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fix(agv): align SEER backend configuration

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This commit is contained in:
linbo 2026-08-27 10:56:20 +08:00
parent 67fd400303
commit 9003ad4c02
4 changed files with 17 additions and 13 deletions
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4
cmvr-es/config/devices/agv/src1100.pb.txt → cmvr-es/config/devices/agv/seer_robokit.pb.txt
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@ -8,8 +8,9 @@ agv {
} }
agvs { agvs {
# The controller model is SRC1100; this remains the device instance ID.
id: "src1100" id: "src1100"
src1100_agv { seer_robokit_agv {
ip: "192.168.192.5" ip: "192.168.192.5"
port_status: 19204 port_status: 19204
port_control: 19205 port_control: 19205
@ -18,6 +19,7 @@ agv {
port_other: 19210 port_other: 19210
port_push: 19301 port_push: 19301
recv_timeout_ms: 1000 recv_timeout_ms: 1000
control_nick_name: "cmvr-es"
enable_state_push: true enable_state_push: true
state_push_interval_ms: 200 state_push_interval_ms: 200
state_push_included_fields: "x" state_push_included_fields: "x"

4
cmvr-es/config/manager/device_manager.pb.txt
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@ -127,8 +127,8 @@ device_manager {
devices { devices {
id: "src1100" id: "src1100"
type: DEVICE_TYPE_AGV type: DEVICE_TYPE_AGV
config_file: "devices/agv/src1100.pb.txt" config_file: "devices/agv/seer_robokit.pb.txt"
enable: false enable: true
} }
devices { devices {

10
cmvr-es/devices/agv/agv_factory.h
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@ -7,7 +7,7 @@
#include "common/base/logging/logger.h" #include "common/base/logging/logger.h"
#include "devices/agv/abstract_agv.h" #include "devices/agv/abstract_agv.h"
#include "devices/agv/my_agv/include/my_agv.h" #include "devices/agv/my_agv/include/my_agv.h"
#include "devices/agv/src1100/include/src1100_agv.h" #include "seer_robokit_agv.h"
namespace cmvr::device { namespace cmvr::device {
@ -31,15 +31,15 @@ public:
backend.set_id(cfg.id()); backend.set_id(cfg.id());
return std::make_shared<MyAgv>(backend); return std::make_shared<MyAgv>(backend);
} }
case config::AGVDeviceConfig::kSrc1100Agv: case config::AGVDeviceConfig::kSeerRobokitAgv:
{ {
if (!cfg.src1100_agv().id().empty() && cfg.src1100_agv().id() != cfg.id()) { if (!cfg.seer_robokit_agv().id().empty() && cfg.seer_robokit_agv().id() != cfg.id()) {
CMVR_LOG(ERROR) << "[AGVFactory]: AGV id does not match backend id: " << cfg.id(); CMVR_LOG(ERROR) << "[AGVFactory]: AGV id does not match backend id: " << cfg.id();
return nullptr; return nullptr;
} }
auto backend = cfg.src1100_agv(); auto backend = cfg.seer_robokit_agv();
backend.set_id(cfg.id()); backend.set_id(cfg.id());
return std::make_shared<Src1100Agv>(backend); return std::make_shared<SeerRobokitAgv>(backend);
} }
case config::AGVDeviceConfig::BACKEND_NOT_SET: case config::AGVDeviceConfig::BACKEND_NOT_SET:

12
protos/cmvr/config/agv_config/agv_config.proto
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@ -11,11 +11,11 @@ message MyAgvConfig {
int32 port = 3; int32 port = 3;
} }
// 仙工 SRC1100 AGV 后端配置。 // 仙工 SEER Robokit AGV 后端配置。
message Src1100AgvConfig { message SeerRobokitAgvConfig {
// 设备 id。为空时通常由外层 AGVDeviceConfig.id 补齐。 // 设备 id。为空时通常由外层 AGVDeviceConfig.id 补齐。
string id = 1; string id = 1;
// SRC1100 控制器 IP 地址。 // SEER Robokit 控制器 IP 地址。
string ip = 2; string ip = 2;
// 是否启用该后端配置。当前设备是否创建仍以设备管理器配置为准。 // 是否启用该后端配置。当前设备是否创建仍以设备管理器配置为准。
bool enable = 3; bool enable = 3;
@ -49,6 +49,8 @@ message Src1100AgvConfig {
int32 map_update_interval_ms = 17; int32 map_update_interval_ms = 17;
// 统一地图更新缓存条数。0 表示使用适配器默认值；缓存满后会丢弃最旧更新。 // 统一地图更新缓存条数。0 表示使用适配器默认值；缓存满后会丢弃最旧更新。
uint32 map_update_history_size = 18; uint32 map_update_history_size = 18;
// 抢占 SEER Robokit 控制权时上报的稳定昵称。为空时适配器使用 "cmvr-es:<device-id>"。
string control_nick_name = 19;
} }
// 单个 AGV 设备配置。 // 单个 AGV 设备配置。
@ -60,8 +62,8 @@ message AGVDeviceConfig {
oneof backend { oneof backend {
// 示例/测试 AGV 后端。 // 示例/测试 AGV 后端。
MyAgvConfig my_agv = 10; MyAgvConfig my_agv = 10;
// 仙工 SRC1100 AGV 后端。 // 仙工 SEER Robokit AGV 后端。
Src1100AgvConfig src1100_agv = 11; SeerRobokitAgvConfig seer_robokit_agv = 11;
} }
} }