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update directory structure

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This commit is contained in:
linbo 2025-10-21 17:02:32 +08:00
parent e6cd53f86b
commit c8cb7fcc2b
41 changed files with 234 additions and 178 deletions
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82
config/cabin_robot.xml
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@ -20,10 +20,10 @@
</Camera> </Camera>
<DexHand> <DexHand>
<!-- <RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="10.148.108.115" port="6000">--> <!-- <RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="192.168.1.223" port="6000">-->
<!-- <Freedom order="01" default_force="500" default_speed="500" />--> <!-- <Freedom order="01" default_force="500" default_speed="500" />-->
<!-- </RH56DFTP>--> <!-- </RH56DFTP>-->
<!-- <RH56DFTP id="hand2" default_force="500" default_speed="500" ip_address="10.148.108.113" port="6000">--> <!-- <RH56DFTP id="hand2" default_force="500" default_speed="500" ip_address="192.168.1.224" port="6000">-->
<!-- <Freedom order="01" default_force="500" default_speed="500" />--> <!-- <Freedom order="01" default_force="500" default_speed="500" />-->
<!-- </RH56DFTP>--> <!-- </RH56DFTP>-->
</DexHand> </DexHand>
@ -32,44 +32,44 @@
<!-- <LeftArm id="left_arm" devtype="ti5Robot" />--> <!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
<!-- <RightArm />--> <!-- <RightArm />-->
<!-- <Neck/>--> <!-- <Neck/>-->
<Humanoid id="hc01" dof="14" <!-- <Humanoid id="hc01" dof="14"-->
urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf" <!-- urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"-->
baseLink="PELVIS_S" <!-- baseLink="PELVIS_S"-->
jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R" <!-- jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"-->
linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM" <!-- linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"-->
bufferSize="50" <!-- bufferSize="50"-->
verbose="false"> <!-- verbose="false">-->
<CanManger id="" devId=""> <!-- <CanManger id="" devId="">-->
<LeftArmCan id = " " devId = " " channelId ="0" enable="true" toolFrame="L_FINGER_TIP"> <!-- <LeftArmCan id = " " devId = " " channelId ="0" enable="true" toolFrame="L_FINGER_TIP">-->
<Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
</LeftArmCan> <!-- </LeftArmCan>-->
<RightArmCan id = " " devId = " " channelId ="1" enable="true" toolFrame="R_FINGER_TIP"> <!-- <RightArmCan id = " " devId = " " channelId ="1" enable="true" toolFrame="R_FINGER_TIP">-->
<Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/> <!-- <Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>-->
<Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/> <!-- <Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
</RightArmCan> <!-- </RightArmCan>-->
<HeadCan id = " " devId = " " channelId ="2" enable="true"> <!-- <HeadCan id = " " devId = " " channelId ="2" enable="false">-->
<Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
</HeadCan> <!-- </HeadCan>-->
<WaistCan id = " " devId = " " channelId ="3" enable="false"> <!-- <WaistCan id = " " devId = " " channelId ="3" enable="false">-->
<Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/> <!-- <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
</WaistCan> <!-- </WaistCan>-->
</CanManger> <!-- </CanManger>-->
</Humanoid> <!-- </Humanoid>-->
</Robot> </Robot>
<BioHead> <BioHead>
@ -90,11 +90,11 @@
<Microphone> <Microphone>
<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>--> <!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
<!-- <ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>--> <ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>
</Microphone> </Microphone>
<Speaker> <Speaker>
<!-- <ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="500000" volume="80"/>--> <ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="50000" volume="80"/>
</Speaker> </Speaker>
<Canbus> <Canbus>

8
example/CMakeLists.txt
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@ -78,3 +78,11 @@ target_link_libraries(robot_wrapper PRIVATE
fcl fcl
cmvr_es::device_manager cmvr_es::device_manager
${OpenCV_LIBS}) ${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})

2
example/follow_traj_example.cpp
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@ -14,7 +14,7 @@
#include <iomanip> #include <iomanip>
#include "utils/dynamics/robot.h" #include "utils/dynamics/robot.h"
#include "utils/controller/cartesian_controller.h" #include "utils/solver/qp_solver.h"
// ---------- CONFIG --------------------------------------------------------- // ---------- CONFIG ---------------------------------------------------------
constexpr int DOF = 14; // robot DOF constexpr int DOF = 14; // robot DOF

