update proto config

cmvr-es/applications/include/touch_screen_app.h

@@ -57,15 +57,18 @@ public:
         ROBOT_COMMAND_FAILED      // 向机器人下发控制命令失败。
     };
 
-    enum class TactileRegion {
+    enum class AlignMode {
-        TIP = 0,
+        POSE_AND_POSITION = 0,  // 使用配置里的固定 rx/ry/rz 与位置一起对齐。
-        FINGER,
+        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。
-        PAD,
+        POSITION_ONLY           // 保留锁定时看到的完整 tag 姿态，只按位置对齐。
-        TIP_AND_FINGER,
-        THUMB_MIDDLE
     };
 
-    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。
+        // 视觉对准收敛判据 `[x, y, z, rx, ry, rz]`。
-        // 目标点在相机坐标系 x/y 方向的允许误差，单位米。
+        // 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。
-        double align_xy_threshold_m{0.003};
+        std::array<double, 6> align_error_threshold6{{0.003, 0.003, 0.010,
-        // 目标点在相机坐标系 z 方向的允许误差，单位米。
+                                                       0.08726646259971647,
-        double align_z_threshold_m{0.010};
+                                                       0.08726646259971647,
-        // tag 当前姿态与目标姿态的允许夹角误差，单位弧度。
+                                                       0.08726646259971647}};
-        double align_rot_threshold_rad{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};
+        double touch_speedl_acceleration{3.0};
-        // 前进触控阶段的最大持续时间，单位秒。
+        // 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。
-        // 该时间由 TouchScreenApp 状态机自行计时，不直接传给 robot->speedL(time)。
+        double touch_forward_l{0.08};
-        // 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。
+        // 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};
+        device::AbstractDexHand::TactileRegion tactile_region{
-        // 触觉压力和阈值；总和超过该值认为已经接触。
+            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。
+        // 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。
-        double tactile_pressure_peak_threshold{0.0};
+        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 setConfigFromProto();
-    bool setOptionsFromConfig(const cmvr::config::TouchScreenAppConfig& config);
+    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,
+    static bool configFromProto(const cmvr::config::TouchScreenAppConfig& proto_config,
-                                  Options& options_out);
+                                Config& config_out);
-    void setOptions(const Options& options);
+    void setConfig(const Config& config);
-    bool applyOptions();
+    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};

cmvr-es/applications/src/touch_screen_app_test.cpp

@@ -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()
+            std::cout << "touch triggered, nonzero_count=" << app.lastTouchNonzeroCount()
-                      << ", pressure_peak=" << app.lastTouchPressurePeak() << "\n";
+                      << ", pressure_sum=" << app.lastTouchPressureSum() << "\n";
             touch_triggered = true;
         }
         if (!step_ok) {

cmvr-es/common/CMakeLists.txt

@@ -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)

cmvr-es/common/config/biohead_config/biohead_config.pb.txt

@@ -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"
+  }
+}

cmvr-es/common/config/cabin_robot.xml

@@ -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>

cmvr-es/common/config/camera_config/camera_config.pb.txt

@@ -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 {

cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt

@@ -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
 }

cmvr-es/common/config/monitor_config/monitor_config.pb.txt

@@ -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
+    }
+  }
+}

cmvr-es/common/config/robot_config/robot_config.pb.txt

@@ -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
+  }
+}

cmvr-es/common/config/server_config/server_config.pb.txt

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

cmvr-es/common/config/touch_screen_app_config/touch_screen_app_config.pb.txt

@@ -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
+  x: -0.001
-  y: 0.0
+  y: 0.08
-  z: 0.20
+  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
+  vx: 1.0
-  vy: 0.15
+  vy: 1.0
-  vz: 0.20
+  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_error_threshold6 {
-align_z_threshold_m: 0.010
+  x: 0.005
-align_rot_threshold_rad: 0.08726646259971647
+  y: 0.005
-align_stable_frames: 5
+  z: 0.01
-align_timeout_s: 100.0
+  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_use_speedl: true
-touch_forward_duration_s: 1.2
+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_acceleration: 8.0
-retract_duration_s: 1.0
+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_criterion: TOUCH_SCREEN_TACTILE_CRITERION_FZ
-tactile_pressure_peak_threshold: 0.0
+tactile_pressure_sum_threshold: 1.0
+tactile_nonzero_count_threshold: 1

cmvr-es/common/utils/config_helper/include/config_helper.h

@@ -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>

cmvr-es/common/utils/config_helper/include/config_setting.h

@@ -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);

cmvr-es/common/utils/config_helper/src/config_setting.cpp

@@ -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()
+std::string normalizeDirectory(std::filesystem::path path) {
-// {
+    auto text = path.lexically_normal().string();
-//     char* cwd = ::getcwd(nullptr, 0);
+    if (!text.empty() && text.back() != '/') {
-//     if (!cwd) return {};
+        text.push_back('/');
-//     std::string s(cwd);
+    }
-//     std::free(cwd);
+    return text;
-//     return s + "/config/";
+}
-// }
+
-static std::string basePath()
+std::string probeConfigDirectory(std::filesystem::path start) {
-{
+    static const std::array<std::filesystem::path, 4> candidates = {
-    return "/home/lgv/cmvr/cmvr-es/output/bin/config/";
+        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");

cmvr-es/common/utils/ffmpeg/include/CameraCapture.h

@@ -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 {
+    class CameraCapture {
-        std::string device_name = "0";  // Windows: "0" (dshow), Linux: "0" (对应 /dev/video0)
+    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 {
+        // 回调函数：同时返回AVFrame和cv::Mat
-    public:
+        using FrameCallback = std::function<void(AVFrame* frame, cv::Mat rgb_image, int64_t timestamp)>;
-        using FrameCallback = std::function<void(AVFrame* frame)>;
 
