}
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# 检查连接状态
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try:
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grpc.channel_ready_future(self.channel).result(timeout=5)
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@ -38,6 +45,10 @@ class CMVRGrpcClient:
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self.dexhand_stub = self.generated.dexhand_service_pb2_grpc.DexHandServiceStub(self.channel)
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self.speaker_stub = self.generated.speaker_service_pb2_grpc.SpeakerServiceStub(self.channel)
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self.micphone_stub = self.generated.microphone_service_pb2_grpc.MicPhoneServiceStub(self.channel)
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except grpc.FutureTimeoutError:
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print(f"连接服务器超时: {server_address}")
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self.connected = False
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@ -53,6 +64,11 @@ class CMVRGrpcClient:
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from generated.cmvr.api import camera_command_pb2
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from generated.cmvr.api import dexhand_command_pb2
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from generated.cmvr.api import dexhand_service_pb2_grpc
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from generated.cmvr.api import speaker_command_pb2
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from generated.cmvr.api import speaker_service_pb2_grpc
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from generated.cmvr.api import microphone_command_pb2
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from generated.cmvr.api import microphone_service_pb2_grpc
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self.generated = type('GeneratedModules', (), {
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'biohead_service_pb2_grpc': biohead_service_pb2_grpc,
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'common_pb2': common_pb2,
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@ -60,7 +76,11 @@ class CMVRGrpcClient:
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'camera_service_pb2_grpc': camera_service_pb2_grpc,
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'camera_command_pb2': camera_command_pb2,
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'dexhand_service_pb2_grpc': dexhand_service_pb2_grpc,
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'dexhand_command_pb2': dexhand_command_pb2
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'dexhand_command_pb2': dexhand_command_pb2,
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'speaker_service_pb2_grpc': speaker_service_pb2_grpc,
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'speaker_command_pb2': speaker_command_pb2,
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'microphone_service_pb2_grpc': microphone_service_pb2_grpc,
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'microphone_command_pb2': microphone_command_pb2
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})
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except ImportError as e:
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@ -89,6 +109,16 @@ class CMVRGrpcClient:
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self.dexhand_map[device_id] = DexHandClient(device_id, self.dexhand_stub)
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return self.dexhand_map[device_id]
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def get_speaker(self, device_id: str) -> SpeakerClient:
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if device_id not in self.speaker_map:
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self.speaker_map[device_id] = SpeakerClient(device_id, self.speaker_stub)
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return self.speaker_map[device_id]
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def get_micphone(self, device_id: str) -> MicphoneClient:
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if device_id not in self.micphone_map:
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self.micphone_map[device_id] = MicphoneClient(device_id, self.micphone_stub)
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return self.micphone_map[device_id]
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def close(self):
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"""关闭所有连接"""
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# 关闭所有流式连接
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@ -231,21 +231,6 @@ class DexHandClient:
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print(f"获取灵巧手传感器数据失败: {e}")
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return CMVRErrorCode.CMVR_RPC_FAILED, HandTactileSensors()
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def sensor_data_stream(self):
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try:
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generated = self._import_generated()
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# 创建传感器数据请求
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request = generated.dexhand_command_pb2.GetSensorDataCommand.Request()
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request.header.CopyFrom(self._create_command_header())
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# 调用RPC接口获取数据
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response = self.stub.GetSensorData(request)
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if not response.header.success:
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return CMVRErrorCode.CMVR_RPC_FAILED, HandTactileSensors()
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except grpc.RpcError as e:
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print(f"获取灵巧手传感器数据失败: {e}")
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def create_stream_request(self):
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"""创建流请求（无参数）"""
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generated = self._import_generated()
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196
example_usage.py
196
example_usage.py
@ -231,6 +231,82 @@ def test_camera():
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client.close()
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def test_rgb_image_stream():
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"""测试双向流视频帧数据接口"""
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print("=== 测试双向流视频帧数据接口 ===")
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# 初始化GRPC客户端
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client = CMVRGrpcClient("192.168.1.222:50060")
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if not client.is_connected():
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print("连接服务器失败")
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return
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# 获取camera客户端
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camera = client.get_camera("cam4")
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if not camera:
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print("获取camera客户端失败")
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client.close()
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return
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# 启动相机
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start_result = camera.start_camera()
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if start_result == CMVRErrorCode.CMVR_SUCCESS:
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print("相机启动成功")
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else:
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print(f"相机启动失败，错误码: {start_result}")
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client.close()
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return
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# 等待相机启动
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time.sleep(1)
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try:
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# 1. 启动传感器数据流
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print("\n--- 启动rgb数据流 ---")
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# 创建请求生成器（双向流不需要参数，发送空请求）
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def request_generator() -> Generator:
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# 发送初始请求启动流
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yield camera.create_rgb_stream_request()
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# 保持流连接，每5秒发送一次心跳（可选）
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try:
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while True:
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time.sleep(5)
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# 发送空请求保持连接
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yield camera.create_rgb_stream_request()
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except GeneratorExit:
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print("请求生成器已关闭")
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return
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# 2. 接收并处理流数据
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print("开始接收rgb流数据（5秒后自动停止）...")