2
example/solve_ik.cpp
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@ -3,7 +3,7 @@
// //
#include "utils/dynamics/robot.h" #include "utils/dynamics/robot.h"
#include "utils/controller/cartesian_controller.h" #include "utils/solver/qp_solver.h"
#include <Eigen/Dense> #include <Eigen/Dense>
#include <iostream> #include <iostream>
#include <memory> #include <memory>

2
example/wbc_example.cpp
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@ -3,7 +3,7 @@
// //
#include "utils/dynamics/robot.h" #include "utils/dynamics/robot.h"
#include "utils/controller/cartesian_controller.h" #include "utils/solver/qp_solver.h"
constexpr int DOF = 14; constexpr int DOF = 14;
using RobotT = cmvr::dyn::Robot<DOF>; using RobotT = cmvr::dyn::Robot<DOF>;

2
include/devices/abstract_robot.h
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@ -8,7 +8,7 @@
#include "jsoncpp/json/json.h" #include "jsoncpp/json/json.h"
#include "abstract_device.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/geometry.pb.h"
#include "cmvr/msgs/motor.pb.h" #include "cmvr/msgs/motor.pb.h"

14
include/hardware_manager/hardware_factory.h Normal file
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@ -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

14
include/hardware_manager/hardware_manager.h Normal file
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@ -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

2
include/service/grpc_camera_service.h → include/service/grpc_service/grpc_camera_service.h
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@ -6,7 +6,7 @@
#define GRPC_CAMERA_SERVICE_H #define GRPC_CAMERA_SERVICE_H
#include "cmvr/api/camera_service.grpc.pb.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" #include "device_manager/device_manager.h"
namespace cmvr::service { namespace cmvr::service {

2
include/service/grpc_dexhand_service.h → include/service/grpc_service/grpc_dexhand_service.h
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@ -6,7 +6,7 @@
#define GRPC_DEXHAND_SERVICE_H #define GRPC_DEXHAND_SERVICE_H
#include "cmvr/api/dexhand_service.grpc.pb.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" #include "device_manager/device_manager.h"
namespace cmvr::service { namespace cmvr::service {
class gRPCDexHandServiceImpl final: public api::DexHandService::Service { class gRPCDexHandServiceImpl final: public api::DexHandService::Service {

0
include/service/grpc_head_service.h → include/service/grpc_service/grpc_head_service.h
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0
include/service/grpc_hlc_service.h → include/service/grpc_service/grpc_hlc_service.h
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0
include/service/grpc_humanoid_robot_service.h → include/service/grpc_service/grpc_humanoid_robot_service.h
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2
include/service/grpc_microphone_service.h → include/service/grpc_service/grpc_microphone_service.h
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@ -7,7 +7,7 @@
#define GRPC_MICROPHONE_SERVICE_H #define GRPC_MICROPHONE_SERVICE_H
#include "cmvr/api/microphone_service.grpc.pb.h" #include "cmvr/api/microphone_service.grpc.pb.h"
#include "device_manager/device_manager.h" #include "device_manager/device_manager.h"
#include "../utils/base/grpc_utils.h" #include "../../utils/base/grpc_utils.h"
namespace cmvr::service namespace cmvr::service
{ {

2
include/service/grpc_speaker_service.h → include/service/grpc_service/grpc_speaker_service.h
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@ -7,7 +7,7 @@
#include "cmvr/api/speaker_service.grpc.pb.h" #include "cmvr/api/speaker_service.grpc.pb.h"
#include "device_manager/device_manager.h" #include "device_manager/device_manager.h"
#include "../utils/base/grpc_utils.h" #include "../../utils/base/grpc_utils.h"
namespace cmvr::service { namespace cmvr::service {
class gRPCSpeakerServiceImpl: public api::SpeakerService::Service { class gRPCSpeakerServiceImpl: public api::SpeakerService::Service {

