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chore: remove branch-only tests and generated artifacts

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This commit is contained in:
xtkuang 2026-08-18 16:17:46 +08:00
parent f611ad1db8
commit aac719a932
112 changed files with 19 additions and 38894 deletions
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12
.gitignore vendored
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@ -7,3 +7,15 @@
/third_party/osqp/
/third_party/OsqpEigen/
/output
# Generated development artifacts
compile_commands.json
MUJOCO_LOG.TXT
__pycache__/
*.py[cod]
*.log
# Generated plots and vision debug output
/data/*.png
/data/*.svg
/python/vision_servo/red_point.png

6
MUJOCO_LOG.TXT
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@ -1,6 +0,0 @@
Fri Jul 24 15:39:05 2026
ERROR: could not create window
Fri Jul 24 15:40:37 2026
ERROR: could not create window

56
cmvr-es/algorithms/controllers/ume_legacy/CMakeLists.txt
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@ -20,59 +20,3 @@ add_library(
)
install(TARGETS ume_legacy_controller LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(ume_legacy_controller_golden_test
tests/ume_legacy_controller_golden_test.cpp
)
add_executable(pinocchio_ume_legacy_model_adapter_test
tests/pinocchio_ume_legacy_model_adapter_test.cpp
)
target_link_libraries(ume_legacy_controller_golden_test
PRIVATE
cmvr_es::algorithms::ume_legacy
gtest
gtest_main
pthread
)
target_link_libraries(pinocchio_ume_legacy_model_adapter_test
PRIVATE
cmvr_es::algorithms::ume_legacy
gtest
gtest_main
pthread
)
foreach(_ume_legacy_test_target
ume_legacy_controller_golden_test
pinocchio_ume_legacy_model_adapter_test)
target_compile_definitions(${_ume_legacy_test_target}
PRIVATE
CMVR_UME_FIXED_MODEL_PATH="${CMAKE_SOURCE_DIR}/model/ume/v6_bimanual/robot.xml"
CMVR_UME_FLOATING_MODEL_PATH="${CMAKE_SOURCE_DIR}/model/ume/v6_imu/robot.xml"
)
add_test(
NAME ${_ume_legacy_test_target}
COMMAND ${_ume_legacy_test_target}
)
endforeach()
set(_ume_legacy_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _ume_legacy_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
foreach(_ume_legacy_test_target
ume_legacy_controller_golden_test
pinocchio_ume_legacy_model_adapter_test)
set_tests_properties(${_ume_legacy_test_target} PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_ume_legacy_test_environment}"
)
endforeach()
endif()

392
cmvr-es/algorithms/controllers/ume_legacy/tests/pinocchio_ume_legacy_model_adapter_test.cpp
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@ -1,392 +0,0 @@
#include "pinocchio_ume_legacy_model_adapter.h"
#include <array>
#include <cmath>
#include <cstddef>
#include <limits>
#include <stdexcept>
#include <string>
#include <gtest/gtest.h>
#ifndef CMVR_UME_FIXED_MODEL_PATH
#error "CMVR_UME_FIXED_MODEL_PATH must identify the deployed fixed UME MJCF"
#endif
#ifndef CMVR_UME_FLOATING_MODEL_PATH
#error "CMVR_UME_FLOATING_MODEL_PATH must identify the deployed floating UME MJCF"
#endif
namespace cmvr::ume_legacy {
namespace {
constexpr double kNumericalTolerance = 1e-10;
PinocchioUmeLegacyModelAdapter makeAdapter()
{
return PinocchioUmeLegacyModelAdapter(
CMVR_UME_FIXED_MODEL_PATH,
CMVR_UME_FLOATING_MODEL_PATH);
}
BimanualModelState makeGoldenState(
const PinocchioUmeLegacyModelAdapter& adapter)
{
BimanualModelState state;
state.world_from_imu =
adapter.contract().base_from_imu;
state.right_position_rad =
{0.1, -0.2, 0.3, -0.4,
0.2, -0.1, 0.15, -0.05};
state.left_position_rad =
{-0.1, 0.2, -0.3, 0.4,
-0.2, 0.1, -0.15, 0.05};
return state;
}
template <std::size_t Size>
void expectFinite(const std::array<double, Size>& values)
{
for (std::size_t index = 0; index < Size; ++index) {
EXPECT_TRUE(std::isfinite(values[index]))
<< "index " << index;
}
}
template <std::size_t Size>
void expectNear(
const std::array<double, Size>& actual,
const std::array<double, Size>& expected,
double tolerance = kNumericalTolerance)
{
for (std::size_t index = 0; index < Size; ++index) {
EXPECT_NEAR(actual[index], expected[index], tolerance)
<< "index " << index;
}
}
Transform4x4RowMajor multiplyTransforms(
const Transform4x4RowMajor& left,
const Transform4x4RowMajor& right)
{
Transform4x4RowMajor result{};
for (std::size_t row = 0; row < 4; ++row) {
for (std::size_t column = 0; column < 4; ++column) {
for (std::size_t inner = 0; inner < 4; ++inner) {
result[row * 4 + column] +=
left[row * 4 + inner] *
right[inner * 4 + column];
}
}
}
return result;
}
Transform4x4RowMajor makeNoncommutingWorldFromBase()
{
constexpr double roll = 0.2;
constexpr double pitch = -0.35;
constexpr double yaw = 0.47;
const double sr = std::sin(roll);
const double cr = std::cos(roll);
const double sp = std::sin(pitch);
const double cp = std::cos(pitch);
const double sy = std::sin(yaw);
const double cy = std::cos(yaw);
return {
cy * cp,
cy * sp * sr - sy * cr,
cy * sp * cr + sy * sr,
0.4,
sy * cp,
sy * sp * sr + cy * cr,
sy * sp * cr - cy * sr,
-0.1,
-sp,
cp * sr,
cp * cr,
0.8,
0.0, 0.0, 0.0, 1.0};
}
TEST(PinocchioUmeLegacyModelAdapterTest,
LoadsOriginalMjcfWithoutGeometryAssetsAndFreezesContract)
{
const auto adapter = makeAdapter();
const auto& contract = adapter.contract();
EXPECT_EQ(contract.fixed_nq, 16U);
EXPECT_EQ(contract.fixed_nv, 16U);
EXPECT_EQ(contract.floating_nq, 23U);
EXPECT_EQ(contract.floating_nv, 22U);
EXPECT_EQ(adapter.fixedModelPath(), CMVR_UME_FIXED_MODEL_PATH);
EXPECT_EQ(
adapter.floatingModelPath(),
CMVR_UME_FLOATING_MODEL_PATH);
// This transform comes from the original floating model's imu site.
// Pinocchio buildModel parses it without loading STL geometry.
const Transform4x4RowMajor expected_base_from_imu{
0.0, 0.0, -1.0, -0.0298,
0.0, 1.0, 0.0, 0.0,
1.0, 0.0, 0.0, -0.229564,
0.0, 0.0, 0.0, 1.0};
expectNear(
contract.base_from_imu,
expected_base_from_imu,
1e-5);
}
TEST(PinocchioUmeLegacyModelAdapterTest,
FloatingBaseRneaProducesFiniteFrozenJointEfforts)
{
const auto adapter = makeAdapter();
const auto state = makeGoldenState(adapter);
JointVector right{};
JointVector left{};
ASSERT_TRUE(
adapter.computeGravityCompensation(
state, right, left));
expectFinite(right);
expectFinite(left);
expectNear(
right,
{4.2579946000243867,
-3.101883528283977,
5.8349126697703291,
-3.2335040596068012,
0.54313804667559806,
-0.28419763993223052,
0.075420409617272505,
-0.0050792810993999194});
expectNear(
left,
{-4.2570142852347947,
3.1002195124462104,
-5.8319486672094438,
3.2334454894750602,
-0.54274278459746039,
0.28419800074629464,
-0.075420524366616282,
0.0050792800399334561});
}
TEST(PinocchioUmeLegacyModelAdapterTest,
ImuDerivedBaseOrientationReversesGravityUnderHalfTurn)
{
const auto adapter = makeAdapter();
auto state = makeGoldenState(adapter);
JointVector upright_right{};
JointVector upright_left{};
ASSERT_TRUE(adapter.computeGravityCompensation(
state, upright_right, upright_left));
const Transform4x4RowMajor world_from_base_half_turn_x{
1.0, 0.0, 0.0, 0.0,
0.0, -1.0, 0.0, 0.0,
0.0, 0.0, -1.0, 0.0,
0.0, 0.0, 0.0, 1.0};
state.world_from_imu = multiplyTransforms(
world_from_base_half_turn_x,
adapter.contract().base_from_imu);
JointVector inverted_right{};
JointVector inverted_left{};
ASSERT_TRUE(adapter.computeGravityCompensation(
state, inverted_right, inverted_left));
for (std::size_t index = 0; index < kArmDof; ++index) {
EXPECT_NEAR(
inverted_right[index],
-upright_right[index],
kNumericalTolerance)
<< "right joint index " << index;
EXPECT_NEAR(
inverted_left[index],
-upright_left[index],
kNumericalTolerance)
<< "left joint index " << index;
}
}
TEST(PinocchioUmeLegacyModelAdapterTest,
NoncommutingImuPoseAndAsymmetricVelocitiesMatchFrozenRnea)
{
const auto adapter = makeAdapter();
auto state = makeGoldenState(adapter);
state.world_from_imu = multiplyTransforms(
makeNoncommutingWorldFromBase(),
adapter.contract().base_from_imu);
state.right_velocity_rad_s =
{0.7, -0.4, 0.2, -0.1,
1.1, -0.8, 0.5, -0.3};
state.left_velocity_rad_s =
{-0.6, 0.9, -0.2, 0.4,
-1.0, 0.7, -0.5, 0.25};
JointVector right{};
JointVector left{};
ASSERT_TRUE(adapter.computeGravityCompensation(
state, right, left));
expectFinite(right);
expectFinite(left);
expectNear(
right,
{2.080988418159027,
-1.3277143244666021,
2.3194639604892364,
-2.0699331198781317,
0.40716561983947641,
-0.20631486209184946,
0.19335176308712126,
-0.01319194690287678});
expectNear(
left,
{-5.6976332776660232,
2.9915426497221254,
-2.5700109870406949,
2.1379083447512071,
-0.36441212045948712,
0.19226687457105307,
-0.085601264411386338,
0.0065129700338426369});
}
TEST(PinocchioUmeLegacyModelAdapterTest,
FixedModelRotationalProjectionMatchesFrozenValues)
{
const auto adapter = makeAdapter();
const auto state = makeGoldenState(adapter);
RawHapticFeedback feedback;
feedback.shoulder_moment = {0.5, -0.2, 0.3};
feedback.elbow_effort = 1.2;
feedback.wrist_moment = {-0.4, 0.1, 0.6};
feedback.gripper_effort = -0.7;
ProjectedHapticEffort right{};
ASSERT_TRUE(adapter.projectHapticFeedback(
state, ArmSide::Right, feedback, right));
expectFinite(right.shoulder_joint_torque);
expectFinite(right.wrist_joint_torque);
expectNear(
right.shoulder_joint_torque,
{-0.5,
-0.12674237993402607,
-0.30915027509149773});
expectNear(
right.wrist_joint_torque,
{-0.065872923184419674,
-0.028130723042130143,
-0.72743566625468636});
EXPECT_DOUBLE_EQ(right.elbow_effort, feedback.elbow_effort);
EXPECT_DOUBLE_EQ(
right.gripper_effort,
feedback.gripper_effort);
ProjectedHapticEffort left{};
ASSERT_TRUE(adapter.projectHapticFeedback(
state, ArmSide::Left, feedback, left));
expectFinite(left.shoulder_joint_torque);
expectFinite(left.wrist_joint_torque);
expectNear(
left.shoulder_joint_torque,
{-0.5,
-0.36032671657345572,
0.083245914753940151});
expectNear(
left.wrist_joint_torque,
{-0.13497315246130309,
0.15764759010789803,
-0.70779204949804098});
EXPECT_DOUBLE_EQ(left.elbow_effort, feedback.elbow_effort);
EXPECT_DOUBLE_EQ(
left.gripper_effort,
feedback.gripper_effort);
}
TEST(PinocchioUmeLegacyModelAdapterTest,
RejectsNonRigidOrNonFiniteInputsAndZerosOutputs)
{
const auto adapter = makeAdapter();
auto state = makeGoldenState(adapter);
JointVector right;
JointVector left;
right.fill(1.0);
left.fill(1.0);
state.world_from_imu = {};
EXPECT_FALSE(adapter.computeGravityCompensation(
state, right, left));
expectNear(right, JointVector{});
expectNear(left, JointVector{});
state = makeGoldenState(adapter);
state.right_position_rad[3] =
std::numeric_limits<double>::quiet_NaN();
right.fill(1.0);
left.fill(1.0);
EXPECT_FALSE(adapter.computeGravityCompensation(
state, right, left));
expectNear(right, JointVector{});
expectNear(left, JointVector{});
state = makeGoldenState(adapter);
RawHapticFeedback feedback;
feedback.shoulder_moment[1] =
std::numeric_limits<double>::infinity();
ProjectedHapticEffort projected;
projected.elbow_effort = 1.0;
EXPECT_FALSE(adapter.projectHapticFeedback(
state, ArmSide::Right, feedback, projected));
expectNear(
projected.shoulder_joint_torque,
Vector3{});
expectNear(projected.wrist_joint_torque, Vector3{});
EXPECT_DOUBLE_EQ(projected.elbow_effort, 0.0);
EXPECT_DOUBLE_EQ(projected.gripper_effort, 0.0);
feedback = {};
projected.elbow_effort = 1.0;
EXPECT_FALSE(adapter.projectHapticFeedback(
state,
static_cast<ArmSide>(99),
feedback,
projected));
expectNear(
projected.shoulder_joint_torque,
Vector3{});
expectNear(projected.wrist_joint_torque, Vector3{});
EXPECT_DOUBLE_EQ(projected.elbow_effort, 0.0);
EXPECT_DOUBLE_EQ(projected.gripper_effort, 0.0);
}
TEST(PinocchioUmeLegacyModelAdapterTest,
MissingModelFailsAtConstruction)
{
EXPECT_THROW(
PinocchioUmeLegacyModelAdapter(
"/definitely/missing/ume_fixed.xml",
CMVR_UME_FLOATING_MODEL_PATH),
std::runtime_error);
}
TEST(PinocchioUmeLegacyModelAdapterTest,
RejectsModelRoleSwapEvenThoughBothMjcfFilesParse)
{
try {
PinocchioUmeLegacyModelAdapter adapter(
CMVR_UME_FLOATING_MODEL_PATH,
CMVR_UME_FIXED_MODEL_PATH);
(void)adapter;
FAIL() << "swapped fixed/floating models were accepted";
} catch (const std::runtime_error& error) {
EXPECT_NE(
std::string(error.what()).find(
"UME fixed MJCF contract violation: "
"expected nq/nv/njoints 16/16/17"),
std::string::npos);
}
}
} // namespace
} // namespace cmvr::ume_legacy

216
cmvr-es/algorithms/controllers/ume_legacy/tests/ume_legacy_controller_golden_test.cpp
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@ -1,216 +0,0 @@
#include "ume_legacy_controller.h"
#include "ume_legacy_model_adapter.h"
#include <array>
#include <cmath>
#include <cstddef>
#include <limits>
#include <gtest/gtest.h>
namespace cmvr::ume_legacy {
namespace {
constexpr double kTolerance = 1e-12;
void expectJointVectorNear(
const JointVector& actual,
const JointVector& expected,
double tolerance = kTolerance)
{
for (std::size_t index = 0; index < kArmDof; ++index) {
EXPECT_NEAR(actual[index], expected[index], tolerance)
<< "joint index " << index;
}
}
TEST(UmeLegacyControllerGoldenTest,
OriginalTuningAndFrictionMatchPythonOracle)
{
const auto tuning = originalTuning();
EXPECT_DOUBLE_EQ(tuning.friction_coefficient[0], 1.6);
EXPECT_DOUBLE_EQ(tuning.friction_coefficient[4], 0.032);
EXPECT_DOUBLE_EQ(tuning.feedback_limit_dm4340_nm, 4.0);
EXPECT_DOUBLE_EQ(tuning.feedback_limit_dm4310_nm, 1.0);
const JointVector velocity{
-1.0, -0.1, 0.0, 2.0 * std::acos(-1.0) / 180.0,
-10.0, -1.0, 1.0, 10.0};
const JointVector expected{
-0.4, -0.16000000000000003, 0.0,
0.055850536063818547,
-0.1, -0.032, 0.032, 0.1};
expectJointVectorNear(
frictionCompensation(velocity, tuning),
expected);
}
TEST(UmeLegacyControllerGoldenTest,
StictionUsesStrictLegacyThresholds)
{
const auto tuning = originalTuning();
const double minimum =
tuning.stiction_threshold_min_rad_s[0];
const double maximum =
tuning.stiction_threshold_max_rad_s[0];
const JointVector at_threshold{
minimum,
-minimum,
maximum,
-maximum,
0.0, 0.0, 0.0, 0.0};
expectJointVectorNear(
stictionCompensation(at_threshold, tuning),
JointVector{});
const JointVector strictly_inside{
2.0 * minimum,
-2.0 * minimum,
std::nextafter(
minimum, std::numeric_limits<double>::infinity()),
std::nextafter(maximum, 0.0),
2.0 * minimum,
-2.0 * minimum,
std::nextafter(
minimum, std::numeric_limits<double>::infinity()),
std::nextafter(maximum, 0.0)};
expectJointVectorNear(
stictionCompensation(strictly_inside, tuning),
{0.5, -0.5, 0.5, 0.5,
0.0, 0.0, 0.0, 0.0});
}
TEST(UmeLegacyControllerGoldenTest,
FeedbackScaleMatchesLegacyNormAndTanhGoldenValues)
{
const auto tuning = originalTuning();
EXPECT_NEAR(
feedbackScale(0.0, tuning),
0.20680448412090907,
kTolerance);
EXPECT_DOUBLE_EQ(
feedbackScale(tuning.feedback_error_tolerance_rad, tuning),
0.25);
EXPECT_NEAR(
feedbackScale(0.05, tuning),
0.32861047013244982,
kTolerance);
EXPECT_NEAR(
feedbackScale(-0.2, tuning),
0.48734517579834447,
kTolerance);
}
TEST(UmeLegacyControllerGoldenTest,
CompleteRightSideCommandMatchesPythonGoldenVector)
{
SideControlInput input;
input.side = ArmSide::Right;
input.joint_velocity_rad_s = {
-1.0, -0.1, 0.0, 2.0 * std::acos(-1.0) / 180.0,
-10.0, -1.0, 1.0, 10.0};
input.gravity_compensation_nm =
{0.5, -0.5, 1.0, -1.0,
0.25, -0.25, 0.75, -0.75};
input.projected_haptic.shoulder_joint_torque =
{1.2, -3.0, 10.0};
input.projected_haptic.elbow_effort = 2.0;
input.projected_haptic.wrist_joint_torque =
{0.5, -2.0, 5.0};
input.projected_haptic.gripper_effort = 3.0;
input.tracking_error.shoulder_rotation = {0.0, 0.0, 0.0};
input.tracking_error.elbow =
originalTuning().feedback_error_tolerance_rad;
input.tracking_error.wrist_rotation = {0.03, 0.04, 0.0};
input.tracking_error.gripper = -0.2;
const auto output = computeSideCommand(input);
expectJointVectorNear(
output.friction_compensation_nm,
{-0.4, -0.16000000000000003, 0.0,
0.055850536063818547,
-0.1, -0.032, 0.032, 0.1});
expectJointVectorNear(
output.stiction_compensation_nm,
{0.0, -0.5, 0.0, 0.5,
0.0, 0.0, 0.0, 0.0});
expectJointVectorNear(
output.feedforward_without_haptic_nm,
{0.099999999999999978, -1.1600000000000001,
1.0, -0.44414946393618149,
0.14999999999999999, -0.28200000000000003,
0.78200000000000003, -0.65000000000000002});
expectJointVectorNear(
output.signed_interaction_nm,
{1.2, -3.0, 10.0, 2.0,
0.5, -2.0, 5.0, -3.0});
expectJointVectorNear(
output.limited_feedback_nm,
{0.24816538094509089, -0.62041345236272716,
2.0680448412090908, 0.5,
0.16430523506622491, -0.65722094026489963,
1.0, -1.0});
expectJointVectorNear(
output.command_torque_nm,
{-0.14816538094509091, -0.53958654763727298,
-1.0680448412090908, -0.94414946393618149,
-0.014305235066224914, 0.37522094026489961,
-0.21799999999999997, 0.34999999999999998});
}
TEST(UmeLegacyControllerGoldenTest,
LeftAndRightScalarSignsAndGroupLimitsArePreserved)
{
SideControlInput input;
input.projected_haptic.shoulder_joint_torque =
{100.0, -100.0, 100.0};
input.projected_haptic.elbow_effort = 100.0;
input.projected_haptic.wrist_joint_torque =
{100.0, -100.0, 100.0};
input.projected_haptic.gripper_effort = 100.0;
input.tracking_error.shoulder_rotation = {10.0, 0.0, 0.0};
input.tracking_error.elbow = 10.0;
input.tracking_error.wrist_rotation = {10.0, 0.0, 0.0};
input.tracking_error.gripper = 10.0;
input.side = ArmSide::Right;
const auto right = computeSideCommand(input);
expectJointVectorNear(
right.signed_interaction_nm,
{100.0, -100.0, 100.0, 100.0,
100.0, -100.0, 100.0, -100.0});
expectJointVectorNear(
right.command_torque_nm,
{-4.0, 4.0, -4.0, -4.0,
-1.0, 1.0, -1.0, 1.0});
input.side = ArmSide::Left;
const auto left = computeSideCommand(input);
expectJointVectorNear(
left.signed_interaction_nm,
{100.0, -100.0, 100.0, -100.0,
100.0, -100.0, 100.0, 100.0});
expectJointVectorNear(
left.command_torque_nm,
{-4.0, 4.0, -4.0, 4.0,
-1.0, 1.0, -1.0, -1.0});
}
TEST(UmeLegacyControllerGoldenTest,
FeedbackClipDoesNotClampOtherFeedforwardTerms)
{
SideControlInput input;
input.gravity_compensation_nm =
{50.0, -50.0, 0.0, 0.0, 0.0, 0.0, 20.0, -20.0};
const auto output = computeSideCommand(input);
EXPECT_DOUBLE_EQ(output.command_torque_nm[0], 50.0);
EXPECT_DOUBLE_EQ(output.command_torque_nm[1], -50.0);
EXPECT_DOUBLE_EQ(output.command_torque_nm[6], 20.0);
EXPECT_DOUBLE_EQ(output.command_torque_nm[7], -20.0);
}
} // namespace
} // namespace cmvr::ume_legacy

17
cmvr-es/common/CMakeLists.txt
View File

@ -28,20 +28,3 @@ target_link_libraries(common PUBLIC
add_library(cmvr_es::common ALIAS common)
install(TARGETS common LIBRARY DESTINATION lib)
#add_executable(image_display_test
# utils/visualization/image_display_test.cpp
#)
#
#target_link_libraries(image_display_test
# PRIVATE
# cmvr_es::common
# cmvr_es::perception
# cmvr_es::device::realsense_camera
# cmvr_es::proto
# glog
# gtest
# gtest_main
# pthread
#)
#

23
cmvr-es/common/base/logging/CMakeLists.txt
View File

@ -13,26 +13,3 @@ target_link_libraries(logging PUBLIC
add_library(cmvr_es::logging ALIAS logging)
install(TARGETS logging ARCHIVE DESTINATION lib)
if(BUILD_TESTING)
add_executable(logger_test
tests/logger_test.cpp
)
target_link_libraries(logger_test PRIVATE
cmvr_es::logging
gtest
gtest_main
pthread
)
add_test(NAME logger_test COMMAND logger_test)
set(_logger_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _logger_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(logger_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_logger_test_environment}"
)
endif()

93
cmvr-es/common/base/logging/tests/logger_test.cpp
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@ -1,93 +0,0 @@
#include "common/base/logging/logger.h"
#include <algorithm>
#include <array>
#include <filesystem>
#include <fstream>
#include <iterator>
#include <string>
#include <gtest/gtest.h>
#include <unistd.h>
namespace cmvr::logging {
namespace {
class LoggerTest : public testing::Test {
protected:
void SetUp() override
{
std::array<char, 64> pattern{};
const std::string value = "/tmp/cmvr-logger-test-XXXXXX";
std::copy(value.begin(), value.end(), pattern.begin());
if (char* created = ::mkdtemp(pattern.data())) {
directory_ = created;
}
ASSERT_FALSE(directory_.empty());
}
void TearDown() override
{
shutdownLogging();
std::error_code error;
std::filesystem::remove_all(directory_, error);
}
config::LoggerConfig warningFileConfig() const
{
config::LoggerConfig config;
config.set_minimum_level(config::LOG_LEVEL_DEBUG);
config.set_directory(directory_.string());
config.set_flush_interval_seconds(3600);
auto* route = config.add_routes();
route->set_level(config::LOG_LEVEL_WARNING);
route->set_terminal(false);
route->set_file(true);
return config;
}
std::string fileContents() const
{
std::ifstream input(directory_ / "logger_test.log");
return {std::istreambuf_iterator<char>(input),
std::istreambuf_iterator<char>()};
}
std::filesystem::path directory_;
};
TEST_F(LoggerTest, ExplicitFlushMakesWarningVisibleInFile)
{
ASSERT_TRUE(initLogging(
warningFileConfig(), "logger_test", directory_));
Logger::instance().write(
Level::WARNING, __FILE__, __LINE__, "warning sentinel");
Logger::instance().flush();
EXPECT_NE(fileContents().find("warning sentinel"), std::string::npos);
}
TEST_F(LoggerTest, ErrorIsVisibleInFileImmediately)
{
auto config = warningFileConfig();
config.mutable_routes(0)->set_level(config::LOG_LEVEL_ERROR);
ASSERT_TRUE(initLogging(config, "logger_test", directory_));
Logger::instance().write(
Level::ERROR, __FILE__, __LINE__, "error sentinel");
EXPECT_NE(fileContents().find("error sentinel"), std::string::npos);
}
TEST_F(LoggerTest, FlushIsSafeOutsideInitializedLifetime)
{
Logger::instance().flush();
ASSERT_TRUE(initLogging(
warningFileConfig(), "logger_test", directory_));
shutdownLogging();
Logger::instance().flush();
}
} // namespace
} // namespace cmvr::logging

609
cmvr-es/common/vision/image_display.h
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@ -1,609 +0,0 @@
#pragma once
#include <algorithm>
#include <cstdint>
#include <string>
#include <utility>
#include <vector>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
namespace cmvr::common {
/**
* @brief 图像像素坐标。
*
* 坐标系约定：
* - `u`：图像列坐标，向右为正，单位像素。
* - `v`：图像行坐标，向下为正，单位像素。
*/
struct Pixel {
int u{0}; // 图像像素列坐标，单位像素。
int v{0}; // 图像像素行坐标，单位像素。
};
/**
* @brief BGR 颜色定义。
*/
struct Color {
uint8_t b{0}; // 蓝色通道，范围 [0, 255]。
uint8_t g{255}; // 绿色通道，范围 [0, 255]。
uint8_t r{0}; // 红色通道，范围 [0, 255]。
/**
* @brief 转为 OpenCV 的 `cv::Scalar`。
*/
cv::Scalar toCvScalar() const {
return cv::Scalar(static_cast<double>(b),
static_cast<double>(g),
static_cast<double>(r));
}
/**
* @brief 预定义红色。
*/
static Color red() { return Color{0, 0, 255}; }
/**
* @brief 预定义绿色。
*/
static Color green() { return Color{0, 255, 0}; }
/**
* @brief 预定义蓝色。
*/
static Color blue() { return Color{255, 0, 0}; }
/**
* @brief 预定义黄色。
*/
static Color yellow() { return Color{0, 255, 255}; }
/**
* @brief 预定义白色。
*/
static Color white() { return Color{255, 255, 255}; }
/**
* @brief 预定义黑色。
*/
static Color black() { return Color{0, 0, 0}; }
};
/**
* @brief 图像上的文本叠加配置。
*/
struct TextOverlay {
std::string text; // 需要显示的字符串内容。
Pixel position_px{}; // 文本左下角在图像像素坐标系中的位置。
Color color{Color::green()}; // 文本颜色。
double font_scale{0.7}; // OpenCV 字体缩放系数。
int thickness{2}; // 文本线宽，单位像素。
int font_face{cv::FONT_HERSHEY_SIMPLEX}; // OpenCV 字体类型。
bool draw_background{false}; // 是否绘制文本背景框。
Color background_color{Color::black()}; // 文本背景框颜色。
int background_padding_px{2}; // 文本背景框四周留白，单位像素。
};
/**
* @brief 图像上的点叠加配置。
*/
struct PointOverlay {
Pixel position_px{}; // 点中心在图像像素坐标系中的位置。
Color color{Color::red()}; // 点颜色。
int radius_px{5}; // 圆点半径，单位像素。
int thickness{2}; // 线宽，`-1` 表示填充。
std::string label; // 点旁边附带显示的字符串；为空时不显示。
Pixel label_offset_px{8, -8}; // 标签相对点中心的像素偏移。
double label_font_scale{0.6}; // 点标签字体缩放系数。
int label_thickness{2}; // 点标签线宽，单位像素。
};
/**
* @brief 图像上的圆圈叠加配置。
*/
struct CircleOverlay {
Pixel center_px{}; // 圆心在图像像素坐标系中的位置。
int radius_px{10}; // 圆半径，单位像素。
Color color{Color::yellow()}; // 圆圈颜色。
int thickness{2}; // 圆圈线宽，单位像素，`-1` 表示填充。
};
/**
* @brief 图像上的十字叠加配置。
*/
struct CrossOverlay {
Pixel center_px{}; // 十字中心在图像像素坐标系中的位置。
int arm_length_px{8}; // 单侧十字臂长度，单位像素。
Color color{Color::blue()}; // 十字颜色。
int thickness{2}; // 十字线宽，单位像素。
};
/**
* @brief 通用图像叠加显示接口。
*
* 该接口不依赖任何感知或跟踪类，只抽象三类输入：
* - 待显示的图像数据；
* - 文本叠加项；
* - 点叠加项。
*/
class ImageDisplay {
public:
virtual ~ImageDisplay() = default;
/**
* @brief 设置窗口名称。
* @param window_name 显示窗口名称。
*/
virtual void setWindowName(const std::string& window_name) = 0;
/**
* @brief 设置待显示的图像。
* @param image 输入图像，支持灰度图、BGR 图或 BGRA 图。
*/
virtual void setImage(const cv::Mat& image) = 0;
/**
* @brief 清空所有叠加项，但保留当前图像。
*/
virtual void clearOverlays() = 0;
/**
* @brief 添加文本叠加项。
* @param overlay 文本叠加配置。
*/
virtual void showText(const TextOverlay& overlay) = 0;
/**
* @brief 按位置、字符串、颜色和大小直接添加文本。
* @param text 需要显示的字符串内容。
* @param position_px 文本左下角在图像像素坐标系中的位置。
* @param color 文本颜色。
* @param font_scale OpenCV 字体缩放系数。
* @param thickness 文本线宽，单位像素。
*/
virtual void showText(const std::string& text,
const Pixel& position_px,
const Color& color,
double font_scale = 0.7,
int thickness = 2) = 0;
/**
* @brief 添加点叠加项。
* @param overlay 点叠加配置。
*/
virtual void showPoint(const PointOverlay& overlay) = 0;
/**
* @brief 按位置、颜色和大小直接添加点。
* @param position_px 点中心在图像像素坐标系中的位置。
* @param color 点颜色。
* @param radius_px 圆点半径，单位像素。
* @param thickness 线宽，`-1` 表示填充。
* @param label 点旁边附带显示的字符串；为空时不显示。
*/
virtual void showPoint(const Pixel& position_px,
const Color& color,
int radius_px = 5,
int thickness = 2,
const std::string& label = {}) = 0;
/**
* @brief 显示圆圈叠加项。
* @param overlay 圆圈叠加配置。
*/
virtual void showCircle(const CircleOverlay& overlay) = 0;
/**
* @brief 按位置、半径、颜色和线宽直接显示圆圈。
* @param center_px 圆心在图像像素坐标系中的位置。
* @param radius_px 圆半径，单位像素。
* @param color 圆圈颜色。
* @param thickness 圆圈线宽，单位像素，`-1` 表示填充。
*/
virtual void showCircle(const Pixel& center_px,
int radius_px,
const Color& color,
int thickness = 2) = 0;
/**
* @brief 显示十字叠加项。
* @param overlay 十字叠加配置。
*/
virtual void showCross(const CrossOverlay& overlay) = 0;
/**
* @brief 按位置、尺寸、颜色和线宽直接显示十字。
* @param center_px 十字中心在图像像素坐标系中的位置。
* @param arm_length_px 单侧十字臂长度，单位像素。
* @param color 十字颜色。
* @param thickness 十字线宽，单位像素。
*/
virtual void showCross(const Pixel& center_px,
int arm_length_px,
const Color& color,
int thickness = 2) = 0;
/**
* @brief 判断当前是否已有待显示图像。
*/
virtual bool hasImage() const = 0;
/**
* @brief 将当前图像和叠加项渲染到输出图像。
* @param rendered_image 输出的渲染结果图像，BGR 三通道。
* @return 渲染成功返回 `true`。
*/
virtual bool render(cv::Mat& rendered_image) const = 0;
/**
* @brief 显示当前渲染结果。
* @param wait_key_ms `cv::waitKey` 等待时间，单位毫秒。
* @return 返回 `cv::waitKey` 的按键值；若没有可显示图像则返回 `-1`。
*/
virtual int show(int wait_key_ms = 1) = 0;
/**
* @brief 关闭显示窗口。
*/
virtual void close() = 0;
};
/**
* @brief 基于 OpenCV HighGUI 的图像叠加显示实现。
*/
class OpenCvImageCvDisplay final : public ImageDisplay {
public:
/**
* @brief 构造显示器。
* @param window_name 显示窗口名称。
*/
explicit OpenCvImageCvDisplay(std::string window_name = "image_overlay")
: window_name_(std::move(window_name)) {}
/**
* @brief 设置窗口名称。
* @param window_name 显示窗口名称。
*/
void setWindowName(const std::string& window_name) override {
window_name_ = window_name;
}
/**
* @brief 设置待显示图像。
* @param image 输入图像，支持灰度图、BGR 图或 BGRA 图。
*/
void setImage(const cv::Mat& image) override {
image_ = image.clone();
}
/**
* @brief 清空所有叠加项，但保留当前图像。
*/
void clearOverlays() override {
texts_.clear();
points_.clear();
circles_.clear();
crosses_.clear();
}
/**
* @brief 添加文本叠加项。
* @param overlay 文本叠加配置。
*/
void showText(const TextOverlay& overlay) override {
texts_.push_back(overlay);
}
/**
* @brief 按位置、字符串、颜色和大小直接添加文本。
* @param text 需要显示的字符串内容。
* @param position_px 文本左下角在图像像素坐标系中的位置。
* @param color 文本颜色。
* @param font_scale OpenCV 字体缩放系数。
* @param thickness 文本线宽，单位像素。
*/
void showText(const std::string& text,
const Pixel& position_px,
const Color& color,
double font_scale = 0.7,
int thickness = 2) override {
TextOverlay overlay;
overlay.text = text;
overlay.position_px = position_px;
overlay.color = color;
overlay.font_scale = font_scale;
overlay.thickness = thickness;
showText(overlay);
}
/**
* @brief 添加点叠加项。
* @param overlay 点叠加配置。
*/
void showPoint(const PointOverlay& overlay) override {
points_.push_back(overlay);
}
/**
* @brief 按位置、颜色和大小直接添加点。
* @param position_px 点中心在图像像素坐标系中的位置。
* @param color 点颜色。
* @param radius_px 圆点半径，单位像素。
* @param thickness 线宽，`-1` 表示填充。
* @param label 点旁边附带显示的字符串；为空时不显示。
*/
void showPoint(const Pixel& position_px,
const Color& color,
int radius_px = 5,
int thickness = 2,
const std::string& label = {}) override {
PointOverlay overlay;
overlay.position_px = position_px;
overlay.color = color;
overlay.radius_px = radius_px;
overlay.thickness = thickness;
overlay.label = label;
showPoint(overlay);
}
/**
* @brief 显示圆圈叠加项。
* @param overlay 圆圈叠加配置。
*/
void showCircle(const CircleOverlay& overlay) override {
circles_.push_back(overlay);
}
/**
* @brief 按位置、半径、颜色和线宽直接显示圆圈。
* @param center_px 圆心在图像像素坐标系中的位置。
* @param radius_px 圆半径，单位像素。
* @param color 圆圈颜色。
* @param thickness 圆圈线宽，单位像素，`-1` 表示填充。
*/
void showCircle(const Pixel& center_px,
int radius_px,
const Color& color,
int thickness = 2) override {
CircleOverlay overlay;
overlay.center_px = center_px;
overlay.radius_px = radius_px;
overlay.color = color;
overlay.thickness = thickness;
showCircle(overlay);
}
/**
* @brief 显示十字叠加项。
* @param overlay 十字叠加配置。
*/
void showCross(const CrossOverlay& overlay) override {
crosses_.push_back(overlay);
}
/**
* @brief 按位置、尺寸、颜色和线宽直接显示十字。
* @param center_px 十字中心在图像像素坐标系中的位置。
* @param arm_length_px 单侧十字臂长度，单位像素。
* @param color 十字颜色。
* @param thickness 十字线宽，单位像素。
*/
void showCross(const Pixel& center_px,
int arm_length_px,
const Color& color,
int thickness = 2) override {
CrossOverlay overlay;
overlay.center_px = center_px;
overlay.arm_length_px = arm_length_px;
overlay.color = color;
overlay.thickness = thickness;
showCross(overlay);
}
/**
* @brief 判断当前是否已有待显示图像。
*/
bool hasImage() const override {
return !image_.empty();
}
/**
* @brief 将当前图像和叠加项渲染到输出图像。
* @param rendered_image 输出的渲染结果图像，BGR 三通道。
* @return 渲染成功返回 `true`。
*/
bool render(cv::Mat& rendered_image) const override {
if (!toBgrImage(image_, rendered_image)) {
return false;
}
for (const CircleOverlay& overlay : circles_) {
drawCircle(rendered_image, overlay);
}
for (const CrossOverlay& overlay : crosses_) {
drawCross(rendered_image, overlay);
}
for (const PointOverlay& overlay : points_) {
drawPoint(rendered_image, overlay);
}
for (const TextOverlay& overlay : texts_) {
drawText(rendered_image, overlay);
}
return true;
}
/**
* @brief 显示当前渲染结果。
* @param wait_key_ms `cv::waitKey` 等待时间，单位毫秒。
* @return 返回 `cv::waitKey` 的按键值；若没有可显示图像则返回 `-1`。
*/
int show(int wait_key_ms = 1) override {
cv::Mat rendered_image;
if (!render(rendered_image)) {
return -1;
}
if (!window_created_) {
cv::namedWindow(window_name_, cv::WINDOW_NORMAL);
window_created_ = true;
}
cv::imshow(window_name_, rendered_image);
return cv::waitKey(wait_key_ms);
}
/**
* @brief 关闭显示窗口。
*/
void close() override {
if (!window_created_) {
return;
}
cv::destroyWindow(window_name_);
window_created_ = false;
}
private:
/**
* @brief 将输入图像转换为可叠加绘制的 BGR 三通道图像。
* @param input 输入图像。
* @param output 输出 BGR 图像。
* @return 转换成功返回 `true`。
*/
static bool toBgrImage(const cv::Mat& input, cv::Mat& output) {
if (input.empty()) {
return false;
}
if (input.channels() == 1) {
cv::cvtColor(input, output, cv::COLOR_GRAY2BGR);
return true;
}
if (input.channels() == 3) {
output = input.clone();
return true;
}
if (input.channels() == 4) {
cv::cvtColor(input, output, cv::COLOR_BGRA2BGR);
return true;
}
return false;
}
/**
* @brief 在图像上绘制文本叠加项。
* @param image 目标图像，BGR 三通道。
* @param overlay 文本叠加配置。
*/
static void drawText(cv::Mat& image, const TextOverlay& overlay) {
const cv::Point origin(overlay.position_px.u, overlay.position_px.v);
const int thickness = std::max(1, overlay.thickness);
const double font_scale = std::max(0.0, overlay.font_scale);
if (overlay.draw_background) {
int baseline = 0;
const cv::Size text_size = cv::getTextSize(overlay.text,
overlay.font_face,
font_scale,
thickness,
&baseline);
const int pad = std::max(0, overlay.background_padding_px);
const cv::Point top_left(origin.x - pad, origin.y - text_size.height - pad);
const cv::Point bottom_right(origin.x + text_size.width + pad, origin.y + baseline + pad);
cv::rectangle(image,
top_left,
bottom_right,
overlay.background_color.toCvScalar(),
cv::FILLED);
}
cv::putText(image,
overlay.text,
origin,
overlay.font_face,
font_scale,
overlay.color.toCvScalar(),
thickness,
cv::LINE_AA);
}
/**
* @brief 在图像上绘制点叠加项。
* @param image 目标图像，BGR 三通道。
* @param overlay 点叠加配置。
*/
static void drawPoint(cv::Mat& image, const PointOverlay& overlay) {
const cv::Point center(overlay.position_px.u, overlay.position_px.v);
const int radius = std::max(1, overlay.radius_px);
cv::circle(image,
center,
radius,
overlay.color.toCvScalar(),
overlay.thickness,
cv::LINE_AA);
if (!overlay.label.empty()) {
TextOverlay label_overlay;
label_overlay.text = overlay.label;
label_overlay.position_px = Pixel{center.x + overlay.label_offset_px.u,
center.y + overlay.label_offset_px.v};
label_overlay.color = overlay.color;
label_overlay.font_scale = overlay.label_font_scale;
label_overlay.thickness = overlay.label_thickness;
drawText(image, label_overlay);
}
}
/**
* @brief 在图像上绘制圆圈叠加项。
* @param image 目标图像，BGR 三通道。
* @param overlay 圆圈叠加配置。
*/
static void drawCircle(cv::Mat& image, const CircleOverlay& overlay) {
const cv::Point center(overlay.center_px.u, overlay.center_px.v);
const int radius = std::max(1, overlay.radius_px);
const int thickness = (overlay.thickness == 0) ? 1 : overlay.thickness;
cv::circle(image,
center,
radius,
overlay.color.toCvScalar(),
thickness,
cv::LINE_AA);
}
/**
* @brief 在图像上绘制十字叠加项。
* @param image 目标图像，BGR 三通道。
* @param overlay 十字叠加配置。
*/
static void drawCross(cv::Mat& image, const CrossOverlay& overlay) {
const cv::Point center(overlay.center_px.u, overlay.center_px.v);
const int arm_length = std::max(1, overlay.arm_length_px);
const int thickness = std::max(1, overlay.thickness);
const cv::Scalar color = overlay.color.toCvScalar();
cv::line(image,
cv::Point(center.x - arm_length, center.y),
cv::Point(center.x + arm_length, center.y),
color,
thickness,
cv::LINE_AA);
cv::line(image,
cv::Point(center.x, center.y - arm_length),
cv::Point(center.x, center.y + arm_length),
color,
thickness,
cv::LINE_AA);
}
std::string window_name_; // 显示窗口名称。
cv::Mat image_; // 当前待显示图像。
std::vector<TextOverlay> texts_; // 当前待绘制的文本叠加列表。
std::vector<PointOverlay> points_; // 当前待绘制的点叠加列表。
std::vector<CircleOverlay> circles_; // 当前待绘制的圆圈叠加列表。
std::vector<CrossOverlay> crosses_; // 当前待绘制的十字叠加列表。
bool window_created_{false}; // 显示窗口是否已经创建。
};
} // namespace cmvr::common

2988
cmvr-es/common/vision/matplotlibcpp.h
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File diff suppressed because it is too large Load Diff

6
cmvr-es/devices/README.md
View File

@ -334,19 +334,17 @@ MediaSourceManager Subscription 同样是单消费者对象，不同协议或客
无硬件参考测试：
- [`camera/hikvision_camera/tests/hikvision_camera_callback_test.cpp`](camera/hikvision_camera/tests/hikvision_camera_callback_test.cpp)
- [`../manager/media_source_manager/tests/media_source_manager_test.cpp`](../manager/media_source_manager/tests/media_source_manager_test.cpp)
```bash
cmake -S . -B build \
-DCMVR_ARCH=x86 \
-DBUILD_TESTING=ON \
-DCMVR_MEDIA_SOURCE_MANAGER_BUILD_TESTS=ON
-DBUILD_TESTING=ON
cmake --build build -j"$(nproc)"
ctest \
--test-dir build \
-R 'hikvision_camera_callback_test|media_source_manager_test' \
-R '^hikvision_camera_callback_test$' \
--output-on-failure
```

28
cmvr-es/devices/agv/seer_robokit/CMakeLists.txt
View File

@ -27,31 +27,3 @@ target_link_libraries(seer_robokit_agv
add_library(cmvr_es::device::seer_robokit_agv ALIAS seer_robokit_agv)
install(TARGETS seer_robokit_agv LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(seer_robokit_control_authority_test
tests/seer_robokit_control_authority_test.cpp
)
target_link_libraries(seer_robokit_control_authority_test
PRIVATE
cmvr_es::device::seer_robokit_agv
gtest
gtest_main
pthread
)
add_test(
NAME seer_robokit_control_authority_test
COMMAND seer_robokit_control_authority_test
)
set(_seer_robokit_control_authority_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _seer_robokit_control_authority_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(seer_robokit_control_authority_test PROPERTIES
TIMEOUT 180
ENVIRONMENT "${_seer_robokit_control_authority_test_environment}"
)
endif()

20
cmvr-es/devices/agv/seer_robokit/README.md
View File

@ -35,8 +35,6 @@
- 阻塞等待与停车确认：
[`src/seer_robokit_navigation_wait.cpp`](src/seer_robokit_navigation_wait.cpp)
- 地图和建图：[`src/seer_robokit_map.cpp`](src/seer_robokit_map.cpp)
- 假控制器测试：
[`tests/seer_robokit_control_authority_test.cpp`](tests/seer_robokit_control_authority_test.cpp)
- 设备配置：
[`../../../config/devices/agv/seer_robokit.pb.txt`](../../../config/devices/agv/seer_robokit.pb.txt)
- DeviceManager 配置：
@ -375,21 +373,3 @@ unknown，调用方不能自动重发运动命令，应先查询状态并取消
验证后才能据此联动机械臂。异步成功更不代表 PGV 调整完成。
- 地图切换、地图上传和开始建图会改变控制器状态，也会先抢占控制权；不要和
现场调度系统并行操作。
- 本目录的假控制器测试验证软件协议、错误路径和并发逻辑，不代表真实 SEER Robokit、
底盘、PGV、地图或安全链已经验收。
## 测试
```bash
cmake --build build \
--target seer_robokit_control_authority_test grpc_agv_service_test \
-j2
ctest --test-dir build \
-R '^(seer_robokit_control_authority_test|grpc_agv_service_test)$' \
--output-on-failure
```
`seer_robokit_control_authority_test` 使用本机回环 TCP 假控制器，需要允许本地
bind/listen。受限沙箱若禁止创建 socket，只能证明编译通过，不能把未执行的
fake-controller 场景报告为测试通过。测试过程不会连接真实 AGV。

5567
cmvr-es/devices/agv/seer_robokit/tests/seer_robokit_control_authority_test.cpp
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85
cmvr-es/devices/arm/aubo_arm/CMakeLists.txt
View File

@ -54,88 +54,3 @@ target_link_libraries(aubo_arm
add_library(cmvr_es::device::aubo_arm ALIAS aubo_arm)
install(TARGETS aubo_arm LIBRARY DESTINATION lib)
if(BUILD_TESTING)
enable_testing()
add_executable(aubo_arm_motion_result_test
tests/aubo_arm_motion_result_test.cpp
)
target_include_directories(aubo_arm_motion_result_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
add_test(
NAME aubo_arm_motion_result_test
COMMAND aubo_arm_motion_result_test
)
set_tests_properties(aubo_arm_motion_result_test PROPERTIES TIMEOUT 10)
add_executable(aubo_motion_state_test
tests/aubo_motion_state_test.cpp
)
target_include_directories(aubo_motion_state_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
add_test(
NAME aubo_motion_state_test
COMMAND aubo_motion_state_test
)
set_tests_properties(aubo_motion_state_test PROPERTIES TIMEOUT 10)
add_executable(aubo_safety_state_test
tests/aubo_safety_state_test.cpp
)
target_include_directories(aubo_safety_state_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
add_test(
NAME aubo_safety_state_test
COMMAND aubo_safety_state_test
)
set_tests_properties(aubo_safety_state_test PROPERTIES TIMEOUT 10)
add_executable(aubo_arm_json_command_test
tests/aubo_arm_json_command_test.cpp
)
target_link_libraries(aubo_arm_json_command_test
PRIVATE
cmvr_es::device::aubo_arm
cmvr_es::proto
)
add_test(
NAME aubo_arm_json_command_test
COMMAND aubo_arm_json_command_test
)
set_tests_properties(aubo_arm_json_command_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(UNIX AND NOT APPLE)
# The imported AUBO target still contributes its vendor directory to
# direct consumers' build-tree RUNPATH. Put the system runtime first
# for this test; installed artifacts exclude the vendor libstdc++.
execute_process(
COMMAND ${CMAKE_CXX_COMPILER} -print-file-name=libstdc++.so.6
OUTPUT_VARIABLE AUBO_TEST_SYSTEM_LIBSTDCXX
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(EXISTS "${AUBO_TEST_SYSTEM_LIBSTDCXX}")
get_filename_component(
AUBO_TEST_SYSTEM_LIBSTDCXX_REAL
"${AUBO_TEST_SYSTEM_LIBSTDCXX}"
REALPATH
)
get_filename_component(
AUBO_TEST_SYSTEM_LIBSTDCXX_DIR
"${AUBO_TEST_SYSTEM_LIBSTDCXX_REAL}"
DIRECTORY
)
set_property(
TARGET aubo_arm_json_command_test
PROPERTY BUILD_RPATH "${AUBO_TEST_SYSTEM_LIBSTDCXX_DIR}"
)
endif()
endif()
endif()

16
cmvr-es/devices/arm/aubo_arm/README.md
View File

@ -12,7 +12,6 @@
## 代码与配置
- 实现：[`aubo_arm.h`](aubo_arm.h)、[`aubo_arm.cpp`](aubo_arm.cpp)
- 测试：[`tests/aubo_arm_json_command_test.cpp`](tests/aubo_arm_json_command_test.cpp)
- 设备配置：[`../../../config/devices/arm/aubo_arm.pb.txt`](../../../config/devices/arm/aubo_arm.pb.txt)
- DeviceManager 配置：
[`../../../config/manager/device_manager.pb.txt`](../../../config/manager/device_manager.pb.txt)
@ -136,18 +135,3 @@ cmake --install build
- 模拟量 IO 涉及 domain、单位和量程，当前 JSON 接口不开放；
- gRPC/JSON 返回成功不代表目标 IO 具备功能安全等级；
- 真实写测试前应确认通道用途、负载、电气隔离、默认电平和控制器程序所有权。
## 测试
```bash
cmake --build build --target \
aubo_safety_state_test \
aubo_motion_state_test \
aubo_arm_json_command_test -j4
ctest --test-dir build \
-R 'aubo_(safety_state|motion_state|arm_json_command)_test' \
--output-on-failure
```
该测试覆盖 JSON 校验和无硬件错误路径，不代表已在真实 AUBO 控制柜完成 DI/DO
读取、写入或 runstate 拒绝验证。

84
cmvr-es/devices/arm/aubo_arm/tests/aubo_arm_json_command_test.cpp
View File

@ -1,84 +0,0 @@
#include "devices/arm/aubo_arm/aubo_arm.h"
#include <iostream>
#include <string>
namespace {
#define CHECK_TRUE(condition) \
do { \
if (!(condition)) { \
std::cerr << "CHECK_TRUE failed at line " << __LINE__ << ": " \
<< #condition << std::endl; \
return 1; \
} \
} while (false)
bool contains(const std::string& value, const std::string& expected)
{
return value.find(expected) != std::string::npos;
}
cmvr::config::RobotArmConfig makeConfig()
{
cmvr::config::RobotArmConfig config;
config.set_id("aubo_arm_json_test");
auto* vendor = config.mutable_vendor();
vendor->set_brand(cmvr::config::VENDOR_ROBOT_ARM_BRAND_AUBO_ARM);
vendor->set_model("AuboTest");
vendor->set_dof(6);
return config;
}
} // namespace
int main()
{
cmvr::device::AuboArm arm(makeConfig());
cmvr::device::AbstractDevice* device = &arm;
std::string response;
CHECK_TRUE(!device->executeJsonCommand("{", response));
CHECK_TRUE(contains(response, R"("error_code":"invalid_json")"));
CHECK_TRUE(!device->executeJsonCommand("[]", response));
CHECK_TRUE(contains(response, R"("error_code":"invalid_json")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"ptz","operation":"get_di","index":0})", response));
CHECK_TRUE(contains(response, R"("error_code":"unsupported_command")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"cabinet_io","operation":"get_ai","index":0})", response));
CHECK_TRUE(contains(response, R"("error_code":"invalid_operation")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"cabinet_io","operation":"get_di","index":-1})", response));
CHECK_TRUE(contains(response, R"("error_code":"invalid_argument")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"cabinet_io","operation":"set_do","index":0,"value":1})",
response));
CHECK_TRUE(contains(response, R"("error_code":"invalid_argument")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"cabinet_io","operation":"set_do","index":0})", response));
CHECK_TRUE(contains(response, R"("error_code":"invalid_argument")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"cabinet_io","operation":"get_di","index":0})", response));
CHECK_TRUE(contains(response, R"("error_code":"not_connected")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"cabinet_io","operation":"get_do","index":0})", response));
CHECK_TRUE(contains(response, R"("operation":"get_do")"));
CHECK_TRUE(contains(response, R"("error_code":"not_connected")"));
CHECK_TRUE(!device->executeJsonCommand(
R"({"command":"cabinet_io","operation":"set_do","index":0,"value":true})",
response));
CHECK_TRUE(contains(response, R"("operation":"set_do")"));
CHECK_TRUE(contains(response, R"("error_code":"not_connected")"));
return 0;
}

158
cmvr-es/devices/arm/aubo_arm/tests/aubo_arm_motion_result_test.cpp
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@ -1,158 +0,0 @@
#include "devices/arm/aubo_arm/aubo_motion_result.h"
#include "devices/arm/aubo_arm/aubo_torque_on_result.h"
#include <iostream>
#include <optional>
#include <string>
#include <vector>
namespace {
#define CHECK_TRUE(condition) \
do { \
if (!(condition)) { \
std::cerr << "CHECK_TRUE failed at line " << __LINE__ << ": " \
<< #condition << std::endl; \
return 1; \
} \
} while (false)
} // namespace
int main()
{
using cmvr::device::aubo_internal::MotionCommandOutcome;
using cmvr::device::aubo_internal::MotionWaitResult;
using cmvr::device::aubo_internal::preservePrimaryTorqueOnFailure;
using cmvr::device::aubo_internal::resolveMotionCommand;
using cmvr::device::aubo_internal::runTorqueOnControllerMutation;
constexpr int success_code = 0;
constexpr int request_ignore_code = 13;
int wait_calls = 0;
const auto wait_succeeded = [&wait_calls]() {
++wait_calls;
return MotionWaitResult::Completed;
};
CHECK_TRUE(resolveMotionCommand(
success_code,
success_code,
request_ignore_code,
wait_succeeded) == MotionCommandOutcome::CompletedAfterMotion);
CHECK_TRUE(wait_calls == 1);
wait_calls = 0;
CHECK_TRUE(resolveMotionCommand(
request_ignore_code,
success_code,
request_ignore_code,
wait_succeeded) == MotionCommandOutcome::CompletedWithoutMotion);
CHECK_TRUE(wait_calls == 0);
const int submit_failures[] = {1, 2, 3, -request_ignore_code};
for (const int return_code : submit_failures) {
wait_calls = 0;
CHECK_TRUE(resolveMotionCommand(
return_code,
success_code,
request_ignore_code,
wait_succeeded) == MotionCommandOutcome::SubmitFailed);
CHECK_TRUE(wait_calls == 0);
}
wait_calls = 0;
const auto wait_failed = [&wait_calls]() {
++wait_calls;
return MotionWaitResult::Failed;
};
CHECK_TRUE(resolveMotionCommand(
success_code,
success_code,
request_ignore_code,
wait_failed) == MotionCommandOutcome::CompletionFailed);
CHECK_TRUE(wait_calls == 1);
wait_calls = 0;
const auto wait_cancelled = [&wait_calls]() {
++wait_calls;
return MotionWaitResult::Cancelled;
};
CHECK_TRUE(resolveMotionCommand(
success_code,
success_code,
request_ignore_code,
wait_cancelled) == MotionCommandOutcome::Cancelled);
CHECK_TRUE(wait_calls == 1);
using cmvr::device::ArmErrorCode;
using cmvr::device::Result;
std::vector<std::string> mutation_trace;
const auto failed_mutation = runTorqueOnControllerMutation(
success_code,
[&mutation_trace] {
mutation_trace.push_back("mutation");
return 42;
},
[&mutation_trace](const int return_code) {
mutation_trace.push_back("primary-failure");
return Result::failure(
ArmErrorCode::CommandFailed,
"vendor failure ret=" + std::to_string(return_code));
},
[&mutation_trace]() -> std::optional<Result> {
mutation_trace.push_back("cancellation-cleanup");
return Result::failure(
ArmErrorCode::CommandRejected,
"controller safety termination confirmed");
});
CHECK_TRUE(failed_mutation.has_value());
CHECK_TRUE(failed_mutation->code == ArmErrorCode::CommandFailed);
CHECK_TRUE(
failed_mutation->message.find("vendor failure ret=42") !=
std::string::npos);
CHECK_TRUE(
failed_mutation->message.find(
"controller safety termination confirmed") !=
std::string::npos);
CHECK_TRUE(mutation_trace.size() == 3);
CHECK_TRUE(mutation_trace[0] == "mutation");
CHECK_TRUE(mutation_trace[1] == "primary-failure");
CHECK_TRUE(mutation_trace[2] == "cancellation-cleanup");
const auto cleanup_failed = preservePrimaryTorqueOnFailure(
Result::failure(
ArmErrorCode::CommandFailed,
"vendor exception"),
std::optional<Result>{Result::failure(
ArmErrorCode::CommandFailed,
"safety termination failed")});
CHECK_TRUE(cleanup_failed.code == ArmErrorCode::CommandFailed);
CHECK_TRUE(
cleanup_failed.message.find("vendor exception") !=
std::string::npos);
CHECK_TRUE(
cleanup_failed.message.find("safety termination failed") !=
std::string::npos);
int successful_cancellation_checks = 0;
const auto cancelled_after_success = runTorqueOnControllerMutation(
success_code,
[] { return 0; },
[](const int) {
return Result::failure(
ArmErrorCode::CommandFailed, "must not be used");
},
[&successful_cancellation_checks]() -> std::optional<Result> {
++successful_cancellation_checks;
return Result::failure(
ArmErrorCode::CommandRejected,
"cancelled after successful mutation");
});
CHECK_TRUE(cancelled_after_success.has_value());
CHECK_TRUE(
cancelled_after_success->code == ArmErrorCode::CommandRejected);
CHECK_TRUE(successful_cancellation_checks == 1);
return 0;
}

213
cmvr-es/devices/arm/aubo_arm/tests/aubo_motion_state_test.cpp
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@ -1,213 +0,0 @@
#include "devices/arm/aubo_arm/aubo_motion_state.h"
#include <atomic>
#include <chrono>
#include <iostream>
#include <thread>
namespace {
#define CHECK_TRUE(condition) \
do { \
if (!(condition)) { \
std::cerr << "CHECK_TRUE failed at line " << __LINE__ << ": " \
<< #condition << std::endl; \
return 1; \
} \
} while (false)
} // namespace
int main()
{
using namespace cmvr::device::aubo_internal;
MotionState state;
CHECK_TRUE(state.begin(MotionKind::None).status ==
MotionStartStatus::Invalid);
const auto joint = state.begin(MotionKind::Joint);
CHECK_TRUE(joint.started());
CHECK_TRUE(state.busy());
CHECK_TRUE(state.begin(MotionKind::Linear).status ==
MotionStartStatus::Busy);
const auto stop_joint = state.beginStop();
CHECK_TRUE(stop_joint.started());
CHECK_TRUE(stop_joint.kind == MotionKind::Joint);
CHECK_TRUE(stop_joint.active_token.generation ==
joint.token.generation);
CHECK_TRUE(stop_joint.tracked_motion);
CHECK_TRUE(state.cancelled(joint.token));
const auto joined_stop_joint = state.beginStop();
CHECK_TRUE(joined_stop_joint.status ==
StopStartStatus::AlreadyStopping);
CHECK_TRUE(
state.waitForStopCompletion(
joined_stop_joint, std::chrono::milliseconds(1)) ==
StopWaitStatus::Timeout);
CHECK_TRUE(state.begin(MotionKind::Linear).status ==
MotionStartStatus::Stopping);
CHECK_TRUE(!state.waitForOwnerExit(
joint.token, std::chrono::milliseconds(1)));
CHECK_TRUE(!state.completeStop());
state.finish(joint.token);
CHECK_TRUE(state.waitForOwnerExit(
joint.token, std::chrono::milliseconds(1)));
CHECK_TRUE(state.completeStop());
CHECK_TRUE(
state.waitForStopCompletion(
joined_stop_joint, std::chrono::milliseconds(1)) ==
StopWaitStatus::Completed);
CHECK_TRUE(!state.busy());
const auto linear = state.begin(MotionKind::Linear);
CHECK_TRUE(linear.started());
CHECK_TRUE(!state.cancelled(linear.token));
// A delayed guard from the cancelled command must not release a newer one.
state.finish(joint.token);
CHECK_TRUE(state.busy());
state.finish(linear.token, MotionFinishMode::Clear);
CHECK_TRUE(!state.busy());
const auto speed_joint = state.begin(MotionKind::Joint);
CHECK_TRUE(speed_joint.started());
state.finish(speed_joint.token, MotionFinishMode::Retain);
CHECK_TRUE(state.busy());
CHECK_TRUE(state.begin(MotionKind::Linear).status ==
MotionStartStatus::Busy);
const auto rejected_speed_update =
state.begin(MotionKind::Joint, true);
CHECK_TRUE(rejected_speed_update.started());
state.finish(
rejected_speed_update.token,
MotionFinishMode::RestorePrevious);
const auto stop_speed = state.beginStop();
CHECK_TRUE(stop_speed.started());
CHECK_TRUE(stop_speed.kind == MotionKind::Joint);
CHECK_TRUE(stop_speed.tracked_motion);
CHECK_TRUE(state.completeStop());
CHECK_TRUE(!state.busy());
const auto idle_stop = state.beginStop();
CHECK_TRUE(idle_stop.kind == MotionKind::None);
CHECK_TRUE(!idle_stop.tracked_motion);
const auto joined_idle_stop = state.beginStop();
CHECK_TRUE(joined_idle_stop.status ==
StopStartStatus::AlreadyStopping);
state.failStop();
CHECK_TRUE(
state.waitForStopCompletion(
joined_idle_stop, std::chrono::milliseconds(1)) ==
StopWaitStatus::Failed);
const auto retry_idle_stop = state.beginStop();
CHECK_TRUE(retry_idle_stop.kind == MotionKind::None);
CHECK_TRUE(!retry_idle_stop.tracked_motion);
CHECK_TRUE(state.completeStop());
const auto mismatched_stop_motion = state.begin(MotionKind::Linear);
CHECK_TRUE(mismatched_stop_motion.started());
const auto mismatched_stop = state.beginStop(MotionKind::Joint);
CHECK_TRUE(mismatched_stop.kind == MotionKind::Linear);
state.finish(mismatched_stop_motion.token);
CHECK_TRUE(state.completeStop());
const auto uncertain_motion = state.begin(MotionKind::Joint);
CHECK_TRUE(uncertain_motion.started());
state.failMotion(uncertain_motion.token);
CHECK_TRUE(state.busy());
CHECK_TRUE(state.begin(MotionKind::Linear).status ==
MotionStartStatus::Blocked);
const auto stop_uncertain = state.beginStop();
CHECK_TRUE(stop_uncertain.kind == MotionKind::Joint);
CHECK_TRUE(stop_uncertain.tracked_motion);
CHECK_TRUE(state.completeStop());
const auto failed_stop_motion = state.begin(MotionKind::Linear);
CHECK_TRUE(failed_stop_motion.started());
const auto failed_stop = state.beginStop();
CHECK_TRUE(failed_stop.kind == MotionKind::Linear);
state.failStop();
CHECK_TRUE(state.busy());
CHECK_TRUE(state.begin(MotionKind::Joint).status ==
MotionStartStatus::Blocked);
state.finish(failed_stop_motion.token);
const auto retry = state.beginStop();
CHECK_TRUE(retry.started());
CHECK_TRUE(retry.kind == MotionKind::Linear);
CHECK_TRUE(state.completeStop());
const auto recovered = state.begin(MotionKind::Joint);
CHECK_TRUE(recovered.started());
state.finish(recovered.token, MotionFinishMode::Clear);
const auto safety_motion = state.begin(MotionKind::Linear);
CHECK_TRUE(safety_motion.started());
const auto safety_cancel = state.cancelActiveForSafety();
CHECK_TRUE(safety_cancel.kind == MotionKind::Linear);
CHECK_TRUE(safety_cancel.tracked_motion);
CHECK_TRUE(state.cancelled(safety_motion.token));
CHECK_TRUE(state.begin(MotionKind::Joint).status ==
MotionStartStatus::Blocked);
state.finish(safety_motion.token);
const auto safety_stop = state.beginStop();
CHECK_TRUE(safety_stop.started());
CHECK_TRUE(safety_stop.kind == MotionKind::Linear);
CHECK_TRUE(state.completeStop());
const auto retained_speed = state.begin(MotionKind::Joint);
CHECK_TRUE(retained_speed.started());
state.finish(retained_speed.token, MotionFinishMode::Retain);
const auto retained_cancel = state.cancelActiveForSafety();
CHECK_TRUE(retained_cancel.kind == MotionKind::Joint);
CHECK_TRUE(retained_cancel.tracked_motion);
CHECK_TRUE(!retained_cancel.active_token.valid());
CHECK_TRUE(state.begin(MotionKind::Linear).status ==
MotionStartStatus::Blocked);
const auto retained_stop = state.beginStop();
CHECK_TRUE(retained_stop.started());
CHECK_TRUE(retained_stop.kind == MotionKind::Joint);
CHECK_TRUE(retained_stop.tracked_motion);
CHECK_TRUE(state.completeStop());
// A waiter keeps the completion for the stop it joined even when another
// stop starts and finishes before the waiter is scheduled again.
const auto concurrent_first_stop = state.beginStop();
CHECK_TRUE(concurrent_first_stop.started());
const auto concurrent_first_join = state.beginStop();
CHECK_TRUE(concurrent_first_join.status ==
StopStartStatus::AlreadyStopping);
std::atomic<bool> waiter_entered{false};
std::atomic<StopWaitStatus> first_wait_result{
StopWaitStatus::Timeout};
std::thread first_waiter([&]() {
waiter_entered.store(true, std::memory_order_release);
first_wait_result.store(
state.waitForStopCompletion(
concurrent_first_join,
std::chrono::milliseconds(500)),
std::memory_order_release);
});
while (!waiter_entered.load(std::memory_order_acquire)) {
std::this_thread::yield();
}
const bool concurrent_first_completed = state.completeStop();
const auto concurrent_second_stop = state.beginStop();
const auto concurrent_second_join = state.beginStop();
state.failStop();
first_waiter.join();
CHECK_TRUE(concurrent_first_completed);
CHECK_TRUE(concurrent_second_stop.started());
CHECK_TRUE(concurrent_second_join.status ==
StopStartStatus::AlreadyStopping);
CHECK_TRUE(first_wait_result.load(std::memory_order_acquire) ==
StopWaitStatus::Completed);
CHECK_TRUE(
state.waitForStopCompletion(
concurrent_second_join, std::chrono::milliseconds(1)) ==
StopWaitStatus::Failed);
return 0;
}

156
cmvr-es/devices/arm/aubo_arm/tests/aubo_safety_state_test.cpp
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@ -1,156 +0,0 @@
#include "devices/arm/aubo_arm/aubo_safety_state.h"
#include <iostream>
namespace {
#define CHECK_TRUE(condition) \
do { \
if (!(condition)) { \
std::cerr << "CHECK_TRUE failed at line " << __LINE__ << ": " \
<< #condition << std::endl; \
return 1; \
} \
} while (false)
} // namespace
int main()
{
using namespace cmvr::device::aubo_internal;
SafetyState state;
CHECK_TRUE(!state.tryPermit().has_value());
state.observe(SafetyCondition::Normal);
const auto initial_permit = state.tryPermit();
CHECK_TRUE(initial_permit.has_value());
CHECK_TRUE(state.validate(*initial_permit));
CHECK_TRUE(effectiveSafetyCondition(SafetyCondition::Normal, 1) ==
SafetyCondition::RobotEmergencyStop);
CHECK_TRUE(effectiveSafetyCondition(SafetyCondition::Normal, -1) ==
SafetyCondition::Unknown);
CHECK_TRUE(effectiveSafetyCondition(SafetyCondition::Reduced, 0) ==
SafetyCondition::Reduced);
CHECK_TRUE(needsProtectiveUnlock(SafetyCondition::ProtectiveStop));
CHECK_TRUE(needsProtectiveUnlock(SafetyCondition::Violation));
CHECK_TRUE(!needsProtectiveUnlock(SafetyCondition::SafeguardStop));
CHECK_TRUE(needsInterfaceBoardRestart(
SafetyCondition::RobotEmergencyStop));
CHECK_TRUE(needsInterfaceBoardRestart(
SafetyCondition::SystemEmergencyStop));
CHECK_TRUE(needsInterfaceBoardRestart(SafetyCondition::Fault));
CHECK_TRUE(!needsInterfaceBoardRestart(SafetyCondition::Recovery));
state.observe(SafetyCondition::RobotEmergencyStop);
CHECK_TRUE(!state.validate(*initial_permit));
CHECK_TRUE(state.snapshot().latched);
CHECK_TRUE(!state.beginRecovery(state.snapshot().epoch).has_value());
// The observed level alone does not unlock motion. The monitor must first
// prove the old controller operation is fully quiescent.
state.observe(SafetyCondition::Normal);
CHECK_TRUE(state.snapshot().latched);
CHECK_TRUE(!state.tryPermit().has_value());
CHECK_TRUE(!shouldAutoRecoverHardwareEmergencyStop(
state.snapshot(), false, 0, true, false));
CHECK_TRUE(shouldAutoRecoverHardwareEmergencyStop(
state.snapshot(), true, 0, true, false));
CHECK_TRUE(!shouldAutoRecoverHardwareEmergencyStop(
state.snapshot(), true, 0, false, false));
CHECK_TRUE(!shouldAutoRecoverHardwareEmergencyStop(
state.snapshot(), true, 0, true, true));
const auto recovery = state.beginRecovery(state.snapshot().epoch);
CHECK_TRUE(recovery.has_value());
CHECK_TRUE(!state.completeRecovery(*recovery, true, true, false));
state.failRecovery(*recovery);
const auto retry = state.beginRecovery(state.snapshot().epoch);
CHECK_TRUE(retry.has_value());
// Automatic release is not committed at Idle/PowerOn. The controller
// must have completed startup and reached Running first.
CHECK_TRUE(!state.completeHardwareEmergencyStopRecovery(
*retry, false, true, true));
CHECK_TRUE(!state.completeHardwareEmergencyStopRecovery(
*retry, true, false, true));
CHECK_TRUE(state.completeHardwareEmergencyStopRecovery(
*retry, true, true, true));
const auto recovered_permit = state.tryPermit();
CHECK_TRUE(recovered_permit.has_value());
CHECK_TRUE(state.validate(*recovered_permit));
// Some AUBO cabinets drop the SDK connection while the physical E-stop is
// pressed. Losing the monitor sample must not erase the hardware E-stop
// latch; otherwise releasing the switch back to Normal would never trigger
// automatic power-on.
state.observe(SafetyCondition::RobotEmergencyStop);
const auto estop_epoch = state.snapshot().epoch;
state.observe(SafetyCondition::Unknown);
CHECK_TRUE(state.snapshot().latched);
CHECK_TRUE(state.snapshot().latched_reason ==
SafetyCondition::RobotEmergencyStop);
CHECK_TRUE(state.snapshot().epoch == estop_epoch);
state.observe(SafetyCondition::Normal);
CHECK_TRUE(shouldAutoRecoverHardwareEmergencyStop(
state.snapshot(), true, 0, true, false));
const auto disconnected_recovery = state.beginRecovery(
state.snapshot().epoch);
CHECK_TRUE(disconnected_recovery.has_value());
CHECK_TRUE(state.completeHardwareEmergencyStopRecovery(
*disconnected_recovery, true, true, true));
// Releasing a real E-stop must never clear a software-triggered stop that
// was latched while the hardware input was active.
state.observe(SafetyCondition::RobotEmergencyStop);
state.observe(SafetyCondition::SoftwareEmergencyStop);
// The hardware monitor continues publishing the physical E-stop level
// until the switch is released. It must not overwrite the software latch.
state.observe(SafetyCondition::RobotEmergencyStop);
state.observe(SafetyCondition::Normal);
CHECK_TRUE(!shouldAutoRecoverHardwareEmergencyStop(
state.snapshot(), true, 0, true, false));
CHECK_TRUE(state.snapshot().software_emergency_stop_latched);
CHECK_TRUE(state.snapshot().latched_reason ==
SafetyCondition::SoftwareEmergencyStop);
const auto software_recovery = state.beginRecovery(
state.snapshot().epoch);
CHECK_TRUE(software_recovery.has_value());
CHECK_TRUE(!state.completeHardwareEmergencyStopRecovery(
*software_recovery, true, true, true));
state.failRecovery(*software_recovery);
const auto explicit_software_recovery = state.beginRecovery(
state.snapshot().epoch);
CHECK_TRUE(explicit_software_recovery.has_value());
CHECK_TRUE(state.completeRecovery(
*explicit_software_recovery, true, true, true));
CHECK_TRUE(!state.snapshot().software_emergency_stop_latched);
// A new safety event invalidates an in-flight recovery token.
state.observe(SafetyCondition::ProtectiveStop);
state.observe(SafetyCondition::Reduced);
const auto stale_recovery = state.beginRecovery(
state.snapshot().epoch);
CHECK_TRUE(stale_recovery.has_value());
CHECK_TRUE(!state.completeHardwareEmergencyStopRecovery(
*stale_recovery, true, true, true));
state.failRecovery(*stale_recovery);
const auto explicit_recovery = state.beginRecovery(
state.snapshot().epoch);
CHECK_TRUE(explicit_recovery.has_value());
state.observe(SafetyCondition::SafeguardStop);
state.observe(SafetyCondition::Normal);
CHECK_TRUE(!state.completeRecovery(
*explicit_recovery, true, true, true));
CHECK_TRUE(state.snapshot().latched);
// An old API call must not begin recovery for a newer safety event.
const auto stale_epoch = state.snapshot().epoch;
state.observe(SafetyCondition::RobotEmergencyStop);
state.observe(SafetyCondition::Normal);
CHECK_TRUE(!state.beginRecovery(stale_epoch).has_value());
CHECK_TRUE(!state.snapshot().recovery_in_progress);
return 0;
}