         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();
     };

cmvr-es/common/utils/ffmpeg/include/RealSenseCapture.h

@@ -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

cmvr-es/common/utils/ffmpeg/include/VideoFrameEncoder.h

@@ -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;

cmvr-es/common/utils/ffmpeg/include/VideoWriter.h

@@ -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;

cmvr-es/common/utils/ffmpeg/src/CameraCapture.cpp

@@ -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
+                // 设置PTS
-                callback(frame_);
+                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;

cmvr-es/common/utils/ffmpeg/src/RealSenseCapture.cpp

@@ -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

cmvr-es/common/utils/ffmpeg/src/VideoFrameEncoder.cpp

@@ -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

cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp

@@ -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;
 

cmvr-es/controller/include/ibvs_controller.h

@@ -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

cmvr-es/controller/src/ibvs_controller.cpp

@@ -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_);
 }

cmvr-es/data_center/CMakeLists.txt

@@ -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
 )

cmvr-es/data_center/include/motors_info.h

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

cmvr-es/data_center/src/motors_info.cpp

@@ -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) {
+void MotorsInfo::init(const cmvr::config::HumanRobotConfig& config) {
-    // 定义 lambda 函数，用于读取 XML 节点 enable 属性
+    const auto& can_manager = config.can_manager();
-    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");
 
-    auto l_can_cfg = can_cfg.getChild("LeftArmCan");
+    // 读取enable状态
-    left_arm_enabled_ = readEnable(l_can_cfg);
+    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");
+        const auto& left_arm = can_manager.left_arm();
-        l_can_client_ = std::make_shared<SocketCanClientRaw>(l_can_cfg);
+        for (const auto& motor : left_arm.motors()) {
-        l_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
+            l_motors_cfg.push_back(motor);
-        l_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
+        }
-        l_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
+        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>>();
     }
 
-
+    // 右臂
-    auto r_can_cfg = can_cfg.getChild("RightArmCan");
-    right_arm_enabled_ = readEnable(r_can_cfg);
     if (right_arm_enabled_) {
-        r_motors_cfg_ = r_can_cfg.getChildren("Motor");
+        const auto& right_arm = can_manager.right_arm();
-        r_can_client_ = std::make_shared<SocketCanClientRaw>(r_can_cfg);
+        for (const auto& motor : right_arm.motors()) {
-        r_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
+            r_motors_cfg.push_back(motor);
-        r_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
+        }
-        r_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
+        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>>();
     }
 
-
+    // 腰部
-    auto waist_can_cfg = can_cfg.getChild("WaistCan");
-    waist_enabled_ = readEnable(waist_can_cfg);
     if (waist_enabled_) {
-        waist_motors_cfg_ = waist_can_cfg.getChildren("Motor");
+        const auto& waist = can_manager.waist();
-        waist_can_client_ = std::make_shared<SocketCanClientRaw>(waist_can_cfg);
+        for (const auto& motor : waist.motors()) {
-        waist_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
+            waist_motors_cfg.push_back(motor);
-        waist_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
+        }
-        waist_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
+        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");
+    // 头部
-    head_enabled_ = readEnable(head_can_cfg);
     if (head_enabled_) {
-        head_motors_cfg_ = head_can_cfg.getChildren("Motor");
+        const auto& head = can_manager.head();
-        head_can_client_ = std::make_shared<SocketCanClientRaw>(head_can_cfg);
+        for (const auto& motor : head.motors()) {
-        head_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
+            head_motors_cfg.push_back(motor);
-        head_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
+        }
-        head_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
+        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<CanSender<msgs::RobotDetail>> sender;
-        std::shared_ptr<CanReceiver<msgs::RobotDetail> > receiver;
+        std::shared_ptr<CanReceiver<msgs::RobotDetail>> receiver;
-        std::shared_ptr<MessageManager<msgs::RobotDetail> > message_manager;
+        std::shared_ptr<MessageManager<msgs::RobotDetail>> message_manager;
-        std::vector<XmlNode> motor_cfgs;
+        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},
-            "WAIST", waist_enabled_, waist_can_client_, waist_can_sender_, waist_can_receiver_, waist_message_manager_,
+        {"LEFT_ARM", left_arm_enabled_, l_can_client_, l_can_sender_, l_can_receiver_, l_message_manager_, l_motors_cfg},
-            waist_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}
-        {
-            "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 <<
+                LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing " << limb.name << " motors...";
-                        " motors...";
+                for (const auto& motor_cfg : limb.motor_cfgs) {
-                for (const auto &cfg: limb.motor_cfgs) {
+                    auto motor = std::make_shared<Ti5Motor>(motor_cfg);
-                    auto motor = std::make_shared<Ti5Motor>(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};

cmvr-es/device_manager/CMakeLists.txt

@@ -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

cmvr-es/device_manager/include/device_factory.h

@@ -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);
     };
 }
 

cmvr-es/device_manager/include/device_manager.h

@@ -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_();
     };

cmvr-es/device_manager/src/device_factory.cpp

@@ -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");