2
include/service/grpc_system_service.h → include/service/grpc_service/grpc_system_service.h
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@ -6,7 +6,7 @@
#define GRPC_SYSTEM_SERVICE_H #define GRPC_SYSTEM_SERVICE_H
#include "cmvr/api/system_service.grpc.pb.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" #include "device_manager/device_manager.h"
namespace cmvr::service namespace cmvr::service

0
include/http/httpclient.h → include/service/http_service/httpclient.h
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0
include/utils/controller/cartesian_controller.h → include/utils/solver/qp_solver.h
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2
src/CMakeLists.txt
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@ -1,8 +1,8 @@
add_subdirectory(utils) add_subdirectory(utils)
add_subdirectory(hardware) add_subdirectory(hardware)
add_subdirectory(hardware_manager)
add_subdirectory(devices) add_subdirectory(devices)
add_subdirectory(monitor) add_subdirectory(monitor)
add_subdirectory(device_manager) add_subdirectory(device_manager)
add_subdirectory(service) add_subdirectory(service)
add_subdirectory(http)
add_subdirectory(controller) add_subdirectory(controller)

2
src/devices/robot/humanoid_robot/humanoid_robot.h
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@ -6,7 +6,7 @@
#define CMVR_ES_HUMANOID_ROBOT_H #define CMVR_ES_HUMANOID_ROBOT_H
#include "devices/abstract_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/os.h"
#include "utils/base/timer.h" #include "utils/base/timer.h"
#include "utils/base/ring_buffer.h" #include "utils/base/ring_buffer.h"

29
src/devices/robot/humanoid_robot/humanoid_robot_test.cpp
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@ -55,7 +55,7 @@ TEST(HumanoidRobotTest,GetState) {
TEST(HumanoidRobotTest,MyRobotTest) { 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); const XmlNode config(config_path);
if (!config.hasChild("DeviceManager")){ if (!config.hasChild("DeviceManager")){
@ -75,29 +75,24 @@ TEST(HumanoidRobotTest,MyRobotTest) {
// robot->calibrateZeroQ("R_WRIST_R"); // robot->calibrateZeroQ("R_WRIST_R");
// //
cmd = { cmd = {
{"L_SHOULDER_P", 0.0}, // {"L_SHOULDER_P", 0.0},
{"L_SHOULDER_R", 0.0}, // {"L_SHOULDER_R", 0.0},
{"L_SHOULDER_Y", 0.0}, // {"L_SHOULDER_Y", 0.0},
{"L_ELBOW_R", 0.0}, // {"L_ELBOW_R", 0.0},
{"L_WRIST_P", 0.0}, // {"L_WRIST_P", 0.0},
{"L_WRIST_Y", 0.0}, // {"L_WRIST_Y", 0.2},
{"L_WRIST_R", 0.0}, // {"L_WRIST_R", 0.0},
// //
// {"R_SHOULDER_P", 0.0} // {"R_SHOULDER_P", 0.0}
// {"R_SHOULDER_R", 0.0}, // {"R_SHOULDER_R", 0.0},
// {"R_SHOULDER_Y", 0.0}, // {"R_SHOULDER_Y", 0.0},
// {"R_ELBOW_R", 0.0}, // {"R_ELBOW_R", 0.0},
// {"R_WRIST_P", 0.0}, // {"R_WRIST_P", 0.0},
// {"R_WRIST_Y", 0.0}, {"R_WRIST_Y", 0.0},
// {"R_WRIST_R", 0.0}, {"R_WRIST_R", 0.0},
// {"WAIST_P" ,0.0}, // {"WAIST_P" ,0.0},
// {"WAIST_Y" ,0.0}, // {"WAIST_Y" ,0.0},
{"HEAD_P",0.0},
{"HEAD_Y",0.0},
{"HEAD_R",0.0},
}; };
robot->moveJ(cmd,0.8); robot->moveJ(cmd,0.8);
@ -545,7 +540,7 @@ TEST(HumanoidRobotTest, SpeedJTest) {
auto robot = dmgr.getDevice<AbstractRobot>("hc01"); auto robot = dmgr.getDevice<AbstractRobot>("hc01");
// 设置目标关节和相关参数 // 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 RobotJointIndexDirection dir = RobotJointIndexDirection::Y_NEGATIVE; // 方向
double vel = -0.1; // 速度 (rad/s) double vel = -0.1; // 速度 (rad/s)
double acc = 1; // 加速度 (rad/s²) double acc = 1; // 加速度 (rad/s²)
@ -553,6 +548,8 @@ TEST(HumanoidRobotTest, SpeedJTest) {
try { try {
// 调用 speedJ 函数进行关节运动 // 调用 speedJ 函数进行关节运动
robot->speedJ(joint_name, dir, vel, acc); 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) { } catch (const std::exception& e) {
LOG(ERROR) << "speedJ test failed: " << e.what(); LOG(ERROR) << "speedJ test failed: " << e.what();