46
cmvr-es/devices/arm/huayan_arm/CMakeLists.txt
View File

@ -29,49 +29,3 @@ add_library(cmvr_es::device::huayan_arm ALIAS huayan_arm)
install(TARGETS huayan_arm LIBRARY DESTINATION lib)
install(FILES ${HUAYAN_ARM_SDK_DIR}/lib/libHR_Pro.so DESTINATION lib)
if(BUILD_TESTING)
add_executable(huayan_lifecycle_state_test
tests/huayan_lifecycle_state_test.cpp
)
target_include_directories(huayan_lifecycle_state_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(huayan_lifecycle_state_test
PRIVATE
Threads::Threads
)
add_test(
NAME huayan_lifecycle_state_test
COMMAND huayan_lifecycle_state_test
)
set_tests_properties(huayan_lifecycle_state_test PROPERTIES TIMEOUT 10)
if(UNIX AND NOT APPLE)
add_executable(huayan_arm_sdk_test
tests/huayan_arm_sdk_test.cpp
)
target_include_directories(huayan_arm_sdk_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
${HUAYAN_ARM_SDK_DIR}/include
)
target_link_libraries(huayan_arm_sdk_test
PRIVATE
cmvr_es::device::huayan_arm
Threads::Threads
)
# Export the fake HRIF_* definitions so libhuayan_arm resolves its SDK
# calls to the deterministic test controller instead of real hardware.
target_link_options(huayan_arm_sdk_test PRIVATE -Wl,--export-dynamic)
add_test(
NAME huayan_arm_sdk_test
COMMAND huayan_arm_sdk_test
)
set_tests_properties(huayan_arm_sdk_test PROPERTIES
TIMEOUT 20
ENVIRONMENT "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
endif()
endif()

874
cmvr-es/devices/arm/huayan_arm/tests/huayan_arm_sdk_test.cpp
View File

@ -1,874 +0,0 @@
#include "devices/arm/huayan_arm/huayan_arm.h"
#include <algorithm>
#include <array>
#include <atomic>
#include <chrono>
#include <cmath>
#include <future>
#include <iostream>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
#include "HR_Pro.h"
namespace {
using Clock = std::chrono::steady_clock;
using namespace std::chrono_literals;
constexpr double kPi = 3.14159265358979323846;
double radToDeg(const double value)
{
return value * 180.0 / kPi;
}
struct FakeSdkState final {
std::mutex mutex;
bool connected{false};
bool enabled{true};
bool electrified{true};
bool robot_error{false};
bool paused{false};
bool emergency_input{false};
bool emergency_signal_fault{false};
bool safeguard_input{false};
bool safeguard_signal_fault{false};
bool software_safeguard{false};
bool motion_active{false};
bool motion_is_joint{true};
bool stop_pending{false};
bool hold_next_motion{false};
bool stale_done_once{false};
Clock::time_point completion_at{};
Clock::time_point stop_complete_at{};
std::array<double, 6> joint_position_deg{};
std::array<double, 6> joint_target_deg{};
std::array<double, 6> tcp_position_hr{};
std::array<double, 6> tcp_target_hr{};
std::string waypoint_id;
bool servo_started{false};
bool program_running{false};
std::string selected_program;
int move_j_calls{0};
int move_l_calls{0};
int speed_j_calls{0};
int speed_l_calls{0};
int group_stop_calls{0};
int group_reset_calls{0};
int start_servo_calls{0};
int stop_script_calls{0};
int idle_velocity_reads_after_stop{0};
bool count_idle_reads{false};
void refreshLocked()
{
const auto now = Clock::now();
const bool safety_active = emergency_input || safeguard_input ||
software_safeguard;
if (stop_pending && now >= stop_complete_at) {
stop_pending = false;
motion_active = false;
stale_done_once = false;
count_idle_reads = true;
}
if (motion_active && !stop_pending && !safety_active &&
completion_at != Clock::time_point{} && now >= completion_at) {
motion_active = false;
stale_done_once = false;
if (motion_is_joint) {
joint_position_deg = joint_target_deg;
} else {
tcp_position_hr = tcp_target_hr;
}
}
}
bool movingLocked()
{
refreshLocked();
return motion_active && !emergency_input && !safeguard_input &&
!software_safeguard;
}
bool doneLocked()
{
refreshLocked();
return !motion_active;
}
void startMotionLocked(const bool joint)
{
motion_active = true;
motion_is_joint = joint;
stop_pending = false;
count_idle_reads = false;
stale_done_once = true;
if (hold_next_motion) {
// The fallback deadline keeps a failed test from leaving a worker
// blocked for the production 60 second timeout.
completion_at = Clock::now() + 3s;
hold_next_motion = false;
} else {
completion_at = Clock::now() + 120ms;
}
}
};
FakeSdkState g_sdk;
void resetFakeSdk()
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.connected = false;
g_sdk.enabled = true;
g_sdk.electrified = true;
g_sdk.robot_error = false;
g_sdk.paused = false;
g_sdk.emergency_input = false;
g_sdk.emergency_signal_fault = false;
g_sdk.safeguard_input = false;
g_sdk.safeguard_signal_fault = false;
g_sdk.software_safeguard = false;
g_sdk.motion_active = false;
g_sdk.motion_is_joint = true;
g_sdk.stop_pending = false;
g_sdk.hold_next_motion = false;
g_sdk.stale_done_once = false;
g_sdk.completion_at = {};
g_sdk.stop_complete_at = {};
g_sdk.joint_position_deg = {};
g_sdk.joint_target_deg = {};
g_sdk.tcp_position_hr = {};
g_sdk.tcp_target_hr = {};
g_sdk.waypoint_id.clear();
g_sdk.servo_started = false;
g_sdk.program_running = false;
g_sdk.selected_program.clear();
g_sdk.move_j_calls = 0;
g_sdk.move_l_calls = 0;
g_sdk.speed_j_calls = 0;
g_sdk.speed_l_calls = 0;
g_sdk.group_stop_calls = 0;
g_sdk.group_reset_calls = 0;
g_sdk.start_servo_calls = 0;
g_sdk.stop_script_calls = 0;
g_sdk.idle_velocity_reads_after_stop = 0;
g_sdk.count_idle_reads = false;
}
void holdNextMotion()
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.hold_next_motion = true;
}
void setHardwareEmergencyStop(const bool active)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.emergency_input = active;
// If the wrapper never sends a real group Stop, releasing the switch makes
// the pending fake waypoint move again. This models the field failure.
}
void setEmergencySignalFault(const bool active)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.emergency_signal_fault = active;
}
void dropFakeTransport()
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.connected = false;
}
template <typename Predicate>
bool waitUntil(Predicate&& predicate,
const std::chrono::milliseconds timeout = 2s)
{
const auto deadline = Clock::now() + timeout;
while (Clock::now() < deadline) {
if (predicate()) {
return true;
}
std::this_thread::sleep_for(10ms);
}
return predicate();
}
cmvr::config::RobotArmConfig makeConfig()
{
cmvr::config::RobotArmConfig cfg;
cfg.set_id("huayan_fake_sdk");
auto* vendor = cfg.mutable_vendor();
vendor->set_brand(cmvr::config::VENDOR_ROBOT_ARM_BRAND_HUAYAN_ARM);
vendor->set_ip("127.0.0.1");
vendor->set_port(10003);
vendor->set_model("HuayanFake");
vendor->set_dof(6);
vendor->set_base_frame("Base");
vendor->set_tool_frame("TCP");
for (int i = 1; i <= 6; ++i) {
vendor->add_joint_names("joint_" + std::to_string(i));
}
return cfg;
}
int failures = 0;
#define CHECK_TRUE(condition) \
do { \
if (!(condition)) { \
std::cerr << "CHECK_TRUE failed at line " << __LINE__ << ": " \
<< #condition << std::endl; \
++failures; \
} \
} while (false)
} // namespace
// The test executable exports these strong symbols. On ELF platforms they
// interpose the real SDK definitions used by libhuayan_arm, giving the test a
// deterministic controller without opening a network connection.
extern "C" {
int HRIF_Connect(unsigned int, const char*, unsigned short)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.connected = true;
return 0;
}
int HRIF_DisConnect(unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.connected = false;
g_sdk.motion_active = false;
return 0;
}
bool HRIF_IsConnected(unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
return g_sdk.connected;
}
int HRIF_GetErrorCodeStr(unsigned int, int error_code, std::string& message)
{
message = "fake SDK error " + std::to_string(error_code);
return 0;
}
int HRIF_GrpEnable(unsigned int, unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
if (g_sdk.emergency_input || g_sdk.safeguard_input ||
g_sdk.software_safeguard) {
return 101;
}
g_sdk.enabled = true;
g_sdk.electrified = true;
return 0;
}
int HRIF_GrpDisable(unsigned int, unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.enabled = false;
g_sdk.electrified = false;
return 0;
}
int HRIF_GrpReset(unsigned int, unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.group_reset_calls;
if (g_sdk.emergency_input || g_sdk.safeguard_input ||
g_sdk.software_safeguard) {
return 102;
}
g_sdk.robot_error = false;
return 0;
}
int HRIF_GrpStop(unsigned int, unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.group_stop_calls;
g_sdk.idle_velocity_reads_after_stop = 0;
g_sdk.count_idle_reads = false;
if (g_sdk.motion_active) {
g_sdk.stop_pending = true;
g_sdk.stop_complete_at = Clock::now() + 120ms;
g_sdk.completion_at = {};
} else {
g_sdk.stop_pending = false;
g_sdk.count_idle_reads = true;
}
g_sdk.servo_started = false;
return 0;
}
int HRIF_SetOverride(unsigned int, unsigned int, double)
{
return 0;
}
int HRIF_ReadRobotState(unsigned int, unsigned int,
int& moving, int& enabled, int& error,
int& error_code, int& error_axis, int& brake,
int& paused, int& emergency_stop, int& safeguard,
int& electrified, int& connected_to_box,
int& blending_done, int& in_position)
{
std::lock_guard lock(g_sdk.mutex);
if (!g_sdk.connected) {
return 201;
}
moving = g_sdk.movingLocked() ? 1 : 0;
enabled = g_sdk.enabled ? 1 : 0;
error = g_sdk.robot_error ? 1 : 0;
error_code = g_sdk.robot_error ? 9001 : 0;
error_axis = 0;
brake = g_sdk.enabled ? 1 : 0;
paused = g_sdk.paused ? 1 : 0;
emergency_stop = g_sdk.emergency_input ? 1 : 0;
safeguard = (g_sdk.safeguard_input || g_sdk.software_safeguard) ? 1 : 0;
electrified = g_sdk.electrified ? 1 : 0;
connected_to_box = 1;
blending_done = moving == 0 ? 1 : 0;
in_position = g_sdk.doneLocked() ? 1 : 0;
return 0;
}
int HRIF_ReadEmergencyInfo(unsigned int, unsigned int,
int& emergency_signal_fault,
int& emergency_input,
int& safeguard_signal_fault,
int& safeguard_input)
{
std::lock_guard lock(g_sdk.mutex);
if (!g_sdk.connected) {
return 202;
}
emergency_signal_fault = g_sdk.emergency_signal_fault ? 1 : 0;
emergency_input = g_sdk.emergency_input ? 1 : 0;
safeguard_signal_fault = g_sdk.safeguard_signal_fault ? 1 : 0;
safeguard_input =
(g_sdk.safeguard_input || g_sdk.software_safeguard) ? 1 : 0;
return 0;
}
int HRIF_ReadCurWaypointID(unsigned int, unsigned int, std::string& waypoint)
{
std::lock_guard lock(g_sdk.mutex);
waypoint = g_sdk.waypoint_id;
return 0;
}
int HRIF_IsMotionDone(unsigned int, unsigned int, bool& done)
{
std::lock_guard lock(g_sdk.mutex);
if (g_sdk.stale_done_once) {
g_sdk.stale_done_once = false;
done = true;
} else {
done = g_sdk.doneLocked();
}
return 0;
}
int HRIF_ReadActJointPos(unsigned int, unsigned int,
double& j1, double& j2, double& j3,
double& j4, double& j5, double& j6)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.refreshLocked();
j1 = g_sdk.joint_position_deg[0];
j2 = g_sdk.joint_position_deg[1];
j3 = g_sdk.joint_position_deg[2];
j4 = g_sdk.joint_position_deg[3];
j5 = g_sdk.joint_position_deg[4];
j6 = g_sdk.joint_position_deg[5];
return 0;
}
int HRIF_ReadActJointVel(unsigned int, unsigned int,
double& j1, double& j2, double& j3,
double& j4, double& j5, double& j6)
{
std::lock_guard lock(g_sdk.mutex);
const double velocity = g_sdk.movingLocked() ? 5.0 : 0.0;
j1 = j2 = j3 = j4 = j5 = j6 = velocity;
if (velocity == 0.0 && g_sdk.count_idle_reads) {
++g_sdk.idle_velocity_reads_after_stop;
}
return 0;
}
int HRIF_ReadActTcpPos(unsigned int, unsigned int,
double& x, double& y, double& z,
double& rx, double& ry, double& rz)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.refreshLocked();
x = g_sdk.tcp_position_hr[0];
y = g_sdk.tcp_position_hr[1];
z = g_sdk.tcp_position_hr[2];
rx = g_sdk.tcp_position_hr[3];
ry = g_sdk.tcp_position_hr[4];
rz = g_sdk.tcp_position_hr[5];
return 0;
}
int HRIF_ReadActTcpVel(unsigned int, unsigned int,
double& x, double& y, double& z,
double& rx, double& ry, double& rz)
{
std::lock_guard lock(g_sdk.mutex);
const double velocity = g_sdk.movingLocked() ? 5.0 : 0.0;
x = y = z = rx = ry = rz = velocity;
return 0;
}
int HRIF_MoveJ(unsigned int, unsigned int,
double, double, double, double, double, double,
double j1, double j2, double j3,
double j4, double j5, double j6,
std::string, std::string, double, double, double,
int, int, int, int, std::string command_id)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.move_j_calls;
g_sdk.joint_target_deg = {j1, j2, j3, j4, j5, j6};
g_sdk.waypoint_id = std::move(command_id);
g_sdk.startMotionLocked(true);
return 0;
}
int HRIF_MoveL(unsigned int, unsigned int,
double x, double y, double z,
double rx, double ry, double rz,
double, double, double, double, double, double,
std::string, std::string, double, double, double,
int, int, int, std::string command_id)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.move_l_calls;
g_sdk.tcp_target_hr = {x, y, z, rx, ry, rz};
g_sdk.waypoint_id = std::move(command_id);
g_sdk.startMotionLocked(false);
return 0;
}
int HRIF_SpeedJ(unsigned int, unsigned int,
double, double, double, double, double, double,
double, double)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.speed_j_calls;
g_sdk.startMotionLocked(true);
return 0;
}
int HRIF_SpeedL(unsigned int, unsigned int,
double, double, double, double, double, double,
double, double, double)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.speed_l_calls;
g_sdk.startMotionLocked(false);
return 0;
}
int HRIF_StartServo(unsigned int, unsigned int, double, double)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.start_servo_calls;
g_sdk.servo_started = true;
return 0;
}
int HRIF_PushServoJ(unsigned int, unsigned int,
double j1, double j2, double j3,
double j4, double j5, double j6)
{
std::lock_guard lock(g_sdk.mutex);
if (!g_sdk.servo_started) {
return 301;
}
g_sdk.joint_position_deg = {j1, j2, j3, j4, j5, j6};
return 0;
}
int HRIF_PushServoP(unsigned int, unsigned int,
std::vector<double>& coord,
std::vector<double>&,
std::vector<double>&)
{
std::lock_guard lock(g_sdk.mutex);
if (!g_sdk.servo_started || coord.size() < 6) {
return 302;
}
std::copy_n(coord.begin(), 6, g_sdk.tcp_position_hr.begin());
return 0;
}
int HRIF_SwitchScript(unsigned int, unsigned int, std::string script_name)
{
std::lock_guard lock(g_sdk.mutex);
if (script_name.empty()) {
return 401;
}
g_sdk.selected_program = std::move(script_name);
return 0;
}
int HRIF_StartScript(unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
if (g_sdk.selected_program.empty()) {
return 402;
}
g_sdk.program_running = true;
g_sdk.paused = false;
return 0;
}
int HRIF_PauseScript(unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
if (!g_sdk.program_running) {
return 403;
}
g_sdk.paused = true;
return 0;
}
int HRIF_StopScript(unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
++g_sdk.stop_script_calls;
g_sdk.program_running = false;
g_sdk.paused = false;
return 0;
}
int HRIF_EnterSafetyGuard(unsigned int, unsigned int, int flag)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.software_safeguard = flag != 0;
return 0;
}
int HRIF_ShutdownRobot(unsigned int)
{
std::lock_guard lock(g_sdk.mutex);
g_sdk.connected = false;
g_sdk.enabled = false;
g_sdk.electrified = false;
return 0;
}
} // extern "C"
int main()
{
using namespace cmvr::device;
resetFakeSdk();
HuayanRobot arm(makeConfig());
CHECK_TRUE(arm.connect("127.0.0.1", 10003).ok());
MotionOptions options;
options.velocity = 0.4;
options.acceleration = 0.8;
CHECK_TRUE(arm.supportsActionQueueMotion());
JointPositionCommand joint_a{{0.10, -0.05, 0.08, 0.0, 0.02, -0.03}};
MotionOptions cancelled_options = options;
cancelled_options.cancellation_requested = []() { return true; };
CHECK_TRUE(!arm.moveJ(joint_a, cancelled_options).ok());
CartesianPose cancelled_pose;
cancelled_pose.x = 0.20;
cancelled_pose.z = 0.30;
CHECK_TRUE(!arm.moveL(cancelled_pose, cancelled_options).ok());
{
std::lock_guard lock(g_sdk.mutex);
CHECK_TRUE(g_sdk.move_j_calls == 0);
CHECK_TRUE(g_sdk.move_l_calls == 0);
}
// Once a command has been accepted, caller cancellation returns promptly
// but retains the typed motion barrier until Stop confirms controller idle.
std::atomic<bool> cancel_during_wait{false};
MotionOptions cancellable_options = options;
cancellable_options.cancellation_requested = [&cancel_during_wait]() {
return cancel_during_wait.load();
};
JointPositionCommand cancelled_in_wait{
{0.05, -0.02, 0.04, 0.01, 0.0, -0.01}};
holdNextMotion();
auto cancelled_motion = std::async(std::launch::async, [&]() {
return arm.moveJ(cancelled_in_wait, cancellable_options);
});
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.move_j_calls > 0;
}));
cancel_during_wait.store(true);
CHECK_TRUE(cancelled_motion.wait_for(1s) == std::future_status::ready);
if (cancelled_motion.wait_for(0ms) == std::future_status::ready) {
CHECK_TRUE(!cancelled_motion.get().ok());
}
CHECK_TRUE(arm.busy());
CHECK_TRUE(arm.stopMotion().ok());
CHECK_TRUE(!arm.busy());
// The first IsMotionDone read intentionally reports the preceding idle
// state. Completion must be correlated with the command/target. Once the
// target is reached, an identical command is an idempotent no-op.
CHECK_TRUE(arm.moveJ(joint_a, options).ok());
int move_j_after_first = 0;
{
std::lock_guard lock(g_sdk.mutex);
move_j_after_first = g_sdk.move_j_calls;
}
CHECK_TRUE(arm.moveJ(joint_a, options).ok());
{
std::lock_guard lock(g_sdk.mutex);
CHECK_TRUE(g_sdk.move_j_calls == move_j_after_first);
}
CartesianPose pose_a;
pose_a.x = 0.31;
pose_a.y = -0.12;
pose_a.z = 0.42;
pose_a.rx = 0.08;
pose_a.ry = -0.04;
pose_a.rz = 0.12;
CHECK_TRUE(arm.moveL(pose_a, options).ok());
int move_l_after_first = 0;
{
std::lock_guard lock(g_sdk.mutex);
move_l_after_first = g_sdk.move_l_calls;
}
CHECK_TRUE(arm.moveL(pose_a, options).ok());
{
std::lock_guard lock(g_sdk.mutex);
CHECK_TRUE(g_sdk.move_l_calls == move_l_after_first);
}
// Stop must cancel the old owner and wait until the controller reports
// stable idle; clearing the owner immediately after GrpStop would fail the
// elapsed-time and consecutive-idle checks below.
JointPositionCommand joint_b{{0.22, -0.08, 0.14, 0.03, 0.04, -0.01}};
holdNextMotion();
const int before_held_move = move_j_after_first;
auto held_move = std::async(std::launch::async, [&]() {
return arm.moveJ(joint_b, options);
});
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.move_j_calls > before_held_move;
}));
const auto stop_started = Clock::now();
CHECK_TRUE(arm.stopMotion().ok());
const auto stop_elapsed = Clock::now() - stop_started;
CHECK_TRUE(stop_elapsed >= 100ms);
CHECK_TRUE(held_move.wait_for(1s) == std::future_status::ready);
if (held_move.wait_for(0ms) == std::future_status::ready) {
CHECK_TRUE(!held_move.get().ok());
}
CHECK_TRUE(!arm.busy());
{
std::lock_guard lock(g_sdk.mutex);
CHECK_TRUE(g_sdk.idle_velocity_reads_after_stop >= 3);
}
CHECK_TRUE(arm.moveJ(joint_b, options).ok());
// A hardware E-stop cancels and terminates the active waypoint. Releasing
// the switch does not clear the software latch or grant a new permit.
JointPositionCommand joint_c{{0.34, -0.02, 0.09, 0.05, -0.02, 0.07}};
holdNextMotion();
int before_estop_move = 0;
int before_estop_stop = 0;
{
std::lock_guard lock(g_sdk.mutex);
before_estop_move = g_sdk.move_j_calls;
before_estop_stop = g_sdk.group_stop_calls;
}
auto estop_move = std::async(std::launch::async, [&]() {
return arm.moveJ(joint_c, options);
});
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.move_j_calls > before_estop_move;
}));
setHardwareEmergencyStop(true);
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.group_stop_calls > before_estop_stop;
}));
CHECK_TRUE(estop_move.wait_for(2s) == std::future_status::ready);
if (estop_move.wait_for(0ms) == std::future_status::ready) {
CHECK_TRUE(!estop_move.get().ok());
}
setHardwareEmergencyStop(false);
std::this_thread::sleep_for(150ms);
int move_count_while_latched = 0;
{
std::lock_guard lock(g_sdk.mutex);
move_count_while_latched = g_sdk.move_j_calls;
}
const auto rejected_while_latched = arm.moveJ(joint_a, options);
CHECK_TRUE(!rejected_while_latched.ok());
{
std::lock_guard lock(g_sdk.mutex);
CHECK_TRUE(g_sdk.move_j_calls == move_count_while_latched);
}
CHECK_TRUE(arm.clearFault().ok());
CHECK_TRUE(arm.torqueOn().ok());
CHECK_TRUE(arm.moveJ(joint_a, options).ok());
// Speed commands own the controller while waiting. A different motion is
// rejected, and Stop releases ownership only after termination.
holdNextMotion();
JointVelocityCommand speed{{0.1, 0.0, 0.0, 0.0, 0.0, 0.0}};
int speed_calls_before = 0;
{
std::lock_guard lock(g_sdk.mutex);
speed_calls_before = g_sdk.speed_j_calls;
}
auto speed_motion = std::async(std::launch::async, [&]() {
return arm.speedJ(speed, 0.5, 2.0);
});
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.speed_j_calls > speed_calls_before;
}));
CHECK_TRUE(!arm.moveL(pose_a, options).ok());
CHECK_TRUE(arm.stopMotion().ok());
CHECK_TRUE(speed_motion.wait_for(1s) == std::future_status::ready);
if (speed_motion.wait_for(0ms) == std::future_status::ready) {
CHECK_TRUE(!speed_motion.get().ok());
}
CHECK_TRUE(!arm.busy());
// SpeedL used to hold the SDK mutex while waiting, which deadlocked its
// own timeout/Stop path. A concurrent Stop must cancel it, settle the
// controller, and allow a genuinely new Move command afterwards.
holdNextMotion();
CartesianVelocity line_speed;
line_speed.vx = 0.05;
int speed_l_calls_before = 0;
{
std::lock_guard lock(g_sdk.mutex);
speed_l_calls_before = g_sdk.speed_l_calls;
}
auto line_speed_motion = std::async(std::launch::async, [&]() {
return arm.speedL(line_speed, 0.5, 2.0, FrameType::Base);
});
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.speed_l_calls > speed_l_calls_before;
}));
CHECK_TRUE(arm.stopMotion().ok());
CHECK_TRUE(line_speed_motion.wait_for(1s) == std::future_status::ready);
if (line_speed_motion.wait_for(0ms) == std::future_status::ready) {
CHECK_TRUE(!line_speed_motion.get().ok());
}
CHECK_TRUE(!arm.busy());
CHECK_TRUE(arm.moveJ(joint_b, options).ok());
// A dual-channel emergency input mismatch is a typed emergency latch. It
// remains blocked after the wiring level is healthy and is recovered only
// through the emergency recovery path.
int stops_before_signal_fault = 0;
{
std::lock_guard lock(g_sdk.mutex);
stops_before_signal_fault = g_sdk.group_stop_calls;
}
setEmergencySignalFault(true);
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.group_stop_calls > stops_before_signal_fault;
}));
setEmergencySignalFault(false);
std::this_thread::sleep_for(100ms);
CHECK_TRUE(!arm.moveJ(joint_c, options).ok());
CHECK_TRUE(arm.torqueOn().ok());
CHECK_TRUE(arm.moveJ(joint_c, options).ok());
// Power-off holds a terminal barrier through GrpDisable. Motion remains
// denied until an explicit enable confirms the powered state again.
CHECK_TRUE(arm.torqueOff().ok());
CHECK_TRUE(!arm.moveJ(joint_a, options).ok());
CHECK_TRUE(arm.torqueOn().ok());
CHECK_TRUE(arm.moveJ(joint_a, options).ok());
// Servo and program modes retain ownership beyond the start call. Stop of
// a retained program must use StopScript as well as the group stop path.
ServoOptions servo_options;
CHECK_TRUE(arm.startServoMode(servo_options).ok());
CHECK_TRUE(!arm.moveJ(joint_b, options).ok());
CHECK_TRUE(arm.servoJ(joint_b).ok());
CHECK_TRUE(arm.stopServoMode().ok());
CHECK_TRUE(!arm.busy());
CHECK_TRUE(arm.loadProgram("fake_program.script").ok());
CHECK_TRUE(arm.playProgram().ok());
CHECK_TRUE(!arm.moveJ(joint_c, options).ok());
int stop_script_calls_before = 0;
{
std::lock_guard lock(g_sdk.mutex);
stop_script_calls_before = g_sdk.stop_script_calls;
}
CHECK_TRUE(arm.stopMotion().ok());
{
std::lock_guard lock(g_sdk.mutex);
CHECK_TRUE(g_sdk.stop_script_calls > stop_script_calls_before);
}
CHECK_TRUE(!arm.busy());
// Retire an in-flight stale generation after transport loss before
// reconnecting; no old waiter may issue SDK reads into the new session.
holdNextMotion();
int moves_before_transport_loss = 0;
{
std::lock_guard lock(g_sdk.mutex);
moves_before_transport_loss = g_sdk.move_j_calls;
}
auto transport_lost_move = std::async(std::launch::async, [&]() {
return arm.moveJ(joint_c, options);
});
CHECK_TRUE(waitUntil([&]() {
std::lock_guard lock(g_sdk.mutex);
return g_sdk.move_j_calls > moves_before_transport_loss;
}));
dropFakeTransport();
CHECK_TRUE(arm.connect("127.0.0.1", 10003).ok());
CHECK_TRUE(transport_lost_move.wait_for(1s) == std::future_status::ready);
if (transport_lost_move.wait_for(0ms) == std::future_status::ready) {
CHECK_TRUE(!transport_lost_move.get().ok());
}
CHECK_TRUE(arm.moveJ(joint_b, options).ok());
CHECK_TRUE(arm.disconnect().ok());
resetFakeSdk();
HuayanRobot shutdown_arm(makeConfig());
CHECK_TRUE(shutdown_arm.connect("127.0.0.1", 10003).ok());
CHECK_TRUE(shutdown_arm.shutdown().ok());
CHECK_TRUE(!shutdown_arm.isConnected());
return failures == 0 ? 0 : 1;
}

232
cmvr-es/devices/arm/huayan_arm/tests/huayan_lifecycle_state_test.cpp
View File

@ -1,232 +0,0 @@
#include "devices/arm/huayan_arm/huayan_lifecycle_state.h"
#include <chrono>
#include <iostream>
namespace {
#define CHECK_TRUE(condition) \
do { \
if (!(condition)) { \
std::cerr << "CHECK_TRUE failed at line " << __LINE__ << ": " \
<< #condition << std::endl; \
return 1; \
} \
} while (false)
} // namespace
int main()
{
using namespace cmvr::device::huayan_internal;
MotionState motion;
CHECK_TRUE(motion.begin(MotionKind::None).status ==
MotionStartStatus::Invalid);
// A completed target does not poison an identical subsequent command,
// while an actually concurrent command is rejected.
const auto first_joint = motion.begin(MotionKind::Joint);
CHECK_TRUE(first_joint.started());
CHECK_TRUE(motion.begin(MotionKind::Joint).status ==
MotionStartStatus::Busy);
CHECK_TRUE(motion.begin(MotionKind::Linear).status ==
MotionStartStatus::Busy);
motion.finish(first_joint.token);
const auto repeated_joint = motion.begin(MotionKind::Joint);
CHECK_TRUE(repeated_joint.started());
CHECK_TRUE(repeated_joint.token.generation >
first_joint.token.generation);
motion.finish(first_joint.token);
CHECK_TRUE(motion.ownerActive(repeated_joint.token));
motion.finish(repeated_joint.token);
CHECK_TRUE(!motion.busy());
// Stop cancels the current generation and cannot complete before its
// owner exits.
const auto linear = motion.begin(MotionKind::Linear);
CHECK_TRUE(linear.started());
const auto stop_linear = motion.beginStop();
CHECK_TRUE(stop_linear.started());
CHECK_TRUE(stop_linear.kind == MotionKind::Linear);
CHECK_TRUE(stop_linear.active_token.generation ==
linear.token.generation);
CHECK_TRUE(stop_linear.tracked_motion);
CHECK_TRUE(motion.cancelled(linear.token));
CHECK_TRUE(motion.beginStop().status ==
StopStartStatus::AlreadyStopping);
CHECK_TRUE(motion.begin(MotionKind::Joint).status ==
MotionStartStatus::Stopping);
CHECK_TRUE(!motion.waitForOwnerExit(
linear.token, std::chrono::milliseconds(1)));
CHECK_TRUE(!motion.completeStop());
motion.finish(linear.token);
CHECK_TRUE(motion.waitForOwnerExit(
linear.token, std::chrono::milliseconds(1)));
CHECK_TRUE(motion.completeStop());
CHECK_TRUE(!motion.busy());
// An uncertain submission/completion remains fail-closed until a
// positively acknowledged Stop clears it.
const auto failed_speed = motion.begin(MotionKind::SpeedLinear);
CHECK_TRUE(failed_speed.started());
motion.failMotion(failed_speed.token);
CHECK_TRUE(motion.snapshot().blocked);
CHECK_TRUE(motion.begin(MotionKind::Joint).status ==
MotionStartStatus::Blocked);
const auto stop_failed_speed = motion.beginStop();
CHECK_TRUE(stop_failed_speed.kind == MotionKind::SpeedLinear);
CHECK_TRUE(stop_failed_speed.tracked_motion);
CHECK_TRUE(motion.completeStop());
const auto failed_stop_motion = motion.begin(MotionKind::Joint);
CHECK_TRUE(failed_stop_motion.started());
const auto failed_stop = motion.beginStop();
CHECK_TRUE(failed_stop.kind == MotionKind::Joint);
motion.failStop();
CHECK_TRUE(motion.snapshot().blocked);
CHECK_TRUE(motion.begin(MotionKind::Linear).status ==
MotionStartStatus::Blocked);
motion.finish(failed_stop_motion.token);
const auto retry_failed_stop = motion.beginStop();
CHECK_TRUE(retry_failed_stop.kind == MotionKind::Joint);
CHECK_TRUE(motion.completeStop());
// Servo and program modes remain owned after their start RPC returns.
const auto servo = motion.begin(MotionKind::Servo);
CHECK_TRUE(servo.started());
motion.finish(servo.token, MotionFinishMode::Retain);
CHECK_TRUE(motion.snapshot().retained_kind == MotionKind::Servo);
CHECK_TRUE(motion.begin(MotionKind::Program).status ==
MotionStartStatus::Busy);
const auto servo_update = motion.begin(MotionKind::Servo, true);
CHECK_TRUE(servo_update.started());
motion.finish(servo_update.token);
CHECK_TRUE(motion.snapshot().retained_kind == MotionKind::Servo);
const auto stop_servo = motion.beginStop();
CHECK_TRUE(stop_servo.kind == MotionKind::Servo);
CHECK_TRUE(stop_servo.tracked_motion);
CHECK_TRUE(motion.completeStop());
const auto program = motion.begin(MotionKind::Program);
CHECK_TRUE(program.started());
motion.finish(program.token, MotionFinishMode::Retain);
const auto cancelled_program = motion.cancelActiveForSafety();
CHECK_TRUE(cancelled_program.kind == MotionKind::Program);
CHECK_TRUE(cancelled_program.tracked_motion);
CHECK_TRUE(!cancelled_program.active_token.valid());
CHECK_TRUE(motion.begin(MotionKind::Joint).status ==
MotionStartStatus::Blocked);
const auto stop_program = motion.beginStop();
CHECK_TRUE(stop_program.kind == MotionKind::Program);
CHECK_TRUE(motion.completeStop());
const auto safety_move = motion.begin(MotionKind::SpeedJoint);
CHECK_TRUE(safety_move.started());
const auto cancelled_move = motion.cancelActiveForSafety();
CHECK_TRUE(cancelled_move.kind == MotionKind::SpeedJoint);
CHECK_TRUE(cancelled_move.active_token.generation ==
safety_move.token.generation);
CHECK_TRUE(motion.cancelled(safety_move.token));
motion.finish(safety_move.token);
const auto stop_safety_move = motion.beginStop();
CHECK_TRUE(stop_safety_move.kind == MotionKind::SpeedJoint);
CHECK_TRUE(motion.completeStop());
RawSafetyState raw;
CHECK_TRUE(classifySafetyCondition(raw) == SafetyCondition::Unknown);
raw.valid = true;
CHECK_TRUE(classifySafetyCondition(raw) == SafetyCondition::Normal);
raw.software_protective_stop = true;
CHECK_TRUE(classifySafetyCondition(raw) ==
SafetyCondition::SoftwareProtectiveStop);
raw.software_emergency_stop = true;
CHECK_TRUE(classifySafetyCondition(raw) ==
SafetyCondition::SoftwareEmergencyStop);
raw.robot_fault = 1;
CHECK_TRUE(classifySafetyCondition(raw) ==
SafetyCondition::RobotFault);
raw.safeguard_stop = 1;
CHECK_TRUE(classifySafetyCondition(raw) ==
SafetyCondition::SafeguardStop);
raw.emergency_stop = 1;
CHECK_TRUE(classifySafetyCondition(raw) ==
SafetyCondition::EmergencyStop);
raw.safeguard_signal_fault = 1;
CHECK_TRUE(classifySafetyCondition(raw) ==
SafetyCondition::SafeguardSignalFault);
raw.emergency_signal_fault = 1;
CHECK_TRUE(classifySafetyCondition(raw) ==
SafetyCondition::EmergencySignalFault);
SafetyState safety;
CHECK_TRUE(!safety.tryPermit().has_value());
safety.observe(SafetyCondition::Normal);
const auto initial_permit = safety.tryPermit();
CHECK_TRUE(initial_permit.has_value());
CHECK_TRUE(safety.validate(*initial_permit));
safety.observe(SafetyCondition::EmergencyStop);
CHECK_TRUE(safety.snapshot().latched);
CHECK_TRUE(!safety.validate(*initial_permit));
CHECK_TRUE(!safety.beginRecovery(safety.snapshot().epoch).has_value());
const auto first_emergency_epoch = safety.snapshot().epoch;
safety.observe(SafetyCondition::EmergencyStop);
safety.observe(SafetyCondition::EmergencyStop);
CHECK_TRUE(safety.snapshot().epoch == first_emergency_epoch);
// Releasing the hardware switch only changes the observed level; it does
// not clear the event latch or issue a new motion permit.
safety.observe(SafetyCondition::Normal);
CHECK_TRUE(safety.snapshot().latched);
CHECK_TRUE(!safety.tryPermit().has_value());
const auto not_ready = safety.beginRecovery(safety.snapshot().epoch);
CHECK_TRUE(not_ready.has_value());
CHECK_TRUE(!safety.completeRecovery(*not_ready, false, true, true));
CHECK_TRUE(safety.snapshot().latched);
safety.failRecovery(*not_ready);
const auto not_idle = safety.beginRecovery(safety.snapshot().epoch);
CHECK_TRUE(not_idle.has_value());
CHECK_TRUE(!safety.completeRecovery(*not_idle, true, false, true));
CHECK_TRUE(safety.snapshot().latched);
safety.failRecovery(*not_idle);
const auto not_cancelled =
safety.beginRecovery(safety.snapshot().epoch);
CHECK_TRUE(not_cancelled.has_value());
CHECK_TRUE(!safety.completeRecovery(*not_cancelled, true, true, false));
CHECK_TRUE(safety.snapshot().latched);
safety.failRecovery(*not_cancelled);
const auto recovery_retry =
safety.beginRecovery(safety.snapshot().epoch);
CHECK_TRUE(recovery_retry.has_value());
CHECK_TRUE(safety.completeRecovery(
*recovery_retry, true, true, true));
const auto recovered_permit = safety.tryPermit();
CHECK_TRUE(recovered_permit.has_value());
CHECK_TRUE(safety.validate(*recovered_permit));
// A second safety event, including the same physical E-stop being pressed
// again, invalidates an older recovery token atomically.
safety.observe(SafetyCondition::EmergencyStop);
safety.observe(SafetyCondition::Normal);
const auto stale_recovery =
safety.beginRecovery(safety.snapshot().epoch);
CHECK_TRUE(stale_recovery.has_value());
safety.observe(SafetyCondition::EmergencyStop);
safety.observe(SafetyCondition::Normal);
CHECK_TRUE(!safety.completeRecovery(
*stale_recovery, true, true, true));
CHECK_TRUE(safety.snapshot().latched);
CHECK_TRUE(!safety.snapshot().recovery_in_progress);
const auto stale_epoch = safety.snapshot().epoch;
safety.observe(SafetyCondition::SafeguardStop);
safety.observe(SafetyCondition::Normal);
CHECK_TRUE(!safety.beginRecovery(stale_epoch).has_value());
return 0;
}

69
cmvr-es/devices/arm/ume_robot_arm/CMakeLists.txt
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@ -21,72 +21,3 @@ target_link_libraries(ume_robot_arm
add_library(cmvr_es::device::ume_robot_arm ALIAS ume_robot_arm)
install(TARGETS ume_robot_arm LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(damiao_mit_codec_test
tests/damiao_mit_codec_test.cpp
)
target_link_libraries(damiao_mit_codec_test
PRIVATE
cmvr_es::device::ume_robot_arm
gtest
gtest_main
pthread
)
add_test(
NAME damiao_mit_codec_test
COMMAND damiao_mit_codec_test
)
set(_ume_robot_arm_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _ume_robot_arm_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(damiao_mit_codec_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_ume_robot_arm_test_environment}"
)
add_executable(damiao_can_fd_chain_test
tests/damiao_can_fd_chain_test.cpp
)
target_link_libraries(damiao_can_fd_chain_test
PRIVATE
cmvr_es::device::ume_robot_arm
gtest
gtest_main
pthread
)
add_test(
NAME damiao_can_fd_chain_test
COMMAND damiao_can_fd_chain_test
)
set_tests_properties(damiao_can_fd_chain_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_ume_robot_arm_test_environment}"
)
add_executable(ume_robot_arm_test
tests/ume_robot_arm_test.cpp
)
target_link_libraries(ume_robot_arm_test
PRIVATE
cmvr_es::device::ume_robot_arm
gtest
gtest_main
pthread
)
target_compile_definitions(ume_robot_arm_test PRIVATE
CMVR_UME_ARM_CONFIG_PATH="${PROJECT_SOURCE_DIR}/cmvr-es/config/devices/arm/ume_arms.pb.txt"
)
add_test(
NAME ume_robot_arm_test
COMMAND ume_robot_arm_test
)
set_tests_properties(ume_robot_arm_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_ume_robot_arm_test_environment}"
)
endif()

407
cmvr-es/devices/arm/ume_robot_arm/tests/damiao_can_fd_chain_test.cpp
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@ -1,407 +0,0 @@
#include "arm/ume_robot_arm/include/damiao_can_fd_chain.h"
#include <chrono>
#include <deque>
#include <memory>
#include <string>
#include <thread>
#include <utility>
#include <vector>
#include <gtest/gtest.h>
#include "canbus/abstract_canbus.h"
namespace cmvr::device {
namespace {
class FakeCanbus final : public AbstractCanbus {
public:
std::string typeName() const override { return "FakeCanbus"; }
bool init() override
{
initialized = true;
return init_result;
}
bool start() override
{
started = start_result;
is_started_ = started;
return started;
}
bool stop() override
{
stopped = true;
started = false;
is_started_ = false;
return true;
}
msgs::ErrorCode send(const std::vector<CanFrame>& frames,
int32_t* frame_num) override
{
if (!started || !frame_num ||
*frame_num != static_cast<int32_t>(frames.size())) {
return msgs::ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
}
if (!send_result) {
return msgs::ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
}
sent_batches.push_back(frames);
if (!scheduled_replies.empty()) {
for (const auto& reply : scheduled_replies.front()) {
replies.push_back(reply);
}
scheduled_replies.pop_front();
}
return msgs::ErrorCode::OK;
}
msgs::ErrorCode receive(std::vector<CanFrame>* frames,
int32_t* frame_num) override
{
if (!started || !frames || !frame_num || replies.empty()) {
return msgs::ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
}
frames->clear();
frames->push_back(replies.front());
replies.pop_front();
*frame_num = 1;
return msgs::ErrorCode::OK;
}
bool discardPendingFrames() override
{
++drain_calls;
if (drain_delay > std::chrono::microseconds::zero()) {
std::this_thread::sleep_for(drain_delay);
}
replies.clear();
return drain_result;
}
std::string getErrorString(int32_t) override { return {}; }
void enqueueReplies(std::vector<CanFrame> batch)
{
scheduled_replies.push_back(std::move(batch));
}
bool init_result{true};
bool start_result{true};
bool initialized{false};
bool started{false};
bool stopped{false};
bool drain_result{true};
bool send_result{true};
std::size_t drain_calls{0};
std::chrono::microseconds drain_delay{0};
std::vector<std::vector<CanFrame>> sent_batches;
std::deque<CanFrame> replies;
std::deque<std::vector<CanFrame>> scheduled_replies;
};
DamiaoJointSpec joint(std::string name,
std::uint32_t command_id,
std::uint32_t feedback_id,
std::uint8_t reported_id,
int direction = 1)
{
DamiaoJointSpec spec;
spec.joint_name = std::move(name);
spec.command_id = command_id;
spec.feedback_id = feedback_id;
spec.reported_motor_id = reported_id;
spec.model = DamiaoMotorModel::DM4310;
spec.direction = direction;
spec.zero_offset_rad = direction == 1 ? 0.1 : -0.2;
spec.joint_lower_rad = -2.0;
spec.joint_upper_rad = 2.0;
spec.max_velocity_rad_s = 3.0;
spec.max_torque_nm = 2.0;
spec.healthy_status_mask = 1U << 0U;
spec.max_driver_temperature_raw = 80U;
spec.max_motor_temperature_raw = 90U;
return spec;
}
CanFrame feedback(std::uint32_t id,
std::uint8_t reported_id,
std::uint8_t status = 0U)
{
CanFrame frame;
frame.id = id;
frame.len = 8;
frame.is_fd = true;
frame.bitrate_switch = true;
frame.rx_monotonic_ns = 100;
frame.data[0] =
static_cast<std::uint8_t>((status << 4U) | reported_id);
frame.data[1] = 0x80;
frame.data[2] = 0x00;
frame.data[3] = 0x80;
frame.data[4] = 0x08;
frame.data[5] = 0x00;
frame.data[6] = 30U;
frame.data[7] = 35U;
return frame;
}
std::chrono::steady_clock::time_point soon()
{
return std::chrono::steady_clock::now() +
std::chrono::milliseconds(20);
}
std::size_t countLifecycleByte(
const std::vector<std::vector<CanFrame>>& batches,
const std::uint8_t value)
{
std::size_t count = 0;
for (const auto& batch : batches) {
for (const auto& frame : batch) {
if (frame.len == 8 &&
frame.data[0] == 0xFF &&
frame.data[7] == value) {
++count;
}
}
}
return count;
}
TEST(DamiaoCanFdChainTest, PassiveOpenNeverEnablesHardware)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus, {joint("J1", 1, 0x11, 1)},
DamiaoChainOptions{true, true, false});
ASSERT_TRUE(chain.init().ok());
ASSERT_TRUE(chain.openPassive().ok());
EXPECT_EQ(chain.state(), DamiaoChainState::Passive);
EXPECT_TRUE(bus->sent_batches.empty());
const auto arm_result = chain.arm(soon());
EXPECT_FALSE(arm_result.ok());
EXPECT_EQ(arm_result.code, ArmErrorCode::CommandRejected);
EXPECT_TRUE(bus->sent_batches.empty());
}
TEST(DamiaoCanFdChainTest, ExplicitArmAndExchangeUseUniqueConfiguredFeedback)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus,
{joint("J1", 1, 0x11, 1),
joint("J2", 2, 0x12, 2, -1)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(chain.init().ok());
ASSERT_TRUE(chain.openPassive().ok());
// A stale invalid frame is already queued before this request. The drain
// must remove it; only replies generated by the subsequent send may be
// accepted.
bus->replies.push_back(feedback(0x11, 1, 2));
bus->enqueueReplies({
feedback(0x12, 2),
feedback(0x11, 1),
});
ASSERT_TRUE(chain.arm(soon()).ok());
EXPECT_EQ(chain.state(), DamiaoChainState::Armed);
EXPECT_EQ(countLifecycleByte(bus->sent_batches, 0xFC), 2U);
bus->enqueueReplies({
feedback(0x11, 1),
feedback(0x12, 2),
});
DamiaoMitCommand commands[2]{};
commands[0].tau_ff_nm = 1.0;
commands[1].tau_ff_nm = -1.0;
DamiaoJointFeedback states[2]{};
ASSERT_TRUE(chain.exchange(
commands, 2, states, 2, soon()).ok());
EXPECT_EQ(chain.state(), DamiaoChainState::Active);
EXPECT_TRUE(states[0].valid);
EXPECT_TRUE(states[1].valid);
// J2 has direction=-1 and offset=-0.2.
EXPECT_NEAR(states[1].q_rad, -0.2003814697265625, 1e-12);
EXPECT_NEAR(states[1].dq_rad_s, -0.0146484375, 1e-12);
EXPECT_NEAR(states[1].tau_nm, -0.0048828125, 1e-12);
}
TEST(DamiaoCanFdChainTest, MissedFeedbackLatchesFaultAndNeverReenables)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus, {joint("J1", 1, 0x11, 1)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(chain.init().ok());
ASSERT_TRUE(chain.openPassive().ok());
bus->enqueueReplies({feedback(0x11, 1)});
ASSERT_TRUE(chain.arm(soon()).ok());
DamiaoMitCommand command;
DamiaoJointFeedback state;
const auto result = chain.exchange(
&command, 1, &state, 1,
std::chrono::steady_clock::now() +
std::chrono::milliseconds(1));
EXPECT_FALSE(result.ok());
EXPECT_EQ(result.code, ArmErrorCode::Timeout);
EXPECT_EQ(chain.state(), DamiaoChainState::FaultLatched);
EXPECT_EQ(countLifecycleByte(bus->sent_batches, 0xFC), 1U);
EXPECT_GE(countLifecycleByte(bus->sent_batches, 0xFD), 1U);
// Clearing the fault is explicit and leaves the chain passive.
bus->enqueueReplies({feedback(0x11, 1)});
ASSERT_TRUE(chain.clearFault(soon()).ok());
EXPECT_EQ(chain.state(), DamiaoChainState::Passive);
EXPECT_EQ(countLifecycleByte(bus->sent_batches, 0xFC), 1U);
}
TEST(DamiaoCanFdChainTest, DuplicateFeedbackCannotSatisfyAGroupCycle)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus,
{joint("J1", 1, 0x11, 1),
joint("J2", 2, 0x12, 2)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(chain.init().ok());
ASSERT_TRUE(chain.openPassive().ok());
bus->enqueueReplies({
feedback(0x11, 1),
feedback(0x12, 2),
});
ASSERT_TRUE(chain.arm(soon()).ok());
bus->enqueueReplies({
feedback(0x11, 1),
feedback(0x11, 1),
});
DamiaoMitCommand commands[2]{};
DamiaoJointFeedback states[2]{};
EXPECT_FALSE(chain.exchange(
commands, 2, states, 2,
std::chrono::steady_clock::now() +
std::chrono::milliseconds(1)).ok());
EXPECT_EQ(chain.state(), DamiaoChainState::FaultLatched);
EXPECT_EQ(chain.statistics().duplicate_feedback, 1U);
}
TEST(DamiaoCanFdChainTest, RejectsUnreviewedStatusAndClassicFrame)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus, {joint("J1", 1, 0x11, 1)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(chain.init().ok());
ASSERT_TRUE(chain.openPassive().ok());
bus->enqueueReplies({feedback(0x11, 1)});
ASSERT_TRUE(chain.arm(soon()).ok());
bus->enqueueReplies({feedback(0x11, 1, 2)});
DamiaoMitCommand command;
DamiaoJointFeedback state;
EXPECT_FALSE(chain.exchange(
&command, 1, &state, 1, soon()).ok());
EXPECT_EQ(chain.state(), DamiaoChainState::FaultLatched);
auto second_bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain second(
second_bus, {joint("J1", 1, 0x11, 1)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(second.init().ok());
ASSERT_TRUE(second.openPassive().ok());
auto classic = feedback(0x11, 1);
classic.is_fd = false;
classic.bitrate_switch = false;
second_bus->enqueueReplies({classic});
EXPECT_FALSE(second.arm(soon()).ok());
EXPECT_EQ(second.state(), DamiaoChainState::FaultLatched);
auto third_bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain third(
third_bus, {joint("J1", 1, 0x11, 1)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(third.init().ok());
ASSERT_TRUE(third.openPassive().ok());
auto error_passive = feedback(0x11, 1);
error_passive.error_state_indicator = true;
third_bus->enqueueReplies({error_passive});
EXPECT_FALSE(third.arm(soon()).ok());
EXPECT_EQ(third.state(), DamiaoChainState::FaultLatched);
}
TEST(DamiaoCanFdChainTest, HardwareEnableRequiresReviewedHealthContract)
{
auto bus = std::make_shared<FakeCanbus>();
auto unreviewed = joint("J1", 1, 0x11, 1);
unreviewed.healthy_status_mask = 0U;
DamiaoCanFdChain chain(
bus, {unreviewed},
DamiaoChainOptions{true, true, true});
const auto result = chain.init();
EXPECT_FALSE(result.ok());
EXPECT_EQ(result.code, ArmErrorCode::InvalidArgument);
EXPECT_FALSE(bus->initialized);
}
TEST(DamiaoCanFdChainTest, DisableReportsUnconfirmedSafetyFrames)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus, {joint("J1", 1, 0x11, 1)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(chain.init().ok());
ASSERT_TRUE(chain.openPassive().ok());
bus->enqueueReplies({feedback(0x11, 1)});
ASSERT_TRUE(chain.arm(soon()).ok());
bus->send_result = false;
const auto result = chain.disable();
EXPECT_FALSE(result.ok());
EXPECT_EQ(result.code, ArmErrorCode::CommandFailed);
EXPECT_EQ(chain.state(), DamiaoChainState::FaultLatched);
}
TEST(DamiaoCanFdChainTest, ExpiredDeadlineAfterDrainNeverCommitsEnable)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus, {joint("J1", 1, 0x11, 1)},
DamiaoChainOptions{true, true, true});
ASSERT_TRUE(chain.init().ok());
ASSERT_TRUE(chain.openPassive().ok());
bus->drain_delay = std::chrono::milliseconds(3);
bus->enqueueReplies({feedback(0x11, 1)});
const auto result = chain.arm(
std::chrono::steady_clock::now() +
std::chrono::milliseconds(1));
EXPECT_FALSE(result.ok());
EXPECT_EQ(result.code, ArmErrorCode::Timeout);
EXPECT_EQ(chain.state(), DamiaoChainState::FaultLatched);
EXPECT_EQ(countLifecycleByte(bus->sent_batches, 0xFC), 0U);
EXPECT_GE(countLifecycleByte(bus->sent_batches, 0xFD), 1U);
}
TEST(DamiaoCanFdChainTest, ConfigurationRejectsAmbiguousMappings)
{
auto bus = std::make_shared<FakeCanbus>();
DamiaoCanFdChain chain(
bus,
{joint("J1", 1, 0x11, 1),
joint("J1", 2, 0x12, 2)},
DamiaoChainOptions{true, true, false});
const auto result = chain.init();
EXPECT_FALSE(result.ok());
EXPECT_EQ(result.code, ArmErrorCode::InvalidArgument);
EXPECT_FALSE(bus->initialized);
}
} // namespace
} // namespace cmvr::device

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cmvr-es/devices/arm/ume_robot_arm/tests/damiao_mit_codec_test.cpp
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#include "arm/ume_robot_arm/include/damiao_mit_codec.h"
#include <array>
#include <cmath>
#include <limits>
#include <gtest/gtest.h>
namespace cmvr::device {
namespace {
void expectPayload(const CanFrame& frame,
const std::array<std::uint8_t, 8>& expected)
{
ASSERT_EQ(frame.len, expected.size());
for (std::size_t i = 0; i < expected.size(); ++i) {
EXPECT_EQ(frame.data[i], expected[i]) << "byte " << i;
}
}
TEST(DamiaoMitCodecTest, MatchesLegacyPythonGoldenVectors)
{
CanFrame frame;
DamiaoMitCommand zero;
auto result = DamiaoMitCodec::encodeMit(
1, DamiaoMotorModel::DM4310, zero, true, true, frame);
ASSERT_TRUE(result);
EXPECT_EQ(result.saturation_mask, DAMIAO_SATURATION_NONE);
EXPECT_TRUE(frame.is_fd);
EXPECT_TRUE(frame.bitrate_switch);
expectPayload(frame, {0x7F, 0xFF, 0x7F, 0xF0,
0x00, 0x00, 0x07, 0xFF});
DamiaoMitCommand nontrivial;
nontrivial.kp = 100.0;
nontrivial.kd = 1.0;
nontrivial.q_rad = 1.25;
nontrivial.dq_rad_s = -2.5;
nontrivial.tau_ff_nm = 3.0;
result = DamiaoMitCodec::encodeMit(
1, DamiaoMotorModel::DM4310, nontrivial, false, false, frame);
ASSERT_TRUE(result);
expectPayload(frame, {0x8C, 0xCC, 0x75, 0x43,
0x33, 0x33, 0x3A, 0x65});
}
TEST(DamiaoMitCodecTest, ReportsProtocolSaturationWithoutHidingIt)
{
DamiaoMitCommand command;
command.q_rad = 100.0;
command.dq_rad_s = -100.0;
command.kp = 600.0;
command.kd = -1.0;
command.tau_ff_nm = 100.0;
CanFrame frame;
const auto result = DamiaoMitCodec::encodeMit(
2, DamiaoMotorModel::DM4310, command, false, false, frame);
ASSERT_TRUE(result);
EXPECT_EQ(
result.saturation_mask,
DAMIAO_SATURATION_Q | DAMIAO_SATURATION_DQ |
DAMIAO_SATURATION_KP | DAMIAO_SATURATION_KD |
DAMIAO_SATURATION_TAU);
}
TEST(DamiaoMitCodecTest, RejectsNonFiniteInput)
{
DamiaoMitCommand command;
command.tau_ff_nm = std::numeric_limits<double>::quiet_NaN();
CanFrame frame;
const auto result = DamiaoMitCodec::encodeMit(
1, DamiaoMotorModel::DM4310, command, false, false, frame);
EXPECT_FALSE(result);
EXPECT_EQ(result.error, DamiaoCodecError::NonFiniteInput);
}
TEST(DamiaoMitCodecTest, EncodesLifecycleFramesWithoutEnablingImplicitly)
{
CanFrame frame;
ASSERT_EQ(DamiaoMitCodec::encodeMode(
3, DamiaoMode::Enable, true, true, frame),
DamiaoCodecError::None);
expectPayload(frame, {0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFC});
ASSERT_EQ(DamiaoMitCodec::encodeMode(
3, DamiaoMode::Disable, true, true, frame),
DamiaoCodecError::None);
EXPECT_EQ(frame.data[7], 0xFD);
ASSERT_EQ(DamiaoMitCodec::encodeMode(
3, DamiaoMode::SetZero, true, true, frame),
DamiaoCodecError::None);
EXPECT_EQ(frame.data[7], 0xFE);
ASSERT_EQ(DamiaoMitCodec::encodeMode(
3, DamiaoMode::ClearFault, true, true, frame),
DamiaoCodecError::None);
EXPECT_EQ(frame.data[7], 0xFB);
}
TEST(DamiaoMitCodecTest, DecodesLegacyFeedbackAndRequiresConfiguredId)
{
CanFrame frame;
frame.id = 0x11;
frame.len = 8;
frame.is_fd = true;
frame.bitrate_switch = true;
frame.rx_monotonic_ns = 1234567;
frame.data[0] = 0xA1;
frame.data[1] = 0x80;
frame.data[2] = 0x00;
frame.data[3] = 0x80;
frame.data[4] = 0x08;
frame.data[5] = 0x00;
frame.data[6] = 40;
frame.data[7] = 41;
DamiaoJointFeedback feedback;
EXPECT_EQ(DamiaoMitCodec::decodeFeedback(
frame, 0x12, DamiaoMotorModel::DM4310, feedback),
DamiaoCodecError::UnexpectedFeedbackId);
EXPECT_FALSE(feedback.valid);
ASSERT_EQ(DamiaoMitCodec::decodeFeedback(
frame, 0x11, DamiaoMotorModel::DM4310, feedback),
DamiaoCodecError::None);
EXPECT_TRUE(feedback.valid);
EXPECT_EQ(feedback.reported_motor_id, 1);
EXPECT_EQ(feedback.status, 0x0A);
EXPECT_EQ(feedback.driver_temperature_raw, 40);
EXPECT_EQ(feedback.motor_temperature_raw, 41);
EXPECT_EQ(feedback.rx_monotonic_ns, 1234567);
EXPECT_NEAR(feedback.q_rad, 0.0003814697265625, 1e-12);
EXPECT_NEAR(feedback.dq_rad_s, 0.0146484375, 1e-12);
EXPECT_NEAR(feedback.tau_nm, 0.0048828125, 1e-12);
}
TEST(DamiaoMitCodecTest, ContainsAllLegacyMotorRanges)
{
EXPECT_DOUBLE_EQ(
DamiaoMitCodec::limitsFor(DamiaoMotorModel::DM8009).tau_max_nm,
54.0);
EXPECT_DOUBLE_EQ(
DamiaoMitCodec::limitsFor(DamiaoMotorModel::DMH3510).dq_max_rad_s,
280.0);
EXPECT_FALSE(
DamiaoMitCodec::limitsFor(DamiaoMotorModel::Unknown).valid());
}
} // namespace
} // namespace cmvr::device

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cmvr-es/devices/arm/ume_robot_arm/tests/ume_robot_arm_test.cpp
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#include "arm/ume_robot_arm/include/ume_robot_arm.h"
#include <chrono>
#include <cstdint>
#include <deque>
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
#include <gtest/gtest.h>
#include "canbus/abstract_canbus.h"
#include "common/io/proto_file_io.h"
#ifndef CMVR_UME_ARM_CONFIG_PATH
#define CMVR_UME_ARM_CONFIG_PATH ""
#endif
namespace cmvr::device {
namespace {
class LoopbackDamiaoBus final : public AbstractCanbus {
public:
std::string typeName() const override { return "LoopbackDamiaoBus"; }
bool init() override
{
std::lock_guard lock(mutex);
initialized = true;
return true;
}
bool start() override
{
std::lock_guard lock(mutex);
started = true;
is_started_ = true;
return true;
}
bool stop() override
{
std::lock_guard lock(mutex);
started = false;
is_started_ = false;
return true;
}
msgs::ErrorCode send(
const std::vector<CanFrame>& frames,
int32_t* frame_num) override
{
std::lock_guard lock(mutex);
if (!started || !frame_num ||
*frame_num != static_cast<int32_t>(frames.size())) {
return msgs::ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
}
if (!send_result) {
return msgs::ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
}
sent_batches.push_back(frames);
for (const auto& frame : frames) {
if (frame.id < 1U || frame.id > 8U) {
continue;
}
CanFrame reply;
reply.id = 0x10U + frame.id;
reply.len = 8U;
reply.is_fd = true;
reply.bitrate_switch = true;
reply.rx_monotonic_ns =
std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::steady_clock::now().time_since_epoch())
.count();
reply.data[0] = static_cast<std::uint8_t>(frame.id);
reply.data[1] = 0x80U;
reply.data[2] = 0x00U;
reply.data[3] = 0x80U;
reply.data[4] = 0x08U;
reply.data[5] = 0x00U;
replies.push_back(reply);
}
return msgs::ErrorCode::OK;
}
msgs::ErrorCode receive(
std::vector<CanFrame>* frames,
int32_t* frame_num) override
{
std::lock_guard lock(mutex);
if (!started || !frames || !frame_num || replies.empty()) {
return msgs::ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
}
frames->clear();
frames->push_back(replies.front());
replies.pop_front();
*frame_num = 1;
return msgs::ErrorCode::OK;
}
bool discardPendingFrames() override
{
std::lock_guard lock(mutex);
replies.clear();
return started;
}
std::string getErrorString(int32_t) override { return {}; }
void setSendResult(const bool result)
{
std::lock_guard lock(mutex);
send_result = result;
}
std::size_t lifecycleCount(const std::uint8_t byte) const
{
std::lock_guard lock(mutex);
std::size_t count = 0;
for (const auto& batch : sent_batches) {
for (const auto& frame : batch) {
if (frame.len == 8U &&
frame.data[0] == 0xFFU &&
frame.data[7] == byte) {
++count;
}
}
}
return count;
}
bool initialized{false};
bool started{false};
bool send_result{true};
std::deque<CanFrame> replies;
std::vector<std::vector<CanFrame>> sent_batches;
mutable std::mutex mutex;
};
config::RobotArmConfig configFor(const bool hardware_enabled)
{
config::RobotArmConfig cfg;
cfg.set_id("ume_right");
auto* ume = cfg.mutable_ume();
ume->set_hardware_enabled(hardware_enabled);
ume->set_control_frequency_hz(800U);
ume->set_cycle_deadline_us(1000U);
ume->set_feedback_watchdog_ms(20U);
auto* can = ume->mutable_can();
can->set_interface_name("fake-can");
can->set_enable_fd(true);
can->set_bitrate_switch(true);
can->set_send_timeout_us(100U);
can->set_receive_timeout_us(100U);
can->set_receive_own_messages(false);
for (std::uint32_t i = 1; i <= 8U; ++i) {
auto* joint = ume->add_joints();
joint->set_joint_name("RJ" + std::to_string(i));
joint->set_command_id(i);
joint->set_feedback_id(0x10U + i);
joint->set_reported_motor_id(i);
joint->set_model(config::DAMIAO_MOTOR_MODEL_DM4310);
joint->set_direction(1);
joint->set_joint_lower_rad(-2.0);
joint->set_joint_upper_rad(2.0);
joint->set_max_velocity_rad_s(3.0);
joint->set_max_torque_nm(2.0);
joint->add_healthy_feedback_status(0U);
joint->set_max_driver_temperature_raw(80U);
joint->set_max_motor_temperature_raw(90U);
}
return cfg;
}
bool waitUntil(
const std::function<bool()>& predicate,
const std::chrono::milliseconds timeout)
{
const auto deadline = std::chrono::steady_clock::now() + timeout;
while (std::chrono::steady_clock::now() < deadline) {
if (predicate()) {
return true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
return predicate();
}
TEST(UmeRobotArmTest, LifecycleIsPassiveUntilExplicitFreshTorqueCommand)
{
auto bus = std::make_shared<LoopbackDamiaoBus>();
UmeRobotArm arm(configFor(true), bus);
ASSERT_TRUE(arm.init());
EXPECT_EQ(bus->lifecycleCount(0xFCU), 0U);
ASSERT_TRUE(arm.start());
EXPECT_EQ(bus->lifecycleCount(0xFCU), 0U);
TorqueServoOptions options;
options.period = 0.00125;
options.command_watchdog_ms = 100U;
ASSERT_TRUE(arm.startTorqueMode(options).ok());
JointTorqueCommand command;
command.torque.assign(8U, 0.0);
ASSERT_TRUE(arm.servoTorque(command).ok());
ASSERT_TRUE(arm.torqueOn().ok());
ASSERT_TRUE(waitUntil(
[&arm] { return arm.getJointState().sequence > 0U; },
std::chrono::milliseconds(30)));
const auto state = arm.getJointState();
EXPECT_TRUE(state.position_valid);
EXPECT_TRUE(state.velocity_valid);
EXPECT_TRUE(state.effort_valid);
EXPECT_EQ(state.position.size(), 8U);
EXPECT_EQ(bus->lifecycleCount(0xFCU), 8U);
EXPECT_EQ(arm.getControlMode(), ControlMode::Torque);
EXPECT_TRUE(arm.stop());
EXPECT_GE(bus->lifecycleCount(0xFDU), 8U);
}
TEST(UmeRobotArmTest, StaleCommandLatchesFaultAndNeverReenables)
{
auto bus = std::make_shared<LoopbackDamiaoBus>();
UmeRobotArm arm(configFor(true), bus);
ASSERT_TRUE(arm.init());
ASSERT_TRUE(arm.start());
TorqueServoOptions options;
options.period = 0.001;
options.command_watchdog_ms = 2U;
ASSERT_TRUE(arm.startTorqueMode(options).ok());
JointTorqueCommand command;
command.torque.assign(8U, 0.0);
ASSERT_TRUE(arm.servoTorque(command).ok());
ASSERT_TRUE(arm.torqueOn().ok());
ASSERT_TRUE(waitUntil(
[&arm] { return arm.isFault(); },
std::chrono::milliseconds(50)));
EXPECT_FALSE(arm.busy());
EXPECT_EQ(bus->lifecycleCount(0xFCU), 8U);
EXPECT_GE(bus->lifecycleCount(0xFDU), 8U);
EXPECT_EQ(arm.healthSnapshot().state, DeviceHealthState::Fault);
}
TEST(UmeRobotArmTest, HardwareGateRejectsEnableWithoutWritingIt)
{
auto bus = std::make_shared<LoopbackDamiaoBus>();
UmeRobotArm arm(configFor(false), bus);
ASSERT_TRUE(arm.init());
ASSERT_TRUE(arm.start());
ASSERT_TRUE(arm.startTorqueMode(TorqueServoOptions{}).ok());
JointTorqueCommand command;
command.torque.assign(8U, 0.0);
ASSERT_TRUE(arm.servoTorque(command).ok());
const auto result = arm.torqueOn();
EXPECT_FALSE(result.ok());
EXPECT_EQ(result.code, ArmErrorCode::CommandRejected);
EXPECT_EQ(bus->lifecycleCount(0xFCU), 0U);
}
TEST(UmeRobotArmTest, PositionServoIsExplicitlyUnsupported)
{
auto bus = std::make_shared<LoopbackDamiaoBus>();
UmeRobotArm arm(configFor(false), bus);
JointPositionCommand command;
command.position.assign(8U, 0.0);
const auto result = arm.servoJ(command);
EXPECT_EQ(result.code, ArmErrorCode::UnsupportedCommand);
}
TEST(UmeRobotArmTest, RejectsCycleDeadlineLongerThanControlPeriod)
{
auto cfg = configFor(false);
cfg.mutable_ume()->set_cycle_deadline_us(2000U);
auto bus = std::make_shared<LoopbackDamiaoBus>();
UmeRobotArm arm(cfg, bus);
EXPECT_FALSE(arm.init());
EXPECT_FALSE(bus->initialized);
EXPECT_EQ(
arm.healthSnapshot().state,
DeviceHealthState::Fault);
}
TEST(UmeRobotArmTest, RejectsReportedMotorIdBeforeNarrowingConversion)
{
auto cfg = configFor(false);
cfg.mutable_ume()->mutable_joints(0)->set_reported_motor_id(257U);
auto bus = std::make_shared<LoopbackDamiaoBus>();
UmeRobotArm arm(cfg, bus);
EXPECT_FALSE(arm.init());
EXPECT_FALSE(bus->initialized);
EXPECT_EQ(arm.healthSnapshot().state, DeviceHealthState::Fault);
}
TEST(UmeRobotArmTest, EmergencyStopReportsUnconfirmedDisable)
{
auto bus = std::make_shared<LoopbackDamiaoBus>();
UmeRobotArm arm(configFor(true), bus);
ASSERT_TRUE(arm.init());
ASSERT_TRUE(arm.start());
bus->setSendResult(false);
const auto result = arm.emergencyStop();
EXPECT_FALSE(result.ok());
EXPECT_EQ(result.code, ArmErrorCode::CommandFailed);
EXPECT_TRUE(arm.isEmergencyStopped());
EXPECT_TRUE(arm.isFault());
EXPECT_NE(
arm.healthSnapshot().error_message.find("zero/disable failed"),
std::string::npos);
}
TEST(UmeRobotArmTest, CheckedInDualArmConfigParsesAndKeepsHardwareDisabled)
{
config::ArmRootConfig root;
ASSERT_TRUE(ProtoMessageIo::getProtoFromAsciiFile(
CMVR_UME_ARM_CONFIG_PATH, &root));
ASSERT_EQ(root.arm().robot_arms_size(), 2);
for (const auto& arm : root.arm().robot_arms()) {
ASSERT_TRUE(arm.has_ume());
EXPECT_EQ(arm.ume().joints_size(), 8);
EXPECT_FALSE(arm.ume().hardware_enabled());
EXPECT_TRUE(arm.ume().can().enable_fd());
EXPECT_TRUE(arm.ume().can().bitrate_switch());
EXPECT_GT(arm.ume().can().send_timeout_us(), 0U);
EXPECT_FALSE(arm.ume().can().receive_own_messages());
}
}
} // namespace
} // namespace cmvr::device