cmvr-es/device_manager/src/device_manager.cpp

@@ -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_) {
+    if (!instance_)
-        throw std::runtime_error("[DeviceManager] (getInstance): DeviceManager not initialized. Call getInstance(const XmlNode&) first.");
+        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 dmgr_node = cfg_.getChild("Devices");
-        auto battery_node = dmgr_node.getChild("Battery");
+        // auto battery_node = dmgr_node.getChild("Battery");
-        for (auto &node: battery_node.getChildren()){
+        // for (auto &node: battery_node.getChildren()){
-            string id = node.getAttrString("id");
+        //     string id = node.getAttrString("id");
-            if (devices_.count(id)) {
+        //     if (devices_.count(id)) {
-                LOG(ERROR) << "[DeviceManager]: Duplicate Battery Device ID " << id;
+        //         LOG(ERROR) << "[DeviceManager]: Duplicate Battery Device ID " << id;
-                throw runtime_error("[DeviceManager]: Duplicate Battery Device ID " + id);
+        //         throw runtime_error("[DeviceManager]: Duplicate Battery Device ID " + id);
-            }
+        //     }
-            auto device = dev_factory_->create<AbstractBattery>(node);
+        //     auto device = dev_factory_->create<AbstractBattery>(node);
-            if (device == nullptr) {
+        //     if (device == nullptr) {
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
+        //         throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
-            }
+        //     }
-            devices_[id] = device;
+        //     devices_[id] = device;
-            std::get<std::shared_ptr<AbstractBattery>>(devices_[id])->init();
+        //     std::get<std::shared_ptr<AbstractBattery>>(devices_[id])->init();
-            LOG(INFO) << "[DeviceManager]: Init Battery " << id << " Success";
+        //     LOG(INFO) << "[DeviceManager]: Init Battery " << id << " Success";
-        }
+        // }
 
-        auto agv_node = dmgr_node.getChild("AGV");
+        // auto agv_node = dmgr_node.getChild("AGV");
-        for (auto &node: agv_node.getChildren()){
+        // for (auto &node: agv_node.getChildren()){
-            string id = node.getAttrString("id");
+        //     string id = node.getAttrString("id");
-            if (devices_.count(id)) {
+        //     if (devices_.count(id)) {
-                LOG(ERROR) << "[DeviceManager]: Duplicate AGV Device ID" << id;
+        //         LOG(ERROR) << "[DeviceManager]: Duplicate AGV Device ID" << id;
-                throw runtime_error("[DeviceManager]: Duplicate AGV Device ID" + id);
+        //         throw runtime_error("[DeviceManager]: Duplicate AGV Device ID" + id);
-            }
+        //     }
-            auto device = dev_factory_->create<AbstractAGV>(node);
+        //     auto device = dev_factory_->create<AbstractAGV>(node);
-            if (device == nullptr) {
+        //     if (device == nullptr) {
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
+        //         throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
-            }
+        //     }
-            devices_[id] = device;
+        //     devices_[id] = device;
-            std::get<std::shared_ptr<AbstractAGV>>(devices_[id])->init();
+        //     std::get<std::shared_ptr<AbstractAGV>>(devices_[id])->init();
-            LOG(INFO) << "[DeviceManager]: Init AGV " << id << " Success";
+        //     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 (int i = 0; i < dexhand_cfg.px_6ax_gen3().size(); i++) {
-        for (auto &node: robot_node.getChildren()){
+            auto dexhand = dexhand_cfg.px_6ax_gen3(i);
-            string id = node.getAttrString("id");
+            if (!dexhand.enable())
+                continue;
+            auto id = dexhand.id();
             if (devices_.count(id)) {
-                LOG(ERROR) << "[DeviceManager]: Duplicate robot Device ID" << id;
+                LOG(ERROR) << "[DeviceManager]: Duplicate DexHand Device ID" << id;
-                throw runtime_error("[DeviceManager]: Duplicate robot Device ID" + id);
+                throw runtime_error("[DeviceManager]: Duplicate DexHand Device ID" + id);
             }
-            auto device = dev_factory_->create<AbstractRobot>(node);
+            std::cout << "DexHand[" << i << "]: " << id << std::endl;
-            if (device == nullptr) {
+            auto device = dev_factory_->createFromConfig<AbstractDexHand,config::PX6AXGen3>(dexhand);
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
+            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();
         }
 
-
+        config::HeadConfig head_cfg;
-        auto biohead_node = dmgr_node.getChild("BioHead");
+        ConfigHelper::getHeadConfig(head_cfg);
-        for (auto &node: biohead_node.getChildren()){
+        for (int i = 0; i < head_cfg.bioheads().size(); i++) {
-            string id = node.getAttrString("id");
+            auto head = head_cfg.bioheads(i);
-            if (devices_.count(id)){
+            if (!head.enable())
-                LOG(ERROR) << "[DeviceManager]: Duplicate AbstractBiohead Device ID" << id;
+                continue;
-                throw runtime_error("[DeviceManager]: Duplicate AbstractBiohead Device ID" + id);
+            auto id = head.id();
-            }
+            if (devices_.count(id)) {
-            auto device = dev_factory_->create<AbstractBiohead>(node);
+                LOG(ERROR) << "[DeviceManager]: Duplicate Biohead Device ID" << id;
-            if (device == nullptr){
+                throw runtime_error("[DeviceManager]: Duplicate Biohead Device ID" + id);
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for 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_() {
             }
         }
 }
-

cmvr-es/devices/biohead/abstract_biohead.h

@@ -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;
 

cmvr-es/devices/biohead/biohead_esp32/CMakeLists.txt

@@ -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)
 

cmvr-es/devices/biohead/biohead_esp32/include/biohead_esp32.h

@@ -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_;
 