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start_time = time.time()
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stream_duration = 15 # 接收15秒数据
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keyframe_count = 0 # 关键帧计数器
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total_frame_count = 0 # 总帧数计数器
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# 存储流迭代器的变量
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stream_iterator = camera.get_rgb_stream(request_generator())
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# 调用双向流接口
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for feedback in stream_iterator:
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# 检查是否超时
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if time.time() - start_time > stream_duration:
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print("\n达到预设接收时间，停止接收")
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break
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total_frame_count += 1 # 累加总帧数
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# 检查是否为关键帧并计数
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if feedback.color_frame.is_key_frame:
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keyframe_count += 1
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print(f"[关键帧 #{keyframe_count}] 收到关键帧 (总帧数: {total_frame_count})")
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stream_iterator.cancel()
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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%}")
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except grpc.RpcError as e:
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print(f"双向流通信错误: {e}")
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except Exception as e:
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print(f"处理流数据时发生错误: {e}")
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finally:
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# 关闭连接
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client.close()
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print("\n=== 双向流传感器数据测试完成 ===")
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def test_dexhand():
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"""测试DexHand功能（获取状态、设置角度和传感器数据）"""
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print("=== 测试DexHand功能 ===")
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@ -466,8 +542,126 @@ def test_sensor_data_stream():
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# 关闭连接
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client.close()
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print("\n=== 双向流传感器数据测试完成 ===")
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def test_speaker():
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"""测试扬声器功能"""
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print("\n=== 测试扬声器功能 ===")
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# 初始化GRPC客户端
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client = CMVRGrpcClient("192.168.1.222:50060")
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if not client.is_connected():
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print("连接服务器失败")
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return
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speaker = client.get_speaker("spk1")
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if speaker is None:
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print("获取扬声器失败")
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return
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# 获取状态
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result, status = speaker.get_status()
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print(f"扬声器状态: 初始化={status.is_initialized}, 运行中={status.is_running}")
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else:
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print(f"获取扬声器状态失败，错误码: {result}")
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# 设置音量
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result = speaker.set_volume(80) # 80%音量
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print("设置音量成功")
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else:
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print(f"设置音量失败，错误码: {result}")
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# 获取音量
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result, volume = speaker.get_volume()
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print(f"当前音量: {volume}%")
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else:
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print(f"获取音量失败，错误码: {result}")
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# 播放音频 (需要替换为实际存在的音频文件路径)
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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"
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print(f"尝试播放音频: {audio_path}")
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result = speaker.play_audio(audio_path)
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print("开始播放音频")
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# 等待3秒
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time.sleep(3)
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# 暂停播放
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result = speaker.pause_audio()
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print("暂停播放")
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# 等待1秒
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time.sleep(1)
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# 继续播放
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result = speaker.resume_audio()
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print("继续播放")
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# 等待2秒
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time.sleep(2)
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# 停止播放
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result = speaker.stop_audio()
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print("停止播放")
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else:
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print(f"停止播放失败，错误码: {result}")
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else:
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print(f"继续播放失败，错误码: {result}")
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else:
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print(f"暂停播放失败，错误码: {result}")
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else:
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print(f"播放音频失败，错误码: {result}")
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def test_microphone():
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"""测试麦克风功能"""
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print("\n=== 测试麦克风功能 ===")
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# 初始化GRPC客户端
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client = CMVRGrpcClient("192.168.1.222:50060")
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if not client.is_connected():
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print("连接服务器失败")
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return
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microphone = client.get_micphone("mic2")
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if microphone is None:
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print("获取麦克风失败")
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return
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# 获取状态
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result, status = microphone.get_status()
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print(f"麦克风状态: 初始化={status.is_initialized}, 录音中={status.is_recording}")
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else:
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print(f"获取麦克风状态失败，错误码: {result}")
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# 开始录音
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audio_path = "/home/linbo/Data/Audio/recorded_audio.mp3"
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result = microphone.start_record(audio_path)
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print(f"开始录音，保存到: {audio_path}")
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# 录音5秒
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time.sleep(5)
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# 停止录音
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result = microphone.stop_record()
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if result == CMVRErrorCode.CMVR_SUCCESS:
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print("停止录音")
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else:
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print(f"停止录音失败，错误码: {result}")
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else:
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print(f"开始录音失败，错误码: {result}")
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if __name__ == "__main__":
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test_biohead()
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# test_biohead()
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# test_camera()
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# test_rgb_image_stream()
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# test_dexhand()
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# test_sensor_data_stream()
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# test_speaker()
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test_microphone()
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