import grpc import time from typing import Tuple from datetime import datetime from .enums import CMVRErrorCode from .models import FacialExpressionState class BioHeadClient: """仿生头客户端""" def __init__(self, device_id: str, stub): self.device_id = device_id self.stub = stub self.generated = None # 推迟导入 self.request_queue = [] # 请求队列 self.response_iterator = None # 响应迭代器 self.stream_active = False # 流是否活跃 def _import_generated(self): """推迟导入 generated""" if self.generated is None: try: # 从正确的路径导入生成的模块 from generated.cmvr.api import common_pb2, biohead_command_pb2 self.generated = type('GeneratedModules', (), { 'common_pb2': common_pb2, 'biohead_command_pb2': biohead_command_pb2 }) except ImportError as e: print(f"导入生成的模块失败: {e}") print("请确保已生成 protobuf 代码") raise return self.generated def _create_command_header(self): """创建命令头""" generated = self._import_generated() header = generated.common_pb2.CommandHeader.Request() header.device_id = self.device_id # 使用正确的方式设置时间戳 from google.protobuf.timestamp_pb2 import Timestamp timestamp = Timestamp() timestamp.GetCurrentTime() header.timestamp.CopyFrom(timestamp) return header def set_expression(self, expression: FacialExpressionState) -> CMVRErrorCode: """设置表情""" try: generated = self._import_generated() # 创建请求 request = generated.biohead_command_pb2.SetFacialExpression.Request() request.header.CopyFrom(self._create_command_header()) # 填充表情数据 expr = request.expression expr.eyebrow.left_outside_y = expression.left_eyebrow_outside_y expr.eyebrow.left_inside_y = expression.left_eyebrow_inside_y expr.eyebrow.right_outside_y = expression.right_eyebrow_outside_y expr.eyebrow.right_inside_y = expression.right_eyebrow_inside_y expr.eyelid.left_upper_y = expression.left_eye_upper_lid_y expr.eyelid.left_lower_y = expression.left_eye_lower_lid_y expr.eyelid.right_upper_y = expression.right_eye_upper_lid_y expr.eyelid.right_lower_y = expression.right_eye_lower_lid_y expr.eyeball.left_x = expression.left_eye_ball_x expr.eyeball.left_y = expression.left_eye_ball_y expr.eyeball.right_x = expression.right_eye_ball_x expr.eyeball.right_y = expression.right_eye_ball_y expr.nose.left_y = expression.left_nose_y expr.nose.right_y = expression.right_nose_y expr.mouth.upper_lip_y = expression.upper_lip_y expr.mouth.upper_lip_z = expression.upper_lip_z expr.mouth.lower_lip_y = expression.lower_lip_y expr.mouth.lower_lip_z = expression.lower_lip_z expr.mouth.left_lip.upper_x = expression.upper_left_lip_x expr.mouth.left_lip.upper_y = expression.upper_left_lip_y expr.mouth.left_lip.corner_x = expression.left_corner_lip_x expr.mouth.left_lip.corner_y = expression.left_corner_lip_y expr.mouth.left_lip.lower_x = expression.lower_left_lip_x expr.mouth.left_lip.lower_y = expression.lower_left_lip_y expr.mouth.right_lip.upper_x = expression.upper_right_lip_x expr.mouth.right_lip.upper_y = expression.upper_right_lip_y expr.mouth.right_lip.corner_x = expression.right_corner_lip_x expr.mouth.right_lip.corner_y = expression.right_corner_lip_y expr.mouth.right_lip.lower_x = expression.lower_right_lip_x expr.mouth.right_lip.lower_y = expression.lower_right_lip_y expr.jaw.x = expression.jaw_x expr.jaw.y = expression.jaw_y # 发送请求 response = self.stub.SetExpression(request) return CMVRErrorCode.CMVR_SUCCESS if response.header.success else CMVRErrorCode.CMVR_RPC_FAILED except grpc.RpcError as e: print(f"设置表情失败: {e}") return CMVRErrorCode.CMVR_RPC_FAILED def start_stream(self): """开始流式会话""" try: if not self.stream_active: # 创建一个请求迭代器生成器 self.request_queue = [] self.stream_active = True self.response_iterator = self.stub.StreamExpression(self._stream_request_generator()) return CMVRErrorCode.CMVR_SUCCESS except grpc.RpcError as e: print(f"开始流式会话失败: {e}") return CMVRErrorCode.CMVR_RPC_FAILED def _stream_request_generator(self): """流式请求生成器""" generated = self._import_generated() while self.stream_active: if self.request_queue: request = self.request_queue.pop(0) yield request if request.eof: break else: # 如果没有请求，等待一小段时间 time.sleep(0.01) time.sleep(0.1) def stream_expression(self, expression, is_eof=False): """流式控制表情""" try: if not self.stream_active: result = self.start_stream() if result != CMVRErrorCode.CMVR_SUCCESS: return result generated = self._import_generated() # 创建请求 request = generated.biohead_command_pb2.StreamFacialExpression.Request() request.header.CopyFrom(self._create_command_header()) request.expr.CopyFrom(expression) request.eof = is_eof # 将请求添加到队列 self.request_queue.append(request) # 读取最新的响应 try: feedback = next(self.response_iterator) return CMVRErrorCode.CMVR_SUCCESS if feedback.header.success else CMVRErrorCode.CMVR_RPC_FAILED except StopIteration: return CMVRErrorCode.CMVR_SUCCESS except grpc.RpcError as e: print(f"流式控制表情失败: {e}") return CMVRErrorCode.CMVR_RPC_FAILED def end_stream(self): """结束流式会话""" try: if self.stream_active: # 发送结束信号 generated = self._import_generated() request = generated.biohead_command_pb2.StreamFacialExpression.Request() request.header.CopyFrom(self._create_command_header()) request.eof = True self.request_queue.append(request) # 等待所有响应 for feedback in self.response_iterator: if not feedback.header.success: return CMVRErrorCode.CMVR_RPC_FAILED self.stream_active = False self.request_queue = [] self.response_iterator = None return CMVRErrorCode.CMVR_SUCCESS except grpc.RpcError as e: print(f"结束流式会话失败: {e}") return CMVRErrorCode.CMVR_RPC_FAILED def get_system_status(self): """获取系统状态""" try: generated = self._import_generated() request = generated.biohead_command_pb2.GetStatus.Request() request.header.CopyFrom(self._create_command_header()) response = self.stub.GetSystemStatus(request) return CMVRErrorCode.CMVR_SUCCESS if response.header.success else CMVRErrorCode.CMVR_RPC_FAILED except grpc.RpcError as e: print(f"获取系统状态失败: {e}") return CMVRErrorCode.CMVR_RPC_FAILED def emergency_stop(self): """紧急停止""" try: generated = self._import_generated() request = generated.biohead_command_pb2.EmergencyStop.Request() request.header.CopyFrom(self._create_command_header()) response = self.stub.EmergencyStop(request) return CMVRErrorCode.CMVR_SUCCESS if response.header.success else CMVRErrorCode.CMVR_RPC_FAILED except grpc.RpcError as e: print(f"紧急停止失败: {e}") return CMVRErrorCode.CMVR_RPC_FAILED def close(self): """关闭连接""" if self.stream_active: self.end_stream()