From b2a6be4d3494997f62324a1d9ccb2f18824881da Mon Sep 17 00:00:00 2001 From: lgv Date: Thu, 28 Aug 2025 09:39:59 +0800 Subject: [PATCH] feat:add move delta J and touch control api --- CMakeLists.txt | 2 +- config/cabin_robot.xml | 17 +- example/solve_ik.cpp | 1 + include/controller/touch_controller.h | 103 +++ include/devices/abstract_canbus.h | 3 + include/devices/abstract_robot.h | 6 +- include/service/grpc_touch_service.h | 25 + protos/cmvr/api/geometry.proto | 67 -- protos/cmvr/api/touch_service.proto | 23 + protos/cmvr/msgs/geometry.proto | 51 ++ .../__pycache__/save_poses.cpython-310.pyc | Bin 2446 -> 2446 bytes .../eye_hand_data/data2025082102/1.jpg | Bin 152090 -> 0 bytes .../data2025082102/RobotToolPose.csv | 4 - .../eye_hand_data/data2025082103/1.jpg | Bin 124217 -> 0 bytes .../data2025082103/RobotToolPose.csv | 4 - .../__pycache__/auxiliary.cpython-310.pyc | Bin 2525 -> 2525 bytes .../__pycache__/log_setting.cpython-310.pyc | Bin 2157 -> 2157 bytes python/hand_eye_calibration/libs/web-log | 736 +----------------- .../libs/web-log.2025-08-22.log | 704 +++++++++++++++++ python/math/rpy2rotation.py | 13 +- .../__pycache__/follow_target.cpython-310.pyc | Bin 10448 -> 10448 bytes .../get_chessboard_position.cpython-310.pyc | Bin 2834 -> 2834 bytes python/vision_servo/follow_target.py | 167 ++-- python/vision_servo/robot_warpper_test.py | 69 +- src/CMakeLists.txt | 3 +- src/controller/CMakeLists.txt | 58 ++ src/controller/touch_controller.cpp | 94 +++ src/controller/touch_controller_test.cpp | 53 ++ src/devices/canbus/CMakeLists.txt | 2 +- .../protocol/ti5_motor_sdo_response.cpp | 11 +- .../canopen/protocol/ti5_motor_tpdo2.cpp | 6 +- src/devices/robot/CMakeLists.txt | 2 +- .../c701/motor/motor_controller_test.cpp | 2 +- .../robot/humanoid_robot/CMakeLists.txt | 4 +- .../robot/humanoid_robot/humanoid_robot.cpp | 283 ++++++- .../robot/humanoid_robot/humanoid_robot.h | 11 +- .../humanoid_robot/humanoid_robot_test.cpp | 99 +++ src/main.cpp | 3 + src/service/CMakeLists.txt | 27 + .../grpc_humanoid_robot_client_test.cpp | 21 +- src/service/grpc_touch_client_test.cpp | 58 ++ src/service/grpc_touch_service.cpp | 38 + 42 files changed, 1824 insertions(+), 946 deletions(-) create mode 100644 include/controller/touch_controller.h create mode 100644 include/service/grpc_touch_service.h delete mode 100644 protos/cmvr/api/geometry.proto create mode 100644 protos/cmvr/api/touch_service.proto create mode 100644 protos/cmvr/msgs/geometry.proto delete mode 100644 python/hand_eye_calibration/eye_hand_data/data2025082102/1.jpg delete mode 100644 python/hand_eye_calibration/eye_hand_data/data2025082102/RobotToolPose.csv delete mode 100644 python/hand_eye_calibration/eye_hand_data/data2025082103/1.jpg delete mode 100644 python/hand_eye_calibration/eye_hand_data/data2025082103/RobotToolPose.csv create mode 100644 python/hand_eye_calibration/libs/web-log.2025-08-22.log create mode 100644 src/controller/CMakeLists.txt create mode 100644 src/controller/touch_controller.cpp create mode 100644 src/controller/touch_controller_test.cpp create mode 100644 src/service/grpc_touch_client_test.cpp create mode 100644 src/service/grpc_touch_service.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index d16101c8..01021bbf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -93,6 +93,6 @@ target_link_libraries(cmvr_es PRIVATE cmvr_es::hardware cmvr_es::httpclient cmvr_es::device::canbus - cmvr_es::robot::c701 cmvr_es::device::ti5motor + cmvr_es::ctrl::controller ) \ No newline at end of file diff --git a/config/cabin_robot.xml b/config/cabin_robot.xml index d229e483..84118368 100644 --- a/config/cabin_robot.xml +++ b/config/cabin_robot.xml @@ -20,9 +20,9 @@ - - - + + + @@ -33,11 +33,12 @@ + bufferSize="50" + verbose="false"> @@ -83,12 +84,12 @@ - + - + @@ -131,7 +132,7 @@ - + diff --git a/example/solve_ik.cpp b/example/solve_ik.cpp index 794b6a20..f3aa948a 100644 --- a/example/solve_ik.cpp +++ b/example/solve_ik.cpp @@ -10,6 +10,7 @@ #include #include #include +#include constexpr int DOF = 14; using RobotT = cmvr::dyn::Robot; diff --git a/include/controller/touch_controller.h b/include/controller/touch_controller.h new file mode 100644 index 00000000..1d0c195f --- /dev/null +++ b/include/controller/touch_controller.h @@ -0,0 +1,103 @@ +// +// Created by lgv on 2025/8/24. +// + +#pragma once + +#include + +#include "devices/abstract_dexhand.h" +#include "devices/abstract_robot.h" +#include "cmvr/msgs/geometry.pb.h" +namespace cmvr { + namespace ctrl { + + // 简易版 PID 控制器,带死区、积分限幅、输出限幅和输出斜率限制 + class PID { + public: + PID(double kp, double ki, double kd, + double i_max, + double output_max_pos, double output_max_neg, + double delta_max = 0.0) // 输出变化最大值,0 表示不限制 + : kp_(kp), ki_(ki), kd_(kd), + i_max_(i_max), + output_max_pos_(output_max_pos), + output_max_neg_(output_max_neg), + delta_max_(delta_max), + prev_error_(0), integral_(0), prev_output_(0) {} + + double compute(double target, double current, double dt, double deadband = 0.0) { + double error = target - current; + + // 死区处理 + if (fabs(error) <= deadband) { + error = 0.0; + } + + // 积分累加限幅 + integral_ += error * dt; + if (integral_ > i_max_) integral_ = i_max_; + if (integral_ < -i_max_) integral_ = -i_max_; + + // 微分 + double derivative = (error - prev_error_) / dt; + prev_error_ = error; + + // PID 输出 + double output = kp_ * error + ki_ * integral_ + kd_ * derivative; + + // 输出限幅 + if (output > output_max_pos_) output = output_max_pos_; + if (output < -output_max_neg_) output = -output_max_neg_; + + // 输出斜率限制 + if (delta_max_ > 0.0) { + double delta = output - prev_output_; + if (delta > delta_max_) output = prev_output_ + delta_max_; + else if (delta < -delta_max_) output = prev_output_ - delta_max_; + } + + prev_output_ = output; + return output; + } + + private: + double kp_, ki_, kd_; + double prev_error_; + double integral_; + double i_max_; // 积分限幅 + double output_max_pos_; // 向下按的最大输出 + double output_max_neg_; // 向上抬的最大输出 + double delta_max_; // 输出斜率限制 + double prev_output_; + }; + + + + + class TouchController { + public: + TouchController(){}; + TouchController( std::shared_ptr robot,std::shared_ptr hand) + :robot_(std::move(robot)),hand_(std::move(hand)), + pid_(std::make_shared(0.05, 0.001, 0.01, 50.0, 0.5, 1.0)){} + ~TouchController()=default; + + void touch(std::shared_ptr robot,const msgs::Pose3d pose,const msgs::Pose3d offset); + void touch( msgs::Pose3d pose, msgs::Pose3d offset,double max_force); + + private: + std::shared_ptr robot_{nullptr}; + std::shared_ptr hand_{nullptr}; + + std::shared_ptr pid_{nullptr}; + + const double touch_threshold_ = 5.0; // 触控判定阈值 + + + // 从压阻矩阵提取触控点与压力 + bool extractTouch(const std::vector>& matrix,double& force, int& x, int& y); + + }; + } +} diff --git a/include/devices/abstract_canbus.h b/include/devices/abstract_canbus.h index 21445ba8..3056f191 100644 --- a/include/devices/abstract_canbus.h +++ b/include/devices/abstract_canbus.h @@ -100,5 +100,8 @@ namespace cmvr::device { /// CAN clientstatus cmvr::msgs::ErrorCode status_; + // + bool enable_log_{false}; + }; } diff --git a/include/devices/abstract_robot.h b/include/devices/abstract_robot.h index fbd8c576..c160db13 100644 --- a/include/devices/abstract_robot.h +++ b/include/devices/abstract_robot.h @@ -9,7 +9,7 @@ #include "jsoncpp/json/json.h" #include "abstract_device.h" #include "utils/controller/cartesian_controller.h" - +#include "cmvr/msgs/geometry.pb.h" namespace cmvr::device{ struct JointPoint{ @@ -66,10 +66,12 @@ namespace cmvr::device{ virtual void moveJ(std::vector &joints, double vel=0.5, double acc=0.1) { throw std::runtime_error("Not implemented"); } virtual void moveJ(std::vector &cmd, double vel=0.5, double acc=0.1) { throw std::runtime_error("Not implemented"); } + virtual void moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose,double vel = 0.5, double acc = 0.1) { throw std::runtime_error("Not implemented"); } + virtual void moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose,double vel = 0.5, double acc = 0.1) { throw std::runtime_error("Not implemented"); } virtual void moveJ_IK(math::Pose3d &pose, double vel=0.5, double acc=0.1) { throw std::runtime_error("Not implemented"); } - virtual void moveJ_IK(std::string &base_link, std::vector &targets, double vel=0.5, double acc=0.1) { throw std::runtime_error("Not implemented"); } + virtual void moveJ_IK(const std::string &base_link, const std::vector &targets, double vel=0.5, double acc=0.1) { throw std::runtime_error("Not implemented"); } virtual void moveL(math::Pose3d &pose, double vel=0.5, double acc=0.1) { throw std::runtime_error("Not implemented"); } diff --git a/include/service/grpc_touch_service.h b/include/service/grpc_touch_service.h new file mode 100644 index 00000000..388ec2dd --- /dev/null +++ b/include/service/grpc_touch_service.h @@ -0,0 +1,25 @@ +// +// Created by lgv on 2025/8/25. +// +#pragma once + +#include "device_manager/device_manager.h" +#include "cmvr/api/touch_service.grpc.pb.h" + +namespace cmvr { + namespace service { + class gRPCTouchServiceImpl final : public api::TouchService::Service { + public: + gRPCTouchServiceImpl(); + ~gRPCTouchServiceImpl() = default; + grpc::Status touch(grpc::ServerContext *context, const cmvr::api::Touch_Request *request, cmvr::api::Touch_Response *response) override; + + private: + device::DeviceManager& dmgr_; + }; + + + + } + +} diff --git a/protos/cmvr/api/geometry.proto b/protos/cmvr/api/geometry.proto deleted file mode 100644 index a7ab001b..00000000 --- a/protos/cmvr/api/geometry.proto +++ /dev/null @@ -1,67 +0,0 @@ -syntax = "proto3"; - -package cmvr.api; - - -message Vec2 { - double x = 1; - double y = 2; -} - -message Vec3 { - double x = 1; - double y = 2; - double z = 3; -} - -message SE2Pose { - Vec2 position = 1; // (m) - double angle = 2; // (rad) -} - -message SE2Velocity { - Vec2 linear = 1; // (m/s) - double angular = 2; // (rad/s) -} - -message Quaternion { - double x = 1; - double y = 2; - double z = 3; - double w = 4; -} - -message EulerAngleZYX { - double z = 1; - double y = 2; - double x = 3; -} - -message SE3Pose { - Vec3 position = 1; // (m) - oneof rotation { - Quaternion quaternion = 2; - EulerAngleZYX euler = 3; - } -} - -message Inertial { - // Mass (kg) - double mass = 1; - - // Center of mass (m) - Vec3 center_of_mass = 2; - - // Inertia tensor - Inertia inertia = 