From b0509428383d0d7219bd3f4029a461af849c5327 Mon Sep 17 00:00:00 2001 From: lgv Date: Fri, 8 May 2026 16:58:52 +0800 Subject: [PATCH] feat: add px 6ax gen3 as touch pressure sensor --- .codex | 0 .../applications/include/touch_screen_app.h | 31 +- cmvr-es/applications/src/touch_screen_app.cpp | 520 +++++------ .../src/touch_screen_app_test.cpp | 4 +- .../dexhand_config/dexhand_config.pb.txt | 25 +- .../touch_screen_app_config.pb.txt | 24 +- .../utils/ffmpeg/include/CameraCapture.h | 24 +- .../utils/ffmpeg/include/RealSenseCapture.h | 24 +- .../utils/ffmpeg/include/VideoFrameEncoder.h | 34 +- .../common/utils/ffmpeg/include/VideoWriter.h | 24 +- .../common/utils/ffmpeg/src/CameraCapture.cpp | 4 +- .../utils/ffmpeg/src/RealSenseCapture.cpp | 4 +- .../utils/ffmpeg/src/VideoFrameEncoder.cpp | 4 +- .../common/utils/ffmpeg/src/VideoWriter.cpp | 4 +- cmvr-es/device_manager/CMakeLists.txt | 1 + cmvr-es/device_manager/src/device_factory.cpp | 10 +- cmvr-es/device_manager/src/device_manager.cpp | 16 +- cmvr-es/devices/dexhand/CMakeLists.txt | 3 +- cmvr-es/devices/dexhand/abstract_dexhand.h | 24 +- .../dexhand/px_6ax_gen3/CMakeLists.txt | 28 + .../dexhand/px_6ax_gen3/include/px_6ax_gen3.h | 132 +++ .../dexhand/px_6ax_gen3/src/px_6ax_gen3.cpp | 864 ++++++++++++++++++ .../px_6ax_gen3/src/px_6ax_gen3_test.cpp | 170 ++++ .../include/rh56dftp_dexhand.h | 2 + .../include/rh56dftp_tactile_buffer.h | 9 +- .../rh56dftp_dexhand/src/rh56dftp_dexhand.cpp | 23 + .../src/rh56dftp_dexhand_test.cpp | 4 +- cmvr-es/hardware/CMakeLists.txt | 2 + .../include/abstract_serial_transport.h | 38 + .../hardware/include/posix_serial_transport.h | 41 + .../hardware/src/posix_serial_transport.cpp | 226 +++++ .../service/grpc/src/grpc_dexhand_service.cpp | 3 +- cmvr-es/service/grpc/src/grpc_hlc_service.cpp | 5 +- compile_commands.json | 340 +++---- .../dexhand_config/dexhand_config.proto | 31 +- .../touch_screen_app_config.proto | 10 +- script/USB_UI.py | 383 ++++++++ 37 files changed, 2555 insertions(+), 536 deletions(-) create mode 100644 .codex create mode 100644 cmvr-es/devices/dexhand/px_6ax_gen3/CMakeLists.txt create mode 100644 cmvr-es/devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h create mode 100644 cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3.cpp create mode 100644 cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3_test.cpp create mode 100644 cmvr-es/hardware/include/abstract_serial_transport.h create mode 100644 cmvr-es/hardware/include/posix_serial_transport.h create mode 100644 cmvr-es/hardware/src/posix_serial_transport.cpp create mode 100644 script/USB_UI.py diff --git a/.codex b/.codex new file mode 100644 index 00000000..e69de29b diff --git a/cmvr-es/applications/include/touch_screen_app.h b/cmvr-es/applications/include/touch_screen_app.h index 840b8738..c7f2ea6a 100644 --- a/cmvr-es/applications/include/touch_screen_app.h +++ b/cmvr-es/applications/include/touch_screen_app.h @@ -63,7 +63,12 @@ public: POSITION_ONLY // 保留锁定时看到的完整 tag 姿态，只按位置对齐。 }; - struct Options { + enum class TactileCriterion { + FZ = 0, + MAGNITUDE + }; + + struct Config { // 是否在触控流程开始前先回到指定初始关节位姿。 bool move_to_init_position_before_start{false}; // 是否在触控流程结束（DONE/FAILED）后回到指定初始关节位姿。 @@ -201,11 +206,11 @@ public: // 使用该手指的哪个触觉区域。 device::AbstractDexHand::TactileRegion tactile_region{ device::AbstractDexHand::TactileRegion::TIP}; - // 触觉压力和阈值；总和超过该值认为已经接触。 + // 三维合力标量化方式：直接使用法向 fz，或使用三维力模长。 + TactileCriterion tactile_criterion{TactileCriterion::FZ}; + // 触觉区域三维合力按 tactile_criterion 标量化后的阈值；超过该值认为已经接触。 double tactile_pressure_sum_threshold{100.0}; - // 触觉峰值阈值；为 0 时表示不使用峰值判据。 - double tactile_pressure_peak_threshold{0.0}; - // 当前帧非 0 触觉点数量阈值；只有达到该数量后，才进一步判断 sum/peak 阈值。 + // 保留兼容的旧字段；当前合力判定逻辑不再使用非零点数量阈值。 int tactile_nonzero_count_threshold{1}; }; @@ -221,8 +226,8 @@ public: const std::shared_ptr& camera, const cmvr::config::TouchScreenAppConfig& config); - bool setOptionsFromConfig(); - bool setOptionsFromConfig(const cmvr::config::TouchScreenAppConfig& config); + bool setConfigFromProto(); + bool setConfigFromProto(const cmvr::config::TouchScreenAppConfig& config); bool setTouchSpeedlForwardL(double forward_l); bool startFromPixel(int u, int v); @@ -243,7 +248,6 @@ public: int targetU() const { return target_u_; } int targetV() const { return target_v_; } double lastTouchPressureSum() const { return last_touch_pressure_sum_; } - double lastTouchPressurePeak() const { return last_touch_pressure_peak_; } int lastTouchNonzeroCount() const { return last_touch_nonzero_count_; } int lastActiveTagId() const { return last_active_tag_id_; } const Eigen::Vector3d& lastAlignErrorCamera() const { return last_align_error_camera_; } @@ -255,10 +259,10 @@ public: private: using Clock = std::chrono::steady_clock; - static bool optionsFromConfig(const cmvr::config::TouchScreenAppConfig& config, - Options& options_out); - void setOptions(const Options& options); - bool applyOptions(); + static bool configFromProto(const cmvr::config::TouchScreenAppConfig& proto_config, + Config& config_out); + void setConfig(const Config& config); + bool applyConfig(); bool validateControlJointNames() const; bool stepAligning(double dt); bool stepTouching(); @@ -289,7 +293,7 @@ private: std::shared_ptr perception_{nullptr}; perception::TagRelativeTarget3D tracker_; IbvsController ibvs_; - Options options_{}; + Config config_{}; Phase phase_{Phase::IDLE}; Phase phase_after_retract_{Phase::DONE}; @@ -307,7 +311,6 @@ private: int last_active_tag_id_{-1}; double last_touch_pressure_sum_{0.0}; - double last_touch_pressure_peak_{0.0}; int last_touch_nonzero_count_{0}; Eigen::Vector3d last_align_error_camera_{Eigen::Vector3d::Zero()}; bool locked_target_rotation_valid_{false}; diff --git a/cmvr-es/applications/src/touch_screen_app.cpp b/cmvr-es/applications/src/touch_screen_app.cpp index 310787f9..8aefc4ff 100644 --- a/cmvr-es/applications/src/touch_screen_app.cpp +++ b/cmvr-es/applications/src/touch_screen_app.cpp @@ -44,42 +44,24 @@ bool computeLinearMoveDeltaTool(const Eigen::Matrix& twist_base, return delta_out.allFinite(); } -bool isTouchTriggered(const TouchScreenApp::Options& options, - const int nonzero_count, - const double pressure_sum, - const double pressure_peak) { - if (options.tactile_nonzero_count_threshold > 0 && - nonzero_count < options.tactile_nonzero_count_threshold) { - return false; - } - return pressure_sum >= options.tactile_pressure_sum_threshold || - (options.tactile_pressure_peak_threshold > 0.0 && - pressure_peak >= options.tactile_pressure_peak_threshold); +bool isTouchTriggered(const TouchScreenApp::Config& config, + const double resultant_force_value) { + return resultant_force_value >= config.tactile_pressure_sum_threshold; } -void accumulateMatrixStats(const device::AbstractDexHand::TactileMatrixView& matrix, - int& nonzero_count_out, - double& sum_out, - double& peak_out) { - if (!matrix.valid()) { - return; - } - - for (int row = 0; row < matrix.rows; ++row) { - const auto* row_data = matrix.rowData(row); - for (int col = 0; col < matrix.cols; ++col) { - const double value = static_cast(row_data[col]); - if (row_data[col] != 0) { - ++nonzero_count_out; - } - sum_out += value; - peak_out = std::max(peak_out, value); - } +double tactileForceValue(const device::AbstractDexHand::TactilePoint& point, + const TouchScreenApp::TactileCriterion criterion) { + switch (criterion) { + case TouchScreenApp::TactileCriterion::FZ: + return static_cast(point.fz); + case TouchScreenApp::TactileCriterion::MAGNITUDE: + return point.magnitude(); } + return static_cast(point.fz); } -bool requiresReinitForOptionChange(const TouchScreenApp::Options& current, - const TouchScreenApp::Options& requested) { +bool requiresReinitForConfigChange(const TouchScreenApp::Config& current, + const TouchScreenApp::Config& requested) { const auto init_joints_differ = [&]() { if (current.init_joint_positions.size() != requested.init_joint_positions.size()) { return true; @@ -265,6 +247,17 @@ device::AbstractDexHand::TactileRegion toTactileRegion( return device::AbstractDexHand::TactileRegion::TIP; } +TouchScreenApp::TactileCriterion toTactileCriterion( + const cmvr::config::TouchScreenTactileCriterion criterion) { + switch (criterion) { + case cmvr::config::TOUCH_SCREEN_TACTILE_CRITERION_FZ: + return TouchScreenApp::TactileCriterion::FZ; + case cmvr::config::TOUCH_SCREEN_TACTILE_CRITERION_MAGNITUDE: + return TouchScreenApp::TactileCriterion::MAGNITUDE; + } + return TouchScreenApp::TactileCriterion::FZ; +} + TouchScreenApp::AlignMode toAlignMode(const cmvr::config::TouchScreenAlignMode mode) { switch (mode) { case cmvr::config::TOUCH_SCREEN_ALIGN_MODE_POSE_AND_POSITION: @@ -415,9 +408,9 @@ bool TouchScreenApp::init(const std::shared_ptr& robot, bool TouchScreenApp::init(const std::shared_ptr& robot, const std::shared_ptr& dexhand, const std::shared_ptr& camera, - const cmvr::config::TouchScreenAppConfig& config) { - Options options; - if (!optionsFromConfig(config, options)) { + const cmvr::config::TouchScreenAppConfig& proto_config) { + Config app_config; + if (!configFromProto(proto_config, app_config)) { initialized_ = false; last_status_ = Status::INVALID_CONFIG; return false; @@ -426,7 +419,7 @@ bool TouchScreenApp::init(const std::shared_ptr& robot, robot_ = robot; dexhand_ = dexhand; camera_ = camera; - options_ = options; + config_ = app_config; if (!robot_ || !camera_) { initialized_ = false; @@ -434,17 +427,17 @@ bool TouchScreenApp::init(const std::shared_ptr& robot, return false; } - if ((options_.move_to_init_position_before_start || options_.move_to_init_position) && - options_.init_joint_positions.empty()) { + if ((config_.move_to_init_position_before_start || config_.move_to_init_position) && + config_.init_joint_positions.empty()) { initialized_ = false; last_status_ = Status::INVALID_CONFIG; return false; } - if (options_.move_to_init_position_before_start) { + if (config_.move_to_init_position_before_start) { try { - auto init_cmd = options_.init_joint_positions; - robot_->moveJ(init_cmd, options_.init_movej_vel, options_.init_movej_acc); + auto init_cmd = config_.init_joint_positions; + robot_->moveJ(init_cmd, config_.init_movej_vel, config_.init_movej_acc); } catch (...) { initialized_ = false; last_status_ = Status::ROBOT_COMMAND_FAILED; @@ -452,22 +445,22 @@ bool TouchScreenApp::init(const std::shared_ptr& robot, } } - if (options_.urdf_path.empty() || options_.camera_link.empty() || options_.control_joint_names.empty()) { + if (config_.urdf_path.empty() || config_.camera_link.empty() || config_.control_joint_names.empty()) { initialized_ = false; last_status_ = Status::INVALID_CONFIG; return false; } perception_ = std::make_shared(camera_); - perception_->setTagSize(options_.tag_size_m); + perception_->setTagSize(config_.tag_size_m); tracker_.setPerception(perception_); - tracker_.setTargetPointMethod(options_.target_point_method); + tracker_.setTargetPointMethod(config_.target_point_method); - if (!ibvs_.init(options_.urdf_path, - options_.base_link, - options_.flange_link, - options_.camera_link)) { + if (!ibvs_.init(config_.urdf_path, + config_.base_link, + config_.flange_link, + config_.camera_link)) { initialized_ = false; last_status_ = Status::INVALID_CONFIG; return false; @@ -480,7 +473,7 @@ bool TouchScreenApp::init(const std::shared_ptr& robot, return false; } - initialized_ = applyOptions(); + initialized_ = applyConfig(); if (initialized_) { tracker_.clear(); tracker_.resetActiveTagTracking(); @@ -495,7 +488,6 @@ bool TouchScreenApp::init(const std::shared_ptr& robot, align_stable_count_ = 0; last_active_tag_id_ = -1; last_touch_pressure_sum_ = 0.0; - last_touch_pressure_peak_ = 0.0; last_touch_nonzero_count_ = 0; last_align_error_camera_.setZero(); last_status_ = Status::IDLE; @@ -505,53 +497,53 @@ bool TouchScreenApp::init(const std::shared_ptr& robot, return initialized_; } -void TouchScreenApp::setOptions(const Options& options) { +void TouchScreenApp::setConfig(const Config& config) { if (!initialized_) { - options_ = options; + config_ = config; return; } - const Options previous = options_; - Options applied = options; - if (requiresReinitForOptionChange(options_, options)) { - std::cerr << "[TouchScreenApp] setOptions() ignored IK-chain option changes after init; " + const Config previous_config = config_; + Config applied_config = config; + if (requiresReinitForConfigChange(config_, config)) { + std::cerr << "[TouchScreenApp] setConfig() ignored IK-chain config changes after init; " "call init() again to update device/init pose/urdf/link/joint chain\n"; - applied.move_to_init_position_before_start = previous.move_to_init_position_before_start; - applied.move_to_init_position = previous.move_to_init_position; - applied.init_joint_positions = previous.init_joint_positions; - applied.init_movej_vel = previous.init_movej_vel; - applied.init_movej_acc = previous.init_movej_acc; - applied.urdf_path = previous.urdf_path; - applied.base_link = previous.base_link; - applied.flange_link = previous.flange_link; - applied.camera_link = previous.camera_link; - applied.control_joint_names = previous.control_joint_names; + applied_config.move_to_init_position_before_start = previous_config.move_to_init_position_before_start; + applied_config.move_to_init_position = previous_config.move_to_init_position; + applied_config.init_joint_positions = previous_config.init_joint_positions; + applied_config.init_movej_vel = previous_config.init_movej_vel; + applied_config.init_movej_acc = previous_config.init_movej_acc; + applied_config.urdf_path = previous_config.urdf_path; + applied_config.base_link = previous_config.base_link; + applied_config.flange_link = previous_config.flange_link; + applied_config.camera_link = previous_config.camera_link; + applied_config.control_joint_names = previous_config.control_joint_names; } - options_ = applied; - if (!applyOptions()) { - options_ = previous; - applyOptions(); + config_ = applied_config; + if (!applyConfig()) { + config_ = previous_config; + applyConfig(); last_status_ = Status::INVALID_CONFIG; } } -bool TouchScreenApp::setOptionsFromConfig() { +bool TouchScreenApp::setConfigFromProto() { cmvr::config::TouchScreenAppConfig config; if (!cmvr::ConfigHelper::getTouchScreenAppConfig(config)) { last_status_ = Status::INVALID_CONFIG; return false; } - return setOptionsFromConfig(config); + return setConfigFromProto(config); } -bool TouchScreenApp::setOptionsFromConfig(const cmvr::config::TouchScreenAppConfig& config) { - Options options; - if (!optionsFromConfig(config, options)) { +bool TouchScreenApp::setConfigFromProto(const cmvr::config::TouchScreenAppConfig& proto_config) { + Config app_config; + if (!configFromProto(proto_config, app_config)) { last_status_ = Status::INVALID_CONFIG; return false; } - setOptions(options); + setConfig(app_config); return last_status_ != Status::INVALID_CONFIG; } @@ -561,9 +553,9 @@ bool TouchScreenApp::setTouchSpeedlForwardL(double forward_l) { return false; } - Options options = options_; - options.touch_speedl_forward_l = forward_l; - setOptions(options); + Config updated_config = config_; + updated_config.touch_speedl_forward_l = forward_l; + setConfig(updated_config); return last_status_ != Status::INVALID_CONFIG; } @@ -590,7 +582,6 @@ bool TouchScreenApp::startFromPixel(int u, int v) { retract_command_started_ = false; align_stable_count_ = 0; last_touch_pressure_sum_ = 0.0; - last_touch_pressure_peak_ = 0.0; last_touch_nonzero_count_ = 0; last_active_tag_id_ = -1; last_align_error_camera_.setZero(); @@ -619,12 +610,11 @@ bool TouchScreenApp::step(const double dt) { if (dexhand_) { const bool tactile_ok = updateTouchPressure(); // std::cout << "[TouchScreenApp][TACTILE] finger=" - // << fingerTypeToString(options_.tactile_finger) - // << ", region=" << tactileRegionToString(options_.tactile_region) + // << fingerTypeToString(config_.tactile_finger) + // << ", region=" << tactileRegionToString(config_.tactile_region) // << ", ok=" << (tactile_ok ? 