     };
 

cmvr-es/devices/biohead/biohead_esp32/src/biohead_esp32.cpp

@@ -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) {

cmvr-es/devices/camera/abstract_camera.h

@@ -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() {}

cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h

@@ -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_;

cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp

@@ -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_)) {
+        // if (!initSingleEncoder(depthEncoder_, codec_, width_, height_, fps_)) {
-            LOG(ERROR) << "[RealsenseCamera] (start): Failed to init depth encoder!";
+        //     LOG(ERROR) << "[RealsenseCamera] (start): Failed to init depth encoder!";
-            throw runtime_error("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.width = encode_width_;
-                frame_data.height = height_;
+                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_);

cmvr-es/devices/camera/realsense_camera/src/realsense_camera_test.cpp

@@ -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();

cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h

@@ -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_;

cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp

@@ -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.width = encode_width_;
-                frame_data.height = height_;
+                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_);

cmvr-es/devices/canbus/abstract_canbus.h

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

cmvr-es/devices/canbus/can_client/socket/socket_can_client_raw.cc

@@ -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()) {

cmvr-es/devices/canbus/can_client/socket/socket_can_client_raw.h

@@ -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_;
         };
     }
 }

cmvr-es/devices/dexhand/CMakeLists.txt

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

cmvr-es/devices/dexhand/abstract_dexhand.h

@@ -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）
+namespace cmvr::device {
-    struct FingerTactileData {
+    class AbstractDexHand : public AbstractDevice {
-        std::vector<std::vector<TactilePoint>> data; // 触觉数据二维数组
+    public:
-        int rows;                                     // 行数
+        struct TactilePoint {
-        int cols;                                     // 列数
+            int32_t fx{0};
-        int byteSize;                                 // 总字节数（rows * cols * 2字节/点）
+            int32_t fy{0};
-        std::string name;                             // 部位名称
+            int32_t fz{0};
 
-        // 初始化数据数组
+            static TactilePoint fromFz(const int32_t value) {
-        void init() {
+                return TactilePoint{0, 0, value};
-            data.resize(rows, std::vector<TactilePoint>(cols, 0));
             }
 
-        // 从 std::vector<uint16_t> 中赋值数据
+            double magnitude() const {
-        void assignFromVector(const std::vector<uint16_t>& values, int startIndex = 0) {
+                return std::sqrt(static_cast<double>(fx) * static_cast<double>(fx) +
-            int index = startIndex;
+                                 static_cast<double>(fy) * static_cast<double>(fy) +
-            for (int i = 0; i < rows; ++i) {
+                                 static_cast<double>(fz) * static_cast<double>(fz));
-                for (int j = 0; j < cols; ++j) {
-                    if (index < values.size()) {
-                        data[i][j] = values[index];
-                        index++;
-                    }
-                }
             }
+
+            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）
+        using ResultantForce = TactilePoint;
-    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
 
-        // 初始化数据数组
+        enum class FingerType {
-        void init() {
+            PINKY,
-            data.resize(rows, std::vector<TactilePoint>(cols, 0));
+            RING,
-        }
+            MIDDLE,
-
+            INDEX,
-        // 从 std::vector<uint16_t> 中赋值数据
+            THUMB,
-        void assignFromVector(const std::vector<uint16_t>& values, int startIndex = 0) {
+            PALM
-            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++;
-                    }
-                }
-            }
-        }
         };
 
-    // 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
+        using TactileRegionKey = std::pair<FingerType, TactileRegion>;
-    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
 
-        // 大拇指（特殊：多一个指中）
+        struct TactileMatrixView {
-        struct {
+            const TactilePoint* data{nullptr};
-            FingerTactileData tip;    // 指端
+            int rows{0};
-            FingerTactileData finger;  // 指尖
+            int cols{0};
-            FingerTactileData middle;  // 指中
-            FingerTactileData pad;     // 指腹
-        } thumb;
 
-        // 掌心触觉数据
+            bool valid() const {
-        PalmTactileData palm;
+                return data != nullptr && rows > 0 && cols > 0;
-
-        // 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;
-            }
             }
 
-        // 解析手心（掌心）数据
+            int pointCount() const {
-        void parsePalm(const std::vector<uint16_t>& values) {
+                return rows * cols;
-            palm.assignFromVector(values);
             }
 
-        // 获取手指名称（用于调试）
+            const TactilePoint* rowData(int row) const {
-        std::string getFingerName(FingerType fingerType) {
+                return data + row * cols;
-            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";
             }
+
+            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 getState(DexHandState& state) {
-        virtual void setPositions(const std::vector<int>& finger_joint_targets) {}
+            state = DexHandState{};
-        virtual void setAngles(const std::vector<int>& finger_joint_angles) {}
+            const auto lifecycle = this->state();
-        virtual void setVelocities(const std::vector<int>& finger_joint_velocities) {}
+            state.is_initialized =
-        virtual void setPresetAct(int action_id) {}
+                lifecycle == Status::INITIALIZED ||
-        virtual void execPresetAct(int action_id) {}
+                lifecycle == Status::STREAMING;
-        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) {
+        virtual void setAngles(const std::vector<int>& finger_joint_angles) = 0;
-            (void)finger_type;
+        virtual void setTactilePollingRegion(FingerType finger, TactileRegion region) {
-            (void)tactile_region;
+            setTactilePollingRegions({TactileRegionKey{finger, region}});
-            return getSensorData();
+        }
+
+        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_;
     };
 }
 