11
src/hardware_manager/CMakeLists.txt Normal file
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@ -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)

5
src/hardware_manager/hardware_factory.cpp Normal file
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@ -0,0 +1,5 @@
//
// Created by linbo on 2025/10/21.
//
#include "hardware_manager/hardware_factory.h"

5
src/hardware_manager/hardware_manager.cpp Normal file
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@ -0,0 +1,5 @@
//
// Created by linbo on 2025/10/21.
//
#include "hardware_manager/hardware_manager.h"

18
src/main.cpp
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@ -9,17 +9,17 @@
#include <glog/logging.h> #include <glog/logging.h>
#include "device_manager/device_manager.h" #include "device_manager/device_manager.h"
#include "monitor/monitor_manager.h" #include "monitor/monitor_manager.h"
#include "service/grpc_camera_service.h" #include "service/grpc_service/grpc_camera_service.h"
#include "service/grpc_system_service.h" #include "service/grpc_service/grpc_system_service.h"
#include "service/grpc_speaker_service.h" #include "service/grpc_service/grpc_speaker_service.h"
#include "service/grpc_microphone_service.h" #include "service/grpc_service/grpc_microphone_service.h"
#include "service/grpc_dexhand_service.h" #include "service/grpc_service/grpc_dexhand_service.h"
#include "utils/base/logger.h" #include "utils/base/logger.h"
#include "service/grpc_head_service.h" #include "service/grpc_service/grpc_head_service.h"
#include "service/grpc_humanoid_robot_service.h" #include "service/grpc_service/grpc_humanoid_robot_service.h"
#include "service/grpc_hlc_service.h" #include "service/grpc_service/grpc_hlc_service.h"
#include "http/httpclient.h" #include "service/http_service/httpclient.h"
#include "json/json.h" #include "json/json.h"
void runServer(const XmlNode &cfg){ void runServer(const XmlNode &cfg){

89
src/service/CMakeLists.txt
View File

@ -1,87 +1,2 @@
add_library(service add_subdirectory(grpc_service)
grpc_camera_service.cpp add_subdirectory(http_service)
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}
)

87
src/service/grpc_service/CMakeLists.txt Normal file
View File

@ -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}
)

2
src/service/grpc_camera_service.cpp → src/service/grpc_service/grpc_camera_service.cpp
View File

@ -2,7 +2,7 @@
// Created by xtkuang on 2025/6/1. // 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 std;
using namespace cmvr::service; using namespace cmvr::service;

2
src/service/grpc_dexhand_service.cpp → src/service/grpc_service/grpc_dexhand_service.cpp
View File

@ -2,7 +2,7 @@
// Created by linbo on 2025/7/3. // Created by linbo on 2025/7/3.
// //
#include "service/grpc_dexhand_service.h" #include "../../../include/service/grpc_service/grpc_dexhand_service.h"
#include <unordered_map> #include <unordered_map>
#include <vector> #include <vector>
using namespace std; using namespace std;

2
src/service/grpc_head_service.cpp → src/service/grpc_service/grpc_head_service.cpp
View File

@ -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 "cmvr/api/biohead_service.grpc.pb.h"
#include "device_manager/device_manager.h" #include "device_manager/device_manager.h"

2
src/service/grpc_hlc_client_test.cpp → src/service/grpc_service/grpc_hlc_client_test.cpp
View File

@ -4,7 +4,7 @@
#include "gtest/gtest.h" #include "gtest/gtest.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <grpcpp/grpcpp.h> #include <grpcpp/grpcpp.h>
#include "service/grpc_hlc_service.h" #include "../../../include/service/grpc_service/grpc_hlc_service.h"
#include "google/protobuf/timestamp.pb.h" #include "google/protobuf/timestamp.pb.h"
#include <iostream> #include <iostream>
#include <google/protobuf/util/time_util.h> #include <google/protobuf/util/time_util.h>