205
cmvr-es/devices/canbus/can_client/pcan/pcan_client.cc
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@ -1,205 +0,0 @@
#include "common/base/logging/logger.h"
#include "pcan_client.h"
#include <fcntl.h>
#include <iostream>
#include <thread>
#include <chrono>
#include "cmvr/msgs/error_code.pb.h"
#include "cstdio"
namespace cmvr {
namespace device {
#define CAN_ID_MASK 0x1FFFF800U // can_filter mask
#define CAN_STANDARD_MAX_ID 0x7FFU
using cmvr::msgs::ErrorCode;
using cmvr::msgs::CANCardParameter;
PcanClient::PcanClient(const config::SocketCanConfig &cfg) {
port_ = static_cast<CANCardParameter::CANChannelId>(cfg.channel_id());
interface_ = CANCardParameter::NATIVE;
enable_can_err_check_ = false;
}
PcanClient::~PcanClient() {
stop();
}
bool PcanClient::init() {
#define LPCSTR const char*
/// <summary>
/// Sets a TPCANDevice value. The input can be numeric, in hexadecimal or decimal format, or as string denoting
/// a TPCANDevice value name.
/// </summary>
LPCSTR DeviceType = "PCAN_PCI";
/// <summary>
/// Sets value in range of a double. The input can be hexadecimal or decimal format.
/// </summary>
LPCSTR DeviceID = "";
/// <summary>
/// Sets a zero-based index value in range of a double. The input can be hexadecimal or decimal format.
/// </summary>
LPCSTR ControllerNumber = "";
/// <summary>
/// Sets a valid Internet Protocol address
/// </summary>
LPCSTR IPAddress = "";
/// <summary>
/// Sets a valid GUID for a PCAN device
/// </summary>
LPCSTR DeviceGUID = "";
char sParameters[260];
if (DeviceType != "")
snprintf(sParameters, sizeof(sParameters), "%s=%s", LOOKUP_DEVICE_TYPE, DeviceType);
if (DeviceID != "")
{
if (sParameters != "")
snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_DEVICE_ID, DeviceID);
}
if (ControllerNumber != "")
{
if (sParameters != "")
snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_CONTROLLER_NUMBER, ControllerNumber);
}
if (IPAddress != "")
{
if (sParameters != "")
snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_IP_ADDRESS, IPAddress);
}
if (DeviceGUID != "")
{
if (sParameters != "")
snprintf(sParameters, sizeof(sParameters), "%s, ", sParameters);
snprintf(sParameters, sizeof(sParameters), "%s%s=%s", sParameters, LOOKUP_DEVICE_GUID, DeviceGUID);
}
TPCANHandle handle;
TPCANStatus stsResult = CAN_LookUpChannel((LPSTR)sParameters, &handle);
TPCANStatus ret = CAN_Initialize(PcanHandle, Bitrate);
if (ret != PCAN_ERROR_OK) {
CMVR_LOG(ERROR) << "send message failed, error code: " << ret;
return false;
}
TPCANStatus state = CAN_GetStatus(PcanHandle);
if (state & PCAN_ERROR_BUSOFF) {
// 进入 bus-off，尝试复位总线
CMVR_LOG(ERROR) << "send message failed, error code: " << ret;
return false;
}
return true;
}
bool PcanClient::start() {
is_started_ = true;
return true;
}
bool PcanClient::stop() {
if (is_started_) {
is_started_ = false;
CAN_Uninitialize(dev_handler_);
CMVR_LOG(INFO) << "close socket can ok. port:" << port_;
}
return true;
}
cmvr::msgs::ErrorCode PcanClient::send(const std::vector<CanFrame> &frames, int32_t *const frame_num) {
if (frame_num == nullptr) {
CMVR_LOG(FATAL) << "frame_num is null";
}
if (frames.size() != static_cast<size_t>(*frame_num)) {
CMVR_LOG(FATAL) << "frames size does not match frame_num";
}
if (!is_started_) {
CMVR_LOG(ERROR) << "Nvidia can client has not been initiated! Please init first!";
return ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
}
for (size_t i = 0; i < frames.size() && i < MAX_CAN_SEND_FRAME_LEN; ++i) {
if (frames[i].len > CANBUS_MESSAGE_LENGTH || frames[i].len < 0) {
CMVR_LOG(ERROR) << "frames[" << i << "].len = " << frames[i].len
<< ", which is not equal to can message data length ("
<< CANBUS_MESSAGE_LENGTH << ").";
return ErrorCode::CAN_CLIENT_ERROR_SEND_FAILED;
}
if (frames[i].id > CAN_STANDARD_MAX_ID) {
send_frames_[i].ID = (frames[i].id & CAN_EFF_MASK) | CAN_EFF_FLAG;
} else {
send_frames_[i].ID = (frames[i].id & CAN_SFF_MASK);
}
// CMVR_LOG(INFO) << "send can id is " << send_frames_[i].can_id;
send_frames_[i].LEN = frames[i].len;
std::memcpy(send_frames_[i].DATA, frames[i].data, frames[i].len);
send_frames_[i].MSGTYPE = PCAN_MESSAGE_EXTENDED;
// Synchronous transmission of CAN messages
TPCANStatus ret = CAN_Write(PcanHandle, &send_frames_[i]);
if (ret != PCAN_ERROR_OK) {
CMVR_LOG(ERROR) << "send message failed, error code: " << ret;
return ErrorCode::CAN_CLIENT_ERROR_BASE;
}
}
return ErrorCode::OK;
}
cmvr::msgs::ErrorCode PcanClient::receive(std::vector<CanFrame> *const frames, int32_t *const frame_num) {
if (!is_started_) {
CMVR_LOG(ERROR) << "Nvidia can client is not init! Please init first!";
return ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
}
if (*frame_num > MAX_CAN_RECV_FRAME_LEN || *frame_num < 0) {
CMVR_LOG(ERROR) << "recv can frame num not in range[0, " << MAX_CAN_RECV_FRAME_LEN
<< "], frame_num:" << *frame_num;
// TODO(Authors): check the difference of returning frame_num/error_code
return ErrorCode::CAN_CLIENT_ERROR_FRAME_NUM;
}
TPCANTimestamp CANTimeStamp;
for (int32_t i = 0; i < *frame_num && i < MAX_CAN_RECV_FRAME_LEN; ++i) {
CanFrame cf;
// We execute the "Read" function of the PCANBasic
TPCANStatus ret = CAN_Read(PcanHandle, &recv_frames_[i], &CANTimeStamp);
if (ret != PCAN_ERROR_OK) {
CMVR_LOG(ERROR) << "receive message failed, error code: " << ret;
return ErrorCode::CAN_CLIENT_ERROR_BASE;
}
if (recv_frames_[i].LEN > CANBUS_MESSAGE_LENGTH ||
recv_frames_[i].LEN < 0) {
CMVR_LOG(ERROR) << "recv_frames_[" << i
<< "].can_dlc = " << recv_frames_[i].LEN
<< ", which is not equal to can message data length ("
<< CANBUS_MESSAGE_LENGTH << ").";
return ErrorCode::CAN_CLIENT_ERROR_RECV_FAILED;
}
if (recv_frames_[i].ID > CAN_STANDARD_MAX_ID) {
cf.id = enable_can_err_check_
? recv_frames_[i].ID & CAN_EFF_MASK | CAN_ERR_FLAG
: recv_frames_[i].ID & CAN_EFF_MASK;
} else {
cf.id = (recv_frames_[i].ID & CAN_SFF_MASK);
}
CMVR_LOG(INFO) << "Socket can receive can id is " << recv_frames_[i].ID;
cf.len = recv_frames_[i].LEN;
std::memcpy(cf.data, recv_frames_[i].DATA, recv_frames_[i].LEN);
frames->push_back(cf);
}
return ErrorCode::OK;
}
std::string PcanClient::getErrorString(const int32_t status) {
return "";
}
} // namespace device
} // namespace cmvr

86
cmvr-es/devices/canbus/can_client/pcan/pcan_client.h
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@ -1,86 +0,0 @@
//
// Created by lgv on 2025/8/7.
//
/**
* @file
* @brief Defines the SocketCanClientRaw class which inherits AbstractCanbus.
*/
#pragma once
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <string>
#include <vector>
#include "cmvr/msgs/error_code.pb.h"
#include "cmvr/msgs/can_card_parameter.pb.h"
#include "cmvr/config/motor_config/motor_config.pb.h"
#include "gflags/gflags.h"
#include "../../abstract_canbus.h"
#include "canbus/common/canbus_consts.h"
#include <PCANBasic.h>
namespace cmvr {
namespace device {
class PcanClient final : public AbstractCanbus {
public:
explicit PcanClient(const config::SocketCanConfig &cfg);
~PcanClient();
std::string typeName() const override { return "PcanClient"; }
bool init() override;
bool start() override;
bool stop() override;
/**
* @brief Send messages
* @param frames The messages to send.
* @param frame_num The amount of messages to send.
* @return The status of the sending action
*/
cmvr::msgs::ErrorCode send(const std::vector<CanFrame> &frames,
int32_t *const frame_num) override;
/**
* @brief Receive messages
* @param frames The messages to receive.
* @param frame_num The amount of messages to receive.
* @return The status of the receiving action
*/
cmvr::msgs::ErrorCode receive(std::vector<CanFrame> *const frames,
int32_t *const frame_num) override;
/**
* @brief Get the error string.
* @param status The status to get the error string.
*/
std::string getErrorString(const int32_t status) override;
private:
int dev_handler_ = 0;
cmvr::msgs::CANCardParameter::CANChannelId port_;
cmvr::msgs::CANCardParameter::CANInterface interface_;
TPCANMsg send_frames_[MAX_CAN_SEND_FRAME_LEN];
TPCANMsg recv_frames_[MAX_CAN_RECV_FRAME_LEN];
//
bool enable_can_err_check_{false};
const TPCANHandle PcanHandle = PCAN_USBBUS1;
const TPCANBaudrate Bitrate = PCAN_BAUD_1M;
};
}
}

46
cmvr-es/devices/canbus/can_client/pcan/pcan_client_test.cpp
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@ -1,46 +0,0 @@
#include "common/base/logging/logger.h"
//
// Created by lgv on 2025/8/7.
//
#include "cmvr/msgs/error_code.pb.h"
#include "cmvr/msgs/can_card_parameter.pb.h"
#include "canbus/can_client/pcan/pcan_client.h"
#include "gtest/gtest.h"
namespace cmvr {
namespace device {
using cmvr::msgs::ErrorCode;
using cmvr::msgs::CANCardParameter;
TEST(PcanClienTest, simple_test) {
CANCardParameter param;
param.set_brand(CANCardParameter::SOCKET_CAN_RAW);
param.set_channel_id(CANCardParameter::CHANNEL_ID_ZERO);
config::SocketCanConfig cfg;
cfg.set_channel_id(0);
PcanClient socket_can_client(cfg);
socket_can_client.init();
// EXPECT_EQ(socket_can_client.start(), ErrorCode::CAN_CLIENT_ERROR_BASE);
socket_can_client.start();
std::vector<CanFrame> frames;
// int32_t num = 0;
// EXPECT_EQ(socket_can_client.send(frames, &num),
// ErrorCode::OK);
// ++num;
// EXPECT_EQ(socket_can_client.receive(&frames, &num),
// ErrorCode::OK);
// CMVR_LOG(INFO) << frames.at(0).CanFrameString();
CanFrame can_frame;
can_frame.id = 0x123;
can_frame.len = 8;
memset(can_frame.data, 0xA3, sizeof(can_frame.data));
frames.clear();
frames.push_back(can_frame);
EXPECT_EQ(socket_can_client.sendSingleFrame(frames),
ErrorCode::OK);
socket_can_client.stop();
}
}
}

27
cmvr-es/devices/dexhand/rh56dftp_dexhand/CMakeLists.txt
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@ -7,30 +7,3 @@ add_library(cmvr_es::device::rh56dftp_dexhand ALIAS rh56dftp_dexhand)
target_link_libraries(rh56dftp_dexhand PRIVATE cmvr_es::hardware cmvr_es::proto -lmodbus)
install(TARGETS rh56dftp_dexhand LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(rh56dftp_dexhand_stop_all_test
tests/rh56dftp_dexhand_stop_all_test.cpp
)
target_link_libraries(rh56dftp_dexhand_stop_all_test PRIVATE
cmvr_es::device::rh56dftp_dexhand
gtest
gtest_main
pthread
)
add_test(
NAME rh56dftp_dexhand_stop_all_test
COMMAND rh56dftp_dexhand_stop_all_test
)
set(_rh56_stop_all_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _rh56_stop_all_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(rh56dftp_dexhand_stop_all_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_rh56_stop_all_test_environment}"
)
endif()

348
cmvr-es/devices/dexhand/rh56dftp_dexhand/tests/rh56dftp_dexhand_stop_all_test.cpp
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@ -1,348 +0,0 @@
#include "devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h"
#include <array>
#include <chrono>
#include <condition_variable>
#include <deque>
#include <future>
#include <memory>
#include <mutex>
#include <thread>
#include <vector>
#include <gtest/gtest.h>
namespace cmvr::device {
namespace {
using namespace std::chrono_literals;
class FakeModbusController final : public ModbusController {
public:
bool open(const std::string&, int) override
{
std::lock_guard lock(mutex_);
open_ = true;
return true;
}
void close() override
{
std::lock_guard lock(mutex_);
open_ = false;
}
bool isOpen() const override
{
std::lock_guard lock(mutex_);
return open_;
}
bool writeRegisters(
int,
const uint16_t* values,
const int count) override
{
std::unique_lock lock(mutex_);
++write_calls_;
write_started_ = true;
condition_.notify_all();
condition_.wait(lock, [this] { return !block_write_; });
if (!write_succeeds_) {
return false;
}
actual_angles_.assign(values, values + count);
return true;
}
bool readRegisterBlock(
const int address,
const int count,
std::vector<uint16_t>& values) override
{
std::unique_lock lock(mutex_);
++read_calls_;
read_started_ = true;
condition_.notify_all();
condition_.wait(lock, [this] { return !block_read_; });
const std::vector<uint16_t>* source = &actual_angles_;
std::vector<uint16_t> sampled_angles;
if (address == 1546 && !actual_angle_samples_.empty()) {
const auto sample = actual_angle_samples_.front();
actual_angle_samples_.pop_front();
sampled_angles.assign(sample.begin(), sample.end());
source = &sampled_angles;
}
values.assign(static_cast<std::size_t>(count), 0U);
for (std::size_t index = 0;
index < values.size() && index < source->size();
++index) {
values[index] = (*source)[index];
}
return read_succeeds_;
}
void setActualAngles(const std::array<uint16_t, 6>& values)
{
std::lock_guard lock(mutex_);
actual_angles_.assign(values.begin(), values.end());
actual_angle_samples_.clear();
}
void setActualAngleSamples(
std::deque<std::array<uint16_t, 6>> samples)
{
std::lock_guard lock(mutex_);
actual_angle_samples_ = std::move(samples);
}
void setWriteSucceeds(const bool succeeds)
{
std::lock_guard lock(mutex_);
write_succeeds_ = succeeds;
}
void blockNextRead()
{
std::lock_guard lock(mutex_);
block_read_ = true;
read_started_ = false;
}
void releaseRead()
{
{
std::lock_guard lock(mutex_);
block_read_ = false;
}
condition_.notify_all();
}
bool waitForRead(const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [this] { return read_started_; });
}
bool waitForReadCalls(
const int expected,
const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [this, expected] { return read_calls_ >= expected; });
}
void blockNextWrite()
{
std::lock_guard lock(mutex_);
block_write_ = true;
write_started_ = false;
}
void releaseWrite()
{
{
std::lock_guard lock(mutex_);
block_write_ = false;
}
condition_.notify_all();
}
bool waitForWrite(const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [this] { return write_started_; });
}
int readCalls() const
{
std::lock_guard lock(mutex_);
return read_calls_;
}
int writeCalls() const
{
std::lock_guard lock(mutex_);
return write_calls_;
}
private:
mutable std::mutex mutex_;
std::condition_variable condition_;
std::vector<uint16_t> actual_angles_{6U, 0U};
std::deque<std::array<uint16_t, 6>> actual_angle_samples_;
bool open_{false};
bool block_read_{false};
bool block_write_{false};
bool read_started_{false};
bool write_started_{false};
bool read_succeeds_{true};
bool write_succeeds_{true};
int read_calls_{0};
int write_calls_{0};
};
struct TestHand {
TestHand()
{
config.set_id("rh56-test");
config.set_ip("fake-modbus");
auto controller = std::make_unique<FakeModbusController>();
fake = controller.get();
hand = std::make_unique<RH56DFTPDexhand>(
config, std::move(controller));
EXPECT_TRUE(hand->init());
}
~TestHand()
{
if (hand) {
hand->stop();
}
}
config::RH56DFTPDexHandConfig config;
FakeModbusController* fake{nullptr};
std::unique_ptr<RH56DFTPDexhand> hand;
};
TEST(RH56DFTPDexhandStopAllTest, IdleTactileDeviceStopsWithoutClosingLifecycle)
{
TestHand fixture;
EXPECT_TRUE(fixture.hand->stopOperationalActivity());
EXPECT_EQ(fixture.hand->state(), AbstractDexHand::Status::INITIALIZED);
EXPECT_TRUE(fixture.fake->isOpen());
const int reads_before = fixture.fake->readCalls();
(void)fixture.hand->getSensorData(
AbstractDexHand::FingerType::INDEX,
AbstractDexHand::TactileRegion::TIP);
EXPECT_EQ(fixture.fake->readCalls(), reads_before);
}
TEST(RH56DFTPDexhandStopAllTest, UnreachedAngleTargetFailsClosedThenRecovers)
{
TestHand fixture;
const std::vector<int> target{100, 200, 300, 400, 500, 600};
fixture.hand->setAngles(target);
fixture.fake->setActualAngles({0, 0, 0, 0, 0, 0});
EXPECT_FALSE(fixture.hand->stopOperationalActivity());
fixture.fake->setActualAngles({100, 200, 300, 400, 500, 600});
EXPECT_TRUE(fixture.hand->stopOperationalActivity());
EXPECT_TRUE(fixture.fake->isOpen());
}
TEST(RH56DFTPDexhandStopAllTest, MovingSampleAtTargetDoesNotConfirmStop)
{
TestHand fixture;
const std::vector<int> target{100, 200, 300, 400, 500, 600};
fixture.hand->setAngles(target);
fixture.fake->setActualAngleSamples({
{100, 200, 300, 400, 500, 600},
{103, 203, 303, 403, 503, 603},
{106, 206, 306, 406, 506, 606},
});
EXPECT_FALSE(fixture.hand->stopOperationalActivity());
fixture.fake->setActualAngles({100, 200, 300, 400, 500, 600});
EXPECT_TRUE(fixture.hand->stopOperationalActivity());
}
TEST(RH56DFTPDexhandStopAllTest, FailedAngleWriteRemainsUnconfirmed)
{
TestHand fixture;
fixture.fake->setActualAngles({0, 0, 0, 0, 0, 0});
fixture.fake->setWriteSucceeds(false);
fixture.hand->setAngles({100, 200, 300, 400, 500, 600});
EXPECT_FALSE(fixture.hand->stopOperationalActivity());
}
TEST(RH56DFTPDexhandStopAllTest, StopWaitsForAdmittedAngleWrite)
{
TestHand fixture;
fixture.fake->blockNextWrite();
const std::vector<int> target{100, 200, 300, 400, 500, 600};
auto command = std::async(std::launch::async, [&] {
fixture.hand->setAngles(target);
});
ASSERT_TRUE(fixture.fake->waitForWrite(500ms));
auto stop = std::async(std::launch::async, [&] {
return fixture.hand->stopOperationalActivity();
});
EXPECT_EQ(stop.wait_for(20ms), std::future_status::timeout);
fixture.fake->releaseWrite();
EXPECT_EQ(command.wait_for(500ms), std::future_status::ready);
command.get();
ASSERT_EQ(stop.wait_for(500ms), std::future_status::ready);
EXPECT_TRUE(stop.get());
const int writes_before = fixture.fake->writeCalls();
fixture.hand->setAngles(target);
EXPECT_EQ(fixture.fake->writeCalls(), writes_before);
EXPECT_TRUE(fixture.hand->resumeOperationalActivity());
fixture.hand->setAngles(target);
EXPECT_EQ(fixture.fake->writeCalls(), writes_before + 1);
}
TEST(RH56DFTPDexhandStopAllTest, StopWaitsForAdmittedTactileRead)
{
TestHand fixture;
fixture.fake->blockNextRead();
auto read = std::async(std::launch::async, [&] {
return fixture.hand->getSensorData(
AbstractDexHand::FingerType::INDEX,
AbstractDexHand::TactileRegion::TIP);
});
ASSERT_TRUE(fixture.fake->waitForRead(500ms));
auto stop = std::async(std::launch::async, [&] {
return fixture.hand->stopOperationalActivity();
});
EXPECT_EQ(stop.wait_for(20ms), std::future_status::timeout);
fixture.fake->releaseRead();
EXPECT_EQ(read.wait_for(500ms), std::future_status::ready);
(void)read.get();
ASSERT_EQ(stop.wait_for(500ms), std::future_status::ready);
EXPECT_TRUE(stop.get());
}
TEST(RH56DFTPDexhandStopAllTest, StopDrainsAndPausesBackgroundTactilePolling)
{
TestHand fixture;
ASSERT_TRUE(fixture.hand->start());
const int reads_before_block = fixture.fake->readCalls();
fixture.fake->blockNextRead();
ASSERT_TRUE(fixture.fake->waitForReadCalls(reads_before_block + 1, 500ms));
auto stop = std::async(std::launch::async, [&] {
return fixture.hand->stopOperationalActivity();
});
EXPECT_EQ(stop.wait_for(20ms), std::future_status::timeout);
fixture.fake->releaseRead();
ASSERT_EQ(stop.wait_for(500ms), std::future_status::ready);
EXPECT_TRUE(stop.get());
const int reads_after_stop = fixture.fake->readCalls();
std::this_thread::sleep_for(30ms);
EXPECT_EQ(fixture.fake->readCalls(), reads_after_stop);
ASSERT_TRUE(fixture.hand->resumeOperationalActivity());
EXPECT_TRUE(fixture.fake->waitForReadCalls(reads_after_stop + 1, 500ms));
}
} // namespace
} // namespace cmvr::device

11
cmvr-es/devices/motor/README.md
View File

@ -34,14 +34,3 @@ RobotArm 和业务 Task 只依赖 `MotorManager`/`AbstractMotor` 的稳定接口
- 软件 `emergencyStop` 和 Quick Stop 不具备功能安全等级；
- 真实设备必须具有经风险评估确定的硬接线急停、安全继电器和驱动器安全链；
- 新硬件配置保持 `enable: false`，完成方向、限位和故障注入验证后才能启用。
## 测试
```bash
cmake --build build --target grpc_motor_service_test -j4
ctest --test-dir build \
-R '^grpc_motor_service_test$' \
--output-on-failure
```
该测试使用 fake motor，不替代真实总线、驱动器或安全链验证。

29
cmvr-es/devices/speaker/ffmpeg_speaker/CMakeLists.txt
View File

@ -7,32 +7,3 @@ add_library(cmvr_es::device::ffmpeg_speaker ALIAS ffmpeg_speaker)
target_link_libraries(ffmpeg_speaker PRIVATE -lpulse-simple -lpulse cmvr_es::proto)
install(TARGETS ffmpeg_speaker LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(ffmpeg_speaker_lifecycle_test
tests/ffmpeg_speaker_lifecycle_test.cpp
)
target_link_libraries(ffmpeg_speaker_lifecycle_test
PRIVATE
cmvr_es::device::ffmpeg_speaker
avcodec
avformat
avutil
swresample
)
add_test(
NAME ffmpeg_speaker_lifecycle_test
COMMAND ffmpeg_speaker_lifecycle_test
)
set(_ffmpeg_speaker_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _ffmpeg_speaker_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(ffmpeg_speaker_lifecycle_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_ffmpeg_speaker_test_environment}"
)
endif()

54
cmvr-es/devices/speaker/ffmpeg_speaker/tests/ffmpeg_speaker_lifecycle_test.cpp
View File

@ -1,54 +0,0 @@
#include "include/ffmpeg_speaker.h"
#include <iostream>
namespace {
bool check(const bool condition, const char* expression, const int line)
{
if (condition) {
return true;
}
std::cerr << "CHECK failed at line " << line << ": " << expression << '\n';
return false;
}
#define CHECK_TRUE(expression) \
do { \
if (!check(static_cast<bool>(expression), #expression, __LINE__)) { \
return 1; \
} \
} while (false)
} // namespace
int main()
{
cmvr::config::FFMpegSpeakerConfig config;
config.set_id("lifecycle-test-speaker");
cmvr::device::ffmpegSpeaker speaker(config);
cmvr::device::SpeakerState state{};
CHECK_TRUE(speaker.init());
speaker.getState(state);
CHECK_TRUE(state.is_initialized);
speaker.resetPlayState();
speaker.getState(state);
CHECK_TRUE(state.is_initialized);
CHECK_TRUE(speaker.stopPlayback());
speaker.getState(state);
CHECK_TRUE(state.is_initialized);
speaker.stopStreaming();
speaker.getState(state);
CHECK_TRUE(state.is_initialized);
CHECK_TRUE(speaker.stop());
speaker.getState(state);
CHECK_TRUE(!state.is_initialized);
std::cout << "ffmpeg_speaker_lifecycle_test: PASS\n";
return 0;
}

10
cmvr-es/manager/README.md
View File

@ -229,16 +229,6 @@ ring generation 不等于 `TrackDescriptor::generation`，ring 的 `ReadResult.s
## 测试
MediaSourceManager：
```bash
cmake --build build --target media_source_manager_test
ctest \
--test-dir build \
-R '^media_source_manager_test$' \
--output-on-failure
```
DeviceManager 已有 `device_manager_snapshot_test`，覆盖全量状态表、生命周期失败、
异常限长、排序和值快照并发读取。TaskManager 仍缺少独立 CTest。修改其行为时
至少补充：

20
cmvr-es/manager/control_authority_manager/CMakeLists.txt
View File

@ -12,23 +12,3 @@ add_library(
ALIAS control_authority_manager
)
install(TARGETS control_authority_manager ARCHIVE DESTINATION lib)
if(BUILD_TESTING)
add_executable(control_authority_manager_test
tests/control_authority_manager_test.cpp
)
target_link_libraries(control_authority_manager_test
PRIVATE
cmvr_es::control_authority_manager
gtest
gtest_main
pthread
)
add_test(
NAME control_authority_manager_test
COMMAND control_authority_manager_test
)
set_tests_properties(control_authority_manager_test PROPERTIES
TIMEOUT 10
)
endif()

923
cmvr-es/manager/control_authority_manager/tests/control_authority_manager_test.cpp
View File

@ -1,923 +0,0 @@
#include "manager/control_authority_manager/include/control_authority_manager.h"
#include <chrono>
#include <future>
#include <thread>
#include <gtest/gtest.h>
namespace cmvr::control {
namespace {
using namespace std::chrono_literals;
class ControlAuthorityManagerTest : public ::testing::Test {
protected:
void SetUp() override
{
ControlAuthorityManager::instance().clear();
}
void TearDown() override
{
ControlAuthorityManager::instance().clear();
}
};
TEST_F(ControlAuthorityManagerTest, LeaseIsExclusiveAndExactReleaseRestoresAccess)
{
auto& manager = ControlAuthorityManager::instance();
const auto first =
manager.tryAcquire("right_arm", "session-a", 100ms);
ASSERT_TRUE(first.acquired);
EXPECT_TRUE(manager.validate(first.token));
EXPECT_TRUE(manager.isLeased("right_arm"));
const auto conflict =
manager.tryAcquire("right_arm", "session-b", 100ms);
EXPECT_FALSE(conflict.acquired);
manager.release(first.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
EXPECT_TRUE(
manager.tryAcquire("right_arm", "session-b", 100ms)
.acquired);
}
TEST_F(ControlAuthorityManagerTest, StaleGenerationCannotReleaseNewLease)
{
auto& manager = ControlAuthorityManager::instance();
const auto old =
manager.tryAcquire("right_arm", "session-a", 100ms);
ASSERT_TRUE(old.acquired);
manager.release(old.token);
const auto current =
manager.tryAcquire("right_arm", "session-a", 100ms);
ASSERT_TRUE(current.acquired);
ASSERT_NE(
old.token.generation,
current.token.generation);
manager.release(old.token);
EXPECT_TRUE(manager.validate(current.token));
}
TEST_F(ControlAuthorityManagerTest,
SafetyBarrierAtomicallyPreemptsControlAndRejectsOtherOwners)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 100ms);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 100ms);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
EXPECT_FALSE(manager.validate(control.token));
EXPECT_TRUE(manager.validate(barrier.token));
const auto move_during_stop =
manager.tryAcquire("right_arm", "new-move", 100ms);
EXPECT_FALSE(move_during_stop.acquired);
const auto second_stop = manager.preemptAcquire(
"right_arm", "second-stop", 100ms);
ASSERT_TRUE(second_stop.acquired) << second_stop.detail;
manager.release(control.token);
EXPECT_TRUE(manager.validate(barrier.token));
manager.release(barrier.token);
EXPECT_TRUE(manager.validate(second_stop.token));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "new-move", 100ms)
.acquired);
manager.release(second_stop.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
SafetyPreemptionReturnsWhileDispatchIsInFlightAndWaitsForBoth)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
auto dispatch = manager.tryBeginDispatch(control.token);
ASSERT_TRUE(dispatch.acquired());
auto pending_barrier = std::async(
std::launch::async,
[&manager]() {
return manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
});
const auto preempt_status = pending_barrier.wait_for(100ms);
if (preempt_status != std::future_status::ready) {
dispatch = {};
const auto cleanup_barrier = pending_barrier.get();
if (cleanup_barrier.acquired) {
manager.release(cleanup_barrier.token);
}
FAIL() << "safety preemption waited for an in-flight dispatch";
return;
}
const auto acquired_barrier = pending_barrier.get();
ASSERT_TRUE(acquired_barrier.acquired)
<< acquired_barrier.detail;
EXPECT_FALSE(manager.validate(control.token));
EXPECT_FALSE(manager.tryBeginDispatch(control.token).acquired());
EXPECT_FALSE(manager.waitForPreemptedRelease(
acquired_barrier.token, 10ms));
manager.release(control.token);
EXPECT_FALSE(manager.waitForPreemptedRelease(
acquired_barrier.token, 10ms));
dispatch = {};
EXPECT_TRUE(manager.waitForPreemptedRelease(
acquired_barrier.token, 10ms));
manager.release(acquired_barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
DispatchOnOneResourceDoesNotDelaySafetyPreemptionOnAnother)
{
auto& manager = ControlAuthorityManager::instance();
const auto right_control =
manager.tryAcquire("right_arm", "right-move", 1s);
const auto left_control =
manager.tryAcquire("left_arm", "left-move", 1s);
ASSERT_TRUE(right_control.acquired);
ASSERT_TRUE(left_control.acquired);
auto right_dispatch = manager.tryBeginDispatch(right_control.token);
ASSERT_TRUE(right_dispatch.acquired());
auto pending_left_barrier = std::async(
std::launch::async,
[&manager]() {
return manager.preemptAcquire(
"left_arm", "left-stop", 1s);
});
const auto preempt_status = pending_left_barrier.wait_for(100ms);
if (preempt_status != std::future_status::ready) {
right_dispatch = {};
const auto cleanup_barrier = pending_left_barrier.get();
if (cleanup_barrier.acquired) {
manager.release(cleanup_barrier.token);
}
FAIL() << "one resource's dispatch blocked another resource's stop";
return;
}
const auto left_barrier = pending_left_barrier.get();
ASSERT_TRUE(left_barrier.acquired) << left_barrier.detail;
manager.release(left_control.token);
EXPECT_TRUE(manager.waitForPreemptedRelease(
left_barrier.token, 0ms));
manager.release(left_barrier.token);
EXPECT_TRUE(right_dispatch.acquired());
right_dispatch = {};
manager.release(right_control.token);
}
TEST_F(ControlAuthorityManagerTest,
DispatchGuardDestructorReleasesTheInFlightFence)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
ControlAcquireResult barrier;
{
auto dispatch = manager.tryBeginDispatch(control.token);
ASSERT_TRUE(dispatch.acquired());
barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
manager.release(control.token);
EXPECT_FALSE(manager.waitForPreemptedRelease(
barrier.token, 0ms));
}
EXPECT_TRUE(manager.waitForPreemptedRelease(barrier.token, 0ms));
manager.release(barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
DispatchGuardMoveAssignmentReleasesOnlyItsPreviousFence)
{
auto& manager = ControlAuthorityManager::instance();
const auto right_control =
manager.tryAcquire("right_arm", "right-move", 1s);
const auto left_control =
manager.tryAcquire("left_arm", "left-move", 1s);
ASSERT_TRUE(right_control.acquired);
ASSERT_TRUE(left_control.acquired);
auto right_dispatch = manager.tryBeginDispatch(right_control.token);
auto left_dispatch = manager.tryBeginDispatch(left_control.token);
ASSERT_TRUE(right_dispatch.acquired());
ASSERT_TRUE(left_dispatch.acquired());
const auto right_barrier = manager.preemptAcquire(
"right_arm", "right-stop", 1s);
const auto left_barrier = manager.preemptAcquire(
"left_arm", "left-stop", 1s);
ASSERT_TRUE(right_barrier.acquired) << right_barrier.detail;
ASSERT_TRUE(left_barrier.acquired) << left_barrier.detail;
manager.release(right_control.token);
manager.release(left_control.token);
right_dispatch = std::move(left_dispatch);
EXPECT_TRUE(right_dispatch.acquired());
EXPECT_FALSE(left_dispatch.acquired());
EXPECT_TRUE(manager.waitForPreemptedRelease(
right_barrier.token, 0ms));
EXPECT_FALSE(manager.waitForPreemptedRelease(
left_barrier.token, 0ms));
right_dispatch = {};
EXPECT_TRUE(manager.waitForPreemptedRelease(
left_barrier.token, 0ms));
manager.release(right_barrier.token);
manager.release(left_barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
RevokeKeepsAnInFlightDispatchFencedFromNormalSuccessors)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
auto dispatch = manager.tryBeginDispatch(control.token);
ASSERT_TRUE(dispatch.acquired());
manager.revoke("right_arm");
EXPECT_FALSE(manager.validate(control.token));
EXPECT_TRUE(manager.isLeased("right_arm"));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "successor", 1s).acquired);
manager.release(control.token);
EXPECT_FALSE(
manager.tryAcquire("right_arm", "successor", 1s).acquired);
dispatch = {};
const auto successor =
manager.tryAcquire("right_arm", "successor", 1s);
ASSERT_TRUE(successor.acquired) << successor.detail;
manager.release(successor.token);
}
TEST_F(ControlAuthorityManagerTest,
ClearKeepsInFlightDispatchesWhileErasingIdleEntries)
{
auto& manager = ControlAuthorityManager::instance();
const auto active =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(active.acquired);
ASSERT_TRUE(manager.tryAcquire("idle_arm", "idle-session", 1s).acquired);
auto dispatch = manager.tryBeginDispatch(active.token);
ASSERT_TRUE(dispatch.acquired());
manager.clear();
EXPECT_FALSE(
manager.tryAcquire("right_arm", "successor", 1s).acquired);
const auto idle_successor =
manager.tryAcquire("idle_arm", "idle-successor", 1s);
ASSERT_TRUE(idle_successor.acquired) << idle_successor.detail;
manager.release(idle_successor.token);
dispatch = {};
const auto active_successor =
manager.tryAcquire("right_arm", "successor", 1s);
ASSERT_TRUE(active_successor.acquired) << active_successor.detail;
manager.release(active_successor.token);
}
TEST_F(ControlAuthorityManagerTest,
ExpiredLeaseKeepsInFlightDispatchFencedFromNormalSuccessors)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 10ms);
ASSERT_TRUE(control.acquired);
auto dispatch = manager.tryBeginDispatch(control.token);
ASSERT_TRUE(dispatch.acquired());
std::this_thread::sleep_for(20ms);
EXPECT_FALSE(manager.validate(control.token));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "successor", 1s).acquired);
manager.release(control.token);
EXPECT_FALSE(
manager.tryAcquire("right_arm", "successor", 1s).acquired);
dispatch = {};
const auto successor =
manager.tryAcquire("right_arm", "successor", 1s);
ASSERT_TRUE(successor.acquired) << successor.detail;
manager.release(successor.token);
}
TEST_F(ControlAuthorityManagerTest,
DispatchGuardSurvivesAuthorityMapRehash)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
auto dispatch = manager.tryBeginDispatch(control.token);
ASSERT_TRUE(dispatch.acquired());
for (int index = 0; index < 512; ++index) {
ASSERT_TRUE(manager.tryAcquire(
"rehash-resource-" + std::to_string(index),
"rehash-owner",
1s).acquired);
}
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
manager.release(control.token);
EXPECT_FALSE(manager.waitForPreemptedRelease(barrier.token, 0ms));
dispatch = {};
EXPECT_TRUE(manager.waitForPreemptedRelease(barrier.token, 0ms));
manager.release(barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
StaleLeaseCannotBeginDispatchAfterSafetyPreemption)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
EXPECT_FALSE(manager.tryBeginDispatch(control.token).acquired());
manager.release(barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
ReleasedLastSafetyBarrierKeepsPreemptedHandlerFenced)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
manager.release(barrier.token);
EXPECT_TRUE(manager.isLeased("right_arm"));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "new-move", 1s).acquired);
manager.release(control.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
EXPECT_TRUE(
manager.tryAcquire("right_arm", "new-move", 1s).acquired);
}
TEST_F(ControlAuthorityManagerTest,
SafetyBarrierWaitsForPreemptedNormalLeaseRelease)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
auto wait_result = std::async(
std::launch::async,
[&manager, token = barrier.token]() {
return manager.waitForPreemptedRelease(token, 1s);
});
EXPECT_EQ(
wait_result.wait_for(30ms),
std::future_status::timeout);
manager.release(control.token);
EXPECT_TRUE(wait_result.get());
EXPECT_TRUE(manager.validate(barrier.token));
manager.release(barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
ConditionalSafetyBarrierTracksPreemptedNormalLeaseRelease)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
auto dispatch = manager.tryBeginDispatch(control.token);
ASSERT_TRUE(dispatch.acquired());
const auto barrier = manager.preemptAcquireIfCurrent(
control.token, "timed-out-action", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
EXPECT_FALSE(
manager.waitForPreemptedRelease(barrier.token, 10ms));
dispatch = {};
EXPECT_FALSE(
manager.waitForPreemptedRelease(barrier.token, 10ms));
manager.release(control.token);
EXPECT_TRUE(
manager.waitForPreemptedRelease(barrier.token, 10ms));
manager.release(barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
ReleasedSafetyHolderStopsWaitingWithoutAffectingOtherHolder)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto first_barrier = manager.preemptAcquire(
"right_arm", "first-stop", 1s);
ASSERT_TRUE(first_barrier.acquired) << first_barrier.detail;
const auto second_barrier = manager.preemptAcquire(
"right_arm", "second-stop", 1s);
ASSERT_TRUE(second_barrier.acquired) << second_barrier.detail;
auto first_wait = std::async(
std::launch::async,
[&manager, token = first_barrier.token]() {
return manager.waitForPreemptedRelease(token, 1s);
});
auto second_wait = std::async(
std::launch::async,
[&manager, token = second_barrier.token]() {
return manager.waitForPreemptedRelease(token, 1s);
});
EXPECT_EQ(first_wait.wait_for(30ms), std::future_status::timeout);
EXPECT_EQ(second_wait.wait_for(30ms), std::future_status::timeout);
manager.release(first_barrier.token);
EXPECT_FALSE(first_wait.get());
EXPECT_EQ(second_wait.wait_for(30ms), std::future_status::timeout);
manager.release(control.token);
EXPECT_TRUE(second_wait.get());
manager.release(second_barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
PreemptedReleaseRequiresExactNormalLeaseToken)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
auto forged = control.token;
forged.owner_id = "different-owner";
manager.release(forged);
EXPECT_FALSE(
manager.waitForPreemptedRelease(barrier.token, 10ms));
manager.release(control.token);
EXPECT_TRUE(
manager.waitForPreemptedRelease(barrier.token, 0ms));
manager.release(barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
ClearWakesPreemptedReleaseWaiterAndInvalidatesSafetyHolder)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
auto wait_result = std::async(
std::launch::async,
[&manager, token = barrier.token]() {
return manager.waitForPreemptedRelease(token, 1s);
});
EXPECT_EQ(
wait_result.wait_for(30ms),
std::future_status::timeout);
manager.clear();
EXPECT_FALSE(wait_result.get());
manager.release(control.token);
}
TEST_F(ControlAuthorityManagerTest,
RevokeWakesPreemptedReleaseWaiterAndInvalidatesSafetyHolder)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
auto wait_result = std::async(
std::launch::async,
[&manager, token = barrier.token]() {
return manager.waitForPreemptedRelease(token, 1s);
});
EXPECT_EQ(
wait_result.wait_for(30ms),
std::future_status::timeout);
manager.revoke("right_arm");
EXPECT_FALSE(wait_result.get());
manager.release(control.token);
}
TEST_F(ControlAuthorityManagerTest,
ExpiredNormalLeaseStillRequiresHandlerReleaseAfterPreemption)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 10ms);
ASSERT_TRUE(control.acquired);
std::this_thread::sleep_for(20ms);
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
EXPECT_FALSE(
manager.waitForPreemptedRelease(barrier.token, 10ms));
manager.release(control.token);
EXPECT_TRUE(
manager.waitForPreemptedRelease(barrier.token, 0ms));
manager.release(barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
QuarantinedFallbackTracksOriginalNormalHandlerRelease)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
ASSERT_TRUE(manager.quarantineIfCurrent(control.token));
const auto barrier = manager.preemptAcquire(
"right_arm", "stop-operation", 1s);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
EXPECT_FALSE(
manager.waitForPreemptedRelease(barrier.token, 10ms));
manager.release(control.token);
EXPECT_TRUE(
manager.waitForPreemptedRelease(barrier.token, 0ms));
manager.release(barrier.token);
EXPECT_TRUE(manager.isLeased("right_arm"));
manager.revoke("right_arm");
}
TEST_F(ControlAuthorityManagerTest,
WaitRejectsStaleSafetyTokenForSuccessorEntry)
{
auto& manager = ControlAuthorityManager::instance();
const auto old_control =
manager.tryAcquire("right_arm", "old-move", 1s);
ASSERT_TRUE(old_control.acquired);
const auto old_barrier = manager.preemptAcquire(
"right_arm", "old-stop", 1s);
ASSERT_TRUE(old_barrier.acquired) << old_barrier.detail;
manager.release(old_barrier.token);
EXPECT_FALSE(
manager.tryAcquire("right_arm", "new-move", 1s).acquired);
manager.release(old_control.token);
const auto successor =
manager.tryAcquire("right_arm", "new-move", 1s);
ASSERT_TRUE(successor.acquired);
const auto current_barrier = manager.preemptAcquire(
"right_arm", "new-stop", 1s);
ASSERT_TRUE(current_barrier.acquired) << current_barrier.detail;
EXPECT_FALSE(manager.waitForPreemptedRelease(
old_barrier.token, 0ms));
EXPECT_FALSE(manager.waitForPreemptedRelease(
current_barrier.token, 10ms));
manager.release(successor.token);
EXPECT_TRUE(manager.waitForPreemptedRelease(
current_barrier.token, 0ms));
manager.release(current_barrier.token);
}
TEST_F(ControlAuthorityManagerTest,
ConditionalSafetyBarrierPreemptsMatchingCurrentLease)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 100ms);
ASSERT_TRUE(control.acquired);
const auto barrier = manager.preemptAcquireIfCurrent(
control.token, "timed-out-action", 100ms);
ASSERT_TRUE(barrier.acquired) << barrier.detail;
EXPECT_FALSE(manager.validate(control.token));
EXPECT_TRUE(manager.validate(barrier.token));
manager.release(control.token);
EXPECT_TRUE(manager.validate(barrier.token));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "new-move", 100ms)
.acquired);
manager.release(barrier.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
ConditionalSafetyBarrierDoesNotPreemptSuccessorForStaleToken)
{
auto& manager = ControlAuthorityManager::instance();
const auto old =
manager.tryAcquire("right_arm", "move-session", 100ms);
ASSERT_TRUE(old.acquired);
const auto direct_stop = manager.preemptAcquire(
"right_arm", "direct-stop", 100ms);
ASSERT_TRUE(direct_stop.acquired) << direct_stop.detail;
manager.release(direct_stop.token);
EXPECT_FALSE(
manager.tryAcquire("right_arm", "move-session", 100ms).acquired);
manager.release(old.token);
const auto successor =
manager.tryAcquire("right_arm", "move-session", 100ms);
ASSERT_TRUE(successor.acquired);
ASSERT_NE(old.token.generation, successor.token.generation);
const auto barrier = manager.preemptAcquireIfCurrent(
old.token, "delayed-stop", 100ms);
EXPECT_FALSE(barrier.acquired);
EXPECT_FALSE(barrier.token.valid());
EXPECT_TRUE(manager.validate(successor.token));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "competing-move", 100ms)
.acquired);
manager.release(successor.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
ConditionalSafetyBarrierDoesNotJoinExistingSafetyBarrier)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 100ms);
ASSERT_TRUE(control.acquired);
const auto existing_barrier = manager.preemptAcquire(
"right_arm", "direct-stop", 100ms);
ASSERT_TRUE(existing_barrier.acquired) << existing_barrier.detail;
const auto delayed_barrier = manager.preemptAcquireIfCurrent(
control.token, "delayed-action-stop", 100ms);
EXPECT_FALSE(delayed_barrier.acquired);
EXPECT_FALSE(delayed_barrier.token.valid());
EXPECT_TRUE(manager.validate(existing_barrier.token));
manager.release(existing_barrier.token);
EXPECT_TRUE(manager.isLeased("right_arm"));
manager.release(control.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
EXPECT_TRUE(
manager.tryAcquire("right_arm", "new-move", 100ms)
.acquired);
}
TEST_F(ControlAuthorityManagerTest,
QuarantineSurvivesNormalAndTemporarySafetyTokenRelease)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 20ms);
ASSERT_TRUE(control.acquired);
ASSERT_TRUE(manager.quarantineIfCurrent(control.token));
EXPECT_FALSE(manager.validate(control.token));
EXPECT_TRUE(manager.isLeased("right_arm"));
manager.release(control.token);
std::this_thread::sleep_for(30ms);
EXPECT_TRUE(manager.isLeased("right_arm"));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "new-move", 100ms)
.acquired);
const auto temporary_stop = manager.preemptAcquire(
"right_arm", "temporary-stop", 100ms);
ASSERT_TRUE(temporary_stop.acquired) << temporary_stop.detail;
EXPECT_TRUE(manager.validate(temporary_stop.token));
manager.release(temporary_stop.token);
EXPECT_TRUE(manager.isLeased("right_arm"));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "new-move", 100ms)
.acquired);
manager.revoke("right_arm");
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
QuarantineWithStaleTokenDoesNotAffectSuccessor)
{
auto& manager = ControlAuthorityManager::instance();
const auto old =
manager.tryAcquire("right_arm", "move-session", 100ms);
ASSERT_TRUE(old.acquired);
manager.release(old.token);
const auto successor =
manager.tryAcquire("right_arm", "move-session", 100ms);
ASSERT_TRUE(successor.acquired);
ASSERT_NE(old.token.generation, successor.token.generation);
EXPECT_FALSE(manager.quarantineIfCurrent(old.token));
EXPECT_TRUE(manager.validate(successor.token));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "competing-move", 100ms)
.acquired);
manager.release(successor.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
RetiredSafetyHolderStaysFailClosedUntilConfirmedRecovery)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto failed_stop = manager.preemptAcquire(
"right_arm", "failed-stop", 1s);
ASSERT_TRUE(failed_stop.acquired) << failed_stop.detail;
manager.release(control.token);
ASSERT_TRUE(manager.waitForPreemptedRelease(
failed_stop.token, 0ms));
ASSERT_TRUE(manager.retireSafetyHolder(failed_stop.token));
EXPECT_FALSE(manager.validate(failed_stop.token));
// A delayed destructor release cannot undo the retained fail-closed state.
manager.release(failed_stop.token);
EXPECT_TRUE(manager.isLeased("right_arm"));
EXPECT_FALSE(
manager.tryAcquire("right_arm", "new-move", 1s).acquired);
const auto recovery = manager.preemptAcquire(
"right_arm", "confirmed-recovery", 1s);
ASSERT_TRUE(recovery.acquired) << recovery.detail;
ASSERT_TRUE(manager.waitForPreemptedRelease(recovery.token, 0ms));
ASSERT_TRUE(manager.recoverRetiredSafetyHolders(recovery.token));
EXPECT_TRUE(manager.validate(recovery.token));
manager.release(recovery.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
RecoveryWaitsForPreemptedNormalHandlerToRelease)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
const auto failed_stop = manager.preemptAcquire(
"right_arm", "failed-stop", 1s);
ASSERT_TRUE(failed_stop.acquired) << failed_stop.detail;
ASSERT_TRUE(manager.retireSafetyHolder(failed_stop.token));
const auto recovery = manager.preemptAcquire(
"right_arm", "confirmed-recovery", 1s);
ASSERT_TRUE(recovery.acquired) << recovery.detail;
EXPECT_FALSE(manager.recoverRetiredSafetyHolders(recovery.token));
EXPECT_FALSE(manager.waitForPreemptedRelease(recovery.token, 10ms));
manager.release(control.token);
ASSERT_TRUE(manager.waitForPreemptedRelease(recovery.token, 0ms));
ASSERT_TRUE(manager.recoverRetiredSafetyHolders(recovery.token));
manager.release(recovery.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
RecoveryPreservesEveryOtherActiveSafetyHolder)
{
auto& manager = ControlAuthorityManager::instance();
const auto retired = manager.preemptAcquire(
"right_arm", "failed-stop", 1s);
ASSERT_TRUE(retired.acquired) << retired.detail;
ASSERT_TRUE(manager.retireSafetyHolder(retired.token));
const auto independent_stop = manager.preemptAcquire(
"right_arm", "independent-stop", 1s);
const auto recovery = manager.preemptAcquire(
"right_arm", "confirmed-recovery", 1s);
ASSERT_TRUE(independent_stop.acquired) << independent_stop.detail;
ASSERT_TRUE(recovery.acquired) << recovery.detail;
ASSERT_TRUE(manager.recoverRetiredSafetyHolders(recovery.token));
EXPECT_TRUE(manager.validate(independent_stop.token));
EXPECT_TRUE(manager.validate(recovery.token));
EXPECT_FALSE(manager.validate(retired.token));
manager.release(recovery.token);
EXPECT_TRUE(manager.isLeased("right_arm"));
EXPECT_TRUE(manager.validate(independent_stop.token));
manager.release(independent_stop.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
RetiredOrForgedSafetyTokenCannotAuthorizeRecovery)
{
auto& manager = ControlAuthorityManager::instance();
const auto retired = manager.preemptAcquire(
"right_arm", "failed-stop", 1s);
ASSERT_TRUE(retired.acquired) << retired.detail;
ASSERT_TRUE(manager.retireSafetyHolder(retired.token));
EXPECT_FALSE(manager.recoverRetiredSafetyHolders(retired.token));
const auto recovery = manager.preemptAcquire(
"right_arm", "confirmed-recovery", 1s);
ASSERT_TRUE(recovery.acquired) << recovery.detail;
auto forged = recovery.token;
forged.owner_id = "different-owner";
EXPECT_FALSE(manager.recoverRetiredSafetyHolders(forged));
EXPECT_TRUE(manager.isLeased("right_arm"));
ASSERT_TRUE(manager.recoverRetiredSafetyHolders(recovery.token));
manager.release(recovery.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest,
ConfirmedRecoveryCanClearTokenlessQuarantine)
{
auto& manager = ControlAuthorityManager::instance();
const auto control =
manager.tryAcquire("right_arm", "move-session", 1s);
ASSERT_TRUE(control.acquired);
ASSERT_TRUE(manager.quarantineIfCurrent(control.token));
const auto recovery = manager.preemptAcquire(
"right_arm", "confirmed-recovery", 1s);
ASSERT_TRUE(recovery.acquired) << recovery.detail;
EXPECT_FALSE(manager.recoverRetiredSafetyHolders(recovery.token));
manager.release(control.token);
ASSERT_TRUE(manager.waitForPreemptedRelease(recovery.token, 0ms));
ASSERT_TRUE(manager.recoverRetiredSafetyHolders(recovery.token));
manager.release(recovery.token);
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest, ExpiryAndRenewUseMonotonicLocalTime)
{
auto& manager = ControlAuthorityManager::instance();
const auto lease =
manager.tryAcquire("right_arm", "session-a", 20ms);
ASSERT_TRUE(lease.acquired);
std::this_thread::sleep_for(10ms);
ASSERT_TRUE(manager.renew(lease.token, 30ms));
std::this_thread::sleep_for(20ms);
EXPECT_TRUE(manager.validate(lease.token));
std::this_thread::sleep_for(20ms);
EXPECT_FALSE(manager.validate(lease.token));
EXPECT_FALSE(manager.isLeased("right_arm"));
}
TEST_F(ControlAuthorityManagerTest, DifferentArmsCanBeLeasedIndependently)
{
auto& manager = ControlAuthorityManager::instance();
EXPECT_TRUE(
manager.tryAcquire("right_arm", "session-a", 100ms)
.acquired);
EXPECT_TRUE(
manager.tryAcquire("left_arm", "session-b", 100ms)
.acquired);
}
} // namespace
} // namespace cmvr::control

23
cmvr-es/manager/device_manager/CMakeLists.txt
View File

@ -56,27 +56,4 @@ if(BUILD_TESTING)
)
endif()
add_executable(device_manager_lifecycle_test
tests/device_manager_lifecycle_test.cpp
)
target_link_libraries(device_manager_lifecycle_test PRIVATE
cmvr_es::device_manager
gtest
gtest_main
pthread
)
add_test(
NAME device_manager_lifecycle_test
COMMAND device_manager_lifecycle_test
)
set(_device_manager_lifecycle_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _device_manager_lifecycle_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(device_manager_lifecycle_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_device_manager_lifecycle_test_environment}"
)
endif()

153
cmvr-es/manager/device_manager/tests/device_manager_lifecycle_test.cpp
View File

@ -1,153 +0,0 @@
#include "manager/device_manager/include/device_manager.h"
#include <stdexcept>
#include <gtest/gtest.h>
namespace {
class LifecycleDevice final : public cmvr::device::AbstractDevice {
public:
explicit LifecycleDevice(const std::string& id)
: AbstractDevice(id)
{
}
cmvr::device::DeviceKind kind() const noexcept override
{
return cmvr::device::DeviceKind::Camera;
}
std::string typeName() const override { return "LifecycleDevice"; }
bool start() override
{
++start_calls;
if (throw_on_start) {
throw std::runtime_error("start failure");
}
return start_result;
}
bool stop() override
{
++stop_calls;
return true;
}
bool start_result{true};
bool throw_on_start{false};
int start_calls{0};
int stop_calls{0};
};
class DeviceManagerLifecycleTest : public ::testing::Test {
protected:
void SetUp() override
{
cmvr::device::DeviceManager::destroyInstance();
}
void TearDown() override
{
cmvr::device::DeviceManager::destroyInstance();
}
};
TEST_F(DeviceManagerLifecycleTest,
EnabledDeviceCreationFailureMarksInitializationFailed)
{
cmvr::config::DeviceManagerConfig config;
auto* entry = config.add_devices();
entry->set_id("unsupported");
entry->set_type(
cmvr::config::DeviceConfigEntry::DEVICE_TYPE_UNKNOWN);
entry->set_enable(true);
auto& manager =
cmvr::device::DeviceManager::getInstance(config);
EXPECT_FALSE(manager.initialized());
EXPECT_FALSE(manager.start());
}
TEST_F(DeviceManagerLifecycleTest, DisabledInvalidDeviceIsIgnored)
{
cmvr::config::DeviceManagerConfig config;
auto* entry = config.add_devices();
entry->set_id("disabled");
entry->set_type(
cmvr::config::DeviceConfigEntry::DEVICE_TYPE_UNKNOWN);
entry->set_enable(false);
auto& manager =
cmvr::device::DeviceManager::getInstance(config);
EXPECT_TRUE(manager.initialized());
EXPECT_TRUE(manager.start());
}
TEST_F(DeviceManagerLifecycleTest,
DeviceStartFailureIsReturnedAndTriggersStop)
{
cmvr::config::DeviceManagerConfig config;
auto& manager =
cmvr::device::DeviceManager::getInstance(config);
ASSERT_TRUE(manager.initialized());
auto device =
std::make_shared<LifecycleDevice>("start_failure");
device->start_result = false;
manager.registerDevice(device);
EXPECT_FALSE(manager.start());
EXPECT_EQ(device->start_calls, 1);
EXPECT_EQ(device->stop_calls, 1);
}
TEST_F(DeviceManagerLifecycleTest,
DeviceStartExceptionIsReturnedAndTriggersStop)
{
cmvr::config::DeviceManagerConfig config;
auto& manager =
cmvr::device::DeviceManager::getInstance(config);
ASSERT_TRUE(manager.initialized());
auto device =
std::make_shared<LifecycleDevice>("start_exception");
device->throw_on_start = true;
manager.registerDevice(device);
EXPECT_FALSE(manager.start());
EXPECT_EQ(device->start_calls, 1);
EXPECT_EQ(device->stop_calls, 1);
}
TEST_F(DeviceManagerLifecycleTest,
EnforceSelectedCannotStartWithMissingConfiguredTarget)
{
cmvr::config::DeviceManagerConfig config;
auto* safety = config.mutable_safety();
safety->set_mode(
cmvr::config::SafetyManagerConfig::ENFORCE_SELECTED);
safety->add_enforced_device_ids("missing-arm");
auto& manager = cmvr::device::DeviceManager::getInstance(config);
ASSERT_TRUE(manager.initialized());
EXPECT_FALSE(manager.start());
EXPECT_EQ(
manager.safetyManager().snapshot().system_state,
cmvr::safety::SystemAdmissionState::Starting);
}
TEST_F(DeviceManagerLifecycleTest,
EnforceSelectedCannotSilentlyCoverNoDevices)
{
cmvr::config::DeviceManagerConfig config;
config.mutable_safety()->set_mode(
cmvr::config::SafetyManagerConfig::ENFORCE_SELECTED);
auto& manager = cmvr::device::DeviceManager::getInstance(config);
ASSERT_TRUE(manager.initialized());
EXPECT_FALSE(manager.start());
}
} // namespace

52
cmvr-es/manager/media_source_manager/CMakeLists.txt
View File

@ -1,7 +1,6 @@
if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
cmake_minimum_required(VERSION 3.22)
project(cmvr_media_source_manager LANGUAGES CXX)
enable_testing()
add_subdirectory(
${CMAKE_CURRENT_SOURCE_DIR}/../../service/grpc/stop_all
${CMAKE_CURRENT_BINARY_DIR}/stop_all
@ -43,55 +42,4 @@ if(NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
)
add_library(cmvr_es::device_media_source_adapter ALIAS device_media_source_adapter)
if(BUILD_TESTING)
add_executable(device_media_source_adapter_test
tests/device_media_source_adapter_test.cpp
)
target_compile_features(device_media_source_adapter_test PRIVATE cxx_std_17)
target_link_libraries(device_media_source_adapter_test
PRIVATE
cmvr_es::device_media_source_adapter
gtest
gtest_main
)
add_test(
NAME device_media_source_adapter_test
COMMAND device_media_source_adapter_test
)
set(_device_media_source_adapter_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _device_media_source_adapter_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(device_media_source_adapter_test PROPERTIES
ENVIRONMENT
"${_device_media_source_adapter_test_environment}"
)
endif()
endif()
option(CMVR_MEDIA_SOURCE_MANAGER_BUILD_TESTS
"Build the standalone MediaSourceManager self-test"
${PROJECT_IS_TOP_LEVEL})
if(CMVR_MEDIA_SOURCE_MANAGER_BUILD_TESTS)
find_package(Threads REQUIRED)
add_executable(media_source_manager_test
tests/media_source_manager_test.cpp
)
target_compile_features(media_source_manager_test PRIVATE cxx_std_17)
target_link_libraries(media_source_manager_test
PRIVATE
cmvr_es::media_source_manager
Threads::Threads
)
# This self-test only links the static Hub and pthreads. In the root build,
# the project-wide third-party RUNPATH can otherwise make the loader pick up
# a vendor libstdc++.so (for example from the AUBO SDK), even though the test
# has no dependency on that SDK.
set_target_properties(media_source_manager_test PROPERTIES
SKIP_BUILD_RPATH TRUE
)
add_test(NAME media_source_manager_test COMMAND media_source_manager_test)
endif()

113
cmvr-es/manager/media_source_manager/tests/device_media_source_adapter_test.cpp
View File

@ -1,113 +0,0 @@
#include "manager/media_source_manager/include/device_media_source_adapter.h"
#include <atomic>
#include <chrono>
#include <memory>
#include <string>
#include <gtest/gtest.h>
#include "manager/safety_manager/include/device_safety_endpoint.h"
namespace cmvr::media {
namespace {
class FakeSensorEndpoint final : public safety::DeviceSafetyEndpoint {
public:
explicit FakeSensorEndpoint(std::string device_id)
{
descriptor_.device_id = std::move(device_id);
descriptor_.kind = device::DeviceKind::Camera;
descriptor_.default_policy = safety::SafetyPolicyFamily::Sensor;
descriptor_.maximum_snapshot_age = std::chrono::seconds(1);
descriptor_.supports_active_refresh = true;
}
safety::DeviceSafetyDescriptor descriptor() const override
{
return descriptor_;
}
void bindPublisher(safety::SafetySnapshotPublisher publisher) override
{
publisher_ = std::move(publisher);
}
void requestSafetyRefresh() noexcept override
{
if (!publisher_) {
return;
}
safety::DeviceSafetySnapshot snapshot;
snapshot.device_id = descriptor_.device_id;
snapshot.condition = safety::SafetyCondition::Nominal;
snapshot.device_generation = 1;
snapshot.sample_sequence = ++sequence_;
snapshot.observed_at = safety::SafetyClock::now();
snapshot.connected = safety::TriState::True;
snapshot.operational_ready = safety::TriState::True;
snapshot.quiescent = safety::TriState::True;
snapshot.motion_active = safety::TriState::False;
snapshot.actuator_enabled = safety::TriState::False;
snapshot.emergency_stop_active = safety::TriState::False;
snapshot.protective_stop_active = safety::TriState::False;
snapshot.fault_active = safety::TriState::False;
(void)publisher_(std::move(snapshot));
}
safety::HardwareCheckResult validateBeforeDispatch(
const safety::AdmissionPermit& permit) override
{
++hardware_checks;
last_intent = permit.intent;
return {true, safety::SafetyReason::None, {}};
}
safety::RecoveryCheckResult reconcileAdmissionState(
const safety::RecoveryContext&) override
{
return {true, safety::SafetyReason::None, {}};
}
std::atomic<int> hardware_checks{0};
safety::CommandIntent last_intent{safety::CommandIntent::Observe};
private:
safety::DeviceSafetyDescriptor descriptor_;
safety::SafetySnapshotPublisher publisher_;
std::atomic<std::uint64_t> sequence_{0};
};
TEST(DeviceMediaSourceAdapterTest,
SensorStartUsesFinalCheckAndQuarantineRejectsRestart)
{
safety::SafetyManagerConfig config;
config.enforcement_mode = safety::EnforcementMode::EnforceAll;
safety::SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeSensorEndpoint>("camera");
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
endpoint->requestSafetyRefresh();
coordinator.updateDeviceRuntimeState(
"camera",
device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
{
auto dispatch = beginMediaSourceStartDispatch(coordinator, "camera");
ASSERT_TRUE(dispatch.acquired());
EXPECT_EQ(endpoint->hardware_checks.load(), 1);
EXPECT_EQ(endpoint->last_intent, safety::CommandIntent::StartActivity);
}
coordinator.quarantineDevice(
"camera", safety::SafetyReason::OutcomeUnknown,
"uncertain-media-start");
auto rejected = beginMediaSourceStartDispatch(coordinator, "camera");
EXPECT_FALSE(rejected.acquired());
EXPECT_EQ(endpoint->hardware_checks.load(), 1);
}
} // namespace
} // namespace cmvr::media

1338
cmvr-es/manager/media_source_manager/tests/media_source_manager_test.cpp
View File

File diff suppressed because it is too large Load Diff

47
cmvr-es/manager/safety_manager/CMakeLists.txt
View File

@ -16,50 +16,3 @@ target_link_libraries(safety_manager PUBLIC
add_library(cmvr_es::safety_manager ALIAS safety_manager)
install(TARGETS safety_manager LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(safety_snapshot_store_test
tests/safety_snapshot_store_test.cpp
)
target_link_libraries(safety_snapshot_store_test PRIVATE
cmvr_es::safety_manager
gtest
gtest_main
pthread
)
add_test(
NAME safety_snapshot_store_test
COMMAND safety_snapshot_store_test
)
set_tests_properties(safety_snapshot_store_test PROPERTIES TIMEOUT 10)
add_executable(command_ledger_test
tests/command_ledger_test.cpp
)
target_link_libraries(command_ledger_test PRIVATE
cmvr_es::safety_manager
gtest
gtest_main
pthread
)
add_test(
NAME command_ledger_test
COMMAND command_ledger_test
)
set_tests_properties(command_ledger_test PROPERTIES TIMEOUT 10)
add_executable(safety_manager_test
tests/safety_manager_test.cpp
)
target_link_libraries(safety_manager_test PRIVATE
cmvr_es::safety_manager
gtest
gtest_main
pthread
)
add_test(
NAME safety_manager_test
COMMAND safety_manager_test
)
set_tests_properties(safety_manager_test PROPERTIES TIMEOUT 15)
endif()

11
cmvr-es/manager/safety_manager/include/safety_manager.h
View File

@ -13,7 +13,6 @@
#include "manager/safety_manager/include/command_ledger.h"
#include "manager/safety_manager/include/device_safety_endpoint.h"
#include "manager/safety_manager/include/safety_participant.h"
#include "manager/safety_manager/include/safety_snapshot_store.h"
namespace cmvr::safety {
@ -174,7 +173,6 @@ public:
SafetyManager& operator=(const SafetyManager&) = delete;
bool registerDevice(DeviceSafetyRegistration registration);
bool unregisterDevice(const std::string& device_id);
bool registerParticipant(std::shared_ptr<SafetyParticipant> participant);
bool unregisterParticipant(const std::string& participant_id);
@ -182,15 +180,12 @@ public:
const std::string& device_id,
device::ManagedDeviceState lifecycle,
device::DeviceHealthSnapshot health = {});
bool publishSafetySnapshot(DeviceSafetySnapshot snapshot);
std::optional<std::uint64_t> advanceDeviceGeneration(
const std::string& device_id);
StartupCoverageResult validateStartupCoverage(
SafetyClock::time_point deadline);
void markStartupComplete();
void beginShutdown() noexcept;
AdmissionDecision evaluate(const AdmissionRequest& request) const;
AdmissionResult admit(const AdmissionRequest& request);
// Lightweight session check. This validates the coordinator-owned epoch,
// generation, freshness, and admission state without calling the device
@ -208,16 +203,16 @@ public:
RecoveryResult recover(const RecoveryRequest& request);
SafetyManagerSnapshot snapshot() const;
SafetySnapshotStore& snapshotStore() noexcept;
const SafetySnapshotStore& snapshotStore() const noexcept;
CommandLedger& commandLedger() noexcept;
const CommandLedger& commandLedger() const noexcept;
const std::string& serviceInstanceId() const noexcept;
const SafetyManagerConfig& config() const noexcept;
private:
friend class DispatchGuard;
struct Impl;
bool publishSafetySnapshot(DeviceSafetySnapshot snapshot);
void beginShutdown() noexcept;
AdmissionDecision evaluate(const AdmissionRequest& request) const;
void endDispatch_(const std::string& device_id) noexcept;
std::unique_ptr<Impl> impl_;
};

61
cmvr-es/manager/safety_manager/src/safety_manager.cpp
View File

@ -1,4 +1,5 @@
#include "manager/safety_manager/include/safety_manager.h"
#include "manager/safety_manager/include/safety_snapshot_store.h"
#include <algorithm>
#include <atomic>
@ -531,51 +532,6 @@ bool SafetyManager::registerDevice(DeviceSafetyRegistration registration)
return true;
}
bool SafetyManager::unregisterDevice(const std::string& device_id)
{
std::shared_ptr<DeviceSafetyEndpoint> endpoint;
std::string participant_id;
{
std::lock_guard lock(impl_->mutex);
const auto found = impl_->devices.find(device_id);
if (found == impl_->devices.end()) {
return false;
}
if (found->second.in_flight_dispatches != 0) {
return false;
}
found->second.publisher_binding->active.store(
false, std::memory_order_release);
endpoint = found->second.endpoint;
if (found->second.participant) {
participant_id =
found->second.participant->descriptor().participant_id;
impl_->participants.erase(participant_id);
const auto runtime =
impl_->participant_runtime.find(participant_id);
if (runtime != impl_->participant_runtime.end()) {
runtime->second.registered = false;
if (!runtime->second.barrier_active &&
impl_->retained_barriers.count(participant_id) == 0U) {
impl_->participant_runtime.erase(runtime);
}
}
}
found->second.admission_state = DeviceAdmissionState::Removed;
impl_->devices.erase(found);
impl_->addEventLocked(
SafetyReason::DeviceUnavailable,
device_id,
{},
"device safety capability unregistered");
}
if (endpoint) {
endpoint->bindPublisher({});
}
impl_->snapshots.unregisterDevice(device_id);
return true;
}
bool SafetyManager::registerParticipant(
std::shared_ptr<SafetyParticipant> participant)
{
@ -2529,26 +2485,11 @@ SafetyManagerSnapshot SafetyManager::snapshot() const
return result;
}
SafetySnapshotStore& SafetyManager::snapshotStore() noexcept
{
return impl_->snapshots;
}
const SafetySnapshotStore& SafetyManager::snapshotStore() const noexcept
{
return impl_->snapshots;
}
CommandLedger& SafetyManager::commandLedger() noexcept
{
return impl_->ledger;
}
const CommandLedger& SafetyManager::commandLedger() const noexcept
{
return impl_->ledger;
}
const std::string& SafetyManager::serviceInstanceId() const noexcept
{
return impl_->service_instance_id;