3; -} - -// Inertia tensor components (kg*m^2) -message Inertia { - double ixx = 1; - double iyy = 2; - double izz = 3; - double ixy = 4; - double ixz = 5; - double iyz = 6; -} diff --git a/protos/cmvr/api/touch_service.proto b/protos/cmvr/api/touch_service.proto new file mode 100644 index 00000000..3b0d6d1c --- /dev/null +++ b/protos/cmvr/api/touch_service.proto @@ -0,0 +1,23 @@ +syntax = "proto3"; +package cmvr.api; +import "cmvr/api/common.proto"; +import "cmvr/msgs/geometry.proto"; + + + +message Touch{ + message Request{ + CommandHeader.Request header = 1; + cmvr.msgs.Pose3d pose = 2; + cmvr.msgs.Pose3d offset = 3; + } + + message Response{ + CommandHeader.Feedback header= 1; + } + +} + +service TouchService{ + rpc touch(Touch.Request) returns (Touch.Response); +} \ No newline at end of file diff --git a/protos/cmvr/msgs/geometry.proto b/protos/cmvr/msgs/geometry.proto new file mode 100644 index 00000000..dca76637 --- /dev/null +++ b/protos/cmvr/msgs/geometry.proto @@ -0,0 +1,51 @@ +syntax = "proto3"; + +package cmvr.msgs; + + +message Vec2 { + double x = 1; + double y = 2; +} + +message Vec3 { + double x = 1; + double y = 2; + double z = 3; +} + +// ===== 四元数 ===== +message Quat { + double w = 1; + double x = 2; + double y = 3; + double z = 4; +} + +// ===== 位置(3D)===== +message Position { + double x = 1; // unit: m + double y = 2; + double z = 3; +} + +// ===== 欧拉角 ===== +message Euler { + double rx = 1; // unit: rad (roll) + double ry = 2; // unit: rad (pitch) + double rz = 3; // unit: rad (yaw) +} + +// ===== 位姿(3D)===== +message Pose3d { + Position position = 1; // (m) + Quat quaternion = 2; // 四元数 + Euler euler = 3; // 欧拉角 (rad) +} + +// ===== 位姿(2D)===== +message Pose2d { + double x = 1; // (m) + double y = 2; // (m) + double theta = 3; // (rad) +} diff --git a/python/hand_eye_calibration/__pycache__/save_poses.cpython-310.pyc b/python/hand_eye_calibration/__pycache__/save_poses.cpython-310.pyc index b8f6b4d8aad4ccfd1f0413d2ed49bbf66293d2ad..b90060edf5c6f7a6e6db822030f943c92ee18384 100644 GIT binary patch delta 20 ZcmeAZ?i1$D=jG*M0D?U26&tymIRPvj1Zn^P delta 20 ZcmeAZ?i1$D=jG*M00Kjur5m}MIRPqY1S
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zDU@mcWzw^MYtgf76j~V3MYxyb^xwC3KMM!4LwcJR4|M9bQGfrPo4ynIw{~e{BNp-z z)!&(5Sba5WM0<;C;>as?;rb&77FJ+1N zp_>07IQf_!*cfkpg0McW7(7Gx5l2k@qmZRAf*r7ws6BLqB8Nk6kQxC7oZosCG->z& zU!tcdxN33_CawA(&95$d2`7cQwb|Qw|pO=@50SNN6S8U|I#0da6bOl!c delta 20 acmcaBd{>w|pO=@50SIn5FWJa_i4y=j)& robot, const msgs::Pose3d pose, const msgs::Pose3d offset) { + + msgs::Position target_position; + target_position.set_x(pose.position().x() - offset.position().x()); + target_position.set_y(pose.position().y() - offset.position().y()); + target_position.set_z(pose.position().z() - offset.position().z()); + + + msgs::Euler target_euler; + target_euler.set_rx(pose.euler().rx() - offset.euler().rx()); + target_euler.set_ry(pose.euler().ry() - offset.euler().ry()); + target_euler.set_rz(pose.euler().rz() - offset.euler().rz()); + + + msgs::Pose3d target_pose; + *target_pose.mutable_position() = target_position; + *target_pose.mutable_euler() = target_euler; + + robot->moveJ("PELVIS_S","R_WRIST_R_S",target_pose); +} + +void TouchController::touch(msgs::Pose3d pose, msgs::Pose3d offset, double max_force) { + auto hand_data = hand_->getSensorData(); + double force = 0; + int x ,y; + extractTouch(hand_data.index.tip.data,force,x,y); + + double dz = pid_->compute(max_force, force, 0.01,10); + + std::cout << dz << std::endl; + + // LOG(INFO) << "Force : " << force << " dz : " << dz; + + // // 输出 3x3 数组 + // LOG(INFO) << "Tip data (3x3):"; + // for (size_t i = 0; i < hand_data.index.tip.data.size(); ++i) { + // std::stringstream ss; + // for (size_t j = 0; j < hand_data.index.tip.data[i].size(); ++j) { + // ss << hand_data.index.tip.data[i][j] << "\t"; + // } + // LOG(INFO) << ss.str(); + // } + + + + + + + +} + + +bool TouchController::extractTouch(const std::vector > &matrix, double &force, int &x, int &y) { + + + int rows = matrix.size(); + int cols = matrix[0].size(); + double maxVal = 0; + int maxX = -1, maxY = -1; + double total = 0; + + for (int i = 0; i < rows; i++) { + for (int j = 0; j < cols; j++) { + double val = matrix[i][j]; + total += val; + if (val > maxVal) { + maxVal = val; + maxX = i; + maxY = j; + } + } + } + + if (maxVal > touch_threshold_) { + force = total; + x = maxX; + y = maxY; + return true; + } + return false; + +} + + + diff --git a/src/controller/touch_controller_test.cpp b/src/controller/touch_controller_test.cpp new file mode 100644 index 00000000..02232431 --- /dev/null +++ b/src/controller/touch_controller_test.cpp @@ -0,0 +1,53 @@ +// +// Created by lgv on 2025/8/27. +// + + +#include "device_manager/device_manager.h" +#include "gtest/gtest.h" +#include "controller/touch_controller.h" +#include "cmvr/msgs/geometry.pb.h" + + +using namespace cmvr::device; +using namespace cmvr::msgs; +using namespace cmvr::ctrl; + +TEST(TouchControllerTest,MyTest) { + // + std::string config_path = "/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml"; + const XmlNode config(config_path); + + if (!config.hasChild("DeviceManager")){ + LOG(ERROR) << "Device Manager