cmvr-es/devices/dexhand/px_6ax_gen3/CMakeLists.txt

@@ -0,0 +1,28 @@
+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
+)

cmvr-es/devices/dexhand/px_6ax_gen3/include/px_6ax_gen3.h

@@ -0,0 +1,132 @@
+//
+// 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

cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3.cpp

@@ -0,0 +1,864 @@
+//
+// 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;
+}

cmvr-es/devices/dexhand/px_6ax_gen3/src/px_6ax_gen3_test.cpp

@@ -0,0 +1,170 @@
+#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);
+}

cmvr-es/devices/dexhand/rh56dftp_dexhand/CMakeLists.txt

@@ -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
+)

cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h

@@ -5,78 +5,126 @@
 #ifndef RH56DFTP_DEXHAND_H
 #define RH56DFTP_DEXHAND_H
 
-#include <thread>
+#include <array>
-#include <mutex>
+#include <atomic>
-#include <queue>
+#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);
+        void writeRegisters(int address, const uint16_t* values, int count);
-        std::vector<uint16_t> readRegisters(int address, int count);
+        void readRegisterBlock(int start_address, int count, std::vector<uint16_t>& values);
-        std::vector<uint16_t> readRegisterRange(int start_addr, int end_addr);
 
-        bool write6(const std::string& reg_name, const std::vector<int>& val);
+    private:
-        bool read6(const std::string& reg_name, std::vector<int>& result);
+        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 setTactilePollingRegions(const std::vector<TactileRegionKey>& regions) 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
+        std::vector<TactileRegionData> getSensorData() override;
-        void execPresetAct(int action_id) override;//这个无用
+        TactileRegionData getSensorData(FingerType finger, TactileRegion region) override;
-        void setForce(const std::vector<int>& finger_joint_force) override;
+        ResultantForce getResultantForce(FingerType finger, TactileRegion region) override;
-        HandTactileSensors& getSensorData() override;
-        HandTactileSensors& getSensorData(FingerType finger_type, TactileRegion tactile_region) override;
-    private:
-        void updateState();
-        void updateSensorData();
 
-        int default_force_;//上电的力控阈值
+    private:
-        int default_speed_;//上电的自由角转动速度
+        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_;
+        int port_{6000};
-        std::shared_ptr<ModbusController> controller_;
 
+        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

cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_tactile_buffer.h

@@ -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

cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand_test.cpp

@@ -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);
+}

cmvr-es/devices/motor/CMakeLists.txt

@@ -1,5 +1,5 @@
 add_subdirectory(ti5_motor)
-
+add_subdirectory(eyou_motor)
 # --------------------------------------------------------
 # Unit test
 # --------------------------------------------------------

cmvr-es/devices/motor/abstract_motor.h

@@ -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;

cmvr-es/devices/motor/eyou_motor/CMakeLists.txt

@@ -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)

cmvr-es/devices/motor/eyou_motor/ethercat/eyou_motor_ethercat_protocol.cpp

@@ -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
+}

cmvr-es/devices/motor/eyou_motor/ethercat/eyou_motor_ethercat_protocol.h

@@ -0,0 +1,106 @@
+//
+// 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

cmvr-es/devices/motor/eyou_motor/eyou_motor.cpp

@@ -0,0 +1,5 @@
+//
+// Created by cmvr on 2026/3/30.
+//
+
+#include "eyou_motor.h"

cmvr-es/devices/motor/eyou_motor/eyou_motor.h

@@ -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_);
+                }
+            }
+        };
+
+
+    }
+}

cmvr-es/devices/motor/motor_protocol_interface.h

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

cmvr-es/devices/motor/ti5_motor/ti5_motor.h

@@ -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
              */

cmvr-es/devices/robot/abstract_robot.h

@@ -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 bool moveL(const std::vector<double> &pose,
-
+                           double speed = 0.25,
-        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"); }
+                           double acceleration = 1.2,
-
+                           double jerk = 5.0,
-        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"); }
+                           const std::vector<double> &qd_max = std::vector<double>(7, 2.5),
-        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"); }
+                           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_{};

cmvr-es/devices/robot/humanoid_robot/include/humanoid_robot.h

@@ -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;
-
+        bool moveL(const std::vector<double> &pose,
-        void moveL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double vel, double acc) override;
+                   double speed = 0.25,
-        void moveL(const std::string &base_link, const std::string &ee_link,msgs::Pose3d target_pose, double vel, double acc) override;
+                   double acceleration = 1.2,
-        void moveDeltaL(const std::string &base_link, const std::string &ee_link,msgs::Pose3d delta_pose, double vel, double acc) override;
+                   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_ = "";
     };
 
 

cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp

@@ -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->setTarget(j.rad,j.vel);
-            motor->setQ(j.rad);
         }
     }
     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->setTarget(j.rad,vel);
-            motor->setQ(j.rad);
         }
     }
 }
@@ -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
+        if (!ik_solver_) {
-        Eigen::Vector<double, DOF> q;
+            throw std::runtime_error("ik_solver_ is not initialized");
-        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"];
 
