SmartBench/cmvr-es
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base: SmartBench:e82a90237d99215eb464e3b196836b5e5f720e44
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SmartBench:main
SmartBench:xtkuang_dev
SmartBench:dev
SmartBench:linbo_dev
SmartBench:lgv_refator_code
SmartBench:backup-dev-before-rollback
SmartBench:dev_touch_screen
SmartBench:lgv_test_0227
SmartBench:lgv_11_12
SmartBench:backup/dev_before_replace
SmartBench:v1
SmartBench:refactor_dev
SmartBench:v1.1
SmartBench:v1.0
...
compare: SmartBench:9fb185b5a89d88f77a09fbe2ef041ed1ef22b30c
Branches Tags
SmartBench:xtkuang_dev
SmartBench:dev
SmartBench:linbo_dev
SmartBench:lgv_refator_code
SmartBench:backup-dev-before-rollback
SmartBench:dev_touch_screen
SmartBench:lgv_test_0227
SmartBench:lgv_11_12
SmartBench:backup/dev_before_replace
SmartBench:v1
SmartBench:refactor_dev
SmartBench:main
SmartBench:v1.1
SmartBench:v1.0

14 Commits
e82a90237d ... 9fb185b5a8

Author SHA1 Message Date
linbo
9fb185b5a8 update proto config 2026-05-11 16:49:22 +08:00
lgv
b050942838 feat: add px 6ax gen3 as touch pressure sensor 2026-05-08 16:58:52 +08:00
lgv
2807fd158f feat : add ibvs acc limit 2026-04-03 09:21:57 +08:00
lgv
7148e1baf2 feat:add ibvs acc limit 2026-03-30 13:39:14 +08:00
lgv
d02d23a3f9 fix: improve RH56 tactile data read speed 2026-03-30 10:53:07 +08:00
lgv
9faa2a3852 feat:add touch align_mode 2026-03-27 15:19:30 +08:00
lgv
4f84994e6b fix:touch app tag rotation 2026-03-26 16:23:27 +08:00
lgv
baf883bc27 fix: add touch by distance 2026-03-26 15:35:00 +08:00
lgv
96aca18525 fix: cam code 2026-03-18 10:12:22 +08:00
lgv
4629de3d36 Merge branch 'dev' of http://192.168.0.100:18088/smart_bench/cmvr-es into dev 2026-03-17 16:19:58 +08:00
linbo
23fdde3730 update camera encoder 2026-03-17 15:57:46 +08:00
linbo
e537194897 update camera encoder 2026-03-17 09:11:29 +08:00
linbo
62a90c3e64 add RealSenseCapture 2026-03-06 16:16:58 +08:00
linbo
17043684fe add grpc servoJ function 2026-03-04 17:07:05 +08:00
105 changed files with 9304 additions and 2687 deletions
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0
protos/cmvr/config/opt_psi_limit_bias_config.proto → .codex
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110
cmvr-es/applications/include/touch_screen_app.h
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@ -57,15 +57,18 @@ public:
ROBOT_COMMAND_FAILED // 向机器人下发控制命令失败。
};
enum class TactileRegion {
TIP = 0,
FINGER,
PAD,
TIP_AND_FINGER,
THUMB_MIDDLE
enum class AlignMode {
POSE_AND_POSITION = 0, // 使用配置里的固定 rx/ry/rz 与位置一起对齐。
RX_RY_AND_POSITION, // 使用配置里的 rx/ry，保留锁定时看到的 tag 平面内 yaw，再与位置一起对齐。
POSITION_ONLY // 保留锁定时看到的完整 tag 姿态，只按位置对齐。
};
struct Options {
enum class TactileCriterion {
FZ = 0,
MAGNITUDE
};
struct Config {
// 是否在触控流程开始前先回到指定初始关节位姿。
bool move_to_init_position_before_start{false};
// 是否在触控流程结束（DONE/FAILED）后回到指定初始关节位姿。
@ -106,6 +109,8 @@ public:
double target_ry{0.0};
// 目标 tag 姿态旋转参数，直接传给 vpRotationMatrix::buildFrom。
double target_rz{0.0};
// 对齐模式：1) 固定姿态+位置；2) 固定 rx/ry + 锁定时 yaw + 位置；3) 仅位置。
AlignMode align_mode{AlignMode::POSE_AND_POSITION};
// IBVS 参数。
// 视觉伺服增益 lambda。
@ -116,6 +121,11 @@ public:
double ibvs_qdot_max{0.15};
// 相机 twist 六维限幅 `[vx, vy, vz, wx, wy, wz]`。
std::array<double, 6> ibvs_vmax6{{0.15, 0.15, 0.20, 0.6, 0.6, 0.6}};
// 相机 twist 六维加速度限幅 `[ax, ay, az, alphax, alphay, alphaz]`；
// 分量小于等于 0 表示该维度不启用加速度限幅。
std::array<double, 6> ibvs_amax6{{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
// 相机 twist 一阶低通滤波系数；取值在 (0, 1) 时启用低通，默认 1.0 表示不过滤。
double ibvs_twist_filter_alpha{1.0};
// 是否启用关节限位回避。
bool enable_joint_limit_avoidance{true};
// 关节限位回避增益。
@ -136,13 +146,12 @@ public:
"R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y",
"R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R"};
// 视觉对准收敛判据。
// 目标点在相机坐标系 x/y 方向的允许误差，单位米。
double align_xy_threshold_m{0.003};
// 目标点在相机坐标系 z 方向的允许误差，单位米。
double align_z_threshold_m{0.010};
// tag 当前姿态与目标姿态的允许夹角误差，单位弧度。
double align_rot_threshold_rad{0.08726646259971647};
// 视觉对准收敛判据 `[x, y, z, rx, ry, rz]`。
// 其中位置误差单位米，旋转误差单位弧度；旋转部分使用目标姿态误差 rotvec 的三个分量分别比较。
std::array<double, 6> align_error_threshold6{{0.003, 0.003, 0.010,
0.08726646259971647,
0.08726646259971647,
0.08726646259971647}};
// 连续多少帧都满足阈值，才认为对准完成。
int align_stable_frames{5};
// 对准阶段超时时间，单位秒。
@ -150,18 +159,32 @@ public:
// 为 true 时对准完成后暂停，不自动进入触控阶段。
bool pause_after_align_reached{false};
// 触控阶段：speedL 目标 twist。当前按末端 Tool 坐标系解释，字段名保留兼容。
// 触控阶段前进方向。当前按末端 Tool 坐标系解释，字段名保留兼容。
// 为 true 时，TOUCHING 阶段使用 speedL；为 false 时使用 moveL。
// 当前 moveL 路径为同步前进，执行完成后直接结束流程，并按配置决定是否回初始位姿。
bool touch_use_speedl{true};
// 6 维速度命令 `[vx, vy, vz, wx, wy, wz]`，单位 m/s 和 rad/s。
// 当前机器人上 `[0, -0.08, 0, 0, 0, 0]` 表示沿 Tool -Y 方向向前触屏。
// 当 TOUCHING 使用 moveL 时，会取其线速度方向并按 touch_forward_l 构造位移目标。
Eigen::Matrix<double, 6, 1> touch_twist_base{
(Eigen::Matrix<double, 6, 1>() << 0.0, -0.08, 0.0, 0.0, 0.0, 0.0).finished()};
// 触控阶段 speedL 的加速度参数。
double touch_acceleration{3.0};
// 前进触控阶段的最大持续时间，单位秒。
// 该时间由 TouchScreenApp 状态机自行计时，不直接传给 robot->speedL(time)。
// 大于 0 时，达到该时间后无论压力是否达阈值，都会立即进入回退阶段。
double touch_speedl_acceleration{3.0};
// 触控阶段使用 moveL 时，沿 touch_twist_base 线速度方向前进的距离，单位米。
double touch_forward_l{0.08};
// 触控阶段使用 moveL 时的末端速度，单位 m/s。
double touch_movel_speed{0.25};
// 触控阶段使用 moveL 时的末端加速度，单位 m/s^2。
double touch_movel_acceleration{1.2};
// 触控阶段使用 moveL 时的末端 jerk，单位 m/s^3。
double touch_movel_jerk{5.0};
// 触控阶段使用 moveL 时的关节速度上限；为空时退回 robot->moveL 默认值。
std::vector<double> touch_movel_qd_max{2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5};
// 前进触控阶段的最大累计位移，单位米。
// 该距离仅在 TOUCHING 使用 speedL 时生效，由 TouchScreenApp 根据末端相对触控起点的累计位移判断。
// 大于 0 时，达到该距离后无论压力是否达阈值，都会立即进入回退阶段。
// 小于等于 0 时，表示不启用这条限制。
double touch_forward_duration_s{1.0};
double touch_speedl_forward_l{0.08};
// 接触后停留与回退。当前按末端 Tool 坐标系解释。
// 检测到接触后在当前位置停留的时间，单位秒。
@ -169,22 +192,26 @@ public:
double dwell_time_s{0.05};
// 回退阶段的 6 维速度命令 `[vx, vy, vz, wx, wy, wz]`。
// 当前机器人上 `[0, +0.08, 0, 0, 0, 0]` 表示沿 Tool +Y 方向向后离屏。
// 回退阶段统一使用 speedL。
Eigen::Matrix<double, 6, 1> retract_twist_base{
(Eigen::Matrix<double, 6, 1>() << 0.0, 0.08,0.0, 0.0, 0.0, 0.0).finished()};
// 回退阶段 speedL 的加速度参数。
double retract_acceleration{3.0};
// 回退阶段持续时间，单位秒。
// 回退阶段 speedL 持续时间，单位秒。
double retract_duration_s{0.8};
// 指尖触觉判据。
// 使用哪根手指的触觉阵列判断是否接触。
device::FingerType tactile_finger{device::FingerType::INDEX};
device::AbstractDexHand::FingerType tactile_finger{device::AbstractDexHand::FingerType::INDEX};
// 使用该手指的哪个触觉区域。
TactileRegion tactile_region{TactileRegion::TIP_AND_FINGER};
// 触觉压力和阈值；总和超过该值认为已经接触。
device::AbstractDexHand::TactileRegion tactile_region{
device::AbstractDexHand::TactileRegion::TIP};
// 三维合力标量化方式：直接使用法向 fz，或使用三维力模长。
TactileCriterion tactile_criterion{TactileCriterion::FZ};
// 触觉区域三维合力按 tactile_criterion 标量化后的阈值；超过该值认为已经接触。
double tactile_pressure_sum_threshold{100.0};
// 触觉峰值阈值；为 0 时表示不使用峰值判据。
double tactile_pressure_peak_threshold{0.0};
// 保留兼容的旧字段；当前合力判定逻辑不再使用非零点数量阈值。
int tactile_nonzero_count_threshold{1};
};
TouchScreenApp();
@ -199,11 +226,12 @@ public:
const std::shared_ptr<device::AbstractCamera>& camera,
const cmvr::config::TouchScreenAppConfig& config);
bool setOptionsFromConfig();
bool setOptionsFromConfig(const cmvr::config::TouchScreenAppConfig& config);
bool setConfigFromProto();
bool setConfigFromProto(const cmvr::config::TouchScreenAppConfig& config);
bool setTouchSpeedlForwardL(double forward_l);
bool startFromPixel(int u, int v);
bool step();
bool step(double dt);
void stop();
Phase phase() const { return phase_; }
@ -220,7 +248,7 @@ public:
int targetU() const { return target_u_; }
int targetV() const { return target_v_; }
double lastTouchPressureSum() const { return last_touch_pressure_sum_; }
double lastTouchPressurePeak() const { return last_touch_pressure_peak_; }
int lastTouchNonzeroCount() const { return last_touch_nonzero_count_; }
int lastActiveTagId() const { return last_active_tag_id_; }
const Eigen::Vector3d& lastAlignErrorCamera() const { return last_align_error_camera_; }
@ -231,12 +259,12 @@ public:
private:
using Clock = std::chrono::steady_clock;
static bool optionsFromConfig(const cmvr::config::TouchScreenAppConfig& config,
Options& options_out);
void setOptions(const Options& options);
bool applyOptions();
static bool configFromProto(const cmvr::config::TouchScreenAppConfig& proto_config,
Config& config_out);
void setConfig(const Config& config);
bool applyConfig();
bool validateControlJointNames() const;
bool stepAligning();
bool stepAligning(double dt);
bool stepTouching();
bool stepDwelling();
bool stepRetracting();
@ -244,10 +272,14 @@ private:
bool readControlledJointPositions(std::vector<double>& q_out) const;
bool sendJointVelocity(const std::vector<double>& qdot) const;
bool sendZeroJointVelocity() const;
void hardStopIbvsMotion();
bool holdCurrentControlledPosition() const;
bool moveToInitPositionIfEnabled() const;
bool readCurrentTouchPointPositionBase(Eigen::Vector3d& p_out) const;
void logTouchingSpeedLState() const;
bool startTouchPhase();
bool handleTouchTriggered(bool stop_forward_motion);
bool startRetractPhase(Phase next_phase_after_retract, Status final_status_after_retract);
void enterFailed(Status status);
@ -261,7 +293,7 @@ private:
std::shared_ptr<perception::AprilTagPerception> perception_{nullptr};
perception::TagRelativeTarget3D tracker_;
IbvsController ibvs_;
Options options_{};
Config config_{};
Phase phase_{Phase::IDLE};
Phase phase_after_retract_{Phase::DONE};
@ -279,8 +311,12 @@ private:
int last_active_tag_id_{-1};
double last_touch_pressure_sum_{0.0};
double last_touch_pressure_peak_{0.0};
int last_touch_nonzero_count_{0};
Eigen::Vector3d last_align_error_camera_{Eigen::Vector3d::Zero()};
bool locked_target_rotation_valid_{false};
Eigen::Matrix3d locked_target_rotation_{Eigen::Matrix3d::Identity()};
bool touch_start_position_valid_{false};
Eigen::Vector3d touch_start_position_base_{Eigen::Vector3d::Zero()};
Clock::time_point phase_start_time_{};
Status final_status_after_retract_{Status::DONE};

1068
cmvr-es/applications/src/touch_screen_app.cpp
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File diff suppressed because it is too large Load Diff

22
cmvr-es/applications/src/touch_screen_app_test.cpp
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@ -1,5 +1,6 @@
#include "gtest/gtest.h"
#include <algorithm>
#include <chrono>
#include <iostream>
#include <thread>
@ -20,7 +21,7 @@ void run_touch_once(int u, int v) {
const XmlNode config(kConfigPath);
// auto& dm = cmvr::device::DeviceManager::getInstance();
cmvr::device::DeviceManager::getInstance(config.getChild("DeviceManager"));
cmvr::device::DeviceManager::getInstance();
// cmvr::service::ServerRunner runner;
@ -36,8 +37,19 @@ void run_touch_once(int u, int v) {
bool align_reached = false;
bool touch_triggered = false;
auto last_step_time = std::chrono::steady_clock::now();
bool first_step = true;
while (app.isBusy()) {
const bool step_ok = app.step();
const auto now = std::chrono::steady_clock::now();
double dt = 0.02;
if (!first_step) {
dt = std::chrono::duration<double>(now - last_step_time).count();
dt = std::clamp(dt, 0.005, 0.05);
}
last_step_time = now;
first_step = false;
const bool step_ok = app.step(dt);
const auto& p_c_target = app.tracker().lastTargetInCamera();
std::cout << "phase=" << cmvr::app::TouchScreenApp::phaseToString(app.phase())
<< ", status=" << cmvr::app::TouchScreenApp::statusToString(app.lastStatus())
@ -45,8 +57,8 @@ void run_touch_once(int u, int v) {
<< ", target_c=[" << p_c_target.x() << ", "
<< p_c_target.y() << ", "
<< p_c_target.z() << "]"
<< ", nonzero_count=" << app.lastTouchNonzeroCount()
<< ", pressure_sum=" << app.lastTouchPressureSum()
<< ", pressure_peak=" << app.lastTouchPressurePeak()
<< ", err_c=[" << app.lastAlignErrorCamera().x() << ", "
<< app.lastAlignErrorCamera().y() << ", "
<< app.lastAlignErrorCamera().z() << "]\n";
@ -58,8 +70,8 @@ void run_touch_once(int u, int v) {
align_reached = true;
}
if (app.lastStatus() == cmvr::app::TouchScreenApp::Status::TOUCH_TRIGGERED) {
std::cout << "touch triggered, pressure_sum=" << app.lastTouchPressureSum()
<< ", pressure_peak=" << app.lastTouchPressurePeak() << "\n";
std::cout << "touch triggered, nonzero_count=" << app.lastTouchNonzeroCount()
<< ", pressure_sum=" << app.lastTouchPressureSum() << "\n";
touch_triggered = true;
}
if (!step_ok) {

5
cmvr-es/common/CMakeLists.txt
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@ -4,6 +4,7 @@
file(GLOB SRC
${CMAKE_CURRENT_SOURCE_DIR}/utils/config_helper/src/config_setting.cpp
${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/CameraCapture.cpp
${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/RealSenseCapture.cpp
${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoFrameEncoder.cpp
${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoWriter.cpp
${CMAKE_CURRENT_SOURCE_DIR}/curve/src/s_curve.cpp
@ -26,6 +27,10 @@ target_link_libraries(common PUBLIC
avutil
avcodec
swscale
realsense2
opencv_core
opencv_imgproc
opencv_videoio
)
add_library(cmvr_es::common ALIAS common)

27
cmvr-es/common/config/biohead_config/biohead_config.pb.txt Normal file
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@ -0,0 +1,27 @@
bioheads {
id: "bio_head"
serial: "/dev/ttyUSB0"
ctrlFreq: 50
enable: false
eyebrow {
serial: "64:0~3"
offest: "90 90 90 90"
jLmtUp: "90 170 155 110"
jLmtLow: "20 77 90 20"
}
eye {
serial: "64:4~9"
offest: "90 90 90 90 90 90"
jLmtUp: "90 150 165 90 120 115"
jLmtLow: "20 90 90 25 70 75"
}
mouth {
serial: "65:0~9"
offest: "90 90 90 90 90 90 90 90 90 90"
jLmtUp: "150 110 130 140 100 105 110 125 90 95"
jLmtLow: "70 30 80 80 65 55 45 80 85 90"
}
}

152
cmvr-es/common/config/cabin_robot.xml
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@ -1,152 +0,0 @@
<CMVR-ES>
<Constants rootDir="/home/xtkuang/projects/cmvr-es"/>
<Logger dir="../log" level="info" bufSize="5" logSize="1024"/>
<DeviceManager name="cmvr_es" ver="0.1" description="cmvr edge system version 0.1">
<Devices>
<AGV>
</AGV>
<Battery>
</Battery>
<Camera>
<!-- <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!-- <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!-- <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
<!-- <RealsenseCamera id="cam4" serial="243122075614" w="1280" h="720" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
<!-- <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>-->
<!-- <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
</Camera>
<DexHand>
<!-- <RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="192.168.1.224" port="6000">-->
<!-- <Freedom order="01" default_force="500" default_speed="500" />-->
<!-- </RH56DFTP>-->
<!-- <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" />-->
<!-- </RH56DFTP>-->
</DexHand>
<Robot>
<!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
<!-- <RightArm />-->
<!-- <Neck/>-->
<Humanoid id="hc01" dof="14"
urdf="/home/lgv/cmvr/cmvr-es/model/xiaoyan_description/dual_arm.urdf"
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"
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"
verbose="false">
<CanManger id="" devId="">
<LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">
<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="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="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="29" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</LeftArmCan>
<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="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="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="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"/>
</RightArmCan>
<HeadCan id = " " devId = " " channelId ="2" enable="false">
<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="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</HeadCan>
<WaistCan id = " " devId = " " channelId ="3" enable="false">
<Motor id="4" 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"/>
</WaistCan>
</CanManger>
</Humanoid>
</Robot>
<BioHead>
<!-- <esp32 id="bio_head" serial="/dev/ttyUSB0" ctrlFreq="50">-->
<!-- &lt;!&ndash; 眉毛 &ndash;&gt;-->
<!-- <EyeBrow serial="64:0~3"-->
<!-- offest="90 90 90 90"-->
<!-- jLmtUp="90 170 155 110"-->
<!-- jLmtLow="20 77 90 20"/>-->
<!-- &lt;!&ndash; 眼睛 &ndash;&gt;-->
<!-- <Eye serial="64:4~9"-->
<!-- offest="90 90 90 90 90 90"-->
<!-- jLmtUp="90 150 165 90 120 115"-->
<!-- jLmtLow="20 90 90 25 70 75"/>-->
<!-- &lt;!&ndash; 嘴巴 &ndash;&gt;-->
<!-- <Mouth serial="65:0~9"-->
<!-- offest="90 90 90 90 90 90 90 90 90 90"-->
<!-- jLmtUp="150 110 130 140 100 105 110 125 90 95"-->
<!-- jLmtLow="70 30 80 80 65 55 45 80 85 90"/>-->
<!-- </esp32>-->
</BioHead >
<Microphone>
<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
<!-- <ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>-->
</Microphone>
<Speaker>
<ffmpegSpeaker id="spk1" serial="" alas="default" channels="2" sampleRate="44100" softResample="1" latency="50000" volume="100"/>
</Speaker>
<Canbus>
<!-- <rightArmCan id="can1" brand="SOCKET_CAN_RAW" type="USB_CARD" channel_id="CHANNEL_ID_ZERO" interface="NATIVE" baudrate="BCAN_BAUDRATE_500K"/>-->
</Canbus>
</Devices>
<HighLevelController>
<BioHeadExpre headId="bio_head" />
<CartesianWBC urdf="" />
<ScreenTouch robotID="" DexhandID="" />
</HighLevelController>
</DeviceManager>
<MonitorManager>
<DiskMonitor id="file_monitor" freq="1">
<!-- <Folder fileDir="/home/share/assets/audio" maxVolume="1000"/>-->
<!-- <Folder fileDir="/home/share/assets/image" maxVolume="1000"/>-->
<!-- <Folder fileDir="/home/share/assets/video" maxVolume="1000"/>-->
<!-- <Folder fileDir="../log" maxVolume="1000"/>-->
</DiskMonitor>
<JointMonitor id="robot_joint_monitor" freq="200">
<RobotJoint robotID="left_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
</JointMonitor>
</MonitorManager>
<gRPCServer port="50052">
</gRPCServer>
</CMVR-ES>

8
cmvr-es/common/config/camera_config/camera_config.pb.txt
View File

@ -18,14 +18,16 @@ realsense_cameras {
serialNumber: "243122072252"
width: 1280
height: 720
encode_width: 640
encode_height: 360
fps: 30
codec: "H265"
codec: "H264"
camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGBD
stream_mode: STREAM_MODE_RGB
align_mode: ALIGN_MODE_COLOR
buffer_size: 30
sync: false
enable: true
enable: false
}
realsense_cameras {

25
cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt
View File

@ -1,7 +1,8 @@
rh56dftp_dexhands {
id: "hand1"
ip: "192.168.1.213"
ip: "192.168.1.223"
port: 6000
poll_interval_ms: 10
enable: false
}
@ -9,5 +10,27 @@ rh56dftp_dexhands {
id: "hand2"
ip: "192.168.1.224"
port: 6000
poll_interval_ms: 10
enable: false
}
px_6ax_gen3 {
id: "paxini_tip_1"
serial_port: "/dev/ttyACM1"
sensor_model: "S1813_core"
module_id: 2
baud_rate: 921600
distributed_length: 153
resultant_length: 3
poll_interval_ms: 5
response_timeout_ms: 200
response_header_bytes: 14
tactile_rows: 1
tactile_cols: 51
tactile_finger: "INDEX"
tactile_region: "TIP"
sensor_name: "Paxini Gen3末端压力"
polling_read_mode: PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE
auto_calibrate: false
enable: true
}

25
cmvr-es/common/config/monitor_config/monitor_config.pb.txt Normal file
View File

@ -0,0 +1,25 @@
# 监控管理器配置
monitor_manager {
disk_monitor {
id: "file_monitor"
freq: 1
enable: false
folders {
fileDir: "/home/share/assets/audio"
maxVolume: 1000
}
folders {
fileDir: "/home/share/assets/image"
maxVolume: 1000
}
folders {
fileDir: "/home/share/assets/video"
maxVolume: 1000
}
folders {
fileDir: "../log"
maxVolume: 1000
}
}
}

212
cmvr-es/common/config/robot_config/robot_config.pb.txt Normal file
View File

@ -0,0 +1,212 @@
# HumanRobot配置
humanrobots {
id: "hc01"
dof: 14
urdf: "/home/cmvr/Projects/cmvr-es/model/xiaoyan_description/dual_arm.urdf"
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"
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
verbose: false
enable: false
can_manager {
id: ""
devId: ""
left_arm {
id: ""
devId: ""
channelId: 0
enable: false
toolFrame: "L_FINGER_TIP"
motors {
id: 23
jointName: "L_SHOULDER_P"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 24
jointName: "L_SHOULDER_R"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 25
jointName: "L_SHOULDER_Y"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 26
jointName: "L_ELBOW_R"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 27
jointName: "L_WRIST_P"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 28
jointName: "L_WRIST_Y"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 29
jointName: "L_WRIST_R"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
}
right_arm {
id: ""
devId: ""
channelId: 1
enable: true
toolFrame: "R_FINGER_TIP"
motors {
id: 16
jointName: "R_SHOULDER_P"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 17
jointName: "R_SHOULDER_R"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 18
jointName: "R_SHOULDER_Y"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 19
jointName: "R_ELBOW_R"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 20
jointName: "R_WRIST_P"
limitQLb: -3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 21
jointName: "R_WRIST_Y"
limitQLb: -1.102
limitQUb: 1.02
limitQd: 3.0
}
motors {
id: 22
jointName: "R_WRIST_R"
limitQLb: -0.293
limitQUb: 1.57079
limitQd: 3.0
}
}
head {
id: ""
devId: ""
channelId: 2
enable: true
motors {
id: 32
jointName: "HEAD_Y"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 30
jointName: "HEAD_P"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 31
jointName: "HEAD_R"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
}
waist {
id: ""
devId: ""
channelId: 3
enable: false
motors {
id: 4
jointName: "WAIST_Y"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
motors {
id: 15
jointName: "WAIST_P"
limitQLb: 3.14
limitQUb: 3.14
limitQd: 3.0
}
}
}
}
# EtherCAT机器人配置
ethercat_robots {
id: "ec_robot_01"
dof: 6
urdf: "/home/cmvr/Projects/cmvr-es/model/xiaoyan_description/dual_arm.urdf"
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"
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: 100
verbose: true
updFreq: 1000
enable: true
# EtherCAT主站配置
master {
interface: "enp1s0"
cycle_time_us: 1000
enable: true
}
# 电机配置列表
motors {
slave: 1
jointName: "L_SHOULDER_P"
limitQLb: -3.14
limitQUb: 3.14
limitQd: 3.0
}
}

3
cmvr-es/common/config/server_config/server_config.pb.txt Normal file
View File

@ -0,0 +1,3 @@
grpc_server {
port: "50052"
}

88
cmvr-es/common/config/touch_screen_app_config/touch_screen_app_config.pb.txt
View File

@ -1,35 +1,35 @@
robot_id: "hc01"
dexhand_id: "hand2"
dexhand_id: "paxini_tip_1"
camera_id: "right_hand_cam"
move_to_init_position_before_start: true
move_to_init_position: true
init_joint_positions {
joint_name: "R_SHOULDER_P"
rad: -0.2423
rad: -0.3678
}
init_joint_positions {
joint_name: "R_SHOULDER_R"
rad: 1.2929
rad: 1.1127
}
init_joint_positions {
joint_name: "R_SHOULDER_Y"
rad: 1.61
rad: 1.6084
}
init_joint_positions {
joint_name: "R_ELBOW_R"
rad: 1.58
rad: 1.61
}
init_joint_positions {
joint_name: "R_WRIST_P"
rad: -2.8792
rad: -2.5718
}
init_joint_positions {
joint_name: "R_WRIST_Y"
rad: 0.1150
rad: 0.1276
}
init_joint_positions {
joint_name: "R_WRIST_R"
rad: -0.08
rad: 0.1297
}
init_movej_vel: 1.0
init_movej_acc: 2.0
@ -39,30 +39,40 @@ base_link: "PELVIS_S"
flange_link: "R_WRIST_R_S"
camera_link: "R_CAM"
tag_size_m: 0.02
tag_size_m: 0.012
depth_policy: TOUCH_SCREEN_DEPTH_POLICY_NONE
target_point_method: TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE
hover_target_in_camera {
x: 0.0
y: 0.0
z: 0.20
x: -0.001
y: 0.08
z: 0.15
}
target_rx: 3.14159265358979323846
target_ry: 0.0
target_rz: 0.0
align_mode: TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION
ibvs_lambda: 0.6
ibvs_lambda: 0.4
ibvs_mu: 0.1
ibvs_qdot_max: 0.15
ibvs_qdot_max: 1.0
ibvs_vmax6 {
vx: 0.15
vy: 0.15
vz: 0.20
vx: 1.0
vy: 1.0
vz: 1.0
wx: 0.6
wy: 0.6
wz: 0.6
}
ibvs_amax6 {
vx: 2.4
vy: 2.4
vz: 4.5
wx: 2.5
wy: 2.5
wz: 2.5
}
ibvs_twist_filter_alpha: 1.0
enable_joint_limit_avoidance: true
joint_limit_avoidance_gain: 0.2
joint_limit_avoidance_margin_ratio: 0.15
@ -87,25 +97,42 @@ control_joint_names: "R_WRIST_P"
control_joint_names: "R_WRIST_Y"
control_joint_names: "R_WRIST_R"
align_xy_threshold_m: 0.003
align_z_threshold_m: 0.010
align_rot_threshold_rad: 0.08726646259971647
align_stable_frames: 5
align_timeout_s: 100.0
align_error_threshold6 {
x: 0.005
y: 0.005
z: 0.01
rx: 0.1026646259971647
ry: 0.1026646259971647
rz: 0.1026646259971647
}
align_stable_frames: 2
align_timeout_s: 20.0
pause_after_align_reached: false
touch_twist_base {
vx: 0.0
vy: -0.08
vy: -0.04
vz: 0.0
wx: 0.0
wy: 0.0
wz: 0.0
}
touch_acceleration: 3.0
touch_forward_duration_s: 1.2
touch_use_speedl: true
touch_speedl_acceleration: 6.0
touch_forward_l: 0.064
touch_movel_speed: 0.1
touch_movel_acceleration: 5.0
touch_movel_jerk: 5.0
touch_movel_qd_max: 2.5
touch_movel_qd_max: 2.5
touch_movel_qd_max: 2.5
touch_movel_qd_max: 2.5
touch_movel_qd_max: 2.5
touch_movel_qd_max: 2.5
touch_movel_qd_max: 2.5
touch_speedl_forward_l: 0.035
dwell_time_s: -1.0
dwell_time_s: -1
retract_twist_base {
vx: 0.0
vy: 0.08
@ -114,10 +141,11 @@ retract_twist_base {
wy: 0.0
wz: 0.0
}
retract_acceleration: 3.0
retract_duration_s: 1.0
retract_acceleration: 8.0
retract_duration_s: 0.45
tactile_finger: TOUCH_SCREEN_FINGER_TYPE_INDEX
tactile_region: TOUCH_SCREEN_TACTILE_REGION_TIP
tactile_pressure_sum_threshold: 300.0
tactile_pressure_peak_threshold: 0.0
tactile_criterion: TOUCH_SCREEN_TACTILE_CRITERION_FZ
tactile_pressure_sum_threshold: 1.0
tactile_nonzero_count_threshold: 1

17
cmvr-es/common/utils/config_helper/include/config_helper.h
View File

@ -10,6 +10,9 @@
#include "cmvr/config/microphone_config/microphone_config.pb.h"
#include "cmvr/config/speaker_config/speaker_conifg.pb.h"
#include "cmvr/config/touch_screen_app_config/touch_screen_app_config.pb.h"
#include "cmvr/config/biohead_config/biohead_config.pb.h"
#include "cmvr/config/robot_config/robot_config.pb.h"
#include "cmvr/config/server_config/server_config.pb.h"
#define GET_CONFIG(file, para) \
([&]() -> bool { \
@ -82,6 +85,20 @@ namespace cmvr
return SET_CONFIG(config, touch_screen_app_config_file);
}
static bool getHeadConfig(config::HeadConfig& config)
{
return GET_CONFIG(biohead_config_file, config);
}
static bool getRobotConfig(config::RobotConfig& config)
{
return GET_CONFIG(robot_config_file, config);
}
static bool getServerConfig(config::ServerConfig& config)
{
return GET_CONFIG(server_config_file, config);
}
private:
// Make macros able to call these (macros call ::cmvr::ConfigHelper::xxx)
template <class T>

3
cmvr-es/common/utils/config_helper/include/config_setting.h
View File

@ -6,3 +6,6 @@ DECLARE_string(dexhand_config_file);
DECLARE_string(microphone_config_file);
DECLARE_string(speaker_config_file);
DECLARE_string(touch_screen_app_config_file);
DECLARE_string(biohead_config_file);
DECLARE_string(robot_config_file);
DECLARE_string(server_config_file);

84
cmvr-es/common/utils/config_helper/src/config_setting.cpp
View File

@ -1,18 +1,68 @@
#include "common/utils/config_helper/include/config_setting.h"
#include <array>
#include <filesystem>
#include <limits.h>
#include <unistd.h>
namespace {
// static std::string basePath()
// {
// char* cwd = ::getcwd(nullptr, 0);
// if (!cwd) return {};
// std::string s(cwd);
// std::free(cwd);
// return s + "/config/";
// }
static std::string basePath()
{
return "/home/lgv/cmvr/cmvr-es/output/bin/config/";
std::string normalizeDirectory(std::filesystem::path path) {
auto text = path.lexically_normal().string();
if (!text.empty() && text.back() != '/') {
text.push_back('/');
}
return text;
}
std::string probeConfigDirectory(std::filesystem::path start) {
static const std::array<std::filesystem::path, 4> candidates = {
std::filesystem::path("output/bin/config"),
std::filesystem::path("cmvr-es/common/config"),
std::filesystem::path("config"),
std::filesystem::path("common/config")
};
start = start.lexically_normal();
while (!start.empty()) {
for (const auto& candidate : candidates) {
const auto path = start / candidate;
if (std::filesystem::exists(path) && std::filesystem::is_directory(path)) {
return normalizeDirectory(path);
}
}
const auto parent = start.parent_path();
if (parent == start) {
break;
}
start = parent;
}
return {};
}
std::filesystem::path executableDirectory() {
char exe_path[PATH_MAX] = {0};
const auto count = ::readlink("/proc/self/exe", exe_path, sizeof(exe_path) - 1);
if (count <= 0) {
return {};
}
exe_path[count] = '\0';
return std::filesystem::path(exe_path).parent_path();
}
} // namespace
static std::string basePath() {
if (const auto resolved = probeConfigDirectory(executableDirectory()); !resolved.empty()) {
return resolved;
}
if (const auto resolved = probeConfigDirectory(std::filesystem::current_path()); !resolved.empty()) {
return resolved;
}
return "config/";
}
DEFINE_string(pinocchio_qp_ik_solver_config_file,
@ -38,3 +88,15 @@ DEFINE_string(speaker_config_file,
DEFINE_string(touch_screen_app_config_file,
basePath() + "touch_screen_app_config/touch_screen_app_config.pb.txt",
"The configuration file for TouchScreenApp");
DEFINE_string(biohead_config_file,
basePath() + "biohead_config/biohead_config.pb.txt",
"The configuration file for BioHead");
DEFINE_string(robot_config_file,
basePath() + "robot_config/robot_config.pb.txt",
"The configuration file for Robot");
DEFINE_string(server_config_file,
basePath() + "server_config/server_config.pb.txt",
"The configuration file for Server");

30
cmvr-es/common/utils/ffmpeg/include/CameraCapture.h
View File

@ -4,32 +4,35 @@
#include <string>
#include <memory>
#include <functional>
#include <opencv2/opencv.hpp>
extern "C"{
#include <libavformat/avformat.h>
#include <libavcodec/avcodec.h>
#include <libavdevice/avdevice.h>
#include <libswscale/swscale.h>
}
namespace ffmpeg {
struct CameraConfig {
std::string device_name = "0"; // Windows: "0" (dshow), Linux: "0" (对应 /dev/video0)
class CameraCapture {
public:
struct Config {
std::string device_name = "0"; // Windows: "0" (dshow), Linux: "/dev/video0"
int width = 1280;
int height = 720;
int fps = 30;
AVPixelFormat pixel_format = AV_PIX_FMT_YUV420P;
AVPixelFormat pixel_format = AV_PIX_FMT_YUV420P; // 保持原有的像素格式
};
class CameraCapture {
public:
using FrameCallback = std::function<void(AVFrame* frame)>;
// 回调函数：同时返回AVFrame和cv::Mat
using FrameCallback = std::function<void(AVFrame* frame, cv::Mat rgb_image, int64_t timestamp)>;
CameraCapture();
~CameraCapture();
// 初始化摄像头
int initialize(const CameraConfig& config);
int initialize(const Config& config);
// 开始捕获
int start_capture(FrameCallback callback);
@ -38,7 +41,7 @@ namespace ffmpeg {
void stop_capture();
// 获取当前配置
CameraConfig get_config() const { return config_; }
Config get_config() const { return config_; }
// 获取输入格式上下文
AVFormatContext* get_format_context() { return fmt_ctx_; }
@ -47,13 +50,16 @@ namespace ffmpeg {
int get_video_stream_index() const { return video_stream_index_; }
private:
CameraConfig config_;
Config config_;
AVFormatContext* fmt_ctx_ = nullptr;
AVCodecContext* decoder_ctx_ = nullptr;
int video_stream_index_ = -1;
bool is_capturing_ = false;
AVPacket* packet_ = nullptr;
AVFrame* frame_ = nullptr;
AVFrame* rgb_frame_ = nullptr; // 用于转换的RGB帧
SwsContext* sws_ctx_ = nullptr; // 格式转换上下文
int64_t frame_count_ = 0;
// 初始化设备（平台相关）
int init_device();
@ -61,6 +67,12 @@ namespace ffmpeg {
// 初始化解码器
int init_decoder();
// 初始化SWS上下文
int init_sws_context();
// 将AVFrame转换为cv::Mat
cv::Mat avframe_to_cvmat(AVFrame* frame);
// 释放资源
void cleanup();
};

94
cmvr-es/common/utils/ffmpeg/include/RealSenseCapture.h Normal file
View File

@ -0,0 +1,94 @@
// RealSenseCapture.h
#pragma once
#include <string>
#include <memory>
#include <functional>
#include <mutex>
#include <thread>
#include <atomic>
#include <opencv2/opencv.hpp>
#include <librealsense2/rs.hpp>
extern "C" {
#include <libavformat/avformat.h>
#include <libavcodec/avcodec.h>
#include <libswscale/swscale.h>
}
namespace ffmpeg {
class RealSenseCapture {
public:
struct Config {
std::string serial_number = ""; // 设备序列号，为空则使用第一个设备
int width = 1280;
int height = 720;
int fps = 30;
AVPixelFormat pixel_format = AV_PIX_FMT_BGR24; // RealSense输出BGR格式
};
// 回调函数：同时返回AVFrame和cv::Mat
using FrameCallback = std::function<void(AVFrame* frame, cv::Mat rgb_image, int64_t timestamp)>;
RealSenseCapture();
~RealSenseCapture();
// 初始化摄像头
int initialize(const Config& config);
// 开始捕获
int start_capture(FrameCallback callback);
// 停止捕获
void stop_capture();
// 获取当前配置
Config get_config() const { return config_; }
// 获取设备信息
std::string get_device_info() const;
// 获取内参
rs2_intrinsics get_intrinsics() const { return intrinsics_; }
private:
Config config_;
// RealSense相关
rs2::context ctx_;
rs2::pipeline pipe_;
rs2::config rs_cfg_;
rs2::pipeline_profile profile_;
rs2_intrinsics intrinsics_;
// FFmpeg相关
AVFrame* frame_ = nullptr; // 用于编码的AVFrame
AVFrame* rgb_frame_ = nullptr; // 用于OpenCV的AVFrame
// 状态控制
std::atomic<bool> is_capturing_{false};
std::unique_ptr<std::thread> capture_thread_;
mutable std::mutex mutex_;
// 帧计数
int64_t frame_count_ = 0;
// 初始化设备
int init_device();
// 创建AVFrame
AVFrame* create_avframe(int width, int height, AVPixelFormat pix_fmt);
// 捕获线程函数
void capture_thread_func(FrameCallback callback);
// 将RealSense帧转换为AVFrame
AVFrame* realsense_to_avframe(rs2::frame frame);
// 将RealSense帧转换为cv::Mat
cv::Mat realsense_to_cvmat(rs2::frame frame);
};
} // namespace ffmpeg

12
cmvr-es/common/utils/ffmpeg/include/VideoFrameEncoder.h
View File

@ -19,7 +19,9 @@ extern "C" {
namespace ffmpeg {
struct EncoderConfig {
class VideoFrameEncoder {
public:
struct Config {
int width = 1280;
int height = 720;
int fps = 30;
@ -31,17 +33,15 @@ struct EncoderConfig {
std::string tune = "zerolatency"; // 调优参数
std::string profile = "main"; // 编码profile
std::string codec = "libx265";
};
};
class VideoFrameEncoder {
public:
using PacketCallback = std::function<void(AVPacket* packet, int64_t pts, int64_t dts)>;
VideoFrameEncoder();
~VideoFrameEncoder();
// 初始化编码器
int initialize(const EncoderConfig& config);
int initialize(const Config& config);
// 编码一帧
int encode_frame(AVFrame* frame);
@ -76,7 +76,7 @@ public:
int64_t get_frame_index() const { return frame_index_; }
private:
EncoderConfig config_;
Config config_;
AVCodecContext* encoder_ctx_ = nullptr;
SwsContext* sws_ctx_ = nullptr;
AVFrame* converted_frame_ = nullptr;

10
cmvr-es/common/utils/ffmpeg/include/VideoWriter.h
View File

@ -12,7 +12,9 @@ extern "C"{
namespace ffmpeg {
struct WriterConfig {
class VideoWriter {
public:
struct Config {
std::string output_file = "output.mp4";
int width = 1280;
int height = 720;
@ -21,13 +23,11 @@ namespace ffmpeg {
AVRational time_base = {1, 90000}; // 默认时间基
};
class VideoWriter {
public:
VideoWriter();
~VideoWriter();
// 初始化写入器
int initialize(const WriterConfig& config, AVCodecContext* codec_ctx);
int initialize(const Config& config, AVCodecContext* codec_ctx);
// 写入数据包
int write_packet(AVPacket* packet, int64_t pts, int64_t dts);
@ -47,7 +47,7 @@ namespace ffmpeg {
}
private:
WriterConfig config_;
Config config_;
AVFormatContext* fmt_ctx_ = nullptr;
AVStream* video_stream_ = nullptr;
AVCodecContext* codec_ctx_ref_ = nullptr;

89
cmvr-es/common/utils/ffmpeg/src/CameraCapture.cpp
View File

@ -9,6 +9,7 @@ namespace ffmpeg {
CameraCapture::CameraCapture() {
packet_ = av_packet_alloc();
frame_ = av_frame_alloc();
rgb_frame_ = av_frame_alloc();
}
CameraCapture::~CameraCapture() {
@ -17,9 +18,11 @@ CameraCapture::~CameraCapture() {
if (packet_) av_packet_free(&packet_);
if (frame_) av_frame_free(&frame_);
if (rgb_frame_) av_frame_free(&rgb_frame_);
if (sws_ctx_) sws_freeContext(sws_ctx_);
}
int CameraCapture::initialize(const CameraConfig& config) {
int CameraCapture::initialize(const Config& config) {
config_ = config;
// 初始化设备
@ -36,6 +39,25 @@ int CameraCapture::initialize(const CameraConfig& config) {
return ret;
}
// 初始化SWS上下文
ret = init_sws_context();
if (ret < 0) {
std::cerr << "初始化SWS上下文失败" << std::endl;
return ret;
}
// 分配RGB帧缓冲区（用于转换）
rgb_frame_->width = config_.width;
rgb_frame_->height = config_.height;
rgb_frame_->format = AV_PIX_FMT_BGR24; // OpenCV使用BGR格式
ret = av_frame_get_buffer(rgb_frame_, 0);
if (ret < 0) {
std::cerr << "分配RGB帧缓冲区失败" << std::endl;
return ret;
}
std::cout << "摄像头初始化成功: " << config_.width << "x" << config_.height
<< "@" << config_.fps << "fps" << std::endl;
return 0;
}
@ -56,8 +78,15 @@ int CameraCapture::init_device() {
return -1;
}
// 设置摄像头参数
AVDictionary* options = nullptr;
av_dict_set(&options, "framerate", std::to_string(config_.fps).c_str(), 0);
av_dict_set(&options, "video_size", (std::to_string(config_.width) + "x" + std::to_string(config_.height)).c_str(), 0);
// 打开摄像头
int ret = avformat_open_input(&fmt_ctx_, device_path.c_str(), input_fmt, nullptr);
int ret = avformat_open_input(&fmt_ctx_, device_path.c_str(), input_fmt, &options);
av_dict_free(&options);
if (ret < 0) {
char err_buf[1024];
av_strerror(ret, err_buf, sizeof(err_buf));
@ -114,6 +143,46 @@ int CameraCapture::init_decoder() {
return 0;
}
int CameraCapture::init_sws_context() {
// 获取解码器输出的像素格式
AVPixelFormat src_format = decoder_ctx_->pix_fmt;
sws_ctx_ = sws_getContext(
decoder_ctx_->width, decoder_ctx_->height, src_format,
config_.width, config_.height, AV_PIX_FMT_BGR24, // 转换为BGR24给OpenCV
SWS_BILINEAR, nullptr, nullptr, nullptr
);
if (!sws_ctx_) {
std::cerr << "创建SWS上下文失败" << std::endl;
return -1;
}
return 0;
}
cv::Mat CameraCapture::avframe_to_cvmat(AVFrame* frame) {
// 确保RGB帧可写
av_frame_make_writable(rgb_frame_);
// 转换到BGR24
sws_scale(sws_ctx_,
frame->data, frame->linesize, 0, frame->height,
rgb_frame_->data, rgb_frame_->linesize);
// 创建cv::Mat（BGR格式）
cv::Mat image(config_.height, config_.width, CV_8UC3);
// 复制数据（由于linesize可能不等于width*3，需要逐行复制）
for (int i = 0; i < config_.height; i++) {
memcpy(image.data + i * image.step,
rgb_frame_->data[0] + i * rgb_frame_->linesize[0],
config_.width * 3);
}
return image;
}
int CameraCapture::start_capture(FrameCallback callback) {
if (!callback || !fmt_ctx_ || !decoder_ctx_) {
std::cerr << "参数无效或未初始化" << std::endl;
@ -121,6 +190,9 @@ int CameraCapture::start_capture(FrameCallback callback) {
}
is_capturing_ = true;
frame_count_ = 0;
std::cout << "开始采集..." << std::endl;
while (is_capturing_) {
// 读取数据包
@ -154,15 +226,18 @@ int CameraCapture::start_capture(FrameCallback callback) {
break;
}
// 回调处理帧
callback(frame_);
// 设置PTS
frame_->pts = frame_count_;
// 转换为cv::Mat（用于显示或OpenCV处理）
cv::Mat rgb_image = avframe_to_cvmat(frame_);
// 回调：同时返回AVFrame和cv::Mat
callback(frame_, rgb_image, frame_count_++);
}
}
av_packet_unref(packet_);
// 控制帧率
std::this_thread::sleep_for(std::chrono::milliseconds(1000 / config_.fps));
}
return 0;