node not found"; + } + auto dmgr_cfg = config.getChild("DeviceManager"); + auto &dmgr = DeviceManager::getInstance(dmgr_cfg); + + auto robot = dmgr.getDevice("hc01"); + auto hand = dmgr.getDevice("hand1"); + + + cmvr::msgs::Pose3d pose; + + pose.mutable_position()->set_x( 1.49969573e-01); + pose.mutable_position()->set_y(-4.00100001e-01); + pose.mutable_position()->set_z(-1.00102800e-01); + + pose.mutable_euler()->set_rx(0); + pose.mutable_euler()->set_ry(0); + pose.mutable_euler()->set_rz(1.57); + + robot->moveJ("PELVIS_S","R_WRIST_R_S",pose); + + Pose3d offset; + + TouchController controller(robot, hand); + + while (true) { + controller.touch(pose,offset,500); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + +} \ No newline at end of file diff --git a/src/devices/canbus/CMakeLists.txt b/src/devices/canbus/CMakeLists.txt index f9cf48ba..f35cdabf 100644 --- a/src/devices/canbus/CMakeLists.txt +++ b/src/devices/canbus/CMakeLists.txt @@ -13,7 +13,7 @@ add_library(cmvr_es::device::canbus ALIAS canbus) target_link_libraries(canbus PRIVATE - proto-objects +# proto-objects gRPC::grpc++ protobuf::libprotobuf glog::glog diff --git a/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_sdo_response.cpp b/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_sdo_response.cpp index 04444821..9b9d1b64 100644 --- a/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_sdo_response.cpp +++ b/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_sdo_response.cpp @@ -32,9 +32,10 @@ void Ti5MotorSdoResponse::ParseSdoData(const msgs::SdoFrame &sdo_response, motor_status->set_position_offset(sdo_response.data()); } - LOG(INFO) << "Parsed motor SDO for node " << int(this->node_id_) - << ": command=" << int(sdo_response.cs()) - << ", index=" << sdo_response.index() - << ", subindex=" << int(sdo_response.sub_index()) - << ", data=" << sdo_response.data(); + LOG(INFO) << "Parsed motor SDO for node " << int(this->node_id_) + << ": command=" << int(sdo_response.cs()) + << ", index=" << sdo_response.index() + << ", subindex=" << int(sdo_response.sub_index()) + << ", data=" << sdo_response.data(); + } diff --git a/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_tpdo2.cpp b/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_tpdo2.cpp index 5739956a..e4fd5f3c 100644 --- a/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_tpdo2.cpp +++ b/src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_tpdo2.cpp @@ -20,11 +20,15 @@ void Ti5MotorTPDO2::Parse(const std::uint8_t *bytes, int32_t length, msgs::Robot motor_status->set_position(bytes[3] << 24 | bytes[2] << 16 | bytes[1] << 8 | bytes[0]); motor_status->set_speed(bytes[7] << 24 | bytes[6] << 16 | bytes[5] << 8 | bytes[4]); + double gearRatio = 101.0; double radToDeg = 180.0 / M_PI; auto speed = (motor_status->speed() * 360.0) / (radToDeg * gearRatio * 100.0); auto angle_rad = (motor_status->position() * 360.0) / (gearRatio * 65536.0 * radToDeg); - LOG(INFO) << " Motor ID " << int(this->node_id_) << " pos = " << angle_rad << " rad speed = " << speed << " rad/s"; + // LOG(INFO) << " Motor ID " << int(this->node_id_) << " pos = " << angle_rad << " rad speed = " << speed << " rad/s"; + + + } diff --git a/src/devices/robot/CMakeLists.txt b/src/devices/robot/CMakeLists.txt index e7f9228c..599ad24f 100644 --- a/src/devices/robot/CMakeLists.txt +++ b/src/devices/robot/CMakeLists.txt @@ -1,3 +1,3 @@ #add_subdirectory(ti5_robot) add_subdirectory(humanoid_robot) -add_subdirectory(c701) \ No newline at end of file +#add_subdirectory(c701) \ No newline at end of file diff --git a/src/devices/robot/c701/motor/motor_controller_test.cpp b/src/devices/robot/c701/motor/motor_controller_test.cpp index b01cac00..3e695e17 100644 --- a/src/devices/robot/c701/motor/motor_controller_test.cpp +++ b/src/devices/robot/c701/motor/motor_controller_test.cpp @@ -12,7 +12,7 @@ #include "cmvr/msgs/robot_detail.pb.h" #include "canbus/canopen/sdo_request_protocol.h" #include "canbus/can_client/socket/socket_can_client_raw.h" -#include "cmvr/msgs/ti5_motor.pb.h" +// #include "cmvr/msgs/ti5_motor.pb.h" using cmvr::msgs::RobotDetail; using cmvr::msgs::ErrorCode; diff --git a/src/devices/robot/humanoid_robot/CMakeLists.txt b/src/devices/robot/humanoid_robot/CMakeLists.txt index 54daad65..fb62ba24 100644 --- a/src/devices/robot/humanoid_robot/CMakeLists.txt +++ b/src/devices/robot/humanoid_robot/CMakeLists.txt @@ -1,3 +1,5 @@ +find_package(protobuf REQUIRED) + add_library(humanoid_robot SHARED humanoid_robot.cpp) target_include_directories(humanoid_robot PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) @@ -8,6 +10,7 @@ target_link_libraries(humanoid_robot PRIVATE cmvr_es::utils cmvr_es::device::canbus cmvr_es::device::ti5motor + protobuf::libprotobuf ) @@ -15,7 +18,6 @@ target_link_libraries(humanoid_robot PRIVATE # Unit test # -------------------------------------------------------- find_package(glog REQUIRED) -find_package(protobuf REQUIRED) find_package(PkgConfig REQUIRED) find_package(fcl REQUIRED) find_package(OpenCV REQUIRED) diff --git a/src/devices/robot/humanoid_robot/humanoid_robot.cpp b/src/devices/robot/humanoid_robot/humanoid_robot.cpp index fb4774a1..ace42775 100644 --- a/src/devices/robot/humanoid_robot/humanoid_robot.cpp +++ b/src/devices/robot/humanoid_robot/humanoid_robot.cpp @@ -355,25 +355,167 @@ void HumanoidRobot::calibrateZeroQ(const std::string &joint_name) { } template -void HumanoidRobot::moveJ_IK(std::string &base_link, std::vector &targets, double vel, - double acc) { +void HumanoidRobot::moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel, double acc) { + + try { + if (rsm_.load() == ROBOT_RUNNING) { + flash_cmd_.store(true); + eStop(); + } + if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) { + rsm_.store(ROBOT_RUNNING); + + + // update m_state_ + Eigen::Vector q_init; + auto q_map = getJointQ(); + q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"], + q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"], + q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"], + q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"]; + + LOG(INFO) << "q_init: " << q_init; + m_state_->SetQ(q_init); + m_robot_->ComputeForwardKinematics(m_state_); + + + Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity(); + T_target.block<3,3>(0,0) = eulerZYXToRotationMatrix(pose.euler().rx(), pose.euler().ry(), pose.euler().rz()); // 输入为弧度 + T_target(0,3) = pose.position().x(); + T_target(1,3) = pose.position().y(); + T_target(2,3) = pose.position().z(); + + cmvr::ctrl::PoseTarget target; + target.T_target = T_target; + target.w_posrot = 0.5; + target.weight = 1.0; + target.link_name = ee_link; + + // slove ik + Eigen::Vector q_cmd; + bool ok = m_cctrl_->compute(m_state_, base_link, {target}, 0.002, ctrl::CartesianController::Mode::Position, + q_cmd, 10000, 1e-6); + if (!ok) { + throw runtime_error("solve IK failed"); + } + std::vector joint_points{ + {"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]}, + {"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]}, + {"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]}, + {"R_WRIST_R", q_cmd[13]} + }; + for (const auto &j: joint_points) { + auto motor = motor_manager_->getMotor(j.joint_name); + if (motor != nullptr) { + // PPM 模式下 这个实际速度会超30% 左右 + motor->setQd(vel); + if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) { + motor->setMode(msgs::RUN_MODE_PROFILE_POSITION); + } + motor->setQ(j.rad); + } + } + + //3. wait for completion + bool completion = true; + do { + completion = true; + for (const auto &j: joint_points) { + auto motor = motor_manager_->getMotor(j.joint_name); + if (motor != nullptr) { + if (!motor->reachedTargetQ()) { + completion = false; + break; + } + } + } + // 4. while waiting, check flash_cmd_, if it is true, set it false then exit + if (flash_cmd_.load()) { + flash_cmd_.store(false); + return; + } + std::this_thread::sleep_for(std::chrono::milliseconds(2)); + } while (!completion); + rsm_.store(ROBOT_READY); + } else { + throw runtime_error("rsm invalid"); + } + } catch (exception &e) { + throw runtime_error(e.what()); + } + +} + + +template +void HumanoidRobot::moveJ_IK(const std::string &base_link, const std::vector &targets, double vel, + double acc) { try { if (rsm_.load() == ROBOT_RUNNING) { flash_cmd_.store(true); eStop(); - } else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) { + } + if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) { rsm_.store(ROBOT_RUNNING); - Eigen::Vector q_cmd; - bool ok = m_cctrl_->compute(m_state_, base_link, targets, 1, ctrl::CartesianController::Mode::Position, - q_cmd, 60, 1e-4); + + + // update m_state_ + Eigen::Vector q_init; + auto q_map = getJointQ(); + q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"], + q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"], + q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"], + q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"]; + + LOG(INFO) << "q_init: " << q_init; + m_state_->SetQ(q_init); + m_robot_->ComputeForwardKinematics(m_state_); + + // slove ik + Eigen::Vector q_cmd; + bool ok = m_cctrl_->compute(m_state_, base_link, targets, 0.002, ctrl::CartesianController::Mode::Position, + q_cmd, 10000, 1e-6); if (!ok) { throw runtime_error("solve IK failed"); } - // TODO: execute joint position command from q_cmd - // 1. set motor vel and acc - // 2. call motor PROFILE POSITION MODE (PPM) function - // 3. wait for completion - // 4. while waiting, check flash_cmd_, if it is true, set it false then exit + std::vector joint_points{ + {"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]}, + {"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]}, + {"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]}, + {"R_WRIST_R", q_cmd[13]} + }; + // for (const auto &j: joint_points) { + // auto motor = motor_manager_->getMotor(j.joint_name); + // if (motor != nullptr) { + // // PPM 模式下 这个实际速度会超30% 左右 + // motor->setQd(vel); + // if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) { + // motor->setMode(msgs::RUN_MODE_PROFILE_POSITION); + // } + // motor->setQ(j.rad); + // } + // } + // + // //3. wait for completion + // bool completion = true; + // do { + // completion = true; + // for (const auto &j: joint_points) { + // auto motor = motor_manager_->getMotor(j.joint_name); + // if (motor != nullptr) { + // if (!motor->reachedTargetQ()) { + // completion = false; + // break; + // } + // } + // } + // // 4. while waiting, check flash_cmd_, if it is true, set it false then exit + // if (flash_cmd_.load()) { + // flash_cmd_.store(false); + // return; + // } + // std::this_thread::sleep_for(std::chrono::milliseconds(2)); + // } while (!completion); rsm_.store(ROBOT_READY); } else { throw runtime_error("rsm invalid"); @@ -561,6 +703,31 @@ bool HumanoidRobot::check_joint_traj_(std::vector > return true; } +template +void HumanoidRobot::moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, + double vel, double acc) { + try { + // 1 : 计算当前位姿 + auto cur_pose = fk(base_link, ee_link); + + // 2 : 计算目标角度 target pos = cur_pose + delta_pose + cmvr::msgs::Pose3d target_pose; + target_pose.mutable_position()->set_x(cur_pose.position().x() + delta_pose.position().x()); + target_pose.mutable_position()->set_y(cur_pose.position().y() + delta_pose.position().y()); + target_pose.mutable_position()->set_z(cur_pose.position().z() + delta_pose.position().z()); + + target_pose.mutable_euler()->set_rx(cur_pose.euler().rx() + delta_pose.euler().rx()); + target_pose.mutable_euler()->set_ry(cur_pose.euler().ry() + delta_pose.euler().ry()); + target_pose.mutable_euler()->set_rz(cur_pose.euler().rz() + delta_pose.euler().rz()); + + //3 : + moveJ(base_link, ee_link, target_pose, vel, acc); + } catch (exception &e) { + throw runtime_error(e.what()); + } +} + + template void HumanoidRobot::update_state_() { std::lock_guard lock(state_mtx_); @@ -570,6 +737,100 @@ void HumanoidRobot::update_state_() { // m_state_->SetQddot(); } +template +Eigen::Matrix3d HumanoidRobot::eulerZYXToRotationMatrix(double rx, double ry, double rz) { + Eigen::Matrix3d R_x; + R_x << 1, 0, 0, + 0, cos(rx), -sin(rx), + 0, sin(rx), cos(rx); + + Eigen::Matrix3d R_y; + R_y << cos(ry), 0, sin(ry), + 0, 1, 0, + -sin(ry), 0, cos(ry); + + Eigen::Matrix3d R_z; + R_z << cos(rz), -sin(rz), 0, + sin(rz), cos(rz), 0, + 0, 0, 1; + + return R_x * R_y * R_z; +} + +template +Eigen::Vector3d HumanoidRobot::rotationMatrixToEulerZYX(const Eigen::Matrix3d &R) { + double rx, ry, rz; + + // 根据 R = R_x * R_y * R_z + // R = | cy*cz -cy*sz sy | + // | sx*sy*cz + cx*sz -sx*sy*sz + cx*cz -sx*cy | + // | -cx*sy*cz + sx*sz cx*sy*sz + sx*cz cx*cy | + + // 提取 ry(绕 Y 的角度) + ry = std::asin(R(0,2)); // R(0,2) = sin(ry) + + double cy = std::cos(ry); + + if (std::abs(cy) > 1e-6) { + // 正常情况 + rx = std::atan2(-R(1,2), R(2,2)); + rz = std::atan2(-R(0,1), R(0,0)); + } else { + // 万向节锁:cy ≈ 0 + rx = 0; // 任意选择 + if (ry > 0) { + rz = std::atan2(R(1,0), R(1,1)); + } else { + rz = std::atan2(-R(1,0), R(1,1)); + } + } + + return Eigen::Vector3d(rx, ry, rz); +} + + +template +cmvr::msgs::Pose3d HumanoidRobot::fk(const std::string &base_link, const std::string &ee_link) { + cmvr::msgs::Pose3d pose; + + try { + // 获取当前关节角度 + Eigen::Vector q; + auto q_map = getJointQ(); // 类似 moveJ 中获取关节角度 + q << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"], + q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"], + q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"], + q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"]; + + // 更新状态并计算前向运动学 + m_state_->SetQ(q); + m_robot_->ComputeForwardKinematics(m_state_); + + // 获取基座和末端索引 + auto base_idx = m_robot_->GetLinkIdx(base_link); + auto ee_idx = m_robot_->GetLinkIdx(ee_link); + + // 获取变换矩阵 + Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx); + + // 填充 Pose3d + pose.mutable_position()->set_x(T(0,3)); + pose.mutable_position()->set_y(T(1,3)); + pose.mutable_position()->set_z(T(2,3)); + + // 将旋转矩阵转换为欧拉角 + Eigen::Matrix3d R = T.block<3,3>(0,0); + Eigen::Vector3d euler = rotationMatrixToEulerZYX(R); // 你需要实现或已有此工具函数 + pose.mutable_euler()->set_rx(euler(0)); + pose.mutable_euler()->set_ry(euler(1)); + pose.mutable_euler()->set_rz(euler(2)); + + } catch (const std::exception &e) { + throw std::runtime_error(std::string("FK计算失败: ") + e.what()); + } + + return pose; +} template class cmvr::device::HumanoidRobot<7>; template class cmvr::device::HumanoidRobot<14>; diff --git a/src/devices/robot/humanoid_robot/humanoid_robot.h b/src/devices/robot/humanoid_robot/humanoid_robot.h index 864896c2..64fb8248 100644 --- a/src/devices/robot/humanoid_robot/humanoid_robot.h +++ b/src/devices/robot/humanoid_robot/humanoid_robot.h @@ -60,7 +60,9 @@ namespace cmvr::device{ /* robot basic command*/ void eStop() override; void moveJ(std::vector &cmd, double vel, double acc) override; - void moveJ_IK(std::string &base_link, std::vector &targets, double vel, double acc) override; + void moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose,double vel, double acc) override; + void moveJ_IK(const std::string &base_link, const std::vector &targets, double vel, double acc) override ; + void moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, double vel, double acc) override; void moveL(std::string &base_link, std::vector &targets, double vel, double acc) override; void speedJ(std::string &joint_name, RobotJointIndexDirection dir, double vel, double acc) override; void speedL(RobotCartesian cart, RobotJointIndexDirection dir, double vel, double acc) override; @@ -81,6 +83,11 @@ namespace