1 : 0) // << ", nonzero_count=" << last_touch_nonzero_count_ // << ", pressure_sum=" << last_touch_pressure_sum_ - // << ", pressure_peak=" << last_touch_pressure_peak_ // << std::endl; } @@ -636,7 +626,7 @@ bool TouchScreenApp::step(const double dt) { return stepAligning(dt); case Phase::ALIGN_REACHED: last_status_ = Status::ALIGN_REACHED; - if (options_.pause_after_align_reached) { + if (config_.pause_after_align_reached) { return true; } if (!startTouchPhase()) { @@ -686,7 +676,6 @@ void TouchScreenApp::stop() { align_stable_count_ = 0; last_active_tag_id_ = -1; last_touch_pressure_sum_ = 0.0; - last_touch_pressure_peak_ = 0.0; last_touch_nonzero_count_ = 0; last_align_error_camera_.setZero(); locked_target_rotation_valid_ = false; @@ -736,266 +725,266 @@ const char* TouchScreenApp::statusToString(const Status status) { return "UNKNOWN"; } -bool TouchScreenApp::optionsFromConfig(const cmvr::config::TouchScreenAppConfig& config, - Options& options_out) { - Options options; +bool TouchScreenApp::configFromProto(const cmvr::config::TouchScreenAppConfig& config, + Config& config_out) { + Config app_config; if (config.has_move_to_init_position_before_start()) { - options.move_to_init_position_before_start = config.move_to_init_position_before_start(); + app_config.move_to_init_position_before_start = config.move_to_init_position_before_start(); } if (config.has_move_to_init_position()) { - options.move_to_init_position = config.move_to_init_position(); + app_config.move_to_init_position = config.move_to_init_position(); } if (config.init_joint_positions_size() > 0) { - options.init_joint_positions.clear(); - options.init_joint_positions.reserve(static_cast(config.init_joint_positions_size())); + app_config.init_joint_positions.clear(); + app_config.init_joint_positions.reserve(static_cast(config.init_joint_positions_size())); for (const auto& joint : config.init_joint_positions()) { - options.init_joint_positions.emplace_back( + app_config.init_joint_positions.emplace_back( joint.has_joint_name() ? joint.joint_name() : std::string{}, joint.has_rad() ? joint.rad() : 0.0); } } if (config.has_init_movej_vel()) { - options.init_movej_vel = config.init_movej_vel(); + app_config.init_movej_vel = config.init_movej_vel(); } if (config.has_init_movej_acc()) { - options.init_movej_acc = config.init_movej_acc(); + app_config.init_movej_acc = config.init_movej_acc(); } if (config.has_urdf_path()) { - options.urdf_path = config.urdf_path(); + app_config.urdf_path = config.urdf_path(); } if (config.has_base_link()) { - options.base_link = config.base_link(); + app_config.base_link = config.base_link(); } if (config.has_flange_link()) { - options.flange_link = config.flange_link(); + app_config.flange_link = config.flange_link(); } if (config.has_camera_link()) { - options.camera_link = config.camera_link(); + app_config.camera_link = config.camera_link(); } if (config.has_tag_size_m()) { - options.tag_size_m = config.tag_size_m(); + app_config.tag_size_m = config.tag_size_m(); } if (config.has_depth_policy()) { - options.depth_policy = toDepthPolicy(config.depth_policy()); + app_config.depth_policy = toDepthPolicy(config.depth_policy()); } if (config.has_target_point_method()) { - options.target_point_method = toTargetPointMethod(config.target_point_method()); + app_config.target_point_method = toTargetPointMethod(config.target_point_method()); } if (config.has_hover_target_in_camera()) { - applyVec3FromConfig(config.hover_target_in_camera(), options.hover_target_in_camera); + applyVec3FromConfig(config.hover_target_in_camera(), app_config.hover_target_in_camera); } if (config.has_target_rx()) { - options.target_rx = config.target_rx(); + app_config.target_rx = config.target_rx(); } if (config.has_target_ry()) { - options.target_ry = config.target_ry(); + app_config.target_ry = config.target_ry(); } if (config.has_target_rz()) { - options.target_rz = config.target_rz(); + app_config.target_rz = config.target_rz(); } if (config.has_align_mode()) { - options.align_mode = toAlignMode(config.align_mode()); + app_config.align_mode = toAlignMode(config.align_mode()); } if (config.has_ibvs_lambda()) { - options.ibvs_lambda = config.ibvs_lambda(); + app_config.ibvs_lambda = config.ibvs_lambda(); } if (config.has_ibvs_mu()) { - options.ibvs_mu = config.ibvs_mu(); + app_config.ibvs_mu = config.ibvs_mu(); } if (config.has_ibvs_qdot_max()) { - options.ibvs_qdot_max = config.ibvs_qdot_max(); + app_config.ibvs_qdot_max = config.ibvs_qdot_max(); } if (config.has_ibvs_vmax6()) { Eigen::Matrix ibvs_vmax; - ibvs_vmax << options.ibvs_vmax6[0], options.ibvs_vmax6[1], options.ibvs_vmax6[2], - options.ibvs_vmax6[3], options.ibvs_vmax6[4], options.ibvs_vmax6[5]; + ibvs_vmax << app_config.ibvs_vmax6[0], app_config.ibvs_vmax6[1], app_config.ibvs_vmax6[2], + app_config.ibvs_vmax6[3], app_config.ibvs_vmax6[4], app_config.ibvs_vmax6[5]; applyTwist6FromConfig(config.ibvs_vmax6(), ibvs_vmax); for (int i = 0; i < 6; ++i) { - options.ibvs_vmax6[static_cast(i)] = ibvs_vmax[i]; + app_config.ibvs_vmax6[static_cast(i)] = ibvs_vmax[i]; } } if (config.has_ibvs_amax6()) { Eigen::Matrix ibvs_amax; - ibvs_amax << options.ibvs_amax6[0], options.ibvs_amax6[1], options.ibvs_amax6[2], - options.ibvs_amax6[3], options.ibvs_amax6[4], options.ibvs_amax6[5]; + ibvs_amax << app_config.ibvs_amax6[0], app_config.ibvs_amax6[1], app_config.ibvs_amax6[2], + app_config.ibvs_amax6[3], app_config.ibvs_amax6[4], app_config.ibvs_amax6[5]; applyTwist6FromConfig(config.ibvs_amax6(), ibvs_amax); for (int i = 0; i < 6; ++i) { - options.ibvs_amax6[static_cast(i)] = ibvs_amax[i]; + app_config.ibvs_amax6[static_cast(i)] = ibvs_amax[i]; } } if (config.has_ibvs_twist_filter_alpha()) { - options.ibvs_twist_filter_alpha = std::clamp(config.ibvs_twist_filter_alpha(), 0.0, 1.0); + app_config.ibvs_twist_filter_alpha = std::clamp(config.ibvs_twist_filter_alpha(), 0.0, 1.0); } if (config.has_align_error_threshold6()) { Eigen::Matrix align_err; - align_err << options.align_error_threshold6[0], options.align_error_threshold6[1], options.align_error_threshold6[2], - options.align_error_threshold6[3], options.align_error_threshold6[4], options.align_error_threshold6[5]; + align_err << app_config.align_error_threshold6[0], app_config.align_error_threshold6[1], app_config.align_error_threshold6[2], + app_config.align_error_threshold6[3], app_config.align_error_threshold6[4], app_config.align_error_threshold6[5]; applyErrorThreshold6FromConfig(config.align_error_threshold6(), align_err); for (int i = 0; i < 6; ++i) { - options.align_error_threshold6[static_cast(i)] = align_err[i]; + app_config.align_error_threshold6[static_cast(i)] = align_err[i]; } } else { if (config.has_align_xy_threshold_m()) { - options.align_error_threshold6[0] = config.align_xy_threshold_m(); - options.align_error_threshold6[1] = config.align_xy_threshold_m(); + app_config.align_error_threshold6[0] = config.align_xy_threshold_m(); + app_config.align_error_threshold6[1] = config.align_xy_threshold_m(); } if (config.has_align_z_threshold_m()) { - options.align_error_threshold6[2] = config.align_z_threshold_m(); + app_config.align_error_threshold6[2] = config.align_z_threshold_m(); } if (config.has_align_rot_threshold_rad()) { - options.align_error_threshold6[3] = config.align_rot_threshold_rad(); - options.align_error_threshold6[4] = config.align_rot_threshold_rad(); - options.align_error_threshold6[5] = config.align_rot_threshold_rad(); + app_config.align_error_threshold6[3] = config.align_rot_threshold_rad(); + app_config.align_error_threshold6[4] = config.align_rot_threshold_rad(); + app_config.align_error_threshold6[5] = config.align_rot_threshold_rad(); } } if (config.has_enable_joint_limit_avoidance()) { - options.enable_joint_limit_avoidance = config.enable_joint_limit_avoidance(); + app_config.enable_joint_limit_avoidance = config.enable_joint_limit_avoidance(); } if (config.has_joint_limit_avoidance_gain()) { - options.joint_limit_avoidance_gain = config.joint_limit_avoidance_gain(); + app_config.joint_limit_avoidance_gain = config.joint_limit_avoidance_gain(); } if (config.has_joint_limit_avoidance_margin_ratio()) { - options.joint_limit_avoidance_margin_ratio = config.joint_limit_avoidance_margin_ratio(); + app_config.joint_limit_avoidance_margin_ratio = config.joint_limit_avoidance_margin_ratio(); } if (config.has_joint_limit_avoidance_max_push()) { - options.joint_limit_avoidance_max_push = config.joint_limit_avoidance_max_push(); + app_config.joint_limit_avoidance_max_push = config.joint_limit_avoidance_max_push(); } if (config.has_r_camera_to_visp()) { - applyMatrix3dFromConfig(config.r_camera_to_visp(), options.R_camera_to_visp); + applyMatrix3dFromConfig(config.r_camera_to_visp(), app_config.R_camera_to_visp); } if (config.has_r_camera_to_urdf()) { - applyMatrix3dFromConfig(config.r_camera_to_urdf(), options.R_camera_to_urdf); + applyMatrix3dFromConfig(config.r_camera_to_urdf(), app_config.R_camera_to_urdf); } if (config.control_joint_names_size() > 0) { - options.control_joint_names.assign(config.control_joint_names().begin(), - config.control_joint_names().end()); + app_config.control_joint_names.assign(config.control_joint_names().begin(), + config.control_joint_names().end()); } if (config.has_align_xy_threshold_m()) { - options.align_error_threshold6[0] = config.align_xy_threshold_m(); - options.align_error_threshold6[1] = config.align_xy_threshold_m(); + app_config.align_error_threshold6[0] = config.align_xy_threshold_m(); + app_config.align_error_threshold6[1] = config.align_xy_threshold_m(); } if (config.has_align_z_threshold_m()) { - options.align_error_threshold6[2] = config.align_z_threshold_m(); + app_config.align_error_threshold6[2] = config.align_z_threshold_m(); } if (config.has_align_rot_threshold_rad()) { - options.align_error_threshold6[3] = config.align_rot_threshold_rad(); - options.align_error_threshold6[4] = config.align_rot_threshold_rad(); - options.align_error_threshold6[5] = config.align_rot_threshold_rad(); + app_config.align_error_threshold6[3] = config.align_rot_threshold_rad(); + app_config.align_error_threshold6[4] = config.align_rot_threshold_rad(); + app_config.align_error_threshold6[5] = config.align_rot_threshold_rad(); } if (config.has_align_stable_frames()) { - options.align_stable_frames = config.align_stable_frames(); + app_config.align_stable_frames = config.align_stable_frames(); } if (config.has_align_timeout_s()) { - options.align_timeout_s = config.align_timeout_s(); + app_config.align_timeout_s = config.align_timeout_s(); } if (config.has_pause_after_align_reached()) { - options.pause_after_align_reached = config.pause_after_align_reached(); + app_config.pause_after_align_reached = config.pause_after_align_reached(); } if (config.has_touch_twist_base()) { - applyTwist6FromConfig(config.touch_twist_base(), options.touch_twist_base); + applyTwist6FromConfig(config.touch_twist_base(), app_config.touch_twist_base); } if (config.has_touch_use_speedl()) { - options.touch_use_speedl = config.touch_use_speedl(); + app_config.touch_use_speedl = config.touch_use_speedl(); } if (config.has_touch_speedl_acceleration()) { - options.touch_speedl_acceleration = config.touch_speedl_acceleration(); + app_config.touch_speedl_acceleration = config.touch_speedl_acceleration(); } if (config.has_touch_forward_l()) { - options.touch_forward_l = config.touch_forward_l(); + app_config.touch_forward_l = config.touch_forward_l(); } if (config.has_touch_movel_speed()) { - options.touch_movel_speed = config.touch_movel_speed(); + app_config.touch_movel_speed = config.touch_movel_speed(); } if (config.has_touch_movel_acceleration()) { - options.touch_movel_acceleration = config.touch_movel_acceleration(); + app_config.touch_movel_acceleration = config.touch_movel_acceleration(); } if (config.has_touch_movel_jerk()) { - options.touch_movel_jerk = config.touch_movel_jerk(); + app_config.touch_movel_jerk = config.touch_movel_jerk(); } if (config.touch_movel_qd_max_size() > 0) { - options.touch_movel_qd_max.assign(config.touch_movel_qd_max().begin(), - config.touch_movel_qd_max().end()); + app_config.touch_movel_qd_max.assign(config.touch_movel_qd_max().begin(), + config.touch_movel_qd_max().end()); } if (config.has_touch_speedl_forward_l()) { - options.touch_speedl_forward_l = config.touch_speedl_forward_l(); + app_config.touch_speedl_forward_l = config.touch_speedl_forward_l(); } if (config.has_dwell_time_s()) { - options.dwell_time_s = config.dwell_time_s(); + app_config.dwell_time_s = config.dwell_time_s(); } if (config.has_retract_twist_base()) { - applyTwist6FromConfig(config.retract_twist_base(), options.retract_twist_base); + applyTwist6FromConfig(config.retract_twist_base(), app_config.retract_twist_base); } if (config.has_retract_acceleration()) { - options.retract_acceleration = config.retract_acceleration(); + app_config.retract_acceleration = config.retract_acceleration(); } if (config.has_retract_duration_s()) { - options.retract_duration_s = config.retract_duration_s(); + app_config.retract_duration_s = config.retract_duration_s(); } if (config.has_tactile_finger()) { - options.tactile_finger = toFingerType(config.tactile_finger()); + app_config.tactile_finger = toFingerType(config.tactile_finger()); } if (config.has_tactile_region()) { - options.tactile_region = toTactileRegion(config.tactile_region()); + app_config.tactile_region = toTactileRegion(config.tactile_region()); + } + if (config.has_tactile_criterion()) { + app_config.tactile_criterion = toTactileCriterion(config.tactile_criterion()); } if (config.has_tactile_pressure_sum_threshold()) { - options.tactile_pressure_sum_threshold = config.tactile_pressure_sum_threshold(); - } - if (config.has_tactile_pressure_peak_threshold()) { - options.tactile_pressure_peak_threshold = config.tactile_pressure_peak_threshold(); + app_config.tactile_pressure_sum_threshold = config.tactile_pressure_sum_threshold(); } if (config.has_tactile_nonzero_count_threshold()) { - options.tactile_nonzero_count_threshold = + app_config.tactile_nonzero_count_threshold = std::max(0, config.tactile_nonzero_count_threshold()); } - options_out = options; + config_out = app_config; return true; } -bool TouchScreenApp::applyOptions() { +bool TouchScreenApp::applyConfig() { if (!perception_) { return false; } - if (!options_.R_camera_to_visp.allFinite() || !options_.R_camera_to_urdf.allFinite()) { + if (!config_.R_camera_to_visp.allFinite() || !config_.R_camera_to_urdf.allFinite()) { return false; } - if (!std::isfinite(options_.touch_speedl_forward_l) || - options_.touch_speedl_forward_l < 0.0) { + if (!std::isfinite(config_.touch_speedl_forward_l) || + config_.touch_speedl_forward_l < 0.0) { return false; } - for (const double threshold_i : options_.align_error_threshold6) { + for (const double threshold_i : config_.align_error_threshold6) { if (!std::isfinite(threshold_i) || threshold_i < 0.0) { return false; } } - if (!options_.touch_use_speedl) { + if (!config_.touch_use_speedl) { Eigen::Vector3d touch_forward_delta = Eigen::Vector3d::Zero(); - if (!computeLinearMoveDeltaTool(options_.touch_twist_base, - options_.touch_forward_l, + if (!computeLinearMoveDeltaTool(config_.touch_twist_base, + config_.touch_forward_l, touch_forward_delta)) { return false; } - if (!std::isfinite(options_.touch_movel_speed) || options_.touch_movel_speed <= 0.0 || - !std::isfinite(options_.touch_movel_acceleration) || - options_.touch_movel_acceleration <= 0.0 || - !std::isfinite(options_.touch_movel_jerk) || options_.touch_movel_jerk <= 0.0) { + if (!std::isfinite(config_.touch_movel_speed) || config_.touch_movel_speed <= 0.0 || + !std::isfinite(config_.touch_movel_acceleration) || + config_.touch_movel_acceleration <= 0.0 || + !std::isfinite(config_.touch_movel_jerk) || config_.touch_movel_jerk <= 0.0) { return false; } - if (!options_.touch_movel_qd_max.empty()) { - if (options_.touch_movel_qd_max.size() != options_.control_joint_names.size()) { + if (!config_.touch_movel_qd_max.empty()) { + if (config_.touch_movel_qd_max.size() != config_.control_joint_names.size()) { return false; } - for (const double qd_max_i : options_.touch_movel_qd_max) { + for (const double qd_max_i : config_.touch_movel_qd_max) { if (!std::isfinite(qd_max_i) || qd_max_i <= 0.0) { return false; } @@ -1006,8 +995,8 @@ bool TouchScreenApp::applyOptions() { if (dexhand_) { std::vector tactile_regions; - if (!appendRequestedTactileRegions(options_.tactile_finger, - options_.tactile_region, + if (!appendRequestedTactileRegions(config_.tactile_finger, + config_.tactile_region, tactile_regions)) { return false; } @@ -1018,20 +1007,20 @@ bool TouchScreenApp::applyOptions() { } } - perception_->setTagSize(options_.tag_size_m); - tracker_.setTargetPointMethod(options_.target_point_method); - ibvs_.setLambda(options_.ibvs_lambda); - ibvs_.setMu(options_.ibvs_mu); - ibvs_.setQdotMax(options_.ibvs_qdot_max); - ibvs_.setVelocityLimit6(options_.ibvs_vmax6); - ibvs_.setAccelerationLimit6(options_.ibvs_amax6); - ibvs_.setTwistFilterAlpha(options_.ibvs_twist_filter_alpha); - ibvs_.setJointLimitAvoidance(options_.enable_joint_limit_avoidance, - options_.joint_limit_avoidance_gain, - options_.joint_limit_avoidance_margin_ratio, - options_.joint_limit_avoidance_max_push); - ibvs_.setAlignCameraToVisp(options_.R_camera_to_visp); - ibvs_.setAlignCameraToUrdf(options_.R_camera_to_urdf); + perception_->setTagSize(config_.tag_size_m); + tracker_.setTargetPointMethod(config_.target_point_method); + ibvs_.setLambda(config_.ibvs_lambda); + ibvs_.setMu(config_.ibvs_mu); + ibvs_.setQdotMax(config_.ibvs_qdot_max); + ibvs_.setVelocityLimit6(config_.ibvs_vmax6); + ibvs_.setAccelerationLimit6(config_.ibvs_amax6); + ibvs_.setTwistFilterAlpha(config_.ibvs_twist_filter_alpha); + ibvs_.setJointLimitAvoidance(config_.enable_joint_limit_avoidance, + config_.joint_limit_avoidance_gain, + config_.joint_limit_avoidance_margin_ratio, + config_.joint_limit_avoidance_max_push); + ibvs_.setAlignCameraToVisp(config_.R_camera_to_visp); + ibvs_.setAlignCameraToUrdf(config_.R_camera_to_urdf); return true; } @@ -1040,13 +1029,13 @@ bool TouchScreenApp::validateControlJointNames() const { if (!ibvs_.getChainJointNames(solver_joint_names)) { return false; } - if (solver_joint_names == options_.control_joint_names) { + if (solver_joint_names == config_.control_joint_names) { return true; } std::cerr << "[TouchScreenApp] control_joint_names mismatch with IbvsController IK chain\n"; std::cerr << " app joints :"; - for (const auto& name : options_.control_joint_names) { + for (const auto& name : config_.control_joint_names) { std::cerr << " " << name; } std::cerr << "\n solver joints:"; @@ -1060,14 +1049,14 @@ bool TouchScreenApp::validateControlJointNames() const { bool TouchScreenApp::stepAligning(const double dt) { const auto now = Clock::now(); const double elapsed = std::chrono::duration(now - phase_start_time_).count(); - if (elapsed > options_.align_timeout_s) { + if (elapsed > config_.align_timeout_s) { enterFailed(Status::ALIGN_TIMEOUT); return false; } const double ibvs_dt = std::clamp(dt, 0.005, 0.05); perception::AprilTagPerception::Options perception_options; - perception_options.depth_policy = options_.depth_policy; + perception_options.depth_policy = config_.depth_policy; perception_options.detect_tags = true; perception_options.fetch_encoded = false; if (!perception_->update(perception_options)) { @@ -1121,9 +1110,9 @@ bool TouchScreenApp::stepAligning(const double dt) { } Eigen::Matrix3d R_target = - rotationFromTargetRotvec(options_.target_rx, options_.target_ry, options_.target_rz); + rotationFromTargetRotvec(config_.target_rx, config_.target_ry, config_.target_rz); const Eigen::Matrix3d R_current = current_tag->T_c_t.block<3, 3>(0, 0); - switch (options_.align_mode) { + switch (config_.align_mode) { case AlignMode::POSE_AND_POSITION: break; case AlignMode::RX_RY_AND_POSITION: @@ -1151,10 +1140,10 @@ bool TouchScreenApp::stepAligning(const double dt) { ibvs_.setTrackedTagId(tag_id); const bool refresh_target = !ibvs_target_initialized_ || tracker_.lastSwitched() || - options_.align_mode == AlignMode::POSITION_ONLY; + config_.align_mode == AlignMode::POSITION_ONLY; if (refresh_target) { if (!ibvs_.setTargetFromPointInTag(p_t_target, - options_.hover_target_in_camera, + config_.hover_target_in_camera, target_rotvec.x(), target_rotvec.y(), target_rotvec.z())) { @@ -1197,24 +1186,24 @@ bool TouchScreenApp::stepAligning(const double dt) { return false; } - last_align_error_camera_ = tracker_.lastTargetInCamera() - options_.hover_target_in_camera; + last_align_error_camera_ = tracker_.lastTargetInCamera() - config_.hover_target_in_camera; const Eigen::Vector3d rot_error_vec = rotvecFromRotationMatrix(R_target.transpose() * R_current); bool align_ok = - std::abs(last_align_error_camera_.x()) <= options_.align_error_threshold6[0] && - std::abs(last_align_error_camera_.y()) <= options_.align_error_threshold6[1] && - std::abs(last_align_error_camera_.z()) <= options_.align_error_threshold6[2]; - switch (options_.align_mode) { + std::abs(last_align_error_camera_.x()) <= config_.align_error_threshold6[0] && + std::abs(last_align_error_camera_.y()) <= config_.align_error_threshold6[1] && + std::abs(last_align_error_camera_.z()) <= config_.align_error_threshold6[2]; + switch (config_.align_mode) { case AlignMode::POSE_AND_POSITION: align_ok = align_ok && - std::abs(rot_error_vec.x()) <= options_.align_error_threshold6[3] && - std::abs(rot_error_vec.y()) <= options_.align_error_threshold6[4] && - std::abs(rot_error_vec.z()) <= options_.align_error_threshold6[5]; + std::abs(rot_error_vec.x()) <= config_.align_error_threshold6[3] && + std::abs(rot_error_vec.y()) <= config_.align_error_threshold6[4] && + std::abs(rot_error_vec.z()) <= config_.align_error_threshold6[5]; break; case AlignMode::RX_RY_AND_POSITION: align_ok = align_ok && - std::abs(rot_error_vec.x()) <= options_.align_error_threshold6[3] && - std::abs(rot_error_vec.y()) <= options_.align_error_threshold6[4]; + std::abs(rot_error_vec.x()) <= config_.align_error_threshold6[3] && + std::abs(rot_error_vec.y()) <= config_.align_error_threshold6[4]; break; case AlignMode::POSITION_ONLY: break; @@ -1225,7 +1214,7 @@ bool TouchScreenApp::stepAligning(const double dt) { align_stable_count_ = 0; } - if (align_stable_count_ >= options_.align_stable_frames) { + if (align_stable_count_ >= config_.align_stable_frames) { std::cout << "[TouchScreenApp][ALIGN_REACHED] tag_id=" << tag_id << ", err_xyz=[" << last_align_error_camera_.x() << ", " << last_align_error_camera_.y() << ", " @@ -1263,11 +1252,8 @@ bool TouchScreenApp::stepTouching() { return false; } - if (isTouchTriggered(options_, - last_touch_nonzero_count_, - last_touch_pressure_sum_, - last_touch_pressure_peak_)) { - if (options_.touch_use_speedl) { + if (isTouchTriggered(config_, last_touch_pressure_sum_)) { + if (config_.touch_use_speedl) { logTouchingSpeedLState(); } if (!handleTouchTriggered(true)) { @@ -1277,12 +1263,12 @@ bool TouchScreenApp::stepTouching() { return true; } - if (!options_.touch_use_speedl) { + if (!config_.touch_use_speedl) { last_status_ = Status::TOUCHING; return true; } - if (options_.touch_speedl_forward_l > 0.0) { + if (config_.touch_speedl_forward_l > 0.0) { if (!touch_start_position_valid_) { enterFailed(Status::ROBOT_STATE_FAILED); return false; @@ -1296,16 +1282,13 @@ bool TouchScreenApp::stepTouching() { const double traveled_distance = (current_position_base - touch_start_position_base_).norm(); - if (traveled_distance >= options_.touch_speedl_forward_l) { + if (traveled_distance >= config_.touch_speedl_forward_l) { logTouchingSpeedLState(); if (!updateTouchPressure()) { enterFailed(Status::TACTILE_UNAVAILABLE); return false; } - if (isTouchTriggered(options_, - last_touch_nonzero_count_, - last_touch_pressure_sum_, - last_touch_pressure_peak_)) { + if (isTouchTriggered(config_, last_touch_pressure_sum_)) { if (!handleTouchTriggered(true)) { enterFailed(Status::ROBOT_COMMAND_FAILED); return false; @@ -1326,7 +1309,7 @@ bool TouchScreenApp::stepTouching() { bool TouchScreenApp::stepDwelling() { const double elapsed = std::chrono::duration(Clock::now() - phase_start_time_).count(); - if (elapsed < options_.dwell_time_s) { + if (elapsed < config_.dwell_time_s) { last_status_ = Status::TOUCH_TRIGGERED; return true; } @@ -1347,7 +1330,7 @@ bool TouchScreenApp::stepRetracting() { } const double elapsed = std::chrono::duration(Clock::now() - phase_start_time_).count(); - if (elapsed < options_.retract_duration_s) { + if (elapsed < config_.retract_duration_s) { last_status_ = Status::RETRACTING; return true; } @@ -1383,9 +1366,9 @@ bool TouchScreenApp::readControlledJointPositions(std::vector& q_out) co q_map[state.name] = state.position; } - q_out.resize(options_.control_joint_names.size()); - for (size_t i = 0; i < options_.control_joint_names.size(); ++i) { - const auto it = q_map.find(options_.control_joint_names[i]); + q_out.resize(config_.control_joint_names.size()); + for (size_t i = 0; i < config_.control_joint_names.size(); ++i) { + const auto it = q_map.find(config_.control_joint_names[i]); if (it == q_map.end()) { return false; } @@ -1395,14 +1378,14 @@ bool TouchScreenApp::readControlledJointPositions(std::vector& q_out) co } bool TouchScreenApp::sendJointVelocity(const std::vector& qdot) const { - if (!robot_ || qdot.size() != options_.control_joint_names.size()) { + if (!robot_ || qdot.size() != config_.control_joint_names.size()) { return false; } std::vector cmd; cmd.reserve(qdot.size()); for (size_t i = 0; i < qdot.size(); ++i) { - cmd.push_back({options_.control_joint_names[i], qdot[i]}); + cmd.push_back({config_.control_joint_names[i], qdot[i]}); } try { @@ -1414,7 +1397,7 @@ bool TouchScreenApp::sendJointVelocity(const std::vector& qdot) const { } bool TouchScreenApp::sendZeroJointVelocity() const { - std::vector zero(options_.control_joint_names.size(), 0.0); + std::vector zero(config_.control_joint_names.size(), 0.0); return sendJointVelocity(zero); } @@ -1438,7 +1421,7 @@ bool TouchScreenApp::readCurrentTouchPointPositionBase(Eigen::Vector3d& p_out) c } void TouchScreenApp::logTouchingSpeedLState() const { - if (!robot_ || !options_.touch_use_speedl || phase_ != Phase::TOUCHING) { + if (!robot_ || !config_.touch_use_speedl || phase_ != Phase::TOUCHING) { return; } @@ -1484,8 +1467,8 @@ bool TouchScreenApp::holdCurrentControlledPosition() const { } std::vector joints; - joints.reserve(options_.control_joint_names.size()); - for (const auto& name : options_.control_joint_names) { + joints.reserve(config_.control_joint_names.size()); + for (const auto& name : config_.control_joint_names) { const auto it = q_map.find(name); if (it == q_map.end()) { return false; @@ -1502,16 +1485,16 @@ bool TouchScreenApp::holdCurrentControlledPosition() const { } bool TouchScreenApp::moveToInitPositionIfEnabled() const { - if (!options_.move_to_init_position) { + if (!config_.move_to_init_position) { return true; } - if (!robot_ || options_.init_joint_positions.empty()) { + if (!robot_ || config_.init_joint_positions.empty()) { return false; } try { - auto init_cmd = options_.init_joint_positions; - robot_->moveJ(init_cmd, options_.init_movej_vel, options_.init_movej_acc); + auto init_cmd = config_.init_joint_positions; + robot_->moveJ(init_cmd, config_.init_movej_vel, config_.init_movej_acc); } catch (...) { return false; } @@ -1519,7 +1502,7 @@ bool TouchScreenApp::moveToInitPositionIfEnabled() const { } bool TouchScreenApp::handleTouchTriggered(const bool stop_forward_motion) { - if (options_.dwell_time_s < 0.0) { + if (config_.dwell_time_s < 0.0) { if (!startRetractPhase(Phase::DONE, Status::DONE)) { return false; } @@ -1555,17 +1538,17 @@ bool TouchScreenApp::startTouchPhase() { retract_command_started_ = false; last_status_ = Status::TOUCHING; - if (options_.touch_use_speedl) { + if (config_.touch_use_speedl) { touch_start_position_valid_ = readCurrentTouchPointPositionBase(touch_start_position_base_); - if (options_.touch_speedl_forward_l > 0.0 && !touch_start_position_valid_) { + if (config_.touch_speedl_forward_l > 0.0 && !touch_start_position_valid_) { std::cerr << "[TouchScreenApp] startTouchPhase failed: cannot read touch start pose " << "for speedL distance-based touching" << std::endl; last_status_ = Status::ROBOT_STATE_FAILED; return false; } try { - if (!robot_->speedL(toStdVector6(options_.touch_twist_base), - options_.touch_speedl_acceleration, + if (!robot_->speedL(toStdVector6(config_.touch_twist_base), + config_.touch_speedl_acceleration, 0.0, cmvr::CartesianFrame::Tool)) { last_status_ = Status::ROBOT_COMMAND_FAILED; @@ -1579,8 +1562,8 @@ bool TouchScreenApp::startTouchPhase() { } Eigen::Vector3d touch_forward_delta = Eigen::Vector3d::Zero(); - if (!computeLinearMoveDeltaTool(options_.touch_twist_base, - options_.touch_forward_l, + if (!computeLinearMoveDeltaTool(config_.touch_twist_base, + config_.touch_forward_l, touch_forward_delta)) { last_status_ = Status::INVALID_CONFIG; return false; @@ -1597,10 +1580,10 @@ bool TouchScreenApp::startTouchPhase() { try { if (!robot_->moveL(pose_cmd, - options_.touch_movel_speed, - options_.touch_movel_acceleration, - options_.touch_movel_jerk, - options_.touch_movel_qd_max, + config_.touch_movel_speed, + config_.touch_movel_acceleration, + config_.touch_movel_jerk, + config_.touch_movel_qd_max, false)) { last_status_ = Status::ROBOT_COMMAND_FAILED; return false; @@ -1629,8 +1612,8 @@ bool TouchScreenApp::startRetractPhase(const Phase next_phase_after_retract, } try { - if (!robot_->speedL(toStdVector6(options_.retract_twist_base), - options_.retract_acceleration, + if (!robot_->speedL(toStdVector6(config_.retract_twist_base), + config_.retract_acceleration, 0.0, cmvr::CartesianFrame::Tool)) { return false; @@ -1665,37 +1648,38 @@ void TouchScreenApp::enterFailed(const Status status) { bool TouchScreenApp::updateTouchPressure() { last_touch_pressure_sum_ = 0.0; - last_touch_pressure_peak_ = 0.0; last_touch_nonzero_count_ = 0; if (!dexhand_) { return false; } std::vector tactile_regions; - if (!appendRequestedTactileRegions(options_.tactile_finger, - options_.tactile_region, + if (!appendRequestedTactileRegions(config_.tactile_finger, + config_.tactile_region, tactile_regions)) { return false; } - int nonzero_count = 0; - double sum = 0.0; - double peak = 0.0; + double resultant_value = 0.0; + double resultant_fz = 0.0; try { for (const auto& tactile_region : tactile_regions) { - const auto sensor = dexhand_->getSensorData(tactile_region.first, tactile_region.second); - if (!sensor.valid()) { - return false; - } - accumulateMatrixStats(sensor.view, nonzero_count, sum, peak); + const auto resultant_force = dexhand_->getResultantForce(tactile_region.first, tactile_region.second); + resultant_value += tactileForceValue(resultant_force, config_.tactile_criterion); + resultant_fz += static_cast(resultant_force.fz); } } catch (...) { return false; } - last_touch_nonzero_count_ = nonzero_count; - last_touch_pressure_sum_ = sum; - last_touch_pressure_peak_ = peak; + last_touch_nonzero_count_ = std::abs(resultant_value) > 1e-9 ? 1 : 0; + last_touch_pressure_sum_ = resultant_value; + if (phase_ == Phase::TOUCHING) { + std::cout << "[TouchScreenApp][TOUCHING][TACTILE] fz=" << resultant_fz + << ", criterion_value=" << resultant_value + << ", threshold=" << config_.tactile_pressure_sum_threshold + << std::endl; + } return true; } diff --git a/cmvr-es/applications/src/touch_screen_app_test.cpp b/cmvr-es/applications/src/touch_screen_app_test.cpp index 014beaa6..b2c178fe 100644 --- a/cmvr-es/applications/src/touch_screen_app_test.cpp +++ b/cmvr-es/applications/src/touch_screen_app_test.cpp @@ -59,7 +59,6 @@ void run_touch_once(int u, int v) { << p_c_target.z() << "]" << ", nonzero_count=" << app.lastTouchNonzeroCount() << ", pressure_sum=" << app.lastTouchPressureSum() - << ", pressure_peak=" << app.lastTouchPressurePeak() << ", err_c=[" << app.lastAlignErrorCamera().x() << ", " << app.lastAlignErrorCamera().y() << ", " << app.lastAlignErrorCamera().z() << "]\n"; @@ -72,8 +71,7 @@ void run_touch_once(int u, int v) { } if (app.lastStatus() == cmvr::app::TouchScreenApp::Status::TOUCH_TRIGGERED) { std::cout << "touch triggered, nonzero_count=" << app.lastTouchNonzeroCount() - << ", pressure_sum=" << app.lastTouchPressureSum() - << ", pressure_peak=" << app.lastTouchPressurePeak() << "\n"; + << ", pressure_sum=" << app.lastTouchPressureSum() << "\n"; touch_triggered = true; } if (!step_ok) { diff --git a/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt b/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt index 57ff09fa..e6783dd2 100644 --- a/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt +++ b/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt @@ -2,6 +2,7 @@ rh56dftp_dexhands { id: "hand1" ip: "192.168.1.213" port: 6000 + poll_interval_ms: 10 enable: false } @@ -9,5 +10,27 @@ rh56dftp_dexhands { id: "hand2" ip: "192.168.1.224" port: 6000 + poll_interval_ms: 10 enable: true -} \ No newline at end of file +} + +px_6ax_gen3 { + id: "paxini_tip_1" + serial_port: "/dev/ttyACM1" + sensor_model: "S1813_core" + module_id: 2 + baud_rate: 921600 + distributed_length: 153 + resultant_length: 3 + poll_interval_ms: 5 + response_timeout_ms: 200 + response_header_bytes: 14 + tactile_rows: 1 + tactile_cols: 51 + tactile_finger: "INDEX" + tactile_region: "TIP" + sensor_name: "Paxini Gen3末端压力" + polling_read_mode: PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE + auto_calibrate: false + enable: true +} diff --git a/cmvr-es/common/config/touch_screen_app_config/touch_screen_app_config.pb.txt b/cmvr-es/common/config/touch_screen_app_config/touch_screen_app_config.pb.txt index 512ea159..27a39f9a 100644 --- a/cmvr-es/common/config/touch_screen_app_config/touch_screen_app_config.pb.txt +++ b/cmvr-es/common/config/touch_screen_app_config/touch_screen_app_config.pb.txt @@ -1,5 +1,5 @@ robot_id: "hc01" -dexhand_id: "hand2" +dexhand_id: "paxini_tip_1" camera_id: "right_hand_cam" move_to_init_position_before_start: true move_to_init_position: true @@ -17,7 +17,7 @@ init_joint_positions { } init_joint_positions { joint_name: "R_ELBOW_R" - rad: 1.69508 + rad: 1.61 } init_joint_positions { joint_name: "R_WRIST_P" @@ -44,8 +44,8 @@ depth_policy: TOUCH_SCREEN_DEPTH_POLICY_NONE target_point_method: TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE hover_target_in_camera { - x: 0.005 - y: 0.075 + x: -0.001 + y: 0.08 z: 0.15 } target_rx: 3.14159265358979323846 @@ -111,14 +111,14 @@ pause_after_align_reached: false touch_twist_base { vx: 0.0 - vy: -0.08 + vy: -0.04 vz: 0.0 wx: 0.0 wy: 0.0 wz: 0.0 } touch_use_speedl: true -touch_speedl_acceleration: 3.0 +touch_speedl_acceleration: 6.0 touch_forward_l: 0.064 touch_movel_speed: 0.1 touch_movel_acceleration: 5.0 @@ -130,7 +130,7 @@ touch_movel_qd_max: 2.5 touch_movel_qd_max: 2.5 touch_movel_qd_max: 2.5 touch_movel_qd_max: 2.5 -touch_speedl_forward_l: 0.0255 +touch_speedl_forward_l: 0.035 dwell_time_s: -1 retract_twist_base { @@ -141,11 +141,11 @@ retract_twist_base { wy: 0.0 wz: 0.0 } -retract_acceleration: 3.0 +retract_acceleration: 8.0 retract_duration_s: 0.45 -tactile_finger: TOUCH_SCREEN_FINGER_TYPE_RING +tactile_finger: TOUCH_SCREEN_FINGER_TYPE_INDEX tactile_region: TOUCH_SCREEN_TACTILE_REGION_TIP -tactile_pressure_sum_threshold: 200.0 -tactile_pressure_peak_threshold: 0 -tactile_nonzero_count_threshold: 4 +tactile_criterion: TOUCH_SCREEN_TACTILE_CRITERION_FZ +tactile_pressure_sum_threshold: 1.0 +tactile_nonzero_count_threshold: 1 diff --git a/cmvr-es/common/utils/ffmpeg/include/CameraCapture.h b/cmvr-es/common/utils/ffmpeg/include/CameraCapture.h index 6f902185..57c1bed8 100644 --- a/cmvr-es/common/utils/ffmpeg/include/CameraCapture.h +++ b/cmvr-es/common/utils/ffmpeg/include/CameraCapture.h @@ -15,16 +15,16 @@ extern "C"{ namespace ffmpeg { - struct CameraConfig { - std::string device_name = "0"; // Windows: "0" (dshow), Linux: "/dev/video0" - int width = 1280; - int height = 720; - int fps = 30; - AVPixelFormat pixel_format = AV_PIX_FMT_YUV420P; // 保持原有的像素格式 - }; - class CameraCapture { public: + struct Config { + std::string device_name = "0"; // Windows: "0" (dshow), Linux: "/dev/video0" + int width = 1280; + int height = 720; + int fps = 30; + AVPixelFormat pixel_format = AV_PIX_FMT_YUV420P; // 保持原有的像素格式 + }; + // 回调函数：同时返回AVFrame和cv::Mat using FrameCallback = std::function; @@ -32,7 +32,7 @@ namespace ffmpeg { ~CameraCapture(); // 初始化摄像头 - int initialize(const CameraConfig& config); + int initialize(const Config& config); // 开始捕获 int start_capture(FrameCallback callback); @@ -41,7 +41,7 @@ namespace ffmpeg { void stop_capture(); // 获取当前配置 - CameraConfig get_config() const { return config_; } + Config get_config() const { return config_; } // 获取输入格式上下文 AVFormatContext* get_format_context() { return fmt_ctx_; } @@ -50,7 +50,7 @@ namespace ffmpeg { int get_video_stream_index() const { return video_stream_index_; } private: - CameraConfig config_; + Config config_; AVFormatContext* fmt_ctx_ = nullptr; AVCodecContext* decoder_ctx_ = nullptr; int video_stream_index_ = -1; @@ -77,4 +77,4 @@ namespace ffmpeg { void cleanup(); }; -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/common/utils/ffmpeg/include/RealSenseCapture.h b/cmvr-es/common/utils/ffmpeg/include/RealSenseCapture.h index 66e5578d..2e0ac2ab 100644 --- a/cmvr-es/common/utils/ffmpeg/include/RealSenseCapture.h +++ b/cmvr-es/common/utils/ffmpeg/include/RealSenseCapture.h @@ -19,16 +19,16 @@ extern "C" { namespace ffmpeg { -struct RealSenseConfig { - std::string serial_number = ""; // 设备序列号，为空则使用第一个设备 - int width = 1280; - int height = 720; - int fps = 30; - AVPixelFormat pixel_format = AV_PIX_FMT_BGR24; // RealSense输出BGR格式 -}; - class RealSenseCapture { public: + struct Config { + std::string serial_number = ""; // 设备序列号，为空则使用第一个设备 + int width = 1280; + int height = 720; + int fps = 30; + AVPixelFormat pixel_format = AV_PIX_FMT_BGR24; // RealSense输出BGR格式 + }; + // 回调函数：同时返回AVFrame和cv::Mat using FrameCallback = std::function; @@ -36,7 +36,7 @@ public: ~RealSenseCapture(); // 初始化摄像头 - int initialize(const RealSenseConfig& config); + int initialize(const Config& config); // 开始捕获 int start_capture(FrameCallback callback); @@ -45,7 +45,7 @@ public: void stop_capture(); // 获取当前配置 - RealSenseConfig get_config() const { return config_; } + Config get_config() const { return config_; } // 获取设备信息 std::string get_device_info() const; @@ -54,7 +54,7 @@ public: rs2_intrinsics get_intrinsics() const { return intrinsics_; } private: - RealSenseConfig config_; + Config config_; // RealSense相关 rs2::context ctx_; @@ -91,4 +91,4 @@ private: cv::Mat realsense_to_cvmat(rs2::frame frame); }; -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/common/utils/ffmpeg/include/VideoFrameEncoder.h b/cmvr-es/common/utils/ffmpeg/include/VideoFrameEncoder.h index 68f19152..e46fc790 100644 --- a/cmvr-es/common/utils/ffmpeg/include/VideoFrameEncoder.h +++ b/cmvr-es/common/utils/ffmpeg/include/VideoFrameEncoder.h @@ -19,29 +19,29 @@ extern "C" { namespace ffmpeg { -struct EncoderConfig { - int width = 1280; - int height = 720; - int fps = 30; - int bitrate = 5000000; // 5Mbps - int gop_size = 15; // GOP大小 - int max_b_frames = 2; // 最大B帧数 - AVPixelFormat pixel_format = AV_PIX_FMT_YUV420P; - std::string preset = "fast"; // 编码速度预设 - std::string tune = "zerolatency"; // 调优参数 - std::string profile = "main"; // 编码profile - std::string codec = "libx265"; -}; - class VideoFrameEncoder { public: + struct Config { + int width = 1280; + int height = 720; + int fps = 30; + int bitrate = 5000000; // 5Mbps + int gop_size = 15; // GOP大小 + int max_b_frames = 2; // 最大B帧数 + AVPixelFormat pixel_format = AV_PIX_FMT_YUV420P; + std::string preset = "fast"; // 编码速度预设 + std::string tune = "zerolatency"; // 调优参数 + std::string profile = "main"; // 编码profile + std::string codec = "libx265"; + }; + using PacketCallback = std::function; VideoFrameEncoder(); ~VideoFrameEncoder(); // 初始化编码器 - int initialize(const EncoderConfig& config); + int initialize(const Config& config); // 编码一帧 int encode_frame(AVFrame* frame); @@ -76,7 +76,7 @@ public: int64_t get_frame_index() const { return frame_index_; } private: - EncoderConfig config_; + Config config_; AVCodecContext* encoder_ctx_ = nullptr; SwsContext* sws_ctx_ = nullptr; AVFrame* converted_frame_ = nullptr; @@ -98,4 +98,4 @@ private: int64_t get_current_timestamp(); }; -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/common/utils/ffmpeg/include/VideoWriter.h b/cmvr-es/common/utils/ffmpeg/include/VideoWriter.h index 0ed8d197..add05266 100644 --- a/cmvr-es/common/utils/ffmpeg/include/VideoWriter.h +++ b/cmvr-es/common/utils/ffmpeg/include/VideoWriter.h @@ -12,22 +12,22 @@ extern "C"{ namespace ffmpeg { - struct WriterConfig { - std::string output_file = "output.mp4"; - int width = 1280; - int height = 720; - int fps = 30; - int bitrate = 5000000; - AVRational time_base = {1, 90000}; // 默认时间基 - }; - class VideoWriter { public: + struct Config { + std::string output_file = "output.mp4"; + int width = 1280; + int height = 720; + int fps = 30; + int bitrate = 5000000; + AVRational time_base = {1, 90000}; // 默认时间基 + }; + VideoWriter(); ~VideoWriter(); // 初始化写入器 - int initialize(const WriterConfig& config, AVCodecContext* codec_ctx); + int initialize(const Config& config, AVCodecContext* codec_ctx); // 写入数据包 int write_packet(AVPacket* packet, int64_t pts, int64_t dts); @@ -47,7 +47,7 @@ namespace ffmpeg { } private: - WriterConfig config_; + Config config_; AVFormatContext* fmt_ctx_ = nullptr; AVStream* video_stream_ = nullptr; AVCodecContext* codec_ctx_ref_ = nullptr; @@ -60,4 +60,4 @@ namespace ffmpeg { void cleanup(); }; -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/common/utils/ffmpeg/src/CameraCapture.cpp b/cmvr-es/common/utils/ffmpeg/src/CameraCapture.cpp index 001e0c18..9347009d 100644 --- a/cmvr-es/common/utils/ffmpeg/src/CameraCapture.cpp +++ b/cmvr-es/common/utils/ffmpeg/src/CameraCapture.cpp @@ -22,7 +22,7 @@ CameraCapture::~CameraCapture() { if (sws_ctx_) sws_freeContext(sws_ctx_); } -int CameraCapture::initialize(const CameraConfig& config) { +int CameraCapture::initialize(const Config& config) { config_ = config; // 初始化设备 @@ -260,4 +260,4 @@ void CameraCapture::cleanup() { } } -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/common/utils/ffmpeg/src/RealSenseCapture.cpp b/cmvr-es/common/utils/ffmpeg/src/RealSenseCapture.cpp index d1165a49..499e2612 100644 --- a/cmvr-es/common/utils/ffmpeg/src/RealSenseCapture.cpp +++ b/cmvr-es/common/utils/ffmpeg/src/RealSenseCapture.cpp @@ -17,7 +17,7 @@ RealSenseCapture::~RealSenseCapture() { if (rgb_frame_) av_frame_free(&rgb_frame_); } -int RealSenseCapture::initialize(const RealSenseConfig& config) { +int RealSenseCapture::initialize(const Config& config) { std::lock_guard lock(mutex_); config_ = config; @@ -298,4 +298,4 @@ std::string RealSenseCapture::get_device_info() const { } } -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/common/utils/ffmpeg/src/VideoFrameEncoder.cpp b/cmvr-es/common/utils/ffmpeg/src/VideoFrameEncoder.cpp index 38a9850b..fc215319 100644 --- a/cmvr-es/common/utils/ffmpeg/src/VideoFrameEncoder.cpp +++ b/cmvr-es/common/utils/ffmpeg/src/VideoFrameEncoder.cpp @@ -23,7 +23,7 @@ int64_t VideoFrameEncoder::get_current_timestamp() { return av_rescale_q(elapsed, {1, 1000000}, time_base_); } -int VideoFrameEncoder::initialize(const EncoderConfig& config) { +int VideoFrameEncoder::initialize(const Config& config) { config_ = config; // 查找编码器 @@ -237,4 +237,4 @@ void VideoFrameEncoder::cleanup() { } } -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp b/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp index da9c0553..402565ca 100644 --- a/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp +++ b/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp @@ -10,7 +10,7 @@ VideoWriter::~VideoWriter() { cleanup(); } -int VideoWriter::initialize(const WriterConfig& config, AVCodecContext* codec_ctx) { +int VideoWriter::initialize(const Config& config, AVCodecContext* codec_ctx) { config_ = config; codec_ctx_ref_ = codec_ctx; @@ -150,4 +150,4 @@ void VideoWriter::cleanup() { codec_ctx_ref_ = nullptr; } -} // namespace ffmpeg \ No newline at end of file +} // namespace ffmpeg diff --git a/cmvr-es/device_manager/CMakeLists.txt b/cmvr-es/device_manager/CMakeLists.txt index 2944ba2f..0b97b456 100644 --- a/cmvr-es/device_manager/CMakeLists.txt +++ b/cmvr-es/device_manager/CMakeLists.txt @@ -13,6 +13,7 @@ target_link_libraries(device_manager PRIVATE cmvr_es::device::ffmpeg_microphone cmvr_es::device::realsense_camera cmvr_es::device::rh56dftp_dexhand + cmvr_es::device::px_6ax_gen3 cmvr::device::head_esp32 osqp cmvr_es::device::humanoid_robot diff --git a/cmvr-es/device_manager/src/device_factory.cpp b/cmvr-es/device_manager/src/device_factory.cpp index 9f27705d..fba92e51 100644 --- a/cmvr-es/device_manager/src/device_factory.cpp +++ b/cmvr-es/device_manager/src/device_factory.cpp @@ -10,6 +10,7 @@ #include "devices/microphone/ffmpeg_microphone/include/ffmpeg_microphone.h" #include "devices/camera/realsense_camera/include/realsense_camera.h" #include "devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h" +#include "devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h" #include "devices/robot/humanoid_robot/include/humanoid_robot.h" //#include "robot/ti5_robot/ti5_robot.h" #include "cmvr/api/system_command.pb.h" @@ -92,6 +93,9 @@ std::shared_ptr DeviceFactory::create_dexhand_(const XmlNode& c if (cfg.getNodeName() == "RH56DFTP") { return std::make_shared(cfg); } + else if (cfg.getNodeName() == "PX6AXGen3") { + return std::make_shared(cfg); + } else { LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName(); return nullptr; @@ -177,6 +181,7 @@ std::shared_ptr DeviceFactory::create_speaker_(const XmlNode& c template std::shared_ptr DeviceFactory::createFromConfig(const config::UVCCameraConfig& cfg); template std::shared_ptr DeviceFactory::createFromConfig(const config::RealSenseCameraConfig& cfg); template std::shared_ptr DeviceFactory::createFromConfig(const config::RH56DFTPDexHandConfig& cfg); +template std::shared_ptr DeviceFactory::createFromConfig(const config::PX6AXGen3& cfg); template std::shared_ptr DeviceFactory::createFromConfig(const config::FFMpegMicroPhoneConfig& cfg); template std::shared_ptr DeviceFactory::createFromConfig(const config::FFMpegSpeakerConfig& cfg); template @@ -205,6 +210,10 @@ std::shared_ptr DeviceFactory::createFromConfig(const ConfigType& cf { return std::make_shared(cfg); } + else if constexpr (std::is_same_v) + { + return std::make_shared(cfg); + } else { LOG(ERROR) << "[DeviceFactory]: Unsupported dexhand device type "; @@ -244,4 +253,3 @@ std::shared_ptr DeviceFactory::createFromConfig(const ConfigType& cf return nullptr; } } - diff --git a/cmvr-es/device_manager/src/device_manager.cpp b/cmvr-es/device_manager/src/device_manager.cpp index 2271a337..805516f9 100644 --- a/cmvr-es/device_manager/src/device_manager.cpp +++ b/cmvr-es/device_manager/src/device_manager.cpp @@ -281,6 +281,21 @@ void DeviceManager::init_devices_() { std::get>(devices_[id])->init(); } + for (int i = 0; i < dexhand_cfg.px_6ax_gen3().size(); i++) { + auto dexhand = dexhand_cfg.px_6ax_gen3(i); + if (!dexhand.enable()) + continue; + auto id = dexhand.id(); + if (devices_.count(id)) { + LOG(ERROR) << "[DeviceManager]: Duplicate DexHand Device ID" << id; + throw runtime_error("[DeviceManager]: Duplicate DexHand Device ID" + id); + } + std::cout << "DexHand[" << i << "]: " << id << std::endl; + auto device = dev_factory_->createFromConfig(dexhand); + devices_[id] = device; + std::get>(devices_[id])->init(); + } + auto robot_node = dmgr_node.getChild("Robot"); for (auto &node: robot_node.getChildren()){ string id = node.getAttrString("id"); @@ -373,4 +388,3 @@ void DeviceManager::get_os_info_() { } } } - diff --git a/cmvr-es/devices/dexhand/CMakeLists.txt b/cmvr-es/devices/dexhand/CMakeLists.txt index 4286a533..f383dbb7 100644 --- a/cmvr-es/devices/dexhand/CMakeLists.txt +++ b/cmvr-es/devices/dexhand/CMakeLists.txt @@ -1 +1,2 @@ -add_subdirectory(rh56dftp_dexhand) \ No newline at end of file +add_subdirectory(rh56dftp_dexhand) +add_subdirectory(px_6ax_gen3) diff --git a/cmvr-es/devices/dexhand/abstract_dexhand.h b/cmvr-es/devices/dexhand/abstract_dexhand.h index 0ead75ff..852bd6f4 100644 --- a/cmvr-es/devices/dexhand/abstract_dexhand.h +++ b/cmvr-es/devices/dexhand/abstract_dexhand.h @@ -6,6 +6,7 @@ #define CMVR_ES_ABSTRACT_DEXHAND_H #pragma once +#include #include #include #include @@ -18,7 +19,27 @@ namespace cmvr::device { class AbstractDexHand : public AbstractDevice { public: - using TactilePoint = uint16_t; + struct TactilePoint { + int32_t fx{0}; + int32_t fy{0}; + int32_t fz{0}; + + static TactilePoint fromFz(const int32_t value) { + return TactilePoint{0, 0, value}; + } + + double magnitude() const { + return std::sqrt(static_cast(fx) * static_cast(fx) + + static_cast(fy) * static_cast(fy) + + static_cast(fz) * static_cast(fz)); + } + + bool isZero() const { + return fx == 0 && fy == 0 && fz == 0; + } + }; + + using ResultantForce = TactilePoint; enum class FingerType { PINKY, @@ -124,6 +145,7 @@ namespace cmvr::device { virtual void setTactilePollingRegions(const std::vector& regions) = 0; virtual std::vector getSensorData() = 0; virtual TactileRegionData getSensorData(FingerType finger, TactileRegion region) = 0; + virtual ResultantForce getResultantForce(FingerType finger, TactileRegion region) = 0; virtual void setPositions(const std::vector&) { throw std::logic_error("setPositions is not supported by this dexhand abstraction."); diff --git a/cmvr-es/devices/dexhand/px_6ax_gen3/CMakeLists.txt b/cmvr-es/devices/dexhand/px_6ax_gen3/CMakeLists.txt new file mode 100644 index 00000000..599da518 --- /dev/null +++ b/cmvr-es/devices/dexhand/px_6ax_gen3/CMakeLists.txt @@ -0,0 +1,28 @@ +add_library(px_6ax_gen3 SHARED src/px_6ax_gen3.cpp) + +target_include_directories(px_6ax_gen3 PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) + +add_library(cmvr_es::device::px_6ax_gen3 ALIAS px_6ax_gen3) + +target_link_libraries(px_6ax_gen3 + PUBLIC cmvr_es::hardware + PRIVATE + cmvr_es::proto + glog +) + +install(TARGETS px_6ax_gen3 LIBRARY DESTINATION lib) + +add_executable(px_6ax_gen3_test + src/px_6ax_gen3_test.cpp +) + +target_link_libraries(px_6ax_gen3_test PRIVATE + cmvr_es::device::px_6ax_gen3 + cmvr_es::common + cmvr_es::proto + glog + gtest + gtest_main + pthread +) diff --git a/cmvr-es/devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h b/cmvr-es/devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h new file mode 100644 index 00000000..5cff0970 --- /dev/null +++ b/cmvr-es/devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h @@ -0,0 +1,132 @@ +// +// Created by Codex on 2026/4/3. +// + +#ifndef PX_6AX_GEN3_DEXHAND_H +#define PX_6AX_GEN3_DEXHAND_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "cmvr/config/dexhand_config/dexhand_config.pb.h" +#include "hardware/include/abstract_serial_transport.h" +#include "../../abstract_dexhand.h" + +namespace cmvr::device { + + class PX6AXGen3 final : public AbstractDexHand { + public: + using FingerType = AbstractDexHand::FingerType; + using ResultantForce = AbstractDexHand::ResultantForce; + using TactilePoint = AbstractDexHand::TactilePoint; + using TactileRegion = AbstractDexHand::TactileRegion; + using TactileRegionKey = AbstractDexHand::TactileRegionKey; + using TactileRegionData = AbstractDexHand::TactileRegionData; + using Status = AbstractDexHand::Status; + + enum class PollingReadMode { + DISTRIBUTED_FORCE, + RESULTANT_FORCE, + DISTRIBUTED_AND_RESULTANT_FORCE + }; + + explicit PX6AXGen3(const XmlNode& cfg); + explicit PX6AXGen3(const config::PX6AXGen3& cfg); + ~PX6AXGen3() override; + + void init() override; + void start() override; + void stop() override; + + Status state() const override; + std::string lastError() const override; + void getState(DexHandState& state) override; + + void setAngles(const std::vector& finger_joint_angles) override; + void setTactilePollingRegions(const std::vector& regions) override; + std::vector getSensorData() override; + TactileRegionData getSensorData(FingerType finger, TactileRegion region) override; + ResultantForce getResultantForce(FingerType finger, TactileRegion region) override; + + private: + struct SensorSnapshot { + std::vector tactile_points; + std::array resultant_force_tenths{}; + int rows{0}; + int cols{0}; + bool