301
cmvr-es/common/utils/ffmpeg/src/RealSenseCapture.cpp Normal file
View File

@ -0,0 +1,301 @@
// RealSenseCapture.cpp
#include "../include/RealSenseCapture.h"
#include <iostream>
#include <chrono>
namespace ffmpeg {
RealSenseCapture::RealSenseCapture() {
frame_ = av_frame_alloc();
rgb_frame_ = av_frame_alloc();
}
RealSenseCapture::~RealSenseCapture() {
stop_capture();
if (frame_) av_frame_free(&frame_);
if (rgb_frame_) av_frame_free(&rgb_frame_);
}
int RealSenseCapture::initialize(const Config& config) {
std::lock_guard<std::mutex> lock(mutex_);
config_ = config;
try {
// 初始化设备
int ret = init_device();
if (ret < 0) {
std::cerr << "初始化RealSense设备失败" << std::endl;
return ret;
}
// 创建AVFrame
if (frame_) av_frame_free(&frame_);
if (rgb_frame_) av_frame_free(&rgb_frame_);
frame_ = create_avframe(config_.width, config_.height, config_.pixel_format);
rgb_frame_ = create_avframe(config_.width, config_.height, AV_PIX_FMT_BGR24);
if (!frame_ || !rgb_frame_) {
std::cerr << "创建AVFrame失败" << std::endl;
return -1;
}
std::cout << "RealSense摄像头初始化成功: "
<< config_.width << "x" << config_.height << "@" << config_.fps << "fps" << std::endl;
return 0;
} catch (const rs2::error& e) {
std::cerr << "RealSense错误: " << e.what() << std::endl;
return -1;
} catch (const std::exception& e) {
std::cerr << "常规错误: " << e.what() << std::endl;
return -1;
}
}
int RealSenseCapture::init_device() {
try {
// 查询设备
rs2::device_list devices = ctx_.query_devices();
size_t device_count = devices.size();
if (device_count == 0) {
std::cerr << "未检测到RealSense设备" << std::endl;
return -1;
}
std::cout << "检测到 " << device_count << " 个RealSense设备" << std::endl;
// 如果指定了序列号，查找对应设备
if (!config_.serial_number.empty()) {
bool found = false;
for (size_t i = 0; i < device_count; i++) {
rs2::device dev = devices[i];
std::string serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
if (serial == config_.serial_number) {
std::cout << "找到指定序列号的设备: " << serial << std::endl;
found = true;
rs_cfg_.enable_device(serial);
break;
}
}
if (!found) {
std::cerr << "未找到序列号为 " << config_.serial_number << " 的设备" << std::endl;
return -1;
}
} else {
// 使用第一个设备
rs2::device dev = devices[0];
std::string serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
std::cout << "使用第一个设备: " << dev.get_info(RS2_CAMERA_INFO_NAME)
<< " (序列号: " << serial << ")" << std::endl;
rs_cfg_.enable_device(serial);
}
// 配置彩色视频流
rs_cfg_.enable_stream(RS2_STREAM_COLOR,
config_.width,
config_.height,
RS2_FORMAT_BGR8, // OpenCV使用BGR格式
config_.fps);
return 0;
} catch (const rs2::error& e) {
std::cerr << "初始化设备失败: " << e.what() << std::endl;
return -1;
}
}
AVFrame* RealSenseCapture::create_avframe(int width, int height, AVPixelFormat pix_fmt) {
AVFrame* frame = av_frame_alloc();
if (!frame) {
return nullptr;
}
frame->width = width;
frame->height = height;
frame->format = pix_fmt;
// 分配缓冲区
int ret = av_frame_get_buffer(frame, 0);
if (ret < 0) {
av_frame_free(&frame);
return nullptr;
}
return frame;
}
AVFrame* RealSenseCapture::realsense_to_avframe(rs2::frame frame) {
auto vf = frame.as<rs2::video_frame>();
const int width = vf.get_width();
const int height = vf.get_height();
const uint8_t* data = reinterpret_cast<const uint8_t*>(vf.get_data());
// 确保帧可写
av_frame_make_writable(frame_);
// RealSense的BGR8格式，linesize = width * 3
int src_linesize = width * 3;
// 复制数据到AVFrame
for (int i = 0; i < height; i++) {
memcpy(frame_->data[0] + i * frame_->linesize[0],
data + i * src_linesize,
src_linesize);
}
return frame_;
}
cv::Mat RealSenseCapture::realsense_to_cvmat(rs2::frame frame) {
auto vf = frame.as<rs2::video_frame>();
const int width = vf.get_width();
const int height = vf.get_height();
// RealSense的BGR8格式直接对应OpenCV的CV_8UC3
cv::Mat image(cv::Size(width, height), CV_8UC3, (void*)vf.get_data(), cv::Mat::AUTO_STEP);
// 返回深拷贝，确保图像数据独立
return image.clone();
}
int RealSenseCapture::start_capture(FrameCallback callback) {
std::lock_guard<std::mutex> lock(mutex_);
if (!callback) {
std::cerr << "回调函数为空" << std::endl;
return -1;
}
if (is_capturing_) {
std::cerr << "已经在捕获中" << std::endl;
return -1;
}
try {
// 启动pipeline
profile_ = pipe_.start(rs_cfg_);
// 获取内参
auto stream = profile_.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
intrinsics_ = stream.get_intrinsics();
// 等待第一帧，确保设备正常工作
rs2::frameset frames = pipe_.wait_for_frames(2000); // 2秒超时
if (!frames.get_color_frame()) {
std::cerr << "无法获取第一帧" << std::endl;
pipe_.stop();
return -1;
}
is_capturing_ = true;
frame_count_ = 0;
// 启动捕获线程
capture_thread_ = std::make_unique<std::thread>(&RealSenseCapture::capture_thread_func,
this, callback);
std::cout << "RealSense开始采集" << std::endl;
return 0;
} catch (const rs2::error& e) {
std::cerr << "启动采集失败: " << e.what() << std::endl;
return -1;
}
}
void RealSenseCapture::capture_thread_func(FrameCallback callback) {
const int frame_interval = 1000 / config_.fps; // 毫秒
while (is_capturing_) {
auto frame_start = std::chrono::steady_clock::now();
try {
// 等待帧数据
rs2::frameset frames = pipe_.wait_for_frames(1000); // 1秒超时
rs2::frame color_frame = frames.get_color_frame();
if (!color_frame) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
// 转换为AVFrame（用于编码）
AVFrame* av_frame = realsense_to_avframe(color_frame);
av_frame->pts = frame_count_;
// 转换为cv::Mat（用于显示或OpenCV处理）
cv::Mat rgb_image = realsense_to_cvmat(color_frame);
// 回调：同时返回AVFrame和cv::Mat
callback(av_frame, rgb_image, frame_count_++);
} catch (const rs2::error& e) {
std::cerr << "采集错误: " << e.what() << std::endl;
if (!is_capturing_) break;
}
// 控制帧率
auto frame_end = std::chrono::steady_clock::now();
auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
frame_end - frame_start).count();
if (elapsed < frame_interval) {
std::this_thread::sleep_for(std::chrono::milliseconds(frame_interval - elapsed));
}
}
}
void RealSenseCapture::stop_capture() {
std::lock_guard<std::mutex> lock(mutex_);
if (!is_capturing_) {
return;
}
is_capturing_ = false;
if (capture_thread_ && capture_thread_->joinable()) {
capture_thread_->join();
capture_thread_.reset();
}
try {
pipe_.stop();
} catch (const std::exception& e) {
std::cerr << "停止pipeline时出错: " << e.what() << std::endl;
}
std::cout << "RealSense停止采集" << std::endl;
}
std::string RealSenseCapture::get_device_info() const {
try {
rs2::device_list devices = ctx_.query_devices();
if (devices.size() == 0) {
return "No RealSense device found";
}
std::string info;
for (size_t i = 0; i < devices.size(); i++) {
rs2::device dev = devices[i];
info += "Device " + std::to_string(i + 1) + ": ";
info += dev.get_info(RS2_CAMERA_INFO_NAME);
info += " (SN: " + std::string(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) + ")";
if (i < devices.size() - 1) info += "\n";
}
return info;
} catch (const std::exception& e) {
return "Failed to get device info: " + std::string(e.what());
}
}
} // namespace ffmpeg

2
cmvr-es/common/utils/ffmpeg/src/VideoFrameEncoder.cpp
View File

@ -23,7 +23,7 @@ int64_t VideoFrameEncoder::get_current_timestamp() {
return av_rescale_q(elapsed, {1, 1000000}, time_base_);
}
int VideoFrameEncoder::initialize(const EncoderConfig& config) {
int VideoFrameEncoder::initialize(const Config& config) {
config_ = config;
// 查找编码器

2
cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp
View File

@ -10,7 +10,7 @@ VideoWriter::~VideoWriter() {
cleanup();
}
int VideoWriter::initialize(const WriterConfig& config, AVCodecContext* codec_ctx) {
int VideoWriter::initialize(const Config& config, AVCodecContext* codec_ctx) {
config_ = config;
codec_ctx_ref_ = codec_ctx;

122
cmvr-es/controller/include/ibvs_controller.h
View File

@ -105,12 +105,14 @@ public:
std::vector<double>& q_cmd_out);
/**
* @brief 根据当前关节状态计算关节速度命令。
* @brief 根据当前关节状态和控制周期计算关节速度命令。
* @param joints_angle 当前关节角。
* @param dt 控制周期，单位秒。
* @param qdot_out 输出的关节速度命令。
* @return 计算成功返回 `true`。
*/
bool compute(const std::vector<double>& joints_angle,
bool computeQdot(const std::vector<double>& joints_angle,
double dt,
std::vector<double>& qdot_out);
/**
@ -190,6 +192,27 @@ public:
*/
void setVelocityLimit6(const std::array<double, 6>& vmax6);
/**
* @brief 设置相机 twist 六维加速度限幅。
* @param amax6 六维加速度限幅，前三维线加速度，后三维角加速度；
* 分量小于等于 0 时表示该维度不启用加速度限幅。
*/
void setAccelerationLimit6(const std::array<double, 6>& amax6);
/**
* @brief 设置相机 twist 一阶低通滤波系数。
* @param alpha 滤波系数，范围 [0, 1]；取值在 (0, 1) 时启用一阶低通，
* 其余情况按不过滤处理。
*/
void setTwistFilterAlpha(double alpha);
/**
* @brief 将内部相机 twist 平滑状态同步到静止状态。
*
* 适用于上层已经执行硬停（直接发 0 速）后，避免下一次恢复控制时继续沿用旧的 twist 历史。
*/
void resetTwistCommandState();
/**
* @brief 设置关节限位回避参数。
* @param enable 是否启用。
@ -214,31 +237,14 @@ public:
*/
void setAlignCameraToUrdf(const Eigen::Matrix3d& R_camera_urdf);
// 最近一帧是否检测到了当前被跟踪的 tag。
bool isTagDetected() const { return last_tag_detected_; }
// 最近一次 `compute()` 的状态。
ComputeStatus lastComputeStatus() const { return last_compute_status_; }
// 计算状态转字符串。
static const char* statusToString(ComputeStatus status);
// 最近一次 `compute()` 实际使用的深度来源。
DepthUsage lastDepthUsage() const { return last_depth_usage_; }
// 深度来源转字符串。
static const char* depthUsageToString(DepthUsage usage);
// 最近一次使用到的 tag 原点在 ViSP 相机坐标系 `c` 中的位置。
const Eigen::Vector3d& lastTagPositionVisp() const { return last_tag_pos_visp_; }
// 当前配置要跟踪的 tag id。
int trackedTagId() const { return tracked_tag_id_; }
// 最近一次成功控制时实际使用的 tag id。
int lastUsedTagId() const { return last_used_tag_id_; }
// 最近一次输出的相机 twist，位于 ViSP 相机坐标系 `c`。
const Eigen::Matrix<double, 6, 1>& lastCameraTwistVisp() const { return last_v_camera_visp_; }
/**
@ -252,10 +258,12 @@ private:
/**
* @brief 核心控制链路：由感知缓存和当前关节状态计算关节速度命令。
* @param joints_angle 当前关节角。
* @param dt 控制周期，单位秒。
* @param qdot_out 输出的关节速度命令。
* @return 计算成功返回 `true`。
*/
bool computeInternal(const std::vector<double>& joints_angle,
double dt,
std::vector<double>& qdot_out);
/**
@ -281,128 +289,72 @@ private:
void initTask();
private:
// 控制器和 IK 求解器是否已成功初始化。
bool initialized_{false};
// IK 链基座 frame 名称。
std::string base_frame_name_;
// URDF 中相机 frame 名称，对应坐标系 `u`。
std::string camera_frame_name_;
// 共享感知前端。
std::shared_ptr<cmvr::perception::AprilTagPerception> perception_{nullptr};
// ViSP 视觉伺服增益。
double lambda_{0.7};
// 控制模型使用的 tag 边长，单位米。
double tag_size_m_{0.12};
// 控制模型使用的 tag 半边长，单位米。
double tag_half_{0.06};
// 期望 tag 原点在 ViSP 相机坐标系 `c` 中的 x 坐标，单位米。
double target_x_{0.0};
// 期望 tag 原点在 ViSP 相机坐标系 `c` 中的 y 坐标，单位米。
double target_y_{0.0};
// 期望 tag 原点在 ViSP 相机坐标系 `c` 中的 z 坐标，单位米。
double target_z_{0.33};
// 期望位姿 `cMo_des` 的旋转参数 rx，单位弧度。
double target_rx_{3.14159265358979323846};
// 期望位姿 `cMo_des` 的旋转参数 ry，单位弧度。
double target_ry_{0.0};
// 期望位姿 `cMo_des` 的旋转参数 rz，单位弧度。
double target_rz_{0.0};
// DLS IK 阻尼系数。
double mu_{0.02};
// 关节速度上限。
double qdot_max_{0.6};
// 深度使用模式。
DepthMode depth_mode_{DepthMode::MONOCULAR};
// 深度闭环比例增益。
double depth_z_kp_{1.0};
// 相机 twist 六维限幅。
std::array<double, 6> vmax6_{{0.15, 0.15, 0.20, 0.6, 0.6, 0.6}};
// 是否启用关节限位回避。
// 相机 twist 六维加速度限幅；<=0 表示该维度默认不启用。
std::array<double, 6> amax6_{{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
// 相机 twist 一阶低通滤波系数；默认 1.0 表示不过滤。
double twist_lpf_alpha_{1.0};
bool limit_avoidance_enabled_{false};
// 关节限位回避增益。
double limit_avoidance_gain_{0.2};
// 关节限位回避触发边界比例。
double limit_avoidance_margin_ratio_{0.15};
// 单关节最大推回速度。
double limit_avoidance_max_push_{0.25};
// 用于深度闭环的 tag 平面控制点，位于 tag 坐标系 `t` 的 xy 平面，单位米。
Eigen::Vector2d depth_control_point_tag_{Eigen::Vector2d::Zero()};
// 从 `AbstractCamera` 相机坐标系 `cam` 到 ViSP 相机坐标系 `c` 的旋转矩阵。
Eigen::Matrix3d R_cv_{Eigen::Matrix3d::Identity()};
// 从 `AbstractCamera` 相机坐标系 `cam` 到 URDF 相机坐标系 `u` 的旋转矩阵。
Eigen::Matrix3d R_camera_urdf_{Eigen::Matrix3d::Identity()};
// ViSP 视觉伺服任务。
std::unique_ptr<vpServo> task_{nullptr};
// tag 四个角点在 tag 坐标系 `t` 中的 3D 模型点。
vpPoint obj_pts_[4];
// 当前观测特征。
vpFeaturePoint s_cur_[4];
// 期望特征。
vpFeaturePoint s_star_[4];
// 当前配置要跟踪的 tag id。
int tracked_tag_id_{-1};
// 速度 IK 求解器。
std::unique_ptr<PinocchioDlsIKSolver> dls_solver_{nullptr};
// 是否成功读取 URDF 中的关节位置限位。
bool has_joint_position_limits_{false};
// 关节位置下限。
Eigen::VectorXd q_lower_limits_;
// 关节位置上限。
Eigen::VectorXd q_upper_limits_;
// 最近一次成功控制时实际使用的 tag id。
int last_used_tag_id_{-1};
// 内部积分得到的关节位置命令缓存。
std::vector<double> q_cmd_;
// 最近一帧是否检测到了当前被跟踪的 tag。
bool last_tag_detected_{false};
// 最近一次 `compute()` 的状态。
ComputeStatus last_compute_status_{ComputeStatus::NOT_READY};
// 最近一次 `compute()` 实际使用的深度来源。
DepthUsage last_depth_usage_{DepthUsage::NONE};
// 最近一次使用到的 tag 原点在 ViSP 相机坐标系 `c` 中的位置。
Eigen::Vector3d last_tag_pos_visp_{Eigen::Vector3d::Zero()};
// 最近一次输出的相机 twist，位于 ViSP 相机坐标系 `c`。
Eigen::Matrix<double, 6, 1> last_v_camera_visp_{Eigen::Matrix<double, 6, 1>::Zero()};
// 新增：上一拍实际发送给 IK 的相机 twist（ViSP 相机系）
Eigen::Matrix<double, 6, 1> v_camera_cmd_prev_{Eigen::Matrix<double, 6, 1>::Zero()};
bool has_v_camera_cmd_prev_{false};
};
} // namespace cmvr

162
cmvr-es/controller/src/ibvs_controller.cpp
View File

@ -14,6 +14,65 @@
namespace cmvr {
namespace {
Eigen::Vector3d rotvecFromRotationMatrix(const Eigen::Matrix3d& R) {
const Eigen::AngleAxisd aa(R);
if (!std::isfinite(aa.angle()) || !aa.axis().allFinite() || std::abs(aa.angle()) <= 1e-12) {
return Eigen::Vector3d::Zero();
}
return aa.axis() * aa.angle();
}
Eigen::Matrix<double, 6, 1> computeAdaptiveAccelScale(const double tag_size_m,
const vpHomogeneousMatrix& cMo,
const double target_x,
const double target_y,
const double target_z,
const double target_rx,
const double target_ry,
const double target_rz) {
Eigen::Matrix<double, 6, 1> scale = Eigen::Matrix<double, 6, 1>::Ones();
Eigen::Vector3d pos_err;
pos_err << cMo[0][3] - target_x, cMo[1][3] - target_y, cMo[2][3] - target_z;
vpRotationMatrix R_des_visp;
R_des_visp.buildFrom(target_rx, target_ry, target_rz);
Eigen::Matrix3d R_des = Eigen::Matrix3d::Identity();
Eigen::Matrix3d R_cur = Eigen::Matrix3d::Identity();
for (int r = 0; r < 3; ++r) {
for (int c = 0; c < 3; ++c) {
R_des(r, c) = R_des_visp[r][c];
R_cur(r, c) = cMo[r][c];
}
}
const Eigen::Vector3d rot_err = rotvecFromRotationMatrix(R_des.transpose() * R_cur);
const double xy_ref = std::max(0.5 * tag_size_m, 0.01);
const double z_ref = std::max(tag_size_m, 0.03);
const double rot_ref = 0.20; // about 11.5 deg
constexpr double kMinScale = 0.15;
const auto axisScale = [&](const double err_abs, const double ref) {
if (!std::isfinite(err_abs) || !std::isfinite(ref) || ref <= 1e-9) {
return 1.0;
}
const double ratio = std::clamp(err_abs / ref, 0.0, 1.0);
return kMinScale + (1.0 - kMinScale) * ratio;
};
scale[0] = axisScale(std::abs(pos_err.x()), xy_ref);
scale[1] = axisScale(std::abs(pos_err.y()), xy_ref);
scale[2] = axisScale(std::abs(pos_err.z()), z_ref);
scale[3] = axisScale(std::abs(rot_err.x()), rot_ref);
scale[4] = axisScale(std::abs(rot_err.y()), rot_ref);
scale[5] = axisScale(std::abs(rot_err.z()), rot_ref);
return scale;
}
} // namespace
const char* IbvsController::statusToString(ComputeStatus status) {
switch (status) {
case ComputeStatus::OK: return "ok";
@ -42,6 +101,7 @@ const char* IbvsController::depthUsageToString(DepthUsage usage) {
IbvsController::IbvsController() {
R_cv_.setIdentity();
R_camera_urdf_.setIdentity();
resetTwistCommandState();
updateDepthControlPointInTag();
initTask();
@ -77,7 +137,6 @@ bool IbvsController::init(const std::string& urdf_path,
void IbvsController::setPerception(const std::shared_ptr<cmvr::perception::AprilTagPerception>& perception) {
perception_ = perception;
// 注入后立刻同步一次 tag size（用于控制模型）
syncTagSizeFromPerception(true);
}
@ -92,10 +151,7 @@ void IbvsController::syncTagSizeFromPerception(bool force) {
tag_size_m_ = s;
tag_half_ = 0.5 * tag_size_m_;
// 深度控制点约束依赖 tag_half_
updateDepthControlPointInTag();
// 任务几何依赖 tag_half_
initTask();
}
@ -113,6 +169,7 @@ void IbvsController::reset(const std::vector<double>& q_init) {
last_depth_usage_ = DepthUsage::NONE;
last_tag_pos_visp_.setZero();
last_v_camera_visp_.setZero();
resetTwistCommandState();
}
bool IbvsController::compute(const std::vector<double>& joints_angle,
@ -128,7 +185,7 @@ bool IbvsController::compute(const std::vector<double>& joints_angle,
}
std::vector<double> qdot;
if (!computeInternal(joints_angle, qdot)) {
if (!computeInternal(joints_angle, dt, qdot)) {
return false;
}
@ -141,9 +198,14 @@ bool IbvsController::compute(const std::vector<double>& joints_angle,
return true;
}
bool IbvsController::compute(const std::vector<double>& joints_angle,
bool IbvsController::computeQdot(const std::vector<double>& joints_angle,
double dt,
std::vector<double>& qdot_out) {
return computeInternal(joints_angle, qdot_out);
if (dt <= 0.0 || !std::isfinite(dt)) {
last_compute_status_ = ComputeStatus::INVALID_INPUT;
return false;
}
return computeInternal(joints_angle, dt, qdot_out);
}
bool IbvsController::getChainJointNames(std::vector<std::string>& joint_names) const {
@ -155,6 +217,7 @@ bool IbvsController::getChainJointNames(std::vector<std::string>& joint_names) c
}
bool IbvsController::computeInternal(const std::vector<double>& joints_angle,
double dt,
std::vector<double>& qdot_out) {
last_depth_usage_ = DepthUsage::NONE;
last_tag_detected_ = false;
@ -170,6 +233,10 @@ bool IbvsController::computeInternal(const std::vector<double>& joints_angle,
last_compute_status_ = ComputeStatus::NOT_READY;
return false;
}
if (dt <= 0.0 || !std::isfinite(dt)) {
last_compute_status_ = ComputeStatus::INVALID_INPUT;
return false;
}
if (joints_angle.empty()) {
last_compute_status_ = ComputeStatus::INVALID_INPUT;
return false;
@ -179,10 +246,8 @@ bool IbvsController::computeInternal(const std::vector<double>& joints_angle,
return false;
}
// 每帧确保 tag_size 同步（你可能运行时调 perception->setTagSize()）
syncTagSizeFromPerception(false);
// perception 必须先 update()，这里以 color 是否为空作为“是否ready”的简单判据
if (perception_->color().empty()) {
last_compute_status_ = ComputeStatus::NO_NEW_FRAME;
return false;
@ -205,7 +270,6 @@ bool IbvsController::computeInternal(const std::vector<double>& joints_angle,
const vpHomogeneousMatrix& cMo = tag->cMo;
last_tag_pos_visp_ << cMo[0][3], cMo[1][3], cMo[2][3];
// intrinsics
const auto& intr = perception_->intrinsics();
const double fx = static_cast<double>(intr.fx);
const double fy = static_cast<double>(intr.fy);
@ -250,7 +314,7 @@ bool IbvsController::computeInternal(const std::vector<double>& joints_angle,
s_cur_[i].buildFrom(x, y, Z);
}
last_depth_usage_ = depth_ctrl_used ? DepthUsage::DEPTH_ONLY : DepthUsage::POSE_ONLY;
last_depth_usage_ = depth_ctrl_used ? DepthUsage::MIXED : DepthUsage::POSE_ONLY;
vpColVector v_c = task_->computeControlLaw();
@ -259,9 +323,62 @@ bool IbvsController::computeInternal(const std::vector<double>& joints_angle,
v_c[2] = depth_z_kp_ * (z_depth_ctrl - target_z_);
}
// 限幅+缓存（ViSP camera系）
// ---------- 视觉速度整形：速度限幅 + 加速度限幅 + 一阶低通 ----------
Eigen::Matrix<double, 6, 1> v_raw;
for (int i = 0; i < 6; ++i) {
v_c[i] = SupportFunctions::clamp(v_c[i], -vmax6_[i], vmax6_[i]);
v_raw[i] = std::isfinite(v_c[i]) ? v_c[i] : 0.0;
}
// 1) 速度限幅
for (int i = 0; i < 6; ++i) {
v_raw[i] = SupportFunctions::clamp(v_raw[i], -vmax6_[i], vmax6_[i]);
}
if (!has_v_camera_cmd_prev_) {
resetTwistCommandState();
}
// 2) 加速度限幅：误差大时放宽，误差小时收紧；减速/刹车保持满加速度
Eigen::Matrix<double, 6, 1> v_acc_limited = v_camera_cmd_prev_;
const Eigen::Matrix<double, 6, 1> accel_scale =
computeAdaptiveAccelScale(tag_size_m_,
cMo,
target_x_,
target_y_,
target_z_,
target_rx_,
target_ry_,
target_rz_);
for (int i = 0; i < 6; ++i) {
const double amax = amax6_[i];
if (!std::isfinite(amax) || amax <= 0.0) {
v_acc_limited[i] = v_raw[i];
continue;
}
double amax_eff = amax;
const bool same_direction = v_raw[i] * v_camera_cmd_prev_[i] >= 0.0;
const bool speeding_up = std::abs(v_raw[i]) > std::abs(v_camera_cmd_prev_[i]) + 1e-12;
if (same_direction && speeding_up) {
amax_eff *= accel_scale[i];
}
const double dv_max = amax_eff * dt;
const double dv_des = v_raw[i] - v_camera_cmd_prev_[i];
const double dv = SupportFunctions::clamp(dv_des, -dv_max, dv_max);
v_acc_limited[i] = v_camera_cmd_prev_[i] + dv;
}
// 3) 一阶低通
const double alpha = std::clamp(twist_lpf_alpha_, 0.0, 1.0);
if (alpha <= 0.0 || alpha >= 1.0) {
v_camera_cmd_prev_ = v_acc_limited;
} else {
v_camera_cmd_prev_ = alpha * v_acc_limited + (1.0 - alpha) * v_camera_cmd_prev_;
}
for (int i = 0; i < 6; ++i) {
v_c[i] = v_camera_cmd_prev_[i];
last_v_camera_visp_[i] = v_c[i];
}
@ -346,7 +463,7 @@ void IbvsController::setTarget(double x,
initTask();
}
bool IbvsController::setTargetFromPointInTag(const Eigen::Vector3d& p_t_target,
bool IbvsController::setTargetFromPointInTag(const Eigen::Vector3d& p_t_target,
const Eigen::Vector3d& p_c_target_des,
double rx,
double ry,
@ -356,7 +473,7 @@ void IbvsController::setTarget(double x,
}
vpRotationMatrix R_des_visp;
R_des_visp.buildFrom(rx, ry, rz); // 注意：这是 rotvec（theta*u）
R_des_visp.buildFrom(rx, ry, rz);
Eigen::Matrix3d R_des;
for (int r = 0; r < 3; ++r) {
@ -399,6 +516,20 @@ void IbvsController::setVelocityLimit6(const std::array<double, 6>& vmax6) {
vmax6_ = vmax6;
}
void IbvsController::setAccelerationLimit6(const std::array<double, 6>& amax6) {
amax6_ = amax6;
}
void IbvsController::setTwistFilterAlpha(double alpha) {
twist_lpf_alpha_ = std::clamp(alpha, 0.0, 1.0);
}
void IbvsController::resetTwistCommandState() {
v_camera_cmd_prev_.setZero();
last_v_camera_visp_.setZero();
has_v_camera_cmd_prev_ = true;
}
void IbvsController::setJointLimitAvoidance(bool enable,
double gain,
double margin_ratio,
@ -440,7 +571,6 @@ void IbvsController::updateDepthControlPointInTag() {
depth_control_point_tag_ = A.fullPivLu().solve(b);
// 限制在 tag 边界内
depth_control_point_tag_.x() = SupportFunctions::clamp(depth_control_point_tag_.x(), -tag_half_, tag_half_);
depth_control_point_tag_.y() = SupportFunctions::clamp(depth_control_point_tag_.y(), -tag_half_, tag_half_);
}

1
cmvr-es/data_center/CMakeLists.txt
View File

@ -11,6 +11,7 @@ target_link_libraries(data_center PRIVATE
cmvr_es::utils
cmvr_es::device::canbus
cmvr_es::device::ti5motor
cmvr_es::device::eyoumotor
protobuf
glog
)

4
cmvr-es/data_center/include/motors_info.h
View File

@ -23,8 +23,8 @@ namespace cmvr {
public:
~MotorsInfo(){};
void init(const XmlNode &cfg);
void init(const cmvr::config::HumanRobotConfig& config);
void init(const cmvr::config::EthercatRobotConfig& config);
static MotorsInfo *getInstance() {
static MotorsInfo instance;

155
cmvr-es/data_center/src/motors_info.cpp
View File

@ -3,6 +3,8 @@
//
#include "data_center/include/motors_info.h"
#include "motor/eyou_motor/eyou_motor.h"
#include "motor/ti5_motor/canopen/ti5_motor_canopen_protocol.h"
#include "motor/ti5_motor/ti5_motor.h"
@ -12,99 +14,95 @@ using namespace cmvr::device;
MotorsInfo::MotorsInfo() {
}
void MotorsInfo::init(const XmlNode &cfg) {
// 定义 lambda 函数，用于读取 XML 节点 enable 属性
auto readEnable = [](const XmlNode &node) -> bool {
std::string enable_str = node.getAttrString("enable"); // 默认 false
return (enable_str == "true" || enable_str == "1");
};
auto can_cfg = cfg.getChild("CanManger");
void MotorsInfo::init(const cmvr::config::HumanRobotConfig& config) {
const auto& can_manager = config.can_manager();
auto l_can_cfg = can_cfg.getChild("LeftArmCan");
left_arm_enabled_ = readEnable(l_can_cfg);
// 读取enable状态
left_arm_enabled_ = can_manager.left_arm().enable();
right_arm_enabled_ = can_manager.right_arm().enable();
waist_enabled_ = can_manager.waist().enable();
head_enabled_ = can_manager.head().enable();
// 局部变量存储电机配置
std::vector<cmvr::config::MotorConfig> l_motors_cfg;
std::vector<cmvr::config::MotorConfig> r_motors_cfg;
std::vector<cmvr::config::MotorConfig> waist_motors_cfg;
std::vector<cmvr::config::MotorConfig> head_motors_cfg;
// 左臂
if (left_arm_enabled_) {
l_motors_cfg_ = l_can_cfg.getChildren("Motor");
l_can_client_ = std::make_shared<SocketCanClientRaw>(l_can_cfg);
l_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
l_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
l_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
const auto& left_arm = can_manager.left_arm();
for (const auto& motor : left_arm.motors()) {
l_motors_cfg.push_back(motor);
}
l_can_client_ = std::make_shared<SocketCanClientRaw>(left_arm);
l_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail>>();
l_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail>>();
l_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail>>();
}
auto r_can_cfg = can_cfg.getChild("RightArmCan");
right_arm_enabled_ = readEnable(r_can_cfg);
// 右臂
if (right_arm_enabled_) {
r_motors_cfg_ = r_can_cfg.getChildren("Motor");
r_can_client_ = std::make_shared<SocketCanClientRaw>(r_can_cfg);
r_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
r_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
r_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
const auto& right_arm = can_manager.right_arm();
for (const auto& motor : right_arm.motors()) {
r_motors_cfg.push_back(motor);
}
r_can_client_ = std::make_shared<SocketCanClientRaw>(right_arm);
r_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail>>();
r_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail>>();
r_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail>>();
}
auto waist_can_cfg = can_cfg.getChild("WaistCan");
waist_enabled_ = readEnable(waist_can_cfg);
// 腰部
if (waist_enabled_) {
waist_motors_cfg_ = waist_can_cfg.getChildren("Motor");
waist_can_client_ = std::make_shared<SocketCanClientRaw>(waist_can_cfg);
waist_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
waist_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
waist_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
const auto& waist = can_manager.waist();
for (const auto& motor : waist.motors()) {
waist_motors_cfg.push_back(motor);
}
waist_can_client_ = std::make_shared<SocketCanClientRaw>(waist);
waist_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail>>();
waist_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail>>();
waist_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail>>();
}
auto head_can_cfg = can_cfg.getChild("HeadCan");
head_enabled_ = readEnable(head_can_cfg);
// 头部
if (head_enabled_) {
head_motors_cfg_ = head_can_cfg.getChildren("Motor");
head_can_client_ = std::make_shared<SocketCanClientRaw>(head_can_cfg);
head_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
head_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
head_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
const auto& head = can_manager.head();
for (const auto& motor : head.motors()) {
head_motors_cfg.push_back(motor);
}
head_can_client_ = std::make_shared<SocketCanClientRaw>(head);
head_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail>>();
head_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail>>();
head_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail>>();
}
// 开始初始化
// 初始化 limbs
struct Limb {
std::string name;
bool enabled;
std::shared_ptr<AbstractCanbus> client;
std::shared_ptr<CanSender<msgs::RobotDetail> > sender;
std::shared_ptr<CanReceiver<msgs::RobotDetail> > receiver;
std::shared_ptr<MessageManager<msgs::RobotDetail> > message_manager;
std::vector<XmlNode> motor_cfgs;
std::shared_ptr<CanSender<msgs::RobotDetail>> sender;
std::shared_ptr<CanReceiver<msgs::RobotDetail>> receiver;
std::shared_ptr<MessageManager<msgs::RobotDetail>> message_manager;
std::vector<cmvr::config::MotorConfig> motor_cfgs;
};
std::vector<Limb> limbs{
{
"WAIST", waist_enabled_, waist_can_client_, waist_can_sender_, waist_can_receiver_, waist_message_manager_,
waist_motors_cfg_
},
{
"LEFT_ARM", left_arm_enabled_, l_can_client_, l_can_sender_, l_can_receiver_, l_message_manager_,
l_motors_cfg_
},
{
"RIGHT_ARM", right_arm_enabled_, r_can_client_, r_can_sender_, r_can_receiver_, r_message_manager_,
r_motors_cfg_
},
{
"HEAD", head_enabled_, head_can_client_, head_can_sender_, head_can_receiver_, head_message_manager_,
head_motors_cfg_
}
{"WAIST", waist_enabled_, waist_can_client_, waist_can_sender_, waist_can_receiver_, waist_message_manager_, waist_motors_cfg},
{"LEFT_ARM", left_arm_enabled_, l_can_client_, l_can_sender_, l_can_receiver_, l_message_manager_, l_motors_cfg},
{"RIGHT_ARM", right_arm_enabled_, r_can_client_, r_can_sender_, r_can_receiver_, r_message_manager_, r_motors_cfg},
{"HEAD", head_enabled_, head_can_client_, head_can_sender_, head_can_receiver_, head_message_manager_, head_motors_cfg}
};
// 创建 MotorManager
motor_manager_ = std::make_shared<MotorManager>();
std::vector<std::future<void>> tasks;
std::vector<std::future<void> > tasks;
for (auto &limb: limbs) {
for (auto &limb : limbs) {
if (!limb.enabled) continue;
if (limb.client) limb.client->init();
// 2. 初始化 Sender / Receiver（如果有）
if (limb.sender && limb.receiver && limb.client) {
auto ret = limb.sender->Init(limb.client.get(), false);
if (ret != ErrorCode::OK)
@ -124,19 +122,16 @@ void MotorsInfo::init(const XmlNode &cfg) {
LOG(ERROR) << "Failed to start " << limb.name << " CAN receiver.";
}
// 3. 创建协议（如果有CAN）
std::shared_ptr<Ti5MotorCanopenProtocol> protocol = nullptr;
if (limb.sender && limb.message_manager) {
protocol = std::make_shared<Ti5MotorCanopenProtocol>(limb.sender, limb.message_manager);
}
// 4. 并行初始化电机
if (!limb.motor_cfgs.empty()) {
tasks.push_back(std::async(std::launch::async, [this, protocol, &limb] {
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing " << limb.name <<
" motors...";
for (const auto &cfg: limb.motor_cfgs) {
auto motor = std::make_shared<Ti5Motor>(cfg);
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing " << limb.name << " motors...";
for (const auto& motor_cfg : limb.motor_cfgs) {
auto motor = std::make_shared<Ti5Motor>(motor_cfg);
if (protocol) motor->setProtocol(protocol);
motor->init();
motor_manager_->addMotor(motor);
@ -145,12 +140,26 @@ void MotorsInfo::init(const XmlNode &cfg) {
}
}
// 等待所有任务完成
for (auto &task: tasks) task.get();
for (auto& task : tasks) task.get();
LOG(INFO) << "All enabled motors initialized successfully.";
}
void MotorsInfo::init(const cmvr::config::EthercatRobotConfig& config)
{
if (!motor_manager_)
{
motor_manager_ = std::make_shared<MotorManager>();
}
auto protocol = std::make_shared<EYouEthercatProtocol>(config.master().interface());
for (const auto& motor_cfg : config.motors()) {
auto motor = std::make_shared<EYouMotor>(motor_cfg);
if (protocol) motor->setProtocol(protocol);
motor->init();
motor_manager_->addMotor(motor);
}
}
bool MotorsInfo::getJointsQ(const std::vector<std::string> &joints_name,
std::unordered_map<std::string, double> &joint_qs) const {
auto res{true};

1
cmvr-es/device_manager/CMakeLists.txt
View File

@ -13,6 +13,7 @@ target_link_libraries(device_manager PRIVATE
cmvr_es::device::ffmpeg_microphone
cmvr_es::device::realsense_camera
cmvr_es::device::rh56dftp_dexhand
cmvr_es::device::px_6ax_gen3
cmvr::device::head_esp32
osqp
cmvr_es::device::humanoid_robot

10
cmvr-es/device_manager/include/device_factory.h
View File

@ -28,15 +28,7 @@ namespace cmvr::device {
template <typename DeviceType, typename ConfigType>
std::shared_ptr<DeviceType> createFromConfig(const ConfigType& cfg);
private:
std::shared_ptr<AbstractAGV> create_agv_(const XmlNode& cfg);
std::shared_ptr<AbstractBattery> create_battery_(const XmlNode& cfg);
std::shared_ptr<AbstractCamera> create_camera_(const XmlNode& cfg);
std::shared_ptr<AbstractDexHand> create_dexhand_(const XmlNode& cfg);
std::shared_ptr<AbstractGripper> create_gripper_(const XmlNode& cfg);
std::shared_ptr<AbstractMicrophone> create_mic_(const XmlNode& cfg);
std::shared_ptr<AbstractRobot> create_robot_(const XmlNode& cfg);
std::shared_ptr<AbstractSpeaker> create_speaker_(const XmlNode& cfg);
std::shared_ptr<AbstractBiohead> create_biohead_(const XmlNode& cfg);
};
}

3
cmvr-es/device_manager/include/device_manager.h
View File

@ -41,7 +41,6 @@ namespace cmvr::device {
DeviceManager(const DeviceManager&) = delete;
DeviceManager& operator=(const DeviceManager&) = delete;
static DeviceManager& getInstance(const XmlNode &cfg);
static DeviceManager& getInstance();
static void destroyInstance();
@ -68,7 +67,7 @@ namespace cmvr::device {
std::unique_ptr<DeviceFactory> dev_factory_;
std::unique_ptr<device::SystemMonitor> sys_monitor_;
explicit DeviceManager(const XmlNode &cfg);
explicit DeviceManager();
void init_devices_();
void get_os_info_();
};

