from dataclasses import dataclass, field from typing import List import numpy as np @dataclass class MicState: """麦克风状态""" is_initialized: bool = False is_running: bool = False is_recording: bool = False volume: int = 0 error_message: str = "" @dataclass class SpeakerState: """扬声器状态""" is_initialized: bool = False is_running: bool = False is_decoding: bool = False is_paused: bool = False volume: int = 0 @dataclass class CameraState: """相机状态""" is_initialized: bool = False is_opened: bool = False is_streaming: bool = False is_recording: bool = False width: int = 0 height: int = 0 fps: int = 0 @dataclass class CameraIntrinsics: """相机内参（与Protobuf Rs2Intrinsics对齐）""" cx: float = 0.0 # 对应Protobuf tag=1 cy: float = 0.0 # 对应Protobuf tag=2 fx: float = 0.0 # 对应Protobuf tag=3 fy: float = 0.0 # 对应Protobuf tag=4 # 畸变系数：固定5个元素（k1, k2, p1, p2, k3），与Protobuf tag=5对齐 coeffs: List[float] = field(default_factory=lambda: [0.0]*5) @dataclass class FreedomState: """灵巧手自由度状态""" dof_id: int = 0 angle: int = 0 speed: int = 0 force: int = 0 position: int = 0 current: int = 0 temperature: int = 0 error: int = 0 error_message: List[str] = field(default_factory=list) @dataclass class DexHandState: """灵巧手整体状态""" is_initialized: bool = False hands: List[FreedomState] = field(default_factory=lambda: [FreedomState() for _ in range(6)]) @dataclass class FacialExpressionState: """面部表情状态""" # 眉毛 left_eyebrow_outside_y: float = 0.0 left_eyebrow_inside_y: float = 0.0 right_eyebrow_outside_y: float = 0.0 right_eyebrow_inside_y: float = 0.0 # 眼睑 left_eye_upper_lid_y: float = 0.0 left_eye_lower_lid_y: float = 0.0 right_eye_upper_lid_y: float = 0.0 right_eye_lower_lid_y: float = 0.0 # 眼球 left_eye_ball_x: float = 0.0 left_eye_ball_y: float = 0.0 right_eye_ball_x: float = 0.0 right_eye_ball_y: float = 0.0 # 鼻子 left_nose_y: float = 0.0 right_nose_y: float = 0.0 # 嘴巴 upper_lip_y: float = 0.0 upper_lip_z: float = 0.0 lower_lip_y: float = 0.0 lower_lip_z: float = 0.0 # 左唇角 upper_left_lip_x: float = 0.0 upper_left_lip_y: float = 0.0 left_corner_lip_x: float = 0.0 left_corner_lip_y: float = 0.0 lower_left_lip_x: float = 0.0 lower_left_lip_y: float = 0.0 # 右唇角 upper_right_lip_x: float = 0.0 upper_right_lip_y: float = 0.0 right_corner_lip_x: float = 0.0 right_corner_lip_y: float = 0.0 lower_right_lip_x: float = 0.0 lower_right_lip_y: float = 0.0 # 下巴 jaw_x: float = 0.0 jaw_y: float = 0.0 @dataclass class FingerTactileData: """手指触觉数据""" data: np.ndarray = None rows: int = 0 cols: int = 0 byteSize: int = 0 name: str = "" def __post_init__(self): if self.data is None and self.rows > 0 and self.cols > 0: self.data = np.zeros((self.rows, self.cols), dtype=np.uint16) @dataclass class PalmTactileData: """手掌触觉数据""" data: np.ndarray = None rows: int = 8 cols: int = 14 byteSize: int = 224 name: str = "掌心" def __post_init__(self): if self.data is None: self.data = np.zeros((self.rows, self.cols), dtype=np.uint16) @dataclass class HandTactileSensors: """整只手的触觉传感器数据""" pinky_tip: FingerTactileData = None pinky_finger: FingerTactileData = None pinky_pad: FingerTactileData = None ring_tip: FingerTactileData = None ring_finger: FingerTactileData = None ring_pad: FingerTactileData = None middle_tip: FingerTactileData = None middle_finger: FingerTactileData = None middle_pad: FingerTactileData = None index_tip: FingerTactileData = None index_finger: FingerTactileData = None index_pad: FingerTactileData = None thumb_tip: FingerTactileData = None thumb_finger: FingerTactileData = None thumb_middle: FingerTactileData = None thumb_pad: FingerTactileData = None palm: PalmTactileData = None def __post_init__(self): """初始化所有传感器数据""" # 小拇指 self.pinky_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="小拇指指端") self.pinky_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="小拇指指尖") self.pinky_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="小拇指指腹") # 无名指 self.ring_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="无名指指端") self.ring_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="无名指指尖") self.ring_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="无名指指腹") # 中指 self.middle_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="中指指端") self.middle_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="中指指尖") self.middle_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="中指指腹") # 食指 self.index_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="食指指端") self.index_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="食指指尖") self.index_pad = FingerTactileData(rows=10, cols=8, byteSize=160, name="食指指腹") # 大拇指 self.thumb_tip = FingerTactileData(rows=3, cols=3, byteSize=18, name="大拇指指端") self.thumb_finger = FingerTactileData(rows=12, cols=8, byteSize=192, name="大拇指尖") self.thumb_middle = FingerTactileData(rows=3, cols=3, byteSize=18, name="大拇指指中") self.thumb_pad = FingerTactileData(rows=12, cols=8, byteSize=192, name="大拇指指腹") # 掌心 self.palm = PalmTactileData() def get_finger_name(self, finger_type): """获取手指名称""" from .enums import FingerType names = { FingerType.PINKY: "小拇指", FingerType.RING: "无名指", FingerType.MIDDLE: "中指", FingerType.INDEX: "食指", FingerType.THUMB: "大拇指" } return names.get(finger_type, "未知") def print_summary(self): """打印传感器数据摘要信息""" print(f" 小拇指指端: {self.pinky_tip.rows}x{self.pinky_tip.cols} (数据大小: {self.pinky_tip.byteSize} bytes)") print(f" 无名指指端: {self.ring_tip.rows}x{self.ring_tip.cols} (数据大小: {self.ring_tip.byteSize} bytes)") print(f" 中指指端: {self.middle_tip.rows}x{self.middle_tip.cols} (数据大小: {self.middle_tip.byteSize} bytes)") print(f" 食指指端: {self.index_tip.rows}x{self.index_tip.cols} (数据大小: {self.index_tip.byteSize} bytes)") print(f" 大拇指指端: {self.thumb_tip.rows}x{self.thumb_tip.cols} (数据大小: {self.thumb_tip.byteSize} bytes)") print(f" 大拇指指中: {self.thumb_middle.rows}x{self.thumb_middle.cols} (数据大小: {self.thumb_middle.byteSize} bytes)") print(f" 掌心: {self.palm.rows}x{self.palm.cols} (数据大小: {self.palm.byteSize} bytes)")