-        LOG(INFO) << "q_current: " << q;
+        const auto q_map = getJointQ();
-        // 更新状态并计算前向运动学
+        std::vector<double> q_current;
-        m_state_->SetQ(q);
+        q_current.reserve(kRightArmJointNames.size());
-        m_robot_->ComputeForwardKinematics(m_state_);
+        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
+        Eigen::Matrix4d T = Eigen::Matrix4d::Identity();
-        auto base_idx = m_robot_->GetLinkIdx(base_link);
+        if (!ik_solver_->fk(base_link, ee_link, q_current, T)) {
-        auto ee_idx = m_robot_->GetLinkIdx(ee_link);
+            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,
+bool HumanoidRobot<DOF>::moveL(const std::vector<double> &pose,
-                                    msgs::Pose3d delta_pose, double vel, double acc) {
+                               double speed,
-    try {
+                               double acceleration,
-        Eigen::Vector<double, DOF> q_current_for_ik;
+                               double jerk,
-        auto q_map_current = getJointQ();
+                               const std::vector<double> &qd_max,
-        q_current_for_ik << q_map_current["L_SHOULDER_P"], q_map_current["L_SHOULDER_R"], q_map_current["L_SHOULDER_Y"],
+                               bool asynchronous) {
-                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) {
     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
+        std::vector<double> q_start;
-        msgs::Pose3d current_pose = fk(base_link, ee_link);
+        q_start.reserve(kRightArmJointNames.size());
-
+        const auto q_map = getJointQ();
-        // 1. 初始化当前和目标位姿矩阵
+        for (const auto& joint_name : kRightArmJointNames) {
-        Eigen::Matrix4d T_current = Eigen::Matrix4d::Identity();
+            const auto it = q_map.find(joint_name);
-        T_current.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(
+            if (it == q_map.end()) {
-            current_pose.euler().rx(), current_pose.euler().ry(), current_pose.euler().rz()
+                LOG(ERROR) << "executeMoveLScurve_: missing joint state for " << joint_name;
-        );
+                return false;
-        T_current(0, 3) = current_pose.position().x();
+            }
-        T_current(1, 3) = current_pose.position().y();
+            q_start.push_back(it->second);
-        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");
         }
 
-        // 3. 计算位置差值（保持姿态不变）
+        if (!qd_max.empty() && qd_max.size() != kRightArmJointNames.size()) {
-        Eigen::Vector3d delta_pos = T_target.block<3, 1>(0, 3) - T_current.block<3, 1>(0, 3);
+            LOG(ERROR) << "executeMoveLScurve_: qd_max size mismatch, expect "
-        double total_distance = delta_pos.norm();
+                       << kRightArmJointNames.size() << ", got " << qd_max.size();
-
+            return false;
-        if (total_distance < 1e-6) {
-            LOG(INFO) << "moveL: Target is already reached";
-            return;
         }
 
-        // 4. 基于S曲线速度规划的时间规划
+        std::vector<std::vector<double>> q_traj;
-        // 计算总时间和插值点数
+        std::vector<std::vector<double>> qdot_traj;
-        double move_time = calculateMoveTime(total_distance, vel, acc);
+        std::vector<double> t_traj;
-        size_t num_points = std::max(2ul, static_cast<size_t>(ceil(move_time / CONTROL_PERIOD)));
+        if (!ik_solver_->moveL_SCurveLocal(target_pose_input,
-
+                                           q_start,
-        // 生成时间轴和距离比例
+                                           q_traj,
-        std::vector<double> time_points;
+                                           t_traj,
-        std::vector<double> distance_ratios;
+                                           dt_real,
-        generateSTrapezoidalProfile(total_distance, vel, acc, move_time, num_points,
+                                           v_tcp_max,
-                                    time_points, distance_ratios);
+                                           a_tcp_max,
-
+                                           j_tcp_max,
-        LOG(INFO) << "moveL: Planning trajectory - points=" << num_points
+                                           qd_max,
-                << ", total distance=" << total_distance << "m, move time=" << move_time << "s";
+                                           is_tcp,
-
+                                           input_frame,
-        // 5. 生成轨迹点（位置线性插值，姿态保持不变）
+                                           &qdot_traj)) {
-        std::vector<Eigen::Matrix4d> cartesian_trajectory;
+            LOG(ERROR) << "executeMoveLScurve_: moveL_SCurveLocal failed";
-        for (size_t i = 0; i <= num_points; ++i) {
+            return false;
-            double s = distance_ratios[i]; // 使用S曲线规划的距离比例
+        }
-
+        if (q_traj.empty() || t_traj.size() != q_traj.size()) {
-            Eigen::Matrix4d T_interp = Eigen::Matrix4d::Identity();
+            LOG(ERROR) << "executeMoveLScurve_: invalid trajectory output";
-            T_interp.block<3, 3>(0, 0) = start_orientation; // 保持起始姿态不变
+            return false;
-            // 仅位置按比例插值
+        }
-            T_interp(0, 3) = T_current(0, 3) + s * delta_pos.x();
+        if (qdot_traj.size() != q_traj.size()) {
-            T_interp(1, 3) = T_current(1, 3) + s * delta_pos.y();
+            LOG(WARNING) << "executeMoveLScurve_: qdot_traj size mismatch, use zero fallback";
-            T_interp(2, 3) = T_current(2, 3) + s * delta_pos.z();
+            qdot_traj.assign(q_traj.size(), std::vector<double>(kRightArmJointNames.size(), 0.0));
-
+        }
-            cartesian_trajectory.push_back(T_interp);
+        if (q_traj.size() == 1) {
+            return true;
         }
 