122
cmvr-es/manager/safety_manager/tests/command_ledger_test.cpp
View File

@ -1,122 +0,0 @@
#include "manager/safety_manager/include/command_ledger.h"
#include <atomic>
#include <chrono>
#include <thread>
#include <vector>
#include <gtest/gtest.h>
namespace cmvr::safety {
namespace {
CommandKey key(const std::string& id)
{
return {"anonymous", id};
}
CommandOutcome completedOutcome()
{
CommandOutcome outcome;
outcome.lifecycle = CommandLifecycle::Completed;
outcome.reason = SafetyReason::None;
outcome.serialized_response = "done";
return outcome;
}
TEST(CommandLedgerTest, SameIdJoinsAndDifferentPayloadConflicts)
{
CommandLedger ledger;
const auto first = ledger.reserve(key("command-1"), "payload-a");
ASSERT_EQ(first.status, CommandReservationStatus::AcceptedNew);
EXPECT_EQ(
ledger.reserve(key("command-1"), "payload-a").status,
CommandReservationStatus::JoinedInFlight);
EXPECT_EQ(
ledger.reserve(key("command-1"), "payload-b").status,
CommandReservationStatus::CommandIdConflict);
ASSERT_TRUE(ledger.complete(first.ticket, completedOutcome()));
const auto cached = ledger.reserve(key("command-1"), "payload-a");
ASSERT_EQ(cached.status, CommandReservationStatus::CachedResult);
ASSERT_TRUE(cached.cached_outcome.has_value());
EXPECT_EQ(cached.cached_outcome->serialized_response, "done");
}
TEST(CommandLedgerTest, ConcurrentCallersNeverCreateASecondReservation)
{
CommandLedger ledger;
std::atomic<int> accepted{0};
std::vector<std::thread> workers;
for (int index = 0; index < 16; ++index) {
workers.emplace_back([&] {
const auto result = ledger.reserve(key("shared"), "payload");
if (result.status == CommandReservationStatus::AcceptedNew) {
accepted.fetch_add(1);
}
});
}
for (auto& worker : workers) {
worker.join();
}
EXPECT_EQ(accepted.load(), 1);
EXPECT_EQ(ledger.acceptedIdCount(), 1U);
}
TEST(CommandLedgerTest, OutcomeUnknownIsCachedAndNeverReservedAgain)
{
CommandLedger ledger;
const auto first = ledger.reserve(key("uncertain"), "payload");
ASSERT_EQ(first.status, CommandReservationStatus::AcceptedNew);
CommandOutcome outcome;
outcome.lifecycle = CommandLifecycle::OutcomeUnknown;
outcome.reason = SafetyReason::OutcomeUnknown;
outcome.hardware_submission_possible = true;
ASSERT_TRUE(ledger.complete(first.ticket, outcome));
const auto retry = ledger.reserve(key("uncertain"), "payload");
ASSERT_EQ(retry.status, CommandReservationStatus::CachedResult);
ASSERT_TRUE(retry.cached_outcome.has_value());
EXPECT_EQ(
retry.cached_outcome->lifecycle, CommandLifecycle::OutcomeUnknown);
EXPECT_TRUE(retry.cached_outcome->hardware_submission_possible);
}
TEST(CommandLedgerTest, EvictedResultLeavesAnExactTombstone)
{
CommandLedger ledger({1, 3});
auto first = ledger.reserve(key("first"), "payload-1");
ASSERT_TRUE(ledger.complete(first.ticket, completedOutcome()));
auto second = ledger.reserve(key("second"), "payload-2");
ASSERT_TRUE(ledger.complete(second.ticket, completedOutcome()));
EXPECT_EQ(
ledger.reserve(key("first"), "payload-1").status,
CommandReservationStatus::ResultEvicted);
EXPECT_EQ(
ledger.reserve(key("first"), "different").status,
CommandReservationStatus::CommandIdConflict);
auto third = ledger.reserve(key("third"), "payload-3");
ASSERT_EQ(third.status, CommandReservationStatus::AcceptedNew);
EXPECT_EQ(
ledger.reserve(key("fourth"), "payload-4").status,
CommandReservationStatus::LedgerExhausted);
}
TEST(CommandLedgerTest, WaitTimesOutWithoutChangingExecution)
{
CommandLedger ledger;
const auto reservation = ledger.reserve(key("slow"), "payload");
ASSERT_EQ(reservation.status, CommandReservationStatus::AcceptedNew);
EXPECT_FALSE(ledger.wait(
reservation.ticket,
SafetyClock::now() + std::chrono::milliseconds(5)).has_value());
EXPECT_EQ(
ledger.reserve(key("slow"), "payload").status,
CommandReservationStatus::JoinedInFlight);
}
} // namespace
} // namespace cmvr::safety

782
cmvr-es/manager/safety_manager/tests/safety_manager_test.cpp
View File

@ -1,782 +0,0 @@
#include "manager/safety_manager/include/safety_manager.h"
#include <atomic>
#include <chrono>
#include <memory>
#include <string>
#include <gtest/gtest.h>
namespace cmvr::safety {
namespace {
DeviceSafetyDescriptor controlDescriptor(std::string device_id = "arm")
{
DeviceSafetyDescriptor descriptor;
descriptor.device_id = std::move(device_id);
descriptor.kind = device::DeviceKind::Arm;
descriptor.default_policy = SafetyPolicyFamily::Control;
descriptor.maximum_snapshot_age = std::chrono::seconds(1);
descriptor.requires_safe_stop = true;
descriptor.supports_active_refresh = true;
return descriptor;
}
class FakeEndpoint final : public DeviceSafetyEndpoint {
public:
explicit FakeEndpoint(DeviceSafetyDescriptor descriptor)
: descriptor_(std::move(descriptor))
{
}
DeviceSafetyDescriptor descriptor() const override
{
return descriptor_;
}
void bindPublisher(SafetySnapshotPublisher publisher) override
{
publisher_ = std::move(publisher);
}
void requestSafetyRefresh() noexcept override
{
if (!publisher_ || !publish_on_refresh) {
return;
}
DeviceSafetySnapshot snapshot;
snapshot.device_id = descriptor_.device_id;
snapshot.condition = condition;
snapshot.device_generation = generation;
snapshot.sample_sequence = ++sequence;
snapshot.observed_at = SafetyClock::now();
snapshot.connected = connected;
snapshot.operational_ready = ready;
snapshot.quiescent = quiescent;
snapshot.motion_active =
quiescent == TriState::True ? TriState::False : TriState::Unknown;
snapshot.emergency_stop_active = emergency_stop;
snapshot.protective_stop_active = protective_stop;
snapshot.fault_active = fault;
(void)publisher_(std::move(snapshot));
}
HardwareCheckResult validateBeforeDispatch(
const AdmissionPermit&) override
{
++hardware_checks;
return final_check;
}
RecoveryCheckResult reconcileAdmissionState(
const RecoveryContext&) override
{
++recoveries;
return recovery_check;
}
RecoveryCheckResult restoreOperationalState(
const RecoveryContext&) override
{
++operational_restores;
if (operational_restore_check.reconciled &&
restore_to_nominal_on_success) {
condition = SafetyCondition::Nominal;
connected = TriState::True;
ready = TriState::True;
quiescent = TriState::True;
emergency_stop = TriState::False;
protective_stop = TriState::False;
fault = TriState::False;
}
return operational_restore_check;
}
DeviceSafetyDescriptor descriptor_;
SafetySnapshotPublisher publisher_;
SafetyCondition condition{SafetyCondition::Nominal};
TriState connected{TriState::True};
TriState ready{TriState::True};
TriState quiescent{TriState::True};
TriState emergency_stop{TriState::False};
TriState protective_stop{TriState::False};
TriState fault{TriState::False};
HardwareCheckResult final_check{true, SafetyReason::None, {}};
RecoveryCheckResult recovery_check{true, SafetyReason::None, {}};
RecoveryCheckResult operational_restore_check{
true, SafetyReason::None, {}};
std::uint64_t generation{1};
std::uint64_t sequence{0};
bool publish_on_refresh{true};
std::atomic<int> hardware_checks{0};
std::atomic<int> recoveries{0};
std::atomic<int> operational_restores{0};
bool restore_to_nominal_on_success{true};
};
class FakeParticipant final : public SafetyParticipant {
public:
ParticipantDescriptor descriptor() const override
{
return {"arm", ParticipantPhase::Actuator, true,
std::chrono::milliseconds(100)};
}
BarrierToken beginBarrier(
const SafetyOperationContext& context) override
{
++barriers;
return {"arm", context.operation_id, context.safety_epoch,
static_cast<std::uint64_t>(barriers.load())};
}
ParticipantResult requestQuiesce(
const BarrierToken&,
const SafetyOperationContext&) override
{
++stop_requests;
return stop_result;
}
ParticipantResult verifyQuiescent(
const BarrierToken&,
const SafetyOperationContext&) override
{
++verifications;
return verify_result;
}
RecoveryCheckResult recoverAdmission(
const BarrierToken&,
const RecoveryContext&) override
{
++recoveries;
return recovery_result;
}
ParticipantResult releaseBarrier(
const BarrierToken&) noexcept override
{
++releases;
return release_result;
}
ParticipantResult stop_result{true, SafetyReason::None, {}};
ParticipantResult verify_result{true, SafetyReason::None, {}};
RecoveryCheckResult recovery_result{true, SafetyReason::None, {}};
ParticipantResult release_result{true, SafetyReason::None, {}};
std::atomic<int> barriers{0};
std::atomic<int> stop_requests{0};
std::atomic<int> verifications{0};
std::atomic<int> recoveries{0};
std::atomic<int> releases{0};
};
AdmissionRequest actuateRequest()
{
AdmissionRequest request;
request.command = {
"/cmvr.api.ArmService/moveJ",
CommandIntent::Actuate,
SafetyPolicyFamily::Control,
true,
false};
request.device_id = "arm";
request.command_id = "command-1";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
return request;
}
TEST(SafetyManagerTest, ShadowReportsDenyWithoutChangingLegacyBehavior)
{
SafetyManager coordinator;
ASSERT_TRUE(coordinator.registerDevice({controlDescriptor(), {}, {}}));
coordinator.markStartupComplete();
const auto result = coordinator.admit(actuateRequest());
EXPECT_TRUE(result.decision.allowed);
EXPECT_FALSE(result.decision.policy_allowed);
EXPECT_FALSE(result.decision.enforced);
EXPECT_EQ(result.decision.reason, SafetyReason::SafetyStateMissing);
EXPECT_TRUE(result.permit.has_value());
}
TEST(SafetyManagerTest,
EnforceSelectedStartupRejectsEmptyOrUnknownCoverage)
{
SafetyManagerConfig empty_config;
empty_config.enforcement_mode = EnforcementMode::EnforceSelected;
SafetyManager empty(empty_config);
const auto empty_result = empty.validateStartupCoverage(
SafetyClock::now() + std::chrono::milliseconds(10));
ASSERT_FALSE(empty_result.ready);
ASSERT_EQ(empty_result.issues.size(), 1U);
EXPECT_EQ(empty_result.issues.front().reason, SafetyReason::InvalidArgument);
SafetyManagerConfig missing_config;
missing_config.enforcement_mode = EnforcementMode::EnforceSelected;
missing_config.enforced_device_ids.insert("missing-arm");
SafetyManager missing(missing_config);
const auto missing_result = missing.validateStartupCoverage(
SafetyClock::now() + std::chrono::milliseconds(10));
ASSERT_FALSE(missing_result.ready);
ASSERT_EQ(missing_result.issues.size(), 1U);
EXPECT_EQ(missing_result.issues.front().target_id, "missing-arm");
EXPECT_EQ(missing_result.issues.front().reason, SafetyReason::DeviceNotFound);
}
TEST(SafetyManagerTest,
EnforceAllStartupRequiresEndpointParticipantAndFreshSnapshot)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager missing_capability(config);
ASSERT_TRUE(missing_capability.registerDevice(
{controlDescriptor(), {}, {}}));
const auto structural = missing_capability.validateStartupCoverage(
SafetyClock::now() + std::chrono::milliseconds(10));
EXPECT_FALSE(structural.ready);
EXPECT_EQ(structural.issues.size(), 2U);
SafetyManager missing_sample(config);
auto silent_endpoint =
std::make_shared<FakeEndpoint>(controlDescriptor());
silent_endpoint->publish_on_refresh = false;
ASSERT_TRUE(missing_sample.registerDevice({
controlDescriptor(),
silent_endpoint,
std::make_shared<FakeParticipant>()}));
const auto stale = missing_sample.validateStartupCoverage(
SafetyClock::now() + std::chrono::milliseconds(10));
ASSERT_FALSE(stale.ready);
ASSERT_EQ(stale.issues.size(), 1U);
EXPECT_EQ(stale.issues.front().reason, SafetyReason::SafetyStateMissing);
}
TEST(SafetyManagerTest,
HardwareUnsafeSnapshotBlocksAdmissionButNotStructuralStartup)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
endpoint->condition = SafetyCondition::Unsafe;
endpoint->emergency_stop = TriState::True;
ASSERT_TRUE(coordinator.registerDevice({
controlDescriptor(), endpoint, std::make_shared<FakeParticipant>()}));
coordinator.updateDeviceRuntimeState(
"arm", device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
const auto coverage = coordinator.validateStartupCoverage(
SafetyClock::now() + std::chrono::milliseconds(50));
EXPECT_TRUE(coverage.ready);
coordinator.markStartupComplete();
const auto admission = coordinator.admit(actuateRequest());
EXPECT_FALSE(admission.decision.allowed);
EXPECT_EQ(
admission.decision.reason, SafetyReason::EmergencyStopActive);
}
TEST(SafetyManagerTest, EnforceAllFailsClosedOnUnknownControlState)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager coordinator(config);
ASSERT_TRUE(coordinator.registerDevice({controlDescriptor(), {}, {}}));
coordinator.markStartupComplete();
const auto result = coordinator.admit(actuateRequest());
EXPECT_FALSE(result.decision.allowed);
EXPECT_FALSE(result.decision.policy_allowed);
EXPECT_TRUE(result.decision.enforced);
EXPECT_FALSE(result.permit.has_value());
}
TEST(SafetyManagerTest, ControlSafetyBitsMustBeExplicitlyFalse)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
endpoint->protective_stop = TriState::Unknown;
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm", device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
const auto result = coordinator.admit(actuateRequest());
EXPECT_FALSE(result.decision.allowed);
EXPECT_EQ(result.decision.reason, SafetyReason::ProtectiveStopActive);
ASSERT_EQ(coordinator.snapshot().devices.size(), 1U);
EXPECT_EQ(
coordinator.snapshot().devices.front().admission_state,
DeviceAdmissionState::Blocked);
}
TEST(SafetyManagerTest, EnforcedDispatchRunsFinalHardwareCheck)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm", device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
auto admission = coordinator.admit(actuateRequest());
ASSERT_TRUE(admission.decision.allowed) << admission.decision.detail;
ASSERT_TRUE(admission.permit.has_value());
auto dispatch = coordinator.beginDispatch(*admission.permit);
EXPECT_TRUE(dispatch.acquired());
EXPECT_EQ(endpoint->hardware_checks.load(), 1);
}
TEST(SafetyManagerTest,
StartActivityMayEnterFromRestrictedButActuationMayNot)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
endpoint->condition = SafetyCondition::Restricted;
endpoint->ready = TriState::False;
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm", device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
auto start = actuateRequest();
start.command.intent = CommandIntent::StartActivity;
const auto start_result = coordinator.admit(start);
ASSERT_TRUE(start_result.decision.allowed)
<< start_result.decision.detail;
ASSERT_TRUE(start_result.permit.has_value());
EXPECT_TRUE(coordinator.beginDispatch(*start_result.permit).acquired());
const auto actuation = coordinator.admit(actuateRequest());
EXPECT_FALSE(actuation.decision.allowed);
EXPECT_EQ(actuation.decision.reason, SafetyReason::HardwareUnsafe);
}
TEST(SafetyManagerTest, SuccessfulStopInvalidatesOldPermitAndReopens)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
auto participant = std::make_shared<FakeParticipant>();
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, participant}));
coordinator.updateDeviceRuntimeState(
"arm", device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
auto admission = coordinator.admit(actuateRequest());
ASSERT_TRUE(admission.permit.has_value());
const auto old_epoch = admission.permit->safety_epoch;
const auto stopped = coordinator.stopAll(
"stop-1", SafetyClock::now() + std::chrono::seconds(1));
ASSERT_TRUE(stopped.success);
EXPECT_EQ(stopped.system_state, SystemAdmissionState::Open);
EXPECT_GT(stopped.current_safety_epoch, old_epoch);
const auto revalidated =
coordinator.revalidatePermit(*admission.permit);
EXPECT_FALSE(revalidated.safe);
EXPECT_EQ(revalidated.reason, SafetyReason::SafetyLatched);
EXPECT_FALSE(coordinator.beginDispatch(*admission.permit).acquired());
EXPECT_EQ(participant->stop_requests.load(), 1);
EXPECT_EQ(participant->verifications.load(), 1);
const auto snapshot = coordinator.snapshot();
ASSERT_EQ(snapshot.participants.size(), 1U);
EXPECT_EQ(snapshot.participants.front().descriptor.participant_id, "arm");
EXPECT_FALSE(snapshot.participants.front().barrier_active);
EXPECT_FALSE(snapshot.participants.front().barrier_retained);
EXPECT_TRUE(snapshot.participants.front().last_request.recorded);
EXPECT_TRUE(snapshot.participants.front().last_request.success);
EXPECT_TRUE(snapshot.participants.front().last_verify.recorded);
EXPECT_TRUE(snapshot.participants.front().last_verify.success);
EXPECT_TRUE(snapshot.participants.front().last_release.recorded);
EXPECT_TRUE(snapshot.participants.front().last_release.success);
}
TEST(SafetyManagerTest, FailedStopRequiresVerifiedRecovery)
{
SafetyManagerConfig config;
config.enforcement_mode = EnforcementMode::EnforceAll;
SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
auto participant = std::make_shared<FakeParticipant>();
participant->verify_result = {
false, SafetyReason::StopUnconfirmed, "motion not confirmed"};
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, participant}));
coordinator.updateDeviceRuntimeState(
"arm", device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
const auto stopped = coordinator.stopAll(
"stop-failed", SafetyClock::now() + std::chrono::seconds(1));
ASSERT_FALSE(stopped.success);
ASSERT_EQ(stopped.system_state, SystemAdmissionState::Latched);
const auto latched = coordinator.snapshot();
ASSERT_EQ(latched.participants.size(), 1U);
EXPECT_TRUE(latched.participants.front().barrier_active);
EXPECT_TRUE(latched.participants.front().barrier_retained);
EXPECT_TRUE(latched.participants.front().last_verify.recorded);
EXPECT_FALSE(latched.participants.front().last_verify.success);
EXPECT_FALSE(latched.participants.front().last_release.recorded);
participant->verify_result = {true, SafetyReason::None, {}};
RecoveryRequest request;
request.recovery_id = "recovery-1";
request.all_devices = true;
request.expected_safety_epoch = stopped.current_safety_epoch;
request.verify_only = false;
request.reason = "operator confirmed work cell is clear";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
const auto recovered = coordinator.recover(request);
EXPECT_EQ(recovered.result, RecoveryResultCode::Recovered);
EXPECT_EQ(recovered.system_state, SystemAdmissionState::Open);
EXPECT_EQ(endpoint->recoveries.load(), 1);
EXPECT_EQ(participant->recoveries.load(), 1);
const auto reopened = coordinator.snapshot();
ASSERT_EQ(reopened.participants.size(), 1U);
EXPECT_FALSE(reopened.participants.front().barrier_active);
EXPECT_FALSE(reopened.participants.front().barrier_retained);
EXPECT_TRUE(reopened.participants.front().last_release.recorded);
EXPECT_TRUE(reopened.participants.front().last_release.success);
}
TEST(SafetyManagerTest, RecoveryCannotIgnoreEmergencyStop)
{
SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
auto participant = std::make_shared<FakeParticipant>();
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, participant}));
coordinator.markStartupComplete();
coordinator.quarantineDevice("arm", SafetyReason::OutcomeUnknown);
const auto before = coordinator.snapshot();
endpoint->emergency_stop = TriState::True;
RecoveryRequest request;
request.recovery_id = "recovery-estop";
request.all_devices = true;
request.expected_safety_epoch = before.safety_epoch;
request.verify_only = false;
request.reason = "test";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
const auto recovered = coordinator.recover(request);
EXPECT_EQ(recovered.result, RecoveryResultCode::BlockerRemains);
EXPECT_EQ(recovered.system_state, SystemAdmissionState::Latched);
ASSERT_FALSE(recovered.targets.empty());
EXPECT_EQ(
recovered.targets.front().reason,
SafetyReason::EmergencyStopActive);
EXPECT_EQ(endpoint->recoveries.load(), 0);
}
TEST(SafetyManagerTest,
OperationalRestoreClearsRecoverableHardwareAndSoftwareState)
{
SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
endpoint->condition = SafetyCondition::Unsafe;
endpoint->ready = TriState::False;
endpoint->protective_stop = TriState::True;
endpoint->quiescent = TriState::True;
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.markStartupComplete();
coordinator.quarantineDevice("arm", SafetyReason::OutcomeUnknown);
const auto before = coordinator.snapshot();
RecoveryRequest request;
request.recovery_id = "restore-operational";
request.all_devices = true;
request.expected_safety_epoch = before.safety_epoch;
request.verify_only = false;
request.restore_operational_state = true;
request.reason = "operator confirmed the work cell is clear";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
request.authorize_clear = [] { return true; };
const auto restored = coordinator.recover(request);
EXPECT_EQ(restored.result, RecoveryResultCode::Recovered);
EXPECT_EQ(restored.system_state, SystemAdmissionState::Open);
ASSERT_EQ(restored.targets.size(), 1U);
EXPECT_TRUE(restored.targets.front().success)
<< restored.targets.front().detail;
EXPECT_EQ(endpoint->operational_restores.load(), 1);
EXPECT_EQ(endpoint->recoveries.load(), 1);
EXPECT_EQ(
coordinator.snapshot().devices.front().admission_state,
DeviceAdmissionState::Open);
}
TEST(SafetyManagerTest, OperationalRestoreFailsClosedOnActiveEmergencyStop)
{
SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
endpoint->condition = SafetyCondition::Unsafe;
endpoint->ready = TriState::False;
endpoint->emergency_stop = TriState::True;
endpoint->quiescent = TriState::True;
endpoint->operational_restore_check = {
false,
SafetyReason::EmergencyStopActive,
"hardware emergency-stop input is still active"};
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.markStartupComplete();
coordinator.quarantineDevice("arm", SafetyReason::OutcomeUnknown);
const auto before = coordinator.snapshot();
RecoveryRequest request;
request.recovery_id = "restore-active-estop";
request.all_devices = true;
request.expected_safety_epoch = before.safety_epoch;
request.verify_only = false;
request.restore_operational_state = true;
request.reason = "operator requested recovery";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
request.authorize_clear = [] { return true; };
const auto restored = coordinator.recover(request);
EXPECT_EQ(restored.result, RecoveryResultCode::BlockerRemains);
EXPECT_EQ(restored.system_state, SystemAdmissionState::Latched);
ASSERT_EQ(restored.targets.size(), 1U);
EXPECT_FALSE(restored.targets.front().success);
EXPECT_EQ(
restored.targets.front().reason,
SafetyReason::EmergencyStopActive);
EXPECT_EQ(endpoint->operational_restores.load(), 0);
EXPECT_EQ(endpoint->recoveries.load(), 0);
}
TEST(SafetyManagerTest, OperationalRestoreDoesNotRecoverAnActiveDevice)
{
SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
endpoint->condition = SafetyCondition::Unsafe;
endpoint->ready = TriState::False;
endpoint->quiescent = TriState::False;
endpoint->fault = TriState::True;
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.markStartupComplete();
coordinator.quarantineDevice("arm", SafetyReason::OutcomeUnknown);
RecoveryRequest request;
request.recovery_id = "restore-active-device";
request.all_devices = true;
request.expected_safety_epoch = coordinator.snapshot().safety_epoch;
request.verify_only = false;
request.restore_operational_state = true;
request.reason = "operator requested recovery";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
request.authorize_clear = [] { return true; };
const auto restored = coordinator.recover(request);
EXPECT_EQ(restored.result, RecoveryResultCode::BlockerRemains);
ASSERT_EQ(restored.targets.size(), 1U);
EXPECT_EQ(
restored.targets.front().reason,
SafetyReason::DeviceStillMoving);
EXPECT_EQ(endpoint->operational_restores.load(), 0);
EXPECT_EQ(endpoint->recoveries.load(), 0);
}
TEST(SafetyManagerTest, OperationalRestoreAuditFailurePreventsDeviceRecovery)
{
SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
endpoint->condition = SafetyCondition::Unsafe;
endpoint->ready = TriState::False;
endpoint->protective_stop = TriState::True;
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.markStartupComplete();
coordinator.quarantineDevice("arm", SafetyReason::OutcomeUnknown);
RecoveryRequest request;
request.recovery_id = "restore-audit-failure";
request.all_devices = true;
request.expected_safety_epoch = coordinator.snapshot().safety_epoch;
request.verify_only = false;
request.restore_operational_state = true;
request.reason = "operator requested recovery";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
request.authorize_clear = [] { return false; };
const auto restored = coordinator.recover(request);
EXPECT_EQ(restored.result, RecoveryResultCode::BlockerRemains);
ASSERT_EQ(restored.targets.size(), 1U);
EXPECT_EQ(
restored.targets.front().reason,
SafetyReason::RecoveryAuditFailed);
EXPECT_EQ(endpoint->operational_restores.load(), 0);
EXPECT_EQ(endpoint->recoveries.load(), 0);
}
TEST(SafetyManagerTest, OperationalRestoreRequiresExplicitAuthorization)
{
SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, {}}));
coordinator.markStartupComplete();
RecoveryRequest request;
request.recovery_id = "restore-without-authorization";
request.all_devices = true;
request.expected_safety_epoch = coordinator.snapshot().safety_epoch;
request.verify_only = false;
request.restore_operational_state = true;
request.reason = "operator requested recovery";
const auto restored = coordinator.recover(request);
EXPECT_EQ(restored.result, RecoveryResultCode::Failed);
ASSERT_EQ(restored.targets.size(), 1U);
EXPECT_EQ(
restored.targets.front().reason,
SafetyReason::InvalidArgument);
EXPECT_EQ(endpoint->operational_restores.load(), 0);
}
TEST(SafetyManagerTest,
OperationalRestoreAuditFailureWithNoDevicesRemainsLatched)
{
SafetyManager coordinator;
coordinator.markStartupComplete();
RecoveryRequest request;
request.recovery_id = "empty-restore-audit-failure";
request.all_devices = true;
request.expected_safety_epoch = coordinator.snapshot().safety_epoch;
request.verify_only = false;
request.restore_operational_state = true;
request.reason = "operator requested recovery";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
request.authorize_clear = [] { return false; };
const auto restored = coordinator.recover(request);
EXPECT_EQ(restored.result, RecoveryResultCode::BlockerRemains);
EXPECT_EQ(restored.system_state, SystemAdmissionState::Latched);
ASSERT_EQ(restored.targets.size(), 1U);
EXPECT_EQ(restored.targets.front().target_id, "system");
EXPECT_EQ(
restored.targets.front().reason,
SafetyReason::RecoveryAuditFailed);
}
TEST(SafetyManagerTest,
OperationalRestoreDoesNotPartiallyReleaseSoftwareAdmission)
{
SafetyManager coordinator;
auto first = std::make_shared<FakeEndpoint>(
controlDescriptor("arm-first"));
first->condition = SafetyCondition::Unsafe;
first->ready = TriState::False;
first->protective_stop = TriState::True;
auto second = std::make_shared<FakeEndpoint>(
controlDescriptor("arm-second"));
second->condition = SafetyCondition::Unsafe;
second->ready = TriState::False;
second->fault = TriState::True;
second->operational_restore_check = {
false, SafetyReason::DeviceFault, "fault reset failed"};
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor("arm-first"), first, {}}));
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor("arm-second"), second, {}}));
coordinator.markStartupComplete();
coordinator.quarantineDevice(
"arm-first", SafetyReason::OutcomeUnknown);
coordinator.quarantineDevice(
"arm-second", SafetyReason::OutcomeUnknown);
RecoveryRequest request;
request.recovery_id = "restore-partial-failure";
request.all_devices = true;
request.expected_safety_epoch = coordinator.snapshot().safety_epoch;
request.verify_only = false;
request.restore_operational_state = true;
request.reason = "operator requested recovery";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
request.authorize_clear = [] { return true; };
const auto restored = coordinator.recover(request);
EXPECT_EQ(restored.result, RecoveryResultCode::BlockerRemains);
EXPECT_EQ(restored.system_state, SystemAdmissionState::Latched);
EXPECT_EQ(first->operational_restores.load(), 1);
EXPECT_EQ(second->operational_restores.load(), 1);
EXPECT_EQ(first->recoveries.load(), 0);
EXPECT_EQ(second->recoveries.load(), 0);
const auto snapshot = coordinator.snapshot();
ASSERT_EQ(snapshot.devices.size(), 2U);
for (const auto& device : snapshot.devices) {
EXPECT_EQ(
device.admission_state,
DeviceAdmissionState::Quarantined)
<< device.descriptor.device_id;
}
}
TEST(SafetyManagerTest, RecoveryAuditFailureCannotReleaseLatch)
{
SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
auto participant = std::make_shared<FakeParticipant>();
participant->verify_result = {
false, SafetyReason::StopUnconfirmed, "motion not confirmed"};
ASSERT_TRUE(coordinator.registerDevice(
{controlDescriptor(), endpoint, participant}));
coordinator.markStartupComplete();
const auto stopped = coordinator.stopAll(
"stop-audit", SafetyClock::now() + std::chrono::seconds(1));
ASSERT_FALSE(stopped.success);
participant->verify_result = {true, SafetyReason::None, {}};
RecoveryRequest request;
request.recovery_id = "recovery-audit";
request.all_devices = true;
request.expected_safety_epoch = stopped.current_safety_epoch;
request.verify_only = false;
request.reason = "operator inspected the work cell";
request.deadline = SafetyClock::now() + std::chrono::seconds(1);
request.authorize_clear = [] { return false; };
const auto recovered = coordinator.recover(request);
EXPECT_EQ(recovered.result, RecoveryResultCode::BlockerRemains);
EXPECT_EQ(recovered.system_state, SystemAdmissionState::Latched);
ASSERT_FALSE(recovered.targets.empty());
EXPECT_EQ(
recovered.targets.front().reason,
SafetyReason::RecoveryAuditFailed);
EXPECT_EQ(endpoint->recoveries.load(), 0);
EXPECT_EQ(participant->recoveries.load(), 0);
EXPECT_EQ(participant->releases.load(), 0);
}
} // namespace
} // namespace cmvr::safety

111
cmvr-es/manager/safety_manager/tests/safety_snapshot_store_test.cpp
View File

@ -1,111 +0,0 @@
#include "manager/safety_manager/include/safety_snapshot_store.h"
#include <atomic>
#include <chrono>
#include <thread>
#include <gtest/gtest.h>
namespace cmvr::safety {
namespace {
DeviceSafetyDescriptor descriptor()
{
DeviceSafetyDescriptor result;
result.device_id = "arm";
result.kind = device::DeviceKind::Arm;
result.default_policy = SafetyPolicyFamily::Control;
result.maximum_snapshot_age = std::chrono::milliseconds(50);
result.requires_safe_stop = true;
return result;
}
DeviceSafetySnapshot sample(
const std::uint64_t generation,
const std::uint64_t sequence,
const SafetyClock::time_point observed_at = SafetyClock::now())
{
DeviceSafetySnapshot result;
result.device_id = "arm";
result.condition = SafetyCondition::Nominal;
result.device_generation = generation;
result.sample_sequence = sequence;
result.observed_at = observed_at;
result.connected = TriState::True;
result.operational_ready = TriState::True;
result.quiescent = TriState::True;
result.motion_active = TriState::False;
result.emergency_stop_active = TriState::False;
result.protective_stop_active = TriState::False;
result.fault_active = TriState::False;
return result;
}
TEST(SafetySnapshotStoreTest, RejectsOldGenerationAndSequence)
{
SafetySnapshotStore store;
ASSERT_TRUE(store.registerDevice(descriptor(), 3));
EXPECT_FALSE(store.publish(sample(2, 1)));
ASSERT_TRUE(store.publish(sample(3, 2)));
EXPECT_FALSE(store.publish(sample(3, 2)));
EXPECT_FALSE(store.publish(sample(3, 1)));
EXPECT_TRUE(store.publish(sample(4, 1)));
const auto view = store.get("arm");
ASSERT_TRUE(view.registered);
EXPECT_EQ(view.snapshot.device_generation, 4U);
EXPECT_EQ(view.snapshot.sample_sequence, 1U);
}
TEST(SafetySnapshotStoreTest, FreshnessUsesMonotonicObservationTime)
{
SafetySnapshotStore store;
ASSERT_TRUE(store.registerDevice(descriptor()));
const auto observed = SafetyClock::now();
ASSERT_TRUE(store.publish(sample(1, 1, observed)));
EXPECT_TRUE(store.get(
"arm", observed + std::chrono::milliseconds(49)).fresh);
const auto stale = store.get(
"arm", observed + std::chrono::milliseconds(51));
EXPECT_FALSE(stale.fresh);
EXPECT_EQ(stale.sample_age, std::chrono::milliseconds(51));
}
TEST(SafetySnapshotStoreTest, BumpGenerationRequiresANewSample)
{
SafetySnapshotStore store;
ASSERT_TRUE(store.registerDevice(descriptor()));
ASSERT_TRUE(store.publish(sample(1, 8)));
ASSERT_EQ(store.bumpGeneration("arm"), 2U);
const auto view = store.get("arm");
EXPECT_FALSE(view.has_sample);
EXPECT_FALSE(view.fresh);
EXPECT_EQ(view.snapshot.device_generation, 2U);
EXPECT_FALSE(store.publish(sample(1, 9)));
EXPECT_TRUE(store.publish(sample(2, 1)));
}
TEST(SafetySnapshotStoreTest, WaiterObservesOnlyANewerSample)
{
SafetySnapshotStore store;
ASSERT_TRUE(store.registerDevice(descriptor()));
ASSERT_TRUE(store.publish(sample(1, 1)));
std::atomic<bool> published{false};
std::thread writer([&] {
std::this_thread::sleep_for(std::chrono::milliseconds(10));
published.store(store.publish(sample(1, 2)));
});
SafetySnapshotView view;
EXPECT_TRUE(store.waitForNewerSample(
"arm", 1, SafetyClock::now() + std::chrono::seconds(1), view));
writer.join();
EXPECT_TRUE(published.load());
EXPECT_EQ(view.snapshot.sample_sequence, 2U);
}
} // namespace
} // namespace cmvr::safety

27
cmvr-es/manager/task_manager/CMakeLists.txt
View File

@ -16,30 +16,3 @@ target_link_libraries(task_manager
add_library(cmvr_es::task_manager ALIAS task_manager)
install(TARGETS task_manager LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(task_manager_lifecycle_test
tests/task_manager_lifecycle_test.cpp
)
target_link_libraries(task_manager_lifecycle_test PRIVATE
cmvr_es::task_manager
cmvr_es::stop_all_admission_gate
gtest
gtest_main
pthread
)
add_test(
NAME task_manager_lifecycle_test
COMMAND task_manager_lifecycle_test
)
set(_task_manager_lifecycle_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _task_manager_lifecycle_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(task_manager_lifecycle_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_task_manager_lifecycle_test_environment}"
)
endif()

428
cmvr-es/manager/task_manager/tests/task_manager_lifecycle_test.cpp
View File

@ -1,428 +0,0 @@
#include "manager/task_manager/include/task_manager.h"
#include <atomic>
#include <condition_variable>
#include <future>
#include <memory>
#include <mutex>
#include <stdexcept>
#include <string>
#include <thread>
#include <vector>
#include <gtest/gtest.h>
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
#include "task/task_factory.h"
namespace {
struct TaskBehavior {
bool init_result{true};
bool start_result{true};
bool throw_on_start{false};
bool stop_activity_result{true};
bool block_start{false};
bool query_snapshot_on_stop{false};
};
TaskBehavior task_behavior;
std::vector<std::string> stop_order;
class LifecycleTask final : public cmvr::task::Task {
public:
explicit LifecycleTask(
std::string id,
const cmvr::task::TaskShutdownPhase shutdown_phase =
cmvr::task::TaskShutdownPhase::DEPENDENT_ACTIVITY)
: id_(std::move(id)),
shutdown_phase_(shutdown_phase)
{
}
const std::string& id() const override { return id_; }
cmvr::task::TaskRunMode runMode() const override
{
return cmvr::task::TaskRunMode::BLOCKING_SERVICE;
}
cmvr::task::TaskShutdownPhase shutdownPhase() const override
{
return shutdown_phase_;
}
bool init() override
{
++init_calls;
state_ = task_behavior.init_result
? cmvr::task::TaskState::IDLE
: cmvr::task::TaskState::FAILED;
return task_behavior.init_result;
}
bool start() override
{
++start_calls;
{
std::unique_lock lock(start_mutex);
start_entered = true;
start_condition.notify_all();
start_condition.wait(lock, [] {
return !task_behavior.block_start;
});
}
if (task_behavior.throw_on_start) {
throw std::runtime_error("start failure");
}
state_ = task_behavior.start_result
? cmvr::task::TaskState::RUNNING
: cmvr::task::TaskState::FAILED;
return task_behavior.start_result;
}
bool step(double) override { return true; }
void stop() override
{
++stop_calls;
if (task_behavior.query_snapshot_on_stop) {
(void)cmvr::task::TaskManager::activitySnapshotIfInitialized();
}
stop_order.push_back(id_);
state_ = cmvr::task::TaskState::STOPPED;
}
bool stopActivity() override
{
++stop_activity_calls;
return task_behavior.stop_activity_result;
}
cmvr::task::TaskState state() const override { return state_; }
bool isBusy() const override
{
return state_ == cmvr::task::TaskState::RUNNING;
}
bool isFinished() const override
{
return state_ == cmvr::task::TaskState::STOPPED;
}
bool isFailed() const override
{
return state_ == cmvr::task::TaskState::FAILED;
}
std::string stateString() const override
{
return cmvr::task::taskStateToString(state_);
}
std::string detailStatusString() const override
{
return stateString();
}
int init_calls{0};
int start_calls{0};
int stop_calls{0};
int stop_activity_calls{0};
std::mutex start_mutex;
std::condition_variable start_condition;
bool start_entered{false};
private:
std::string id_;
cmvr::task::TaskShutdownPhase shutdown_phase_;
cmvr::task::TaskState state_{
cmvr::task::TaskState::UNINITIALIZED};
};
std::shared_ptr<LifecycleTask> created_task;
std::shared_ptr<LifecycleTask> created_ingress_task;
cmvr::config::TaskManagerConfig enabledTaskConfig()
{
cmvr::config::TaskManagerConfig config;
auto* entry = config.add_tasks();
entry->set_id("lifecycle_task");
entry->set_type(
cmvr::config::TaskConfigEntry::TASK_TYPE_UME_TELEOP);
entry->set_enable(true);
entry->set_run_mode(
cmvr::config::TaskConfigEntry::
TASK_RUN_MODE_BLOCKING_SERVICE);
return config;
}
class TaskManagerLifecycleTest : public ::testing::Test {
protected:
void SetUp() override
{
cmvr::task::TaskManager::destroyInstance();
cmvr::service::globalStopAllAdmissionGate().clearForTesting();
task_behavior = {};
created_task.reset();
created_ingress_task.reset();
stop_order.clear();
cmvr::task::TaskFactory::registerCreator(
cmvr::config::TaskConfigEntry::TASK_TYPE_UME_TELEOP,
[](const cmvr::config::TaskConfigEntry& entry) {
created_task =
std::make_shared<LifecycleTask>(entry.id());
return created_task;
});
}
void TearDown() override
{
if (created_task) {
{
std::lock_guard lock(created_task->start_mutex);
task_behavior.block_start = false;
}
created_task->start_condition.notify_all();
}
cmvr::task::TaskManager::destroyInstance();
cmvr::service::globalStopAllAdmissionGate().clearForTesting();
created_task.reset();
created_ingress_task.reset();
stop_order.clear();
}
};
TEST_F(TaskManagerLifecycleTest,
EnabledTaskInitFailureMarksInitializationFailed)
{
task_behavior.init_result = false;
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
ASSERT_NE(created_task, nullptr);
EXPECT_FALSE(manager.initialized());
EXPECT_FALSE(manager.startRunTask());
EXPECT_FALSE(manager.running());
EXPECT_EQ(created_task->init_calls, 1);
EXPECT_EQ(created_task->start_calls, 0);
EXPECT_EQ(created_task->stop_calls, 1);
}
TEST_F(TaskManagerLifecycleTest,
TaskStartFailureIsReturnedAndRunningRemainsFalse)
{
task_behavior.start_result = false;
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
ASSERT_TRUE(manager.initialized());
ASSERT_NE(created_task, nullptr);
EXPECT_FALSE(manager.startRunTask());
EXPECT_FALSE(manager.running());
EXPECT_EQ(created_task->start_calls, 1);
EXPECT_EQ(created_task->stop_calls, 1);
}
TEST_F(TaskManagerLifecycleTest,
TaskStartExceptionIsReturnedAndRunningRemainsFalse)
{
task_behavior.throw_on_start = true;
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
ASSERT_TRUE(manager.initialized());
ASSERT_NE(created_task, nullptr);
EXPECT_FALSE(manager.startRunTask());
EXPECT_FALSE(manager.running());
EXPECT_EQ(created_task->start_calls, 1);
EXPECT_EQ(created_task->stop_calls, 1);
}
TEST_F(TaskManagerLifecycleTest, SuccessfulStartAndStopAreReported)
{
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
ASSERT_TRUE(manager.initialized());
ASSERT_NE(created_task, nullptr);
EXPECT_TRUE(manager.startRunTask());
EXPECT_TRUE(manager.running());
manager.stopRunTask();
EXPECT_FALSE(manager.running());
EXPECT_EQ(created_task->start_calls, 1);
EXPECT_EQ(created_task->stop_calls, 1);
}
TEST_F(TaskManagerLifecycleTest,
CommandIngressStopsBeforeDependentTaskActivity)
{
cmvr::task::TaskFactory::registerCreator(
cmvr::config::TaskConfigEntry::TASK_TYPE_GRPC_SERVER,
[](const cmvr::config::TaskConfigEntry& entry) {
created_ingress_task = std::make_shared<LifecycleTask>(
entry.id(),
cmvr::task::TaskShutdownPhase::COMMAND_INGRESS);
return created_ingress_task;
});
auto config = enabledTaskConfig();
auto* ingress = config.add_tasks();
ingress->set_id("control_ingress");
ingress->set_type(
cmvr::config::TaskConfigEntry::TASK_TYPE_GRPC_SERVER);
ingress->set_enable(true);
ingress->set_run_mode(
cmvr::config::TaskConfigEntry::TASK_RUN_MODE_BLOCKING_SERVICE);
auto& manager = cmvr::task::TaskManager::getInstance(config);
ASSERT_TRUE(manager.initialized());
ASSERT_TRUE(manager.startRunTask());
manager.stopRunTask();
ASSERT_EQ(stop_order.size(), 2U);
EXPECT_EQ(stop_order[0], "control_ingress");
EXPECT_EQ(stop_order[1], "lifecycle_task");
}
TEST_F(TaskManagerLifecycleTest,
DestroyDoesNotHoldSingletonLockWhileStoppingTasks)
{
task_behavior.query_snapshot_on_stop = true;
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
ASSERT_TRUE(manager.initialized());
ASSERT_TRUE(manager.startRunTask());
auto destroy = std::async(std::launch::async, [] {
cmvr::task::TaskManager::destroyInstance();
});
ASSERT_EQ(
destroy.wait_for(std::chrono::seconds(1)),
std::future_status::ready);
destroy.get();
ASSERT_NE(created_task, nullptr);
EXPECT_EQ(created_task->stop_calls, 1);
}
TEST_F(TaskManagerLifecycleTest,
StopAllActivitiesDoesNotStopSchedulerOrTaskLifecycle)
{
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
ASSERT_TRUE(manager.initialized());
ASSERT_TRUE(manager.startRunTask());
ASSERT_NE(created_task, nullptr);
EXPECT_TRUE(manager.stopAllActivities());
EXPECT_TRUE(manager.running());
EXPECT_EQ(created_task->stop_activity_calls, 1);
EXPECT_EQ(created_task->stop_calls, 0);
manager.stopRunTask();
EXPECT_EQ(created_task->stop_calls, 1);
}
TEST_F(TaskManagerLifecycleTest,
StopAllActivitiesReportsUnconfirmedOperationalStop)
{
task_behavior.stop_activity_result = false;
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
std::vector<std::string> failures;
EXPECT_FALSE(manager.stopAllActivities(&failures));
ASSERT_EQ(failures.size(), 1U);
EXPECT_NE(failures.front().find("lifecycle_task"), std::string::npos);
EXPECT_EQ(created_task->stop_calls, 0);
}
TEST_F(TaskManagerLifecycleTest,
StopAllActivitiesIsSuccessfulWhenManagerIsNotInitialized)
{
cmvr::task::TaskManager::destroyInstance();
std::vector<std::string> failures;
EXPECT_TRUE(
cmvr::task::TaskManager::stopAllActivitiesIfInitialized(&failures));
EXPECT_TRUE(failures.empty());
}
TEST_F(TaskManagerLifecycleTest, StartIsRejectedWhileStopAllAdmissionIsClosed)
{
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
auto& gate = cmvr::service::globalStopAllAdmissionGate();
const auto ticket = gate.beginStopAll();
EXPECT_FALSE(manager.startRunTask());
EXPECT_FALSE(manager.running());
ASSERT_NE(created_task, nullptr);
EXPECT_EQ(created_task->start_calls, 0);
EXPECT_TRUE(gate.finishStopAll(ticket, true));
EXPECT_TRUE(manager.startRunTask());
EXPECT_TRUE(manager.running());
}
TEST_F(TaskManagerLifecycleTest,
StartCrossingStopAllGenerationRollsBackStartedTasks)
{
task_behavior.block_start = true;
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
ASSERT_NE(created_task, nullptr);
std::atomic<bool> start_result{true};
std::thread starter([&] {
start_result.store(manager.startRunTask());
});
bool start_entered = false;
{
std::unique_lock lock(created_task->start_mutex);
start_entered = created_task->start_condition.wait_for(
lock, std::chrono::seconds(2), [&] {
return created_task->start_entered;
});
}
if (!start_entered) {
{
std::lock_guard lock(created_task->start_mutex);
task_behavior.block_start = false;
}
created_task->start_condition.notify_all();
starter.join();
FAIL() << "task start did not reach the generation-race barrier";
}
auto& gate = cmvr::service::globalStopAllAdmissionGate();
const auto ticket = gate.beginStopAll();
{
std::lock_guard lock(created_task->start_mutex);
task_behavior.block_start = false;
}
created_task->start_condition.notify_all();
starter.join();
EXPECT_FALSE(start_result.load());
EXPECT_FALSE(manager.running());
EXPECT_EQ(created_task->start_calls, 1);
EXPECT_EQ(created_task->stop_calls, 1);
EXPECT_TRUE(gate.finishStopAll(ticket, true));
EXPECT_TRUE(manager.startRunTask());
}
TEST_F(TaskManagerLifecycleTest,
FailedStopAllKeepsTaskStartupRejectedUntilSuccessfulRound)
{
auto& manager =
cmvr::task::TaskManager::getInstance(enabledTaskConfig());
auto& gate = cmvr::service::globalStopAllAdmissionGate();
auto ticket = gate.beginStopAll();
EXPECT_FALSE(gate.finishStopAll(ticket, false));
EXPECT_FALSE(manager.startRunTask());
ASSERT_NE(created_task, nullptr);
EXPECT_EQ(created_task->start_calls, 0);
ticket = gate.beginStopAll();
EXPECT_TRUE(gate.finishStopAll(ticket, true));
EXPECT_TRUE(manager.startRunTask());
}
} // namespace

30
cmvr-es/runtime/CMakeLists.txt
View File

@ -19,33 +19,3 @@ target_link_libraries(cmvr_runtime PUBLIC
add_library(cmvr_es::runtime ALIAS cmvr_runtime)
install(TARGETS cmvr_runtime LIBRARY DESTINATION lib ARCHIVE DESTINATION lib)
if(BUILD_TESTING)
add_executable(runtime_lifecycle_test
tests/runtime_lifecycle_test.cpp
)
target_compile_features(runtime_lifecycle_test PRIVATE cxx_std_17)
target_include_directories(runtime_lifecycle_test PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(runtime_lifecycle_test PRIVATE
cmvr_es::runtime
gtest
gtest_main
pthread
)
add_test(
NAME runtime_lifecycle_test
COMMAND runtime_lifecycle_test
)
set(_runtime_lifecycle_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _runtime_lifecycle_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(runtime_lifecycle_test PROPERTIES
TIMEOUT 20
ENVIRONMENT "${_runtime_lifecycle_test_environment}"
)
endif()

266
cmvr-es/runtime/tests/runtime_lifecycle_test.cpp
View File

@ -1,266 +0,0 @@
#include "runtime/include/cmvr_runtime.h"
#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#include <algorithm>
#include <array>
#include <cstdlib>
#include <filesystem>
#include <string>
#include <gtest/gtest.h>
#include "cmvr/config/cmvr_es_config/cmvr_es_config.pb.h"
#include "cmvr/config/device_manager_config/device_manager_config.pb.h"
#include "cmvr/config/grpc_server_config/grpc_server_config.pb.h"
#include "cmvr/config/logger_config/logger_config.pb.h"
#include "cmvr/config/task_manager_config/task_manager_config.pb.h"
#include "common/io/proto_file_io.h"
namespace {
class TempConfigTree {
public:
TempConfigTree()
{
std::array<char, 64> pattern{};
const std::string value =
"/tmp/cmvr-runtime-lifecycle-XXXXXX";
std::copy(value.begin(), value.end(), pattern.begin());
char* created = ::mkdtemp(pattern.data());
if (created) {
root_ = created;
}
}
~TempConfigTree()
{
if (root_.empty()) {
return;
}
std::error_code error;
std::filesystem::remove_all(root_, error);
}
bool valid() const { return !root_.empty(); }
template <typename Message>
bool write(const std::string& name, const Message& message) const
{
return ProtoMessageIo::setProtoToAsciiFile(
message, (root_ / name).string());
}
std::string path(const std::string& name) const
{
return (root_ / name).string();
}
bool writeLogger() const
{
cmvr::config::LoggerRootConfig root;
auto* logger = root.mutable_logger();
logger->set_minimum_level(
cmvr::config::LOG_LEVEL_INFO);
auto* route = logger->add_routes();
route->set_level(cmvr::config::LOG_LEVEL_INFO);
route->set_terminal(false);
route->set_file(false);
return write("logger.pb.txt", root);
}
bool writeRoot() const
{
cmvr::config::CMVRESRootConfig root;
auto* config = root.mutable_cmvr_es();
config->set_logger_config_file("logger.pb.txt");
config->set_device_manager_config_file(
"device_manager.pb.txt");
config->set_task_manager_config_file(
"task_manager.pb.txt");
return write("cmvr_es.pb.txt", root);
}
private:
std::filesystem::path root_;
};
class OccupiedTcpPort {
public:
OccupiedTcpPort()
{
fd_ = ::socket(AF_INET, SOCK_STREAM | SOCK_CLOEXEC, 0);
if (fd_ < 0) {
return;
}
sockaddr_in address{};
address.sin_family = AF_INET;
address.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
address.sin_port = 0;
if (::bind(fd_, reinterpret_cast<sockaddr*>(&address),
sizeof(address)) != 0 ||
::listen(fd_, 1) != 0) {
::close(fd_);
fd_ = -1;
return;
}
socklen_t length = sizeof(address);
if (::getsockname(fd_,
reinterpret_cast<sockaddr*>(&address),
&length) != 0) {
::close(fd_);
fd_ = -1;
return;
}
port_ = ntohs(address.sin_port);
}
~OccupiedTcpPort()
{
if (fd_ >= 0) {
::close(fd_);
}
}
bool valid() const { return fd_ >= 0 && port_ != 0; }
std::string port() const { return std::to_string(port_); }
private:
int fd_{-1};
unsigned short port_{0};
};
TEST(RuntimeLifecycleTest, EnabledDeviceInitFailureFailsRuntimeInit)
{
TempConfigTree tree;
ASSERT_TRUE(tree.valid());
ASSERT_TRUE(tree.writeLogger());
ASSERT_TRUE(tree.writeRoot());
cmvr::config::DeviceManagerRootConfig devices;
auto* entry =
devices.mutable_device_manager()->add_devices();
entry->set_id("unsupported");
entry->set_type(
cmvr::config::DeviceConfigEntry::DEVICE_TYPE_UNKNOWN);
entry->set_enable(true);
ASSERT_TRUE(tree.write("device_manager.pb.txt", devices));
cmvr::config::TaskManagerRootConfig tasks;
ASSERT_TRUE(tree.write("task_manager.pb.txt", tasks));
cmvr::Runtime runtime;
EXPECT_FALSE(runtime.init(tree.path("cmvr_es.pb.txt")));
EXPECT_FALSE(runtime.initialized());
EXPECT_FALSE(runtime.tasksStarted());
}
TEST(RuntimeLifecycleTest, EnabledTaskInitFailureFailsRuntimeInit)
{
TempConfigTree tree;
ASSERT_TRUE(tree.valid());
ASSERT_TRUE(tree.writeLogger());
ASSERT_TRUE(tree.writeRoot());
cmvr::config::DeviceManagerRootConfig devices;
ASSERT_TRUE(tree.write("device_manager.pb.txt", devices));
cmvr::config::TaskManagerRootConfig tasks;
auto* entry = tasks.mutable_task_manager()->add_tasks();
entry->set_id("unsupported");
entry->set_type(
cmvr::config::TaskConfigEntry::TASK_TYPE_UNKNOWN);
entry->set_enable(true);
entry->set_run_mode(
cmvr::config::TaskConfigEntry::
TASK_RUN_MODE_BLOCKING_SERVICE);
ASSERT_TRUE(tree.write("task_manager.pb.txt", tasks));
cmvr::Runtime runtime;
EXPECT_FALSE(runtime.init(tree.path("cmvr_es.pb.txt")));
EXPECT_FALSE(runtime.initialized());
EXPECT_FALSE(runtime.tasksStarted());
}
TEST(RuntimeLifecycleTest,
TaskConfigLoadFailureRollsBackDeviceManagerSingleton)
{
TempConfigTree first_tree;
ASSERT_TRUE(first_tree.valid());
ASSERT_TRUE(first_tree.writeLogger());
ASSERT_TRUE(first_tree.writeRoot());
cmvr::config::DeviceManagerRootConfig first_devices;
first_devices.mutable_device_manager()->set_name("first");
ASSERT_TRUE(first_tree.write(
"device_manager.pb.txt", first_devices));
// Deliberately do not create task_manager.pb.txt.
cmvr::Runtime runtime;
ASSERT_FALSE(
runtime.init(first_tree.path("cmvr_es.pb.txt")));
ASSERT_FALSE(runtime.initialized());
TempConfigTree second_tree;
ASSERT_TRUE(second_tree.valid());
ASSERT_TRUE(second_tree.writeLogger());
ASSERT_TRUE(second_tree.writeRoot());
cmvr::config::DeviceManagerRootConfig second_devices;
second_devices.mutable_device_manager()->set_name("second");
ASSERT_TRUE(second_tree.write(
"device_manager.pb.txt", second_devices));
cmvr::config::TaskManagerRootConfig second_tasks;
ASSERT_TRUE(second_tree.write(
"task_manager.pb.txt", second_tasks));
ASSERT_TRUE(
runtime.init(second_tree.path("cmvr_es.pb.txt")));
EXPECT_EQ(runtime.deviceManager().name(), "second");
}
TEST(RuntimeLifecycleTest, GrpcBindFailureDoesNotMarkTasksStarted)
{
OccupiedTcpPort occupied_port;
ASSERT_TRUE(occupied_port.valid());
TempConfigTree tree;
ASSERT_TRUE(tree.valid());
ASSERT_TRUE(tree.writeLogger());
ASSERT_TRUE(tree.writeRoot());
cmvr::config::DeviceManagerRootConfig devices;
ASSERT_TRUE(tree.write("device_manager.pb.txt", devices));
cmvr::config::GRPCServerRootConfig grpc;
auto* grpc_config = grpc.mutable_grpc_server();
grpc_config->set_id("grpc_server");
grpc_config->set_host("127.0.0.1");
grpc_config->set_port(occupied_port.port());
ASSERT_TRUE(tree.write("grpc.pb.txt", grpc));
cmvr::config::TaskManagerRootConfig tasks;
auto* entry = tasks.mutable_task_manager()->add_tasks();
entry->set_id("grpc_server");
entry->set_type(
cmvr::config::TaskConfigEntry::TASK_TYPE_GRPC_SERVER);
entry->set_enable(true);
entry->set_run_mode(
cmvr::config::TaskConfigEntry::
TASK_RUN_MODE_BLOCKING_SERVICE);
entry->set_config_file("grpc.pb.txt");
ASSERT_TRUE(tree.write("task_manager.pb.txt", tasks));
cmvr::Runtime runtime;
ASSERT_TRUE(runtime.init(tree.path("cmvr_es.pb.txt")));
EXPECT_FALSE(runtime.startTasks());
EXPECT_FALSE(runtime.tasksStarted());
EXPECT_FALSE(runtime.taskManager().running());
}
} // namespace

1
cmvr-es/service/README.md
View File

@ -121,7 +121,6 @@ ActionQueue 遵循以下执行语义：
- 实现：[`grpc/server/include/grpc_motor_service.h`](grpc/server/include/grpc_motor_service.h)
和 [`grpc/server/src/grpc_motor_service.cpp`](grpc/server/src/grpc_motor_service.cpp)
- 注册：[`../task/grpc_server_task/src/grpc_server_task.cpp`](../task/grpc_server_task/src/grpc_server_task.cpp)
- 单元测试：[`grpc/server/tests/grpc_motor_service_test.cpp`](grpc/server/tests/grpc_motor_service_test.cpp)
服务按单电机仲裁。同步 Profile 命令、Cyclic Position/Velocity 双向流、
`setEnabled`、状态读取和软件 `emergencyStop` 共用同一控制权状态：

430
cmvr-es/service/grpc/CMakeLists.txt
View File

@ -49,136 +49,6 @@ add_library(cmvr_es::service ALIAS service)
install(TARGETS service LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(stop_all_admission_gate_test
stop_all/tests/stop_all_admission_gate_test.cpp
stop_all/src/stop_all_admission_gate.cpp
)
target_include_directories(stop_all_admission_gate_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(stop_all_admission_gate_test PRIVATE
gtest
gtest_main
pthread
)
add_test(
NAME stop_all_admission_gate_test
COMMAND stop_all_admission_gate_test
)
set_tests_properties(stop_all_admission_gate_test PROPERTIES TIMEOUT 10)
add_executable(stop_operation_dispatcher_test
stop_all/tests/stop_operation_dispatcher_test.cpp
stop_all/src/stop_operation_dispatcher.cpp
)
target_include_directories(stop_operation_dispatcher_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(stop_operation_dispatcher_test PRIVATE
gtest
gtest_main
pthread
)
add_test(
NAME stop_operation_dispatcher_test
COMMAND stop_operation_dispatcher_test
)
set_tests_properties(stop_operation_dispatcher_test PROPERTIES TIMEOUT 10)
add_executable(camera_operational_activity_registry_test
server/tests/camera_operational_activity_registry_test.cpp
)
target_include_directories(camera_operational_activity_registry_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(camera_operational_activity_registry_test PRIVATE
cmvr_es::proto
cmvr_es::camera_operational_activity_registry
gtest
gtest_main
pthread
)
add_test(
NAME camera_operational_activity_registry_test
COMMAND camera_operational_activity_registry_test
)
set_tests_properties(camera_operational_activity_registry_test PROPERTIES
TIMEOUT 10)
add_executable(camera_ptz_activity_registry_test
server/tests/camera_ptz_activity_registry_test.cpp
server/src/camera_ptz_activity_registry.cpp
stop_all/src/stop_all_admission_gate.cpp
)
target_include_directories(camera_ptz_activity_registry_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(camera_ptz_activity_registry_test PRIVATE
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME camera_ptz_activity_registry_test
COMMAND camera_ptz_activity_registry_test
)
set_tests_properties(camera_ptz_activity_registry_test PROPERTIES TIMEOUT 10)
add_executable(media_activity_coordinator_test
server/tests/media_activity_coordinator_test.cpp
server/src/media_activity_coordinator.cpp
stop_all/src/stop_all_admission_gate.cpp
)
target_include_directories(media_activity_coordinator_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(media_activity_coordinator_test PRIVATE
cmvr_es::logging
pthread
)
add_test(
NAME media_activity_coordinator_test
COMMAND media_activity_coordinator_test
)
set(_grpc_media_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _grpc_media_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(media_activity_coordinator_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_media_test_environment}"
)
add_executable(motor_activity_coordinator_test
server/tests/motor_activity_coordinator_test.cpp
server/src/motor_activity_coordinator.cpp
)
target_include_directories(motor_activity_coordinator_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(motor_activity_coordinator_test PRIVATE
cmvr_es::logging
pthread
)
add_test(
NAME motor_activity_coordinator_test
COMMAND motor_activity_coordinator_test
)
set_tests_properties(motor_activity_coordinator_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_media_test_environment}"
)
add_executable(grpc_camera_stream_policy_test
server/tests/grpc_camera_stream_policy_test.cpp
)
@ -191,306 +61,6 @@ if(BUILD_TESTING)
COMMAND grpc_camera_stream_policy_test
)
set_tests_properties(grpc_camera_stream_policy_test PROPERTIES TIMEOUT 10)
add_executable(grpc_system_service_test
server/tests/grpc_system_service_test.cpp
)
target_include_directories(grpc_system_service_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
)
target_link_libraries(grpc_system_service_test
PRIVATE
service
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_system_service_test
COMMAND grpc_system_service_test
)
set(_grpc_system_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _grpc_system_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(grpc_system_service_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_system_test_environment}"
)
add_executable(grpc_error_logging_interceptor_test
server/tests/grpc_error_logging_interceptor_test.cpp
server/src/grpc_error_logging_interceptor.cpp
)
target_include_directories(grpc_error_logging_interceptor_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(grpc_error_logging_interceptor_test
PRIVATE
cmvr_es::logging
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_error_logging_interceptor_test
COMMAND grpc_error_logging_interceptor_test
)
set_tests_properties(grpc_error_logging_interceptor_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_system_test_environment}"
)
add_executable(grpc_security_test
server/tests/grpc_security_test.cpp
server/src/grpc_security.cpp
)
target_include_directories(grpc_security_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(grpc_security_test
PRIVATE
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_security_test
COMMAND grpc_security_test
)
set_tests_properties(grpc_security_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_system_test_environment}"
)
add_executable(grpc_command_transaction_test
server/tests/grpc_command_transaction_test.cpp
server/src/grpc_command_transaction.cpp
server/src/grpc_safety_proto.cpp
server/src/grpc_security.cpp
)
target_include_directories(grpc_command_transaction_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(grpc_command_transaction_test PRIVATE
cmvr_es::safety_manager
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_command_transaction_test
COMMAND grpc_command_transaction_test
)
set_tests_properties(grpc_command_transaction_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_system_test_environment}"
)
add_executable(grpc_arm_service_test
server/tests/grpc_arm_service_test.cpp
)
target_include_directories(grpc_arm_service_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
)
target_link_libraries(grpc_arm_service_test
PRIVATE
service
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_arm_service_test
COMMAND grpc_arm_service_test
)
set_tests_properties(grpc_arm_service_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_system_test_environment}"
)
add_executable(grpc_arm_teleop_service_test
server/tests/grpc_arm_teleop_service_test.cpp
)
target_include_directories(grpc_arm_teleop_service_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(grpc_arm_teleop_service_test
PRIVATE
service
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_arm_teleop_service_test
COMMAND grpc_arm_teleop_service_test
)
set(_grpc_arm_teleop_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _grpc_arm_teleop_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(grpc_arm_teleop_service_test PROPERTIES
TIMEOUT 20
ENVIRONMENT "${_grpc_arm_teleop_test_environment}"
)
add_executable(grpc_robot_arm_teleop_backend_test
server/tests/grpc_robot_arm_teleop_backend_test.cpp
)
target_include_directories(grpc_robot_arm_teleop_backend_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
)
target_link_libraries(grpc_robot_arm_teleop_backend_test
PRIVATE
service
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_robot_arm_teleop_backend_test
COMMAND grpc_robot_arm_teleop_backend_test
)
set_tests_properties(grpc_robot_arm_teleop_backend_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_arm_teleop_test_environment}"
)
add_executable(grpc_motor_service_test
server/tests/grpc_motor_service_test.cpp
)
target_include_directories(grpc_motor_service_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
)
target_link_libraries(grpc_motor_service_test
PRIVATE
service
gtest
gtest_main
pthread
)
add_test(
NAME grpc_motor_service_test
COMMAND grpc_motor_service_test
)
set(_grpc_motor_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _grpc_motor_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(grpc_motor_service_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_motor_test_environment}"
)
add_executable(grpc_agv_service_test
server/tests/grpc_agv_service_test.cpp
)
target_include_directories(grpc_agv_service_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
)
target_link_libraries(grpc_agv_service_test
PRIVATE
service
gtest
gtest_main
pthread
)
add_test(
NAME grpc_agv_service_test
COMMAND grpc_agv_service_test
)
set(_grpc_agv_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
)
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _grpc_agv_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(grpc_agv_service_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_grpc_agv_test_environment}"
)
add_executable(grpc_head_service_test
server/tests/grpc_head_service_test.cpp
)
target_include_directories(grpc_head_service_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
)
target_link_libraries(grpc_head_service_test
PRIVATE
service
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_head_service_test
COMMAND grpc_head_service_test
)
set_tests_properties(grpc_head_service_test PROPERTIES
TIMEOUT 15
ENVIRONMENT "${_grpc_system_test_environment}"
)
add_executable(grpc_dexhand_service_test
server/tests/grpc_dexhand_service_test.cpp
)
target_include_directories(grpc_dexhand_service_test
PRIVATE
${CMAKE_SOURCE_DIR}/cmvr-es
${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
)
target_link_libraries(grpc_dexhand_service_test
PRIVATE
service
cmvr_es::proto
gtest
gtest_main
pthread
)
add_test(
NAME grpc_dexhand_service_test
COMMAND grpc_dexhand_service_test
)
set_tests_properties(grpc_dexhand_service_test PROPERTIES
TIMEOUT 15
ENVIRONMENT "${_grpc_system_test_environment}"
)
endif()
# --------------------------------------------------------

22
cmvr-es/service/grpc/client/CMakeLists.txt
View File

@ -14,25 +14,3 @@ target_link_libraries(arm_teleop_client
add_library(cmvr_es::arm_teleop_client ALIAS arm_teleop_client)
install(TARGETS arm_teleop_client ARCHIVE DESTINATION lib)
if(BUILD_TESTING)
add_executable(grpc_arm_teleop_client_test
tests/grpc_arm_teleop_client_test.cpp
)
target_compile_features(grpc_arm_teleop_client_test PRIVATE cxx_std_17)
target_link_libraries(grpc_arm_teleop_client_test
PRIVATE
cmvr_es::arm_teleop_client
Threads::Threads
)
add_test(NAME grpc_arm_teleop_client_test COMMAND grpc_arm_teleop_client_test)
set(_arm_teleop_client_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _arm_teleop_client_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(grpc_arm_teleop_client_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_arm_teleop_client_test_environment}")
endif()

220
cmvr-es/service/grpc/client/tests/grpc_arm_teleop_client_test.cpp
View File

@ -1,220 +0,0 @@
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <cstdio>
#include <iostream>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <grpcpp/grpcpp.h>
#include <unistd.h>
#include "cmvr/api/arm_teleop_v1.grpc.pb.h"
#include "service/grpc/client/include/grpc_arm_teleop_client.h"
namespace {
using namespace std::chrono_literals;
namespace api = cmvr::api::armteleop::v1;
class TestArmTeleopService final : public api::ArmTeleopService::Service {
public:
grpc::Status Teleoperate(
grpc::ServerContext*,
grpc::ServerReaderWriter<api::ServerFrame, api::ClientFrame>* stream) override
{
api::ClientFrame frame;
if (!stream->Read(&frame) || !frame.has_open()) {
return grpc::Status(
grpc::StatusCode::INVALID_ARGUMENT,
"OpenSession must be first");
}
{
std::lock_guard lock(mutex_);
open_received_ = true;
}
condition_.notify_all();
api::ServerFrame opened;
opened.mutable_status()->set_session_id("client-test-session");
opened.mutable_status()->set_phase(api::SESSION_PHASE_OPENED);
if (!stream->Write(opened)) {
return grpc::Status::OK;
}
while (stream->Read(&frame)) {
if (frame.has_heartbeat()) {
heartbeat_received_.store(true);
condition_.notify_all();
}
}
handler_finished_.store(true);
condition_.notify_all();
return grpc::Status::OK;
}
bool waitForOpen(const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(lock, timeout, [this] { return open_received_; });
}
bool waitForHeartbeat(const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [this] { return heartbeat_received_.load(); });
}
bool waitForHandlerFinish(const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [this] { return handler_finished_.load(); });
}
private:
std::mutex mutex_;
std::condition_variable condition_;
bool open_received_{false};
std::atomic<bool> heartbeat_received_{false};
std::atomic<bool> handler_finished_{false};
};
int fail(const std::string& detail)
{
std::cerr << "grpc_arm_teleop_client_test: " << detail << '\n';
return 1;
}
} // namespace
int main()
{
TestArmTeleopService service;
const std::string socket_path =
"/tmp/cmvr_arm_teleop_client_test_" +
std::to_string(static_cast<long long>(::getpid())) + ".sock";
std::remove(socket_path.c_str());
const std::string endpoint = "unix:" + socket_path;
grpc::ServerBuilder builder;
builder.AddListeningPort(
endpoint,
grpc::InsecureServerCredentials());
builder.RegisterService(&service);
std::unique_ptr<grpc::Server> server = builder.BuildAndStart();
if (!server) {
return fail("failed to start in-process gRPC server");
}
auto channel = grpc::CreateChannel(
endpoint,
grpc::InsecureChannelCredentials());
cmvr::teleop::GrpcArmTeleopClient client(channel);
api::OpenSession open;
open.set_protocol_major(1);
open.set_protocol_minor(0);
open.set_client_instance_id("grpc-client-test");
open.mutable_expected_robot()->set_robot_id("test-arm");
open.set_watchdog_timeout_ms(100);
open.set_requested_lease_ms(500);
std::mutex frame_mutex;
std::condition_variable frame_condition;
bool opened_received = false;
grpc::Status session_status;
std::thread session_thread([&] {
session_status = client.runSession(
open,
[&](const api::ServerFrame& frame) {
if (frame.has_status() &&
frame.status().phase() == api::SESSION_PHASE_OPENED) {
{
std::lock_guard lock(frame_mutex);
opened_received = true;
}
frame_condition.notify_all();
}
});
});
if (!service.waitForOpen(2s)) {
client.tryCancel();
session_thread.join();
server->Shutdown();
return fail("server did not receive OpenSession");
}
{
std::unique_lock lock(frame_mutex);
if (!frame_condition.wait_for(lock, 2s, [&] { return opened_received; })) {
client.tryCancel();
session_thread.join();
server->Shutdown();
return fail("client did not receive OPENED status");
}
}
if (!client.isSessionActive()) {
client.tryCancel();
session_thread.join();
server->Shutdown();
return fail("client did not expose an active session");
}
const std::uint64_t generation =
client.activeSessionGeneration();
if (generation == 0) {
client.tryCancel();
session_thread.join();
server->Shutdown();
return fail("active stream did not expose a session generation");
}
api::ClientHeartbeat heartbeat;
heartbeat.set_sequence(1);
if (client.sendHeartbeat(heartbeat, generation + 1)) {
client.tryCancel();
session_thread.join();
server->Shutdown();
return fail("stale session generation was allowed to write");
}
if (!client.sendHeartbeat(heartbeat, generation) ||
!service.waitForHeartbeat(2s)) {
client.tryCancel();
session_thread.join();
server->Shutdown();
return fail("heartbeat did not traverse the active stream");
}
const auto cancel_begin = std::chrono::steady_clock::now();
client.tryCancel();
session_thread.join();
const auto cancel_elapsed = std::chrono::steady_clock::now() - cancel_begin;
if (cancel_elapsed > 2s) {
server->Shutdown();
return fail("TryCancel did not unblock and join the session promptly");
}
if (session_status.error_code() != grpc::StatusCode::CANCELLED) {
server->Shutdown();
return fail(
"cancelled session returned unexpected status: " +
std::to_string(session_status.error_code()));
}
if (client.isSessionActive()) {
server->Shutdown();
return fail("client retained an active stream after cancellation");
}
if (!service.waitForHandlerFinish(2s)) {
server->Shutdown();
return fail("server handler did not observe client cancellation");
}
server->Shutdown();
std::remove(socket_path.c_str());
std::cout << "grpc_arm_teleop_client_test: PASS\n";
return 0;
}