tactile_valid{false}; + bool resultant_valid{false}; + }; + + static PollingReadMode parsePollingReadMode(config::PX6AXGen3PollingReadMode mode); + static PollingReadMode parsePollingReadModeName(std::string value); + + void parseXmlConfig(); + void initializeSnapshot(); + void ensureConnected(); + void closeConnection(); + void calibrateIfRequested(); + void refreshSensorData(); + void refreshSensorData(bool read_distributed, bool read_resultant); + void refreshSensorDataWithRetry(int max_attempts, std::chrono::milliseconds retry_interval); + void pollingLoop(); + void ensureSensorReady(bool allow_background, bool require_tactile, bool require_resultant); + + bool isSupportedRegion(FingerType finger, TactileRegion region) const; + bool isSnapshotReady(bool require_tactile, bool require_resultant) const; + TactileRegionData buildSupportedRegionSnapshot() const; + std::pair resolvePollingReadSelection() const; + + void clearOperationalError(); + void handleRefreshFailure(const std::string& error, bool had_valid_snapshot); + void transitionTo(Status next_state); + void enterFault(const std::string& error); + bool isOperationalState(Status lifecycle) const; + + std::unique_ptr<::cmvr::AbstractSerialTransport> serial_; + config::PX6AXGen3 config_; + + mutable std::mutex lifecycle_mutex_; + Status lifecycle_state_{Status::CREATED}; + std::string last_error_; + + std::string port_name_; + std::string sensor_model_{"S1813_elite"}; + std::string sensor_name_{"PX-6AX GEN3末端压力"}; + int module_id_{0}; + int device_address_{1}; + int baud_rate_{921600}; + int distributed_length_{0}; + int resultant_length_{3}; + int response_header_bytes_{14}; + int tactile_rows_{1}; + int tactile_cols_{0}; + int response_timeout_ms_{200}; + FingerType tactile_finger_{FingerType::INDEX}; + TactileRegion tactile_region_{TactileRegion::TIP}; + PollingReadMode polling_read_mode_{PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE}; + bool auto_calibrate_{false}; + bool calibration_performed_{false}; + + mutable std::mutex refresh_mutex_; + mutable std::mutex snapshot_mutex_; + SensorSnapshot latest_snapshot_; + + mutable std::mutex polling_mutex_; + std::condition_variable polling_cv_; + bool requested_polling_{true}; + std::thread polling_thread_; + std::atomic polling_thread_running_{false}; + std::chrono::milliseconds poll_interval_{10}; + }; +} + +#endif //PX_6AX_GEN3_DEXHAND_H diff --git a/cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3.cpp b/cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3.cpp new file mode 100644 index 00000000..139a5568 --- /dev/null +++ b/cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3.cpp @@ -0,0 +1,864 @@ +// +// Created by Codex on 2026/4/3. +// + +#include "../include/px_6ax_gen3.h" + +#include +#include +#include +#include + +#include "hardware/include/posix_serial_transport.h" + +using namespace cmvr::device; + +namespace { + using FingerType = AbstractDexHand::FingerType; + using TactilePoint = AbstractDexHand::TactilePoint; + using TactileRegion = AbstractDexHand::TactileRegion; + using TactileRegionKey = AbstractDexHand::TactileRegionKey; + using TactileRegionData = AbstractDexHand::TactileRegionData; + using Status = AbstractDexHand::Status; + + enum class CommandType { + CALIBRATION, + RESULTANT_FORCE, + DISTRIBUTED_FORCE + }; + + uint8_t calculateLrc(const std::vector& data) { + uint8_t lrc = 0; + for (const uint8_t byte : data) { + lrc = static_cast((lrc + byte) & 0xFFU); + } + return static_cast((~lrc + 1U) & 0xFFU); + } + + FingerType parseFingerTypeName(std::string value) { + std::transform(value.begin(), value.end(), value.begin(), [](unsigned char ch) { + return static_cast(std::toupper(ch)); + }); + + if (value == "PINKY") { + return FingerType::PINKY; + } + if (value == "RING") { + return FingerType::RING; + } + if (value == "MIDDLE" || value == "MIDDLE_FINGER") { + return FingerType::MIDDLE; + } + if (value == "INDEX") { + return FingerType::INDEX; + } + if (value == "THUMB") { + return FingerType::THUMB; + } + if (value == "PALM") { + return FingerType::PALM; + } + throw std::invalid_argument("Unsupported tactile finger type: " + value); + } + + TactileRegion parseTactileRegionName(std::string value) { + std::transform(value.begin(), value.end(), value.begin(), [](unsigned char ch) { + return static_cast(std::toupper(ch)); + }); + + if (value == "TIP") { + return TactileRegion::TIP; + } + if (value == "FINGER") { + return TactileRegion::FINGER; + } + if (value == "PAD") { + return TactileRegion::PAD; + } + if (value == "THUMB_MIDDLE") { + return TactileRegion::THUMB_MIDDLE; + } + if (value == "PALM_PAD") { + return TactileRegion::PALM_PAD; + } + throw std::invalid_argument("Unsupported tactile region type: " + value); + } + + int parseSignedByte(const uint8_t byte) { + return byte <= 127U ? static_cast(byte) : static_cast(byte) - 256; + } + + std::vector buildCommandFrame(const CommandType command, + const int device_address, + const int distributed_length) { + std::vector frame; + switch (command) { + case CommandType::CALIBRATION: + frame = { + 0x55, 0xAA, 0x0A, 0x00, + static_cast(device_address), + 0x00, 0x79, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01 + }; + break; + case CommandType::RESULTANT_FORCE: + frame = { + 0x55, 0xAA, 0x09, 0x00, + static_cast(device_address), + 0x00, 0xFB, 0xF0, 0x03, 0x00, 0x00, 0x03, 0x00 + }; + break; + case CommandType::DISTRIBUTED_FORCE: + frame = { + 0x55, 0xAA, 0x09, 0x00, + static_cast(device_address), + 0x00, 0xFB, 0x0E, 0x04, 0x00, 0x00, + static_cast(distributed_length & 0xFF), + static_cast((distributed_length >> 8) & 0xFF) + }; + break; + } + + frame.push_back(calculateLrc(frame)); + return frame; + } + + std::vector extractPayload(const std::vector& response, + const size_t frame_offset, + const size_t response_header_bytes, + const size_t payload_length) { + if (response.size() < frame_offset + response_header_bytes + payload_length) { + throw std::runtime_error("PX-6AX GEN3 response shorter than expected payload window."); + } + return std::vector( + response.begin() + static_cast(frame_offset + response_header_bytes), + response.begin() + static_cast(frame_offset + response_header_bytes + payload_length)); + } + + size_t findResponseFrameOffset(const std::vector& response, + const size_t expected_frame_bytes) { + if (response.size() < expected_frame_bytes) { + return std::string::npos; + } + + for (size_t offset = 0; offset + expected_frame_bytes <= response.size(); ++offset) { + if (response[offset] == 0xAA && response[offset + 1] == 0x55) { + return offset; + } + } + + return std::string::npos; + } + + std::string previewBytesHex(const std::vector& data, const size_t max_bytes = 32U) { + std::ostringstream stream; + const size_t preview_size = std::min(max_bytes, data.size()); + for (size_t i = 0; i < preview_size; ++i) { + if (i > 0) { + stream << ' '; + } + stream << std::hex << std::uppercase; + stream.width(2); + stream.fill('0'); + stream << static_cast(data[i]); + } + if (data.size() > preview_size) { + stream << " ..."; + } + return stream.str(); + } + + std::vector readFramedResponse(cmvr::AbstractSerialTransport& serial, + const size_t expected_frame_bytes, + const size_t max_prefix_bytes, + const std::chrono::milliseconds timeout, + const std::string& response_name) { + const auto deadline = std::chrono::steady_clock::now() + timeout; + std::vector response; + const bool read_ok = serial.read(expected_frame_bytes, timeout, response); + auto frame_offset = findResponseFrameOffset(response, expected_frame_bytes); + + while (frame_offset == std::string::npos && + response.size() < expected_frame_bytes + max_prefix_bytes) { + const auto now = std::chrono::steady_clock::now(); + if (now >= deadline) { + break; + } + + std::vector extra_bytes; + const auto remaining_timeout = std::chrono::duration_cast(deadline - now); + if (!serial.read(1U, remaining_timeout, extra_bytes)) { + break; + } + + response.insert(response.end(), extra_bytes.begin(), extra_bytes.end()); + frame_offset = findResponseFrameOffset(response, expected_frame_bytes); + } + + if (!read_ok && frame_offset == std::string::npos) { + throw std::runtime_error( + "Failed to read " + response_name + ": " + serial.lastError() + + ", raw=" + previewBytesHex(response)); + } + + return response; + } + + std::array parseResultantPayload(const std::vector& payload) { + if (payload.size() < 3) { + throw std::runtime_error("PX-6AX GEN3 resultant payload must contain at least 3 bytes."); + } + + return { + parseSignedByte(payload[0]), + parseSignedByte(payload[1]), + static_cast(payload[2]) + }; + } + + std::vector parseDistributedPayload(const std::vector& payload) { + const size_t point_count = payload.size() / 3; + std::vector points; + points.reserve(point_count); + + for (size_t i = 0; i < point_count; ++i) { + points.push_back(TactilePoint{ + parseSignedByte(payload[i * 3]), + parseSignedByte(payload[i * 3 + 1]), + static_cast(payload[i * 3 + 2]) + }); + } + return points; + } + + std::pair resolveMatrixShape(const int configured_rows, + const int configured_cols, + const size_t point_count) { + if (point_count == 0U) { + return {0, 0}; + } + + if (configured_rows > 0 && configured_cols > 0 && + static_cast(configured_rows * configured_cols) == point_count) { + return {configured_rows, configured_cols}; + } + + if (configured_rows > 0 && configured_cols <= 0 && + point_count % static_cast(configured_rows) == 0U) { + return {configured_rows, static_cast(point_count / static_cast(configured_rows))}; + } + + if (configured_cols > 0 && configured_rows <= 0 && + point_count % static_cast(configured_cols) == 0U) { + return {static_cast(point_count / static_cast(configured_cols)), configured_cols}; + } + + return {1, static_cast(point_count)}; + } +} + +PX6AXGen3::PollingReadMode PX6AXGen3::parsePollingReadMode(const config::PX6AXGen3PollingReadMode mode) { + switch (mode) { + case config::PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE: + return PollingReadMode::DISTRIBUTED_FORCE; + case config::PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE: + return PollingReadMode::RESULTANT_FORCE; + case config::PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE: + return PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE; + default: + throw std::invalid_argument( + "Unsupported PX6AXGen3 polling_read_mode enum value: " + + std::to_string(static_cast(mode))); + } +} + +PX6AXGen3::PollingReadMode PX6AXGen3::parsePollingReadModeName(std::string value) { + std::transform(value.begin(), value.end(), value.begin(), [](unsigned char ch) { + if (ch == '-' || ch == ' ' || ch == '+') { + return '_'; + } + return static_cast(std::toupper(ch)); + }); + + if (value == "DISTRIBUTED_FORCE" || + value == "PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE") { + return PollingReadMode::DISTRIBUTED_FORCE; + } + if (value == "RESULTANT_FORCE" || + value == "PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE") { + return PollingReadMode::RESULTANT_FORCE; + } + if (value == "DISTRIBUTED_AND_RESULTANT_FORCE" || + value == "RESULTANT_AND_DISTRIBUTED_FORCE" || + value == "BOTH" || + value == "PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE") { + return PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE; + } + + throw std::invalid_argument("Unsupported PX6AXGen3 polling_read_mode: " + value); +} + +PX6AXGen3::PX6AXGen3(const XmlNode& cfg) + : AbstractDexHand(cfg), + serial_(std::make_unique<::cmvr::PosixSerialTransport>()) { + parseXmlConfig(); + initializeSnapshot(); +} + +PX6AXGen3::PX6AXGen3(const config::PX6AXGen3& cfg) + : serial_(std::make_unique<::cmvr::PosixSerialTransport>()), + config_(cfg) { + id_ = config_.id(); + port_name_ = config_.serial_port(); + if (!config_.sensor_model().empty()) { + sensor_model_ = config_.sensor_model(); + } + module_id_ = std::max(0, config_.module_id()); + device_address_ = module_id_ + 1; + if (config_.baud_rate() > 0) { + baud_rate_ = config_.baud_rate(); + } + distributed_length_ = config_.distributed_length(); + if (distributed_length_ <= 0) { + throw std::invalid_argument("PX6AXGen3 requires config.distributed_length to be explicitly configured."); + } + if (config_.resultant_length() > 0) { + resultant_length_ = config_.resultant_length(); + } + if (config_.response_header_bytes() > 0) { + response_header_bytes_ = config_.response_header_bytes(); + } + if (config_.tactile_rows() > 0) { + tactile_rows_ = config_.tactile_rows(); + } + if (config_.tactile_cols() > 0) { + tactile_cols_ = config_.tactile_cols(); + } + if (config_.response_timeout_ms() > 0) { + response_timeout_ms_ = config_.response_timeout_ms(); + } + if (!config_.tactile_finger().empty()) { + tactile_finger_ = parseFingerTypeName(config_.tactile_finger()); + } + if (!config_.tactile_region().empty()) { + tactile_region_ = parseTactileRegionName(config_.tactile_region()); + } + if (!config_.sensor_name().empty()) { + sensor_name_ = config_.sensor_name(); + } + polling_read_mode_ = parsePollingReadMode(config_.polling_read_mode()); + auto_calibrate_ = config_.auto_calibrate(); + if (config_.poll_interval_ms() > 0) { + poll_interval_ = std::chrono::milliseconds(config_.poll_interval_ms()); + } + initializeSnapshot(); +} + +PX6AXGen3::~PX6AXGen3() { + stop(); +} + +void PX6AXGen3::init() { + try { + ensureConnected(); + refreshSensorDataWithRetry( + 5, + std::chrono::milliseconds(std::max(10, response_timeout_ms_ / 2))); + } catch (const std::exception& e) { + enterFault("[PX6AXGen3](init): " + std::string(e.what())); + throw; + } +} + +void PX6AXGen3::start() { + if (polling_thread_running_.exchange(true, std::memory_order_acq_rel)) { + transitionTo(Status::STREAMING); + return; + } + + try { + if (polling_thread_.joinable()) { + polling_thread_.join(); + } + + ensureConnected(); + if (requested_polling_) { + refreshSensorDataWithRetry( + 5, + std::chrono::milliseconds(std::max(10, response_timeout_ms_ / 2))); + } + + polling_thread_ = std::thread(&PX6AXGen3::pollingLoop, this); + transitionTo(Status::STREAMING); + polling_cv_.notify_all(); + } catch (const std::exception& e) { + polling_thread_running_.store(false, std::memory_order_release); + enterFault("[PX6AXGen3](start): " + std::string(e.what())); + throw; + } +} + +void PX6AXGen3::stop() { + polling_thread_running_.store(false, std::memory_order_release); + polling_cv_.notify_all(); + + if (polling_thread_.joinable() && polling_thread_.get_id() != std::this_thread::get_id()) { + polling_thread_.join(); + } + + closeConnection(); + + if (state() != Status::FAULT) { + transitionTo(Status::STOPPED); + } +} + +PX6AXGen3::Status PX6AXGen3::state() const { + std::lock_guard lock(lifecycle_mutex_); + return lifecycle_state_; +} + +std::string PX6AXGen3::lastError() const { + std::lock_guard lock(lifecycle_mutex_); + return last_error_; +} + +void PX6AXGen3::getState(DexHandState& state_out) { + DexHandState next_state{}; + next_state.is_initialized = isOperationalState(state()); + + { + std::lock_guard lock(snapshot_mutex_); + if (latest_snapshot_.resultant_valid) { + next_state.hands[0].force = latest_snapshot_.resultant_force_tenths[2]; + } + } + + const auto error = lastError(); + if (!error.empty()) { + next_state.hands[0].error_message.push_back(error); + } + + state_out = std::move(next_state); +} + +void PX6AXGen3::setAngles(const std::vector&) { + throw std::logic_error("PX6AXGen3 is a tactile sensor only and does not support setAngles."); +} + +void PX6AXGen3::setTactilePollingRegions(const std::vector& regions) { + for (const auto& region : regions) { + if (!isSupportedRegion(region.first, region.second)) { + throw std::invalid_argument("PX6AXGen3 only exposes INDEX/TIP tactile data."); + } + } + + { + std::lock_guard lock(polling_mutex_); + requested_polling_ = !regions.empty(); + } + polling_cv_.notify_all(); + + if (!regions.empty() && isOperationalState(state())) { + refreshSensorData(); + } +} + +std::vector PX6AXGen3::getSensorData() { + ensureSensorReady(true, true, false); + std::vector regions; + regions.push_back(buildSupportedRegionSnapshot()); + return regions; +} + +TactileRegionData PX6AXGen3::getSensorData(FingerType finger, TactileRegion region) { + if (!isSupportedRegion(finger, region)) { + throw std::invalid_argument("PX6AXGen3 only supports INDEX/TIP tactile data."); + } + + ensureSensorReady(true, true, false); + return buildSupportedRegionSnapshot(); +} + +PX6AXGen3::ResultantForce PX6AXGen3::getResultantForce(FingerType finger, TactileRegion region) { + if (!isSupportedRegion(finger, region)) { + throw std::invalid_argument("PX6AXGen3 only supports INDEX/TIP tactile data."); + } + + ensureSensorReady(true, false, true); + + std::lock_guard lock(snapshot_mutex_); + if (!latest_snapshot_.resultant_valid) { + throw std::runtime_error("PX6AXGen3 resultant-force snapshot is not ready."); + } + + return ResultantForce{ + latest_snapshot_.resultant_force_tenths[0], + latest_snapshot_.resultant_force_tenths[1], + latest_snapshot_.resultant_force_tenths[2] + }; +} + +void PX6AXGen3::parseXmlConfig() { + id_ = cfg_.getAttrString("id"); + port_name_ = cfg_.getAttrString("serial"); + sensor_model_ = cfg_.getAttrDefault("sensor_model", sensor_model_); + sensor_name_ = cfg_.getAttrDefault("sensor_name", sensor_name_); + module_id_ = std::max(0, cfg_.getAttrDefault("module_id", module_id_)); + device_address_ = module_id_ + 1; + baud_rate_ = cfg_.getAttrDefault("baud_rate", baud_rate_); + distributed_length_ = cfg_.getAttrDefault("distributed_length", 0); + if (distributed_length_ <= 0) { + throw std::invalid_argument("PX6AXGen3 requires XML attribute distributed_length to be explicitly configured."); + } + resultant_length_ = cfg_.getAttrDefault("resultant_length", resultant_length_); + response_header_bytes_ = cfg_.getAttrDefault("response_header_bytes", response_header_bytes_); + tactile_rows_ = cfg_.getAttrDefault("tactile_rows", tactile_rows_); + tactile_cols_ = cfg_.getAttrDefault("tactile_cols", tactile_cols_); + response_timeout_ms_ = cfg_.getAttrDefault("response_timeout_ms", response_timeout_ms_); + tactile_finger_ = parseFingerTypeName(cfg_.getAttrDefault("tactile_finger", "INDEX")); + tactile_region_ = parseTactileRegionName(cfg_.getAttrDefault("tactile_region", "TIP")); + polling_read_mode_ = parsePollingReadModeName( + cfg_.getAttrDefault("polling_read_mode", "DISTRIBUTED_AND_RESULTANT_FORCE")); + auto_calibrate_ = cfg_.getAttrDefault("auto_calibrate", false); + poll_interval_ = std::chrono::milliseconds(std::max(1, cfg_.getAttrDefault("poll_interval_ms", static_cast(poll_interval_.count())))); +} + +void PX6AXGen3::initializeSnapshot() { + std::lock_guard lock(snapshot_mutex_); + latest_snapshot_ = SensorSnapshot{}; +} + +void PX6AXGen3::ensureConnected() { + if (port_name_.empty()) { + throw std::runtime_error("PX6AXGen3 serial port is not configured."); + } + + if (!serial_) { + serial_ = std::make_unique<::cmvr::PosixSerialTransport>(); + } + + if (!serial_->isOpen()) { + if (!serial_->open(::cmvr::AbstractSerialTransport::Config{port_name_, baud_rate_})) { + throw std::runtime_error("Failed to open PX-6AX GEN3 serial transport: " + serial_->lastError()); + } + calibration_performed_ = false; + } + + calibrateIfRequested(); + if (!isOperationalState(state())) { + transitionTo(Status::INITIALIZED); + } +} + +void PX6AXGen3::closeConnection() { + if (serial_) { + if (!serial_->close()) { + LOG(WARNING) << "[PX6AXGen3] Failed to close serial transport: " << serial_->lastError(); + } + } + calibration_performed_ = false; +} + +void PX6AXGen3::calibrateIfRequested() { + if (!auto_calibrate_ || calibration_performed_) { + return; + } + + const auto frame = buildCommandFrame(CommandType::CALIBRATION, device_address_, distributed_length_); + if (!serial_->flushInput()) { + throw std::runtime_error("Failed to flush serial input before calibration: " + serial_->lastError()); + } + if (!serial_->write(frame)) { + throw std::runtime_error("Failed to send calibration command: " + serial_->lastError()); + } + const auto response = readFramedResponse( + *serial_, + 2U, + frame.size(), + std::chrono::milliseconds(response_timeout_ms_), + "calibration response"); + if (findResponseFrameOffset(response, 2U) == std::string::npos) { + throw std::runtime_error( + "PX-6AX GEN3 calibration command did not receive a valid acknowledgment. raw=" + + previewBytesHex(response)); + } + calibration_performed_ = true; +} + +void PX6AXGen3::refreshSensorData() { + const auto [read_distributed, read_resultant] = resolvePollingReadSelection(); + refreshSensorData(read_distributed, read_resultant); +} + +void PX6AXGen3::refreshSensorData(const bool read_distributed, const bool read_resultant) { + if (!read_distributed && !read_resultant) { + throw std::invalid_argument("PX6AXGen3 refreshSensorData requires at least one data type to read."); + } + + std::lock_guard refresh_lock(refresh_mutex_); + const bool had_valid_snapshot = isSnapshotReady(read_distributed, read_resultant); + + try { + ensureConnected(); + + std::vector tactile_points; + int rows = 0; + int cols = 0; + bool tactile_valid = false; + + if (read_distributed) { + const auto distributed_frame = buildCommandFrame(CommandType::DISTRIBUTED_FORCE, device_address_, distributed_length_); + if (!serial_->flushInput()) { + throw std::runtime_error("Failed to flush serial input before distributed-force read: " + serial_->lastError()); + } + if (!serial_->write(distributed_frame)) { + throw std::runtime_error("Failed to send distributed-force command: " + serial_->lastError()); + } + const size_t distributed_frame_bytes = + static_cast(response_header_bytes_) + static_cast(distributed_length_); + const auto distributed_response = readFramedResponse( + *serial_, + distributed_frame_bytes, + distributed_frame.size(), + std::chrono::milliseconds(response_timeout_ms_), + "distributed tactile response"); + const auto distributed_frame_offset = + findResponseFrameOffset(distributed_response, distributed_frame_bytes); + if (distributed_frame_offset == std::string::npos) { + throw std::runtime_error( + "Invalid distributed tactile response header. raw=" + previewBytesHex(distributed_response)); + } + + tactile_points = parseDistributedPayload(extractPayload( + distributed_response, + distributed_frame_offset, + static_cast(response_header_bytes_), + static_cast(distributed_length_))); + std::tie(rows, cols) = resolveMatrixShape(tactile_rows_, tactile_cols_, tactile_points.size()); + tactile_valid = !tactile_points.empty(); + } + + std::array resultant_force_tenths{}; + bool resultant_valid = false; + if (read_resultant) { + try { + const auto resultant_frame = buildCommandFrame(CommandType::RESULTANT_FORCE, device_address_, distributed_length_); + if (!serial_->flushInput()) { + throw std::runtime_error("Failed to flush serial input before resultant-force read: " + serial_->lastError()); + } + if (!serial_->write(resultant_frame)) { + throw std::runtime_error("Failed to send resultant-force command: " + serial_->lastError()); + } + const size_t resultant_frame_bytes = + static_cast(response_header_bytes_) + static_cast(resultant_length_); + const auto resultant_response = readFramedResponse( + *serial_, + resultant_frame_bytes, + resultant_frame.size(), + std::chrono::milliseconds(response_timeout_ms_), + "resultant-force response"); + const auto resultant_frame_offset = + findResponseFrameOffset(resultant_response, resultant_frame_bytes); + if (resultant_frame_offset != std::string::npos) { + resultant_force_tenths = parseResultantPayload(extractPayload( + resultant_response, + resultant_frame_offset, + static_cast(response_header_bytes_), + static_cast(resultant_length_))); + resultant_valid = true; + } else { + throw std::runtime_error( + "Invalid resultant-force response header. raw=" + previewBytesHex(resultant_response)); + } + } catch (const std::exception& e) { + if (!read_distributed) { + throw; + } + LOG(WARNING) << "[PX6AXGen3] Failed to refresh resultant force: " << e.what(); + } + } + + std::lock_guard lock(snapshot_mutex_); + if (read_distributed) { + latest_snapshot_.tactile_points = std::move(tactile_points); + latest_snapshot_.rows = rows; + latest_snapshot_.cols = cols; + latest_snapshot_.tactile_valid = tactile_valid; + } + if (read_resultant) { + latest_snapshot_.resultant_force_tenths = resultant_force_tenths; + latest_snapshot_.resultant_valid = resultant_valid; + } + + clearOperationalError(); + } catch (const std::exception& e) { + handleRefreshFailure("[PX6AXGen3](refreshSensorData): " + std::string(e.what()), had_valid_snapshot); + throw; + } +} + +void PX6AXGen3::refreshSensorDataWithRetry(const int max_attempts, + const std::chrono::milliseconds retry_interval) { + std::string last_error; + + for (int attempt = 0; attempt < max_attempts; ++attempt) { + try { + refreshSensorData(); + return; + } catch (const std::exception& e) { + last_error = e.what(); + } + + if (attempt + 1 < max_attempts) { + std::this_thread::sleep_for(retry_interval); + } + } + + throw std::runtime_error(last_error.empty() ? "PX6AXGen3 refresh retries exhausted." : last_error); +} + +void PX6AXGen3::pollingLoop() { + auto next_poll_deadline = std::chrono::steady_clock::now(); + std::unique_lock lock(polling_mutex_); + while (polling_thread_running_.load(std::memory_order_acquire)) { + if (!requested_polling_) { + polling_cv_.wait(lock, [this]() { + return !polling_thread_running_.load(std::memory_order_acquire) || requested_polling_; + }); + next_poll_deadline = std::chrono::steady_clock::now(); + continue; + } + + lock.unlock(); + try { + refreshSensorData(); + } catch (const std::exception& e) { + LOG(ERROR) << e.what(); + } + lock.lock(); + + next_poll_deadline += poll_interval_; + const auto now = std::chrono::steady_clock::now(); + if (next_poll_deadline <= now) { + next_poll_deadline = now; + continue; + } + + polling_cv_.wait_until(lock, next_poll_deadline, [this]() { + return !polling_thread_running_.load(std::memory_order_acquire); + }); + } +} + +void PX6AXGen3::ensureSensorReady(const bool allow_background, + const bool require_tactile, + const bool require_resultant) { + const auto [polls_tactile, polls_resultant] = resolvePollingReadSelection(); + const bool background_covers_request = + (!require_tactile || polls_tactile) && + (!require_resultant || polls_resultant); + const bool background_ready = allow_background && + background_covers_request && + polling_thread_running_.load(std::memory_order_acquire) && + isSnapshotReady(require_tactile, require_resultant); + + if (!background_ready) { + refreshSensorData(require_tactile, require_resultant); + } +} + +bool PX6AXGen3::isSupportedRegion(const FingerType finger, const TactileRegion region) const { + return finger == tactile_finger_ && region == tactile_region_; +} + +bool PX6AXGen3::isSnapshotReady(const bool require_tactile, const bool require_resultant) const { + std::lock_guard lock(snapshot_mutex_); + return (!require_tactile || latest_snapshot_.tactile_valid) && + (!require_resultant || latest_snapshot_.resultant_valid); +} + +TactileRegionData PX6AXGen3::buildSupportedRegionSnapshot() const { + auto snapshot = std::make_shared>(); + int rows = 0; + int cols = 0; + + { + std::lock_guard lock(snapshot_mutex_); + if (!latest_snapshot_.tactile_valid) { + throw std::runtime_error("PX6AXGen3 tactile snapshot is not ready."); + } + *snapshot = latest_snapshot_.tactile_points; + rows = latest_snapshot_.rows; + cols = latest_snapshot_.cols; + } + + return TactileRegionData( + tactile_finger_, + tactile_region_, + AbstractDexHand::TactileMatrixView{snapshot->data(), rows, cols}, + sensor_name_.c_str(), + snapshot); +} + +std::pair PX6AXGen3::resolvePollingReadSelection() const { + switch (polling_read_mode_) { + case PollingReadMode::DISTRIBUTED_FORCE: + return {true, false}; + case PollingReadMode::RESULTANT_FORCE: + return {false, true}; + case PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE: + return {true, true}; + } + + throw std::logic_error("Unsupported PX6AXGen3 polling read mode."); +} + +void PX6AXGen3::clearOperationalError() { + std::lock_guard lock(lifecycle_mutex_); + if (lifecycle_state_ == Status::INITIALIZED || lifecycle_state_ == Status::STREAMING) { + last_error_.clear(); + } +} + +void PX6AXGen3::handleRefreshFailure(const std::string& error, const bool had_valid_snapshot) { + closeConnection(); + + if (had_valid_snapshot) { + { + std::lock_guard lock(lifecycle_mutex_); + if (lifecycle_state_ == Status::INITIALIZED || lifecycle_state_ == Status::STREAMING) { + last_error_ = error; + } + } + LOG(WARNING) << error; + return; + } + + enterFault(error); +} + +void PX6AXGen3::transitionTo(const Status next_state) { + std::lock_guard lock(lifecycle_mutex_); + lifecycle_state_ = next_state; + if (next_state == Status::INITIALIZED || next_state == Status::STREAMING) { + last_error_.clear(); + } +} + +void PX6AXGen3::enterFault(const std::string& error) { + { + std::lock_guard lock(lifecycle_mutex_); + lifecycle_state_ = Status::FAULT; + last_error_ = error; + } + + polling_thread_running_.store(false, std::memory_order_release); + polling_cv_.notify_all(); + closeConnection(); + + LOG(ERROR) << error; +} + +bool PX6AXGen3::isOperationalState(const Status lifecycle) const { + return lifecycle == Status::INITIALIZED || lifecycle == Status::STREAMING; +} diff --git a/cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3_test.cpp b/cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3_test.cpp new file mode 100644 index 00000000..15675d05 --- /dev/null +++ b/cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3_test.cpp @@ -0,0 +1,170 @@ +#include "gtest/gtest.h" + +#include "../include/px_6ax_gen3.h" +#include "cmvr/config/dexhand_config/dexhand_config.pb.h" +#include "common/utils/config_helper/include/config_helper.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +using DexHand = cmvr::device::AbstractDexHand; +using PX6AXGen3 = cmvr::device::PX6AXGen3; + +DexHand::FingerType parseFingerType(const std::string& value) { + if (value == "PINKY") { + return DexHand::FingerType::PINKY; + } + if (value == "RING") { + return DexHand::FingerType::RING; + } + if (value == "MIDDLE" || value == "MIDDLE_FINGER") { + return DexHand::FingerType::MIDDLE; + } + if (value == "THUMB") { + return DexHand::FingerType::THUMB; + } + if (value == "PALM") { + return DexHand::FingerType::PALM; + } + return DexHand::FingerType::INDEX; +} + +DexHand::TactileRegion parseTactileRegion(const std::string& value) { + if (value == "FINGER") { + return DexHand::TactileRegion::FINGER; + } + if (value == "PAD") { + return DexHand::TactileRegion::PAD; + } + if (value == "THUMB_MIDDLE") { + return DexHand::TactileRegion::THUMB_MIDDLE; + } + if (value == "PALM_PAD") { + return DexHand::TactileRegion::PALM_PAD; + } + return DexHand::TactileRegion::TIP; +} + +struct StopGuard { + std::shared_ptr hand; + + ~StopGuard() { + if (!hand) { + return; + } + try { + hand->stop(); + } catch (...) { + } + } +}; + +const cmvr::config::PX6AXGen3* findTestConfig(const cmvr::config::DexHandConfig& dexhand_config) { + const cmvr::config::PX6AXGen3* candidate = nullptr; + for (const auto& config : dexhand_config.px_6ax_gen3()) { + if (config.enable() && !config.serial_port().empty()) { + return &config; + } + if (candidate == nullptr && !config.serial_port().empty()) { + candidate = &config; + } + } + return candidate; +} + +DexHand::ResultantForce readFirstValidResultantForce(PX6AXGen3& hand, + const DexHand::FingerType finger, + const DexHand::TactileRegion region, + const int max_attempts, + const std::chrono::milliseconds retry_interval) { + std::string last_error; + + for (int attempt = 0; attempt < max_attempts; ++attempt) { + try { + return hand.getResultantForce(finger, region); + } catch (const std::exception& ex) { + last_error = ex.what(); + } + + if (attempt + 1 < max_attempts) { + std::this_thread::sleep_for(retry_interval); + } + } + + throw std::runtime_error("Failed to read PX6AXGen3 resultant force: " + last_error); +} + +DexHand::ResultantForce readStateResultantForce(PX6AXGen3& hand) { + cmvr::device::DexHandState state; + hand.getState(state); + return DexHand::ResultantForce{0, 0, state.hands[0].force}; +} + +} // namespace + +TEST(PX6AXGen3Test, PrintResultantForceOnly) { + cmvr::config::DexHandConfig dexhand_config; + ASSERT_TRUE(cmvr::ConfigHelper::getDexHandsConfig(dexhand_config)); + + const cmvr::config::PX6AXGen3* hand_config = findTestConfig(dexhand_config); + ASSERT_NE(hand_config, nullptr); + + const auto& test_config = *hand_config; + + auto hand = std::make_shared(test_config); + ASSERT_NO_THROW(hand->init()); + ASSERT_NO_THROW(hand->start()); + StopGuard stop_guard{hand}; + + EXPECT_EQ(hand->state(), DexHand::Status::STREAMING); + + const DexHand::FingerType finger = parseFingerType(test_config.tactile_finger()); + const DexHand::TactileRegion region = parseTactileRegion(test_config.tactile_region()); + const int warmup_ms = test_config.poll_interval_ms() > 0 + ? test_config.poll_interval_ms() * 5 + : 200; + const int iterations = 1000000; + const int read_interval_ms = test_config.poll_interval_ms() > 0 + ? test_config.poll_interval_ms() + : 10; + if (warmup_ms > 0) { + std::this_thread::sleep_for(std::chrono::milliseconds(warmup_ms)); + } + + bool read_once = false; + for (int iteration = 0; iteration < iterations; ++iteration) { + DexHand::ResultantForce resultant_force{}; + ASSERT_NO_THROW(resultant_force = readFirstValidResultantForce( + *hand, + finger, + region, + 10, + std::chrono::milliseconds(100))); + + DexHand::ResultantForce state_force{}; + ASSERT_NO_THROW(state_force = readStateResultantForce(*hand)); + + std::cout << "[PX6AXGen3Test] iter=" << (iteration + 1) + << " resultant_fx=" << resultant_force.fx + << " resultant_fy=" << resultant_force.fy + << " resultant_fz=" << resultant_force.fz + << " state_resultant_fz=" << state_force.fz + << std::endl; + + read_once = true; + + if (read_interval_ms > 0 && iteration + 1 < iterations) { + std::this_thread::sleep_for(std::chrono::milliseconds(read_interval_ms)); + } + } + + EXPECT_TRUE(read_once); +} diff --git a/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h b/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h index d0861802..c6556a7e 100644 --- a/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h +++ b/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h @@ -47,6 +47,7 @@ namespace cmvr::device { class RH56DFTPDexhand final : public AbstractDexHand { public: using FingerType = AbstractDexHand::FingerType; + using ResultantForce = AbstractDexHand::ResultantForce; using TactileRegion = AbstractDexHand::TactileRegion; using TactileRegionKey = AbstractDexHand::TactileRegionKey; using TactileRegionData = AbstractDexHand::TactileRegionData; @@ -72,6 +73,7 @@ namespace cmvr::device { void setTactilePollingRegions(const std::vector& regions) override; std::vector getSensorData() override; TactileRegionData getSensorData(FingerType finger, TactileRegion region) override; + ResultantForce getResultantForce(FingerType finger, TactileRegion region) override; private: struct TactileBufferLease { diff --git a/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_tactile_buffer.h b/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_tactile_buffer.h index 8d333105..1eebd2d4 100644 --- a/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_tactile_buffer.h +++ b/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_tactile_buffer.h @@ -4,6 +4,7 @@ #include #include +#include #include #include "../../abstract_dexhand.h" @@ -37,17 +38,17 @@ namespace cmvr::device { static constexpr size_t POINT_COUNT = 1062; void clear() { - values_.fill(0); + values_.fill(AbstractDexHand::TactilePoint{}); } void assignRegionData(AbstractDexHand::FingerType finger, AbstractDexHand::TactileRegion region, - const AbstractDexHand::TactilePoint* input, + const uint16_t* input, int valueCount) { const auto& layout = regionLayout(finger, region); auto* destination = values_.data() + layout.offset; - const auto sanitize_point = [](const AbstractDexHand::TactilePoint value) { - return value > static_cast(4096) ? 