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refactor(task): update service and task wiring

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This commit is contained in:
lgv 2026-06-30 16:06:14 +08:00
parent 32fe139015
commit 5e53e017a5
8 changed files with 29 additions and 50 deletions
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4
cmvr-es/config/tasks/touch_screen_task/touch_screen_task.pb.txt
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@ -38,10 +38,6 @@ touch_screen_task {
vmax6 { x: 1.0 y: 1.0 z: 1.0 rx: 0.6 ry: 0.6 rz: 0.6 } vmax6 { x: 1.0 y: 1.0 z: 1.0 rx: 0.6 ry: 0.6 rz: 0.6 }
amax6 { x: 2.4 y: 2.4 z: 4.5 rx: 2.5 ry: 2.5 rz: 2.5 } amax6 { x: 2.4 y: 2.4 z: 4.5 rx: 2.5 ry: 2.5 rz: 2.5 }
twist_filter_alpha: 1.0 twist_filter_alpha: 1.0
enable_joint_limit_avoidance: true
joint_limit_avoidance_gain: 0.2
joint_limit_avoidance_margin_ratio: 0.15
joint_limit_avoidance_max_push: 0.25
r_camera_to_visp { r_camera_to_visp {
m00: 1.0 m01: 0.0 m02: 0.0 m00: 1.0 m01: 0.0 m02: 0.0
m10: 0.0 m11: 1.0 m12: 0.0 m10: 0.0 m11: 1.0 m12: 0.0

4
cmvr-es/config/tasks/touch_screen_task/touch_screen_task_mujoco.pb.txt
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@ -38,10 +38,6 @@ touch_screen_task {
vmax6 { x: 1.0 y: 1.0 z: 1.0 rx: 0.6 ry: 0.6 rz: 0.6 } vmax6 { x: 1.0 y: 1.0 z: 1.0 rx: 0.6 ry: 0.6 rz: 0.6 }
amax6 { x: 2.4 y: 2.4 z: 4.5 rx: 2.5 ry: 2.5 rz: 2.5 } amax6 { x: 2.4 y: 2.4 z: 4.5 rx: 2.5 ry: 2.5 rz: 2.5 }
twist_filter_alpha: 1.0 twist_filter_alpha: 1.0
enable_joint_limit_avoidance: true
joint_limit_avoidance_gain: 0.2
joint_limit_avoidance_margin_ratio: 0.15
joint_limit_avoidance_max_push: 0.25
r_camera_to_visp { r_camera_to_visp {
m00: 1.0 m01: 0.0 m02: 0.0 m00: 1.0 m01: 0.0 m02: 0.0
m10: 0.0 m11: -1.0 m12: 0.0 m10: 0.0 m11: -1.0 m12: 0.0

4
cmvr-es/service/CMakeLists.txt
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@ -48,7 +48,7 @@ add_executable(grpc_arm_client_test
target_link_libraries(grpc_arm_client_test target_link_libraries(grpc_arm_client_test
PRIVATE PRIVATE
cmvr_es::device::canbus cmvr_es::device::canbus
cmvr_es::device::ti5motor cmvr_es::device::ti5_canopen_motor_driver
osqp osqp
gtest gtest
gtest_main gtest_main
@ -70,7 +70,7 @@ add_executable(grpc_hlc_client_test
target_link_libraries(grpc_hlc_client_test target_link_libraries(grpc_hlc_client_test
PRIVATE PRIVATE
cmvr_es::device::canbus cmvr_es::device::canbus
cmvr_es::device::ti5motor cmvr_es::device::ti5_canopen_motor_driver
osqp osqp
gtest gtest
gtest_main gtest_main

