diff --git a/config/cabin_robot.xml b/config/cabin_robot.xml index 54ae96de..25fccd29 100644 --- a/config/cabin_robot.xml +++ b/config/cabin_robot.xml @@ -20,10 +20,10 @@ - + - + @@ -32,44 +32,44 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + @@ -90,11 +90,11 @@ - + - + diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt index 1f7f49c3..1bf15c5d 100644 --- a/example/CMakeLists.txt +++ b/example/CMakeLists.txt @@ -77,4 +77,12 @@ target_link_libraries(robot_wrapper PRIVATE ccd fcl cmvr_es::device_manager - ${OpenCV_LIBS}) \ No newline at end of file + ${OpenCV_LIBS}) + + +add_executable(moveL moveL.cpp) +target_link_libraries(moveL PRIVATE cmvr_es::utils) + +add_executable(speedL speedL.cpp) +target_include_directories(speedL PRIVATE ${GLOG_INCLUDE_DIRS}) +target_link_libraries(speedL PRIVATE cmvr_es::utils ${GLOG_LIBRARIES}) \ No newline at end of file diff --git a/example/follow_traj_example.cpp b/example/follow_traj_example.cpp index 6dd8e194..7286c1c9 100644 --- a/example/follow_traj_example.cpp +++ b/example/follow_traj_example.cpp @@ -14,7 +14,7 @@ #include #include "utils/dynamics/robot.h" -#include "utils/controller/cartesian_controller.h" +#include "utils/solver/qp_solver.h" // ---------- CONFIG --------------------------------------------------------- constexpr int DOF = 14; // robot DOF diff --git a/example/solve_ik.cpp b/example/solve_ik.cpp index 8f679656..ca8e51dd 100644 --- a/example/solve_ik.cpp +++ b/example/solve_ik.cpp @@ -3,7 +3,7 @@ // #include "utils/dynamics/robot.h" -#include "utils/controller/cartesian_controller.h" +#include "utils/solver/qp_solver.h" #include #include #include diff --git a/example/wbc_example.cpp b/example/wbc_example.cpp index 1824b75b..994e5785 100644 --- a/example/wbc_example.cpp +++ b/example/wbc_example.cpp @@ -3,7 +3,7 @@ // #include "utils/dynamics/robot.h" -#include "utils/controller/cartesian_controller.h" +#include "utils/solver/qp_solver.h" constexpr int DOF = 14; using RobotT = cmvr::dyn::Robot; diff --git a/include/devices/abstract_robot.h b/include/devices/abstract_robot.h index 667eeb67..335537df 100644 --- a/include/devices/abstract_robot.h +++ b/include/devices/abstract_robot.h @@ -8,7 +8,7 @@ #include "jsoncpp/json/json.h" #include "abstract_device.h" -#include "utils/controller/cartesian_controller.h" +#include "utils/solver/qp_solver.h" #include "cmvr/msgs/geometry.pb.h" #include "cmvr/msgs/motor.pb.h" diff --git a/include/hardware_manager/hardware_factory.h b/include/hardware_manager/hardware_factory.h new file mode 100644 index 00000000..147f3990 --- /dev/null +++ b/include/hardware_manager/hardware_factory.h @@ -0,0 +1,14 @@ +// +// Created by linbo on 2025/10/21. +// + +#ifndef CMVR_ES_HARDWARE_FACTORY_H +#define CMVR_ES_HARDWARE_FACTORY_H + + +class hardware_factory +{ +}; + + +#endif //CMVR_ES_HARDWARE_FACTORY_H \ No newline at end of file diff --git a/include/hardware_manager/hardware_manager.h b/include/hardware_manager/hardware_manager.h new file mode 100644 index 00000000..54601a31 --- /dev/null +++ b/include/hardware_manager/hardware_manager.h @@ -0,0 +1,14 @@ +// +// Created by linbo on 2025/10/21. +// + +#ifndef CMVR_ES_HARDWARE_MANAGER_H +#define CMVR_ES_HARDWARE_MANAGER_H + + +class hardware_manager +{ +}; + + +#endif //CMVR_ES_HARDWARE_MANAGER_H \ No newline at end of file diff --git a/include/service/grpc_camera_service.h b/include/service/grpc_service/grpc_camera_service.h similarity index 98% rename from include/service/grpc_camera_service.h rename to include/service/grpc_service/grpc_camera_service.h index 9fd29510..9687ce2e 100644 --- a/include/service/grpc_camera_service.h +++ b/include/service/grpc_service/grpc_camera_service.h @@ -6,7 +6,7 @@ #define GRPC_CAMERA_SERVICE_H #include "cmvr/api/camera_service.grpc.pb.h" -#include "../utils/base/grpc_utils.h" +#include "../../utils/base/grpc_utils.h" #include "device_manager/device_manager.h" namespace cmvr::service { diff --git a/include/service/grpc_dexhand_service.h b/include/service/grpc_service/grpc_dexhand_service.h similarity index 98% rename from include/service/grpc_dexhand_service.h rename to include/service/grpc_service/grpc_dexhand_service.h index 593d70f5..72074303 100644 --- a/include/service/grpc_dexhand_service.h +++ b/include/service/grpc_service/grpc_dexhand_service.h @@ -6,7 +6,7 @@ #define GRPC_DEXHAND_SERVICE_H #include "cmvr/api/dexhand_service.grpc.pb.h" -#include "../utils/base/grpc_utils.h" +#include "../../utils/base/grpc_utils.h" #include "device_manager/device_manager.h" namespace cmvr::service { class gRPCDexHandServiceImpl final: public api::DexHandService::Service { diff --git a/include/service/grpc_head_service.h b/include/service/grpc_service/grpc_head_service.h similarity index 100% rename from include/service/grpc_head_service.h rename to include/service/grpc_service/grpc_head_service.h diff --git a/include/service/grpc_hlc_service.h b/include/service/grpc_service/grpc_hlc_service.h similarity index 100% rename from include/service/grpc_hlc_service.h rename to include/service/grpc_service/grpc_hlc_service.h diff --git a/include/service/grpc_humanoid_robot_service.h b/include/service/grpc_service/grpc_humanoid_robot_service.h similarity index 100% rename from include/service/grpc_humanoid_robot_service.h rename to include/service/grpc_service/grpc_humanoid_robot_service.h diff --git a/include/service/grpc_microphone_service.h b/include/service/grpc_service/grpc_microphone_service.h similarity index 97% rename from include/service/grpc_microphone_service.h rename to include/service/grpc_service/grpc_microphone_service.h index 81c6334a..2c35e36a 100644 --- a/include/service/grpc_microphone_service.h +++ b/include/service/grpc_service/grpc_microphone_service.h @@ -7,7 +7,7 @@ #define GRPC_MICROPHONE_SERVICE_H #include "cmvr/api/microphone_service.grpc.pb.h" #include "device_manager/device_manager.h" -#include "../utils/base/grpc_utils.h" +#include "../../utils/base/grpc_utils.h" namespace cmvr::service { diff --git a/include/service/grpc_speaker_service.h b/include/service/grpc_service/grpc_speaker_service.h similarity index 97% rename from include/service/grpc_speaker_service.h rename to include/service/grpc_service/grpc_speaker_service.h index 2250bc43..318b2103 100644 --- a/include/service/grpc_speaker_service.h +++ b/include/service/grpc_service/grpc_speaker_service.h @@ -7,7 +7,7 @@ #include "cmvr/api/speaker_service.grpc.pb.h" #include "device_manager/device_manager.h" -#include "../utils/base/grpc_utils.h" +#include "../../utils/base/grpc_utils.h" namespace cmvr::service { class gRPCSpeakerServiceImpl: public api::SpeakerService::Service { diff --git a/include/service/grpc_system_service.h b/include/service/grpc_service/grpc_system_service.h similarity index 96% rename from include/service/grpc_system_service.h rename to include/service/grpc_service/grpc_system_service.h index b612632b..982710f4 100644 --- a/include/service/grpc_system_service.h +++ b/include/service/grpc_service/grpc_system_service.h @@ -6,7 +6,7 @@ #define GRPC_SYSTEM_SERVICE_H #include "cmvr/api/system_service.grpc.pb.h" -#include "../utils/base/grpc_utils.h" +#include "../../utils/base/grpc_utils.h" #include "device_manager/device_manager.h" namespace cmvr::service diff --git a/include/http/httpclient.h b/include/service/http_service/httpclient.h similarity index 100% rename from include/http/httpclient.h rename to include/service/http_service/httpclient.h diff --git a/include/utils/controller/cartesian_controller.h b/include/utils/solver/qp_solver.h similarity index 100% rename from include/utils/controller/cartesian_controller.h rename to include/utils/solver/qp_solver.h diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index a14da40a..02c783a9 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,8 +1,8 @@ add_subdirectory(utils) add_subdirectory(hardware) +add_subdirectory(hardware_manager) add_subdirectory(devices) add_subdirectory(monitor) add_subdirectory(device_manager) add_subdirectory(service) -add_subdirectory(http) add_subdirectory(controller) \ No newline at end of file diff --git a/src/devices/robot/humanoid_robot/humanoid_robot.h b/src/devices/robot/humanoid_robot/humanoid_robot.h index fa876c1a..f24eaf4a 100644 --- a/src/devices/robot/humanoid_robot/humanoid_robot.h +++ b/src/devices/robot/humanoid_robot/humanoid_robot.h @@ -6,7 +6,7 @@ #define CMVR_ES_HUMANOID_ROBOT_H #include "devices/abstract_robot.h" -#include "utils/controller/cartesian_controller.h" +#include "utils/solver/qp_solver.h" #include "utils/base/os.h" #include "utils/base/timer.h" #include "utils/base/ring_buffer.h" diff --git a/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp b/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp index 8dd19c57..83c934ed 100644 --- a/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp +++ b/src/devices/robot/humanoid_robot/humanoid_robot_test.cpp @@ -55,7 +55,7 @@ TEST(HumanoidRobotTest,GetState) { TEST(HumanoidRobotTest,MyRobotTest) { - std::string config_path = "/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml"; + std::string config_path = "/home/linbo/newProject/cmvr-es/config/cabin_robot.xml"; const XmlNode config(config_path); if (!config.hasChild("DeviceManager")){ @@ -75,29 +75,24 @@ TEST(HumanoidRobotTest,MyRobotTest) { // robot->calibrateZeroQ("R_WRIST_R"); // cmd = { - {"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}, + // {"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", 0.2}, + // {"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}, + {"R_WRIST_Y", 0.0}, + {"R_WRIST_R", 0.0}, // {"WAIST_P" ,0.0}, // {"WAIST_Y" ,0.0}, - - {"HEAD_P",0.0}, - {"HEAD_Y",0.0}, - {"HEAD_R",0.0}, - }; robot->moveJ(cmd,0.8); @@ -545,7 +540,7 @@ TEST(HumanoidRobotTest, SpeedJTest) { auto robot = dmgr.getDevice("hc01"); // 设置目标关节和相关参数 - std::string joint_name = "L_WRIST_R"; // 目标关节名 + std::string joint_name = "R_WRIST_R"; // 目标关节名 RobotJointIndexDirection dir = RobotJointIndexDirection::Y_NEGATIVE; // 方向 double vel = -0.1; // 速度 (rad/s) double acc = 1; // 加速度 (rad/s²) @@ -553,6 +548,8 @@ TEST(HumanoidRobotTest, SpeedJTest) { try { // 调用 speedJ 函数进行关节运动 robot->speedJ(joint_name, dir, vel, acc); + std::this_thread::sleep_for(std::chrono::seconds(3)); + robot->speedJ(joint_name, dir, 0, acc); } catch (const std::exception& e) { LOG(ERROR) << "speedJ test failed: " << e.what(); diff --git a/src/hardware_manager/CMakeLists.txt b/src/hardware_manager/CMakeLists.txt new file mode 100644 index 00000000..602393aa --- /dev/null +++ b/src/hardware_manager/CMakeLists.txt @@ -0,0 +1,11 @@ +add_library(hardware_manager SHARED + hardware_factory.cpp + hardware_manager.cpp + +) + +target_include_directories(hardware_manager PUBLIC + ${PROJECT_SOURCE_DIR}/include +) + +add_library(cmvr_es::hardware_manager ALIAS hardware_manager) \ No newline at end of file diff --git a/src/hardware_manager/hardware_factory.cpp b/src/hardware_manager/hardware_factory.cpp new file mode 100644 index 00000000..fdc05999 --- /dev/null +++ b/src/hardware_manager/hardware_factory.cpp @@ -0,0 +1,5 @@ +// +// Created by linbo on 2025/10/21. +// + +#include "hardware_manager/hardware_factory.h" diff --git a/src/hardware_manager/hardware_manager.cpp b/src/hardware_manager/hardware_manager.cpp new file mode 100644 index 00000000..ca34a8c1 --- /dev/null +++ b/src/hardware_manager/hardware_manager.cpp @@ -0,0 +1,5 @@ +// +// Created by linbo on 2025/10/21. +// + +#include "hardware_manager/hardware_manager.h" diff --git a/src/main.cpp b/src/main.cpp index 4aff85a2..831d6dda 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -9,17 +9,17 @@ #include #include "device_manager/device_manager.h" #include "monitor/monitor_manager.h" -#include "service/grpc_camera_service.h" -#include "service/grpc_system_service.h" -#include "service/grpc_speaker_service.h" -#include "service/grpc_microphone_service.h" -#include "service/grpc_dexhand_service.h" +#include "service/grpc_service/grpc_camera_service.h" +#include "service/grpc_service/grpc_system_service.h" +#include "service/grpc_service/grpc_speaker_service.h" +#include "service/grpc_service/grpc_microphone_service.h" +#include "service/grpc_service/grpc_dexhand_service.h" #include "utils/base/logger.h" -#include "service/grpc_head_service.h" -#include "service/grpc_humanoid_robot_service.h" -#include "service/grpc_hlc_service.h" +#include "service/grpc_service/grpc_head_service.h" +#include "service/grpc_service/grpc_humanoid_robot_service.h" +#include "service/grpc_service/grpc_hlc_service.h" -#include "http/httpclient.h" +#include "service/http_service/httpclient.h" #include "json/json.h" void runServer(const XmlNode &cfg){ diff --git a/src/service/CMakeLists.txt b/src/service/CMakeLists.txt index c7abb985..78a4241d 100644 --- a/src/service/CMakeLists.txt +++ b/src/service/CMakeLists.txt @@ -1,87 +1,2 @@ -add_library(service - grpc_camera_service.cpp - grpc_system_service.cpp - grpc_speaker_service.cpp - grpc_microphone_service.cpp - grpc_head_service.cpp - grpc_dexhand_service.cpp - grpc_humanoid_robot_service.cpp - grpc_hlc_service.cpp -) - -target_include_directories(service PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) - -target_link_libraries(service PRIVATE - proto-objects - gRPC::grpc++ - protobuf::libprotobuf - cmvr_es::device_manager - cmvr_es::ctrl::controller -) - -add_library(cmvr_es::service ALIAS service) - - -# -------------------------------------------------------- -# Unit test -# -------------------------------------------------------- -find_package(glog REQUIRED) -find_package(protobuf REQUIRED) -find_package(PkgConfig REQUIRED) -find_package(fcl REQUIRED) -find_package(OpenCV REQUIRED) - -include_directories( - ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include -) - -link_directories( - ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib -) - - -add_executable(grpc_humanoid_robot_client_test - ${CMAKE_CURRENT_SOURCE_DIR}/grpc_humanoid_robot_client_test.cpp -) - - -target_link_libraries(grpc_humanoid_robot_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} -) - - - - -add_executable(grpc_hlc_client_test - ${CMAKE_CURRENT_SOURCE_DIR}/grpc_hlc_client_test.cpp -) - - -target_link_libraries(grpc_hlc_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} -) - +add_subdirectory(grpc_service) +add_subdirectory(http_service) \ No newline at end of file diff --git a/src/service/grpc_service/CMakeLists.txt b/src/service/grpc_service/CMakeLists.txt new file mode 100644 index 00000000..94f44e99 --- /dev/null +++ b/src/service/grpc_service/CMakeLists.txt @@ -0,0 +1,87 @@ +add_library(service + grpc_camera_service.cpp + grpc_system_service.cpp + grpc_speaker_service.cpp + grpc_microphone_service.cpp + grpc_head_service.cpp + grpc_dexhand_service.cpp + grpc_humanoid_robot_service.cpp + grpc_hlc_service.cpp +) + +target_include_directories(service PUBLIC ${PROJECT_SOURCE_DIR}/include) + +target_link_libraries(service PRIVATE + proto-objects + gRPC::grpc++ + protobuf::libprotobuf + cmvr_es::device_manager + cmvr_es::ctrl::controller +) + +add_library(cmvr_es::service ALIAS service) + + +# -------------------------------------------------------- +# Unit test +# -------------------------------------------------------- +find_package(glog REQUIRED) +find_package(protobuf REQUIRED) +find_package(PkgConfig REQUIRED) +find_package(fcl REQUIRED) +find_package(OpenCV REQUIRED) + +include_directories( + ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include +) + +link_directories( + ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib +) + + +add_executable(grpc_humanoid_robot_client_test + grpc_humanoid_robot_client_test.cpp +) + + +target_link_libraries(grpc_humanoid_robot_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} +) + + + + +add_executable(grpc_hlc_client_test + grpc_hlc_client_test.cpp +) + + +target_link_libraries(grpc_hlc_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_camera_service.cpp b/src/service/grpc_service/grpc_camera_service.cpp similarity index 99% rename from src/service/grpc_camera_service.cpp rename to src/service/grpc_service/grpc_camera_service.cpp index 76d49a88..e8448a56 100644 --- a/src/service/grpc_camera_service.cpp +++ b/src/service/grpc_service/grpc_camera_service.cpp @@ -2,7 +2,7 @@ // Created by xtkuang on 2025/6/1. // -#include "service/grpc_camera_service.h" +#include "../../../include/service/grpc_service/grpc_camera_service.h" using namespace std; using namespace cmvr::service; diff --git a/src/service/grpc_dexhand_service.cpp b/src/service/grpc_service/grpc_dexhand_service.cpp similarity index 99% rename from src/service/grpc_dexhand_service.cpp rename to src/service/grpc_service/grpc_dexhand_service.cpp index b5305645..8dd52afd 100644 --- a/src/service/grpc_dexhand_service.cpp +++ b/src/service/grpc_service/grpc_dexhand_service.cpp @@ -2,7 +2,7 @@ // Created by linbo on 2025/7/3. // -#include "service/grpc_dexhand_service.h" +#include "../../../include/service/grpc_service/grpc_dexhand_service.h" #include #include using namespace std; diff --git a/src/service/grpc_head_service.cpp b/src/service/grpc_service/grpc_head_service.cpp similarity index 99% rename from src/service/grpc_head_service.cpp rename to src/service/grpc_service/grpc_head_service.cpp index 9e7c9ecb..d95bb553 100644 --- a/src/service/grpc_head_service.cpp +++ b/src/service/grpc_service/grpc_head_service.cpp @@ -1,4 +1,4 @@ -#include "service/grpc_head_service.h" +#include "../../../include/service/grpc_service/grpc_head_service.h" #include "cmvr/api/biohead_service.grpc.pb.h" #include "device_manager/device_manager.h" diff --git a/src/service/grpc_hlc_client_test.cpp b/src/service/grpc_service/grpc_hlc_client_test.cpp similarity index 95% rename from src/service/grpc_hlc_client_test.cpp rename to src/service/grpc_service/grpc_hlc_client_test.cpp index 4fb32bd6..9024f292 100644 --- a/src/service/grpc_hlc_client_test.cpp +++ b/src/service/grpc_service/grpc_hlc_client_test.cpp @@ -4,7 +4,7 @@ #include "gtest/gtest.h" #include #include -#include "service/grpc_hlc_service.h" +#include "../../../include/service/grpc_service/grpc_hlc_service.h" #include "google/protobuf/timestamp.pb.h" #include #include diff --git a/src/service/grpc_hlc_service.cpp b/src/service/grpc_service/grpc_hlc_service.cpp similarity index 95% rename from src/service/grpc_hlc_service.cpp rename to src/service/grpc_service/grpc_hlc_service.cpp index 43c9067a..10c83b38 100644 --- a/src/service/grpc_hlc_service.cpp +++ b/src/service/grpc_service/grpc_hlc_service.cpp @@ -3,7 +3,7 @@ // -#include "service/grpc_hlc_service.h" +#include "../../../include/service/grpc_service/grpc_hlc_service.h" #include #include "robot/humanoid_robot/humanoid_robot.h" #include "controller/touch_controller.h" diff --git a/src/service/grpc_humanoid_robot_client_test.cpp b/src/service/grpc_service/grpc_humanoid_robot_client_test.cpp similarity index 98% rename from src/service/grpc_humanoid_robot_client_test.cpp rename to src/service/grpc_service/grpc_humanoid_robot_client_test.cpp index ba6944f0..3712bc64 100644 --- a/src/service/grpc_humanoid_robot_client_test.cpp +++ b/src/service/grpc_service/grpc_humanoid_robot_client_test.cpp @@ -5,7 +5,7 @@ #include "gtest/gtest.h" #include #include -#include "service/grpc_humanoid_robot_service.h" +#include "../../../include/service/grpc_service/grpc_humanoid_robot_service.h" #include "google/protobuf/timestamp.pb.h" #include #include diff --git a/src/service/grpc_humanoid_robot_service.cpp