491
cmvr-es/service/grpc/server/tests/camera_operational_activity_registry_test.cpp
View File

@ -1,491 +0,0 @@
#include "service/grpc/server/include/camera_operational_activity_registry.h"
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
#include <gtest/gtest.h>
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
namespace cmvr::service {
namespace {
class TestCamera final : public device::AbstractCamera {
public:
explicit TestCamera(std::string id)
{
id_ = std::move(id);
state_.is_initialized = true;
}
std::string typeName() const override { return "TestCamera"; }
void getState(device::CameraState& state) override
{
std::lock_guard lock(mutex_);
state = state_;
}
bool start() override
{
++lifecycle_start_calls_;
return true;
}
bool stop() override
{
++lifecycle_stop_calls_;
std::lock_guard lock(mutex_);
operational_active_ = false;
state_.is_opened = false;
return !fail_lifecycle_stop_;
}
bool startOperationalActivity() override
{
++operational_start_calls_;
{
std::unique_lock lock(mutex_);
start_entered_ = true;
condition_.notify_all();
condition_.wait(lock, [this] { return !block_start_; });
if (fail_operational_start_) {
return false;
}
operational_active_ = true;
state_.is_opened = true;
}
return true;
}
bool stopOperationalActivity() override
{
++operational_stop_calls_;
std::unique_lock lock(mutex_);
stop_entered_ = true;
condition_.notify_all();
condition_.wait(lock, [this] { return !block_stop_; });
if (fail_operational_stop_) {
return false;
}
operational_active_ = false;
state_.is_opened = false;
return true;
}
void setFailOperationalStart(const bool fail)
{
fail_operational_start_ = fail;
}
void setFailOperationalStop(const bool fail)
{
fail_operational_stop_ = fail;
}
void blockStop()
{
std::lock_guard lock(mutex_);
block_stop_ = true;
stop_entered_ = false;
}
void waitForStopEntered()
{
std::unique_lock lock(mutex_);
condition_.wait(lock, [this] { return stop_entered_; });
}
void releaseStop()
{
{
std::lock_guard lock(mutex_);
block_stop_ = false;
}
condition_.notify_all();
}
void blockStart()
{
std::lock_guard lock(mutex_);
block_start_ = true;
start_entered_ = false;
}
void waitForStartEntered()
{
std::unique_lock lock(mutex_);
condition_.wait(lock, [this] { return start_entered_; });
}
void releaseStart()
{
{
std::lock_guard lock(mutex_);
block_start_ = false;
}
condition_.notify_all();
}
bool operationalActive() const
{
std::lock_guard lock(mutex_);
return operational_active_;
}
int lifecycleStartCalls() const { return lifecycle_start_calls_; }
int lifecycleStopCalls() const { return lifecycle_stop_calls_; }
int operationalStartCalls() const { return operational_start_calls_; }
int operationalStopCalls() const { return operational_stop_calls_; }
private:
mutable std::mutex mutex_;
std::condition_variable condition_;
bool operational_active_{false};
bool fail_operational_start_{false};
bool fail_operational_stop_{false};
bool fail_lifecycle_stop_{false};
bool block_start_{false};
bool start_entered_{false};
bool block_stop_{false};
bool stop_entered_{false};
std::atomic<int> lifecycle_start_calls_{0};
std::atomic<int> lifecycle_stop_calls_{0};
std::atomic<int> operational_start_calls_{0};
std::atomic<int> operational_stop_calls_{0};
};
class CameraOperationalActivityRegistryTest : public ::testing::Test {
protected:
void SetUp() override
{
globalStopAllAdmissionGate().clearForTesting();
}
void TearDown() override
{
globalStopAllAdmissionGate().clearForTesting();
}
};
TEST_F(CameraOperationalActivityRegistryTest,
StopAllStopsTrackedActivityWithoutLifecycleStopAndCanRestart)
{
CameraOperationalActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera");
EXPECT_EQ(
registry.start(camera->id(), camera),
CameraOperationalActivityRegistry::DispatchResult::Success);
EXPECT_TRUE(camera->operationalActive());
EXPECT_EQ(registry.activeCameraCount(), 1U);
auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_FALSE(camera->operationalActive());
EXPECT_EQ(camera->lifecycleStopCalls(), 0);
EXPECT_EQ(camera->operationalStopCalls(), 1);
EXPECT_EQ(registry.activeCameraCount(), 0U);
ASSERT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
EXPECT_EQ(
registry.start(camera->id(), camera),
CameraOperationalActivityRegistry::DispatchResult::Success);
EXPECT_TRUE(camera->operationalActive());
EXPECT_EQ(camera->operationalStartCalls(), 2);
EXPECT_EQ(camera->lifecycleStartCalls(), 0);
}
TEST_F(CameraOperationalActivityRegistryTest,
FailedOperationalStopRemainsTrackedAndKeepsAdmissionClosed)
{
CameraOperationalActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera");
ASSERT_EQ(
registry.start(camera->id(), camera),
CameraOperationalActivityRegistry::DispatchResult::Success);
camera->setFailOperationalStop(true);
auto ticket = globalStopAllAdmissionGate().beginStopAll();
std::vector<std::string> failures;
EXPECT_FALSE(registry.stopAllActivities(&failures));
EXPECT_EQ(registry.activeCameraCount(), 1U);
ASSERT_EQ(failures.size(), 1U);
EXPECT_EQ(
registry.start(camera->id(), camera),
CameraOperationalActivityRegistry::DispatchResult::RejectedByStopAll);
EXPECT_FALSE(globalStopAllAdmissionGate().finishStopAll(ticket, false));
camera->setFailOperationalStop(false);
ticket = globalStopAllAdmissionGate().beginStopAll();
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
EXPECT_EQ(registry.activeCameraCount(), 0U);
}
TEST_F(CameraOperationalActivityRegistryTest,
StopAllWaitsForRacingStartThenStopsTheStartedActivity)
{
CameraOperationalActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera");
camera->blockStart();
CameraOperationalActivityRegistry::DispatchResult start_result =
CameraOperationalActivityRegistry::DispatchResult::DeviceFailure;
std::thread start_thread([&] {
start_result = registry.start(camera->id(), camera);
});
camera->waitForStartEntered();
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
std::atomic<bool> stop_returned{false};
bool stop_result = false;
std::thread stop_thread([&] {
stop_result = registry.stopAllActivities();
stop_returned = true;
});
std::this_thread::yield();
EXPECT_FALSE(stop_returned.load());
camera->releaseStart();
start_thread.join();
stop_thread.join();
EXPECT_EQ(
start_result,
CameraOperationalActivityRegistry::DispatchResult::Success);
EXPECT_TRUE(stop_result);
EXPECT_FALSE(camera->operationalActive());
EXPECT_EQ(camera->operationalStopCalls(), 1);
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
TEST_F(CameraOperationalActivityRegistryTest,
TrackedIdsExposeAStartThatIsStillInsideDriverIo)
{
CameraOperationalActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera.pending");
camera->blockStart();
CameraOperationalActivityRegistry::DispatchResult start_result =
CameraOperationalActivityRegistry::DispatchResult::DeviceFailure;
std::thread start_thread([&] {
start_result = registry.start(camera->id(), camera);
});
camera->waitForStartEntered();
const auto snapshot_started = std::chrono::steady_clock::now();
EXPECT_EQ(
registry.trackedDeviceIds(),
(std::vector<std::string>{"camera.pending"}));
EXPECT_LT(
std::chrono::steady_clock::now() - snapshot_started,
std::chrono::milliseconds(100));
camera->releaseStart();
start_thread.join();
EXPECT_EQ(
start_result,
CameraOperationalActivityRegistry::DispatchResult::Success);
}
TEST_F(CameraOperationalActivityRegistryTest,
DefaultOperationalStopFailsClosed)
{
class UnsupportedCamera final : public device::AbstractCamera {
public:
UnsupportedCamera() { id_ = "unsupported"; }
std::string typeName() const override { return "UnsupportedCamera"; }
void getState(device::CameraState& state) override { state = {}; }
};
CameraOperationalActivityRegistry registry;
auto camera = std::make_shared<UnsupportedCamera>();
ASSERT_EQ(
registry.start(camera->id(), camera),
CameraOperationalActivityRegistry::DispatchResult::Success);
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
EXPECT_FALSE(registry.stopAllActivities());
EXPECT_EQ(registry.activeCameraCount(), 1U);
EXPECT_FALSE(globalStopAllAdmissionGate().finishStopAll(ticket, false));
}
TEST_F(CameraOperationalActivityRegistryTest,
StopForDeviceIsSelectiveAndActiveIdsReflectFailures)
{
CameraOperationalActivityRegistry registry;
auto first = std::make_shared<TestCamera>("camera.first");
auto second = std::make_shared<TestCamera>("camera.second");
ASSERT_EQ(
registry.start(first->id(), first),
CameraOperationalActivityRegistry::DispatchResult::Success);
ASSERT_EQ(
registry.start(second->id(), second),
CameraOperationalActivityRegistry::DispatchResult::Success);
EXPECT_EQ(
registry.activeDeviceIds(),
(std::vector<std::string>{"camera.first", "camera.second"}));
EXPECT_EQ(
registry.trackedDeviceIds(),
(std::vector<std::string>{"camera.first", "camera.second"}));
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
first->setFailOperationalStop(true);
std::vector<std::string> failures;
EXPECT_FALSE(registry.stopActivitiesForDevice(first->id(), &failures));
EXPECT_EQ(failures.size(), 1U);
EXPECT_TRUE(first->operationalActive());
EXPECT_TRUE(second->operationalActive());
EXPECT_EQ(second->operationalStopCalls(), 0);
first->setFailOperationalStop(false);
EXPECT_TRUE(registry.stopActivitiesForDevice(first->id()));
EXPECT_EQ(
registry.activeDeviceIds(),
(std::vector<std::string>{"camera.second"}));
EXPECT_TRUE(registry.stopActivitiesForDevice("missing"));
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_TRUE(registry.activeDeviceIds().empty());
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
EXPECT_EQ(first->lifecycleStopCalls(), 0);
EXPECT_EQ(second->lifecycleStopCalls(), 0);
}
TEST_F(CameraOperationalActivityRegistryTest,
InventoryFallbackStopsOncePerStopAllRoundAndCanStopAgainLater)
{
CameraOperationalActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("inventory-camera");
ASSERT_TRUE(camera->startOperationalActivity());
auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_TRUE(registry.stopActivitiesForDevice(camera->id(), camera));
EXPECT_TRUE(registry.stopActivitiesForDevice(camera->id(), camera));
EXPECT_FALSE(camera->operationalActive());
EXPECT_EQ(camera->operationalStopCalls(), 1);
EXPECT_EQ(camera->lifecycleStopCalls(), 0);
ASSERT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
ASSERT_TRUE(camera->startOperationalActivity());
ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_TRUE(registry.stopActivitiesForDevice(camera->id(), camera));
EXPECT_FALSE(camera->operationalActive());
EXPECT_EQ(camera->operationalStopCalls(), 2);
EXPECT_EQ(camera->lifecycleStopCalls(), 0);
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
TEST_F(CameraOperationalActivityRegistryTest,
TrackedCameraTakesPrecedenceOverInventoryFallback)
{
CameraOperationalActivityRegistry registry;
auto tracked = std::make_shared<TestCamera>("camera");
auto fallback = std::make_shared<TestCamera>("camera");
ASSERT_EQ(
registry.start(tracked->id(), tracked),
CameraOperationalActivityRegistry::DispatchResult::Success);
ASSERT_TRUE(fallback->startOperationalActivity());
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_TRUE(registry.stopActivitiesForDevice(
tracked->id(), fallback));
EXPECT_FALSE(tracked->operationalActive());
EXPECT_EQ(tracked->operationalStopCalls(), 1);
EXPECT_TRUE(fallback->operationalActive());
EXPECT_EQ(fallback->operationalStopCalls(), 0);
EXPECT_EQ(tracked->lifecycleStopCalls(), 0);
EXPECT_EQ(fallback->lifecycleStopCalls(), 0);
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
TEST_F(CameraOperationalActivityRegistryTest,
ActiveDeviceIdCannotBeReboundToAnotherCameraInstance)
{
CameraOperationalActivityRegistry registry;
auto original = std::make_shared<TestCamera>("camera");
auto replacement = std::make_shared<TestCamera>("camera");
ASSERT_EQ(
registry.start(original->id(), original),
CameraOperationalActivityRegistry::DispatchResult::Success);
CameraOperationalActivityRegistry::ActivityToken replacement_token;
EXPECT_EQ(
registry.start(
replacement->id(), replacement, &replacement_token),
CameraOperationalActivityRegistry::DispatchResult::DeviceFailure);
EXPECT_FALSE(replacement_token.valid());
EXPECT_TRUE(original->operationalActive());
EXPECT_FALSE(replacement->operationalActive());
EXPECT_EQ(replacement->operationalStartCalls(), 0);
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_FALSE(original->operationalActive());
EXPECT_EQ(original->operationalStopCalls(), 1);
EXPECT_EQ(replacement->operationalStopCalls(), 0);
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
TEST_F(CameraOperationalActivityRegistryTest,
DifferentDevicesStopConcurrentlyAndSameDeviceStopIsSerialized)
{
CameraOperationalActivityRegistry registry;
auto first = std::make_shared<TestCamera>("camera.first");
auto second = std::make_shared<TestCamera>("camera.second");
ASSERT_EQ(
registry.start(first->id(), first),
CameraOperationalActivityRegistry::DispatchResult::Success);
ASSERT_EQ(
registry.start(second->id(), second),
CameraOperationalActivityRegistry::DispatchResult::Success);
first->blockStop();
second->blockStop();
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
std::thread first_stop([&] {
EXPECT_TRUE(registry.stopActivitiesForDevice(first->id()));
});
first->waitForStopEntered();
const auto snapshot_started = std::chrono::steady_clock::now();
EXPECT_EQ(
registry.trackedDeviceIds(),
(std::vector<std::string>{"camera.first", "camera.second"}));
EXPECT_LT(
std::chrono::steady_clock::now() - snapshot_started,
std::chrono::milliseconds(100));
std::thread second_stop([&] {
EXPECT_TRUE(registry.stopActivitiesForDevice(second->id()));
});
second->waitForStopEntered();
std::atomic<bool> matching_stop_returned{false};
std::thread matching_stop([&] {
EXPECT_TRUE(registry.stopActivitiesForDevice(first->id()));
matching_stop_returned = true;
});
std::this_thread::yield();
EXPECT_FALSE(matching_stop_returned.load());
second->releaseStop();
second_stop.join();
first->releaseStop();
first_stop.join();
matching_stop.join();
EXPECT_TRUE(matching_stop_returned.load());
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
} // namespace
} // namespace cmvr::service

349
cmvr-es/service/grpc/server/tests/camera_ptz_activity_registry_test.cpp
View File

@ -1,349 +0,0 @@
#include "service/grpc/server/include/camera_ptz_activity_registry.h"
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <mutex>
#include <thread>
#include <utility>
#include <vector>
#include <gtest/gtest.h>
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
namespace cmvr::service {
namespace {
class TestCamera final : public device::AbstractCamera {
public:
struct Call {
device::PtzCommand command;
bool stop;
int speed;
};
explicit TestCamera(std::string id)
{
id_ = std::move(id);
}
std::string typeName() const override { return "TestCamera"; }
void getState(device::CameraState& state) override { state = {}; }
bool controlPtz(
const device::PtzCommand command,
const bool stop,
const int speed) override
{
std::unique_lock lock(mutex_);
calls_.push_back({command, stop, speed});
if (stop) {
stop_entered_ = true;
condition_.notify_all();
condition_.wait(lock, [this] { return !block_stop_; });
}
return !(stop && fail_stop_);
}
bool stop() override
{
++lifecycle_stop_calls_;
return true;
}
std::vector<Call> calls() const
{
std::lock_guard lock(mutex_);
return calls_;
}
void setFailStop(const bool fail) { fail_stop_ = fail; }
void blockStop()
{
std::lock_guard lock(mutex_);
block_stop_ = true;
stop_entered_ = false;
}
void waitForStopEntered()
{
std::unique_lock lock(mutex_);
condition_.wait(lock, [this] { return stop_entered_; });
}
void releaseStop()
{
{
std::lock_guard lock(mutex_);
block_stop_ = false;
}
condition_.notify_all();
}
int lifecycleStopCalls() const { return lifecycle_stop_calls_; }
private:
mutable std::mutex mutex_;
std::condition_variable condition_;
std::vector<Call> calls_;
bool fail_stop_{false};
bool block_stop_{false};
bool stop_entered_{false};
int lifecycle_stop_calls_{0};
};
class CameraPtzActivityRegistryTest : public ::testing::Test {
protected:
void SetUp() override
{
globalStopAllAdmissionGate().clearForTesting();
}
void TearDown() override
{
globalStopAllAdmissionGate().clearForTesting();
}
};
TEST_F(CameraPtzActivityRegistryTest,
StopAllMatchesEveryActiveStartAndNeverStopsLifecycle)
{
CameraPtzActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera");
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::PanLeft, false, 4),
CameraPtzActivityRegistry::DispatchResult::Success);
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::ZoomIn, false, 7),
CameraPtzActivityRegistry::DispatchResult::Success);
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_EQ(registry.activeCommandCount(), 0U);
EXPECT_EQ(camera->lifecycleStopCalls(), 0);
ASSERT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
const auto calls = camera->calls();
ASSERT_EQ(calls.size(), 4U);
EXPECT_FALSE(calls[0].stop);
EXPECT_FALSE(calls[1].stop);
EXPECT_TRUE(calls[2].stop);
EXPECT_TRUE(calls[3].stop);
}
TEST_F(CameraPtzActivityRegistryTest,
FailedStopRemainsTrackedForRetryAndAdmissionRecovers)
{
CameraPtzActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera");
ASSERT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::TiltUp, false, 3),
CameraPtzActivityRegistry::DispatchResult::Success);
auto ticket = globalStopAllAdmissionGate().beginStopAll();
camera->setFailStop(true);
std::vector<std::string> failures;
EXPECT_FALSE(registry.stopAllActivities(&failures));
EXPECT_EQ(registry.activeCommandCount(), 1U);
ASSERT_FALSE(failures.empty());
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, false) == false);
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::ZoomOut, false, 5),
CameraPtzActivityRegistry::DispatchResult::RejectedByStopAll);
ticket = globalStopAllAdmissionGate().beginStopAll();
camera->setFailStop(false);
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::ZoomOut, false, 5),
CameraPtzActivityRegistry::DispatchResult::Success);
}
TEST_F(CameraPtzActivityRegistryTest,
ExplicitStopRemainsAvailableWhileStartAdmissionIsLatched)
{
CameraPtzActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera");
ASSERT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::PanLeft, false, 4),
CameraPtzActivityRegistry::DispatchResult::Success);
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_FALSE(globalStopAllAdmissionGate().finishStopAll(ticket, false));
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::ZoomIn, false, 4),
CameraPtzActivityRegistry::DispatchResult::RejectedByStopAll);
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::PanLeft, true, 4),
CameraPtzActivityRegistry::DispatchResult::Success);
EXPECT_EQ(registry.activeCommandCount(), 0U);
const auto calls = camera->calls();
ASSERT_EQ(calls.size(), 2U);
EXPECT_FALSE(calls.front().stop);
EXPECT_TRUE(calls.back().stop);
}
TEST_F(CameraPtzActivityRegistryTest,
StopForDeviceIsSelectiveAndActiveIdsReflectFailures)
{
CameraPtzActivityRegistry registry;
auto first = std::make_shared<TestCamera>("camera.first");
auto second = std::make_shared<TestCamera>("camera.second");
ASSERT_EQ(
registry.control(
first->id(), first, device::PtzCommand::PanLeft, false, 4),
CameraPtzActivityRegistry::DispatchResult::Success);
ASSERT_EQ(
registry.control(
second->id(), second, device::PtzCommand::ZoomIn, false, 7),
CameraPtzActivityRegistry::DispatchResult::Success);
EXPECT_EQ(
registry.activeDeviceIds(),
(std::vector<std::string>{"camera.first", "camera.second"}));
EXPECT_EQ(
registry.trackedDeviceIds(),
(std::vector<std::string>{"camera.first", "camera.second"}));
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
first->setFailStop(true);
std::vector<std::string> failures;
EXPECT_FALSE(registry.stopActivitiesForDevice(first->id(), &failures));
EXPECT_EQ(registry.activeCommandCount(), 2U);
EXPECT_EQ(failures.size(), 1U);
EXPECT_EQ(second->calls().size(), 1U);
first->setFailStop(false);
EXPECT_TRUE(registry.stopActivitiesForDevice(first->id()));
EXPECT_EQ(registry.activeCommandCount(), 1U);
EXPECT_EQ(
registry.activeDeviceIds(),
(std::vector<std::string>{"camera.second"}));
EXPECT_TRUE(registry.stopActivitiesForDevice("missing"));
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_TRUE(registry.activeDeviceIds().empty());
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
EXPECT_EQ(first->lifecycleStopCalls(), 0);
EXPECT_EQ(second->lifecycleStopCalls(), 0);
}
TEST_F(CameraPtzActivityRegistryTest,
DifferentDevicesStopConcurrentlyButMatchingControlIsSerialized)
{
CameraPtzActivityRegistry registry;
auto first = std::make_shared<TestCamera>("camera.first");
auto second = std::make_shared<TestCamera>("camera.second");
ASSERT_EQ(
registry.control(
first->id(), first, device::PtzCommand::PanLeft, false, 4),
CameraPtzActivityRegistry::DispatchResult::Success);
ASSERT_EQ(
registry.control(
second->id(), second, device::PtzCommand::ZoomIn, false, 7),
CameraPtzActivityRegistry::DispatchResult::Success);
first->blockStop();
second->blockStop();
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
std::thread first_stop([&] {
EXPECT_TRUE(registry.stopActivitiesForDevice(first->id()));
});
first->waitForStopEntered();
const auto snapshot_started = std::chrono::steady_clock::now();
EXPECT_EQ(
registry.trackedDeviceIds(),
(std::vector<std::string>{"camera.first", "camera.second"}));
EXPECT_LT(
std::chrono::steady_clock::now() - snapshot_started,
std::chrono::milliseconds(100));
std::thread second_stop([&] {
EXPECT_TRUE(registry.stopActivitiesForDevice(second->id()));
});
second->waitForStopEntered();
std::atomic<bool> matching_stop_returned{false};
std::thread matching_stop([&] {
EXPECT_TRUE(registry.stopActivitiesForDevice(first->id()));
matching_stop_returned = true;
});
std::this_thread::yield();
EXPECT_FALSE(matching_stop_returned.load());
second->releaseStop();
second_stop.join();
first->releaseStop();
first_stop.join();
matching_stop.join();
EXPECT_TRUE(matching_stop_returned.load());
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
TEST_F(CameraPtzActivityRegistryTest,
DispatchFenceRunsInsidePerDeviceQueueBeforeHardwareMutation)
{
CameraPtzActivityRegistry registry;
auto camera = std::make_shared<TestCamera>("camera");
std::mutex mutex;
std::condition_variable condition;
bool first_fence_entered = false;
bool release_first_fence = false;
std::atomic<bool> second_fence_entered{false};
std::thread first([&] {
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::PanLeft, false, 4,
[&] {
std::unique_lock lock(mutex);
first_fence_entered = true;
condition.notify_all();
condition.wait(lock, [&] { return release_first_fence; });
return true;
}),
CameraPtzActivityRegistry::DispatchResult::Success);
});
{
std::unique_lock lock(mutex);
condition.wait(lock, [&] { return first_fence_entered; });
}
std::thread second([&] {
EXPECT_EQ(
registry.control(
camera->id(), camera, device::PtzCommand::ZoomIn, false, 7,
[&] {
second_fence_entered = true;
return false;
}),
CameraPtzActivityRegistry::DispatchResult::RejectedByDispatchFence);
});
std::this_thread::yield();
EXPECT_FALSE(second_fence_entered.load());
{
std::lock_guard lock(mutex);
release_first_fence = true;
}
condition.notify_all();
first.join();
second.join();
EXPECT_TRUE(second_fence_entered.load());
const auto calls = camera->calls();
ASSERT_EQ(calls.size(), 1U);
EXPECT_EQ(calls.front().command, device::PtzCommand::PanLeft);
}
} // namespace
} // namespace cmvr::service

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cmvr-es/service/grpc/server/tests/grpc_agv_service_test.cpp
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@ -1,806 +0,0 @@
#include "service/grpc/server/include/grpc_agv_service.h"
#include <chrono>
#include <future>
#include <memory>
#include <string>
#include <thread>
#include <vector>
#include <grpcpp/grpcpp.h>
#include <gtest/gtest.h>
#include "cmvr/config/device_manager_config/device_manager_config.pb.h"
#include "manager/control_authority_manager/include/control_authority_manager.h"
#include "manager/device_manager/include/device_manager.h"
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
namespace cmvr::service {
namespace {
constexpr char kNativeErrorMessage[] =
"SEER Robokit command failed: ret_code=41200, err_msg=speed_illegal";
constexpr char kNativeNavigationErrorMessage[] =
"SEER Robokit command failed: ret_code=43051, err_msg=planner_rejected_pose";
class FakeAgv final : public device::AbstractAGV {
public:
FakeAgv()
{
id_ = "test-agv";
}
std::string typeName() const override { return "FakeAgv"; }
device::AgvResult emergencyStop() override
{
++emergency_stop_calls_;
emergency_stop_barrier_observed_ = normalLeaseIsBlocked_(
"test-probe:emergencyStop");
return device::AgvResult::success();
}
device::AgvResult navigateToPose(
const math::Pose2d& pose,
const device::AgvMotionOptions& options,
const device::AgvAdapterParams&) override
{
++navigate_pose_calls_;
pose_cancellation_bound_ =
static_cast<bool>(options.cancellation_requested);
pose_cancellation_requested_during_call_ =
pose_cancellation_bound_ && options.cancellation_requested();
if (pose_cancellation_requested_during_call_) {
return device::AgvResult::failure(
device::AgvErrorCode::TaskCanceled,
"navigation canceled before fake device dispatch");
}
pose_ = pose;
pose_options_ = options;
pose_options_.cancellation_requested = {};
return pose_result_;
}
device::AgvResult navigateToStation(
const std::string& station_id,
const device::AgvMotionOptions& options,
const device::AgvAdapterParams& adapter_params) override
{
station_id_ = station_id;
station_options_ = options;
station_adapter_params_ = adapter_params;
station_cancellation_bound_ =
static_cast<bool>(options.cancellation_requested);
station_cancellation_requested_during_call_ =
station_cancellation_bound_ && options.cancellation_requested();
station_options_.cancellation_requested = {};
return device::AgvResult::success();
}
device::AgvResult followPath(
const std::vector<device::AgvPathSegment>& path,
const device::AgvMotionOptions& options) override
{
path_ = path;
path_options_ = options;
path_cancellation_bound_ =
static_cast<bool>(options.cancellation_requested);
path_cancellation_requested_during_call_ =
path_cancellation_bound_ && options.cancellation_requested();
path_options_.cancellation_requested = {};
return device::AgvResult::success();
}
device::AgvResult setVelocity(const device::AgvVelocity&) override
{
++set_velocity_calls_;
return device::AgvResult::failure(
device::AgvErrorCode::CommandFailed,
kNativeErrorMessage);
}
device::AgvResult cancelNavigation() override
{
++cancel_navigation_calls_;
cancel_navigation_barrier_observed_ = normalLeaseIsBlocked_(
"test-probe:cancelNavigation");
return device::AgvResult::success();
}
device::AgvResult stopVelocityControl() override
{
++stop_velocity_calls_;
stop_velocity_barrier_observed_ = normalLeaseIsBlocked_(
"test-probe:stopVelocityControl");
return device::AgvResult::success();
}
device::AgvResult confirmMotionStopped() override
{
++confirm_stopped_calls_;
confirm_stopped_barrier_observed_ = normalLeaseIsBlocked_(
"test-probe:confirmMotionStopped");
return confirm_stopped_result_;
}
bool normalLeaseIsBlocked_(const std::string& owner)
{
auto& authority = control::ControlAuthorityManager::instance();
const auto probe = authority.tryAcquire(
id_, owner, std::chrono::hours(1));
if (probe.acquired) {
authority.release(probe.token);
}
return !probe.acquired;
}
math::Pose2d pose_{};
device::AgvMotionOptions pose_options_;
device::AgvResult pose_result_{device::AgvResult::success()};
std::string station_id_;
device::AgvMotionOptions station_options_;
device::AgvAdapterParams station_adapter_params_;
std::vector<device::AgvPathSegment> path_;
device::AgvMotionOptions path_options_;
bool pose_cancellation_bound_{false};
bool pose_cancellation_requested_during_call_{false};
bool station_cancellation_bound_{false};
bool station_cancellation_requested_during_call_{false};
bool path_cancellation_bound_{false};
bool path_cancellation_requested_during_call_{false};
int emergency_stop_calls_{0};
int cancel_navigation_calls_{0};
int stop_velocity_calls_{0};
int confirm_stopped_calls_{0};
int set_velocity_calls_{0};
int navigate_pose_calls_{0};
bool emergency_stop_barrier_observed_{false};
bool cancel_navigation_barrier_observed_{false};
bool stop_velocity_barrier_observed_{false};
bool confirm_stopped_barrier_observed_{false};
device::AgvResult confirm_stopped_result_{
device::AgvResult::success()};
};
class LegacyFollowPathAgv final : public device::AbstractAGV {
public:
std::string typeName() const override { return "LegacyFollowPathAgv"; }
device::AgvResult followPath(
const std::vector<device::AgvPathSegment>& path) override
{
path_ = path;
return device::AgvResult::success();
}
std::vector<device::AgvPathSegment> path_;
};
class GrpcAgvServiceTest : public ::testing::Test {
protected:
void SetUp() override
{
control::ControlAuthorityManager::instance().clear();
globalStopAllAdmissionGate().clearForTesting();
config::DeviceManagerConfig config;
auto& manager = device::DeviceManager::getInstance(config);
agv_ = std::make_shared<FakeAgv>();
manager.registerDevice(agv_);
service_ = std::make_unique<gRPCAgvServiceImpl>();
}
void TearDown() override
{
service_.reset();
agv_.reset();
device::DeviceManager::destroyInstance();
control::ControlAuthorityManager::instance().clear();
globalStopAllAdmissionGate().clearForTesting();
}
std::shared_ptr<FakeAgv> agv_;
std::unique_ptr<gRPCAgvServiceImpl> service_;
};
void setMotionOptions(msgs::AgvMotionOptions* options)
{
options->set_max_speed(0.4);
options->set_max_angular_speed(0.5);
options->set_max_acceleration(0.6);
options->set_max_angular_acceleration(0.7);
options->set_reach_distance(0.08);
options->set_reach_angle(0.09);
options->set_wait_timeout_ms(1234);
options->set_poll_interval_ms(55);
}
void expectMotionOptions(const device::AgvMotionOptions& options)
{
EXPECT_DOUBLE_EQ(options.max_speed, 0.4);
EXPECT_DOUBLE_EQ(options.max_angular_speed, 0.5);
EXPECT_DOUBLE_EQ(options.max_acceleration, 0.6);
EXPECT_DOUBLE_EQ(options.max_angular_acceleration, 0.7);
EXPECT_DOUBLE_EQ(options.reach_distance, 0.08);
EXPECT_DOUBLE_EQ(options.reach_angle, 0.09);
EXPECT_EQ(options.wait_timeout_ms, 1234);
EXPECT_EQ(options.poll_interval_ms, 55);
EXPECT_FALSE(options.asynchronous);
}
TEST_F(GrpcAgvServiceTest, NavigationRpcsForwardSpeedAndAccelerationOptions)
{
api::AgvNavigateToPoseCommand_Request pose_request;
pose_request.mutable_header()->set_device_id("test-agv");
pose_request.mutable_pose()->set_x(1.0);
pose_request.mutable_pose()->set_y(2.0);
pose_request.mutable_pose()->set_theta(0.5);
setMotionOptions(pose_request.mutable_options());
api::AgvNavigateToPoseCommand_Feedback pose_response;
grpc::ServerContext pose_context;
const auto pose_status = service_->navigateToPose(
&pose_context,
&pose_request,
&pose_response);
ASSERT_TRUE(pose_status.ok()) << pose_status.error_message();
EXPECT_TRUE(pose_response.header().success());
EXPECT_DOUBLE_EQ(agv_->pose_.x, 1.0);
EXPECT_DOUBLE_EQ(agv_->pose_.y, 2.0);
EXPECT_DOUBLE_EQ(agv_->pose_.theta, 0.5);
expectMotionOptions(agv_->pose_options_);
EXPECT_TRUE(agv_->pose_cancellation_bound_);
EXPECT_FALSE(agv_->pose_cancellation_requested_during_call_);
api::AgvNavigateToStationCommand_Request station_request;
station_request.mutable_header()->set_device_id("test-agv");
station_request.set_station_id("station-1");
setMotionOptions(station_request.mutable_options());
api::AgvNavigateToStationCommand_Feedback station_response;
grpc::ServerContext station_context;
const auto station_status = service_->navigateToStation(
&station_context,
&station_request,
&station_response);
ASSERT_TRUE(station_status.ok()) << station_status.error_message();
EXPECT_TRUE(station_response.header().success());
EXPECT_EQ(agv_->station_id_, "station-1");
expectMotionOptions(agv_->station_options_);
EXPECT_TRUE(agv_->station_cancellation_bound_);
EXPECT_FALSE(agv_->station_cancellation_requested_during_call_);
api::AgvFollowPathCommand_Request path_request;
path_request.mutable_header()->set_device_id("test-agv");
auto* segment = path_request.add_path();
segment->set_source_station("station-1");
segment->set_target_station("station-2");
setMotionOptions(path_request.mutable_options());
api::AgvFollowPathCommand_Feedback path_response;
grpc::ServerContext path_context;
const auto path_status = service_->followPath(
&path_context,
&path_request,
&path_response);
ASSERT_TRUE(path_status.ok()) << path_status.error_message();
EXPECT_TRUE(path_response.header().success());
ASSERT_EQ(agv_->path_.size(), 1U);
EXPECT_EQ(agv_->path_[0].source_station, "station-1");
EXPECT_EQ(agv_->path_[0].target_station, "station-2");
expectMotionOptions(agv_->path_options_);
EXPECT_TRUE(agv_->path_cancellation_bound_);
EXPECT_FALSE(agv_->path_cancellation_requested_during_call_);
}
TEST_F(GrpcAgvServiceTest, NativeControllerCodeIsReturnedInGrpcMessage)
{
api::AgvSetVelocityCommand_Request request;
request.mutable_header()->set_device_id("test-agv");
request.mutable_velocity()->set_vx(0.1);
api::AgvSetVelocityCommand_Feedback response;
grpc::ServerContext context;
const auto status = service_->setVelocity(
&context,
&request,
&response);
EXPECT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
EXPECT_EQ(status.error_message(), kNativeErrorMessage);
EXPECT_FALSE(response.header().success());
EXPECT_EQ(response.header().error_message(), kNativeErrorMessage);
}
TEST_F(GrpcAgvServiceTest, NativeNavigationCodeIsReturnedInGrpcMessage)
{
agv_->pose_result_ = device::AgvResult::failure(
device::AgvErrorCode::CommandFailed,
kNativeNavigationErrorMessage);
api::AgvNavigateToPoseCommand_Request request;
request.mutable_header()->set_device_id("test-agv");
request.mutable_pose()->set_x(1.0);
request.mutable_pose()->set_y(2.0);
api::AgvNavigateToPoseCommand_Feedback response;
grpc::ServerContext context;
const auto status = service_->navigateToPose(
&context,
&request,
&response);
EXPECT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
EXPECT_EQ(status.error_message(), kNativeNavigationErrorMessage);
EXPECT_FALSE(response.header().success());
EXPECT_EQ(
response.header().error_message(),
kNativeNavigationErrorMessage);
EXPECT_FALSE(agv_->pose_options_.asynchronous);
EXPECT_EQ(agv_->pose_options_.wait_timeout_ms, 0);
EXPECT_EQ(agv_->pose_options_.poll_interval_ms, 0);
EXPECT_TRUE(agv_->pose_cancellation_bound_);
EXPECT_FALSE(agv_->pose_cancellation_requested_during_call_);
}
TEST_F(GrpcAgvServiceTest, ExplicitAsynchronousNavigationIsForwarded)
{
api::AgvNavigateToStationCommand_Request request;
request.mutable_header()->set_device_id("test-agv");
request.set_station_id("station-async");
request.mutable_options()->set_asynchronous(true);
api::AgvNavigateToStationCommand_Feedback response;
grpc::ServerContext context;
const auto status = service_->navigateToStation(
&context,
&request,
&response);
ASSERT_TRUE(status.ok()) << status.error_message();
EXPECT_TRUE(agv_->station_options_.asynchronous);
EXPECT_TRUE(agv_->station_cancellation_bound_);
EXPECT_FALSE(agv_->station_cancellation_requested_during_call_);
}
TEST_F(GrpcAgvServiceTest, ActionLeaseBlocksOrdinaryMutatingRpcs)
{
auto& authority = control::ControlAuthorityManager::instance();
const auto action_lease = authority.tryAcquire(
"test-agv",
"action-sequence:test-action",
std::chrono::hours(1));
ASSERT_TRUE(action_lease.acquired) << action_lease.detail;
api::AgvNavigateToPoseCommand_Request navigation_request;
navigation_request.mutable_header()->set_device_id("test-agv");
api::AgvNavigateToPoseCommand_Feedback navigation_response;
grpc::ServerContext navigation_context;
const auto navigation_status = service_->navigateToPose(
&navigation_context,
&navigation_request,
&navigation_response);
EXPECT_EQ(
navigation_status.error_code(),
grpc::StatusCode::FAILED_PRECONDITION);
EXPECT_FALSE(navigation_response.header().success());
api::CommandHeader_Request clear_fault_request;
clear_fault_request.set_device_id("test-agv");
api::CommandHeader_Feedback clear_fault_response;
grpc::ServerContext clear_fault_context;
const auto clear_fault_status = service_->clearFault(
&clear_fault_context,
&clear_fault_request,
&clear_fault_response);
EXPECT_EQ(
clear_fault_status.error_code(),
grpc::StatusCode::FAILED_PRECONDITION);
EXPECT_FALSE(clear_fault_response.success());
api::AgvMapCommand_Request switch_map_request;
switch_map_request.mutable_header()->set_device_id("test-agv");
switch_map_request.set_map_name("map-1");
api::AgvMapCommand_Feedback switch_map_response;
grpc::ServerContext switch_map_context;
const auto switch_map_status = service_->switchMap(
&switch_map_context,
&switch_map_request,
&switch_map_response);
EXPECT_EQ(
switch_map_status.error_code(),
grpc::StatusCode::FAILED_PRECONDITION);
EXPECT_FALSE(switch_map_response.header().success());
authority.release(action_lease.token);
}
TEST_F(GrpcAgvServiceTest, NavigationCancellationIncludesControlLease)
{
auto& authority = control::ControlAuthorityManager::instance();
const auto barrier = authority.preemptAcquire(
"test-agv", "stop-all-test", std::chrono::hours(1));
ASSERT_TRUE(barrier.acquired) << barrier.detail;
api::AgvNavigateToPoseCommand_Request request;
request.mutable_header()->set_device_id("test-agv");
api::AgvNavigateToPoseCommand_Feedback response;
grpc::ServerContext context;
const auto status = service_->navigateToPose(
&context, &request, &response);
EXPECT_EQ(
status.error_code(),
grpc::StatusCode::FAILED_PRECONDITION);
EXPECT_EQ(agv_->navigate_pose_calls_, 0);
authority.release(barrier.token);
}
TEST_F(GrpcAgvServiceTest, SetVelocityDispatchRunsUnderControlFence)
{
api::AgvSetVelocityCommand_Request request;
request.mutable_header()->set_device_id("test-agv");
request.mutable_velocity()->set_vx(0.1);
api::AgvSetVelocityCommand_Feedback response;
grpc::ServerContext context;
const auto status = service_->setVelocity(
&context, &request, &response);
EXPECT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
EXPECT_EQ(agv_->set_velocity_calls_, 1);
}
TEST_F(GrpcAgvServiceTest,
StopAllGateRejectsMutatingCommandsButAllowsReadsAndStops)
{
auto& admission = globalStopAllAdmissionGate();
const auto ticket = admission.beginStopAll();
ASSERT_TRUE(ticket.valid());
api::AgvNavigateToPoseCommand_Request navigation_request;
navigation_request.mutable_header()->set_device_id("test-agv");
api::AgvNavigateToPoseCommand_Feedback navigation_response;
grpc::ServerContext navigation_context;
const auto navigation_status = service_->navigateToPose(
&navigation_context, &navigation_request, &navigation_response);
api::AgvSetVelocityCommand_Request velocity_request;
velocity_request.mutable_header()->set_device_id("test-agv");
velocity_request.mutable_velocity()->set_vx(0.1);
api::AgvSetVelocityCommand_Feedback velocity_response;
grpc::ServerContext velocity_context;
const auto velocity_status = service_->setVelocity(
&velocity_context, &velocity_request, &velocity_response);
api::AgvRuntimeStateCommand_Request state_request;
state_request.mutable_header()->set_device_id("test-agv");
api::AgvRuntimeStateCommand_Feedback state_response;
grpc::ServerContext state_context;
const auto state_status = service_->getRuntimeState(
&state_context, &state_request, &state_response);
api::CommandHeader_Request stop_request;
stop_request.set_device_id("test-agv");
api::CommandHeader_Feedback stop_response;
grpc::ServerContext stop_context;
const auto stop_status = service_->cancelNavigation(
&stop_context, &stop_request, &stop_response);
EXPECT_EQ(
navigation_status.error_code(),
grpc::StatusCode::UNAVAILABLE);
EXPECT_FALSE(navigation_response.header().success());
EXPECT_EQ(agv_->navigate_pose_calls_, 0);
EXPECT_EQ(
velocity_status.error_code(),
grpc::StatusCode::UNAVAILABLE);
EXPECT_FALSE(velocity_response.header().success());
EXPECT_EQ(agv_->set_velocity_calls_, 0);
EXPECT_TRUE(state_status.ok()) << state_status.error_message();
EXPECT_TRUE(state_response.header().success());
EXPECT_TRUE(stop_status.ok()) << stop_status.error_message();
EXPECT_TRUE(stop_response.success())
<< stop_response.error_message();
EXPECT_EQ(agv_->cancel_navigation_calls_, 2);
EXPECT_TRUE(admission.finishStopAll(ticket, true));
const auto resumed_status = service_->navigateToPose(
&navigation_context, &navigation_request, &navigation_response);
EXPECT_TRUE(resumed_status.ok()) << resumed_status.error_message();
EXPECT_TRUE(navigation_response.header().success());
EXPECT_EQ(agv_->navigate_pose_calls_, 1);
}
TEST_F(GrpcAgvServiceTest, QueriesBypassAndSafetyStopsPreemptActionLease)
{
auto& authority = control::ControlAuthorityManager::instance();
const auto action_lease = authority.tryAcquire(
"test-agv",
"action-sequence:test-action",
std::chrono::hours(1));
ASSERT_TRUE(action_lease.acquired) << action_lease.detail;
api::AgvRuntimeStateCommand_Request state_request;
state_request.mutable_header()->set_device_id("test-agv");
api::AgvRuntimeStateCommand_Feedback state_response;
grpc::ServerContext state_context;
const auto state_status = service_->getRuntimeState(
&state_context,
&state_request,
&state_response);
EXPECT_TRUE(state_status.ok()) << state_status.error_message();
EXPECT_TRUE(state_response.header().success());
EXPECT_TRUE(authority.validate(action_lease.token));
api::CommandHeader_Request stop_request;
stop_request.set_device_id("test-agv");
api::CommandHeader_Feedback emergency_response;
grpc::ServerContext emergency_context;
auto emergency = std::async(
std::launch::async,
[this, &emergency_context, &stop_request, &emergency_response]() {
return service_->emergencyStop(
&emergency_context,
&stop_request,
&emergency_response);
});
const auto emergency_deadline =
std::chrono::steady_clock::now() + std::chrono::seconds(1);
while (authority.validate(action_lease.token) &&
std::chrono::steady_clock::now() < emergency_deadline) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
EXPECT_FALSE(authority.validate(action_lease.token));
authority.release(action_lease.token);
const auto emergency_status = emergency.get();
EXPECT_TRUE(emergency_status.ok()) << emergency_status.error_message();
EXPECT_TRUE(agv_->emergency_stop_barrier_observed_);
const auto released_lease_after_emergency = authority.tryAcquire(
"test-agv",
"action-sequence:after-emergency-release",
std::chrono::hours(1));
ASSERT_TRUE(released_lease_after_emergency.acquired)
<< released_lease_after_emergency.detail;
api::CommandHeader_Feedback cancel_response;
grpc::ServerContext cancel_context;
auto cancel = std::async(
std::launch::async,
[this, &cancel_context, &stop_request, &cancel_response]() {
return service_->cancelNavigation(
&cancel_context,
&stop_request,
&cancel_response);
});
const auto cancel_deadline =
std::chrono::steady_clock::now() + std::chrono::seconds(1);
while (authority.validate(released_lease_after_emergency.token) &&
std::chrono::steady_clock::now() < cancel_deadline) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
EXPECT_FALSE(authority.validate(
released_lease_after_emergency.token));
authority.release(released_lease_after_emergency.token);
const auto cancel_status = cancel.get();
EXPECT_TRUE(cancel_status.ok()) << cancel_status.error_message();
EXPECT_TRUE(agv_->cancel_navigation_barrier_observed_);
const auto released_lease_after_cancel = authority.tryAcquire(
"test-agv",
"action-sequence:after-cancel-release",
std::chrono::hours(1));
ASSERT_TRUE(released_lease_after_cancel.acquired)
<< released_lease_after_cancel.detail;
api::CommandHeader_Feedback velocity_response;
grpc::ServerContext velocity_context;
auto velocity = std::async(
std::launch::async,
[this, &velocity_context, &stop_request, &velocity_response]() {
return service_->stopVelocityControl(
&velocity_context,
&stop_request,
&velocity_response);
});
const auto velocity_deadline =
std::chrono::steady_clock::now() + std::chrono::seconds(1);
while (authority.validate(released_lease_after_cancel.token) &&
std::chrono::steady_clock::now() < velocity_deadline) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
EXPECT_FALSE(authority.validate(
released_lease_after_cancel.token));
authority.release(released_lease_after_cancel.token);
const auto velocity_status = velocity.get();
EXPECT_TRUE(velocity_status.ok()) << velocity_status.error_message();
EXPECT_TRUE(agv_->stop_velocity_barrier_observed_);
const auto lease_after_stops = authority.tryAcquire(
"test-agv",
"action-sequence:after-stops",
std::chrono::hours(1));
ASSERT_TRUE(lease_after_stops.acquired)
<< lease_after_stops.detail;
EXPECT_EQ(agv_->emergency_stop_calls_, 2);
EXPECT_EQ(agv_->cancel_navigation_calls_, 2);
EXPECT_EQ(agv_->stop_velocity_calls_, 2);
EXPECT_EQ(agv_->confirm_stopped_calls_, 3);
EXPECT_TRUE(agv_->confirm_stopped_barrier_observed_);
authority.release(lease_after_stops.token);
}
TEST_F(GrpcAgvServiceTest,
SafetyStopQuarantinesControlWhenStoppedStateIsUnconfirmed)
{
agv_->confirm_stopped_result_ = device::AgvResult::failure(
device::AgvErrorCode::Timeout,
"two zero-velocity samples were not observed");
api::CommandHeader_Request request;
request.set_device_id("test-agv");
api::CommandHeader_Feedback response;
grpc::ServerContext context;
const auto status = service_->cancelNavigation(
&context, &request, &response);
EXPECT_EQ(status.error_code(), grpc::StatusCode::DEADLINE_EXCEEDED);
EXPECT_FALSE(response.success());
EXPECT_NE(
response.error_message().find("confirmed stopped state"),
std::string::npos);
EXPECT_TRUE(agv_->cancel_navigation_barrier_observed_);
EXPECT_TRUE(agv_->confirm_stopped_barrier_observed_);
const auto lease =
control::ControlAuthorityManager::instance().tryAcquire(
"test-agv",
"normal-control-after-unconfirmed-stop",
std::chrono::hours(1));
EXPECT_FALSE(lease.acquired);
auto& authority = control::ControlAuthorityManager::instance();
const auto recovery = authority.preemptAcquire(
"test-agv", "confirmed-stop-recovery", std::chrono::hours(1));
ASSERT_TRUE(recovery.acquired) << recovery.detail;
ASSERT_TRUE(authority.waitForPreemptedRelease(
recovery.token, std::chrono::milliseconds::zero()));
ASSERT_TRUE(authority.recoverRetiredSafetyHolders(recovery.token));
authority.release(recovery.token);
const auto recovered = authority.tryAcquire(
"test-agv", "normal-control-after-recovery", std::chrono::hours(1));
EXPECT_TRUE(recovered.acquired) << recovered.detail;
authority.release(recovered.token);
}
TEST_F(GrpcAgvServiceTest, StopMappingFailureReleasesOrdinaryControlLease)
{
api::CommandHeader_Request request;
request.set_device_id("test-agv");
api::CommandHeader_Feedback response;
grpc::ServerContext context;
const auto status = service_->stopMapping(
&context, &request, &response);
EXPECT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
EXPECT_FALSE(response.success());
auto& authority = control::ControlAuthorityManager::instance();
const auto lease = authority.tryAcquire(
"test-agv", "normal-control-after-mapping-failure",
std::chrono::hours(1));
EXPECT_TRUE(lease.acquired) << lease.detail;
authority.release(lease.token);
}
TEST_F(GrpcAgvServiceTest, NavigateToStationForwardsPgvAdapterParams)
{
api::AgvNavigateToStationCommand_Request request;
request.mutable_header()->set_device_id("test-agv");
request.set_station_id("AP1");
auto* values = request.mutable_adapter_params()->mutable_values();
(*values)["use_pgv"] = "true";
(*values)["pgv_adjust_dist"] = "0.3";
(*values)["pgv_adjust_cx"] = "-0.3";
(*values)["pgv_adjust_cy"] = "0";
api::AgvNavigateToStationCommand_Feedback response;
grpc::ServerContext context;
const auto status = service_->navigateToStation(
&context,
&request,
&response);
ASSERT_TRUE(status.ok()) << status.error_message();
EXPECT_TRUE(response.header().success());
EXPECT_EQ(agv_->station_id_, "AP1");
EXPECT_EQ(
agv_->station_adapter_params_.getString("use_pgv").value_or(""),
"true");
EXPECT_EQ(
agv_->station_adapter_params_.getString("pgv_adjust_dist").value_or(""),
"0.3");
EXPECT_EQ(
agv_->station_adapter_params_.getString("pgv_adjust_cx").value_or(""),
"-0.3");
EXPECT_EQ(
agv_->station_adapter_params_.getString("pgv_adjust_cy").value_or(""),
"0");
}
TEST_F(GrpcAgvServiceTest, NavigationErrorsMapToGrpcCodesAndPreserveDetails)
{
struct ErrorCase {
device::AgvErrorCode device_code;
grpc::StatusCode grpc_code;
};
const ErrorCase cases[] = {
{device::AgvErrorCode::InvalidArgument,
grpc::StatusCode::INVALID_ARGUMENT},
{device::AgvErrorCode::TaskCanceled,
grpc::StatusCode::CANCELLED},
{device::AgvErrorCode::Timeout,
grpc::StatusCode::DEADLINE_EXCEEDED},
};
for (const auto& test_case : cases) {
const std::string detail =
"SEER Robokit navigation detail for code="
+ std::to_string(static_cast<int>(test_case.device_code));
agv_->pose_result_ = device::AgvResult::failure(
test_case.device_code,
detail);
api::AgvNavigateToPoseCommand_Request request;
request.mutable_header()->set_device_id("test-agv");
api::AgvNavigateToPoseCommand_Feedback response;
grpc::ServerContext context;
const auto status = service_->navigateToPose(
&context,
&request,
&response);
EXPECT_EQ(status.error_code(), test_case.grpc_code);
EXPECT_EQ(status.error_message(), detail);
EXPECT_FALSE(response.header().success());
EXPECT_EQ(response.header().error_message(), detail);
}
}
TEST(AbstractAgvCompatibilityTest, FollowPathOptionsDelegateToLegacyOverride)
{
LegacyFollowPathAgv legacy;
device::AbstractAGV* abstract = &legacy;
const std::vector<device::AgvPathSegment> path = {
{"station-1", "station-2"},
};
device::AgvMotionOptions options;
const auto result = abstract->followPath(path, options);
ASSERT_TRUE(result.ok()) << result.message;
ASSERT_EQ(legacy.path_.size(), 1U);
EXPECT_EQ(legacy.path_[0].source_station, "station-1");
EXPECT_EQ(legacy.path_[0].target_station, "station-2");
}
TEST(AbstractAgvCompatibilityTest, SynchronousActionSupportDefaultsToFalse)
{
LegacyFollowPathAgv legacy;
EXPECT_FALSE(legacy.supportsSynchronousAction(
device::AgvActionKind::NavigateToPose));
EXPECT_FALSE(legacy.supportsSynchronousAction(
device::AgvActionKind::NavigateToStation));
EXPECT_FALSE(legacy.supportsSynchronousAction(
device::AgvActionKind::FollowPath));
}
} // namespace
} // namespace cmvr::service

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#include "service/grpc/server/include/grpc_arm_teleop_service.h"
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <cstdio>
#include <future>
#include <memory>
#include <mutex>
#include <set>
#include <stdexcept>
#include <string>
#include <thread>
#include <vector>
#include <grpcpp/grpcpp.h>
#include <gtest/gtest.h>
#include <unistd.h>
#include "manager/safety_manager/include/device_safety_endpoint.h"
#include "manager/safety_manager/include/safety_manager.h"
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
namespace cmvr::service {
namespace {
using namespace std::chrono_literals;
std::atomic<std::uint64_t> g_socket_sequence{0};
arm_teleop::RobotManifest makeManifest()
{
arm_teleop::RobotManifest manifest;
manifest.set_robot_id("fake_humanoid_arm");
manifest.set_model_sha256(std::string(64, 'a'));
manifest.set_calibration_sha256(std::string(64, 'b'));
manifest.add_joint_names("shoulder_joint");
manifest.add_joint_names("elbow_joint");
manifest.set_position_unit("rad");
manifest.set_velocity_unit("rad/s");
manifest.set_effort_unit("N*m");
manifest.set_base_frame("base_link");
manifest.set_tool_frame("tool_link");
return manifest;
}
arm_teleop::ClientFrame makeOpenFrame(
const arm_teleop::RobotManifest& manifest,
const std::uint32_t watchdog_ms = 100,
const std::uint32_t lease_ms = 2000,
const bool request_force_feedback = false)
{
arm_teleop::ClientFrame frame;
auto* open = frame.mutable_open();
open->set_protocol_major(1);
open->set_protocol_minor(0);
open->set_client_instance_id("test-client");
*open->mutable_expected_robot() = manifest;
open->set_requested_command_rate_hz(200);
open->set_requested_state_rate_hz(100);
open->set_watchdog_timeout_ms(watchdog_ms);
open->set_requested_lease_ms(lease_ms);
open->set_request_force_feedback(request_force_feedback);
return frame;
}
arm_teleop::ClientFrame makeSetpoint(
const std::uint64_t sequence,
const std::uint32_t valid_for_us = 50000)
{
arm_teleop::ClientFrame frame;
auto* setpoint = frame.mutable_setpoint();
setpoint->set_sequence(sequence);
setpoint->add_position_rad(0.1 * static_cast<double>(sequence));
setpoint->add_position_rad(0.2 * static_cast<double>(sequence));
setpoint->add_velocity_rad_s(0.01);
setpoint->add_velocity_rad_s(0.02);
setpoint->set_valid_for_us(valid_for_us);
return frame;
}
arm_teleop::ClientFrame makeHeartbeat(const std::uint64_t sequence)
{
arm_teleop::ClientFrame frame;
frame.mutable_heartbeat()->set_sequence(sequence);
return frame;
}
arm_teleop::ClientFrame makeStop(
const arm_teleop::StopReason reason =
arm_teleop::STOP_REASON_OPERATOR_REQUEST)
{
arm_teleop::ClientFrame frame;
frame.mutable_stop()->set_reason(reason);
frame.mutable_stop()->set_detail("test stop");
return frame;
}
class FakeArmTeleopBackend final : public ArmTeleopBackend {
public:
explicit FakeArmTeleopBackend(
arm_teleop::RobotManifest manifest = makeManifest())
: manifest_(std::move(manifest))
{
}
bool available() const noexcept override { return true; }
arm_teleop::RobotManifest manifest() const override
{
recordThread();
return manifest_;
}
bool supportsForceFeedback() const noexcept override { return true; }
ArmTeleopBackendResult open(
const arm_teleop::OpenSession&) override
{
recordThread();
std::lock_guard lock(mutex_);
++open_calls_;
return open_result_;
}
ArmTeleopBackendResult applySetpoint(
const arm_teleop::JointSetpoint& setpoint,
const std::chrono::steady_clock::time_point deadline) override
{
if (std::chrono::steady_clock::now() >= deadline) {
return ArmTeleopBackendResult::failure(
grpc::StatusCode::DEADLINE_EXCEEDED,
"fake backend received an expired setpoint");
}
recordThread();
std::unique_lock lock(mutex_);
apply_entered_ = true;
apply_entered_sequence_ = setpoint.sequence();
cv_.notify_all();
cv_.wait(lock, [&]() { return !block_apply_; });
applied_sequences_.push_back(setpoint.sequence());
return apply_result_;
}
ArmTeleopBackendResult stop(
const arm_teleop::StopReason reason,
const std::string&) override
{
recordThread();
std::lock_guard lock(mutex_);
stop_reasons_.push_back(reason);
return stop_result_;
}
ArmTeleopBackendSnapshot snapshot() const override
{
recordThread();
std::lock_guard lock(mutex_);
ArmTeleopBackendSnapshot snapshot;
auto* state = &snapshot.joint_state;
state->set_sample_sequence(++sample_sequence_);
state->add_position_rad(0.1);
state->add_position_rad(0.2);
state->add_velocity_rad_s(0.01);
state->add_velocity_rad_s(0.02);
state->add_effort_nm(1.0);
state->add_effort_nm(2.0);
state->set_position_valid(true);
state->set_velocity_valid(true);
state->set_effort_valid(true);
state->set_effort_source(
arm_teleop::EFFORT_SOURCE_JOINT_SENSOR);
snapshot.safety.set_connected(true);
snapshot.safety.set_powered_on(true);
return snapshot;
}
void blockApply()
{
std::lock_guard lock(mutex_);
block_apply_ = true;
apply_entered_ = false;
apply_entered_sequence_ = 0;
}
void releaseApply()
{
{
std::lock_guard lock(mutex_);
block_apply_ = false;
}
cv_.notify_all();
}
bool waitForApply(
const std::uint64_t sequence,
const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return cv_.wait_for(lock, timeout, [&]() {
return apply_entered_ &&
apply_entered_sequence_ == sequence;
});
}
int openCalls() const
{
std::lock_guard lock(mutex_);
return open_calls_;
}
std::vector<std::uint64_t> appliedSequences() const
{
std::lock_guard lock(mutex_);
return applied_sequences_;
}
std::vector<arm_teleop::StopReason> stopReasons() const
{
std::lock_guard lock(mutex_);
return stop_reasons_;
}
std::size_t backendThreadCount() const
{
std::lock_guard lock(thread_mutex_);
return backend_threads_.size();
}
private:
void recordThread() const
{
std::lock_guard lock(thread_mutex_);
backend_threads_.insert(std::this_thread::get_id());
}
arm_teleop::RobotManifest manifest_;
mutable std::mutex mutex_;
mutable std::condition_variable cv_;
bool block_apply_{false};
bool apply_entered_{false};
std::uint64_t apply_entered_sequence_{0};
int open_calls_{0};
std::vector<std::uint64_t> applied_sequences_;
std::vector<arm_teleop::StopReason> stop_reasons_;
mutable std::uint64_t sample_sequence_{0};
ArmTeleopBackendResult open_result_{
ArmTeleopBackendResult::ok()};
ArmTeleopBackendResult apply_result_{
ArmTeleopBackendResult::ok()};
ArmTeleopBackendResult stop_result_{
ArmTeleopBackendResult::ok()};
mutable std::mutex thread_mutex_;
mutable std::set<std::thread::id> backend_threads_;
};
class FakeTeleopSafetyEndpoint final
: public safety::DeviceSafetyEndpoint {
public:
FakeTeleopSafetyEndpoint()
{
descriptor_.device_id = makeManifest().robot_id();
descriptor_.kind = device::DeviceKind::Arm;
descriptor_.default_policy =
safety::SafetyPolicyFamily::Control;
descriptor_.maximum_snapshot_age = 1s;
descriptor_.supports_active_refresh = true;
}
safety::DeviceSafetyDescriptor descriptor() const override
{
return descriptor_;
}
void bindPublisher(
safety::SafetySnapshotPublisher publisher) override
{
publisher_ = std::move(publisher);
}
void requestSafetyRefresh() noexcept override
{
if (!publisher_) {
return;
}
safety::DeviceSafetySnapshot snapshot;
snapshot.device_id = descriptor_.device_id;
snapshot.condition = safety::SafetyCondition::Nominal;
snapshot.device_generation = generation_;
snapshot.sample_sequence = ++sequence_;
snapshot.observed_at = safety::SafetyClock::now();
snapshot.connected = safety::TriState::True;
snapshot.operational_ready = safety::TriState::True;
snapshot.quiescent = safety::TriState::True;
snapshot.motion_active = safety::TriState::False;
snapshot.actuator_enabled = safety::TriState::True;
snapshot.emergency_stop_active = safety::TriState::False;
snapshot.protective_stop_active = safety::TriState::False;
snapshot.fault_active = safety::TriState::False;
(void)publisher_(std::move(snapshot));
}
void onDeviceGenerationChanged(
const std::uint64_t generation) noexcept override
{
generation_ = generation;
requestSafetyRefresh();
}
safety::HardwareCheckResult validateBeforeDispatch(
const safety::AdmissionPermit&) override
{
++hardware_checks_;
return {true, safety::SafetyReason::None, {}};
}
safety::RecoveryCheckResult reconcileAdmissionState(
const safety::RecoveryContext&) override
{
return {true, safety::SafetyReason::None, {}};
}
int hardwareChecks() const noexcept
{
return hardware_checks_.load();
}
private:
safety::DeviceSafetyDescriptor descriptor_;
safety::SafetySnapshotPublisher publisher_;
std::uint64_t generation_{1};
std::uint64_t sequence_{0};
std::atomic<int> hardware_checks_{0};
};
class TeleopServerHarness final {
public:
explicit TeleopServerHarness(
std::shared_ptr<ArmTeleopBackend> backend,
safety::SafetyManager* safety_manager = nullptr)
: service_(
std::move(backend), nullptr, nullptr,
safety_manager)
{
socket_path_ =
"/tmp/cmvr_arm_teleop_service_test_" +
std::to_string(static_cast<long long>(::getpid())) + "_" +
std::to_string(
g_socket_sequence.fetch_add(
1, std::memory_order_relaxed)) +
".sock";
std::remove(socket_path_.c_str());
const std::string address = "unix:" + socket_path_;
grpc::ServerBuilder builder;
builder.AddListeningPort(
address, grpc::InsecureServerCredentials());
builder.RegisterService(&service_);
server_ = builder.BuildAndStart();
if (!server_) {
throw std::runtime_error(
"failed to start in-process arm teleoperation server");
}
channel_ = grpc::CreateChannel(
address, grpc::InsecureChannelCredentials());
if (!channel_->WaitForConnected(
std::chrono::system_clock::now() + 2s)) {
throw std::runtime_error(
"failed to connect arm teleoperation test channel");
}
stub_ = arm_teleop::ArmTeleopService::NewStub(channel_);
}
~TeleopServerHarness()
{
if (server_) {
server_->Shutdown();
server_->Wait();
}
if (!socket_path_.empty()) {
std::remove(socket_path_.c_str());
}
}
arm_teleop::ArmTeleopService::Stub& stub() { return *stub_; }
private:
ArmTeleopServiceImpl service_;
std::unique_ptr<grpc::Server> server_;
std::shared_ptr<grpc::Channel> channel_;
std::unique_ptr<arm_teleop::ArmTeleopService::Stub> stub_;
std::string socket_path_;
};
template <typename Stream>
void expectOpeningFrames(Stream& stream)
{
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream.Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_OPENED);
EXPECT_FALSE(response.status().session_id().empty());
ASSERT_TRUE(stream.Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_READY);
EXPECT_TRUE(response.safety().connected());
}
TEST(ArmTeleopServiceTest, ProductionDisabledBackendRejectsOpen)
{
TeleopServerHarness harness(makeDisabledArmTeleopBackend());
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(makeOpenFrame(makeManifest())));
ASSERT_TRUE(stream->WritesDone());
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_REJECTED);
EXPECT_TRUE(response.safety().fault());
const grpc::Status status = stream->Finish();
EXPECT_EQ(
status.error_code(),
grpc::StatusCode::FAILED_PRECONDITION);
}
TEST(ArmTeleopServiceTest, RequiresOpenAsFirstFrame)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(makeSetpoint(1)));
ASSERT_TRUE(stream->WritesDone());
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_REJECTED);
const grpc::Status status = stream->Finish();
EXPECT_EQ(
status.error_code(),
grpc::StatusCode::INVALID_ARGUMENT);
EXPECT_EQ(backend->openCalls(), 0);
}
TEST(ArmTeleopServiceTest, RejectsManifestMismatchBeforeBackendOpen)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = harness.stub().Teleoperate(&context);
auto mismatched = makeManifest();
mismatched.set_calibration_sha256(std::string(64, 'c'));
ASSERT_TRUE(stream->Write(makeOpenFrame(mismatched)));
ASSERT_TRUE(stream->WritesDone());
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_REJECTED);
const grpc::Status status = stream->Finish();
EXPECT_EQ(
status.error_code(),
grpc::StatusCode::FAILED_PRECONDITION);
EXPECT_EQ(backend->openCalls(), 0);
}
TEST(ArmTeleopServiceTest, RejectsNonIncreasingSequenceAndStops)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(makeOpenFrame(makeManifest())));
expectOpeningFrames(*stream);
ASSERT_TRUE(stream->Write(makeSetpoint(1)));
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_ACTIVE);
EXPECT_EQ(response.status().applied_sequence(), 1U);
ASSERT_TRUE(stream->Write(makeHeartbeat(1)));
ASSERT_TRUE(stream->WritesDone());
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_REJECTED);
EXPECT_EQ(
response.status().stop_reason(),
arm_teleop::STOP_REASON_PROTOCOL_ERROR);
const grpc::Status status = stream->Finish();
EXPECT_EQ(
status.error_code(),
grpc::StatusCode::INVALID_ARGUMENT);
ASSERT_FALSE(backend->stopReasons().empty());
EXPECT_EQ(
backend->stopReasons().back(),
arm_teleop::STOP_REASON_PROTOCOL_ERROR);
EXPECT_EQ(backend->backendThreadCount(), 1U);
}
TEST(ArmTeleopServiceTest, ProtocolErrorCancelsReaderWithoutClientHalfClose)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(makeOpenFrame(makeManifest())));
expectOpeningFrames(*stream);
ASSERT_TRUE(stream->Write(makeHeartbeat(1)));
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_READY);
// Deliberately keep the client write half open after the duplicate
// sequence. The server must cancel its reader and return promptly.
ASSERT_TRUE(stream->Write(makeHeartbeat(1)));
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_REJECTED);
EXPECT_EQ(
response.status().stop_reason(),
arm_teleop::STOP_REASON_PROTOCOL_ERROR);
const auto status = stream->Finish();
// TryCancel is required to interrupt the server reader's blocking Read
// when the peer deliberately keeps its write half open. Depending on
// gRPC completion ordering, the client may therefore observe CANCELLED
// after it has already received the explicit protocol-error frame.
EXPECT_TRUE(
status.error_code() == grpc::StatusCode::INVALID_ARGUMENT ||
status.error_code() == grpc::StatusCode::CANCELLED)
<< status.error_message();
}
TEST(ArmTeleopServiceTest, WatchdogExpiresWithoutValidClientActivity)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(
makeOpenFrame(makeManifest(), 20, 2000)));
expectOpeningFrames(*stream);
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_WATCHDOG_EXPIRED);
EXPECT_EQ(
response.status().stop_reason(),
arm_teleop::STOP_REASON_WATCHDOG);
const grpc::Status status = stream->Finish();
EXPECT_TRUE(
status.error_code() == grpc::StatusCode::DEADLINE_EXCEEDED ||
status.error_code() == grpc::StatusCode::CANCELLED)
<< status.error_message();
ASSERT_FALSE(backend->stopReasons().empty());
EXPECT_EQ(
backend->stopReasons().back(),
arm_teleop::STOP_REASON_WATCHDOG);
}
TEST(ArmTeleopServiceTest, ValidHeartbeatsRenewControlLease)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 3s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(
makeOpenFrame(makeManifest(), 100, 200)));
expectOpeningFrames(*stream);
arm_teleop::ServerFrame response;
for (std::uint64_t sequence = 1; sequence <= 7; ++sequence) {
std::this_thread::sleep_for(40ms);
ASSERT_TRUE(stream->Write(makeHeartbeat(sequence)));
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_READY);
EXPECT_EQ(
response.status().received_sequence(),
sequence);
EXPECT_GT(response.status().lease_remaining_ms(), 0U);
}
ASSERT_TRUE(stream->Write(makeStop()));
ASSERT_TRUE(stream->WritesDone());
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_STOPPED);
EXPECT_TRUE(stream->Finish().ok());
}
TEST(ArmTeleopServiceTest, RejectsSecondControllerWhileLeaseIsActive)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext first_context;
first_context.set_deadline(
std::chrono::system_clock::now() + 3s);
auto first_stream =
harness.stub().Teleoperate(&first_context);
ASSERT_TRUE(first_stream->Write(
makeOpenFrame(makeManifest(), 500, 2000)));
expectOpeningFrames(*first_stream);
grpc::ClientContext second_context;
second_context.set_deadline(
std::chrono::system_clock::now() + 2s);
auto second_stream =
harness.stub().Teleoperate(&second_context);
ASSERT_TRUE(second_stream->Write(
makeOpenFrame(makeManifest(), 500, 2000)));
ASSERT_TRUE(second_stream->WritesDone());
arm_teleop::ServerFrame response;
ASSERT_TRUE(second_stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_REJECTED);
const grpc::Status second_status =
second_stream->Finish();
EXPECT_EQ(
second_status.error_code(),
grpc::StatusCode::RESOURCE_EXHAUSTED);
ASSERT_TRUE(first_stream->Write(makeStop()));
ASSERT_TRUE(first_stream->WritesDone());
ASSERT_TRUE(first_stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_STOPPED);
EXPECT_TRUE(first_stream->Finish().ok());
}
TEST(ArmTeleopServiceTest, LatestOnlySlotDropsIntermediateSetpoints)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 3s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(
makeOpenFrame(makeManifest(), 500, 2000)));
expectOpeningFrames(*stream);
backend->blockApply();
ASSERT_TRUE(stream->Write(makeSetpoint(1, 400000)));
ASSERT_TRUE(backend->waitForApply(1, 1s));
ASSERT_TRUE(stream->Write(makeSetpoint(2, 400000)));
ASSERT_TRUE(stream->Write(makeSetpoint(3, 400000)));
ASSERT_TRUE(stream->Write(makeSetpoint(4, 400000)));
std::this_thread::sleep_for(30ms);
backend->releaseApply();
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(response.status().applied_sequence(), 1U);
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(response.status().applied_sequence(), 4U);
EXPECT_GE(response.status().dropped_setpoints(), 2U);
ASSERT_TRUE(stream->Write(makeStop()));
ASSERT_TRUE(stream->WritesDone());
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_STOPPED);
EXPECT_TRUE(stream->Finish().ok());
const auto applied = backend->appliedSequences();
ASSERT_EQ(applied.size(), 2U);
EXPECT_EQ(applied[0], 1U);
EXPECT_EQ(applied[1], 4U);
EXPECT_EQ(backend->backendThreadCount(), 1U);
}
TEST(ArmTeleopServiceTest, ExpiredSetpointIsNeverDispatched)
{
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 3s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(
makeOpenFrame(makeManifest(), 500, 2000)));
expectOpeningFrames(*stream);
backend->blockApply();
ASSERT_TRUE(stream->Write(makeSetpoint(1, 400000)));
ASSERT_TRUE(backend->waitForApply(1, 1s));
ASSERT_TRUE(stream->Write(makeSetpoint(2, 1000)));
std::this_thread::sleep_for(30ms);
backend->releaseApply();
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(response.status().applied_sequence(), 1U);
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_HOLDING);
EXPECT_EQ(response.status().received_sequence(), 2U);
EXPECT_EQ(response.status().applied_sequence(), 1U);
EXPECT_EQ(response.status().rejected_setpoints(), 1U);
ASSERT_TRUE(stream->Write(makeStop()));
ASSERT_TRUE(stream->WritesDone());
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_STOPPED);
EXPECT_TRUE(stream->Finish().ok());
const auto applied = backend->appliedSequences();
ASSERT_EQ(applied.size(), 1U);
EXPECT_EQ(applied.front(), 1U);
}
TEST(ArmTeleopServiceTest,
StopAllFencesDispatchRejectsAdmissionAndAllowsReuse)
{
auto& authority = control::ControlAuthorityManager::instance();
auto& admission = globalStopAllAdmissionGate();
authority.clear();
admission.clearForTesting();
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend);
grpc::ClientContext active_context;
active_context.set_deadline(
std::chrono::system_clock::now() + 3s);
auto active_stream = harness.stub().Teleoperate(&active_context);
ASSERT_TRUE(active_stream->Write(
makeOpenFrame(makeManifest(), 500, 2000)));
expectOpeningFrames(*active_stream);
backend->blockApply();
ASSERT_TRUE(active_stream->Write(makeSetpoint(1, 400000)));
ASSERT_TRUE(backend->waitForApply(1, 1s));
const auto stop_all_ticket = admission.beginStopAll();
ASSERT_TRUE(stop_all_ticket.valid());
grpc::ClientContext blocked_context;
blocked_context.set_deadline(
std::chrono::system_clock::now() + 2s);
auto blocked_stream = harness.stub().Teleoperate(&blocked_context);
ASSERT_TRUE(blocked_stream->Write(makeOpenFrame(makeManifest())));
ASSERT_TRUE(blocked_stream->WritesDone());
arm_teleop::ServerFrame response;
ASSERT_TRUE(blocked_stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_REJECTED);
const auto blocked_status = blocked_stream->Finish();
EXPECT_EQ(
blocked_status.error_code(), grpc::StatusCode::UNAVAILABLE);
EXPECT_EQ(backend->openCalls(), 1);
const auto safety_lease = authority.preemptAcquire(
makeManifest().robot_id(), "stop-all-test",
std::chrono::hours(1));
ASSERT_TRUE(safety_lease.acquired) << safety_lease.detail;
const auto safety_token = safety_lease.token;
auto dispatch_fence = std::async(
std::launch::async,
[&authority, safety_token] {
return authority.waitForPreemptedRelease(safety_token, 1s);
});
EXPECT_EQ(
dispatch_fence.wait_for(50ms), std::future_status::timeout);
backend->releaseApply();
ASSERT_EQ(
dispatch_fence.wait_for(1s), std::future_status::ready);
EXPECT_TRUE(dispatch_fence.get());
ASSERT_TRUE(active_stream->Read(&response));
EXPECT_EQ(response.status().applied_sequence(), 1U);
ASSERT_TRUE(active_stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_LEASE_LOST);
EXPECT_EQ(
response.status().stop_reason(),
arm_teleop::STOP_REASON_LEASE_REVOKED);
const auto active_status = active_stream->Finish();
EXPECT_TRUE(
active_status.error_code() == grpc::StatusCode::ABORTED ||
active_status.error_code() == grpc::StatusCode::CANCELLED)
<< active_status.error_message();
const auto applied = backend->appliedSequences();
ASSERT_EQ(applied.size(), 1U);
EXPECT_EQ(applied.front(), 1U);
const auto stopped = backend->stopReasons();
ASSERT_FALSE(stopped.empty());
EXPECT_EQ(
stopped.back(), arm_teleop::STOP_REASON_LEASE_REVOKED);
authority.release(safety_token);
ASSERT_TRUE(admission.finishStopAll(stop_all_ticket, true));
grpc::ClientContext resumed_context;
resumed_context.set_deadline(
std::chrono::system_clock::now() + 2s);
auto resumed_stream = harness.stub().Teleoperate(&resumed_context);
ASSERT_TRUE(resumed_stream->Write(makeOpenFrame(makeManifest())));
expectOpeningFrames(*resumed_stream);
ASSERT_TRUE(resumed_stream->Write(makeStop()));
ASSERT_TRUE(resumed_stream->WritesDone());
ASSERT_TRUE(resumed_stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_STOPPED);
EXPECT_TRUE(resumed_stream->Finish().ok());
EXPECT_EQ(backend->openCalls(), 2);
authority.clear();
admission.clearForTesting();
}
TEST(ArmTeleopServiceTest,
CoordinatorInvalidationStopsExistingSessionBeforeAnotherSetpoint)
{
safety::SafetyManagerConfig config;
config.enforcement_mode = safety::EnforcementMode::EnforceAll;
safety::SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeTeleopSafetyEndpoint>();
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
makeManifest().robot_id(),
device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
auto backend = std::make_shared<FakeArmTeleopBackend>();
TeleopServerHarness harness(backend, &coordinator);
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = harness.stub().Teleoperate(&context);
ASSERT_TRUE(stream->Write(makeOpenFrame(makeManifest(), 500, 1500)));
expectOpeningFrames(*stream);
EXPECT_EQ(endpoint->hardwareChecks(), 1);
ASSERT_TRUE(stream->Write(makeSetpoint(1)));
arm_teleop::ServerFrame response;
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(response.status().phase(), arm_teleop::SESSION_PHASE_ACTIVE);
EXPECT_EQ(response.status().applied_sequence(), 1U);
EXPECT_EQ(endpoint->hardwareChecks(), 2);
coordinator.quarantineDevice(
makeManifest().robot_id(),
safety::SafetyReason::OutcomeUnknown,
"test-quarantine");
ASSERT_TRUE(stream->Read(&response));
EXPECT_EQ(
response.status().phase(),
arm_teleop::SESSION_PHASE_LEASE_LOST);
EXPECT_EQ(
response.status().stop_reason(),
arm_teleop::STOP_REASON_EMERGENCY_STOP);
const auto status = stream->Finish();
EXPECT_TRUE(
status.error_code() == grpc::StatusCode::FAILED_PRECONDITION ||
status.error_code() == grpc::StatusCode::CANCELLED)
<< status.error_message();
EXPECT_EQ(backend->appliedSequences(),
(std::vector<std::uint64_t>{1U}));
ASSERT_FALSE(backend->stopReasons().empty());
EXPECT_EQ(
backend->stopReasons().back(),
arm_teleop::STOP_REASON_EMERGENCY_STOP);
}
} // namespace
} // namespace cmvr::service