-        // 6. 预先计算所有轨迹点的关节位置
+        auto next_deadline = std::chrono::steady_clock::now();
-        std::vector<Eigen::Vector<double, DOF> > joint_positions;
+        for (size_t i = 1; i < q_traj.size(); ++i) {
-        joint_positions.push_back(q_current); // 起始位置
+            const double dt_segment = std::max(1e-4, t_traj[i] - t_traj[i - 1]);
-
+            std::vector<JointPoint> joint_cmd;
-        // 预先计算所有关节位置
+            joint_cmd.reserve(kRightArmJointNames.size());
-        for (size_t i = 1; i < cartesian_trajectory.size(); ++i) {
+            for (size_t j = 0; j < kRightArmJointNames.size(); ++j) {
-            const auto &T_interp = cartesian_trajectory[i];
+                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);
-            // 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();
             }
 
-            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
+        LOG(INFO) << "executeMoveLScurve_: completed, samples=" << q_traj.size()
-        std::vector<Eigen::Vector<double, DOF> > joint_velocities;
+                  << ", duration_s=" << t_traj.back();
-        joint_velocities.push_back(Eigen::Vector<double, DOF>::Zero()); // 起始速度为零
+        return true;
-
+    } catch (const std::exception& e) {
-        for (size_t i = 1; i < joint_positions.size(); ++i) {
+        LOG(ERROR) << "executeMoveLScurve_ failed: " << e.what();
-            double dt = time_points[i] - time_points[i - 1];
+        return false;
-            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);
-            }
-        }
     }
 }
 

cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot_test.cpp

@@ -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));
+}

cmvr-es/hardware/CMakeLists.txt

@@ -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
 )
 

cmvr-es/hardware/include/abstract_serial_transport.h

@@ -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

cmvr-es/hardware/include/posix_serial_transport.h

@@ -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

cmvr-es/hardware/src/posix_serial_transport.cpp

@@ -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);
+    }
+}

cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h

@@ -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,
+                           const std::vector<double>& qd_max, // empty => use URDF joint velocity limits only
-                           bool is_tcp = true);
+                           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,

cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp

@@ -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);
-
+    if (qdot_traj) {
-    const double log_period = 0.05;
+        qdot_traj->clear();
-    double next_log_t = 0.0;
+        qdot_traj->reserve((size_t)(prof.total_time / dt_real) + 10);
-    const double sigma_min_th = 1e-4;
+        qdot_traj->push_back(std::vector<double>(static_cast<size_t>(chain_dof_), 0.0));
-    const double cond_th      = 1e4;
+    }
 
     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;
+        const Eigen::VectorXd qdot_cmd = gamma_tot * dq_raw;
-        q_chain = q_chain.cwiseMax(joint_pos_lower_limits_).cwiseMin(joint_pos_upper_limits_);
+
+        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();

cmvr-es/main.cpp

@@ -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;
+    cmvr::config::ServerConfig server_config;
-    if(argc == 1) {
+    cmvr::ConfigHelper::getServerConfig(server_config);
-        char exe_path[PATH_MAX] = {0};
+    ServerRunner runner(server_config);
-        ssize_t count = readlink("/proc/self/exe", exe_path, PATH_MAX);
+    runner.start();
-        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);
     runner.join();
     google::ShutdownGoogleLogging();
     return 0;

cmvr-es/monitor/abstract_monitor.h

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

cmvr-es/monitor/diskmonitor/include/disk_monitor.h

@@ -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

cmvr-es/monitor/diskmonitor/src/disk_monitor.cpp

@@ -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;
 }

cmvr-es/monitor_manager/include/monitor_factory.h

@@ -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

cmvr-es/monitor_manager/include/monitor_manager.h

@@ -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);
+        // 原有的XML方式
-        void init_monitors();
+        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

cmvr-es/monitor_manager/src/monitor_factory.cpp

@@ -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";
+        LOG(ERROR) << "[MonitorFactory]: Unsupported monitor type";
-        throw runtime_error("[DeviceFactory]: Unsupported device 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);
+}

cmvr-es/monitor_manager/src/monitor_manager.cpp

@@ -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());
     }
-
 }

cmvr-es/service/grpc/include/grpc_humanoid_robot_service.h

@@ -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};
         };
 
 

cmvr-es/service/grpc/include/server_runner.h

@@ -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_;

cmvr-es/service/grpc/src/grpc_camera_service.cpp

@@ -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_fy(intrinsics.fy);
-        response->mutable_intrinsics()->set_cx(intrinsics.fx);
+        response->mutable_intrinsics()->set_cx(intrinsics.cx);
-        response->mutable_intrinsics()->set_cy(intrinsics.fx);
+        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_fy(intrinsics.fy);
-        response->mutable_intrinsics()->set_cx(intrinsics.fx);
+        response->mutable_intrinsics()->set_cx(intrinsics.cx);
-        response->mutable_intrinsics()->set_cy(intrinsics.fx);
+        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_fy(intrinsics.fy);
-        response->mutable_intrinsics()->set_cx(intrinsics.fx);
+        response->mutable_intrinsics()->set_cx(intrinsics.cx);
-        response->mutable_intrinsics()->set_cy(intrinsics.fx);
+        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);
+            size_t next_index = last_sent_index;
-            if (!frame_data.rgbFrame.empty()) {
+            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_fy(frame_data.intrinsics.fy);
-                response.mutable_intrinsics()->set_cx(frame_data.intrinsics.fx);
+            response.mutable_intrinsics()->set_cx(frame_data.intrinsics.cx);
-                response.mutable_intrinsics()->set_cy(frame_data.intrinsics.fx);
+            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;
             }
-            }
+            last_sent_index = next_index;
-
-            std::this_thread::sleep_for(std::chrono::milliseconds(33));
         }
         LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBImageStream): end,id=" << dev_id;
         dev->stopStreaming();