b/src/service/grpc_service/grpc_humanoid_robot_service.cpp similarity index 99% rename from src/service/grpc_humanoid_robot_service.cpp rename to src/service/grpc_service/grpc_humanoid_robot_service.cpp index 036609f4..68dbfc13 100644 --- a/src/service/grpc_humanoid_robot_service.cpp +++ b/src/service/grpc_service/grpc_humanoid_robot_service.cpp @@ -3,7 +3,7 @@ // -#include "service/grpc_humanoid_robot_service.h" +#include "../../../include/service/grpc_service/grpc_humanoid_robot_service.h" #include #include "cmvr/api/humanoid_robot_command.pb.h" diff --git a/src/service/grpc_microphone_service.cpp b/src/service/grpc_service/grpc_microphone_service.cpp similarity index 98% rename from src/service/grpc_microphone_service.cpp rename to src/service/grpc_service/grpc_microphone_service.cpp index 87895473..f4f80576 100644 --- a/src/service/grpc_microphone_service.cpp +++ b/src/service/grpc_service/grpc_microphone_service.cpp @@ -3,7 +3,7 @@ // Created by xtkuang on 2025/6/13. // -#include "service/grpc_microphone_service.h" +#include "../../../include/service/grpc_service/grpc_microphone_service.h" using namespace std; using namespace cmvr::device; using namespace cmvr::service; diff --git a/src/service/grpc_speaker_service.cpp b/src/service/grpc_service/grpc_speaker_service.cpp similarity index 98% rename from src/service/grpc_speaker_service.cpp rename to src/service/grpc_service/grpc_speaker_service.cpp index 41aabc65..8a433e57 100644 --- a/src/service/grpc_speaker_service.cpp +++ b/src/service/grpc_service/grpc_speaker_service.cpp @@ -2,7 +2,7 @@ // Created by xtkuang on 2025/6/10. // -#include "service/grpc_speaker_service.h" +#include "../../../include/service/grpc_service/grpc_speaker_service.h" using namespace std; using namespace cmvr::device; diff --git a/src/service/grpc_system_service.cpp b/src/service/grpc_service/grpc_system_service.cpp similarity index 99% rename from src/service/grpc_system_service.cpp rename to src/service/grpc_service/grpc_system_service.cpp index 5c83dfa8..ef55c72c 100644 --- a/src/service/grpc_system_service.cpp +++ b/src/service/grpc_service/grpc_system_service.cpp @@ -2,7 +2,7 @@ // Created by xtkuang on 2025/6/6. // -#include "service/grpc_system_service.h" +#include "../../../include/service/grpc_service/grpc_system_service.h" using namespace cmvr::device; using namespace cmvr::device; diff --git a/src/http/CMakeLists.txt b/src/service/http_service/CMakeLists.txt similarity index 100% rename from src/http/CMakeLists.txt rename to src/service/http_service/CMakeLists.txt diff --git a/src/http/httpclient.cpp b/src/service/http_service/httpclient.cpp similarity index 99% rename from src/http/httpclient.cpp rename to src/service/http_service/httpclient.cpp index 5941fcfe..70a5ba2c 100644 --- a/src/http/httpclient.cpp +++ b/src/service/http_service/httpclient.cpp @@ -2,7 +2,7 @@ // Created by linbo on 2025/6/24. // -#include "../../include/http/httpclient.h" +#include "../../../include/service/http_service/httpclient.h" #include #include #include diff --git a/src/utils/CMakeLists.txt b/src/utils/CMakeLists.txt index 85a60678..1063203d 100644 --- a/src/utils/CMakeLists.txt +++ b/src/utils/CMakeLists.txt @@ -19,7 +19,7 @@ add_library(utils STATIC math/se2.cpp math/se3.cpp math/so3.cpp - controller/cartesian_controller.cpp + solver/qp_solver.cpp ) target_include_directories(utils PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/utils/controller/cartesian_controller.cpp b/src/utils/solver/qp_solver.cpp similarity index 99% rename from src/utils/controller/cartesian_controller.cpp rename to src/utils/solver/qp_solver.cpp index b5a4a479..e669c8c4 100644 --- a/src/utils/controller/cartesian_controller.cpp +++ b/src/utils/solver/qp_solver.cpp @@ -1,4 +1,4 @@ -#include "utils/controller/cartesian_controller.h" +#include "utils/solver/qp_solver.h" using namespace cmvr::ctrl;