199
cmvr-es/device_manager/src/device_factory.cpp
View File

@ -10,6 +10,7 @@
#include "devices/microphone/ffmpeg_microphone/include/ffmpeg_microphone.h"
#include "devices/camera/realsense_camera/include/realsense_camera.h"
#include "devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h"
#include "devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h"
#include "devices/robot/humanoid_robot/include/humanoid_robot.h"
//#include "robot/ti5_robot/ti5_robot.h"
#include "cmvr/api/system_command.pb.h"
@ -17,168 +18,16 @@
//#include "devices/robot/aubo_robot/include/aubo_robot.h"
using namespace std;
using namespace cmvr::device;
template std::shared_ptr<AbstractAGV> DeviceFactory::create<AbstractAGV>(const XmlNode&);
template std::shared_ptr<AbstractBattery> DeviceFactory::create<AbstractBattery>(const XmlNode&);
template std::shared_ptr<AbstractCamera> DeviceFactory::create<AbstractCamera>(const XmlNode&);
template std::shared_ptr<AbstractDexHand> DeviceFactory::create<AbstractDexHand>(const XmlNode&);
template std::shared_ptr<AbstractGripper> DeviceFactory::create<AbstractGripper>(const XmlNode&);
template std::shared_ptr<AbstractMicrophone> DeviceFactory::create<AbstractMicrophone>(const XmlNode&);
template std::shared_ptr<AbstractRobot> DeviceFactory::create<AbstractRobot>(const XmlNode&);
template std::shared_ptr<AbstractSpeaker> DeviceFactory::create<AbstractSpeaker>(const XmlNode&);
template std::shared_ptr<AbstractBiohead> DeviceFactory::create<AbstractBiohead>(const XmlNode&);
template <typename DeviceType>
std::shared_ptr<DeviceType> DeviceFactory::create(const XmlNode& cfg) {
if constexpr (std::is_same_v<DeviceType, AbstractAGV>) {
return create_agv_(cfg);
} else if constexpr (std::is_same_v<DeviceType, AbstractBattery>) {
return create_battery_(cfg);
} else if constexpr (std::is_same_v<DeviceType, AbstractCamera>) {
return create_camera_(cfg);
} else if constexpr (std::is_same_v<DeviceType, AbstractDexHand>) {
return create_dexhand_(cfg);
} else if constexpr (std::is_same_v<DeviceType, AbstractGripper>) {
return create_gripper_(cfg);
} else if constexpr (std::is_same_v<DeviceType, AbstractMicrophone>) {
return create_mic_(cfg);
} else if constexpr (std::is_same_v<DeviceType, AbstractRobot>) {
return create_robot_(cfg);
} else if constexpr (std::is_same_v<DeviceType, AbstractSpeaker>) {
return create_speaker_(cfg);
}else if constexpr (std::is_same_v<DeviceType, AbstractBiohead>){
return create_biohead_(cfg);
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type";
throw runtime_error("[DeviceFactory]: Unsupported device type");
}
}
std::shared_ptr<AbstractAGV> DeviceFactory::create_agv_(const XmlNode& cfg) {
return nullptr;
}
std::shared_ptr<AbstractBattery> DeviceFactory::create_battery_(const XmlNode& cfg) {
return nullptr;
}
std::shared_ptr<AbstractCamera> DeviceFactory::create_camera_(const XmlNode& cfg) {
try {
if (cfg.getNodeName() == "UVCCamera") {
return std::make_shared<UVCCamera>(cfg);
}
else if (cfg.getNodeName() == "MechMind") {
//return std::make_shared<MechmindCamera>(cfg);
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
else if (cfg.getNodeName() == "RealsenseCamera") {
return std::make_shared<RealsenseCamera>(cfg);
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
}
catch (const exception &e) {
return nullptr;
}
}
std::shared_ptr<AbstractDexHand> DeviceFactory::create_dexhand_(const XmlNode& cfg) {
try {
if (cfg.getNodeName() == "RH56DFTP") {
return std::make_shared<RH56DFTPDexhand>(cfg);
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
}
catch (const exception &e) {
return nullptr;
}
}
std::shared_ptr<AbstractGripper> DeviceFactory::create_gripper_(const XmlNode& cfg) {
return nullptr;
}
std::shared_ptr<AbstractMicrophone> DeviceFactory::create_mic_(const XmlNode& cfg) {
try {
if (cfg.getNodeName() == "ffmpegMicPhone") {
return std::make_shared<ffmpegMicroPhone>(cfg);
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
}
catch (const exception &e) {
return nullptr;
}
return nullptr;
}
std::shared_ptr<AbstractRobot> DeviceFactory::create_robot_(const XmlNode& cfg) {
try {
if (cfg.getNodeName() == "Humanoid") {
auto motos_info = MotorsInfo::getInstance();
motos_info->init(cfg);
return std::make_shared<HumanoidRobot<14>>(cfg);
}
else if (cfg.getNodeName() == "AuboRobot") {
//return std::make_shared<AuboRobot<6>>(cfg);
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
}
catch (const exception &e) {
return nullptr;
}
}
std::shared_ptr<AbstractBiohead>DeviceFactory::create_biohead_(const XmlNode& cfg) {
try {
if (cfg.getNodeName() == "esp32") {
return std::make_shared<BioHeadRobot>(cfg);
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
}
catch (const exception &e) {
return nullptr;
}
}
std::shared_ptr<AbstractSpeaker> DeviceFactory::create_speaker_(const XmlNode& cfg) {
try {
if (cfg.getNodeName() == "ffmpegSpeaker") {
return std::make_shared<ffmpegSpeaker>(cfg);
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type " << cfg.getNodeName();
return nullptr;
}
}
catch (const exception &e) {
return nullptr;
}
}
template std::shared_ptr<AbstractCamera> DeviceFactory::createFromConfig<AbstractCamera>(const config::UVCCameraConfig& cfg);
template std::shared_ptr<AbstractCamera> DeviceFactory::createFromConfig<AbstractCamera>(const config::RealSenseCameraConfig& cfg);
template std::shared_ptr<AbstractDexHand> DeviceFactory::createFromConfig<AbstractDexHand>(const config::RH56DFTPDexHandConfig& cfg);
template std::shared_ptr<AbstractDexHand> DeviceFactory::createFromConfig<AbstractDexHand>(const config::PX6AXGen3& cfg);
template std::shared_ptr<AbstractMicrophone> DeviceFactory::createFromConfig<AbstractMicrophone>(const config::FFMpegMicroPhoneConfig& cfg);
template std::shared_ptr<AbstractSpeaker> DeviceFactory::createFromConfig<AbstractSpeaker>(const config::FFMpegSpeakerConfig& cfg);
template std::shared_ptr<AbstractBiohead> DeviceFactory::createFromConfig<AbstractBiohead>(const config::BioHeadConfig& cfg);
template std::shared_ptr<AbstractRobot> DeviceFactory::createFromConfig<AbstractRobot>(const config::HumanRobotConfig& cfg);
template std::shared_ptr<AbstractRobot> DeviceFactory::createFromConfig<AbstractRobot>(const config::EthercatRobotConfig& cfg);
template <typename DeviceType, typename ConfigType>
std::shared_ptr<DeviceType> DeviceFactory::createFromConfig(const ConfigType& cfg)
{
@ -205,6 +54,10 @@ std::shared_ptr<DeviceType> DeviceFactory::createFromConfig(const ConfigType& cf
{
return std::make_shared<RH56DFTPDexhand>(cfg);
}
else if constexpr (std::is_same_v<ConfigType, config::PX6AXGen3>)
{
return std::make_shared<PX6AXGen3>(cfg);
}
else
{
LOG(ERROR) << "[DeviceFactory]: Unsupported dexhand device type ";
@ -235,6 +88,38 @@ std::shared_ptr<DeviceType> DeviceFactory::createFromConfig(const ConfigType& cf
throw runtime_error("[DeviceFactory]: Unsupported microphone device type");
}
}
else if constexpr (std::is_same_v<DeviceType, AbstractBiohead>)
{
if constexpr (std::is_same_v<ConfigType, config::BioHeadConfig>)
{
return std::make_shared<BioHeadRobot>(cfg);
}
else
{
LOG(ERROR) << "[DeviceFactory]: Unsupported microphone device type ";
throw runtime_error("[DeviceFactory]: Unsupported microphone device type");
}
}
else if constexpr (std::is_same_v<DeviceType, AbstractRobot>)
{
if constexpr (std::is_same_v<ConfigType, config::HumanRobotConfig>)
{
auto motos_info = MotorsInfo::getInstance();
motos_info->init(cfg);
return std::make_shared<HumanoidRobot<14>>(cfg);
}
else if constexpr (std::is_same_v<ConfigType, config::EthercatRobotConfig>)
{
auto motos_info = MotorsInfo::getInstance();
motos_info->init(cfg);
return std::make_shared<HumanoidRobot<14>>(cfg);
}
else
{
LOG(ERROR) << "[DeviceFactory]: Unsupported microphone device type ";
throw runtime_error("[DeviceFactory]: Unsupported microphone device type");
}
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type";
throw runtime_error("[DeviceFactory]: Unsupported device type");

159
cmvr-es/device_manager/src/device_manager.cpp
View File

@ -24,12 +24,9 @@ std::shared_ptr<DeviceManager> DeviceManager::instance_ = nullptr;
std::once_flag DeviceManager::init_flag_;
DeviceManager::DeviceManager(const XmlNode& cfg) {
DeviceManager::DeviceManager() {
try {
cfg_ = cfg;
info_.version = cfg_.getAttrDefault("ver", "1.0");
info_.name = cfg_.getAttrDefault("name", "cmvr_es");
info_.description = cfg_.getAttrDefault("description", "empty");
get_os_info_();
dev_factory_ = std::make_unique<DeviceFactory>();
@ -42,17 +39,12 @@ DeviceManager::DeviceManager(const XmlNode& cfg) {
}
}
DeviceManager& DeviceManager::getInstance(const XmlNode& cfg) {
std::call_once(init_flag_, [&cfg] {
instance_.reset(new DeviceManager(cfg));
});
return *instance_;
}
DeviceManager& DeviceManager::getInstance() {
if (!instance_) {
throw std::runtime_error("[DeviceManager] (getInstance): DeviceManager not initialized. Call getInstance(const XmlNode&) first.");
}
if (!instance_)
std::call_once(init_flag_, [&] {
instance_.reset(new DeviceManager());
});
return *instance_;
}
@ -199,38 +191,38 @@ void DeviceManager::getSystemStatus(SystemStatus& status) const {
void DeviceManager::init_devices_() {
try{
auto dmgr_node = cfg_.getChild("Devices");
auto battery_node = dmgr_node.getChild("Battery");
for (auto &node: battery_node.getChildren()){
string id = node.getAttrString("id");
if (devices_.count(id)) {
LOG(ERROR) << "[DeviceManager]: Duplicate Battery Device ID " << id;
throw runtime_error("[DeviceManager]: Duplicate Battery Device ID " + id);
}
auto device = dev_factory_->create<AbstractBattery>(node);
if (device == nullptr) {
throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
}
devices_[id] = device;
std::get<std::shared_ptr<AbstractBattery>>(devices_[id])->init();
LOG(INFO) << "[DeviceManager]: Init Battery " << id << " Success";
}
// auto dmgr_node = cfg_.getChild("Devices");
// auto battery_node = dmgr_node.getChild("Battery");
// for (auto &node: battery_node.getChildren()){
// string id = node.getAttrString("id");
// if (devices_.count(id)) {
// LOG(ERROR) << "[DeviceManager]: Duplicate Battery Device ID " << id;
// throw runtime_error("[DeviceManager]: Duplicate Battery Device ID " + id);
// }
// auto device = dev_factory_->create<AbstractBattery>(node);
// if (device == nullptr) {
// throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
// }
// devices_[id] = device;
// std::get<std::shared_ptr<AbstractBattery>>(devices_[id])->init();
// LOG(INFO) << "[DeviceManager]: Init Battery " << id << " Success";
// }
auto agv_node = dmgr_node.getChild("AGV");
for (auto &node: agv_node.getChildren()){
string id = node.getAttrString("id");
if (devices_.count(id)) {
LOG(ERROR) << "[DeviceManager]: Duplicate AGV Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate AGV Device ID" + id);
}
auto device = dev_factory_->create<AbstractAGV>(node);
if (device == nullptr) {
throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
}
devices_[id] = device;
std::get<std::shared_ptr<AbstractAGV>>(devices_[id])->init();
LOG(INFO) << "[DeviceManager]: Init AGV " << id << " Success";
}
// auto agv_node = dmgr_node.getChild("AGV");
// for (auto &node: agv_node.getChildren()){
// string id = node.getAttrString("id");
// if (devices_.count(id)) {
// LOG(ERROR) << "[DeviceManager]: Duplicate AGV Device ID" << id;
// throw runtime_error("[DeviceManager]: Duplicate AGV Device ID" + id);
// }
// auto device = dev_factory_->create<AbstractAGV>(node);
// if (device == nullptr) {
// throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
// }
// devices_[id] = device;
// std::get<std::shared_ptr<AbstractAGV>>(devices_[id])->init();
// LOG(INFO) << "[DeviceManager]: Init AGV " << id << " Success";
// }
config::CameraConfig camera_config;
ConfigHelper::getCamerasConfig(camera_config);
@ -281,20 +273,51 @@ void DeviceManager::init_devices_() {
std::get<std::shared_ptr<AbstractDexHand>>(devices_[id])->init();
}
auto robot_node = dmgr_node.getChild("Robot");
for (auto &node: robot_node.getChildren()){
string id = node.getAttrString("id");
for (int i = 0; i < dexhand_cfg.px_6ax_gen3().size(); i++) {
auto dexhand = dexhand_cfg.px_6ax_gen3(i);
if (!dexhand.enable())
continue;
auto id = dexhand.id();
if (devices_.count(id)) {
LOG(ERROR) << "[DeviceManager]: Duplicate robot Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate robot Device ID" + id);
LOG(ERROR) << "[DeviceManager]: Duplicate DexHand Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate DexHand Device ID" + id);
}
auto device = dev_factory_->create<AbstractRobot>(node);
if (device == nullptr) {
throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
std::cout << "DexHand[" << i << "]: " << id << std::endl;
auto device = dev_factory_->createFromConfig<AbstractDexHand,config::PX6AXGen3>(dexhand);
devices_[id] = device;
std::get<std::shared_ptr<AbstractDexHand>>(devices_[id])->init();
}
config::RobotConfig robot_config;
ConfigHelper::getRobotConfig(robot_config);
for (int i = 0; i < robot_config.humanrobots().size(); i++) {
auto robot = robot_config.humanrobots(i);
if (!robot.enable())
continue;
auto id = robot.id();
if (devices_.count(id)) {
LOG(ERROR) << "[DeviceManager]: Duplicate Robot Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate Robot Device ID" + id);
}
std::cout << "DexHand[" << i << "]: " << id << std::endl;
auto device = dev_factory_->createFromConfig<AbstractRobot,config::HumanRobotConfig>(robot);
devices_[id] = device;
std::get<std::shared_ptr<AbstractRobot>>(devices_[id])->init();
}
for (int i = 0; i < robot_config.ethercat_robots().size(); i++) {
auto robot = robot_config.ethercat_robots(i);
if (!robot.enable())
continue;
auto id = robot.id();
if (devices_.count(id)) {
LOG(ERROR) << "[DeviceManager]: Duplicate Robot Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate Robot Device ID" + id);
}
std::cout << "DexHand[" << i << "]: " << id << std::endl;
auto device = dev_factory_->createFromConfig<AbstractRobot,config::EthercatRobotConfig>(robot);
devices_[id] = device;
std::get<std::shared_ptr<AbstractRobot>>(devices_[id])->init();
LOG(INFO) << "[DeviceManager]: Init Robot " << id << " Success";
}
config::MicroPhoneConfig micro_phone_config;
@ -331,22 +354,21 @@ void DeviceManager::init_devices_() {
std::get<std::shared_ptr<AbstractSpeaker>>(devices_[id])->init();
}
auto biohead_node = dmgr_node.getChild("BioHead");
for (auto &node: biohead_node.getChildren()){
string id = node.getAttrString("id");
if (devices_.count(id)){
LOG(ERROR) << "[DeviceManager]: Duplicate AbstractBiohead Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate AbstractBiohead Device ID" + id);
}
auto device = dev_factory_->create<AbstractBiohead>(node);
if (device == nullptr){
throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
config::HeadConfig head_cfg;
ConfigHelper::getHeadConfig(head_cfg);
for (int i = 0; i < head_cfg.bioheads().size(); i++) {
auto head = head_cfg.bioheads(i);
if (!head.enable())
continue;
auto id = head.id();
if (devices_.count(id)) {
LOG(ERROR) << "[DeviceManager]: Duplicate Biohead Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate Biohead Device ID" + id);
}
std::cout << "Biohead[" << i << "]: " << id << std::endl;
auto device = dev_factory_->createFromConfig<AbstractBiohead,config::BioHeadConfig>(head);
devices_[id] = device;
std::get<std::shared_ptr<AbstractBiohead>>(devices_[id])->init();
LOG(INFO) << "[BioHead]: Init biohead " << id << " Success";
}
}
catch (const exception& e) {
@ -373,4 +395,3 @@ void DeviceManager::get_os_info_() {
}
}
}

1
cmvr-es/devices/biohead/abstract_biohead.h
View File

@ -58,6 +58,7 @@ namespace cmvr::device {
// 抽象头部类
class AbstractBiohead : public AbstractDevice {
public:
AbstractBiohead() = default;
explicit AbstractBiohead(const XmlNode &config) : AbstractDevice(config) {}
~AbstractBiohead() override = default;

4
cmvr-es/devices/biohead/biohead_esp32/CMakeLists.txt
View File

@ -3,7 +3,9 @@ add_library(head_esp32 SHARED src/biohead_esp32.cpp)
# 设置头文件包含路径
target_include_directories(head_esp32 PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(head_esp32 PRIVATE
cmvr_es::hardware
)
# 创建命名空间化的 ALIAS（建议使用项目命名空间）
add_library(cmvr::device::head_esp32 ALIAS head_esp32)

5
cmvr-es/devices/biohead/biohead_esp32/include/biohead_esp32.h
View File

@ -7,7 +7,7 @@
#include <string>
#include <memory>
#include <mutex>
#include "cmvr/config/biohead_config/biohead_config.pb.h"
namespace cmvr::device {
struct ServoChannel {
@ -18,6 +18,7 @@ namespace cmvr::device {
class BioHeadRobot : public AbstractBiohead {
public:
explicit BioHeadRobot(const XmlNode &config);
BioHeadRobot(const cmvr::config::BioHeadConfig& config);
~BioHeadRobot() override = default;
// 接口实现
@ -66,7 +67,7 @@ namespace cmvr::device {
std::shared_ptr<std::thread> speak_thread_;
std::atomic<bool> speak_running_{false};
cmvr::config::BioHeadConfig config_;
};

213
cmvr-es/devices/biohead/biohead_esp32/src/biohead_esp32.cpp
View File

@ -26,6 +26,219 @@ BioHeadRobot::BioHeadRobot(const XmlNode &config) : AbstractBiohead(config) {
}
BioHeadRobot::BioHeadRobot(const cmvr::config::BioHeadConfig& config) : config_(config) {
// 从config中读取串口参数
port_name_ = config_.serial();
serial_ = std::make_shared<SerialPort>();
if (!serial_->open(port_name_, 115200)) {
LOG(ERROR) << "[BioHeadRobot] Failed to open serial port: " << port_name_;
} else {
serial_->wakeupESP32(port_name_);
LOG(INFO) << "[BioHeadRobot] Serial port opened and ESP32 woken up.";
}
// 解析眉毛配置
if (config_.has_eyebrow()) {
const auto& eyebrow = config_.eyebrow();
std::string serial_str = eyebrow.serial();
std::string offset_str = eyebrow.offest();
std::string min_angles_str = eyebrow.jlmtlow();
std::string max_angles_str = eyebrow.jlmtup();
// 解析偏移角
std::vector<double> offsets;
std::istringstream oss(offset_str);
double val;
while (oss >> val) offsets.push_back(val);
// 解析角度限制
std::vector<double> min_angles;
if (!min_angles_str.empty()) {
std::istringstream min_ss(min_angles_str);
while (min_ss >> val) min_angles.push_back(val);
}
std::vector<double> max_angles;
if (!max_angles_str.empty()) {
std::istringstream max_ss(max_angles_str);
while (max_ss >> val) max_angles.push_back(val);
}
// 解析 channel，如 64:0~3
size_t colon = serial_str.find(':');
if (colon != std::string::npos) {
uint8_t addr = std::stoi(serial_str.substr(0, colon));
std::string range = serial_str.substr(colon + 1);
size_t tilde = range.find('~');
if (tilde != std::string::npos) {
int ch_start = std::stoi(range.substr(0, tilde));
int ch_end = std::stoi(range.substr(tilde + 1));
int channel_count = ch_end - ch_start + 1;
// 添加舵机通道
for (int ch = ch_start; ch <= ch_end; ++ch) {
channels_.push_back({addr, static_cast<uint8_t>(ch)});
}
// 添加角度限制
if (min_angles.size() == 1) {
min_angles_.insert(min_angles_.end(), channel_count, min_angles[0]);
} else if (min_angles.size() >= channel_count) {
min_angles_.insert(min_angles_.end(), min_angles.begin(), min_angles.begin() + channel_count);
} else {
min_angles_.insert(min_angles_.end(), channel_count, 0.0);
}
if (max_angles.size() == 1) {
max_angles_.insert(max_angles_.end(), channel_count, max_angles[0]);
} else if (max_angles.size() >= channel_count) {
max_angles_.insert(max_angles_.end(), max_angles.begin(), max_angles.begin() + channel_count);
} else {
max_angles_.insert(max_angles_.end(), channel_count, 180.0);
}
}
}
}
// 解析眼睛配置
if (config_.has_eye()) {
const auto& eye = config_.eye();
std::string serial_str = eye.serial();
std::string offset_str = eye.offest();
std::string min_angles_str = eye.jlmtlow();
std::string max_angles_str = eye.jlmtup();
// 解析偏移角
std::vector<double> offsets;
std::istringstream oss(offset_str);
double val;
while (oss >> val) offsets.push_back(val);
// 解析角度限制
std::vector<double> min_angles;
if (!min_angles_str.empty()) {
std::istringstream min_ss(min_angles_str);
while (min_ss >> val) min_angles.push_back(val);
}
std::vector<double> max_angles;
if (!max_angles_str.empty()) {
std::istringstream max_ss(max_angles_str);
while (max_ss >> val) max_angles.push_back(val);
}
// 解析 channel，如 64:4~9
size_t colon = serial_str.find(':');
if (colon != std::string::npos) {
uint8_t addr = std::stoi(serial_str.substr(0, colon));
std::string range = serial_str.substr(colon + 1);
size_t tilde = range.find('~');
if (tilde != std::string::npos) {
int ch_start = std::stoi(range.substr(0, tilde));
int ch_end = std::stoi(range.substr(tilde + 1));
int channel_count = ch_end - ch_start + 1;
// 添加舵机通道
for (int ch = ch_start; ch <= ch_end; ++ch) {
channels_.push_back({addr, static_cast<uint8_t>(ch)});
}
// 添加角度限制
if (min_angles.size() == 1) {
min_angles_.insert(min_angles_.end(), channel_count, min_angles[0]);
} else if (min_angles.size() >= channel_count) {
min_angles_.insert(min_angles_.end(), min_angles.begin(), min_angles.begin() + channel_count);
} else {
min_angles_.insert(min_angles_.end(), channel_count, 0.0);
}
if (max_angles.size() == 1) {
max_angles_.insert(max_angles_.end(), channel_count, max_angles[0]);
} else if (max_angles.size() >= channel_count) {
max_angles_.insert(max_angles_.end(), max_angles.begin(), max_angles.begin() + channel_count);
} else {
max_angles_.insert(max_angles_.end(), channel_count, 180.0);
}
}
}
}
// 解析嘴巴配置
if (config_.has_mouth()) {
const auto& mouth = config_.mouth();
std::string serial_str = mouth.serial();
std::string offset_str = mouth.offest();
std::string min_angles_str = mouth.jlmtlow();
std::string max_angles_str = mouth.jlmtup();
// 解析偏移角
std::vector<double> offsets;
std::istringstream oss(offset_str);
double val;
while (oss >> val) offsets.push_back(val);
// 解析角度限制
std::vector<double> min_angles;
if (!min_angles_str.empty()) {
std::istringstream min_ss(min_angles_str);
while (min_ss >> val) min_angles.push_back(val);
}
std::vector<double> max_angles;
if (!max_angles_str.empty()) {
std::istringstream max_ss(max_angles_str);
while (max_ss >> val) max_angles.push_back(val);
}
// 解析 channel，如 65:0~9
size_t colon = serial_str.find(':');
if (colon != std::string::npos) {
uint8_t addr = std::stoi(serial_str.substr(0, colon));
std::string range = serial_str.substr(colon + 1);
size_t tilde = range.find('~');
if (tilde != std::string::npos) {
int ch_start = std::stoi(range.substr(0, tilde));
int ch_end = std::stoi(range.substr(tilde + 1));
int channel_count = ch_end - ch_start + 1;
// 添加舵机通道
for (int ch = ch_start; ch <= ch_end; ++ch) {
channels_.push_back({addr, static_cast<uint8_t>(ch)});
}
// 添加角度限制
if (min_angles.size() == 1) {
min_angles_.insert(min_angles_.end(), channel_count, min_angles[0]);
} else if (min_angles.size() >= channel_count) {
min_angles_.insert(min_angles_.end(), min_angles.begin(), min_angles.begin() + channel_count);
} else {
min_angles_.insert(min_angles_.end(), channel_count, 0.0);
}
if (max_angles.size() == 1) {
max_angles_.insert(max_angles_.end(), channel_count, max_angles[0]);
} else if (max_angles.size() >= channel_count) {
max_angles_.insert(max_angles_.end(), max_angles.begin(), max_angles.begin() + channel_count);
} else {
max_angles_.insert(max_angles_.end(), channel_count, 180.0);
}
}
}
}
// 确保所有向量大小一致
if (min_angles_.size() != channels_.size()) {
min_angles_.resize(channels_.size(), 0.0);
}
if (max_angles_.size() != channels_.size()) {
max_angles_.resize(channels_.size(), 180.0);
}
current_joints_.resize(channels_.size(), 90.0);
last_joints_ = current_joints_;
}
void BioHeadRobot::parseXmlConfig(const XmlNode &node) {

3
cmvr-es/devices/camera/abstract_camera.h
View File

@ -58,6 +58,9 @@ namespace cmvr::device {
virtual void pauseRecording() {}
virtual void resumeRecording() {}
virtual void getEncodedFrame(StreamFrameData& frame_data, size_t& index) {}
virtual bool getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) {
return false;
}
virtual bool startStreaming() {return true;}
virtual void stopStreaming() {}

3
cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h
View File

@ -37,6 +37,7 @@ namespace cmvr::device{
int width, int height, int fps);
static bool encodeFrameWithEncoder(std::shared_ptr<FfmpegEncoderInfo>& encoder,const cv::Mat& frame,std::vector<uint8_t>& encoded_frame,bool& is_key);
void getEncodedFrame(StreamFrameData& frame_data, size_t& index) override;
bool getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) override;
bool startStreaming() override;
void stopStreaming() override;
@ -51,6 +52,8 @@ namespace cmvr::device{
int fps_;
int width_;
int height_;
int encode_width_;
int encode_height_;
std::string serial_;
std::string align_mode_;
cv::VideoCapture cap_;

92
cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
View File

@ -79,6 +79,8 @@ RealsenseCamera::RealsenseCamera(const XmlNode& config) : AbstractCamera(config)
fps_ = cfg_.getAttrDefault("fps", 30);
width_ = cfg_.getAttrDefault("w", 640);
height_ = cfg_.getAttrDefault("h", 480);
encode_width_ = cfg_.getAttrDefault("encode_w", width_);
encode_height_ = cfg_.getAttrDefault("encode_h", height_);
buffer_size_ = cfg_.getAttrDefault("bs", 30);
max_retry_ = cfg_.getAttrDefault("max_retry", 5);
@ -131,6 +133,8 @@ RealsenseCamera::RealsenseCamera(const config::RealSenseCameraConfig& camera):ca
fps_ = camera_.fps();
width_ = camera_.width();
height_ = camera_.height();
encode_width_ = camera_.encode_width() > 0 ? camera_.encode_width() : width_;
encode_height_ = camera_.encode_height() > 0 ? camera_.encode_height() : height_;
buffer_size_ = camera_.buffer_size();
state_.fps = fps_;
@ -212,16 +216,16 @@ void RealsenseCamera::init() {
//初始化编码器
// 初始化RGB编码器（示例参数：640x480，30fps，H.264）
if (!initSingleEncoder(rgbEncoder_, codec_, width_, height_, fps_)) {
if (!initSingleEncoder(rgbEncoder_, codec_, encode_width_, encode_height_, fps_)) {
LOG(ERROR) << "[RealsenseCamera] (start): Failed to init RGB encoder!";
throw runtime_error("Failed to init RGB encoder!");
}
// 初始化深度图编码器（示例参数：640x480，15fps，H.265）
if (!initSingleEncoder(depthEncoder_, codec_, width_, height_, fps_)) {
LOG(ERROR) << "[RealsenseCamera] (start): Failed to init depth encoder!";
throw runtime_error("Failed to init depth encoder!");
}
// if (!initSingleEncoder(depthEncoder_, codec_, width_, height_, fps_)) {
// LOG(ERROR) << "[RealsenseCamera] (start): Failed to init depth encoder!";
// throw runtime_error("Failed to init depth encoder!");
// }
LOG(INFO) << "[RealsenseCamera] (init): realsense camera initialized at index " << serial_; // 记录初始化成功日志
}
catch (const exception &error){
@ -245,7 +249,7 @@ void RealsenseCamera::start() {
return;
}
constexpr int kStartMaxRetry = 3;
constexpr int kStartMaxRetry = 5;
constexpr int kRetrySleepMs = 300;
constexpr unsigned int kProbeTimeoutMs = 2000;
std::string last_error;
@ -696,6 +700,12 @@ void RealsenseCamera::streaming_worker_() {
frames = get_frameset(true);
rs2::frame color_frame = frames.get_color_frame();
rs2::frame depth_frame = frames.get_depth_frame();
if (!color_frame) {
throw std::runtime_error("[RealsenseCamera]streaming_worker_: missing color frame");
}
if (stream_mode_ == RGBD_MODE && !depth_frame) {
throw std::runtime_error("[RealsenseCamera]streaming_worker_: missing depth frame in RGBD mode");
}
// 以下为编码部分，用于流模式
StreamFrameData frame_data;
@ -712,7 +722,7 @@ void RealsenseCamera::streaming_worker_() {
cv::Mat temp(cv::Size(width_, height_), CV_8UC3, const_cast<void*>(color_frame.get_data()), cv::Mat::AUTO_STEP);
temp.copyTo(frame_data.rgbImage); // 执行深拷贝
}
{
if (depth_frame) {
auto temp = cv::Mat(cv::Size(width_, height_), CV_16UC1, const_cast<void*>(depth_frame.get_data()));
temp.copyTo(frame_data.depthImage); // 执行深拷贝
}
@ -721,13 +731,23 @@ void RealsenseCamera::streaming_worker_() {
auto encode_start_time = std::chrono::high_resolution_clock::now();
// rgb图像编码
success = encodeFrameWithEncoder(rgbEncoder_, frame_data.rgbImage, frame_data.rgbFrame, frame_data.bKey);
cv::Mat rgb_to_encode = frame_data.rgbImage;
if (encode_width_ > 0 && encode_height_ > 0 &&
(frame_data.rgbImage.cols != encode_width_ || frame_data.rgbImage.rows != encode_height_)) {
cv::resize(frame_data.rgbImage,
rgb_to_encode,
cv::Size(encode_width_, encode_height_),
0.0,
0.0,
cv::INTER_LINEAR);
}
success = encodeFrameWithEncoder(rgbEncoder_, rgb_to_encode, frame_data.rgbFrame, frame_data.bKey);
// 深度图编码
// success = encodeFrameWithEncoder(depthEncoder_, frame_data.depthImage, frame_data.depthFrame, frame_data.depthKey);
if (success) {
frame_data.fps = fps_;
frame_data.width = width_;
frame_data.height = height_;
frame_data.width = encode_width_;
frame_data.height = encode_height_;
frame_data.codec = codec_;
stream_frame_buffer_->push(frame_data);
}
@ -884,7 +904,7 @@ bool RealsenseCamera::initSingleEncoder(std::shared_ptr<FfmpegEncoderInfo>& enco
ctx->time_base = {1, fps}; // 时间基（1/fps）
ctx->framerate = {fps, 1}; // 帧率
ctx->max_b_frames = 0; // 禁用B帧（降低延迟）
ctx->gop_size = 10;//I帧间隔1，每一帧都是I帧
ctx->gop_size = 10;//I帧间隔
// 5. 设置编码器私有参数
if (codec->id == AV_CODEC_ID_H264) {
av_opt_set(ctx->priv_data, "preset", "ultrafast", 0);
@ -895,6 +915,24 @@ bool RealsenseCamera::initSingleEncoder(std::shared_ptr<FfmpegEncoderInfo>& enco
} else if (codec->id == AV_CODEC_ID_HEVC) {
// 降低 x265 控制台日志噪声（如 "encoded 0 frames"）。
av_opt_set(ctx->priv_data, "x265-params", "log-level=none", 0);
// H.265 的强制设置
// 使用 x265-params 字符串设置所有参数
char x265_params[256];
snprintf(x265_params, sizeof(x265_params),
"keyint=%d:" // 关键帧间隔
"min-keyint=%d:" // 最小关键帧间隔
"no-open-gop=1:" // 禁用开放GOP
"bframes=0:" // 禁用B帧
"rc-lookahead=0:"
"log-level=none", // 日志级别
10, 10); // 设置keyint和min-keyint为10
av_opt_set(ctx->priv_data, "x265-params", x265_params, 0);
// 或者分开设置（如果支持）
av_opt_set_int(ctx->priv_data, "keyint", 10, 0);
av_opt_set_int(ctx->priv_data, "min-keyint", 10, 0);
av_opt_set(ctx->priv_data, "no-open-gop", "1", 0);
}
// 6. 设置像素格式（不变）
@ -938,6 +976,17 @@ bool RealsenseCamera::initSingleEncoder(std::shared_ptr<FfmpegEncoderInfo>& enco
return false;
}
// 添加调试信息，确认设置生效
std::cout << "Encoder settings:" << std::endl;
std::cout << " GOP size: " << ctx->gop_size << std::endl;
if (codec->id == AV_CODEC_ID_HEVC) {
char* params = nullptr;
if (av_opt_get(ctx->priv_data, "x265-params", 0, (uint8_t**)&params) >= 0) {
std::cout << " x265-params: " << params << std::endl;
av_free(params);
}
}
std::cout << "Successfully initialized " << codec_name << " encoder ( "
<< width << "x" << height << "@" << fps << "fps )" << std::endl;
return true;
@ -1114,6 +1163,27 @@ void RealsenseCamera::getEncodedFrame(StreamFrameData& frame_data, size_t& index
}
}
bool RealsenseCamera::getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) {
if (!stream_frame_buffer_) {
return false;
}
const size_t head = stream_frame_buffer_->getHead();
if (head == 0) {
return false;
}
size_t latest_index = head - 1;
auto frame = stream_frame_buffer_->pop(latest_index);
if (!frame.has_value()) {
return false;
}
frame_data = frame.value();
next_index = latest_index;
return true;
}
bool RealsenseCamera::startStreaming()
{
std::lock_guard lock(ctrl_mtx_);

2
cmvr-es/devices/camera/realsense_camera/src/realsense_camera_test.cpp
View File

@ -21,7 +21,7 @@ TEST(RealsenseCameraRealDeviceTest, SaveFrames) {
return;
}
auto dmgr_cfg = config.getChild("DeviceManager");
auto &dmgr = DeviceManager::getInstance(dmgr_cfg);
auto &dmgr = DeviceManager::getInstance();
auto cam = dmgr.getDevice<AbstractCamera>("cam4");
cam->start();

3
cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h
View File

@ -90,6 +90,7 @@ namespace cmvr::device {
int width, int height, int fps);
static bool encodeFrameWithEncoder(std::shared_ptr<FfmpegEncoderInfo>& encoder,const cv::Mat& frame,std::vector<uint8_t>& encoded_frame,bool& is_key);
void getEncodedFrame(StreamFrameData& frame_data, size_t& index) override;
bool getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) override;
bool startStreaming() override;
void stopStreaming() override;
@ -100,6 +101,8 @@ namespace cmvr::device {
int fps_;
int width_;
int height_;
int encode_width_;
int encode_height_;
std::string serial_;
cv::VideoCapture cap_;
size_t buffer_size_;

43
cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
View File

@ -19,6 +19,8 @@ UVCCamera::UVCCamera(const XmlNode& config) : AbstractCamera(config) {
fps_ = cfg_.getAttrDefault("fps", 30);
width_ = cfg_.getAttrDefault("w", 640);
height_ = cfg_.getAttrDefault("h", 480);
encode_width_ = cfg_.getAttrDefault("encode_w", width_);
encode_height_ = cfg_.getAttrDefault("encode_h", height_);
buffer_size_ = cfg_.getAttrDefault("bs", 30);
state_.fps = fps_;
@ -54,6 +56,8 @@ UVCCamera::UVCCamera(const config::UVCCameraConfig& camera):camera_(camera)
fps_ = camera_.fps();
width_ = camera_.width();
height_ = camera_.height();
encode_width_ = camera_.encode_width() > 0 ? camera_.encode_width() : width_;
encode_height_ = camera_.encode_height() > 0 ? camera_.encode_height() : height_;
buffer_size_ = camera_.buffer_size();
state_.fps = fps_;
@ -127,7 +131,7 @@ void UVCCamera::init() {
}
//初始化编码器
// 初始化RGB编码器（示例参数：640x480，30fps，H.264）
if (!initSingleEncoder(rgbEncoder_, codec_, width_, height_, fps_)) {
if (!initSingleEncoder(rgbEncoder_, codec_, encode_width_, encode_height_, fps_)) {
LOG(ERROR) << "[UVCCamera] (start): Failed to init RGB encoder!";
throw runtime_error("Failed to init RGB encoder!");
}
@ -461,11 +465,21 @@ void UVCCamera::streaming_worker_() {
frame.copyTo(frame_data.rgbImage); // 执行深拷贝
}
// rgb图像编码
success = encodeFrameWithEncoder(rgbEncoder_, frame_data.rgbImage, frame_data.rgbFrame, frame_data.bKey);
cv::Mat rgb_to_encode = frame_data.rgbImage;
if (encode_width_ > 0 && encode_height_ > 0 &&
(frame_data.rgbImage.cols != encode_width_ || frame_data.rgbImage.rows != encode_height_)) {
cv::resize(frame_data.rgbImage,
rgb_to_encode,
cv::Size(encode_width_, encode_height_),
0.0,
0.0,
cv::INTER_LINEAR);
}
success = encodeFrameWithEncoder(rgbEncoder_, rgb_to_encode, frame_data.rgbFrame, frame_data.bKey);
if (success) {
frame_data.fps = fps_;
frame_data.width = width_;
frame_data.height = height_;
frame_data.width = encode_width_;
frame_data.height = encode_height_;
frame_data.codec = codec_;
stream_frame_buffer_->push(frame_data);
}
@ -801,6 +815,27 @@ void UVCCamera::getEncodedFrame(StreamFrameData& frame_data, size_t& index) {
}
}
bool UVCCamera::getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) {
if (!stream_frame_buffer_) {
return false;
}
const size_t head = stream_frame_buffer_->getHead();
if (head == 0) {
return false;
}
size_t latest_index = head - 1;
auto frame = stream_frame_buffer_->pop(latest_index);
if (!frame.has_value()) {
return false;
}
frame_data = frame.value();
next_index = latest_index;
return true;
}
bool UVCCamera::startStreaming()
{
std::lock_guard lock(ctrl_mtx_);

1
cmvr-es/devices/canbus/abstract_canbus.h
View File

@ -54,6 +54,7 @@ namespace cmvr::device {
class AbstractCanbus : public AbstractDevice {
public:
AbstractCanbus() = default;
AbstractCanbus(const XmlNode &cfg) : AbstractDevice(cfg) {}
~AbstractCanbus() {}
/**

11
cmvr-es/devices/canbus/can_client/socket/socket_can_client_raw.cc
View File

@ -35,6 +35,17 @@ namespace cmvr {
// LOG(ERROR) << "[SocketCanClientRaw] ([SocketCanClientRaw]): Failed to parse XML: " << e.what();
}
SocketCanClientRaw::SocketCanClientRaw(const cmvr::config::CanDeviceConfig& config):config_(config)
{
auto channel_id = config_.channelid();
port_ = static_cast<CANCardParameter::CANChannelId>(channel_id);
interface_ = CANCardParameter::NATIVE;
enable_can_err_check_ = false;
}
void SocketCanClientRaw::init() {
// if (!parameter.has_channel_id()) {

4
cmvr-es/devices/canbus/can_client/socket/socket_can_client_raw.h
View File

@ -26,6 +26,7 @@
#include "gflags/gflags.h"
#include "../../abstract_canbus.h"
#include "canbus/common/canbus_consts.h"
#include "cmvr/config/robot_config/robot_config.pb.h"
namespace cmvr {
namespace device {
@ -36,6 +37,7 @@ namespace cmvr {
class SocketCanClientRaw final : public AbstractCanbus {
public:
explicit SocketCanClientRaw(const XmlNode &cfg);
SocketCanClientRaw(const cmvr::config::CanDeviceConfig& config);
~SocketCanClientRaw();
void init() override;
void start() override;
@ -73,6 +75,8 @@ namespace cmvr {
//
bool enable_can_err_check_{false};
cmvr::config::CanDeviceConfig config_;
};
}
}

1
cmvr-es/devices/dexhand/CMakeLists.txt
View File

@ -1 +1,2 @@
add_subdirectory(rh56dftp_dexhand)
add_subdirectory(px_6ax_gen3)

326
cmvr-es/devices/dexhand/abstract_dexhand.h
View File

@ -6,236 +6,166 @@
#define CMVR_ES_ABSTRACT_DEXHAND_H
#pragma once
#include <cmath>
#include <cstdint>
#include <memory>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>
#include "devices/abstract_device.h"
#include "cmvr/config/dexhand_config/dexhand_config.pb.h"
namespace cmvr::device{
// 单个触觉点数据（16位无符号整数）
using TactilePoint = uint16_t;
// 手指触觉数据结构体（支持从数组任意位置解析）
struct FingerTactileData {
std::vector<std::vector<TactilePoint>> data; // 触觉数据二维数组
int rows; // 行数
int cols; // 列数
int byteSize; // 总字节数（rows * cols * 2字节/点）
std::string name; // 部位名称
namespace cmvr::device {
class AbstractDexHand : public AbstractDevice {
public:
struct TactilePoint {
int32_t fx{0};
int32_t fy{0};
int32_t fz{0};
// 初始化数据数组
void init() {
data.resize(rows, std::vector<TactilePoint>(cols, 0));
static TactilePoint fromFz(const int32_t value) {
return TactilePoint{0, 0, value};
}
// 从 std::vector<uint16_t> 中赋值数据
void assignFromVector(const std::vector<uint16_t>& values, int startIndex = 0) {
int index = startIndex;
for (int i = 0; i < rows; ++i) {
for (int j = 0; j < cols; ++j) {
if (index < values.size()) {
data[i][j] = values[index];
index++;
}
}
double magnitude() const {
return std::sqrt(static_cast<double>(fx) * static_cast<double>(fx) +
static_cast<double>(fy) * static_cast<double>(fy) +
static_cast<double>(fz) * static_cast<double>(fz));
}
bool isZero() const {
return fx == 0 && fy == 0 && fz == 0;
}
};
// 手掌触觉数据结构体（支持从数组任意位置解析）
struct PalmTactileData {
std::vector<std::vector<TactilePoint>> data; // 触觉数据二维数组
int rows = 8; // 行数（掌心固定为8行）
int cols = 14; // 列数（掌心固定为14列）
int byteSize = 224; // 总字节数（8*14*2=224）
std::string name = "掌心"; // 部位名称
using ResultantForce = TactilePoint;
// 初始化数据数组
void init() {
data.resize(rows, std::vector<TactilePoint>(cols, 0));
}
// 从 std::vector<uint16_t> 中赋值数据
void assignFromVector(const std::vector<uint16_t>& values, int startIndex = 0) {
int index = startIndex;
for (int j = 0; j < cols; ++j) {
for (int i = rows - 1; i >= 0; --i) {
if (index < values.size()) {
data[i][j] = values[index];
index++;
}
}
}
}
enum class FingerType {
PINKY,
RING,
MIDDLE,
INDEX,
THUMB,
PALM
};
// 手指枚举（方便按手指类型解析）
enum FingerType {
PINKY, // 小拇指
RING, // 无名指
MIDDLE, // 中指
INDEX, // 食指
THUMB // 大拇指
};
// 触觉区域枚举（设备层）。
enum class TactileRegion {
TIP = 0,
TIP,
FINGER,
PAD,
TIP_AND_FINGER,
THUMB_MIDDLE
THUMB_MIDDLE,
PALM_PAD
};
// 整只手的触觉传感器数据
struct HandTactileSensors {
// 五指的触觉数据（每根手指包含指端、指尖、指腹）
struct {
FingerTactileData tip; // 指端
FingerTactileData finger; // 指尖
FingerTactileData pad; // 指腹
} pinky, ring, middle, index; // 小拇指、无名指、中指、食指
using TactileRegionKey = std::pair<FingerType, TactileRegion>;
// 大拇指（特殊：多一个指中）
struct {
FingerTactileData tip; // 指端
FingerTactileData finger; // 指尖
FingerTactileData middle; // 指中
FingerTactileData pad; // 指腹
} thumb;
struct TactileMatrixView {
const TactilePoint* data{nullptr};
int rows{0};
int cols{0};
// 掌心触觉数据
PalmTactileData palm;
// 初始化所有传感器数据（设置相对偏移量）
void init() {
// 小拇指（总370byte）
pinky.tip = {.rows = 3, .cols = 3, .byteSize = 18, .name = "小拇指指端"};
pinky.finger = {.rows = 12, .cols = 8, .byteSize = 192, .name = "小拇指指尖"};
pinky.pad = {.rows = 10, .cols = 8, .byteSize = 160, .name = "小拇指指腹"};
// 无名指（总370byte）
ring.tip = {.rows = 3, .cols = 3, .byteSize = 18, .name = "无名指指端"};
ring.finger = {.rows = 12, .cols = 8, .byteSize = 192, .name = "无名指指尖"};
ring.pad = {.rows = 10, .cols = 8, .byteSize = 160, .name = "无名指指腹"};
// 中指（总370byte）
middle.tip = {.rows = 3, .cols = 3, .byteSize = 18, .name = "中指指端"};
middle.finger = {.rows = 12, .cols = 8, .byteSize = 192, .name = "中指指尖"};
middle.pad = {.rows = 10, .cols = 8, .byteSize = 160, .name = "中指指腹"};
// 食指（总370byte）
index.tip = {.rows = 3, .cols = 3, .byteSize = 18, .name = "食指指端"};
index.finger = {.rows = 12, .cols = 8, .byteSize = 192, .name = "食指指尖"};
index.pad = {.rows = 10, .cols = 8, .byteSize = 160, .name = "食指指腹"};
// 大拇指（总420byte）
thumb.tip = {.rows = 3, .cols = 3, .byteSize = 18, .name = "大拇指指端"};
thumb.finger = {.rows = 12, .cols = 8, .byteSize = 192, .name = "大拇指尖"};
thumb.middle = {.rows = 3, .cols = 3, .byteSize = 18, .name = "大拇指指中"};
thumb.pad = {.rows = 12, .cols = 8, .byteSize = 192, .name = "大拇指指腹"};
// 掌心（总224byte）
palm = { .name = "掌心"};
// 初始化所有数据数组
pinky.tip.init();
pinky.finger.init();
pinky.pad.init();
ring.tip.init();
ring.finger.init();
ring.pad.init();
middle.tip.init();
middle.finger.init();
middle.pad.init();
index.tip.init();
index.finger.init();
index.pad.init();
thumb.tip.init();
thumb.finger.init();
thumb.middle.init();
thumb.pad.init();
palm.init();
}
// 按手指类型解析整个手指的数据
void parseFinger(FingerType fingerType, const std::vector<uint16_t>& values) {
switch (fingerType) {
case PINKY:
pinky.tip.assignFromVector(values);
pinky.finger.assignFromVector(values, 9);
pinky.pad.assignFromVector(values, 9 + 96);
break;
case RING:
ring.tip.assignFromVector(values);
ring.finger.assignFromVector(values, 9);
ring.pad.assignFromVector(values, 9 + 96);
break;
case MIDDLE:
middle.tip.assignFromVector(values);
middle.finger.assignFromVector(values, 9);
middle.pad.assignFromVector(values, 9 + 96);
break;
case INDEX:
index.tip.assignFromVector(values);
index.finger.assignFromVector(values, 9);
index.pad.assignFromVector(values, 9 + 96);
break;
case THUMB:
thumb.tip.assignFromVector(values);
thumb.finger.assignFromVector(values, 9);
thumb.middle.assignFromVector(values, 9 + 96);
thumb.pad.assignFromVector(values, 9 + 96 + 9);
break;
}
bool valid() const {
return data != nullptr && rows > 0 && cols > 0;
}
// 解析手心（掌心）数据
void parsePalm(const std::vector<uint16_t>& values) {
palm.assignFromVector(values);
int pointCount() const {
return rows * cols;
}
// 获取手指名称（用于调试）
std::string getFingerName(FingerType fingerType) {
switch (fingerType) {
case PINKY: return "小拇指";
case RING: return "无名指";
case MIDDLE: return "中指";
case INDEX: return "食指";
case THUMB: return "大拇指";
default: return "未知";
const TactilePoint* rowData(int row) const {
return data + row * cols;
}
TactilePoint at(int row, int col) const {
return data[row * cols + col];
}
};
class AbstractDexHand: public AbstractDevice{
class TactileRegionData {
public:
TactileRegionData() = default;
TactileRegionData(FingerType finger_in,
TactileRegion region_in,
TactileMatrixView view_in,
const char* name_in,
std::shared_ptr<const void> lifetime = {})
: finger(finger_in),
region(region_in),
view(view_in),
name(name_in),
lifetime_(std::move(lifetime)) {}
bool valid() const {
return view.valid();
}
int byteSize() const {
return view.pointCount() * static_cast<int>(sizeof(TactilePoint));
}
FingerType finger{FingerType::PINKY};
TactileRegion region{TactileRegion::TIP};
TactileMatrixView view{};
const char* name{nullptr};
private:
std::shared_ptr<const void> lifetime_;
};
enum class Status {
CREATED,
INITIALIZED,
STREAMING,
STOPPED,
FAULT
};
AbstractDexHand() = default;
explicit AbstractDexHand(const XmlNode& cfg): AbstractDevice(cfg) {}
explicit AbstractDexHand(const XmlNode& cfg) : AbstractDevice(cfg) {}
~AbstractDexHand() override = default;
virtual void getState(DexHandState &state) {}
virtual Status state() const = 0;
virtual std::string lastError() const = 0;
// control
virtual void setPositions(const std::vector<int>& finger_joint_targets) {}
virtual void setAngles(const std::vector<int>& finger_joint_angles) {}
virtual void setVelocities(const std::vector<int>& finger_joint_velocities) {}
virtual void setPresetAct(int action_id) {}
virtual void execPresetAct(int action_id) {}
virtual void setForce(const std::vector<int>& finger_joint_force) {}
virtual HandTactileSensors& getSensorData() { return hand_tactile_sensors_;}
virtual HandTactileSensors& getSensorData(FingerType finger_type, TactileRegion tactile_region) {
(void)finger_type;
(void)tactile_region;
return getSensorData();
virtual void getState(DexHandState& state) {
state = DexHandState{};
const auto lifecycle = this->state();
state.is_initialized =
lifecycle == Status::INITIALIZED ||
lifecycle == Status::STREAMING;
}
virtual void setAngles(const std::vector<int>& finger_joint_angles) = 0;
virtual void setTactilePollingRegion(FingerType finger, TactileRegion region) {
setTactilePollingRegions({TactileRegionKey{finger, region}});
}
virtual void setTactilePollingRegions(const std::vector<TactileRegionKey>& regions) = 0;
virtual std::vector<TactileRegionData> getSensorData() = 0;
virtual TactileRegionData getSensorData(FingerType finger, TactileRegion region) = 0;
virtual ResultantForce getResultantForce(FingerType finger, TactileRegion region) = 0;
virtual void setPositions(const std::vector<int>&) {
throw std::logic_error("setPositions is not supported by this dexhand abstraction.");
}
virtual void setVelocities(const std::vector<int>&) {
throw std::logic_error("setVelocities is not supported by this dexhand abstraction.");
}
virtual void setPresetAct(int) {
throw std::logic_error("setPresetAct is not supported by this dexhand abstraction.");
}
virtual void execPresetAct(int) {
throw std::logic_error("execPresetAct is not supported by this dexhand abstraction.");
}
virtual void setForce(const std::vector<int>&) {
throw std::logic_error("setForce is not supported by this dexhand abstraction.");
}
protected:
DexHandState status_;
HandTactileSensors hand_tactile_sensors_;
};
}

