refactor: restore single root configuration
Remove redundant UME and robot root profiles, keep the canonical cmvr_es configuration tree, and document per-host external deployment configuration.
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@ -18,8 +18,6 @@ cmvr_es.pb.txt
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入口文件：
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- [`cmvr_es.pb.txt`](cmvr_es.pb.txt)
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- [`cmvr_es_ume.pb.txt`](cmvr_es_ume.pb.txt)：UME 主端样例
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- [`cmvr_es_robot.pb.txt`](cmvr_es_robot.pb.txt)：人形机械臂从端样例
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- [`manager/device_manager.pb.txt`](manager/device_manager.pb.txt)
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- [`manager/task_manager.pb.txt`](manager/task_manager.pb.txt)
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@ -111,47 +109,48 @@ output/bin/protoc \
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该命令只验证 Proto Text 解析，不验证文件、设备、证书、网络和跨字段语义。最终仍需运行组件测试和进程烟雾测试。
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## 双边遥操部署样例
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## 双边遥操配置
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仓库提供两个相互独立的 CMVR-ES 配置入口：
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源码仓库保持唯一根入口 [`cmvr_es.pb.txt`](cmvr_es.pb.txt)。统一的
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[`manager/device_manager.pb.txt`](manager/device_manager.pb.txt) 已声明
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`ume_left`、`ume_right`、`ti5_motors` 和 `right_arm`；统一的
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[`manager/task_manager.pb.txt`](manager/task_manager.pb.txt) 已声明
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`ume_teleop` 和 gRPC server。角色差异不通过增加新的源码根配置文件表达，而由
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两台机器各自的外部部署配置决定。
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- UME 主端：[`cmvr_es_ume.pb.txt`](cmvr_es_ume.pb.txt)，只声明
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`ume_left` 和 `ume_right`。两条机械臂在 DeviceManager 层默认关闭，
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[`devices/arm/ume_arms.pb.txt`](devices/arm/ume_arms.pb.txt) 内部的
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`hardware_enabled` 也默认关闭；两层开关必须经过标定与安全验收后分别启用。
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出站 `ume_teleop` Task 默认关闭，样例不包含机器人地址或凭据。当前 Task
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只实现会话/重连/心跳和 latest-only 指令邮箱，尚无生产算法调用
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UME 主端部署配置应只启用本机需要的 UME 设备和 `ume_teleop` Task：
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- `ume_left`、`ume_right` 在 DeviceManager 层默认关闭；
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- [`devices/arm/ume_arms.pb.txt`](devices/arm/ume_arms.pb.txt) 内部的
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`hardware_enabled` 也默认关闭；
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- 两层硬件门必须在完成 CAN 映射、限位标定和安全验收后分别启用；
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- 当前 Task 只实现会话、重连、心跳和 latest-only 指令邮箱，尚无生产算法调用
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`submitSetpoint()`，返回 effort 也尚未接入本地触觉协调器。
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- 人形机械臂从端：[`cmvr_es_robot.pb.txt`](cmvr_es_robot.pb.txt)，通用 gRPC
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server 可以启动，但 `ti5_motors` 和 `right_arm` 仍默认关闭。生产
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`ArmTeleop` 已实现真实 `RobotArm` 适配，但服务配置的 `enable` 显式关闭且
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样例哈希故意留空。`MotorRobotArm.enable_teleop_group_servo` 目前只是预留字段；
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因为现有 `servoJ` 仍是逐关节顺序写，代码即使看到该字段为 true 也会拒绝能力。
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必须先实现并验收原子或定时的组下发原语。因此启动 gRPC server 不等于允许遥操
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执行，也不能绕过设备层硬件门。
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在两台边缘设备各自的源码或安装目录运行：
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机器人从端部署配置应只启用经过验收的机械臂设备以及所需的 gRPC server：
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```bash
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# UME 主端（源码配置）
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./output/bin/cmvr_es \
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--config ./cmvr-es/config/cmvr_es_ume.pb.txt
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- `ti5_motors`、`right_arm` 默认关闭；
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- `ArmTeleop` 服务后端默认关闭，模型哈希必须由部署配置明确给出；
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- 当前 `MotorRobotArm::servoJ()` 仍是逐关节顺序写，不满足遥操作组伺服能力门；
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- 启动 gRPC server 不代表允许遥操作执行，也不能绕过设备层硬件门。
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# 人形机械臂从端（源码配置）
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./output/bin/cmvr_es \
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--config ./cmvr-es/config/cmvr_es_robot.pb.txt
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部署时应把完整配置树分别复制到两台机器的外部目录，并继续使用相同的标准文件名：
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```text
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/etc/cmvr-es/ume/cmvr_es.pb.txt
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/etc/cmvr-es/robot/cmvr_es.pb.txt
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```
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如果使用安装后的配置副本，则相应命令为：
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两套根配置都继续引用各自目录下同名的
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`manager/device_manager.pb.txt` 和 `manager/task_manager.pb.txt`。运行命令为：
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```bash
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./output/bin/cmvr_es --config ./output/bin/config/cmvr_es_ume.pb.txt
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./output/bin/cmvr_es --config ./output/bin/config/cmvr_es_robot.pb.txt
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./output/bin/cmvr_es --config /etc/cmvr-es/ume/cmvr_es.pb.txt
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./output/bin/cmvr_es --config /etc/cmvr-es/robot/cmvr_es.pb.txt
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```
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上线前应把两套配置分别复制到两台机器的外部配置目录。主端需要填写从端地址、
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会话 manifest 和认证配置；从端需要换成现场机械臂设备配置，并在真实硬件测试后
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逐层开启。不要把生产 IP、token、私钥或设备标定值提交到仓库样例。
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UME 主端需要填写从端地址、会话 manifest 和认证配置；机器人从端需要填写现场
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机械臂配置。不要把生产 IP、token、私钥或设备标定值提交到仓库默认配置。
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## 生产配置
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@ -1,11 +0,0 @@
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# Follower robot-side CMVR-ES profile.