2
src/service/grpc_hlc_service.cpp → src/service/grpc_service/grpc_hlc_service.cpp
View File

@ -3,7 +3,7 @@
// //
#include "service/grpc_hlc_service.h" #include "../../../include/service/grpc_service/grpc_hlc_service.h"
#include <google/protobuf/util/time_util.h> #include <google/protobuf/util/time_util.h>
#include "robot/humanoid_robot/humanoid_robot.h" #include "robot/humanoid_robot/humanoid_robot.h"
#include "controller/touch_controller.h" #include "controller/touch_controller.h"

2
src/service/grpc_humanoid_robot_client_test.cpp → src/service/grpc_service/grpc_humanoid_robot_client_test.cpp
View File

@ -5,7 +5,7 @@
#include "gtest/gtest.h" #include "gtest/gtest.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <grpcpp/grpcpp.h> #include <grpcpp/grpcpp.h>
#include "service/grpc_humanoid_robot_service.h" #include "../../../include/service/grpc_service/grpc_humanoid_robot_service.h"
#include "google/protobuf/timestamp.pb.h" #include "google/protobuf/timestamp.pb.h"
#include <iostream> #include <iostream>
#include <google/protobuf/util/time_util.h> #include <google/protobuf/util/time_util.h>

2
src/service/grpc_humanoid_robot_service.cpp → src/service/grpc_service/grpc_humanoid_robot_service.cpp
View File

@ -3,7 +3,7 @@
// //
#include "service/grpc_humanoid_robot_service.h" #include "../../../include/service/grpc_service/grpc_humanoid_robot_service.h"
#include <google/protobuf/util/time_util.h> #include <google/protobuf/util/time_util.h>
#include "cmvr/api/humanoid_robot_command.pb.h" #include "cmvr/api/humanoid_robot_command.pb.h"

2
src/service/grpc_microphone_service.cpp → src/service/grpc_service/grpc_microphone_service.cpp
View File

@ -3,7 +3,7 @@
// Created by xtkuang on 2025/6/13. // 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 std;
using namespace cmvr::device; using namespace cmvr::device;
using namespace cmvr::service; using namespace cmvr::service;

2
src/service/grpc_speaker_service.cpp → src/service/grpc_service/grpc_speaker_service.cpp
View File

@ -2,7 +2,7 @@
// Created by xtkuang on 2025/6/10. // 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 std;
using namespace cmvr::device; using namespace cmvr::device;

2
src/service/grpc_system_service.cpp → src/service/grpc_service/grpc_system_service.cpp
View File

@ -2,7 +2,7 @@
// Created by xtkuang on 2025/6/6. // 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;
using namespace cmvr::device; using namespace cmvr::device;

0
src/http/CMakeLists.txt → src/service/http_service/CMakeLists.txt
View File

2
src/http/httpclient.cpp → src/service/http_service/httpclient.cpp
View File

@ -2,7 +2,7 @@
// Created by linbo on 2025/6/24. // Created by linbo on 2025/6/24.
// //
#include "../../include/http/httpclient.h" #include "../../../include/service/http_service/httpclient.h"
#include <sys/socket.h> #include <sys/socket.h>
#include <netinet/in.h> #include <netinet/in.h>
#include <netdb.h> #include <netdb.h>

2
src/utils/CMakeLists.txt
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@ -19,7 +19,7 @@ add_library(utils STATIC
math/se2.cpp math/se2.cpp
math/se3.cpp math/se3.cpp
math/so3.cpp math/so3.cpp
controller/cartesian_controller.cpp solver/qp_solver.cpp
) )
target_include_directories(utils PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_include_directories(utils PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

2
src/utils/controller/cartesian_controller.cpp → src/utils/solver/qp_solver.cpp
View File

@ -1,4 +1,4 @@
#include "utils/controller/cartesian_controller.h" #include "utils/solver/qp_solver.h"
using namespace cmvr::ctrl; using namespace cmvr::ctrl;