454
cmvr-es/service/grpc/server/tests/grpc_command_transaction_test.cpp
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@ -1,454 +0,0 @@
#include "service/grpc/server/include/grpc_command_transaction.h"
#include <atomic>
#include <chrono>
#include <memory>
#include <stdexcept>
#include <string>
#include <gtest/gtest.h>
#include "cmvr/api/arm_command.pb.h"
#include "manager/safety_manager/include/device_safety_endpoint.h"
namespace cmvr::service {
namespace {
class FakeEndpoint final : public safety::DeviceSafetyEndpoint {
public:
explicit FakeEndpoint(std::string device_id)
{
descriptor_.device_id = std::move(device_id);
descriptor_.kind = device::DeviceKind::Arm;
descriptor_.default_policy = safety::SafetyPolicyFamily::Control;
descriptor_.maximum_snapshot_age = std::chrono::seconds(1);
descriptor_.supports_active_refresh = true;
}
safety::DeviceSafetyDescriptor descriptor() const override
{
return descriptor_;
}
void bindPublisher(safety::SafetySnapshotPublisher publisher) override
{
publisher_ = std::move(publisher);
}
void requestSafetyRefresh() noexcept override
{
if (!publisher_) {
return;
}
safety::DeviceSafetySnapshot snapshot;
snapshot.device_id = descriptor_.device_id;
snapshot.condition = safety::SafetyCondition::Nominal;
snapshot.device_generation = 1;
snapshot.sample_sequence = ++sequence_;
snapshot.observed_at = safety::SafetyClock::now();
snapshot.connected = safety::TriState::True;
snapshot.operational_ready = safety::TriState::True;
snapshot.quiescent = safety::TriState::True;
snapshot.motion_active = safety::TriState::False;
snapshot.actuator_enabled = safety::TriState::True;
snapshot.emergency_stop_active = safety::TriState::False;
snapshot.protective_stop_active = safety::TriState::False;
snapshot.fault_active = safety::TriState::False;
(void)publisher_(std::move(snapshot));
}
safety::HardwareCheckResult validateBeforeDispatch(
const safety::AdmissionPermit&) override
{
++hardware_checks;
return final_check;
}
safety::RecoveryCheckResult reconcileAdmissionState(
const safety::RecoveryContext&) override
{
return {true, safety::SafetyReason::None, {}};
}
safety::DeviceSafetyDescriptor descriptor_;
safety::SafetySnapshotPublisher publisher_;
safety::HardwareCheckResult final_check{
true, safety::SafetyReason::None, {}};
std::atomic<std::uint64_t> sequence_{0};
std::atomic<int> hardware_checks{0};
};
api::MoveJ_Request moveRequest(
const safety::SafetyManager& coordinator,
const std::string& command_id,
const double target = 0.25)
{
api::MoveJ_Request request;
request.mutable_header()->set_device_id("arm");
request.mutable_header()->set_command_id(command_id);
request.mutable_header()->set_expected_service_instance_id(
coordinator.serviceInstanceId());
request.mutable_header()->set_valid_for_ms(1000);
request.mutable_target()->add_position(target);
return request;
}
grpc::Status executeMove(
safety::SafetyManager& coordinator,
const api::MoveJ_Request& request,
api::MoveJ_Response& response,
int& dispatches,
const bool throw_after_dispatch = false)
{
grpc::ServerContext context;
return executeRegisteredGrpcCommand(
makeDefaultGrpcSecurityGateway(),
&context,
coordinator,
"/cmvr.api.ArmService/moveJ",
&request,
&response,
[&](GrpcCommandTransaction& transaction) {
if (!transaction.beginDispatch()) {
return transaction.dispatchStatus();
}
++dispatches;
if (throw_after_dispatch) {
throw std::runtime_error("simulated lost driver acknowledgement");
}
response.mutable_header()->set_success(true);
return grpc::Status::OK;
});
}
TEST(GrpcCommandTransactionTest,
DeterministicHashIgnoresRetryIdentityButIncludesPayload)
{
safety::SafetyManager coordinator;
auto first = moveRequest(coordinator, "command-1", 0.25);
auto retry = first;
retry.mutable_header()->set_command_id("command-2");
retry.mutable_header()->set_valid_for_ms(2000);
retry.mutable_header()->mutable_timestamp()->set_seconds(1234);
auto changed = retry;
changed.mutable_target()->set_position(0, 0.5);
const auto first_hash = deterministicGrpcPayloadHash(
"/cmvr.api.ArmService/moveJ", first);
EXPECT_FALSE(first_hash.empty());
EXPECT_EQ(
first_hash,
deterministicGrpcPayloadHash(
"/cmvr.api.ArmService/moveJ", retry));
EXPECT_NE(
first_hash,
deterministicGrpcPayloadHash(
"/cmvr.api.ArmService/moveJ", changed));
EXPECT_NE(
first_hash,
deterministicGrpcPayloadHash(
"/cmvr.api.ArmService/moveL", first));
}
TEST(GrpcCommandTransactionTest, SameIdReturnsCachedResponseWithoutRedispatch)
{
safety::SafetyManager coordinator;
auto endpoint = std::make_shared<FakeEndpoint>("arm");
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
coordinator.markStartupComplete();
const auto request = moveRequest(coordinator, "command-cache");
api::MoveJ_Response first_response;
int dispatches = 0;
ASSERT_TRUE(executeMove(
coordinator, request, first_response, dispatches).ok());
ASSERT_TRUE(first_response.header().success());
EXPECT_EQ(dispatches, 1);
auto retry = request;
retry.mutable_header()->set_valid_for_ms(2500);
retry.mutable_header()->mutable_timestamp()->set_seconds(42);
api::MoveJ_Response cached_response;
ASSERT_TRUE(executeMove(
coordinator, retry, cached_response, dispatches).ok());
EXPECT_EQ(dispatches, 1);
EXPECT_TRUE(cached_response.header().success());
EXPECT_EQ(
cached_response.header().execution_state(),
api::COMMAND_EXECUTION_STATE_COMPLETED);
EXPECT_EQ(cached_response.header().command_id(), "command-cache");
auto conflict = request;
conflict.mutable_target()->set_position(0, 0.75);
api::MoveJ_Response conflict_response;
const auto conflict_status = executeMove(
coordinator, conflict, conflict_response, dispatches);
EXPECT_EQ(conflict_status.error_code(), grpc::StatusCode::ALREADY_EXISTS);
EXPECT_EQ(dispatches, 1);
EXPECT_EQ(
conflict_response.header().reason_code(),
api::COMMAND_REASON_CODE_COMMAND_ID_CONFLICT);
}
TEST(GrpcCommandTransactionTest,
EnforcedCommandRequiresIdentityAndRunsFinalHardwareCheck)
{
safety::SafetyManagerConfig config;
config.enforcement_mode = safety::EnforcementMode::EnforceAll;
safety::SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>("arm");
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm",
device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
auto missing_identity = moveRequest(coordinator, "");
api::MoveJ_Response rejected;
int dispatches = 0;
const auto rejected_status = executeMove(
coordinator, missing_identity, rejected, dispatches);
EXPECT_EQ(
rejected_status.error_code(), grpc::StatusCode::INVALID_ARGUMENT);
EXPECT_EQ(dispatches, 0);
EXPECT_EQ(
rejected.header().reason_code(),
api::COMMAND_REASON_CODE_COMMAND_ID_REQUIRED);
auto accepted = moveRequest(coordinator, "command-enforced");
api::MoveJ_Response accepted_response;
ASSERT_TRUE(executeMove(
coordinator, accepted, accepted_response, dispatches).ok());
EXPECT_EQ(dispatches, 1);
EXPECT_EQ(endpoint->hardware_checks.load(), 1);
EXPECT_EQ(
accepted_response.header().device_generation(), 1U);
}
TEST(GrpcCommandTransactionTest,
ExceptionAfterDispatchIsQuarantinedAndNeverRedispatched)
{
safety::SafetyManagerConfig config;
config.enforcement_mode = safety::EnforcementMode::EnforceAll;
safety::SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>("arm");
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm",
device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
const auto request = moveRequest(coordinator, "command-unknown");
api::MoveJ_Response response;
int dispatches = 0;
ASSERT_TRUE(executeMove(
coordinator, request, response, dispatches, true).ok());
EXPECT_EQ(dispatches, 1);
EXPECT_EQ(
response.header().reason_code(),
api::COMMAND_REASON_CODE_OUTCOME_UNKNOWN);
ASSERT_EQ(coordinator.snapshot().devices.size(), 1U);
EXPECT_EQ(
coordinator.snapshot().devices.front().admission_state,
safety::DeviceAdmissionState::Quarantined);
api::MoveJ_Response retry_response;
ASSERT_TRUE(executeMove(
coordinator, request, retry_response, dispatches).ok());
EXPECT_EQ(dispatches, 1);
EXPECT_EQ(
retry_response.header().execution_state(),
api::COMMAND_EXECUTION_STATE_OUTCOME_UNKNOWN);
}
TEST(GrpcCommandTransactionTest,
ScopedDispatchChecksHardwareForEverySubmission)
{
safety::SafetyManagerConfig config;
config.enforcement_mode = safety::EnforcementMode::EnforceAll;
safety::SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>("arm");
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm",
device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
const auto request = moveRequest(coordinator, "command-scoped");
api::MoveJ_Response response;
grpc::ServerContext context;
int dispatches = 0;
const auto status = executeRegisteredGrpcCommand(
makeDefaultGrpcSecurityGateway(),
&context,
coordinator,
"/cmvr.api.ArmService/moveJ",
&request,
&response,
[&](GrpcCommandTransaction& transaction) {
for (int index = 0; index < 2; ++index) {
auto dispatch = transaction.beginScopedDispatch();
if (!dispatch.acquired()) {
return transaction.dispatchStatus();
}
++dispatches;
}
response.mutable_header()->set_success(true);
return grpc::Status::OK;
});
EXPECT_TRUE(status.ok());
EXPECT_TRUE(response.header().success());
EXPECT_EQ(dispatches, 2);
EXPECT_EQ(endpoint->hardware_checks.load(), 2);
}
TEST(GrpcCommandTransactionTest,
RevokedActuationPermitCannotSuppressInternalSafetyStop)
{
safety::SafetyManagerConfig config;
config.enforcement_mode = safety::EnforcementMode::EnforceAll;
safety::SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>("arm");
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm",
device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
const auto request = moveRequest(coordinator, "command-revoked");
api::MoveJ_Response response;
grpc::ServerContext context;
int actuations = 0;
int safety_stops = 0;
const auto status = executeRegisteredGrpcCommand(
makeDefaultGrpcSecurityGateway(),
&context,
coordinator,
"/cmvr.api.ArmService/moveJ",
&request,
&response,
[&](GrpcCommandTransaction& transaction) {
{
auto dispatch = transaction.beginScopedDispatch();
if (!dispatch.acquired()) {
return transaction.dispatchStatus();
}
++actuations;
}
const auto stop_all = coordinator.stopAll("revoke-scoped-permit");
EXPECT_TRUE(stop_all.success);
EXPECT_FALSE(transaction.revalidate());
const auto revoked_status = transaction.dispatchStatus();
EXPECT_FALSE(transaction.beginScopedDispatch().acquired());
auto stop_dispatch = transaction.beginSafetyStopDispatch();
if (stop_dispatch.acquired()) {
++safety_stops;
}
response.mutable_header()->set_success(false);
return revoked_status;
});
// Ledger-backed commands report their terminal outcome in Feedback.
EXPECT_TRUE(status.ok());
EXPECT_FALSE(response.header().success());
EXPECT_EQ(
response.header().reason_code(),
api::COMMAND_REASON_CODE_SAFETY_LATCHED);
EXPECT_EQ(actuations, 1);
EXPECT_EQ(safety_stops, 1);
EXPECT_EQ(endpoint->hardware_checks.load(), 2);
}
TEST(GrpcCommandTransactionTest,
ServerDerivedStopRemainsDispatchableWhenActuationIsQuarantined)
{
safety::SafetyManagerConfig config;
config.enforcement_mode = safety::EnforcementMode::EnforceAll;
safety::SafetyManager coordinator(config);
auto endpoint = std::make_shared<FakeEndpoint>("arm");
ASSERT_TRUE(coordinator.registerDevice(
{endpoint->descriptor(), endpoint, {}}));
coordinator.updateDeviceRuntimeState(
"arm",
device::ManagedDeviceState::Running,
{device::DeviceHealthState::Healthy, {}});
coordinator.markStartupComplete();
coordinator.quarantineDevice(
"arm", safety::SafetyReason::OutcomeUnknown,
"uncertain-ptz-start");
const auto registered = defaultGrpcMethodPolicyRegistry().find(
"/cmvr.api.CameraService/ControlPtz");
ASSERT_TRUE(registered.has_value());
auto start_request = moveRequest(coordinator, "ptz-start");
api::MoveJ_Response start_response;
grpc::ServerContext start_context;
int start_dispatches = 0;
const auto start_status = executeServerDerivedGrpcCommand(
makeDefaultGrpcSecurityGateway(),
&start_context,
coordinator,
"/cmvr.api.CameraService/ControlPtz",
*registered,
&start_request,
&start_response,
[&](GrpcCommandTransaction& transaction) {
if (!transaction.beginDispatch()) {
return transaction.dispatchStatus();
}
++start_dispatches;
start_response.mutable_header()->set_success(true);
return grpc::Status::OK;
});
EXPECT_TRUE(start_status.ok());
EXPECT_EQ(start_dispatches, 0);
EXPECT_FALSE(start_response.header().success());
EXPECT_EQ(
start_response.header().reason_code(),
api::COMMAND_REASON_CODE_SAFETY_LATCHED);
auto stop_request = moveRequest(coordinator, "ptz-stop");
api::MoveJ_Response stop_response;
grpc::ServerContext stop_context;
auto stop_policy = *registered;
stop_policy.access = GrpcAccessClass::Stop;
stop_policy.command_intent = safety::CommandIntent::Stop;
stop_policy.safety_lane = true;
int stop_dispatches = 0;
const auto stop_status = executeServerDerivedGrpcCommand(
makeDefaultGrpcSecurityGateway(),
&stop_context,
coordinator,
"/cmvr.api.CameraService/ControlPtz",
std::move(stop_policy),
&stop_request,
&stop_response,
[&](GrpcCommandTransaction& transaction) {
if (!transaction.beginDispatch()) {
return transaction.dispatchStatus();
}
++stop_dispatches;
stop_response.mutable_header()->set_success(true);
return grpc::Status::OK;
});
EXPECT_TRUE(stop_status.ok());
EXPECT_TRUE(stop_response.header().success());
EXPECT_EQ(stop_dispatches, 1);
EXPECT_EQ(endpoint->hardware_checks.load(), 1);
}
} // namespace
} // namespace cmvr::service

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cmvr-es/service/grpc/server/tests/grpc_dexhand_service_test.cpp
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@ -1,351 +0,0 @@
#include "service/grpc/server/include/grpc_dexhand_service.h"
#include <array>
#include <atomic>
#include <cstdio>
#include <chrono>
#include <condition_variable>
#include <future>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
#include <unistd.h>
#include <grpcpp/grpcpp.h>
#include <gtest/gtest.h>
#include "cmvr/config/device_manager_config/device_manager_config.pb.h"
#include "manager/control_authority_manager/include/control_authority_manager.h"
#include "manager/device_manager/include/device_manager.h"
#include "service/grpc/server/include/media_activity_coordinator.h"
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
namespace cmvr::service {
namespace {
using namespace std::chrono_literals;
class FakeDexHand final : public device::AbstractDexHand {
public:
FakeDexHand() {
id_ = "test-dexhand";
sensor_points_[0] = TactilePoint::fromFz(42);
}
std::string typeName() const override { return "FakeDexHand"; }
Status state() const override { return Status::STREAMING; }
std::string lastError() const override { return {}; }
bool stopOperationalActivity() override {
++stop_operational_calls;
return true;
}
bool resumeOperationalActivity() override {
++resume_operational_calls;
return true;
}
void setAngles(const std::vector<int>&) override {
++set_angle_calls;
std::unique_lock lock(command_mutex_);
command_entered_ = true;
command_cv_.notify_all();
command_cv_.wait(lock, [this] { return !block_angle_command_; });
}
void setPositions(const std::vector<int>&) override {
++set_position_calls;
}
void setVelocities(const std::vector<int>&) override {
++set_speed_calls;
}
void setForce(const std::vector<int>&) override {
++set_force_calls;
}
void setPresetAct(int) override {
++set_preset_calls;
}
void setTactilePollingRegions(
const std::vector<TactileRegionKey>&) override {
++configure_sensor_calls;
}
std::vector<TactileRegionData> getSensorData() override {
++sensor_read_calls;
return {sensorRegion()};
}
TactileRegionData getSensorData(
FingerType finger, TactileRegion region) override {
return finger == FingerType::INDEX && region == TactileRegion::TIP
? sensorRegion()
: TactileRegionData{};
}
ResultantForce getResultantForce(
FingerType finger, TactileRegion region) override {
return finger == FingerType::INDEX && region == TactileRegion::TIP
? sensor_points_[0]
: ResultantForce{};
}
void blockAngleCommand() {
std::lock_guard lock(command_mutex_);
block_angle_command_ = true;
command_entered_ = false;
}
bool waitForAngleCommand(const std::chrono::milliseconds timeout) {
std::unique_lock lock(command_mutex_);
return command_cv_.wait_for(
lock, timeout, [this] { return command_entered_; });
}
void releaseAngleCommand() {
{
std::lock_guard lock(command_mutex_);
block_angle_command_ = false;
}
command_cv_.notify_all();
}
std::atomic<int> set_position_calls{0};
std::atomic<int> set_angle_calls{0};
std::atomic<int> set_force_calls{0};
std::atomic<int> set_speed_calls{0};
std::atomic<int> set_preset_calls{0};
std::atomic<int> configure_sensor_calls{0};
std::atomic<int> sensor_read_calls{0};
std::atomic<int> stop_operational_calls{0};
std::atomic<int> resume_operational_calls{0};
private:
TactileRegionData sensorRegion() {
return TactileRegionData(
FingerType::INDEX,
TactileRegion::TIP,
TactileMatrixView{sensor_points_.data(), 1, 1},
"fake-tactile");
}
std::array<TactilePoint, 1> sensor_points_{};
std::mutex command_mutex_;
std::condition_variable command_cv_;
bool block_angle_command_{false};
bool command_entered_{false};
};
class GrpcDexHandServiceTest : public ::testing::Test {
protected:
void SetUp() override {
device::DeviceManager::destroyInstance();
control::ControlAuthorityManager::instance().clear();
globalStopAllAdmissionGate().clearForTesting();
config::DeviceManagerConfig config;
auto& manager = device::DeviceManager::getInstance(config);
hand_ = std::make_shared<FakeDexHand>();
manager.registerDevice(hand_);
service_ = std::make_unique<gRPCDexHandServiceImpl>();
}
void TearDown() override {
hand_->releaseAngleCommand();
if (server_) {
server_->Shutdown();
server_->Wait();
}
stub_.reset();
service_.reset();
hand_.reset();
if (!socket_path_.empty()) {
std::remove(socket_path_.c_str());
}
device::DeviceManager::destroyInstance();
control::ControlAuthorityManager::instance().clear();
globalStopAllAdmissionGate().clearForTesting();
}
bool startGrpcServer() {
socket_path_ =
"/tmp/cmvr_dexhand_service_test_" +
std::to_string(static_cast<long long>(::getpid())) + ".sock";
std::remove(socket_path_.c_str());
const std::string address = "unix:" + socket_path_;
grpc::ServerBuilder builder;
builder.AddListeningPort(
address,
grpc::InsecureServerCredentials());
builder.RegisterService(service_.get());
server_ = builder.BuildAndStart();
if (!server_) {
return false;
}
stub_ = api::DexHandService::NewStub(grpc::CreateChannel(
address,
grpc::InsecureChannelCredentials()));
return stub_ != nullptr;
}
static api::GetSensorDataStreamCommand_Request sensorStreamRequest() {
api::GetSensorDataStreamCommand_Request request;
request.mutable_header()->set_device_id("test-dexhand");
return request;
}
std::shared_ptr<FakeDexHand> hand_;
std::unique_ptr<gRPCDexHandServiceImpl> service_;
std::unique_ptr<grpc::Server> server_;
std::unique_ptr<api::DexHandService::Stub> stub_;
std::string socket_path_;
};
TEST_F(GrpcDexHandServiceTest, StopAllGateRejectsEveryControlCommand) {
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
grpc::ServerContext position_context;
api::SetDexHandPositionsCommand_Request position_request;
api::SetDexHandPositionsCommand_Feedback position_response;
position_request.mutable_header()->set_device_id("test-dexhand");
EXPECT_TRUE(service_->SetDexHandPos(
&position_context, &position_request, &position_response).ok());
EXPECT_FALSE(position_response.header().success());
grpc::ServerContext angle_context;
api::SetDexHandAnglesCommand_Request angle_request;
api::SetDexHandAnglesCommand_Feedback angle_response;
angle_request.mutable_header()->set_device_id("test-dexhand");
EXPECT_TRUE(service_->SetDexHandAngle(
&angle_context, &angle_request, &angle_response).ok());
EXPECT_FALSE(angle_response.header().success());
grpc::ServerContext force_context;
api::SetDexHandForceCommand_Request force_request;
api::SetDexHandForceCommand_Feedback force_response;
force_request.mutable_header()->set_device_id("test-dexhand");
EXPECT_TRUE(service_->SetDexHandForce(
&force_context, &force_request, &force_response).ok());
EXPECT_FALSE(force_response.header().success());
grpc::ServerContext speed_context;
api::SetDexHandSpeedCommand_Request speed_request;
api::SetDexHandSpeedCommand_Feedback speed_response;
speed_request.mutable_header()->set_device_id("test-dexhand");
EXPECT_TRUE(service_->SetDexHandSpeed(
&speed_context, &speed_request, &speed_response).ok());
EXPECT_FALSE(speed_response.header().success());
grpc::ServerContext preset_context;
api::SetDexHandPresetActCommand_Request preset_request;
api::SetDexHandPresetActCommand_Feedback preset_response;
preset_request.mutable_header()->set_device_id("test-dexhand");
EXPECT_TRUE(service_->SetDexHandPresetAct(
&preset_context, &preset_request, &preset_response).ok());
EXPECT_FALSE(preset_response.header().success());
EXPECT_EQ(hand_->set_position_calls.load(), 0);
EXPECT_EQ(hand_->set_angle_calls.load(), 0);
EXPECT_EQ(hand_->set_force_calls.load(), 0);
EXPECT_EQ(hand_->set_speed_calls.load(), 0);
EXPECT_EQ(hand_->set_preset_calls.load(), 0);
EXPECT_EQ(hand_->resume_operational_calls.load(), 0);
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
TEST_F(GrpcDexHandServiceTest,
SafetyPreemptionCannotPassAnExecutingDeviceDispatch) {
hand_->blockAngleCommand();
grpc::ServerContext context;
api::SetDexHandAnglesCommand_Request request;
api::SetDexHandAnglesCommand_Feedback response;
request.mutable_header()->set_device_id("test-dexhand");
request.add_values()->set_value(0.5F);
auto rpc = std::async(std::launch::async, [&] {
return service_->SetDexHandAngle(&context, &request, &response);
});
ASSERT_TRUE(hand_->waitForAngleCommand(1s));
auto& authority = control::ControlAuthorityManager::instance();
auto safety_result = authority.preemptAcquire(
"test-dexhand",
"test-stop-all",
std::chrono::duration_cast<
control::ControlAuthorityManager::Duration>(1h));
ASSERT_TRUE(safety_result.acquired);
const auto safety_token = safety_result.token;
auto dispatch_fence = std::async(std::launch::async,
[&authority, safety_token] {
return authority.waitForPreemptedRelease(safety_token, 1s);
});
EXPECT_EQ(
dispatch_fence.wait_for(50ms), std::future_status::timeout);
hand_->releaseAngleCommand();
ASSERT_EQ(rpc.wait_for(1s), std::future_status::ready);
EXPECT_TRUE(rpc.get().ok());
EXPECT_TRUE(response.header().success());
ASSERT_EQ(dispatch_fence.wait_for(1s), std::future_status::ready);
EXPECT_TRUE(dispatch_fence.get());
authority.release(safety_token);
}
TEST_F(GrpcDexHandServiceTest,
StopAllCancelsOldSensorStreamAndARecoveredStreamResumesActivity) {
ASSERT_TRUE(startGrpcServer());
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 3s);
auto stream = stub_->GetSensorDataStream(&context);
ASSERT_TRUE(stream->Write(sensorStreamRequest()));
api::GetSensorDataStreamCommand_Feedback feedback;
ASSERT_TRUE(stream->Read(&feedback));
ASSERT_TRUE(feedback.header().success());
ASSERT_GE(hand_->sensor_read_calls.load(), 1);
const auto admission_ticket = globalStopAllAdmissionGate().beginStopAll();
const auto media_ticket = globalMediaActivityCoordinator().beginStopAll();
ASSERT_TRUE(admission_ticket.valid());
ASSERT_TRUE(media_ticket.valid());
stream->WritesDone();
while (stream->Read(&feedback)) {
}
const auto status = stream->Finish();
EXPECT_TRUE(
status.ok() || status.error_code() == grpc::StatusCode::CANCELLED);
EXPECT_TRUE(globalMediaActivityCoordinator().waitForStopped(
media_ticket, 1s));
const int stopped_stream_reads = hand_->sensor_read_calls.load();
std::this_thread::sleep_for(50ms);
EXPECT_EQ(hand_->sensor_read_calls.load(), stopped_stream_reads);
EXPECT_TRUE(globalMediaActivityCoordinator().finishStopAll(
media_ticket, true));
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(
admission_ticket, true));
grpc::ClientContext resumed_context;
resumed_context.set_deadline(std::chrono::system_clock::now() + 3s);
auto resumed = stub_->GetSensorDataStream(&resumed_context);
ASSERT_TRUE(resumed->Write(sensorStreamRequest()));
ASSERT_TRUE(resumed->Read(&feedback));
EXPECT_TRUE(feedback.header().success());
EXPECT_GT(hand_->sensor_read_calls.load(), stopped_stream_reads);
EXPECT_GE(hand_->resume_operational_calls.load(), 2);
resumed_context.TryCancel();
resumed->WritesDone();
while (resumed->Read(&feedback)) {
}
(void)resumed->Finish();
}
} // namespace
} // namespace cmvr::service

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cmvr-es/service/grpc/server/tests/grpc_error_logging_interceptor_test.cpp
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#include "service/grpc/server/include/grpc_error_logging_interceptor.h"
#include <atomic>
#include <algorithm>
#include <array>
#include <chrono>
#include <condition_variable>
#include <cstdio>
#include <filesystem>
#include <fstream>
#include <iterator>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <utility>
#include <vector>
#include <grpcpp/grpcpp.h>
#include <grpcpp/generic/generic_stub.h>
#include <grpcpp/impl/client_unary_call.h>
#include <grpcpp/impl/rpc_method.h>
#include <gtest/gtest.h>
#include <unistd.h>
#include "cmvr/api/agv_service.grpc.pb.h"
#include "cmvr/api/camera_service.grpc.pb.h"
#include "cmvr/api/test_service.grpc.pb.h"
#include "common/base/logging/logger.h"
namespace cmvr::service {
namespace {
std::atomic<std::uint64_t> g_socket_sequence{0};
void setRpcDeadline(grpc::ClientContext& context)
{
context.set_deadline(
std::chrono::system_clock::now() + std::chrono::seconds(3));
}
grpc::ByteBuffer byteBuffer(const std::string& payload)
{
const grpc::Slice slice(payload);
return grpc::ByteBuffer(&slice, 1);
}
std::string byteBufferString(const grpc::ByteBuffer& buffer)
{
std::vector<grpc::Slice> slices;
EXPECT_TRUE(buffer.Dump(&slices).ok());
std::string payload;
for (const auto& slice : slices) {
payload.append(
reinterpret_cast<const char*>(slice.begin()), slice.size());
}
return payload;
}
grpc::Status rawUnaryCall(const std::shared_ptr<grpc::Channel>& channel,
const std::string& method,
const std::string& request_payload,
grpc::ByteBuffer& response)
{
grpc::ClientContext context;
setRpcDeadline(context);
const auto request = byteBuffer(request_payload);
const grpc::internal::RpcMethod rpc_method(
method.c_str(), grpc::internal::RpcMethod::NORMAL_RPC);
return grpc::internal::BlockingUnaryCall(
channel.get(), rpc_method, &context, request, &response);
}
class ErrorLoggingTestService final : public api::TestService::Service {
public:
grpc::Status Call(grpc::ServerContext* context,
const api::TestReqeust* request,
api::TestResponse* response) override
{
if (request->data() == "grpc-error") {
return grpc::Status(
grpc::StatusCode::INTERNAL, "transport sentinel");
}
if (request->data() == "cancelled") {
return grpc::Status(
grpc::StatusCode::CANCELLED, "client closed stream");
}
if (request->data() == "server-cancel") {
context->TryCancel();
return grpc::Status::OK;
}
if (request->data() == "client-cancel") {
{
std::lock_guard lock(cancel_mutex_);
cancel_started_ = true;
}
cancel_started_condition_.notify_all();
const auto timeout =
std::chrono::steady_clock::now() + std::chrono::seconds(3);
while (!context->IsCancelled() &&
std::chrono::steady_clock::now() < timeout) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
return grpc::Status::OK;
}
response->set_data("ok");
return grpc::Status::OK;
}
bool waitForCancelableCall()
{
std::unique_lock lock(cancel_mutex_);
return cancel_started_condition_.wait_for(
lock, std::chrono::seconds(3),
[this] { return cancel_started_; });
}
private:
std::mutex cancel_mutex_;
std::condition_variable cancel_started_condition_;
bool cancel_started_{false};
};
class ErrorLoggingAgvService final : public api::AgvService::Service {
public:
grpc::Status emergencyStop(
grpc::ServerContext*,
const api::CommandHeader_Request* request,
api::CommandHeader_Feedback* response) override
{
if (request->device_id() == "missing") {
response->set_success(false);
response->set_error_message("missing sentinel");
return grpc::Status(
grpc::StatusCode::NOT_FOUND, "missing sentinel");
}
response->set_success(false);
response->set_error_message("direct sentinel");
return grpc::Status::OK;
}
grpc::Status streamMap(
grpc::ServerContext*,
const api::AgvMapStreamCommand_Request* request,
grpc::ServerWriter<api::AgvMapStreamCommand_Feedback>* writer) override
{
const auto write_failure = [writer](const std::string& detail) {
api::AgvMapStreamCommand_Feedback response;
response.mutable_header()->set_success(false);
response.mutable_header()->set_error_message(detail);
return writer->Write(response);
};
if (request->resume_token() == "multiple") {
write_failure("first stream sentinel");
write_failure("second stream sentinel");
return grpc::Status::OK;
}
if (request->resume_token() == "hold") {
write_failure("immediate stream sentinel");
std::unique_lock lock(stream_mutex_);
stream_released_.wait_for(
lock, std::chrono::seconds(3),
[this] { return release_stream_; });
return grpc::Status::OK;
}
if (request->resume_token() == "different") {
write_failure("application stream sentinel");
return grpc::Status(
grpc::StatusCode::INTERNAL, "status stream sentinel");
}
if (request->resume_token() == "long-different") {
const std::string common_prefix(1100, 'x');
write_failure(common_prefix + " application");
return grpc::Status(
grpc::StatusCode::INTERNAL,
common_prefix + " status");
}
write_failure("stream sentinel");
return grpc::Status(
grpc::StatusCode::INTERNAL, "stream sentinel");
}
void releaseHeldStream()
{
{
std::lock_guard lock(stream_mutex_);
release_stream_ = true;
}
stream_released_.notify_all();
}
private:
std::mutex stream_mutex_;
std::condition_variable stream_released_;
bool release_stream_{false};
};
class ErrorLoggingCameraService final : public api::CameraService::Service {
public:
grpc::Status StartCamera(
grpc::ServerContext*,
const api::StartCameraCommand_Request*,
api::StartCameraCommand_Feedback* response) override
{
response->mutable_header()->set_success(false);
response->mutable_header()->set_error_message("nested sentinel");
return grpc::Status::OK;
}
grpc::Status GetRGBImage(
grpc::ServerContext*,
const api::GetRGBImageCommand_Request*,
api::GetRGBImageCommand_Feedback* response) override
{
response->mutable_header()->set_success(true);
response->mutable_color_frame()->set_data(
std::string(2 * 1024 * 1024, 'x'));
return grpc::Status::OK;
}
};
class RawCameraService final
: public api::CameraService::WithRawCallbackMethod_StartCamera<
api::CameraService::Service> {
public:
explicit RawCameraService(std::string response)
: response_(std::move(response))
{
}
grpc::ServerUnaryReactor* StartCamera(
grpc::CallbackServerContext* context,
const grpc::ByteBuffer*,
grpc::ByteBuffer* response) override
{
*response = byteBuffer(response_);
auto* reactor = context->DefaultReactor();
reactor->Finish(grpc::Status::OK);
return reactor;
}
private:
std::string response_;
};
struct RawCallResult {
grpc::Status status;
std::vector<GrpcFailureRecord> records;
std::string response;
};
class ScopedServer final {
public:
ScopedServer(std::unique_ptr<grpc::Server> server,
std::string socket_path = {})
: server_(std::move(server)), socket_path_(std::move(socket_path))
{
}
~ScopedServer()
{
if (server_) {
server_->Shutdown();
server_->Wait();
}
if (!socket_path_.empty()) {
std::remove(socket_path_.c_str());
}
}
grpc::Server* get() const { return server_.get(); }
private:
std::unique_ptr<grpc::Server> server_;
std::string socket_path_;
};
class ScopedSocket final {
public:
explicit ScopedSocket(std::string path) : path_(std::move(path))
{
std::remove(path_.c_str());
}
~ScopedSocket() { std::remove(path_.c_str()); }
private:
std::string path_;
};
RawCallResult callRawStartCamera(const std::string& response_payload)
{
std::mutex records_mutex;
std::vector<GrpcFailureRecord> records;
RawCameraService service(response_payload);
grpc::ServerBuilder builder;
const std::string address =
"unix:/tmp/cmvr_grpc_error_logging_raw_" +
std::to_string(static_cast<long long>(::getpid())) + "_" +
std::to_string(g_socket_sequence.fetch_add(1U)) + ".sock";
const std::string socket_path = address.substr(5);
ScopedSocket socket(socket_path);
builder.AddListeningPort(address, grpc::InsecureServerCredentials());
builder.RegisterService(&service);
std::vector<std::unique_ptr<
grpc::experimental::ServerInterceptorFactoryInterface>> factories;
factories.emplace_back(makeGrpcErrorLoggingInterceptorFactory(
[&records, &records_mutex](const GrpcFailureRecord& record) {
std::lock_guard lock(records_mutex);
records.push_back(record);
}));
builder.experimental().SetInterceptorCreators(std::move(factories));
ScopedServer server(builder.BuildAndStart());
EXPECT_NE(server.get(), nullptr);
if (server.get() == nullptr) {
return {};
}
const auto channel = grpc::CreateChannel(
address, grpc::InsecureChannelCredentials());
api::StartCameraCommand_Request request;
grpc::ByteBuffer response;
const auto status = rawUnaryCall(
channel, "/cmvr.api.CameraService/StartCamera",
request.SerializeAsString(), response);
std::lock_guard lock(records_mutex);
return {status, records, byteBufferString(response)};
}
class GrpcErrorLoggingInterceptorTest : public testing::Test {
protected:
void SetUp() override
{
grpc::ServerBuilder builder;
socket_path_ =
"/tmp/cmvr_grpc_error_logging_interceptor_test_" +
std::to_string(static_cast<long long>(::getpid())) + "_" +
std::to_string(g_socket_sequence.fetch_add(1U)) + ".sock";
std::remove(socket_path_.c_str());
const std::string address = "unix:" + socket_path_;
builder.AddListeningPort(
address, grpc::InsecureServerCredentials());
builder.RegisterService(&test_service_);
builder.RegisterService(&agv_service_);
builder.RegisterService(&camera_service_);
std::vector<std::unique_ptr<
grpc::experimental::ServerInterceptorFactoryInterface>> factories;
factories.emplace_back(makeGrpcErrorLoggingInterceptorFactory(
[this](const GrpcFailureRecord& record) {
{
std::lock_guard lock(records_mutex_);
records_.push_back(record);
}
records_changed_.notify_all();
}));
builder.experimental().SetInterceptorCreators(std::move(factories));
server_ = builder.BuildAndStart();
ASSERT_NE(server_, nullptr);
const auto channel = grpc::CreateChannel(
address,
grpc::InsecureChannelCredentials());
test_stub_ = api::TestService::NewStub(channel);
agv_stub_ = api::AgvService::NewStub(channel);
camera_stub_ = api::CameraService::NewStub(channel);
}
void TearDown() override
{
if (server_) {
server_->Shutdown();
server_->Wait();
}
test_stub_.reset();
agv_stub_.reset();
camera_stub_.reset();
if (!socket_path_.empty()) {
std::remove(socket_path_.c_str());
}
}
std::vector<GrpcFailureRecord> records()
{
std::lock_guard lock(records_mutex_);
return records_;
}
std::vector<GrpcFailureRecord> waitForRecords(
const std::size_t count,
const std::chrono::milliseconds timeout = std::chrono::seconds(3))
{
std::unique_lock lock(records_mutex_);
records_changed_.wait_for(
lock, timeout, [this, count] { return records_.size() >= count; });
return records_;
}
ErrorLoggingTestService test_service_;
ErrorLoggingAgvService agv_service_;
ErrorLoggingCameraService camera_service_;
std::unique_ptr<grpc::Server> server_;
std::unique_ptr<api::TestService::Stub> test_stub_;
std::unique_ptr<api::AgvService::Stub> agv_stub_;
std::unique_ptr<api::CameraService::Stub> camera_stub_;
std::string socket_path_;
std::mutex records_mutex_;
std::condition_variable records_changed_;
std::vector<GrpcFailureRecord> records_;
};
TEST_F(GrpcErrorLoggingInterceptorTest, RecordsNonOkGrpcStatus)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::TestReqeust request;
api::TestResponse response;
request.set_data("grpc-error");
const grpc::Status status = test_stub_->Call(&context, request, &response);
ASSERT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
const auto captured = waitForRecords(1U);
ASSERT_EQ(captured.size(), 1U);
EXPECT_EQ(captured.front().kind, GrpcFailureKind::GRPC_STATUS);
EXPECT_EQ(captured.front().method, "/cmvr.api.TestService/Call");
EXPECT_EQ(captured.front().status_code, grpc::StatusCode::INTERNAL);
EXPECT_EQ(captured.front().severity, GrpcFailureSeverity::ERROR);
EXPECT_EQ(captured.front().detail, "transport sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest, RecordsDirectFeedbackFailure)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::CommandHeader_Request request;
api::CommandHeader_Feedback response;
ASSERT_TRUE(agv_stub_->emergencyStop(&context, request, &response).ok());
ASSERT_FALSE(response.success());
const auto captured = waitForRecords(1U);
ASSERT_EQ(captured.size(), 1U);
EXPECT_EQ(captured.front().kind, GrpcFailureKind::APPLICATION);
EXPECT_EQ(captured.front().method, "/cmvr.api.AgvService/emergencyStop");
EXPECT_EQ(captured.front().status_code, grpc::StatusCode::OK);
EXPECT_EQ(captured.front().severity, GrpcFailureSeverity::ERROR);
EXPECT_EQ(captured.front().detail, "direct sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest, RecordsCancellationAsWarning)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::TestReqeust request;
api::TestResponse response;
request.set_data("cancelled");
const grpc::Status status = test_stub_->Call(&context, request, &response);
ASSERT_EQ(status.error_code(), grpc::StatusCode::CANCELLED);
const auto captured = waitForRecords(1U);
ASSERT_EQ(captured.size(), 1U);
EXPECT_EQ(captured.front().kind, GrpcFailureKind::GRPC_STATUS);
EXPECT_EQ(captured.front().severity, GrpcFailureSeverity::WARNING);
EXPECT_EQ(captured.front().detail, "client closed stream");
}
TEST(GrpcErrorLoggingInterceptorFileTest, WarningStatusIsFlushedToFile)
{
std::array<char, 80> directory_pattern{};
const std::string pattern = "/tmp/cmvr-grpc-log-test-XXXXXX";
std::copy(pattern.begin(), pattern.end(), directory_pattern.begin());
const char* created = ::mkdtemp(directory_pattern.data());
ASSERT_NE(created, nullptr);
const std::filesystem::path directory(created);
struct Cleanup {
~Cleanup()
{
logging::shutdownLogging();
if (!socket_path.empty()) {
std::remove(socket_path.c_str());
}
std::error_code error;
std::filesystem::remove_all(directory, error);
}
std::filesystem::path directory;
std::string socket_path;
} cleanup{directory, {}};
config::LoggerConfig config;
config.set_minimum_level(config::LOG_LEVEL_WARNING);
config.set_directory(directory.string());
config.set_flush_interval_seconds(3600);
auto* warning_route = config.add_routes();
warning_route->set_level(config::LOG_LEVEL_WARNING);
warning_route->set_file(true);
ASSERT_TRUE(logging::initLogging(config, "grpc_log_test", directory));
ErrorLoggingTestService service;
grpc::ServerBuilder builder;
const std::string socket_path =
"/tmp/cmvr_grpc_error_logging_file_test_" +
std::to_string(static_cast<long long>(::getpid())) + "_" +
std::to_string(g_socket_sequence.fetch_add(1U)) + ".sock";
cleanup.socket_path = socket_path;
ScopedSocket socket(socket_path);
const std::string address = "unix:" + socket_path;
builder.AddListeningPort(address, grpc::InsecureServerCredentials());
builder.RegisterService(&service);
std::vector<std::unique_ptr<
grpc::experimental::ServerInterceptorFactoryInterface>> factories;
factories.emplace_back(makeGrpcErrorLoggingInterceptorFactory());
builder.experimental().SetInterceptorCreators(std::move(factories));
ScopedServer server(builder.BuildAndStart());
ASSERT_NE(server.get(), nullptr);
const auto channel = grpc::CreateChannel(
address, grpc::InsecureChannelCredentials());
auto stub = api::TestService::NewStub(channel);
grpc::ClientContext context;
setRpcDeadline(context);
api::TestReqeust request;
api::TestResponse response;
request.set_data("cancelled");
const grpc::Status status = stub->Call(&context, request, &response);
ASSERT_EQ(status.error_code(), grpc::StatusCode::CANCELLED);
std::ifstream input(directory / "grpc_log_test.log");
const std::string contents{
std::istreambuf_iterator<char>(input),
std::istreambuf_iterator<char>()};
EXPECT_NE(contents.find("/cmvr.api.TestService/Call"), std::string::npos);
EXPECT_NE(contents.find("code=1(CANCELLED)"), std::string::npos);
EXPECT_NE(contents.find("client closed stream"), std::string::npos);
}
TEST_F(GrpcErrorLoggingInterceptorTest, RecordsServerCancellationReturnedAsOk)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::TestReqeust request;
api::TestResponse response;
request.set_data("server-cancel");
const grpc::Status status = test_stub_->Call(&context, request, &response);
ASSERT_EQ(status.error_code(), grpc::StatusCode::CANCELLED);
// TryCancel is best effort: the final status may be intercepted before
// the cancellation hook. Either way, the interceptor must not recurse or
// emit duplicate records.
const auto captured = waitForRecords(1U, std::chrono::milliseconds(50));
ASSERT_LE(captured.size(), 1U);
if (!captured.empty()) {
EXPECT_EQ(captured.front().kind, GrpcFailureKind::GRPC_STATUS);
EXPECT_EQ(captured.front().status_code, grpc::StatusCode::CANCELLED);
EXPECT_EQ(captured.front().severity, GrpcFailureSeverity::WARNING);
EXPECT_EQ(
captured.front().detail,
"RPC cancellation was requested by the edge server before completion");
}
}
TEST_F(GrpcErrorLoggingInterceptorTest, RecordsClientCancellation)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::TestReqeust request;
api::TestResponse response;
request.set_data("client-cancel");
grpc::Status status;
std::thread call([&] {
status = test_stub_->Call(&context, request, &response);
});
const bool call_started = test_service_.waitForCancelableCall();
context.TryCancel();
call.join();
ASSERT_TRUE(call_started);
ASSERT_EQ(status.error_code(), grpc::StatusCode::CANCELLED);
const auto captured = waitForRecords(1U);
ASSERT_EQ(captured.size(), 1U);
EXPECT_EQ(captured.front().kind, GrpcFailureKind::GRPC_STATUS);
EXPECT_EQ(captured.front().status_code, grpc::StatusCode::CANCELLED);
EXPECT_EQ(captured.front().severity, GrpcFailureSeverity::WARNING);
EXPECT_EQ(
captured.front().detail,
"RPC was cancelled by the client or transport before completion");
}
TEST_F(GrpcErrorLoggingInterceptorTest,
RecordsStatusWhenNonOkSuppressesUnaryResponse)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::CommandHeader_Request request;
api::CommandHeader_Feedback response;
request.set_device_id("missing");
const grpc::Status status =
agv_stub_->emergencyStop(&context, request, &response);
ASSERT_EQ(status.error_code(), grpc::StatusCode::NOT_FOUND);
const auto captured = waitForRecords(1U);
ASSERT_EQ(captured.size(), 1U);
EXPECT_EQ(captured.front().kind, GrpcFailureKind::GRPC_STATUS);
EXPECT_EQ(captured.front().status_code, grpc::StatusCode::NOT_FOUND);
EXPECT_EQ(captured.front().severity, GrpcFailureSeverity::WARNING);
EXPECT_EQ(captured.front().detail, "missing sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest, RecordsNestedFeedbackFailure)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::StartCameraCommand_Request request;
api::StartCameraCommand_Feedback response;
ASSERT_TRUE(camera_stub_->StartCamera(&context, request, &response).ok());
ASSERT_FALSE(response.header().success());
const auto captured = waitForRecords(1U);
ASSERT_EQ(captured.size(), 1U);
EXPECT_EQ(captured.front().kind, GrpcFailureKind::APPLICATION);
EXPECT_EQ(captured.front().method, "/cmvr.api.CameraService/StartCamera");
EXPECT_EQ(captured.front().detail, "nested sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest,
RecordsStreamingResponseAndFinalNonOkStatus)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::AgvMapStreamCommand_Request request;
auto reader = agv_stub_->streamMap(&context, request);
api::AgvMapStreamCommand_Feedback response;
ASSERT_TRUE(reader->Read(&response));
ASSERT_FALSE(response.header().success());
const grpc::Status status = reader->Finish();
ASSERT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
const auto captured = waitForRecords(2U);
ASSERT_EQ(captured.size(), 2U);
EXPECT_EQ(captured[0].kind, GrpcFailureKind::APPLICATION);
EXPECT_EQ(captured[0].method, "/cmvr.api.AgvService/streamMap");
EXPECT_EQ(captured[0].status_code, grpc::StatusCode::OK);
EXPECT_EQ(captured[0].severity, GrpcFailureSeverity::ERROR);
EXPECT_EQ(captured[0].detail, "stream sentinel");
EXPECT_EQ(captured[1].kind, GrpcFailureKind::GRPC_STATUS);
EXPECT_EQ(captured[1].status_code, grpc::StatusCode::INTERNAL);
EXPECT_EQ(captured[1].severity, GrpcFailureSeverity::ERROR);
EXPECT_EQ(captured[1].detail, "stream sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest,
RecordsStreamingFailureBeforeTheStreamFinishes)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::AgvMapStreamCommand_Request request;
request.set_resume_token("hold");
auto reader = agv_stub_->streamMap(&context, request);
api::AgvMapStreamCommand_Feedback response;
const bool read = reader->Read(&response);
const auto captured_before_finish = waitForRecords(1U);
agv_service_.releaseHeldStream();
const grpc::Status status = reader->Finish();
ASSERT_TRUE(read);
ASSERT_TRUE(status.ok());
ASSERT_EQ(captured_before_finish.size(), 1U);
EXPECT_EQ(
captured_before_finish.front().detail,
"immediate stream sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest,
RecordsEveryStreamingFailureResponse)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::AgvMapStreamCommand_Request request;
request.set_resume_token("multiple");
auto reader = agv_stub_->streamMap(&context, request);
api::AgvMapStreamCommand_Feedback response;
ASSERT_TRUE(reader->Read(&response));
ASSERT_TRUE(reader->Read(&response));
ASSERT_TRUE(reader->Finish().ok());
const auto captured = waitForRecords(2U);
ASSERT_EQ(captured.size(), 2U);
EXPECT_EQ(captured[0].detail, "first stream sentinel");
EXPECT_EQ(captured[1].detail, "second stream sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest,
PreservesDifferentResponseAndStatusErrors)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::AgvMapStreamCommand_Request request;
request.set_resume_token("different");
auto reader = agv_stub_->streamMap(&context, request);
api::AgvMapStreamCommand_Feedback response;
ASSERT_TRUE(reader->Read(&response));
const grpc::Status status = reader->Finish();
ASSERT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
const auto captured = waitForRecords(2U);
ASSERT_EQ(captured.size(), 2U);
EXPECT_EQ(captured[0].kind, GrpcFailureKind::APPLICATION);
EXPECT_EQ(captured[0].detail, "application stream sentinel");
EXPECT_EQ(captured[1].kind, GrpcFailureKind::GRPC_STATUS);
EXPECT_EQ(captured[1].status_code, grpc::StatusCode::INTERNAL);
EXPECT_EQ(captured[1].detail, "status stream sentinel");
}
TEST_F(GrpcErrorLoggingInterceptorTest,
DoesNotDeduplicateLongErrorsByTruncatedPrefix)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::AgvMapStreamCommand_Request request;
request.set_resume_token("long-different");
auto reader = agv_stub_->streamMap(&context, request);
api::AgvMapStreamCommand_Feedback response;
ASSERT_TRUE(reader->Read(&response));
const grpc::Status status = reader->Finish();
ASSERT_EQ(status.error_code(), grpc::StatusCode::INTERNAL);
const auto captured = waitForRecords(2U);
ASSERT_EQ(captured.size(), 2U);
EXPECT_EQ(captured[0].kind, GrpcFailureKind::APPLICATION);
EXPECT_EQ(captured[1].kind, GrpcFailureKind::GRPC_STATUS);
}
TEST(GrpcErrorLoggingInterceptorWireTest, RequiresHeaderAsFirstField)
{
api::CommandHeader_Feedback header;
header.set_success(false);
header.set_error_message("out-of-order sentinel");
std::string payload;
payload.push_back(static_cast<char>(0x12));
payload.push_back(static_cast<char>(0x01));
payload.push_back('x');
payload.push_back(static_cast<char>(0x0a));
payload.push_back(static_cast<char>(header.ByteSizeLong()));
payload.append(header.SerializeAsString());
const auto result = callRawStartCamera(payload);
ASSERT_TRUE(result.status.ok());
ASSERT_EQ(result.response, payload);
ASSERT_EQ(result.records.size(), 1U);
EXPECT_EQ(
result.records.front().kind,
GrpcFailureKind::MALFORMED_RESPONSE);
}
TEST(GrpcErrorLoggingInterceptorWireTest, DoesNotScanPayloadAfterHeader)
{
api::CommandHeader_Feedback header;
header.set_success(false);
header.set_error_message("leading header sentinel");
std::string payload;
payload.push_back(static_cast<char>(0x0a));
payload.push_back(static_cast<char>(header.ByteSizeLong()));
payload.append(header.SerializeAsString());
payload.push_back(static_cast<char>(0x12));
payload.push_back(static_cast<char>(0xff));
payload.append(2U * 1024U * 1024U, 'x');
const auto result = callRawStartCamera(payload);
ASSERT_TRUE(result.status.ok());
ASSERT_EQ(result.records.size(), 1U);
EXPECT_EQ(result.records.front().kind, GrpcFailureKind::APPLICATION);
EXPECT_EQ(result.records.front().detail, "leading header sentinel");
}
TEST(GrpcErrorLoggingInterceptorWireTest, TreatsExplicitEmptyHeaderAsFailure)
{
const std::string payload{
static_cast<char>(0x0a), static_cast<char>(0x00)};
const auto result = callRawStartCamera(payload);
ASSERT_TRUE(result.status.ok());
ASSERT_EQ(result.records.size(), 1U);
EXPECT_EQ(result.records.front().kind, GrpcFailureKind::APPLICATION);
EXPECT_EQ(
result.records.front().detail,
"operation failed without an error message");
}
TEST(GrpcErrorLoggingInterceptorWireTest, RejectsInvalidHeaderWireType)
{
const std::string payload{
static_cast<char>(0x08), static_cast<char>(0x01)};
const auto result = callRawStartCamera(payload);
ASSERT_TRUE(result.status.ok());
ASSERT_EQ(result.records.size(), 1U);
EXPECT_EQ(
result.records.front().kind,
GrpcFailureKind::MALFORMED_RESPONSE);
}
TEST(GrpcErrorLoggingInterceptorWireTest, RejectsInvalidUtf8ErrorMessage)
{
const std::string payload{
static_cast<char>(0x0a), static_cast<char>(0x04),
static_cast<char>(0x12), static_cast<char>(0x02),
static_cast<char>(0xc3), static_cast<char>(0x28)};
const auto result = callRawStartCamera(payload);
ASSERT_TRUE(result.status.ok());
ASSERT_EQ(result.records.size(), 1U);
EXPECT_EQ(
result.records.front().kind,
GrpcFailureKind::MALFORMED_RESPONSE);
}
TEST_F(GrpcErrorLoggingInterceptorTest, DoesNotRecordSuccessfulLargeResponse)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::GetRGBImageCommand_Request request;
api::GetRGBImageCommand_Feedback response;
ASSERT_TRUE(camera_stub_->GetRGBImage(&context, request, &response).ok());
ASSERT_TRUE(response.header().success());
ASSERT_EQ(response.color_frame().data().size(), 2U * 1024U * 1024U);
EXPECT_TRUE(records().empty());
}
TEST_F(GrpcErrorLoggingInterceptorTest, IgnoresSuccessfulResponseWithoutHeader)
{
grpc::ClientContext context;
setRpcDeadline(context);
api::TestReqeust request;
api::TestResponse response;
request.set_data("ok");
ASSERT_TRUE(test_stub_->Call(&context, request, &response).ok());
EXPECT_EQ(response.data(), "ok");
EXPECT_TRUE(records().empty());
}
} // namespace
} // namespace cmvr::service

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cmvr-es/service/grpc/server/tests/grpc_head_service_test.cpp
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@ -1,391 +0,0 @@
#include "service/grpc/server/include/grpc_head_service.h"
#include <atomic>
#include <chrono>
#include <memory>
#include <string>
#include <thread>
#include <grpcpp/grpcpp.h>
#include <gtest/gtest.h>
#include "cmvr/config/device_manager_config/device_manager_config.pb.h"
#include "manager/device_manager/include/device_manager.h"
#include "service/grpc/server/include/media_activity_coordinator.h"
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
namespace cmvr::service {
namespace {
using namespace std::chrono_literals;
class FakeBiohead final : public device::AbstractBiohead {
public:
FakeBiohead() { id_ = "test-head"; }
std::string typeName() const override { return "FakeBiohead"; }
bool stop() override
{
++lifecycle_stop_calls;
return true;
}
bool setExpressionPoseIfCurrent(
const OperationalToken token,
device::FacialExpressionState&,
double,
double) override
{
return recordIfCurrent(token, set_expression_calls);
}
bool streamFacialPoseIfCurrent(
const OperationalToken token,
device::FacialExpressionState&,
double,
double) override
{
return recordIfCurrent(token, stream_expression_calls);
}
bool speakStartIfCurrent(const OperationalToken token) override
{
return recordIfCurrent(token, speak_start_calls);
}
bool expressionHappyIfCurrent(const OperationalToken token) override
{
return recordIfCurrent(token, happy_calls);
}
bool expressionSurprisedIfCurrent(const OperationalToken token) override
{
return recordIfCurrent(token, surprise_calls);
}
bool expressionTiredIfCurrent(const OperationalToken token) override
{
return recordIfCurrent(token, tired_calls);
}
bool expressionAngryIfCurrent(const OperationalToken token) override
{
return recordIfCurrent(token, angry_calls);
}
bool expressionSadnessIfCurrent(const OperationalToken token) override
{
return recordIfCurrent(token, sadness_calls);
}
bool expressionYawnIfCurrent(const OperationalToken token) override
{
return recordIfCurrent(token, yawn_calls);
}
void speakstop() override { ++speak_stop_calls; }
bool stopOperationalActivity() override
{
invalidateOperationalActivities_();
++operational_stop_calls;
++speak_stop_calls;
return stop_confirmed.load(std::memory_order_acquire);
}
bool recordIfCurrent(
const OperationalToken token,
std::atomic<int>& calls)
{
return runIfOperationalActivityCurrent_(token, [&] { ++calls; });
}
std::atomic<int> set_expression_calls{0};
std::atomic<int> stream_expression_calls{0};
std::atomic<int> speak_start_calls{0};
std::atomic<int> speak_stop_calls{0};
std::atomic<int> happy_calls{0};
std::atomic<int> surprise_calls{0};
std::atomic<int> tired_calls{0};
std::atomic<int> angry_calls{0};
std::atomic<int> sadness_calls{0};
std::atomic<int> yawn_calls{0};
std::atomic<int> operational_stop_calls{0};
std::atomic<int> lifecycle_stop_calls{0};
std::atomic<bool> stop_confirmed{true};
};
class GrpcHeadServiceTest : public ::testing::Test {
protected:
void SetUp() override
{
device::DeviceManager::destroyInstance();
globalStopAllAdmissionGate().clearForTesting();
config::DeviceManagerConfig config;
auto& manager = device::DeviceManager::getInstance(config);
head_ = std::make_shared<FakeBiohead>();
manager.registerDevice(head_);
service_ = std::make_unique<gRPCMBioHeadServiceImpl>();
}
void TearDown() override
{
if (server_) {
server_->Shutdown();
server_->Wait();
}
stub_.reset();
service_.reset();
head_.reset();
device::DeviceManager::destroyInstance();
globalStopAllAdmissionGate().clearForTesting();
}
bool startGrpcServer()
{
int selected_port = 0;
grpc::ServerBuilder builder;
builder.AddListeningPort(
"127.0.0.1:0",
grpc::InsecureServerCredentials(),
&selected_port);
builder.RegisterService(service_.get());
server_ = builder.BuildAndStart();
if (!server_ || selected_port <= 0) {
return false;
}
const std::string address =
"127.0.0.1:" + std::to_string(selected_port);
stub_ = api::BioHeadService::NewStub(grpc::CreateChannel(
address, grpc::InsecureChannelCredentials()));
return stub_ != nullptr;
}
static api::StreamFacialExpression_Request streamRequest()
{
api::StreamFacialExpression_Request request;
request.mutable_header()->set_device_id("test-head");
request.mutable_expr()->mutable_jaw()->set_x(0.5F);
return request;
}
std::shared_ptr<FakeBiohead> head_;
std::unique_ptr<gRPCMBioHeadServiceImpl> service_;
std::unique_ptr<grpc::Server> server_;
std::unique_ptr<api::BioHeadService::Stub> stub_;
};
TEST_F(GrpcHeadServiceTest,
OperationalStopInvalidatesOldTokenWithoutStoppingLifecycle)
{
const auto old_token = head_->beginOperationalActivity();
ASSERT_TRUE(head_->recordIfCurrent(old_token, head_->happy_calls));
EXPECT_TRUE(head_->stopOperationalActivity());
EXPECT_FALSE(head_->recordIfCurrent(old_token, head_->happy_calls));
EXPECT_EQ(head_->happy_calls.load(), 1);
EXPECT_EQ(head_->operational_stop_calls.load(), 1);
EXPECT_EQ(head_->lifecycle_stop_calls.load(), 0);
const auto current_token = head_->beginOperationalActivity();
EXPECT_NE(current_token, old_token);
EXPECT_TRUE(head_->recordIfCurrent(current_token, head_->happy_calls));
EXPECT_EQ(head_->happy_calls.load(), 2);
}
TEST_F(GrpcHeadServiceTest,
StopAllGateRejectsMotionButAllowsOperationalStopRpcs)
{
const auto ticket = globalStopAllAdmissionGate().beginStopAll();
ASSERT_TRUE(ticket.valid());
api::Happy_Request happy_request;
happy_request.mutable_header()->set_device_id("test-head");
api::Happy_Feedback happy_response;
grpc::ServerContext happy_context;
EXPECT_TRUE(service_->Happy(
&happy_context, &happy_request, &happy_response).ok());
EXPECT_FALSE(happy_response.header().success());
EXPECT_EQ(head_->happy_calls.load(), 0);
api::Surprise_Request surprise_request;
surprise_request.mutable_header()->set_device_id("test-head");
api::Surprise_Feedback surprise_response;
grpc::ServerContext surprise_context;
EXPECT_TRUE(service_->Surprise(
&surprise_context, &surprise_request, &surprise_response).ok());
EXPECT_FALSE(surprise_response.header().success());
EXPECT_EQ(head_->surprise_calls.load(), 0);
api::ExpressionTired_Request tired_request;
tired_request.mutable_header()->set_device_id("test-head");
api::ExpressionTired_Feedback tired_response;
grpc::ServerContext tired_context;
EXPECT_TRUE(service_->ExpressionTired(
&tired_context, &tired_request, &tired_response).ok());
EXPECT_FALSE(tired_response.header().success());
EXPECT_EQ(head_->tired_calls.load(), 0);
api::ExpressionAngry_Request angry_request;
angry_request.mutable_header()->set_device_id("test-head");
api::ExpressionAngry_Feedback angry_response;
grpc::ServerContext angry_context;
EXPECT_TRUE(service_->ExpressionAngry(
&angry_context, &angry_request, &angry_response).ok());
EXPECT_FALSE(angry_response.header().success());
EXPECT_EQ(head_->angry_calls.load(), 0);
api::ExpressionSadness_Request sadness_request;
sadness_request.mutable_header()->set_device_id("test-head");
api::ExpressionSadness_Feedback sadness_response;
grpc::ServerContext sadness_context;
EXPECT_TRUE(service_->ExpressionSadness(
&sadness_context, &sadness_request, &sadness_response).ok());
EXPECT_FALSE(sadness_response.header().success());
EXPECT_EQ(head_->sadness_calls.load(), 0);
api::ExpressionYawn_Request yawn_request;
yawn_request.mutable_header()->set_device_id("test-head");
api::ExpressionYawn_Feedback yawn_response;
grpc::ServerContext yawn_context;
EXPECT_TRUE(service_->ExpressionYawn(
&yawn_context, &yawn_request, &yawn_response).ok());
EXPECT_FALSE(yawn_response.header().success());
EXPECT_EQ(head_->yawn_calls.load(), 0);
api::SetFacialExpression_Request expression_request;
expression_request.mutable_header()->set_device_id("test-head");
api::SetFacialExpression_Feedback expression_response;
grpc::ServerContext expression_context;
EXPECT_TRUE(service_->SetExpression(
&expression_context,
&expression_request,
&expression_response).ok());
EXPECT_FALSE(expression_response.header().success());
EXPECT_EQ(head_->set_expression_calls.load(), 0);
api::SpeakStart_Request speak_request;
speak_request.mutable_header()->set_device_id("test-head");
api::SpeakStart_Feedback speak_response;
grpc::ServerContext speak_context;
EXPECT_TRUE(service_->SpeakStart(
&speak_context, &speak_request, &speak_response).ok());
EXPECT_FALSE(speak_response.header().success());
EXPECT_EQ(head_->speak_start_calls.load(), 0);
api::SpeakStop_Request speak_stop_request;
speak_stop_request.mutable_header()->set_device_id("test-head");
api::SpeakStop_Feedback speak_stop_response;
grpc::ServerContext speak_stop_context;
EXPECT_TRUE(service_->SpeakStop(
&speak_stop_context,
&speak_stop_request,
&speak_stop_response).ok());
EXPECT_TRUE(speak_stop_response.header().success());
api::EmergencyStop_Request stop_request;
stop_request.mutable_header()->set_device_id("test-head");
api::EmergencyStop_Feedback stop_response;
grpc::ServerContext stop_context;
EXPECT_TRUE(service_->EmergencyStop(
&stop_context, &stop_request, &stop_response).ok());
EXPECT_TRUE(stop_response.header().success());
EXPECT_EQ(head_->operational_stop_calls.load(), 1);
EXPECT_EQ(head_->lifecycle_stop_calls.load(), 0);
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(ticket, true));
}
TEST_F(GrpcHeadServiceTest,
StreamIsCancelledByStopAllAndNewStreamWorksAfterRecovery)
{
ASSERT_TRUE(startGrpcServer());
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = stub_->StreamExpression(&context);
ASSERT_TRUE(stream->Write(streamRequest()));
api::StreamFacialExpression_Feedback feedback;
ASSERT_TRUE(stream->Read(&feedback));
ASSERT_TRUE(feedback.header().success());
ASSERT_EQ(head_->stream_expression_calls.load(), 1);
const auto admission_ticket = globalStopAllAdmissionGate().beginStopAll();
const auto media_ticket = globalMediaActivityCoordinator().beginStopAll();
ASSERT_TRUE(admission_ticket.valid());
ASSERT_TRUE(media_ticket.valid());
(void)stream->Write(streamRequest());
stream->WritesDone();
while (stream->Read(&feedback)) {
}
const auto status = stream->Finish();
EXPECT_TRUE(
status.ok() || status.error_code() == grpc::StatusCode::CANCELLED);
EXPECT_TRUE(globalMediaActivityCoordinator().waitForStopped(
media_ticket, 1s));
EXPECT_EQ(head_->stream_expression_calls.load(), 1);
EXPECT_TRUE(globalMediaActivityCoordinator().finishStopAll(
media_ticket, true));
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(
admission_ticket, true));
grpc::ClientContext resumed_context;
resumed_context.set_deadline(std::chrono::system_clock::now() + 2s);
auto resumed = stub_->StreamExpression(&resumed_context);
ASSERT_TRUE(resumed->Write(streamRequest()));
ASSERT_TRUE(resumed->Read(&feedback));
EXPECT_TRUE(feedback.header().success());
EXPECT_EQ(head_->stream_expression_calls.load(), 2);
resumed_context.TryCancel();
resumed->WritesDone();
while (resumed->Read(&feedback)) {
}
(void)resumed->Finish();
}
TEST_F(GrpcHeadServiceTest,
StopAllCancelsStreamBeforeItsFirstFrameCanClearStopState)
{
ASSERT_TRUE(startGrpcServer());
grpc::ClientContext context;
context.set_deadline(std::chrono::system_clock::now() + 2s);
auto stream = stub_->StreamExpression(&context);
std::this_thread::sleep_for(20ms);
const auto admission_ticket = globalStopAllAdmissionGate().beginStopAll();
const auto media_ticket = globalMediaActivityCoordinator().beginStopAll();
ASSERT_TRUE(admission_ticket.valid());
ASSERT_TRUE(media_ticket.valid());
(void)stream->Write(streamRequest());
stream->WritesDone();
api::StreamFacialExpression_Feedback feedback;
while (stream->Read(&feedback)) {
}
(void)stream->Finish();
EXPECT_TRUE(globalMediaActivityCoordinator().waitForStopped(
media_ticket, 1s));
EXPECT_EQ(head_->stream_expression_calls.load(), 0);
EXPECT_TRUE(globalMediaActivityCoordinator().finishStopAll(
media_ticket, true));
EXPECT_TRUE(globalStopAllAdmissionGate().finishStopAll(
admission_ticket, true));
}
TEST_F(GrpcHeadServiceTest, UnconfirmedOperationalStopIsReported)
{
head_->stop_confirmed = false;
api::EmergencyStop_Request request;
request.mutable_header()->set_device_id("test-head");
api::EmergencyStop_Feedback response;
grpc::ServerContext context;
EXPECT_TRUE(service_->EmergencyStop(&context, &request, &response).ok());
EXPECT_FALSE(response.header().success());
EXPECT_EQ(head_->operational_stop_calls.load(), 1);
EXPECT_EQ(head_->lifecycle_stop_calls.load(), 0);
}
} // namespace
} // namespace cmvr::service