6
cmvr-es/service/grpc/src/grpc_arm_service.cpp
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@ -334,9 +334,9 @@ grpc::Status gRPCArmServiceImpl::getJointState(grpc::ServerContext*,
for (double v : state.velocity) msg->add_velocity(v); for (double v : state.velocity) msg->add_velocity(v);
for (double v : state.effort) msg->add_effort(v); for (double v : state.effort) msg->add_effort(v);
fillFeedback(response->mutable_header(), true); fillFeedback(response->mutable_header(), true);
CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (getJointState): success, id=" << device_id // CMVR_LOG(DEBUG) << "[gRPCArmServiceImpl] (getJointState): success, id=" << device_id
<< ", joints=" << msg->name_size() // << ", joints=" << msg->name_size()
<< ", positions=" << msg->position_size(); // << ", positions=" << msg->position_size();
return grpc::Status::OK; return grpc::Status::OK;
} catch (const std::exception& e) { } catch (const std::exception& e) {
fillFeedback(response->mutable_header(), false, e.what()); fillFeedback(response->mutable_header(), false, e.what());

38
cmvr-es/task/CMakeLists.txt
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@ -17,22 +17,22 @@ target_link_libraries(task
add_library(cmvr_es::task ALIAS task) add_library(cmvr_es::task ALIAS task)
install(TARGETS task LIBRARY DESTINATION lib) install(TARGETS task LIBRARY DESTINATION lib)
add_executable(touch_screen_task_test #add_executable(touch_screen_task_test
touch_screen_task/src/touch_screen_task_test.cpp # touch_screen_task/src/touch_screen_task_test.cpp
) #)
#
target_link_libraries(touch_screen_task_test PRIVATE #target_link_libraries(touch_screen_task_test PRIVATE
cmvr_es::task # cmvr_es::task
cmvr_es::device::arm # cmvr_es::device::arm
cmvr_es::device::motor_system # cmvr_es::device::motor_manager
cmvr_es::device::mujoco_motor # cmvr_es::device::mujoco_motor_driver
cmvr_es::device::mujoco_camera # cmvr_es::device::mujoco_camera
cmvr_es::mujoco_viewer # cmvr_es::mujoco_viewer
cmvr_es::proto # cmvr_es::proto
cmvr_es::device_manager # cmvr_es::device_manager
cmvr_es::service # cmvr_es::service
gtest # gtest
gtest_main # gtest_main
pthread # pthread
glog # glog
) #)

8
cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp
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@ -723,10 +723,6 @@ bool TouchScreenTask::validateConfig(const cmvr::config::TouchScreenTaskConfig&
!ibvs.has_amax6() || !ibvs.has_amax6() ||
!hasVec6(ibvs.amax6()) || !hasVec6(ibvs.amax6()) ||
!ibvs.has_twist_filter_alpha() || !ibvs.has_twist_filter_alpha() ||
!ibvs.has_enable_joint_limit_avoidance() ||
!ibvs.has_joint_limit_avoidance_gain() ||
!ibvs.has_joint_limit_avoidance_margin_ratio() ||
!ibvs.has_joint_limit_avoidance_max_push() ||
!ibvs.has_r_camera_to_visp() || !ibvs.has_r_camera_to_visp() ||
!hasMat3(ibvs.r_camera_to_visp()) || !hasMat3(ibvs.r_camera_to_visp()) ||
!ibvs.has_r_camera_to_urdf() || !ibvs.has_r_camera_to_urdf() ||
@ -884,10 +880,6 @@ bool TouchScreenTask::applyConfig() {
ibvs_.setVelocityLimit6(toArray6(cmvr::common::math::toEigenVec6(ibvs.vmax6()))); ibvs_.setVelocityLimit6(toArray6(cmvr::common::math::toEigenVec6(ibvs.vmax6())));
ibvs_.setAccelerationLimit6(toArray6(cmvr::common::math::toEigenVec6(ibvs.amax6()))); ibvs_.setAccelerationLimit6(toArray6(cmvr::common::math::toEigenVec6(ibvs.amax6())));
ibvs_.setTwistFilterAlpha(ibvs.twist_filter_alpha()); ibvs_.setTwistFilterAlpha(ibvs.twist_filter_alpha());
ibvs_.setJointLimitAvoidance(ibvs.enable_joint_limit_avoidance(),
ibvs.joint_limit_avoidance_gain(),
ibvs.joint_limit_avoidance_margin_ratio(),
ibvs.joint_limit_avoidance_max_push());
ibvs_.setAlignCameraToVisp(r_camera_to_visp); ibvs_.setAlignCameraToVisp(r_camera_to_visp);
ibvs_.setAlignCameraToUrdf(r_camera_to_urdf); ibvs_.setAlignCameraToUrdf(r_camera_to_urdf);
CMVR_LOG(DEBUG) << "[TouchScreenTask] Apply config id=" << config_.id() CMVR_LOG(DEBUG) << "[TouchScreenTask] Apply config id=" << config_.id()