cmvr-es/service/grpc/src/grpc_dexhand_service.cpp

@@ -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();
+        if (respondUnsupportedForRh56(dev,
-
+                                      "SetDexHandPos",
-        //默认-1不修改状态
+                                      "Use SetDexHandAngle for RH56 joint commands.",
-        std::vector<int> finger_joint_targets(6,-1);
+                                      response->mutable_header())) {
-        for (auto& freedom : freedoms) {
+            return grpc::Status::OK;
-            //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;
         }
+
+        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
+        if (const auto rh56 = std::dynamic_pointer_cast<RH56DFTPDexhand>(dev)) {
-        std::vector<int> finger_joint_targets(6,-1);
+            std::vector<int> finger_joint_targets = readCurrentAngles(dev);
-        for (auto& freedom : freedoms) {
+            applyFreedomValues(request->values(), DEXHAND_MAX_ANGLE, finger_joint_targets);
-            //遍历拿到需要配置的自由度,传入的是百分比0-1
+            rh56->setAngles(finger_joint_targets);
-            finger_joint_targets[freedom.id()] = freedom.value() * DEXHAND_MAX_ANGLE;
+        } else {
-        }
+            std::vector<int> finger_joint_targets(static_cast<size_t>(kDexHandDofCount), -1);
-        // std::cout << "steAngle: ";
+            applyFreedomValues(request->values(), DEXHAND_MAX_ANGLE, finger_joint_targets);
-        // for (auto& angle : finger_joint_targets)
-        // {
-        //     std::cout << " " << angle;
-        // }
-        // std::cout << std::endl;
             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();
+        if (respondUnsupportedForRh56(dev,
-
+                                      "SetDexHandForce",
-        //默认-1不修改状态
+                                      "RH56DFTPDexhand currently exposes angle and tactile APIs only.",
-        std::vector<int> finger_joint_targets(6,-1);
+                                      response->mutable_header())) {
-        for (auto& freedom : freedoms) {
+            return grpc::Status::OK;
-            //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;
         }
+
+        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();
+        if (respondUnsupportedForRh56(dev,
-
+                                      "SetDexHandSpeed",
-        //默认-1不修改状态
+                                      "RH56DFTPDexhand currently exposes angle and tactile APIs only.",
-        std::vector<int> finger_joint_targets(6,-1);
+                                      response->mutable_header())) {
-        for (auto& freedom : freedoms) {
+            return grpc::Status::OK;
-            //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;
         }
+
+        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
+        maybeConfigureRh56FullTactilePolling(dev);
-        auto sensors = dev->getSensorData();
+        appendSensorData(dev->getSensorData(), response);
-        // 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());
-
-
         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
+            appendSensorData(dev->getSensorData(), &response);
-            auto sensors = dev->getSensorData();
+            response.mutable_header()->set_success(true);
-            // 辅助函数：将FingerTactileData或PalmTactileData转换为Proto的SensorData
+            setCurrentTimestamp(response.mutable_header()->mutable_timestamp());
-            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());
 
             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;
     }
 
 }
-

cmvr-es/service/grpc/src/grpc_hlc_service.cpp

@@ -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()
+                          << ", nonzero_count=" << touch_app_.lastTouchNonzeroCount()
-                          << ", pressure_peak=" << touch_app_.lastTouchPressurePeak();
+                          << ", 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) {

cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp

@@ -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;
+}

cmvr-es/service/grpc/src/server_runner.cpp

@@ -25,23 +25,21 @@
 using namespace  cmvr::service;
 ServerRunner::ServerRunner() = default;
 
-ServerRunner::ServerRunner(XmlNode cfg) {
+ServerRunner::ServerRunner(const cmvr::config::ServerConfig& config):cfg_(config)
-    start(std::move(cfg));
+{
+    // 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");
+        std::string port = cfg_.grpc_server().port();
-        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 local_address = "0.0.0.0:" + port;
 
         auto camera_service = std::make_unique<gRPCCameraServiceImpl>();

compile_commands.json

@@ -0,0 +1,986 @@
+[
+{
+  "directory": "/home/lgv/cmvr/cmvr-es/cmake-build-debug",
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+  "file": "/home/lgv/cmvr/cmvr-es/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp",
+  "output": "cmvr-es/common/CMakeFiles/common.dir/utils/ffmpeg/src/VideoWriter.cpp.o"
+}
+]

protos/cmvr/api/humanoid_robot_command.proto

@@ -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
+  }
+}

protos/cmvr/api/humanoid_robot_service.proto

@@ -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);
 }

protos/cmvr/config/biohead_config/biohead_config.proto

@@ -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;
+}

protos/cmvr/config/camera_config/camera_config.proto

@@ -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;
 }
-

protos/cmvr/config/dexhand_config/dexhand_config.proto

@@ -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;
 }

protos/cmvr/config/monitor_config/monitor_config.proto

@@ -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
+}

protos/cmvr/config/robot_config/robot_config.proto

@@ -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
+}