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cmvr-es/devices/dexhand/px_6ax_gen3/CMakeLists.txt Normal file
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add_library(px_6ax_gen3 SHARED src/px_6ax_gen3.cpp)
target_include_directories(px_6ax_gen3 PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
add_library(cmvr_es::device::px_6ax_gen3 ALIAS px_6ax_gen3)
target_link_libraries(px_6ax_gen3
PUBLIC cmvr_es::hardware
PRIVATE
cmvr_es::proto
glog
)
install(TARGETS px_6ax_gen3 LIBRARY DESTINATION lib)
add_executable(px_6ax_gen3_test
src/px_6ax_gen3_test.cpp
)
target_link_libraries(px_6ax_gen3_test PRIVATE
cmvr_es::device::px_6ax_gen3
cmvr_es::common
cmvr_es::proto
glog
gtest
gtest_main
pthread
)

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cmvr-es/devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h Normal file
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//
// Created by Codex on 2026/4/3.
//
#ifndef PX_6AX_GEN3_DEXHAND_H
#define PX_6AX_GEN3_DEXHAND_H
#include <array>
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <utility>
#include <vector>
#include "cmvr/config/dexhand_config/dexhand_config.pb.h"
#include "hardware/include/abstract_serial_transport.h"
#include "../../abstract_dexhand.h"
namespace cmvr::device {
class PX6AXGen3 final : public AbstractDexHand {
public:
using FingerType = AbstractDexHand::FingerType;
using ResultantForce = AbstractDexHand::ResultantForce;
using TactilePoint = AbstractDexHand::TactilePoint;
using TactileRegion = AbstractDexHand::TactileRegion;
using TactileRegionKey = AbstractDexHand::TactileRegionKey;
using TactileRegionData = AbstractDexHand::TactileRegionData;
using Status = AbstractDexHand::Status;
enum class PollingReadMode {
DISTRIBUTED_FORCE,
RESULTANT_FORCE,
DISTRIBUTED_AND_RESULTANT_FORCE
};
explicit PX6AXGen3(const XmlNode& cfg);
explicit PX6AXGen3(const config::PX6AXGen3& cfg);
~PX6AXGen3() override;
void init() override;
void start() override;
void stop() override;
Status state() const override;
std::string lastError() const override;
void getState(DexHandState& state) override;
void setAngles(const std::vector<int>& finger_joint_angles) override;
void setTactilePollingRegions(const std::vector<TactileRegionKey>& regions) override;
std::vector<TactileRegionData> getSensorData() override;
TactileRegionData getSensorData(FingerType finger, TactileRegion region) override;
ResultantForce getResultantForce(FingerType finger, TactileRegion region) override;
private:
struct SensorSnapshot {
std::vector<TactilePoint> tactile_points;
std::array<int, 3> resultant_force_tenths{};
int rows{0};
int cols{0};
bool tactile_valid{false};
bool resultant_valid{false};
};
static PollingReadMode parsePollingReadMode(config::PX6AXGen3PollingReadMode mode);
static PollingReadMode parsePollingReadModeName(std::string value);
void parseXmlConfig();
void initializeSnapshot();
void ensureConnected();
void closeConnection();
void calibrateIfRequested();
void refreshSensorData();
void refreshSensorData(bool read_distributed, bool read_resultant);
void refreshSensorDataWithRetry(int max_attempts, std::chrono::milliseconds retry_interval);
void pollingLoop();
void ensureSensorReady(bool allow_background, bool require_tactile, bool require_resultant);
bool isSupportedRegion(FingerType finger, TactileRegion region) const;
bool isSnapshotReady(bool require_tactile, bool require_resultant) const;
TactileRegionData buildSupportedRegionSnapshot() const;
std::pair<bool, bool> resolvePollingReadSelection() const;
void clearOperationalError();
void handleRefreshFailure(const std::string& error, bool had_valid_snapshot);
void transitionTo(Status next_state);
void enterFault(const std::string& error);
bool isOperationalState(Status lifecycle) const;
std::unique_ptr<::cmvr::AbstractSerialTransport> serial_;
config::PX6AXGen3 config_;
mutable std::mutex lifecycle_mutex_;
Status lifecycle_state_{Status::CREATED};
std::string last_error_;
std::string port_name_;
std::string sensor_model_{"S1813_elite"};
std::string sensor_name_{"PX-6AX GEN3末端压力"};
int module_id_{0};
int device_address_{1};
int baud_rate_{921600};
int distributed_length_{0};
int resultant_length_{3};
int response_header_bytes_{14};
int tactile_rows_{1};
int tactile_cols_{0};
int response_timeout_ms_{200};
FingerType tactile_finger_{FingerType::INDEX};
TactileRegion tactile_region_{TactileRegion::TIP};
PollingReadMode polling_read_mode_{PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE};
bool auto_calibrate_{false};
bool calibration_performed_{false};
mutable std::mutex refresh_mutex_;
mutable std::mutex snapshot_mutex_;
SensorSnapshot latest_snapshot_;
mutable std::mutex polling_mutex_;
std::condition_variable polling_cv_;
bool requested_polling_{true};
std::thread polling_thread_;
std::atomic<bool> polling_thread_running_{false};
std::chrono::milliseconds poll_interval_{10};
};
}
#endif //PX_6AX_GEN3_DEXHAND_H

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//
// Created by Codex on 2026/4/3.
//
#include "../include/px_6ax_gen3.h"
#include <algorithm>
#include <sstream>
#include <stdexcept>
#include <tuple>
#include "hardware/include/posix_serial_transport.h"
using namespace cmvr::device;
namespace {
using FingerType = AbstractDexHand::FingerType;
using TactilePoint = AbstractDexHand::TactilePoint;
using TactileRegion = AbstractDexHand::TactileRegion;
using TactileRegionKey = AbstractDexHand::TactileRegionKey;
using TactileRegionData = AbstractDexHand::TactileRegionData;
using Status = AbstractDexHand::Status;
enum class CommandType {
CALIBRATION,
RESULTANT_FORCE,
DISTRIBUTED_FORCE
};
uint8_t calculateLrc(const std::vector<uint8_t>& data) {
uint8_t lrc = 0;
for (const uint8_t byte : data) {
lrc = static_cast<uint8_t>((lrc + byte) & 0xFFU);
}
return static_cast<uint8_t>((~lrc + 1U) & 0xFFU);
}
FingerType parseFingerTypeName(std::string value) {
std::transform(value.begin(), value.end(), value.begin(), [](unsigned char ch) {
return static_cast<char>(std::toupper(ch));
});
if (value == "PINKY") {
return FingerType::PINKY;
}
if (value == "RING") {
return FingerType::RING;
}
if (value == "MIDDLE" || value == "MIDDLE_FINGER") {
return FingerType::MIDDLE;
}
if (value == "INDEX") {
return FingerType::INDEX;
}
if (value == "THUMB") {
return FingerType::THUMB;
}
if (value == "PALM") {
return FingerType::PALM;
}
throw std::invalid_argument("Unsupported tactile finger type: " + value);
}
TactileRegion parseTactileRegionName(std::string value) {
std::transform(value.begin(), value.end(), value.begin(), [](unsigned char ch) {
return static_cast<char>(std::toupper(ch));
});
if (value == "TIP") {
return TactileRegion::TIP;
}
if (value == "FINGER") {
return TactileRegion::FINGER;
}
if (value == "PAD") {
return TactileRegion::PAD;
}
if (value == "THUMB_MIDDLE") {
return TactileRegion::THUMB_MIDDLE;
}
if (value == "PALM_PAD") {
return TactileRegion::PALM_PAD;
}
throw std::invalid_argument("Unsupported tactile region type: " + value);
}
int parseSignedByte(const uint8_t byte) {
return byte <= 127U ? static_cast<int>(byte) : static_cast<int>(byte) - 256;
}
std::vector<uint8_t> buildCommandFrame(const CommandType command,
const int device_address,
const int distributed_length) {
std::vector<uint8_t> frame;
switch (command) {
case CommandType::CALIBRATION:
frame = {
0x55, 0xAA, 0x0A, 0x00,
static_cast<uint8_t>(device_address),
0x00, 0x79, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01
};
break;
case CommandType::RESULTANT_FORCE:
frame = {
0x55, 0xAA, 0x09, 0x00,
static_cast<uint8_t>(device_address),
0x00, 0xFB, 0xF0, 0x03, 0x00, 0x00, 0x03, 0x00
};
break;
case CommandType::DISTRIBUTED_FORCE:
frame = {
0x55, 0xAA, 0x09, 0x00,
static_cast<uint8_t>(device_address),
0x00, 0xFB, 0x0E, 0x04, 0x00, 0x00,
static_cast<uint8_t>(distributed_length & 0xFF),
static_cast<uint8_t>((distributed_length >> 8) & 0xFF)
};
break;
}
frame.push_back(calculateLrc(frame));
return frame;
}
std::vector<uint8_t> extractPayload(const std::vector<uint8_t>& response,
const size_t frame_offset,
const size_t response_header_bytes,
const size_t payload_length) {
if (response.size() < frame_offset + response_header_bytes + payload_length) {
throw std::runtime_error("PX-6AX GEN3 response shorter than expected payload window.");
}
return std::vector<uint8_t>(
response.begin() + static_cast<std::ptrdiff_t>(frame_offset + response_header_bytes),
response.begin() + static_cast<std::ptrdiff_t>(frame_offset + response_header_bytes + payload_length));
}
size_t findResponseFrameOffset(const std::vector<uint8_t>& response,
const size_t expected_frame_bytes) {
if (response.size() < expected_frame_bytes) {
return std::string::npos;
}
for (size_t offset = 0; offset + expected_frame_bytes <= response.size(); ++offset) {
if (response[offset] == 0xAA && response[offset + 1] == 0x55) {
return offset;
}
}
return std::string::npos;
}
std::string previewBytesHex(const std::vector<uint8_t>& data, const size_t max_bytes = 32U) {
std::ostringstream stream;
const size_t preview_size = std::min(max_bytes, data.size());
for (size_t i = 0; i < preview_size; ++i) {
if (i > 0) {
stream << ' ';
}
stream << std::hex << std::uppercase;
stream.width(2);
stream.fill('0');
stream << static_cast<int>(data[i]);
}
if (data.size() > preview_size) {
stream << " ...";
}
return stream.str();
}
std::vector<uint8_t> readFramedResponse(cmvr::AbstractSerialTransport& serial,
const size_t expected_frame_bytes,
const size_t max_prefix_bytes,
const std::chrono::milliseconds timeout,
const std::string& response_name) {
const auto deadline = std::chrono::steady_clock::now() + timeout;
std::vector<uint8_t> response;
const bool read_ok = serial.read(expected_frame_bytes, timeout, response);
auto frame_offset = findResponseFrameOffset(response, expected_frame_bytes);
while (frame_offset == std::string::npos &&
response.size() < expected_frame_bytes + max_prefix_bytes) {
const auto now = std::chrono::steady_clock::now();
if (now >= deadline) {
break;
}
std::vector<uint8_t> extra_bytes;
const auto remaining_timeout = std::chrono::duration_cast<std::chrono::milliseconds>(deadline - now);
if (!serial.read(1U, remaining_timeout, extra_bytes)) {
break;
}
response.insert(response.end(), extra_bytes.begin(), extra_bytes.end());
frame_offset = findResponseFrameOffset(response, expected_frame_bytes);
}
if (!read_ok && frame_offset == std::string::npos) {
throw std::runtime_error(
"Failed to read " + response_name + ": " + serial.lastError() +
", raw=" + previewBytesHex(response));
}
return response;
}
std::array<int, 3> parseResultantPayload(const std::vector<uint8_t>& payload) {
if (payload.size() < 3) {
throw std::runtime_error("PX-6AX GEN3 resultant payload must contain at least 3 bytes.");
}
return {
parseSignedByte(payload[0]),
parseSignedByte(payload[1]),
static_cast<int>(payload[2])
};
}
std::vector<TactilePoint> parseDistributedPayload(const std::vector<uint8_t>& payload) {
const size_t point_count = payload.size() / 3;
std::vector<TactilePoint> points;
points.reserve(point_count);
for (size_t i = 0; i < point_count; ++i) {
points.push_back(TactilePoint{
parseSignedByte(payload[i * 3]),
parseSignedByte(payload[i * 3 + 1]),
static_cast<int>(payload[i * 3 + 2])
});
}
return points;
}
std::pair<int, int> resolveMatrixShape(const int configured_rows,
const int configured_cols,
const size_t point_count) {
if (point_count == 0U) {
return {0, 0};
}
if (configured_rows > 0 && configured_cols > 0 &&
static_cast<size_t>(configured_rows * configured_cols) == point_count) {
return {configured_rows, configured_cols};
}
if (configured_rows > 0 && configured_cols <= 0 &&
point_count % static_cast<size_t>(configured_rows) == 0U) {
return {configured_rows, static_cast<int>(point_count / static_cast<size_t>(configured_rows))};
}
if (configured_cols > 0 && configured_rows <= 0 &&
point_count % static_cast<size_t>(configured_cols) == 0U) {
return {static_cast<int>(point_count / static_cast<size_t>(configured_cols)), configured_cols};
}
return {1, static_cast<int>(point_count)};
}
}
PX6AXGen3::PollingReadMode PX6AXGen3::parsePollingReadMode(const config::PX6AXGen3PollingReadMode mode) {
switch (mode) {
case config::PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE:
return PollingReadMode::DISTRIBUTED_FORCE;
case config::PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE:
return PollingReadMode::RESULTANT_FORCE;
case config::PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE:
return PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE;
default:
throw std::invalid_argument(
"Unsupported PX6AXGen3 polling_read_mode enum value: " +
std::to_string(static_cast<int>(mode)));
}
}
PX6AXGen3::PollingReadMode PX6AXGen3::parsePollingReadModeName(std::string value) {
std::transform(value.begin(), value.end(), value.begin(), [](unsigned char ch) {
if (ch == '-' || ch == ' ' || ch == '+') {
return '_';
}
return static_cast<char>(std::toupper(ch));
});
if (value == "DISTRIBUTED_FORCE" ||
value == "PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE") {
return PollingReadMode::DISTRIBUTED_FORCE;
}
if (value == "RESULTANT_FORCE" ||
value == "PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE") {
return PollingReadMode::RESULTANT_FORCE;
}
if (value == "DISTRIBUTED_AND_RESULTANT_FORCE" ||
value == "RESULTANT_AND_DISTRIBUTED_FORCE" ||
value == "BOTH" ||
value == "PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE") {
return PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE;
}
throw std::invalid_argument("Unsupported PX6AXGen3 polling_read_mode: " + value);
}
PX6AXGen3::PX6AXGen3(const XmlNode& cfg)
: AbstractDexHand(cfg),
serial_(std::make_unique<::cmvr::PosixSerialTransport>()) {
parseXmlConfig();
initializeSnapshot();
}
PX6AXGen3::PX6AXGen3(const config::PX6AXGen3& cfg)
: serial_(std::make_unique<::cmvr::PosixSerialTransport>()),
config_(cfg) {
id_ = config_.id();
port_name_ = config_.serial_port();
if (!config_.sensor_model().empty()) {
sensor_model_ = config_.sensor_model();
}
module_id_ = std::max(0, config_.module_id());
device_address_ = module_id_ + 1;
if (config_.baud_rate() > 0) {
baud_rate_ = config_.baud_rate();
}
distributed_length_ = config_.distributed_length();
if (distributed_length_ <= 0) {
throw std::invalid_argument("PX6AXGen3 requires config.distributed_length to be explicitly configured.");
}
if (config_.resultant_length() > 0) {
resultant_length_ = config_.resultant_length();
}
if (config_.response_header_bytes() > 0) {
response_header_bytes_ = config_.response_header_bytes();
}
if (config_.tactile_rows() > 0) {
tactile_rows_ = config_.tactile_rows();
}
if (config_.tactile_cols() > 0) {
tactile_cols_ = config_.tactile_cols();
}
if (config_.response_timeout_ms() > 0) {
response_timeout_ms_ = config_.response_timeout_ms();
}
if (!config_.tactile_finger().empty()) {
tactile_finger_ = parseFingerTypeName(config_.tactile_finger());
}
if (!config_.tactile_region().empty()) {
tactile_region_ = parseTactileRegionName(config_.tactile_region());
}
if (!config_.sensor_name().empty()) {
sensor_name_ = config_.sensor_name();
}
polling_read_mode_ = parsePollingReadMode(config_.polling_read_mode());
auto_calibrate_ = config_.auto_calibrate();
if (config_.poll_interval_ms() > 0) {
poll_interval_ = std::chrono::milliseconds(config_.poll_interval_ms());
}
initializeSnapshot();
}
PX6AXGen3::~PX6AXGen3() {
stop();
}
void PX6AXGen3::init() {
try {
ensureConnected();
refreshSensorDataWithRetry(
5,
std::chrono::milliseconds(std::max(10, response_timeout_ms_ / 2)));
} catch (const std::exception& e) {
enterFault("[PX6AXGen3](init): " + std::string(e.what()));
throw;
}
}
void PX6AXGen3::start() {
if (polling_thread_running_.exchange(true, std::memory_order_acq_rel)) {
transitionTo(Status::STREAMING);
return;
}
try {
if (polling_thread_.joinable()) {
polling_thread_.join();
}
ensureConnected();
if (requested_polling_) {
refreshSensorDataWithRetry(
5,
std::chrono::milliseconds(std::max(10, response_timeout_ms_ / 2)));
}
polling_thread_ = std::thread(&PX6AXGen3::pollingLoop, this);
transitionTo(Status::STREAMING);
polling_cv_.notify_all();
} catch (const std::exception& e) {
polling_thread_running_.store(false, std::memory_order_release);
enterFault("[PX6AXGen3](start): " + std::string(e.what()));
throw;
}
}
void PX6AXGen3::stop() {
polling_thread_running_.store(false, std::memory_order_release);
polling_cv_.notify_all();
if (polling_thread_.joinable() && polling_thread_.get_id() != std::this_thread::get_id()) {
polling_thread_.join();
}
closeConnection();
if (state() != Status::FAULT) {
transitionTo(Status::STOPPED);
}
}
PX6AXGen3::Status PX6AXGen3::state() const {
std::lock_guard<std::mutex> lock(lifecycle_mutex_);
return lifecycle_state_;
}
std::string PX6AXGen3::lastError() const {
std::lock_guard<std::mutex> lock(lifecycle_mutex_);
return last_error_;
}
void PX6AXGen3::getState(DexHandState& state_out) {
DexHandState next_state{};
next_state.is_initialized = isOperationalState(state());
{
std::lock_guard<std::mutex> lock(snapshot_mutex_);
if (latest_snapshot_.resultant_valid) {
next_state.hands[0].force = latest_snapshot_.resultant_force_tenths[2];
}
}
const auto error = lastError();
if (!error.empty()) {
next_state.hands[0].error_message.push_back(error);
}
state_out = std::move(next_state);
}
void PX6AXGen3::setAngles(const std::vector<int>&) {
throw std::logic_error("PX6AXGen3 is a tactile sensor only and does not support setAngles.");
}
void PX6AXGen3::setTactilePollingRegions(const std::vector<TactileRegionKey>& regions) {
for (const auto& region : regions) {
if (!isSupportedRegion(region.first, region.second)) {
throw std::invalid_argument("PX6AXGen3 only exposes INDEX/TIP tactile data.");
}
}
{
std::lock_guard<std::mutex> lock(polling_mutex_);
requested_polling_ = !regions.empty();
}
polling_cv_.notify_all();
if (!regions.empty() && isOperationalState(state())) {
refreshSensorData();
}
}
std::vector<TactileRegionData> PX6AXGen3::getSensorData() {
ensureSensorReady(true, true, false);
std::vector<TactileRegionData> regions;
regions.push_back(buildSupportedRegionSnapshot());
return regions;
}
TactileRegionData PX6AXGen3::getSensorData(FingerType finger, TactileRegion region) {
if (!isSupportedRegion(finger, region)) {
throw std::invalid_argument("PX6AXGen3 only supports INDEX/TIP tactile data.");
}
ensureSensorReady(true, true, false);
return buildSupportedRegionSnapshot();
}
PX6AXGen3::ResultantForce PX6AXGen3::getResultantForce(FingerType finger, TactileRegion region) {
if (!isSupportedRegion(finger, region)) {
throw std::invalid_argument("PX6AXGen3 only supports INDEX/TIP tactile data.");
}
ensureSensorReady(true, false, true);
std::lock_guard<std::mutex> lock(snapshot_mutex_);
if (!latest_snapshot_.resultant_valid) {
throw std::runtime_error("PX6AXGen3 resultant-force snapshot is not ready.");
}
return ResultantForce{
latest_snapshot_.resultant_force_tenths[0],
latest_snapshot_.resultant_force_tenths[1],
latest_snapshot_.resultant_force_tenths[2]
};
}
void PX6AXGen3::parseXmlConfig() {
id_ = cfg_.getAttrString("id");
port_name_ = cfg_.getAttrString("serial");
sensor_model_ = cfg_.getAttrDefault("sensor_model", sensor_model_);
sensor_name_ = cfg_.getAttrDefault("sensor_name", sensor_name_);
module_id_ = std::max(0, cfg_.getAttrDefault("module_id", module_id_));
device_address_ = module_id_ + 1;
baud_rate_ = cfg_.getAttrDefault("baud_rate", baud_rate_);
distributed_length_ = cfg_.getAttrDefault("distributed_length", 0);
if (distributed_length_ <= 0) {
throw std::invalid_argument("PX6AXGen3 requires XML attribute distributed_length to be explicitly configured.");
}
resultant_length_ = cfg_.getAttrDefault("resultant_length", resultant_length_);
response_header_bytes_ = cfg_.getAttrDefault("response_header_bytes", response_header_bytes_);
tactile_rows_ = cfg_.getAttrDefault("tactile_rows", tactile_rows_);
tactile_cols_ = cfg_.getAttrDefault("tactile_cols", tactile_cols_);
response_timeout_ms_ = cfg_.getAttrDefault("response_timeout_ms", response_timeout_ms_);
tactile_finger_ = parseFingerTypeName(cfg_.getAttrDefault("tactile_finger", "INDEX"));
tactile_region_ = parseTactileRegionName(cfg_.getAttrDefault("tactile_region", "TIP"));
polling_read_mode_ = parsePollingReadModeName(
cfg_.getAttrDefault("polling_read_mode", "DISTRIBUTED_AND_RESULTANT_FORCE"));
auto_calibrate_ = cfg_.getAttrDefault("auto_calibrate", false);
poll_interval_ = std::chrono::milliseconds(std::max(1, cfg_.getAttrDefault("poll_interval_ms", static_cast<int>(poll_interval_.count()))));
}
void PX6AXGen3::initializeSnapshot() {
std::lock_guard<std::mutex> lock(snapshot_mutex_);
latest_snapshot_ = SensorSnapshot{};
}
void PX6AXGen3::ensureConnected() {
if (port_name_.empty()) {
throw std::runtime_error("PX6AXGen3 serial port is not configured.");
}
if (!serial_) {
serial_ = std::make_unique<::cmvr::PosixSerialTransport>();
}
if (!serial_->isOpen()) {
if (!serial_->open(::cmvr::AbstractSerialTransport::Config{port_name_, baud_rate_})) {
throw std::runtime_error("Failed to open PX-6AX GEN3 serial transport: " + serial_->lastError());
}
calibration_performed_ = false;
}
calibrateIfRequested();
if (!isOperationalState(state())) {
transitionTo(Status::INITIALIZED);
}
}
void PX6AXGen3::closeConnection() {
if (serial_) {
if (!serial_->close()) {
LOG(WARNING) << "[PX6AXGen3] Failed to close serial transport: " << serial_->lastError();
}
}
calibration_performed_ = false;
}
void PX6AXGen3::calibrateIfRequested() {
if (!auto_calibrate_ || calibration_performed_) {
return;
}
const auto frame = buildCommandFrame(CommandType::CALIBRATION, device_address_, distributed_length_);
if (!serial_->flushInput()) {
throw std::runtime_error("Failed to flush serial input before calibration: " + serial_->lastError());
}
if (!serial_->write(frame)) {
throw std::runtime_error("Failed to send calibration command: " + serial_->lastError());
}
const auto response = readFramedResponse(
*serial_,
2U,
frame.size(),
std::chrono::milliseconds(response_timeout_ms_),
"calibration response");
if (findResponseFrameOffset(response, 2U) == std::string::npos) {
throw std::runtime_error(
"PX-6AX GEN3 calibration command did not receive a valid acknowledgment. raw=" +
previewBytesHex(response));
}
calibration_performed_ = true;
}
void PX6AXGen3::refreshSensorData() {
const auto [read_distributed, read_resultant] = resolvePollingReadSelection();
refreshSensorData(read_distributed, read_resultant);
}
void PX6AXGen3::refreshSensorData(const bool read_distributed, const bool read_resultant) {
if (!read_distributed && !read_resultant) {
throw std::invalid_argument("PX6AXGen3 refreshSensorData requires at least one data type to read.");
}
std::lock_guard<std::mutex> refresh_lock(refresh_mutex_);
const bool had_valid_snapshot = isSnapshotReady(read_distributed, read_resultant);
try {
ensureConnected();
std::vector<TactilePoint> tactile_points;
int rows = 0;
int cols = 0;
bool tactile_valid = false;
if (read_distributed) {
const auto distributed_frame = buildCommandFrame(CommandType::DISTRIBUTED_FORCE, device_address_, distributed_length_);
if (!serial_->flushInput()) {
throw std::runtime_error("Failed to flush serial input before distributed-force read: " + serial_->lastError());
}
if (!serial_->write(distributed_frame)) {
throw std::runtime_error("Failed to send distributed-force command: " + serial_->lastError());
}
const size_t distributed_frame_bytes =
static_cast<size_t>(response_header_bytes_) + static_cast<size_t>(distributed_length_);
const auto distributed_response = readFramedResponse(
*serial_,
distributed_frame_bytes,
distributed_frame.size(),
std::chrono::milliseconds(response_timeout_ms_),
"distributed tactile response");
const auto distributed_frame_offset =
findResponseFrameOffset(distributed_response, distributed_frame_bytes);
if (distributed_frame_offset == std::string::npos) {
throw std::runtime_error(
"Invalid distributed tactile response header. raw=" + previewBytesHex(distributed_response));
}
tactile_points = parseDistributedPayload(extractPayload(
distributed_response,
distributed_frame_offset,
static_cast<size_t>(response_header_bytes_),
static_cast<size_t>(distributed_length_)));
std::tie(rows, cols) = resolveMatrixShape(tactile_rows_, tactile_cols_, tactile_points.size());
tactile_valid = !tactile_points.empty();
}
std::array<int, 3> resultant_force_tenths{};
bool resultant_valid = false;
if (read_resultant) {
try {
const auto resultant_frame = buildCommandFrame(CommandType::RESULTANT_FORCE, device_address_, distributed_length_);
if (!serial_->flushInput()) {
throw std::runtime_error("Failed to flush serial input before resultant-force read: " + serial_->lastError());
}
if (!serial_->write(resultant_frame)) {
throw std::runtime_error("Failed to send resultant-force command: " + serial_->lastError());
}
const size_t resultant_frame_bytes =
static_cast<size_t>(response_header_bytes_) + static_cast<size_t>(resultant_length_);
const auto resultant_response = readFramedResponse(
*serial_,
resultant_frame_bytes,
resultant_frame.size(),
std::chrono::milliseconds(response_timeout_ms_),
"resultant-force response");
const auto resultant_frame_offset =
findResponseFrameOffset(resultant_response, resultant_frame_bytes);
if (resultant_frame_offset != std::string::npos) {
resultant_force_tenths = parseResultantPayload(extractPayload(
resultant_response,
resultant_frame_offset,
static_cast<size_t>(response_header_bytes_),
static_cast<size_t>(resultant_length_)));
resultant_valid = true;
} else {
throw std::runtime_error(
"Invalid resultant-force response header. raw=" + previewBytesHex(resultant_response));
}
} catch (const std::exception& e) {
if (!read_distributed) {
throw;
}
LOG(WARNING) << "[PX6AXGen3] Failed to refresh resultant force: " << e.what();
}
}
std::lock_guard<std::mutex> lock(snapshot_mutex_);
if (read_distributed) {
latest_snapshot_.tactile_points = std::move(tactile_points);
latest_snapshot_.rows = rows;
latest_snapshot_.cols = cols;
latest_snapshot_.tactile_valid = tactile_valid;
}
if (read_resultant) {
latest_snapshot_.resultant_force_tenths = resultant_force_tenths;
latest_snapshot_.resultant_valid = resultant_valid;
}
clearOperationalError();
} catch (const std::exception& e) {
handleRefreshFailure("[PX6AXGen3](refreshSensorData): " + std::string(e.what()), had_valid_snapshot);
throw;
}
}
void PX6AXGen3::refreshSensorDataWithRetry(const int max_attempts,
const std::chrono::milliseconds retry_interval) {
std::string last_error;
for (int attempt = 0; attempt < max_attempts; ++attempt) {
try {
refreshSensorData();
return;
} catch (const std::exception& e) {
last_error = e.what();
}
if (attempt + 1 < max_attempts) {
std::this_thread::sleep_for(retry_interval);
}
}
throw std::runtime_error(last_error.empty() ? "PX6AXGen3 refresh retries exhausted." : last_error);
}
void PX6AXGen3::pollingLoop() {
auto next_poll_deadline = std::chrono::steady_clock::now();
std::unique_lock<std::mutex> lock(polling_mutex_);
while (polling_thread_running_.load(std::memory_order_acquire)) {
if (!requested_polling_) {
polling_cv_.wait(lock, [this]() {
return !polling_thread_running_.load(std::memory_order_acquire) || requested_polling_;
});
next_poll_deadline = std::chrono::steady_clock::now();
continue;
}
lock.unlock();
try {
refreshSensorData();
} catch (const std::exception& e) {
LOG(ERROR) << e.what();
}
lock.lock();
next_poll_deadline += poll_interval_;
const auto now = std::chrono::steady_clock::now();
if (next_poll_deadline <= now) {
next_poll_deadline = now;
continue;
}
polling_cv_.wait_until(lock, next_poll_deadline, [this]() {
return !polling_thread_running_.load(std::memory_order_acquire);
});
}
}
void PX6AXGen3::ensureSensorReady(const bool allow_background,
const bool require_tactile,
const bool require_resultant) {
const auto [polls_tactile, polls_resultant] = resolvePollingReadSelection();
const bool background_covers_request =
(!require_tactile || polls_tactile) &&
(!require_resultant || polls_resultant);
const bool background_ready = allow_background &&
background_covers_request &&
polling_thread_running_.load(std::memory_order_acquire) &&
isSnapshotReady(require_tactile, require_resultant);
if (!background_ready) {
refreshSensorData(require_tactile, require_resultant);
}
}
bool PX6AXGen3::isSupportedRegion(const FingerType finger, const TactileRegion region) const {
return finger == tactile_finger_ && region == tactile_region_;
}
bool PX6AXGen3::isSnapshotReady(const bool require_tactile, const bool require_resultant) const {
std::lock_guard<std::mutex> lock(snapshot_mutex_);
return (!require_tactile || latest_snapshot_.tactile_valid) &&
(!require_resultant || latest_snapshot_.resultant_valid);
}
TactileRegionData PX6AXGen3::buildSupportedRegionSnapshot() const {
auto snapshot = std::make_shared<std::vector<TactilePoint>>();
int rows = 0;
int cols = 0;
{
std::lock_guard<std::mutex> lock(snapshot_mutex_);
if (!latest_snapshot_.tactile_valid) {
throw std::runtime_error("PX6AXGen3 tactile snapshot is not ready.");
}
*snapshot = latest_snapshot_.tactile_points;
rows = latest_snapshot_.rows;
cols = latest_snapshot_.cols;
}
return TactileRegionData(
tactile_finger_,
tactile_region_,
AbstractDexHand::TactileMatrixView{snapshot->data(), rows, cols},
sensor_name_.c_str(),
snapshot);
}
std::pair<bool, bool> PX6AXGen3::resolvePollingReadSelection() const {
switch (polling_read_mode_) {
case PollingReadMode::DISTRIBUTED_FORCE:
return {true, false};
case PollingReadMode::RESULTANT_FORCE:
return {false, true};
case PollingReadMode::DISTRIBUTED_AND_RESULTANT_FORCE:
return {true, true};
}
throw std::logic_error("Unsupported PX6AXGen3 polling read mode.");
}
void PX6AXGen3::clearOperationalError() {
std::lock_guard<std::mutex> lock(lifecycle_mutex_);
if (lifecycle_state_ == Status::INITIALIZED || lifecycle_state_ == Status::STREAMING) {
last_error_.clear();
}
}
void PX6AXGen3::handleRefreshFailure(const std::string& error, const bool had_valid_snapshot) {
closeConnection();
if (had_valid_snapshot) {
{
std::lock_guard<std::mutex> lock(lifecycle_mutex_);
if (lifecycle_state_ == Status::INITIALIZED || lifecycle_state_ == Status::STREAMING) {
last_error_ = error;
}
}
LOG(WARNING) << error;
return;
}
enterFault(error);
}
void PX6AXGen3::transitionTo(const Status next_state) {
std::lock_guard<std::mutex> lock(lifecycle_mutex_);
lifecycle_state_ = next_state;
if (next_state == Status::INITIALIZED || next_state == Status::STREAMING) {
last_error_.clear();
}
}
void PX6AXGen3::enterFault(const std::string& error) {
{
std::lock_guard<std::mutex> lock(lifecycle_mutex_);
lifecycle_state_ = Status::FAULT;
last_error_ = error;
}
polling_thread_running_.store(false, std::memory_order_release);
polling_cv_.notify_all();
closeConnection();
LOG(ERROR) << error;
}
bool PX6AXGen3::isOperationalState(const Status lifecycle) const {
return lifecycle == Status::INITIALIZED || lifecycle == Status::STREAMING;
}

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#include "gtest/gtest.h"
#include "../include/px_6ax_gen3.h"
#include "cmvr/config/dexhand_config/dexhand_config.pb.h"
#include "common/utils/config_helper/include/config_helper.h"
#include <chrono>
#include <cstdint>
#include <iostream>
#include <memory>
#include <stdexcept>
#include <string>
#include <thread>
#include <vector>
namespace {
using DexHand = cmvr::device::AbstractDexHand;
using PX6AXGen3 = cmvr::device::PX6AXGen3;
DexHand::FingerType parseFingerType(const std::string& value) {
if (value == "PINKY") {
return DexHand::FingerType::PINKY;
}
if (value == "RING") {
return DexHand::FingerType::RING;
}
if (value == "MIDDLE" || value == "MIDDLE_FINGER") {
return DexHand::FingerType::MIDDLE;
}
if (value == "THUMB") {
return DexHand::FingerType::THUMB;
}
if (value == "PALM") {
return DexHand::FingerType::PALM;
}
return DexHand::FingerType::INDEX;
}
DexHand::TactileRegion parseTactileRegion(const std::string& value) {
if (value == "FINGER") {
return DexHand::TactileRegion::FINGER;
}
if (value == "PAD") {
return DexHand::TactileRegion::PAD;
}
if (value == "THUMB_MIDDLE") {
return DexHand::TactileRegion::THUMB_MIDDLE;
}
if (value == "PALM_PAD") {
return DexHand::TactileRegion::PALM_PAD;
}
return DexHand::TactileRegion::TIP;
}
struct StopGuard {
std::shared_ptr<PX6AXGen3> hand;
~StopGuard() {
if (!hand) {
return;
}
try {
hand->stop();
} catch (...) {
}
}
};
const cmvr::config::PX6AXGen3* findTestConfig(const cmvr::config::DexHandConfig& dexhand_config) {
const cmvr::config::PX6AXGen3* candidate = nullptr;
for (const auto& config : dexhand_config.px_6ax_gen3()) {
if (config.enable() && !config.serial_port().empty()) {
return &config;
}
if (candidate == nullptr && !config.serial_port().empty()) {
candidate = &config;
}
}
return candidate;
}
DexHand::ResultantForce readFirstValidResultantForce(PX6AXGen3& hand,
const DexHand::FingerType finger,
const DexHand::TactileRegion region,
const int max_attempts,
const std::chrono::milliseconds retry_interval) {
std::string last_error;
for (int attempt = 0; attempt < max_attempts; ++attempt) {
try {
return hand.getResultantForce(finger, region);
} catch (const std::exception& ex) {
last_error = ex.what();
}
if (attempt + 1 < max_attempts) {
std::this_thread::sleep_for(retry_interval);
}
}
throw std::runtime_error("Failed to read PX6AXGen3 resultant force: " + last_error);
}
DexHand::ResultantForce readStateResultantForce(PX6AXGen3& hand) {
cmvr::device::DexHandState state;
hand.getState(state);
return DexHand::ResultantForce{0, 0, state.hands[0].force};
}
} // namespace
TEST(PX6AXGen3Test, PrintResultantForceOnly) {
cmvr::config::DexHandConfig dexhand_config;
ASSERT_TRUE(cmvr::ConfigHelper::getDexHandsConfig(dexhand_config));
const cmvr::config::PX6AXGen3* hand_config = findTestConfig(dexhand_config);
ASSERT_NE(hand_config, nullptr);
const auto& test_config = *hand_config;
auto hand = std::make_shared<PX6AXGen3>(test_config);
ASSERT_NO_THROW(hand->init());
ASSERT_NO_THROW(hand->start());
StopGuard stop_guard{hand};
EXPECT_EQ(hand->state(), DexHand::Status::STREAMING);
const DexHand::FingerType finger = parseFingerType(test_config.tactile_finger());
const DexHand::TactileRegion region = parseTactileRegion(test_config.tactile_region());
const int warmup_ms = test_config.poll_interval_ms() > 0
? test_config.poll_interval_ms() * 5
: 200;
const int iterations = 1000000;
const int read_interval_ms = test_config.poll_interval_ms() > 0
? test_config.poll_interval_ms()
: 10;
if (warmup_ms > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(warmup_ms));
}
bool read_once = false;
for (int iteration = 0; iteration < iterations; ++iteration) {
DexHand::ResultantForce resultant_force{};
ASSERT_NO_THROW(resultant_force = readFirstValidResultantForce(
*hand,
finger,
region,
10,
std::chrono::milliseconds(100)));
DexHand::ResultantForce state_force{};
ASSERT_NO_THROW(state_force = readStateResultantForce(*hand));
std::cout << "[PX6AXGen3Test] iter=" << (iteration + 1)
<< " resultant_fx=" << resultant_force.fx
<< " resultant_fy=" << resultant_force.fy
<< " resultant_fz=" << resultant_force.fz
<< " state_resultant_fz=" << state_force.fz
<< std::endl;
read_once = true;
if (read_interval_ms > 0 && iteration + 1 < iterations) {
std::this_thread::sleep_for(std::chrono::milliseconds(read_interval_ms));
}
}
EXPECT_TRUE(read_once);
}

14
cmvr-es/devices/dexhand/rh56dftp_dexhand/CMakeLists.txt
View File

@ -7,3 +7,17 @@ add_library(cmvr_es::device::rh56dftp_dexhand ALIAS rh56dftp_dexhand)
target_link_libraries(rh56dftp_dexhand PRIVATE cmvr_es::hardware -lmodbus)
install(TARGETS rh56dftp_dexhand LIBRARY DESTINATION lib)
add_executable(rh56dftp_dexhand_test
src/rh56dftp_dexhand_test.cpp
)
target_link_libraries(rh56dftp_dexhand_test PRIVATE
cmvr_es::device::rh56dftp_dexhand
cmvr_es::common
cmvr_es::proto
glog
gtest
gtest_main
pthread
)

128
cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h
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@ -5,78 +5,126 @@
#ifndef RH56DFTP_DEXHAND_H
#define RH56DFTP_DEXHAND_H
#include <thread>
#include <mutex>
#include <queue>
#include <array>
#include <atomic>
#include <bitset>
#include <chrono>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <shared_mutex>
#include <string>
#include <thread>
#include <vector>
#include <modbus/modbus.h>
#include <boost/lockfree/spsc_queue.hpp>
#include "../../../../utils/base/include/os.h"
#include "cmvr/config/dexhand_config/dexhand_config.pb.h"
#include "../../abstract_dexhand.h"
#include "../../../../hardware/include/serial_interface.h"
#include "rh56dftp_tactile_buffer.h"
namespace cmvr::device {
class ModbusController {
private:
modbus_t *ctx;
std::map<std::string, int> regdict;
static constexpr int MAX_REGISTERS_PER_READ = 64; // 根据Modbus协议限制设置
public:
ModbusController();
ModbusController() = default;
~ModbusController();
bool open(const std::string& ip, int port);
void open(const std::string& ip, int port);
void close();
bool isOpen() const;
bool writeRegisters(int address, const std::vector<uint16_t>& values);
std::vector<uint16_t> readRegisters(int address, int count);
std::vector<uint16_t> readRegisterRange(int start_addr, int end_addr);
void writeRegisters(int address, const uint16_t* values, int count);
void readRegisterBlock(int start_address, int count, std::vector<uint16_t>& values);
bool write6(const std::string& reg_name, const std::vector<int>& val);
bool read6(const std::string& reg_name, std::vector<int>& result);
private:
void closeUnlocked();
static void sleep(float seconds);
modbus_t* ctx_{nullptr};
mutable std::mutex io_mutex_;
};
class RH56DFTPDexhand final : public AbstractDexHand{
class RH56DFTPDexhand final : public AbstractDexHand {
public:
using FingerType = AbstractDexHand::FingerType;
using ResultantForce = AbstractDexHand::ResultantForce;
using TactileRegion = AbstractDexHand::TactileRegion;
using TactileRegionKey = AbstractDexHand::TactileRegionKey;
using TactileRegionData = AbstractDexHand::TactileRegionData;
using Status = AbstractDexHand::Status;
static constexpr size_t ANGLE_COMMAND_COUNT = 6;
static constexpr size_t TACTILE_REGION_SLOT_COUNT = RH56TactileBuffer::REGION_COUNT;
using RegionMask = std::bitset<TACTILE_REGION_SLOT_COUNT>;
explicit RH56DFTPDexhand(const XmlNode& cfg);
RH56DFTPDexhand(const config::RH56DFTPDexHandConfig& cfg);
explicit RH56DFTPDexhand(const config::RH56DFTPDexHandConfig& cfg);
~RH56DFTPDexhand() override;
void init() override;
void start() override;
void stop() override;
Status state() const override;
std::string lastError() const override;
void getState(DexHandState& state) override;
void getState(DexHandState &state) override;
// control
void setPositions(const std::vector<int>& finger_joint_targets) override;
void setAngles(const std::vector<int>& finger_joint_angles) override;
void setVelocities(const std::vector<int>& finger_joint_velocities) override;
void setPresetAct(int action_id) override;//这个接口暂时不可用，未开放寄存器设置预设
void execPresetAct(int action_id) override;//这个无用
void setForce(const std::vector<int>& finger_joint_force) override;
HandTactileSensors& getSensorData() override;
HandTactileSensors& getSensorData(FingerType finger_type, TactileRegion tactile_region) override;
private:
void updateState();
void updateSensorData();
void setTactilePollingRegions(const std::vector<TactileRegionKey>& regions) override;
std::vector<TactileRegionData> getSensorData() override;
TactileRegionData getSensorData(FingerType finger, TactileRegion region) override;
ResultantForce getResultantForce(FingerType finger, TactileRegion region) override;
int default_force_;//上电的力控阈值
int default_speed_;//上电的自由角转动速度
private:
struct TactileBufferLease {
std::shared_lock<std::shared_mutex> lock;
const RH56TactileBuffer* buffer{nullptr};
};
void parseXmlConfig();
void initializeTactileBuffers();
void ensureConnected();
void refreshTactileData(const RegionMask& mask);
void tactilePollingLoop();
std::shared_ptr<const TactileBufferLease> acquireActiveBufferLease() const;
std::vector<TactileRegionData> acquireAllRegionData() const;
TactileRegionData acquireRegionData(FingerType finger, TactileRegion region) const;
bool isRequestedMaskCovered(const RegionMask& mask) const;
bool isActiveBufferReady(const RegionMask& mask) const;
void ensureTactileMaskReady(const RegionMask& mask, bool allow_background);
void transitionTo(Status next_state);
void enterFault(const std::string& error);
bool isOperationalState(Status lifecycle) const;
std::string ip_address_;
int port_;
std::shared_ptr<ModbusController> controller_;
int port_{6000};
std::unique_ptr<ModbusController> controller_;
config::RH56DFTPDexHandConfig dexhandCfg_;
mutable std::mutex lifecycle_mutex_;
Status lifecycle_state_{Status::CREATED};
std::string last_error_;
mutable std::mutex command_mutex_;
std::array<int, ANGLE_COMMAND_COUNT> last_commanded_angles_{};
std::array<RH56TactileBuffer, 2> tactile_buffers_;
std::array<RegionMask, 2> tactile_buffer_masks_{};
mutable std::shared_mutex tactile_buffer_mutex_;
mutable std::mutex tactile_refresh_mutex_;
mutable std::mutex polling_mutex_;
std::condition_variable polling_cv_;
RegionMask requested_polling_mask_{};
std::thread tactile_thread_;
std::atomic<bool> tactile_thread_running_{false};
std::atomic<int> active_buffer_index_{0};
std::chrono::milliseconds tactile_poll_interval_{10};
};
}
#endif //RH56DFTP_DEXHAND_H

