From c0668fe5fbbb22c7ac483360993aff3cee9f6808 Mon Sep 17 00:00:00 2001 From: lgv Date: Wed, 4 Feb 2026 10:17:01 +0800 Subject: [PATCH] update config file --- .../config/camera_config/camera_config.pb.txt | 4 +++- .../dexhand_config/dexhand_config.pb.txt | 2 ++ .../microphone_config.pb.txt | 1 + .../speaker_config/speaker_config.pb.txt | 1 + cmvr-es/device_manager/src/device_manager.cpp | 10 ++++++++++ .../grpc/v1.76.0/bin/grpc_cpp_plugin | Bin 170144 -> 170144 bytes .../config/camera_config/camera_config.proto | 2 ++ .../dexhand_config/dexhand_config.proto | 2 +- .../microphone_config/microphone_config.proto | 1 + .../speaker_config/speaker_conifg.proto | 1 + 10 files changed, 22 insertions(+), 2 deletions(-) diff --git a/cmvr-es/common/config/camera_config/camera_config.pb.txt b/cmvr-es/common/config/camera_config/camera_config.pb.txt index a33b8bc2..db18cd7e 100644 --- a/cmvr-es/common/config/camera_config/camera_config.pb.txt +++ b/cmvr-es/common/config/camera_config/camera_config.pb.txt @@ -10,11 +10,12 @@ realsense_cameras { align_mode: ALIGN_MODE_COLOR buffer_size: 30 sync: true + enable: false } uvc_cameras { id: "cam1" - usb: "/dev/video0" + usb: "/dev/uvc_left_camera" width: 640 height: 480 fps: 30 @@ -22,4 +23,5 @@ uvc_cameras { camera_mode: CAMERA_MODE_PHOTO stream_mode: STREAM_MODE_RGB buffer_size: 30 + enable: true } 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 3ca234bd..e2d2d969 100644 --- a/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt +++ b/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt @@ -2,10 +2,12 @@ rh56dftp_dexhands { id: "hand1" ip: "192.168.1.213" port: 6000 + enable: false } rh56dftp_dexhands { id: "hand2" ip: "192.168.1.214" port: 6000 + enable: false } \ No newline at end of file diff --git a/cmvr-es/common/config/microphone_conifg/microphone_config.pb.txt b/cmvr-es/common/config/microphone_conifg/microphone_config.pb.txt index 237e4033..541151ea 100644 --- a/cmvr-es/common/config/microphone_conifg/microphone_config.pb.txt +++ b/cmvr-es/common/config/microphone_conifg/microphone_config.pb.txt @@ -3,4 +3,5 @@ ffmpeg_microphones { channels: 2 sampleRate: 44100 volume: 100 + enable: true } \ No newline at end of file diff --git a/cmvr-es/common/config/speaker_config/speaker_config.pb.txt b/cmvr-es/common/config/speaker_config/speaker_config.pb.txt index 6f7abc1a..318258de 100644 --- a/cmvr-es/common/config/speaker_config/speaker_config.pb.txt +++ b/cmvr-es/common/config/speaker_config/speaker_config.pb.txt @@ -1,3 +1,4 @@ ffmpeg_speakers { id: "spk1" + enable: true } \ No newline at end of file diff --git a/cmvr-es/device_manager/src/device_manager.cpp b/cmvr-es/device_manager/src/device_manager.cpp index fc9d35f8..2271a337 100644 --- a/cmvr-es/device_manager/src/device_manager.cpp +++ b/cmvr-es/device_manager/src/device_manager.cpp @@ -237,6 +237,8 @@ void DeviceManager::init_devices_() { for (int i = 0; i < camera_config.uvc_cameras().size(); i++) { auto cam = camera_config.uvc_cameras(i); + if (!cam.enable()) + continue; auto id = cam.id(); if (devices_.count(id)) { LOG(ERROR) << "[DeviceManager]: Duplicate Camera Device ID" << id; @@ -249,6 +251,8 @@ void DeviceManager::init_devices_() { } for (int i = 0; i < camera_config.realsense_cameras().size(); i++) { auto cam = camera_config.realsense_cameras(i); + if (!cam.enable()) + continue; auto id = cam.id(); if (devices_.count(id)) { LOG(ERROR) << "[DeviceManager]: Duplicate Camera Device ID" << id; @@ -264,6 +268,8 @@ void DeviceManager::init_devices_() { ConfigHelper::getDexHandsConfig(dexhand_cfg); for (int i = 0; i < dexhand_cfg.rh56dftp_dexhands().size(); i++) { auto dexhand = dexhand_cfg.rh56dftp_dexhands(i); + if (!dexhand.enable()) + continue; auto id = dexhand.id(); if (devices_.count(id)) { LOG(ERROR) << "[DeviceManager]: Duplicate DexHand Device ID" << id; @@ -295,6 +301,8 @@ void DeviceManager::init_devices_() { ConfigHelper::getMicroPhonesConfig(micro_phone_config); for (int i = 0; i < micro_phone_config.ffmpeg_microphones().size(); i++) { auto mic = micro_phone_config.ffmpeg_microphones(i); + if (!mic.enable()) + continue; auto id = mic.id(); if (devices_.count(id)) { LOG(ERROR) << "[DeviceManager]: Duplicate MicroPhone Device ID" << id; @@ -310,6 +318,8 @@ void DeviceManager::init_devices_() { ConfigHelper::getSpeakersConfig(speaker_config); for (int i = 0; i < speaker_config.ffmpeg_speakers().size(); i++) { auto speaker = speaker_config.ffmpeg_speakers(i); + if (!speaker.enable()) + continue; auto id = speaker.id(); if (devices_.count(id)) { LOG(ERROR) << "[DeviceManager]: Duplicate Speaker Device ID" << id; diff --git a/dependency/x86/third_party/grpc/v1.76.0/bin/grpc_cpp_plugin b/dependency/x86/third_party/grpc/v1.76.0/bin/grpc_cpp_plugin index 3576236b39681e4897c529ef26a2b35028e457c1..d55fcc1bc1ef028f1d4497927d5ffff2b5112f5f 100755 GIT binary patch delta 38 tcmZ3mk!!(5u7(!IElisybL6C#=_luw6-_@dnaPwT0tmK$nas3?1pqPR4`l!V delta 38 ucmZ3mk!!(5u7(!IElisy^Cst(73l{Q