0 : value; + const auto sanitize_point = [](const uint16_t value) { + return AbstractDexHand::TactilePoint::fromFz(value > 4096U ? 0 : static_cast(value)); }; int input_index = 0; diff --git a/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp b/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp index b546ef63..24010134 100644 --- a/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp +++ b/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp @@ -328,6 +328,9 @@ RH56DFTPDexhand::RH56DFTPDexhand(const config::RH56DFTPDexHandConfig& cfg) if (dexhandCfg_.port() > 0) { port_ = dexhandCfg_.port(); } + if (dexhandCfg_.poll_interval_ms() > 0) { + tactile_poll_interval_ = std::chrono::milliseconds(dexhandCfg_.poll_interval_ms()); + } initializeTactileBuffers(); } @@ -465,10 +468,30 @@ TactileRegionData RH56DFTPDexhand::getSensorData(FingerType finger, TactileRegio return acquireRegionData(finger, region); } +RH56DFTPDexhand::ResultantForce RH56DFTPDexhand::getResultantForce(FingerType finger, TactileRegion region) { + const auto region_data = getSensorData(finger, region); + if (!region_data.valid()) { + throw std::runtime_error("RH56DFTPDexhand tactile region data is not ready."); + } + + ResultantForce resultant{}; + for (int row = 0; row < region_data.view.rows; ++row) { + const auto* row_data = region_data.view.rowData(row); + for (int col = 0; col < region_data.view.cols; ++col) { + resultant.fx += row_data[col].fx; + resultant.fy += row_data[col].fy; + resultant.fz += row_data[col].fz; + } + } + return resultant; +} + void RH56DFTPDexhand::parseXmlConfig() { id_ = cfg_.getAttrString("id"); ip_address_ = cfg_.getAttrString("ip_address"); port_ = cfg_.getAttrDefault("port", kDefaultPort); + tactile_poll_interval_ = std::chrono::milliseconds( + std::max(1, cfg_.getAttrDefault("poll_interval_ms", static_cast(tactile_poll_interval_.count())))); } void RH56DFTPDexhand::initializeTactileBuffers() { diff --git a/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand_test.cpp b/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand_test.cpp index 9c917999..1cea87b7 100644 --- a/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand_test.cpp +++ b/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand_test.cpp @@ -99,7 +99,7 @@ TEST(RH56DFTPDexhandLatencyTest, ReadConfiguredRegionAndMeasureLatency) { last_pressure_sum = 0.0; last_pressure_peak = 0.0; for (int index = 0; index < region_data.view.pointCount(); ++index) { - const double pressure = static_cast(region_data.view.data[index]); + const double pressure = static_cast(region_data.view.data[index].fz); last_pressure_sum += pressure; if (pressure > last_pressure_peak) { last_pressure_peak = pressure; @@ -134,4 +134,4 @@ TEST(RH56DFTPDexhandLatencyTest, ReadConfiguredRegionAndMeasureLatency) { << "\n"; EXPECT_GT(point_count, 0); -} \ No newline at end of file +} diff --git a/cmvr-es/hardware/CMakeLists.txt b/cmvr-es/hardware/CMakeLists.txt index 04e2acbd..6e67fd08 100644 --- a/cmvr-es/hardware/CMakeLists.txt +++ b/cmvr-es/hardware/CMakeLists.txt @@ -1,9 +1,11 @@ add_library(hardware SHARED src/serial_interface.cpp src/esp32_serial_port.cpp + src/posix_serial_transport.cpp ) target_include_directories(hardware PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ) diff --git a/cmvr-es/hardware/include/abstract_serial_transport.h b/cmvr-es/hardware/include/abstract_serial_transport.h new file mode 100644 index 00000000..1d978070 --- /dev/null +++ b/cmvr-es/hardware/include/abstract_serial_transport.h @@ -0,0 +1,38 @@ +// +// Created by Codex on 2026/4/3. +// + +#ifndef CMVR_ES_ABSTRACT_SERIAL_TRANSPORT_H +#define CMVR_ES_ABSTRACT_SERIAL_TRANSPORT_H + +#include +#include +#include +#include +#include + +namespace cmvr { + + class AbstractSerialTransport { + public: + struct Config { + std::string port_name; + int baud_rate{0}; + }; + + virtual ~AbstractSerialTransport() = default; + + virtual bool open(const Config& config) = 0; + virtual bool close() = 0; + virtual bool isOpen() const = 0; + virtual bool flushInput() = 0; + virtual bool write(const std::vector& data) = 0; + virtual bool read( + size_t min_size, + std::chrono::milliseconds timeout, + std::vector& out_buffer) = 0; + virtual std::string lastError() const = 0; + }; +} + +#endif // CMVR_ES_ABSTRACT_SERIAL_TRANSPORT_H diff --git a/cmvr-es/hardware/include/posix_serial_transport.h b/cmvr-es/hardware/include/posix_serial_transport.h new file mode 100644 index 00000000..92b92c76 --- /dev/null +++ b/cmvr-es/hardware/include/posix_serial_transport.h @@ -0,0 +1,41 @@ +// +// Created by Codex on 2026/4/3. +// + +#ifndef CMVR_ES_POSIX_SERIAL_TRANSPORT_H +#define CMVR_ES_POSIX_SERIAL_TRANSPORT_H + +#include +#include + +#include "abstract_serial_transport.h" + +namespace cmvr { + + class PosixSerialTransport final : public AbstractSerialTransport { + public: + PosixSerialTransport() = default; + ~PosixSerialTransport() override; + + bool open(const Config& config) override; + bool close() override; + bool isOpen() const override; + bool flushInput() override; + bool write(const std::vector& data) override; + bool read( + size_t min_size, + std::chrono::milliseconds timeout, + std::vector& out_buffer) override; + std::string lastError() const override; + + private: + bool closeUnlocked(); + void setLastErrorUnlocked(std::string error); + + int fd_{-1}; + std::string last_error_; + mutable std::mutex io_mutex_; + }; +} + +#endif // CMVR_ES_POSIX_SERIAL_TRANSPORT_H diff --git a/cmvr-es/hardware/src/posix_serial_transport.cpp b/cmvr-es/hardware/src/posix_serial_transport.cpp new file mode 100644 index 00000000..93dd70f0 --- /dev/null +++ b/cmvr-es/hardware/src/posix_serial_transport.cpp @@ -0,0 +1,226 @@ +// +// Created by Codex on 2026/4/3. +// + +#include "../include/posix_serial_transport.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace cmvr { + + PosixSerialTransport::~PosixSerialTransport() { + close(); + } + + bool PosixSerialTransport::open(const Config& config) { + std::lock_guard lock(io_mutex_); + closeUnlocked(); + last_error_.clear(); + + if (config.port_name.empty()) { + setLastErrorUnlocked("Serial port name must not be empty."); + return false; + } + if (config.baud_rate <= 0) { + setLastErrorUnlocked("Serial baud rate must be positive."); + return false; + } + + fd_ = ::open(config.port_name.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK); + if (fd_ < 0) { + setLastErrorUnlocked( + "Failed to open serial port " + config.port_name + ": " + std::string(std::strerror(errno))); + return false; + } + + struct termios2 options {}; + if (::ioctl(fd_, TCGETS2, &options) != 0) { + setLastErrorUnlocked("Failed to query serial attributes: " + std::string(std::strerror(errno))); + closeUnlocked(); + return false; + } + + options.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXOFF | IXANY); + options.c_oflag &= ~OPOST; + options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN); + options.c_cflag &= ~(CSIZE | PARENB | CBAUD); + options.c_cflag |= (CS8 | CLOCAL | CREAD | BOTHER); + options.c_cflag &= ~CRTSCTS; + options.c_cflag &= ~CSTOPB; + options.c_cc[VMIN] = 0; + options.c_cc[VTIME] = 0; + options.c_ispeed = static_cast(config.baud_rate); + options.c_ospeed = static_cast(config.baud_rate); + + if (::ioctl(fd_, TCFLSH, TCIOFLUSH) != 0) { + setLastErrorUnlocked("Failed to flush serial buffers: " + std::string(std::strerror(errno))); + closeUnlocked(); + return false; + } + + if (::ioctl(fd_, TCSETS2, &options) != 0) { + setLastErrorUnlocked("Failed to apply serial attributes: " + std::string(std::strerror(errno))); + closeUnlocked(); + return false; + } + + return true; + } + + bool PosixSerialTransport::close() { + std::lock_guard lock(io_mutex_); + last_error_.clear(); + return closeUnlocked(); + } + + bool PosixSerialTransport::isOpen() const { + std::lock_guard lock(io_mutex_); + return fd_ >= 0; + } + + bool PosixSerialTransport::flushInput() { + std::lock_guard lock(io_mutex_); + last_error_.clear(); + if (fd_ < 0) { + setLastErrorUnlocked("Serial port is not open."); + return false; + } + if (::ioctl(fd_, TCFLSH, TCIFLUSH) != 0) { + setLastErrorUnlocked("Failed to flush serial input: " + std::string(std::strerror(errno))); + return false; + } + return true; + } + + bool PosixSerialTransport::write(const std::vector& data) { + std::lock_guard lock(io_mutex_); + last_error_.clear(); + if (fd_ < 0) { + setLastErrorUnlocked("Serial port is not open."); + return false; + } + + size_t offset = 0; + while (offset < data.size()) { + const ssize_t written = ::write(fd_, data.data() + offset, data.size() - offset); + if (written > 0) { + offset += static_cast(written); + continue; + } + + if (written < 0 && (errno == EAGAIN || errno == EWOULDBLOCK)) { + pollfd descriptor{}; + descriptor.fd = fd_; + descriptor.events = POLLOUT; + if (::poll(&descriptor, 1, 50) < 0) { + setLastErrorUnlocked( + "Polling serial write readiness failed: " + std::string(std::strerror(errno))); + return false; + } + continue; + } + + setLastErrorUnlocked("Writing to serial port failed: " + std::string(std::strerror(errno))); + return false; + } + + return true; + } + + bool PosixSerialTransport::read( + const size_t min_size, + const std::chrono::milliseconds timeout, + std::vector& out_buffer) { + std::lock_guard lock(io_mutex_); + last_error_.clear(); + out_buffer.clear(); + if (fd_ < 0) { + setLastErrorUnlocked("Serial port is not open."); + return false; + } + + out_buffer.reserve(min_size + 16U); + + const auto deadline = std::chrono::steady_clock::now() + timeout; + std::array temp{}; + while (out_buffer.size() < min_size) { + const auto now = std::chrono::steady_clock::now(); + if (now >= deadline) { + break; + } + + const auto remaining = std::chrono::duration_cast(deadline - now); + const int wait_ms = std::max(1, static_cast(remaining.count())); + + pollfd descriptor{}; + descriptor.fd = fd_; + descriptor.events = POLLIN; + const int rc = ::poll(&descriptor, 1, wait_ms); + if (rc < 0) { + if (errno == EINTR) { + continue; + } + setLastErrorUnlocked( + "Polling serial read readiness failed: " + std::string(std::strerror(errno))); + return false; + } + if (rc == 0 || (descriptor.revents & POLLIN) == 0) { + continue; + } + + const ssize_t bytes_read = ::read(fd_, temp.data(), temp.size()); + if (bytes_read > 0) { + out_buffer.insert(out_buffer.end(), temp.begin(), temp.begin() + bytes_read); + continue; + } + if (bytes_read < 0 && (errno == EAGAIN || errno == EWOULDBLOCK || errno == EINTR)) { + continue; + } + if (bytes_read < 0) { + setLastErrorUnlocked("Reading serial port failed: " + std::string(std::strerror(errno))); + return false; + } + } + + if (out_buffer.size() < min_size) { + setLastErrorUnlocked( + "Serial read timeout, expected at least " + std::to_string(min_size) + + " bytes, got " + std::to_string(out_buffer.size()) + "."); + return false; + } + + return true; + } + + std::string PosixSerialTransport::lastError() const { + std::lock_guard lock(io_mutex_); + return last_error_; + } + + bool PosixSerialTransport::closeUnlocked() { + if (fd_ < 0) { + return true; + } + + const int fd = fd_; + fd_ = -1; + if (::close(fd) != 0) { + setLastErrorUnlocked("Failed to close serial port: " + std::string(std::strerror(errno))); + return false; + } + return true; + } + + void PosixSerialTransport::setLastErrorUnlocked(std::string error) { + last_error_ = std::move(error); + } +} diff --git a/cmvr-es/service/grpc/src/grpc_dexhand_service.cpp b/cmvr-es/service/grpc/src/grpc_dexhand_service.cpp index 37b053fa..6f08f5dc 100644 --- a/cmvr-es/service/grpc/src/grpc_dexhand_service.cpp +++ b/cmvr-es/service/grpc/src/grpc_dexhand_service.cpp @@ -72,7 +72,8 @@ void fillSensorData(const AbstractDexHand::TactileRegionData& tactile_data, auto* row_data = sensor_data->add_data(); const auto* values = tactile_data.view.rowData(row); for (int col = 0; col < tactile_data.view.cols; ++col) { - row_data->add_values(static_cast(values[col])); + // Keep the existing scalar wire format by exposing the normal-force projection. + row_data->add_values(static_cast(values[col].fz)); } } } diff --git a/cmvr-es/service/grpc/src/grpc_hlc_service.cpp b/cmvr-es/service/grpc/src/grpc_hlc_service.cpp index 5adbe90e..4c21ec43 100644 --- a/cmvr-es/service/grpc/src/grpc_hlc_service.cpp +++ b/cmvr-es/service/grpc/src/grpc_hlc_service.cpp @@ -93,7 +93,7 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr: bool align_reached = false; bool touch_triggered = false; auto last_logged_status = cmvr::app::TouchScreenApp::Status::IDLE; - constexpr double kControlDt = 0.01; + constexpr double kControlDt = 0.001; auto next_step_time = std::chrono::steady_clock::now(); while (touch_app_.isBusy()) { if (context != nullptr && context->IsCancelled()) { @@ -122,8 +122,7 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr: << cmvr::app::TouchScreenApp::phaseToString(touch_app_.phase()) << ", active_tag=" << touch_app_.lastActiveTagId() << ", nonzero_count=" << touch_app_.lastTouchNonzeroCount() - << ", pressure_sum=" << touch_app_.lastTouchPressureSum() - << ", pressure_peak=" << touch_app_.lastTouchPressurePeak(); + << ", pressure_sum=" << touch_app_.lastTouchPressureSum(); last_logged_status = touch_app_.lastStatus(); } diff --git a/compile_commands.json b/compile_commands.json index 585d1203..f50be0c1 100644 --- a/compile_commands.json +++ b/compile_commands.json @@ -1,967 +1,985 @@ [ { 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-I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/matplotplusplus/1.2.0/include -I/home/lgv/cmvr/cmvr-es/cmake-build-debug/_protobuf -I/home/lgv/cmvr/cmvr-es/include -I/home/lgv/cmvr/cmvr-es/cmvr-es/devices -I/home/lgv/cmvr/cmvr-es/cmvr-es/utils -I/home/lgv/cmvr/cmvr-es/cmvr-es -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/osqp/v0.6.3/include/osqp -I/home/lgv/cmvr/cmvr-es/cmvr-es/common -I/home/lgv/cmvr/cmvr-es/protos -isystem /home/lgv/cmvr/cmvr-es/dependency/x86/third_party/grpc/v1.76.0/include -g -std=gnu++17 -fPIC -fdiagnostics-color=always -o cmvr-es/common/CMakeFiles/common.dir/utils/ffmpeg/src/VideoWriter.cpp.o -c /home/lgv/cmvr/cmvr-es/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp", + "command": "/usr/bin/g++-11 -DPROTOBUF_USE_DLLS -Dcommon_EXPORTS -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/coal/v3.0.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/console_bridge/v1.0.1/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/eigenpy/v3.0.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/Eigen3/v3.4.0 -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/example-robot-data/v4.3.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/fcl/v0.7.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/x264/v165/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/x265/v215/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/ffmpeg-jetson/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/ffmpeg/v4.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/gflags/v2.2.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/glog/v0.5.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/gtest/v1.17.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/jrl-cmakemodules/v1.1.