cmvr::device{ int exec_CSP_cmd_(std::vector &ids, std::vector &pos, int dt); int exec_CSV_cmd_(std::vector &ids, std::vector &vel, int dt); int exec_CSC_cmd_(std::vector &ids, std::vector &cur, int dt); + public: + // 将欧拉角(rx, ry, rz)转为旋转矩阵,旋转顺序 Y→Y→Z + static Eigen::Matrix3d eulerZYXToRotationMatrix(double rx, double ry, double rz); + static Eigen::Vector3d rotationMatrixToEulerZYX(const Eigen::Matrix3d &R); + msgs::Pose3d fk(const std::string &base_link, const std::string &ee_link); private: std::string id_; @@ -129,6 +136,8 @@ namespace cmvr::device{ std::shared_ptr motor_manager_{nullptr}; + + }; diff --git a/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp b/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp index fc1d8752..9c9b7556 100644 --- a/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp +++ b/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp @@ -10,6 +10,9 @@ #include "device_manager/device_manager.h" #include +#include "cmvr/msgs/can_card_parameter.grpc.pb.h" +#include "cmvr/msgs/geometry.pb.h" +#include "robot/humanoid_robot/humanoid_robot.h" // 定义一个命令行参数 --config_path DEFINE_string(config_path, "../config/cabin_robot.xml", "Path to the robot config XML file"); @@ -322,7 +325,103 @@ TEST(HumanoidRobotTest,FollowJointTrajectoryTest) { std::this_thread::sleep_for(std::chrono::milliseconds(500)); } +} +TEST(HumanoidRobotTest,MoveDeltaTest) { + std::string config_path = "/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml"; + const XmlNode config(config_path); + + if (!config.hasChild("DeviceManager")){ + LOG(ERROR) << "Device Manager node not found"; + } + auto dmgr_cfg = config.getChild("DeviceManager"); + auto &dmgr = DeviceManager::getInstance(dmgr_cfg); + + auto robot = dmgr.getDevice("hc01"); + + cmvr::msgs::Pose3d pose; + pose.mutable_position()->set_x( 0); + pose.mutable_position()->set_y(0); + pose.mutable_position()->set_z(0.03); + + pose.mutable_euler()->set_rx(0); + pose.mutable_euler()->set_ry(0); + pose.mutable_euler()->set_rz(0); + + robot->moveDeltaJ("PELVIS_S","R_WRIST_R_S",pose); + + + +} + +TEST(HumanoidRobotTest,AngleToTest) { + double rx = M_PI / 6; // 30° + double ry = M_PI / 4; // 45° + double rz = M_PI / 3; // 60° + + Eigen::Matrix3d R = HumanoidRobot<7>::eulerZYXToRotationMatrix(rx, ry, rz); + Eigen::Vector3d euler = HumanoidRobot<7>::rotationMatrixToEulerZYX(R); + + std::cout << "Original Euler angles (rad):\n" << Eigen::Vector3d(rx, ry, rz).transpose() << "\n"; + std::cout << "Recovered Euler angles (rad):\n" << euler.transpose() << "\n"; +} + + +TEST(HumanoidRobotTest,MoveIKTest) { + std::string config_path = "/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml"; + const XmlNode config(config_path); + + if (!config.hasChild("DeviceManager")){ + LOG(ERROR) << "Device Manager node not found"; + } + auto dmgr_cfg = config.getChild("DeviceManager"); + auto &dmgr = DeviceManager::getInstance(dmgr_cfg); + + auto robot = dmgr.getDevice("hc01"); + + + std::vector cmd{ + {"R_SHOULDER_P", -0.08882}, + {"R_SHOULDER_R", 1.50297}, + {"R_SHOULDER_Y", 1.85922}, + {"R_ELBOW_R", 0.214816}, + {"R_WRIST_P", -1.69504}, + {"R_WRIST_Y", 0.0363855}, + {"R_WRIST_R", 0.0519807} + }; + + + robot->moveJ(cmd); + + + // // + // cmvr::ctrl::PoseTarget target; + // std::vector targets; + // + // + // cmvr::msgs::Pose3d pose; + // + // pose.mutable_position()->set_x( 1.49969573e-01); + // pose.mutable_position()->set_y(-4.00100001e-01); + // pose.mutable_position()->set_z(-1.00102800e-01); + // + // pose.mutable_euler()->set_rx(0); + // pose.mutable_euler()->set_ry(0); + // pose.mutable_euler()->set_rz(1.57); + // + // + // + // while (true) { + // robot->moveJ("PELVIS_S","R_WRIST_R_S",pose); + // + // + // + // std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + // + // + // robot->moveJ(cmd); + // std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + // } } \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp index 72d7aefc..01297461 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -17,6 +17,7 @@ #include "utils/base/logger.h" #include "service/grpc_head_service.h" #include "service/grpc_humanoid_robot_service.h" +#include "service/grpc_touch_service.h" #include "http/httpclient.h" #include "json/json.h" @@ -48,6 +49,7 @@ void runServer(const XmlNode &cfg){ auto dexhand_service = gRPCDexHandServiceImpl(); auto biohand_service = gRPCMBioHeadServiceImpl(); auto humanoid_robot_service = gRPCHumanoidRobotServiceImpl(); + auto touch_service = gRPCTouchServiceImpl(); grpc::ServerBuilder builder; builder.AddListeningPort(address, grpc::InsecureServerCredentials()); @@ -58,6 +60,7 @@ void runServer(const XmlNode &cfg){ builder.RegisterService(&dexhand_service); builder.RegisterService(&biohand_service); builder.RegisterService(&humanoid_robot_service); + builder.RegisterService(&touch_service); // 🔥 关键!