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#include "service/grpc/server/include/grpc_robot_arm_teleop_backend.h"
#include <chrono>
#include <cstddef>
#include <memory>
#include <optional>
#include <string>
#include <thread>
#include <utility>
#include <vector>
#include <gtest/gtest.h>
namespace cmvr::service {
namespace {
class FakeRobotArm final : public device::RobotArm {
public:
FakeRobotArm()
{
id_ = "right_arm";
model_.name = id_;
model_.dof = 2;
model_.joint_names = {"joint_1", "joint_2"};
model_.joint_limits = {
{-1.0, 1.0, 2.0, 5.0, 10.0},
{-0.5, 0.5, 3.0, 6.0, 10.0}};
state_.connected = true;
state_.powered_on = true;
state_.robot_mode = device::RobotMode::Idle;
state_.safety_mode = device::SafetyMode::Normal;
state_.actual_joint_state.position = {0.0, 0.0};
state_.actual_joint_state.velocity = {0.0, 0.0};
state_.actual_joint_state.effort = {1.0, 2.0};
state_.actual_joint_state.sequence = 7;
state_.actual_joint_state.position_valid = true;
state_.actual_joint_state.velocity_valid = true;
state_.actual_joint_state.effort_valid = true;
}
std::string typeName() const override { return "FakeRobotArm"; }
device::RobotModel getRobotModel() const override { return model_; }
std::size_t getDof() const override { return model_.dof; }
device::ArmState getRobotState() const override
{
++get_state_calls;
return state_;
}
device::JointGroupState getJointState() const override
{
return state_.actual_joint_state;
}
device::CartesianPose getTcpPose(
device::FrameType = device::FrameType::Base) const override
{
return {};
}
device::RobotMode getRobotMode() const override
{
return state_.robot_mode;
}
device::SafetyMode getSafetyMode() const override
{
return state_.safety_mode;
}
device::ControlMode getControlMode() const override
{
return device::ControlMode::Servo;
}
bool supportsTeleopGroupServo() const noexcept override
{
return group_servo_capability;
}
device::JointEffortSource jointEffortSource() const noexcept override
{
return effort_source;
}
device::Result torqueOn() override
{
++torque_on_calls;
return device::Result::success();
}
device::Result torqueOff() override { return device::Result::success(); }
device::Result calibrateZeroQ(const std::string&) override
{
return device::Result::success();
}
device::Result emergencyStop() override
{
return device::Result::success();
}
device::Result protectiveStop() override
{
return device::Result::success();
}
device::Result setSpeedScaling(double) override
{
return device::Result::success();
}
double getSpeedScaling() const override { return 1.0; }
bool isProtectiveStopped() const override { return false; }
bool isEmergencyStopped() const override { return false; }
bool isFault() const override { return state_.fault; }
device::Result moveJ(
const device::JointPositionCommand&,
const device::MotionOptions&) override
{
return device::Result::success();
}
device::Result speedJ(
const device::JointVelocityCommand&, double, double) override
{
return device::Result::success();
}
device::Result stopJ(double) override
{
return device::Result::success();
}
device::Result moveL(
const device::CartesianPose&,
const device::MotionOptions&,
device::FrameType = device::FrameType::Base) override
{
return device::Result::success();
}
device::Result speedL(
const device::CartesianVelocity&,
double,
double,
device::FrameType = device::FrameType::Base) override
{
return device::Result::success();
}
device::Result stopL(std::optional<double> = std::nullopt) override
{
return device::Result::success();
}
device::Result stopMotion() override
{
++stop_motion_calls;
return stop_motion_result;
}
device::Result startServoMode(
const device::ServoOptions& options) override
{
++start_servo_calls;
last_servo_period = options.period;
return start_servo_result;
}
device::Result servoJ(
const device::JointPositionCommand& target) override
{
++servo_j_calls;
last_command = target.position;
if (servo_sleep.count() > 0) {
std::this_thread::sleep_for(servo_sleep);
}
return servo_j_result;
}
device::Result servoL(
const device::CartesianPose&,
device::FrameType = device::FrameType::Base) override
{
return device::Result::success();
}
device::Result servoSpeedJ(
const device::JointVelocityCommand&) override
{
return device::Result::success();
}
device::Result servoSpeedL(
const device::CartesianVelocity&,
device::FrameType = device::FrameType::Base) override
{
return device::Result::success();
}
device::Result stopServoMode() override
{
++stop_servo_calls;
return stop_servo_result;
}
device::Result connect(const std::string&, int) override
{
return device::Result::success();
}
device::Result disconnect() override
{
return device::Result::success();
}
bool isConnected() const override { return state_.connected; }
device::Result powerOn() override { return torqueOn(); }
device::Result powerOff() override { return torqueOff(); }
device::Result brakeRelease() override
{
return device::Result::success();
}
device::Result shutdown() override
{
return device::Result::success();
}
device::Result clearFault() override
{
return device::Result::success();
}
device::Result unlockProtectiveStop() override
{
return device::Result::success();
}
device::Result loadProgram(const std::string&) override
{
return device::Result::success();
}
device::Result playProgram() override
{
return device::Result::success();
}
device::Result pauseProgram() override
{
return device::Result::success();
}
device::Result stopProgram() override
{
return device::Result::success();
}
std::vector<double> ik(
const std::string&,
const std::string&,
const device::CartesianPose&) override
{
return {};
}
std::shared_ptr<cmvr::IKSolver> kinematicsSolver() const override
{
return nullptr;
}
device::CartesianPose fk(
const std::string&, const std::string&) override
{
return {};
}
device::CartesianPose fk(bool = true) override { return {}; }
device::CartesianVelocity getSpeedLCommandTwistBase() const override
{
return {};
}
bool busy() const override { return false; }
bool group_servo_capability{true};
device::JointEffortSource effort_source{
device::JointEffortSource::Unspecified};
mutable int get_state_calls{0};
int torque_on_calls{0};
int start_servo_calls{0};
int servo_j_calls{0};
int stop_motion_calls{0};
int stop_servo_calls{0};
double last_servo_period{0.0};
std::vector<double> last_command;
std::chrono::microseconds servo_sleep{0};
device::Result start_servo_result{device::Result::success()};
device::Result servo_j_result{device::Result::success()};
device::Result stop_motion_result{device::Result::success()};
device::Result stop_servo_result{device::Result::success()};
device::RobotModel model_;
device::ArmState state_;
};
config::ArmTeleopBackendConfig validConfig()
{
config::ArmTeleopBackendConfig config;
config.set_enable(true);
config.set_device_id("right_arm");
config.set_model_sha256(std::string(64, 'a'));
config.set_calibration_sha256(std::string(64, 'b'));
config.set_base_frame("base_link");
config.set_tool_frame("tool_link");
config.set_servo_period_s(0.01);
config.set_max_apply_duration_us(5000);
config.set_require_powered(true);
config.set_max_initial_position_step_rad(0.2);
config.set_max_position_step_rad(0.015);
return config;
}
arm_teleop::JointSetpoint setpoint(
const double first,
const double second,
const double first_velocity = 0.0,
const double second_velocity = 0.0)
{
arm_teleop::JointSetpoint value;
value.set_sequence(1);
value.add_position_rad(first);
value.add_position_rad(second);
value.add_velocity_rad_s(first_velocity);
value.add_velocity_rad_s(second_velocity);
value.set_valid_for_us(5000);
return value;
}
arm_teleop::OpenSession openRequest()
{
arm_teleop::OpenSession request;
request.set_requested_command_rate_hz(100);
return request;
}
std::chrono::steady_clock::time_point liveDeadline()
{
return std::chrono::steady_clock::now() +
std::chrono::seconds(1);
}
TEST(RobotArmTeleopBackendTest, RejectsArmWithoutExplicitGroupServoCapability)
{
auto arm = std::make_shared<FakeRobotArm>();
arm->group_servo_capability = false;
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
EXPECT_FALSE(backend->available());
EXPECT_NE(
backend->unavailableReason().find("capability"),
std::string::npos);
EXPECT_EQ(arm->start_servo_calls, 0);
}
TEST(RobotArmTeleopBackendTest, OpenStartsServoButNeverPowersArm)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->available())
<< backend->unavailableReason();
EXPECT_TRUE(backend->open(openRequest()).success);
EXPECT_EQ(arm->start_servo_calls, 1);
EXPECT_DOUBLE_EQ(arm->last_servo_period, 0.01);
EXPECT_EQ(arm->torque_on_calls, 0);
}
TEST(RobotArmTeleopBackendTest, AppliesSetpointAndAlwaysRunsBothStopPaths)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->open(openRequest()).success);
ASSERT_TRUE(
backend->applySetpoint(
setpoint(0.1, 0.1), liveDeadline()).success);
EXPECT_EQ(arm->servo_j_calls, 1);
EXPECT_EQ(arm->last_command, (std::vector<double>{0.1, 0.1}));
arm->stop_motion_result = device::Result::failure(
device::ArmErrorCode::CommandFailed, "motion stop failed");
const auto result = backend->stop(
arm_teleop::STOP_REASON_OPERATOR_REQUEST, "test");
EXPECT_FALSE(result.success);
EXPECT_EQ(arm->stop_motion_calls, 1);
EXPECT_EQ(arm->stop_servo_calls, 1);
}
TEST(RobotArmTeleopBackendTest, RejectsInitialAndContinuousPositionSteps)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->open(openRequest()).success);
EXPECT_EQ(
backend->applySetpoint(
setpoint(0.21, 0.0), liveDeadline()).status_code,
grpc::StatusCode::OUT_OF_RANGE);
ASSERT_TRUE(
backend->applySetpoint(
setpoint(0.1, 0.1), liveDeadline()).success);
EXPECT_EQ(
backend->applySetpoint(
setpoint(0.12, 0.1), liveDeadline()).status_code,
grpc::StatusCode::OUT_OF_RANGE);
EXPECT_EQ(arm->servo_j_calls, 1);
}
TEST(RobotArmTeleopBackendTest, RejectsJointPositionAndVelocityLimits)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->open(openRequest()).success);
EXPECT_EQ(
backend->applySetpoint(
setpoint(1.01, 0.0), liveDeadline()).status_code,
grpc::StatusCode::OUT_OF_RANGE);
EXPECT_EQ(
backend->applySetpoint(
setpoint(0.0, 0.0, 2.01, 0.0), liveDeadline())
.status_code,
grpc::StatusCode::OUT_OF_RANGE);
EXPECT_EQ(arm->servo_j_calls, 0);
}
TEST(RobotArmTeleopBackendTest, DetectsServoApplyTimeout)
{
auto arm = std::make_shared<FakeRobotArm>();
auto config = validConfig();
config.set_max_apply_duration_us(500);
const auto backend =
makeRobotArmTeleopBackend(arm, config);
ASSERT_TRUE(backend->open(openRequest()).success);
arm->servo_sleep = std::chrono::microseconds(1500);
const auto result =
backend->applySetpoint(
setpoint(0.1, 0.1), liveDeadline());
EXPECT_FALSE(result.success);
EXPECT_EQ(
result.status_code,
grpc::StatusCode::DEADLINE_EXCEEDED);
EXPECT_EQ(arm->servo_j_calls, 1);
}
TEST(RobotArmTeleopBackendTest, RejectsInsufficientDeadlineBudgetBeforeDispatch)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->open(openRequest()).success);
const auto result = backend->applySetpoint(
setpoint(0.1, 0.1),
std::chrono::steady_clock::now() +
std::chrono::microseconds(100));
EXPECT_FALSE(result.success);
EXPECT_EQ(
result.status_code,
grpc::StatusCode::DEADLINE_EXCEEDED);
EXPECT_EQ(arm->servo_j_calls, 0);
}
TEST(RobotArmTeleopBackendTest, ExpiredDeadlineNeverDispatchesServoCommand)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->open(openRequest()).success);
const auto result = backend->applySetpoint(
setpoint(0.1, 0.1),
std::chrono::steady_clock::now());
EXPECT_FALSE(result.success);
EXPECT_EQ(
result.status_code,
grpc::StatusCode::DEADLINE_EXCEEDED);
EXPECT_EQ(arm->servo_j_calls, 0);
}
TEST(RobotArmTeleopBackendTest, RejectsUnsupportedRateAndEarlyRedispatch)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
auto too_fast = openRequest();
too_fast.set_requested_command_rate_hz(101);
EXPECT_EQ(
backend->open(too_fast).status_code,
grpc::StatusCode::FAILED_PRECONDITION);
EXPECT_EQ(arm->start_servo_calls, 0);
ASSERT_TRUE(backend->open(openRequest()).success);
ASSERT_TRUE(
backend->applySetpoint(
setpoint(0.1, 0.1), liveDeadline()).success);
EXPECT_EQ(
backend->applySetpoint(
setpoint(0.105, 0.105), liveDeadline()).status_code,
grpc::StatusCode::RESOURCE_EXHAUSTED);
EXPECT_EQ(arm->servo_j_calls, 1);
}
TEST(RobotArmTeleopBackendTest, SnapshotUsesCacheAndHidesUnverifiedEffort)
{
auto arm = std::make_shared<FakeRobotArm>();
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->open(openRequest()).success);
const int calls_after_open = arm->get_state_calls;
const auto first = backend->snapshot();
const auto second = backend->snapshot();
EXPECT_EQ(arm->get_state_calls, calls_after_open);
EXPECT_TRUE(first.joint_state.position_valid());
EXPECT_TRUE(first.joint_state.velocity_valid());
EXPECT_FALSE(first.joint_state.effort_valid());
EXPECT_EQ(first.joint_state.effort_nm_size(), 0);
EXPECT_EQ(
second.joint_state.effort_source(),
arm_teleop::EFFORT_SOURCE_UNSPECIFIED);
}
TEST(RobotArmTeleopBackendTest, PublishesEffortOnlyWithExplicitSource)
{
auto arm = std::make_shared<FakeRobotArm>();
arm->effort_source = device::JointEffortSource::JointSensor;
const auto backend =
makeRobotArmTeleopBackend(arm, validConfig());
ASSERT_TRUE(backend->open(openRequest()).success);
const auto snapshot = backend->snapshot();
EXPECT_TRUE(backend->supportsForceFeedback());
EXPECT_TRUE(snapshot.joint_state.effort_valid());
EXPECT_EQ(snapshot.joint_state.effort_nm_size(), 2);
EXPECT_EQ(
snapshot.joint_state.effort_source(),
arm_teleop::EFFORT_SOURCE_JOINT_SENSOR);
}
} // namespace
} // namespace cmvr::service

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#include "service/grpc/server/include/grpc_security.h"
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <google/protobuf/descriptor.h>
#include <gtest/gtest.h>
#include "cmvr/api/agv_service.pb.h"
#include "cmvr/api/arm_service.pb.h"
#include "cmvr/api/arm_teleop_v1.pb.h"
#include "cmvr/api/biohead_service.pb.h"
#include "cmvr/api/camera_service.pb.h"
#include "cmvr/api/dexhand_service.pb.h"
#include "cmvr/api/hlc_service.pb.h"
#include "cmvr/api/microphone_service.pb.h"
#include "cmvr/api/motor_service.pb.h"
#include "cmvr/api/speaker_service.pb.h"
#include "cmvr/api/system_service.pb.h"
#include "cmvr/api/test_service.pb.h"
namespace cmvr::service {
namespace {
GrpcMethodPolicy readPolicy()
{
return {
"/cmvr.api.SystemService/GetSystemInfo",
GrpcAccessClass::Read,
GrpcRole::Observer};
}
GrpcMethodPolicy recoveryPolicy()
{
return {
"/cmvr.api.SystemService/RecoverSafetyState",
GrpcAccessClass::Recover,
GrpcRole::SafetyAdmin};
}
class SafetyAdminProvider final : public GrpcAuthenticationProvider {
public:
GrpcAuthenticationResult authenticate(const GrpcCallFacts&) const override
{
GrpcPrincipal principal;
principal.id = "maintenance";
principal.method = GrpcAuthenticationMethod::StaticToken;
principal.authenticated = true;
principal.roles = {GrpcRole::SafetyAdmin};
return {std::move(principal), grpc::Status::OK};
}
};
TEST(GrpcSecurityConfigTest,
LegacyConfigPreservesAnonymousAccessButDisablesRecovery)
{
config::GRPCServerConfig config;
const auto result = resolveGrpcSecurityConfig(config, "0.0.0.0");
ASSERT_TRUE(result.valid) << result.error;
EXPECT_TRUE(result.config.legacy_compatibility);
EXPECT_TRUE(result.config.insecure_non_loopback);
EXPECT_EQ(
result.config.authentication, GrpcAuthenticationMethod::Disabled);
EXPECT_EQ(
result.config.recovery_exposure, GrpcRecoveryExposure::Disabled);
EXPECT_FALSE(result.warnings.empty());
}
TEST(GrpcSecurityConfigTest,
ExplicitNonLoopbackInsecureRequiresAcknowledgement)
{
config::GRPCServerConfig config;
auto* security = config.mutable_security();
security->set_transport_mode(config::GRPCSecurityConfig::INSECURE);
security->set_authentication_mode(config::GRPCSecurityConfig::DISABLED);
security->set_recovery_exposure(
config::GRPCSecurityConfig::RECOVERY_DISABLED);
const auto rejected = resolveGrpcSecurityConfig(config, "0.0.0.0");
EXPECT_FALSE(rejected.valid);
security->set_allow_insecure_non_loopback(true);
const auto accepted = resolveGrpcSecurityConfig(config, "0.0.0.0");
ASSERT_TRUE(accepted.valid) << accepted.error;
EXPECT_TRUE(accepted.config.insecure_non_loopback);
}
TEST(GrpcSecurityConfigTest,
UnsupportedAuthenticationNeverFallsBackToDisabled)
{
config::GRPCServerConfig config;
auto* security = config.mutable_security();
security->set_transport_mode(config::GRPCSecurityConfig::INSECURE);
security->set_authentication_mode(
config::GRPCSecurityConfig::STATIC_TOKEN);
security->set_recovery_exposure(
config::GRPCSecurityConfig::RECOVERY_AUTHORIZED);
const auto result = resolveGrpcSecurityConfig(config, "127.0.0.1");
EXPECT_FALSE(result.valid);
EXPECT_NE(result.error.find("DISABLED"), std::string::npos);
}
TEST(GrpcSecurityConfigTest, EnabledRecoveryRequiresPersistentAuditFile)
{
config::GRPCServerConfig config;
auto* security = config.mutable_security();
security->set_transport_mode(config::GRPCSecurityConfig::INSECURE);
security->set_authentication_mode(config::GRPCSecurityConfig::DISABLED);
security->set_recovery_exposure(
config::GRPCSecurityConfig::RECOVERY_LOCAL_ONLY);
const auto rejected =
resolveGrpcSecurityConfig(config, "127.0.0.1");
EXPECT_FALSE(rejected.valid);
EXPECT_NE(rejected.error.find("audit_file"), std::string::npos);
security->set_audit_file("/var/lib/cmvr-es/recovery-audit.jsonl");
const auto accepted =
resolveGrpcSecurityConfig(config, "127.0.0.1");
ASSERT_TRUE(accepted.valid) << accepted.error;
EXPECT_EQ(
accepted.config.recovery_audit_file,
"/var/lib/cmvr-es/recovery-audit.jsonl");
}
TEST(GrpcSecurityGatewayTest, DisabledProviderDoesNotTrustIdentityMetadata)
{
auto gateway = makeDefaultGrpcSecurityGateway();
GrpcCallFacts facts;
facts.peer = "ipv4:10.0.0.5:12345";
facts.metadata.emplace("principal", "safety-admin");
facts.metadata.emplace("role", "SafetyAdmin");
const auto call = gateway->beginCall(std::move(facts), readPolicy());
ASSERT_TRUE(call.allowed()) << call.status().error_message();
EXPECT_EQ(call.context().principal.id, "anonymous");
EXPECT_FALSE(call.context().principal.authenticated);
ASSERT_EQ(call.context().principal.roles.size(), 1U);
EXPECT_EQ(call.context().principal.roles.front(), GrpcRole::Anonymous);
}
TEST(GrpcSecurityGatewayTest, RecoveryIsDisabledBeforeLedgerAdmission)
{
auto gateway = makeDefaultGrpcSecurityGateway();
const auto call = gateway->beginCall(GrpcCallFacts{}, recoveryPolicy());
EXPECT_FALSE(call.allowed());
EXPECT_EQ(
call.status().error_code(), grpc::StatusCode::FAILED_PRECONDITION);
EXPECT_EQ(call.status().error_message(), "RECOVERY_RPC_DISABLED");
}
TEST(GrpcSecurityGatewayTest, LocalOnlyRecoveryUsesActualPeerClassification)
{
GrpcSecurityRuntimeConfig config;
config.recovery_exposure = GrpcRecoveryExposure::LocalOnly;
auto gateway = makeGrpcSecurityGateway(config);
GrpcCallFacts remote;
remote.peer = "ipv4:192.168.1.20:42000";
EXPECT_FALSE(gateway->beginCall(remote, recoveryPolicy()).allowed());
GrpcCallFacts local;
local.peer = "ipv4:127.0.0.1:42000";
EXPECT_TRUE(gateway->beginCall(local, recoveryPolicy()).allowed());
EXPECT_TRUE(isLocalGrpcPeer("ipv6:[::1]"));
EXPECT_TRUE(isLocalGrpcPeer("unix:/run/cmvr-es.sock"));
EXPECT_FALSE(isLocalGrpcPeer("ipv4:10.0.0.1:50051"));
}
TEST(GrpcSecurityGatewayTest, AuthorizedRecoveryAcceptsSafetyAdminProvider)
{
GrpcSecurityRuntimeConfig config;
config.authentication = GrpcAuthenticationMethod::StaticToken;
config.recovery_exposure = GrpcRecoveryExposure::Authorized;
auto gateway = std::make_shared<GrpcSecurityGateway>(
config,
std::make_shared<SafetyAdminProvider>(),
std::make_shared<CompatibilityGrpcAuthorizationPolicy>(
GrpcRecoveryExposure::Authorized));
const auto call = gateway->beginCall(GrpcCallFacts{}, recoveryPolicy());
ASSERT_TRUE(call.allowed()) << call.status().error_message();
EXPECT_EQ(call.context().principal.id, "maintenance");
}
TEST(GrpcSecurityGatewayTest, AuditUsesEffectiveServerPrincipal)
{
std::vector<GrpcSecurityAuditRecord> records;
GrpcSecurityRuntimeConfig config;
auto gateway = makeGrpcSecurityGateway(
config,
[&records](const GrpcSecurityAuditRecord& record) {
records.push_back(record);
});
GrpcCallFacts facts;
facts.metadata.emplace("x-correlation-id", "request-42");
ASSERT_TRUE(gateway->beginCall(std::move(facts), readPolicy()).allowed());
ASSERT_EQ(records.size(), 1U);
EXPECT_EQ(records.front().correlation_id, "request-42");
EXPECT_EQ(records.front().principal_id, "anonymous");
EXPECT_FALSE(records.front().authenticated);
}
TEST(GrpcMethodPolicyRegistryTest, RejectsDuplicatesAndSortsSnapshot)
{
GrpcMethodPolicyRegistry registry;
EXPECT_TRUE(registry.registerPolicy(recoveryPolicy()));
EXPECT_TRUE(registry.registerPolicy(readPolicy()));
EXPECT_FALSE(registry.registerPolicy(readPolicy()));
const auto policies = registry.snapshot();
ASSERT_EQ(policies.size(), 2U);
EXPECT_LT(policies[0].full_method_name, policies[1].full_method_name);
EXPECT_TRUE(registry.find(readPolicy().full_method_name).has_value());
EXPECT_FALSE(registry.find("/unknown/method").has_value());
}
TEST(GrpcMethodPolicyRegistryTest,
DefaultRegistryCoversEveryCompiledApiMethod)
{
const auto& registry = defaultGrpcMethodPolicyRegistry();
const auto* pool = google::protobuf::DescriptorPool::generated_pool();
const std::vector<std::string> services{
"cmvr.api.AgvService",
"cmvr.api.ArmService",
"cmvr.api.armteleop.v1.ArmTeleopService",
"cmvr.api.BioHeadService",
"cmvr.api.CameraService",
"cmvr.api.DexHandService",
"cmvr.api.HlcService",
"cmvr.api.MicPhoneService",
"cmvr.api.MotorService",
"cmvr.api.SpeakerService",
"cmvr.api.SystemService",
"cmvr.api.TestService"};
std::size_t method_count = 0;
for (const auto& service_name : services) {
const auto* service = pool->FindServiceByName(service_name);
ASSERT_NE(service, nullptr) << service_name;
for (int index = 0; index < service->method_count(); ++index) {
const auto* method = service->method(index);
const std::string full_name =
"/" + service_name + "/" +
std::string(method->name());
const auto policy = registry.find(full_name);
ASSERT_TRUE(policy.has_value()) << full_name;
EXPECT_EQ(
policy->mutating,
policy->access != GrpcAccessClass::Read) << full_name;
if (policy->mutating) {
EXPECT_NE(
policy->command_intent,
safety::CommandIntent::Observe) << full_name;
}
++method_count;
}
}
EXPECT_EQ(registry.snapshot().size(), method_count);
}
TEST(GrpcMethodPolicyRegistryTest,
TouchIsAControlActuationRatherThanAReadOnlySensorCall)
{
const auto policy = defaultGrpcMethodPolicyRegistry().find(
"/cmvr.api.HlcService/touch");
ASSERT_TRUE(policy.has_value());
EXPECT_EQ(policy->access, GrpcAccessClass::Mutate);
EXPECT_EQ(policy->command_intent, safety::CommandIntent::Actuate);
EXPECT_EQ(policy->policy_family, safety::SafetyPolicyFamily::Control);
EXPECT_TRUE(policy->mutating);
EXPECT_FALSE(policy->safety_lane);
}
TEST(GrpcMethodPolicyRegistryTest, UnregisteredMethodFailsClosed)
{
const auto call = beginRegisteredGrpcCall(
makeDefaultGrpcSecurityGateway(), nullptr,
"/cmvr.api.UnknownService/Mutate");
EXPECT_FALSE(call.allowed());
EXPECT_EQ(call.status().error_code(), grpc::StatusCode::INTERNAL);
}
} // namespace
} // namespace cmvr::service

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279
cmvr-es/service/grpc/server/tests/media_activity_coordinator_test.cpp
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#include "service/grpc/server/include/media_activity_coordinator.h"
#include <atomic>
#include <chrono>
#include <future>
#include <iostream>
#include <stdexcept>
#include <thread>
namespace {
bool check(const bool condition, const char* expression, const int line)
{
if (condition) {
return true;
}
std::cerr << "CHECK failed at line " << line << ": " << expression << '\n';
return false;
}
#define CHECK_TRUE(expression) \
do { \
if (!check(static_cast<bool>(expression), #expression, __LINE__)) { \
return 1; \
} \
} while (false)
} // namespace
int main()
{
using namespace std::chrono_literals;
{
cmvr::service::MediaActivityCoordinator dispatch_coordinator;
auto dispatch_session = dispatch_coordinator.beginSession();
CHECK_TRUE(dispatch_session);
std::promise<void> dispatch_entered;
auto dispatch_entered_future = dispatch_entered.get_future();
std::promise<void> release_dispatch;
auto release_dispatch_future = release_dispatch.get_future();
auto dispatch_future = std::async(std::launch::async, [&] {
return dispatch_session.runIfCurrent([&] {
dispatch_entered.set_value();
release_dispatch_future.wait();
});
});
dispatch_entered_future.wait();
const auto dispatch_ticket = dispatch_coordinator.beginStopAll();
CHECK_TRUE(dispatch_ticket.valid());
CHECK_TRUE(!dispatch_coordinator.waitForStopped(
dispatch_ticket, 20ms));
release_dispatch.set_value();
CHECK_TRUE(dispatch_future.get());
dispatch_session.reset();
CHECK_TRUE(dispatch_coordinator.waitForStopped(dispatch_ticket, 100ms));
CHECK_TRUE(dispatch_coordinator.finishStopAll(dispatch_ticket, true));
}
{
cmvr::service::MediaActivityCoordinator generation_coordinator;
auto old_generation_session = generation_coordinator.beginSession();
CHECK_TRUE(old_generation_session);
const auto generation_ticket = generation_coordinator.beginStopAll();
CHECK_TRUE(generation_ticket.valid());
std::atomic<int> dispatched_operations{0};
CHECK_TRUE(!old_generation_session.runIfCurrent(
[&] { ++dispatched_operations; }));
CHECK_TRUE(dispatched_operations.load(std::memory_order_acquire) == 0);
old_generation_session.reset();
CHECK_TRUE(
generation_coordinator.waitForStopped(generation_ticket, 100ms));
CHECK_TRUE(generation_coordinator.finishStopAll(generation_ticket, true));
auto current_generation_session = generation_coordinator.beginSession();
CHECK_TRUE(current_generation_session);
CHECK_TRUE(current_generation_session.runIfCurrent(
[&] { ++dispatched_operations; }));
CHECK_TRUE(dispatched_operations.load(std::memory_order_acquire) == 1);
}
{
cmvr::service::MediaActivityCoordinator deferred_coordinator;
std::atomic<int> deferred_cancel_calls{0};
auto deferred_session = deferred_coordinator.beginSession(
[&] { ++deferred_cancel_calls; });
CHECK_TRUE(deferred_session);
const auto deferred_ticket =
deferred_coordinator.beginStopAll(true);
CHECK_TRUE(deferred_ticket.valid());
CHECK_TRUE(deferred_session.cancelled());
CHECK_TRUE(!deferred_session.runIfCurrent([] {}));
CHECK_TRUE(
deferred_cancel_calls.load(std::memory_order_acquire) == 0);
CHECK_TRUE(
deferred_coordinator.requestCancellation(deferred_ticket));
CHECK_TRUE(
deferred_cancel_calls.load(std::memory_order_acquire) == 1);
CHECK_TRUE(
deferred_coordinator.requestCancellation(deferred_ticket));
CHECK_TRUE(
deferred_cancel_calls.load(std::memory_order_acquire) == 1);
deferred_session.reset();
CHECK_TRUE(
deferred_coordinator.waitForStopped(deferred_ticket, 100ms));
CHECK_TRUE(
deferred_coordinator.finishStopAll(deferred_ticket, true));
CHECK_TRUE(
!deferred_coordinator.requestCancellation(deferred_ticket));
}
{
cmvr::service::MediaActivityCoordinator parallel_coordinator;
std::promise<void> blocked_cancel_entered;
auto blocked_cancel_entered_future =
blocked_cancel_entered.get_future();
std::promise<void> release_blocked_cancel;
auto release_blocked_cancel_future =
release_blocked_cancel.get_future().share();
std::promise<void> peer_cancel_entered;
auto peer_cancel_entered_future = peer_cancel_entered.get_future();
std::atomic<int> blocked_cancel_calls{0};
std::atomic<int> peer_cancel_calls{0};
auto blocked_session = parallel_coordinator.beginSession([&] {
++blocked_cancel_calls;
blocked_cancel_entered.set_value();
release_blocked_cancel_future.wait();
});
auto peer_session = parallel_coordinator.beginSession([&] {
++peer_cancel_calls;
peer_cancel_entered.set_value();
});
CHECK_TRUE(blocked_session && peer_session);
const auto ticket = parallel_coordinator.beginStopAll(true);
std::vector<cmvr::service::DeferredStopOperation> operations;
std::string collect_error;
CHECK_TRUE(parallel_coordinator.collectCancellationOperations(
ticket, operations, &collect_error));
CHECK_TRUE(collect_error.empty());
CHECK_TRUE(operations.size() == 2);
CHECK_TRUE(operations[0].resource_key != operations[1].resource_key);
auto first = std::async(std::launch::async, operations[0].operation);
auto second = std::async(std::launch::async, operations[1].operation);
CHECK_TRUE(blocked_cancel_entered_future.wait_for(100ms) ==
std::future_status::ready);
CHECK_TRUE(peer_cancel_entered_future.wait_for(100ms) ==
std::future_status::ready);
release_blocked_cancel.set_value();
CHECK_TRUE(first.get().success);
CHECK_TRUE(second.get().success);
CHECK_TRUE(operations[0].operation().success);
CHECK_TRUE(operations[1].operation().success);
CHECK_TRUE(blocked_cancel_calls.load() == 1);
CHECK_TRUE(peer_cancel_calls.load() == 1);
blocked_session.reset();
peer_session.reset();
CHECK_TRUE(parallel_coordinator.waitForStopped(ticket, 100ms));
CHECK_TRUE(parallel_coordinator.finishStopAll(ticket, true));
CHECK_TRUE(!parallel_coordinator.collectCancellationOperations(
ticket, operations, &collect_error));
CHECK_TRUE(!collect_error.empty());
}
{
cmvr::service::MediaActivityCoordinator exception_coordinator;
std::atomic<int> throwing_cancel_calls{0};
auto throwing_session = exception_coordinator.beginSession([&] {
++throwing_cancel_calls;
throw std::runtime_error("cancel failed");
});
CHECK_TRUE(throwing_session);
const auto ticket = exception_coordinator.beginStopAll(true);
std::vector<cmvr::service::DeferredStopOperation> operations;
CHECK_TRUE(exception_coordinator.collectCancellationOperations(
ticket, operations));
CHECK_TRUE(operations.size() == 1);
const auto result = operations[0].operation();
const auto cached_result = operations[0].operation();
CHECK_TRUE(!result.success);
CHECK_TRUE(result.detail.find("cancel failed") != std::string::npos);
CHECK_TRUE(cached_result.detail == result.detail);
CHECK_TRUE(throwing_cancel_calls.load() == 1);
throwing_session.reset();
CHECK_TRUE(exception_coordinator.waitForStopped(ticket, 100ms));
CHECK_TRUE(!exception_coordinator.finishStopAll(ticket, false));
}
{
cmvr::service::DeferredStopOperation detached_operation;
cmvr::service::MediaActivityCoordinator::Session retained_session;
std::atomic<int> detached_cancel_calls{0};
{
cmvr::service::MediaActivityCoordinator ephemeral_coordinator;
retained_session = ephemeral_coordinator.beginSession(
[&] { ++detached_cancel_calls; });
const auto ticket =
ephemeral_coordinator.beginStopAll(true);
std::vector<cmvr::service::DeferredStopOperation> operations;
CHECK_TRUE(
ephemeral_coordinator.collectCancellationOperations(
ticket, operations));
CHECK_TRUE(operations.size() == 1);
detached_operation = std::move(operations[0]);
}
CHECK_TRUE(detached_operation.operation().success);
CHECK_TRUE(detached_cancel_calls.load() == 1);
retained_session.reset();
}
cmvr::service::MediaActivityCoordinator coordinator;
std::atomic<int> cancel_calls{0};
auto old_session = coordinator.beginSession([&] { ++cancel_calls; });
CHECK_TRUE(old_session);
CHECK_TRUE(old_session.claimExclusiveResource("speaker:test"));
auto competing_session = coordinator.beginSession();
CHECK_TRUE(competing_session);
CHECK_TRUE(!competing_session.claimExclusiveResource("speaker:test"));
competing_session.reset();
const auto ticket = coordinator.beginStopAll();
CHECK_TRUE(ticket.valid());
CHECK_TRUE(cancel_calls.load(std::memory_order_acquire) == 1);
CHECK_TRUE(old_session.cancelled());
CHECK_TRUE(!old_session.runIfCurrent([] {}));
CHECK_TRUE(!coordinator.beginSession());
CHECK_TRUE(!coordinator.waitForStopped(ticket, 5ms));
old_session.reset();
CHECK_TRUE(coordinator.waitForStopped(ticket, 100ms));
CHECK_TRUE(coordinator.finishStopAll(ticket, true));
auto resumed_session = coordinator.beginSession();
CHECK_TRUE(resumed_session);
CHECK_TRUE(resumed_session.claimExclusiveResource("speaker:test"));
const auto concurrent_ticket_a = coordinator.beginStopAll();
const auto concurrent_ticket_b = coordinator.beginStopAll();
resumed_session.reset();
CHECK_TRUE(coordinator.waitForStopped(concurrent_ticket_a, 100ms));
CHECK_TRUE(coordinator.finishStopAll(concurrent_ticket_a, true));
CHECK_TRUE(!coordinator.beginSession());
CHECK_TRUE(coordinator.finishStopAll(concurrent_ticket_b, true));
CHECK_TRUE(coordinator.beginSession());
{
cmvr::service::MediaActivityCoordinator detailed_coordinator;
const auto first = detailed_coordinator.beginStopAll(true);
const auto second = detailed_coordinator.beginStopAll(true);
const auto first_result =
detailed_coordinator.finishStopAllDetailed(first, true);
CHECK_TRUE(first_result.ticket_consumed);
CHECK_TRUE(first_result.participant_stopped);
CHECK_TRUE(!first_result.admission_resumed);
const auto second_result =
detailed_coordinator.finishStopAllDetailed(second, true);
CHECK_TRUE(second_result.ticket_consumed);
CHECK_TRUE(second_result.participant_stopped);
CHECK_TRUE(second_result.admission_resumed);
CHECK_TRUE(detailed_coordinator.beginSession());
}
std::cout << "media_activity_coordinator_test: PASS\n";
return 0;
}

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cmvr-es/service/grpc/server/tests/motor_activity_coordinator_test.cpp
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#include "service/grpc/server/include/motor_activity_coordinator.h"
#include <atomic>
#include <chrono>
#include <future>
#include <iostream>
#include <stdexcept>
#include <thread>
namespace {
bool check(const bool condition, const char* expression, const int line)
{
if (condition) {
return true;
}
std::cerr << "CHECK failed at line " << line << ": " << expression << '\n';
return false;
}
#define CHECK_TRUE(expression) \
do { \
if (!check(static_cast<bool>(expression), #expression, __LINE__)) { \
return 1; \
} \
} while (false)
} // namespace
int main()
{
using namespace std::chrono_literals;
using cmvr::service::MotorActivityCoordinator;
MotorActivityCoordinator coordinator;
std::atomic<int> cancel_calls{0};
std::atomic<int> quick_stop_calls{0};
std::atomic<bool> busy{true};
auto registration = coordinator.registerControl(
[&] { ++cancel_calls; },
[&] {
++quick_stop_calls;
return true;
},
[&] { return !busy.load(std::memory_order_acquire); },
"test motor");
CHECK_TRUE(registration);
const auto ticket = coordinator.beginStopAll();
CHECK_TRUE(ticket.valid());
CHECK_TRUE(cancel_calls.load(std::memory_order_acquire) == 1);
CHECK_TRUE(!coordinator.lockAdmission().accepting());
std::string initial_error;
CHECK_TRUE(coordinator.requestStop(ticket, &initial_error));
CHECK_TRUE(initial_error.empty());
CHECK_TRUE(quick_stop_calls.load(std::memory_order_acquire) == 1);
auto stop_future = std::async(std::launch::async, [&] {
std::string error;
return coordinator.waitForStopped(ticket, 1s, &error);
});
CHECK_TRUE(stop_future.wait_for(20ms) == std::future_status::timeout);
busy.store(false, std::memory_order_release);
coordinator.notifyStateChanged();
CHECK_TRUE(stop_future.get());
CHECK_TRUE(coordinator.finishStopAll(ticket, true));
CHECK_TRUE(coordinator.lockAdmission().accepting());
std::atomic<int> quick_stops_in_flight{0};
std::atomic<int> maximum_quick_stops{0};
auto make_serial_registration = [&](const char* description) {
return coordinator.registerControl(
[] {},
[&] {
const int active = ++quick_stops_in_flight;
int maximum = maximum_quick_stops.load();
while (maximum < active &&
!maximum_quick_stops.compare_exchange_weak(
maximum, active)) {
}
std::this_thread::sleep_for(5ms);
--quick_stops_in_flight;
return true;
},
[] { return true; },
description);
};
auto serial_a = make_serial_registration("serial motor a");
auto serial_b = make_serial_registration("serial motor b");
CHECK_TRUE(serial_a && serial_b);
const auto serial_ticket = coordinator.beginStopAll();
CHECK_TRUE(serial_ticket.valid());
CHECK_TRUE(coordinator.stopAndWait(serial_ticket, 1s));
CHECK_TRUE(maximum_quick_stops.load(std::memory_order_acquire) == 1);
CHECK_TRUE(coordinator.finishStopAll(serial_ticket, true));
{
MotorActivityCoordinator parallel_coordinator;
std::promise<void> blocked_stop_entered;
auto blocked_stop_entered_future =
blocked_stop_entered.get_future();
std::promise<void> release_blocked_stop;
auto release_blocked_stop_future =
release_blocked_stop.get_future().share();
std::promise<void> peer_stop_entered;
auto peer_stop_entered_future = peer_stop_entered.get_future();
std::atomic<int> blocked_cancel_calls{0};
std::atomic<int> blocked_stop_calls{0};
std::atomic<int> peer_cancel_calls{0};
std::atomic<int> peer_stop_calls{0};
auto blocked = parallel_coordinator.registerControl(
[&] { ++blocked_cancel_calls; },
[&] {
if (blocked_cancel_calls.load() != 1) {
return false;
}
++blocked_stop_calls;
blocked_stop_entered.set_value();
release_blocked_stop_future.wait();
return true;
},
[] { return true; },
"blocked motor");
auto peer = parallel_coordinator.registerControl(
[&] { ++peer_cancel_calls; },
[&] {
if (peer_cancel_calls.load() != 1) {
return false;
}
++peer_stop_calls;
peer_stop_entered.set_value();
return true;
},
[] { return true; },
"peer motor");
CHECK_TRUE(blocked && peer);
const auto parallel_ticket =
parallel_coordinator.beginStopAll(true);
CHECK_TRUE(parallel_ticket.valid());
CHECK_TRUE(blocked_cancel_calls.load() == 0);
CHECK_TRUE(peer_cancel_calls.load() == 0);
std::vector<cmvr::service::DeferredStopOperation> operations;
std::string collect_error;
CHECK_TRUE(parallel_coordinator.collectStopOperations(
parallel_ticket, operations, &collect_error));
CHECK_TRUE(collect_error.empty());
CHECK_TRUE(operations.size() == 2);
CHECK_TRUE(operations[0].resource_key != operations[1].resource_key);
auto first = std::async(std::launch::async, operations[0].operation);
auto second = std::async(std::launch::async, operations[1].operation);
CHECK_TRUE(blocked_stop_entered_future.wait_for(100ms) ==
std::future_status::ready);
CHECK_TRUE(peer_stop_entered_future.wait_for(100ms) ==
std::future_status::ready);
release_blocked_stop.set_value();
CHECK_TRUE(first.get().success);
CHECK_TRUE(second.get().success);
CHECK_TRUE(operations[0].operation().success);
CHECK_TRUE(operations[1].operation().success);
CHECK_TRUE(blocked_cancel_calls.load() == 1);
CHECK_TRUE(blocked_stop_calls.load() == 1);
CHECK_TRUE(peer_cancel_calls.load() == 1);
CHECK_TRUE(peer_stop_calls.load() == 1);
CHECK_TRUE(parallel_coordinator.finishStopAll(
parallel_ticket, true));
}
{
MotorActivityCoordinator exception_coordinator;
std::atomic<int> cancel_calls_for_exception{0};
std::atomic<int> stop_calls_after_exception{0};
auto throwing = exception_coordinator.registerControl(
[&] {
++cancel_calls_for_exception;
throw std::runtime_error("cancel failed");
},
[&] {
++stop_calls_after_exception;
throw std::runtime_error("quick-stop failed");
return false;
},
[] { return true; },
"throwing motor");
CHECK_TRUE(throwing);
const auto exception_ticket =
exception_coordinator.beginStopAll(true);
std::vector<cmvr::service::DeferredStopOperation> operations;
CHECK_TRUE(exception_coordinator.collectStopOperations(
exception_ticket, operations));
CHECK_TRUE(operations.size() == 1);
const auto first_result = operations[0].operation();
const auto cached_result = operations[0].operation();
CHECK_TRUE(!first_result.success);
CHECK_TRUE(first_result.detail.find("cancel failed") !=
std::string::npos);
CHECK_TRUE(first_result.detail.find("quick-stop failed") !=
std::string::npos);
CHECK_TRUE(cached_result.detail == first_result.detail);
CHECK_TRUE(cancel_calls_for_exception.load() == 1);
CHECK_TRUE(stop_calls_after_exception.load() == 1);
CHECK_TRUE(!exception_coordinator.finishStopAll(
exception_ticket, false));
}
{
cmvr::service::DeferredStopOperation detached_operation;
MotorActivityCoordinator::Registration retained_registration;
std::atomic<int> detached_cancel_calls{0};
std::atomic<int> detached_stop_calls{0};
{
MotorActivityCoordinator ephemeral_coordinator;
retained_registration = ephemeral_coordinator.registerControl(
[&] { ++detached_cancel_calls; },
[&] {
++detached_stop_calls;
return true;
},
[] { return true; },
"detached motor");
const auto ticket =
ephemeral_coordinator.beginStopAll(true);
std::vector<cmvr::service::DeferredStopOperation> operations;
CHECK_TRUE(ephemeral_coordinator.collectStopOperations(
ticket, operations));
CHECK_TRUE(operations.size() == 1);
detached_operation = std::move(operations[0]);
}
CHECK_TRUE(detached_operation.operation().success);
CHECK_TRUE(detached_cancel_calls.load() == 1);
CHECK_TRUE(detached_stop_calls.load() == 1);
retained_registration.reset();
}
std::atomic<bool> stop_succeeds{false};
auto failing = coordinator.registerControl(
[] {},
[&] { return stop_succeeds.load(std::memory_order_acquire); },
[] { return true; },
"failing motor");
CHECK_TRUE(failing);
const auto failed_ticket = coordinator.beginStopAll();
CHECK_TRUE(failed_ticket.valid());
std::string error;
CHECK_TRUE(!coordinator.stopAndWait(failed_ticket, 100ms, &error));
CHECK_TRUE(!error.empty());
CHECK_TRUE(!coordinator.finishStopAll(failed_ticket, false));
CHECK_TRUE(!coordinator.lockAdmission().accepting());
stop_succeeds.store(true, std::memory_order_release);
const auto recovery_ticket = coordinator.beginStopAll();
CHECK_TRUE(recovery_ticket.valid());
CHECK_TRUE(coordinator.stopAndWait(recovery_ticket, 1s, &error));
CHECK_TRUE(coordinator.finishStopAll(recovery_ticket, true));
CHECK_TRUE(coordinator.lockAdmission().accepting());
{
MotorActivityCoordinator detailed_coordinator;
const auto first = detailed_coordinator.beginStopAll(true);
const auto second = detailed_coordinator.beginStopAll(true);
const auto first_result =
detailed_coordinator.finishStopAllDetailed(first, true);
CHECK_TRUE(first_result.ticket_consumed);
CHECK_TRUE(first_result.participant_stopped);
CHECK_TRUE(!first_result.admission_resumed);
const auto second_result =
detailed_coordinator.finishStopAllDetailed(second, true);
CHECK_TRUE(second_result.ticket_consumed);
CHECK_TRUE(second_result.participant_stopped);
CHECK_TRUE(second_result.admission_resumed);
CHECK_TRUE(detailed_coordinator.lockAdmission().accepting());
}
std::cout << "motor_activity_coordinator_test: PASS\n";
return 0;
}

104
cmvr-es/service/grpc/stop_all/tests/stop_all_admission_gate_test.cpp
View File

@ -1,104 +0,0 @@
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
#include <gtest/gtest.h>
namespace cmvr::service {
namespace {
TEST(StopAllAdmissionGateTest, SuccessfulRoundReopensAdmission)
{
StopAllAdmissionGate gate;
{
const auto before = gate.lockAdmission();
EXPECT_TRUE(before.accepting());
}
const auto ticket = gate.beginStopAll();
ASSERT_TRUE(ticket.valid());
{
const auto blocked = gate.lockAdmission();
EXPECT_FALSE(blocked.accepting());
EXPECT_EQ(blocked.generation(), ticket.generation);
}
EXPECT_TRUE(gate.finishStopAll(ticket, true));
EXPECT_TRUE(gate.lockAdmission().accepting());
}
TEST(StopAllAdmissionGateTest, FailedRoundStaysClosedAndCanBeRecovered)
{
StopAllAdmissionGate gate;
const auto failed_ticket = gate.beginStopAll();
ASSERT_TRUE(failed_ticket.valid());
EXPECT_FALSE(gate.finishStopAll(failed_ticket, false));
EXPECT_FALSE(gate.lockAdmission().accepting());
const auto recovery_ticket = gate.beginStopAll();
ASSERT_TRUE(recovery_ticket.valid());
EXPECT_TRUE(gate.finishStopAll(recovery_ticket, true));
EXPECT_TRUE(gate.lockAdmission().accepting());
}
TEST(StopAllAdmissionGateTest, EveryConcurrentParticipantMustSucceed)
{
StopAllAdmissionGate gate;
const auto first = gate.beginStopAll();
const auto second = gate.beginStopAll();
ASSERT_TRUE(first.valid());
ASSERT_TRUE(second.valid());
EXPECT_TRUE(gate.finishStopAll(first, true));
EXPECT_FALSE(gate.lockAdmission().accepting());
EXPECT_FALSE(gate.finishStopAll(second, false));
EXPECT_FALSE(gate.lockAdmission().accepting());
}
TEST(StopAllAdmissionGateTest,
DetailedFinishDoesNotReportRecoveryAfterAnotherParticipantFailed)
{
StopAllAdmissionGate gate;
const auto system_ticket = gate.beginStopAll();
const auto failed_participant = gate.beginStopAll();
const auto failed_result =
gate.finishStopAllDetailed(failed_participant, false);
EXPECT_TRUE(failed_result.ticket_consumed);
EXPECT_FALSE(failed_result.admission_reopened);
const auto system_result =
gate.finishStopAllDetailed(system_ticket, true);
EXPECT_TRUE(system_result.ticket_consumed);
EXPECT_FALSE(system_result.admission_reopened);
EXPECT_FALSE(gate.lockAdmission().accepting());
}
TEST(StopAllAdmissionGateTest,
DetailedFinishSeparatesConsumptionFromOutstandingParticipants)
{
StopAllAdmissionGate gate;
const auto first = gate.beginStopAll();
const auto second = gate.beginStopAll();
const auto first_result = gate.finishStopAllDetailed(first, true);
EXPECT_TRUE(first_result.ticket_consumed);
EXPECT_FALSE(first_result.admission_reopened);
const auto second_result = gate.finishStopAllDetailed(second, true);
EXPECT_TRUE(second_result.ticket_consumed);
EXPECT_TRUE(second_result.admission_reopened);
EXPECT_TRUE(gate.lockAdmission().accepting());
}
TEST(StopAllAdmissionGateTest, TestClearInvalidatesOutstandingTickets)
{
StopAllAdmissionGate gate;
const auto stale = gate.beginStopAll();
ASSERT_TRUE(stale.valid());
gate.clearForTesting();
EXPECT_TRUE(gate.lockAdmission().accepting());
EXPECT_FALSE(gate.finishStopAll(stale, true));
}
} // namespace
} // namespace cmvr::service

399
cmvr-es/service/grpc/stop_all/tests/stop_operation_dispatcher_test.cpp
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@ -1,399 +0,0 @@
#include "service/grpc/stop_all/include/stop_operation_dispatcher.h"
#include <gtest/gtest.h>
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <future>
#include <memory>
#include <mutex>
#include <stdexcept>
#include <string>
#include <thread>
#include <utility>
#include <vector>
namespace cmvr::service {
namespace {
using namespace std::chrono_literals;
TEST(StopOperationDispatcherTest, RejectsEmptyKeysAndOperations)
{
StopOperationDispatcher dispatcher;
StopOperationDispatcher::Operation empty_operation;
const auto empty_key = dispatcher.submit("", [] {
return StopOperationDispatcher::OperationResult{true, {}};
});
const auto empty_callback = dispatcher.submit(
"arm:one", std::move(empty_operation));
EXPECT_FALSE(empty_key.valid());
EXPECT_FALSE(empty_callback.valid());
const auto invalid_result = empty_key.waitUntil(
StopOperationDispatcher::Clock::now());
EXPECT_FALSE(invalid_result.completed);
EXPECT_FALSE(invalid_result.result);
EXPECT_FALSE(invalid_result.detail.empty());
}
TEST(StopOperationDispatcherTest, ReturnsOperationOutcome)
{
StopOperationDispatcher dispatcher;
const auto handle = dispatcher.submit("arm:one", [] {
return StopOperationDispatcher::OperationResult{
false, "driver did not confirm idle"};
});
ASSERT_TRUE(handle.valid());
const auto result = handle.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
EXPECT_TRUE(result.completed);
EXPECT_FALSE(result.result);
EXPECT_EQ(result.detail, "driver did not confirm idle");
}
TEST(StopOperationDispatcherTest, TimeoutDoesNotCancelTheJob)
{
StopOperationDispatcher dispatcher;
std::promise<void> release;
auto released = release.get_future().share();
const auto handle = dispatcher.submit("agv:one", [released] {
released.wait();
return StopOperationDispatcher::OperationResult{true, "stopped"};
});
const auto timed_out = handle.waitUntil(
StopOperationDispatcher::Clock::now() + 20ms);
EXPECT_FALSE(timed_out.completed);
EXPECT_FALSE(timed_out.result);
release.set_value();
const auto completed = handle.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
EXPECT_TRUE(completed.completed);
EXPECT_TRUE(completed.result);
EXPECT_EQ(completed.detail, "stopped");
}
TEST(StopOperationDispatcherTest,
RunningJobKeepsItsOriginalTimeoutDetailProvider)
{
StopOperationDispatcher dispatcher;
std::promise<void> release;
auto released = release.get_future().share();
std::atomic<int> first_operation_calls{0};
std::atomic<int> duplicate_operation_calls{0};
std::atomic<int> first_provider_calls{0};
std::atomic<int> duplicate_provider_calls{0};
const auto first = dispatcher.submit(
"arm:one",
[&] {
++first_operation_calls;
released.wait();
return StopOperationDispatcher::OperationResult{true, {}};
},
[&] {
++first_provider_calls;
return std::string("first job is waiting for its handler");
});
const auto duplicate = dispatcher.submit(
"arm:one",
[&] {
++duplicate_operation_calls;
return StopOperationDispatcher::OperationResult{true, {}};
},
[&] {
++duplicate_provider_calls;
return std::string("duplicate submission detail");
});
const auto first_timeout = first.waitUntil(
StopOperationDispatcher::Clock::now() + 20ms);
const auto duplicate_timeout = duplicate.waitUntil(
StopOperationDispatcher::Clock::now() + 20ms);
release.set_value();
const auto completed = first.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
EXPECT_FALSE(first_timeout.completed);
EXPECT_EQ(
first_timeout.detail, "first job is waiting for its handler");
EXPECT_FALSE(duplicate_timeout.completed);
EXPECT_EQ(
duplicate_timeout.detail, "first job is waiting for its handler");
EXPECT_TRUE(completed.completed);
EXPECT_TRUE(completed.result);
EXPECT_EQ(first_operation_calls.load(), 1);
EXPECT_EQ(duplicate_operation_calls.load(), 0);
EXPECT_EQ(first_provider_calls.load(), 2);
EXPECT_EQ(duplicate_provider_calls.load(), 0);
}
TEST(StopOperationDispatcherTest,
ThrowingTimeoutDetailProviderFallsBackToGenericDetail)
{
StopOperationDispatcher dispatcher;
std::promise<void> release;
auto released = release.get_future().share();
const auto handle = dispatcher.submit(
"arm:one",
[released] {
released.wait();
return StopOperationDispatcher::OperationResult{true, {}};
},
[]() -> std::string {
throw std::runtime_error("diagnostic provider failed");
});
const auto timed_out = handle.waitUntil(
StopOperationDispatcher::Clock::now() + 20ms);
release.set_value();
EXPECT_FALSE(timed_out.completed);
EXPECT_FALSE(timed_out.result);
EXPECT_EQ(
timed_out.detail,
"stop operation did not complete before the deadline");
}
TEST(StopOperationDispatcherTest, RunningSubmissionsForAKeyShareOneJob)
{
StopOperationDispatcher dispatcher;
std::promise<void> started;
std::promise<void> release;
auto released = release.get_future().share();
std::atomic<int> first_calls{0};
std::atomic<int> duplicate_calls{0};
const auto first = dispatcher.submit("arm:one", [&] {
++first_calls;
started.set_value();
released.wait();
return StopOperationDispatcher::OperationResult{true, "first"};
});
ASSERT_EQ(started.get_future().wait_for(1s), std::future_status::ready);
const auto duplicate = dispatcher.submit("arm:one", [&] {
++duplicate_calls;
return StopOperationDispatcher::OperationResult{false, "duplicate"};
});
release.set_value();
const auto first_result = first.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
const auto duplicate_result = duplicate.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
EXPECT_TRUE(first_result.completed);
EXPECT_TRUE(first_result.result);
EXPECT_EQ(first_result.detail, "first");
EXPECT_TRUE(duplicate_result.completed);
EXPECT_TRUE(duplicate_result.result);
EXPECT_EQ(duplicate_result.detail, "first");
EXPECT_EQ(first_calls.load(), 1);
EXPECT_EQ(duplicate_calls.load(), 0);
}
TEST(StopOperationDispatcherTest, ConcurrentSubmissionsForAKeyShareOneJob)
{
StopOperationDispatcher dispatcher;
constexpr int submitter_count = 12;
std::promise<void> release;
auto released = release.get_future().share();
std::atomic<int> operation_calls{0};
std::mutex handles_mutex;
std::vector<StopOperationDispatcher::Handle> handles;
std::vector<std::thread> submitters;
handles.reserve(submitter_count);
submitters.reserve(submitter_count);
for (int index = 0; index < submitter_count; ++index) {
submitters.emplace_back([&] {
auto handle = dispatcher.submit("dexhand:one", [&] {
++operation_calls;
released.wait();
return StopOperationDispatcher::OperationResult{true, {}};
});
std::lock_guard lock(handles_mutex);
handles.emplace_back(std::move(handle));
});
}
for (auto& submitter : submitters) {
submitter.join();
}
release.set_value();
ASSERT_EQ(handles.size(), static_cast<std::size_t>(submitter_count));
const auto deadline = StopOperationDispatcher::Clock::now() + 1s;
for (const auto& handle : handles) {
const auto result = handle.waitUntil(deadline);
EXPECT_TRUE(result.completed);
EXPECT_TRUE(result.result);
}
EXPECT_EQ(operation_calls.load(), 1);
}
TEST(StopOperationDispatcherTest, CompletedJobIsReapedBeforeNextSubmission)
{
StopOperationDispatcher dispatcher;
std::atomic<int> calls{0};
const auto first = dispatcher.submit("arm:one", [&] {
++calls;
return StopOperationDispatcher::OperationResult{true, "round one"};
});
const auto first_result = first.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
ASSERT_TRUE(first_result.completed);
ASSERT_TRUE(first_result.result);
const auto second = dispatcher.submit("arm:one", [&] {
++calls;
return StopOperationDispatcher::OperationResult{true, "round two"};
});
const auto second_result = second.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
EXPECT_TRUE(second_result.completed);
EXPECT_TRUE(second_result.result);
EXPECT_EQ(second_result.detail, "round two");
EXPECT_EQ(calls.load(), 2);
EXPECT_EQ(first.waitUntil(
StopOperationDispatcher::Clock::now()).detail, "round one");
}
TEST(StopOperationDispatcherTest, SubmissionReapsAllCompletedJobs)
{
StopOperationDispatcher dispatcher;
constexpr int completed_job_count = 24;
std::promise<void> release;
auto released = release.get_future().share();
std::vector<StopOperationDispatcher::Handle> handles;
handles.reserve(completed_job_count);
for (int index = 0; index < completed_job_count; ++index) {
handles.emplace_back(dispatcher.submit(
"arm:" + std::to_string(index), [released] {
released.wait();
return StopOperationDispatcher::OperationResult{true, {}};
}));
}
ASSERT_EQ(dispatcher.jobCountForTesting(),
static_cast<std::size_t>(completed_job_count));
release.set_value();
const auto deadline = StopOperationDispatcher::Clock::now() + 1s;
for (const auto& handle : handles) {
ASSERT_TRUE(handle.waitUntil(deadline).completed);
}
ASSERT_EQ(dispatcher.jobCountForTesting(),
static_cast<std::size_t>(completed_job_count));
std::promise<void> trigger_started;
std::promise<void> release_trigger;
auto trigger_released = release_trigger.get_future().share();
const auto trigger = dispatcher.submit(
"agv:cleanup-trigger", [&] {
trigger_started.set_value();
trigger_released.wait();
return StopOperationDispatcher::OperationResult{true, {}};
});
ASSERT_EQ(trigger_started.get_future().wait_for(1s),
std::future_status::ready);
EXPECT_EQ(dispatcher.jobCountForTesting(), 1U);
release_trigger.set_value();
EXPECT_TRUE(trigger.waitUntil(
StopOperationDispatcher::Clock::now() + 1s).result);
}
TEST(StopOperationDispatcherTest, DifferentKeysRunIndependently)
{
StopOperationDispatcher dispatcher;
std::promise<void> release_first;
auto first_released = release_first.get_future().share();
std::promise<void> second_started;
const auto first = dispatcher.submit("camera:one", [first_released] {
first_released.wait();
return StopOperationDispatcher::OperationResult{true, {}};
});
const auto second = dispatcher.submit("speaker:one", [&] {
second_started.set_value();
return StopOperationDispatcher::OperationResult{true, {}};
});
EXPECT_EQ(
second_started.get_future().wait_for(1s),
std::future_status::ready);
const auto second_result = second.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
EXPECT_TRUE(second_result.completed);
EXPECT_TRUE(second_result.result);
release_first.set_value();
EXPECT_TRUE(first.waitUntil(
StopOperationDispatcher::Clock::now() + 1s).result);
}
TEST(StopOperationDispatcherTest, ConvertsOperationExceptionsToFailures)
{
StopOperationDispatcher dispatcher;
const auto standard = dispatcher.submit("arm:one", []()
-> StopOperationDispatcher::OperationResult {
throw std::runtime_error("transport failed");
});
const auto unknown = dispatcher.submit("agv:one", []()
-> StopOperationDispatcher::OperationResult {
throw 42;
});
const auto deadline = StopOperationDispatcher::Clock::now() + 1s;
const auto standard_result = standard.waitUntil(deadline);
const auto unknown_result = unknown.waitUntil(deadline);
EXPECT_TRUE(standard_result.completed);
EXPECT_FALSE(standard_result.result);
EXPECT_NE(standard_result.detail.find("transport failed"),
std::string::npos);
EXPECT_TRUE(unknown_result.completed);
EXPECT_FALSE(unknown_result.result);
EXPECT_NE(unknown_result.detail.find("unknown exception"),
std::string::npos);
}
TEST(StopOperationDispatcherTest,
DestructorWaitsForOutstandingWorkers)
{
auto dispatcher = std::make_unique<StopOperationDispatcher>();
std::promise<void> started;
std::promise<void> release;
auto released = release.get_future().share();
const auto handle = dispatcher->submit("arm:one", [&] {
started.set_value();
released.wait();
return StopOperationDispatcher::OperationResult{
true, "completed after dispatcher destruction"};
});
ASSERT_EQ(started.get_future().wait_for(1s), std::future_status::ready);
auto destroy = std::async(std::launch::async, [&] {
dispatcher.reset();
});
EXPECT_EQ(destroy.wait_for(20ms), std::future_status::timeout);
release.set_value();
EXPECT_EQ(destroy.wait_for(1s), std::future_status::ready);
destroy.get();
const auto result = handle.waitUntil(
StopOperationDispatcher::Clock::now() + 1s);
EXPECT_TRUE(result.completed);
EXPECT_TRUE(result.result);
EXPECT_EQ(result.detail, "completed after dispatcher destruction");
}
} // namespace
} // namespace cmvr::service

28
cmvr-es/task/CMakeLists.txt
View File

@ -22,34 +22,6 @@ target_link_libraries(task
add_library(cmvr_es::task ALIAS task)
install(TARGETS task LIBRARY DESTINATION lib)
if(BUILD_TESTING)
add_executable(touch_screen_admission_test
touch_screen_task/src/touch_screen_admission_test.cpp
)
target_link_libraries(touch_screen_admission_test PRIVATE
cmvr_es::task
cmvr_es::device_manager
cmvr_es::stop_all_admission_gate
cmvr_es::camera_operational_activity_registry
gtest
gtest_main
pthread
)
add_test(
NAME touch_screen_admission_test
COMMAND touch_screen_admission_test
)
set(_touch_screen_admission_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _touch_screen_admission_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(touch_screen_admission_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_touch_screen_admission_test_environment}")
endif()
#add_executable(touch_screen_task_test
# touch_screen_task/src/touch_screen_task_test.cpp
#)