140
cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_tactile_buffer.h Normal file
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@ -0,0 +1,140 @@
#ifndef RH56DFTP_TACTILE_BUFFER_H
#define RH56DFTP_TACTILE_BUFFER_H
#pragma once
#include <array>
#include <cstddef>
#include <cstdint>
#include <stdexcept>
#include "../../abstract_dexhand.h"
namespace cmvr::device {
enum class RH56TactileFillOrder {
ROW_MAJOR,
COLUMN_MAJOR_TOP_TO_BOTTOM,
COLUMN_MAJOR_BOTTOM_TO_TOP
};
struct RH56TactileRegionLayout {
AbstractDexHand::FingerType finger{AbstractDexHand::FingerType::PINKY};
AbstractDexHand::TactileRegion region{AbstractDexHand::TactileRegion::TIP};
const char* name{nullptr};
int rows{0};
int cols{0};
size_t offset{0};
size_t point_count{0};
RH56TactileFillOrder fill_order{RH56TactileFillOrder::ROW_MAJOR};
AbstractDexHand::TactileMatrixView view(const AbstractDexHand::TactilePoint* buffer) const {
return AbstractDexHand::TactileMatrixView{buffer + offset, rows, cols};
}
};
class RH56TactileBuffer {
public:
static constexpr size_t REGION_COUNT = 17;
static constexpr size_t POINT_COUNT = 1062;
void clear() {
values_.fill(AbstractDexHand::TactilePoint{});
}
void assignRegionData(AbstractDexHand::FingerType finger,
AbstractDexHand::TactileRegion region,
const uint16_t* input,
int valueCount) {
const auto& layout = regionLayout(finger, region);
auto* destination = values_.data() + layout.offset;
const auto sanitize_point = [](const uint16_t value) {
return AbstractDexHand::TactilePoint::fromFz(value > 4096U ? 0 : static_cast<int32_t>(value));
};
int input_index = 0;
if (layout.fill_order == RH56TactileFillOrder::ROW_MAJOR) {
for (size_t point = 0; point < layout.point_count && input_index < valueCount; ++point, ++input_index) {
destination[point] = sanitize_point(input[input_index]);
}
return;
}
const bool reverse_rows = layout.fill_order == RH56TactileFillOrder::COLUMN_MAJOR_BOTTOM_TO_TOP;
for (int col = 0; col < layout.cols; ++col) {
for (int row_index = 0; row_index < layout.rows && input_index < valueCount; ++row_index, ++input_index) {
const int row = reverse_rows ? (layout.rows - 1 - row_index) : row_index;
destination[static_cast<size_t>(row * layout.cols + col)] = sanitize_point(input[input_index]);
}
}
}
const RH56TactileRegionLayout& regionLayout(AbstractDexHand::FingerType finger,
AbstractDexHand::TactileRegion region) const {
return layouts()[findRegionIndex(finger, region)];
}
AbstractDexHand::TactileMatrixView regionView(AbstractDexHand::FingerType finger,
AbstractDexHand::TactileRegion region) const {
const auto& layout = regionLayout(finger, region);
return layout.view(values_.data());
}
const std::array<RH56TactileRegionLayout, REGION_COUNT>& layouts() const {
return staticLayouts();
}
const AbstractDexHand::TactilePoint* data() const {
return values_.data();
}
private:
static const std::array<RH56TactileRegionLayout, REGION_COUNT>& staticLayouts() {
static const std::array<RH56TactileRegionLayout, REGION_COUNT> layouts = {{
{AbstractDexHand::FingerType::PINKY, AbstractDexHand::TactileRegion::TIP, "小拇指指端", 3, 3, 0, 9, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::PINKY, AbstractDexHand::TactileRegion::FINGER, "小拇指指尖", 12, 8, 9, 96, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::PINKY, AbstractDexHand::TactileRegion::PAD, "小拇指指腹", 10, 8, 105, 80, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::RING, AbstractDexHand::TactileRegion::TIP, "无名指指端", 3, 3, 185, 9, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::RING, AbstractDexHand::TactileRegion::FINGER, "无名指指尖", 12, 8, 194, 96, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::RING, AbstractDexHand::TactileRegion::PAD, "无名指指腹", 10, 8, 290, 80, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::MIDDLE, AbstractDexHand::TactileRegion::TIP, "中指指端", 3, 3, 370, 9, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::MIDDLE, AbstractDexHand::TactileRegion::FINGER, "中指指尖", 12, 8, 379, 96, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::MIDDLE, AbstractDexHand::TactileRegion::PAD, "中指指腹", 10, 8, 475, 80, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::INDEX, AbstractDexHand::TactileRegion::TIP, "食指指端", 3, 3, 555, 9, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::INDEX, AbstractDexHand::TactileRegion::FINGER, "食指指尖", 12, 8, 564, 96, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::INDEX, AbstractDexHand::TactileRegion::PAD, "食指指腹", 10, 8, 660, 80, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::THUMB, AbstractDexHand::TactileRegion::TIP, "大拇指指端", 3, 3, 740, 9, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::THUMB, AbstractDexHand::TactileRegion::FINGER, "大拇指尖", 12, 8, 749, 96, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::THUMB, AbstractDexHand::TactileRegion::THUMB_MIDDLE, "大拇指指中", 3, 3, 845, 9, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::THUMB, AbstractDexHand::TactileRegion::PAD, "大拇指指腹", 12, 8, 854, 96, RH56TactileFillOrder::ROW_MAJOR},
{AbstractDexHand::FingerType::PALM,
AbstractDexHand::TactileRegion::PALM_PAD,
"掌心",
8,
14,
950,
112,
RH56TactileFillOrder::COLUMN_MAJOR_TOP_TO_BOTTOM}
}};
return layouts;
}
static size_t findRegionIndex(AbstractDexHand::FingerType finger, AbstractDexHand::TactileRegion region) {
const auto& region_layouts = staticLayouts();
for (size_t index = 0; index < region_layouts.size(); ++index) {
if (region_layouts[index].finger == finger && region_layouts[index].region == region) {
return index;
}
}
throw std::invalid_argument("Invalid tactile region for selected finger.");
}
std::array<AbstractDexHand::TactilePoint, POINT_COUNT> values_{};
};
}
#endif //RH56DFTP_TACTILE_BUFFER_H

1013
cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp
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File diff suppressed because it is too large Load Diff

137
cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand_test.cpp Normal file
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@ -0,0 +1,137 @@
#include "gtest/gtest.h"
#include "../include/rh56dftp_dexhand.h"
#include "cmvr/config/dexhand_config/dexhand_config.pb.h"
#include "common/utils/config_helper/include/config_helper.h"
#include <chrono>
#include <iomanip>
#include <iostream>
#include <stdexcept>
#include <string>
#include <thread>
#include <vector>
namespace {
using DexHand = cmvr::device::AbstractDexHand;
using RH56DexHand = cmvr::device::RH56DFTPDexhand;
const char* tactileRegionToString(const DexHand::TactileRegion region) {
switch (region) {
case DexHand::TactileRegion::TIP: return "TIP";
case DexHand::TactileRegion::FINGER: return "FINGER";
case DexHand::TactileRegion::PAD: return "PAD";
case DexHand::TactileRegion::THUMB_MIDDLE: return "THUMB_MIDDLE";
case DexHand::TactileRegion::PALM_PAD: return "PALM_PAD";
}
return "UNKNOWN";
}
struct StopGuard {
std::shared_ptr<RH56DexHand> hand;
~StopGuard() {
if (!hand) {
return;
}
try {
hand->stop();
} catch (...) {
}
}
};
} // namespace
TEST(RH56DFTPDexhandLatencyTest, ReadConfiguredRegionAndMeasureLatency) {
cmvr::config::DexHandConfig dexhand_config;
ASSERT_TRUE(cmvr::ConfigHelper::getDexHandsConfig(dexhand_config));
const cmvr::config::RH56DFTPDexHandConfig* hand_config = nullptr;
for (const auto& config : dexhand_config.rh56dftp_dexhands()) {
if (config.enable() && !config.ip().empty()) {
hand_config = &config;
break;
}
if (hand_config == nullptr && !config.ip().empty()) {
hand_config = &config;
}
}
ASSERT_NE(hand_config, nullptr);
const auto finger = DexHand::FingerType::RING;
const auto region = DexHand::TactileRegion::TIP;
const int iterations = 20000;
const int warmup_ms = 200;
const int read_interval_ms = 10;
auto hand = std::make_shared<RH56DexHand>(*hand_config);
ASSERT_NO_THROW(hand->init());
ASSERT_NO_THROW(hand->start());
StopGuard stop_guard{hand};
EXPECT_EQ(hand->state(), DexHand::Status::STREAMING);
ASSERT_NO_THROW(hand->setTactilePollingRegion(finger, region));
if (warmup_ms > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(warmup_ms));
}
double last_pressure_sum = 0.0;
double last_pressure_peak = 0.0;
int point_count = 0;
std::string sensor_name;
for (int i = 0; i < iterations; ++i) {
const auto region_data = hand->getSensorData(finger, region);
ASSERT_TRUE(region_data.valid());
EXPECT_EQ(region_data.finger, finger);
EXPECT_EQ(region_data.region, region);
if (point_count == 0) {
point_count = region_data.view.pointCount();
sensor_name = region_data.name == nullptr ? "" : region_data.name;
}
last_pressure_sum = 0.0;
last_pressure_peak = 0.0;
for (int index = 0; index < region_data.view.pointCount(); ++index) {
const double pressure = static_cast<double>(region_data.view.data[index].fz);
last_pressure_sum += pressure;
if (pressure > last_pressure_peak) {
last_pressure_peak = pressure;
}
}
std::cout << std::fixed << std::setprecision(3)
<< "[RH56DFTPDexhandLatencyTest] iter=" << (i + 1)
<< "/" << iterations
<< " sensor=" << sensor_name
<< " pressure_sum=" << last_pressure_sum
<< " pressure_peak=" << last_pressure_peak
<< std::endl;
if (read_interval_ms > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(read_interval_ms));
}
}
std::cout << std::fixed << std::setprecision(3)
<< "[RH56DFTPDexhandLatencyTest] id=" << hand_config->id()
<< " ip=" << hand_config->ip()
<< " port=" << hand_config->port()
<< " finger=INDEX"
<< " region=" << tactileRegionToString(region)
<< " sensor=" << sensor_name
<< " iterations=" << iterations
<< " points=" << point_count
<< " last_pressure_sum=" << last_pressure_sum
<< " last_pressure_peak=" << last_pressure_peak
<< " read_interval_ms=" << read_interval_ms
<< "\n";
EXPECT_GT(point_count, 0);
}

2
cmvr-es/devices/motor/CMakeLists.txt
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@ -1,5 +1,5 @@
add_subdirectory(ti5_motor)
add_subdirectory(eyou_motor)
# --------------------------------------------------------
# Unit test
# --------------------------------------------------------

1
cmvr-es/devices/motor/abstract_motor.h
View File

@ -41,6 +41,7 @@ namespace cmvr::device{
} JointStatus;
public:
AbstractMotor() = default;
explicit AbstractMotor(const XmlNode &config): AbstractDevice(config) {}
AbstractMotor(const XmlNode &config,uint8_t node_id): AbstractDevice(config) ,node_id_(node_id) {}
~AbstractMotor() override = default;

19
cmvr-es/devices/motor/eyou_motor/CMakeLists.txt Normal file
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@ -0,0 +1,19 @@
add_library(eyoumotor SHARED
${CMAKE_CURRENT_SOURCE_DIR}/ethercat/eyou_motor_ethercat_protocol.cpp
${CMAKE_CURRENT_SOURCE_DIR}/eyou_motor.cpp
)
target_include_directories(eyoumotor PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
add_library(cmvr_es::device::eyoumotor ALIAS eyoumotor)
target_link_libraries(eyoumotor
PRIVATE
eu_ethercat
protobuf
glog
)
install(TARGETS eyoumotor LIBRARY DESTINATION lib)

652
cmvr-es/devices/motor/eyou_motor/ethercat/eyou_motor_ethercat_protocol.cpp Normal file
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@ -0,0 +1,652 @@
//
// Created by cmvr on 2026/3/30.
//
#include "eyou_motor_ethercat_protocol.h"
#include "canbus/canopen/register.h"
#include "motor/ti5_motor/canopen/protocol/ti5_motor_tpdo1.h"
#include "motor/ti5_motor/canopen/protocol/ti5_motor_tpdo2.h"
#include "motor/ti5_motor/canopen/protocol/ti5_motor_sdo_response.h"
#include "canbus/canopen/nmt_response_protocol.h"
#include <cmath>
#include <thread>
#include <chrono>
using namespace cmvr::device;
using namespace cmvr::msgs;
// 构造函数
EYouEthercatProtocol::EYouEthercatProtocol(std::string ifName)
: interface_name_(ifName), initialized_(false), slave_count_(0) {
comm_proto = CommProto::ETHERCAT;
try {
// 初始化message_manager
message_manager_ = std::make_shared<device::MessageManager<msgs::RobotDetail>>();
// 初始化eu sdk
int ms = 1;
if (ETH_SUCCESS != eth_initDLL(interface_name_.c_str(), ms, &slave_count_)) {
LOG(ERROR) << "[EYouEthercatProtocol] eth_initDLL failed for interface: " << interface_name_;
eth_freeDLL();
throw std::runtime_error("[EYouEthercatProtocol] eth_initDLL failed");
}
initialized_ = true;
LOG(INFO) << "[EYouEthercatProtocol] Initialized successfully, found " << slave_count_ << " slaves";
// 初始化从站状态
for (int i = 0; i < slave_count_; i++) {
eth_State state;
if (eth_getSlaveState(i, &state) == ETH_SUCCESS) {
LOG(INFO) << "[EYouEthercatProtocol] Slave " << i << " state: " << state;
}
node_states_[i] = NodeState();
}
} catch (const std::exception& e) {
LOG(ERROR) << "[EYouEthercatProtocol] Constructor failed: " << e.what();
throw std::runtime_error(e.what());
}
}
// 析构函数
EYouEthercatProtocol::~EYouEthercatProtocol() {
// 失能所有电机
// for (auto& node : node_states_) {
// if (node.second.enabled) {
// eth_disable(node.first);
// LOG(INFO) << "[EYouEthercatProtocol] Disabled motor " << node.first;
// }
// }
if (initialized_) {
eth_freeDLL();
LOG(INFO) << "[EYouEthercatProtocol] SDK freed successfully";
}
}
// 初始化节点
bool EYouEthercatProtocol::initNode(uint8_t node_id) {
try {
int ret = 0;
if (node_id > slave_count_) {
LOG(ERROR) << "[EYouEthercatProtocol] Node " << node_id << " out of range (max: " << slave_count_ - 1 << ")";
return false;
}
// 初始化节点状态
node_states_[node_id].initialized = true;
// 设置初始操作模式为轮廓位置模式
if (eth_setOperateMode(node_id, eth_OperateMode_ProfilePosition) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set operate mode for node " << node_id;
return false;
}
// 等待模式切换完成
std::this_thread::sleep_for(std::chrono::milliseconds(50));
// 使能电机
ret = eth_enable(node_id);
if (ret != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to enable motor " << node_id << ",error: " << ret;
return false;
}
node_states_[node_id].enabled = true;
node_states_[node_id].current_mode = RUN_MODE_PROFILE_POSITION;
// 添加NMT响应协议
message_manager_->AddRecvProtocolData<NmtResponseProtocol<RobotDetail>, false>(node_id);
LOG(INFO) << "[EYouEthercatProtocol] Node " << node_id << " initialized successfully";
return true;
} catch (const std::exception& e) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to init node " << node_id << ": " << e.what();
return false;
}
}
// 设置运行模式
void EYouEthercatProtocol::setMode(uint8_t node_id, RunMode mode) {
eth_OperateMode eth_mode;
switch (mode) {
case RUN_MODE_PROFILE_POSITION:
eth_mode = eth_OperateMode_ProfilePosition;
break;
case RUN_MODE_VELOCITY:
eth_mode = eth_OperateMode_Velocity;
break;
case RUN_MODE_PROFILE_VELOCITY:
eth_mode = eth_OperateMode_ProfileVelocity;
break;
case RUN_MODE_TORQUE:
eth_mode = eth_OperateMode_ProfileTorque;
break;
case RUN_MODE_HOMING:
eth_mode = eth_OperateMode_Homing;
break;
case RUN_MODE_INTERPOLATED_POSITION:
eth_mode = eth_OperateMode_InterpolatedPosition;
break;
case RUN_MODE_CYCLIC_SYNC_POSITION:
eth_mode = eth_OperateMode_CyclicSyncPosition;
break;
case RUN_MODE_CYCLIC_SYNC_VELOCITY:
eth_mode = eth_OperateMode_CyclicSyncVelocity;
break;
case RUN_MODE_CYCLIC_SYNC_CURRENT:
eth_mode = eth_OperateMode_CyclicSyncTorque;
break;
default:
LOG(ERROR) << "[EYouEthercatProtocol] Unknown mode " << mode << " for node " << node_id;
return;
}
if (eth_setOperateMode(node_id, eth_mode) == ETH_SUCCESS) {
node_states_[node_id].current_mode = mode;
LOG(INFO) << "[EYouEthercatProtocol] Node " << node_id << " mode set to " << mode;
} else {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set mode for node " << node_id;
}
}
// 设置目标位置和速度
void EYouEthercatProtocol::setTarget(uint8_t node_id, double angle_rad, double vel) {
auto pos_cmd = angleToPos(angle_rad);
auto speed = static_cast<uint32_t>(std::abs(velToSpeed(vel)));
msgs::RunMode current_mode = getMode(node_id);
switch (current_mode) {
case RUN_MODE_PROFILE_POSITION: {
// 先设置轮廓速度
eth_setProfileVelocity(node_id, speed);
// 设置目标位置
eth_setTargetPosition(node_id, pos_cmd);
// 构建控制字：使能状态 + 立即更新标志
uint16_t ctlword = 0x0F | 0x20; // 0x0F使能, 0x20立即更新
// 触发位置更新
eth_setControlWord(node_id, ctlword);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
// 启动新位置命令
eth_setControlWord(node_id, ctlword | 0x10);
break;
}
case RUN_MODE_CYCLIC_SYNC_POSITION:
eth_setTargetPosition(node_id, pos_cmd);
break;
default:
LOG(WARNING) << "[EYouEthercatProtocol] setTarget(pos,vel) called in unsupported mode for node " << node_id;
break;
}
}
// 设置目标速度
void EYouEthercatProtocol::setTarget(uint8_t node_id, double vel) {
auto speed = static_cast<int32_t>(velToSpeed(vel));
msgs::RunMode current_mode = getMode(node_id);
switch (current_mode) {
case RUN_MODE_VELOCITY:
case RUN_MODE_PROFILE_VELOCITY:
case RUN_MODE_CYCLIC_SYNC_VELOCITY:
eth_setTargetVelocity(node_id, speed);
break;
default:
LOG(WARNING) << "[EYouEthercatProtocol] setTarget(vel) called in unsupported mode for node " << node_id;
break;
}
}
// 设置目标位置（修改的部分）
void EYouEthercatProtocol::setQ(uint8_t node_id, double angle_rad) {
auto pos_cmd = angleToPos(angle_rad);
msgs::RunMode current_mode = getMode(node_id);
switch (current_mode) {
case RUN_MODE_CYCLIC_SYNC_POSITION:
{
eth_setTargetPosition(node_id, pos_cmd);
break;
}
case RUN_MODE_PROFILE_POSITION:
{
// 1. 设置目标位置
eth_setTargetPosition(node_id, pos_cmd);
// 2. 构建控制字：使能状态 + 立即更新标志
uint16_t ctlword = 0x0F | 0x20; // 0x0F使能, 0x20立即更新
// 3. 触发位置更新
eth_setControlWord(node_id, ctlword);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
// 4. 启动新位置命令
eth_setControlWord(node_id, ctlword | 0x10);
break;
}
default:
{
LOG(WARNING) << "[EYouEthercatProtocol] setQ called in unsupported mode for node " << node_id;
break;
}
}
}
// 设置位置限制
void EYouEthercatProtocol::setLimitQ(uint8_t node_id, double ub, double lb) {
int32_t lb_val = angleToPos(lb);
int32_t ub_val = angleToPos(ub);
// 开启软件位置限制
hint32 limitEnable = 0x4c494d54;
if (eth_writeSDO(node_id, 0x2003, 0x00, &limitEnable, eth_DataType_int32, 100) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to enable software position limit for node " << node_id;
}
// 设置软件位置限制
if (eth_writeSDO(node_id, 0x607D, 0x01, &lb_val, eth_DataType_int32, 100) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set lower position limit for node " << node_id;
}
if (eth_writeSDO(node_id, 0x607D, 0x02, &ub_val, eth_DataType_int32, 100) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set upper position limit for node " << node_id;
}
}
// 设置速度限制
void EYouEthercatProtocol::setLimitQd(uint8_t node_id, double qd) {
auto speed = static_cast<uint32_t>(std::abs(velToSpeed(qd)));
// 设置最大速度限制
if (eth_writeSDO(node_id, 0x607F, 0x00, &speed, eth_DataType_uint32, 100) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set max speed limit for node " << node_id;
}
if (eth_writeSDO(node_id, 0x6081, 0x00, &speed, eth_DataType_uint32, 100) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set profile speed for node " << node_id;
}
}
// 设置加速度限制
void EYouEthercatProtocol::setLimitQdd(uint8_t node_id, double u_qdd, double l_qdd) {
// u_qdd: rad/s² (最大加速度)
// l_qdd: rad/s² (最大减速度)
// 转换为电机加速度（脉冲/秒²）
// 圈数/秒² = 弧度/秒² / 2π
// 脉冲/秒² = 圈数/秒² * GearRatio * PULSE_PER_REV
auto accel = static_cast<uint32_t>((std::abs(u_qdd) / (2.0 * M_PI)) * GearRatio * PULSE_PER_REV);
auto decel = static_cast<uint32_t>((std::abs(l_qdd) / (2.0 * M_PI)) * GearRatio * PULSE_PER_REV);
// 通过SDO写入加速度和减速度限制
if (eth_writeSDO(node_id, 0x6083, 0x00, &accel, eth_DataType_uint32, 100) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set acceleration limit for node " << node_id;
}
if (eth_writeSDO(node_id, 0x6084, 0x00, &decel, eth_DataType_uint32, 100) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to set deceleration limit for node " << node_id;
}
}
// 零位校准
bool EYouEthercatProtocol::calibrateZeroQ(uint8_t node_id) {
try {
hint32 pos;
hint32 offset = 0;
hint32 rev = 0;
//读取当前位置
int iRet = eth_readSDO(node_id,0x6064,0x00,&pos,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"read actualPos last failed: "<<iRet << std::endl;
return false;
}
std::cout <<"actualPos last: "<<pos << std::endl;
// if (0 == pos)
// {
// std::cout << "actualPos is alary 0, quit" << std::endl;
// continue;
// }
iRet = eth_readSDO(node_id,0x607c,0x00,&offset,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"read home offset failed: "<<iRet << std::endl;
return false;
}
std::cout <<"home offset before: " << offset << std::endl;
//先将home offset设为0
offset = 0;
iRet = eth_writeSDO(node_id,0x607c,0x00,&offset,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"writeSdo offset 0 failed: "<<iRet << std::endl;
return false;
}
std::cout <<"writeSdo offset 0 successed" << std::endl;
//std::this_thread::sleep_for(std::chrono::milliseconds(ms));
std::this_thread::sleep_for(std::chrono::milliseconds(500)); //等待home offset设置生效
//读取实际位置
iRet = eth_readSDO(node_id,0x6064,0x00,&pos,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"eth_getActualPosition failed: "<<iRet << std::endl;
return false;
}
std::cout <<"actualPos before: "<< pos << std::endl;
//获取轴转数，超圈处理
iRet = eth_readSDO(node_id,0x6091,0x02,&rev,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"gearRationShaftRevolution failed: "<<iRet << std::endl;
return false;
}
std::cout <<"gearRationShaftRevolution: "<<rev << std::endl;
long long r = rev;
int temp = r/2;
if(pos > temp || pos < -temp)
{
pos = pos % r;
if (pos > temp || pos < -temp)
{
if (pos > temp)
{
pos = pos -r;
}
else if(pos < -temp)
{
pos = pos + r;
}
}
std::cout <<"分辨率超过编码器范围，电机重新上电后变为零点" << std::endl;
}
////
//写home offset偏移
offset = -pos;
iRet = eth_writeSDO(node_id,0x607c,0x00,&offset,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"writeSdo offset -pos failed: "<<iRet << std::endl;
return false;
}
std::cout <<"writeSdo offset -pos: "<<offset << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(500)); //等待home offset设置生效
//读取实际位置
iRet = eth_readSDO(node_id,0x6064,0x00,&pos,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"eth_getActualPosition failed: "<<iRet << std::endl;
return false;
}
std::cout <<"actualPos after: "<< pos << std::endl;
//set storeParameters 保存
huint32 value = 0x65766173;
iRet = eth_writeSDO(node_id,0x1010,0x01,&value,eth_DataType_uint32,20000);
if (iRet != ETH_SUCCESS)
{
std::cout <<"storeParameters set failed: "<<iRet << std::endl;
return false;
}
std::cout <<"storeParameters set: "<<value << std::endl;
LOG(INFO) << "[EYouEthercatProtocol] Motor " << node_id << " calibrated successfully";
return true;
} catch (const std::exception& e) {
LOG(ERROR) << "[EYouEthercatProtocol] Calibration failed for node " << node_id << ": " << e.what();
return false;
}
}
// 刹车
void EYouEthercatProtocol::brake(uint8_t node_id) {
// 直接调用失能还是快速停机呢？
eth_quickStop(node_id);
// eth_enable(node_id);
LOG(INFO) << "[EYouEthercatProtocol] Brake applied to motor " << node_id;
}
// 检查是否到达目标位置
bool EYouEthercatProtocol::reachedTargetQ(uint8_t node_id) {
uint16_t status_word = 0;
if (eth_getStatusWord(node_id, &status_word) != ETH_SUCCESS) {
return false;
}
// 检查状态字的bit 10（目标到达位）
return (status_word & 0x0400) != 0;
}
// 获取当前位置
double EYouEthercatProtocol::getQ(uint8_t node_id) {
int32_t position = 0;
if (eth_getActualPosition(node_id, &position) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to read position for node " << node_id;
return 0.0;
}
return posToAngle(position);
}
// 获取当前速度
double EYouEthercatProtocol::getQd(uint8_t node_id) {
int32_t velocity = 0;
if (eth_getActualVelocity(node_id, &velocity) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to read velocity for node " << node_id;
return 0.0;
}
return speedToVel(velocity);
}
// 设置速度
void EYouEthercatProtocol::setQd(uint8_t node_id, double qd) {
auto speed = static_cast<uint32_t>(std::abs(velToSpeed(qd)));
msgs::RunMode current_mode = getMode(node_id);
switch (current_mode) {
case RUN_MODE_CYCLIC_SYNC_POSITION:
case RUN_MODE_PROFILE_POSITION:
eth_setProfileVelocity(node_id, speed);
last_Qd_[node_id] = speed;
break;
case RUN_MODE_PROFILE_VELOCITY:
case RUN_MODE_CYCLIC_SYNC_VELOCITY:
eth_setTargetVelocity(node_id, static_cast<int32_t>(speed));
break;
default:
LOG(WARNING) << "[EYouEthercatProtocol] setQd called in unsupported mode for node " << node_id;
break;
}
}
// 设置加速度
void EYouEthercatProtocol::setQdd(uint8_t node_id, double qdd) {
// qdd: rad/s² (加速度)
// 转换为电机加速度（脉冲/秒²）
// 圈数/秒² = qdd / 2π
// 脉冲/秒² = 圈数/秒² * GearRatio * PULSE_PER_REV
uint32_t accel = static_cast<uint32_t>((std::abs(qdd) / (2.0 * M_PI)) * GearRatio * PULSE_PER_REV);
if (last_Qdd_[node_id] != accel) {
eth_setProfileAcceleration(node_id, accel);
eth_setProfileDeceleration(node_id, accel);
last_Qdd_[node_id] = accel;
}
}
// 力矩关闭
void EYouEthercatProtocol::torqueOff(uint8_t node_id) {
auto ret = eth_disable(node_id);
LOG(INFO) << "[EYouEthercatProtocol] Torque off for motor " << node_id << ", ret = " << ret;
}
// 获取运行模式
RunMode EYouEthercatProtocol::getMode(uint8_t node_id) {
eth_OperateMode mode;
if (eth_getOperateMode(node_id, &mode) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to read mode for node " << node_id;
return node_states_[node_id].current_mode;
}
// 将SDK的操作模式转换为内部运行模式
switch (mode) {
case eth_OperateMode_ProfilePosition:
return RUN_MODE_PROFILE_POSITION;
case eth_OperateMode_Velocity:
return RUN_MODE_VELOCITY;
case eth_OperateMode_ProfileVelocity:
return RUN_MODE_PROFILE_VELOCITY;
case eth_OperateMode_ProfileTorque:
return RUN_MODE_TORQUE;
case eth_OperateMode_Homing:
return RUN_MODE_HOMING;
case eth_OperateMode_InterpolatedPosition:
return RUN_MODE_INTERPOLATED_POSITION;
case eth_OperateMode_CyclicSyncPosition:
return RUN_MODE_CYCLIC_SYNC_POSITION;
case eth_OperateMode_CyclicSyncVelocity:
return RUN_MODE_CYCLIC_SYNC_VELOCITY;
case eth_OperateMode_CyclicSyncTorque:
return RUN_MODE_CYCLIC_SYNC_CURRENT;
default:
return RUN_MODE_UNSPECIFIED;
}
}
// 配置轮廓参数
void EYouEthercatProtocol::configProfile(uint8_t node_id, uint32_t speed, uint32_t accel, uint32_t decel) {
eth_setProfileVelocity(node_id, speed);
eth_setProfileAcceleration(node_id, accel);
eth_setProfileDeceleration(node_id, decel);
}
// 获取力矩
double EYouEthercatProtocol::getTorque(uint8_t node_id) {
int16_t torque = 0;
if (eth_getActualTorque(node_id, &torque) != ETH_SUCCESS) {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to read torque for node " << node_id;
return 0.0;
}
return torque / 1000.0; // 转换为实际力矩值（额定力矩的倍数）
}
// 获取状态字
uint16_t EYouEthercatProtocol::getStatusWord(uint8_t node_id) {
uint16_t status_word = 0;
if (eth_getStatusWord(node_id, &status_word) == ETH_SUCCESS) {
node_states_[node_id].status_word = status_word;
}
return status_word;
}
// 检查电机是否使能
bool EYouEthercatProtocol::isEnabled(uint8_t node_id) {
uint16_t status_word = getStatusWord(node_id);
// 检查状态字的bit 2（操作使能）和bit 3（故障）
return (status_word & 0x000C) == 0x0008; // 使能状态且无故障
}
// 检查是否有故障
bool EYouEthercatProtocol::isFault(uint8_t node_id) {
uint16_t status_word = getStatusWord(node_id);
return (status_word & 0x0008) != 0; // bit 3 为1表示故障
}
// 故障复位
void EYouEthercatProtocol::faultReset(uint8_t node_id) {
if (isFault(node_id)) {
if (eth_faultReset(node_id) == ETH_SUCCESS) {
LOG(INFO) << "[EYouEthercatProtocol] Fault reset for motor " << node_id;
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} else {
LOG(ERROR) << "[EYouEthercatProtocol] Failed to reset fault for motor " << node_id;
}
}
}
// 等待目标到达
bool EYouEthercatProtocol::waitForTargetReached(uint8_t node_id, int timeout_ms) {
return waitUntil([this, node_id]() { return reachedTargetQ(node_id); }, timeout_ms);
}
// 获取RobotDetail数据
std::unique_ptr<RobotDetail> EYouEthercatProtocol::GetRobotDetail() {
if (message_manager_) {
auto data_ptr = std::make_unique<msgs::RobotDetail>();
message_manager_->GetSensorData(data_ptr.get());
return data_ptr;
}
return std::make_unique<msgs::RobotDetail>();
}
// 辅助函数实现（弧度制版本）
double EYouEthercatProtocol::posToAngle(int32_t pos) const {
// 脉冲数 -> 弧度
// 圈数 = 脉冲数 / (GearRatio * PULSE_PER_REV)
// 弧度 = 圈数 * 2π
return (pos * 2.0 * M_PI) / (GearRatio * PULSE_PER_REV);
}
int32_t EYouEthercatProtocol::angleToPos(double angle) const {
// 弧度 -> 脉冲数
// 圈数 = 弧度 / 2π
// 脉冲数 = 圈数 * GearRatio * PULSE_PER_REV
return static_cast<int32_t>((angle / (2.0 * M_PI)) * GearRatio * PULSE_PER_REV);
}
double EYouEthercatProtocol::velToSpeed(double vel) const {
// vel: rad/s (角速度)
// 输出：电机速度（脉冲/秒）
// 圈数/秒 = vel / 2π
// 脉冲/秒 = 圈数/秒 * GearRatio * PULSE_PER_REV
return (vel / (2.0 * M_PI)) * GearRatio * PULSE_PER_REV;
}
double EYouEthercatProtocol::speedToVel(int32_t speed) const {
// speed: 电机速度（脉冲/秒）
// 输出：rad/s
// 圈数/秒 = speed / (GearRatio * PULSE_PER_REV)
// 弧度/秒 = 圈数/秒 * 2π
return (speed * 2.0 * M_PI) / (GearRatio * PULSE_PER_REV);
}
bool EYouEthercatProtocol::waitUntil(std::function<bool()> condition, int timeout_ms) {
auto start = std::chrono::steady_clock::now();
while (!condition()) {
std::this_thread::sleep_for(std::chrono::milliseconds(10));
if (std::chrono::steady_clock::now() - start > std::chrono::milliseconds(timeout_ms)) {
return false;
}
}
return true;
}
void EYouEthercatProtocol::updateNodeState(uint8_t node_id) {
// 更新状态字
eth_getStatusWord(node_id, &node_states_[node_id].status_word);
// 可以根据需要更新其他状态信息
}

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//
// Created by cmvr on 2026/3/30.
//
#pragma once
#include "cmvr/msgs/motor.pb.h"
#include "motor/motor_protocol_interface.h"
#include "../../../canbus/abstract_canbus.h"
#include "canbus/can_comm/can_receiver.h"
#include "canbus/can_comm/can_sender.h"
#include "canbus/can_comm/message_manager.h"
#include "cmvr/msgs/error_code.pb.h"
#include "cmvr/msgs/robot_detail.pb.h"
#include "eyou_ethercat/include/eu_ethercat.h"
#include <cmath>
#include <unordered_map>
#include <functional>
#include <memory>
#include <chrono>
#include <thread>
namespace cmvr {
namespace device {
// 节点状态结构体
struct NodeState {
bool enabled = false; // 是否使能
bool initialized = false; // 是否已初始化
msgs::RunMode current_mode = msgs::RUN_MODE_UNSPECIFIED; // 当前运行模式
uint16_t status_word = 0; // 状态字缓存
int32_t position_offset = 0; // 位置偏置值
};
class EYouEthercatProtocol : public MotorProtocolInterface {
public:
explicit EYouEthercatProtocol(std::string ifName);
~EYouEthercatProtocol() override;
// 基础接口实现
bool initNode(uint8_t node_id) override;
void setMode(uint8_t node_id, msgs::RunMode mode) override;
void setTarget(uint8_t node_id, double angle_rad, double vel) override;
void setTarget(uint8_t node_id, double vel) override;
void setQ(uint8_t node_id, double angle_rad) override;
void setLimitQ(uint8_t node_id, double ub, double lb) override;
void setLimitQd(uint8_t node_id, double qd) override;
void setLimitQdd(uint8_t node_id, double u_qdd, double l_qdd) override;
bool calibrateZeroQ(uint8_t node_id) override;
void brake(uint8_t node_id) override;
bool reachedTargetQ(uint8_t node_id) override;
double getQ(uint8_t node_id) override;
double getQd(uint8_t node_id) override;
void setQd(uint8_t node_id, double qd) override;
void setQdd(uint8_t node_id, double qdd) override;
void torqueOff(uint8_t node_id) override;
msgs::RunMode getMode(uint8_t node_id) override;
// 配置接口
void configProfile(uint8_t node_id, uint32_t speed, uint32_t accel, uint32_t decel);
// 扩展功能接口
double getTorque(uint8_t node_id); // 获取力矩
uint16_t getStatusWord(uint8_t node_id); // 获取状态字
bool isEnabled(uint8_t node_id); // 检查电机是否使能
bool isFault(uint8_t node_id); // 检查是否有故障
void faultReset(uint8_t node_id); // 故障复位
bool waitForTargetReached(uint8_t node_id, int timeout_ms); // 等待目标到达
// 数据获取接口
std::unique_ptr<msgs::RobotDetail> GetRobotDetail();
private:
// 常量定义
static constexpr double GearRatio = 101.0; // 电机减速比
static constexpr double RADTODEG = 180.0 / M_PI; // 弧度转角度
static constexpr double PULSE_PER_REV = 65536.0; // 每转脉冲数
// 辅助函数
double posToAngle(int32_t pos) const; // 脉冲转角度
int32_t angleToPos(double angle) const; // 角度转脉冲
double velToSpeed(double vel) const; // 角速度转电机速度
double speedToVel(int32_t speed) const; // 电机速度转角速度
bool waitUntil(std::function<bool()> condition, int timeout_ms);
void updateNodeState(uint8_t node_id); // 更新节点状态
// 成员变量
std::unordered_map<uint8_t, NodeState> node_states_; // 节点状态映射
std::unordered_map<uint8_t, double> last_Qd_; // 上次设置的速度
std::unordered_map<uint8_t, uint32_t> last_Qdd_; // 上次设置的加速度
std::shared_ptr<device::CanSender<msgs::RobotDetail>> can_sender_;
std::shared_ptr<device::MessageManager<msgs::RobotDetail>> message_manager_;
std::string interface_name_; // 网卡接口名
bool initialized_; // 是否已初始化SDK
int slave_count_; // 从站数量
};
} // namespace device
} // namespace cmvr

5
cmvr-es/devices/motor/eyou_motor/eyou_motor.cpp Normal file
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@ -0,0 +1,5 @@
//
// Created by cmvr on 2026/3/30.
//
#include "eyou_motor.h"

51
cmvr-es/devices/motor/eyou_motor/eyou_motor.h Normal file
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@ -0,0 +1,51 @@
//
// Created by cmvr on 2026/3/30.
//
#pragma once
#include "../abstract_motor.h"
#include "motor/motor_protocol_interface.h"
#include "motor/eyou_motor/ethercat/eyou_motor_ethercat_protocol.h"
namespace cmvr {
namespace device {
class EYouMotor : public AbstractMotor {
public:
EYouMotor(const XmlNode &config,uint8_t node_id):AbstractMotor(config,node_id){}
EYouMotor(const XmlNode &config):AbstractMotor(config) {
info_.id = config.getAttrDefault("slave", -1);
info_.joint_name = config.getAttrString("jointName");
info_.limitQ = config.getAttrDefault("limitQ", 3.14f);
info_.limitQd = config.getAttrDefault("limitQd", 0.5f);
node_id_ = info_.id;
}
EYouMotor(const cmvr::config::EthercatMotorConfig& config) : AbstractMotor() {
info_.id = config.slave();
info_.joint_name = config.jointname();
info_.limitQ = config.limitqlb();
info_.limitQd = config.limitqd();
node_id_ = info_.id;
}
/**
* 电机初始化在具体的类中完成
*/
void init() override {
if (!protocol_) {
throw std::runtime_error("Protocol not set for motor");
}
if (protocol_->comm_proto == MotorProtocolInterface::CommProto::ETHERCAT ) {
auto canopen_protocol = std::dynamic_pointer_cast<EYouEthercatProtocol>(protocol_);
// canopen_protocol->setMode(node_id_,msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
// canopen_protocol->seedSdoRequest(node_id_, msgs::CS_WRITE_TWO_BYTES, msgs::CONTROL_WORD_6040, msgs::SUB_INDEX_0, 0x06,15);
// canopen_protocol->seedSdoRequest(node_id_, msgs::CS_WRITE_TWO_BYTES, msgs::CONTROL_WORD_6040, msgs::SUB_INDEX_0, 0x0F,15);
// canopen_protocol->setLimitQd(node_id_,5.0);
// canopen_protocol->setLimitQdd(node_id_,10.0,-10.0);
// canopen_protocol->torqueOff(node_id_);
}
}
};
}
}

3
cmvr-es/devices/motor/motor_protocol_interface.h
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@ -15,7 +15,8 @@ namespace cmvr {
public:
enum class CommProto : uint8_t {
CANOPEN = 1,
CUSTOM = 2
ETHERCAT = 2,
CUSTOM = 3
};
virtual ~MotorProtocolInterface() = default;

12
cmvr-es/devices/motor/ti5_motor/ti5_motor.h
View File

@ -1,11 +1,12 @@
//
// Created by lgv on 2025/8/1.
//
#pragma once
#include "../abstract_motor.h"
#include "motor/motor_protocol_interface.h"
#include "motor/ti5_motor/canopen/ti5_motor_canopen_protocol.h"
#include "cmvr/config/robot_config/robot_config.pb.h"
/**
* class: Ti5Motor 完成电机硬件的相关工作，软件相关的在protocol 中完成
*/
@ -22,6 +23,15 @@ namespace cmvr {
node_id_ = info_.id;
}
Ti5Motor(const cmvr::config::MotorConfig& config) : AbstractMotor() {
info_.id = config.id();
info_.joint_name = config.jointname();
info_.limitQ = config.limitqlb();
info_.limitQd = config.limitqd();
node_id_ = info_.id;
}
/**
* 电机初始化在具体的类中完成
*/

21
cmvr-es/devices/robot/abstract_robot.h
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@ -12,6 +12,7 @@
#include "planner/cartesian_space_planner/include/cartesian_twist_limiter.h"
#include "cmvr/msgs/geometry.pb.h"
#include "cmvr/msgs/motor.pb.h"
#include <Eigen/Dense>
namespace cmvr::device{
@ -40,6 +41,7 @@ namespace cmvr::device{
class AbstractRobot: public AbstractDevice {
public:
AbstractRobot() = default;
explicit AbstractRobot(const XmlNode &config): AbstractDevice(config) {}
~AbstractRobot() override=default;
@ -103,18 +105,23 @@ namespace cmvr::device{
virtual void moveJ_IK(const std::string &base_link, const std::vector<cmvr::ctrl::PoseTarget> &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"); }
virtual void moveL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double vel=0.5, double acc=0.1) { throw std::runtime_error("Not implemented"); }
virtual void moveL(const std::string &base_link, const std::string &ee_link,msgs::Pose3d target_pose, double vel, double acc) { throw std::runtime_error("Not implemented"); }
virtual void moveDeltaL(const std::string &base_link, const std::string &ee_link,msgs::Pose3d delta_pose, double vel, double acc) { throw std::runtime_error("Not implemented"); }
virtual bool moveL(const std::vector<double> &pose,
double speed = 0.25,
double acceleration = 1.2,
double jerk = 5.0,
const std::vector<double> &qd_max = std::vector<double>(7, 2.5),
bool asynchronous = false) {
throw std::runtime_error("Not implemented");
}
virtual bool speedL(const std::vector<double> &xd,
double acceleration = 0.25,
double time = 0.0,
cmvr::CartesianFrame frame = cmvr::CartesianFrame::Base) {
throw std::runtime_error("Not implemented");
}
virtual Eigen::Matrix<double, 6, 1> getSpeedLCommandTwistBase() {
return Eigen::Matrix<double, 6, 1>::Zero();
}
virtual void stopSpeedL() { throw std::runtime_error("Not implemented"); }
virtual void speedJ(std::string &joint_name, RobotJointIndexDirection dir, double vel, double acc=0.5) { throw std::runtime_error("Not implemented"); }
@ -173,8 +180,10 @@ namespace cmvr::device{
{
toolFrame_ = toolFrame;
}
virtual std::string getToolFrame() const { return toolFrame_; }
virtual msgs::Pose3d fk(const std::string &base_link, const std::string &ee_link) = 0;
virtual msgs::Pose3d fk(bool is_tcp = true) = 0;
virtual std::vector<double> ik(const std::string &base_link, const std::string &ee_link,msgs::Pose3d pose) = 0;
protected:
int dof_{};

