152 lines
5.1 KiB
Python
152 lines
5.1 KiB
Python
import time
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from google.protobuf import timestamp_pb2
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import matplotlib.pyplot as plt # 新增
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from clients._path_setup import ensure_paths
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ensure_paths()
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from clients.base_client import RobotClientBase
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from cmvr.api import arm_command_pb2 as pb
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from cmvr.api import arm_service_pb2_grpc as rpc
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# 固定关节顺序
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JOINT_ORDER = [
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"L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y",
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"L_ELBOW_R", "L_WRIST_P", "L_WRIST_Y", "L_WRIST_R",
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"R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y",
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"R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R",
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"HEAD_P", "HEAD_Y", "HEAD_R","WAIST_Y","WAIST_R"
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]
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class GetJointStateClient(RobotClientBase):
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"""Continuous client to fetch robot joint states"""
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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# 时间轴
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self.time_history = []
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self._start_time = None
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# 记录每个关节的角度、速度
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self.pos_history = {name: [] for name in JOINT_ORDER}
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self.vel_history = {name: [] for name in JOINT_ORDER}
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def send(self, interval=0.5, device_id="right_arm"):
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"""Continuously fetch joint states and print in fixed order"""
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try:
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if self._start_time is None:
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self._start_time = time.time()
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while True:
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# Construct request
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req = pb.JointRequest()
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req.header.device_id = device_id
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timestamp = timestamp_pb2.Timestamp()
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timestamp.GetCurrentTime()
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req.header.timestamp.CopyFrom(timestamp)
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# Call RPC with timeout
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try:
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resp = self.stub.getJointState(req, timeout=10)
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except Exception as e:
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print(f"RPC call failed: {e}")
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time.sleep(interval)
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continue
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# ====== 1. 同时取 position 和 velocity ======
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joint_pos_dict = {}
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joint_vel_dict = {}
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state = resp.state
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for name, pos, vel in zip(state.name, state.position, state.velocity):
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joint_pos_dict[name] = round(pos, 12)
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joint_vel_dict[name] = round(vel, 12)
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# ====== 2. 记录到历史数据里，用于之后画图 ======
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t = time.time() - self._start_time
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self.time_history.append(t)
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for name in JOINT_ORDER:
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self.pos_history[name].append(joint_pos_dict.get(name, 0.0))
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self.vel_history[name].append(joint_vel_dict.get(name, 0.0))
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# 保持原来的打印逻辑（打印角度）
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joint_list = [{"joint_name": name, "rad": joint_pos_dict.get(name, 0.0)}
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for name in JOINT_ORDER]
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# Print timestamp
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print(f"[{time.strftime('%H:%M:%S')}]")
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# Print each joint, last one without comma
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for i, j in enumerate(joint_list):
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if i < len(joint_list) - 1:
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print(f"{j},")
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else:
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print(f"{j}")
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time.sleep(interval)
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except KeyboardInterrupt:
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print("\nStopped fetching joint states.")
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# 例子：退出时画几个关节的角度 & 速度曲线
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try:
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# 你可以根据需要改关节列表
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self.plot_pos_and_vel([ "L_SHOULDER_R"])
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except Exception as e:
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print(f"绘图失败: {e}")
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# ====== 3. 绘制速度和角度（同一张图，两行子图） ======
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def plot_pos_and_vel(self, joint_names):
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"""
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在一张图中绘制多个关节的角度和速度：
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- 上 subplot：角度（rad）
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- 下 subplot：速度（rad/s）
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joint_names: str 或 [str, ...]
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"""
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if isinstance(joint_names, str):
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joint_names = [joint_names]
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# 检查关节名合法性
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invalid = [n for n in joint_names if n not in self.pos_history]
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if invalid:
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print(f"未知关节名: {invalid}")
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print(f"可选关节: {list(self.pos_history.keys())}")
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return
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if not self.time_history:
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print("还没有采集到任何数据，无法绘图。")
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return
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t = self.time_history
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plt.figure(figsize=(10, 6))
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# 上：角度
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plt.subplot(2, 1, 1)
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for name in joint_names:
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plt.plot(t, self.pos_history[name], label=name)
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plt.ylabel("Position (rad)")
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plt.title("Joint Position")
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plt.grid(True)
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plt.legend()
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# 下：速度
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plt.subplot(2, 1, 2)
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for name in joint_names:
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plt.plot(t, self.vel_history[name], label=name)
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plt.xlabel("Time (s)")
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plt.ylabel("Velocity (rad/s)")
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plt.title("Joint Velocity")
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plt.grid(True)
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plt.legend()
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plt.tight_layout()
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plt.show()
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if __name__ == "__main__":
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client = GetJointStateClient()
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try:
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client.send(interval=0.005)
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finally:
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client.close()
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