559
cmvr-es/task/touch_screen_task/src/touch_screen_admission_test.cpp
View File

@ -1,559 +0,0 @@
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <thread>
#include <vector>
#include <gtest/gtest.h>
#include "manager/device_manager/include/device_manager.h"
#include "service/grpc/server/include/camera_operational_activity_registry.h"
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
#include "task/touch_screen_task/include/touch_screen_task.h"
namespace cmvr::task {
class TouchScreenTaskAdmissionTestPeer final {
public:
static void prepare(
TouchScreenTask& task,
const std::shared_ptr<device::RobotArm>& arm,
const std::shared_ptr<device::AbstractCamera>& camera)
{
std::lock_guard lock(task.mutex_);
task.arm_ = arm;
{
std::lock_guard arm_lock(task.activity_arm_mutex_);
task.activity_arm_ = arm;
}
task.camera_ = camera;
task.initialized_ = true;
task.phase_ = TouchScreenTask::Phase::IDLE;
task.last_status_ = TouchScreenTask::Status::IDLE;
}
static void prepareInit(
TouchScreenTask& task,
const std::string& arm_id,
const std::string& dexhand_id,
const std::string& camera_id)
{
std::lock_guard lock(task.mutex_);
task.config_valid_ = true;
auto* devices = task.config_.mutable_devices();
devices->set_arm_id(arm_id);
devices->set_dexhand_id(dexhand_id);
devices->set_camera_id(camera_id);
task.initialized_ = false;
task.phase_ = TouchScreenTask::Phase::IDLE;
task.last_status_ = TouchScreenTask::Status::NOT_INITIALIZED;
}
static bool sendJointVelocity(TouchScreenTask& task)
{
std::lock_guard lock(task.mutex_);
return task.sendJointVelocity({});
}
};
} // namespace cmvr::task
namespace {
class AdmissionRobotArm final : public cmvr::device::RobotArm {
public:
AdmissionRobotArm() { id_ = "touch-admission-arm"; }
std::string typeName() const override { return "AdmissionRobotArm"; }
cmvr::device::RobotModel getRobotModel() const override { return {}; }
std::size_t getDof() const override { return 0U; }
cmvr::device::ArmState getRobotState() const override { return {}; }
cmvr::device::JointGroupState getJointState() const override { return {}; }
cmvr::device::CartesianPose getTcpPose(
cmvr::device::FrameType = cmvr::device::FrameType::Base) const override
{
return {};
}
cmvr::device::RobotMode getRobotMode() const override
{
return cmvr::device::RobotMode::Idle;
}
cmvr::device::SafetyMode getSafetyMode() const override
{
return cmvr::device::SafetyMode::Normal;
}
cmvr::device::ControlMode getControlMode() const override
{
return cmvr::device::ControlMode::None;
}
cmvr::device::Result torqueOn() override { return success(); }
cmvr::device::Result torqueOff() override { return success(); }
cmvr::device::Result calibrateZeroQ(const std::string&) override
{
return success();
}
cmvr::device::Result emergencyStop() override { return success(); }
cmvr::device::Result protectiveStop() override { return success(); }
cmvr::device::Result setSpeedScaling(double) override { return success(); }
double getSpeedScaling() const override { return 1.0; }
bool isProtectiveStopped() const override { return false; }
bool isEmergencyStopped() const override { return false; }
bool isFault() const override { return false; }
cmvr::device::Result moveJ(
const cmvr::device::JointPositionCommand&,
const cmvr::device::MotionOptions&) override
{
return success();
}
cmvr::device::Result speedJ(
const cmvr::device::JointVelocityCommand&, double, double) override
{
++speed_j_calls_;
return success();
}
cmvr::device::Result stopJ(double) override { return success(); }
cmvr::device::Result moveL(
const cmvr::device::CartesianPose&,
const cmvr::device::MotionOptions&,
cmvr::device::FrameType = cmvr::device::FrameType::Base) override
{
return success();
}
cmvr::device::Result speedL(
const cmvr::device::CartesianVelocity&,
double,
double,
cmvr::device::FrameType = cmvr::device::FrameType::Base) override
{
return success();
}
cmvr::device::Result stopL(std::optional<double> = std::nullopt) override
{
return success();
}
cmvr::device::Result stopMotion() override
{
++stop_motion_calls_;
return success();
}
cmvr::device::Result startServoMode(
const cmvr::device::ServoOptions&) override
{
return success();
}
cmvr::device::Result servoJ(
const cmvr::device::JointPositionCommand&) override
{
return success();
}
cmvr::device::Result servoL(
const cmvr::device::CartesianPose&,
cmvr::device::FrameType = cmvr::device::FrameType::Base) override
{
return success();
}
cmvr::device::Result servoSpeedJ(
const cmvr::device::JointVelocityCommand&) override
{
return success();
}
cmvr::device::Result servoSpeedL(
const cmvr::device::CartesianVelocity&,
cmvr::device::FrameType = cmvr::device::FrameType::Base) override
{
return success();
}
cmvr::device::Result stopServoMode() override { return success(); }
cmvr::device::Result connect(const std::string&, int) override
{
return success();
}
cmvr::device::Result disconnect() override { return success(); }
bool isConnected() const override { return true; }
cmvr::device::Result powerOn() override { return success(); }
cmvr::device::Result powerOff() override { return success(); }
cmvr::device::Result brakeRelease() override { return success(); }
cmvr::device::Result shutdown() override { return success(); }
cmvr::device::Result clearFault() override { return success(); }
cmvr::device::Result unlockProtectiveStop() override { return success(); }
cmvr::device::Result loadProgram(const std::string&) override
{
return success();
}
cmvr::device::Result playProgram() override { return success(); }
cmvr::device::Result pauseProgram() override { return success(); }
cmvr::device::Result stopProgram() override { return success(); }
std::vector<double> ik(
const std::string&,
const std::string&,
const cmvr::device::CartesianPose&) override
{
return {};
}
std::shared_ptr<cmvr::IKSolver> kinematicsSolver() const override
{
return nullptr;
}
cmvr::device::CartesianPose fk(
const std::string&, const std::string&) override
{
return {};
}
cmvr::device::CartesianPose fk(bool = true) override { return {}; }
cmvr::device::CartesianVelocity getSpeedLCommandTwistBase() const override
{
return {};
}
bool busy() const override { return false; }
int speedJCalls() const noexcept { return speed_j_calls_.load(); }
int stopMotionCalls() const noexcept
{
return stop_motion_calls_.load();
}
private:
static cmvr::device::Result success()
{
return cmvr::device::Result::success();
}
std::atomic<int> speed_j_calls_{0};
std::atomic<int> stop_motion_calls_{0};
};
class AdmissionCamera final : public cmvr::device::AbstractCamera {
public:
explicit AdmissionCamera(std::string id)
{
id_ = std::move(id);
state_.is_initialized = true;
}
std::string typeName() const override { return "AdmissionCamera"; }
void getState(cmvr::device::CameraState& state) override
{
std::lock_guard lock(mutex_);
state = state_;
}
bool start() override
{
++lifecycle_start_calls_;
return true;
}
bool stop() override
{
++lifecycle_stop_calls_;
std::lock_guard lock(mutex_);
operational_active_ = false;
state_.is_opened = false;
return true;
}
bool startOperationalActivity() override
{
++operational_start_calls_;
std::unique_lock lock(mutex_);
start_entered_ = true;
condition_.notify_all();
condition_.wait(lock, [this] { return !block_start_; });
operational_active_ = true;
state_.is_opened = true;
return true;
}
bool stopOperationalActivity() override
{
++operational_stop_calls_;
std::lock_guard lock(mutex_);
operational_active_ = false;
state_.is_opened = false;
return true;
}
void blockStart()
{
std::lock_guard lock(mutex_);
block_start_ = true;
start_entered_ = false;
}
void waitForStartEntered()
{
std::unique_lock lock(mutex_);
condition_.wait(lock, [this] { return start_entered_; });
}
void releaseStart()
{
{
std::lock_guard lock(mutex_);
block_start_ = false;
}
condition_.notify_all();
}
bool operationalActive() const
{
std::lock_guard lock(mutex_);
return operational_active_;
}
int lifecycleStartCalls() const { return lifecycle_start_calls_; }
int lifecycleStopCalls() const { return lifecycle_stop_calls_; }
int operationalStartCalls() const { return operational_start_calls_; }
int operationalStopCalls() const { return operational_stop_calls_; }
private:
mutable std::mutex mutex_;
std::condition_variable condition_;
bool block_start_{false};
bool start_entered_{false};
bool operational_active_{false};
std::atomic<int> lifecycle_start_calls_{0};
std::atomic<int> lifecycle_stop_calls_{0};
std::atomic<int> operational_start_calls_{0};
std::atomic<int> operational_stop_calls_{0};
};
class TouchScreenAdmissionTest : public ::testing::Test {
protected:
void SetUp() override
{
cmvr::service::globalCameraOperationalActivityRegistry()
.clearForTesting();
cmvr::device::DeviceManager::destroyInstance();
cmvr::service::globalStopAllAdmissionGate().clearForTesting();
cmvr::control::ControlAuthorityManager::instance().clear();
}
void TearDown() override
{
cmvr::service::globalCameraOperationalActivityRegistry()
.clearForTesting();
cmvr::device::DeviceManager::destroyInstance();
cmvr::service::globalStopAllAdmissionGate().clearForTesting();
cmvr::control::ControlAuthorityManager::instance().clear();
}
};
TEST_F(TouchScreenAdmissionTest,
DirectTouchAndStartFromPixelHonorFailClosedAdmissionAndRecovery)
{
auto arm = std::make_shared<AdmissionRobotArm>();
auto camera = std::make_shared<AdmissionCamera>(
"touch-admission-camera");
cmvr::task::TouchScreenTask task(cmvr::config::TouchScreenTaskConfig{});
cmvr::task::TouchScreenTaskAdmissionTestPeer::prepare(
task, arm, camera);
auto& gate = cmvr::service::globalStopAllAdmissionGate();
auto ticket = gate.beginStopAll();
EXPECT_FALSE(task.touch(10, 20));
EXPECT_FALSE(task.startFromPixel(10, 20));
EXPECT_FALSE(task.isBusy());
EXPECT_TRUE(gate.finishStopAll(ticket, true));
ASSERT_TRUE(task.touch(10, 20));
EXPECT_TRUE(task.isBusy());
EXPECT_TRUE(task.stopActivity());
ticket = gate.beginStopAll();
EXPECT_FALSE(gate.finishStopAll(ticket, false));
EXPECT_FALSE(task.touch(10, 20));
EXPECT_FALSE(task.startFromPixel(10, 20));
ticket = gate.beginStopAll();
EXPECT_TRUE(gate.finishStopAll(ticket, true));
EXPECT_TRUE(task.startFromPixel(30, 40));
EXPECT_TRUE(task.stopActivity());
}
TEST_F(TouchScreenAdmissionTest,
SafetyHooksFenceEveryArmActuation)
{
auto arm = std::make_shared<AdmissionRobotArm>();
auto camera = std::make_shared<AdmissionCamera>(
"touch-safety-hooks-camera");
cmvr::task::TouchScreenTask task(cmvr::config::TouchScreenTaskConfig{});
cmvr::task::TouchScreenTaskAdmissionTestPeer::prepare(
task, arm, camera);
bool admitted = true;
int revalidations = 0;
int dispatches = 0;
cmvr::task::TouchScreenTask::SafetyHooks hooks;
hooks.revalidate = [&] {
++revalidations;
return admitted;
};
hooks.dispatch_actuation = [&](const auto& operation) {
++dispatches;
return operation();
};
hooks.dispatch_stop = [](const auto& operation) {
return operation();
};
ASSERT_TRUE(task.touchIfCurrent(
10, 20, [] { return true; }, std::move(hooks)));
EXPECT_TRUE(
cmvr::task::TouchScreenTaskAdmissionTestPeer::sendJointVelocity(task));
EXPECT_EQ(arm->speedJCalls(), 1);
EXPECT_EQ(dispatches, 1);
EXPECT_GE(revalidations, 2);
admitted = false;
EXPECT_FALSE(
cmvr::task::TouchScreenTaskAdmissionTestPeer::sendJointVelocity(task));
EXPECT_EQ(arm->speedJCalls(), 1);
EXPECT_EQ(dispatches, 1);
EXPECT_TRUE(task.stopActivity());
}
TEST_F(TouchScreenAdmissionTest,
RevokedSafetySessionStopsActivityThroughStopLane)
{
auto arm = std::make_shared<AdmissionRobotArm>();
auto camera = std::make_shared<AdmissionCamera>(
"touch-revoked-safety-camera");
cmvr::task::TouchScreenTask task(cmvr::config::TouchScreenTaskConfig{});
cmvr::task::TouchScreenTaskAdmissionTestPeer::prepare(
task, arm, camera);
bool admitted = true;
int stop_dispatches = 0;
cmvr::task::TouchScreenTask::SafetyHooks hooks;
hooks.revalidate = [&] { return admitted; };
hooks.dispatch_actuation = [](const auto& operation) {
return operation();
};
hooks.dispatch_stop = [&](const auto& operation) {
++stop_dispatches;
return operation();
};
ASSERT_TRUE(task.touchIfCurrent(
10, 20, [] { return true; }, std::move(hooks)));
admitted = false;
EXPECT_FALSE(task.step(0.01));
EXPECT_EQ(task.phase(), cmvr::task::TouchScreenTask::Phase::FAILED);
EXPECT_EQ(
task.lastStatus(),
cmvr::task::TouchScreenTask::Status::SAFETY_ADMISSION_REVOKED);
EXPECT_EQ(stop_dispatches, 1);
EXPECT_EQ(arm->stopMotionCalls(), 1);
}
TEST_F(TouchScreenAdmissionTest,
StopAllStopsCameraActivityAndNextTouchRestartsIt)
{
auto arm = std::make_shared<AdmissionRobotArm>();
auto camera = std::make_shared<AdmissionCamera>(
"touch-restart-camera");
cmvr::task::TouchScreenTask task(cmvr::config::TouchScreenTaskConfig{});
cmvr::task::TouchScreenTaskAdmissionTestPeer::prepare(
task, arm, camera);
auto& gate = cmvr::service::globalStopAllAdmissionGate();
auto& registry =
cmvr::service::globalCameraOperationalActivityRegistry();
ASSERT_TRUE(task.touch(10, 20));
EXPECT_TRUE(camera->operationalActive());
EXPECT_EQ(camera->operationalStartCalls(), 1);
const auto ticket = gate.beginStopAll();
ASSERT_TRUE(ticket.valid());
EXPECT_TRUE(task.stopActivity());
EXPECT_TRUE(registry.stopAllActivities());
EXPECT_FALSE(camera->operationalActive());
EXPECT_EQ(camera->operationalStopCalls(), 1);
EXPECT_EQ(camera->lifecycleStopCalls(), 0);
ASSERT_TRUE(gate.finishStopAll(ticket, true));
ASSERT_TRUE(task.touch(30, 40));
EXPECT_TRUE(camera->operationalActive());
EXPECT_EQ(camera->operationalStartCalls(), 2);
EXPECT_EQ(camera->lifecycleStartCalls(), 0);
EXPECT_TRUE(task.stopActivity());
}
TEST_F(TouchScreenAdmissionTest,
TouchRollsBackCameraStartThatCrossesStopAllGeneration)
{
auto arm = std::make_shared<AdmissionRobotArm>();
auto camera = std::make_shared<AdmissionCamera>(
"touch-racing-camera");
cmvr::task::TouchScreenTask task(cmvr::config::TouchScreenTaskConfig{});
cmvr::task::TouchScreenTaskAdmissionTestPeer::prepare(
task, arm, camera);
camera->blockStart();
bool touch_result = true;
std::thread touch_thread([&] {
touch_result = task.touch(10, 20);
});
camera->waitForStartEntered();
auto& gate = cmvr::service::globalStopAllAdmissionGate();
const auto ticket = gate.beginStopAll();
EXPECT_TRUE(ticket.valid());
camera->releaseStart();
touch_thread.join();
EXPECT_FALSE(touch_result);
EXPECT_FALSE(task.isBusy());
EXPECT_FALSE(camera->operationalActive());
EXPECT_EQ(camera->operationalStartCalls(), 1);
EXPECT_EQ(camera->operationalStopCalls(), 1);
EXPECT_EQ(camera->lifecycleStopCalls(), 0);
EXPECT_TRUE(gate.finishStopAll(ticket, true));
}
TEST_F(TouchScreenAdmissionTest,
InitRollsBackCameraStartThatCrossesStopAllGeneration)
{
cmvr::config::DeviceManagerConfig manager_config;
auto& manager =
cmvr::device::DeviceManager::getInstance(manager_config);
auto camera = std::make_shared<AdmissionCamera>(
"touch-init-racing-camera");
manager.registerDevice(camera);
cmvr::task::TouchScreenTask task(cmvr::config::TouchScreenTaskConfig{});
cmvr::task::TouchScreenTaskAdmissionTestPeer::prepareInit(
task,
"missing-arm",
"missing-dexhand",
camera->id());
camera->blockStart();
bool init_result = true;
std::thread init_thread([&] {
init_result = task.init();
});
camera->waitForStartEntered();
auto& gate = cmvr::service::globalStopAllAdmissionGate();
const auto ticket = gate.beginStopAll();
EXPECT_TRUE(ticket.valid());
camera->releaseStart();
init_thread.join();
EXPECT_FALSE(init_result);
EXPECT_EQ(task.state(), cmvr::task::TaskState::UNINITIALIZED);
EXPECT_FALSE(camera->operationalActive());
EXPECT_EQ(camera->operationalStartCalls(), 1);
EXPECT_EQ(camera->operationalStopCalls(), 1);
EXPECT_EQ(camera->lifecycleStopCalls(), 0);
EXPECT_TRUE(gate.finishStopAll(ticket, true));
}
} // namespace

23
cmvr-es/task/ume_teleop_task/CMakeLists.txt
View File

@ -18,26 +18,3 @@ target_link_libraries(ume_teleop_task
add_library(cmvr_es::ume_teleop_task ALIAS ume_teleop_task)
install(TARGETS ume_teleop_task ARCHIVE DESTINATION lib)
if(BUILD_TESTING)
add_executable(ume_teleop_task_test
tests/ume_teleop_task_test.cpp
)
target_compile_features(ume_teleop_task_test PRIVATE cxx_std_17)
target_link_libraries(ume_teleop_task_test
PRIVATE
cmvr_es::ume_teleop_task
cmvr_es::stop_all_admission_gate
Threads::Threads
)
add_test(NAME ume_teleop_task_test COMMAND ume_teleop_task_test)
set(_ume_teleop_task_test_environment
"LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}")
if(CMVR_TEST_SYSTEM_LIBSTDCXX)
list(APPEND _ume_teleop_task_test_environment
"LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
endif()
set_tests_properties(ume_teleop_task_test PROPERTIES
TIMEOUT 10
ENVIRONMENT "${_ume_teleop_task_test_environment}")
endif()

530
cmvr-es/task/ume_teleop_task/tests/ume_teleop_task_test.cpp
View File

@ -1,530 +0,0 @@
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <cstdio>
#include <iostream>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
#include <grpcpp/grpcpp.h>
#include <unistd.h>
#include "cmvr/api/arm_teleop_v1.grpc.pb.h"
#include "service/grpc/client/include/grpc_arm_teleop_client.h"
#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
#include "task/ume_teleop_task/include/ume_teleop_task.h"
namespace {
using namespace std::chrono_literals;
namespace api = cmvr::api::armteleop::v1;
class WatchdogArmTeleopService final : public api::ArmTeleopService::Service {
public:
explicit WatchdogArmTeleopService(
const std::chrono::milliseconds watchdog)
: watchdog_(watchdog)
{
}
grpc::Status Teleoperate(
grpc::ServerContext* context,
grpc::ServerReaderWriter<api::ServerFrame, api::ClientFrame>* stream) override
{
api::ClientFrame frame;
if (!stream->Read(&frame) || !frame.has_open()) {
return grpc::Status(
grpc::StatusCode::INVALID_ARGUMENT,
"OpenSession must be first");
}
{
std::lock_guard lock(mutex_);
open_received_ = true;
++open_count_;
reader_finished_ = false;
last_sequence_ = 0;
last_activity_ = std::chrono::steady_clock::now();
}
condition_.notify_all();
api::ServerFrame opened;
opened.mutable_status()->set_session_id("task-test-session");
opened.mutable_status()->set_phase(api::SESSION_PHASE_OPENED);
opened.mutable_status()->set_negotiated_watchdog_ms(
static_cast<std::uint32_t>(watchdog_.count()));
if (!stream->Write(opened)) {
return grpc::Status::OK;
}
api::ServerFrame ready;
ready.mutable_status()->set_session_id("task-test-session");
ready.mutable_status()->set_phase(api::SESSION_PHASE_READY);
ready.mutable_status()->set_negotiated_watchdog_ms(
static_cast<std::uint32_t>(watchdog_.count()));
if (!stream->Write(ready)) {
return grpc::Status::OK;
}
std::thread reader([&] {
api::ClientFrame incoming;
while (stream->Read(&incoming)) {
const auto arrived = std::chrono::steady_clock::now();
bool terminal = false;
{
std::lock_guard lock(mutex_);
if (incoming.has_heartbeat() ||
incoming.has_setpoint()) {
const std::uint64_t sequence =
incoming.has_heartbeat()
? incoming.heartbeat().sequence()
: incoming.setpoint().sequence();
if (sequence == 0 || sequence <= last_sequence_) {
sequence_valid_ = false;
}
last_sequence_ = sequence;
last_activity_ = arrived;
++activity_version_;
if (incoming.has_heartbeat()) {
++heartbeat_count_;
} else {
setpoints_.push_back(incoming.setpoint());
}
} else if (incoming.has_stop()) {
stop_received_ = true;
++stop_count_;
terminal = true;
}
if (terminal) {
reader_finished_ = true;
}
}
condition_.notify_all();
incoming.Clear();
if (terminal) {
break;
}
}
{
std::lock_guard lock(mutex_);
reader_finished_ = true;
}
condition_.notify_all();
});
bool expired = false;
{
std::unique_lock lock(mutex_);
std::uint64_t observed_activity = activity_version_;
while (!reader_finished_) {
const auto deadline = last_activity_ + watchdog_;
if (!condition_.wait_until(
lock,
deadline,
[&] {
return reader_finished_ ||
activity_version_ != observed_activity;
})) {
watchdog_expired_ = true;
expired = true;
break;
}
observed_activity = activity_version_;
}
}
if (expired) {
context->TryCancel();
}
if (reader.joinable()) {
reader.join();
}
{
std::lock_guard lock(mutex_);
handler_finished_ = true;
++handler_finish_count_;
}
condition_.notify_all();
return expired
? grpc::Status(
grpc::StatusCode::DEADLINE_EXCEEDED,
"test watchdog expired")
: grpc::Status::OK;
}
bool waitForOpen(const std::chrono::milliseconds timeout)
{
return waitForOpenCount(1, timeout);
}
bool waitForOpenCount(
const std::size_t count,
const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [&] { return open_count_ >= count; });
}
bool waitForHandlerFinish(const std::chrono::milliseconds timeout)
{
return waitForHandlerFinishCount(1, timeout);
}
bool waitForHandlerFinishCount(
const std::size_t count,
const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [&] { return handler_finish_count_ >= count; });
}
bool waitForHeartbeatCount(
const std::size_t count,
const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [&] { return heartbeat_count_ >= count; });
}
bool waitForSetpointCount(
const std::size_t count,
const std::chrono::milliseconds timeout)
{
std::unique_lock lock(mutex_);
return condition_.wait_for(
lock, timeout, [&] { return setpoints_.size() >= count; });
}
std::size_t setpointCount() const
{
std::lock_guard lock(mutex_);
return setpoints_.size();
}
std::size_t heartbeatCount() const
{
std::lock_guard lock(mutex_);
return heartbeat_count_;
}
std::size_t stopCount() const
{
std::lock_guard lock(mutex_);
return stop_count_;
}
api::JointSetpoint lastSetpoint() const
{
std::lock_guard lock(mutex_);
return setpoints_.empty()
? api::JointSetpoint{}
: setpoints_.back();
}
bool watchdogExpired() const
{
std::lock_guard lock(mutex_);
return watchdog_expired_;
}
bool sequenceValid() const
{
std::lock_guard lock(mutex_);
return sequence_valid_;
}
bool stopReceived() const
{
std::lock_guard lock(mutex_);
return stop_received_;
}
private:
const std::chrono::milliseconds watchdog_;
mutable std::mutex mutex_;
std::condition_variable condition_;
bool open_received_{false};
bool reader_finished_{false};
bool handler_finished_{false};
bool watchdog_expired_{false};
bool sequence_valid_{true};
bool stop_received_{false};
std::size_t open_count_{0};
std::size_t handler_finish_count_{0};
std::size_t stop_count_{0};
std::uint64_t activity_version_{0};
std::uint64_t last_sequence_{0};
std::size_t heartbeat_count_{0};
std::vector<api::JointSetpoint> setpoints_;
std::chrono::steady_clock::time_point last_activity_{};
};
cmvr::config::UmeTeleopConfig validConfig(const std::string& endpoint)
{
cmvr::config::UmeTeleopConfig config;
config.set_id("ume_teleop_test");
config.set_server_address(endpoint);
config.set_allow_insecure(true);
auto* open = config.mutable_open_session();
open->set_protocol_major(1);
open->set_protocol_minor(0);
open->set_client_instance_id("ume-task-test");
open->set_requested_command_rate_hz(20);
open->set_requested_state_rate_hz(250);
open->set_watchdog_timeout_ms(120);
open->set_requested_lease_ms(500);
open->mutable_expected_robot()->set_robot_id("test-arm");
open->mutable_expected_robot()->add_joint_names("joint1");
config.mutable_reconnect()->set_initial_delay_ms(10);
config.mutable_reconnect()->set_maximum_delay_ms(50);
config.mutable_reconnect()->set_multiplier(2.0);
return config;
}
int fail(const std::string& detail)
{
std::cerr << "ume_teleop_task_test: " << detail << '\n';
return 1;
}
} // namespace
int main()
{
auto& admission = cmvr::service::globalStopAllAdmissionGate();
admission.clearForTesting();
{
cmvr::config::UmeTeleopConfig invalid;
invalid.set_id("invalid");
cmvr::task::UmeTeleopTask task(invalid);
if (task.init() || task.state() != cmvr::task::TaskState::FAILED) {
return fail("invalid transport configuration was not rejected");
}
task.stop();
if (task.state() != cmvr::task::TaskState::FAILED) {
return fail("stop did not preserve an initialization failure");
}
}
{
// Exercise the start/stop race before a synchronous stream necessarily
// publishes its ClientContext. The Task's cancellation predicate closes
// this gap, while tryCancel() interrupts it once the context is visible.
const std::string unavailable_endpoint =
"unix:/tmp/cmvr_ume_teleop_unavailable_" +
std::to_string(static_cast<long long>(::getpid())) + ".sock";
auto channel = grpc::CreateChannel(
unavailable_endpoint,
grpc::InsecureChannelCredentials());
auto client =
std::make_shared<cmvr::teleop::GrpcArmTeleopClient>(channel);
cmvr::task::UmeTeleopTask task(
validConfig(unavailable_endpoint), client);
if (!task.init() || !task.start()) {
return fail("immediate-stop task did not initialize and start");
}
api::JointSetpoint disconnected_setpoint;
disconnected_setpoint.add_position_rad(1.0);
disconnected_setpoint.set_valid_for_us(100000);
if (task.submitSetpoint(disconnected_setpoint)) {
task.stop();
return fail(
"task accepted a motion command without a ready session");
}
const auto stop_begin = std::chrono::steady_clock::now();
task.stop();
if (std::chrono::steady_clock::now() - stop_begin > 2s ||
task.state() != cmvr::task::TaskState::STOPPED) {
return fail("immediate Task stop did not cancel and join promptly");
}
}
WatchdogArmTeleopService service(120ms);
grpc::ServerBuilder builder;
int selected_port = 0;
builder.AddListeningPort(
"127.0.0.1:0",
grpc::InsecureServerCredentials(),
&selected_port);
builder.RegisterService(&service);
std::unique_ptr<grpc::Server> server = builder.BuildAndStart();
if (!server || selected_port == 0) {
return fail("failed to start in-process gRPC server");
}
const std::string endpoint =
"127.0.0.1:" + std::to_string(selected_port);
auto channel = grpc::CreateChannel(
endpoint,
grpc::InsecureChannelCredentials());
auto client =
std::make_shared<cmvr::teleop::GrpcArmTeleopClient>(channel);
cmvr::task::UmeTeleopTask task(validConfig(endpoint), client);
if (task.runMode() != cmvr::task::TaskRunMode::BLOCKING_SERVICE) {
server->Shutdown();
return fail("task is not a BLOCKING_SERVICE");
}
if (!task.init()) {
server->Shutdown();
return fail("valid task did not initialize");
}
auto admission_ticket = admission.beginStopAll();
if (task.start() || task.isBusy()) {
server->Shutdown();
return fail("public start bypassed closed StopAll admission");
}
if (!admission.finishStopAll(admission_ticket, true) || !task.start()) {
server->Shutdown();
return fail("explicit start was not restored after successful StopAll");
}
if (!service.waitForOpen(2s)) {
task.stop();
server->Shutdown();
return fail("task worker did not open the teleoperation stream");
}
// No application commands are submitted here. Heartbeats alone must keep
// the session alive for longer than the negotiated watchdog.
if (!service.waitForHeartbeatCount(4, 2s) ||
service.watchdogExpired() || !task.isBusy()) {
task.stop();
server->Shutdown();
return fail("silent command stream did not survive via heartbeats");
}
api::JointSetpoint first;
first.set_sequence(999); // Task must replace caller-owned sequence values.
first.add_position_rad(1.0);
first.add_velocity_rad_s(0.0);
first.set_valid_for_us(100000);
if (!task.submitSetpoint(first) ||
!service.waitForSetpointCount(1, 2s)) {
task.stop();
server->Shutdown();
return fail("first mailbox setpoint was not sent");
}
// The sender rate is 20 Hz. These arrive inside one command period, so the
// capacity-one mailbox must publish only the newest value.
for (int value = 2; value <= 4; ++value) {
api::JointSetpoint setpoint;
setpoint.set_sequence(1000 + value);
setpoint.add_position_rad(static_cast<double>(value));
setpoint.add_velocity_rad_s(0.0);
setpoint.set_valid_for_us(100000);
if (!task.submitSetpoint(setpoint)) {
task.stop();
server->Shutdown();
return fail("latest-only mailbox rejected a valid setpoint");
}
}
if (!service.waitForSetpointCount(2, 2s)) {
task.stop();
server->Shutdown();
return fail("latest mailbox setpoint was not sent");
}
std::this_thread::sleep_for(70ms);
const api::JointSetpoint latest = service.lastSetpoint();
if (service.setpointCount() != 2 ||
latest.position_rad_size() != 1 ||
latest.position_rad(0) != 4.0 ||
latest.sequence() == 0 ||
latest.sequence() >= 1000) {
task.stop();
server->Shutdown();
return fail("mailbox did not collapse queued commands to the latest value");
}
const auto stop_begin = std::chrono::steady_clock::now();
const bool activity_stopped = task.stopActivity();
const auto stop_elapsed = std::chrono::steady_clock::now() - stop_begin;
if (!activity_stopped || stop_elapsed > 2s) {
server->Shutdown();
return fail("stopActivity did not stop and join promptly");
}
if (task.state() != cmvr::task::TaskState::STOPPED ||
task.isBusy() || !task.isFinished()) {
server->Shutdown();
return fail("task did not reach STOPPED after stopping its activity");
}
if (!service.waitForHandlerFinish(2s)) {
server->Shutdown();
return fail("server handler did not observe activity cancellation");
}
if (!service.stopReceived()) {
server->Shutdown();
return fail("stopActivity did not send StopSession before TryCancel");
}
api::JointSetpoint stopped_setpoint;
stopped_setpoint.add_position_rad(5.0);
stopped_setpoint.set_valid_for_us(100000);
if (task.submitSetpoint(stopped_setpoint)) {
server->Shutdown();
return fail("stopped activity still accepted a setpoint");
}
const auto heartbeats_after_stop = service.heartbeatCount();
const auto setpoints_after_stop = service.setpointCount();
std::this_thread::sleep_for(200ms);
if (service.heartbeatCount() != heartbeats_after_stop ||
service.setpointCount() != setpoints_after_stop) {
server->Shutdown();
return fail("stopped activity continued sending heartbeat or setpoint frames");
}
if (!task.start() ||
!service.waitForOpenCount(2, 2s) ||
!service.waitForHeartbeatCount(heartbeats_after_stop + 1, 2s) ||
!task.isBusy()) {
task.stop();
server->Shutdown();
return fail("explicit start did not create a new teleoperation activity");
}
api::JointSetpoint restarted_setpoint;
restarted_setpoint.add_position_rad(6.0);
restarted_setpoint.set_valid_for_us(100000);
if (!task.submitSetpoint(restarted_setpoint) ||
!service.waitForSetpointCount(setpoints_after_stop + 1, 2s)) {
task.stop();
server->Shutdown();
return fail("restarted activity did not send a setpoint");
}
if (!task.stopActivity() ||
!service.waitForHandlerFinishCount(2, 2s) ||
service.stopCount() != 2 ||
task.state() != cmvr::task::TaskState::STOPPED) {
server->Shutdown();
return fail("restarted activity did not stop cleanly");
}
admission_ticket = admission.beginStopAll();
if (admission.finishStopAll(admission_ticket, false) || task.start()) {
server->Shutdown();
return fail("failed StopAll did not keep public start fail-closed");
}
admission_ticket = admission.beginStopAll();
if (!admission.finishStopAll(admission_ticket, true) ||
!task.start() || !service.waitForOpenCount(3, 2s) ||
!task.stopActivity() ||
!service.waitForHandlerFinishCount(3, 2s)) {
server->Shutdown();
return fail("successful StopAll did not restore a new explicit start");
}
if (service.watchdogExpired() || !service.sequenceValid()) {
server->Shutdown();
return fail("heartbeat/setpoint sequence or watchdog contract failed");
}
server->Shutdown();
admission.clearForTesting();
std::cout << "ume_teleop_task_test: PASS\n";
return 0;
}

986
compile_commands.json
View File

@ -1,986 +0,0 @@
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<text><tspan font-family="Helvetica" >3</tspan></text>
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<text><tspan font-family="Helvetica" >acceleration [m/s</tspan><tspan font-family="Helvetica" font-size="8.8" dy="-5.50px">2</tspan><tspan font-family="Helvetica" font-size="11.0" dy="5.50px">]</tspan></text>
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<g id="gnuplot_plot_6a" ><title>PositiveV0ToRest</title>
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<text><tspan font-family="Helvetica" >PositiveV0ToRest</tspan></text>
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model/ume/README.md
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@ -17,7 +17,7 @@ The source paths are
`ume/robot/ume/v6_imu/models/robot.xml`, respectively.
Only the model topology/dynamics parser is used. Pinocchio 3.6
`mjcf::buildModel` and the adapter tests load these files without resolving
`mjcf::buildModel` and the model adapter load these files without resolving
their visual STL assets, so no geometry files are duplicated here.
The adapter enforces the model's structural contract. Integrations that require

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@ -1,256 +0,0 @@
2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-08 14:26:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-08 14:26:53 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-08 14:26:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-08 14:26:54 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-08 14:26:55 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-08 14:26:55 - __main__ - INFO: 旋转矩阵是:
[[-0.99486349 0.07846371 0.06395369]
[-0.05884529 0.06577685 -0.9960977 ]
[-0.08236419 -0.99474462 -0.06082177]]
2025-09-08 14:26:55 - __main__ - INFO: 平移向量是:
[[-0.00797824]
[-0.17640328]
[ 0.07459845]]
2025-09-08 14:26:55 - __main__ - INFO: 四元数是：
[ 0.00673467 0.72826199 -0.68342243 0.05022845]
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-08 14:29:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-08 14:29:37 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-08 14:29:38 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-08 14:29:38 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-08 14:29:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-08 14:29:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-08 14:29:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-08 14:30:52 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-08 14:30:52 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-08 14:30:53 - __main__ - INFO: 旋转矩阵是:
[[ 0.72638143 0.22269568 -0.65021278]
[ 0.420903 0.60375531 0.67699349]
[ 0.54333294 -0.76543201 0.34482337]]
2025-09-08 14:30:53 - __main__ - INFO: 平移向量是:
[[ 0.15849038]
[-0.26275262]
[-0.05082269]]
2025-09-08 14:30:53 - __main__ - INFO: 四元数是：
[-0.44096563 -0.36488029 0.0605942 0.81776526]
2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-08 14:32:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-08 14:32:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-08 14:32:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-08 14:32:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-08 14:32:27 - __main__ - INFO: 旋转矩阵是:
[[ 0.05477568 0.03458859 0.99789942]
[-0.99767126 0.04257346 0.0532875 ]
[-0.04064089 -0.99849443 0.03684003]]
2025-09-08 14:32:27 - __main__ - INFO: 平移向量是:
[[-0.14908435]
[-0.19737896]
[-0.05964516]]
2025-09-08 14:32:27 - __main__ - INFO: 四元数是：
[-0.49380213 0.48758531 -0.48463669 0.53249159]
2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-08 14:37:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-08 14:37:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-08 14:37:25 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-08 14:37:25 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-08 14:37:26 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-08 14:37:26 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-08 14:37:26 - __main__ - INFO: 旋转矩阵是:
[[-0.99486349 0.07846371 0.06395369]
[-0.05884529 0.06577685 -0.9960977 ]
[-0.08236419 -0.99474462 -0.06082177]]
2025-09-08 14:37:26 - __main__ - INFO: 平移向量是:
[[-0.00797824]
[-0.17640328]
[ 0.07459845]]
2025-09-08 14:37:26 - __main__ - INFO: 四元数是：
[ 0.00673467 0.72826199 -0.68342243 0.05022845]

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2025-08-21 09:52:37 - __main__ - INFO: 读 eye_hand_data/data2025082010/1.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
2025-08-21 09:54:47 - __main__ - INFO: 旋转矩阵是:
[[-0.8747942 0.22946188 0.42671109]
[-0.45426317 -0.08221912 -0.88706538]
[-0.16846387 -0.96983878 0.17616089]]
2025-08-21 09:54:47 - __main__ - INFO: 平移向量是:
[[-0.12651951]
[-0.21061809]
[ 0.0697177 ]]
2025-08-21 09:54:47 - __main__ - INFO: 四元数是：
[ 0.08840819 -0.63569139 0.73026951 -0.234066 ]
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
2025-08-21 09:55:22 - __main__ - INFO: 旋转矩阵是:
[[-0.87479368 0.22946254 0.4267118 ]
[-0.45426401 -0.08221905 -0.88706496]
[-0.16846434 -0.96983863 0.17616128]]
2025-08-21 09:55:22 - __main__ - INFO: 平移向量是:
[[-0.12651976]
[-0.21061824]
[ 0.0697178 ]]
2025-08-21 09:55:22 - __main__ - INFO: 四元数是：
[ 0.08840828 -0.63569123 0.73026947 -0.23406652]
2025-08-21 11:27:09 - libs.auxiliary - INFO: create folder eye_hand_data/data20250821
2025-08-21 11:27:09 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-08-21 11:27:20 - __main__ - INFO: robot.torqueOff
2025-08-21 11:28:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:28:51 - __main__ - INFO: 当前关节角: [0.8253898778736996, 0.2562934472690343, -0.0472638845356522, 0.982365663091435, -0.811866925952772, 1.0474525818308873, 0.016616543126199347]
2025-08-21 11:28:51 - __main__ - INFO: 获取位姿成功:
[[-0.25318109 -0.89031678 0.37846449 0.20513955]
[ 0.6294954 -0.44867523 -0.63437061 -0.47519781]
[ 0.73459844 0.07763101 0.6740464 -0.14564497]
[ 0. 0. 0. 1. ]]
2025-08-21 11:28:51 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:28:51 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/1.jpg
2025-08-21 11:28:53 - __main__ - INFO: robot.torqueOff
2025-08-21 11:29:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:29:04 - __main__ - INFO: 当前关节角: [0.8917611258247912, 0.3193556252779419, 0.0663351766206834, 0.6812782681741733, -1.1216997200029486, 1.03807878215244, 0.016623187844958753]
2025-08-21 11:29:04 - __main__ - INFO: 获取位姿成功:
[[-0.25224294 -0.90609294 0.33966025 0.22289984]
[ 0.8456558 -0.37703157 -0.37777436 -0.51750052]
[ 0.47036131 0.19194474 0.8613463 -0.11653364]
[ 0. 0. 0. 1. ]]
2025-08-21 11:29:04 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:29:04 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/2.jpg
2025-08-21 11:29:05 - __main__ - INFO: robot.torqueOff
2025-08-21 11:29:14 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:29:18 - __main__ - INFO: 当前关节角: [1.1896438678089452, 0.30651423165262204, 0.10917083072596027, 0.6814301474601026, -1.6521096487448172, 1.0335860030255448, 0.016608949161902885]
2025-08-21 11:29:18 - __main__ - INFO: 获取位姿成功:
[[-0.42170444 -0.84445498 0.33024408 0.2558707 ]
[ 0.9003429 -0.43313682 0.04213264 -0.51967065]
[ 0.10746175 0.31510043 0.94295477 -0.04397596]
[ 0. 0. 0. 1. ]]
2025-08-21 11:29:18 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:29:18 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/3.jpg
2025-08-21 11:29:19 - __main__ - INFO: robot.torqueOff
2025-08-21 11:29:28 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:29:34 - __main__ - INFO: 当前关节角: [1.4559585002127002, 0.30681324399679527, 0.17970546960258804, 0.6812127702321163, -2.1080019043365628, 1.0236910675472528, 0.016632680300329335]
2025-08-21 11:29:34 - __main__ - INFO: 获取位姿成功:
[[-0.44997072 -0.85803562 0.24759084 0.26886029]
[ 0.85847564 -0.33920789 0.38465255 -0.52136803]
[-0.24606082 0.38563309 0.8892363 0.03026231]
[ 0. 0. 0. 1. ]]
2025-08-21 11:29:34 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:29:34 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/4.jpg
2025-08-21 11:29:36 - __main__ - INFO: robot.torqueOff
2025-08-21 11:29:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:29:51 - __main__ - INFO: 当前关节角: [1.6850703015280803, 0.3357206183368209, 0.14558294028196603, 0.7301084078459711, -2.380654649191254, 1.0414419590902364, 0.016624137090495813]
2025-08-21 11:29:51 - __main__ - INFO: 获取位姿成功:
[[-0.48372144 -0.85725737 0.17641818 0.27941969]
[ 0.74091476 -0.29378779 0.60393216 -0.50585554]
[-0.46589579 0.42284577 0.77726609 0.08600871]
[ 0. 0. 0. 1. ]]
2025-08-21 11:29:51 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:29:51 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/5.jpg
2025-08-21 11:29:53 - __main__ - INFO: robot.torqueOff
2025-08-21 11:30:03 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:30:07 - __main__ - INFO: 当前关节角: [1.9511694551949232, 0.7207327096764498, -0.06620038375442117, 0.8133790740933053, -1.3808665335126573, 0.21355366696300027, 1.1411364716197472]
2025-08-21 11:30:07 - __main__ - INFO: 获取位姿成功:
[[-0.21216612 -0.68156647 0.70032327 0.38204138]
[ 0.97416126 -0.20429083 0.09630729 -0.3389997 ]
[ 0.07742981 0.70266095 0.70729924 0.18673545]
[ 0. 0. 0. 1. ]]
2025-08-21 11:30:07 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:30:07 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/6.jpg
2025-08-21 11:30:08 - __main__ - INFO: robot.torqueOff
2025-08-21 11:30:17 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:30:21 - __main__ - INFO: 当前关节角: [1.8940381633015537, 0.4051379952163314, -0.12349589512570175, 0.6297399309851491, -1.2283436591092607, 0.9395015316200465, 1.0908577832583988]
2025-08-21 11:30:21 - __main__ - INFO: 获取位姿成功:
[[-0.4310179 -0.70629928 0.5615736 0.28826997]
[ 0.89989504 -0.38227375 0.20989447 -0.50135244]
[ 0.06642653 0.59582557 0.80036205 0.12584165]
[ 0. 0. 0. 1. ]]
2025-08-21 11:30:21 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:30:21 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/7.jpg
2025-08-21 11:30:22 - __main__ - INFO: robot.torqueOff
2025-08-21 11:30:35 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:30:42 - __main__ - INFO: 当前关节角: [1.8361265915767224, 1.1135570917860655, -0.08976350572081057, 0.5308864500014717, -1.5194516356954322, 0.07328175546087345, 0.9682465849732351]
2025-08-21 11:30:42 - __main__ - INFO: 获取位姿成功:
[[-0.13468827 -0.72882711 0.67131968 0.45481058]
[ 0.98906271 -0.05778144 0.13570654 -0.23383011]
[-0.06011679 0.68225534 0.7286382 0.15317249]
[ 0. 0. 0. 1. ]]
2025-08-21 11:30:42 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:30:42 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/8.jpg
2025-08-21 11:30:43 - __main__ - INFO: robot.torqueOff
2025-08-21 11:31:04 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:31:08 - __main__ - INFO: 当前关节角: [1.773997521930743, 0.605477215057948, 0.028329283807957347, 1.2173817716473154, -1.7268484961050745, 0.15453242720534835, 0.8873870023900281]
2025-08-21 11:31:08 - __main__ - INFO: 获取位姿成功:
[[-0.35110132 -0.76965787 0.53324913 0.36358769]
[ 0.90927708 -0.14433419 0.39036245 -0.28723159]
[-0.22347945 0.62192798 0.75050818 0.11913745]
[ 0. 0. 0. 1. ]]
2025-08-21 11:31:08 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:31:08 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/9.jpg
2025-08-21 11:31:09 - __main__ - INFO: robot.torqueOff
2025-08-21 11:31:26 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:31:30 - __main__ - INFO: 当前关节角: [1.4005130683931457, 1.4388303137420266, 0.15982067409229817, 0.8202088957324373, -1.891621384164204, -1.0446542059876405, 0.5873542192644378]
2025-08-21 11:31:30 - __main__ - INFO: 获取位姿成功:
[[ 0.36091887 -0.80430791 0.47204487 0.44921615]
[ 0.93025175 0.34636313 -0.12109612 -0.02012862]
[-0.06610037 0.48282644 0.87321782 -0.00595984]
[ 0. 0. 0. 1. ]]
2025-08-21 11:31:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:31:30 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/10.jpg
2025-08-21 11:31:32 - __main__ - INFO: robot.torqueOff
2025-08-21 11:31:51 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:31:56 - __main__ - INFO: robot.torqueOff
2025-08-21 11:32:05 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:32:09 - __main__ - INFO: 当前关节角: [1.4349839708258678, 0.8371567255510698, -0.01699624134102253, 1.6177536050220789, -2.016514568720455, -0.8374870629979659, 0.5931132919377683]
2025-08-21 11:32:09 - __main__ - INFO: 获取位姿成功:
[[-0.0401021 -0.92276134 0.3832797 0.33858263]
[ 0.95373667 0.07903515 0.29006864 -0.11724388]
[-0.2979567 0.37718027 0.87690185 -0.01763812]
[ 0. 0. 0. 1. ]]
2025-08-21 11:32:09 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:32:09 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/11.jpg
2025-08-21 11:32:12 - __main__ - INFO: robot.torqueOff
2025-08-21 11:32:48 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:32:52 - __main__ - INFO: 当前关节角: [0.7093417632317545, 0.9039997485340793, 0.3698402999208317, 1.4349972602633867, -1.868800572207794, -0.677916040481914, -0.3356152520822075]
2025-08-21 11:32:52 - __main__ - INFO: 获取位姿成功:
[[ 6.72744280e-03 -9.95813278e-01 9.11628002e-02 3.05739589e-01]
[ 9.97824272e-01 7.05770400e-04 -6.59259053e-02 -1.35775630e-01]
[ 6.55855519e-02 9.14079675e-02 9.93651407e-01 -1.75063848e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]
2025-08-21 11:32:52 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:32:52 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/12.jpg
2025-08-21 11:32:53 - __main__ - INFO: robot.torqueOff
2025-08-21 11:34:07 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:34:12 - __main__ - INFO: 当前关节角: [0.5287221701769795, 0.9609924505790383, 0.5908911081355157, 1.1136415746388637, -2.4692230547809086, -0.6455401229494787, -0.3356162013277445]
2025-08-21 11:34:12 - __main__ - INFO: 获取位姿成功:
[[ 0.12520332 -0.99186645 -0.02291465 0.31366201]
[ 0.90598349 0.10488766 0.41011278 -0.19783819]
[-0.40437364 -0.07210778 0.91174691 -0.25384818]
[ 0. 0. 0. 1. ]]
2025-08-21 11:34:12 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:34:12 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/13.jpg
2025-08-21 11:34:13 - __main__ - INFO: robot.torqueOff
2025-08-21 11:34:31 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 11:34:37 - __main__ - INFO: 当前关节角: [0.39919666739988574, 1.3179505393164566, 0.9448201543641821, 1.2761780402126846, -2.03749479358051, -0.385342428786525, -0.3356180998188186]
2025-08-21 11:34:37 - __main__ - INFO: 获取位姿成功:
[[ 0.03301101 -0.99908595 0.02715761 0.313764 ]
[ 0.83829597 0.01288215 -0.54506323 -0.0913168 ]
[ 0.54421516 0.0407592 0.83795498 -0.18631875]
[ 0. 0. 0. 1. ]]
2025-08-21 11:34:37 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 11:34:37 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/14.jpg
2025-08-21 11:34:39 - __main__ - INFO: robot.torqueOff
2025-08-21 11:35:06 - __main__ - INFO: 检测到 'q'，退出程序
2025-08-21 11:35:07 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/1.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_1.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/2.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_2.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/3.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_3.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/4.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_4.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/5.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_5.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/6.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_6.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/7.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_7.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/8.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_8.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/9.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_9.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/10.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_10.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/11.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_11.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/12.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_12.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/13.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_13.jpg
2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/14.jpg
2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_14.jpg
2025-08-21 11:35:46 - __main__ - INFO: 旋转矩阵是:
[[-0.99732744 0.02734315 0.0677519 ]
[-0.06713675 0.0228221 -0.99748274]
[-0.02882056 -0.99936555 -0.02092538]]
2025-08-21 11:35:46 - __main__ - INFO: 平移向量是:
[[-0.00078482]
[-0.17419722]
[ 0.06796275]]
2025-08-21 11:35:46 - __main__ - INFO: 四元数是：
[-0.01392688 0.71433097 -0.69885263 0.03379822]
2025-08-21 11:38:53 - __main__ - INFO: 读 eye_hand_data/data20250821/1.jpg
2025-08-21 11:38:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_1.jpg
2025-08-21 11:38:53 - __main__ - INFO: 读 eye_hand_data/data20250821/2.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_2.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/3.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_3.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/4.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_4.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/5.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_5.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/6.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_6.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/7.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_7.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/8.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_8.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/9.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_9.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/10.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_10.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/11.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_11.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/12.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_12.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/13.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_13.jpg
2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/14.jpg
2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_14.jpg
2025-08-21 11:38:54 - __main__ - INFO: 旋转矩阵是:
[[-0.99732744 0.02734315 0.0677519 ]
[-0.06713675 0.0228221 -0.99748274]
[-0.02882056 -0.99936555 -0.02092538]]
2025-08-21 11:38:54 - __main__ - INFO: 平移向量是:
[[-0.00078482]
[-0.17419722]
[ 0.06796275]]
2025-08-21 11:38:54 - __main__ - INFO: 四元数是：
[-0.01392688 0.71433097 -0.69885263 0.03379822]
2025-08-21 16:14:42 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082101
2025-08-21 16:14:42 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-08-21 16:15:03 - __main__ - INFO: robot.torqueOff
2025-08-21 16:15:13 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:15:27 - __main__ - INFO: robot.torqueOff
2025-08-21 16:16:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:16:07 - __main__ - INFO: 当前关节角: [0.1881774860208302, 1.5359324367098321, 2.101302129336008, 1.237947176207676, -3.239618392465156, 0.660369236729398, -0.22447188913024077]
2025-08-21 16:16:07 - __main__ - INFO: 获取位姿成功:
[[-0.13936557 -0.98748272 -0.0738588 0.25639562]
[ 0.98789482 -0.13351676 -0.07897536 -0.27191259]
[ 0.06812542 -0.08397117 0.9941367 -0.23921664]
[ 0. 0. 0. 1. ]]
2025-08-21 16:16:07 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:16:07 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/1.jpg
2025-08-21 16:16:11 - __main__ - INFO: robot.torqueOff
2025-08-21 16:16:20 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:16:25 - __main__ - INFO: 当前关节角: [0.1847488111409769, 1.3553365747934838, 2.1088087630430623, 1.2244802297734347, -3.265897305913068, 0.6804733079587482, -0.22435892891133088]
2025-08-21 16:16:25 - __main__ - INFO: 获取位姿成功:
[[-0.12214152 -0.99148995 -0.04504583 0.24935823]
[ 0.98590508 -0.12643169 0.10957282 -0.3301866 ]
[-0.11433557 -0.03102752 0.99295754 -0.22048319]
[ 0. 0. 0. 1. ]]
2025-08-21 16:16:25 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:16:25 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/2.jpg
2025-08-21 16:16:28 - __main__ - INFO: robot.torqueOff
2025-08-21 16:16:36 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:16:40 - __main__ - INFO: 当前关节角: [0.18216591403464222, 1.3093807506078976, 2.108801169078766, 1.237752580872579, -3.386807456195824, 0.674951546669682, -0.22420894811647574]
2025-08-21 16:16:40 - __main__ - INFO: 获取位姿成功:
[[-0.12765968 -0.99174931 0.01167535 0.24725332]
[ 0.95778442 -0.12021331 0.26114702 -0.34440277]
[-0.25758884 0.04452042 0.96522843 -0.21331776]
[ 0. 0. 0. 1. ]]
2025-08-21 16:16:40 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:16:40 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/3.jpg
2025-08-21 16:16:43 - __main__ - INFO: robot.torqueOff
2025-08-21 16:16:52 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:16:57 - __main__ - INFO: 当前关节角: [0.15805412814783334, 1.218028207858052, 2.1077446587960202, 1.3528049369461503, -3.398763203735069, 0.6851996014877597, -0.2241823692414381]
2025-08-21 16:16:57 - __main__ - INFO: 获取位姿成功:
[[-0.12061637 -0.99148511 -0.04908122 0.24079104]
[ 0.90170295 -0.13010493 0.41231601 -0.36562399]
[-0.41519089 0.00547538 0.90971784 -0.17673377]
[ 0. 0. 0. 1. ]]
2025-08-21 16:16:57 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:16:57 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/4.jpg
2025-08-21 16:16:59 - __main__ - INFO: robot.torqueOff
2025-08-21 16:17:08 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:17:14 - __main__ - INFO: 当前关节角: [0.15782630921893942, 1.148865228782473, 2.0802051472748952, 1.4294517678358942, -3.4739330085691504, 0.6850638593759604, -0.22417762301375282]
2025-08-21 16:17:14 - __main__ - INFO: 获取位姿成功:
[[-0.13323657 -0.98863605 -0.06961879 0.24168424]
[ 0.81161017 -0.14915447 0.56483792 -0.37307124]
[-0.56880309 0.01875375 0.8222599 -0.14946229]
[ 0. 0. 0. 1. ]]
2025-08-21 16:17:14 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:17:14 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/5.jpg
2025-08-21 16:17:21 - __main__ - INFO: robot.torqueOff
2025-08-21 16:17:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:17:43 - __main__ - INFO: 当前关节角: [0.3590416826912605, 1.1394164387065981, 2.0769226562077487, 1.5773176436344847, -2.5660726784358565, 0.5330820549286868, 0.8458689010901876]
2025-08-21 16:17:43 - __main__ - INFO: 获取位姿成功:
[[-0.1100018 -0.97171944 0.20895198 0.26213488]
[ 0.9937792 -0.11120581 0.00601407 -0.35469134]
[ 0.01739269 0.20831369 0.97790741 -0.04493756]
[ 0. 0. 0. 1. ]]
2025-08-21 16:17:43 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:17:43 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/6.jpg
2025-08-21 16:17:46 - __main__ - INFO: robot.torqueOff
2025-08-21 16:17:53 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:17:59 - __main__ - INFO: 当前关节角: [0.3520818144135517, 1.1556029736045101, 2.017053740185504, 1.6291274650471073, -2.566324228503177, 0.5650403044248166, 0.8458594086348171]
2025-08-21 16:17:59 - __main__ - INFO: 获取位姿成功:
[[-0.20049553 -0.96061353 0.19241411 0.26384736]
[ 0.97904311 -0.18929837 0.07510466 -0.33478381]
[-0.03572288 0.20343986 0.97843554 -0.04338287]
[ 0. 0. 0. 1. ]]
2025-08-21 16:17:59 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:17:59 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/7.jpg
2025-08-21 16:18:01 - __main__ - INFO: robot.torqueOff
2025-08-21 16:18:09 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:18:13 - __main__ - INFO: 当前关节角: [0.3172653866053403, 1.313845052368681, 1.8904177408232146, 1.7188083864061938, -2.6905567381656357, 0.28883548277045484, 0.8458527639160577]
2025-08-21 16:18:13 - __main__ - INFO: 获取位姿成功:
[[-0.09067794 -0.96156996 0.25915385 0.27763283]
[ 0.99082305 -0.1133011 -0.0737058 -0.27031831]
[ 0.1002357 0.25009212 0.96301959 -0.05935151]
[ 0. 0. 0. 1. ]]
2025-08-21 16:18:13 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:18:13 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/8.jpg
2025-08-21 16:18:16 - __main__ - INFO: robot.torqueOff
2025-08-21 16:18:25 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:18:30 - __main__ - INFO: 当前关节角: [0.3113658255925252, 1.3320734144168047, 1.7972094230484208, 1.807990953858325, -2.9523187889736606, 0.29634021798643495, 0.8458480176883724]
2025-08-21 16:18:30 - __main__ - INFO: 获取位姿成功:
[[-0.06182316 -0.96333913 0.26106631 0.27572117]
[ 0.985666 -0.01779069 0.16776779 -0.23950089]
[-0.15697273 0.26769612 0.9506305 -0.05533822]
[ 0. 0. 0. 1. ]]
2025-08-21 16:18:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:18:30 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/9.jpg
2025-08-21 16:18:33 - __main__ - INFO: robot.torqueOff
2025-08-21 16:18:44 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:18:49 - __main__ - INFO: 当前关节角: [0.3174068241903619, 1.4675260063272884, 1.5487007384287987, 1.7904982571014212, -3.2589716104746933, 0.07981446324690623, 0.8458337790053165]
2025-08-21 16:18:49 - __main__ - INFO: 获取位姿成功:
[[ 0.00204587 -0.95045805 0.31084613 0.291817 ]
[ 0.96975598 0.0777536 0.2313606 -0.15674434]
[-0.24406795 0.30097156 0.92187144 -0.07498582]
[ 0. 0. 0. 1. ]]
2025-08-21 16:18:49 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:18:49 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/10.jpg
2025-08-21 16:18:52 - __main__ - INFO: robot.torqueOff
2025-08-21 16:19:08 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:19:14 - __main__ - INFO: robot.torqueOff
2025-08-21 16:19:25 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:19:30 - __main__ - INFO: 当前关节角: [0.27753946087946524, 1.6105355419582903, 1.2276915274253017, 1.6875801067280616, -3.5108406242955006, -0.6567573574608925, 0.8458072001302789]
2025-08-21 16:19:30 - __main__ - INFO: 获取位姿成功:
[[ 0.38872691 -0.8780319 0.27919772 0.29523427]
[ 0.91848265 0.39319638 -0.0422638 -0.05153552]
[-0.07267057 0.27286734 0.95930308 -0.10555432]
[ 0. 0. 0. 1. ]]
2025-08-21 16:19:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:19:30 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/11.jpg
2025-08-21 16:19:33 - __main__ - INFO: robot.torqueOff
2025-08-21 16:20:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:20:06 - __main__ - INFO: 当前关节角: [0.19953615811726558, 1.5134979676870048, 1.3755934745543004, 1.2340486247869789, -3.235004109909517, -0.39607934505618747, -0.18381760126912305]
2025-08-21 16:20:06 - __main__ - INFO: 获取位姿成功:
[[ 0.2004248 -0.97752505 -0.065381 0.29826073]
[ 0.95269085 0.17889858 0.24571414 -0.11593768]
[-0.22849516 -0.11153509 0.96713489 -0.24686201]
[ 0. 0. 0. 1. ]]
2025-08-21 16:20:06 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:20:06 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/12.jpg
2025-08-21 16:20:08 - __main__ - INFO: robot.torqueOff
2025-08-21 16:20:19 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:20:24 - __main__ - INFO: 当前关节角: [0.14909894575122867, 1.5289374463472523, 1.327669864370393, 1.130913097185633, -3.1925177781618777, -0.44474526525007424, -0.2899508462764979]
2025-08-21 16:20:24 - __main__ - INFO: 获取位姿成功:
[[ 0.1795737 -0.98355917 -0.01909571 0.27480921]
[ 0.95378635 0.16931837 0.24823956 -0.10309542]
[-0.24092504 -0.06279052 0.96851044 -0.28676362]
[ 0. 0. 0. 1. ]]
2025-08-21 16:20:24 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:20:24 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/13.jpg
2025-08-21 16:20:26 - __main__ - INFO: robot.torqueOff
2025-08-21 16:20:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:20:43 - __main__ - INFO: 当前关节角: [0.16214537641255308, 1.3656235486785808, 1.5120835918367883, 1.2035123451053618, -2.9271913103622, -0.014777854520918107, -0.2900476693212778]
2025-08-21 16:20:43 - __main__ - INFO: 获取位姿成功:
[[ 0.03397924 -0.99615678 -0.08072841 0.28406157]
[ 0.99940914 0.03344943 0.00790666 -0.19681757]
[-0.00517596 -0.08094937 0.99670478 -0.25137906]
[ 0. 0. 0. 1. ]]
2025-08-21 16:20:43 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:20:43 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/14.jpg
2025-08-21 16:20:45 - __main__ - INFO: robot.torqueOff
2025-08-21 16:21:17 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:21:26 - __main__ - INFO: 当前关节角: [0.23122007565318572, 1.628535135831983, 1.828089329614453, 1.4320631423083405, -3.0376977295588006, 0.19928270955887112, 0.14386290736881704]
2025-08-21 16:21:26 - __main__ - INFO: 获取位姿成功:
[[ 0.02777164 -0.99933259 0.02373016 0.29887982]
[ 0.98010716 0.02255505 -0.19718324 -0.18783112]
[ 0.1965164 0.0287342 0.98007941 -0.17737878]
[ 0. 0. 0. 1. ]]
2025-08-21 16:21:26 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:21:26 - __main__ - INFO: ===采集第15次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/15.jpg
2025-08-21 16:21:29 - __main__ - INFO: robot.torqueOff
2025-08-21 16:21:42 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:21:47 - __main__ - INFO: 当前关节角: [0.22977437470024648, 1.339187060471517, 2.1365172402697836, 1.3177511977536744, -3.033028390762013, 0.8488428873577902, 0.1439046741724476]
2025-08-21 16:21:47 - __main__ - INFO: 获取位姿成功:
[[-0.24782493 -0.96680534 0.06221126 0.25321104]
[ 0.96857382 -0.24585225 0.03770167 -0.33940743]
[-0.02115539 0.06959961 0.99735066 -0.17940936]
[ 0. 0. 0. 1. ]]
2025-08-21 16:21:47 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:21:47 - __main__ - INFO: ===采集第16次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/16.jpg
2025-08-21 16:21:50 - __main__ - INFO: robot.torqueOff
2025-08-21 16:22:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:22:05 - __main__ - INFO: 当前关节角: [0.2123139522916026, 1.6156225487913838, 1.9870955510359554, 1.1415721753212567, -3.261262139955614, 0.40399890057186194, -0.2904045856432116]
2025-08-21 16:22:05 - __main__ - INFO: 获取位姿成功:
[[-0.02238853 -0.99787522 -0.06118662 0.27706052]
[ 0.9941035 -0.01572528 -0.10728906 -0.21679508]
[ 0.10609892 -0.06322787 0.99234331 -0.26052986]
[ 0. 0. 0. 1. ]]
2025-08-21 16:22:05 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:22:05 - __main__ - INFO: ===采集第17次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/17.jpg
2025-08-21 16:22:08 - __main__ - INFO: robot.torqueOff
2025-08-21 16:22:20 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:22:25 - __main__ - INFO: 当前关节角: [0.7920960399069291, 1.588399136034099, 1.9284805883681642, 1.3829188023637766, -3.1986537013134204, 0.2975713894479991, 1.133828230229938]
2025-08-21 16:22:25 - __main__ - INFO: 获取位姿成功:
[[ 0.02514396 -0.85857888 0.51206454 0.37379129]
[ 0.99831944 -0.00518728 -0.05771811 -0.22146041]
[ 0.05221177 0.51265524 0.85700556 -0.00260762]
[ 0. 0. 0. 1. ]]
2025-08-21 16:22:25 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:22:25 - __main__ - INFO: ===采集第18次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/18.jpg
2025-08-21 16:22:28 - __main__ - INFO: robot.torqueOff
2025-08-21 16:22:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 16:22:42 - __main__ - INFO: 当前关节角: [0.5278507627739604, 1.75270689378007, 1.4620754384535017, 1.2688669510862645, -3.519189238793925, -0.41788541353348263, 0.5962609901386524]
2025-08-21 16:22:42 - __main__ - INFO: 获取位姿成功:
[[ 0.30642283 -0.90783743 0.28624507 0.37152839]
[ 0.94130348 0.33372329 0.05075938 -0.05876817]
[-0.14160791 0.25388965 0.95681098 -0.11450045]
[ 0. 0. 0. 1. ]]
2025-08-21 16:22:42 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 16:22:42 - __main__ - INFO: ===采集第19次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/19.jpg
2025-08-21 16:22:45 - __main__ - INFO: robot.torqueOff
2025-08-21 16:22:51 - __main__ - INFO: 检测到 'q'，退出程序
2025-08-21 16:22:52 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/19.jpg
2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_19.jpg
2025-08-21 16:23:13 - __main__ - INFO: 旋转矩阵是:
[[-0.99574619 0.06505242 0.06525112]
[-0.06118047 0.06271804 -0.9961543 ]
[-0.06889468 -0.99590895 -0.05847131]]
2025-08-21 16:23:13 - __main__ - INFO: 平移向量是:
[[-0.00932961]
[-0.17733044]
[ 0.07299168]]
2025-08-21 16:23:13 - __main__ - INFO: 四元数是：
[ 0.0013306 0.72748463 -0.68457228 0.04609919]
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/19.jpg
2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_19.jpg
2025-08-21 16:25:47 - __main__ - INFO: 旋转矩阵是:
[[-0.99574619 0.06505242 0.06525112]
[-0.06118047 0.06271804 -0.9961543 ]
[-0.06889468 -0.99590895 -0.05847131]]
2025-08-21 16:25:47 - __main__ - INFO: 平移向量是:
[[-0.00932961]
[-0.17733044]
[ 0.07299168]]
2025-08-21 16:25:47 - __main__ - INFO: 四元数是：
[ 0.0013306 0.72748463 -0.68457228 0.04609919]
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-08-21 16:26:09 - __main__ - INFO: 旋转矩阵是:
[[-0.99486349 0.07846371 0.06395369]
[-0.05884529 0.06577685 -0.9960977 ]
[-0.08236419 -0.99474462 -0.06082177]]
2025-08-21 16:26:09 - __main__ - INFO: 平移向量是:
[[-0.00797824]
[-0.17640328]
[ 0.07459845]]
2025-08-21 16:26:09 - __main__ - INFO: 四元数是：
[ 0.00673467 0.72826199 -0.68342243 0.05022845]
2025-08-21 17:18:15 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082102
2025-08-21 17:18:15 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-08-21 17:18:34 - __main__ - INFO: 当前关节角: [0.0020332839403781207, 1.3408007778845155, 1.0441700907637408e-05, 0.3222679105856357, 2.752812057468044e-05, 0.001749459524797795, -0.09380919019975154]
2025-08-21 17:18:34 - __main__ - INFO: 获取位姿成功:
[[ 9.99992854e-01 -3.77482620e-03 -2.04576300e-04 3.09996779e-02]
[-1.98775400e-04 1.53703370e-03 -9.99998799e-01 -2.05056032e-01]
[ 3.77513610e-03 9.99991694e-01 1.53627240e-03 -4.49243316e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]
2025-08-21 17:18:34 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 17:18:34 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082102/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082102/1.jpg
2025-08-21 17:18:36 - __main__ - INFO: 检测到 'q'，退出程序
2025-08-21 17:18:36 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-08-21 17:19:10 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082103
2025-08-21 17:19:10 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-08-21 17:19:15 - __main__ - INFO: robot.torqueOff
2025-08-21 17:19:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-08-21 17:19:50 - __main__ - INFO: 当前关节角: [0.8979217293602972, 1.0614919233239744, 0.02469082566441424, 0.3463407774054252, -1.1223005924279064, 0.6689039033530859, -0.09368958526208224]
2025-08-21 17:19:50 - __main__ - INFO: 获取位姿成功:
[[-0.17316325 -0.89563008 0.40970873 0.35893735]
[ 0.79070696 -0.37443718 -0.48433387 -0.30959237]
[ 0.58719417 0.24009071 0.7730197 -0.22790869]
[ 0. 0. 0. 1. ]]
2025-08-21 17:19:50 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-08-21 17:19:50 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082103/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082103/1.jpg
2025-08-21 17:19:53 - __main__ - INFO: robot.torqueOff
2025-08-21 17:21:50 - __main__ - INFO: 检测到 'q'，退出程序
2025-08-21 17:21:51 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-08-21 17:21:57 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082104
2025-08-21 17:21:57 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-08-21 17:22:07 - __main__ - INFO: robot.torqueOff
2025-08-21 17:22:16 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-08-21 18:00:33 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082105
2025-08-21 18:00:33 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-08-21 18:00:45 - __main__ - INFO: 检测到 'q'，退出程序
2025-08-21 18:00:45 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-08-21 18:01:14 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082106
2025-08-21 18:01:14 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-08-21 18:01:32 - __main__ - INFO: 检测到 'q'，退出程序
2025-08-21 18:01:32 - __main__ - INFO: 相机已关闭，窗口已销毁

46
python/hand_eye_calibration/libs/web-log.2025-08-28.log
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@ -1,46 +0,0 @@
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-08-23 16:08:45 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-08-23 16:08:45 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-08-23 16:08:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-08-23 16:08:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-08-23 16:08:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-08-23 16:08:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-08-23 16:08:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-08-23 16:08:46 - __main__ - INFO: 旋转矩阵是:
[[-0.99486349 0.07846371 0.06395369]
[-0.05884529 0.06577685 -0.9960977 ]
[-0.08236419 -0.99474462 -0.06082177]]
2025-08-23 16:08:46 - __main__ - INFO: 平移向量是:
[[-0.00797824]
[-0.17640328]
[ 0.07459845]]
2025-08-23 16:08:46 - __main__ - INFO: 四元数是：
[ 0.00673467 0.72826199 -0.68342243 0.05022845]

167
python/hand_eye_calibration/libs/web-log.2025-09-05.log
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@ -1,167 +0,0 @@
2025-09-05 16:02:35 - libs.auxiliary - INFO: create folder eye_hand_data/data20250905
2025-09-05 16:04:01 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090501
2025-09-05 16:04:01 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:05:28 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090502
2025-09-05 16:05:28 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:05:42 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090503
2025-09-05 16:05:42 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:05:48 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-09-05 16:09:41 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090504
2025-09-05 16:09:41 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:12:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-09-05 16:12:53 - __main__ - INFO: 当前关节角: [-0.020066101407867926, 1.46894512840519, 1.4589372327079881, 0.15968113499835065, 0.0808671765475035, -0.13818357132059936, -0.2431388026164853]
2025-09-05 16:12:53 - __main__ - INFO: 获取位姿成功:
[[-0.10992689 0.05250327 -0.99255201 -0.00608509]
[ 0.0426073 -0.99743702 -0.0574805 -0.22011888]
[-0.99302603 -0.04860861 0.10740812 -0.73570586]
[ 0. 0. 0. 1. ]]
2025-09-05 16:12:53 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-09-05 16:12:53 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025090504/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025090504/1.jpg
2025-09-05 16:12:56 - __main__ - INFO: robot.torqueOff
2025-09-05 16:25:21 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-09-05 16:25:26 - __main__ - INFO: 当前关节角: [-0.019045662455530632, 0.14962957400644405, 1.3928232302974393, -0.07693350304193537, -1.3815034772680232, 0.03932344561816248, -0.20795691527650662]
2025-09-05 16:25:26 - __main__ - INFO: 获取位姿成功:
[[-0.03644065 0.99920824 0.01596754 -0.01550389]
[-0.99665653 -0.03750756 0.07258755 -0.94854757]
[ 0.07312898 -0.01326902 0.99723422 -0.00291912]
[ 0. 0. 0. 1. ]]
2025-09-05 16:25:26 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-09-05 16:25:26 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025090504/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025090504/2.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-05 17:21:04 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-05 17:21:04 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-05 17:21:04 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-05 17:21:04 - __main__ - INFO: 旋转矩阵是:
[[ 0.05477568 0.03458859 0.99789942]
[-0.99767126 0.04257346 0.0532875 ]
[-0.04064089 -0.99849443 0.03684003]]
2025-09-05 17:21:04 - __main__ - INFO: 平移向量是:
[[-0.14908435]
[-0.19737896]
[-0.05964516]]
2025-09-05 17:21:04 - __main__ - INFO: 四元数是：
[-0.49380213 0.48758531 -0.48463669 0.53249159]
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-05 17:26:28 - __main__ - INFO: 旋转矩阵是:
[[-0.99486349 0.07846371 0.06395369]
[-0.05884529 0.06577685 -0.9960977 ]
[-0.08236419 -0.99474462 -0.06082177]]
2025-09-05 17:26:28 - __main__ - INFO: 平移向量是:
[[-0.00797824]
[-0.17640328]
[ 0.07459845]]
2025-09-05 17:26:28 - __main__ - INFO: 四元数是：
[ 0.00673467 0.72826199 -0.68342243 0.05022845]
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-05 17:45:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-05 17:45:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-05 17:45:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-05 17:45:13 - __main__ - INFO: 旋转矩阵是:
[[-0.99486349 0.07846371 0.06395369]
[-0.05884529 0.06577685 -0.9960977 ]
[-0.08236419 -0.99474462 -0.06082177]]
2025-09-05 17:45:13 - __main__ - INFO: 平移向量是:
[[-0.00797824]
[-0.17640328]
[ 0.07459845]]
2025-09-05 17:45:13 - __main__ - INFO: 四元数是：
[ 0.00673467 0.72826199 -0.68342243 0.05022845]

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