37
cmvr-es/devices/robot/humanoid_robot/include/humanoid_robot.h
View File

@ -35,6 +35,8 @@
#include "planner/joint_space_planner/include/joint_space_planner_creator.h"
#include "planner/joint_space_planner/include/joint_space_planner.h"
#include "ik_solver/include/pinocchio_dls_ik_solver.h"
#include "cmvr/config/robot_config/robot_config.pb.h"
namespace cmvr::device{
@ -49,12 +51,10 @@ namespace cmvr::device{
ROBOT_ERROR
} RobotStateMachine;
// typedef enum {
// PPM_MODE, PVM_MODE, PTM_MODE, CSP_MODE, CSV_MODE, CSC_MODE
// } RobotRunningMode;
public:
explicit HumanoidRobot(const XmlNode& cfg);
HumanoidRobot(const cmvr::config::HumanRobotConfig& config);
HumanoidRobot(const cmvr::config::EthercatRobotConfig& config);
~HumanoidRobot();
void init() override;
@ -86,10 +86,12 @@ namespace cmvr::device{
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<cmvr::ctrl::PoseTarget> &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<cmvr::ctrl::PoseTarget> &targets, double vel, double acc) override;
void moveL(const std::string &base_link, const std::string &ee_link,msgs::Pose3d target_pose, double vel, double acc) override;
void moveDeltaL(const std::string &base_link, const std::string &ee_link,msgs::Pose3d delta_pose, double vel, double acc) override;
bool moveL(const std::vector<double> &pose,
double speed = 0.25,
double acceleration = 1.2,
double jerk = 5.0,
const std::vector<double> &qd_max = std::vector<double>(7, 2.5),
bool asynchronous = false) override;
void speedJ(std::string &joint_name, RobotJointIndexDirection dir, double vel, double acc) override;
@ -99,7 +101,7 @@ namespace cmvr::device{
double time = 0.0,
cmvr::CartesianFrame frame = cmvr::CartesianFrame::Base) override;
void stopSpeedL() override;
Eigen::Matrix<double, 6, 1> getSpeedLCommandTwistBase();
Eigen::Matrix<double, 6, 1> getSpeedLCommandTwistBase() override;
@ -124,6 +126,14 @@ namespace cmvr::device{
void ensureSpeedLWorkerStarted_();
void stopSpeedLWorker_();
void speedLWorkerLoop_();
bool executeMoveLScurve_(const Eigen::Matrix4d& target_pose_input,
double v_tcp_max,
double a_tcp_max,
double j_tcp_max,
const std::vector<double>& qd_max,
double dt_real,
bool is_tcp,
cmvr::CartesianFrame input_frame);
@ -148,16 +158,10 @@ namespace cmvr::device{
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) override;
msgs::Pose3d fk(bool is_tcp) override;
std::vector<double> ik(const std::string &base_link, const std::string &ee_link,msgs::Pose3d pose) override;
double calculateMoveTime(double distance, double vel, double acc);
void generateSTrapezoidalProfile(double total_distance, double max_vel, double max_acc,
double total_time, size_t num_points,
std::vector<double>& time_points,
std::vector<double>& distance_ratios);
private:
std::string id_;
int upd_freq_;
@ -228,6 +232,7 @@ namespace cmvr::device{
std::atomic<bool> is_head_busy_{false}, is_waist_busy_{false};
std::string urdf_path_ = "";
};

881
cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp
View File

@ -16,7 +16,7 @@ template<int DOF>
HumanoidRobot<DOF>::HumanoidRobot(const XmlNode &cfg) : AbstractRobot(cfg) {
try {
id_ = cfg.getAttrString("id");
urdf_path_ = cfg.getAttrString("urdf");
dof_ = DOF;
if (!pathExists(cfg.getAttrString("urdf"))) {
throw runtime_error("urdf file does not exist");
@ -49,6 +49,87 @@ HumanoidRobot<DOF>::HumanoidRobot(const XmlNode &cfg) : AbstractRobot(cfg) {
}
}
template<int DOF>
HumanoidRobot<DOF>::HumanoidRobot(const cmvr::config::HumanRobotConfig& config) {
try {
id_ = config.id();
urdf_path_ = config.urdf();
dof_ = DOF;
if (!pathExists(config.urdf())) {
throw runtime_error("urdf file does not exist");
}
auto rcfg = cmvr::dyn::LoadRobotFromURDF(
config.urdf(), config.baselink());
m_robot_ = std::make_shared<cmvr::dyn::Robot<DOF> >(rcfg);
// 解析jointNames字符串，按逗号分隔
joint_names_ = splitString(config.jointnames(), ",");
// 解析linkNames字符串，按逗号分隔
link_names_ = splitString(config.linknames(), ",");
if (joint_names_.size() != dof_) {
throw runtime_error("joint names size mismatched with dof");
}
m_state_ = m_robot_->MakeState(link_names_, joint_names_);
m_cctrl_ = make_shared<ctrl::CartesianController<DOF> >(m_robot_);
upd_freq_ = config.updfreq();
CSP_buffer_ = make_shared<SPMCRingBuffer<JointPoint> >(config.buffersize());
CSV_buffer_ = make_shared<SPMCRingBuffer<JointVelocityCommand> >(config.buffersize());
CSC_buffer_ = make_shared<SPMCRingBuffer<JointCurrentCommand> >(config.buffersize());
upd_freq_ = 1000;
upd_timer_ = make_shared<FDTimer>();
upd_timer_->start(chrono::nanoseconds(1000 / upd_freq_ * 1000),
[this] { update_state_(); });
rsm_.store(ROBOT_READY);
} catch (exception &e) {
LOG(ERROR) << "HumanoidRobot init failed, id=" << id_;
throw runtime_error(e.what());
}
}
template<int DOF>
HumanoidRobot<DOF>::HumanoidRobot(const cmvr::config::EthercatRobotConfig& config) {
try {
id_ = config.id();
urdf_path_ = config.urdf();
dof_ = DOF;
if (!pathExists(config.urdf())) {
throw runtime_error("urdf file does not exist");
}
auto rcfg = cmvr::dyn::LoadRobotFromURDF(
config.urdf(), config.baselink());
m_robot_ = std::make_shared<cmvr::dyn::Robot<DOF> >(rcfg);
// 解析jointNames字符串，按逗号分隔
joint_names_ = splitString(config.jointnames(), ",");
// 解析linkNames字符串，按逗号分隔
link_names_ = splitString(config.linknames(), ",");
if (joint_names_.size() != dof_) {
throw runtime_error("joint names size mismatched with dof");
}
m_state_ = m_robot_->MakeState(link_names_, joint_names_);
m_cctrl_ = make_shared<ctrl::CartesianController<DOF> >(m_robot_);
upd_freq_ = config.updfreq();
CSP_buffer_ = make_shared<SPMCRingBuffer<JointPoint> >(config.buffersize());
CSV_buffer_ = make_shared<SPMCRingBuffer<JointVelocityCommand> >(config.buffersize());
CSC_buffer_ = make_shared<SPMCRingBuffer<JointCurrentCommand> >(config.buffersize());
upd_freq_ = 1000;
upd_timer_ = make_shared<FDTimer>();
upd_timer_->start(chrono::nanoseconds(1000 / upd_freq_ * 1000),
[this] { update_state_(); });
rsm_.store(ROBOT_READY);
} catch (exception &e) {
LOG(ERROR) << "HumanoidRobot init failed, id=" << id_;
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::init() {
motor_manager_ = MotorsInfo::getInstance()->getMotorManager();
@ -59,7 +140,7 @@ void HumanoidRobot<DOF>::init() {
std::vector<double>(7, 1.0));
ik_solver_ = std::make_shared<PinocchioDlsIKSolver>("/home/lgv/cmvr/cmvr-es/model/xiaoyan_description/dual_arm.urdf",
ik_solver_ = std::make_shared<PinocchioDlsIKSolver>(urdf_path_,
"PELVIS_S",
"R_WRIST_R_S",
"R_FINGER_TIP_FIXED");
@ -899,181 +980,6 @@ void HumanoidRobot<DOF>::moveJ_IK(const std::string &base_link, const std::vecto
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double vel,
double acc) {
try {
stopSpeedLWorker_();
// 获取当前关节状态
Eigen::Vector<double, DOF> 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_);
// 获取基座链接索引
auto base_idx = m_robot_->GetLinkIdx(base_link);
// 获取当前末端位姿 - 使用前向运动学计算
std::vector<Eigen::Matrix4d> current_poses;
for (const auto &target: targets) {
auto ee_idx = m_robot_->GetLinkIdx(target.link_name);
// 使用正向运动学计算当前位姿
Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
current_poses.push_back(T);
// 打印当前末端执行器的 XYZ 和欧拉角
if (&target == &targets.front()) {
Eigen::Vector3d position = T.block<3, 1>(0, 3);
Eigen::Matrix3d rotation = T.block<3, 3>(0, 0);
Eigen::Vector3d euler = rotationMatrixToEulerZYX(rotation);
LOG(INFO) << "Starting point (Initial position): "
<< "X: " << position[0] << ", Y: " << position[1] << ", Z: " << position[2];
LOG(INFO) << "Starting orientation (Euler angles): "
<< "RX: " << euler[0] << ", RY: " << euler[1] << ", RZ: " << euler[2];
}
}
// 计算最大距离和插值点数
double max_distance = 0.0;
for (size_t i = 0; i < targets.size(); i++) {
Eigen::Vector3d current_pos = current_poses[i].block<3, 1>(0, 3);
Eigen::Vector3d target_pos = targets[i].T_target.block<3, 1>(0, 3);
double distance = (target_pos - current_pos).norm();
max_distance = std::max(max_distance, distance);
}
// 基于速度和距离计算插值点数
double move_time = max_distance / vel;
int num_points = static_cast<int>(move_time * 100); // 100Hz控制频率
// 存储所有插值点的关节角度
std::vector<Eigen::Vector<double, DOF> > joint_trajectory;
joint_trajectory.reserve(num_points + 1);
// 记录上一次成功的关节角度
Eigen::Vector<double, DOF> last_success_q = q_init;
// 预先计算所有插值点的逆运动学
for (int i = 0; i <= num_points; i++) {
if (flash_cmd_.load()) {
flash_cmd_.store(false);
rsm_.store(ROBOT_READY);
return;
}
double t = static_cast<double>(i) / num_points;
// 创建插值后的目标（只做位置插值，旋转保持不变）
std::vector<cmvr::ctrl::PoseTarget> interpolated_targets = targets;
for (size_t j = 0; j < targets.size(); j++) {
// 位置线性插值
Eigen::Vector3d current_pos = current_poses[j].block<3, 1>(0, 3);
Eigen::Vector3d target_pos = targets[j].T_target.block<3, 1>(0, 3);
Eigen::Vector3d interp_pos = current_pos + t * (target_pos - current_pos);
// 保持旋转不变
Eigen::Matrix3d current_rot_matrix = current_poses[j].block<3, 3>(0, 0);
interpolated_targets[j].T_target.setIdentity();
interpolated_targets[j].T_target.block<3, 3>(0, 0) = current_rot_matrix;
interpolated_targets[j].T_target.block<3, 1>(0, 3) = interp_pos;
}
// 求解逆运动学
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, interpolated_targets, 0.002,
ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
if (!ok) {
LOG(WARNING) << "IK failed at point " << i << ", using last successful configuration";
q_cmd = last_success_q;
} else {
last_success_q = q_cmd;
}
joint_trajectory.push_back(q_cmd);
// 获取当前末端执行器的位置 (通过正向运动学)
m_state_->SetQ(q_cmd);
m_robot_->ComputeForwardKinematics(m_state_);
// 获取当前末端执行器的位姿 (变换矩阵 T)
auto ee_idx = m_robot_->GetLinkIdx(targets[0].link_name);
Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
// 从变换矩阵中提取 XYZ 坐标
Eigen::Vector3d end_effector_pos = T.block<3, 1>(0, 3);
// 打印 IK 解算出的 XYZ 位置
if (i % 10 == 0) {
// 每10个点打印一次，避免日志过多
LOG(INFO) << "IK solution at point " << i << " : "
<< "X: " << end_effector_pos[0] << ", Y: " << end_effector_pos[1] << ", Z: " << end_effector_pos
[2];
}
}
// 执行轨迹
for (int i = 0; i <= num_points; i++) {
if (flash_cmd_.load()) {
flash_cmd_.store(false);
break;
}
// 获取当前时间点的关节角度
Eigen::Vector<double, DOF> q_cmd = joint_trajectory[i];
// 发送关节命令
std::vector<JointPoint> 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]}
};
// 设置每个关节的速度和位置
for (size_t j = 0; j < joint_points.size(); j++) {
auto &joint_point = joint_points[j];
auto motor = motor_manager_->getMotor(joint_point.joint_name);
if (motor != nullptr) {
motor->setQ(joint_point.rad);
}
}
// 等待一段时间，控制频率
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
// 等待最终位置到达 - 检查所有关节
bool completion = true;
do {
completion = true;
for (const auto &name: joint_names_) {
auto motor = motor_manager_->getMotor(name);
if (motor != nullptr && !motor->reachedTargetQ()) {
completion = false;
break;
}
}
if (flash_cmd_.load()) {
flash_cmd_.store(false);
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(2));
} while (!completion);
} catch (std::exception &e) {
throw std::runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::speedJ(std::string &joint_name, RobotJointIndexDirection dir, double vel, double acc) {
@ -1121,8 +1027,7 @@ void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double dt) {
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQd(j.vel);
motor->setQ(j.rad);
motor->setTarget(j.rad,j.vel);
}
}
rsm_.store(ROBOT_READY);
@ -1137,8 +1042,7 @@ void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double vel, dou
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQd(vel);
motor->setQ(j.rad);
motor->setTarget(j.rad,vel);
}
}
}
@ -1383,36 +1287,95 @@ std::vector<double> HumanoidRobot<
template<int DOF>
cmvr::msgs::Pose3d HumanoidRobot<DOF>::fk(const std::string &base_link, const std::string &ee_link) {
cmvr::msgs::Pose3d pose;
static const std::vector<std::string> kRightArmJointNames = {
"R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y",
"R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R"
};
try {
// 获取当前关节角度
Eigen::Vector<double, DOF> 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"];
if (!ik_solver_) {
throw std::runtime_error("ik_solver_ is not initialized");
}
LOG(INFO) << "q_current: " << q;
// 更新状态并计算前向运动学
m_state_->SetQ(q);
m_robot_->ComputeForwardKinematics(m_state_);
const auto q_map = getJointQ();
std::vector<double> q_current;
q_current.reserve(kRightArmJointNames.size());
for (const auto& joint_name : kRightArmJointNames) {
const auto it = q_map.find(joint_name);
if (it == q_map.end()) {
throw std::runtime_error("missing joint state for " + joint_name);
}
q_current.push_back(it->second);
}
// 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);
Eigen::Matrix4d T = Eigen::Matrix4d::Identity();
if (!ik_solver_->fk(base_link, ee_link, q_current, T)) {
throw std::runtime_error("PinocchioDlsIKSolver::fk failed");
}
// 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
const Eigen::Quaterniond q(R);
pose.mutable_quaternion()->set_w(q.w());
pose.mutable_quaternion()->set_x(q.x());
pose.mutable_quaternion()->set_y(q.y());
pose.mutable_quaternion()->set_z(q.z());
Eigen::Vector3d euler = rotationMatrixToEulerZYX(R);
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<int DOF>
cmvr::msgs::Pose3d HumanoidRobot<DOF>::fk(bool is_tcp) {
cmvr::msgs::Pose3d pose;
static const std::vector<std::string> kRightArmJointNames = {
"R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y",
"R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R"
};
try {
if (!ik_solver_) {
throw std::runtime_error("ik_solver_ is not initialized");
}
const auto q_map = getJointQ();
std::vector<double> q_current;
q_current.reserve(kRightArmJointNames.size());
for (const auto& joint_name : kRightArmJointNames) {
const auto it = q_map.find(joint_name);
if (it == q_map.end()) {
throw std::runtime_error("missing joint state for " + joint_name);
}
q_current.push_back(it->second);
}
Eigen::Matrix4d T = Eigen::Matrix4d::Identity();
if (!ik_solver_->fk(q_current, T, is_tcp)) {
throw std::runtime_error("PinocchioDlsIKSolver::fk failed");
}
pose.mutable_position()->set_x(T(0, 3));
pose.mutable_position()->set_y(T(1, 3));
pose.mutable_position()->set_z(T(2, 3));
const Eigen::Matrix3d R = T.block<3, 3>(0, 0);
const Eigen::Quaterniond q(R);
pose.mutable_quaternion()->set_w(q.w());
pose.mutable_quaternion()->set_x(q.x());
pose.mutable_quaternion()->set_y(q.y());
pose.mutable_quaternion()->set_z(q.z());
const Eigen::Vector3d euler = rotationMatrixToEulerZYX(R);
pose.mutable_euler()->set_rx(euler(0));
pose.mutable_euler()->set_ry(euler(1));
pose.mutable_euler()->set_rz(euler(2));
@ -1424,397 +1387,161 @@ cmvr::msgs::Pose3d HumanoidRobot<DOF>::fk(const std::string &base_link, const st
}
void printTrajectoryInfo(
const std::vector<Eigen::Matrix4d> &trajectory,
const std::vector<double> &times,
const std::vector<double> &velocities,
double total_distance) {
std::cout << "\n===================================== 轨迹详细信息 =====================================" << std::endl;
std::cout << "总路径长度: " << std::fixed << std::setprecision(6) << total_distance << "m" << std::endl;
std::cout << "总运动时间: " << std::fixed << std::setprecision(3) << times.back() << "s" << std::endl;
std::cout << "轨迹点总数: " << trajectory.size() << " 个" << std::endl;
std::cout << "-----------------------------------------------------------------------------------------" <<
std::endl;
std::cout << std::setw(4) << "序号" << " | "
<< std::setw(8) << "时间(s)" << " | "
<< std::setw(10) << "x(m)" << " | "
<< std::setw(10) << "y(m)" << " | "
<< std::setw(10) << "z(m)" << " | "
<< std::setw(12) << "速度(m/s)" << " | "
<< std::setw(16) << "到起点距离(m)" << std::endl;
std::cout << "-----------------------------------------------------------------------------------------" <<
std::endl;
Eigen::Vector3d start_pos(trajectory[0](0, 3), trajectory[0](1, 3), trajectory[0](2, 3));
for (size_t idx = 0; idx < trajectory.size(); ++idx) {
const auto &T = trajectory[idx];
Eigen::Vector3d pos(T(0, 3), T(1, 3), T(2, 3));
double dist_from_start = (pos - start_pos).norm();
std::cout << std::setw(4) << idx << " | "
<< std::fixed << std::setprecision(3) << std::setw(8) << times[idx] << " | "
<< std::fixed << std::setprecision(6) << std::setw(10) << pos.x() << " | "
<< std::fixed << std::setprecision(6) << std::setw(10) << pos.y() << " | "
<< std::fixed << std::setprecision(6) << std::setw(10) << pos.z() << " | "
<< std::fixed << std::setprecision(6) << std::setw(12) << velocities[idx] << " | "
<< std::fixed << std::setprecision(6) << std::setw(16) << dist_from_start << std::endl;
}
std::cout << "=========================================================================================\n" <<
std::endl;
}
template<int DOF>
void HumanoidRobot<DOF>::moveDeltaL(const std::string &base_link, const std::string &ee_link,
msgs::Pose3d delta_pose, double vel, double acc) {
try {
Eigen::Vector<double, DOF> q_current_for_ik;
auto q_map_current = getJointQ();
q_current_for_ik << q_map_current["L_SHOULDER_P"], q_map_current["L_SHOULDER_R"], q_map_current["L_SHOULDER_Y"],
q_map_current["L_ELBOW_R"],
q_map_current["L_WRIST_P"], q_map_current["L_WRIST_Y"], q_map_current["L_WRIST_R"],
q_map_current["R_SHOULDER_P"], q_map_current["R_SHOULDER_R"], q_map_current["R_SHOULDER_Y"],
q_map_current["R_ELBOW_R"],
q_map_current["R_WRIST_P"], q_map_current["R_WRIST_Y"], q_map_current["R_WRIST_R"];
LOG(INFO) << "q_current_for_ik: " << q_current_for_ik;
// 1. 计算末端当前位姿（通过FK）
msgs::Pose3d current_pose = fk(base_link, ee_link);
LOG(INFO) << current_pose.mutable_position()->x() << " " << current_pose.mutable_position()->y() << " "
<< current_pose.mutable_position()->z() << " " << current_pose.mutable_euler()->rx() << " "
<< current_pose.mutable_euler()->ry() << " " << current_pose.mutable_euler()->rz();
// 2. 计算目标位姿 = 当前位姿 + 相对偏移（位置/姿态分别叠加）
msgs::Pose3d target_pose;
target_pose.mutable_position()->set_x(current_pose.position().x() + delta_pose.position().x());
target_pose.mutable_position()->set_y(current_pose.position().y() + delta_pose.position().y());
target_pose.mutable_position()->set_z(current_pose.position().z() + delta_pose.position().z());
target_pose.mutable_euler()->set_rx(current_pose.euler().rx() + delta_pose.euler().rx());
target_pose.mutable_euler()->set_ry(current_pose.euler().ry() + delta_pose.euler().ry());
target_pose.mutable_euler()->set_rz(current_pose.euler().rz() + delta_pose.euler().rz());
// 3. 调用moveL执行直线运动到目标位姿
moveL(base_link, ee_link, target_pose, vel, acc);
} catch (const std::exception &e) {
LOG(ERROR) << "moveDeltaL failed: " << e.what();
throw std::runtime_error(std::string("moveDeltaL error: ") + e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveL(const std::string &base_link, const std::string &ee_link,
msgs::Pose3d target_pose, double vel, double acc) {
bool HumanoidRobot<DOF>::moveL(const std::vector<double> &pose,
double speed,
double acceleration,
double jerk,
const std::vector<double> &qd_max,
bool asynchronous) {
stopSpeedLWorker_();
if (vel <= 0 || acc <= 0) {
throw std::runtime_error("moveL: vel and acc must be positive");
if (asynchronous) {
LOG(ERROR) << "moveL: asynchronous=true is not supported yet";
return false;
}
if (!ik_solver_) {
LOG(ERROR) << "moveL: ik_solver_ is not initialized";
return false;
}
if (pose.size() != 6) {
LOG(ERROR) << "moveL: pose size must be 6 [x, y, z, rx, ry, rz], got " << pose.size();
return false;
}
if (speed <= 0.0 || acceleration <= 0.0) {
LOG(ERROR) << "moveL: speed and acceleration must be positive";
return false;
}
if (jerk <= 0.0) {
LOG(ERROR) << "moveL: jerk must be positive";
return false;
}
Eigen::Matrix4d target_pose_base = Eigen::Matrix4d::Identity();
target_pose_base.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(pose[3], pose[4], pose[5]);
target_pose_base(0, 3) = pose[0];
target_pose_base(1, 3) = pose[1];
target_pose_base(2, 3) = pose[2];
const double dt_real = 0.001;
return executeMoveLScurve_(target_pose_base,
speed,
acceleration,
jerk,
qd_max,
dt_real,
true,
cmvr::CartesianFrame::Tool);
}
template<int DOF>
bool HumanoidRobot<DOF>::executeMoveLScurve_(const Eigen::Matrix4d& target_pose_input,
double v_tcp_max,
double a_tcp_max,
double j_tcp_max,
const std::vector<double>& qd_max,
double dt_real,
bool is_tcp,
cmvr::CartesianFrame input_frame) {
static const std::vector<std::string> kRightArmJointNames = {
"R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y",
"R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R"
};
if (!ik_solver_) {
LOG(ERROR) << "executeMoveLScurve_: ik_solver_ is not initialized";
return false;
}
if (v_tcp_max <= 0.0 || a_tcp_max <= 0.0 || j_tcp_max <= 0.0 || dt_real <= 0.0) {
LOG(ERROR) << "executeMoveLScurve_: invalid parameters, v=" << v_tcp_max
<< ", a=" << a_tcp_max
<< ", j=" << j_tcp_max
<< ", dt=" << dt_real;
return false;
}
std::lock_guard<std::mutex> lock(right_arm_mutex_);
if (is_right_arm_busy_.exchange(true)) {
LOG(ERROR) << "executeMoveLScurve_: right arm is busy";
return false;
}
struct BusyGuard {
std::atomic<bool>& busy_flag;
~BusyGuard() { busy_flag.store(false); }
} busy_guard{is_right_arm_busy_};
try {
const double CONTROL_PERIOD = 1.0 / 50.0; // 控制周期保持不变
msgs::Pose3d current_pose = fk(base_link, ee_link);
// 1. 初始化当前和目标位姿矩阵
Eigen::Matrix4d T_current = Eigen::Matrix4d::Identity();
T_current.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(
current_pose.euler().rx(), current_pose.euler().ry(), current_pose.euler().rz()
);
T_current(0, 3) = current_pose.position().x();
T_current(1, 3) = current_pose.position().y();
T_current(2, 3) = current_pose.position().z();
Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
T_target.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(
target_pose.euler().rx(), target_pose.euler().ry(), target_pose.euler().rz()
);
T_target(0, 3) = target_pose.position().x();
T_target(1, 3) = target_pose.position().y();
T_target(2, 3) = target_pose.position().z();
// 保存起始姿态，确保整个运动过程中姿态保持不变
Eigen::Matrix3d start_orientation = T_current.block<3, 3>(0, 0);
// 2. 获取当前关节配置并验证目标可达性
Eigen::Vector<double, DOF> q_current;
auto q_map_current = getJointQ();
q_current << q_map_current["L_SHOULDER_P"], q_map_current["L_SHOULDER_R"], q_map_current["L_SHOULDER_Y"],
q_map_current["L_ELBOW_R"],
q_map_current["L_WRIST_P"], q_map_current["L_WRIST_Y"], q_map_current["L_WRIST_R"],
q_map_current["R_SHOULDER_P"], q_map_current["R_SHOULDER_R"], q_map_current["R_SHOULDER_Y"],
q_map_current["R_ELBOW_R"],
q_map_current["R_WRIST_P"], q_map_current["R_WRIST_Y"], q_map_current["R_WRIST_R"];
LOG(INFO) << "Current joint configuration: " << q_current;
m_state_->SetQ(q_current);
m_robot_->ComputeForwardKinematics(m_state_);
// 验证目标点可达性 - 使用起始姿态，确保姿态不变
cmvr::ctrl::PoseTarget target_ik_check;
target_ik_check.T_target = T_target;
target_ik_check.T_target.block<3, 3>(0, 0) = start_orientation; // 使用起始姿态
target_ik_check.w_posrot = 0.5;
target_ik_check.weight = 1.0;
target_ik_check.link_name = ee_link;
Eigen::Vector<double, DOF> q_cmd_check;
bool ik_solvable = m_cctrl_->compute(m_state_, base_link, {target_ik_check}, 0.002,
ctrl::CartesianController<DOF>::Mode::Position,
q_cmd_check, 10000, 1e-6);
if (!ik_solvable) {
throw std::runtime_error("moveL: Target pose is unreachable with constant orientation");
std::vector<double> q_start;
q_start.reserve(kRightArmJointNames.size());
const auto q_map = getJointQ();
for (const auto& joint_name : kRightArmJointNames) {
const auto it = q_map.find(joint_name);
if (it == q_map.end()) {
LOG(ERROR) << "executeMoveLScurve_: missing joint state for " << joint_name;
return false;
}
q_start.push_back(it->second);
}
// 3. 计算位置差值（保持姿态不变）
Eigen::Vector3d delta_pos = T_target.block<3, 1>(0, 3) - T_current.block<3, 1>(0, 3);
double total_distance = delta_pos.norm();
if (total_distance < 1e-6) {
LOG(INFO) << "moveL: Target is already reached";
return;
if (!qd_max.empty() && qd_max.size() != kRightArmJointNames.size()) {
LOG(ERROR) << "executeMoveLScurve_: qd_max size mismatch, expect "
<< kRightArmJointNames.size() << ", got " << qd_max.size();
return false;
}
// 4. 基于S曲线速度规划的时间规划
// 计算总时间和插值点数
double move_time = calculateMoveTime(total_distance, vel, acc);
size_t num_points = std::max(2ul, static_cast<size_t>(ceil(move_time / CONTROL_PERIOD)));
// 生成时间轴和距离比例
std::vector<double> time_points;
std::vector<double> distance_ratios;
generateSTrapezoidalProfile(total_distance, vel, acc, move_time, num_points,
time_points, distance_ratios);
LOG(INFO) << "moveL: Planning trajectory - points=" << num_points
<< ", total distance=" << total_distance << "m, move time=" << move_time << "s";
// 5. 生成轨迹点（位置线性插值，姿态保持不变）
std::vector<Eigen::Matrix4d> cartesian_trajectory;
for (size_t i = 0; i <= num_points; ++i) {
double s = distance_ratios[i]; // 使用S曲线规划的距离比例
Eigen::Matrix4d T_interp = Eigen::Matrix4d::Identity();
T_interp.block<3, 3>(0, 0) = start_orientation; // 保持起始姿态不变
// 仅位置按比例插值
T_interp(0, 3) = T_current(0, 3) + s * delta_pos.x();
T_interp(1, 3) = T_current(1, 3) + s * delta_pos.y();
T_interp(2, 3) = T_current(2, 3) + s * delta_pos.z();
cartesian_trajectory.push_back(T_interp);
std::vector<std::vector<double>> q_traj;
std::vector<std::vector<double>> qdot_traj;
std::vector<double> t_traj;
if (!ik_solver_->moveL_SCurveLocal(target_pose_input,
q_start,
q_traj,
t_traj,
dt_real,
v_tcp_max,
a_tcp_max,
j_tcp_max,
qd_max,
is_tcp,
input_frame,
&qdot_traj)) {
LOG(ERROR) << "executeMoveLScurve_: moveL_SCurveLocal failed";
return false;
}
if (q_traj.empty() || t_traj.size() != q_traj.size()) {
LOG(ERROR) << "executeMoveLScurve_: invalid trajectory output";
return false;
}
if (qdot_traj.size() != q_traj.size()) {
LOG(WARNING) << "executeMoveLScurve_: qdot_traj size mismatch, use zero fallback";
qdot_traj.assign(q_traj.size(), std::vector<double>(kRightArmJointNames.size(), 0.0));
}
if (q_traj.size() == 1) {
return true;
}
// 6. 预先计算所有轨迹点的关节位置
std::vector<Eigen::Vector<double, DOF> > joint_positions;
joint_positions.push_back(q_current); // 起始位置
// 预先计算所有关节位置
for (size_t i = 1; i < cartesian_trajectory.size(); ++i) {
const auto &T_interp = cartesian_trajectory[i];
// 构造当前目标
cmvr::ctrl::PoseTarget current_target;
current_target.T_target = T_interp;
current_target.link_name = ee_link;
current_target.w_posrot = 0.5;
current_target.weight = 1.0;
// 使用前一点的位置作为初始值求解IK
Eigen::Vector<double, DOF> q_next;
bool ok = m_cctrl_->compute(m_state_, base_link, {current_target}, CONTROL_PERIOD,
ctrl::CartesianController<DOF>::Mode::Position,
q_next, 10000, 1e-6);
if (!ok) {
throw std::runtime_error("Pre-computation IK failed");
// LOG(WARNING) << "Pre-computation IK failed at point " << i << ", using previous point";
// q_next = joint_positions.back();
auto next_deadline = std::chrono::steady_clock::now();
for (size_t i = 1; i < q_traj.size(); ++i) {
const double dt_segment = std::max(1e-4, t_traj[i] - t_traj[i - 1]);
std::vector<JointPoint> joint_cmd;
joint_cmd.reserve(kRightArmJointNames.size());
for (size_t j = 0; j < kRightArmJointNames.size(); ++j) {
const double qd_abs = (j < qdot_traj[i].size()) ? std::abs(qdot_traj[i][j]) : 0.0;
joint_cmd.emplace_back(kRightArmJointNames[j], q_traj[i][j], qd_abs);
}
joint_positions.push_back(q_next);
servoJ(joint_cmd, dt_segment);
next_deadline += std::chrono::duration_cast<std::chrono::steady_clock::duration>(
std::chrono::duration<double>(dt_segment));
std::this_thread::sleep_until(next_deadline);
}
// 7. 计算每个点的关节速度
std::vector<Eigen::Vector<double, DOF> > joint_velocities;
joint_velocities.push_back(Eigen::Vector<double, DOF>::Zero()); // 起始速度为零
for (size_t i = 1; i < joint_positions.size(); ++i) {
double dt = time_points[i] - time_points[i - 1];
Eigen::Vector<double, DOF> vel = (joint_positions[i] - joint_positions[i - 1]) / dt;
joint_velocities.push_back(vel);
}
// 8. 打印轨迹信息
std::cout << "\n===================================== 轨迹规划信息 =====================================" <<
std::endl;
std::cout << "轨迹点总数: " << cartesian_trajectory.size() << " 个" << std::endl;
std::cout << "总路径长度: " << std::fixed << std::setprecision(6) << total_distance << "m" << std::endl;
std::cout << "最大速度: " << std::fixed << std::setprecision(6) << vel << "m/s" << std::endl;
std::cout << "加速度: " << std::fixed << std::setprecision(6) << acc << "m/s²" << std::endl;
std::cout << "总时间: " << std::fixed << std::setprecision(6) << move_time << "s" << std::endl;
std::cout << "起点位置: (x=" << T_current(0, 3) << ", y=" << T_current(1, 3) << ", z=" << T_current(2, 3) << ")" <<
std::endl;
std::cout << "终点位置: (x=" << T_target(0, 3) << ", y=" << T_target(1, 3) << ", z=" << T_target(2, 3) << ")" <<
std::endl;
std::cout << "保持姿态不变" << std::endl;
std::cout << "-----------------------------------------------------------------------------------------" <<
std::endl;
// 9. 执行轨迹
auto loop_start_time = std::chrono::high_resolution_clock::now();
for (size_t i = 0; i < cartesian_trajectory.size(); ++i) {
// 获取当前点的关节位置和速度
Eigen::Vector<double, DOF> q_cmd = joint_positions[i];
Eigen::Vector<double, DOF> q_vel = joint_velocities[i];
// 更新状态
m_state_->SetQ(q_cmd);
m_robot_->ComputeForwardKinematics(m_state_);
// 发送关节命令 - 为每个电机单独设置位置和速度
std::vector<JointPoint> joint_command;
for (size_t j = 0; j < DOF; ++j) {
JointPoint jp;
jp.joint_name = joint_names_[j];
jp.rad = q_cmd[j];
jp.vel = std::abs(q_vel[j]); // 使用计算出的关节速度
joint_command.push_back(jp);
}
// 计算当前点应该执行的时间
double expected_time = time_points[i];
// servoJ(joint_command, vel, expected_time);
for (const auto &j: joint_command) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQd(j.vel);
motor->setQ(j.rad);
}
}
// 检查中断
if (flash_cmd_.load()) {
flash_cmd_.store(false);
LOG(INFO) << "moveL: Interrupted by external command";
return;
}
// 控制时间节奏 - 使用精确的时间规划
auto expected_time_point = loop_start_time + std::chrono::nanoseconds(
static_cast<long long>(expected_time * 1e9)
);
auto now = std::chrono::high_resolution_clock::now();
if (now < expected_time_point) {
std::this_thread::sleep_until(expected_time_point);
} else {
LOG(WARNING) << "moveL: Behind schedule at point " << i
<< " by " << std::chrono::duration_cast<std::chrono::milliseconds>(now - expected_time_point).
count() << "ms";
}
}
// 最终状态更新
m_state_->SetQ(joint_positions.back());
m_robot_->ComputeForwardKinematics(m_state_);
rsm_.store(ROBOT_READY);
LOG(INFO) << "moveL: Trajectory completed successfully";
} catch (const std::exception &e) {
LOG(ERROR) << "moveL failed: " << e.what();
rsm_.store(ROBOT_ERROR);
throw std::runtime_error(std::string("moveL error: ") + e.what());
}
}
// 辅助函数：计算运动时间
template<int DOF>
double HumanoidRobot<DOF>::calculateMoveTime(double distance, double vel, double acc) {
// 计算加速和减速所需的时间和距离
double acc_time = vel / acc;
double acc_distance = 0.5 * acc * acc_time * acc_time;
// 如果加速距离超过总距离的一半，需要调整最大速度
if (2 * acc_distance > distance) {
// 三角形速度曲线：加速然后直接减速
double max_reachable_vel = std::sqrt(acc * distance);
return 2 * max_reachable_vel / acc;
} else {
// 梯形速度曲线：加速-匀速-减速
double constant_distance = distance - 2 * acc_distance;
double constant_time = constant_distance / vel;
return 2 * acc_time + constant_time;
}
}
// 辅助函数：生成S曲线轨迹规划
template<int DOF>
void HumanoidRobot<DOF>::generateSTrapezoidalProfile(double total_distance, double max_vel, double max_acc,
double total_time, size_t num_points,
std::vector<double> &time_points,
std::vector<double> &distance_ratios) {
time_points.clear();
distance_ratios.clear();
// 计算加速和减速阶段的时间
double acc_time = max_vel / max_acc;
double acc_distance = 0.5 * max_acc * acc_time * acc_time;
// 确定实际的速度曲线形状
if (2 * acc_distance > total_distance) {
// 三角形速度曲线
double actual_max_vel = std::sqrt(max_acc * total_distance);
acc_time = actual_max_vel / max_acc;
acc_distance = 0.5 * max_acc * acc_time * acc_time;
double dec_time = acc_time;
// 生成时间点和距离比例
for (size_t i = 0; i <= num_points; ++i) {
double t = static_cast<double>(i) / num_points * total_time;
time_points.push_back(t);
if (t <= acc_time) {
// 加速阶段
double s = 0.5 * max_acc * t * t;
distance_ratios.push_back(s / total_distance);
} else {
// 减速阶段
double dec_start_time = total_time - dec_time;
double dec_elapsed = t - dec_start_time;
double s = acc_distance + actual_max_vel * dec_elapsed - 0.5 * max_acc * dec_elapsed * dec_elapsed;
distance_ratios.push_back(s / total_distance);
}
}
} else {
// 梯形速度曲线
double constant_time = (total_distance - 2 * acc_distance) / max_vel;
double dec_time = acc_time;
// 生成时间点和距离比例
for (size_t i = 0; i <= num_points; ++i) {
double t = static_cast<double>(i) / num_points * total_time;
time_points.push_back(t);
if (t <= acc_time) {
// 加速阶段
double s = 0.5 * max_acc * t * t;
distance_ratios.push_back(s / total_distance);
} else if (t <= acc_time + constant_time) {
// 匀速阶段
double s = acc_distance + max_vel * (t - acc_time);
distance_ratios.push_back(s / total_distance);
} else {
// 减速阶段
double dec_start_time = acc_time + constant_time;
double dec_elapsed = t - dec_start_time;
double s = acc_distance + max_vel * constant_time +
max_vel * dec_elapsed - 0.5 * max_acc * dec_elapsed * dec_elapsed;
distance_ratios.push_back(s / total_distance);
}
}
LOG(INFO) << "executeMoveLScurve_: completed, samples=" << q_traj.size()
<< ", duration_s=" << t_traj.back();
return true;
} catch (const std::exception& e) {
LOG(ERROR) << "executeMoveLScurve_ failed: " << e.what();
return false;
}
}