启用反射 //grpc::reflection::InitProtoReflectionServerBuilderPlugin(); diff --git a/src/service/CMakeLists.txt b/src/service/CMakeLists.txt index 0a4b1034..28befede 100644 --- a/src/service/CMakeLists.txt +++ b/src/service/CMakeLists.txt @@ -6,6 +6,7 @@ add_library(service grpc_head_service.cpp grpc_dexhand_service.cpp grpc_humanoid_robot_service.cpp + grpc_touch_service.cpp ) target_include_directories(service PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) @@ -15,6 +16,7 @@ target_link_libraries(service PRIVATE gRPC::grpc++ protobuf::libprotobuf cmvr_es::device_manager + cmvr_es::ctrl::controller ) add_library(cmvr_es::service ALIAS service) @@ -58,3 +60,28 @@ target_link_libraries(grpc_humanoid_robot_client_test cmvr_es::device_manager ${OpenCV_LIBS} ) + + + + +add_executable(grpc_touch_client_test + ${CMAKE_CURRENT_SOURCE_DIR}/grpc_touch_client_test.cpp +) + + +target_link_libraries(grpc_touch_client_test + PRIVATE + cmvr_es::device::canbus + cmvr_es::device::ti5motor + cmvr_es::device::humanoid_robot + gtest + gtest_main + pthread + glog::glog + proto-objects + ccd + fcl + cmvr_es::device_manager + ${OpenCV_LIBS} +) + diff --git a/src/service/grpc_humanoid_robot_client_test.cpp b/src/service/grpc_humanoid_robot_client_test.cpp index 59114dd9..5f8adbfa 100644 --- a/src/service/grpc_humanoid_robot_client_test.cpp +++ b/src/service/grpc_humanoid_robot_client_test.cpp @@ -68,26 +68,7 @@ TEST(GrpcHumanoidRobotClientTest, MyMoveJTest) { {"WAIST_Y" ,0.0}, }; - // cmds = { - // {"L_SHOULDER_P", 0.0}, - // {"L_SHOULDER_R", 0.0}, - // {"L_SHOULDER_Y", 0.0}, - // {"L_ELBOW_R", 0.0}, - // {"L_WRIST_P", 0.0}, - // {"L_WRIST_Y", 0.0}, - // {"L_WRIST_R", 0.0}, - // - // {"R_SHOULDER_P", 0.0}, - // {"R_SHOULDER_R", 0.0}, - // {"R_SHOULDER_Y", 0.0}, - // {"R_ELBOW_R", 0.0}, - // {"R_WRIST_P", 0.0}, - // {"R_WRIST_Y", 0.0}, - // {"R_WRIST_R", 0.0}, - // - // {"WAIST_P" ,0.0}, - // {"WAIST_Y" ,0.0}, - // }; + // 构造请求 cmvr::api::MoveJ_Request request; diff --git a/src/service/grpc_touch_client_test.cpp b/src/service/grpc_touch_client_test.cpp new file mode 100644 index 00000000..6d47a0b2 --- /dev/null +++ b/src/service/grpc_touch_client_test.cpp @@ -0,0 +1,58 @@ +// +// Created by lgv on 2025/8/25. +// +#include "gtest/gtest.h" +#include +#include +#include "service/grpc_touch_service.h" +#include "google/protobuf/timestamp.pb.h" +#include +#include + +using namespace cmvr::api; + +TEST(GrpcTouchClientTest, MyTest) { + // 连接服务端 + auto channel = grpc::CreateChannel("0.0.0.0:50052", grpc::InsecureChannelCredentials()); + auto stub = cmvr::api::TouchService::NewStub(channel); + + + grpc::ClientContext context; + cmvr::api::Touch_Request request; + cmvr::api::Touch_Response response; + + + request.mutable_header()->set_device_id("hc01"); + *request.mutable_header()->mutable_timestamp() = google::protobuf::util::TimeUtil::GetCurrentTime(); + + // 目标位姿 + request.mutable_pose()->mutable_position()->set_x(0.15); + request.mutable_pose()->mutable_position()->set_y(-0.4); + request.mutable_pose()->mutable_position()->set_z(0); + + request.mutable_pose()->mutable_euler()->set_rx(0); + request.mutable_pose()->mutable_euler()->set_ry(0); + request.mutable_pose()->mutable_euler()->set_rz(1.57); + + // 偏移位姿 + request.mutable_offset()->mutable_position()->set_x(0); + request.mutable_offset()->mutable_position()->set_y(0); + request.mutable_offset()->mutable_position()->set_z(0); + + request.mutable_offset()->mutable_euler()->set_rx(0); + request.mutable_offset()->mutable_euler()->set_ry(0); + request.mutable_offset()->mutable_euler()->set_rz(0); + + + // 调用 + grpc::Status status = stub->touch(&context, request, &response); + + if (status.ok()) { + LOG(INFO) << "Touch RPC succeeded." << std::endl; + LOG(INFO) << "Success: " << response.mutable_header()->success() << std::endl; + LOG(INFO) << "Error message: " << response.mutable_header()->error_message() << std::endl; + LOG(INFO) << "Timestamp: " << response.mutable_header()->timestamp().seconds() << std::endl; + } else { + LOG(ERROR) << "Touch RPC failed: " << status.error_message() << std::endl; + } +} \ No newline at end of file diff --git a/src/service/grpc_touch_service.cpp b/src/service/grpc_touch_service.cpp new file mode 100644 index 00000000..7e55c657 --- /dev/null +++ b/src/service/grpc_touch_service.cpp @@ -0,0 +1,38 @@ +// +// Created by lgv on 2025/8/25. +// + + +#include "service/grpc_touch_service.h" +#include +#include "robot/humanoid_robot/humanoid_robot.h" +#include "controller/touch_controller.h" + + +using namespace cmvr::service; +using namespace cmvr::device; +using namespace cmvr::api; +using google::protobuf::util::TimeUtil; + +gRPCTouchServiceImpl::gRPCTouchServiceImpl():dmgr_(DeviceManager::getInstance()){} + +grpc::Status gRPCTouchServiceImpl::touch(grpc::ServerContext *context, const cmvr::api::Touch_Request *request, cmvr::api::Touch_Response *response) { + + grpc::Status ret = grpc::Status::OK; + + try { + auto robot = dmgr_.getDevice(request->header().device_id()); + ctrl::TouchController touch_controller; + touch_controller.touch(robot,request->pose(),request->offset()); + response->mutable_header()->set_success(true); + response->mutable_header()->set_error_message(""); + }catch (const std::exception& e) { + response->mutable_header()->set_success(false); + response->mutable_header()->set_error_message(e.what()); + ret = grpc::Status(grpc::StatusCode::INTERNAL, e.what()); + } + *response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime(); + return ret; +} + +