diff --git a/config/compound_eye.png b/config/compound_eye.png index 5dcd6d1..4cee8f0 100644 Binary files a/config/compound_eye.png and b/config/compound_eye.png differ diff --git a/config/ros_runtime.env b/config/ros_runtime.env new file mode 100644 index 0000000..1515be9 --- /dev/null +++ b/config/ros_runtime.env @@ -0,0 +1,4 @@ +# Project-local ROS discovery defaults. Apply by sourcing scripts/env.sh. +# Keep this project off the network-wide default domain 0. +ORISYS_ROS_DOMAIN_ID=42 +ORISYS_ROS_LOCALHOST_ONLY=1 diff --git a/config/site.yaml b/config/site.yaml index 9df1755..b97e0ad 100644 --- a/config/site.yaml +++ b/config/site.yaml @@ -378,9 +378,9 @@ camera: name: "d405" serial: "352122274408" # 全局缺省=左腕；真机以 robots[].camera.serial 为准 # USB3 推荐 848x480@30；USB2 自动降到 640x480@15，深度/右目仍开 - width: 848 - height: 480 # 改宽高/帧率必须重启相机：bash ~/ros2/scripts/run_camera_d405.sh --preview - fps: 30 + width: 1280 + height: 720 + fps: 15 enable_depth: true enable_infra: true # 同一 SDK 进程开左右红外；失败则自动退回彩图+深度 preview: true @@ -401,8 +401,9 @@ cameras: role: left_wrist arm: left label: 左腕D405（89 平行夹爪） - width: 848 # 相机分辨率以本段为准（全局 camera: 段为旧路径，P2 收敛） - height: 480 + width: 1280 + height: 720 + fps: 15 emitter_enabled: false # 腕部必须关投射器，红外点阵会污染跟踪图像 d405_right: model: d405 @@ -411,8 +412,9 @@ cameras: role: right_wrist arm: right label: 右腕D405（91 旋转夹爪） - width: 848 - height: 480 + width: 1280 + height: 720 + fps: 15 emitter_enabled: false # >>> 仿真那两台（arm: sim）<<< # 为什么仿真也要在这里登记：应用是"按当前臂"去认相机的 —— 腕部相机取 @@ -447,11 +449,10 @@ cameras: role: overhead_eye_to_hand label: 双臂中间手外D435 name: d435 - # 本机 D435 与 D405 挂在同一个 5Gbps 外接 hub 上：D435 跑 1280x720@30 时 - # D405 只剩 4~6fps 并反复断流重连（二阶段 snap_coarse_1 因此超时）； - # 停掉 D435 后 D405 立即稳定 30fps。D435 只做一次性顶视，848x480@15 足够。 - width: 848 - height: 480 + # 彩色 1080p/15，原生深度由采集器选择兼容的 720p/15 并对齐。 + # 与 D405 共用 5Gbps Hub；两路同时运行时需核对实际帧率与断流日志。 + width: 1920 + height: 1080 fps: 15 auto_exposure: true ae_limit_us: 8000 @@ -772,6 +773,7 @@ hole_detect: once_ff_look_per_m: 0.0 final_gap_mm: 2.0 # 对准后贴面目标：规尖离面 [mm]（不接触）。笛卡尔锁 XY # 时法兰 Z = 工具长 + 工件面 + 本值。CLI --final-gap 覆盖。 + hole_entry_mm: 1.0 # 同步上游：对孔收尾规尖进入上表面下 1mm observe_gap_mm: 15.0 # --no-descent 时的观测下降：只降到离面这么高 [mm]， # 方便看规尖偏没偏。必须 ≥ final_gap_mm。 # 左臂89：悬停间隙约 73.5mm（0.320−0.2245−0.022）⇒ 观测下降约 58mm。 @@ -799,7 +801,7 @@ hole_detect: max_depth_m: 0.60 linger_sec: 8.0 # 完成后继续发布结果/叠图的时长 - # ===== 旋转装配仍读这里的力阈值（stage3_search_node）===== + # ===== 旧 stage3_search_node 的力阈值；首页旋转已使用独立 a7_rotation ===== # 搜孔轻压已取消：不带 --screw 的入口会直接拒绝，整体流程也不再进入这一步。 # bash ~/ros2/scripts/run_stage3_search.sh --arm 89 --screw stage3: @@ -919,8 +921,10 @@ gauge_assembly: # ---- S01 回 home 后按工具系逆时针预绕到极限角 ---- # 预绕是为了给 S08 的棘轮留出回转行程：不预绕，拧两圈就贴关节限位。 extreme_angle_deg: 150.0 # 想转多少度（按工具系逆时针） - extreme_speed_deg_s: 20.0 # 关节角速度 [deg/s]，慢一点防冲击 - extreme_direction: 1 # +1=逆时针 / -1=顺时针（改符号，别去改代码） + extreme_speed_deg_s: 10.0 # 与上游 A7 首轮顺时针进孔工序一致 + extreme_direction: -1 # 上游本机实测：A7 角度减小为逆时针 + unwind_open_permille: 400 # 每轮松爪开度，千分比 + unwind_lift_mm: 3.0 # 每轮微抬，降回使用本轮实测值 extreme_margin_deg: 3.0 # 距关节限位留的余量 [deg]；撞限位不算失败（按 JOINT_LIMIT 继续） # 但余量太小会让规划器频繁拒收，表现为"偶尔转不到位" @@ -1085,30 +1089,21 @@ gauge_assembly: # 不灵敏（压很深才停）→ 调小；同时看启动日志里的基线/实测值再定。 tactile: - backend: "orisys" # orisys | mock - # 传感器型号。必须与 devices/sensors/orisys/models/ 下的子目录名一致。 - model: "dd03" - # 型号配置随 SDK 一起放：devices/sensors/orisys/models/<型号>/config.json - config_file: "devices/sensors/orisys/models/dd03/config.json" - # 用 by-path 稳定路径（插哪个 USB 口就认哪个口，不受 video 编号漂移影响）。 - # 当前：3.4.1=左指 3.4.2=右指；若左右反了，互换两行即可。 - left_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0" - right_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.2:1.0-video-index0" - cuda: false # 两路进程抢 GPU 上下文会互相拖慢；CPU 解算仅 ~9ms/帧，足够 - isstitch: true - infer_backend: "cpu" # cupy | opencl | cpu；双路并行用 cpu 最稳 - baseline_seconds: 2.0 - filter_alpha: 0.25 - motion_threshold: 0.0 + backend: "station_flow" + arm_id: "89" + # Only low-level optical tactile SDK; no imports from the example gripper app. + sdk_python_path: "/home/cheng/orisys-sdk/src" + config_file: "src/arm_application/config/tactile/ctag2f90d.json" + # auto only selects Sunplus 1bcf tactile UVC cameras; explicit by-path recommended. + # Change these two values to stable device paths to fix the physical left/right order. + left_video: "auto" + right_video: "auto" target_fps: 30.0 - publish_hz: 20.0 - # 视触觉图像与力矢量场的发布频率。0 = 关闭（默认）。 - # 三力走 30fps 的轻量队列；图像每帧几百 KB，单独走一条 maxsize=1 的队列， - # 打开它不会影响三力的时序。需要看形变图/矢量场时设成 5~10 即可。 - image_hz: 0.0 - rotation_config: "" # 左右共用；有分指文件则用下面两项 - left_rotation: "" # 例：orisys SDK 的 rotation_config_0.json - right_rotation: "" + publish_hz: 30.0 + preview_transport: "compressed_flow" + motion_threshold: 0.0 + cuda: false + force_units: "raw" go_home: pose: "home" @@ -1144,3 +1139,12 @@ sim: world: "devices/sim/gazebo/worlds/assembly.world" physics_enable: true joint_prefix: "sim_" # 仿真关节前缀，必须与真实臂前缀区分 + +# 仅 Qt 预览读取远端相机；机械臂/夹爪/传感器继续使用本地控制域。 +remote_camera_preview: + enabled: true + host: "192.168.2.10" + interface_address: "192.168.2.50" + domain: 0 + cameras: [d405_left, d435] + transport: raw # 远端当前没有 JPEG 预览话题 diff --git a/scripts/convert_step_mesh.py b/scripts/convert_step_mesh.py new file mode 100644 index 0000000..c8c21ca --- /dev/null +++ b/scripts/convert_step_mesh.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +"""Offline STEP -> triangle cache for Qt OpenGL. No robot/ROS/device operations. + +Requires gmsh (OpenCascade). Runtime GUI needs only numpy and the generated NPZ. +""" +import argparse +import hashlib +import json +from pathlib import Path +import gmsh +import numpy as np + + +def convert(source, output): + source=Path(source).resolve();output=Path(output).resolve() + gmsh.initialize(['step-converter','-nopopup']) + try: + gmsh.option.setNumber('General.Terminal',0) + gmsh.option.setString('Geometry.OCCTargetUnit','MM') + gmsh.model.add('gripper') + gmsh.model.occ.importShapes(str(source));gmsh.model.occ.synchronize() + gmsh.option.setNumber('Mesh.MeshSizeMin',.8) + gmsh.option.setNumber('Mesh.MeshSizeMax',2.) + gmsh.option.setNumber('Mesh.MeshSizeFromCurvature',18) + gmsh.option.setNumber('Mesh.ElementOrder',1) + gmsh.model.mesh.generate(2) + tags,coords,_=gmsh.model.mesh.getNodes() + order=np.argsort(tags);sorted_tags=tags[order] + nodes=np.asarray(coords).reshape(-1,3)[order] + parts=[];colors=[];labels=[] + surfaces=gmsh.model.getEntities(2) + for part,(_,tag) in enumerate(surfaces): + kinds,_,element_nodes=gmsh.model.mesh.getElements(2,tag) + r,g,b,a=gmsh.model.getColor(2,tag) + base=np.array([r,g,b],float)/255. + if np.max(base)-np.min(base)<.03: base=np.array([.76,.79,.83]) + for kind,indices in zip(kinds,element_nodes): + if kind!=2: raise ValueError('Only first order triangles are supported') + indices=np.asarray(indices).reshape(-1,3) + triangles=nodes[np.searchsorted(sorted_tags,indices)] + parts.append(triangles/1000.) + colors.append(np.tile(base,(len(triangles),1))) + labels.append(np.full(len(triangles),part,np.int32)) + triangles=np.concatenate(parts).astype(np.float32) + rgb=np.concatenate(colors).astype(np.float32) + if not np.isfinite(triangles).all() or not len(triangles):raise ValueError('Invalid mesh') + lo=triangles.min(axis=(0,1));hi=triangles.max(axis=(0,1)) + output.parent.mkdir(parents=True,exist_ok=True) + np.savez_compressed(output,triangles=triangles,colors=rgb,surface=np.concatenate(labels)) + info=dict(source=source.name,source_sha256=hashlib.sha256(source.read_bytes()).hexdigest(), + units='m',source_units='mm',triangles=len(triangles),surfaces=len(surfaces), + solids=len(gmsh.model.getEntities(3)),bounds_m=[lo.tolist(),hi.tolist()], + dimensions_mm=((hi-lo)*1000).tolist(),articulated=False, + note='Original assembled STEP pose; no inferred joints or live finger animation.') + output.with_suffix('.json').write_text(json.dumps(info,ensure_ascii=False,indent=2)+'\n') + print(json.dumps(info,ensure_ascii=False)) + finally:gmsh.finalize() + +if __name__=='__main__': + parser=argparse.ArgumentParser();parser.add_argument('source');parser.add_argument('output') + args=parser.parse_args();convert(args.source,args.output) diff --git a/scripts/lib/flexiv_movel_ipc.py b/scripts/lib/flexiv_movel_ipc.py index c0f2625..c43dd3a 100644 --- a/scripts/lib/flexiv_movel_ipc.py +++ b/scripts/lib/flexiv_movel_ipc.py @@ -18,15 +18,34 @@ ACK = Path("/tmp/flexiv_movel_ack") DONE = Path("/tmp/flexiv_movel_done") -def format_request(seq: int, x: float, y: float, z: float, keep_z: bool, vel: float) -> str: - return ( +def format_request( + seq: int, x: float, y: float, z: float, keep_z: bool, vel: float, + zone: str = "", toler: int = -1, +) -> str: + """一行请求。不带 ``zone`` 时仍是 6 个数，插孔和粗定位保持厂家默认到位。 + + 微升降要带过渡区和到位等级。厂家默认 ``Z50``（50 mm）加等级 3， + 几毫米的直线会在还差约 0.5 mm 时就报到位。合法的最细过渡区是 ``ZFine``， + 最严且仍会检查到位的等级是 1（0 表示不检查）。 + """ + if bool(zone) != (int(toler) >= 0): + raise ValueError("MoveL 过渡区和到位等级必须一起给") + if zone and (zone != "ZFine" or int(toler) != 1): + raise ValueError(f"MoveL 微升降只接受 ZFine 和到位等级 1，收到 {zone} {toler}") + line = ( f"{int(seq)} {float(x):.6f} {float(y):.6f} {float(z):.6f} " - f"{1 if keep_z else 0} {float(vel):.4f}\n" + f"{1 if keep_z else 0} {float(vel):.4f}" ) + if zone: + line += f" {zone} {int(toler)}" + return line + "\n" -def write_request(seq: int, x: float, y: float, z: float, keep_z: bool, vel: float) -> None: - text = format_request(seq, x, y, z, keep_z, vel) +def write_request( + seq: int, x: float, y: float, z: float, keep_z: bool, vel: float, + zone: str = "", toler: int = -1, +) -> None: + text = format_request(seq, x, y, z, keep_z, vel, zone, toler) tmp = REQ.with_name(REQ.name + ".tmp") tmp.write_text(text, encoding="utf-8") tmp.replace(REQ) diff --git a/scripts/lib/ros_domain.sh b/scripts/lib/ros_domain.sh index 591eb7a..1d88249 100755 --- a/scripts/lib/ros_domain.sh +++ b/scripts/lib/ros_domain.sh @@ -1,48 +1,37 @@ #!/usr/bin/env bash -# ============================================================================= -# scripts/lib/ros_domain.sh —— 真机与仿真的 DDS 域隔离 -# -# 为什么要单独抽一层 -# ---------------- -# 仿真侧（scripts/sim_env.sh）**强制** ROS_DOMAIN_ID=77，并且注释里写明了 -# "隔离不能靠『环境里恰好没设』"。真机侧当时没有对应保护，于是同一个坑换个 -# 方向又踩了一次（2026-09-28 实测）： -# -# 先 source 过 sim_env.sh 的 shell（ROS_DOMAIN_ID=77 还 export 着） -# 再起真机栈 → 真机栈落到**仿真的域**上 → 两边节点名撞车 -# （/controller_manager、/robot_state_publisher、/arm_status_node…）、 -# /joint_states 与 /tf 各有两个来源互相盖。 -# -# 现象极具误导性：控制器 feedback 与 reference 完全一致（控制器没坏）， -# 但 TF 显示末端**一动不动** —— 顺着现象查会一路查到 IK / TF / 时钟上， -# 全是无辜的。 -# -# 真机侧有两个入口（scripts/env.sh 给交互 shell 用；scripts/run_real.sh 自己 -# 起 conda + install），两处都得有这个纠正，所以放在这里共用一份。 -# -# 用法（在 `set -uo pipefail` 或 `set -eo pipefail` 之后 source）： -# source ".../lib/ros_domain.sh" -# ros_domain_force_real -# ============================================================================= - -# 仿真的域。改这里要同步 scripts/sim_env.sh（那边是硬编码的 77）。 +# One explicit discovery policy for the station and every child launch. +# The inherited generic ROS_DOMAIN_ID is never silently adopted. ROS_SIM_DOMAIN=77 -# 把 ROS_DOMAIN_ID 纠正到"真机该用的域"。 -# · REAL_ROS_DOMAIN_ID 显式设了 → 用它（要换域就走这个，名字里带 REAL， -# 不会被仿真环境的 export 撞上）； -# · 环境里是 77（仿真的域）→ **喊出来**再改回 0； -# · 环境里没设 → 显式写 0，让人一眼能从 `env` 里看出真机跑在哪个域。 ros_domain_force_real() { - if [ -n "${REAL_ROS_DOMAIN_ID:-}" ]; then - export ROS_DOMAIN_ID="${REAL_ROS_DOMAIN_ID}" - elif [ "${ROS_DOMAIN_ID:-0}" = "${ROS_SIM_DOMAIN}" ]; then - echo "[domain] ⚠ 环境里的 ROS_DOMAIN_ID=${ROS_SIM_DOMAIN} 是**仿真**用的域" >&2 - echo "[domain] （scripts/sim_env.sh 强制那个值）。已改回 0 起真机栈 ——" >&2 - echo "[domain] 真机与仿真同域会让节点名/话题互相盖，现象是'臂没动'" >&2 - echo "[domain] 而控制器一切正常。要另指定请设 REAL_ROS_DOMAIN_ID。" >&2 - export ROS_DOMAIN_ID=0 - elif [ -z "${ROS_DOMAIN_ID:-}" ]; then - export ROS_DOMAIN_ID=0 + local runtime_file requested_domain requested_localhost previous_domain + runtime_file="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)/config/ros_runtime.env" + requested_domain="${REAL_ROS_DOMAIN_ID:-}" + requested_localhost="${REAL_ROS_LOCALHOST_ONLY:-}" + if [[ -f "${runtime_file}" ]]; then + source "${runtime_file}" + fi + requested_domain="${requested_domain:-${ORISYS_ROS_DOMAIN_ID:-42}}" + requested_localhost="${requested_localhost:-${ORISYS_ROS_LOCALHOST_ONLY:-1}}" + if [[ ! "${requested_domain}" =~ ^[0-9]+$ ]] || (( 10#${requested_domain} > 232 )); then + echo "[domain] ERROR: ROS domain must be an integer in 0..232" >&2 + return 2 + fi + if [[ "${requested_localhost}" != 0 && "${requested_localhost}" != 1 ]]; then + echo "[domain] ERROR: REAL_ROS_LOCALHOST_ONLY must be 0 or 1" >&2 + return 2 + fi + if (( 10#${requested_domain} == ROS_SIM_DOMAIN )); then + echo "[domain] ERROR: domain 77 is reserved for simulation" >&2 + return 2 + fi + previous_domain="${ROS_DOMAIN_ID:-unset}" + export ROS_DOMAIN_ID="$((10#${requested_domain}))" + export ROS_LOCALHOST_ONLY="${requested_localhost}" + # All nested launch scripts inherit exactly the same selection. + export REAL_ROS_DOMAIN_ID="${ROS_DOMAIN_ID}" + export REAL_ROS_LOCALHOST_ONLY="${ROS_LOCALHOST_ONLY}" + if [[ "${previous_domain}" != "${ROS_DOMAIN_ID}" ]]; then + echo "[domain] orisys_arm: ${previous_domain} -> ${ROS_DOMAIN_ID}; localhost_only=${ROS_LOCALHOST_ONLY}" >&2 fi } diff --git a/src/arm_application/README.md b/src/arm_application/README.md new file mode 100644 index 0000000..06a84f6 --- /dev/null +++ b/src/arm_application/README.md @@ -0,0 +1,39 @@ +# arm_application + +工位 ROS 2 业务节点包。日常入口是本仓库的 `station/run_station.sh`；本地 Qt 界面位于 `station/src/station`，不在本包内。 + +## 上游同步 + +2026-10-20 从 `http://git.orisys-tech.cn/orisys/ros_contorl.git` 的 `exp/hole-keypoint-once` 分支同步，提交 `561d7da21f20d3e63030f81510ae2f29eed01d46`。 + +同步内容：视觉感知/跟踪、二阶段孔定位、流水线与 A7 工序、通止规装配状态机、夹爪串口修复、双夹爪节点、手眼标定 ROS 工具，以及对应算法、配置、launch、轨迹和节点测试。 + +未引入远程的 `operator_*` Qt/网页控制台、`realsense_view` Qt 预览、独立权重整理工具、整站 shell 入口和根目录现场配置。相应界面/脚本测试不随本包同步；混合测试文件中的远程整站检查有明确 skip 原因。本地工位与配置继续使用现有版本。 + +保留本地相机高清采集与压缩预览、每指独立触觉节点和力标定、工位夹爪节点、进程树清理和短结果发布周期；保留 `gauge_pass.py`，本地工位仍依赖它。 + +## 主要 ROS 入口 + +- 感知与相机：`realsense_color_pub`、`perception_node`、`servo_node`、`hole_detect`。 +- 任务：`stage2_locate`、`stage3_search`、`assembly_pipeline`、`gauge_assembly`、`a7_rotation`。 +- 本地设备驱动：`tactile_flow`（每指一个进程）、`station_gripper`（每臂独立命名空间）。 +- 显式兼容工具：`dh_pgea`、`dual_gripper`、`tactile` 及对应 CLI。不与本地设备驱动同时占用同一串口/传感器。 +- 标定：`handeye_teach`、`handeye_waypoints`、`handeye_calibrate`。 + +注册入口以 `setup.py` 为准。导入模块不会自动运行这些动作。 + +## 本地兼容修复 + +- 一阶段清理只停止自己启动的子进程树，禁止按名称 `pkill` 其他节点。 +- 父类机器人描述回调独立命名，避免被装配节点遮蔽。 +- A7 失败返回失败；pipeline 子节点非零退出时，launch 同样失败。 +- 二阶段 Action 只把 SUCCEEDED 且 error_code=0 判为成功；接单超时不重发并取消迟到任务，执行超时取消并中止流程。 +- 保留夹爪 `GripperExecute` 服务及类型化状态，兼容远程六元素旧状态帧的在线标志。 +- `run_a7_after_insert` 保留上游工序开关；本地工位在定位进程中显式传 false；“旋转”使用独立 a7_rotation 节点，“开始全部流程”在定位成功后显式进入该节点。对孔采用新版配置下降，不再强制 no_descent。 +- 同步 `scripts/lib/flexiv_movel_ipc.py` 的可选 ZFine/到位等级参数，并在本地硬件接口补充对应解析。原先六字段请求保持兼容，本地停止/重新使能位置指令保护保留。 + +## 验证 + +在 `ros_flexiv` 环境和已构建的 ROS 工作空间中运行本包 pytest；需要 X11 的工位回归使用 `bash station/run_station.sh --self-test`。测试使用模拟驱动/独立 DDS 域，不下发真实设备指令。 + +同步后应在现场任务停止时重启工位与驱动，使新节点入口、后端和硬件库一起生效；这次同步没有重启现有进程，也没有执行实机动作。 diff --git a/src/arm_application/arm_application/__init__.py b/src/arm_application/arm_application/__init__.py index 80aeb31..92e8196 100644 --- a/src/arm_application/arm_application/__init__.py +++ b/src/arm_application/arm_application/__init__.py @@ -1 +1,32 @@ -"""arm_application：从旧工位抽出的节点。""" +"""arm_application —— Flexiv Rizon + D405 + DH 夹爪的现场节点包。 + +对外可直接运行的 ROS 程序（见 ``setup.py`` 的 ``console_scripts``） +------------------------------------------------------------------ +相机： realsense_color_pub +感知： perception_node +伺服： servo_node +手眼： handeye_teach、handeye_waypoints、handeye_calibrate +夹爪： dh_pgea、dh_pgea_cli、dual_gripper、dual_gripper_cli +入孔检测： hole_detect +触觉： tactile、tactile_cli +辅助： goto_ee_plane、demo_named_poses、run_joint_trajectory + +可复用的 Python 模块（可以在你自己的节点里 import） +------------------------------------------------------------------ +``yolo_detector`` YOLO / TensorRT 推理 + ``pick_best`` 挑最优框 +``box_tracker`` 像素平面内的匀速模型框预测（丢帧时"滑行"用） +``plane_feature`` 在 YOLO 框内取立体平面的质心 +``dh_pgea`` 大寰 PGEA 的官方 Modbus RTU 客户端 +``dh_official`` ``dual_gripper`` 用的 DH Modbus 客户端 +``dual_gripper`` 左 PGEA + 右 RGI +``hole_detector`` yolo / hough / two_stage 三种孔心检测 +``orisys_tactile`` Orisys 视触觉适配器 +``geom_ik`` Rizon 几何雅可比 / DLS / 手眼加载 +``handeye_lib`` 棋盘格 + OpenCV ``calibrateHandEye`` +``handeye_realsense`` D405 的话题 / 序列号辅助 +``pid_controller`` 带积分分离的 PID +``kalman_filter`` 三维匀速模型卡尔曼滤波 + +本仓库日常操作使用 station 工位与 config/site.yaml；远程 Qt/网页控制台不随节点同步。 +接口契约见 ``docs/INTERFACES.md``。 +""" diff --git a/src/arm_application/arm_application/a7_rotation_node.py b/src/arm_application/arm_application/a7_rotation_node.py new file mode 100644 index 0000000..05f5da3 --- /dev/null +++ b/src/arm_application/arm_application/a7_rotation_node.py @@ -0,0 +1,104 @@ +"""Explicit A7 stage, reusing upstream rounds with station-owned typed gripper IO. + +Starts at the current aligned pose: no tracking, clearance lift or hole search. +""" +from __future__ import annotations +import math +import os +import time + +from arm_msgs.msg import GripperStatus +from arm_msgs.srv import GripperExecute +from arm_application.pipeline_node import AssemblyPipeline, close_ready, main as pipeline_main + + +class A7Rotation(AssemblyPipeline): + def __init__(self): + super().__init__(node_name='orisys_a7_rotation') + self._grip_feedback=None + self._stroke=float(os.environ.get('SITE_GRIP_STROKE_MM','0')) + self._force=float(os.environ.get('SITE_GRIP_FORCE','33')) + self._speed=float(os.environ.get('SITE_GRIP_SPEED','25')) + if not math.isfinite(self._stroke) or self._stroke<=0: + raise ValueError('未配置有效夹爪行程') + if not 20<=self._force<=100 or not 1<=self._speed<=100: + raise ValueError('夹爪力或速度参数无效') + aid=self._arm_short_id() + if not aid:raise ValueError('未配置当前机械臂号') + endpoint=f'/station/grippers/arm_{aid}' + self._grip_client=self.create_client(GripperExecute,endpoint+'/execute') + self.create_subscription(GripperStatus,endpoint+'/status',self._on_rotation_grip,10) + + def _on_rotation_grip(self,msg): + self._grip_feedback=(time.monotonic(),msg) + + def _fresh_grip(self,after=0.): + reading=self._grip_feedback + if not reading or reading[0]<=after or time.monotonic()-reading[0]>.75: + return None + return reading[1] if reading[1].connected else None + + def _gripper_cli(self,action,value=''): + """One typed command; await new feedback, never launch a shell or resend.""" + target=0. if action=='close' else float(value) if action=='pos' else float('nan') + if not math.isfinite(target) or not 0<=target<=1000: + raise ValueError('A7 夹爪只接受 close 或 pos 0–1000') + before=self._fresh_grip() + if before is None or before.is_moving: + raise RuntimeError('夹爪离线、反馈过期或仍在运动，旋转流程中止') + if not self._grip_client.wait_for_service(timeout_sec=2.): + raise RuntimeError('本站夹爪 execute 服务不可用') + req=GripperExecute.Request() + req.command.command='move';req.command.position=target/1000*self._stroke + req.command.force=self._force;req.command.speed=self._speed + req.command.wait_complete=False;req.command.timeout=8. + self.get_logger().info(f'旋转夹爪：{action}，目标开度 {target:.0f}/1000') + sent=time.monotonic();future=self._grip_client.call_async(req) + while not future.done() and time.monotonic()-sent<5.:self._spin(.02) + if not future.done():raise RuntimeError('夹爪命令响应超时，结果未知；中止且不重发') + response=future.result() + if not response.success:raise RuntimeError('夹爪拒绝命令：'+response.message) + while time.monotonic()-sent<12.: + self._spin(.02) + state=self._fresh_grip(after=sent) + if state is None:continue + if state.is_moving:continue + pos=float(state.finger_position_per_mille) + reached=close_ready(state.gripper_state,pos) if action=='close' else state.gripper_state==1 and abs(pos-target)<=40. + if reached: + self.get_logger().info(f'旋转夹爪已到位：{pos:.0f}/1000') + return True + raise RuntimeError('夹爪未收到新鲜到位反馈，旋转流程中止且不重发') + + def run(self): + if not self._cli.wait_for_server(timeout_sec=5.): + raise RuntimeError('机械臂轨迹服务不可用') + if not self._grip_client.wait_for_service(timeout_sec=3.): + raise RuntimeError('请先连接本站平行夹爪') + self._spin(.2) + grip=self._fresh_grip() + if grip is None or grip.is_moving: + raise RuntimeError('夹爪未就绪，不能开始 A7 工序') + if not close_ready(grip.gripper_state,float(grip.finger_position_per_mille)): + raise RuntimeError('夹爪未夹紧，请先夹爪闭合再开始旋转') + q,tee=self._wait_state(5.) + if q is None or tee is None:raise RuntimeError('没有机械臂实时位姿') + # The new stage must not turn at the former 15mm observation height. + if not self.tool_tip_below_flange_m>0 or not self.surface_z_m>0: + raise RuntimeError('缺少规长或工件面几何，不能确认旋转起点') + gap=float(tee[2,3])-self.tool_tip_below_flange_m-self.surface_z_m + if not math.isfinite(gap) or not math.isfinite(self.insert_gap_m) or abs(gap-self.insert_gap_m)>.002: + raise RuntimeError(f'当前位置离对孔收尾高度过远（间隙 {gap*1000:.1f}mm），请先完成新版对孔') + if not math.isfinite(float(tee[2,2])) or float(tee[2,2])>-.98: + raise RuntimeError('工具轴未垂直向下，请先完成对孔') + self._state('stage3_a7_rotation') + ok=self._run_a7_seat() + self._state('stage3_a7_done' if ok else 'stage3_a7_failed') + return 0 if ok else 2 + + +def main(args=None): + pipeline_main(args=args,node_factory=A7Rotation) + + +if __name__=='__main__':main() diff --git a/src/arm_application/arm_application/camera_profiles.py b/src/arm_application/arm_application/camera_profiles.py new file mode 100644 index 0000000..61168ae --- /dev/null +++ b/src/arm_application/arm_application/camera_profiles.py @@ -0,0 +1,10 @@ +"""Choose only enumerated camera modes; color and native depth may differ.""" + + +def depth_profile(color, available): + available=set(available) + if color in available: return color + width,height,fps=color + matches=[p for p in available if p[2]==fps and p[0]<=width and p[1]<=height] + if not matches: raise ValueError(f'No native depth profile at {fps} fps for color {color}') + return max(matches,key=lambda p:p[0]*p[1]) diff --git a/src/arm_application/arm_application/demo_named_poses.py b/src/arm_application/arm_application/demo_named_poses.py new file mode 100644 index 0000000..40cff4f --- /dev/null +++ b/src/arm_application/arm_application/demo_named_poses.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +"""演示：通过 ``/set_named_pose`` 循环切换命名位姿（对任何后端都适用）。""" + +from __future__ import annotations + +import time + +import rclpy +from rclpy.node import Node + +from arm_msgs.srv import SetNamedPose + +from arm_application.ros_node import TolerantNode + + +class DemoNamedPoses(TolerantNode): + def __init__(self) -> None: + super().__init__('demo_named_poses') + self.declare_parameter( + 'poses', ['home', 'ready', 'inspect', 'pos_left', 'home'] + ) + self.declare_parameter('velocity_scale', 0.5) + self.declare_parameter('dwell_sec', 0.3) + self.declare_parameter('loops', 1) + self.poses = list( + self.get_parameter('poses').get_parameter_value().string_array_value + or ['home', 'ready', 'inspect', 'home'] + ) + self.velocity_scale = float(self.get_parameter('velocity_scale').value) + self.dwell_sec = float(self.get_parameter('dwell_sec').value) + self.loops = int(self.get_parameter('loops').value) + self._cli = self.create_client(SetNamedPose, 'set_named_pose') + + def run(self) -> int: + if not self._cli.wait_for_service(timeout_sec=15.0): + self.get_logger().error('``/set_named_pose`` 服务不可用') + return 1 + for loop in range(max(self.loops, 1)): + self.get_logger().info(f'第 {loop + 1}/{self.loops} 轮') + for pose in self.poses: + req = SetNamedPose.Request() + req.pose_name = pose + req.velocity_scale = self.velocity_scale + req.acceleration_scale = self.velocity_scale + fut = self._cli.call_async(req) + deadline = time.monotonic() + 60.0 + while rclpy.ok() and not fut.done(): + rclpy.spin_once(self, timeout_sec=0.05) + if time.monotonic() > deadline: + self.get_logger().error(f'{pose} 调用超时') + return 2 + res = fut.result() + if res is None or not res.success: + self.get_logger().error( + f'{pose} 执行失败：{res.message if res else "无响应"}' + ) + return 3 + self.get_logger().info(f'{pose}：{res.message}') + time.sleep(self.dwell_sec) + self.get_logger().info('演示结束') + return 0 + + +def main(args=None) -> None: + rclpy.init(args=args) + node = DemoNamedPoses() + code = 1 + try: + code = node.run() + except KeyboardInterrupt: + code = 0 + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + raise SystemExit(code) + + +if __name__ == '__main__': + main() diff --git a/src/arm_application/arm_application/dh_official.py b/src/arm_application/arm_application/dh_official.py new file mode 100644 index 0000000..2467ae9 --- /dev/null +++ b/src/arm_application/arm_application/dh_official.py @@ -0,0 +1,286 @@ +"""DH-Robotics 官方 Modbus RTU 控制（非 Flexiv RDK）。 + +覆盖两类设备： +- PGE/PGEA 平行夹爪：初始化 0x0100，力 0x0101，位置 0x0103（0~1000‰），速度 0x0104。 +- RGI 旋转夹爪：在平行夹爪寄存器基础上，增加旋转角度 0x0105、旋转速度 0x0107、 + 旋转力 0x0108；反馈增加旋转角度 0x0208、旋转初始化状态 0x020A、旋转状态 0x020B。 + +说明： +- RGI 手册示例中负角度使用“反码/one's complement”：+360 -> 0x0168，-360 -> 0xFE97。 + 因此这里默认按 one's complement 编解码；若后续厂家确认为 two's complement，只改 + `_encode_signed` / `_decode_signed` 两处即可。 +- 写位置/角度寄存器后会立即运动，没有 ChangingTek SDK 的 0x0108 触发寄存器。 +""" + +from __future__ import annotations + +import threading +import time +from typing import Iterable + + +# ============================================================================= +# DH-Robotics Modbus 寄存器映射 +# ============================================================================= + +# 基础控制寄存器（保持寄存器，功能码 03/06/10） +REG_INIT = 0x0100 # 0x01 初始化，0xA5 完全初始化 +REG_FORCE = 0x0101 # 夹爪闭合力，20~100 % +REG_POSITION = 0x0103 # 手指参考位置，0~1000 千分比 +REG_SPEED = 0x0104 # 手指开合速度，1~100 % + +# RGI 旋转控制寄存器 +REG_ROTATION_ANGLE = 0x0105 # 目标旋转角度，有符号角度值 +REG_ROTATION_SPEED = 0x0107 # 旋转速度，1~100 % +REG_ROTATION_FORCE = 0x0108 # 旋转力/力矩，20~100 % + +# 反馈寄存器 +REG_INIT_STATE = 0x0200 # 0 未初始化，1 已初始化，2 初始化中 +REG_GRIPPER_STATE = 0x0201 # 0 运动中，1 已到位，2 已夹到物体，3 物体掉落 +REG_CURRENT_POSITION = 0x0202 # 当前手指位置，千分比 +REG_ROTATION_ANGLE_FB = 0x0208 # 当前旋转角度，有符号角度值 +REG_ROTATION_INIT_STATE = 0x020A # 0 未初始化，1 已初始化，2 初始化中 +REG_ROTATION_STATE = 0x020B # 0 运动中，1 已到位，2 受阻，3 曾经受阻 + +# 配置寄存器 +REG_SAVE_PARAMS = 0x0300 # 写入 1 可把所有参数保存到 flash + + +class DHModbusError(RuntimeError): + """DH Modbus 通信或协议错误。""" + + +def _clamp_int(value: float | int, lo: int, hi: int) -> int: + return int(max(lo, min(hi, int(round(float(value)))))) + + +def _encode_signed(value: float | int) -> int: + """把有符号角度值编码为 DH 的反码（one's complement）寄存器值。 + + RGI 手册示例：+360 -> 0x0168，-360 -> 0xFE97。 + """ + value = _clamp_int(value, -32767, 32767) + if value >= 0: + return value & 0xFFFF + return (~abs(value)) & 0xFFFF + + +def _decode_signed(raw: int) -> int: + """把 DH 的反码（one's complement）寄存器值解码为有符号整数。""" + raw = int(raw) & 0xFFFF + if raw & 0x8000: + mag = (~raw) & 0x7FFF + return -mag + return raw & 0x7FFF + + +class DHModbusClient: + """面向 DH-Robotics 夹爪的最小线程安全 Modbus RTU 客户端。""" + + def __init__( + self, + port: str, + slave_id: int = 1, + baudrate: int = 115200, + timeout: float = 0.2, + *, + bytesize: int = 8, + parity: str = "N", + stopbits: int = 1, + ) -> None: + try: + import minimalmodbus + import serial + except ImportError as exc: # pragma: no cover - 取决于运行时环境 + raise DHModbusError( + "缺少 minimalmodbus/pyserial。请先安装：pip install minimalmodbus pyserial" + ) from exc + + parity_map = { + "N": serial.PARITY_NONE, + "E": serial.PARITY_EVEN, + "O": serial.PARITY_ODD, + } + self.instrument = minimalmodbus.Instrument(port, int(slave_id)) + self.instrument.serial.baudrate = int(baudrate) + self.instrument.serial.bytesize = int(bytesize) + self.instrument.serial.parity = parity_map.get(str(parity).upper(), serial.PARITY_NONE) + self.instrument.serial.stopbits = int(stopbits) + self.instrument.serial.timeout = float(timeout) + self.instrument.mode = minimalmodbus.MODE_RTU + self.instrument.clear_buffers_before_each_transaction = True + try: + self.instrument.serial.exclusive = True + except Exception: + pass + self._lock = threading.Lock() + self.port = port + + def close(self) -> None: + with self._lock: + try: + self.instrument.serial.close() + except Exception: + pass + + # ------------------------------------------------------------------ + # 底层寄存器读写 + # ------------------------------------------------------------------ + def write_register(self, address: int, value: int) -> None: + value = _clamp_int(value, 0, 0xFFFF) + last_exc: Exception | None = None + for attempt in range(3): + try: + with self._lock: + self.instrument.write_register(address, value, functioncode=6) + return + except Exception as exc: + last_exc = exc + time.sleep(0.05 * (attempt + 1)) + raise DHModbusError(f"写寄存器 0x{address:04X}={value} 失败: {last_exc}") from last_exc + + def read_register(self, address: int) -> int: + last_exc: Exception | None = None + for attempt in range(3): + try: + with self._lock: + return int(self.instrument.read_register(address, functioncode=3)) + except Exception as exc: + last_exc = exc + time.sleep(0.05 * (attempt + 1)) + hint = "" + text = str(last_exc).lower() + if "multiple access" in text or "no data" in text: + hint = f"。串口 {getattr(self, 'port', '')} 可能被其它进程占用，先执行: fuser -k {getattr(self, 'port', '/dev/ttyUSB*')}" + raise DHModbusError(f"读寄存器 0x{address:04X} 失败: {last_exc}{hint}") from last_exc + + def write_registers(self, address: int, values: Iterable[int]) -> None: + vals = [_clamp_int(v, 0, 0xFFFF) for v in values] + with self._lock: + self.instrument.write_registers(address, vals) + + def read_registers(self, address: int, count: int) -> list[int]: + with self._lock: + return [int(v) for v in self.instrument.read_registers(address, count, functioncode=3)] + + def write_signed_register(self, address: int, value: float | int) -> None: + self.write_register(address, _encode_signed(value)) + + def read_signed_register(self, address: int) -> int: + return _decode_signed(self.read_register(address)) + + # ------------------------------------------------------------------ + # PGE/PGEA/RGI 通用控制 + # ------------------------------------------------------------------ + def initialize(self, *, full: bool = False, rotation: bool = False, timeout: float = 10.0) -> None: + """初始化/回零夹爪，并等待其就绪。""" + self.write_register(REG_INIT, 0xA5 if full else 0x01) + start = time.monotonic() + while time.monotonic() - start < timeout: + init_state = self.read_register(REG_INIT_STATE) + rot_ok = True + if rotation: + rot_ok = self.read_register(REG_ROTATION_INIT_STATE) == 1 + if init_state == 1 and rot_ok: + return + time.sleep(0.1) + raise DHModbusError(f"夹爪初始化超时（>{timeout:.1f}s）") + + def save_parameters(self) -> None: + self.write_register(REG_SAVE_PARAMS, 1) + + def set_force_pct(self, force_pct: float | int) -> int: + value = _clamp_int(force_pct, 20, 100) + self.write_register(REG_FORCE, value) + return value + + def set_speed_pct(self, speed_pct: float | int) -> int: + value = _clamp_int(speed_pct, 1, 100) + self.write_register(REG_SPEED, value) + return value + + def set_position_per_mille(self, position: float | int) -> int: + value = _clamp_int(position, 0, 1000) + # 与 dh_pgea.latched_position_break 同一份：命令已是目标时先写当前位置， + # 读回之后再写最终值。60ms 后写回旧命令，固件采样不到，手指不动。 + from arm_application.dh_pgea import latched_position_break + + try: + cmd = _clamp_int(self.read_register(REG_POSITION), 0, 1000) + except Exception: + cmd = value + try: + cur = self.get_position_per_mille() + except Exception: + cur = value + bridge = latched_position_break(cmd, cur, value) + if bridge is not None: + self.write_register(REG_POSITION, bridge) + deadline = time.monotonic() + 0.6 + echoed = False + while time.monotonic() < deadline: + try: + if _clamp_int(self.read_register(REG_POSITION), 0, 1000) == bridge: + echoed = True + break + except Exception: + pass + time.sleep(0.05) + if not echoed: + raise DHModbusError( + f"位置命令中间值 {bridge} 没有读回，不再写入最终目标 {value}" + ) + time.sleep(0.15) + self.write_register(REG_POSITION, value) + return value + + def get_position_per_mille(self) -> int: + return _clamp_int(self.read_register(REG_CURRENT_POSITION), 0, 1000) + + def get_gripper_state(self) -> int: + return self.read_register(REG_GRIPPER_STATE) + + def get_init_state(self) -> int: + return self.read_register(REG_INIT_STATE) + + def hold_current_position(self) -> None: + """在没有专用停止寄存器的 DH 夹爪上尽力停止/保持。""" + self.set_position_per_mille(self.get_position_per_mille()) + + # ------------------------------------------------------------------ + # RGI 旋转控制 + # ------------------------------------------------------------------ + def set_rotation_speed_pct(self, speed_pct: float | int) -> int: + value = _clamp_int(speed_pct, 1, 100) + self.write_register(REG_ROTATION_SPEED, value) + return value + + def set_rotation_force_pct(self, force_pct: float | int) -> int: + value = _clamp_int(force_pct, 20, 100) + self.write_register(REG_ROTATION_FORCE, value) + return value + + def set_rotation_angle_deg(self, angle_deg: float | int) -> int: + angle = _clamp_int(angle_deg, -32767, 32767) + self.write_signed_register(REG_ROTATION_ANGLE, angle) + return angle + + def get_rotation_angle_raw(self) -> int: + return self.read_register(REG_ROTATION_ANGLE_FB) & 0xFFFF + + def get_rotation_angle_deg(self) -> int: + return self.read_signed_register(REG_ROTATION_ANGLE_FB) + + def get_rotation_init_state(self) -> int: + return self.read_register(REG_ROTATION_INIT_STATE) + + def get_rotation_state(self) -> int: + return self.read_register(REG_ROTATION_STATE) + + def hold_current_rotation(self) -> None: + """重新下发当前反馈角度来停止旋转。""" + self.write_register(REG_ROTATION_ANGLE, self.get_rotation_angle_raw()) + + def hold_current_all(self) -> None: + self.hold_current_position() + self.hold_current_rotation() diff --git a/src/arm_application/arm_application/dh_pgea.py b/src/arm_application/arm_application/dh_pgea.py index 117d46a..1baafd0 100644 --- a/src/arm_application/arm_application/dh_pgea.py +++ b/src/arm_application/arm_application/dh_pgea.py @@ -21,11 +21,15 @@ Flexiv RDK 的 ``Gripper`` 驱动不了这个夹爪：它不是 Studio Device。 from __future__ import annotations import argparse +import fcntl +import select +import struct import sys +import termios import threading import time from dataclasses import dataclass -from typing import Optional +from typing import Callable, Optional try: import serial @@ -104,6 +108,21 @@ INIT_STATE_NAME = { } +def wait_tx_empty(queued: Callable[[], int], deadline: float, pause=time.sleep) -> bool: + """等到发送缓冲里的字节数变成 0。到 ``deadline`` 还没空就返回 False。 + + 不要改成 ``Serial.flush()`` / ``tcdrain``。USB 串口不收数据时那个调用 + 不看写超时，会把夹爪节点的回调一直堵住。2026-10-20 合爪：命令 10:40:16 + 已经交给话题，节点 120s 后才打出 ``ctrl pos=0``，流水线 8s 时手指还停在 400。 + """ + while True: + if int(queued()) == 0: + return True + if time.monotonic() >= deadline: + return False + pause(0.01) + + def latched_position_break(command: int, current: int, target: int) -> Optional[int]: """命令寄存器已经等于目标、手指却不在目标上时，返回要先写入的中间位置。 @@ -204,6 +223,22 @@ class DhPgeaError(RuntimeError): pass +class DhPgeaBusError(DhPgeaError): + """串口本身坏了（EIO / 设备被拔 / USB 掉线），不是夹爪没应答。 + + 2026-10-20 之前 ``_transact`` 让 ``termios.error: (5, 'Input/output error')`` + 直接冒到 timer 回调外，整个夹爪节点带着 traceback 退出。这两种失败必须分开： + 没应答可以继续重试；串口坏了要先关再重开。 + """ + + +#: 连续这么多拍读不到状态就重开串口。 +#: 2026-10-20 实测：写命令有回显（``ctrl pos=400`` 有记录、手指也动了）， +#: 读 ``0x0201`` 却连续 264 次无应答；重启节点立刻恢复。说明串口会话坏了， +#: 光在同一个 fd 上重试没用。按失败拍数（不是秒）计数，是因为每拍耗时随重试变长。 +BUS_REOPEN_AFTER_FAILURES = 30 + + WIRING_HINT = ( "PC 已发出 Modbus，夹爪 0 字节返回。不是力/速度参数问题。按顺序查：\n" " 1) 夹爪 24 V DC 已上电（指示灯亮）\n" @@ -362,22 +397,56 @@ class DhPgeaGripper: if self._ser is None or not self._ser.is_open: raise DhPgeaError("串口未打开") bit_s = 10.0 / max(1, self.baudrate) - self._set_tx(True) - if self.rs485_rts: - time.sleep(2.0 * bit_s) - self._ser.reset_input_buffer() - self._ser.write(frame) - self._ser.flush() - if self.rs485_rts: - time.sleep(len(frame) * bit_s + 0.0008) - self._set_tx(False) - deadline = time.monotonic() + self.timeout_s + try: + self._set_tx(True) + if self.rs485_rts: + time.sleep(2.0 * bit_s) + self._ser.reset_input_buffer() + self._ser.write(frame) + # 不用 flush/tcdrain。发送缓冲排不空就在 timeout_s 内失败，回调才能返回。 + # 读应答另给一个 timeout_s，不能和排空共用同一个截止时间。 + if not wait_tx_empty(self._tx_queued, time.monotonic() + self.timeout_s): + raise DhPgeaError( + f"{self.port} 串口发送缓冲 {self.timeout_s:.2f}s 内没排空" + ) + if self.rs485_rts: + time.sleep(len(frame) * bit_s + 0.0008) + self._set_tx(False) + buf = self._read_reply(expect, time.monotonic() + self.timeout_s) + except OSError as exc: + raise DhPgeaBusError( + f"{self.port} 串口读写失败（{exc}）。" + "设备被拔掉或 USB 掉线时要先关串口再重开，不是夹爪没应答。" + ) from exc + return bytes(buf) if buf else None + + def _tx_queued(self) -> int: + """内核发送缓冲里还没推出去的字节数。""" + raw = fcntl.ioctl(self._ser.fileno(), termios.TIOCOUTQ, struct.pack("I", 0)) + return struct.unpack("I", raw)[0] + + def _read_reply(self, expect: int, deadline: float) -> bytes: + """读应答。单次 ``read`` 不许越过 ``deadline``。 + + pyserial 的超时在 USB 卡住时不可靠；``select`` 到点就停。 + """ + fd = self._ser.fileno() buf = bytearray() while time.monotonic() < deadline and len(buf) < expect: - chunk = self._ser.read(expect - len(buf)) - if chunk: - buf.extend(chunk) - return bytes(buf) if buf else None + remain = deadline - time.monotonic() + ready, _, _ = select.select([fd], [], [], remain) + if not ready: + break + old = self._ser.timeout + self._ser.timeout = 0 + try: + chunk = self._ser.read(expect - len(buf)) + finally: + self._ser.timeout = old + if not chunk: + break + buf.extend(chunk) + return bytes(buf) def initialization(self) -> bool: return self.write_register(REG_INIT, INIT_CMD) diff --git a/src/arm_application/arm_application/dh_pgea_node.py b/src/arm_application/arm_application/dh_pgea_node.py index a03b0c5..c80cab3 100644 --- a/src/arm_application/arm_application/dh_pgea_node.py +++ b/src/arm_application/arm_application/dh_pgea_node.py @@ -6,8 +6,9 @@ data: [initialize, position, force, speed] initialize>0.5 → 写 0xA5；否则设置力/速度/位置 /gripper/states std_msgs/Float32MultiArray - data: [initialized, grip_state, position, target_pos, target_force] - /gripper/joint_states sensor_msgs/JointState + data: [initialized, grip_state, position, target_pos, target_force, online] + online=1 这一帧刚从总线读回来；0=读不到（前 5 个是上一次的值） + /gripper/joint_states sensor_msgs/JointState（只在读到状态时发） 服务（std_srvs/Trigger）： /gripper/initialize /gripper/open /gripper/close @@ -17,25 +18,29 @@ from __future__ import annotations +import math +from arm_msgs.msg import GripperStatus +from arm_msgs.srv import GripperExecute import threading +import time from typing import Optional import rclpy from rcl_interfaces.msg import ParameterDescriptor -from arm_msgs.msg import GripperStatus -from arm_msgs.srv import GripperExecute -import math from rclpy.node import Node from sensor_msgs.msg import JointState from std_msgs.msg import Float32, Float32MultiArray, MultiArrayDimension, MultiArrayLayout from std_srvs.srv import Trigger from arm_application.dh_pgea import ( + BUS_REOPEN_AFTER_FAILURES, + DhPgeaBusError, DhPgeaError, DhPgeaGripper, GripperState, WIRING_HINT, ) +from arm_application.gauge_gripper import STATES_ONLINE_INDEX from arm_application.ros_node import TolerantNode, param_as_str @@ -48,14 +53,14 @@ def _as_ctrl_array(msg: Float32MultiArray) -> tuple[float, float, float, float]: class DhPgeaNode(TolerantNode): def __init__(self) -> None: - super().__init__("dh_pgea", namespace="/gripper") + super().__init__("dh_pgea") self.declare_parameter("port", "/dev/ttyUSB0") self.declare_parameter("baud", 115200) self.declare_parameter("slave_id", 1) self.declare_parameter("stroke_mm", 20.0) self.declare_parameter("force_pct", 50) self.declare_parameter("speed_pct", 50) - self.declare_parameter("auto_init", False) + self.declare_parameter("auto_init", True) self.declare_parameter("state_hz", 20.0) self.declare_parameter("open_position", 1000) self.declare_parameter("close_position", 0) @@ -67,8 +72,6 @@ class DhPgeaNode(TolerantNode): self._baud = int(self.get_parameter("baud").value) self._slave = int(self.get_parameter("slave_id").value) self._stroke = float(self.get_parameter("stroke_mm").value) - if not math.isfinite(self._stroke) or self._stroke <= 0: - raise DhPgeaError("夹爪行程必须是正数") self._force = int(self.get_parameter("force_pct").value) self._speed = int(self.get_parameter("speed_pct").value) _auto = self.get_parameter("auto_init").value @@ -89,17 +92,19 @@ class DhPgeaNode(TolerantNode): ) self._state = GripperState(stroke_mm=self._stroke) self._cmd_lock = threading.Lock() + self._last_reopen = 0.0 + self._fail_streak = 0 - self._pub_state = self.create_publisher(Float32MultiArray, "states", 10) + self._pub_state = self.create_publisher(Float32MultiArray, "/gripper/states", 10) self._pub_typed = self.create_publisher(GripperStatus, "status", 10) self.create_service(GripperExecute, "execute", self._srv_execute) - self._pub_js = self.create_publisher(JointState, "joint_states", 10) - self.create_subscription(Float32MultiArray, "ctrl", self._on_ctrl, 10) - self.create_subscription(Float32, "set_position", self._on_set_pos, 10) + self._pub_js = self.create_publisher(JointState, "/gripper/joint_states", 10) + self.create_subscription(Float32MultiArray, "/gripper/ctrl", self._on_ctrl, 10) + self.create_subscription(Float32, "/gripper/set_position", self._on_set_pos, 10) - self.create_service(Trigger, "initialize", self._srv_init) - self.create_service(Trigger, "open", self._srv_open) - self.create_service(Trigger, "close", self._srv_close) + self.create_service(Trigger, "/gripper/initialize", self._srv_init) + self.create_service(Trigger, "/gripper/open", self._srv_open) + self.create_service(Trigger, "/gripper/close", self._srv_close) self.get_logger().info( f"DH {self._model} SN={self._sn or '?'} " @@ -154,6 +159,11 @@ class DhPgeaNode(TolerantNode): def _on_ctrl(self, msg: Float32MultiArray) -> None: initialize, position, force, speed = _as_ctrl_array(msg) + # 写在执行之前。串口堵住时，只有这一行能看出命令是何时进来的。 + self.get_logger().info( + f"收到夹爪命令 initialize={initialize:.0f} pos={position:.0f} " + f"force={force:.0f} speed={speed:.0f}" + ) try: if initialize > 0.5: self._grip.initialize() @@ -164,14 +174,14 @@ class DhPgeaNode(TolerantNode): info = self._apply_move(int(position), f, s) self.get_logger().info(f"ctrl {info}") except DhPgeaError as exc: - self.get_logger().error(str(exc)) + self._note_bus_error(exc) def _on_set_pos(self, msg: Float32) -> None: try: info = self._apply_move(int(msg.data)) self.get_logger().info(f"set_position {info}") except DhPgeaError as exc: - self.get_logger().error(str(exc)) + self._note_bus_error(exc) def _srv_init(self, _req, resp): try: @@ -179,29 +189,63 @@ class DhPgeaNode(TolerantNode): resp.success = True resp.message = self._grip.get_run_states().summary() except DhPgeaError as exc: + self._note_bus_error(exc) resp.success = False resp.message = str(exc) return resp def _srv_open(self, _req, resp): + return self._srv_goto(_req, resp, self._open_pos, self._force, "未全开") + + def _srv_close(self, _req, resp): + # 20–33% 力碰到阻力会提前停，固件仍报到位；全闭至少 80%。 + return self._srv_goto(_req, resp, self._close_pos, max(int(self._force), 80), "未闭合到位") + + def _srv_goto(self, _req, resp, position, force, fail_prefix): + from arm_application.dh_pgea import grip_motion_settled try: - info = self._apply_move(self._open_pos) - resp.success = True - resp.message = info + info = self._apply_move(int(position), int(force), self._speed) + st = self._grip.wait_settle(int(position), timeout_s=8.0) + if not grip_motion_settled(st.grip_state, st.position, int(position), True): + self._apply_move(int(position), int(force), self._speed) + st = self._grip.wait_settle(int(position), timeout_s=6.0) + self._state = st + ok = grip_motion_settled(st.grip_state, st.position, int(position), True) + resp.success = bool(ok) + resp.message = st.summary() if ok else f"{fail_prefix} {st.summary()}（{info}）" except DhPgeaError as exc: + self._note_bus_error(exc) resp.success = False resp.message = str(exc) return resp - def _srv_close(self, _req, resp): + def _reopen_serial(self) -> None: + """串口 EIO 后先关再重开。1 秒最多一次，避免把 USB 打爆。""" + now = time.monotonic() + if now - self._last_reopen < 1.0: + return + self._last_reopen = now try: - info = self._apply_move(self._close_pos) - resp.success = True - resp.message = info - except DhPgeaError as exc: - resp.success = False - resp.message = str(exc) - return resp + self._grip.close() + except Exception: + pass + try: + self._grip.open() + self._grip.probe() + except (DhPgeaError, OSError) as exc: + self.get_logger().error( + f"夹爪串口重开失败：{exc}", throttle_duration_sec=10.0 + ) + return + self._online = True + self.get_logger().info("夹爪串口已重开，总线恢复应答") + + def _note_bus_error(self, exc: Exception) -> None: + """命令回调里的失败也走同一套：标离线，串口坏了就重开。""" + self._online = False + self.get_logger().error(str(exc)) + if isinstance(exc, DhPgeaBusError): + self._reopen_serial() def _typed_status(self, error=""): state = self._state @@ -223,6 +267,7 @@ class DhPgeaNode(TolerantNode): msg.error_msg = error return msg + def _srv_execute(self, request, response): command = request.command try: @@ -255,28 +300,56 @@ class DhPgeaNode(TolerantNode): response.status = self._typed_status("" if response.success else response.message) return response + def _on_timer(self) -> None: + online = True try: st = self._grip.get_run_states(retries=2 if self._online else 1) self._state = st + self._fail_streak = 0 if not self._online: self._online = True self.get_logger().info("夹爪总线已恢复") + except DhPgeaBusError as exc: + self._online = False + self._fail_streak = 0 + self.get_logger().warn(str(exc), throttle_duration_sec=5.0) + self._reopen_serial() + online = False except DhPgeaError as exc: self._online = False + self._fail_streak += 1 self.get_logger().warn(str(exc), throttle_duration_sec=5.0) - self._pub_typed.publish(self._typed_status(str(exc))) - return + if self._fail_streak >= BUS_REOPEN_AFTER_FAILURES: + # 写有回显、读一直无应答时，重试同一个串口会话没用，必须重开。 + self.get_logger().warn( + f"连续 {self._fail_streak} 拍读不到状态，先重开串口再继续重试" + ) + self._fail_streak = 0 + self._reopen_serial() + online = False + self._publish_state(online) - self._pub_typed.publish(self._typed_status()) + def _publish_state(self, online: bool) -> None: + """离线也要发一帧，前 5 个是上一次的值、最后一位是 0。 + + 不发的话上层只看到"没有 /gripper/states"，会把"总线读不到"当成 + "夹爪没到位"。只有 5 个元素的老消费者照旧能用。 + """ + self._pub_typed.publish(self._typed_status("" if online else "夹爪总线离线")) + st = self._state + n = STATES_ONLINE_INDEX + 1 arr = Float32MultiArray() arr.layout = MultiArrayLayout( - dim=[MultiArrayDimension(label="dh_pgea", size=5, stride=5)], + dim=[MultiArrayDimension(label="dh_pgea", size=n, stride=n)], data_offset=0, ) - arr.data = list(st.as_tuple()) + arr.data = list(st.as_tuple()) + [1.0 if online else 0.0] self._pub_state.publish(arr) + # 关节状态没有"离线"位：宁可不发，也不要把上一次的开口当成现在的。 + if not online: + return js = JointState() js.header.stamp = self.get_clock().now().to_msg() js.name = ["gripper_finger1_joint"] diff --git a/src/arm_application/arm_application/dual_gripper.py b/src/arm_application/arm_application/dual_gripper.py new file mode 100644 index 0000000..f576d94 --- /dev/null +++ b/src/arm_application/arm_application/dual_gripper.py @@ -0,0 +1,803 @@ +"""双臂夹爪统一控制架构（DH-Robotics 官方 Modbus RTU，非 Flexiv RDK）。 + +设计目标： +- 左臂（Rizon4-063989）：大寰 PGEA 平行夹爪，控制行程/夹持力/速度。 +- 右臂（Rizon4-063991）：大寰 RGI-100-30-O-S-M1 旋转夹爪，控制手指夹持与旋转角度/圈数/速度。 +- 统一接口，便于后续扩展到 ROS2 节点和新项目脚本。 + +注意：DH 官方协议是“写位置/角度寄存器后立即运动”，没有 ChangingTek SDK 的 0x0108 触发寄存器。 +""" + +from __future__ import annotations + +import time +from abc import ABC, abstractmethod +from dataclasses import dataclass, field +from enum import Enum, auto +from pathlib import Path +from typing import Any + +import numpy as np + +from arm_application.dh_official import DHModbusClient, DHModbusError + + +class GripperType(Enum): + PARALLEL = auto() # 平行夹爪 + ROTARY = auto() # 旋转夹爪 + VACUUM = auto() # 真空吸盘（预留） + + +class GripperState(Enum): + IDLE = auto() + MOVING = auto() + GRIPPING = auto() + RELEASING = auto() + ERROR = auto() + + +@dataclass +class GripperStatus: + """夹爪状态反馈。""" + + state: GripperState = GripperState.IDLE + position: float = 0.0 # 平行：mm；旋转：角度 deg + force: float = 0.0 # 最近一次命令力/力矩 % + velocity: float = 0.0 # 最近一次命令速度 % + is_moving: bool = False + is_gripped: bool = False # 是否夹持到物体 + connected: bool = False + initialized: bool = False + finger_position_per_mille: float = 0.0 + rotation_deg: float = 0.0 + gripper_state: int = -1 # DH 0x0201：0 moving,1 reached,2 caught,3 dropped + rotation_state: int = -1 # RGI 0x020B：0 moving,1 reached,2 blocking,3 blocked + error_msg: str = "" + timestamp: float = field(default_factory=time.time) + + +@dataclass +class GripperCommand: + """夹爪控制指令。""" + + target_position: float | None = None # 平行：mm；旋转：deg + target_force: float | None = None # 目标力/力矩 % + target_velocity: float | None = None # 目标速度 % + wait_complete: bool = True # 是否等待完成 + timeout: float = 10.0 # 超时时间 + + +class BaseGripper(ABC): + """夹爪基类，定义统一接口。""" + + name: str = "base_gripper" + gripper_type: GripperType = GripperType.PARALLEL + + def __init__(self, config: dict[str, Any] | None = None) -> None: + self.cfg = config or {} + self._connected = False + self._status = GripperStatus() + + @abstractmethod + def connect(self) -> None: ... + + @abstractmethod + def disconnect(self) -> None: ... + + @abstractmethod + def execute(self, cmd: GripperCommand) -> GripperStatus: ... + + @abstractmethod + def get_status(self) -> GripperStatus: ... + + def is_connected(self) -> bool: + return self._connected + + def open(self, **kwargs) -> GripperStatus: + raise NotImplementedError + + def close(self, **kwargs) -> GripperStatus: + raise NotImplementedError + + def stop(self) -> None: + raise NotImplementedError + + +# ============================================================================= +# 大寰平行夹爪（PGE/PGEA 系列） +# ============================================================================= + +@dataclass +class ParallelGripperConfig: + """大寰平行夹爪配置。""" + + port: str = "/dev/ttyUSB0" + slave_id: int = 1 + baudrate: int = 115200 + timeout: float = 0.2 + + # PGEA-100-40 行程为 40mm；若实际是 PGEA-100-26，请把 stroke_max 改成 26.0。 + stroke_min: float = 0.0 + stroke_max: float = 40.0 + + # 默认参数（DH 百分比） + default_speed: int = 50 + default_force: int = 50 + force_min: int = 20 + force_max: int = 100 + + # 控制行为 + auto_initialize: bool = True + init_timeout: float = 10.0 + position_tolerance_per_mille: int = 15 + status_poll_interval: float = 0.05 + + +class ParallelGripper(BaseGripper): + """大寰 PGE/PGEA 平行夹爪。""" + + name = "dh_pgea_parallel" + gripper_type = GripperType.PARALLEL + + def __init__(self, config: ParallelGripperConfig | None = None) -> None: + super().__init__() + self.cfg = config or ParallelGripperConfig() + self._client: DHModbusClient | None = None + self._last_position_mm = float(self.cfg.stroke_min) + self._last_force = int(self.cfg.default_force) + self._last_speed = int(self.cfg.default_speed) + + def connect(self) -> None: + if self._client is not None: + self.disconnect() + self._client = DHModbusClient( + self.cfg.port, + slave_id=self.cfg.slave_id, + baudrate=self.cfg.baudrate, + timeout=self.cfg.timeout, + ) + self._connected = True + self._status.connected = True + self._status.state = GripperState.IDLE + self._status.error_msg = "" + if self.cfg.auto_initialize: + self.initialize() + + def disconnect(self) -> None: + if self._client is not None: + self._client.close() + self._client = None + self._connected = False + self._status.connected = False + self._status.state = GripperState.IDLE + + def initialize(self, full: bool = False) -> None: + self._require_client() + assert self._client is not None + self._client.initialize(full=full, rotation=False, timeout=self.cfg.init_timeout) + self._status.initialized = True + + def _require_client(self) -> None: + if not self._connected or self._client is None: + self._status.state = GripperState.ERROR + self._status.error_msg = "平行夹爪未连接" + raise DHModbusError(self._status.error_msg) + + def _mm_to_per_mille(self, position_mm: float) -> int: + lo = float(self.cfg.stroke_min) + hi = float(self.cfg.stroke_max) + if hi <= lo: + hi = lo + 1.0 + ratio = (float(position_mm) - lo) / (hi - lo) + return int(np.clip(round(ratio * 1000.0), 0, 1000)) + + def _per_mille_to_mm(self, position: float | int) -> float: + lo = float(self.cfg.stroke_min) + hi = float(self.cfg.stroke_max) + return lo + (float(position) / 1000.0) * (hi - lo) + + def execute(self, cmd: GripperCommand) -> GripperStatus: + try: + self._require_client() + except DHModbusError: + return self._status + assert self._client is not None + + position_mm = self._last_position_mm if cmd.target_position is None else float(cmd.target_position) + position_mm = float(np.clip(position_mm, self.cfg.stroke_min, self.cfg.stroke_max)) + speed = int(np.clip(cmd.target_velocity or self.cfg.default_speed, 1, 100)) + force = int(np.clip(cmd.target_force or self.cfg.default_force, self.cfg.force_min, self.cfg.force_max)) + + self._client.set_speed_pct(speed) + self._client.set_force_pct(force) + target_per_mille = self._client.set_position_per_mille(self._mm_to_per_mille(position_mm)) + + self._last_position_mm = position_mm + self._last_speed = speed + self._last_force = force + self._status.state = GripperState.MOVING + self._status.error_msg = "" + + if cmd.wait_complete: + self._wait_complete(target_per_mille, cmd.timeout) + return self.get_status() + + def _wait_complete(self, target_per_mille: int, timeout: float) -> None: + assert self._client is not None + start = time.monotonic() + time.sleep(0.05) + while time.monotonic() - start < timeout: + state = self._client.get_gripper_state() + pos = self._client.get_position_per_mille() + self._status.gripper_state = state + self._status.finger_position_per_mille = float(pos) + self._status.position = self._per_mille_to_mm(pos) + self._status.is_moving = state == 0 + self._status.is_gripped = state == 2 + if state in (1, 2): + self._status.state = GripperState.GRIPPING if state == 2 else GripperState.IDLE + return + if state == 3: + self._status.state = GripperState.ERROR + self._status.error_msg = "夹持后物体掉落" + return + if abs(pos - target_per_mille) <= self.cfg.position_tolerance_per_mille and state != 0: + self._status.state = GripperState.IDLE + return + time.sleep(self.cfg.status_poll_interval) + self._status.state = GripperState.ERROR + self._status.error_msg = f"平行夹爪运动超时（>{timeout:.1f}s）" + + def get_status(self) -> GripperStatus: + if not self._connected or self._client is None: + self._status.connected = False + return self._status + try: + pos = self._client.get_position_per_mille() + state = self._client.get_gripper_state() + init_state = self._client.get_init_state() + self._status.connected = True + self._status.initialized = init_state == 1 + self._status.finger_position_per_mille = float(pos) + self._status.position = self._per_mille_to_mm(pos) + self._status.velocity = float(self._last_speed) + self._status.force = float(self._last_force) + self._status.gripper_state = state + self._status.is_moving = state == 0 + self._status.is_gripped = state == 2 + if self._status.state != GripperState.ERROR: + self._status.state = GripperState.MOVING if state == 0 else ( + GripperState.GRIPPING if state == 2 else GripperState.IDLE + ) + self._status.timestamp = time.time() + except Exception as exc: + self._status.state = GripperState.ERROR + self._status.error_msg = str(exc) + self._status.connected = False + return self._status + + def open(self, force: int | None = None, speed: int | None = None, **kwargs) -> GripperStatus: + # DH 千分比：0‰=闭合，1000‰=张开，对应行程 0mm -> stroke_max。 + return self.execute(GripperCommand( + target_position=float(self.cfg.stroke_max), + target_force=force or self.cfg.default_force, + target_velocity=speed or self.cfg.default_speed, + **kwargs, + )) + + def close(self, force: int | None = None, speed: int | None = None, **kwargs) -> GripperStatus: + return self.execute(GripperCommand( + target_position=float(self.cfg.stroke_min), + target_force=force or self.cfg.default_force, + target_velocity=speed or self.cfg.default_speed, + **kwargs, + )) + + def move_to(self, position_mm: float, force: int | None = None, speed: int | None = None, + **kwargs) -> GripperStatus: + return self.execute(GripperCommand( + target_position=position_mm, + target_force=force or self.cfg.default_force, + target_velocity=speed or self.cfg.default_speed, + **kwargs, + )) + + def set_force(self, force_pct: int) -> None: + self._require_client() + assert self._client is not None + self._last_force = self._client.set_force_pct(force_pct) + + def set_speed(self, speed_pct: int) -> None: + self._require_client() + assert self._client is not None + self._last_speed = self._client.set_speed_pct(speed_pct) + + def stop(self) -> None: + if self._client is not None: + self._client.hold_current_position() + self._status.state = GripperState.IDLE + + +# ============================================================================= +# 大寰旋转夹爪（RGI-100-30-O-S-M1） +# ============================================================================= + +@dataclass +class RotaryGripperConfig: + """大寰 RGI 旋转夹爪配置。""" + + port: str = "/dev/ttyUSB1" + slave_id: int = 1 + baudrate: int = 115200 + timeout: float = 0.2 + + # RGI 旋转角度寄存器是 signed 16bit；为避免 one's-complement 负零歧义，默认限制在 ±32767。 + angle_min: float = -32767.0 + angle_max: float = 32767.0 + max_step_deg: float = 30000.0 # rotate_revolutions 分段旋转的最大单步角度 + + # DH 手册：手指位置 0~1000‰。0=闭合，1000=张开。RGI-100 行程约 70mm。 + finger_open_per_mille: int = 1000 + finger_close_per_mille: int = 0 + + # 默认参数（DH 百分比） + default_speed: int = 50 # 旋转速度 % + default_torque: int = 50 # 旋转力/力矩 % + default_finger_speed: int = 50 # 手指速度 % + default_finger_force: int = 50 # 手指夹持力 % + torque_min: int = 20 + torque_max: int = 100 + + # 控制行为 + auto_initialize: bool = True + init_timeout: float = 15.0 # RGI 初始化包含旋转找零，时间更长 + angle_tolerance_deg: float = 1.0 + status_poll_interval: float = 0.05 + + +class RotaryGripper(BaseGripper): + """大寰 RGI-100-30-O-S-M1 旋转夹爪。""" + + name = "dh_rgi_rotary" + gripper_type = GripperType.ROTARY + + def __init__(self, config: RotaryGripperConfig | None = None) -> None: + super().