282
cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot_test.cpp
View File

@ -81,6 +81,23 @@ std::unordered_map<std::string, double> makeRightArmQMap() {
return q_map;
}
bool readRightArmQ(const std::shared_ptr<AbstractRobot>& robot, std::vector<double>& q_now) {
if (!robot) {
return false;
}
auto q_map_now = makeRightArmQMap();
robot->getJointQ(q_map_now);
q_now.assign(kRightArmJointNames.size(), 0.0);
for (size_t i = 0; i < kRightArmJointNames.size(); ++i) {
const auto it = q_map_now.find(kRightArmJointNames[i]);
if (it == q_map_now.end()) {
return false;
}
q_now[i] = it->second;
}
return true;
}
} // namespace
@ -95,7 +112,7 @@ TEST(HumanoidRobotTest, speedLSmokeTest) {
const XmlNode config("/home/lgv/cmvr/cmvr-es/cmvr-es/common/config/cabin_robot.xml");
ASSERT_TRUE(config.hasChild("DeviceManager")) << "DeviceManager node not found";
auto dmgr_cfg = config.getChild("DeviceManager");
auto& dmgr = DeviceManager::getInstance(dmgr_cfg);
auto& dmgr = DeviceManager::getInstance();
auto robot_abs = dmgr.getDevice<AbstractRobot>("hc01");
auto robot = std::dynamic_pointer_cast<HumanoidRobot<14>>(robot_abs);
@ -210,12 +227,249 @@ TEST(HumanoidRobotTest, speedLSmokeTest) {
// show(fig);
}
TEST(HumanoidRobotTest, moveLSCurveLocalRealRobot) {
const XmlNode config("/home/lgv/cmvr/cmvr-es/cmvr-es/common/config/cabin_robot.xml");
ASSERT_TRUE(config.hasChild("DeviceManager")) << "DeviceManager node not found";
auto dmgr_cfg = config.getChild("DeviceManager");
auto& dmgr = DeviceManager::getInstance();
auto robot_abs = dmgr.getDevice<AbstractRobot>("hc01");
auto robot = std::dynamic_pointer_cast<HumanoidRobot<14>>(robot_abs);
ASSERT_NE(robot, nullptr) << "hc01 is not HumanoidRobot<14>";
std::vector<JointPoint> init_cmd = {
{"R_SHOULDER_P", -0.2423},
{"R_SHOULDER_R", 1.2929},
{"R_SHOULDER_Y", 1.61},
{"R_ELBOW_R", 1.58},
{"R_WRIST_P", -2.8792},
{"R_WRIST_Y", 0.1150},
{"R_WRIST_R", 0.1},
};
robot->moveJ(init_cmd, 1.0, 2.0);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
struct ReturnHomeGuard {
std::shared_ptr<HumanoidRobot<14>> robot;
std::vector<JointPoint> home;
~ReturnHomeGuard() {
if (!robot) {
return;
}
try {
robot->moveJ(home, 1.0, 2.0);
} catch (...) {
}
}
} guard{robot, init_cmd};
std::vector<double> q_start;
ASSERT_TRUE(readRightArmQ(robot_abs, q_start)) << "Failed to read right arm joint state";
cmvr::PinocchioDlsIKSolver solver(
"/home/lgv/cmvr/cmvr-es/model/xiaoyan_description/dual_arm.urdf",
"PELVIS_S",
"R_WRIST_R_S",
"R_FINGER_TIP_FIXED");
ASSERT_TRUE(solver.init()) << "PinocchioDlsIKSolver init failed";
Eigen::Matrix4d target_pose_input = Eigen::Matrix4d::Identity();
const cmvr::CartesianFrame input_frame = cmvr::CartesianFrame::Tool;
target_pose_input(1, 3) = -0.08;
const double dt_gen = 0.001;
const double v_tcp = 0.08;
const double a_tcp = 5;
const double j_tcp = 5;
const bool is_tcp = true;
std::vector<double> qd_max(7, 3.0);
std::vector<std::vector<double>> q_traj;
std::vector<std::vector<double>> qdot_traj;
std::vector<double> t_traj;
ASSERT_TRUE(solver.moveL_SCurveLocal(target_pose_input,
q_start,
q_traj,
t_traj,
dt_gen,
v_tcp,
a_tcp,
j_tcp,
qd_max,
is_tcp,
input_frame,
&qdot_traj))
<< "moveL_SCurveLocal failed";
ASSERT_EQ(q_traj.size(), t_traj.size()) << "q_traj and t_traj size mismatch";
ASSERT_EQ(q_traj.size(), qdot_traj.size()) << "q_traj and qdot_traj size mismatch";
ASSERT_FALSE(q_traj.empty()) << "Generated trajectory is empty";
LOG(INFO) << "moveLSCurveLocalRealRobot generated samples=" << q_traj.size()
<< ", duration_s=" << (t_traj.empty() ? 0.0 : t_traj.back())
<< ", frame=" << (input_frame == cmvr::CartesianFrame::Tool ? "Tool" : "Base")
<< ", delta_xyz=[" << target_pose_input(0, 3) << ", "
<< target_pose_input(1, 3) << ", "
<< target_pose_input(2, 3) << "]";
auto next_deadline = std::chrono::steady_clock::now();
for (size_t i = 1; i < q_traj.size(); ++i) {
const double dt_segment = std::max(0.0, t_traj[i] - t_traj[i - 1]);
std::vector<double> qd_abs = qdot_traj[i];
for (double& v : qd_abs) {
v = std::abs(v);
}
auto joint_cmd = buildRightArmJointCmdWithVel(q_traj[i], qd_abs, 0.05);
ASSERT_NO_THROW(robot->servoJ(joint_cmd, dt_segment));
next_deadline += std::chrono::duration_cast<std::chrono::steady_clock::duration>(
std::chrono::duration<double>(dt_segment));
std::this_thread::sleep_until(next_deadline);
}
std::this_thread::sleep_for(std::chrono::milliseconds(500));
std::vector<double> q_end;
ASSERT_TRUE(readRightArmQ(robot_abs, q_end)) << "Failed to read right arm joint state at end";
Eigen::Matrix4d T_end = Eigen::Matrix4d::Identity();
ASSERT_TRUE(solver.fk(q_end, T_end, is_tcp)) << "Failed to compute FK for end joint state";
Eigen::Matrix4d T_start = Eigen::Matrix4d::Identity();
ASSERT_TRUE(solver.fk(q_start, T_start, is_tcp)) << "Failed to compute FK for start joint state";
Eigen::Matrix4d T_plan_end = Eigen::Matrix4d::Identity();
ASSERT_TRUE(solver.fk(q_traj.back(), T_plan_end, is_tcp)) << "Failed to compute FK for planned end joint state";
const Eigen::Matrix3d R_start = T_start.block<3,3>(0, 0);
const Eigen::Matrix3d R_plan_end = T_plan_end.block<3,3>(0, 0);
const Eigen::Matrix3d R_end = T_end.block<3,3>(0, 0);
const Eigen::Vector3d delta_tcp_plan = T_plan_end.block<3,1>(0,3) - T_start.block<3,1>(0,3);
const Eigen::Vector3d delta_tcp = T_end.block<3,1>(0,3) - T_start.block<3,1>(0,3);
const Eigen::Vector3d delta_tcp_error = delta_tcp - delta_tcp_plan;
const double rot_err_start_to_actual_rad =
Eigen::AngleAxisd(R_start.transpose() * R_end).angle();
const double rot_err_plan_to_actual_rad =
Eigen::AngleAxisd(R_plan_end.transpose() * R_end).angle();
LOG(INFO) << "moveLSCurveLocalRealRobot tcp_delta_plan=[" << delta_tcp_plan.x() << ", "
<< delta_tcp_plan.y() << ", " << delta_tcp_plan.z() << "]";
LOG(INFO) << "moveLSCurveLocalRealRobot tcp_delta_actual=[" << delta_tcp.x() << ", "
<< delta_tcp.y() << ", " << delta_tcp.z() << "]";
LOG(INFO) << "moveLSCurveLocalRealRobot tcp_delta_error=[" << delta_tcp_error.x() << ", "
<< delta_tcp_error.y() << ", " << delta_tcp_error.z() << "]";
LOG(INFO) << "moveLSCurveLocalRealRobot rot_err_start_to_actual_deg="
<< rot_err_start_to_actual_rad * 180.0 / M_PI;
LOG(INFO) << "moveLSCurveLocalRealRobot rot_err_plan_to_actual_deg="
<< rot_err_plan_to_actual_rad * 180.0 / M_PI;
}
TEST(HumanoidRobotTest, moveLRealRobot) {
const XmlNode config("/home/lgv/cmvr/cmvr-es/cmvr-es/common/config/cabin_robot.xml");
ASSERT_TRUE(config.hasChild("DeviceManager")) << "DeviceManager node not found";
auto dmgr_cfg = config.getChild("DeviceManager");
auto& dmgr = DeviceManager::getInstance();
auto robot_abs = dmgr.getDevice<AbstractRobot>("hc01");
auto robot = std::dynamic_pointer_cast<HumanoidRobot<14>>(robot_abs);
ASSERT_NE(robot, nullptr) << "hc01 is not HumanoidRobot<14>";
std::vector<JointPoint> init_cmd = {
{"R_SHOULDER_P", -0.2423},
{"R_SHOULDER_R", 1.2929},
{"R_SHOULDER_Y", 1.61},
{"R_ELBOW_R", 1.58},
{"R_WRIST_P", -2.8792},
{"R_WRIST_Y", 0.1150},
{"R_WRIST_R", 0.1},
};
robot->moveJ(init_cmd, 1.0, 2.0);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
std::vector<double> q_start;
ASSERT_TRUE(readRightArmQ(robot_abs, q_start)) << "Failed to read right arm joint state";
cmvr::PinocchioDlsIKSolver solver(
"/home/lgv/cmvr/cmvr-es/model/xiaoyan_description/dual_arm.urdf",
"PELVIS_S",
"R_WRIST_R_S",
"R_FINGER_TIP_FIXED");
ASSERT_TRUE(solver.init()) << "PinocchioDlsIKSolver init failed";
Eigen::Matrix4d target_pose_input = Eigen::Matrix4d::Identity();
const cmvr::CartesianFrame input_frame = cmvr::CartesianFrame::Tool;
target_pose_input(1, 3) = -0.08;
const double v_tcp = 0.08;
const double a_tcp = 5;
const double j_tcp = 5;
const bool is_tcp = true;
const std::vector<double> pose_cmd = {
target_pose_input(0, 3),
target_pose_input(1, 3),
target_pose_input(2, 3),
0.0,
0.0,
0.0
};
LOG(INFO) << "moveLRealRobot command"
<< ", frame=" << (input_frame == cmvr::CartesianFrame::Tool ? "Tool" : "Base")
<< ", delta_xyz=[" << target_pose_input(0, 3) << ", "
<< target_pose_input(1, 3) << ", "
<< target_pose_input(2, 3) << "]";
ASSERT_TRUE(robot->moveL(pose_cmd, v_tcp, a_tcp, j_tcp)) << "robot->moveL failed";
std::this_thread::sleep_for(std::chrono::milliseconds(500));
std::vector<double> q_end;
ASSERT_TRUE(readRightArmQ(robot_abs, q_end)) << "Failed to read right arm joint state at end";
Eigen::Matrix4d T_end = Eigen::Matrix4d::Identity();
ASSERT_TRUE(solver.fk(q_end, T_end, is_tcp)) << "Failed to compute FK for end joint state";
Eigen::Matrix4d T_start = Eigen::Matrix4d::Identity();
ASSERT_TRUE(solver.fk(q_start, T_start, is_tcp)) << "Failed to compute FK for start joint state";
Eigen::Matrix4d T_plan_end = Eigen::Matrix4d::Identity();
T_plan_end = T_start;
if (input_frame == cmvr::CartesianFrame::Tool) {
T_plan_end.block<3,1>(0,3) = (T_start * target_pose_input).block<3,1>(0,3);
} else {
T_plan_end.block<3,1>(0,3) = target_pose_input.block<3,1>(0,3);
}
const Eigen::Matrix3d R_start = T_start.block<3,3>(0, 0);
const Eigen::Matrix3d R_plan_end = T_plan_end.block<3,3>(0, 0);
const Eigen::Matrix3d R_end = T_end.block<3,3>(0, 0);
const Eigen::Vector3d delta_tcp_plan = T_plan_end.block<3,1>(0,3) - T_start.block<3,1>(0,3);
const Eigen::Vector3d delta_tcp = T_end.block<3,1>(0,3) - T_start.block<3,1>(0,3);
const Eigen::Vector3d delta_tcp_error = delta_tcp - delta_tcp_plan;
const double rot_err_start_to_actual_rad =
Eigen::AngleAxisd(R_start.transpose() * R_end).angle();
const double rot_err_plan_to_actual_rad =
Eigen::AngleAxisd(R_plan_end.transpose() * R_end).angle();
LOG(INFO) << "moveLRealRobot tcp_delta_plan=[" << delta_tcp_plan.x() << ", "
<< delta_tcp_plan.y() << ", " << delta_tcp_plan.z() << "]";
LOG(INFO) << "moveLRealRobot tcp_delta_actual=[" << delta_tcp.x() << ", "
<< delta_tcp.y() << ", " << delta_tcp.z() << "]";
LOG(INFO) << "moveLRealRobot tcp_delta_error=[" << delta_tcp_error.x() << ", "
<< delta_tcp_error.y() << ", " << delta_tcp_error.z() << "]";
LOG(INFO) << "moveLRealRobot rot_err_start_to_actual_deg="
<< rot_err_start_to_actual_rad * 180.0 / M_PI;
LOG(INFO) << "moveLRealRobot rot_err_plan_to_actual_deg="
<< rot_err_plan_to_actual_rad * 180.0 / M_PI;
}
TEST(HumanoidRobotTest,IBVSWithRealRobot) {
const XmlNode config("/home/lgv/cmvr/cmvr-es/cmvr-es/common/config/cabin_robot.xml");
ASSERT_TRUE(config.hasChild("DeviceManager")) << "DeviceManager node not found";
auto dmgr_cfg = config.getChild("DeviceManager");
auto& dmgr = DeviceManager::getInstance(dmgr_cfg);
auto& dmgr = DeviceManager::getInstance();
auto robot = dmgr.getDevice<AbstractRobot>("hc01");
auto camera = dmgr.getDevice<AbstractCamera>("right_hand_cam");
@ -373,7 +627,7 @@ TEST(HumanoidRobotTest,IBVSWithRealRobot) {
}
std::vector<double> qdot_next;
const bool ok = ibvs_controller.compute(q_now, qdot_next);
const bool ok = ibvs_controller.computeQdot(q_now, static_cast<double>(cycle_ms) / 1000.0, qdot_next);
if (!ok) {
++compute_fail_steps;
++fail_steps;
@ -437,7 +691,7 @@ TEST(HumanoidRobotTest,IBVSWithRealRobotTrackedPoint) {
const XmlNode config("/home/lgv/cmvr/cmvr-es/cmvr-es/common/config/cabin_robot.xml");
ASSERT_TRUE(config.hasChild("DeviceManager")) << "DeviceManager node not found";
auto dmgr_cfg = config.getChild("DeviceManager");
auto& dmgr = DeviceManager::getInstance(dmgr_cfg);
auto& dmgr = DeviceManager::getInstance();
auto robot = dmgr.getDevice<AbstractRobot>("hc01");
auto camera = dmgr.getDevice<AbstractCamera>("right_hand_cam");
@ -682,7 +936,7 @@ TEST(HumanoidRobotTest,IBVSWithRealRobotTrackedPoint) {
}
std::vector<double> qdot_next;
const bool ok = ibvs_controller.compute(q_now, qdot_next);
const bool ok = ibvs_controller.computeQdot(q_now, static_cast<double>(cycle_ms) / 1000.0, qdot_next);
if (!ok) {
++compute_fail_steps;
++fail_steps;
@ -736,3 +990,21 @@ TEST(HumanoidRobotTest,IBVSWithRealRobotTrackedPoint) {
EXPECT_GT(ok_steps, 0) << "No successful tracked-point IBVS control steps.";
}
TEST(HumanoidRobotTest, EYouTest) {
auto& dmgr = DeviceManager::getInstance();
auto robot_abs = dmgr.getDevice<AbstractRobot>("ec_robot_01");
auto robot = std::dynamic_pointer_cast<HumanoidRobot<14>>(robot_abs);
ASSERT_NE(robot, nullptr) << "hc01 is not HumanoidRobot<14>";
std::vector<JointPoint> init_cmd = {
{"L_SHOULDER_P", 0.1}
};
// robot->moveJ(init_cmd, 0.1, 1.0);
// robot->calibrateZeroQ("L_SHOULDER_P");
robot->torqueOff("L_SHOULDER_P");
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}

2
cmvr-es/hardware/CMakeLists.txt
View File

@ -1,9 +1,11 @@
add_library(hardware SHARED
src/serial_interface.cpp
src/esp32_serial_port.cpp
src/posix_serial_transport.cpp
)
target_include_directories(hardware PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
)

38
cmvr-es/hardware/include/abstract_serial_transport.h Normal file
View File

@ -0,0 +1,38 @@
//
// Created by Codex on 2026/4/3.
//
#ifndef CMVR_ES_ABSTRACT_SERIAL_TRANSPORT_H
#define CMVR_ES_ABSTRACT_SERIAL_TRANSPORT_H
#include <chrono>
#include <cstddef>
#include <cstdint>
#include <string>
#include <vector>
namespace cmvr {
class AbstractSerialTransport {
public:
struct Config {
std::string port_name;
int baud_rate{0};
};
virtual ~AbstractSerialTransport() = default;
virtual bool open(const Config& config) = 0;
virtual bool close() = 0;
virtual bool isOpen() const = 0;
virtual bool flushInput() = 0;
virtual bool write(const std::vector<uint8_t>& data) = 0;
virtual bool read(
size_t min_size,
std::chrono::milliseconds timeout,
std::vector<uint8_t>& out_buffer) = 0;
virtual std::string lastError() const = 0;
};
}
#endif // CMVR_ES_ABSTRACT_SERIAL_TRANSPORT_H

41
cmvr-es/hardware/include/posix_serial_transport.h Normal file
View File

@ -0,0 +1,41 @@
//
// Created by Codex on 2026/4/3.
//
#ifndef CMVR_ES_POSIX_SERIAL_TRANSPORT_H
#define CMVR_ES_POSIX_SERIAL_TRANSPORT_H
#include <mutex>
#include <string>
#include "abstract_serial_transport.h"
namespace cmvr {
class PosixSerialTransport final : public AbstractSerialTransport {
public:
PosixSerialTransport() = default;
~PosixSerialTransport() override;
bool open(const Config& config) override;
bool close() override;
bool isOpen() const override;
bool flushInput() override;
bool write(const std::vector<uint8_t>& data) override;
bool read(
size_t min_size,
std::chrono::milliseconds timeout,
std::vector<uint8_t>& out_buffer) override;
std::string lastError() const override;
private:
bool closeUnlocked();
void setLastErrorUnlocked(std::string error);
int fd_{-1};
std::string last_error_;
mutable std::mutex io_mutex_;
};
}
#endif // CMVR_ES_POSIX_SERIAL_TRANSPORT_H

226
cmvr-es/hardware/src/posix_serial_transport.cpp Normal file
View File

@ -0,0 +1,226 @@
//
// Created by Codex on 2026/4/3.
//
#include "../include/posix_serial_transport.h"
#include <algorithm>
#include <array>
#include <cerrno>
#include <cstring>
#include <fcntl.h>
#include <poll.h>
#include <stdexcept>
#include <sys/ioctl.h>
#include <unistd.h>
#include <asm/termbits.h>
namespace cmvr {
PosixSerialTransport::~PosixSerialTransport() {
close();
}
bool PosixSerialTransport::open(const Config& config) {
std::lock_guard<std::mutex> lock(io_mutex_);
closeUnlocked();
last_error_.clear();
if (config.port_name.empty()) {
setLastErrorUnlocked("Serial port name must not be empty.");
return false;
}
if (config.baud_rate <= 0) {
setLastErrorUnlocked("Serial baud rate must be positive.");
return false;
}
fd_ = ::open(config.port_name.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
if (fd_ < 0) {
setLastErrorUnlocked(
"Failed to open serial port " + config.port_name + ": " + std::string(std::strerror(errno)));
return false;
}
struct termios2 options {};
if (::ioctl(fd_, TCGETS2, &options) != 0) {
setLastErrorUnlocked("Failed to query serial attributes: " + std::string(std::strerror(errno)));
closeUnlocked();
return false;
}
options.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXOFF | IXANY);
options.c_oflag &= ~OPOST;
options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
options.c_cflag &= ~(CSIZE | PARENB | CBAUD);
options.c_cflag |= (CS8 | CLOCAL | CREAD | BOTHER);
options.c_cflag &= ~CRTSCTS;
options.c_cflag &= ~CSTOPB;
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 0;
options.c_ispeed = static_cast<speed_t>(config.baud_rate);
options.c_ospeed = static_cast<speed_t>(config.baud_rate);
if (::ioctl(fd_, TCFLSH, TCIOFLUSH) != 0) {
setLastErrorUnlocked("Failed to flush serial buffers: " + std::string(std::strerror(errno)));
closeUnlocked();
return false;
}
if (::ioctl(fd_, TCSETS2, &options) != 0) {
setLastErrorUnlocked("Failed to apply serial attributes: " + std::string(std::strerror(errno)));
closeUnlocked();
return false;
}
return true;
}
bool PosixSerialTransport::close() {
std::lock_guard<std::mutex> lock(io_mutex_);
last_error_.clear();
return closeUnlocked();
}
bool PosixSerialTransport::isOpen() const {
std::lock_guard<std::mutex> lock(io_mutex_);
return fd_ >= 0;
}
bool PosixSerialTransport::flushInput() {
std::lock_guard<std::mutex> lock(io_mutex_);
last_error_.clear();
if (fd_ < 0) {
setLastErrorUnlocked("Serial port is not open.");
return false;
}
if (::ioctl(fd_, TCFLSH, TCIFLUSH) != 0) {
setLastErrorUnlocked("Failed to flush serial input: " + std::string(std::strerror(errno)));
return false;
}
return true;
}
bool PosixSerialTransport::write(const std::vector<uint8_t>& data) {
std::lock_guard<std::mutex> lock(io_mutex_);
last_error_.clear();
if (fd_ < 0) {
setLastErrorUnlocked("Serial port is not open.");
return false;
}
size_t offset = 0;
while (offset < data.size()) {
const ssize_t written = ::write(fd_, data.data() + offset, data.size() - offset);
if (written > 0) {
offset += static_cast<size_t>(written);
continue;
}
if (written < 0 && (errno == EAGAIN || errno == EWOULDBLOCK)) {
pollfd descriptor{};
descriptor.fd = fd_;
descriptor.events = POLLOUT;
if (::poll(&descriptor, 1, 50) < 0) {
setLastErrorUnlocked(
"Polling serial write readiness failed: " + std::string(std::strerror(errno)));
return false;
}
continue;
}
setLastErrorUnlocked("Writing to serial port failed: " + std::string(std::strerror(errno)));
return false;
}
return true;
}
bool PosixSerialTransport::read(
const size_t min_size,
const std::chrono::milliseconds timeout,
std::vector<uint8_t>& out_buffer) {
std::lock_guard<std::mutex> lock(io_mutex_);
last_error_.clear();
out_buffer.clear();
if (fd_ < 0) {
setLastErrorUnlocked("Serial port is not open.");
return false;
}
out_buffer.reserve(min_size + 16U);
const auto deadline = std::chrono::steady_clock::now() + timeout;
std::array<uint8_t, 256> temp{};
while (out_buffer.size() < min_size) {
const auto now = std::chrono::steady_clock::now();
if (now >= deadline) {
break;
}
const auto remaining = std::chrono::duration_cast<std::chrono::milliseconds>(deadline - now);
const int wait_ms = std::max(1, static_cast<int>(remaining.count()));
pollfd descriptor{};
descriptor.fd = fd_;
descriptor.events = POLLIN;
const int rc = ::poll(&descriptor, 1, wait_ms);
if (rc < 0) {
if (errno == EINTR) {
continue;
}
setLastErrorUnlocked(
"Polling serial read readiness failed: " + std::string(std::strerror(errno)));
return false;
}
if (rc == 0 || (descriptor.revents & POLLIN) == 0) {
continue;
}
const ssize_t bytes_read = ::read(fd_, temp.data(), temp.size());
if (bytes_read > 0) {
out_buffer.insert(out_buffer.end(), temp.begin(), temp.begin() + bytes_read);
continue;
}
if (bytes_read < 0 && (errno == EAGAIN || errno == EWOULDBLOCK || errno == EINTR)) {
continue;
}
if (bytes_read < 0) {
setLastErrorUnlocked("Reading serial port failed: " + std::string(std::strerror(errno)));
return false;
}
}
if (out_buffer.size() < min_size) {
setLastErrorUnlocked(
"Serial read timeout, expected at least " + std::to_string(min_size) +
" bytes, got " + std::to_string(out_buffer.size()) + ".");
return false;
}
return true;
}
std::string PosixSerialTransport::lastError() const {
std::lock_guard<std::mutex> lock(io_mutex_);
return last_error_;
}
bool PosixSerialTransport::closeUnlocked() {
if (fd_ < 0) {
return true;
}
const int fd = fd_;
fd_ = -1;
if (::close(fd) != 0) {
setLastErrorUnlocked("Failed to close serial port: " + std::string(std::strerror(errno)));
return false;
}
return true;
}
void PosixSerialTransport::setLastErrorUnlocked(std::string error) {
last_error_ = std::move(error);
}
}

10
cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h
View File

@ -37,7 +37,7 @@ public:
double angular_acceleration_max{3.0};
double angular_jerk_max{15.0};
std::vector<double> joint_velocity_max; ///< size=chain_v_dof_，为空则仅用 URDF limit
std::vector<double> joint_velocity_max = std::vector<double>(7, 2.5); ///< size=chain_v_dof_，为空则仅用 URDF limit
std::vector<double> joint_acceleration_max; ///< size=chain_v_dof_，为空则不做 joint accel 限制
bool enable_joint_soft_limit_velocity{true};
double joint_soft_limit_margin{0.05};
@ -72,7 +72,7 @@ public:
const Eigen::Matrix4d& target_pose,
std::vector<double>& joints_angle);
bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base,
bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_input,
const std::vector<double>& q_start,
std::vector<std::vector<double>>& q_traj,
std::vector<double>& t_traj,
@ -80,8 +80,10 @@ public:
double v_tcp_max,
double a_tcp_max,
double j_tcp_max,
const std::vector<double>& qd_max,
bool is_tcp = true);
const std::vector<double>& qd_max, // empty => use URDF joint velocity limits only
bool is_tcp = true,
CartesianFrame input_frame = CartesianFrame::Base,
std::vector<std::vector<double>>* qdot_traj = nullptr);
bool ik(const std::string& base_link,
const std::string& ee_link,

116
cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp
View File

@ -441,7 +441,7 @@ bool PinocchioDlsIKSolver::ik(const std::string& base_link,
// ============================================================================
// MoveL with tau time-scaling
// ============================================================================
bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base,
bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_input,
const std::vector<double>& q_start,
std::vector<std::vector<double>>& q_traj,
std::vector<double>& t_traj,
@ -450,11 +450,13 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_
double a_tcp_max,
double j_tcp_max,
const std::vector<double>& qd_max,
bool is_tcp)
bool is_tcp,
CartesianFrame input_frame,
std::vector<std::vector<double>>* qdot_traj)
{
if (!initialized_) return false;
if ((int)q_start.size() != chain_dof_) return false;
if ((int)qd_max.size() != chain_dof_) return false;
if (!qd_max.empty() && (int)qd_max.size() != chain_dof_) return false;
dt_real = std::max(dt_real, 1e-4);
@ -467,13 +469,28 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_
const Eigen::Vector3d p0 = T0_base.block<3,1>(0,3);
const Eigen::Matrix3d R_fixed = T0_base.block<3,3>(0,0);
// moveL_SCurveLocal 当前只对目标平移做直线规划，姿态仍保持起始末端姿态。
Eigen::Matrix4d target_pose_base = target_pose_input;
if (input_frame == CartesianFrame::Tool) {
target_pose_base = T0_base * target_pose_input;
}
const Eigen::Vector3d pg = target_pose_base.block<3,1>(0,3);
const Eigen::Vector3d dp = pg - p0;
const double L = dp.norm();
if (L < 1e-9) { q_traj = {q_start}; t_traj = {0.0}; return true; }
if (L < 1e-9) {
q_traj = {q_start};
t_traj = {0.0};
if (qdot_traj) {
qdot_traj->assign(1, std::vector<double>(static_cast<size_t>(chain_dof_), 0.0));
}
return true;
}
const Eigen::Vector3d dir_base = dp / L;
std::cerr << "dp(base)= " << dp.transpose() << "\n";
std::cerr << "dp(base)= " << dp.transpose()
<< " frame=" << (input_frame == CartesianFrame::Tool ? "tool" : "base")
<< "\n";
SCurve curve(v_tcp_max, a_tcp_max, j_tcp_max);
const SCurveProfile prof = curve.calculateProfile(0.0, L);
@ -488,7 +505,22 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_
const double eps_dq = 1e-9;
Eigen::VectorXd qd_lim(chain_dof_);
for (int i = 0; i < chain_dof_; ++i) qd_lim[i] = std::max(1e-6, std::abs(qd_max[i]));
if (qd_max.empty()) {
for (int i = 0; i < chain_dof_; ++i) {
double limit_i = std::numeric_limits<double>::infinity();
if (joint_vel_limits_.size() == chain_dof_) {
const double urdf_limit = std::abs(joint_vel_limits_[i]);
if (std::isfinite(urdf_limit) && urdf_limit > 0.0) {
limit_i = urdf_limit;
}
}
qd_lim[i] = limit_i;
}
} else {
for (int i = 0; i < chain_dof_; ++i) {
qd_lim[i] = std::max(1e-6, std::abs(qd_max[i]));
}
}
Eigen::VectorXd q_ref = Eigen::Map<const Eigen::VectorXd>(q_start.data(), chain_dof_);
Eigen::VectorXd q_chain = Eigen::Map<const Eigen::VectorXd>(q_start.data(), chain_dof_);
@ -502,11 +534,11 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_
t_traj.reserve((size_t)(prof.total_time / dt_real) + 10);
q_traj.push_back(q_start);
t_traj.push_back(0.0);
const double log_period = 0.05;
double next_log_t = 0.0;
const double sigma_min_th = 1e-4;
const double cond_th = 1e4;
if (qdot_traj) {
qdot_traj->clear();
qdot_traj->reserve((size_t)(prof.total_time / dt_real) + 10);
qdot_traj->push_back(std::vector<double>(static_cast<size_t>(chain_dof_), 0.0));
}
double gamma_prev = 1.0;
const double gamma_tau = 0.03;
@ -622,55 +654,35 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_
return false;
}
q_chain += (gamma_tot * dq_raw) * step_real;
q_chain = q_chain.cwiseMax(joint_pos_lower_limits_).cwiseMin(joint_pos_upper_limits_);
const Eigen::VectorXd qdot_cmd = gamma_tot * dq_raw;
const Eigen::VectorXd q_before_clamp = q_chain + qdot_cmd * step_real;
const Eigen::VectorXd q_after_clamp =
q_before_clamp.cwiseMax(joint_pos_lower_limits_).cwiseMin(joint_pos_upper_limits_);
for (int i = 0; i < chain_dof_; ++i) {
if (std::abs(q_after_clamp[i] - q_before_clamp[i]) > 1e-12) {
std::cerr << "[moveL_SCurveLocal] clamp triggered: step=" << q_traj.size()
<< ", joint_index=" << i
<< ", before=" << q_before_clamp[i]
<< ", after=" << q_after_clamp[i]
<< std::endl;
}
}
q_chain = q_after_clamp;
tau = std::min(prof.total_time, tau + gamma_tot * step_real);
t += step_real;
if (t >= next_log_t) {
next_log_t += log_period;
bool near_limit = false;
int near_cnt = 0;
for (int i = 0; i < chain_dof_; ++i) {
const bool nl = (joint_pos_upper_limits_[i] - q_chain[i] < 1e-8) ||
(q_chain[i] - joint_pos_lower_limits_[i] < 1e-8);
if (nl) { near_limit = true; near_cnt++; }
}
std::cerr
<< "[MoveL ABC] t=" << t
<< " tau=" << tau << "/" << prof.total_time
<< " s=" << s << "/" << L
<< " sd=" << sd
<< " gamma_speed=" << gamma_speed
<< " gamma_lim=" << gamma_lim
<< " gamma_tot=" << gamma_tot
<< " near_limit=" << (near_limit?1:0)
<< " near_cnt=" << near_cnt
<< " |e_perp|=" << e_perp.norm()
<< " sigma_min=" << sigma_min
<< " cond=" << cond
<< " w_end=" << w_end
<< "\n";
if (sigma_min < sigma_min_th || cond > cond_th) {
std::cerr << " [C] near singular! sigma_min=" << sigma_min
<< " cond=" << cond << "\n";
}
if (gamma_lim < 0.999) {
std::cerr << " [A2] limit scaling gamma_lim=" << gamma_lim << "\n";
}
if (gamma_speed < 0.999) {
std::cerr << " [B] speed scaling gamma_speed=" << gamma_speed << "\n";
}
}
std::vector<double> q_out(chain_dof_);
Eigen::Map<Eigen::VectorXd>(q_out.data(), chain_dof_) = q_chain;
q_traj.push_back(std::move(q_out));
t_traj.push_back(t);
if (qdot_traj) {
std::vector<double> qdot_out(static_cast<size_t>(chain_dof_));
Eigen::Map<Eigen::VectorXd>(qdot_out.data(), chain_dof_) = qdot_cmd;
qdot_traj->push_back(std::move(qdot_out));
}
}
return !q_traj.empty();

24
cmvr-es/main.cpp
View File

@ -9,27 +9,13 @@
#include <glog/logging.h>
#include "service/grpc/include/server_runner.h"
#include "utils/base/include/logger.h"
#include "common/utils/config_helper/include/config_helper.h"
using namespace cmvr::service;
int main(int argc, char* argv[]) {
std::string config_path;
if(argc == 1) {
char exe_path[PATH_MAX] = {0};
ssize_t count = readlink("/proc/self/exe", exe_path, PATH_MAX);
if (count == -1) {
std::cerr << "Failed to read /proc/self/exe" << std::endl;
return 1;
}
std::string exe_dir = dirname(exe_path);
config_path = exe_dir + "/config/cabin_robot.xml";
std::cout << "Using default config path: " << config_path << std::endl;
}
else if (argc == 2){
config_path = argv[1];
}
ServerRunner runner;
const XmlNode config(config_path);
runner.start(config);
cmvr::config::ServerConfig server_config;
cmvr::ConfigHelper::getServerConfig(server_config);
ServerRunner runner(server_config);
runner.start();
runner.join();
google::ShutdownGoogleLogging();
return 0;

1
cmvr-es/monitor/abstract_monitor.h
View File

@ -13,6 +13,7 @@
namespace cmvr::monitor{
class AbstractMonitor {
public:
AbstractMonitor() = default;
explicit AbstractMonitor(const XmlNode &cfg){
cfg_ = cfg;
freq_ = cfg_.getAttrDefault("freq", 1);

6
cmvr-es/monitor/diskmonitor/include/disk_monitor.h
View File

@ -8,17 +8,21 @@
#include <condition_variable>
#include "../../abstract_monitor.h"
#include "cmvr/config/monitor_config/monitor_config.pb.h"
namespace cmvr::monitor {
class DiskMonitor final : public AbstractMonitor{
public:
explicit DiskMonitor(const XmlNode& config);
explicit DiskMonitor(const cmvr::config::DiskMonitorConfig& config); // 新增proto构造函数
~DiskMonitor();
protected:
bool check_() override;
bool execution_() override;
private:
void initFromProto(const cmvr::config::DiskMonitorConfig& config); // 新增初始化方法
std::unordered_map<std::string,int> folders_;
std::vector<std::string> dirsToClean_; // 需要清理的目录列表
mutable std::mutex mutex_; // 保护共享资源的互斥锁
@ -27,6 +31,4 @@ namespace cmvr::monitor {
};
}
#endif //FOLDER_MONITOR_H

64
cmvr-es/monitor/diskmonitor/src/disk_monitor.cpp
View File

@ -14,7 +14,6 @@ using namespace cmvr::monitor;
namespace fs = std::filesystem;
using namespace std::chrono;
// 文件信息结构体
struct FileInfo {
std::string path;
@ -38,51 +37,40 @@ bool deleteOldestFile(const std::string& directoryPath) {
struct dirent* entry;
struct stat fileStat;
// 遍历目录中的每个条目
while ((entry = readdir(dir)) != nullptr) {
// 跳过 "." 和 ".."
if (std::string(entry->d_name) == "." || std::string(entry->d_name) == "..") {
continue;
}
// 构建完整路径
std::string filePath = directoryPath + "/" + entry->d_name;
// 获取文件状态信息
if (stat(filePath.c_str(), &fileStat) == -1) {
std::cerr << "Failed to get file status: " << filePath << std::endl;
continue;
}
// 只处理普通文件
if (S_ISREG(fileStat.st_mode)) {
FileInfo fileInfo;
fileInfo.path = filePath;
// 优先使用 st_birthtime (如果可用)，否则使用 st_ctime
#ifdef HAVE_STRUCT_STAT_ST_BIRTHTIME
fileInfo.creationTime = fileStat.st_birthtime;
#else
fileInfo.creationTime = fileStat.st_ctime;
#endif
files.push_back(fileInfo);
}
}
closedir(dir);
// 如果没有找到文件，返回失败
if (files.empty()) {
std::cout << "No files found in directory: " << directoryPath << std::endl;
return false;
}
// 按创建时间排序
std::sort(files.begin(), files.end(), compareByCreationTime);
// 删除最早创建的文件
std::string oldestFilePath = files[0].path;
if (unlink(oldestFilePath.c_str()) == -1) {
std::cerr << "Failed to delete file: " << oldestFilePath << std::endl;
return false;
@ -92,11 +80,11 @@ bool deleteOldestFile(const std::string& directoryPath) {
return true;
}
bool pathExists(const std::string& path) {
struct stat buffer;
return (stat(path.c_str(), &buffer) == 0);
}
int countFilesInDirectory(const std::string& path) {
DIR* dir = opendir(path.c_str());
if (!dir) {
@ -107,9 +95,7 @@ int countFilesInDirectory(const std::string& path) {
int count = 0;
struct dirent* entry;
// 遍历目录中的每个条目
while ((entry = readdir(dir)) != nullptr) {
// 跳过 "." 和 ".."
if (std::string(entry->d_name) != "." && std::string(entry->d_name) != "..") {
count++;
}
@ -119,8 +105,8 @@ int countFilesInDirectory(const std::string& path) {
return count;
}
// XML构造函数
DiskMonitor::DiskMonitor(const XmlNode& config) : AbstractMonitor(config){
try {
for (auto &node: config.getChildren()){
string fileDir = node.getAttrString("fileDir");
@ -138,13 +124,42 @@ DiskMonitor::DiskMonitor(const XmlNode& config) : AbstractMonitor(config){
throw runtime_error("[DiskMonitor] (DiskMonitor): Failed "+ string(e.what()));
}
}
// Proto构造函数
DiskMonitor::DiskMonitor(const cmvr::config::DiskMonitorConfig& config) : AbstractMonitor() {
try {
initFromProto(config);
is_initialized_ = true;
LOG(INFO) << "[DiskMonitor]: Init DiskMonitor from proto Success";
}
catch (const exception& e) {
LOG(ERROR) << "[DiskMonitor] (DiskMonitor): Failed " << e.what();
throw runtime_error("[DiskMonitor] (DiskMonitor): Failed " + string(e.what()));
}
}
// Proto初始化方法
void DiskMonitor::initFromProto(const cmvr::config::DiskMonitorConfig& config) {
// 设置监控ID和频率（通过AbstractMonitor）
// 假设AbstractMonitor有setId和setFreq方法，如果没有需要添加
// 这里根据你的AbstractMonitor实现来调整
for (const auto& folder : config.folders()) {
string fileDir = folder.filedir();
if (!pathExists(fileDir)) {
throw runtime_error("[DiskMonitor] (initFromProto): path not exists: " + fileDir);
}
int maxVolume = folder.maxvolume();
folders_[fileDir] = maxVolume;
}
}
DiskMonitor::~DiskMonitor() {
folders_.clear();
}
bool DiskMonitor::check_() {
// 检查当前目录下的文件数量是否超过最大值
bool allOk = true;
// 遍历所有监控的文件夹
for (const auto& folder : folders_) {
const std::string& path = folder.first;
size_t maxFiles = folder.second;
@ -154,28 +169,21 @@ bool DiskMonitor::check_() {
continue;
}
int nFileCount = countFilesInDirectory(path);
if (nFileCount > maxFiles)
{
if (nFileCount > maxFiles) {
allOk = false;
dirsToClean_.push_back(path);
std::cout << "path need remove oldest file: " << path << std::endl;
}
} catch (const fs::filesystem_error& e) {
std::cerr << "Filesystem error: " << e.what() << '\n';
} catch (const std::exception& e) {
std::cerr << "Unexpected error: " << e.what() << '\n';
}
}
return allOk;
}
bool DiskMonitor::execution_() {
// 删除创建时间最早的文件
std::lock_guard<std::mutex> lock(mutex_);
bool success = true;
@ -183,6 +191,6 @@ bool DiskMonitor::execution_() {
deleteOldestFile(path);
}
dirsToClean_.clear(); // 清理完成后清空列表
dirsToClean_.clear();
return success;
}

15
cmvr-es/monitor_manager/include/monitor_factory.h
View File

@ -5,8 +5,8 @@
#ifndef MONITOR_FACTORY_H
#define MONITOR_FACTORY_H
#include "../../monitor/abstract_monitor.h"
#include "monitor/abstract_monitor.h"
#include "cmvr/config/monitor_config/monitor_config.pb.h"
namespace cmvr::monitor
{
@ -14,14 +14,17 @@ namespace cmvr::monitor
{
public:
MonitorFactory() = default;
// 原有的XML方式
template <typename MonitorType>
std::shared_ptr<MonitorType> create(const XmlNode& cfg);
std::shared_ptr<AbstractMonitor> create(const XmlNode& cfg);
// 新增proto方式
template <typename MonitorType>
std::shared_ptr<MonitorType> create(const cmvr::config::DiskMonitorConfig& config);
std::shared_ptr<AbstractMonitor> create(const cmvr::config::DiskMonitorConfig& config);
};
}
#endif //MONITOR_FACTORY_H

25
cmvr-es/monitor_manager/include/monitor_manager.h
View File

@ -15,23 +15,38 @@ namespace cmvr::monitor {
public:
MonitorManager(const MonitorManager&) = delete;
MonitorManager& operator=(const MonitorManager&) = delete;
// 原有的XML方式
static MonitorManager& getInstance(const XmlNode &cfg);
// 新增proto方式
static MonitorManager& getInstance(const cmvr::config::MonitorManagerConfig& config);
static MonitorManager& getInstance();
static void destroyInstance();
private:
explicit MonitorManager (const XmlNode &cfg);
void init_monitors();
// 原有的XML方式
explicit MonitorManager(const XmlNode &cfg);
// 新增proto方式
explicit MonitorManager(const cmvr::config::MonitorManagerConfig& config);
void init_monitors(); // XML方式
void init_monitors_from_proto(); // Proto方式
private:
static std::once_flag init_flag_;
static std::shared_ptr<MonitorManager> instance_;
XmlNode cfg_;
// 两种配置方式，只有一个有效
bool use_proto_ = false;
XmlNode cfg_; // XML配置
cmvr::config::MonitorManagerConfig proto_cfg_; // Proto配置
std::shared_ptr<MonitorFactory> monitor_factory_;
std::unordered_map<std::string, std::shared_ptr<AbstractMonitor>> monitors_;
};
}
#endif //MONITOR_MANAGER_H

28
cmvr-es/monitor_manager/src/monitor_factory.cpp
View File

@ -3,12 +3,12 @@
//
#include "../include/monitor_factory.h"
#include "../../monitor/diskmonitor/include/disk_monitor.h"
using namespace std;
using namespace cmvr::monitor;
// XML方式的模板特化
template std::shared_ptr<DiskMonitor> MonitorFactory::create<DiskMonitor>(const XmlNode&);
template <typename MonitorType>
@ -17,8 +17,30 @@ std::shared_ptr<MonitorType> MonitorFactory::create(const XmlNode& cfg) {
return std::make_shared<DiskMonitor>(cfg);
}
else {
LOG(ERROR) << "[DeviceFactory]: Unsupported device type";
throw runtime_error("[DeviceFactory]: Unsupported device type");
LOG(ERROR) << "[MonitorFactory]: Unsupported monitor type";
throw runtime_error("[MonitorFactory]: Unsupported monitor type");
}
}
// Proto方式的模板特化
template std::shared_ptr<DiskMonitor> MonitorFactory::create<DiskMonitor>(const cmvr::config::DiskMonitorConfig&);
template <typename MonitorType>
std::shared_ptr<MonitorType> MonitorFactory::create(const cmvr::config::DiskMonitorConfig& config) {
if constexpr (std::is_same_v<MonitorType, DiskMonitor>) {
return std::make_shared<DiskMonitor>(config);
}
else {
LOG(ERROR) << "[MonitorFactory]: Unsupported monitor type";
throw runtime_error("[MonitorFactory]: Unsupported monitor type");
}
}
std::shared_ptr<AbstractMonitor> MonitorFactory::create(const XmlNode& cfg) {
// 保留原有实现
return nullptr;
}
std::shared_ptr<AbstractMonitor> MonitorFactory::create(const cmvr::config::DiskMonitorConfig& config) {
return std::make_shared<DiskMonitor>(config);
}

58
cmvr-es/monitor_manager/src/monitor_manager.cpp
View File

@ -3,8 +3,7 @@
//
#include "../include/monitor_manager.h"
#include "../../monitor/diskmonitor/include/disk_monitor.h"
#include "monitor/diskmonitor/include/disk_monitor.h"
using namespace std;
using namespace cmvr::monitor;
@ -12,11 +11,19 @@ using namespace cmvr::monitor;
std::shared_ptr<MonitorManager> MonitorManager::instance_ = nullptr;
std::once_flag MonitorManager::init_flag_;
MonitorManager::MonitorManager(const XmlNode& cfg) {
// XML方式构造函数
MonitorManager::MonitorManager(const XmlNode& cfg) : use_proto_(false), cfg_(cfg) {
monitor_factory_ = make_shared<MonitorFactory>();
cfg_ = cfg;
init_monitors();
}
// Proto方式构造函数
MonitorManager::MonitorManager(const cmvr::config::MonitorManagerConfig& config) : use_proto_(true), proto_cfg_(config) {
monitor_factory_ = make_shared<MonitorFactory>();
init_monitors_from_proto();
}
// XML方式单例
MonitorManager& MonitorManager::getInstance(const XmlNode& cfg) {
std::call_once(init_flag_, [&cfg] {
instance_.reset(new MonitorManager(cfg));
@ -24,9 +31,17 @@ MonitorManager& MonitorManager::getInstance(const XmlNode& cfg) {
return *instance_;
}
// Proto方式单例
MonitorManager& MonitorManager::getInstance(const cmvr::config::MonitorManagerConfig& config) {
std::call_once(init_flag_, [&config] {
instance_.reset(new MonitorManager(config));
});
return *instance_;
}
MonitorManager& MonitorManager::getInstance() {
if (!instance_) {
throw std::runtime_error("[MonitorManager] (getInstance): MonitorManager not initialized. Call getInstance(const XmlNode&) first.");
throw std::runtime_error("[MonitorManager] (getInstance): MonitorManager not initialized. Call getInstance() first.");
}
return *instance_;
}
@ -35,13 +50,41 @@ void MonitorManager::destroyInstance() {
instance_.reset();
}
// XML方式初始化
void MonitorManager::init_monitors() {
try{
try {
auto diskmonitor_node = cfg_.getChild("DiskMonitor");
auto id = diskmonitor_node.getAttrString("id");
auto monitor = monitor_factory_->create<DiskMonitor>(diskmonitor_node);
if (monitor == nullptr) {
throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
throw std::runtime_error("[MonitorManager]: Factory returned nullptr for monitor ID: " + id);
}
monitors_[id] = monitor;
}
catch (const exception& e) {
LOG(ERROR) << e.what();
throw runtime_error(e.what());
}
}
// Proto方式初始化
void MonitorManager::init_monitors_from_proto() {
try {
if (!proto_cfg_.has_disk_monitor()) {
LOG(WARNING) << "[MonitorManager]: No disk_monitor config found";
return;
}
const auto& disk_monitor_cfg = proto_cfg_.disk_monitor();
if (!disk_monitor_cfg.enable()) {
LOG(INFO) << "[MonitorManager]: Disk monitor is disabled";
return;
}
auto id = disk_monitor_cfg.id();
auto monitor = monitor_factory_->create<DiskMonitor>(disk_monitor_cfg);
if (monitor == nullptr) {
throw std::runtime_error("[MonitorManager]: Factory returned nullptr for monitor ID: " + id);
}
monitors_[id] = monitor;
}
@ -49,5 +92,4 @@ void MonitorManager::init_monitors() {
LOG(ERROR) << e.what();
throw runtime_error(e.what());
}
}

13
cmvr-es/service/grpc/include/grpc_humanoid_robot_service.h
View File

@ -6,7 +6,7 @@
#include "device_manager/include/device_manager.h"
#include "cmvr/api/humanoid_robot_service.grpc.pb.h"
#include "ik_solver/include/pinocchio_qp_ik_solver.h"
namespace cmvr {
namespace service {
class gRPCHumanoidRobotServiceImpl final : public api::HumanoidRobotService::Service {
@ -31,8 +31,19 @@ namespace cmvr {
grpc::Status getPose(grpc::ServerContext *context, const cmvr::api::GetPose_Request *request, cmvr::api::GetPose_Response *response) override;
grpc::Status calibrateZeroQ(grpc::ServerContext* context, const cmvr::api::CalibrateZeroQ_Request* request, cmvr::api::CalibrateZeroQ_Response* response) override;
grpc::Status servoJ(grpc::ServerContext* context, const cmvr::api::ServoJ_Request* request, cmvr::api::ServoJ_Response* response) override;
grpc::Status getPoseMatrix(grpc::ServerContext* context, const cmvr::api::GetPoseMatrix_Request* request, cmvr::api::GetPoseMatrix_Response* response) override;
grpc::Status computeForwardKinematics(grpc::ServerContext* context, const cmvr::api::ComputeForwardKinematics_Request* request, cmvr::api::ComputeForwardKinematics_Response* response) override;
private:
device::DeviceManager& dmgr_;
//矩阵转换
std::shared_ptr<PinocchioQpIKSolver> pinocchio_ik_{nullptr};
};

7
cmvr-es/service/grpc/include/server_runner.h
View File

@ -11,13 +11,14 @@
#include <thread>
#include <grpcpp/grpcpp.h>
#include "rapidxml/xml_parser.h"
#include "cmvr/config/server_config/server_config.pb.h"
namespace cmvr::service {
class ServerRunner {
public:
ServerRunner();
explicit ServerRunner(XmlNode cfg);
ServerRunner(const cmvr::config::ServerConfig& config);
~ServerRunner();
ServerRunner(const ServerRunner&) = delete;
@ -25,7 +26,7 @@ namespace cmvr::service {
ServerRunner(ServerRunner&&) = delete;
ServerRunner& operator=(ServerRunner&&) = delete;
void start(XmlNode cfg);
void start();
void stop();
void join();
@ -40,7 +41,7 @@ namespace cmvr::service {
std::condition_variable cv_;
std::thread worker_;
XmlNode cfg_;
cmvr::config::ServerConfig cfg_;
std::unique_ptr<grpc::Server> server_;
std::string address_;