10
cmvr-es/task/touch_screen_task/src/touch_screen_task_test.cpp
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@ -27,8 +27,8 @@
#include "cmvr/config/touch_screen_task_config/touch_screen_task_config.pb.h" #include "cmvr/config/touch_screen_task_config/touch_screen_task_config.pb.h"
#include "devices/arm/robot_arm_factory.h" #include "devices/arm/robot_arm_factory.h"
#include "devices/camera/mujoco_camera/include/mujoco_camera.h" #include "devices/camera/mujoco_camera/include/mujoco_camera.h"
#include "devices/motor/motor_system/include/motor_system.h" #include "devices/motor/manager/include/motor_manager.h"
#include "devices/motor/mujoco_motor/include/mujoco_motor.h" #include "devices/motor/drivers/mujoco/include/mujoco_motor.h"
#include "manager/device_manager/include/device_manager.h" #include "manager/device_manager/include/device_manager.h"
#include "manager/task_manager/include/task_manager.h" #include "manager/task_manager/include/task_manager.h"
#include "simulate/mujoco/mujoco_viewer/include/mujoco_viewer.h" #include "simulate/mujoco/mujoco_viewer/include/mujoco_viewer.h"
@ -471,12 +471,12 @@ TEST(TouchScreenTaskTest, RunTouchOnceInMujoco) {
arm_entry->set_enable(true); arm_entry->set_enable(true);
auto& device_manager = cmvr::device::DeviceManager::getInstance(device_manager_config); auto& device_manager = cmvr::device::DeviceManager::getInstance(device_manager_config);
auto motor_system = device_manager.getDevice<cmvr::device::MotorSystem>("mujoco_motors"); auto motor_system = device_manager.getDevice<cmvr::device::MotorManager>("mujoco_motors");
if (!motor_system) { if (!motor_system) {
CMVR_LOG(ERROR) << "[TouchScreenTaskTest] MotorSystem not found: mujoco_motors"; CMVR_LOG(ERROR) << "[TouchScreenTaskTest] MotorManager not found: mujoco_motors";
return; return;
} }
auto bridge = cmvr::device::MotorSystem::mujocoBridgeFor("mujoco_motors"); auto bridge = cmvr::device::MotorManager::mujocoBridgeFor("mujoco_motors");
if (!bridge) { if (!bridge) {
CMVR_LOG(ERROR) << "[TouchScreenTaskTest] Mujoco bridge not found: mujoco_motors"; CMVR_LOG(ERROR) << "[TouchScreenTaskTest] Mujoco bridge not found: mujoco_motors";
return; return;

5
protos/cmvr/config/touch_screen_algorithm_config.proto
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@ -20,11 +20,6 @@ message TouchScreenIbvsConfig {
.cmvr.common.Vec6 amax6 = 6; .cmvr.common.Vec6 amax6 = 6;
optional double twist_filter_alpha = 7; optional double twist_filter_alpha = 7;
optional bool enable_joint_limit_avoidance = 8;
optional double joint_limit_avoidance_gain = 9;
optional double joint_limit_avoidance_margin_ratio = 10;
optional double joint_limit_avoidance_max_push = 11;
.cmvr.common.Mat3 r_camera_to_visp = 12; .cmvr.common.Mat3 r_camera_to_visp = 12;
.cmvr.common.Mat3 r_camera_to_urdf = 13; .cmvr.common.Mat3 r_camera_to_urdf = 13;