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/jsoncpp/v1.9.7/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/libccd/v2.0.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/lodepng/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/mujoco/v3.3.7/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/osqp/v0.6.3/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/osqp-eigen/v0.10.1/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/PCAN-Basic/v4.10.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/peak-linux-driver/v8.20.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/pinocchio/v3.6.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/pybind11/v3.0.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/realsense/v2.56.5/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/tinyxml2/v11.0.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/toppra/v0.6.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/urdfdom/v5.0.3/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/urdfdom_headers/v2.0.1/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/opencv/4.13.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/opencv/4.13.0/include/opencv4 -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/modbus/3.1.11/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/visp/3.7.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/mainif/0.0.5/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/matplotplusplus/1.2.0/include -I/home/lgv/cmvr/cmvr-es/cmake-build-debug/_protobuf -I/home/lgv/cmvr/cmvr-es/include -I/home/lgv/cmvr/cmvr-es/cmvr-es/devices -I/home/lgv/cmvr/cmvr-es/cmvr-es/utils -I/home/lgv/cmvr/cmvr-es/cmvr-es -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/osqp/v0.6.3/include/osqp -I/home/lgv/cmvr/cmvr-es/cmvr-es/common -I/home/lgv/cmvr/cmvr-es/protos -isystem /home/lgv/cmvr/cmvr-es/dependency/x86/third_party/grpc/v1.76.0/include -g -std=gnu++17 -fPIC -o cmvr-es/common/CMakeFiles/common.dir/utils/ffmpeg/src/VideoWriter.cpp.o -c /home/lgv/cmvr/cmvr-es/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp", "file": "/home/lgv/cmvr/cmvr-es/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp", "output": "cmvr-es/common/CMakeFiles/common.dir/utils/ffmpeg/src/VideoWriter.cpp.o" } diff --git a/protos/cmvr/config/dexhand_config/dexhand_config.proto b/protos/cmvr/config/dexhand_config/dexhand_config.proto index 85020216..3c555da9 100644 --- a/protos/cmvr/config/dexhand_config/dexhand_config.proto +++ b/protos/cmvr/config/dexhand_config/dexhand_config.proto @@ -6,10 +6,39 @@ message RH56DFTPDexHandConfig{ string ip = 2; int32 port = 3; bool enable = 4; + int32 poll_interval_ms = 5; +} + +enum PX6AXGen3PollingReadMode { + PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE = 0; + PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE = 1; + PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE = 2; +} + +message PX6AXGen3{ + string id = 1; + string serial_port = 2; + string sensor_model = 3; + int32 module_id = 4; + int32 baud_rate = 5; + int32 distributed_length = 6; + int32 resultant_length = 7; + int32 poll_interval_ms = 8; + bool auto_calibrate = 9; + bool enable = 10; + int32 response_timeout_ms = 11; + int32 tactile_rows = 12; + int32 tactile_cols = 13; + int32 response_header_bytes = 14; + string tactile_finger = 15; + string tactile_region = 16; + string sensor_name = 17; + PX6AXGen3PollingReadMode polling_read_mode = 18; } message DexHandConfig{ repeated RH56DFTPDexHandConfig rh56dftp_dexhands = 1; -} \ No newline at end of file + repeated PX6AXGen3 px_6ax_gen3 = 2; +} diff --git a/protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto b/protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto index 245d1346..b0c22c83 100644 --- a/protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto +++ b/protos/cmvr/config/touch_screen_app_config/touch_screen_app_config.proto @@ -69,6 +69,11 @@ enum TouchScreenTactileRegion { TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE = 4; } +enum TouchScreenTactileCriterion { + TOUCH_SCREEN_TACTILE_CRITERION_FZ = 0; + TOUCH_SCREEN_TACTILE_CRITERION_MAGNITUDE = 1; +} + enum TouchScreenAlignMode { TOUCH_SCREEN_ALIGN_MODE_POSE_AND_POSITION = 0; TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION = 1; @@ -76,6 +81,9 @@ enum TouchScreenAlignMode { } message TouchScreenAppConfig { + reserved 39; + reserved "tactile_pressure_peak_threshold"; + optional string robot_id = 40; optional string dexhand_id = 41; optional string camera_id = 42; @@ -141,7 +149,7 @@ message TouchScreenAppConfig { optional TouchScreenFingerType tactile_finger = 36; optional TouchScreenTactileRegion tactile_region = 37; + optional TouchScreenTactileCriterion tactile_criterion = 59; optional double tactile_pressure_sum_threshold = 38; - optional double tactile_pressure_peak_threshold = 39; optional int32 tactile_nonzero_count_threshold = 56; } diff --git a/script/USB_UI.py b/script/USB_UI.py new file mode 100644 index 00000000..78f3824c --- /dev/null +++ b/script/USB_UI.py @@ -0,0 +1,383 @@ +import serial +import time +import serial.tools.list_ports +from typing import Optional, Dict, List +import logging +import tkinter as tk +from tkinter import ttk, messagebox, scrolledtext + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format='%(asctime)s - %(levelname)s - %(message)s' +) +logger = logging.getLogger(__name__) + +# 传感器型号与分布力数据长度的映射（单位：字节） +SENSOR_DISTRIBUTED_LENGTH = { + "S1813_elite": 93, + "S2015_elite": 156, + "S1813_core": 153, + "S2716_core": 348, + "S3013_core": 288, + "M2826_omega": 381, + "L3530_omega": 405, + "S1610_elite": 75, + "M2324_core": 204, + "M3025_core": 231, + "L5325_omega": 717, + "M2020_elite": 27 +} + +class SensorUI: + def __init__(self, root): + self.root = root + self.root.title("传感器数据采集系统") + self.root.geometry("900x700") + self.root.resizable(True, True) + + self.ser = None # 串口对象 + self.running = False # 数据采集状态 + self.init_ui() + + def init_ui(self): + # ===== 配置区域 ===== + config_frame = ttk.LabelFrame(self.root, text="设备配置") + config_frame.pack(fill=tk.X, padx=10, pady=5) + + # COM口选择 + ttk.Label(config_frame, text="COM口:").grid(row=0, column=0, padx=5, pady=5, sticky=tk.W) + self.com_var = tk.StringVar() + self.com_combo = ttk.Combobox(config_frame, textvariable=self.com_var, width=10) + self.com_combo.grid(row=0, column=1, padx=5, pady=5) + ttk.Button(config_frame, text="刷新", command=self.refresh_com_ports).grid(row=0, column=2, padx=5, pady=5) + + # 传感器型号选择（联动数据长度） + ttk.Label(config_frame, text="传感器型号:").grid(row=0, column=3, padx=5, pady=5, sticky=tk.W) + self.sensor_model = tk.StringVar(value="S1813_elite") + self.sensor_combo = ttk.Combobox(config_frame, textvariable=self.sensor_model, width=15) + self.sensor_combo['values'] = list(SENSOR_DISTRIBUTED_LENGTH.keys()) + self.sensor_combo.bind("<>", self.update_length_by_model) # 选择型号时更新长度 + self.sensor_combo.grid(row=0, column=4, padx=5, pady=5) + + # 模组号选择（联动设备地址） + ttk.Label(config_frame, text="模组号:").grid(row=0, column=5, padx=5, pady=5, sticky=tk.W) + self.module_id = tk.StringVar(value="00") # 默认模组号00 + self.module_combo = ttk.Combobox(config_frame, textvariable=self.module_id, width=5) + self.module_combo['values'] = ["00", "01", "02", "03", "04", "05", "06", "07"] + self.module_combo.bind("<>", self.update_device_addr) # 选择模组号时更新设备地址 + self.module_combo.grid(row=0, column=6, padx=5, pady=5) + + # 设备地址显示（只读，由模组号计算得出） + ttk.Label(config_frame, text="设备地址:").grid(row=0, column=7, padx=5, pady=5, sticky=tk.W) + self.device_addr_var = tk.StringVar(value="01") # 模组号00对应设备地址01 + ttk.Label(config_frame, textvariable=self.device_addr_var, width=5).grid(row=0, column=8, padx=5, pady=5) + + # 数据长度设置（可手动修改） + ttk.Label(config_frame, text="分布力数据长度(字节):").grid(row=1, column=0, padx=5, pady=5, sticky=tk.W) + self.dist_length = tk.StringVar(value=str(SENSOR_DISTRIBUTED_LENGTH["S1813_elite"])) + self.dist_entry = ttk.Entry(config_frame, textvariable=self.dist_length, width=10) + self.dist_entry.grid(row=1, column=1, padx=5, pady=5) + + ttk.Label(config_frame, text="合力数据长度(字节):").grid(row=1, column=2, padx=5, pady=5, sticky=tk.W) + self.result_length = tk.StringVar(value="3") + ttk.Entry(config_frame, textvariable=self.result_length, width=10).grid(row=1, column=3, padx=5, pady=5) + + # 控制按钮 + btn_frame = ttk.Frame(config_frame) + btn_frame.grid(row=1, column=4, columnspan=5, padx=5, pady=5) + ttk.Button(btn_frame, text="连接设备", command=self.connect_device).pack(side=tk.LEFT, padx=5) + ttk.Button(btn_frame, text="传感器标定", command=self.calibrate_sensor).pack(side=tk.LEFT, padx=5) + ttk.Button(btn_frame, text="开始采集", command=self.start_collection).pack(side=tk.LEFT, padx=5) + ttk.Button(btn_frame, text="停止采集", command=self.stop_collection).pack(side=tk.LEFT, padx=5) + + # ===== 日志显示区域 ===== + log_frame = ttk.LabelFrame(self.root, text="数据日志") + log_frame.pack(fill=tk.BOTH, expand=True, padx=10, pady=5) + + self.log_text = scrolledtext.ScrolledText(log_frame, wrap=tk.WORD, state=tk.DISABLED) + self.log_text.pack(fill=tk.BOTH, expand=True, padx=5, pady=5) + + # 初始化COM口列表和设备地址 + self.refresh_com_ports() + self.update_device_addr() + + def refresh_com_ports(self): + """刷新COM口列表""" + ports = [port.device for port in serial.tools.list_ports.comports()] + self.com_combo['values'] = ports + if ports: + self.com_var.set(ports[0]) + + def update_device_addr(self, event=None): + """根据模组号计算设备地址（设备地址 = 模组号 + 1，转为十六进制）""" + try: + module_dec = int(self.module_id.get(), 16) # 模组号转为十进制 + device_dec = module_dec + 1 # 设备地址 = 模组号 + 1 + device_hex = f"{device_dec:02X}" # 转为2位十六进制（大写） + self.device_addr_var.set(device_hex) + self.log(f"模组号{self.module_id.get()} → 设备地址{device_hex}") + except ValueError: + self.log("模组号格式错误，无法计算设备地址") + + def update_length_by_model(self, event=None): + """根据选择的传感器型号自动更新分布力数据长度""" + model = self.sensor_model.get() + if model in SENSOR_DISTRIBUTED_LENGTH: + self.dist_length.set(str(SENSOR_DISTRIBUTED_LENGTH[model])) + self.log(f"自动更新{model}的分布力数据长度为: {SENSOR_DISTRIBUTED_LENGTH[model]}字节") + + def log(self, message: str): + """在UI中显示日志""" + self.log_text.config(state=tk.NORMAL) + self.log_text.insert(tk.END, message + "\n") + self.log_text.see(tk.END) + self.log_text.config(state=tk.DISABLED) + + def connect_device(self): + """连接串口设备""" + if self.ser and self.ser.is_open: + self.ser.close() + + com_port = self.com_var.get() + if not com_port: + messagebox.showerror("错误", "请选择COM口") + return + + try: + self.ser = serial.Serial( + port=com_port, + baudrate=921600, + bytesize=serial.EIGHTBITS, + parity=serial.PARITY_NONE, + stopbits=serial.STOPBITS_ONE, + timeout=0.1, # 读取超时缩短至0.1秒 + write_timeout=0.1, # 写入超时缩短 + inter_byte_timeout=0.0005, # 字节间隔超时缩短 + xonxoff=False, + rtscts=False + ) + if self.ser.is_open: + self.log(f"串口连接成功: {com_port}（波特率921600）") + logger.info(f"串口连接成功: {com_port}") + except serial.SerialException as e: + self.log(f"串口连接失败: {str(e)}") + logger.error(f"串口连接失败: {str(e)}") + messagebox.showerror("连接失败", str(e)) + + def get_commands(self) -> Dict[str, str]: + """生成命令帧""" + model = self.sensor_model.get() + device_addr = self.device_addr_var.get() # 设备地址（十六进制，如"01"） + dist_len = int(self.dist_length.get()) # 分布力数据长度（十进制） + + # 1. 分布力命令帧： + # 命令帧格式：55 AA 09 00 [设备地址] 00 FB 0E 04 00 00 [长度低8位] [长度高8位] + len_low = dist_len & 0xFF # 数据长度低8位 + len_high = (dist_len >> 8) & 0xFF # 数据长度高8位 + len_hex = f"{len_low:02X}{len_high:02X}" # 小端格式（低位+高位） + distributed_frame = f"55 AA 09 00 {device_addr} 00 FB 0E 04 00 00 {len_hex[0:2]} {len_hex[2:4]}" + + # 2. 标定命令帧： + # 格式：55 AA 0A 00 [设备地址] 00 79 03 00 00 00 01 00 01 + calibration_frame = f"55 AA 0A 00 {device_addr} 00 79 03 00 00 00 01 00 01" + + # 3. 合力命令帧： + # 格式：55 AA 09 00 [设备地址] 00 FB F0 03 00 00 03 00 + resultant_frame = f"55 AA 09 00 {device_addr} 00 FB F0 03 00 00 03 00" + + return { + "calibration": calibration_frame, + "resultant_force": resultant_frame, + "distributed_force": distributed_frame + } + + def calculate_lrc(self, data: bytes) -> int: + """计算LRC校验值""" + lrc = 0 + for byte in data: + lrc = (lrc + byte) & 0xFF + lrc = ((~lrc) + 1) & 0xFF + return lrc + + def send_command(self, command_type: str) -> Optional[bytes]: + """发送命令并返回响应""" + if not self.ser or not self.ser.is_open: + self.log("未连接设备，请先连接") + return None + + commands = self.get_commands() + if command_type not in commands: + self.log(f"未知命令类型: {command_type}") + return None + + # 生成带LRC的命令帧 + frame = commands[command_type].replace(" ", "") # 移除空格 + try: + frame_bytes = bytes.fromhex(frame) + lrc = self.calculate_lrc(frame_bytes) + frame_with_lrc = frame + f"{lrc:02X}" # 追加LRC + except ValueError as e: + self.log(f"生成命令帧失败: {str(e)}") + return None + + # 发送命令并打印详情（含设备地址和数据长度） + try: + data_bytes = bytes.fromhex(frame_with_lrc) + self.ser.write(data_bytes) + print(f"发送{command_type}命令（设备地址={self.device_addr_var.get()}）: {frame_with_lrc}") + except serial.SerialException as e: + self.log(f"命令发送失败: {str(e)}") + return None + + # 读取响应 + time.sleep(0.01) + response = b"" + start_time = time.time() + while time.time() - start_time < 0.2: # 1.5秒超时 + if self.ser.in_waiting > 0: + response += self.ser.read(self.ser.in_waiting) # 一次性读取所有等待的数据，减少循环次数 + # 若已读取到预期长度（根据命令类型），提前退出 + if command_type == "resultant_force" and len(response) >= 14 + 3: + break + if command_type == "distributed_force" and len(response) >= 14 + int(self.dist_length.get()): + break + # 极短延迟 + time.sleep(0.0001) + + if response: + print(f"收到响应（{len(response)}字节）: {response.hex()}") + return response + print("未收到响应") + return None + + def calibrate_sensor(self): + """标定""" + response = self.send_command("calibration") + if response: + # 校验帧头 + if response[:2].hex() == "aa55": + self.log(f"{self.sensor_model.get()} 标定成功") + else: + self.log("标定响应格式错误") + else: + self.log("标定失败") + + def parse_resultant_force(self, data: bytes) -> Optional[Dict]: + """解析合力数据""" + if len(data) != int(self.result_length.get()): + print(f"合力数据长度错误（预期{self.result_length.get()}字节，实际{len(data)}字节）") + return None + + byte1, byte2, byte3 = data[0], data[1], data[2] + val1 = byte1 if byte1 <= 127 else byte1 - 256 + val2 = byte2 if byte2 <= 127 else byte2 - 256 + val3 = byte3 + + # 转换为物理单位 + force_x = val1 * 0.1 + force_y = val2 * 0.1 + force_z = val3 * 0.1 + + return { + "raw": (byte1, byte2, byte3), + "parsed": (val1, val2, val3), + "force_N": (force_x, force_y, force_z) + } + + def parse_distributed_force(self, data: bytes) -> List[Dict]: + """解析分布力数据""" + parsed = [] + total_len = int(self.dist_length.get()) + if len(data) < total_len: + print(f"分布力数据长度不足（预期{total_len}字节，实际{len(data)}字节）") + total_len = len(data) + + group_count = total_len // 3 # 每3字节一组 + for i in range(group_count): + byte1 = data[i*3] + byte2 = data[i*3 + 1] + byte3 = data[i*3 + 2] + + val1 = byte1 if byte1 <= 127 else byte1 - 256 + val2 = byte2 if byte2 <= 127 else byte2 - 256 + val3 = byte3 + + force_x = val1 * 0.1 + force_y = val2 * 0.1 + force_z = val3 * 0.1 + + parsed.append({ + "index": i, + "raw": (byte1, byte2, byte3), + "parsed": (val1, val2, val3), + "force_N": (force_x, force_y, force_z) + }) + return parsed + + def collect_data(self): + """循环采集数据""" + if not self.running or not self.ser or not self.ser.is_open: + return + + # 读取合力数据 + result_response = self.send_command("resultant_force") + if result_response and len(result_response) > 14: + result_data = result_response[14:14 + int(self.result_length.get())] + result_parsed = self.parse_resultant_force(result_data) + if result_parsed: + print("\n===== 合力数据 =====") + print(f"合力数据原始字节: 0x{result_parsed['raw'][0]:02X}, 0x{result_parsed['raw'][1]:02X}, 0x{result_parsed['raw'][2]:02X}") + print(f"合力数据解析值: X={result_parsed['parsed'][0]}, Y={result_parsed['parsed'][1]}, Z={result_parsed['parsed'][2]}") + self.log(f"合力数据: X={result_parsed['force_N'][0]:.1f}N, Y={result_parsed['force_N'][1]:.1f}N, Z={result_parsed['force_N'][2]:.1f}N") + self.log(f"") + + # 读取分布力数据 + dist_response = self.send_command("distributed_force") + if dist_response and len(dist_response) > 14: + dist_data = dist_response[14:14 + int(self.dist_length.get())] + dist_parsed = self.parse_distributed_force(dist_data) + if dist_parsed: + print("\n===== 分布力数据 =====") + print(f"总测点: {len(dist_parsed)}") + for point in dist_parsed: + print(f"测点{point['index']:02d} | 物理值: X={point['force_N'][0]:.1f}N, Y={point['force_N'][1]:.1f}N, Z={point['force_N'][2]:.1f}N") + print(f"------------------------------------------") + + # 继续循环采集,10ms间隔 + self.root.after(10, self.collect_data) + + def start_collection(self): + """开始数据采集""" + if self.running: + self.log("已在采集数据中") + return + + if not self.ser or not self.ser.is_open: + messagebox.showwarning("警告", "请先连接设备") + return + + self.running = True + self.log("开始数据采集...") + self.collect_data() + + def stop_collection(self): + """停止数据采集""" + self.running = False + self.log("已停止数据采集") + + def on_close(self): + """关闭窗口时释放资源""" + self.running = False + if self.ser and self.ser.is_open: + self.ser.close() + self.root.destroy() + +if __name__ == "__main__": + root = tk.Tk() + app = SensorUI(root) + root.protocol("WM_DELETE_WINDOW", app.on_close) + root.mainloop() + + +