46
cmvr-es/service/grpc/src/grpc_camera_service.cpp
View File

@ -4,6 +4,8 @@
#include "../include/grpc_camera_service.h"
#include <limits>
using namespace std;
using namespace cmvr::service;
using namespace cmvr::device;
@ -87,7 +89,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImage(grpc::ServerContext* context,
{
try {
string dev_id = request->header().device_id();
// LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBImage): id=" << dev_id;
LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBImage): id=" << dev_id;
cv::Mat image;
const auto dev = dmgr_.getDevice<AbstractCamera>(dev_id);
Rs2Intrinsics intrinsics = {0};
@ -95,9 +97,9 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImage(grpc::ServerContext* context,
response->mutable_header()->set_success(true);
response->mutable_intrinsics()->set_fx(intrinsics.fx);
response->mutable_intrinsics()->set_fy(intrinsics.fx);
response->mutable_intrinsics()->set_cx(intrinsics.fx);
response->mutable_intrinsics()->set_cy(intrinsics.fx);
response->mutable_intrinsics()->set_fy(intrinsics.fy);
response->mutable_intrinsics()->set_cx(intrinsics.cx);
response->mutable_intrinsics()->set_cy(intrinsics.cy);
for (int i = 0; i < 5 ; i++) {
response->mutable_intrinsics()->add_coeffs(intrinsics.coeffs[i]);
}
@ -146,9 +148,9 @@ grpc::Status gRPCCameraServiceImpl::GetDepthImage(grpc::ServerContext* context,
response->mutable_header()->set_success(true);
response->mutable_intrinsics()->set_fx(intrinsics.fx);
response->mutable_intrinsics()->set_fy(intrinsics.fx);
response->mutable_intrinsics()->set_cx(intrinsics.fx);
response->mutable_intrinsics()->set_cy(intrinsics.fx);
response->mutable_intrinsics()->set_fy(intrinsics.fy);
response->mutable_intrinsics()->set_cx(intrinsics.cx);
response->mutable_intrinsics()->set_cy(intrinsics.cy);
for (int i = 0; i < 5 ; i++) {
response->mutable_intrinsics()->add_coeffs(intrinsics.coeffs[i]);
}
@ -200,9 +202,9 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
response->mutable_header()->set_success(true);
response->mutable_intrinsics()->set_fx(intrinsics.fx);
response->mutable_intrinsics()->set_fy(intrinsics.fx);
response->mutable_intrinsics()->set_cx(intrinsics.fx);
response->mutable_intrinsics()->set_cy(intrinsics.fx);
response->mutable_intrinsics()->set_fy(intrinsics.fy);
response->mutable_intrinsics()->set_cx(intrinsics.cx);
response->mutable_intrinsics()->set_cy(intrinsics.cy);
for (int i = 0; i < 5 ; i++) {
response->mutable_intrinsics()->add_coeffs(intrinsics.coeffs[i]);
}
@ -433,7 +435,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
const auto dev = dmgr_.getDevice<AbstractCamera>(dev_id);
int nFrameCount = 0;
dev->startStreaming();
size_t index = 0;
size_t last_sent_index = std::numeric_limits<size_t>::max();
while (true)
{
if (context->IsCancelled())
@ -444,8 +446,14 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
api::GetRGBImageStreamCommand_Feedback response;
cmvr::device::StreamFrameData frame_data;
dev->getEncodedFrame(frame_data,index);
if (!frame_data.rgbFrame.empty()) {
size_t next_index = last_sent_index;
if (!dev->getLatestEncodedFrame(frame_data, next_index) ||
frame_data.rgbFrame.empty() ||
next_index == last_sent_index) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
response.mutable_header()->set_success(true);
response.mutable_color_frame()->set_data(frame_data.rgbFrame.data(), frame_data.rgbFrame.size());
response.mutable_color_frame()->set_is_key_frame(frame_data.bKey);
@ -454,24 +462,20 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
response.mutable_color_frame()->set_height(frame_data.height);
response.mutable_intrinsics()->set_fx(frame_data.intrinsics.fx);
response.mutable_intrinsics()->set_fy(frame_data.intrinsics.fx);
response.mutable_intrinsics()->set_cx(frame_data.intrinsics.fx);
response.mutable_intrinsics()->set_cy(frame_data.intrinsics.fx);
response.mutable_intrinsics()->set_fy(frame_data.intrinsics.fy);
response.mutable_intrinsics()->set_cx(frame_data.intrinsics.cx);
response.mutable_intrinsics()->set_cy(frame_data.intrinsics.cy);
for (int i = 0; i < 5 ; i++) {
response.mutable_intrinsics()->add_coeffs(frame_data.intrinsics.coeffs[i]);
}
response.set_seq_no(nFrameCount++);
grpc::WriteOptions options;
options.set_last_message();
if (!stream->Write(response)) {
LOG(INFO) << "[gRPCCameraServiceImpl] (stream->Write) failed,id=" << dev_id;
break;
}
}
std::this_thread::sleep_for(std::chrono::milliseconds(33));
last_sent_index = next_index;
}
LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBImageStream): end,id=" << dev_id;
dev->stopStreaming();

357
cmvr-es/service/grpc/src/grpc_dexhand_service.cpp
View File

@ -3,6 +3,16 @@
//
#include "../include/grpc_dexhand_service.h"
#include <cmath>
#include <chrono>
#include <memory>
#include <stdexcept>
#include <thread>
#include <vector>
#include "devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h"
using namespace std;
using namespace cmvr::service;
using namespace cmvr::device;
@ -12,6 +22,148 @@ using namespace cmvr::device;
#define DEXHAND_MAX_FORCE 3000
#define DEXHAND_MAX_SPEED 1000
namespace {
constexpr int kDexHandDofCount = 6;
cmvr::api::SensorData::FingerType toProtoFingerType(const AbstractDexHand::FingerType finger) {
switch (finger) {
case AbstractDexHand::FingerType::PINKY:
return cmvr::api::SensorData::PINKY;
case AbstractDexHand::FingerType::RING:
return cmvr::api::SensorData::RING;
case AbstractDexHand::FingerType::MIDDLE:
return cmvr::api::SensorData::MIDDLE_FINGER;
case AbstractDexHand::FingerType::INDEX:
return cmvr::api::SensorData::INDEX;
case AbstractDexHand::FingerType::THUMB:
return cmvr::api::SensorData::THUMB;
case AbstractDexHand::FingerType::PALM:
return cmvr::api::SensorData::PALM;
}
return cmvr::api::SensorData::PINKY;
}
cmvr::api::SensorData::PartType toProtoPartType(const AbstractDexHand::TactileRegion region) {
switch (region) {
case AbstractDexHand::TactileRegion::TIP:
return cmvr::api::SensorData::TIP;
case AbstractDexHand::TactileRegion::FINGER:
return cmvr::api::SensorData::FINGER;
case AbstractDexHand::TactileRegion::PAD:
return cmvr::api::SensorData::PAD;
case AbstractDexHand::TactileRegion::THUMB_MIDDLE:
return cmvr::api::SensorData::THUMB_MIDDLE;
case AbstractDexHand::TactileRegion::PALM_PAD:
return cmvr::api::SensorData::PALM_PAD;
}
return cmvr::api::SensorData::TIP;
}
void fillSensorData(const AbstractDexHand::TactileRegionData& tactile_data,
cmvr::api::SensorData* sensor_data) {
sensor_data->set_rows(tactile_data.view.rows);
sensor_data->set_cols(tactile_data.view.cols);
sensor_data->set_finger_type(toProtoFingerType(tactile_data.finger));
sensor_data->set_part_type(toProtoPartType(tactile_data.region));
sensor_data->set_sensor_name(tactile_data.name == nullptr ? "" : tactile_data.name);
for (int row = 0; row < tactile_data.view.rows; ++row) {
auto* row_data = sensor_data->add_data();
const auto* values = tactile_data.view.rowData(row);
for (int col = 0; col < tactile_data.view.cols; ++col) {
// Keep the existing scalar wire format by exposing the normal-force projection.
row_data->add_values(static_cast<int32_t>(values[col].fz));
}
}
}
template <typename ResponseT>
void appendSensorData(const std::vector<AbstractDexHand::TactileRegionData>& tactile_regions,
ResponseT* response) {
for (const auto& tactile_region : tactile_regions) {
if (!tactile_region.valid()) {
continue;
}
fillSensorData(tactile_region, response->add_sensor());
}
}
template <typename FreedomCollection>
void applyFreedomValues(const FreedomCollection& freedoms,
const int scale,
std::vector<int>& targets) {
for (const auto& freedom : freedoms) {
if (freedom.id() < 0 || freedom.id() >= static_cast<int>(targets.size())) {
throw std::invalid_argument("Invalid dexhand DOF id: " + std::to_string(freedom.id()));
}
if (!std::isfinite(freedom.value())) {
throw std::invalid_argument("Invalid dexhand command value: not finite.");
}
targets[static_cast<size_t>(freedom.id())] = static_cast<int>(freedom.value() * scale);
}
}
std::vector<int> readCurrentAngles(const std::shared_ptr<AbstractDexHand>& dev) {
DexHandState state{};
dev->getState(state);
std::vector<int> current_angles(static_cast<size_t>(kDexHandDofCount), 0);
for (int i = 0; i < kDexHandDofCount; ++i) {
current_angles[static_cast<size_t>(i)] = state.hands[i].angle;
}
return current_angles;
}
bool respondUnsupportedForRh56(const std::shared_ptr<AbstractDexHand>& dev,
const char* rpc_name,
const char* hint,
cmvr::api::CommandHeader_Feedback* header) {
if (std::dynamic_pointer_cast<RH56DFTPDexhand>(dev) == nullptr) {
return false;
}
header->set_success(false);
header->set_error_message(std::string(rpc_name) + " is not supported by RH56DFTPDexhand. " + hint);
setCurrentTimestamp(header->mutable_timestamp());
return true;
}
std::vector<AbstractDexHand::TactileRegionKey> buildRh56AllTactileRegions() {
using FingerType = AbstractDexHand::FingerType;
using TactileRegion = AbstractDexHand::TactileRegion;
return {
{FingerType::PINKY, TactileRegion::TIP},
{FingerType::PINKY, TactileRegion::FINGER},
{FingerType::PINKY, TactileRegion::PAD},
{FingerType::RING, TactileRegion::TIP},
{FingerType::RING, TactileRegion::FINGER},
{FingerType::RING, TactileRegion::PAD},
{FingerType::MIDDLE, TactileRegion::TIP},
{FingerType::MIDDLE, TactileRegion::FINGER},
{FingerType::MIDDLE, TactileRegion::PAD},
{FingerType::INDEX, TactileRegion::TIP},
{FingerType::INDEX, TactileRegion::FINGER},
{FingerType::INDEX, TactileRegion::PAD},
{FingerType::THUMB, TactileRegion::TIP},
{FingerType::THUMB, TactileRegion::FINGER},
{FingerType::THUMB, TactileRegion::THUMB_MIDDLE},
{FingerType::THUMB, TactileRegion::PAD},
{FingerType::PALM, TactileRegion::PALM_PAD}
};
}
void maybeConfigureRh56FullTactilePolling(const std::shared_ptr<AbstractDexHand>& dev) {
auto rh56 = std::dynamic_pointer_cast<RH56DFTPDexhand>(dev);
if (!rh56) {
return;
}
rh56->setTactilePollingRegions(buildRh56AllTactileRegions());
}
} // namespace
gRPCDexHandServiceImpl::gRPCDexHandServiceImpl(): dmgr_(DeviceManager::getInstance()) {}
grpc::Status gRPCDexHandServiceImpl::GetStatus(grpc::ServerContext* context,
@ -20,10 +172,10 @@ grpc::Status gRPCDexHandServiceImpl::GetStatus(grpc::ServerContext* context,
string dev_id = request->header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (GetStatus): id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
DexHandState state;
DexHandState state{};
dev->getState(state);
response->mutable_state()->set_is_initialized(state.is_initialized);
for (int i = 0; i < 6; i++) {
for (int i = 0; i < kDexHandDofCount; i++) {
auto hand = response->mutable_state()->add_hands();
hand->set_dof_id(i);
hand->set_angle(state.hands[i].angle);
@ -33,7 +185,7 @@ grpc::Status gRPCDexHandServiceImpl::GetStatus(grpc::ServerContext* context,
hand->set_speed(state.hands[i].speed);
hand->set_temperature(state.hands[i].temperature);
hand->set_error(state.hands[i].error);
for (auto& errormessage :state.hands[i].error_message) {
for (auto& errormessage : state.hands[i].error_message) {
hand->add_error_message(errormessage);
}
}
@ -48,21 +200,23 @@ grpc::Status gRPCDexHandServiceImpl::GetStatus(grpc::ServerContext* context,
return grpc::Status::OK;
}
}
grpc::Status gRPCDexHandServiceImpl::SetDexHandPos(grpc::ServerContext* context
, const cmvr::api::SetDexHandPositionsCommand_Request* request
, cmvr::api::SetDexHandPositionsCommand_Feedback* response){
, cmvr::api::SetDexHandPositionsCommand_Feedback* response) {
try {
string dev_id = request->header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (SetDexHandPos): id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
auto freedoms = request->values();
//默认-1不修改状态
std::vector<int> finger_joint_targets(6,-1);
for (auto& freedom : freedoms) {
//遍历拿到需要配置的自由度,传入的是百分比0-1
finger_joint_targets[freedom.id()] = freedom.value() * DEXHAND_MAX_POSITION;
if (respondUnsupportedForRh56(dev,
"SetDexHandPos",
"Use SetDexHandAngle for RH56 joint commands.",
response->mutable_header())) {
return grpc::Status::OK;
}
std::vector<int> finger_joint_targets(static_cast<size_t>(kDexHandDofCount), -1);
applyFreedomValues(request->values(), DEXHAND_MAX_POSITION, finger_joint_targets);
dev->setPositions(finger_joint_targets);
response->mutable_header()->set_success(true);
setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
@ -83,21 +237,17 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandAngle(grpc::ServerContext* contex
string dev_id = request->header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (SetDexHandAngle): id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
auto freedoms = request->values();
//默认-1不修改状态
std::vector<int> finger_joint_targets(6,-1);
for (auto& freedom : freedoms) {
//遍历拿到需要配置的自由度,传入的是百分比0-1
finger_joint_targets[freedom.id()] = freedom.value() * DEXHAND_MAX_ANGLE;
}
// std::cout << "steAngle: ";
// for (auto& angle : finger_joint_targets)
// {
// std::cout << " " << angle;
// }
// std::cout << std::endl;
if (const auto rh56 = std::dynamic_pointer_cast<RH56DFTPDexhand>(dev)) {
std::vector<int> finger_joint_targets = readCurrentAngles(dev);
applyFreedomValues(request->values(), DEXHAND_MAX_ANGLE, finger_joint_targets);
rh56->setAngles(finger_joint_targets);
} else {
std::vector<int> finger_joint_targets(static_cast<size_t>(kDexHandDofCount), -1);
applyFreedomValues(request->values(), DEXHAND_MAX_ANGLE, finger_joint_targets);
dev->setAngles(finger_joint_targets);
}
response->mutable_header()->set_success(true);
setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
return grpc::Status::OK;
@ -117,14 +267,15 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandForce(grpc::ServerContext* contex
string dev_id = request->header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (SetDexHandForce): id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
auto freedoms = request->values();
//默认-1不修改状态
std::vector<int> finger_joint_targets(6,-1);
for (auto& freedom : freedoms) {
//遍历拿到需要配置的自由度,传入的是百分比0-1
finger_joint_targets[freedom.id()] = freedom.value() * DEXHAND_MAX_FORCE;
if (respondUnsupportedForRh56(dev,
"SetDexHandForce",
"RH56DFTPDexhand currently exposes angle and tactile APIs only.",
response->mutable_header())) {
return grpc::Status::OK;
}
std::vector<int> finger_joint_targets(static_cast<size_t>(kDexHandDofCount), -1);
applyFreedomValues(request->values(), DEXHAND_MAX_FORCE, finger_joint_targets);
dev->setForce(finger_joint_targets);
response->mutable_header()->set_success(true);
setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
@ -145,14 +296,15 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandSpeed(grpc::ServerContext* contex
string dev_id = request->header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (SetDexHandSpeed): id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
auto freedoms = request->values();
//默认-1不修改状态
std::vector<int> finger_joint_targets(6,-1);
for (auto& freedom : freedoms) {
//遍历拿到需要配置的自由度,传入的是百分比0-1
finger_joint_targets[freedom.id()] = freedom.value() * DEXHAND_MAX_SPEED;
if (respondUnsupportedForRh56(dev,
"SetDexHandSpeed",
"RH56DFTPDexhand currently exposes angle and tactile APIs only.",
response->mutable_header())) {
return grpc::Status::OK;
}
std::vector<int> finger_joint_targets(static_cast<size_t>(kDexHandDofCount), -1);
applyFreedomValues(request->values(), DEXHAND_MAX_SPEED, finger_joint_targets);
dev->setVelocities(finger_joint_targets);
response->mutable_header()->set_success(true);
setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
@ -173,6 +325,13 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandPresetAct(grpc::ServerContext* co
string dev_id = request->header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (SetDexHandPresetAct): id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
if (respondUnsupportedForRh56(dev,
"SetDexHandPresetAct",
"RH56DFTPDexhand currently exposes angle and tactile APIs only.",
response->mutable_header())) {
return grpc::Status::OK;
}
auto presetActId = request->presetactid();
dev->setPresetAct(presetActId);
response->mutable_header()->set_success(true);
@ -195,60 +354,8 @@ grpc::Status gRPCDexHandServiceImpl::GetSensorData(grpc::ServerContext* context
string dev_id = request->header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (GetSensorData): id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
//从串口获取传感器数据并返回
auto sensors = dev->getSensorData();
// 辅助函数：将FingerTactileData或PalmTactileData转换为Proto的SensorData
auto fillSensorData = [](const auto& tactileData,
cmvr::api::SensorData::FingerType fingerType,
cmvr::api::SensorData::PartType partType,
cmvr::api::SensorData* sensorData) {
// 设置行列数
sensorData->set_rows(tactileData.rows);
sensorData->set_cols(tactileData.cols);
// 设置传感器类型
sensorData->set_finger_type(fingerType);
sensorData->set_part_type(partType);
sensorData->set_sensor_name(tactileData.name); // 使用原结构体中的name字段
// 填充数据
for (const auto& row : tactileData.data) {
cmvr::api::SensorData_RowData* rowData = sensorData->add_data();
for (TactilePoint value : row) {
rowData->add_values(static_cast<int32_t>(value));
}
}
};
// 1. 填充小拇指数据
fillSensorData(sensors.pinky.tip, cmvr::api::SensorData::PINKY, cmvr::api::SensorData::TIP, response->add_sensor());
fillSensorData(sensors.pinky.finger, cmvr::api::SensorData::PINKY, cmvr::api::SensorData::FINGER, response->add_sensor());
fillSensorData(sensors.pinky.pad, cmvr::api::SensorData::PINKY, cmvr::api::SensorData::PAD, response->add_sensor());
// 2. 填充无名指数据
fillSensorData(sensors.ring.tip, cmvr::api::SensorData::RING, cmvr::api::SensorData::TIP, response->add_sensor());
fillSensorData(sensors.ring.finger, cmvr::api::SensorData::RING, cmvr::api::SensorData::FINGER, response->add_sensor());
fillSensorData(sensors.ring.pad, cmvr::api::SensorData::RING, cmvr::api::SensorData::PAD, response->add_sensor());
// 3. 填充中指数据（修改为MIDDLE_FINGER）
fillSensorData(sensors.middle.tip, cmvr::api::SensorData::MIDDLE_FINGER, cmvr::api::SensorData::TIP, response->add_sensor());
fillSensorData(sensors.middle.finger, cmvr::api::SensorData::MIDDLE_FINGER, cmvr::api::SensorData::FINGER, response->add_sensor());
fillSensorData(sensors.middle.pad, cmvr::api::SensorData::MIDDLE_FINGER, cmvr::api::SensorData::PAD, response->add_sensor());
// 4. 填充食指数据
fillSensorData(sensors.index.tip, cmvr::api::SensorData::INDEX, cmvr::api::SensorData::TIP, response->add_sensor());
fillSensorData(sensors.index.finger, cmvr::api::SensorData::INDEX, cmvr::api::SensorData::FINGER, response->add_sensor());
fillSensorData(sensors.index.pad, cmvr::api::SensorData::INDEX, cmvr::api::SensorData::PAD, response->add_sensor());
// 5. 填充大拇指数据（修改为THUMB_MIDDLE）
fillSensorData(sensors.thumb.tip, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::TIP, response->add_sensor());
fillSensorData(sensors.thumb.finger, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::FINGER, response->add_sensor());
fillSensorData(sensors.thumb.middle, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::THUMB_MIDDLE, response->add_sensor());
fillSensorData(sensors.thumb.pad, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::PAD, response->add_sensor());
// 6. 填充掌心数据（使用PALM_PAD）
fillSensorData(sensors.palm, cmvr::api::SensorData::PALM, cmvr::api::SensorData::PALM_PAD, response->add_sensor());
maybeConfigureRh56FullTactilePolling(dev);
appendSensorData(dev->getSensorData(), response);
response->mutable_header()->set_success(true);
setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
return grpc::Status::OK;
@ -266,65 +373,21 @@ grpc::Status gRPCDexHandServiceImpl::GetSensorDataStream(grpc::ServerContext* co
{
try {
api::GetSensorDataStreamCommand_Request request;
stream->Read(&request);
if (!stream->Read(&request)) {
return grpc::Status::OK;
}
string dev_id = request.header().device_id();
LOG(INFO) << "[gRPCDexHandServiceImpl] (GetSensorDataStream): start,id=" << dev_id;
const auto dev = dmgr_.getDevice<AbstractDexHand>(dev_id);
while (true)
maybeConfigureRh56FullTactilePolling(dev);
while (!context->IsCancelled())
{
api::GetSensorDataStreamCommand_Feedback response;
//从串口获取传感器数据并返回
auto sensors = dev->getSensorData();
// 辅助函数：将FingerTactileData或PalmTactileData转换为Proto的SensorData
auto fillSensorData = [](const auto& tactileData,
cmvr::api::SensorData::FingerType fingerType,
cmvr::api::SensorData::PartType partType,
cmvr::api::SensorData* sensorData) {
// 设置行列数
sensorData->set_rows(tactileData.rows);
sensorData->set_cols(tactileData.cols);
// 设置传感器类型
sensorData->set_finger_type(fingerType);
sensorData->set_part_type(partType);
sensorData->set_sensor_name(tactileData.name); // 使用原结构体中的name字段
// 填充数据
for (const auto& row : tactileData.data) {
cmvr::api::SensorData_RowData* rowData = sensorData->add_data();
for (TactilePoint value : row) {
rowData->add_values(static_cast<int32_t>(value));
}
}
};
// 1. 填充小拇指数据
fillSensorData(sensors.pinky.tip, cmvr::api::SensorData::PINKY, cmvr::api::SensorData::TIP, response.add_sensor());
fillSensorData(sensors.pinky.finger, cmvr::api::SensorData::PINKY, cmvr::api::SensorData::FINGER, response.add_sensor());
fillSensorData(sensors.pinky.pad, cmvr::api::SensorData::PINKY, cmvr::api::SensorData::PAD, response.add_sensor());
// 2. 填充无名指数据
fillSensorData(sensors.ring.tip, cmvr::api::SensorData::RING, cmvr::api::SensorData::TIP, response.add_sensor());
fillSensorData(sensors.ring.finger, cmvr::api::SensorData::RING, cmvr::api::SensorData::FINGER, response.add_sensor());
fillSensorData(sensors.ring.pad, cmvr::api::SensorData::RING, cmvr::api::SensorData::PAD, response.add_sensor());
// 3. 填充中指数据（修改为MIDDLE_FINGER）
fillSensorData(sensors.middle.tip, cmvr::api::SensorData::MIDDLE_FINGER, cmvr::api::SensorData::TIP, response.add_sensor());
fillSensorData(sensors.middle.finger, cmvr::api::SensorData::MIDDLE_FINGER, cmvr::api::SensorData::FINGER, response.add_sensor());
fillSensorData(sensors.middle.pad, cmvr::api::SensorData::MIDDLE_FINGER, cmvr::api::SensorData::PAD, response.add_sensor());
// 4. 填充食指数据
fillSensorData(sensors.index.tip, cmvr::api::SensorData::INDEX, cmvr::api::SensorData::TIP, response.add_sensor());
fillSensorData(sensors.index.finger, cmvr::api::SensorData::INDEX, cmvr::api::SensorData::FINGER, response.add_sensor());
fillSensorData(sensors.index.pad, cmvr::api::SensorData::INDEX, cmvr::api::SensorData::PAD, response.add_sensor());
// 5. 填充大拇指数据（修改为THUMB_MIDDLE）
fillSensorData(sensors.thumb.tip, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::TIP, response.add_sensor());
fillSensorData(sensors.thumb.finger, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::FINGER, response.add_sensor());
fillSensorData(sensors.thumb.middle, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::THUMB_MIDDLE, response.add_sensor());
fillSensorData(sensors.thumb.pad, cmvr::api::SensorData::THUMB, cmvr::api::SensorData::PAD, response.add_sensor());
// 6. 填充掌心数据（使用PALM_PAD）
fillSensorData(sensors.palm, cmvr::api::SensorData::PALM, cmvr::api::SensorData::PALM_PAD, response.add_sensor());
appendSensorData(dev->getSensorData(), &response);
response.mutable_header()->set_success(true);
setCurrentTimestamp(response.mutable_header()->mutable_timestamp());
if (!stream->Write(response)) {
LOG(INFO) << "[gRPCDexHandServiceImpl] (stream->Write) failed,id=" << dev_id;
@ -336,8 +399,8 @@ grpc::Status gRPCDexHandServiceImpl::GetSensorDataStream(grpc::ServerContext* co
return grpc::Status::OK;
}
catch (const std::exception& e) {
LOG(ERROR) << "[gRPCDexHandServiceImpl] (GetSensorDataStream) exception: " << e.what();
return grpc::Status::OK;
}
}

30
cmvr-es/service/grpc/src/grpc_hlc_service.cpp
View File

@ -5,6 +5,7 @@
#include "../include/grpc_hlc_service.h"
#include <algorithm>
#include <chrono>
#include <stdexcept>
#include <thread>
@ -60,12 +61,13 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr:
std::lock_guard<std::mutex> lock(touch_mutex_);
try {
const double forward_l = request->max_force();
LOG(INFO) << "[gRPCHlcServiceImpl] touch: request.device_id="
<< request->header().device_id()
<< " (ignored, using TouchScreenApp config)"
<< ", u=" << request->u()
<< ", v=" << request->v()
<< ", max_force ignored";
<< ", forward_l(max_force)=" << forward_l;
std::string init_error;
if (!ensureTouchAppInitialized(init_error)) {
@ -73,6 +75,16 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr:
return grpc::Status(grpc::StatusCode::INTERNAL, init_error);
}
if (forward_l != -1.0) {
if (forward_l < 0.0) {
throw std::runtime_error("invalid forward_l(max_force): must be -1 or >= 0");
}
if (!touch_app_.setTouchSpeedlForwardL(forward_l)) {
throw std::runtime_error(
buildTouchFailureMessage(touch_app_, "TouchScreenApp set speedl forward L failed"));
}
}
if (!touch_app_.startFromPixel(request->u(), request->v())) {
throw std::runtime_error(
buildTouchFailureMessage(touch_app_, "TouchScreenApp startFromPixel failed"));
@ -81,6 +93,8 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr:
bool align_reached = false;
bool touch_triggered = false;
auto last_logged_status = cmvr::app::TouchScreenApp::Status::IDLE;
constexpr double kControlDt = 0.001;
auto next_step_time = std::chrono::steady_clock::now();
while (touch_app_.isBusy()) {
if (context != nullptr && context->IsCancelled()) {
touch_app_.stop();
@ -89,7 +103,7 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr:
return grpc::Status(grpc::StatusCode::CANCELLED, error);
}
if (!touch_app_.step()) {
if (!touch_app_.step(kControlDt)) {
throw std::runtime_error(
buildTouchFailureMessage(touch_app_, "touch flow failed"));
}
@ -107,12 +121,18 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr:
<< ", phase="
<< cmvr::app::TouchScreenApp::phaseToString(touch_app_.phase())
<< ", active_tag=" << touch_app_.lastActiveTagId()
<< ", pressure_sum=" << touch_app_.lastTouchPressureSum()
<< ", pressure_peak=" << touch_app_.lastTouchPressurePeak();
<< ", nonzero_count=" << touch_app_.lastTouchNonzeroCount()
<< ", pressure_sum=" << touch_app_.lastTouchPressureSum();
last_logged_status = touch_app_.lastStatus();
}
std::this_thread::sleep_for(std::chrono::milliseconds(1));
next_step_time += std::chrono::duration_cast<std::chrono::steady_clock::duration>(
std::chrono::duration<double>(kControlDt));
const auto after_step = std::chrono::steady_clock::now();
if (next_step_time < after_step) {
next_step_time = after_step;
}
std::this_thread::sleep_until(next_step_time);
}
if (!align_reached) {

135
cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp
View File

@ -14,7 +14,14 @@ using namespace cmvr::api;
using google::protobuf::util::TimeUtil;
gRPCHumanoidRobotServiceImpl::gRPCHumanoidRobotServiceImpl():dmgr_(DeviceManager::getInstance()){}
gRPCHumanoidRobotServiceImpl::gRPCHumanoidRobotServiceImpl():dmgr_(DeviceManager::getInstance())
{
pinocchio_ik_ = std::make_shared<PinocchioQpIKSolver>("/home/cmvr/Projects/cmvr-es/model/xiaoyan_description/dual_arm.urdf"
,"PELVIS_S"
,"R_WRIST_R_S");
pinocchio_ik_->init();
}
grpc::Status gRPCHumanoidRobotServiceImpl::torqueOff(grpc::ServerContext *context,
@ -95,7 +102,7 @@ grpc::Status gRPCHumanoidRobotServiceImpl::moveL(grpc::ServerContext* context, c
pose.mutable_euler()->set_ry(request->targetpose().ry());
pose.mutable_euler()->set_rz(request->targetpose().rz());
robot->moveL("PELVIS_S",ee_link,pose,request->vel(),request->acc());
// robot->moveL("PELVIS_S",ee_link,pose,request->vel(),request->acc());
response->mutable_header()->set_success(true);
response->mutable_header()->set_error_message("");
}catch (const std::exception& e) {
@ -244,3 +251,127 @@ grpc::Status gRPCHumanoidRobotServiceImpl::calibrateZeroQ(grpc::ServerContext* c
*response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime();
return ret;
}
grpc::Status gRPCHumanoidRobotServiceImpl::servoJ(grpc::ServerContext* context
, const cmvr::api::ServoJ_Request* request
, cmvr::api::ServoJ_Response* response)
{
grpc::Status ret = grpc::Status::OK;
try {
auto robot = dmgr_.getDevice<AbstractRobot>(request->header().device_id());
std::vector<JointPoint> cmds{};
for (const auto& jc : request->cmds()) {
cmds.emplace_back(jc.joint_name(),jc.rad(),jc.vel());
}
robot->servoJ(cmds,request->vel(),0);
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;
}
// 在 gRPC 服务实现文件中添加以下代码
grpc::Status gRPCHumanoidRobotServiceImpl::getPoseMatrix(grpc::ServerContext* context
, const cmvr::api::GetPoseMatrix_Request* request
, cmvr::api::GetPoseMatrix_Response* response)
{
grpc::Status ret = grpc::Status::CANCELLED;
return ret;
}
grpc::Status gRPCHumanoidRobotServiceImpl::computeForwardKinematics(grpc::ServerContext* context
, const cmvr::api::ComputeForwardKinematics_Request* request
, cmvr::api::ComputeForwardKinematics_Response* response)
{
grpc::Status ret = grpc::Status::OK;
try {
// // 获取机械臂设备
// auto robot = dmgr_.getDevice<AbstractRobot>(request->header().device_id());
// 解析关节命令
std::vector<JointPoint> cmds{};
for (const auto& jc : request->joints()) {
cmds.emplace_back(jc.joint_name(), jc.rad(), jc.vel());
}
// 如果没有关节命令，返回错误
if (cmds.empty()) {
response->mutable_header()->set_success(false);
response->mutable_header()->set_error_message("No joint commands provided");
*response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime();
return grpc::Status(grpc::StatusCode::INVALID_ARGUMENT, "No joint commands provided");
}
// 获取请求参数
std::string base_link = request->base_link();
std::string ee_link = request->ee_link();
bool is_tcp = true; // 默认使用TCP
// 从关节命令中提取关节角度
std::vector<double> joints_angle;
for (const auto& cmd : cmds) {
joints_angle.push_back(cmd.rad); // 使用 rad 作为关节角度
}
// 调用机械臂的 fk 方法计算正运动学
Eigen::Matrix4d cur_pose;
bool success = pinocchio_ik_->fk(joints_angle, cur_pose, is_tcp);
if (success) {
// 设置成功状态
response->mutable_header()->set_success(true);
response->mutable_header()->set_error_message("");
// 填充4x4矩阵到响应
auto* matrix = response->mutable_matrix();
matrix->set_m00(cur_pose(0, 0));
matrix->set_m01(cur_pose(0, 1));
matrix->set_m02(cur_pose(0, 2));
matrix->set_m03(cur_pose(0, 3));
matrix->set_m10(cur_pose(1, 0));
matrix->set_m11(cur_pose(1, 1));
matrix->set_m12(cur_pose(1, 2));
matrix->set_m13(cur_pose(1, 3));
matrix->set_m20(cur_pose(2, 0));
matrix->set_m21(cur_pose(2, 1));
matrix->set_m22(cur_pose(2, 2));
matrix->set_m23(cur_pose(2, 3));
matrix->set_m30(cur_pose(3, 0));
matrix->set_m31(cur_pose(3, 1));
matrix->set_m32(cur_pose(3, 2));
matrix->set_m33(cur_pose(3, 3));
// 可选：记录日志
// LOG(INFO) << "computeForwardKinematics success for device: " << request->header().device_id();
} else {
// 正运动学计算失败
response->mutable_header()->set_success(false);
response->mutable_header()->set_error_message("Forward kinematics calculation failed");
ret = grpc::Status(grpc::StatusCode::INTERNAL, "Forward kinematics calculation failed");
}
} 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());
}
// 设置时间戳
*response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime();
return ret;
}

26
cmvr-es/service/grpc/src/server_runner.cpp
View File

@ -25,23 +25,21 @@
using namespace cmvr::service;
ServerRunner::ServerRunner() = default;
ServerRunner::ServerRunner(XmlNode cfg) {
start(std::move(cfg));
ServerRunner::ServerRunner(const cmvr::config::ServerConfig& config):cfg_(config)
{
// start();
}
ServerRunner::~ServerRunner() {
stop();
join();
}
void ServerRunner::start(XmlNode cfg) {
void ServerRunner::start() {
std::unique_lock<std::mutex> lk(mtx_);
if (worker_.joinable()) {
throw std::runtime_error("ServerRunner already started");
}
cfg_ = std::move(cfg);
stop_requested_ = false;
started_ = false;
start_failed_ = false;
@ -97,25 +95,15 @@ void ServerRunner::threadMain() {
using namespace cmvr::monitor;
try {
if (!cfg_.hasChild("DeviceManager")) {
throw std::runtime_error("Device Manager node not found");
}
static std::once_flag reflection_once;
std::call_once(reflection_once, []() {
grpc::reflection::InitProtoReflectionServerBuilderPlugin();
});
DeviceManager::getInstance();
auto dmgr_cfg = cfg_.getChild("DeviceManager");
DeviceManager::getInstance(dmgr_cfg);
if (cfg_.hasChild("MonitorManager")) {
auto mmgr_cfg = cfg_.getChild("MonitorManager");
MonitorManager::getInstance(mmgr_cfg);
}
auto grpc_cfg = cfg_.getChild("gRPCServer");
std::string port = grpc_cfg.getAttrDefault("port", "50051");
std::string port = cfg_.grpc_server().port();
std::string local_address = "0.0.0.0:" + port;
auto camera_service = std::make_unique<gRPCCameraServiceImpl>();

986
compile_commands.json Normal file
View File

@ -0,0 +1,986 @@
[
{
"directory": "/home/lgv/cmvr/cmvr-es/cmake-build-debug",
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56
protos/cmvr/api/humanoid_robot_command.proto
View File

@ -40,6 +40,17 @@ enum RobotJointIndexDirection{
ROTATE_Y = 9; // 绕Y轴旋转
ROTATE_Z = 10; // 绕Z轴旋转
}
// 4x4 齐次变换矩阵
message TransformMatrix4x4 {
double m00 = 1; double m01 = 2; double m02 = 3; double m03 = 4;
double m10 = 5; double m11 = 6; double m12 = 7; double m13 = 8;
double m20 = 9; double m21 = 10; double m22 = 11; double m23 = 12;
double m30 = 13; double m31 = 14; double m32 = 15; double m33 = 16;
}
message MoveJ{
message Request{
CommandHeader.Request header = 1;
@ -144,3 +155,48 @@ message CalibrateZeroQ {
CommandHeader.Feedback header= 1;
}
}
message ServoJ{
message Request{
CommandHeader.Request header = 1;
repeated JointCmd cmds = 2;
double vel = 3;
}
message Response{
CommandHeader.Feedback header= 1;
}
}
// 获取当前位姿的4x4矩阵
message GetPoseMatrix {
message Request {
CommandHeader.Request header = 1;
string base_link = 2; // 基坐标系
string ee_link = 3; // 末端连杆名称
}
message Response {
CommandHeader.Feedback header = 1;
TransformMatrix4x4 matrix = 2; // 4x4 位姿矩阵
}
}
// 根据关节角度计算正运动学位姿矩阵
message ComputeForwardKinematics {
message Request {
CommandHeader.Request header = 1;
string base_link = 2; // 基坐标系
string ee_link = 3; // 末端连杆名称
repeated JointCmd joints = 4; // 关节角度
}
message Response {
CommandHeader.Feedback header = 1;
TransformMatrix4x4 matrix = 2; // 计算出的4x4位姿矩阵
}
}

4
protos/cmvr/api/humanoid_robot_service.proto
View File

@ -15,4 +15,8 @@ service HumanoidRobotService{
rpc getJointState(JointRequest) returns (JointResponse);
rpc getPose(GetPose.Request) returns (GetPose.Response);
rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
rpc servoJ(ServoJ.Request) returns (ServoJ.Response);
rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response);
rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response);
}

44
protos/cmvr/config/biohead_config/biohead_config.proto Normal file
View File

@ -0,0 +1,44 @@
// biohead.proto
syntax = "proto3";
package cmvr.config;
// 眉毛配置
message EyeBrowConfig {
string serial = 1; // 如 "64:0~3"
string offest = 2; // 偏移量，如 "90 90 90 90"
string jLmtUp = 3; // 上限，如 "90 170 155 110"
string jLmtLow = 4; // 下限，如 "20 77 90 20"
}
// 眼睛配置
message EyeConfig {
string serial = 1; // 如 "64:4~9"
string offest = 2; // 偏移量，如 "90 90 90 90 90 90"
string jLmtUp = 3; // 上限，如 "90 150 165 90 120 115"
string jLmtLow = 4; // 下限，如 "20 90 90 25 70 75"
}
// 嘴巴配置
message MouthConfig {
string serial = 1; // 如 "65:0~9"
string offest = 2; // 偏移量，如 "90 90 90 90 90 90 90 90 90 90"
string jLmtUp = 3; // 上限，如 "150 110 130 140 100 105 110 125 90 95"
string jLmtLow = 4; // 下限，如 "70 30 80 80 65 55 45 80 85 90"
}
// BioHead配置
message BioHeadConfig {
string id = 1; // 设备ID，如 "bio_head"
string serial = 2; // 串口路径，如 "/dev/ttyUSB0"
int32 ctrlFreq = 3; // 控制频率，如 50
EyeBrowConfig eyebrow = 4; // 眉毛配置
EyeConfig eye = 5; // 眼睛配置
MouthConfig mouth = 6; // 嘴巴配置
bool enable = 7; // 是否启用
}
message HeadConfig {
repeated BioHeadConfig bioheads = 3;
}

5
protos/cmvr/config/camera_config/camera_config.proto
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@ -33,6 +33,8 @@ message RealSenseCameraConfig {
int32 buffer_size = 10;
bool sync = 11;
bool enable = 12;
int32 encode_width = 13;
int32 encode_height = 14;
}
// UVC摄像头
@ -47,6 +49,8 @@ message UVCCameraConfig {
StreamMode stream_mode = 8;
int32 buffer_size = 9;
bool enable = 10;
int32 encode_width = 11;
int32 encode_height = 12;
}
// 主配置消息 - 统一管理所有摄像头
@ -54,4 +58,3 @@ message CameraConfig {
repeated UVCCameraConfig uvc_cameras = 1;
repeated RealSenseCameraConfig realsense_cameras = 2;
}

29
protos/cmvr/config/dexhand_config/dexhand_config.proto
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@ -6,10 +6,39 @@ message RH56DFTPDexHandConfig{
string ip = 2;
int32 port = 3;
bool enable = 4;
int32 poll_interval_ms = 5;
}
enum PX6AXGen3PollingReadMode {
PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE = 0;
PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE = 1;
PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE = 2;
}
message PX6AXGen3{
string id = 1;
string serial_port = 2;
string sensor_model = 3;
int32 module_id = 4;
int32 baud_rate = 5;
int32 distributed_length = 6;
int32 resultant_length = 7;
int32 poll_interval_ms = 8;
bool auto_calibrate = 9;
bool enable = 10;
int32 response_timeout_ms = 11;
int32 tactile_rows = 12;
int32 tactile_cols = 13;
int32 response_header_bytes = 14;
string tactile_finger = 15;
string tactile_region = 16;
string sensor_name = 17;
PX6AXGen3PollingReadMode polling_read_mode = 18;
}
message DexHandConfig{
repeated RH56DFTPDexHandConfig rh56dftp_dexhands = 1;
repeated PX6AXGen3 px_6ax_gen3 = 2;
}

22
protos/cmvr/config/monitor_config/monitor_config.proto Normal file
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@ -0,0 +1,22 @@
syntax = "proto3";
package cmvr.config;
// 文件夹监控配置
message FolderConfig {
string fileDir = 1; // 文件夹路径
int32 maxVolume = 2; // 最大容量（MB）
}
// 磁盘监控配置
message DiskMonitorConfig {
string id = 1; // 监控器ID，如 "file_monitor"
int32 freq = 2; // 监控频率（Hz）
repeated FolderConfig folders = 3; // 要监控的文件夹列表
bool enable = 4; // 是否启用
}
// 监控管理器配置
message MonitorManagerConfig {
DiskMonitorConfig disk_monitor = 1; // 磁盘监控配置
}

88
protos/cmvr/config/robot_config/robot_config.proto Normal file
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@ -0,0 +1,88 @@
syntax = "proto3";
package cmvr.config;
// 电机配置
message MotorConfig {
int32 id = 1; // 电机ID
string jointName = 2; // 关节名称
float limitQLb = 3; // 位置下限
float limitQUb = 4; // 位置上限
float limitQd = 5; // 速度限制
}
// 通用的CAN设备配置（手臂、头部、腰部都可以复用）
message CanDeviceConfig {
string id = 1; // CAN ID
string devId = 2; // 设备ID
int32 channelId = 3; // 通道ID
bool enable = 4; // 是否启用
string toolFrame = 5; // 工具坐标系（手臂需要，头/腰可选）
repeated MotorConfig motors = 6; // 电机列表
}
// CAN管理器配置
message CanManagerConfig {
string id = 1; // CAN管理器ID
string devId = 2; // 设备ID
CanDeviceConfig left_arm = 3; // 左臂CAN
CanDeviceConfig right_arm = 4; // 右臂CAN
CanDeviceConfig head = 5; // 头部CAN
CanDeviceConfig waist = 6; // 腰部CAN
}
// 人形机器人配置
message HumanRobotConfig {
string id = 1; // 机器人ID，如 "hc01"
int32 dof = 2; // 自由度，如 14
string urdf = 3; // URDF文件路径
string baseLink = 4; // 基座link名称，如 "PELVIS_S"
string jointNames = 5; // 关节名称列表，逗号分隔
string linkNames = 6; // link名称列表，逗号分隔
int32 bufferSize = 7; // 缓冲区大小，如 50
bool verbose = 8; // 是否详细输出
int32 updFreq = 9; // 更新频率，如 500
CanManagerConfig can_manager = 10; // CAN管理器配置
bool enable = 11; // 是否启用
}
// EtherCAT主站配置
message EthercatMasterConfig {
string interface = 1; // 网络接口，如 "eth0"
int32 cycle_time_us = 2; // 周期时间（微秒），默认1000
bool enable = 3; // 是否启用
}
// EtherCAT电机驱动配置
message EthercatMotorConfig {
int32 slave = 1; // 从站ID
string jointName = 2; // 关节名称
float limitQLb = 3; // 位置下限
float limitQUb = 4; // 位置上限
float limitQd = 5; // 速度限制
}
// EtherCAT机器人配置
message EthercatRobotConfig {
string id = 1; // 机器人ID
int32 dof = 2; // 自由度
string urdf = 3; // URDF文件路径
string baseLink = 4; // 基座link名称
string jointNames = 5; // 关节名称列表，逗号分隔
string linkNames = 6; // link名称列表，逗号分隔
int32 bufferSize = 7; // 缓冲区大小
bool verbose = 8; // 是否详细输出
int32 updFreq = 9; // 更新频率（Hz）
bool enable = 10; // 是否启用
EthercatMasterConfig master = 11; // EtherCAT主站配置
repeated EthercatMotorConfig motors = 12; // 电机配置列表
}
// 主配置
message RobotConfig {
repeated HumanRobotConfig humanrobots = 1;
repeated EthercatRobotConfig ethercat_robots = 2; // 新增的EtherCAT机器人
}

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