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#
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# The RobotArm ArmTeleop backend is implemented but explicitly disabled. The
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# physical arm and service backend remain closed. Current MotorRobotArm
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# sequential joint writes are rejected as a teleop group-servo capability until
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# an atomic/timed group primitive and its safety timing gates are accepted.
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cmvr_es {
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logger_config_file: "logger/logger.pb.txt"
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device_manager_config_file: "manager/device_manager_robot.pb.txt"
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task_manager_config_file: "manager/task_manager_robot.pb.txt"
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}
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@ -1,10 +0,0 @@
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# UME leader-side CMVR-ES profile.
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#
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# All relative paths below are resolved from this file's directory. This
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# checked-in profile contains no production endpoint, credentials or hardware
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# enablement.
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cmvr_es {
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logger_config_file: "logger/logger.pb.txt"
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device_manager_config_file: "manager/device_manager_ume.pb.txt"
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task_manager_config_file: "manager/task_manager_ume.pb.txt"
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}
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@ -1,24 +0,0 @@
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# Follower robot-side devices.
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device_manager {
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name: "cmvr_es_robot"
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version: "0.1"
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description: "CMVR humanoid follower edge system"
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init_all_motors_when_no_active_joints: false
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devices {
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id: "ti5_motors"
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type: DEVICE_TYPE_MOTOR_SYSTEM
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config_file: "devices/motor/ti5_motors.pb.txt"
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# Physical motor communication remains fail-closed in this example.
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enable: false
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}
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devices {
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id: "right_arm"
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type: DEVICE_TYPE_ROBOT_ARM
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config_file: "devices/arm/arm.pb.txt"
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# Do not enable until the motor system, URDF, limits, servoJ timing and
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# independent emergency-stop path have passed the robot safety checkout.
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enable: false
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}
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}
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@ -1,24 +0,0 @@
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# UME leader-side devices only.
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device_manager {
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name: "cmvr_es_ume"
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version: "0.1"
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description: "UME leader edge system"
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init_all_motors_when_no_active_joints: false
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devices {
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id: "ume_right"
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type: DEVICE_TYPE_ROBOT_ARM
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config_file: "devices/arm/ume_arms.pb.txt"
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# Hardware gate 1/2. Gate 2/2 is ume.hardware_enabled in the arm config.
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# Keep both false until CAN mapping, limits and physical safety are verified.
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enable: false
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}
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devices {
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id: "ume_left"
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type: DEVICE_TYPE_ROBOT_ARM
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config_file: "devices/arm/ume_arms.pb.txt"
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# Hardware gate 1/2. Gate 2/2 is ume.hardware_enabled in the arm config.
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enable: false
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}
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}
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@ -1,14 +0,0 @@
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# Follower robot-side tasks.
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task_manager {
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tasks {
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id: "grpc_server"
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type: TASK_TYPE_GRPC_SERVER
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run_mode: TASK_RUN_MODE_BLOCKING_SERVICE
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config_file: "tasks/grpc_server_task/grpc_server_task.pb.txt"
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# The generic gRPC server may be enabled for integration. This does not
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# enable a physical arm: device entries and the implemented RobotArm
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# ArmTeleop adapter are explicitly disabled. Current MotorRobotArm
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# sequential joint dispatch also fails the group-servo capability gate.
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enable: true
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}
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}
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@ -1,12 +0,0 @@
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# UME leader-side tasks.
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task_manager {
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tasks {
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id: "ume_teleop"
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type: TASK_TYPE_UME_TELEOP
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run_mode: TASK_RUN_MODE_BLOCKING_SERVICE
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config_file: "tasks/ume_teleop_task/ume_teleop_task.pb.txt"
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# Fail-closed: configure the follower endpoint, expected manifest and
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# transport security before enabling outbound teleoperation.
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enable: false
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}
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}
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