__init__() + self.cfg = config or RotaryGripperConfig() + self._client: DHModbusClient | None = None + self._last_angle = 0.0 + self._last_torque = int(self.cfg.default_torque) + self._last_speed = int(self.cfg.default_speed) + self._last_finger_force = int(self.cfg.default_finger_force) + self._last_finger_speed = int(self.cfg.default_finger_speed) + self._last_finger_per_mille = int(self.cfg.finger_open_per_mille) + + def connect(self) -> None: + if self._client is not None: + self.disconnect() + self._client = DHModbusClient( + self.cfg.port, + slave_id=self.cfg.slave_id, + baudrate=self.cfg.baudrate, + timeout=self.cfg.timeout, + ) + self._connected = True + self._status.connected = True + self._status.state = GripperState.IDLE + self._status.error_msg = "" + if self.cfg.auto_initialize: + self.initialize() + + def disconnect(self) -> None: + if self._client is not None: + self._client.close() + self._client = None + self._connected = False + self._status.connected = False + self._status.state = GripperState.IDLE + + def initialize(self, full: bool = False) -> None: + self._require_client() + assert self._client is not None + self._client.initialize(full=full, rotation=True, timeout=self.cfg.init_timeout) + self._status.initialized = True + + def _require_client(self) -> None: + if not self._connected or self._client is None: + self._status.state = GripperState.ERROR + self._status.error_msg = "旋转夹爪未连接" + raise DHModbusError(self._status.error_msg) + + def execute(self, cmd: GripperCommand) -> GripperStatus: + """执行旋转指令；cmd.target_position 单位为度。""" + return self.rotate_to( + self._last_angle if cmd.target_position is None else float(cmd.target_position), + speed=cmd.target_velocity, + torque=cmd.target_force, + wait_complete=cmd.wait_complete, + timeout=cmd.timeout, + ) + + def _wait_complete(self, target_angle: float, timeout: float) -> None: + assert self._client is not None + start = time.monotonic() + start_angle = float(self._client.get_rotation_angle_deg()) + expected = abs(float(target_angle) - start_angle) + 30.0 + settled = 0 + last_angle = start_angle + time.sleep(0.05) + while time.monotonic() - start < timeout: + rot_state = self._client.get_rotation_state() + angle = float(self._client.get_rotation_angle_deg()) + self._status.rotation_state = rot_state + self._status.rotation_deg = angle + self._status.position = angle + self._status.is_moving = rot_state == 0 + if abs(angle - start_angle) > expected: + self._client.hold_current_rotation() + self._status.state = GripperState.ERROR + self._status.error_msg = ( + f"旋转超程保护：目标 {target_angle:.1f}°，从 {start_angle:.1f}° 跑到 {angle:.1f}°，已发停止" + ) + return + if rot_state in (1, 2): + self._status.state = GripperState.IDLE if rot_state == 1 else GripperState.GRIPPING + if rot_state == 2: + self._status.error_msg = "旋转受阻（blocking）" + return + if rot_state == 3: + self._status.state = GripperState.ERROR + self._status.error_msg = "旋转曾受阻且未到目标位" + return + if abs(angle - float(target_angle)) <= self.cfg.angle_tolerance_deg: + settled += 1 + if settled >= 3: + self._status.state = GripperState.IDLE + self._status.is_moving = False + return + elif abs(angle - last_angle) <= self.cfg.angle_tolerance_deg: + settled += 1 + if settled >= 8 and abs(angle - float(target_angle)) <= 15.0: + self._status.state = GripperState.IDLE + self._status.is_moving = False + return + else: + settled = 0 + last_angle = angle + time.sleep(self.cfg.status_poll_interval) + self._client.hold_current_rotation() + self._status.state = GripperState.ERROR + self._status.error_msg = f"旋转运动超时（>{timeout:.1f}s），已发停止" + + def get_status(self) -> GripperStatus: + if not self._connected or self._client is None: + self._status.connected = False + return self._status + try: + finger_pos = self._client.get_position_per_mille() + finger_state = self._client.get_gripper_state() + init_state = self._client.get_init_state() + rot_angle = self._client.get_rotation_angle_deg() + rot_state = self._client.get_rotation_state() + rot_init = self._client.get_rotation_init_state() + + self._status.connected = True + self._status.initialized = init_state == 1 and rot_init == 1 + self._status.finger_position_per_mille = float(finger_pos) + self._status.rotation_deg = float(rot_angle) + self._status.position = float(rot_angle) + self._status.velocity = float(self._last_speed) + self._status.force = float(self._last_torque) + self._status.gripper_state = finger_state + self._status.rotation_state = rot_state + self._status.is_moving = finger_state == 0 or rot_state == 0 + self._status.is_gripped = finger_state == 2 + if self._status.state != GripperState.ERROR: + if finger_state == 2 or rot_state == 2: + self._status.state = GripperState.GRIPPING + elif finger_state == 0 or rot_state == 0: + self._status.state = GripperState.MOVING + else: + self._status.state = GripperState.IDLE + self._status.timestamp = time.time() + except Exception as exc: + self._status.state = GripperState.ERROR + self._status.error_msg = str(exc) + self._status.connected = False + return self._status + + # ----------------------------- + # 手指夹持 + # ----------------------------- + def move_fingers(self, position_per_mille: int, force: int | None = None, + speed: int | None = None, wait_complete: bool = True, + timeout: float = 10.0) -> GripperStatus: + try: + self._require_client() + except DHModbusError: + return self._status + assert self._client is not None + target = int(np.clip(position_per_mille, 0, 1000)) + f = int(np.clip(force or self.cfg.default_finger_force, 20, 100)) + s = int(np.clip(speed or self.cfg.default_finger_speed, 1, 100)) + self._client.set_speed_pct(s) + self._client.set_force_pct(f) + self._client.set_position_per_mille(target) + self._last_finger_per_mille = target + self._last_finger_force = f + self._last_finger_speed = s + if wait_complete: + start = time.monotonic() + time.sleep(0.05) + while time.monotonic() - start < timeout: + state = self._client.get_gripper_state() + pos = self._client.get_position_per_mille() + self._status.gripper_state = state + self._status.finger_position_per_mille = float(pos) + if state in (1, 2): + break + if state == 3: + self._status.state = GripperState.ERROR + self._status.error_msg = "夹持后物体掉落" + break + time.sleep(self.cfg.status_poll_interval) + return self.get_status() + + def open_fingers(self, **kwargs) -> GripperStatus: + return self.move_fingers(self.cfg.finger_open_per_mille, **kwargs) + + def close_fingers(self, **kwargs) -> GripperStatus: + return self.move_fingers(self.cfg.finger_close_per_mille, **kwargs) + + # ----------------------------- + # 旋转 + # ----------------------------- + def rotate_to(self, angle_deg: float, speed: int | None = None, torque: int | None = None, + wait_complete: bool = True, timeout: float = 10.0, **kwargs) -> GripperStatus: + try: + self._require_client() + except DHModbusError: + return self._status + assert self._client is not None + + angle = float(np.clip(angle_deg, self.cfg.angle_min, self.cfg.angle_max)) + s = int(np.clip(speed or self.cfg.default_speed, 1, 100)) + t = int(np.clip(torque or self.cfg.default_torque, self.cfg.torque_min, self.cfg.torque_max)) + + self._client.set_rotation_speed_pct(s) + self._client.set_rotation_force_pct(t) + target = self._client.set_rotation_angle_deg(angle) + + self._last_angle = float(target) + self._last_speed = s + self._last_torque = t + self._status.state = GripperState.MOVING + self._status.error_msg = "" + + if wait_complete: + self._wait_complete(float(target), timeout) + return self.get_status() + + def rotate_by(self, delta_deg: float, **kwargs) -> GripperStatus: + current = self.get_status().rotation_deg + return self.rotate_to(current + float(delta_deg), **kwargs) + + def rotate_revolutions(self, revolutions: float, **kwargs) -> GripperStatus: + """旋转指定圈数；超过单步角度范围时自动分段，并按实际反馈角度结算。""" + remaining = float(revolutions) * 360.0 + status = self.get_status() + max_step = abs(float(self.cfg.max_step_deg)) or 30000.0 + while abs(remaining) > 1e-6: + before = float(self.get_status().rotation_deg) + step = float(np.clip(remaining, -max_step, max_step)) + status = self.rotate_to(before + step, **kwargs) + if status.state == GripperState.ERROR: + return status + after = float(status.rotation_deg) + achieved = after - before + if abs(achieved) < max(1.0, abs(step) * 0.2): + status.state = GripperState.ERROR + status.error_msg = ( + "旋转未达到预期步进，可能超出角度寄存器范围或反馈异常：" + f"step={step:.3f}, before={before:.3f}, after={after:.3f}" + ) + return status + remaining -= achieved + return status + + def home_rotation(self, **kwargs) -> GripperStatus: + return self.rotate_to(0.0, **kwargs) + + def set_rotation_speed(self, speed_pct: int) -> None: + self._require_client() + assert self._client is not None + self._last_speed = self._client.set_rotation_speed_pct(speed_pct) + + def set_rotation_torque(self, torque_pct: int) -> None: + self._require_client() + assert self._client is not None + self._last_torque = self._client.set_rotation_force_pct(torque_pct) + + def set_finger_speed(self, speed_pct: int) -> None: + self._require_client() + assert self._client is not None + self._last_finger_speed = self._client.set_speed_pct(speed_pct) + + def set_finger_force(self, force_pct: int) -> None: + self._require_client() + assert self._client is not None + self._last_finger_force = self._client.set_force_pct(force_pct) + + def open(self, **kwargs) -> GripperStatus: + """对于 RGI，open 定义为张开手指；旋转请用 rotate_to/rotate_revolutions。""" + return self.open_fingers(**kwargs) + + def close(self, **kwargs) -> GripperStatus: + """对于 RGI，close 定义为闭合手指；旋转请用 rotate_to/rotate_revolutions。""" + return self.close_fingers(**kwargs) + + def stop(self) -> None: + if self._client is not None: + self._client.hold_current_all() + self._status.state = GripperState.IDLE + + +# ============================================================================= +# 双臂夹爪管理器 +# ============================================================================= + +@dataclass +class DualArmGripperConfig: + """双臂夹爪配置。 + + 这里**没有** ``left_arm_sn`` / ``right_arm_sn``：它们曾经存在但从来没有被读过 + （只写不读的死字段，R5.5），而且默认值是本机的 SN —— 换台臂就会误导读者。 + 哪个侧别是哪台臂，由 ``load_from_site()`` 从 site.yaml 的 ``robots[].arm`` 决定。 + """ + + left_gripper: ParallelGripperConfig = field(default_factory=ParallelGripperConfig) + right_gripper: RotaryGripperConfig = field(default_factory=RotaryGripperConfig) + + +class DualArmGripperManager: + """双臂夹爪管理器：统一控制左右臂夹爪。""" + + def __init__(self, config: DualArmGripperConfig | None = None) -> None: + self.cfg = config or DualArmGripperConfig() + self._left: ParallelGripper | None = None + self._right: RotaryGripper | None = None + + @property + def left(self) -> ParallelGripper: + if self._left is None: + self._left = ParallelGripper(self.cfg.left_gripper) + return self._left + + @property + def right(self) -> RotaryGripper: + if self._right is None: + self._right = RotaryGripper(self.cfg.right_gripper) + return self._right + + def connect_all(self) -> None: + self.left.connect() + self.right.connect() + + def disconnect_all(self) -> None: + if self._left: + self._left.disconnect() + if self._right: + self._right.disconnect() + + def initialize_all(self, full: bool = False) -> None: + self.left.initialize(full=full) + self.right.initialize(full=full) + + def get_all_status(self) -> dict[str, GripperStatus]: + return { + "left": self.left.get_status(), + "right": self.right.get_status(), + } + + def emergency_stop(self) -> None: + self.left.stop() + self.right.stop() + + +def load_dual_arm_gripper_config(path: str | Path) -> DualArmGripperConfig: + """从 configs/dual_arm_robot.yaml 加载双臂夹爪配置。""" + import yaml + + data = yaml.safe_load(Path(path).read_text(encoding="utf-8")) or {} + left = data.get("left_arm", {}) or {} + right = data.get("right_arm", {}) or {} + grip = data.get("gripper", {}) or {} + parallel = grip.get("parallel", {}) or {} + rotary = grip.get("rotary", {}) or {} + + left_cfg = ParallelGripperConfig( + port=left.get("gripper_port", "/dev/ttyUSB0"), + slave_id=int(left.get("gripper_slave_id", 1)), + baudrate=int(left.get("gripper_baudrate", 115200)), + stroke_min=float(parallel.get("stroke_min", 0.0)), + stroke_max=float(parallel.get("stroke_max", 40.0)), + default_speed=int(parallel.get("default_speed", 50)), + default_force=int(parallel.get("default_force", 50)), + force_min=int(parallel.get("force_min", 20)), + force_max=int(parallel.get("force_max", 100)), + auto_initialize=bool(parallel.get("auto_initialize", True)), + ) + right_cfg = RotaryGripperConfig( + port=right.get("gripper_port", "/dev/ttyUSB1"), + slave_id=int(right.get("gripper_slave_id", 1)), + baudrate=int(right.get("gripper_baudrate", 115200)), + angle_min=float(rotary.get("angle_min", -32767.0)), + angle_max=float(rotary.get("angle_max", 32767.0)), + max_step_deg=float(rotary.get("max_step_deg", 30000.0)), + finger_open_per_mille=int(rotary.get("finger_open_per_mille", 1000)), + finger_close_per_mille=int(rotary.get("finger_close_per_mille", 0)), + default_speed=int(rotary.get("default_speed", 50)), + default_torque=int(rotary.get("default_torque", 50)), + default_finger_speed=int(rotary.get("default_finger_speed", 50)), + default_finger_force=int(rotary.get("default_finger_force", 50)), + torque_min=int(rotary.get("torque_min", 20)), + torque_max=int(rotary.get("torque_max", 100)), + auto_initialize=bool(rotary.get("auto_initialize", True)), + ) + return DualArmGripperConfig( + left_gripper=left_cfg, + right_gripper=right_cfg, + ) + + +def load_from_site(data: dict) -> DualArmGripperConfig: + """从 ``~/ros2/config/site.yaml`` 构建 ``DualArmGripperConfig``。 + + 左右靠 ``robots[].arm`` 认，**不靠 SN 里的数字**：``"063989 就是左臂"`` + 是站点数据，写进代码后换个站点就会把左右夹爪搞反 + （症状是"右臂的旋转爪去开左臂的平行爪"，串口对不上才报错）。 + """ + robots = list((data.get("robot") or {}).get("robots") or []) + left = next((r for r in robots if str(r.get("arm") or "").lower() == "left"), {}) + right = next((r for r in robots if str(r.get("arm") or "").lower() == "right"), {}) + g = data.get("gripper") or {} + parallel = g.get("parallel") or {} + rotary = g.get("rotary") or {} + lg = left.get("gripper") or {} + rg = right.get("gripper") or {} + stroke = float(lg.get("stroke_mm") or parallel.get("stroke_max") or g.get("stroke_mm") or 20.0) + left_cfg = ParallelGripperConfig( + port=str(lg.get("port") or "/dev/ttyUSB0"), + slave_id=int(lg.get("slave_id") or g.get("slave_id") or 1), + baudrate=int(lg.get("baud") or g.get("baud") or 115200), + stroke_min=float(parallel.get("stroke_min") or 0.0), + stroke_max=stroke, + default_speed=int(parallel.get("default_speed") or g.get("speed_pct") or 50), + default_force=int(parallel.get("default_force") or g.get("force_pct") or 50), + force_min=int(parallel.get("force_min") or 20), + force_max=int(parallel.get("force_max") or 100), + auto_initialize=bool(lg.get("auto_init", parallel.get("auto_initialize", True))), + init_timeout=float(parallel.get("init_timeout") or 10.0), + ) + right_cfg = RotaryGripperConfig( + port=str(rg.get("port") or "/dev/ttyUSB1"), + slave_id=int(rg.get("slave_id") or 1), + baudrate=int(rg.get("baud") or g.get("baud") or 115200), + angle_min=float(rotary.get("angle_min") or -32767.0), + angle_max=float(rotary.get("angle_max") or 32767.0), + max_step_deg=float(rotary.get("max_step_deg") or 30000.0), + finger_open_per_mille=int(rotary.get("finger_open_per_mille") or 1000), + finger_close_per_mille=int(rotary.get("finger_close_per_mille") or 0), + default_speed=int(rotary.get("default_speed") or 50), + default_torque=int(rotary.get("default_torque") or 50), + default_finger_speed=int(rotary.get("default_finger_speed") or 50), + default_finger_force=int(rotary.get("default_finger_force") or 50), + torque_min=int(rotary.get("torque_min") or 20), + torque_max=int(rotary.get("torque_max") or 100), + auto_initialize=bool(rg.get("auto_init", rotary.get("auto_initialize", False))), + init_timeout=float(rotary.get("init_timeout") or 15.0), + ) + return DualArmGripperConfig( + left_gripper=left_cfg, + right_gripper=right_cfg, + ) diff --git a/src/arm_application/arm_application/dual_gripper_cli.py b/src/arm_application/arm_application/dual_gripper_cli.py new file mode 100644 index 0000000..f4f3402 --- /dev/null +++ b/src/arm_application/arm_application/dual_gripper_cli.py @@ -0,0 +1,190 @@ +#!/usr/bin/env python3 +"""DH PGEA（左臂）与 RGI（右臂）的命令行工具。从 site.yaml 读取串口。""" + +from __future__ import annotations + +import argparse +import os +import sys +import time +from pathlib import Path + +import yaml + +from arm_application.dual_gripper import DualArmGripperManager, load_from_site + + +def _site_path() -> Path: + env = os.environ.get("SITE_CONFIG", "").strip() + if env: + return Path(env).expanduser() + return Path.home() / "ros2" / "config" / "site.yaml" + + +def _print_status(label: str, status) -> None: + print( + f" {label}: state={status.state.name} " + f"pos={status.position:.2f} finger={status.finger_position_per_mille:.0f}‰ " + f"rot={status.rotation_deg:.2f}° moving={status.is_moving} " + f"gripped={status.is_gripped} init={status.initialized} " + f"err={status.error_msg or '-'}" + ) + + +def _load_site_exporter(): + """复用 ``scripts/lib/export_site_env.py`` —— 它才是 --arm 别名的权威定义。 + + 这里**不自己再抄一份** ``89 -> SN`` 的映射：抄一份就多一处会漂移的地方（M2）。 + """ + root = Path(__file__).resolve().parents[3] + lib = str(root / "scripts" / "lib") + if lib not in sys.path: + sys.path.insert(0, lib) + import export_site_env # type: ignore + + return export_site_env + + +def _normalize_arm(raw: str, data: dict) -> str: + """把 --arm 的写法归一成 ``left`` / ``right`` / ``both``。 + + 别名（``89`` 这类）由 ``export_site_env`` 从 site.yaml 的 ``robots[]`` 现算 + （臂号 = 该臂 SN 末两位）。代码里**不写死** SN，否则换台机器人后会指错臂， + 而症状是"给右臂发命令，左臂动了"。 + """ + t = (raw or "").strip() + if t.lower() in ("both", "dual", "all"): + return "both" + site_env = _load_site_exporter() + sn, matched = site_env.resolve_robot_sn(data, t) + if not matched: + raise SystemExit( + f"未知的 --arm {raw!r}：不在 site.yaml 的 robot.robots[] 里。\n" + f"可用：\n{site_env.describe_arms(data)}\n" + f"也可以直接写 left|right|both。" + ) + for row in (data.get("robot") or {}).get("robots") or []: + if str(row.get("sn") or "").strip() != sn: + continue + arm = str(row.get("arm") or "").strip().lower() + if arm in ("left", "right"): + return arm + raise SystemExit( + f"--arm {raw!r} 选中了 {sn}，但 site.yaml 里这台臂没写 arm: left|right，" + f"无法判断操作哪个夹爪。请补上这个键。" + ) + raise SystemExit( + f"--arm {raw!r} 解析出 {sn}，但它不在 site.yaml 的 robot.robots[] 里，" + f"无法判断是哪个夹爪。" + ) + + +def test_parallel(manager: DualArmGripperManager, args: argparse.Namespace) -> None: + gripper = manager.left + print(f"=== PGEA 平行夹爪（{gripper.cfg.port}）===") + gripper.connect() + _print_status("已连接", gripper.get_status()) + if args.test in ("init", "probe", "all"): + if args.test != "probe": + gripper.initialize(full=args.init_full) + _print_status("初始化", gripper.get_status()) + if args.test in ("open", "all"): + _print_status("张开", gripper.open(force=args.force, speed=args.speed)) + if args.test in ("close", "all"): + _print_status("闭合", gripper.close(force=args.force, speed=args.speed)) + if args.test in ("move", "pos") and args.pos is not None: + _print_status("移动", gripper.move_to(args.pos, force=args.force, speed=args.speed)) + if args.test in ("status", "probe"): + _print_status("状态", gripper.get_status()) + + +def test_rotary(manager: DualArmGripperManager, args: argparse.Namespace) -> None: + gripper = manager.right + print(f"=== RGI 旋转夹爪（{gripper.cfg.port}）===") + gripper.connect() + _print_status("已连接", gripper.get_status()) + if args.test in ("init", "all"): + gripper.initialize(full=args.init_full) + _print_status("初始化", gripper.get_status()) + if args.test in ("open", "all"): + _print_status("张开", gripper.open_fingers(force=args.force, speed=args.speed)) + if args.test in ("close", "all"): + _print_status("闭合", gripper.close_fingers(force=args.force, speed=args.speed)) + if args.test in ("move", "pos") and args.pos is not None: + _print_status("手指", gripper.move_fingers(int(args.pos), force=args.force, speed=args.speed)) + if args.test in ("rotate", "rotate_to", "all"): + if args.revolutions is not None: + _print_status( + "圈数", + gripper.rotate_revolutions(args.revolutions, speed=args.speed, torque=args.force), + ) + else: + angle = args.angle if args.angle is not None else 90.0 + _print_status("旋转", gripper.rotate_to(angle, speed=args.speed, torque=args.force)) + if args.test == "rotate_by": + delta = args.angle if args.angle is not None else 45.0 + _print_status("相对旋转", gripper.rotate_by(delta, speed=args.speed, torque=args.force)) + if args.test in ("status", "probe"): + _print_status("状态", gripper.get_status()) + + +def main() -> int: + parser = argparse.ArgumentParser(description="DH PGEA / RGI 命令行工具（串口来自 site.yaml）") + parser.add_argument( + "--arm", + # 默认取当前臂（parse_arm_args.sh / load_site_config.sh 已经把它放进环境）。 + # **不**兜底成某个具体臂号：那等于"没选臂时也能跑，跑的是哪台看运气"。 + default=( + os.environ.get("SITE_ROBOT_ARM") + or os.environ.get("ROBOT_SN") + or os.environ.get("SITE_ROBOT_SN") + or "" + ), + help="left|right|both，或该臂的臂号（= SN 末两位，由 site.yaml 决定）", + ) + parser.add_argument( + "--test", + default="status", + help="probe|init|open|close|move|pos|rotate|rotate_by|status", + ) + parser.add_argument("--pos", type=float, default=None, help="PGEA 为 mm；RGI 为手指 0-1000") + parser.add_argument("--angle", type=float, default=None) + parser.add_argument("--revolutions", type=float, default=None) + parser.add_argument("--speed", type=int, default=25) + parser.add_argument("--force", type=int, default=33) + parser.add_argument("--init-full", action="store_true") + parser.add_argument("--site", default="") + args = parser.parse_args() + + site = Path(args.site).expanduser() if args.site else _site_path() + if not site.is_file(): + print(f"错误：site.yaml 缺失：{site}", file=sys.stderr) + return 1 + data = yaml.safe_load(site.read_text(encoding="utf-8")) or {} + manager = DualArmGripperManager(load_from_site(data)) + arm = _normalize_arm(str(args.arm), data) + print(f"site={site} arm={arm} test={args.test}") + + try: + if arm == "left": + test_parallel(manager, args) + elif arm == "right": + test_rotary(manager, args) + else: + test_parallel(manager, args) + test_rotary(manager, args) + except KeyboardInterrupt: + print("收到中断 —— 停止") + manager.emergency_stop() + return 130 + except Exception as exc: + print(f"错误：{exc}", file=sys.stderr) + return 1 + finally: + manager.disconnect_all() + time.sleep(0.05) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/arm_application/arm_application/dual_gripper_node.py b/src/arm_application/arm_application/dual_gripper_node.py new file mode 100644 index 0000000..d877002 --- /dev/null +++ b/src/arm_application/arm_application/dual_gripper_node.py @@ -0,0 +1,320 @@ +"""ROS 2 双臂 DH 夹爪节点（左臂 PGEA + 右臂 RGI）。使用 arm_msgs，而非 Flexiv RDK。""" + +from __future__ import annotations + +import os +import threading +from pathlib import Path + +import rclpy +import yaml +from rclpy.callback_groups import ReentrantCallbackGroup +from rclpy.executors import MultiThreadedExecutor +from rclpy.node import Node + +from arm_application.dual_gripper import ( + DualArmGripperManager, + GripperState, + load_dual_arm_gripper_config, + load_from_site, +) +from arm_msgs.msg import GripperCommand as GripperCommandMsg +from arm_msgs.msg import GripperStatus as GripperStatusMsg +from arm_msgs.srv import GripperExecute + +from arm_application.ros_node import TolerantNode + + +def _site_path() -> Path: + env = os.environ.get("SITE_CONFIG", "").strip() + if env: + return Path(env).expanduser() + return Path.home() / "ros2" / "config" / "site.yaml" + + +def _as_bool(val, default: bool = True) -> bool: + if val is None: + return default + if isinstance(val, str): + return val.strip().lower() in ("1", "true", "yes", "on") + return bool(val) + + +class DualGripperNode(TolerantNode): + def __init__(self) -> None: + super().__init__("dual_gripper_driver") + self.declare_parameter("config_file", "") + self.declare_parameter("auto_connect", True) + self.declare_parameter("allow_offline", True) + self.declare_parameter("publish_hz", 10.0) + self.declare_parameter("sides", "left,right") + + self._cb_group = ReentrantCallbackGroup() + self._locks = {"left": threading.Lock(), "right": threading.Lock()} + sides_raw = str(self.get_parameter("sides").value or "left,right") + self._sides = [s.strip().lower() for s in sides_raw.split(",") if s.strip()] + if not self._sides: + self._sides = ["left", "right"] + + cfg_path = self.get_parameter("config_file").get_parameter_value().string_value.strip() + if cfg_path: + self._manager = DualArmGripperManager(load_dual_arm_gripper_config(cfg_path)) + else: + site = _site_path() + data = yaml.safe_load(site.read_text(encoding="utf-8")) or {} + self._manager = DualArmGripperManager(load_from_site(data)) + self.get_logger().info(f"夹爪配置来自 site.yaml：{site}") + + self._connect_errors: dict[str, str] = {} + if _as_bool(self.get_parameter("auto_connect").value, True): + self._connect_all() + + self._left_pub = self.create_publisher(GripperStatusMsg, "~/left/status", 10) + self._right_pub = self.create_publisher(GripperStatusMsg, "~/right/status", 10) + if "left" in self._sides: + self.create_subscription( + GripperCommandMsg, + "~/left/command", + lambda msg: self._on_command("left", msg), + 10, + callback_group=self._cb_group, + ) + self.create_service( + GripperExecute, + "~/left/execute", + lambda req, resp: self._on_execute("left", req, resp), + callback_group=self._cb_group, + ) + if "right" in self._sides: + self.create_subscription( + GripperCommandMsg, + "~/right/command", + lambda msg: self._on_command("right", msg), + 10, + callback_group=self._cb_group, + ) + self.create_service( + GripperExecute, + "~/right/execute", + lambda req, resp: self._on_execute("right", req, resp), + callback_group=self._cb_group, + ) + + period = 1.0 / max(1e-3, float(self.get_parameter("publish_hz").value)) + self.create_timer(period, self._publish_status, callback_group=self._cb_group) + self.get_logger().info( + f"dual_gripper_driver ready sides={self._sides} " + "~/left|right/command status execute" + ) + + def _connect_all(self) -> None: + mapping = (("left", self._manager.left), ("right", self._manager.right)) + for side, gripper in mapping: + if side not in self._sides: + continue + try: + gripper.connect() + self.get_logger().info(f"{side} 夹爪已连接：{gripper.cfg.port}") + except Exception as exc: + self._connect_errors[side] = str(exc) + self.get_logger().error(f"{side} 夹爪连接失败：{exc}") + if self._connect_errors and not _as_bool(self.get_parameter("allow_offline").value, True): + raise RuntimeError(f"夹爪连接失败：{self._connect_errors}") + + def _gripper(self, side: str): + return self._manager.left if side == "left" else self._manager.right + + def _execute(self, side: str, msg: GripperCommandMsg): + gripper = self._gripper(side) + command = (msg.command or "").strip().lower() + timeout = float(msg.timeout or 10.0) + wait = bool(msg.wait_complete) + + if side in self._connect_errors and not gripper.is_connected(): + status = gripper.get_status() + status.error_msg = self._connect_errors[side] + return status + + if command == "connect": + gripper.connect() + self._connect_errors.pop(side, None) + return gripper.get_status() + if command == "init": + gripper.initialize(full=False) + return gripper.get_status() + if command == "init_full": + gripper.initialize(full=True) + return gripper.get_status() + if command == "stop": + gripper.stop() + return gripper.get_status() + + if side == "left": + if command == "open": + return gripper.open( + force=int(msg.force) if msg.force else None, + speed=int(msg.speed) if msg.speed else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "close": + return gripper.close( + force=int(msg.force) if msg.force else None, + speed=int(msg.speed) if msg.speed else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "move": + return gripper.move_to( + float(msg.position), + force=int(msg.force) if msg.force else None, + speed=int(msg.speed) if msg.speed else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "set_force": + gripper.set_force(int(msg.force)) + return gripper.get_status() + if command == "set_speed": + gripper.set_speed(int(msg.speed)) + return gripper.get_status() + else: + if command == "open": + return gripper.open_fingers( + force=int(msg.force) if msg.force else None, + speed=int(msg.speed) if msg.speed else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "close": + return gripper.close_fingers( + force=int(msg.force) if msg.force else None, + speed=int(msg.speed) if msg.speed else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "move": + return gripper.move_fingers( + int(msg.position), + force=int(msg.force) if msg.force else None, + speed=int(msg.speed) if msg.speed else None, + wait_complete=wait, + timeout=timeout, + ) + if command in ("rotate", "rotate_to"): + return gripper.rotate_to( + float(msg.position), + speed=int(msg.speed) if msg.speed else None, + torque=int(msg.force) if msg.force else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "rotate_by": + return gripper.rotate_by( + float(msg.position), + speed=int(msg.speed) if msg.speed else None, + torque=int(msg.force) if msg.force else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "rotate_revolutions": + return gripper.rotate_revolutions( + float(msg.position), + speed=int(msg.speed) if msg.speed else None, + torque=int(msg.force) if msg.force else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "home_rotation": + return gripper.home_rotation( + speed=int(msg.speed) if msg.speed else None, + torque=int(msg.force) if msg.force else None, + wait_complete=wait, + timeout=timeout, + ) + if command == "set_force": + gripper.set_rotation_torque(int(msg.force)) + return gripper.get_status() + if command == "set_speed": + gripper.set_rotation_speed(int(msg.speed)) + return gripper.get_status() + if command == "set_finger_force": + gripper.set_finger_force(int(msg.force)) + return gripper.get_status() + if command == "set_finger_speed": + gripper.set_finger_speed(int(msg.speed)) + return gripper.get_status() + + status = gripper.get_status() + status.state = GripperState.ERROR + status.error_msg = f"不支持的命令 {command!r}（side={side}）" + return status + + def _on_command(self, side: str, msg: GripperCommandMsg) -> None: + with self._locks[side]: + status = self._execute(side, msg) + if status.state == GripperState.ERROR: + self.get_logger().warn(f"{side} 命令 {msg.command!r} 失败：{status.error_msg}") + + def _on_execute(self, side: str, request: GripperExecute.Request, response: GripperExecute.Response): + with self._locks[side]: + status = self._execute(side, request.command) + response.success = status.state != GripperState.ERROR and status.connected + response.message = status.error_msg or "OK" + response.status = self._to_status_msg(side, status) + return response + + def _to_status_msg(self, side: str, status) -> GripperStatusMsg: + gripper = self._gripper(side) + msg = GripperStatusMsg() + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = f"{side}_gripper" + msg.name = gripper.name + msg.gripper_type = gripper.gripper_type.name.lower() + msg.state = status.state.name + msg.connected = bool(status.connected) + msg.initialized = bool(status.initialized) + msg.is_moving = bool(status.is_moving) + msg.is_gripped = bool(status.is_gripped) + msg.position = float(status.position) + msg.finger_position_per_mille = float(status.finger_position_per_mille) + msg.rotation_deg = float(status.rotation_deg) + msg.gripper_state = int(status.gripper_state) + msg.rotation_state = int(status.rotation_state) + msg.velocity = float(status.velocity) + msg.force = float(status.force) + msg.error_msg = status.error_msg or "" + return msg + + def _publish_status(self) -> None: + if "left" in self._sides: + left_status = self._manager.left.get_status() + if "left" in self._connect_errors and not left_status.connected: + left_status.error_msg = self._connect_errors["left"] + self._left_pub.publish(self._to_status_msg("left", left_status)) + if "right" in self._sides: + right_status = self._manager.right.get_status() + if "right" in self._connect_errors and not right_status.connected: + right_status.error_msg = self._connect_errors["right"] + self._right_pub.publish(self._to_status_msg("right", right_status)) + + def destroy_node(self) -> bool: + try: + self._manager.disconnect_all() + finally: + return super().destroy_node() + + +def main() -> None: + rclpy.init() + node = DualGripperNode() + executor = MultiThreadedExecutor(num_threads=4) + try: + rclpy.spin(node, executor=executor) + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/src/arm_application/arm_application/gauge_assembly_node.py b/src/arm_application/arm_application/gauge_assembly_node.py new file mode 100644 index 0000000..5578c20 --- /dev/null +++ b/src/arm_application/arm_application/gauge_assembly_node.py @@ -0,0 +1,2623 @@ +#!/usr/bin/env python3 +"""通止规装配主流程（看板 S00–S11 + E1/E2）。 + +一次完整装配做什么 +------------------ +1. **S00** 自检：机械臂伺服 / 相机预览 / 夹爪伺服 / 触觉图传 / 算法权重， + 全部就绪才开指令窗（缺什么、缺了会怎样，逐条打印）； +2. **S01** 回 home，再按工具系逆时针预绕到"不触发关节极限的极限角" —— + 这一步是给 S08 的棘轮留出回转行程，不然后面转两圈就贴限位； +3. **S02** 夹持确认（预留，默认跳过：传感器方案在优化、D435 未标定）； +4. **S04** 腕部 D405 跟踪 k0（S03 手外粗定位只作兜底：跟踪丢了才去， + 今天 D435 还没标定，所以会明确报"缺哪个文件"而不是假装在做）； +5. **S05** 画面稳定 T 秒后精拍定位 k1/k2，并记下当时的位姿； +6. **S06→S09** 对当前孔：正悬停 → 柔顺接触 → 棘轮式拧入 → 反向拧出； +7. **S10** 换到下一个孔（回到 S05 记的位姿），重复 S06–S09； +8. **S11** 复位退出。 + +异常分支：**E1** 掉件（张开爪 → 回 S01 流程 → 提示人工放好 → 按 R 继续）、 +**E2** 任意阶段超时/报错 → 退到安全高度后中止。 + +怎么跑 +------ +:: + + # 真机（先起机械臂与相机：run_real.sh / run_camera_d405.sh） + bash scripts/run_gauge_assembly.sh --arm 89 # 完整流程 + bash scripts/run_gauge_assembly.sh --arm 89 --dry-run # 只验编排，不动臂 + bash scripts/run_gauge_assembly.sh --arm 89 --holes 1 # 只装 k1 + + # 仿真（先起仿真：run_sim_gz.sh） + bash scripts/run_gauge_assembly.sh --sim + +诚实标注（哪些已经能信、哪些还不能） +------------------------------------ +**已经钉住的**（有单测/有验收判据）： + +* S00–S11 的顺序、E1/E2 的落点（``gauge_fsm`` 92 项单测）； +* 配置解析与单位、未知键报错（``gauge_config``）； +* S01 的限位夹取与"真的绕工具 Z 转了"的事后验证（``gauge_kin``，用 TF 实测）； +* 夹爪后端按**服务类型**选择（``gauge_gripper``）； +* S00 的必检/选检划分（``gauge_boot``）。 + +**还不能信的**（必须真机标定/标定后才能用）： + +* S07 的切向阈值、S08 的力判据：全部是"相对静止基线的增量"（任意单位）， + 必须现场标定，代码只给了起点值和打印； +* S03 手外粗定位：D435 还没有 eye-to-hand 标定文件 → 目前必然走兜底； +* S02 夹持确认：预留，默认跳过。 +""" + +from __future__ import annotations + +import dataclasses +import json +import math +import os +import time +from pathlib import Path +from typing import Any, Dict, Iterable, List, Mapping, Optional, Sequence, Tuple + +import numpy as np +import rclpy +from rclpy.qos import ( + DurabilityPolicy, + QoSProfile, + ReliabilityPolicy, + qos_profile_sensor_data, +) +from sensor_msgs.msg import CameraInfo, Image +from std_msgs.msg import Bool, Float32MultiArray, String +from std_srvs.srv import Trigger +from trajectory_msgs.msg import JointTrajectory + +from arm_msgs.msg import GripperStatus +from arm_msgs.srv import GripperExecute + +from arm_application.gauge_boot import ( + dependency_advice, + missing_modules, + perception_source_of, + BootCheck, + abs_name, + blocking_failures, + build_checks, + format_report, + optional_warnings, + summary_counts, +) +from arm_application.gauge_config import ( + GaugeConfig, + GaugeConfigError, + from_site, + snap_feature_of, +) +from arm_application.gauge_fsm import ( + DESCEND_STALL_STEPS, + ENTRY_HIGH, + ROT_AXIS, + ROT_LIMIT, + ROT_SHORT, + Event, + FsmError, + GaugeContext, + GAUGE_SHOULDER_ABOVE_TIP_M, + GaugeFsm, + State, + descend_budget_m, + descend_iter_budget, + descend_needed_m, + descend_progress, + hole_entry_verdict, + descend_tol_m, + is_joint_limit_error, + pixel_stable, + points_stable, + ratchet_cycles, + ratchet_delta_rad, + ratchet_travel_ok, + relief_tol_m, + rotation_verdict, + screw_stop, + tangential_jump, + tool_clearance_m, + wrench_live, + wrench_touch, +) +from arm_application.gauge_gripper import ( + CONTRACT_STATUS_TOPIC, + GripperInterfaceError, + describe_backend_choice, + is_dropped_from_state, + is_gripped_from_state, + legacy_states_to_fields, + pick_backend, +) +from arm_application.gauge_kin import ( + axis_misalignment_deg, + match_limits, + parse_joint_limits, + prewind, + rotation_about_axis_deg, + vertical_down_error_deg, +) +from arm_application.pipeline_node import AssemblyPipeline +from arm_application.handeye_realsense import resolve_realsense_topics +from arm_application.site_io import ( + deep_merge, + load_site_dict, + overhead_camera, + resolve_eye_to_hand_file, + ros2_root, +) +# 复用同一份图像解码与轨迹点构造，别在这里再写一份（规则 M2） +from arm_application.stage2_locate_node import _bgr_copy, _pt as _joint_point + +#: 允许的"绕轴验证"误差 [deg]。超过就说明这根关节轴不是工具 Z 轴， +#: 后面所有以"转多少度"为单位的动作都不成立 —— 必须报错而不是继续。 +AXIS_VERIFY_TOL_DEG = 5.0 +#: 棘轮转腕时距离关节限位保留的余量 [deg]。 +#: 3° 不够用：实测轨迹会**自己**少走 ~5°（比如命令 180° 只到位 175.1°， +#: 而关节7 的限位正好是 175.06° —— 两者叠在一起，判断"是被限位截住还是 +#: 没走完"就分不清了）。留 8° 让这两种情况都还没有贴住。 +RATCHET_LIMIT_MARGIN_DEG = 8.0 +#: 限制"跟踪丢失 → 粗定位 → 跟踪"的来回次数，防死循环。 +MAX_TRACK_RETRIES = 3 + +#: ``stage2_locate`` 返回码 → 人话。为什么要这张表：日志里只有 ``code=6`` 时， +#: 现场只能去翻源码；而每个码对应的**下一步动作完全不同**（垂直化/粗定位/ +#: 检测/对准/工件被推走），写在这里就不用来回翻了。 +_LOCATE_CODE_HINT: Dict[int, str] = { + 2: "（垂直化或悬停失败：工具轴没竖直、或悬停高度到不了）", + 3: "（粗定位失败：视野里没框到工件 —— 看相机/光照/权重）", + 4: "（k1/k2 解不出来：孔被挡、曝光不对、或孔根本没在视野里）", + 5: "（对准迭代用满仍未收敛：检查手眼/相机安装，或放宽 align_tol_m）", + 6: "（工件被工具推走：不是手眼/检测的问题，是悬停时工具尖端已经进了工件" + " —— 查 gauge_assembly.tool_tip_below_flange_m 与 servo.hole_hover_z_m）", + 8: "（规尖偏移一直没量到：残差看着达标、但用的是**法兰轴线**不是规尖 —— " + "对的可能是法兰、不是规；摆到能看清规尖再跑。看日志『规尖视觉量取失败』）", +} + + +class GaugeAbort(RuntimeError): + """阶段内部判定要中止。带上 exit code，方便脚本区分原因。""" + + def __init__(self, message: str, code: int = 6) -> None: + super().__init__(message) + self.code = code + + +class GripperClient: + """夹爪出入口：``open/close/is_gripped`` 三个动作，与后端无关。 + + 后端由 :func:`arm_application.gauge_gripper.pick_backend` 按**服务类型**决定 + （真机今天是 Trigger，契约/仿真 是 GripperExecute），应用层不需要知道。 + """ + + #: 判"掉件"的开口塌陷量 [mm]：被夹住的工件掉了以后，两指会一路合到底， + #: 开口从"工件宽度"塌下去几十毫米。为什么不用 ``is_gripped`` 瞬时值 —— 见 + #: :meth:`dropped` 的说明（那是个推断值，会被 S08 的指令切换抖出假 E1）。 + DROP_COLLAPSE_MM = 5.0 + + def __init__(self, node: Any, backend: str, status_topic: str) -> None: + self._node = node + self.backend = backend + self._open_cli = None + self._close_cli = None + self._last_gripped: Optional[bool] = None + self._legacy_grip_state: Optional[int] = None + self._ever_gripped = False + #: 最近一帧的开口 [mm]（契约后端才有）。掉件判据看它。 + self._last_aperture: Optional[float] = None + #: "夹住那一刻"的开口 [mm]。掉件判据是相对它的**塌陷量**，不是绝对值。 + self._grip_aperture: Optional[float] = None + + if backend == "contract": + self._open_cli = node.create_client(GripperExecute, "/gripper/open") + self._close_cli = node.create_client(GripperExecute, "/gripper/close") + node.create_subscription(GripperStatus, status_topic, self._on_contract, 10) + else: + self._open_cli = node.create_client(Trigger, "/gripper/open") + self._close_cli = node.create_client(Trigger, "/gripper/close") + node.create_subscription(Float32MultiArray, status_topic, self._on_legacy, 10) + + # -- 状态回调 --------------------------------------------------------- + def _on_contract(self, msg: GripperStatus) -> None: + pos = float(getattr(msg, "position", float("nan"))) + if math.isfinite(pos): + self._last_aperture = pos + self._last_gripped = bool(msg.is_gripped) + # ⚠️ 这里**故意不**记"夹住时的开口"。曾经记过，代价是一个假 E1： + # 本后端的 is_gripped 是**推断值**，夹爪**全开**时也会闪成 True + # （实测 99.29mm，见 dropped 的说明），于是基准被记成 99.29mm、 + # 塌陷量算成 77mm ⇒ "通止规掉了(E1)"，而规好好地在爪里。 + # 基准只由 :meth:`adopt_current_grip` 在**明确知道夹住了**的时候记。 + + def _on_legacy(self, msg: Float32MultiArray) -> None: + fields = legacy_states_to_fields(list(msg.data)) + if not fields: + return + self._legacy_grip_state = int(fields["grip_state"]) + got = is_gripped_from_state(self._legacy_grip_state) + if got is not None: + self._last_gripped = got + if got: + # 老后端只有状态字、没有开口，掉件判据本来就吃状态字（见 dropped）， + # 所以这里记"曾经夹住过"是对的。 + self._ever_gripped = True + + # -- 查询 ------------------------------------------------------------- + def seen(self) -> bool: + """收到过状态帧吗。S00 用它判断"状态话题有没有人发"。 + + 不能用 `topic list` 里有名字代替：话题在、发布者不在，是最常见的 + 假阳性（run_all.sh 踩过）。""" + return self._last_gripped is not None or self._legacy_grip_state is not None + + def is_gripped(self) -> Optional[bool]: + """``True``/``False``/``None``（后端给不出明确答案）。""" + return self._last_gripped + + def aperture(self) -> Optional[float]: + """最近一帧的**开口** [mm]（只有契约后端的 ``position`` 有；没有返回 None）。""" + return self._last_aperture + + def grip_aperture(self) -> Optional[float]: + """第一次判到"夹住"时的开口 [mm]（掉件判据的基准，见 :meth:`dropped`）。""" + return self._grip_aperture + + def collapse_mm(self) -> Optional[float]: + """相对夹住时的**开口塌陷量** [mm]（正 = 比夹住时更小）。拿不到返回 None。 + + S08/S09 每轮都要"松爪 → 回转 → 夹紧"，日志里必须看得到这个数： + 它一路变大就说明每轮夹紧都比上一轮更往里挤，或者规在往下滑。 + """ + if self._grip_aperture is None or self._last_aperture is None: + return None + return float(self._grip_aperture) - float(self._last_aperture) + + # -- 开口的"等稳定"与"记基准" ------------------------------------------ + def settle(self, *, settle_s: float = 1.0, tol_mm: float = 0.05) -> Optional[float]: + """等开口**稳定**下来，返回稳定后的开口 [mm]（拿不到读数返回 None）。 + + 为什么必须有这个（2026-09-24 用日志抓到的）： + ``close``/``open`` 服务**返回时动作还没做完**（JTC 轨迹是异步的）。 + 立刻读开口会读到**松手前的旧值**——实测 S08 夹紧后立刻读，读到的还是 + 全开 99.93mm，于是日志与基准全错（"夹住时 99.29mm"）。谁要在动作之后 + 判断开口，都必须先过这里。 + """ + spin = getattr(self._node, "_spin", None) + deadline = time.monotonic() + max(0.0, settle_s) + prev = self._last_aperture + stable = 0 + while True: + if spin is not None: + spin(0.05) + else: # pragma: no cover - 只有测试桩走这里 + time.sleep(0.05) + now = self._last_aperture + if now is not None and prev is not None and abs(float(now) - float(prev)) <= tol_mm: + stable += 1 + if stable >= 2: + return float(now) + else: + stable = 0 + prev = now + if time.monotonic() >= deadline: + return None if now is None else float(now) + + def adopt_current_grip(self, why: str, *, settle_s: float = 1.0) -> Optional[float]: + """把**当前**开口记为"夹住时的开口"（掉件判据的基准），并记"曾经夹住过"。 + + 只在**明确知道爪里夹着规**的时刻调用（S00 自检通过后、以及每一次 + 确认夹紧之后）——它是掉件判据唯一的参照，随手记会让判据失去意义 + （见 :meth:`dropped` 与 :meth:`_on_contract` 的说明）。 + """ + ap = self.settle(settle_s=settle_s) + if ap is None: + # 拿不到开口（老固件/别的夹爪）也要记"曾经夹住过"：否则 dropped() + # 会永远返回 False，那比"会抖的旧判据"更糟（真掉件也看不见）。 + self._ever_gripped = True + self._node.get_logger().warn( + f"拿不到开口读数（{why}）—— 掉件判据退回状态字，会抖但不会漏" + ) + return None + self._grip_aperture = float(ap) + self._ever_gripped = True + self._node.get_logger().info(f"夹持基准：开口 {ap:.2f}mm（{why}）") + return float(ap) + + def dropped(self) -> bool: + """E1 掉件：**曾经夹住过**，现在报"掉落"。 + + 装配前爪里本来就空，那时状态字也可能是"掉落/无物"，直接判会一开场就 + 报 E1（``is_dropped_from_state`` 里解释了这一点）。 + + **契约后端的判据是"开口塌陷"，不是 ``is_gripped`` 的瞬时翻转** + （2026-09-24 实测踩到，值得完整读）： + + 仿真里 ``is_gripped`` 是**推断值**（"指令到了合拢侧 + 实际开口比指令 + 大出容差"）。S08 会在"合到某个开口 / 全合"之间发指令 —— 只要某一帧 + 的指令落到与实际开口同一档，``is_gripped`` 就翻成 False。于是 + **S08 第 2/12 轮直接报 E1**（爪里其实好好的，是判据在抖）， + 然后整条流程去等人工"放好通止规"，而仿真里根本没人能做这件事。 + 更坏的是这个推断值在**全开**时也会闪成 True（实测 99.29mm）—— + 拿它当基准就会得到"塌陷 77mm"的假 E1。所以基准只由 + :meth:`adopt_current_grip` 明确记录（见 :meth:`_on_contract`）。 + + 真正"掉了"的物理表现是**两指合到底**：开口从"工件宽度"塌到几毫米， + 是几十毫米的变化，不会被指令切换带偏。所以判据用 + ``夹住时的开口 − 当前开口 ≥ DROP_COLLAPSE_MM``。 + """ + if not self._ever_gripped: + return False + if self.backend == "legacy" and self._legacy_grip_state is not None: + return is_dropped_from_state(self._legacy_grip_state, self._ever_gripped) + if self._grip_aperture is None or self._last_aperture is None: + # 没有开口读数（老固件/别的夹爪不给 position）：退回旧判据。 + # 它确实会抖，但比"永远判不了掉件"好 —— 而且这种情况本身会 + # 在 S00 的自检里被 `position` 相关检查点到。 + return self._last_gripped is False + return ( + float(self._grip_aperture) - float(self._last_aperture) + ) >= self.DROP_COLLAPSE_MM + + # -- 动作 ------------------------------------------------------------- + def _call( + self, client: Any, tag: str, timeout_s: float, + force_pct: Optional[float] = None, speed_pct: Optional[float] = None, + ) -> bool: + if client is None or not client.wait_for_service(timeout_sec=timeout_s): + self._node.get_logger().error(f"夹爪服务 {tag} 不在（后端 {self.backend}）") + return False + if self.backend == "contract": + req: Any = GripperExecute.Request() + req.command.command = tag + # 力/速度只对**契约后端**有效：真机今天的 dh_pgea 驱动是 + # std_srvs/Trigger（只有开/合两个动作，力与速度在驱动侧配）， + # 所以那两个键在真机上不起作用 —— 这是保留下来的规格差异， + # 文档里已写明，不要以为"填了没效果"是 bug。 + if force_pct is not None: + req.command.force = float(force_pct) + if speed_pct is not None: + req.command.speed = float(speed_pct) + else: + req = Trigger.Request() + fut = client.call_async(req) + t0 = time.monotonic() + while not fut.done() and time.monotonic() - t0 < timeout_s: + self._node._spin(0.02) + if not fut.done(): + self._node.get_logger().error(f"夹爪 {tag} 超时 {timeout_s:.1f}s") + return False + try: + resp = fut.result() + except Exception as exc: # noqa: BLE001 + self._node.get_logger().error(f"夹爪 {tag} 调用异常：{exc}") + return False + ok = bool(getattr(resp, "success", True)) + if not ok: + self._node.get_logger().error( + f"夹爪 {tag} 失败：{getattr(resp, 'message', '（无消息）')}" + ) + return ok + + def open(self, timeout_s: float = 5.0) -> bool: + if self._node.cfg.dry_run: + self._node.get_logger().info("[干跑] 夹爪张开") + return True + return self._call(self._open_cli, "open", timeout_s) + + def close(self, timeout_s: float = 5.0) -> bool: + if self._node.cfg.dry_run: + self._node.get_logger().info("[干跑] 夹爪夹紧") + return True + return self._call( + self._close_cli, "close", timeout_s, + force_pct=self._node.cfg.screw_grip_force_pct, + speed_pct=self._node.cfg.screw_grip_speed_pct, + ) + + +class GaugeAssembly(AssemblyPipeline): + """S00–S11 的执行器：状态机的每一步在这类里实现。 + + 继承 :class:`~arm_application.pipeline_node.AssemblyPipeline` 是为了复用 + 已经调通的**跟踪拉起/停止**（``_run_stage1``/``_stop_stage1``/``_track_z``） + 与整条 stage2 定位链（``_run_locate``）—— 这些是阶段式流水线的公共骨架， + 抄一份只会让"改了 A 忘了改 B"变成常态（规则 M2）。 + """ + + #: 状态 → 处理方法名。**顺序即流程**，与 gauge_fsm.TRANSITIONS 一一对应。 + _STEPS: Dict[State, str] = { + State.BOOT: "_step_boot", + State.HOME_EXTREME: "_step_home_extreme", + State.GRIP_CHECK: "_step_grip_check", + State.COARSE: "_step_coarse", + State.TRACK: "_step_track", + State.SNAP: "_step_snap", + State.HOVER_K: "_step_hover_k", + State.CONTACT: "_step_contact", + State.SCREW_IN: "_step_screw_in", + State.UNSCREW: "_step_unscrew", + State.NEXT_HOLE: "_step_next_hole", + State.RESET: "_step_reset", + } + + def __init__(self, node_name: str = "gauge_assembly") -> None: + super().__init__(node_name=node_name) + + self.declare_parameter("dry_run", False) + self.declare_parameter("holes_total", -1) # >0 覆盖 site + self.declare_parameter("gripper_backend", "auto") # auto|contract|legacy + # 结论落盘路径。**为什么要落盘**：`ros2 launch` 在 Humble 下**恒定退出码 0** + # （实测：子进程 exit 3，ros2 launch 仍返回 0），所以包一层脚本时 + # `$?` 判不出成败 —— 自动化里会把"流程失败"记成"成功"。结论文件是唯一 + # 能被脚本/CI 读到的东西，由 run_gauge_assembly.sh 传入并读回。 + self.declare_parameter("result_file", "/tmp/gauge_assembly_result.json") + # 眼在手外标定产物的**确切路径**，由 launch 按 site.yaml 派生后传入 + # （`<臂号>_<相机>_eye_to_hand.yaml`）。为什么不让节点自己拼： + # "臂号 = SN 末两位"这条口径只有 export_site_env 一处实现，节点再写一遍 + # 必然漂移；而漂移的症状是"标定做完了、S03 却找不到文件"，回退到 S04 跟踪， + # 看起来像跟踪的问题。留空则退回下面那串候选名（兼容旧命名/仿真）。 + self.declare_parameter("coarse_eye_to_hand_file", "") + + site = load_site_dict() + # robots[].gauge_assembly 覆盖全局段 —— 与 servo / paths / perception 同一套规矩。 + # 为什么必须有这条（2026-09-24）：几何类参数是**按台子**的。 + # `workpiece_surface_z_m` 在仿真里是 0.412（仿真臂站在地面、台面 0.40m 高）， + # 真机是 0.012（基座与台面同高）。写死全局值的话，S07 的 + # "悬停时工具尖端离面多高"自检会算错 —— 而现象是"一路下压判不到接触"， + # 看起来像力阈值标歪了，排查会从阈值开始走偏。 + _robot = self._robot_dict(site) + if isinstance(_robot.get("gauge_assembly"), dict): + site = dict(site) + site["gauge_assembly"] = deep_merge( + site.get("gauge_assembly") or {}, _robot["gauge_assembly"] + ) + overrides: Dict[str, Any] = {} + if bool(self.get_parameter("dry_run").value): + overrides["dry_run"] = True + holes = int(self.get_parameter("holes_total").value) + if holes > 0: + overrides["holes_total"] = holes + # 工具长：仿真里由启动脚本传**实测值**（上料脚本刚量的），真机不传（走 site）。 + # 为什么必须能覆盖：这个值决定悬停高度与 S07 下探预算，而仿真里规会在指间 + # 下滑到落座位置、下滑量随装夹变化（实测见过 243 / 254mm，差 11mm）。 + # 差 11mm 的后果见 gauge_fsm.hover_z_guard / drag_verdict 的说明。 + tool_len = float(self.get_parameter("tool_tip_below_flange_m").value) + if tool_len > 0.0: + overrides["tool_tip_below_flange_m"] = tool_len + try: + self.cfg: GaugeConfig = from_site(site, overrides=overrides or None) + except GaugeConfigError as exc: + raise GaugeAbort(f"gauge_assembly 配置有问题：\n{exc}", code=3) from exc + + self._site = site + self._warn_if_section_missing(site) + + # ---- 自检清单（纯内容 + 本机名字）---- + self._gripper_prefer = str(self.get_parameter("gripper_backend").value or "auto") + # robots[] 里的 tool_name 优先（一台机器一个工具），没有就用全局 robot.tool_name + self.tool_name = str( + self._robot_dict(site).get("tool_name") + or (site.get("robot") or {}).get("tool_name") or "" + ) + self._weights = str((site.get("paths") or {}).get("yolo_weights") or "") + # 夹爪后端要按"服务实际类型"选，所以放到 S00 里做（此时才知道服务在不在） + self._boot_results: List[Tuple[BootCheck, bool, str]] = [] + + self._warn_if_sim_time_missing() + + # ---- 状态机 ---- + self.fsm = GaugeFsm(GaugeContext(holes_total=self.cfg.holes_total)) + self.grip: Optional[GripperClient] = None + self._coarse_ok = False + self._track_retries = 0 + self._snap_final: Dict[str, Any] = {} + self._snap_pose: Optional[np.ndarray] = None + self._gauge_was_gripped = False + self._axis_verified = False + #: E1（掉件）重放：S08 报掉件后置位，S01 走完要等人工放好并确认 + self._e1_pending = False + self._reload_ok = False + + # ---- 手外相机（S03 粗定位）：stage2 只订阅腕部相机，这里自己订一份 ---- + # 只订不驱动：S03 是兜底路径，平时不读它的帧，不能因为"手外相机没插" + # 就影响主流程（所以 S00 里它只是选检）。 + self._coarse_color: Optional[Image] = None + self._coarse_depth: Optional[Image] = None + self._coarse_info: Optional[CameraInfo] = None + self._coarse_ns = self._d435_ns(site) + # 手外相机名的**唯一数据源**是 site.yaml 的 cameras 注册表（上面那行）。 + # 配置段里的 gauge_assembly.coarse_camera 是"注册表里没登记手外相机"时的 + # 兜底；两者不一致时以注册表为准，但要**出声** —— 否则改了一处没改另一处， + # 表现是"话题在发、S03 却拿到另一台相机/另一个 frame"，静默错。 + if self._coarse_ns and self.cfg.coarse_camera != self._coarse_ns: + self.get_logger().warn( + f"手外相机名不一致：cameras 注册表说 {self._coarse_ns}，" + f"gauge_assembly.coarse_camera 写的是 {self.cfg.coarse_camera}。" + f"以注册表为准（{self._coarse_ns}）。" + "site.yaml 里那处可以删掉了（留着只会误导下一个人）" + ) + # GaugeConfig 是 frozen 的：要改只能造一个新的（replace）。 + # 直接赋值会抛 FrozenInstanceError，而且是在 __init__ 里 —— + # 表现为"节点起不来"，看不出跟相机名有关。 + self.cfg = dataclasses.replace(self.cfg, coarse_camera=self._coarse_ns) + #: 各相机的**收到时刻**（单调钟）。判"有没有活的数据"用它，不用 + #: header.stamp —— 两者可能不在同一个时钟域（见 `_img_age` 的注释）。 + self._t_color: Optional[float] = None + self._t_coarse_color: Optional[float] = None + self._skew_warned = False + if self._coarse_ns: + img_t, info_t = resolve_realsense_topics(self._coarse_ns, image_topic="") + # QoS 必须用 sensor data（BEST_EFFORT）：RealSense 驱动发的是 + # BEST_EFFORT，而 create_subscription 的默认是 RELIABLE —— + # 不匹配时一条消息都收不到，日志里只有一条容易忽略的 + # "offering incompatible QoS" 警告，表现为"相机明明在跑却没图像"。 + self.create_subscription( + Image, img_t, self._on_coarse_color, qos_profile_sensor_data + ) + self.create_subscription( + CameraInfo, info_t, self._on_coarse_info, qos_profile_sensor_data + ) + self.create_subscription( + Image, f"/{self._coarse_ns}/aligned_depth_to_color/image_raw", + self._on_coarse_depth, qos_profile_sensor_data, + ) + + # 人工确认话题：E1 重放时，操作员放好新规后发一条 true + # ros2 topic pub -1 /gauge/reload_ok std_msgs/Bool '{data: true}' + # 用话题而不是服务：一条命令就能发（不必等回包），现场手忙脚乱时更稳。 + self.create_subscription(Bool, "/gauge/reload_ok", self._on_reload_ok, 1) + + # ---- 发布 ---- + self._result_file = str(self.get_parameter("result_file").value or "") + self._result_written = False + self._gauge_state_pub = self.create_publisher(String, "/gauge/state", 10) + self._gauge_result_pub = self.create_publisher(String, "/gauge/result", 10) + self._gauge_progress_pub = self.create_publisher(String, "/gauge/progress", 10) + self._robot_description: Optional[str] = None + self.create_subscription( + String, "/robot_description", self._on_robot_description, + QoSProfile( + depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL, + reliability=ReliabilityPolicy.RELIABLE, + ), + ) + + self.get_logger().info( + f"通止规装配 arm={self.prefix.rstrip('_')} " + f"孔数={self.cfg.holes_total} 干跑={self.cfg.dry_run} " + f"工具系={self.tool_name or '(未配置)'} 手外相机={self._coarse_ns or '(无)'}" + ) + for line in self.cfg.describe(): + self.get_logger().info(line) + + # ===================================================================== + # 小工具 + # ===================================================================== + def _warn_if_section_missing(self, site: Dict[str, Any]) -> None: + """整段缺失时明确告警：默认值只是起点，不是调好的参数。""" + if not site.get("gauge_assembly"): + self.get_logger().warn( + "site.yaml 里没有 gauge_assembly: 段 —— 全部走默认值。" + "力阈值类参数必须现场标定，见 config/site.example.yaml 的同名段" + ) + + def _robot_dict(self, site: Dict[str, Any]) -> Dict[str, Any]: + sn = str(self.get_parameter("robot_sn").value or "").strip() + for r in (site.get("robot") or {}).get("robots") or []: + if isinstance(r, dict) and str(r.get("sn") or "").strip() == sn: + return dict(r) + return {} + + def _d435_ns(self, site: Dict[str, Any]) -> str: + """手外相机的命名空间：``role: overhead*`` 且**属于当前这台臂**的那一个。 + + 规则（三级收敛）的**唯一实现**在 ``site_io.overhead_camera``——手眼标定 + 脚本也用它取相机名。这里只负责把"配置没区分开"这件事**出声**：静默取第一台 + 会让"标定用的相机"和"推理用的相机"悄悄不是同一台。 + """ + cfg, others = overhead_camera(site, self._robot_dict(site)) + if others: + names = ", ".join([str(cfg.get("name") or "?")] + others) + self.get_logger().warn( + f"有 {len(others) + 1} 台手外相机都符合当前臂（{names}）—— 取第一个，" + "但请给 site.yaml 的 cameras.* 补上 arm 字段区分，否则选哪台看运气" + ) + return str(cfg.get("name") or "").strip("/") + + def _eye_to_hand_file(self) -> Optional[Path]: + """找手外相机的手眼文件。没有就返回 None（调用方据此给出**怎么生成**）。 + + 规则（候选顺序 + 按仓库根解析）只有一份，在 ``site_io.resolve_eye_to_hand_file``。 + 这里只负责把 launch 传入的确切路径和当前手外相机名交给它。 + """ + return resolve_eye_to_hand_file( + ros2_root(), + explicit=str(self.get_parameter("coarse_eye_to_hand_file").value or ""), + camera_name=self.cfg.coarse_camera, + ) + + def _on_robot_description(self, msg: String) -> None: + self._robot_description = str(msg.data) + + def _on_reload_ok(self, msg: Any) -> None: + if bool(msg.data): + self._reload_ok = True + + def _on_color(self, msg: Image) -> None: + # 腕部相机：父类（stage2）负责存帧，这里只补"收到时刻"并顺带查时钟域。 + super()._on_color(msg) + self._t_color = time.monotonic() + self._note_stamp_skew(msg, "腕部相机") + + def _on_coarse_color(self, msg: Image) -> None: + self._coarse_color = msg + self._t_coarse_color = time.monotonic() + self._note_stamp_skew(msg, "手外相机") + + def _on_coarse_depth(self, msg: Image) -> None: + self._coarse_depth = msg + + def _on_coarse_info(self, msg: CameraInfo) -> None: + self._coarse_info = msg + + def _hole_name(self) -> str: + """孔名 k1/k2/...。直接用状态机的，别在节点里再实现一遍（规则 M2）。""" + return self.fsm.ctx.hole_name() + + def _img_age(self, t_recv: Optional[float]) -> float: + """图像从**收到的那一刻**到现在过了多久 [s]；从没收到返回 1e9。 + + 为什么不用 `header.stamp`（原来就是那么写的，出过事）： + 节点时钟和消息时钟可能是**两个时钟域** —— 仿真里忘了 `use_sim_time` + 时，`/clock` 从 0 开始、节点却用系统时间，于是"按时间戳算年龄"会算出 + `1790217444.7s` 这种数，把"图像 13Hz 好好地流着"报成 + "腕部相机无数据"，而人只会去怀疑相机。收到时刻用单调钟记， + 与两个时钟域都无关，判"有没有活数据"永远是对的。 + """ + if t_recv is None: + return 1e9 + return max(0.0, time.monotonic() - t_recv) + + def _stamp_skew(self, msg: Image) -> Optional[float]: + """消息时间戳与节点时钟的差 [s]；取不到时间戳返回 None。""" + try: + stamp = float(msg.header.stamp.sec) + float(msg.header.stamp.nanosec) * 1e-9 + except Exception: # noqa: BLE001 + return None + return self.get_clock().now().nanoseconds * 1e-9 - stamp + + def _note_stamp_skew(self, msg: Image, where: str) -> None: + """时钟域不一致时说一次，别每帧都刷。 + + > 1 小时就认为是两个时钟域（仿真差的是整段时间基准， + > 不可能只差几十秒；真机上的时延是毫秒级）。 + """ + if self._skew_warned: + return + skew = self._stamp_skew(msg) + if skew is None or abs(skew) < 3600.0: + return + self._skew_warned = True + self.get_logger().warn( + f"{where}的时间戳与节点时钟差 {skew:.0f}s：**不是数据问题，是时钟域不同**。" + "仿真里给本节点加 use_sim_time:=true（run_gauge_assembly.sh --sim 已带）。" + "不修的话 TF 查询也会全线失败 —— 因为 TF 是按时间戳比对的。" + ) + + def _warn_if_sim_time_missing(self) -> None: + """看起来在仿真里，却没开 use_sim_time → 出声（否则症状极难定位）。 + + `/clock` 有发布者 = 有人在做仿真（真机上没有 `/clock`）。这时如果 + `use_sim_time` 还是 false，所有 header.stamp 比对、TF lookup 都会错， + 而报出来的却是"相机没数据""TF 查不到"这类**假原因**。 + """ + if bool(self.get_parameter("use_sim_time").value): + return + try: + n = self.count_publishers("/clock") + except Exception: # noqa: BLE001 + return + if n > 0: + self.get_logger().warn( + "检测到 /clock 有发布者（在仿真里），但本节点 use_sim_time=false：" + "时间戳比对与 TF 查询都会失败。请加 use_sim_time:=true" + "（scripts/run_gauge_assembly.sh --sim 会自动带）。" + ) + + def _state(self, s: str) -> None: # 覆盖：三阶段的状态话题 + 本流程的 + super()._state(s) + msg = String() + msg.data = s + self._gauge_state_pub.publish(msg) + + def _progress(self, text: str) -> None: + msg = String() + msg.data = text + self._gauge_progress_pub.publish(msg) + + def _publish_gauge_result(self, payload: Dict[str, Any]) -> None: + payload = dict(payload) + payload["fsm"] = [str(step) for step in self.fsm.history] + payload["hole_names"] = [f"k{i + 1}" for i in range(self.cfg.holes_total)] + # 先落盘再发话题：落盘是**给脚本/CI 读**的（话题在进程退出后就没了）， + # 顺序反过来的话，"话题发出去了、文件还没写完就被杀掉"会让脚本读不到结论。 + self._write_result_file(payload) + msg = String() + msg.data = json.dumps(payload, ensure_ascii=False) + self._gauge_result_pub.publish(msg) + + def _write_result_file(self, payload: Mapping[str, Any]) -> None: + """把结论写到 ``result_file``（原子写：临时文件 + rename）。""" + if not self._result_file: + return + path = Path(self._result_file) + try: + path.parent.mkdir(parents=True, exist_ok=True) + tmp = path.with_suffix(path.suffix + ".tmp") + tmp.write_text(json.dumps(payload, ensure_ascii=False, indent=2), encoding="utf-8") + tmp.replace(path) + except OSError as exc: + # 写不了不要拖垮流程，但**必须**说出来（否则脚本只会看到"文件不存在"） + self.get_logger().error(f"结论文件写不了（{path}）：{exc}") + return + self._result_written = True + + def _wait_joint_limits(self, timeout_s: float = 3.0) -> Optional[Tuple[float, float]]: + """拿关节7的限位（从 ``/robot_description``）。拿不到返回 None。""" + t0 = time.monotonic() + while self._robot_description is None and time.monotonic() - t0 < timeout_s: + self._spin(0.05) + if not self._robot_description: + self.get_logger().warn( + "拿不到 /robot_description —— S01 不做限位夹取，" + "改为靠驱动器限位报错兜底（真撞上时报 JOINT_LIMIT，流程继续）" + ) + return None + limits = parse_joint_limits(self._robot_description) + got = match_limits(limits, [self.joint_names[-1]]) + if got is None: + self.get_logger().warn( + f"/robot_description 里找不到 {self.joint_names[-1]} 的限位" + f"（解析到 {len(limits)} 个关节）—— 同样不做夹取" + ) + return got + + # ===================================================================== + # S00 自检 + # ===================================================================== + def _boot_checks(self) -> List[BootCheck]: + # 状态话题随后端不同；这里先按"契约"建，S00 内部按**真实服务类型**修正 + return build_checks( + joint_action=str(self.get_parameter("action_name").value), + camera=self._wrist_cam_ns(), + tactile_topic=str( + ((self._site.get("tactile") or {}).get("topic_left")) + or "/tactile/left/status" + ), + gripper_open="/gripper/open", + gripper_close="/gripper/close", + gripper_status=CONTRACT_STATUS_TOPIC, + gripper_status_type="arm_msgs/msg/GripperStatus", + d435_camera=self._coarse_ns or None, + tool_name=self.tool_name, + weights_path=self._weights, + perception_source=self._perception_source(), + ) + + def _perception_source(self) -> str: + """感知来源（site.yaml 顶层 perception.source，按当前臂覆盖后）；未知值报错。 + + 两件事在这里必须做对： + + 1. **按当前臂覆盖**：本节点读的是文件里的原始 site.yaml，机器人级 + 覆盖（``robots[].perception.source``）要自己合进来 —— 仿真那条 + ``source: truth`` 就写在 robots[`sim`] 下。忘了合的表现是 + "仿真里明明配了 truth，S00 还是去查 ultralytics"。 + 2. **只有一处读它**：launch 文件（决定起哪个感知节点）和 S00（决定查 + 不查推理依赖）必须看同一个值，否则输出会自相矛盾。 + """ + robot = self._robot_dict(self._site) + return perception_source_of( + deep_merge(self._site.get("perception") or {}, robot.get("perception") or {}) + ) + + def _wrist_cam_ns(self) -> str: + """腕部相机命名空间（``d405_left``）。以 site 的 robots[].camera.name 为准。""" + robot = self._robot_dict(self._site) + cam = deep_merge(self._site.get("camera") or {}, robot.get("camera") or {}) + return str(cam.get("name") or "d405").strip().strip("/") + + def _service_snapshot( + self, names: Iterable[str] = () + ) -> Dict[str, List[str]]: + """等服务发现稳定下来，再取服务表。 + + 为什么不能"查一次就算"：`get_service_names_and_types()` 返回的是 + **当前已发现** 的那部分图。本节点是刚加入 DDS 的新参与者，起来那一瞬间 + 别人的服务很可能还没被发现 —— 于是"服务明明在"被判成"名字不在图上"， + 同一份代码时好时坏。实测现场：仿真栈全绿时 S00 仍报 `/home`、 + `/set_named_pose`、`/gripper/status` 缺失，而 2 秒后手工 `ros2 service list` + 三个都在。这类"看起来像配置错"的抖动最难查，所以这里等到名字齐了再返回。 + + 等待期间必须 **spin**：发现事件要靠执行器回调处理，`time.sleep()` 只是干等。 + """ + want = {n for n in names if n} + deadline = time.monotonic() + max(0.5, min(5.0, self.cfg.boot_timeout_s)) + snap: Dict[str, List[str]] = {} + while True: + snap = dict(self.get_service_names_and_types()) + if not (want - set(snap)): + return snap + if time.monotonic() >= deadline: + return snap + self._spin(0.2) + + def _probe(self, item: BootCheck) -> Tuple[bool, str]: + """执行一项自检。返回 ``(就绪, 细节)``。""" + if item.probe == "service": + found = self._service_snapshot([item.target]).get(item.target) + if found is None: + return False, "名字不在图上" + if item.expect_type and item.expect_type not in found: + # 类型不符**不算就绪**：这正是"服务在但接不上"的现场 + return False, f"类型是 {list(found)}，期望 {item.expect_type}" + return True, "" + + if item.probe == "action": + # 这套 rclpy **没有** get_action_names_and_types()（实测缺这个方法）， + # 所以 action 只能"建客户端 + wait_for_server"来探。这样反而更实在： + # 名字在图上但服务端没起来（DDS 端点未匹配）也能查出来。 + return self._probe_action(item) + + if item.probe == "detector": + p = Path(item.target) + if not p.is_file(): + return False, f"文件不存在：{p}" + sidecar = p.with_suffix(".labels.yaml") + if not sidecar.is_file(): + return False, f"缺标签文件 {sidecar.name}（weights.sh doctor 可查）" + # 文件在 ≠ 能推理：缺 torch/ultralytics 时这里必须失败， + # 否则会一路跑到 S04 才以"跟踪没锁定"的形式暴露（见 gauge_boot 的注释）。 + miss = missing_modules() + if miss: + return False, dependency_advice(miss) + return True, f"{p.name} + {sidecar.name}" + + # topic / tactile / camera：**要真收到消息**才算就绪。 + # 只看 topic list 是假阳性来源（话题在、没数据），run_all.sh 里踩过。 + deadline = time.monotonic() + min(10.0, self.cfg.boot_timeout_s) + while time.monotonic() < deadline: + detail = self._peek_topic(item) + if detail is None: + return True, "" + # 必须 **spin** 而不是 sleep：订阅回调只在 executor 转起来时才被调用， + # `time.sleep()` 期间一条消息都进不来。这个坑的现场是"相机/触觉/夹爪 + # 明明都在发数据，S00 却逐项报缺失"（真机和仿真都会中招）， + # 而人只会去怀疑硬件。 + self._spin(0.2) + return False, detail or "等不到消息" + + def _probe_action(self, item: BootCheck) -> Tuple[bool, str]: + """探测 action 服务端是否可连。""" + from rosidl_runtime_py.utilities import get_interface + + if not item.expect_type: + return False, "清单里没写期望的 action 类型，无法探测" + try: + cls = get_interface(item.expect_type) + except Exception as exc: # noqa: BLE001 + return False, f"接口类型 {item.expect_type} 解析失败：{exc}" + # 已经建好的 JTC 客户端优先复用（stage2 的 self._cli 就是它）。 + # 比较前两边都要规范化：清单里的目标被补成了绝对名（``/foo``），而 + # 参数默认值是相对的（``foo``）—— 直接比会不相等，于是这里再建一个 + # **同名的** action 客户端，FastRTPS 会以"同话题名不同类型"报错， + # 报出来的是 create_client 失败，看不出真正原因是漏了一次规范化。 + if abs_name(item.target) == abs_name( + str(self.get_parameter("action_name").value) + ): + ok = self._cli.wait_for_server(timeout_sec=2.0) + return (True, "") if ok else (False, "action 服务端未就绪（wait_for_server 超时）") + from rclpy.action import ActionClient + + cli = ActionClient(self, cls, item.target) + ok = cli.wait_for_server(timeout_sec=2.0) + cli.destroy() + return (True, "") if ok else (False, "action 服务端未就绪（wait_for_server 超时）") + + def _peek_topic(self, item: BootCheck) -> Optional[str]: + """看一眼该话题最近有没有**真数据**。``None`` = 就绪，否则返回原因。 + + 为什么每种都要单独判：`topic list` 里有名字 ≠ 有数据。发布者没起、 + 相机没插、驱动崩了，名字都还在。按名字判会在最需要它的时候（S07 要 + 停力、S08 要判拧紧）才发现没数据。 + """ + if item.probe == "camera": + coarse = self._coarse_ns and f"/{self._coarse_ns}/" in item.target + msg = self._coarse_color if coarse else getattr(self, "_color", None) + t_recv = self._t_coarse_color if coarse else self._t_color + if msg is None or t_recv is None: + return "还没收到图像（发布者不在？）" + # 时钟域不对时**必须说清**：否则同一现象有两种完全不同的原因， + # 而报出来的话术会把人引到错的方向（先查这个，再查数据）。 + skew = self._stamp_skew(msg) + if skew is not None and abs(skew) > 3600.0: + return ( + f"图像时间戳与节点时钟差 {skew:.0f}s：数据在流，是**时钟域**不同 —— " + "仿真里要给节点 use_sim_time:=true（不加的话 TF 也会查不到）" + ) + age = self._img_age(t_recv) + if age > 3.0: + return f"最后一帧已过期 {age:.1f}s" + return None + if item.probe == "tactile": + for tac in (getattr(self, "_tac_l", None), getattr(self, "_tac_r", None)): + if not tac: + continue + t, m = tac + if time.monotonic() - t < 0.5 and bool(getattr(m, "connected", False)): + return None + return "触觉无新鲜帧或 connected=false" + if "camera_info" in item.target: + info = self._coarse_info if (self._coarse_ns and self._coarse_ns in item.target) else getattr(self, "_info", None) + if info is None: + return "没收到内参" + return None + if "gripper" in item.target: + if self.grip is None: + return "夹爪客户端未建立" + if not self.grip.seen(): + return "没收到夹爪状态帧（服务在、反馈不在）" + return None + return None + + def _step_boot(self) -> Event: + """S00：全部必检就绪才开指令窗。""" + self._state("S00_boot") + try: + checks = self._boot_checks() + except ValueError as exc: + # 配置错（例如 perception.source 拼错）在这里拦下：继续跑下去只会在 + # S04 以"一阶段不锁定"的形式暴露，那时没人会想到是自检配置写错了。 + self.get_logger().error(f"S00 自检清单建不起来（配置有问题）：{exc}") + return Event.BOOT_FAIL + src = self._perception_source() + if src != "yolo": + self.get_logger().info( + f"S00 自检：感知来源 perception.source = {src} —— 不查推理依赖" + + ("（仿真真值节点随 S04 的 visual_servo 一起起）" if src == "truth" + else "（测量由外部节点按 visual_servo/filtered_point 提供）") + + "；它只验控制与接口，不验检测算法" + ) + + # 夹爪后端：按**服务类型**选（真机 Trigger / 契约 GripperExecute）。 + # 选不出来时把这条也算成一项必检失败，而不是抛异常中断整段日志。 + backend_detail = "" + try: + # 夹爪后端按"服务实际类型"选：同样要等发现齐了（见 _service_snapshot）。 + # 两种后端都有 /gripper/open、/gripper/close，等这两个就够。 + choice = pick_backend( + self._service_snapshot(["/gripper/open", "/gripper/close"]), + self._gripper_prefer, + ) + for line in describe_backend_choice(choice): + self.get_logger().info(line) + self.grip = GripperClient(self, choice.backend, choice.status_topic) + checks = [ + c if c.key != "gripper_status" + else BootCheck( + key=c.key, label=c.label, probe=c.probe, target=choice.status_topic, + why=c.why, required=c.required, + expect_type=( + "arm_msgs/msg/GripperStatus" + if choice.backend == "contract" else "std_msgs/msg/Float32MultiArray" + ), + ) + for c in checks + ] + except GripperInterfaceError as exc: + backend_detail = str(exc) + self.get_logger().error(f"夹爪后端无法确定：{exc}") + + # 相机 / 触觉的"真收到消息"探测要先起订阅（stage2/stage3 的 __init__ 已订阅） + results: List[Tuple[BootCheck, bool, str]] = [] + for item in checks: + ok, detail = self._probe(item) + results.append((item, ok, detail)) + + if backend_detail: + # 把"选不出夹爪后端"作为一条必检失败并入报告：一条日志一次看完 + blocker = BootCheck( + key="gripper_backend", label="夹爪后端可确定", probe="service", + target="/gripper/open", why=backend_detail, + ) + results.append((blocker, False, "见上面的详细原因")) + + text, _failures = format_report(results) + for line in text.splitlines(): + self.get_logger().info(line) + counts = summary_counts(results) + self.get_logger().info( + f"S00 摘要：必检 {counts['required_ok']}/{counts['required_total']}，" + f"选检 {counts['optional_ok']}/{counts['optional_total']}" + ) + for line in optional_warnings(results): + self.get_logger().warn(line) + self._boot_results = results + + blockers = blocking_failures(results) + if blockers: + for line in blockers: + self.get_logger().error(line) + if self.cfg.dry_run: + self.get_logger().warn( + "干跑模式：自检没过也继续（只为验证编排与配置，不会真的动臂）" + ) + return Event.BOOT_OK + self._publish_gauge_result({"ok": False, "state": "S00", "failures": blockers}) + return Event.BOOT_FAIL + # 记"夹住时的开口"（掉件判据的基准）。**放在这里而不是等到 S08**： + # · 此刻爪里确实夹着规（仿真上料脚本刚装好，真机是人工装好才开始跑）； + # · 基准必须是**明确知道夹住**时记的 —— 本后端的 is_gripped 是全开时 + # 都会闪 True 的推断值（实测 99.29mm），拿它当基准会造出假 E1 + # （见 GripperClient.dropped）。 + if self.grip is not None: + self.grip.adopt_current_grip("S00 自检通过：爪里已装好通止规") + return Event.BOOT_OK + + # ===================================================================== + # S01 回 home + 逆时针极限角 + # ===================================================================== + def _step_home_extreme(self) -> Event: + self._state("S01_home_extreme") + if self.cfg.dry_run: + self._fsm_dry(Event.POSE_OK, "回 home + 逆时针预绕") + return Event.POSE_OK + + if not self._call_trigger("/home", timeout_s=60.0): + return Event.TIMEOUT + + # 工具系：要求 tool1 垂直向下且位姿锁定。切不过去就不继续 —— + # 后面每个动作的"工具系"含义都建立在它上面。 + if self.tool_name: + if not self._switch_tool(self.tool_name): + return Event.TIMEOUT + else: + self.get_logger().warn( + "site.yaml 里 robot.tool_name 为空 —— 未确认工具系。" + "看板要求 tool1 全程垂直向下并位姿锁定，请填上名字" + ) + + if self._e1_pending: + # E1 重放：先张开爪把残留放掉，再等人工放好新规。 + # 顺序不能反：先确认再张嘴，会把刚放好的规一起掉下去。 + if self.grip is not None and not self.grip.open(): + self.get_logger().error("E1 重放：张开爪失败，无法继续") + return Event.ABORT + if not self._wait_operator_reload(): + return Event.TIMEOUT + self._e1_pending = False + return Event.RELOADED + + q, Tee = self._wait_state(10.0) + if q is None or Tee is None: + self.get_logger().error("拿不到 joint_states/TF，S01 无法继续") + return Event.TIMEOUT + + # 垂直度：这是"工具系垂直向下"的可测版本（不是靠眼看画面） + tilt = vertical_down_error_deg(Tee[:3, :3]) + self.get_logger().info(f"S01 工具 Z 与垂直向下夹角 {tilt:.2f}（要求≈0）") + + want = self.cfg.extreme_angle_deg + if want <= 0.0: + return Event.POSE_OK + + limits = self._wait_joint_limits() + plan = prewind( + q_now_rad=float(q[-1]), want_deg=want, direction=self.cfg.extreme_direction, + limits=limits, margin_deg=self.cfg.extreme_margin_deg, + ) + if plan.clamped: + self.get_logger().info( + f"S01 预绕被限位夹取：想转 {plan.want_deg:.1f}°，" + f"实际转 {plan.applied_deg:.1f}°（限位余量 {self.cfg.extreme_margin_deg:.1f}°）" + ) + return self._rotate_joint_and_verify( + plan.target_rad, tag="S01_extreme", fsm_event=Event.POSE_OK, + speed_deg_s=self.cfg.extreme_speed_deg_s, + ) + + def _wait_operator_reload(self) -> bool: + """E1 重放：等操作员放好通止规并确认。 + + 确认方式：``ros2 topic pub -1 /gauge/reload_ok std_msgs/Bool '{data: true}'`` + 超时（``gauge_assembly.reload_timeout_s``）→ False → 上层 TIMEOUT → 中止。 + 超时不是"再等等"，而是"没人管" —— 臂停在 home，让人来处理比继续跑安全。 + """ + self._reload_ok = False + t0 = time.monotonic() + warn_at = self.cfg.reload_timeout_s * 0.5 + warned = False + self.get_logger().warn( + "E1 重放：请把通止规放回爪内并确认。确认命令：\n" + " ros2 topic pub -1 /gauge/reload_ok std_msgs/Bool '{data: true}'\n" + f" （最多等 {self.cfg.reload_timeout_s:.0f}s，超时按中止处理）" + ) + while time.monotonic() - t0 < self.cfg.reload_timeout_s: + self._spin(0.1) + if self._reload_ok: + self.get_logger().info("E1 重放：已确认，继续流程") + return True + if not warned and time.monotonic() - t0 > warn_at: + self.get_logger().warn("E1 重放：还在等确认（已过半程）") + warned = True + self.get_logger().error( + f"E1 重放：等了 {self.cfg.reload_timeout_s:.0f}s 没等到 /gauge/reload_ok，中止" + ) + return False + + def _call_trigger(self, name: str, timeout_s: float) -> bool: + """``std_srvs/Trigger`` 服务调用（home / 复位都用它）。""" + cli = self.create_client(Trigger, name) + if not cli.wait_for_service(timeout_sec=5.0): + self.get_logger().error(f"{name} 服务不在") + return False + fut = cli.call_async(Trigger.Request()) + t0 = time.monotonic() + while not fut.done() and time.monotonic() - t0 < timeout_s: + self._spin(0.05) + if not fut.done(): + self.get_logger().error(f"{name} 超时 {timeout_s:.0f}s") + return False + resp = fut.result() + if not bool(getattr(resp, "success", False)): + msg = str(getattr(resp, "message", "")) + if is_joint_limit_error(msg): + self.get_logger().warn(f"{name} 报关节极限（S01 视为预期）：{msg}") + return True + self.get_logger().error(f"{name} 失败：{msg}") + return False + return True + + def _switch_tool(self, tool: str) -> bool: + from arm_msgs.srv import SwitchTool + + cli = self.create_client(SwitchTool, "/switch_tool") + if not cli.wait_for_service(timeout_sec=5.0): + self.get_logger().error("/switch_tool 服务不在 —— 无法确认工具系") + return False + req = SwitchTool.Request() + req.tool_name = tool + fut = cli.call_async(req) + t0 = time.monotonic() + while not fut.done() and time.monotonic() - t0 < 30.0: + self._spin(0.05) + if not fut.done(): + self.get_logger().error("切换工具系超时") + return False + resp = fut.result() + if not bool(getattr(resp, "success", False)): + self.get_logger().error(f"切换工具系失败：{getattr(resp, 'message', '')}") + return False + self.get_logger().info(f"工具系已切到 {tool}") + return True + + def _rotate_joint_and_verify( + self, target_rad: float, tag: str, fsm_event: Event, + speed_deg_s: Optional[float] = None, + ) -> Event: + """只动最后一根关节（= 绕工具 Z），**事后用 TF 量它真的转了**。 + + 为什么只动关节 7：工具轴垂直向下时，最后一根关节的轴就是工具 Z 轴， + 绕工具 Z 转 = 动这一根。好处是行程、速度、限位都是关节空间的量， + 不需要管笛卡尔姿态的插补。 + + 为什么必须量回来：如果这台臂的关节 7 轴与工具 Z 不共线（换了工具/ + 装了转接件就可能不共线），"转 180°"就变成了"绕某个斜轴转 180°"， + 规会斜着磨螺纹 —— 而所有日志都显示"成功了"。 + """ + q, Tee = self._wait_state(5.0) + if q is None or Tee is None: + return Event.TIMEOUT + R_before = Tee[:3, :3].copy() + tool_z = R_before[:, 2].copy() + + delta_deg = math.degrees(target_rad - float(q[-1])) + speed = max(1.0, abs(speed_deg_s if speed_deg_s else self.cfg.extreme_speed_deg_s)) + dur = max(0.5, abs(delta_deg) / speed) + traj = JointTrajectory() + traj.joint_names = list(self.joint_names) + q_t = q.copy() + q_t[-1] = float(target_rad) + traj.points = [_joint_point(q, np.zeros(len(q)), 0.2), _joint_point(q_t, np.zeros(len(q)), dur)] + ok = self._send_action(traj, wait_s=dur + 8.0) + if not ok: + self.get_logger().warn(f"{tag}: JTC 未确认完成，按 TF 实测判断") + + time.sleep(0.3) + q2, Tee2 = self._wait_state(5.0) + if q2 is None or Tee2 is None: + return Event.TIMEOUT + got = rotation_about_axis_deg(R_before, Tee2[:3, :3], tool_z) + mis = axis_misalignment_deg(R_before, Tee2[:3, :3], tool_z) + self.get_logger().info( + f"{tag}: 目标 {delta_deg:+.1f}°，实测绕工具 Z {got:+.1f}°" + f"（转轴偏差 {mis:.1f}°，阈值 {AXIS_VERIFY_TOL_DEG:.1f}°）" + ) + verdict = rotation_verdict(delta_deg, got, mis, AXIS_VERIFY_TOL_DEG) + if verdict == ROT_LIMIT: + # 完全没动、或只走了一部分：都是**关节限位**把这段截住了 + # （2026-09-24 实测：棘轮回转每轮顶到上限 ±175°，于是下一步反向 + # 只剩 ~16° 余量）。交给调用方让余量重试（见 _ratchet_step）； + # 调用方不处理时 FSM 会按未定义转移报错，不会静默走下去。 + self.get_logger().warn( + f"{tag}: 期望 {delta_deg:+.1f}°、实测 {got:+.1f}°" + f"（差 {abs(delta_deg) - abs(got):.1f}°）—— 判为**贴到关节限位**" + ) + return Event.JOINT_LIMIT + if verdict == ROT_AXIS: + self.get_logger().error( + f"{tag}: 转轴偏差 {mis:.1f}° 超过阈值 —— 关节7 轴与工具 Z 不共线，" + "以『度』为单位的动作（S01/S08/S09）都不可信，中止。" + "先确认工具系是否垂直向下、有没有装转接件" + ) + return Event.ABORT + if verdict == ROT_SHORT: + self.get_logger().error( + f"{tag}: 期望 {delta_deg:+.1f}°、实测 {got:+.1f}°，偏差过大，中止" + ) + return Event.ABORT + self._axis_verified = True + return fsm_event + + def _ratchet_step( + self, target_rad: float, *, tag: str, fsm_event: Event, speed_deg_s: Optional[float], + direction: int = 0, + ) -> Event: + """棘轮的一步"转腕"：行程不够时**张开爪让出余量**再转。 + + :param target_rad: 关节 7 的**目标角（绝对值）**，与 + :meth:`_rotate_joint_and_verify` 同一口径（那边算的就是 + ``target_rad - q_now``）。**不是增量。** + :param direction: 这一步的**工艺转向**：``+1`` 正转、``-1`` 反转、 + ``0`` 交给"最短路径"。棘轮的四步一律显式给：步长接近 180° 时 + "最短路径"会被 0.1° 的读数差翻方向（详见 + :func:`arm_application.gauge_fsm.ratchet_delta_rad`）。 + + ⚠️ 为什么要把口径写在这里（2026-09-24 栽过一次，S09 直接 ABORT）： + 调用方（S08/S09）给的本来就是绝对值（``q[-1] ± screw_step_rad``）， + 而本函数此前把它当**增量**用（``prewind(want_deg=abs(deg(target)))``、 + 让余量时又按 ``q - target`` 算新目标）。于是 S09 第一步被算成 + "要转 338.9°"（其实是目标 338.9°、增量只有 180°）⇒ 误判"行程不够" + ⇒ 让余量那一步算到限位**外面**（``158.9 − 338.9 = −180°``，比 + −175° 的限位还低 5°）⇒ 报"期望 −338.9°、实测 +26.0°，偏差过大" + ⇒ 整条流程在**最不该失败的一步** ABORT（规在爪里好好的、什么坏事都没发生）。 + 两个函数各用一种口径，编译器不会说话，日志还会把"目标"和"增量"都印成 + 一个数 —— 所以口径写进参数名和 docstring。 + + 为什么需要"让余量"这一步： + 棘轮要求"一正一反各 180°"，而关节 7 的行程只有 ±175°（3.0543 rad）。 + 拧入（S08）的**回转**那一步每轮都正好顶到上限（实测 +175.1°）， + 于是 S09 要做的**反方向**第一步只剩 ~16° 余量，被限位截住。 + 而这一轮其实什么坏事都没发生。 + + 为什么"让余量"是免费的： + 指间**张开**时规在打滑（这正是棘轮成立的原理），所以手腕空转既不会 + 把已经拧进去的螺纹转回去，也不会漏掉进度 —— 只是把行程重新分配。 + + 让多少：整步（不去算亏欠了多少）。反正张开状态下这一步不产生任何装配 + 效果，整步最省事也最不容易算错；重试时的那一步才是"用力"的那一步。 + + 两条路：**先算**（限位已知时，提前让余量，干净）＋ **兜底**（真被限位 + 截住时再让，覆盖"限位没读到 / 轨迹自己没走完"这两种情况）。 + + 两条路**最后都汇到同一次让余量**：只有一次，避免"先算发现不够、 + 让完还不够、再让一次"这种把行程越绕越少的做法。 + """ + limits = self._wait_joint_limits() + q = None + if limits is not None: + q, _Tee = self._wait_state(3.0) + if q is None: + return Event.TIMEOUT + # 目标角可能落在限位**外面**（这正是棘轮要解决的问题），先折成"最近一圈" + # 的增量（gauge_fsm.ratchet_delta_rad，含完整说明与单测）： + # 关节在 +158.9°、目标 +338.9° ⇒ 增量 +180°（而不是 +338.9°）。 + # **方向按工艺意图给**：步长贴着 180° 时"最短路径"会被读数差翻向（R2.10）。 + delta_rad = ratchet_delta_rad(target_rad, float(q[-1]), direction) + why = "" + if limits is not None and abs(math.degrees(delta_rad)) > 1e-6: + plan = prewind( + q_now_rad=float(q[-1]), want_deg=abs(math.degrees(delta_rad)), + direction=1 if delta_rad > 0 else -1, + limits=limits, margin_deg=RATCHET_LIMIT_MARGIN_DEG, + ) + if plan.clamped: + why = ( + f"行程不够（关节7 在 {math.degrees(float(q[-1])):+.1f}°，" + f"这一步要转 {math.degrees(delta_rad):+.1f}°" + f"（目标 {math.degrees(float(target_rad)):+.1f}°），限位 " + f"{math.degrees(limits[0]):+.0f}~{math.degrees(limits[1]):+.0f}°）" + ) + if not why: + ev = self._rotate_joint_and_verify( + target_rad, tag=tag, fsm_event=fsm_event, speed_deg_s=speed_deg_s + ) + if ev is not Event.JOINT_LIMIT: + return ev + why = "轨迹被关节限位截住（算着够、实际没走完）" + return self._ratchet_rewind_then( + delta_rad, tag=tag, fsm_event=fsm_event, speed_deg_s=speed_deg_s, why=why, + ) + + def _ratchet_rewind_then( + self, delta_rad: float, *, tag: str, fsm_event: Event, + speed_deg_s: Optional[float], why: str, + ) -> Event: + """张开爪 → 反向让一步 → 夹紧 → 转原来那一步。 + + :param delta_rad: **要转的增量**（不是目标角，见 :meth:`_ratchet_step`）。 + 让余量时按它反着退一步，重试时再按它前进 —— 两次都以**当时的** + 关节角为基准重新算目标，所以让完余量后关节会回到原处、工具净转 + ``delta_rad``。把"目标"固定成一开始那个绝对值是错的：让完余量之后 + 那个目标已经在另一圈上了（差 360°）。 + """ + if self.grip is None: + self.get_logger().error(f"{tag}: {why}，但没有夹爪客户端，无法让余量 → 中止") + return Event.ABORT + self.get_logger().info( + f"{tag}: {why} —— 张开爪让出一步（此刻规在打滑，不会动到螺纹）再转" + ) + if not self.grip.open(): + self.get_logger().error(f"{tag}: 需要张爪让余量，但开爪失败 → 中止") + return Event.ABORT + time.sleep(self.cfg.screw_release_wait_s) + q, _Tee = self._wait_state(3.0) + if q is None: + return Event.TIMEOUT + ev = self._rotate_joint_and_verify( + float(q[-1]) - delta_rad, tag=f"{tag}_rewind", + fsm_event=fsm_event, speed_deg_s=speed_deg_s, + ) + if ev is not fsm_event: + self.get_logger().error( + f"{tag}: 让余量那一步也没走开（{ev}）—— 关节7 的行程真用尽了，中止。\n" + f" 排查：site.yaml 的 gauge_assembly.screw_step_deg 太接近关节行程了" + f"（Rizon4 的关节7 是 ±175°），棘轮一步要 {math.degrees(abs(delta_rad)):.0f}°，" + f"留给'回转'的余量本来就不够。\n" + f" 改法：把 screw_step_deg 调小（例如 120°），并保证 " + f"screw_max_cycles × screw_step_deg 仍是 **360° 的整数倍** —— " + f"累计必须转整数圈，否则规会停在螺纹中间（S09 拧出也就少转几分之一圈）。" + ) + return Event.ABORT + if not self.grip.close(): + self.get_logger().error(f"{tag}: 让完余量后夹紧失败 → 中止") + return Event.ABORT + # 重试目标**按让完余量后的位置重算**：让余量退了一步，原来那个绝对目标 + # 现在差了 360°（正好一整圈），照原样下发会让关节反向绕一圈回去。 + q2, _Tee2 = self._wait_state(3.0) + if q2 is None: + return Event.TIMEOUT + ev = self._rotate_joint_and_verify( + float(q2[-1]) + delta_rad, tag=f"{tag}_retry", + fsm_event=fsm_event, speed_deg_s=speed_deg_s, + ) + if ev is not fsm_event: + self.get_logger().error( + f"{tag}: 让完余量重试仍然没走到位（{ev}）—— 中止" + f"（不是限位问题，先查是不是有东西卡住/螺纹咬死）" + ) + return Event.ABORT + return fsm_event + + # ===================================================================== + # S02 夹持确认（预留） + # ===================================================================== + def _step_grip_check(self) -> Event: + self._state("S02_grip_check") + if not self.cfg.grip_check: + self.get_logger().info( + "S02 跳过夹持确认（预留：传感器方案在优化、D435 未标定）。" + "要开：site.yaml 的 gauge_assembly.grip_check: true" + ) + return Event.GRIP_SKIPPED + if self.grip is None: + return Event.GRIP_FAIL + time.sleep(self.cfg.grip_hold_s) + got = self.grip.is_gripped() + if got is None: + self.get_logger().error( + "S02 要求确认夹持，但当前夹爪后端给不出明确状态（状态字是运动中/到位）。" + "把夹爪合到咬住状态，或关掉 gauge_assembly.grip_check" + ) + return Event.GRIP_FAIL + if got: + self._gauge_was_gripped = True + self.get_logger().info("S02 确认：爪里夹着东西") + return Event.GRIP_PASS + self.get_logger().error("S02 判定爪里没有通止规 —— 请放好再跑") + return Event.GRIP_FAIL + + # ===================================================================== + # S03 手外粗定位（S04 的兜底） + # ===================================================================== + def _step_coarse(self) -> Event: + self._state("S03_coarse") + if not self.cfg.coarse_enabled: + self.get_logger().warn("S03 被配置关掉（gauge_assembly.coarse_enabled=false）") + return Event.COARSE_FAIL + ns = self.cfg.coarse_camera + he = self._eye_to_hand_file() + if he is None: + expect = str( + self.get_parameter("coarse_eye_to_hand_file").value or "" + ).strip() or f"handeye/results/{ns}_eye_to_hand.yaml" + self.get_logger().warn( + "S03 需要手外相机的 eye-to-hand 标定文件，现在没有 —— " + f"按兜底逻辑回 S04 跟踪。\n" + f" 应该生成：{expect}\n" + f" 做法：bash scripts/run_handeye.sh --mode eye_to_hand " + f"teach/merge/calibrate（标完再跑本流程）" + ) + return Event.COARSE_FAIL + if not self._wait_coarse_frame(ns): + self.get_logger().warn( + f"S03 相机 {ns} 等了 {self.cfg.coarse_timeout_s:.0f}s 没有新鲜图像" + "（相机没开？），回 S04 跟踪" + ) + return Event.COARSE_FAIL + + xy = self._coarse_workpiece_xy(ns, he) + if xy is None: + self.get_logger().warn("S03 推理没找到工件框（或深度无效），回 S04 跟踪") + return Event.COARSE_FAIL + + q, Tee = self._wait_state(5.0) + if q is None or Tee is None: + return Event.TIMEOUT + target = np.array([float(xy[0]), float(xy[1]), self.cfg.coarse_hover_m]) + self.get_logger().info( + f"S03 粗定位：工件中心 ({xy[0]:.3f},{xy[1]:.3f}) → 悬停 " + f"{self.cfg.coarse_hover_m * 1000:.0f}mm" + ) + ok, q, Tee = self._goto( + q, Tee, target, verticalize=True, tol_m=0.005, + tol_tilt=self.vert_tol_rad * 2.0, tag="coarse", + v=self.move_speed, max_hops=10, settle_s=0.25, + ) + if not ok: + self.get_logger().warn("S03 移动到粗定位点未完全到位，仍进 S05 精拍") + self._coarse_ok = True + return Event.COARSE_OK + + def _camera_alive(self, ns: str) -> bool: + return self._img_age(self._t_coarse_color) < 3.0 + + def _wait_coarse_frame(self, ns: str) -> bool: + """等手外相机的**新鲜**图像，最多 ``coarse_timeout_s`` 秒。 + + 为什么要等而不是"看一眼没有就放弃"：相机节点刚起来时发现+第一帧 + 可能要一两秒，直接判失败会让 S03 在相机其实是好的情况下退回 S04。 + """ + t0 = time.monotonic() + while time.monotonic() - t0 < self.cfg.coarse_timeout_s: + if self._camera_alive(ns): + return True + self._spin(0.1) + return False + + def _coarse_workpiece_xy(self, ns: str, he: Path) -> Optional[Tuple[float, float]]: + """手外相机拍一张 → 推理工件框中心 → 反投影到基座 XY。 + + 外参从 **TF** 取（`base_link` ← `<相机>_color_optical_frame`），不再自己 + 解析一份 ``T_4x4``：标定产物已经在启动时以静态 TF 发布了，两份解析 + 必然先漂移一份（而漂移的是哪一份没人知道）。 + + 为什么先查标定文件再进来：没有 eye-to-hand 外参时，"反投影"只能靠 + 猜一个 depth 目标 —— 那会得到一个**看起来合理**的坐标（这正是最坏的 + 情形：动作做对了、位置错了）。所以宁可明确失败。 + """ + img = getattr(self, "_coarse_color", None) + depth_msg = getattr(self, "_coarse_depth", None) + intr = getattr(self, "_coarse_info", None) + if img is None or depth_msg is None or intr is None: + return None + depth = self._depth_from_msg(depth_msg) + if depth is None: + return None + intr_d = { + "fx": float(intr.k[0]), "fy": float(intr.k[4]), + "cx": float(intr.k[2]), "cy": float(intr.k[5]), + } + bgr = self._bgr_from_msg(img) + bbox = self._best_bbox(bgr, conf=self.cfg.coarse_conf) + if bbox is None: + return None + u = 0.5 * (bbox[0] + bbox[2]) + v = 0.5 * (bbox[1] + bbox[3]) + z = float(np.median(depth[int(v) - 2:int(v) + 3, int(u) - 2:int(u) + 3])) + if not math.isfinite(z) or z <= 0.05: + return None + p_cam = self._px_to_cam(u, v, z, intr_d) + T = self._lookup(f"{self.prefix}base_link", f"{ns}_color_optical_frame") + if T is None: + self.get_logger().warn( + f"S03 查不到 {ns}_color_optical_frame 到基座的 TF —— 标定文件 {he.name} " + "在，但没有发布成静态 TF（检查启动时有没有跑 handeye TF 那一步）" + ) + return None + p_base = (T @ np.array([p_cam[0], p_cam[1], p_cam[2], 1.0]))[:3] + return float(p_base[0]), float(p_base[1]) + + def _bgr_from_msg(self, msg: Any) -> np.ndarray: + """``sensor_msgs/Image`` → BGR ndarray（复用 stage2 的同一段解码）。""" + return _bgr_copy(msg) + + def _depth_from_msg(self, msg: Image) -> Optional[np.ndarray]: + """``sensor_msgs/Image``(16UC1) → 米为单位的深度图。""" + try: + arr = np.frombuffer(msg.data, dtype=np.uint16) + if msg.encoding.lower() in ("16uc1", "mono16"): + arr = arr.astype(np.float32) / 1000.0 + else: + arr = arr.astype(np.float32) + return arr.reshape((int(msg.height), int(msg.width))) + except Exception as exc: # noqa: BLE001 + self.get_logger().warn(f"深度图解码失败：{exc}") + return None + + # ===================================================================== + # S04 跟踪 + # ===================================================================== + def _step_track(self) -> Event: + self._state("S04_track") + if self.cfg.dry_run: + self._fsm_dry(Event.TRACK_LOCKED, "拉起跟踪并等锁定") + return Event.TRACK_LOCKED + if self._track_retries >= MAX_TRACK_RETRIES: + self.get_logger().error( + f"S04 已连续丢 {self._track_retries} 次（上限 {MAX_TRACK_RETRIES}），" + "不再兜底重试 —— 检查工件是否在视野内、相机是否被挡、权重是否正确" + ) + return Event.ABORT + self._track_retries += 1 + code = self._run_stage1() + if code == 0: + self.get_logger().info(f"S04 跟踪锁定（第 {self._track_retries} 次尝试）") + return Event.TRACK_LOCKED + self.get_logger().warn(f"S04 跟踪未锁定（exit={code}），转 S03 兜底") + return Event.TRACK_LOST + + # ===================================================================== + # S05 稳定拍照 + # ===================================================================== + def _step_snap(self) -> Event: + self._state("S05_snap") + if self.cfg.dry_run: + self._fsm_dry(Event.SNAP_OK, "等画面稳定后精拍定位 k1/k2") + return Event.SNAP_OK + if not self._wait_pixel_stable(): + self.get_logger().warn( + f"S05 画面在 {self.cfg.snap_tol_px:.1f}px 容差内没稳定下来，继续等" + ) + return Event.SNAP_UNSTABLE + + q, Tee = self._wait_state(5.0) + if q is None or Tee is None: + return Event.TIMEOUT + code, q, Tee, final = self._run_locate(q, Tee) + if code != 0 or not final: + self.get_logger().error( + f"S05 精拍定位失败 code={code}{_LOCATE_CODE_HINT.get(code, '')}" + ) + return Event.TIMEOUT + self._snap_final = dict(final) + self._snap_pose = Tee.copy() + self.get_logger().info( + f"S05 定位完成：k1={final.get('k1_base_m')} k2={final.get('k2_base_m')} " + f"残差 {final.get('residual_mm')}mm，已记位姿 Z={Tee[2, 3]:.4f}" + ) + return Event.SNAP_OK + + def _snap_feature(self) -> str: + """S05 稳定判据用哪个特征：``bbox``（检测框像素）还是 ``motion``（法兰 mm）。 + + ``auto`` 按感知来源选：真机（yolo）用检测框 —— 保持原有行为不变； + 仿真真值/外部感知没有可用的工件检测器（合成图过不了真机训练出来的模型， + 实测最高分 0.017），用检测框只会永远"不稳定"地空转，所以改用法兰位移。 + """ + return snap_feature_of(self.cfg.snap_stable_feature, self._perception_source()) + + def _snap_sample(self, feature: str) -> Optional[Tuple[float, ...]]: + """采一帧"画面特征"（单位随 feature 变：bbox=像素，motion=毫米）。""" + if feature == "bbox": + img = getattr(self, "_color", None) + if img is None: + return None + bbox = self._best_bbox(self._bgr_from_msg(img)) + if bbox is None: + return None + return (0.5 * (bbox[0] + bbox[2]), 0.5 * (bbox[1] + bbox[3])) + # motion：法兰（= 相机）在世界系里的位置。相机装在法兰上，法兰不动， + # 画面就不会动 —— 比"检测框不动"更直接，也不依赖任何模型。 + _q, Tee = self._wait_state(0.5) + if Tee is None: + return None + return (float(Tee[0, 3]) * 1000.0, float(Tee[1, 3]) * 1000.0, float(Tee[2, 3]) * 1000.0) + + def _wait_pixel_stable(self) -> bool: + """等画面稳定：连续采 ``snap_stable_s`` 秒的特征，抖动在容差内才算稳。 + + 用"到均值的最远距离"而不是相邻帧之差 —— 跟踪抖动是零均值的， + 相邻差会让"明明在晃"的时刻被判成稳定，然后拍出一张糊图（表现为 + "孔位偶尔偏 1mm"，随机且难复现）。判据实现见 gauge_fsm.pixel_stable。 + """ + feature = self._snap_feature() + tol = self.cfg.snap_tol_px if feature == "bbox" else self.cfg.snap_tol_mm + got_any = False + deadline = time.monotonic() + 20.0 + while time.monotonic() < deadline: + samples: List[Tuple[float, ...]] = [] + t0 = time.monotonic() + while time.monotonic() - t0 < self.cfg.snap_stable_s: + s = self._snap_sample(feature) + if s is not None: + samples.append(s) + got_any = True + self._spin(0.05) + if points_stable(samples, tol, self.cfg.snap_min_frames): + return True + if not got_any and feature == "bbox": + # 一条都采不到 = 检测器根本没出框。这跟"画面在晃"是**两件事**， + # 分开报才找得到人（真机上这是"权重与图像不匹配"的典型症状）。 + self.get_logger().error( + "S05 等稳定时工件检测器一直没出框（0 帧样本）——" + "不是画面在晃，是没检测到工件。查：权重是否与这台相机匹配" + "（models/yolo/README.md）、或把 gauge_assembly.snap_stable_feature " + "设成 motion 改用法兰位移判据" + ) + return False + + # ===================================================================== + # S06 正悬停 + # ===================================================================== + def _step_hover_k(self) -> Event: + hole = self._hole_name() + self._state(f"S06_hover_{hole}") + if self.cfg.dry_run: + self._fsm_dry(Event.ALIGN_OK, f"到 {hole} 正悬停") + return Event.ALIGN_OK + + xy = self._hole_xy(hole) + if xy is None: + self.get_logger().error(f"S06 没有 {hole} 的坐标（S05 没定位到？）") + return Event.TIMEOUT + q, Tee = self._wait_state(5.0) + if q is None or Tee is None: + return Event.TIMEOUT + z = float(self._snap_final.get("hover_z_m") or self.hover_z) + target = np.array([xy[0], xy[1], z]) + ok, q, Tee = self._goto( + q, Tee, target, verticalize=True, tol_m=self.cfg.align_tol_mm / 1000.0, + tol_tilt=self.vert_tol_rad * 1.5, tag=f"S06_hover_{hole}", + v=self.move_speed, max_hops=10, settle_s=0.2, + ) + # 对位残差用**实测**算，不用运动返回值：运动"到点了"和对准了是两件事 + gxy = self._gauge_xy(Tee) + residual_mm = math.hypot(gxy[0] - xy[0], gxy[1] - xy[1]) * 1000.0 + self.get_logger().info( + f"S06 {hole} 悬停：实测残差 {residual_mm:.2f}mm" + f"（容差 {self.cfg.align_tol_mm:.1f}mm）Z={Tee[2, 3]:.4f}" + ) + if residual_mm > self.cfg.align_tol_mm: + self.get_logger().warn("对位超差 → 回 S05 重拍") + return Event.ALIGN_OUT + if not ok: + self.get_logger().warn("运动未完全到位但残差在容差内，继续") + self._progress(f"{hole} 悬停完成，残差 {residual_mm:.2f}mm") + return Event.ALIGN_OK + + def _hole_xy(self, hole: str) -> Optional[Tuple[float, float]]: + key = f"{hole}_base_m" + val = self._snap_final.get(key) + if not val or len(val) < 2: + return None + return float(val[0]), float(val[1]) + + # ===================================================================== + # S07 柔顺接触 + # ===================================================================== + def _shear_axes(self) -> Tuple[float, float]: + """当前两路切向读数（取法向最大的那只手指）。 + + 两路都要，是因为切向力到底走 X 还是 Y 通道未确认：只监控一个通道， + 赌错了就是整段流程静默失效（下发正常、日志正常、就是停不住）。 + """ + best = None + best_fn = -1.0 + for tac in (getattr(self, "_tac_l", None), getattr(self, "_tac_r", None)): + if not tac: + continue + t, m = tac + if time.monotonic() - t > 0.5: + continue + fn = abs(float(getattr(m, "fnormal", 0.0))) + if fn > best_fn: + best_fn, best = fn, m + if best is None: + return (0.0, 0.0) + return (float(getattr(best, "fshearx", 0.0)), float(getattr(best, "fsheary", 0.0))) + + def _wrench_axial(self) -> Optional[float]: + """当前腕部 FT 的轴向力 [N]；一帧都没收到过时返回 None。 + + 轴向 = ``force.z``。这个口径对真机与仿真**都成立**： + 真机 ``//ft_sensor_wrench`` 是法兰系，z 是法兰轴； + 仿真传感器挂在 joint7 上取 child(link7) 系，z 也是工具轴。 + 工具锁垂直向下时，两者都等于"竖直方向的力"。 + """ + return getattr(self, "_ft_fz", None) + + def _wrench_age(self) -> Optional[float]: + """腕部 FT 最近一帧的年龄 [s]；一帧都没收到过时返回 None。""" + t = getattr(self, "_t_ft", None) + return None if t is None else (time.monotonic() - float(t)) + + def _step_contact(self) -> Event: + self._state("S07_contact") + if self.cfg.dry_run: + self._fsm_dry(Event.CONTACT_OK, "柔顺下臂到接触") + return Event.CONTACT_OK + q, Tee = self._wait_state(5.0) + if q is None or Tee is None: + return Event.TIMEOUT + + # 基线必须在**还没碰工件**的时候测。S06 结束时悬停在工件上方， + # 正好是测基线的时刻（带载测会把阈值抬飞）。 + ref = self._baseline(samples=8) + # 腕部 FT 的轴向基线：与触觉基线同一时刻采（这时还没碰工件）。 + # 腕部 FT 在夹持摩擦的**上游**，所以它是 S07 的首选判据；触觉只是兜底 + #（通止规靠夹持摩擦抱住，轴向力传不到指垫，见 gauge_fsm.wrench_touch）。 + ft_ref = self._wrench_axial() + ft_age = self._wrench_age() + ft_alive = wrench_live(ft_age) + self.get_logger().info( + f"S07 基线：切向 ({ref[0]:.1f}, {ref[1]:.1f})、法向 {self._fn_rest:.1f}" + f"；腕部轴向 {ft_ref if ft_ref is not None else float('nan'):+.2f}N" + f"（{'活' if ft_alive else '**没有数据**'}，话题 {self.ft_wrench_topic}）" + ) + + z0 = float(Tee[2, 3]) + step_m = self.cfg.contact_step_mm / 1000.0 + max_depth_m = self.cfg.contact_max_depth_mm / 1000.0 + # 台肩落面所需的下压量。在下面几何自检里算出来；**要留到接触判据那里用** + # （看 hole_entry_verdict：下压深度远小于它 ⇒ 规没进孔）。 + needed_m: Optional[float] = None + + # ---- 工具几何自检：预算必须是**由几何推出来的**，不能拍 ------------------ + # 判"到底了"的那一下是**台肩落到工件上表面**（不是尖端碰面）。工件上表面 + # 就是 stage2 实测的孔位 z（孔在面上）；台肩在规尖上方 30mm（通端长 30）。 + # + # 这里做两件事： + # ① 把"悬停时工具尖端离面还有多高"算出来印出来。**负值说明悬停这一步 + # 就已经把工具捅进工件了**（悬停高度是按相机定的、工具比相机长就 + # 会这样，真机同参数同结果），这是个几何错误，藏得很深：现象是 + # S07 一路压到顶都判不到接触，看起来像力阈值标错了。 + # ② 如果配的预算**不够**走完"台肩落面"那一段，就地按几何**改大**并 + # 大声报出来。2026-09-24 仿真里踩过：预算 25mm 而台肩在尖端上方 + # 30mm → 永远到不了落面那一下，报出来的原因是假的（"没触发接触 + # 判据"），真实原因只是预算不够。 + surface_z = float(self.cfg.workpiece_surface_z_m) + if surface_z <= 0.0: + # 没配就取 stage2 实测的孔位 z —— 孔就在工件上表面上。 + k1 = (self._snap_final or {}).get("k1_base_m") or [] + surface_z = float(k1[2]) if len(k1) >= 3 else 0.0 + if surface_z > 0.0: + clear_m = tool_clearance_m( + z0, # 悬停时的法兰高度 = 当前 Tee 的 z（S06 刚把法兰锁到悬停高） + self.cfg.tool_tip_below_flange_m, + surface_z, + ) + needed_m = descend_needed_m( + z0, self.cfg.tool_tip_below_flange_m, surface_z, + GAUGE_SHOULDER_ABOVE_TIP_M, + ) + self.get_logger().info( + f"S07 工具几何：悬停法兰 z={z0:.4f}、工具尖端在法兰下方 " + f"{self.cfg.tool_tip_below_flange_m * 1000:.1f}mm → 尖端 z=" + f"{z0 - self.cfg.tool_tip_below_flange_m:.4f}，工件上表面 z={surface_z:.4f}\n" + f" 悬停时尖端离面 {clear_m * 1000:+.1f}mm" + f"{'（**已经插进工件了**）' if clear_m < 0 else ''}；" + f"台肩落面还需下压 {needed_m * 1000:+.1f}mm" + ) + if needed_m > max_depth_m: + new_depth_m = descend_budget_m(needed_m) + self.get_logger().warn( + f"S07 下探预算不足：配的是 {max_depth_m * 1000:.1f}mm，" + f"但「台肩落面」这一段就要 {needed_m * 1000:.1f}mm" + f"（台肩在尖端上方 {GAUGE_SHOULDER_ABOVE_TIP_M * 1000:.0f}mm）。\n" + f" 按几何自动改大为 {new_depth_m * 1000:.1f}mm。" + f"要固定这个值，改 site.yaml 的 " + f"gauge_assembly.contact_max_depth_mm（建议 ≥ " + f"{new_depth_m * 1000:.0f}）" + ) + max_depth_m = new_depth_m + + # 这一步的到位容差**必须小于步长**（见 gauge_fsm.descend_tol_m 的说明： + # 容差≥步长时 _goto 判"已在容差内"直接返回，一步都不走 → 静默自旋）。 + tol_step_m = descend_tol_m(step_m) + budget = descend_iter_budget(max_depth_m, step_m) + self.get_logger().info( + f"S07 步进下压：步长 {step_m * 1000:.2f}mm、到位容差 {tol_step_m * 1000:.3f}mm、" + f"最多 {max_depth_m * 1000:.1f}mm / {budget} 步" + ) + steps = 0 + stalls = 0 + z_prev = z0 + while float(Tee[2, 3]) - z0 > -max_depth_m: + if steps >= budget: + self.get_logger().error( + f"S07 下压步数用尽（{budget} 步 ≈ {max_depth_m * 1000:.1f}mm）仍未触发接触判据。\n" + " 这不是正常路径：正常应该是「接触→CONTACT_OK」或「到底→超深失败」。\n" + " 走到这里通常意味着臂**没在动**（控制器死区/被夹住/孔位偏得擦不到面）。" + ) + self._retract(q, Tee, dz_m=0.01) + return Event.TIMEOUT + steps += 1 + target = np.array([float(Tee[0, 3]), float(Tee[1, 3]), float(Tee[2, 3]) - step_m]) + # 不用 _step_to：它把速度写死成 search_speed，而这**一步**必须慢 + # （接触判据要在"碰到"的瞬间停住，快了就是一个冲击）。速度取 + # gauge_assembly.contact_speed_m_s，其余参数与 _step_to 对齐。 + ok, q, Tee = self._goto( + q, Tee, target, verticalize=True, tol_m=tol_step_m, + tol_tilt=self.vert_tol_rad * 2.5, tag="S07_step", + v=self.cfg.contact_speed_m_s, max_hops=2, + settle_s=max(0.06, self.settle3 * 0.3), min_dur=0.16, + ) + if not ok: + self.get_logger().warn("S07 单步未完全到位，继续按实测高度判断") + # 实测位移 = 唯一的推进证据。指令发出去不等于臂动了（R5.1 静默失效）。 + z_now = float(Tee[2, 3]) + if descend_progress(z_prev, z_now, step_m): + stalls = 0 + else: + stalls += 1 + self.get_logger().warn( + f"S07 第 {steps} 步实测只走了 {(z_prev - z_now) * 1000:+.3f}mm" + f"（要求 ≈{step_m * 1000:.2f}mm），连续 {stalls}/{DESCEND_STALL_STEPS} 步没动" + ) + if stalls >= DESCEND_STALL_STEPS: + self.get_logger().error( + f"S07 连续 {stalls} 步**实测零位移**，臂根本没往下走。\n" + " 常见原因：① 这一步的容差 ≥ 步长（_goto 判「已在容差内」直接返回）；\n" + " ② 控制器死区/增益太小，0.x mm 的微步被吃掉；\n" + " ③ 工件/夹具把臂顶住了（此时应报接触，却没达到切向阈值）；\n" + " ④ 孔位偏了，规擦着孔壁下去但没接触面。" + ) + self._retract(q, Tee, dz_m=0.01) + return Event.TIMEOUT + z_prev = z_now + if steps % 5 == 0: + now_dbg = self._shear_axes() + ax_dbg = self._wrench_axial() + self.get_logger().info( + f"S07 已下压 {abs(z_now - z0) * 1000:.2f}mm" + f"（{steps}/{budget} 步）切向 ({now_dbg[0]:.1f}, {now_dbg[1]:.1f})" + f" 腕部轴向 " + f"{ax_dbg - ft_ref if ax_dbg is not None else float('nan'):+.1f}N" + ) + + # ---- 判据一（首选）：腕部 FT 轴向突变 -------------------------- + # 腕部 FT 在夹持摩擦的**上游**（工件→规→夹爪→法兰→腕部关节）， + # 所以工具在爪里打不打滑都测得准。触觉做不到这点： + # 轴向力要传过"指垫↔规"的摩擦面，上限只有 µ·N≈23N，而台肩落面 + # 一步就产生 25N —— 必然打滑，读数停在 0（而它是对的）。 + # 完整因果链见 gauge_fsm.wrench_touch 与 docs/GAUGE_ASSEMBLY.md §6。 + ft_now = self._wrench_axial() + if ft_alive and ft_now is not None and ft_ref is not None: + if wrench_touch(ft_now, ft_ref, self.cfg.contact_axial_delta_n): + self.get_logger().info( + f"S07 接触（腕部 FT）：轴向 {ft_now:+.2f}N 相对基线 " + f"{ft_ref:+.2f}N 超过 +{self.cfg.contact_axial_delta_n:.1f}N" + f"（下压 {abs(float(Tee[2, 3]) - z0) * 1000:.2f}mm）" + ) + # 下压这么浅就"接触" ⇒ 尖端顶在工件上表面，没进孔。必须在这里 + # 拦下：放它进 S08 只会干转几轮、憋住，最后报一句"转轴偏差" + # 把所有人引去查工具系。见 hole_entry_verdict 的说明。 + if self._hole_lost_guard(z0, Tee, needed_m, q, "腕部 FT"): + return Event.HOLE_LOST + # 必须先卸载再交给 S08 —— 判到接触的这一刻臂上顶着的是**出力上限** + # 那个量级的力（实测 200N+，与阈值无关），而规的轴向传力上限 + # 只有 µ·N≈73N。见 _relieve_after_contact 的完整说明。 + self._relieve_after_contact(q, Tee, "腕部 FT", ft_ref) + return Event.CONTACT_OK + elif steps == 1: + # 只报一次，别每步刷屏。降级到触觉兜底时阈值口径要按现场重新标定。 + self.get_logger().warn( + f"S07 腕部 FT 没有数据（话题 {self.ft_wrench_topic}，" + f"年龄 {ft_age if ft_age is not None else float('nan'):.1f}s）——" + "降级为只看触觉切向突变。\n" + " ⚠️ 触觉是**靠夹持摩擦**传力的，轴向力上限只有 µ·N（≈23N 量级），" + "台肩落面那一下可能传不过去、读数停在 0。\n" + " 真机上查：真机 bringup 无条件起 flexiv_robot_states_broadcaster，" + "话题是 //ft_sensor_wrench；收不到就是话题名/网络的问题。\n" + " 仿真上查：devices/sim/gazebo/config/wrist_ft.yaml 的 topic 与" + " arm.sim.sensors.xacro 的 wrist_ft_topic 必须一致（都是 " + "/sim/ft_sensor_wrench）。" + ) + + try: + fn, _fn_max, _shear, _contact = self._tac_fresh(self.tac_timeout) + except Exception as exc: # noqa: BLE001 + # 腕部 FT 活着时，触觉断流不影响判接触（两个来源互相独立）。 + # 只有两个来源都没了才真的判不了。 + if not ft_alive: + self.get_logger().error( + f"S07 腕部 FT 与触觉**都没有**数据，无法判断接触：{exc}\n" + " 这不是阈值问题，是数据源问题：先让其中一个活过来。" + ) + self._retract(q, Tee, dz_m=0.01) + return Event.TIMEOUT + self.get_logger().warn( + f"S07 触觉断流（{exc}），但腕部 FT 活着，继续下压" + ) + fn, _fn_max, _shear, _contact = 0.0, 0.0, (0.0, 0.0), False + + # ---- 判据二（兜底）：触觉切向突变 ------------------------------ + now = self._shear_axes() + if tangential_jump(now, ref, self.cfg.contact_tangential_delta): + self.get_logger().info( + f"S07 接触（触觉切向）：切向 {now[0]:.1f}/{now[1]:.1f} 相对基线 " + f"{ref[0]:.1f}/{ref[1]:.1f} 超过 +{self.cfg.contact_tangential_delta:.0f}" + f"（法向 {fn:.1f}，下压 {abs(float(Tee[2, 3]) - z0) * 1000:.2f}mm）" + ) + # 与腕部 FT 那条同规矩：判到接触时臂上顶着的力远大于阈值，必须先卸载。 + # 同样先过"是不是根本没进孔"这道闸（见 hole_entry_verdict）。 + if self._hole_lost_guard(z0, Tee, needed_m, q, "触觉切向"): + return Event.HOLE_LOST + self._relieve_after_contact(q, Tee, "触觉切向", ft_ref) + return Event.CONTACT_OK + if fn - self._fn_rest > self.cfg.contact_safe_delta: + self.get_logger().error( + f"S07 法向力超安全上限：{fn:.1f} - 基线 {self._fn_rest:.1f} > " + f"+{self.cfg.contact_safe_delta:.0f}，抬起并中止" + ) + self._retract(q, Tee, dz_m=0.01) + return Event.FORCE_OVER_LIMIT + # 腕部 FT 的独立安全上限：它测的是**真实轴向力**，所以这里能给出 + # 一个物理量级的兜底（触觉那个 contact_safe_delta 是 au，量纲都对不上）。 + # 取触觉安全上限的同样口径：一旦超过就说明"压得太狠了"，与"接触了没" + # 无关 —— 接触判据应该早就返回了，能走到这里说明判据失灵。 + if ft_alive and ft_now is not None and ft_ref is not None: + if abs(ft_now - ft_ref) > self.cfg.contact_safe_delta: + self.get_logger().error( + f"S07 腕部轴向力超安全上限：{ft_now:+.2f}N - 基线 {ft_ref:+.2f}N " + f"= {abs(ft_now - ft_ref):.1f}N > +{self.cfg.contact_safe_delta:.0f}N，" + "抬起并中止。\n" + " 能走到这里说明接触判据没生效（那么大的力早该判到接触）——" + "先查 contact_axial_delta_n 是不是被调得太大了。" + ) + self._retract(q, Tee, dz_m=0.01) + return Event.FORCE_OVER_LIMIT + self.get_logger().error( + f"S07 下探 {max_depth_m * 1000:.1f}mm 都没触发接触判据。\n" + " 排查顺序（按物理可信度，别从阈值开始调）：\n" + " ① **先看上面每 5 步打印的「腕部轴向」**：它一直≈0 → 是数据源/几何问题，\n" + " 不是阈值问题（传感器没数据、悬停几何错、孔位偏了没碰到面）；\n" + " ② 腕部轴向有涨但没到阈值 → 才轮到调 contact_axial_delta_n；\n" + " ③ 只有触觉兜底时：轴向力要经夹持摩擦传递，上限 µ·N≈23N，\n" + " 台肩落面那一下可能传不过来 —— 这时调阈值是白费，要修的是夹持。" + ) + self._retract(q, Tee, dz_m=0.01) + return Event.TIMEOUT + + def _hole_lost_guard( + self, + z0: float, + Tee: np.ndarray, + needed_m: Optional[float], + q: np.ndarray, + why: str, + ) -> bool: + """S07 判到接触时：下压深度是不是**远小于**几何预期（= 规没进孔）。 + + 返回 True 表示"确实没进孔"，调用方要抬臂并返回 ``Event.HOLE_LOST``。 + + 完整来龙去脉在 ``gauge_fsm.hole_entry_verdict`` 的 docstring 里，这里只 + 留现场要看的那几句：工件在 S08/S09/S10 会被工具推走，而 k2 的孔位是 + S05 一次性定的 ⇒ 工件一动孔位就失效 ⇒ 规落在孔旁边的平面上。 + 不拦的话会干转 5 轮，最后报一句"转轴偏差…先确认工具系有没有装转接件"， + 把所有人引去查工具系（实测 2026-09-28）。 + """ + if needed_m is None: + # 没算出几何预期（工件上表面 z 没标定且 S05 也没给）—— 没有判据就别猜。 + return False + descended_m = abs(float(Tee[2, 3]) - z0) + if hole_entry_verdict(descended_m, needed_m) != ENTRY_HIGH: + return False + self.get_logger().error( + f"S07 接触（{why}）发生在下压 {descended_m * 1000:.2f}mm 处，" + f"而按几何「台肩落面」需要 {needed_m * 1000:.1f}mm —— 只走了 " + f"{descended_m / needed_m * 100.0:.0f}%。\n" + " **规没有进孔，尖端顶在工件上表面**（正常入孔要压到台肩落面那一下）。\n" + " 最可能的原因：工件被工具推走了，而本孔的坐标是 **S05 一次性定下**的 ——\n" + " 工件一动，那个坐标就失效（S06 的「实测残差」发现不了：它比的是\n" + " 「命令位置 vs 实际位置」，不是「规尖 vs 真实孔位」）。\n" + " 所以**不要**去查工具系/转接件/力阈值（那几个都是好的）。\n" + " 正确处置：把臂退开、确认工件的实际位置；能复位就复位工件，然后\n" + " 从 S05 重新拍照定位（重跑流程即会重新定位）。\n" + " 若要治根：换孔前复核工件没动（当前只有 S05 阶段有 drag 看门狗）。\n" + " 抬起并中止，不带着失效的孔位进 S08。" + ) + self._retract(q, Tee, dz_m=0.01) + return True + + def _relieve_after_contact( + self, + q: np.ndarray, + Tee: np.ndarray, + why: str, + axial_ref: Optional[float] = None, + ) -> None: + """判到接触之后的**卸载回退**：把下压量放掉，再交给 S08。 + + 为什么必须有这一步（2026-09-24 用一整轮排查换来的，值得完整读）： + + 位置控制的臂撞上硬面时，**不会**在"刚碰到"的地方停住 —— 它会一直顶到 + 自己的出力上限。仿真实测：指令 0.5mm 的一步压在工件上，腕部 FT 直接跳到 + **+244N**，而臂这一步只走了 0.09mm（日志里那句"S07 单步未完全到位"）。 + 也就是说"判到接触"的那一刻，臂上是顶着一个**大得多的力**的， + 这个力跟 contact_axial_delta_n 没关系（阈值只决定"什么时候承认接触"）。 + + 而通止规是**靠夹持摩擦**抱住的：轴向上能传的力上限 = µ·N，两指合计 + 约 73N（µ=0.8、握力 46N）。244N 远超它 ⇒ 规被轴向力直接顶出爪外。 + 本次就是这样：S07 判到接触 → 进 S08 一转 → 规掉到地上 → 报 E1， + 而 E1 的日志只说"通止规掉了"，看不到"是顶着 244N 进去的"。 + + 所以这里回退 contact_relief_mm，把力放回基线附近；S08 只带着"规自身的 + 重量 + 一点点残余"进孔 —— 那才是螺纹/棘轮真正需要的预压。 + + 回退量刻意**不做闭环**（不"退到力小了为止"）：判据闭环会在"接触刚度很大" + 时来回震荡，而这里要的只是"把下压量放掉"。放不干净就报出来（见下）， + 让现场去改夹持（那是机械问题，不是参数问题）。 + """ + dz = float(self.cfg.contact_relief_mm) / 1000.0 + ft_before = self._wrench_axial() + if dz <= 0.0: + self.get_logger().warn( + f"S07 判到接触（{why}）但 contact_relief_mm=0 —— **不卸载**。\n" + " 位置控制的臂此刻顶着的力可能远大于判据阈值（实测 200N+），" + "而规靠夹持摩擦抱住、轴向上限只有 µ·N（≈73N）。" + "S08 一转就可能掉件（E1），且日志里看不到真因。" + ) + return + target = np.array([float(Tee[0, 3]), float(Tee[1, 3]), float(Tee[2, 3]) + dz]) + # ⚠️ 到位容差**必须远小于回退量**，不能写死一个与它同量级的常数。 + # 实测（2026-09-24）：回退 0.50mm 而 tol_m 也写 0.0005 ⇒ 目标 z 是 + # `Tee[2,3] + 0.0005`，浮点回减后 dist 会比 0.0005 略小 ⇒ `_goto` 的 + # 入口判据 `dist < tol_m` 当场成立、**一步没走就 return True**。 + # 于是"卸载"变成一次空操作，而下面的残余力判据比的是"回退前 vs 回退后" + # 两个一模一样的读数 ⇒ 报"残余 0.0N，已放干净"（**假通过**）。 + # 后果：S08 带着 70N 的轴向力去转 → 掉件(E1)，日志里只有"规掉了"。 + # 规则本身抽成 gauge_fsm.relief_tol_m 并有单测钉住（tol 必须 < 回退量）。 + tol = relief_tol_m(dz) + ok = self._goto( + q, Tee, target, verticalize=True, tol_m=tol, + tol_tilt=self.vert_tol_rad * 2.5, tag="S07_relief", + v=min(0.02, self.cfg.contact_speed_m_s), max_hops=3, + settle_s=max(0.1, self.settle3 * 0.5), min_dur=0.3, + )[0] + time.sleep(0.2) + ft_after = self._wrench_axial() + msg = ( + f"S07 接触后卸载：回退 {dz * 1000:.2f}mm，腕部轴向 " + f"{ft_before if ft_before is not None else float('nan'):+.1f}N → " + f"{ft_after if ft_after is not None else float('nan'):+.1f}N" + ) + if not ok: + self.get_logger().warn( + msg + "\n ⚠ 卸载回退**没走到位**（上面有 _goto 的告警）。" + "残余力判据因此不可信 —— 这一路压进去的力仍留在规上。" + ) + if ft_after is not None and ft_before is not None: + # 残余按**基线**（还没碰工件时的轴向力）算，不能按"回退前后之差"算： + # 回退本身要是没生效，前后读数相同 ⇒ 差值 0 ⇒ 假报"放干净"。 + # 基线是"完全没有接触"的状态，这才是"卸载干不干净"的参照。 + residual = ( + abs(float(ft_after) - float(axial_ref)) + if axial_ref is not None + else abs(float(ft_after) - float(ft_before)) + ) + ref_txt = ( + f"基线 {float(axial_ref):+.1f}N" if axial_ref is not None else "无基线" + ) + if residual > float(self.cfg.contact_hold_n): + self.get_logger().warn( + msg + f"（残余 {residual:.1f}N（相对{ref_txt}）" + f" > {self.cfg.contact_hold_n:.1f}N）\n" + " ⚠ 卸载没放干净：这一路压进去的力**超过了夹持摩擦能承受的量**" + "（上限 µ·N，两指合计 ≈73N）。\n" + " 接着 S08 一转，规会从爪里被推出去（现象是「通止规掉了」E1，" + "看不到真因）。\n" + " 两条真修法：① 降峰值 —— 调小 contact_step_mm（步长越小峰值越小）" + "或加大 contact_relief_mm；② 加握力 —— 改夹爪合拢力度/指垫摩擦。\n" + " **不要**去调 contact_axial_delta_n：它只管「什么时候承认接触」，" + "管不了「判到的时候已经顶了多大」。" + ) + else: + self.get_logger().info( + msg + f"（残余 {residual:.1f}N（相对{ref_txt}），已放干净）" + ) + else: + self.get_logger().info(msg + "（腕部 FT 没数据，无法确认卸载效果）") + + def _baseline(self, samples: int) -> Tuple[float, float]: + """静止基线的两路切向均值（顺手把法向基线记到 ``self._fn_rest``）。 + + 单侧可用即可：另一只指没插时，同一侧的阈值仍然自洽（相对量）。 + 拿不到任何读数时按 0 处理并**明确告警** —— 阈值会偏保守， + 结果可能是"碰上了没停"，而不是静默地继续跑。 + """ + acc: List[Tuple[float, float]] = [] + fns: List[float] = [] + t0 = time.monotonic() + while len(acc) < samples and time.monotonic() - t0 < 3.0: + sx, sy = self._shear_axes() + if sx != 0.0 or sy != 0.0: + acc.append((sx, sy)) + for tac in (getattr(self, "_tac_l", None), getattr(self, "_tac_r", None)): + if not tac: + continue + tt, mm = tac + if time.monotonic() - tt < 0.5: + fns.append(abs(float(getattr(mm, "fnormal", 0.0)))) + self._spin(0.05) + self._fn_rest = (sum(fns) / len(fns)) if fns else 0.0 + if not acc: + self.get_logger().warn( + "S07 拿不到切向读数，基线按 0 处理（阈值会偏保守：可能碰上了不停）" + ) + return (0.0, 0.0) + return ( + sum(a[0] for a in acc) / len(acc), + sum(a[1] for a in acc) / len(acc), + ) + + # ===================================================================== + # S08 旋转装配循环（棘轮） + # ===================================================================== + def _log_regrip(self, tag: str) -> None: + """把"这一轮夹紧后的开口"打出来（含相对夹住时的塌陷量）。 + + 为什么每轮都要打（2026-09-24 实测）： + S08/S09 每轮都是"慢转 → 松爪 → 回转 → 夹紧"，而 `close` 在仿真里 + 是"位置控制走到全合 0mm" —— **真机走到力上限就停，仿真会一路挤进规里**。 + 只报一句"通止规掉了(E1)"时，人分不出"真掉了"和"被挤小了"。 + 把开口与塌陷量打出来一眼就能分辨： + · 塌陷量逐轮变大、开口还在十几毫米 → 是**被挤**（规还在指间） + · 开口塌到接近 0（两指合到底） → 是**真掉了** + """ + if self.grip is None: + return + ap = self.grip.settle(settle_s=1.0) # 服务返回时动作还没做完，等它停 + if ap is None: + return + gp = self.grip.grip_aperture() + col = self.grip.collapse_mm() + detail = "" + if gp is not None and col is not None: + detail = f"（夹住时 {gp:.2f}mm，塌陷 {col:+.2f}mm）" + self.get_logger().info(f"{tag}：开口 {ap:.2f}mm{detail}") + + def _step_screw_in(self) -> Event: + hole = self._hole_name() + self._state(f"S08_screw_in_{hole}") + if self.cfg.dry_run: + self._fsm_dry(Event.SCREW_DONE, f"棘轮拧入 {hole}") + return Event.SCREW_DONE + + steps = ratchet_cycles( + self.cfg.screw_max_cycles * self.cfg.screw_step_deg, self.cfg.screw_step_deg + ) + self.get_logger().info( + f"S08 开始：最多 {steps} 轮 × {self.cfg.screw_step_deg:.0f}°" + f"（上限 {self.cfg.screw_max_cycles * self.cfg.screw_step_deg:.0f}°），" + f"停止判据「切向 >+{self.cfg.screw_shear_delta:.0f} " + f"且法向 >+{self.cfg.screw_normal_delta:.0f}」" + ) + # 步长 vs 关节行程：**在这里算一次**，不要等第 3 轮贴限位再炸。 + # 2026-09-24 实测：180° 的步长配 ±175° 的关节 7，第 3 轮 ABORT， + # 日志是一长串"贴限位 → 让余量 → 还是贴限位"，真因（配置）藏在最后。 + travel = ratchet_travel_ok( + self.cfg.screw_step_deg, self._wait_joint_limits(), RATCHET_LIMIT_MARGIN_DEG + ) + self.get_logger().info( + f"S08 行程核算：一步棘轮要 {travel.need_deg:.0f}°，" + f"关节7 行程 {travel.travel_deg:.0f}°" + f"（最大可用步长 {travel.max_step_deg:.0f}°）—— {'放得下' if travel.ok else '放不下'}" + ) + if not travel.ok: + self.get_logger().error(f"S08 配置自检不通过（先改配置，别硬跑）：{travel.why}") + return Event.ABORT + for cycle in range(self.cfg.screw_max_cycles): + q, Tee = self._wait_state(5.0) + if q is None or Tee is None: + return Event.TIMEOUT + try: + fn_before, _fn_max, _shear, _c = self._tac_fresh(self.tac_timeout) + except Exception as exc: # noqa: BLE001 + self.get_logger().error(f"S08 触觉断流，无法判断拧紧：{exc}") + return Event.ABORT + shear_before = self._shear_axes() + + # --- 四步原子动作，顺序固定（慢转 → 松爪 → 快回转 → 夹紧）--- + # 慢转是**顺时针**：与 S01 的逆时针预绕相反，这样预绕行程就是 + # 这一整段拧入的回转空间（S01 不预绕，转两圈就贴限位）。 + ev = self._ratchet_step( + float(q[-1]) - self.cfg.screw_step_rad, tag=f"S08_slow_{cycle}", + fsm_event=Event.SCREW_DONE, speed_deg_s=self.cfg.screw_speed_deg_s, + direction=-1, # 顺时针拧入（与 S01 的预绕相反） + ) + if ev is not Event.SCREW_DONE: + return ev + # 松爪 → 快回转 → 夹紧 + if self.grip is not None: + if not self.grip.open(): + self.get_logger().error("S08 松爪失败 —— 继续转会把规拧回去") + return Event.ABORT + time.sleep(self.cfg.screw_release_wait_s) + q, Tee = self._wait_state(3.0) + if q is None: + return Event.TIMEOUT + ev = self._ratchet_step( + float(q[-1]) + self.cfg.screw_step_rad, tag=f"S08_back_{cycle}", + fsm_event=Event.SCREW_DONE, speed_deg_s=self.cfg.screw_back_speed_deg_s, + direction=+1, # 回转：与慢转正好相反 + ) + if ev is not Event.SCREW_DONE: + return ev + if not self.grip.close(): + self.get_logger().error("S08 夹紧失败 —— 下一轮慢转会打滑磨螺纹") + return Event.ABORT + self._log_regrip(f"S08 第 {cycle + 1} 轮夹紧后") + else: + self.get_logger().error("S08 没有夹爪客户端，无法松爪/夹紧，中止") + return Event.ABORT + + # --- 停止判据：切向 >阈值 **且** 法向突增 --- + try: + fn_after, _fn_max2, _shear_now, _c2 = self._tac_fresh(self.tac_timeout) + except Exception as exc: # noqa: BLE001 + self.get_logger().error(f"S08 触觉断流，无法判断拧紧：{exc}") + return Event.ABORT + sx, sy = self._shear_axes() + shear_delta = max( + abs(sx - shear_before[0]), abs(sy - shear_before[1]), + ) + normal_delta = fn_after - fn_before + self.get_logger().info( + f"S08 第 {cycle + 1}/{self.cfg.screw_max_cycles} 轮：" + f"切向增量 {shear_delta:.1f}（阈值 {self.cfg.screw_shear_delta:.0f}）" + f" 法向增量 {normal_delta:+.1f}（阈值 {self.cfg.screw_normal_delta:.0f}）" + ) + if screw_stop( + normal_delta, shear_delta, + self.cfg.screw_normal_delta, self.cfg.screw_shear_delta, + ): + self.get_logger().info(f"S08 判据满足，{hole} 拧到位（第 {cycle + 1} 轮）") + self._progress(f"{hole} 拧入到位（{cycle + 1} 轮）") + return Event.SCREW_STOP + if self.grip is not None and self.grip.dropped(): + ap = self.grip.aperture() + gp = self.grip.grip_aperture() + self.get_logger().error( + "S08 通止规掉了（E1）—— 回 S01 流程：张开爪、提示人工放好，" + "确认后继续（按看板：该孔记为完成，换下一个孔）\n" + f" 开口：夹住时 {gp if gp is None else f'{gp:.2f}mm'}" + f" → 现在 {ap if ap is None else f'{ap:.2f}mm'}" + f"（判据：塌陷 ≥ {GripperClient.DROP_COLLAPSE_MM:.1f}mm）\n" + " 分辨真掉还是被挤：开口塌到接近 0 = 两指合到底（真掉）；\n" + " 开口还有十几毫米、只是比夹住时小了几毫米 = 被**挤**" + "（仿真位置控制的「全合」不知道「挡住就停」，见 GripperClient.dropped）" + ) + self._e1_pending = True + return Event.GAUGE_DROPPED + self.get_logger().info(f"S08 达到 {self.cfg.screw_max_cycles} 轮上限，进入拧出") + return Event.SCREW_DONE + + # ===================================================================== + # S09 反向拧出 + # ===================================================================== + def _step_unscrew(self) -> Event: + hole = self._hole_name() + self._state(f"S09_unscrew_{hole}") + if self.cfg.dry_run: + self._fsm_dry(Event.UNSCREW_DONE, f"反向拧出 {hole}") + return Event.UNSCREW_DONE + cycles = ratchet_cycles( + (self.cfg.screw_max_cycles + self.cfg.unscrew_extra_cycles) + * self.cfg.screw_step_deg, + self.cfg.screw_step_deg, + ) + self.get_logger().info( + f"S09 拧出 {hole}：{cycles} 轮 × {self.cfg.screw_step_deg:.0f}°" + f"（= 拧入上限 {self.cfg.screw_max_cycles} 轮 + 额外 " + f"{self.cfg.unscrew_extra_cycles} 轮，确保螺纹脱开）" + ) + for cycle in range(cycles): + q, Tee = self._wait_state(5.0) + if q is None: + return Event.TIMEOUT + # 反向：慢转是逆时针（与 S08 相反），空手回转是顺时针 + ev = self._ratchet_step( + float(q[-1]) + self.cfg.screw_step_rad, tag=f"S09_slow_{cycle}", + fsm_event=Event.UNSCREW_DONE, speed_deg_s=self.cfg.screw_speed_deg_s, + direction=+1, # 逆时针拧出 + ) + if ev is not Event.UNSCREW_DONE: + return ev + if self.grip is None: + return Event.ABORT + if not self.grip.open(): + return Event.ABORT + time.sleep(self.cfg.screw_release_wait_s) + q, Tee = self._wait_state(3.0) + if q is None: + return Event.TIMEOUT + ev = self._ratchet_step( + float(q[-1]) - self.cfg.screw_step_rad, tag=f"S09_back_{cycle}", + fsm_event=Event.UNSCREW_DONE, speed_deg_s=self.cfg.screw_back_speed_deg_s, + direction=-1, # 回转：与慢转相反 + ) + if ev is not Event.UNSCREW_DONE: + return ev + if not self.grip.close(): + return Event.ABORT + self._log_regrip(f"S09 第 {cycle + 1} 轮夹紧后") + self._lift_clear_of_hole(hole) + self._progress(f"{hole} 已拧出") + return Event.UNSCREW_DONE + + def _lift_clear_of_hole(self, hole: str) -> None: + """拧出后**先竖直把规提出孔**，之后才允许任何横向动作。 + + **为什么必须有这一步**（2026-09-24 仿真实测，两次栽在同一个地方）： + 1. 仿真里**没有螺纹几何**：S09 的"拧出"只是让规在孔里转，规**仍然插在 + 孔里**（真机会沿螺纹退出来几个毫米，也没退出多少）。 + 2. 于是紧跟着的横向动作（S10 换孔 / S11 回 home）会把规从孔里**拽** + 出来 —— 实测抓取锁被拽断、规掉在台面上，而下游只表现为 + "下一孔 S07 下探 35mm 判不到接触"（工具上已经没规了）， + 日志完全指不到真因。 + 3. 真机也怕这个动作：螺纹刚脱开时横向别住最容易啃伤螺纹。标准做法就是 + **先竖直退出来，再走 XY**。 + + 高度提到**跟踪高**（``_track_z()`` = 孔悬停高 + 50mm）而不是写死毫米数： + 跟踪高是这条流程里"工具已离开工件"的既有定义（``_ensure_clearance`` + 也用它），拿它当判据不用再维护第二套口径。实测：不提出时规尖比工件面 + **低 30mm**，而 S10 的斜线只往上抬了 29mm —— 差 1mm 就是"拽出孔"和 + "干净退出"的分界，所以必须是**先后有序**的两个动作，不能靠斜线一起走。 + + 失败只告警（不失败）：这一刻孔里已经没有规要保护了，硬失败会把一次成功 + 的装配变成失败；后面的 S10/S11 仍会走到安全位。 + """ + try: + q, Tee = self._wait_state(3.0) + if q is None or Tee is None: + return + tz = self._track_z() + z = float(Tee[2, 3]) + if z >= tz - 0.008: + return + self.get_logger().info( + f"S09 {hole} 拧出后竖直提出：Z {z:.3f} → {tz:.3f}m" + "（先离开孔口，再做横向动作）" + ) + _, q2, _Tee2 = self._goto( + q, Tee, + np.array([float(Tee[0, 3]), float(Tee[1, 3]), tz]), + verticalize=True, tol_m=0.003, tol_tilt=self.vert_tol_rad * 2.0, + tag=f"S09_exit_{hole}", v=self.move_speed, max_hops=8, + hold_xy=True, settle_s=0.25, + ) + except Exception as exc: # noqa: BLE001 + self.get_logger().warn(f"S09 {hole} 提出孔口失败（继续走 S10/S11）：{exc}") + + # ===================================================================== + # S10 换孔 / S11 复位 + # ===================================================================== + def _step_next_hole(self) -> Event: + hole = self._hole_name() # 进入 S10 时序号已推进 + self._state(f"S10_to_{hole}") + if self.cfg.dry_run: + self._fsm_dry(Event.POSE_OK, f"换到 {hole}") + return Event.POSE_OK + q, Tee = self._wait_state(5.0) + if q is None or Tee is None: + return Event.TIMEOUT + xy = self._hole_xy(hole) + if xy is None: + self.get_logger().error(f"S10 没有 {hole} 的坐标 —— S05 那次没定位到它") + return Event.TIMEOUT + z = float(self._snap_final.get("hover_z_m") or self.hover_z) + target = np.array([xy[0], xy[1], z]) + self.get_logger().info(f"S10 回 S05 记录的位姿：{hole} ({xy[0]:.4f},{xy[1]:.4f}) Z={z:.4f}") + ok, q, Tee = self._goto( + q, Tee, target, verticalize=True, tol_m=0.002, + tol_tilt=self.vert_tol_rad * 1.5, tag=f"S10_to_{hole}", + v=self.move_speed, max_hops=10, settle_s=0.2, + ) + if not ok: + self.get_logger().warn(f"S10 到 {hole} 未完全到位，S06 会再核残差") + return Event.POSE_OK + + def _step_reset(self) -> Event: + self._state("S11_reset") + if self.cfg.dry_run: + self._fsm_dry(Event.POSE_OK, "复位退出") + return Event.POSE_OK + try: + if self.grip is not None: + self.grip.open() + self._call_trigger("/home", timeout_s=60.0) + except Exception as exc: # noqa: BLE001 + self.get_logger().warn(f"S11 复位过程中出错（不再拦住退出）：{exc}") + return Event.POSE_OK + + # ===================================================================== + # 驱动循环 + # ===================================================================== + def _fsm_dry(self, event: Event, what: str) -> None: + self.get_logger().info(f"[干跑] {self.fsm.state}：{what} → {event.value}") + + def run(self) -> int: + """按状态机把 S00–S11 走完。返回进程退出码（0 = 正常）。""" + self._state("start") + self.get_logger().info( + f"通止规装配开始：{len(self._STEPS)} 个阶段，" + f"{self.cfg.holes_total} 个孔，终点 {State.DONE}；" + "状态话题 /gauge/state，结果 /gauge/result" + ) + if not self._cli.wait_for_server(timeout_sec=5.0) and not self.cfg.dry_run: + self.get_logger().error("JTC action 不在 —— 先起机械臂（run_real.sh / run_sim_gz.sh）") + return 2 + + while not self.fsm.is_terminal: + handler_name = self._STEPS.get(self.fsm.state) + if handler_name is None: + self.get_logger().error(f"状态 {self.fsm.state} 没有处理方法（看 _STEPS）") + return 2 + try: + event = getattr(self, handler_name)() + except GaugeAbort as exc: + self.get_logger().error(f"{self.fsm.state} 中止：{exc}") + self._safe_retract() + return exc.code + except FsmError: + raise + except Exception as exc: # noqa: BLE001 + self.get_logger().error( + f"{self.fsm.state} 抛异常：{type(exc).__name__}: {exc}" + ) + self._safe_retract() + return 2 + + try: + nxt = self.fsm.handle(event) + except FsmError as exc: + self.get_logger().error(str(exc)) + return 2 + self.get_logger().info( + f"[fsm] {self.fsm.history[-1]}（{self._hole_name()}）" + ) + if nxt is State.DONE: + break + + if self.fsm.state is State.ABORT and not self.cfg.dry_run: + # E2（中止）落点统一是"退到安全高度"：无论从哪个阶段中止，都不能 + # 把规留在孔里/工件上 —— 下次启动（或人来处理）都假设起点在工件上方。 + self.get_logger().warn("E2 中止：退到安全高度") + self._safe_retract() + + ok = self.fsm.ok + # 两个孔数要分清：`hole_index` 是**0 基的当前孔号**（调试用）， + # `holes_done` 才是"装完了几个"（给人/脚本看）。混用会把"两个孔都装完了" + # 显示成"已装 1/2"，让人以为少装了一个。 + holes_done = ( + self.cfg.holes_total + if self.fsm.state is State.DONE + else max(0, self.fsm.ctx.hole_index) + ) + payload = { + "ok": ok, + "state": str(self.fsm.state), + "holes_total": self.cfg.holes_total, + "holes_done": holes_done, + "hole_index": self.fsm.ctx.hole_index, + "relocations": self.fsm.ctx.relocations, + "notes": self.fsm.ctx.notes, + "dry_run": self.cfg.dry_run, + "snap": self._snap_final, + } + self._publish_gauge_result(payload) + done = min(self.fsm.ctx.hole_index + (1 if ok else 0), self.cfg.holes_total) + self.get_logger().info( + f"通止规装配结束：state={self.fsm.state} ok={ok} 已装 {done}/{self.cfg.holes_total} 孔" + + ("（干跑，未动作）" if self.cfg.dry_run else "") + ) + return 0 if ok else 1 + + def _safe_retract(self) -> None: + """任何失败路径都先退到安全高度：不要让臂停在孔里/工件上。 + + 失败时"不动"看起来更安全，实际最危险：下一次调用（或人来处理）都会 + 从"规插在孔里"这个状态开始，而所有逻辑都假设起点在工件上方。 + """ + try: + q, Tee = self._wait_state(3.0) + if q is None or Tee is None: + return + self._retract(q, Tee, dz_m=0.02) + except Exception as exc: # noqa: BLE001 + self.get_logger().warn(f"退到安全高度失败（继续退出）：{exc}") + + +def main(args: Optional[Sequence[str]] = None) -> None: + rclpy.init(args=None if args is None else list(args)) + code = 2 + node: Optional[GaugeAssembly] = None + try: + node = GaugeAssembly() + code = node.run() + except GaugeAbort as exc: + print(f"[gauge_assembly] 无法开始：{exc}") + code = exc.code + except Exception: # noqa: BLE001 + # 必须**显式**打印：下面的 finally 里有 os._exit()（为了避开 rclpy 关不掉 + # 的僵尸线程），它会把正在传播的异常连栈一起吞掉 —— 现场表现就是 + # "ROS 说进程退出码 2，屏幕上什么都没有"，完全没法查。 + import traceback + + traceback.print_exc() + code = 2 + except KeyboardInterrupt: + if node is not None: + node.get_logger().warn("用户中断 —— 按安全高度退出") + code = 130 + finally: + if node is not None: + if not node._result_written: + # 走到这里说明**结论还没发布**（构造失败 / JTC 不在 / 抛异常 / 用户中断）。 + # 补一份，内容是"没跑完"，这样脚本不会把"没结论"误当成"没跑"。 + node._write_result_file({ + "ok": False, + "state": str(getattr(node.fsm, "state", "?")), + "exit_code": code, + "reason": "节点在发布结论前就退出了（原因见日志）", + }) + if node is not None: + try: + node._stop_stage1() + except Exception: # noqa: BLE001 + pass + try: + node._safe_retract() + node._shutdown_tf() + except Exception: # noqa: BLE001 + pass + try: + node.destroy_node() + except Exception: # noqa: BLE001 + pass + try: + if rclpy.ok(): + rclpy.shutdown() + except Exception: # noqa: BLE001 + pass + os._exit(code) + + +if __name__ == "__main__": + main() diff --git a/src/arm_application/arm_application/gauge_config.py b/src/arm_application/arm_application/gauge_config.py new file mode 100644 index 0000000..ed06698 --- /dev/null +++ b/src/arm_application/arm_application/gauge_config.py @@ -0,0 +1,615 @@ +"""通止规装配的配置：从 ``site.yaml`` 的 ``gauge_assembly:`` 段解析 + 校验。 + +为什么单独一个模块 +------------------ +这一段的键**全是会动的量**（力阈值、角度、悬高、超时），也是现场最常改的地方。 +散在节点里读的话会有三个已知坑（都被这个仓库踩过）： + +1. **名字与单位不一致** —— ``hover`` 填了毫米、代码按米用（规则 M3）； +2. **键没接线** —— YAML 里写着 ``screw_step_deg``，代码读的是 ``screw_steps``， + 于是改了没效果，而报错也没有（``config_guard`` 模块的头注释就是这件事）； +3. **拼错键名** —— YAML 静默接受，行为退回默认值，现场"改了参数没反应"。 + +所以：所有键在一张表里声明（含单位），解析时**逐条校验**，多出来的键直接 +报错并给出最相近的候选名，缺的键按 required/default 明确处理。 +``describe()`` 把**派生**结果（比如"逆时针最多能转 147°"）打出来，让现场 +看到的是"实际生效的值"，而不是"我填的值"。 +""" + +from __future__ import annotations + +import difflib +from dataclasses import dataclass, fields +from typing import Any, Dict, Iterable, List, Mapping, Optional, Tuple + +from arm_application.gauge_fsm import descend_tol_m + +#: S05 稳定判据可用的特征来源。``auto`` 按 ``perception.source`` 自动选。 +#: +#: 为什么需要有"motion"这一路：判据原本是**工件检测框中心**的抖动（像素）， +#: 那要求检测器真的出框。仿真里合成图过不了真机训练出来的模型（实测最高分 +#: 0.017），于是 S05 会永远"不稳定"地空转 —— 而真正该等的是"相机不再动"。 +#: 用法兰位移（mm）当特征既直接又不依赖模型，且判据本身（到均值的最远距离）不变。 +SNAP_STABLE_FEATURES = ("auto", "bbox", "motion") + +def snap_feature_of(want: str, perception_source: str) -> str: + """把 ``snap_stable_feature``（可能是 ``auto``）+ 感知来源 → 实际用哪个特征。 + + 抽成纯函数是为了能脱离 ROS 节点测：这个选择错了，S05 会在真机上"永远不稳定" + 或者在仿真里空转到超时，而两种表现都像是"机械臂在晃"，很难往配置上想。 + """ + want = str(want or "auto") + if want != "auto": + return want + return "bbox" if perception_source == "yolo" else "motion" + + +#: 合法的单位后缀。键名必须以 ``_<单位>`` 结尾（``au`` = Orisys 任意单位增量）。 +_UNIT_SUFFIX: Dict[str, str] = { + "s": "_s", + "deg": "_deg", + "mm": "_mm", + "m": "_m", + "px": "_px", + "pct": "_pct", + "permille": "_permille", + "au": "_delta", + # 腕部 FT 的**真牛顿**。与 au 分开一个后缀是刻意的：两个口径混用不会报错， + # 只会"判据不触发"或"一碰就炸"，看起来像算法问题（见 site.yaml 的注释）。 + "N": "_n", +} + +#: 显式无量纲的键（布尔、计数、比例、枚举）。**必须在这里列出来** —— +#: 没有单位又不登记的键，会让"单位自检"变成一句空话（规则 M1）。 +_UNITLESS = frozenset( + { + "extreme_direction", + "grip_check", + "coarse_enabled", + "coarse_camera", + "coarse_conf", + "snap_min_frames", + "snap_stable_feature", + "screw_max_cycles", + "unscrew_extra_cycles", + "holes_total", + "dry_run", + } +) + +#: 每个键的**类型**（用于类型校验，不做隐式转换：``"20"`` 不当 20 用）。 +_TYPES: Dict[str, type] = { + "boot_timeout_s": float, + "extreme_angle_deg": float, + "extreme_speed_deg_s": float, + "extreme_direction": int, + "extreme_margin_deg": float, + "grip_check": bool, + "grip_hold_s": float, + "coarse_enabled": bool, + "coarse_camera": str, + "coarse_hover_m": float, + "coarse_conf": float, + "coarse_timeout_s": float, + "snap_stable_s": float, + "snap_tol_px": float, + "snap_tol_mm": float, + "snap_min_frames": int, + "snap_stable_feature": str, + "align_tol_mm": float, + "contact_speed_m_s": float, + "contact_step_mm": float, + "contact_max_depth_mm": float, + "tool_tip_below_flange_m": float, + "workpiece_surface_z_m": float, + "contact_tangential_delta": float, + "contact_axial_delta_n": float, + "contact_relief_mm": float, + "contact_hold_n": float, + "contact_safe_delta": float, + "screw_step_deg": float, + "screw_speed_deg_s": float, + "screw_back_speed_deg_s": float, + "screw_max_cycles": int, + "screw_normal_delta": float, + "screw_shear_delta": float, + "screw_grip_force_pct": float, + "screw_grip_speed_pct": float, + "screw_release_wait_s": float, + "unscrew_extra_cycles": int, + "holes_total": int, + "dry_run": bool, + "reload_timeout_s": float, + # 首次咬合之后的空回：松爪开度 + 微抬量（见 pipeline_node._run_a7_seat） + "unwind_open_permille": int, + "unwind_lift_mm": float, +} + +#: 每个键的单位。``""`` 表示无量纲（须同时登记在 :data:`_UNITLESS`）。 +_UNITS: Dict[str, str] = { + "boot_timeout_s": "s", + "extreme_angle_deg": "deg", + "extreme_speed_deg_s": "deg/s", + "extreme_direction": "", + "extreme_margin_deg": "deg", + "grip_check": "", + "grip_hold_s": "s", + "coarse_enabled": "", + "coarse_camera": "", + "coarse_hover_m": "m", + "coarse_conf": "", + "coarse_timeout_s": "s", + "snap_stable_s": "s", + "snap_tol_px": "px", + "snap_tol_mm": "mm", + "snap_min_frames": "", + "snap_stable_feature": "", + "align_tol_mm": "mm", + "contact_speed_m_s": "m/s", + "contact_step_mm": "mm", + "contact_max_depth_mm": "mm", + # 这两个是**长度**不是"毫米量"：用 m 口径，与 hover_z 同一把尺 + "tool_tip_below_flange_m": "m", + "workpiece_surface_z_m": "m", + "contact_tangential_delta": "au", + # 腕部 FT 是**真牛顿**（与触觉的 au 不是一个口径，所以键名也不带 taut 前缀） + "contact_axial_delta_n": "N", + # 卸载回退是**长度**（与 step_mm 同一把尺） + "contact_relief_mm": "mm", + # 残余轴向力是**牛顿**（腕部 FT 口径，不是触觉的 au） + "contact_hold_n": "N", + "contact_safe_delta": "au", + "screw_step_deg": "deg", + "screw_speed_deg_s": "deg/s", + "screw_back_speed_deg_s": "deg/s", + "screw_max_cycles": "", + "screw_normal_delta": "au", + "screw_shear_delta": "au", + "screw_grip_force_pct": "pct", + "screw_grip_speed_pct": "pct", + "screw_release_wait_s": "s", + "unscrew_extra_cycles": "", + "holes_total": "", + "dry_run": "", + "reload_timeout_s": "s", + "unwind_open_permille": "permille", + "unwind_lift_mm": "mm", +} + +#: 键名后缀与单位必须一致（防"填毫米当米用"）。``contact_speed_m_s`` 这类 +#: 复合单位只检查主单位段。 +_SUFFIX_OVERRIDE: Dict[str, str] = { + # 复合单位：后缀取"最后一个单位段"，键名里写全 + "contact_speed_m_s": "_m_s", + "extreme_speed_deg_s": "_deg_s", + "screw_speed_deg_s": "_deg_s", + "screw_back_speed_deg_s": "_deg_s", +} + + +class GaugeConfigError(ValueError): + """``gauge_assembly:`` 段配置错误。消息里必须给出**改哪里**。""" + + +# ============================================================================= +# 默认值 +# ============================================================================= +#: 缺省值。**只有真的有现场依据的才写默认值**：力阈值这类必须现场标定的， +#: 默认值只是"能跑起来的起点"，必须在 ``describe()`` 里标出来让现场知道要改。 +DEFAULTS: Dict[str, Any] = { + "boot_timeout_s": 30.0, + # S01：逆时针预绕。符号靠 extreme_direction 定，不靠改代码里的负号。 + "extreme_angle_deg": 150.0, + "extreme_speed_deg_s": 20.0, + "extreme_direction": 1, + "extreme_margin_deg": 3.0, + # S02（预留） + "grip_check": False, + "grip_hold_s": 0.5, + # S03 + "coarse_enabled": True, + "coarse_camera": "d435", + "coarse_hover_m": 0.25, + "coarse_conf": 0.35, + "coarse_timeout_s": 20.0, + # S05 + "snap_stable_s": 1.0, + "snap_tol_px": 2.0, + "snap_tol_mm": 0.4, + "snap_min_frames": 6, + "snap_stable_feature": "auto", + # S06 + "align_tol_mm": 1.0, + # S07 + "contact_speed_m_s": 0.02, + "contact_step_mm": 0.5, + "contact_max_depth_mm": 35.0, + "tool_tip_below_flange_m": 0.243, + "workpiece_surface_z_m": 0.0, # 0 = 未知，运行期用 stage2 实测孔位兜底 + "contact_tangential_delta": 300.0, + # 腕部 FT 的轴向力阈值 [N]。**这是 S07 的首选判据**，触觉只是兜底。 + # + # 为什么默认是 8N 这么小：这是"接触了没有"的判据，不是"压到位了没有"。 + # 台肩一落面，接触刚度 5e4 N/m 意味着过压 0.1mm 就有 5N、0.2mm 有 10N —— + # 所以 8N 对应约 0.16mm 的过压，**在打滑之前**就能判到（打滑上限由 + # µ·N 决定：µ=0.25、N≈46N → 两指合计 ~23N ≈ 0.46mm）。留了 3 倍余量。 + # 现场标定法：空载慢慢压到台肩落面，看日志里"腕部轴向"从基线涨到多少， + # 取那个值的 1/3 作为阈值（要能区分"擦到孔壁"和"台肩落面"）。 + "contact_axial_delta_n": 8.0, + # 接触到之后的**卸载回退** [mm]。 + # + # 为什么必须有这一步（2026-09-24 一整轮排查换来的）： + # 位置控制的臂在"撞上硬面"时会把力顶到自己的**出力上限**才停住 —— + # 仿真实测：一步 0.5mm 的指令压在工件上，腕部 FT 读数直接跳到 **+244N**， + # 而臂这一步根本没走完（"实测只走了 +0.09mm"）。这不是仿真特有的： + # 接触刚度越高、步长越大，峰值力就越大，而位置环**不限制**它。 + # + # 规是**靠夹持摩擦**抱住的，轴向能传的力上限是 µ·N（两指合计 ~73N@µ=0.8）。 + # 244N 远超这个上限 ⇒ 规被轴向力**顶出爪外**（本次就是：S08 一转， + # 规直接掉到地上，报 E1）。所以"判到接触"之后不能就那样顶着， + # 必须先把下压量放掉，再交给 S08 拧入。 + # + # 0.5mm 的来历：判到接触时的**真实**过压量通常只有 0.0x mm（刚度 5e4 N/m + # 时，10N 对应 0.2mm），回退 0.5mm 足够把力放干净，而规尖仍在孔里 + # （通端穿板 18mm），不会脱出。 + "contact_relief_mm": 0.5, + # 卸载后允许的残余轴向力 [N]。 + # 超了不失败（可能只是回退量不够），但要**大声报**：它说明"夹持摩擦力不够 + # 承受这次接触"，接着 S08 一转就会掉件。调法只有两条 —— 降峰值（调小 + # contact_step_mm / contact_relief_mm）或加握力（改夹爪合拢力度/指垫）。 + "contact_hold_n": 5.0, + "contact_safe_delta": 2000.0, + # S08 + # 步长必须满足 2×step + 2×余量 ≤ 关节7 行程（Rizon4/10 ±175° ⇒ step ≤ 167°）： + # 180° 会必然贴限位（棘轮一个来回要 360° > 350°），实测第 3 轮 ABORT。 + "screw_step_deg": 120.0, + "screw_speed_deg_s": 30.0, + "screw_back_speed_deg_s": 120.0, + "screw_max_cycles": 12, + "screw_normal_delta": 400.0, + "screw_shear_delta": 600.0, + "screw_grip_force_pct": 50.0, + "screw_grip_speed_pct": 50.0, + "screw_release_wait_s": 0.3, + # S09 + "unscrew_extra_cycles": 1, + # 全局 + "holes_total": 2, + "dry_run": False, + # E1（掉件）重放：等操作员放好并确认 /gauge/reload_ok 的最长时间。 + # 超时 = 中止（臂在 home，人不在旁边时"继续等"比"停"更危险）。 + "reload_timeout_s": 180.0, + # 首轮咬合之后的空回：只张开到这个开度（约 8mm），微抬这么多 Z 再转回去。 + # 实际下发在 pipeline_node._run_a7_seat（0–5mm、1–1000‰ 由那边也会再挡一次）。 + "unwind_open_permille": 400, + "unwind_lift_mm": 3.0, +} + + +@dataclass(frozen=True) +class GaugeConfig: + """通止规装配的全部可调量（解析并校验之后）。""" + + boot_timeout_s: float + extreme_angle_deg: float + extreme_speed_deg_s: float + extreme_direction: int + extreme_margin_deg: float + grip_check: bool + grip_hold_s: float + coarse_enabled: bool + coarse_camera: str + coarse_hover_m: float + coarse_conf: float + coarse_timeout_s: float + snap_stable_s: float + snap_tol_px: float + snap_tol_mm: float + snap_min_frames: int + snap_stable_feature: str + align_tol_mm: float + contact_speed_m_s: float + contact_step_mm: float + contact_max_depth_mm: float + tool_tip_below_flange_m: float + workpiece_surface_z_m: float + contact_tangential_delta: float + contact_axial_delta_n: float + contact_relief_mm: float + contact_hold_n: float + contact_safe_delta: float + screw_step_deg: float + screw_speed_deg_s: float + screw_back_speed_deg_s: float + screw_max_cycles: int + screw_normal_delta: float + screw_shear_delta: float + screw_grip_force_pct: float + screw_grip_speed_pct: float + screw_release_wait_s: float + unscrew_extra_cycles: int + holes_total: int + dry_run: bool + reload_timeout_s: float + unwind_open_permille: int + unwind_lift_mm: float + + # -- 派生量（不占 YAML 键，免得两处各写一份，规则 M2）------------------- + @property + def screw_step_rad(self) -> float: + import math + + return math.radians(self.screw_step_deg) + + @property + def total_screw_deg(self) -> float: + """一根规要拧进去的总角度 = 单次转角 × 循环数。""" + return self.screw_step_deg * self.screw_max_cycles + + @property + def unscrew_cycles(self) -> int: + """拧出要多转几轮：多留 ``unscrew_extra_cycles`` 轮，确保螺纹完全脱开。""" + return self.screw_max_cycles + max(0, self.unscrew_extra_cycles) + + def describe(self) -> List[str]: + """启动时打印的行：**实际生效的**值与派生结论。 + + 特别是 S01 的"能转多少度"和 S08 的"要拧多少轮"—— 这两个数是现场 + 判断"参数是否真的生效"最直接的依据，比打印"我读了 site.yaml"有用。 + """ + return [ + f"通止规装配：每孔孔数 {self.holes_total}，干跑={self.dry_run}", + f" S01 预绕 {self.extreme_angle_deg:.1f}°（方向={'逆时针' if self.extreme_direction > 0 else '顺时针'}，" + f"限位余量 {self.extreme_margin_deg:.1f}°，关节速度 {self.extreme_speed_deg_s:.1f}°/s）", + f" S03 粗定位={'开' if self.coarse_enabled else '关'} 相机={self.coarse_camera} " + f"悬高 {self.coarse_hover_m * 1000:.0f}mm 置信度≥{self.coarse_conf:.2f}", + f" S05 稳定 {self.snap_stable_s:.1f}s / 至少 {self.snap_min_frames} 帧 / " + f"特征={self.snap_stable_feature}" + f"（检测框 ≤{self.snap_tol_px:.1f}px、法兰位移 ≤{self.snap_tol_mm:.2f}mm）" + "（稳定判据用「到均值的最远距离」，不是相邻帧之差）", + # 悬停高度**不在这里**：它取自 servo.hole_hover_z_m（stage2 那一层）， + # 这里只印本段的容差 —— 一段配置里出现"另一个段的键"会让人改错地方。 + f" S06 对位容差 {self.align_tol_mm:.1f}mm（悬停高取自 servo.hole_hover_z_m）", + f" S07 腕部轴向突变阈值 +{self.contact_axial_delta_n:.0f}N（**首选判据**，" + "腕部 FT 在夹持摩擦的上游，工具打滑也测得准）," + f"切向突变阈值 +{self.contact_tangential_delta:.0f}au（触觉兜底，两通道任一，现场标定），" + f"安全上限 +{self.contact_safe_delta:.0f}，最多下探 {self.contact_max_depth_mm:.0f}mm", + f" S07 接触后卸载：回退 {self.contact_relief_mm:.2f}mm，" + f"残余轴向力要求 ≤{self.contact_hold_n:.1f}N" + "（位置控制的臂撞上硬面会把力顶到出力上限再停住，实测能到 200N+；" + "规靠夹持摩擦抱住，轴向上限只有 µ·N≈73N，顶着不放 S08 一转就掉件）", + f" S07 工具几何：尖端在法兰下方 {self.tool_tip_below_flange_m * 1000:.1f}mm，" + f"工件上表面 z={self.workpiece_surface_z_m:.3f}m" + "（启动时会按这两个值 + servo.hole_hover_z_m 算「悬停时工具到底入没入工件」，" + "入了会**明确报错**——见 gauge_fsm.tool_clearance_m）", + f" S07 步进 {self.contact_step_mm:.2f}mm @ {self.contact_speed_m_s * 1000:.0f}mm/s，" + f"到位容差 {descend_tol_m(self.contact_step_mm / 1000.0) * 1000:.3f}mm" + "（=步长的 40%，**推导出来的、不是可调项**：容差 ≥ 步长会让每一步都被判成" + "「已在容差内」，臂一步都不走）", + f" S08 棘轮 {self.screw_step_deg:.0f}°×{self.screw_max_cycles} 轮 = 累计 " + f"{self.total_screw_deg:.0f}°；停止判据「切向 >+{self.screw_shear_delta:.0f} 且 " + f"法向 >+{self.screw_normal_delta:.0f}」", + f" S09 拧出 {self.unscrew_cycles} 轮（比拧入多 {self.unscrew_extra_cycles} 轮）", + f" 首轮咬合后空回：松爪到 {self.unwind_open_permille}‰、微抬 Z " + f"{self.unwind_lift_mm:.1f}mm，转回后按实测降回", + ] + + +def _resolve_one(key: str, raw: Mapping[str, Any]) -> Tuple[Any, bool]: + """取一个键的值，返回 ``(值, 是否来自 site.yaml)``。""" + if key in raw: + value = raw[key] + elif key in DEFAULTS: + return DEFAULTS[key], False + else: + raise GaugeConfigError( + f"gauge_assembly.{key} 既没在 site.yaml 里给，也没有默认值。" + f"请在 config/site.yaml 的 gauge_assembly: 段补上" + f"（改完跑一次 bash scripts/show_site_config.sh 确认解析）" + ) + + want = _TYPES[key] + if want is bool and not isinstance(value, bool): + raise GaugeConfigError(_type_msg(key, value, "布尔 true/false")) + if want is int and (isinstance(value, bool) or not isinstance(value, int)): + raise GaugeConfigError(_type_msg(key, value, "整数")) + if want is float and (isinstance(value, bool) or not isinstance(value, (int, float))): + raise GaugeConfigError(_type_msg(key, value, "数字（可带小数）")) + if want is str and not isinstance(value, str): + raise GaugeConfigError(_type_msg(key, value, "字符串")) + return (float(value) if want is float else value), True + + +def _type_msg(key: str, value: Any, human: str) -> str: + unit = _UNITS[key] + hint = f"，单位 {unit}" if unit else "" + return ( + f"gauge_assembly.{key} 的类型不对：期望 {human}{hint}，" + f"实际读到 {value!r}（{type(value).__name__}）。" + "本模块不做隐式转换 —— \"20\" 不会被当成 20 用，" + "因为那正是「填了字符串、跑起来是默认值」这类静默失效的入口" + ) + + +def from_site(site: Mapping[str, Any], *, overrides: Optional[Mapping[str, Any]] = None) -> GaugeConfig: + """解析并校验 ``site.yaml`` 的 ``gauge_assembly:`` 段。 + + :param site: ``site.yaml`` 解析后的整份字典。 + :param overrides: CLI/launch 覆盖（只允许覆盖已知键，未知键报错）。 + :raises GaugeConfigError: 缺键、类型错、未知键、单位与键名不符。 + + 整段缺失**不报错**（全部走默认值），但会在 :meth:`GaugeConfig.describe` + 之外由调用方打一条告警；理由是"默认值能不能用"取决于现场， + 由节点决定要不要拒绝启动，配置模块只负责如实解析。 + """ + raw_any = site.get("gauge_assembly") or {} + if not isinstance(raw_any, Mapping): + raise GaugeConfigError( + "site.yaml 的 gauge_assembly: 应该是一段映射（键值对），" + f"实际是 {type(raw_any).__name__}" + ) + raw: Dict[str, Any] = dict(raw_any) + + if overrides: + bad = [k for k in overrides if k not in _TYPES] + if bad: + raise GaugeConfigError( + f"未知的覆盖参数: {', '.join(sorted(bad))}。" + f"可在 gauge_assembly 段覆盖的键见 gauge_config._TYPES" + ) + raw.update({k: v for k, v in overrides.items() if v is not None}) + + _reject_unknown(raw) + values = {key: _resolve_one(key, raw)[0] for key in _TYPES} + cfg = GaugeConfig(**values) + _sanity(cfg) + return cfg + + +def _reject_unknown(raw: Mapping[str, Any]) -> None: + """多余的键直接报错，并给出最相近的候选名。 + + 静默忽略多余键的代价是：现场写 ``screw_step_degs``，改参数没反应， + 而日志里一切正常。报错里带候选名，是因为拼错比写错新键常见得多。 + """ + unknown = sorted(set(raw) - set(_TYPES)) + if not unknown: + return + lines: List[str] = [] + for key in unknown: + close = difflib.get_close_matches(key, list(_TYPES), n=1, cutoff=0.6) + hint = f"，是不是想写 {close[0]}？" if close else "" + lines.append(f" - {key}{hint}") + raise GaugeConfigError( + "site.yaml 的 gauge_assembly: 段里有本框架不认识的键：\n" + + "\n".join(lines) + + "\n多余的键不会被忽略，因为「写了没生效」比「写错报错」难查得多。" + "确认要新增配置项时，先在 gauge_config._TYPES / _UNITS 里登记" + ) + + +def _sanity(cfg: GaugeConfig) -> None: + """跨键的合理性检查：单键合法、组合起来没意义的，在这里挡住。""" + if cfg.holes_total < 1: + raise GaugeConfigError(f"gauge_assembly.holes_total 至少为 1，收到 {cfg.holes_total}") + if cfg.extreme_direction not in (-1, 1): + raise GaugeConfigError( + f"gauge_assembly.extreme_direction 只能是 +1（逆时针）或 -1（顺时针），" + f"收到 {cfg.extreme_direction}" + ) + if cfg.screw_step_deg <= 0.0: + raise GaugeConfigError( + f"gauge_assembly.screw_step_deg 必须为正，收到 {cfg.screw_step_deg}" + ) + if cfg.screw_max_cycles < 1: + raise GaugeConfigError( + f"gauge_assembly.screw_max_cycles 至少为 1，收到 {cfg.screw_max_cycles}" + ) + if cfg.extreme_angle_deg <= 0.0: + raise GaugeConfigError( + f"gauge_assembly.extreme_angle_deg 必须为正（方向由 extreme_direction 决定，" + f"不要用负角度表方向），收到 {cfg.extreme_angle_deg}" + ) + if cfg.contact_safe_delta <= cfg.contact_tangential_delta: + raise GaugeConfigError( + f"contact_safe_delta({cfg.contact_safe_delta}) 必须大于 " + f"contact_tangential_delta({cfg.contact_tangential_delta})：" + "前者是「立刻抬臂」的安全上限，后者只是「停止下压」。" + "两者相等的话，接触一开始就会触发安全上限" + ) + if cfg.tool_tip_below_flange_m <= 0.0: + raise GaugeConfigError( + f"tool_tip_below_flange_m 必须为正（工具尖端在法兰**下方**多少米），" + f"收到 {cfg.tool_tip_below_flange_m}。" + "填 0 会让「悬停时工具会不会已经插进工件」这个判断失效" + ) + if cfg.snap_tol_px <= 0.0: + raise GaugeConfigError(f"gauge_assembly.snap_tol_px 必须为正，收到 {cfg.snap_tol_px}") + if not 0.0 <= cfg.unwind_lift_mm <= 5.0: + raise GaugeConfigError( + f"gauge_assembly.unwind_lift_mm 只接受 0–5mm 的微抬，" + f"收到 {cfg.unwind_lift_mm}。空回只需要让规离开孔口，抬多了会撞上方" + ) + if not 1 <= cfg.unwind_open_permille <= 1000: + raise GaugeConfigError( + f"gauge_assembly.unwind_open_permille 只接受 1–1000，" + f"收到 {cfg.unwind_open_permille}（0=合，1000=全开）" + ) + if cfg.contact_relief_mm < 0.0: + raise GaugeConfigError( + f"gauge_assembly.contact_relief_mm 不能为负（0 = 接触到之后不卸载），" + f"收到 {cfg.contact_relief_mm}。\n" + " 它为什么值得一条检查：位置控制的臂撞上硬面会把轴向下压顶到**出力上限**" + "才停住（实测 200N+），而规靠夹持摩擦抱住、轴向上限只有 µ·N（≈73N）。" + "卸载这一步省掉，S08 一转就掉件（报 E1）—— 而那时的日志只会说" + "「通止规掉了」，看不到真因。" + ) + if cfg.contact_hold_n <= 0.0: + raise GaugeConfigError( + f"gauge_assembly.contact_hold_n 必须为正（卸载后的残余轴向力上限 [N]），" + f"收到 {cfg.contact_hold_n}。0 会让「卸载干不干净」永远判不过。" + ) + if cfg.snap_tol_mm <= 0.0: + raise GaugeConfigError(f"gauge_assembly.snap_tol_mm 必须为正，收到 {cfg.snap_tol_mm}") + if cfg.snap_stable_feature not in SNAP_STABLE_FEATURES: + raise GaugeConfigError( + f"gauge_assembly.snap_stable_feature={cfg.snap_stable_feature!r} 不认识，" + f"只支持 {sorted(SNAP_STABLE_FEATURES)}。\n" + f" auto = 按 perception.source 自动选（真机 yolo→bbox、仿真/外部→motion）\n" + f" bbox = 用工件检测框中心（像素），需要检测器真的出框\n" + f" motion = 用法兰位移（mm），不依赖检测器" + ) + + +# ============================================================================= +# 自检：键名必须体现单位（防"填了毫米按米用"） +# ============================================================================= +def unit_violations(keys: Optional[Iterable[str]] = None) -> List[str]: + """返回"键名与单位不符"的清单（空 = 全部合规）。 + + 规则：单位非空的键，**键名必须以对应的单位后缀结尾**（见 :data:`_UNIT_SUFFIX`）。 + 例外只有 :data:`_SUFFIX_OVERRIDE` 里显式登记的复合单位。 + + 为什么值得一条专门的检查：``hover`` 填毫米、代码按米用，会给出一个 + "看起来完全合理"的运动（悬停 5 变成悬停 5 米或 5 毫米）， + 而 :mod:`arm_interfaces.config_guard` 的头注释记录的正是这类事故。 + """ + bad: List[str] = [] + for key in keys if keys is not None else _UNITS: + unit = _UNITS[key] + if not unit: + if key not in _UNITLESS: + bad.append(f"{key}: 无量纲但未登记在 _UNITLESS") + continue + suffix = _SUFFIX_OVERRIDE.get(key) + if suffix is None: + base = unit.split("/")[0] + suffix = _UNIT_SUFFIX.get(base) + if suffix is None: + bad.append(f"{key}: 单位 {unit} 没有登记后缀（补 _UNIT_SUFFIX 或 _SUFFIX_OVERRIDE）") + continue + if not key.endswith(suffix): + bad.append(f"{key}: 单位是 {unit}，键名应以 {suffix} 结尾") + return bad + + +def missing_entries() -> List[str]: + """三张表（类型/单位/默认值）是否互相覆盖完整。""" + problems: List[str] = [] + for key in _TYPES: + if key not in _UNITS: + problems.append(f"{key}: 缺 _UNITS 登记") + if key not in DEFAULTS: + problems.append(f"{key}: 缺 DEFAULTS（required 的键也应写一个起点值并在文档里标注必标定）") + for key in _UNITS: + if key not in _TYPES: + problems.append(f"{key}: 在 _UNITS 里但不在 _TYPES 里") + for key in DEFAULTS: + if key not in _TYPES: + problems.append(f"{key}: 在 DEFAULTS 里但不在 _TYPES 里") + return problems + + +def dataclass_keys() -> List[str]: + """:class:`GaugeConfig` 的字段名 —— 与配置表比对，防"解析了但没存进对象"。""" + return [f.name for f in fields(GaugeConfig)] diff --git a/src/arm_application/arm_application/gauge_gripper.py b/src/arm_application/arm_application/gauge_gripper.py new file mode 100644 index 0000000..efcf87c --- /dev/null +++ b/src/arm_application/arm_application/gauge_gripper.py @@ -0,0 +1,251 @@ +"""夹爪客户端：把"真机今天的接口"和"框架契约里的接口"收敛到一个出入口。 + +为什么要这一层（这不是多余抽象） +-------------------------------- +现场查证（2026-09-24）发现**同一个服务名后面挂着两种类型**： + +=============== ========================== ================================ +服务 A：真机今天跑的 B：框架契约 / 仿真 +=============== ========================== ================================ +``/gripper/open`` ``std_srvs/Trigger`` ``arm_msgs/srv/GripperExecute`` +``/gripper/close`` ``std_srvs/Trigger`` ``arm_msgs/srv/GripperExecute`` +状态 ``/gripper/states`` ``/gripper/status`` + （Float32MultiArray，5 元） （arm_msgs/GripperStatus） +=============== ========================== ================================ + +A 来自 ``arm_application/dh_pgea_node.py``（真机在跑的那个节点，grip_state 直接 +带"咬住/掉落"）；B 来自 ``devices/grippers/dh_pgea/manifest.yaml`` 声明的 +``arm_driver_dh_gripper`` —— **那个包还不存在**（``src/`` 下没有），目前只有 +仿真适配器实现了它。 + +于是有两个错法，都得避免： + +* 只按契约（B）写：真机上服务类型对不上，装配流程一步都走不了， + 而且报错会像是"服务没起"（实际起了，只是类型不同）； +* 只按真机（A）写：仿真跑不了，而且把"临时接口"固化成事实（规则 M2）。 + +所以：**运行时看服务类型自己选**（:func:`pick_backend`），装配节点只依赖 +:class:`GripperClient` 的 ``open/close/wait/is_gripped`` 四个方法。 +等 ``arm_driver_dh_gripper`` 落地后，把 ``gauge_assembly.gripper_backend`` +改回 ``auto`` 即可自动切过去，应用层不用改一行。 +""" + +from __future__ import annotations + +from dataclasses import dataclass +from typing import Dict, List, Mapping, Optional, Sequence + +#: 契约后端用到的服务名（``arm_msgs/srv/GripperExecute``）。 +CONTRACT_TYPE = "arm_msgs/srv/GripperExecute" +#: 真机今天用的后端（``std_srvs/srv/Trigger``）。 +LEGACY_TYPE = "std_srvs/srv/Trigger" + +CONTRACT_OPEN = "/gripper/open" +CONTRACT_CLOSE = "/gripper/close" +CONTRACT_STATUS_TOPIC = "/gripper/status" +LEGACY_STATUS_TOPIC = "/gripper/states" + +#: ``/gripper/states`` 第 6 个元素：1=这一帧刚从总线读回来；0=总线无应答， +#: 前 5 个是上一次读到的值。老节点只发 5 个元素 —— 那时它只在读成功才发， +#: 所以 5 元素帧按有效帧处理。 +#: 为什么要这一位：2026-10-20 读 0x0201 一连 264 次无应答，节点干脆不发状态， +#: 流水线只看到「没有 /gripper/states」，把「总线读不到」显示成「夹爪没到位」。 +STATES_ONLINE_INDEX = 5 + +#: DH 状态字（与 ``arm_msgs/GripperStatus.msg`` 里的注释一致）。 +GRIP_STATE_MOVING = 0 +GRIP_STATE_REACHED = 1 +GRIP_STATE_CAUGHT = 2 +GRIP_STATE_DROPPED = 3 +GRIP_STATE_NAME = { + GRIP_STATE_MOVING: "运动中", + GRIP_STATE_REACHED: "到位", + GRIP_STATE_CAUGHT: "咬住物体", + GRIP_STATE_DROPPED: "物体掉落", +} + +BACKENDS = ("contract", "legacy") + + +class GripperInterfaceError(RuntimeError): + """夹爪接口无法确定。消息里必须写清"现在是什么状态、怎么修"。""" + + +@dataclass(frozen=True) +class BackendChoice: + """选择结果。""" + + backend: str + """``contract`` 或 ``legacy``。""" + + reason: str + """为什么这么选 —— 要能直接打进启动日志。""" + + status_topic: str + """该后端下状态从哪个话题读。""" + + +def pick_backend( + services: Mapping[str, Sequence[str]], prefer: str = "auto" +) -> BackendChoice: + """按**实际服务类型**决定用哪种夹爪接口。 + + :param services: ``{服务名: [类型, ...]}``，直接来自 + ``Node.get_service_names_and_types()``。 + :param prefer: ``auto`` / ``contract`` / ``legacy``。 + 非 auto 时若实际类型与之不符，**不静默降级**，而是报错 —— + 现场明确指定了后端却跑在另一个上，是最难查的一类"改了没生效"。 + :raises GripperInterfaceError: 认不出来、两种都有、或指定的后端对不上。 + + 用类型而不是名字判断，是因为两种后端的**服务名完全一样**（都是 + ``/gripper/open``）：只看名字必然选不出来，而"随便选一个"的后果是 + 调用一个类型不匹配的服务，报出来的错与真实原因无关（规则 M1）。 + """ + if prefer not in ("auto",) + BACKENDS: + raise GripperInterfaceError( + f"gripper_backend 只能是 auto / {' / '.join(BACKENDS)}，收到 {prefer!r}" + ) + + open_types = list(services.get(CONTRACT_OPEN, ())) + close_types = list(services.get(CONTRACT_CLOSE, ())) + has_contract = CONTRACT_TYPE in open_types and CONTRACT_TYPE in close_types + has_legacy = LEGACY_TYPE in open_types and LEGACY_TYPE in close_types + + if prefer == "contract" and not has_contract: + raise GripperInterfaceError( + f"配置要求 contract 后端，但 {CONTRACT_OPEN} 的类型是 " + f"{open_types or '（服务不存在）'}，不是 {CONTRACT_TYPE}。\n" + " 怎么修：① 起仿真（它有契约服务）或等 arm_driver_dh_gripper 落地；" + "② 改用 gauge_assembly.gripper_backend: legacy（真机今天的接口）；" + "③ 改回 auto 让本函数自己选" + ) + if prefer == "legacy" and not has_legacy: + raise GripperInterfaceError( + f"配置要求 legacy 后端，但 {CONTRACT_OPEN} 的类型是 " + f"{open_types or '（服务不存在）'}，不是 {LEGACY_TYPE}。\n" + " 怎么修：确认真机侧起的是 arm_application 的 dh_pgea 节点" + "（bash scripts/run_gripper.sh --arm 89）" + ) + + if has_contract and has_legacy: + # 同名服务两种类型同时在线：ROS 2 允许，但调用方只能撞运气。 + raise GripperInterfaceError( + f"{CONTRACT_OPEN} 同时存在两种类型：{open_types}。" + "是仿真适配器和真机节点同时起着（或旧的没停干净）。\n" + " 怎么修：只留一个 —— 仿真用 scripts/stop_sim_gz.sh 停干净，" + "真机 pkill -f dh_pgea" + ) + + if prefer == "auto": + if has_contract: + return BackendChoice("contract", f"{CONTRACT_OPEN} 是 {CONTRACT_TYPE}", CONTRACT_STATUS_TOPIC) + if has_legacy: + return BackendChoice( + "legacy", + f"{CONTRACT_OPEN} 是 {LEGACY_TYPE}（真机 dh_pgea 节点；" + "契约驱动 arm_driver_dh_gripper 还没落地）", + LEGACY_STATUS_TOPIC, + ) + raise GripperInterfaceError(_unrecognised_msg(services, open_types)) + + if prefer == "contract": + return BackendChoice("contract", "配置指定 contract", CONTRACT_STATUS_TOPIC) + return BackendChoice("legacy", "配置指定 legacy", LEGACY_STATUS_TOPIC) + + +def _unrecognised_msg( + services: Mapping[str, Sequence[str]], open_types: Sequence[str] +) -> str: + """认不出来时，把"服务不在"和"服务在但类型不对"分开说。 + + 两者都报成"服务没起"是这个仓库反复踩过的坑：现场明明起了夹爪节点， + 却被提示"去起夹爪节点"，然后开始怀疑人生（规则 M1、R5.4）。 + """ + missing = [n for n in (CONTRACT_OPEN, CONTRACT_CLOSE) if n not in services] + if missing: + return ( + f"{' / '.join(missing)} 不在，夹爪节点没起来。\n" + " 怎么修：真机 bash scripts/run_gripper.sh --arm 89；" + "仿真 bash scripts/run_sim_gz.sh（仿真自带契约服务）" + ) + return ( + f"{CONTRACT_OPEN} 在，但类型是 {list(open_types)}，" + f"既不认识 {CONTRACT_TYPE}（契约）也不认识 {LEGACY_TYPE}（真机 dh_pgea）。\n" + " 常见原因：这个服务名被别的节点占用了。查是谁：\n" + " ros2 service list -t | grep gripper\n" + " 怎么修：停掉那个节点，或改 gauge_assembly.gripper_backend 明确指定后端" + ) + + +# ============================================================================= +# 状态解读（纯函数） +# ============================================================================= +def is_gripped_from_state(grip_state: int) -> Optional[bool]: + """DH 状态字 → "爪里有没有东西"。 + + ``2`` 咬住 / ``3`` 掉落 是明确的；``0`` 运动中、``1`` 到位（空爪）都要 + 小心：**"到位"不等于"夹住了"** —— 空爪闭合也会到位。所以只有 2/3 给 + 明确答案，其余返回 None（"不知道"），由调用方决定要不要等。 + + 返回 None 而不是 False 很重要：把"不知道"当成"没夹住"会让 E1 掉件检测 + 在任何一次开合过程中误报。 + """ + if grip_state == GRIP_STATE_CAUGHT: + return True + if grip_state == GRIP_STATE_DROPPED: + return False + return None + + +def is_dropped_from_state(grip_state: int, was_gripped: bool) -> bool: + """E1 掉件判据：**曾经夹住过**，现在状态字变成"掉落"才是掉件。 + + 为什么要 ``was_gripped``：装配前爪里本来就是空的，那时 ``grip_state`` + 可能是 3（掉落/无物），直接判成掉件会让流程一开始就报 E1。 + """ + return was_gripped and grip_state == GRIP_STATE_DROPPED + + +def states_frame_online(data: Sequence[float]) -> bool: + """这一帧是不是刚从总线读回来的。 + + 5 元素帧（老节点）视为有效：老节点只在读成功时发。6 元素帧看最后一位。 + """ + if len(data) <= STATES_ONLINE_INDEX: + return True + try: + return float(data[STATES_ONLINE_INDEX]) >= 0.5 + except (TypeError, ValueError): + return False + + +def legacy_states_to_fields(data: Sequence[float]) -> Dict[str, float]: + """``/gripper/states`` 的 6 元素数组 → 具名字段。 + + 超出长度、为空、或这一帧是离线帧时返回空字典（而不是抛异常）：这是 + **状态话题**，收到畸形数据时应该让上层走"不知道"分支，而不是让整个 + 节点崩掉。离线帧里的前 5 个是上一次的值，不能当现在的状态用。 + """ + if not data or len(data) < 5: + return {} + if not states_frame_online(data): + return {} + return { + "initialized": float(data[0]), + "grip_state": float(data[1]), + "position": float(data[2]), + "target_position": float(data[3]), + "target_force": float(data[4]), + } + + +def describe_backend_choice(choice: BackendChoice) -> List[str]: + """给启动日志用的多行说明（含"契约驱动还没落地"这类现场事实）。""" + lines = [f"夹爪后端 = {choice.backend}（{choice.reason}）"] + if choice.backend == "legacy": + lines.append( + " 注意：legacy 后端下 /gripper/open|close 是 std_srvs/Trigger，" + "开口是 1000‰ 的百分比语义，不是毫米；装配流程只用它开合，" + "不靠它量开口" + ) + return lines diff --git a/src/arm_application/arm_application/gauge_kin.py b/src/arm_application/arm_application/gauge_kin.py new file mode 100644 index 0000000..b004510 --- /dev/null +++ b/src/arm_application/arm_application/gauge_kin.py @@ -0,0 +1,284 @@ +"""通止规装配用的小几何/解析工具 —— **纯函数**，可离线单测。 + +放这里的都是"算错了不会抛异常、只会让动作做错"的东西（规则 M3、R5.1）： + +* ``parse_joint_limits``：从 URDF 文本里抠关节限位，给 S01 的"转到极限角" + 做软夹取。为什么不用 ``urdf_parser_py``：本机没装，多一个依赖就多一个 + "在真机上 import 失败"的机会；限位信息在 URDF 里是极规整的一行 + ````，用标准库解析足够，而且**可控**。 +* ``prewind``：算"逆时针转到不触发关节极限的极限角"到底能转多少度。 +* ``rotation_about_axis_deg``：事后验证那个动作**真的**是绕工具 Z 转的。 + 这条是 S01 的验收判据：不验证的话，"绕错轴"会表现成"转是转了，孔位 + 偏了"，而且要到几个阶段之后才看出来。 +""" + +from __future__ import annotations + +import math +import re +import xml.etree.ElementTree as ET +from dataclasses import dataclass +from typing import Dict, Iterable, Optional, Sequence, Tuple + +import numpy as np + +#: 限位夹取时留的余量（度）。贴到限位上再下发，驱动器会因为"位置超出限位" +#: 直接拒绝整条轨迹 —— 那不是我们要的"极限角"，是报错。 +DEFAULT_LIMIT_MARGIN_DEG = 3.0 + +#: 厂家 A7。``Robot::SendJointPosition`` 的关节向量按 A1..A7 排列，A7 是最后一轴。 +A7_INDEX = 6 + +_JOINT_RE = re.compile(r" Dict[str, Tuple[float, float]]: + """逐行兜底解析：记住最近一个 ````，紧跟的 ```` 归它。 + + 为什么要"记住"而不是"要求同一行"：正常格式化的 URDF 里关节名和 limit + **不在同一行**，只认可同一行的兜底等于永远不生效（一个不会触发的兜底， + 和没有兜底是一样的）。属性顺序也按出现顺序读，不假设 lower 在 upper 前。 + """ + out: Dict[str, Tuple[float, float]] = {} + current: Optional[str] = None + for line in text.splitlines(): + m = _JOINT_RE.search(line) + if m: + current = m.group(1) + if current is None or " Dict[str, Tuple[float, float]]: + """从 URDF 文本里解析 ``关节名 -> (lower, upper)``（弧度）。 + + 关节名**原样保留**（含 ``Rizon4-063989_`` 前缀），调用方自己决定怎么匹配； + 这里不做"去前缀"之类的猜测 —— 猜测会在换臂时静默失配，然后限位夹取 + 悄悄失效（所有关节都"查不到限位"，于是不夹取，于是贴着限位下发）。 + + 解析失败的关节直接不进结果集：``continuous`` 关节本来就没有限位， + 不该被当成"解析失败"。调用方用"查不到 = 不夹取"来处理。 + """ + out: Dict[str, Tuple[float, float]] = {} + if not urdf_xml or " Optional[Tuple[float, float]]: + """按名字给一串关节名找限位，**要求全部找到**才返回。 + + 只有一部分找到时返回 None 而不是"把找到的那部分用上"：半套限位会让 + "能不能转到极限角"的结论变得不可解释（有些关节夹了、有些没夹）， + 与其给出一个说不清的边界，不如明确地说"这次没有限位依据"。 + """ + found = [limits.get(n) for n in joint_names] + if any(v is None for v in found): + return None + return found[-1] # 最后一个 = 我们要绕的那根轴（调用方传的顺序有意义） + + +def prewind( + q_now_rad: float, + want_deg: float, + direction: int, + limits: Optional[Tuple[float, float]] = None, + margin_deg: float = DEFAULT_LIMIT_MARGIN_DEG, +) -> PrewindResult: + """算 S01 的预绕目标角。 + + :param q_now_rad: 当前关节角 [rad]。 + :param want_deg: 想转的角度（**正值**）[deg]。 + :param direction: ``+1`` = 绕 +Z 逆时针（右手定则）；``-1`` = 顺时针。 + 符号到底对应现场的哪个方向，用真机确认一次后改 ``site.yaml`` 即可， + 不要靠"改代码里的负号"—— 那种改动没人 review 得到（规则 M2）。 + :param limits: ``(lower, upper)`` [rad]。给 None 时不做夹取。 + :param margin_deg: 距离限位保留的余量 [deg]。 + + :returns: :class:`PrewindResult`。**无论有没有限位，都返回目标角**， + 因为"贴到限位再继续转"在现场是预期行为（用户要求转到极限角）， + 驱动器真拒绝时会由 :func:`arm_application.gauge_fsm.is_joint_limit_error` + 认成 JOINT_LIMIT 事件继续流程。 + + 为什么要在这里夹取（而不是直接下发、等驱动器报错）： + 驱动器拒绝一条轨迹时，整个 action 失败，连带把已经转过的那部分**也** + 变成"没转过"的语义（角度实际到位了，但流程认为失败）。夹取到 + "限位 − 余量"能拿到一个明确成功、且确实接近极限的姿态度。 + """ + if want_deg <= 0.0: + raise ValueError(f"预绕角度必须为正，收到 {want_deg}") + if direction not in (-1, 1): + raise ValueError(f"方向只能是 +1 / -1，收到 {direction}") + + signed = direction * abs(want_deg) + target = q_now_rad + math.radians(signed) + has_limits = limits is not None + clamped = False + if limits is not None: + lo = limits[0] + math.radians(margin_deg) + up = limits[1] - math.radians(margin_deg) + if lo > up: # 限位本身比余量还窄（不该发生，但别让它变成静默走偏） + lo = up = 0.5 * (limits[0] + limits[1]) + if target > up: + target, clamped = up, True + elif target < lo: + target, clamped = lo, True + applied = math.degrees(target - q_now_rad) + return PrewindResult( + target_rad=target, + applied_deg=applied, + want_deg=abs(want_deg), + clamped=clamped, + has_limits=has_limits, + ) + + +def a7_limit_target( + q: Sequence[float], + limits: Optional[Tuple[float, float]], + direction: int, + margin_deg: float = DEFAULT_LIMIT_MARGIN_DEG, +) -> Optional[np.ndarray]: + """只把 A7 收到软件限位内侧。前六轴原样拷回，不许在这里改。 + + 厂家接口是 ``Robot::SendJointPosition``（模式 ``NRT_JOINT_POSITION``）。 + 向量按 A1..A7 排，A7 是下标 ``A7_INDEX``。限位是 ``RobotInfo::q_min/q_max`` + 的那一对，真机上与 URDF ``joint7`` 的 lower/upper 是同一组数。 + + ``direction`` 与 ``prewind`` 相同：``+1`` 关节角增大 = 逆时针，目标取上限； + ``-1`` 关节角减小 = 顺时针，目标取下限。现场若发现正负反了，改 + ``site.yaml`` 的 ``extreme_direction``，不要改这里的符号。 + + 没有限位、方向不是 ±1、或者余量把上下限挤没了，返回 None。 + 调用方必须停，不许猜一个角度发出去。 + """ + if direction not in (-1, 1): + raise ValueError(f"方向只能是 +1 / -1，收到 {direction}") + arr = np.asarray(q, dtype=float).reshape(-1) + if arr.size != 7: + raise ValueError(f"A7 目标要 7 个关节角，收到 {arr.size}") + if limits is None: + return None + lo = float(limits[0]) + up = float(limits[1]) + margin = math.radians(float(margin_deg)) + if not math.isfinite(lo) or not math.isfinite(up) or up - lo <= 2.0 * margin: + return None + target = (up - margin) if direction > 0 else (lo + margin) + out = arr.copy() + out[A7_INDEX] = target + return out + + +def rotation_about_axis_deg(R_before: np.ndarray, R_after: np.ndarray, axis: np.ndarray) -> float: + """从两个旋转矩阵算出"绕 ``axis`` 转了多少度"（带符号）。 + + S01 的验收判据就靠它：绕工具 Z 转 Δ 之后，如果实际绕的是别的轴， + 这个函数给出的角度会与 Δ 明显不符（或者 axis 分量不占优）。 + 做法是把相对旋转投影到 ``axis`` 上： + + ``θ = atan2( axis·(R_b·R_a⁻¹ 的反对称部分) , (trace-1)/2 )`` + + :param axis: **单位**轴（工具 Z 在世界系下的方向 = ``R[:, 2]``）。 + """ + a = np.asarray(axis, dtype=float) + n = float(np.linalg.norm(a)) + if n < 1e-9: + raise ValueError("轴向量长度为 0，无法判定旋转") + a = a / n + + Rb = np.asarray(R_before, dtype=float)[:3, :3] + Ra = np.asarray(R_after, dtype=float)[:3, :3] + Rrel = Ra @ Rb.T + # 反对称部分：sin(θ)·[axis]_× + v = np.array([Rrel[2, 1] - Rrel[1, 2], Rrel[0, 2] - Rrel[2, 0], Rrel[1, 0] - Rrel[0, 1]]) + sin_t = 0.5 * float(np.dot(v, a)) + cos_t = 0.5 * (float(np.trace(Rrel)) - 1.0) + return math.degrees(math.atan2(sin_t, cos_t)) + + +def axis_misalignment_deg(R_before: np.ndarray, R_after: np.ndarray, axis: np.ndarray) -> float: + """相对旋转的转轴与 ``axis`` 的夹角 [deg]。 + + 纯绕轴旋转时这个值≈0；转错轴时它会接近 90°。用作 S01 的判错依据： + 只看"转了多少度"是不够的 —— 绕正确的轴转 90° 和绕错误的轴转 90° + 给出的角度读数一样。 + """ + Rb = np.asarray(R_before, dtype=float)[:3, :3] + Ra = np.asarray(R_after, dtype=float)[:3, :3] + Rrel = Ra @ Rb.T + # 旋转轴 = 反对称部分对应的向量（sinθ 因子不影响方向） + v = np.array([Rrel[2, 1] - Rrel[1, 2], Rrel[0, 2] - Rrel[2, 0], Rrel[1, 0] - Rrel[0, 1]]) + nv = float(np.linalg.norm(v)) + if nv < 1e-9: + return 0.0 # 几乎没转，谈不上"转错轴" + a = np.asarray(axis, dtype=float) + a = a / float(np.linalg.norm(a)) + cos = abs(float(np.dot(v / nv, a))) # 取绝对值：轴线的两个方向等价 + return math.degrees(math.acos(max(-1.0, min(1.0, cos)))) + + +def unit_tool_z(R: np.ndarray) -> np.ndarray: + """工具坐标系的 Z 轴在世界系下的方向（旋转矩阵的第三列）。""" + return np.asarray(R, dtype=float)[:3, 2] + + +def vertical_down_error_deg(R: np.ndarray, world_down: Iterable[float] = (0.0, 0.0, -1.0)) -> float: + """工具 Z 与"垂直向下"的夹角 [deg]。0 = 完全垂直向下。 + + 看板里"工具系全程垂直向下、位姿全局锁定"这句话，只有能算出这个数才算 + 真的在执行 —— 否则每个阶段都得靠人眼看画面判断臂歪没歪。 + """ + z = unit_tool_z(R) + d = np.asarray(list(world_down), dtype=float) + d = d / float(np.linalg.norm(d)) + cos = float(np.dot(z / max(1e-12, float(np.linalg.norm(z))), d)) + return math.degrees(math.acos(max(-1.0, min(1.0, cos)))) diff --git a/src/arm_application/arm_application/goto_ee_plane.py b/src/arm_application/arm_application/goto_ee_plane.py new file mode 100644 index 0000000..c2e1b8c --- /dev/null +++ b/src/arm_application/arm_application/goto_ee_plane.py @@ -0,0 +1,457 @@ +#!/usr/bin/env python3 +"""感知/伺服启动前的开机回初始位流程。 + +流程： + [A] 若法兰低于 ``servo.safe_z_m``，先让它竖直上升（闭环 Z 小步跳）， + 以免回 home 时扫到墙面/工装； + [B] 调用 ``/set_named_pose``（Flexiv 命名位姿，默认 "home"）—— 由 Flexiv + 自己的规划器把机械臂送回 Flexiv 初始位姿； + [C] 保持（pin）住，让伺服从一个干净、静止的位姿接手。 +""" + +from __future__ import annotations + +import sys +import time +from pathlib import Path +from typing import List, Optional, Tuple + +import numpy as np +import rclpy +from arm_msgs.srv import SetNamedPose +from control_msgs.action import FollowJointTrajectory +from rclpy.action import ActionClient +from rclpy.node import Node +from sensor_msgs.msg import JointState +from tf2_ros import Buffer, TransformListener +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint + +from arm_application.geom_ik import ( + RIZON_LINK_AXES, + dls_translate_hold_ori, + dls_twist, + geometric_jacobian, + quat_xyzw_to_R, +) +from arm_application.site_io import ( + base_frame_default, + ee_frame_default, + joint_prefix_default, +) + +from arm_application.ros_node import TolerantNode + + + +def _load_ee_cfg() -> dict: + root = Path(__file__).resolve().parents[3] + sys.path.insert(0, str(root / "scripts" / "lib")) + from export_site_env import load_site, resolve_robot # type: ignore + + data = load_site() + servo = (data.get("servo") or {}) + robot = resolve_robot(data) + ee_z = float(servo.get("ee_z_m") or 0.24) + return { + "prefix": str(robot.get("joint_prefix") or joint_prefix_default()), + "base": str(robot.get("base_frame") or base_frame_default()), + "ee": str(robot.get("ee_frame") or ee_frame_default()), + "z": ee_z, + # 回 home 前先竖直升到这个 Z（避免撞到墙面/工装）； + # 然后再回到 Flexiv 的命名初始位姿。 + "safe_z": float(servo.get("safe_z_m") or max(0.40, ee_z + 0.10)), + "home_pose": str(servo.get("home_pose_name") or "home"), + "home_speed": float(servo.get("home_pose_speed") or 0.30), + "v_z": float(servo.get("v_max_z") or 0.04), + # 仅用于（目前未使用的）verticalize 规划路径 + "kp": float(servo.get("ee_hold_kp") or 2.0), + "w_max": float(servo.get("ee_w_max") or 0.50), + } + + +def _pt(q: np.ndarray, qdot: np.ndarray, t_sec: float) -> JointTrajectoryPoint: + pt = JointTrajectoryPoint() + pt.positions = [float(v) for v in q.tolist()] + pt.velocities = [float(v) for v in qdot.tolist()] + pt.accelerations = [0.0] * int(q.size) + ns = int(round(max(0.0, float(t_sec)) * 1e9)) + pt.time_from_start.sec = ns // 1_000_000_000 + pt.time_from_start.nanosec = ns % 1_000_000_000 + return pt + + +class GotoEePlane(TolerantNode): + def __init__(self, cfg: dict) -> None: + super().__init__("goto_ee_plane") + self.cfg = cfg + prefix = cfg["prefix"] + self.joint_names = [f"{prefix}joint{i}" for i in range(1, 8)] + self.link_frames = [f"{prefix}link{i}" for i in range(1, 8)] + self._js: Optional[JointState] = None + self.create_subscription(JointState, "joint_states", self._on_js, 10) + self._tf = Buffer() + TransformListener(self._tf, self, spin_thread=True) + self._cli = ActionClient( + self, FollowJointTrajectory, "rizon_arm_controller/follow_joint_trajectory" + ) + + def _on_js(self, msg: JointState) -> None: + self._js = msg + + def _spin(self, dt: float = 0.05) -> None: + rclpy.spin_once(self, timeout_sec=dt) + + def _lookup(self, parent: str, child: str) -> Optional[np.ndarray]: + try: + tf = self._tf.lookup_transform( + parent, child, rclpy.time.Time(), + timeout=rclpy.duration.Duration(nanoseconds=80_000_000), + ) + except Exception: + return None + t = tf.transform.translation + o = tf.transform.rotation + T = np.eye(4) + T[:3, :3] = quat_xyzw_to_R([o.x, o.y, o.z, o.w]) + T[:3, 3] = [t.x, t.y, t.z] + return T + + def _q(self) -> Optional[np.ndarray]: + if self._js is None: + return None + m = {n: p for n, p in zip(self._js.name, self._js.position)} + try: + return np.array([float(m[n]) for n in self.joint_names], dtype=float) + except KeyError: + return None + + def _jacobian(self, p_ee: np.ndarray) -> Optional[np.ndarray]: + link_R: List[np.ndarray] = [] + link_p: List[np.ndarray] = [] + for fr in self.link_frames: + Tl = self._lookup(self.cfg["base"], fr) + if Tl is None: + return None + link_R.append(Tl[:3, :3]) + link_p.append(Tl[:3, 3]) + return geometric_jacobian(link_R, link_p, p_ee, RIZON_LINK_AXES) + + def _w_down(self, R: np.ndarray) -> Tuple[np.ndarray, float]: + z_now = R[:, 2] + z_des = np.array([0.0, 0.0, -1.0]) + c = float(np.clip(np.dot(z_now, z_des), -1.0, 1.0)) + ang = float(np.arccos(c)) + if ang < 0.02: + return np.zeros(3), ang + axis = np.cross(z_now, z_des) + n = float(np.linalg.norm(axis)) + axis = axis / n if n > 1e-9 else np.array([1.0, 0.0, 0.0]) + mag = float(np.clip(self.cfg["kp"] * ang, -self.cfg["w_max"], self.cfg["w_max"])) + return axis * mag, ang + + def _target_err( + self, p: np.ndarray, R: np.ndarray, target: np.ndarray, verticalize: bool + ) -> Tuple[np.ndarray, float, float]: + dp = np.asarray(target, dtype=float).reshape(3) - np.asarray(p, dtype=float).reshape(3) + _, ang = (self._w_down(R) if verticalize else (np.zeros(3), 0.0)) + xy = float(np.hypot(dp[0], dp[1])) + return dp, ang, xy + + def _wait_state(self, timeout_s: float) -> Tuple[Optional[np.ndarray], Optional[np.ndarray]]: + t0 = time.monotonic() + q = None + Tee = None + while time.monotonic() - t0 < timeout_s: + self._spin(0.05) + q = self._q() + Tee = self._lookup(self.cfg["base"], self.cfg["ee"]) + if q is not None and Tee is not None and self._jacobian(Tee[:3, 3]) is not None: + return q, Tee + return q, Tee + + def _send_action(self, traj: JointTrajectory, wait_s: float) -> bool: + goal = FollowJointTrajectory.Goal() + goal.trajectory = traj + fut = self._cli.send_goal_async(goal) + t0 = time.monotonic() + while not fut.done() and time.monotonic() - t0 < 4.0: + self._spin(0.05) + handle = fut.result() if fut.done() else None + if handle is None or not handle.accepted: + print(" 错误：JTC 拒绝了抬升轨迹", flush=True) + return False + res = handle.get_result_async() + t0 = time.monotonic() + last = 0.0 + while not res.done() and time.monotonic() - t0 < wait_s: + self._spin(0.05) + now = time.monotonic() + if now - last > 0.4: + Tee = self._lookup(self.cfg["base"], self.cfg["ee"]) + if Tee is not None: + p = Tee[:3, 3] + print( + f" 运动中 ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f}) " + f"z_err={(self.cfg['z'] - p[2]) * 1000:+.0f}mm", + flush=True, + ) + last = now + if not res.done(): + print(" 警告：JTC 结果超时 —— 仍然继续检查 TF", flush=True) + return False + return True + + def _plan_and_send( + self, + q0: np.ndarray, + Tee: np.ndarray, + target: np.ndarray, + verticalize: bool, + tag: str = "", + max_seg: float = 0.08, + v: float = 0.05, + ) -> bool: + """规划并执行一段朝向 target 的短笛卡尔位移（≤ max_seg）。 + 长距离移动由调用方以闭环小步跳的方式完成，因为雅可比是在当前位姿 + 处冻结的 —— 超过 10 cm 后线性化误差会让一次性规划严重偏离目标。""" + p = Tee[:3, 3].copy() + R = Tee[:3, :3] + dp, ang, _ = self._target_err(p, R, target, verticalize) + dist = float(np.linalg.norm(dp)) + if dist > max_seg: # 限制本次小步跳的长度；调用方会用最新的 TF 循环执行 + dp = dp * (max_seg / dist) + dist = max_seg + print( + f" 规划 {tag} Δxyz=({dp[0]*1000:+.0f},{dp[1]*1000:+.0f},{dp[2]*1000:+.0f})mm " + f"倾角={ang * 180 / np.pi:.1f}deg", + flush=True, + ) + J = self._jacobian(p) + if J is None: + print("错误：缺少用于雅可比的 link TF", flush=True) + return False + + q = q0.copy() + waypoints = [q.copy()] + remain = dp.copy() + w_step, _ = (self._w_down(R) if verticalize else (np.zeros(3), 0.0)) + n_max = int(np.ceil(dist / 0.012)) + 4 + for _ in range(n_max): + if float(np.linalg.norm(remain)) < 0.0015 and ( + (not verticalize) or ang < 0.03 + ): + break + nseg = max(1, int(np.ceil(float(np.linalg.norm(remain)) / 0.012))) + step = remain / nseg + if verticalize and ang > 0.03: + qdot = dls_twist( + J, step / 0.12, w_base=w_step, damping=0.08, max_qdot=0.45 + ) + dq = np.clip(qdot * 0.12, -0.06, 0.06) + else: + dq = dls_translate_hold_ori(J, step, damping=0.08, max_dq=0.06) + if float(np.max(np.abs(dq))) < 1e-5: + break + q = q + dq + waypoints.append(q.copy()) + remain = remain - (J[:3, :] @ dq) + ang = max(0.0, ang - 0.05) + + planned = dist - float(np.linalg.norm(remain)) + if len(waypoints) < 2 or planned < 0.4 * dist: + print( + f" 警告 {tag}：规划器停滞 " + f"（已规划 {planned*1000:.0f}/{dist*1000:.0f}mm）—— 跳过本次小步跳", + flush=True, + ) + return False + # 关节偏移量的合理性闸门：拒绝过于夸张的规划 + if float(np.max(np.abs(waypoints[-1] - q0))) > 1.0: + print(f" 错误 {tag}：关节偏移 >1 rad —— 放弃本次小步跳", flush=True) + return False + + duration = max(1.6, dist / max(min(v, 0.06), 1e-3)) + n = len(waypoints) - 1 + traj = JointTrajectory() + traj.header.stamp.sec = 0 + traj.header.stamp.nanosec = 0 + traj.joint_names = list(self.joint_names) + traj.points.append(_pt(waypoints[0], np.zeros(7), 0.08)) + zeros = np.zeros(7) + for i, qi in enumerate(waypoints[1:], start=1): + t = 0.08 + duration * (i / n) + qdot = zeros if i == n else (waypoints[min(i + 1, n)] - qi) / max( + duration / n, 0.05 + ) + qdot = np.clip(qdot, -0.40, 0.40) + traj.points.append(_pt(qi, qdot, t)) + # 强制最后一个点的速度为零 + traj.points[-1].velocities = [0.0] * 7 + print( + f" 发送 JTC action {tag}，{n} 步 T={duration:.1f}s", + flush=True, + ) + return self._send_action(traj, wait_s=duration + 6.0) + + def _goto( + self, + q: np.ndarray, + Tee: np.ndarray, + target: np.ndarray, + verticalize: bool, + tol_m: float, + tol_tilt: float, + tag: str, + v: float, + max_hops: int = 8, + ) -> Tuple[bool, np.ndarray, np.ndarray]: + """闭环点到点：规划 ≤8 cm 的小步跳 → 执行 → 重新测量 TF → 重复， + 直到落在容差内。这样对长距离下的雅可比线性化误差更鲁棒。""" + for hop in range(max_hops): + p = Tee[:3, 3] + dp, ang, _ = self._target_err(p, Tee[:3, :3], target, verticalize) + dist = float(np.linalg.norm(dp)) + if dist < tol_m and ((not verticalize) or ang < tol_tilt): + return True, q, Tee + print( + f" {tag} 第 {hop + 1} 跳 remain={dist*1000:.0f}mm " + f"倾角={ang * 180 / np.pi:.1f}deg", + flush=True, + ) + if not self._plan_and_send(q, Tee, target, verticalize, tag, v=v): + return False, q, Tee + t_end = time.monotonic() + 0.5 + while time.monotonic() < t_end: + self._spin(0.05) + q2, Tee2 = self._wait_state(2.0) + if q2 is None or Tee2 is None: + print("错误：移动过程中丢失状态", flush=True) + return False, q, Tee + q, Tee = q2, Tee2 + p = Tee[:3, 3] + dp, ang, _ = self._target_err(p, Tee[:3, :3], target, verticalize) + ok = float(np.linalg.norm(dp)) < (tol_m * 2.0) and ( + (not verticalize) or ang < (tol_tilt * 2.0) + ) + return ok, q, Tee + + def _pin(self, q: np.ndarray) -> None: + if not self._cli.wait_for_server(timeout_sec=3.0): + return + traj = JointTrajectory() + traj.header.stamp.sec = 0 + traj.header.stamp.nanosec = 0 + traj.joint_names = list(self.joint_names) + traj.points = [_pt(q, np.zeros(7), 0.08), _pt(q, np.zeros(7), 0.45)] + self._send_action(traj, wait_s=3.0) + + def _named_pose(self, name: str, speed: float) -> bool: + """调用 Flexiv 的 ``/set_named_pose``，并等待机械臂静止。""" + cli = self.create_client(SetNamedPose, "/set_named_pose") + if not cli.wait_for_server(timeout_sec=8.0): + print("错误：``/set_named_pose`` 不可用 —— 请启动 run_real.sh", flush=True) + return False + req = SetNamedPose.Request() + req.pose_name = name + req.velocity_scale = float(min(max(speed, 0.05), 1.0)) + req.acceleration_scale = 0.0 + print(f" [B] set_named_pose '{name}' speed={req.velocity_scale:.2f}", flush=True) + fut = cli.call_async(req) + t0 = time.monotonic() + while not fut.done() and time.monotonic() - t0 < 90.0: + self._spin(0.1) + if not fut.done(): + print("错误：set_named_pose 超时", flush=True) + return False + resp = fut.result() + print( + f" [B] 响应 success={resp.success} msg={resp.message}", + flush=True, + ) + if not resp.success: + return False + # 等待法兰停止运动（约 0.8 s 内 Δp < 1 mm） + last = None + still = 0.0 + t0 = time.monotonic() + while time.monotonic() - t0 < 30.0: + self._spin(0.2) + Tee = self._lookup(self.cfg["base"], self.cfg["ee"]) + if Tee is not None: + p = Tee[:3, 3] + if last is not None and float(np.linalg.norm(p - last)) < 0.001: + still += 0.2 + if still >= 0.8: + return True + else: + still = 0.0 + last = p.copy() + print(" 警告：等待静止超时 —— 仍然继续", flush=True) + return True + + def run(self, timeout_s: float = 25.0) -> int: + cfg = self.cfg + q, Tee = self._wait_state(4.0) + if q is None or Tee is None: + print("错误：没有 joint_states / TF —— 请启动 run_real.sh", flush=True) + return 2 + if not self._cli.wait_for_server(timeout_sec=8.0): + print("错误：JTC action 不可用 —— 请启动 run_real.sh", flush=True) + return 3 + + p = Tee[:3, 3] + safe_z = float(cfg["safe_z"]) + print( + f"=== 回到 Flexiv 初始位姿 '{cfg['home_pose']}' " + f"safe_z={safe_z*1000:.0f}mm ===", + flush=True, + ) + print( + f" 当前 ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})", + flush=True, + ) + + # --- 阶段 A：回 home 前先沿纯 Z 方向升到安全高度 --- + if p[2] < safe_z - 0.01: + lift_tgt = np.array([p[0], p[1], safe_z], dtype=float) + print(f" [A] 抬升 Z {p[2]*1000:.0f} → {safe_z*1000:.0f}mm", flush=True) + ok, q, Tee = self._goto( + q, Tee, lift_tgt, False, 0.010, 0.0, "[A]lift", v=0.05 + ) + if not ok: + print("错误：抬升阶段失败 —— 就地 pin 住", flush=True) + self._pin(q) + return 4 + + # --- 阶段 B：Flexiv 命名位姿 → 真正的初始位姿，姿态良好 --- + if not self._named_pose(cfg["home_pose"], cfg["home_speed"]): + print("错误：回命名位姿失败 —— 就地 pin 住", flush=True) + self._pin(q) + return 4 + + # --- 阶段 C：保持住，让伺服从一个静止位姿接手 --- + q, Tee = self._wait_state(2.0) + if q is not None: + self._pin(q) + if Tee is not None: + p = Tee[:3, 3] + print( + f" 已到初始位姿 ee=({p[0]:.3f},{p[1]:.3f},{p[2]:.3f})", + flush=True, + ) + return 0 + +def main() -> int: + cfg = _load_ee_cfg() + rclpy.init() + node = GotoEePlane(cfg) + try: + return node.run() + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/arm_application/arm_application/gripper_node.py b/src/arm_application/arm_application/gripper_node.py new file mode 100644 index 0000000..9040aea --- /dev/null +++ b/src/arm_application/arm_application/gripper_node.py @@ -0,0 +1,125 @@ +"""Station-owned PGE/PGEA node: one serial owner, typed service and status only.""" +import math +import time +import rclpy +from arm_application.ros_node import TolerantNode +from arm_msgs.msg import GripperStatus +from arm_msgs.srv import GripperExecute +from arm_application.dh_pgea import DhPgeaGripper, GripperState + + +class GripperNode(TolerantNode): + def __init__(self): + super().__init__('orisys_gripper') + params={'port':'/dev/ttyUSB0','baud':115200,'slave_id':1,'stroke_mm':20.,'auto_init':False,'rs485_rts':''} + for key,value in params.items(): self.declare_parameter(key,value) + value=lambda key:self.get_parameter(key).value + if value('auto_init'): raise ValueError('本站驱动禁止连接时自动初始化') + self.stroke=float(value('stroke_mm')) + if not math.isfinite(self.stroke) or self.stroke<=0: raise ValueError('夹爪行程无效') + self.driver=DhPgeaGripper(port=value('port'),baudrate=value('baud'),slave_id=value('slave_id'), + stroke_mm=self.stroke,rs485_rts=value('rs485_rts')) + self._reading=GripperState(stroke_mm=self.stroke) + self._online=False; self._error='未连接';self._speed=0.;self._stamp=0. + self.publisher=self.create_publisher(GripperStatus,'status',10) + self.create_service(GripperExecute,'execute',self._execute) + # Bus operations are serialized by the default mutually exclusive callback group. + # Do not open the serial port here: Qt probe calls execute as soon as the + # service exists, and a second open of the USB2 RS485 dongle leaves 0x0201 empty. + self.create_timer(.1,self._poll) + + def _connect(self): + try: + self.driver.close() + self.driver.open() + self._reading=self.driver.get_run_states(retries=8) + self._online=True;self._error='';self._stamp=time.monotonic() + self.get_logger().info(self._reading.summary()) + return True + except Exception as exc: + self._offline(exc);return False + + def _offline(self, exc): + self._online=False;self._error=str(exc) + self.get_logger().warn(self._error) + self.driver.close() + + def _status(self): + state=self._reading;msg=GripperStatus();msg.header.stamp=self.get_clock().now().to_msg() + msg.name='DH PGE/PGEA';msg.gripper_type='parallel' + msg.connected=self._online and time.monotonic()-self._stamp<1. + msg.initialized=bool(state.initialized) + msg.is_moving=bool(msg.connected and state.grip_state==0) + msg.is_gripped=bool(msg.connected and state.grip_state==2) + msg.state='OFFLINE' if not msg.connected else 'MOVING' if msg.is_moving else 'IDLE' + msg.position=float(state.position)/1000.*self.stroke + msg.finger_position_per_mille=float(state.position) + msg.gripper_state=int(state.grip_state);msg.rotation_state=-1 + msg.velocity=self._speed;msg.force=float(state.target_force);msg.error_msg=self._error + return msg + + def _poll(self): + if self._online: + try: + self._reading=self.driver.get_run_states(retries=2);self._stamp=time.monotonic();self._error='' + except Exception as exc: + if not self._recover(exc): + self._offline(exc) + self.publisher.publish(self._status()) + + def _recover(self, exc): + """Empty 0x0201 replies on a live fd need a new serial session, not more retries.""" + self.get_logger().warn(f'状态读取失败，重开串口: {exc}') + try: + self.driver.close() + self.driver.open() + self._reading=self.driver.get_run_states(retries=4) + self._stamp=time.monotonic();self._error='';self._online=True + return True + except Exception: + return False + + def _execute(self, request, response): + command=request.command + try: + if command.command in ('connect','probe'): + if not self._connect(): raise RuntimeError(self._error) + elif command.command=='move': + numbers=(command.position,command.force,command.speed) + if not all(math.isfinite(v) for v in numbers): raise ValueError('参数必须是有限数值') + if not 0<=command.position<=self.stroke: raise ValueError('位置超出夹爪行程') + if not 20<=command.force<=100 or not 1<=command.speed<=100: raise ValueError('力 20–100%，速度 1–100%') + if not self._online or time.monotonic()-self._stamp>=1: raise RuntimeError('请先连接夹爪') + self._reading=self.driver.get_run_states(retries=2) + if self._reading.grip_state==0: raise RuntimeError('夹爪仍在运动，拒绝覆盖') + if not self.driver.set_target_force(int(command.force)): raise RuntimeError('设置夹持力失败，未下发位置') + if not self.driver.set_target_speed(int(command.speed)): raise RuntimeError('设置速度失败，未下发位置') + target=round(command.position/self.stroke*1000.) + if not self.driver.set_target_position(target): raise RuntimeError('位置写入失败，结果未知') + self._speed=command.speed + else: raise ValueError('本站平行夹爪仅提供 connect/probe/move，不支持旋转或隐式初始化') + response.success=True + response.message='夹爪已连接，未执行初始化或运动' if command.command in ('connect','probe') else '位置指令已接收，等待实际到位反馈' + except ValueError as exc: + response.success=False;response.message=str(exc) + except Exception as exc: + self._offline(exc);response.success=False;response.message=str(exc) + response.status=self._status() + self.publisher.publish(response.status) + return response + + def destroy_node(self): + self.driver.close() + return super().destroy_node() + + +def main(): + rclpy.init();node=None + try: + node=GripperNode();rclpy.spin(node) + except KeyboardInterrupt: pass + finally: + if node: node.destroy_node() + if rclpy.ok(): rclpy.shutdown() + +if __name__=='__main__': main() diff --git a/src/arm_application/arm_application/handeye_calibrate.py b/src/arm_application/arm_application/handeye_calibrate.py new file mode 100644 index 0000000..e7e827d --- /dev/null +++ b/src/arm_application/arm_application/handeye_calibrate.py @@ -0,0 +1,769 @@ +#!/usr/bin/env python3 +"""完整手眼标定流水线：移动 → 棋盘稳定判定 → 采集 → 求解 → 清理。 + +支持 eye_in_hand / eye_to_hand。 + +相机内参优先级： + 1) ROS 的 CameraInfo 话题（若正在发布） + 2) 通过 pyrealsense2 读取 RealSense D405/D435 的 EEPROM（camera_source） + 3) YAML 中手写的 camera_fx/fy/cx/cy + +棋盘尺寸（board_cols / board_rows / square_size_m）可由用户配置。 +""" + +from __future__ import annotations + +import json +import shutil +import time +from datetime import datetime, timezone +from pathlib import Path +from typing import List, Optional, Tuple + +import numpy as np +import rclpy +from geometry_msgs.msg import PoseStamped +from rclpy.action import ActionClient +from rclpy.node import Node +from rclpy.qos import qos_profile_sensor_data +from sensor_msgs.msg import CameraInfo, Image, JointState +from std_msgs.msg import String + +from arm_application.handeye_lib import ( + BoardConfig, + CameraIntrinsics, + ChessboardStabilizer, + T_from_flexiv_tcp, + calibrate_hand_eye, + cam_to_flange_via_tool, + detect_chessboard, + format_matrix_yaml, + format_transform_yaml, + is_pose_filled, + pose_to_Rt, + solve_board_pose, +) +from arm_application.handeye_realsense import ( + is_realsense_source, + query_realsense_color_intrinsics, + resolve_realsense_topics, +) +from arm_application.site_io import joint_prefix_default + +from arm_msgs.action import FollowJointTrajectory +from arm_msgs.srv import GetArmState + +from arm_application.ros_node import TolerantNode + +DEFAULT_JOINTS = [ + 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', +] + + +def _image_to_bgr(msg: Image) -> np.ndarray: + h, w = int(msg.height), int(msg.width) + enc = (msg.encoding or '').lower() + data = np.frombuffer(msg.data, dtype=np.uint8) + + if enc in ('bgr8', 'rgb8'): + img = data.reshape(h, w, 3) + return img[:, :, ::-1].copy() if enc == 'rgb8' else img + if enc in ('mono8', '8uc1'): + gray = data.reshape(h, w) + return np.stack([gray, gray, gray], axis=-1) + if enc in ('bgra8', 'rgba8'): + img = data.reshape(h, w, 4) + bgr = img[:, :, :3] + return bgr[:, :, ::-1].copy() if enc == 'rgba8' else bgr + raise RuntimeError(f'不支持的图像编码：{msg.encoding!r}') + + +def _camera_info_to_intrinsics(msg: CameraInfo) -> CameraIntrinsics: + K = np.array(msg.k, dtype=float).reshape(3, 3) + dist = np.array(msg.d, dtype=float).reshape(-1, 1) if msg.d else np.zeros((5, 1)) + return CameraIntrinsics(K=K, dist=dist) + + +class HandeyeCalibrate(TolerantNode): + def __init__(self) -> None: + super().__init__('handeye_calibrate') + + self.declare_parameter('mode', 'eye_in_hand') # eye_in_hand | eye_to_hand + self.declare_parameter('joint_prefix', joint_prefix_default()) + self.declare_parameter('joint_names', DEFAULT_JOINTS) + self.declare_parameter('velocity_scale', 0.10) + self.declare_parameter('action_name', 'follow_joint_trajectory') + self.declare_parameter('move_time_sec', 4.0) + self.declare_parameter('start_index', 0) + + self.declare_parameter('num_poses', 12) + self.declare_parameter('waypoint_positions', [0.0] * (12 * 7)) + self.declare_parameter('min_poses', 5) + + # 相机来源：manual | d405 | d435 + self.declare_parameter('camera_source', 'manual') + self.declare_parameter('camera_serial', '') + self.declare_parameter('camera_namespace', '') + self.declare_parameter('realsense_width', 1280) + self.declare_parameter('realsense_height', 720) + self.declare_parameter('image_topic', '') + self.declare_parameter('camera_info_topic', '') + self.declare_parameter('camera_fx', 0.0) + self.declare_parameter('camera_fy', 0.0) + self.declare_parameter('camera_cx', 0.0) + self.declare_parameter('camera_cy', 0.0) + self.declare_parameter('camera_dist', [0.0, 0.0, 0.0, 0.0, 0.0]) + + # 棋盘（可自定义） + # 默认值必须与 site.yaml 的 handeye.board_* 及结果文件头里的实际板子一致。 + # 真实使用的板：A5 内角点 11x8，方格 15mm（site.yaml handeye.boards.eye_in_hand）。 + # 这里原先写的是 9x6 / 0.025，后来是 8x11；漏配就会静默用错尺寸。 + self.declare_parameter('board_cols', 11) # 内角点 + self.declare_parameter('board_rows', 8) + self.declare_parameter('square_size_m', 0.015) + + self.declare_parameter('stable_window', 8) + self.declare_parameter('stable_pixel_std', 0.45) + self.declare_parameter('stable_timeout_sec', 25.0) + self.declare_parameter('settle_sec', 0.4) + # 到位后的"真的停住了"判据 —— 直接看关节速度，比固定 sleep 可靠。 + # 这几个参数原先 site.yaml 和 run_handeye.sh 一直在传，但本节点从未声明， + # ROS 2 会静默忽略未声明的覆盖参数，于是"等静止再拍照"这件事其实没实现， + # 实际只靠一次固定 settle_sec。现在补上。 + self.declare_parameter('settle_qd_max', 0.015) # |qd|_max [rad/s] 低于此值算静 + self.declare_parameter('settle_stable_sec', 0.6) # 需要连续静多久 + self.declare_parameter('settle_timeout_sec', 8.0) # 等静止的总超时 + self.declare_parameter('pin_holds', 2) # 静止后再保持几拍 + self.declare_parameter('pin_hold_sec', 0.45) # 每拍多长 + self.declare_parameter('skip_unstable_poses', True) + + self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp') + self.declare_parameter('result_file', '') + self.declare_parameter('cleanup_images', True) + # 眼在手上：AX=XB 的 gripper 用 Studio 工具 TCP，再折成 cam→法兰写 T_4x4。 + # 空 = 旧口径（ee_pose 当 gripper，T_4x4 原样写出）。配了就必须带 TCP。 + self.declare_parameter('gripper_tool', '') + self.declare_parameter('gripper_tcp_xyz', [0.0, 0.0, 0.0]) + self.declare_parameter('gripper_tcp_qwxyz', [1.0, 0.0, 0.0, 0.0]) + + prefix = str(self.get_parameter('joint_prefix').value or '') + base = list( + self.get_parameter('joint_names').get_parameter_value().string_array_value + or DEFAULT_JOINTS + ) + self.joint_names = [f'{prefix}{n}' for n in base] + self.mode = str(self.get_parameter('mode').value).strip().lower() + self.velocity_scale = float(self.get_parameter('velocity_scale').value) + self.action_name = str(self.get_parameter('action_name').value) + self.move_time_sec = float(self.get_parameter('move_time_sec').value) + self.start_index = max(0, int(self.get_parameter('start_index').value)) + self.min_poses = int(self.get_parameter('min_poses').value) + self.cleanup_images = bool(self.get_parameter('cleanup_images').value) + self.gripper_tool = str(self.get_parameter('gripper_tool').value or '').strip() + tcp_xyz = list( + self.get_parameter('gripper_tcp_xyz').get_parameter_value().double_array_value + or [0.0, 0.0, 0.0] + ) + tcp_q = list( + self.get_parameter('gripper_tcp_qwxyz').get_parameter_value().double_array_value + or [1.0, 0.0, 0.0, 0.0] + ) + self.T_flange_to_tool = T_from_flexiv_tcp(tcp_xyz[:3], tcp_q[:4]) + if self.gripper_tool and float(np.linalg.norm(self.T_flange_to_tool[:3, 3])) < 1e-4: + raise RuntimeError( + f'gripper_tool={self.gripper_tool!r} 但 gripper_tcp_xyz 几乎是零：' + '等于没把 Studio TCP 传进来。不许按法兰口径假装在用工具系。' + ) + + self.camera_source = str(self.get_parameter('camera_source').value).strip().lower() + self.camera_serial = str(self.get_parameter('camera_serial').value or '').strip() + self.camera_namespace = str( + self.get_parameter('camera_namespace').value or '' + ).strip() + self.rs_width = int(self.get_parameter('realsense_width').value) + self.rs_height = int(self.get_parameter('realsense_height').value) + + self.board = BoardConfig( + cols=int(self.get_parameter('board_cols').value), + rows=int(self.get_parameter('board_rows').value), + square_size=float(self.get_parameter('square_size_m').value), + ) + self.stabilizer = ChessboardStabilizer( + window=int(self.get_parameter('stable_window').value), + max_pixel_std=float(self.get_parameter('stable_pixel_std').value), + ) + self.stable_timeout = float(self.get_parameter('stable_timeout_sec').value) + self.settle_sec = float(self.get_parameter('settle_sec').value) + self.settle_qd_max = float(self.get_parameter('settle_qd_max').value) + self.settle_stable_sec = float(self.get_parameter('settle_stable_sec').value) + self.settle_timeout = float(self.get_parameter('settle_timeout_sec').value) + self.pin_holds = max(0, int(self.get_parameter('pin_holds').value)) + self.pin_hold_sec = max(0.0, float(self.get_parameter('pin_hold_sec').value)) + self.skip_unstable = bool(self.get_parameter('skip_unstable_poses').value) + + out = Path(str(self.get_parameter('output_dir').value)).expanduser() + self.output_dir = out + self.images_dir = out / 'images' + rf = str(self.get_parameter('result_file').value or '').strip() + self.result_file = Path(rf).expanduser() if rf else (out / 'handeye_result.yaml') + + self._client = ActionClient(self, FollowJointTrajectory, self.action_name) + self._get_state = self.create_client(GetArmState, 'get_arm_state') + self._capture_pub = self.create_publisher(String, 'handeye/capture', 10) + + self._latest_image: Optional[Image] = None + self._latest_info: Optional[CameraInfo] = None + self._latest_js: Optional[JointState] = None + self._intrinsics: Optional[CameraIntrinsics] = None + + img_topic = str(self.get_parameter('image_topic').value or '').strip() + info_topic = str(self.get_parameter('camera_info_topic').value or '').strip() + if is_realsense_source(self.camera_source): + img_topic, info_topic = resolve_realsense_topics( + self.camera_source, + camera_namespace=self.camera_namespace, + image_topic=img_topic, + camera_info_topic=info_topic, + ) + self._info_topic = info_topic + + self.create_subscription(JointState, '/joint_states', self._on_js, 10) + + if not img_topic: + self.get_logger().error( + 'image_topic 为空。请设置 camera_source:=d405|d435，或填写 image_topic。' + ) + else: + self.create_subscription( + Image, img_topic, self._on_image, qos_profile_sensor_data + ) + self.get_logger().info(f'已订阅图像：{img_topic}（BEST_EFFORT）') + if info_topic: + self.create_subscription( + CameraInfo, info_topic, self._on_info, qos_profile_sensor_data + ) + self.get_logger().info(f'已订阅 camera_info：{info_topic}（BEST_EFFORT）') + + def _on_js(self, msg: JointState) -> None: + self._latest_js = msg + + def _on_image(self, msg: Image) -> None: + self._latest_image = msg + + def _on_info(self, msg: CameraInfo) -> None: + self._latest_info = msg + + def run(self) -> int: + if self.mode not in ('eye_in_hand', 'eye_to_hand'): + self.get_logger().error( + f'未知的 mode={self.mode!r}；请使用 eye_in_hand 或 eye_to_hand' + ) + return 1 + + poses = self._load_poses() + if len(poses) < self.min_poses: + self.get_logger().error( + f'只有 {len(poses)} 个已填写位姿（需要 >= {self.min_poses}）。' + '示教命令：bash ~/ros2/scripts/run_handeye.sh teach && merge。' + ) + return 1 + if self.start_index >= len(poses): + self.get_logger().error( + f'start_index {self.start_index} >= 已填写位姿数 {len(poses)}' + ) + return 1 + + if not self._resolve_intrinsics(): + return 1 + + if not self._client.wait_for_server(timeout_sec=15.0): + self.get_logger().error( + f'Action [{self.action_name}] 不可用。' + '请启动：bash ~/ros2/scripts/run_real.sh' + ) + return 2 + + self.output_dir.mkdir(parents=True, exist_ok=True) + self.images_dir.mkdir(parents=True, exist_ok=True) + + eye_to_hand = self.mode == 'eye_to_hand' + grip = self.gripper_tool or '（ee_pose 原样，无工具折算）' + self.get_logger().info( + f'手眼标定 [{self.mode}] camera_source={self.camera_source}：' + f'{len(poses)} 个位姿，棋盘={self.board.cols}x{self.board.rows} ' + f'方格={self.board.square_size}m，v={self.velocity_scale} ' + f'gripper_tool={grip}' + ) + self.get_logger().warn('清理工作空间；确认急停就绪。Ctrl+C 可中止。') + + Rg: List[np.ndarray] = [] + tg: List[np.ndarray] = [] + Rc: List[np.ndarray] = [] + tc: List[np.ndarray] = [] + meta = [] + + try: + for i in range(self.start_index, len(poses)): + q = poses[i] + self._log_progress(i, len(poses), '移动中...') + code = self._move_one(q, self.move_time_sec) + if code != 0: + return code + + if not self._verify_joints(q, tol=0.08): + self.get_logger().error( + f'[{i + 1}] 机械臂未到达目标关节位置 ' + '（控制器报告成功，但关节没有变化）。' + '请重启 run_real.sh；示教器切 AUTO Remote；清除故障。' + '不要相信这次标定结果。' + ) + return 10 + + end = time.monotonic() + max(0.0, self.settle_sec) + while rclpy.ok() and time.monotonic() < end: + rclpy.spin_once(self, timeout_sec=0.05) + + # 固定 settle_sec 之后再看关节速度：真停了才算数，然后 pin 一拍。 + self._wait_settled() + self._pin_hold() + + ok, std, corners, pattern, bgr = self._wait_stable() + if not ok or corners is None or bgr is None: + msg = f'[{i + 1}] 棋盘不稳定（std={std:.3f}）' + if self.skip_unstable: + self.get_logger().warn(f'{msg} —— 跳过') + continue + self.get_logger().error(f'{msg}。中止。') + return 7 + + ee = self._read_ee_pose() + if ee is None: + self.get_logger().error('读取 ee_pose 失败') + return 8 + + assert self._intrinsics is not None + R_t2c, t_t2c = solve_board_pose( + corners, self.board, self._intrinsics, pattern=pattern + ) + xyz = [ee.pose.position.x, ee.pose.position.y, ee.pose.position.z] + quat = [ + ee.pose.orientation.x, + ee.pose.orientation.y, + ee.pose.orientation.z, + ee.pose.orientation.w, + ] + R_g2b, t_g2b = pose_to_Rt(xyz, quat) + + stamp = datetime.now(timezone.utc).strftime('%Y%m%d_%H%M%S') + img_path = self.images_dir / f'pose_{i:02d}_{stamp}.png' + self._save_png(bgr, img_path) + + msg = String() + msg.data = f'capture:{i}:{len(poses)}' + self._capture_pub.publish(msg) + + Rg.append(R_g2b) + tg.append(t_g2b) + Rc.append(R_t2c) + tc.append(t_t2c) + meta.append( + { + 'index': i, + 'joints': list(q), + 'ee_xyz': xyz, + 'ee_quat_xyzw': quat, + 'image': str(img_path), + 'corner_std_px': std, + } + ) + self.get_logger().info( + f'[{i + 1}/{len(poses)}] 已采集 ' + f'(corner_std={std:.3f}px) -> {img_path.name}' + ) + except KeyboardInterrupt: + self.get_logger().info('已中断') + return 0 + + if len(Rg) < self.min_poses: + self.get_logger().error( + f'只采集到 {len(Rg)} 次；求解至少需要 {self.min_poses} 次' + ) + return 9 + + self.get_logger().info(f'用 {len(Rg)} 个视角求解手眼标定...') + R, t = calibrate_hand_eye(Rg, tg, Rc, tc, eye_to_hand=eye_to_hand) + extra = '' + if eye_to_hand: + name = 'T_cam_to_base (eye_to_hand)' + yaml_txt = format_transform_yaml(R, t, name) + if self.gripper_tool: + extra = ( + f'gripper_tool: {self.gripper_tool}\n' + + format_matrix_yaml(self.T_flange_to_tool, 'T_flange_to_tool') + ) + self.get_logger().info( + f'gripper={self.gripper_tool}：AX=XB 的手是 TCP；' + f'T_4x4 是 cam→基座，不折 t={t.reshape(3)*1000} mm' + ) + elif self.gripper_tool: + T_cam_tool = np.eye(4) + T_cam_tool[:3, :3] = R + T_cam_tool[:3, 3] = t.reshape(3) + T_cam_flange = cam_to_flange_via_tool(T_cam_tool, self.T_flange_to_tool) + delta = float(np.linalg.norm(T_cam_flange[:3, 3] - T_cam_tool[:3, 3])) + tool_len = float(np.linalg.norm(self.T_flange_to_tool[:3, 3])) + if tool_len > 0.05 and delta < 1e-4: + self.get_logger().error( + 'T_cam_to_flange 与 T_cam_to_tool 平移几乎相同，' + '折算没生效。结果作废。' + ) + return 11 + # 腕部相机在法兰前方（法兰 +Z）。乘反了 Z 会落到 −200 mm 一带。 + if ( + self.T_flange_to_tool[2, 3] > 0.05 + and float(T_cam_flange[2, 3]) < 0.0 + ): + self.get_logger().error( + f'T_cam_to_flange tz={float(T_cam_flange[2, 3])*1000:.1f} mm ' + '在法兰后方，乘序反了。结果作废。' + ) + return 12 + R, t = T_cam_flange[:3, :3], T_cam_flange[:3, 3].reshape(3, 1) + name = 'T_cam_to_flange (eye_in_hand，由工具 TCP 折算)' + yaml_txt = format_transform_yaml(R, t, name) + extra = ( + f'gripper_tool: {self.gripper_tool}\n' + + format_matrix_yaml(self.T_flange_to_tool, 'T_flange_to_tool') + + format_matrix_yaml(T_cam_tool, 'T_cam_to_tool') + ) + self.get_logger().info( + f'gripper={self.gripper_tool}：' + f'T_cam_to_tool t={T_cam_tool[:3, 3]*1000} mm → ' + f'T_cam_to_flange t={T_cam_flange[:3, 3]*1000} mm' + ) + else: + name = 'T_cam_to_gripper (eye_in_hand)' + yaml_txt = format_transform_yaml(R, t, name) + header = ( + f'# 手眼标定结果\n' + f'# mode: {self.mode}\n' + f'# camera_source: {self.camera_source}\n' + f'# views: {len(Rg)}\n' + f'# utc: {datetime.now(timezone.utc).isoformat()}\n' + f'# board: {self.board.cols}x{self.board.rows} ' + f'square_m={self.board.square_size}\n' + ) + if self.gripper_tool and eye_to_hand: + header += ( + f'# gripper_tool: {self.gripper_tool}\n' + f'# T_4x4 = cam→基座（AX=XB 的手是 TCP，不折到法兰）\n' + f'# 旧结果备份在 results/backup/\n' + ) + elif self.gripper_tool: + header += ( + f'# gripper_tool: {self.gripper_tool}\n' + f'# T_4x4 = cam→法兰（AX=XB 在 TCP 上解，再左乘 T_flange_to_tool）\n' + f'# T_cam_to_tool 是原始求解；旧的法兰/tool1 备份在 results/backup/\n' + ) + self.result_file.parent.mkdir(parents=True, exist_ok=True) + self.result_file.write_text(header + extra + yaml_txt, encoding='utf-8') + (self.output_dir / 'captures.json').write_text( + json.dumps(meta, indent=2), encoding='utf-8' + ) + + self.get_logger().info('======== 手眼标定结果 ========') + for line in (header + yaml_txt).strip().splitlines(): + self.get_logger().info(line) + self.get_logger().info(f'已保存 -> {self.result_file}') + + if self.cleanup_images: + if self.images_dir.exists(): + shutil.rmtree(self.images_dir, ignore_errors=True) + self.get_logger().info('标定图像已删除') + else: + self.get_logger().info(f'图像保留在 {self.images_dir}') + return 0 + + def _load_poses(self) -> List[List[float]]: + flat = list(self.get_parameter('waypoint_positions').value) + n_j = len(self.joint_names) + n_cfg = int(self.get_parameter('num_poses').value) + if n_cfg < 1: + return [] + need = n_cfg * n_j + if len(flat) < need: + self.get_logger().warn( + f'waypoint_positions 长度 {len(flat)} < num_poses*{n_j}={need}；' + '用零补齐' + ) + flat = flat + [0.0] * (need - len(flat)) + poses: List[List[float]] = [] + for i in range(n_cfg): + q = [float(v) for v in flat[i * n_j : (i + 1) * n_j]] + if is_pose_filled(q): + poses.append(q) + else: + self.get_logger().warn(f'位姿槽 {i} 为空（全零）—— 已跳过') + return poses + + def _resolve_intrinsics(self) -> bool: + # 1) CameraInfo + deadline = time.monotonic() + 3.0 + while rclpy.ok() and self._latest_info is None and time.monotonic() < deadline: + rclpy.spin_once(self, timeout_sec=0.1) + + if self._latest_info is not None: + self._intrinsics = _camera_info_to_intrinsics(self._latest_info) + K = self._intrinsics.K + self.get_logger().info( + f'内参来自 CameraInfo（{self._info_topic}）：' + f'fx={K[0, 0]:.2f} fy={K[1, 1]:.2f} cx={K[0, 2]:.2f} cy={K[1, 2]:.2f}' + ) + return True + + # 2) RealSense EEPROM + if is_realsense_source(self.camera_source): + try: + intr = query_realsense_color_intrinsics( + self.camera_source, + serial=self.camera_serial, + width=self.rs_width, + height=self.rs_height, + ) + except Exception as exc: # noqa: BLE001 + self.get_logger().error(f'RealSense 内参查询失败：{exc}') + else: + self._intrinsics = CameraIntrinsics(K=intr.as_K(), dist=intr.as_dist()) + self.get_logger().info( + f'内参来自 RealSense {intr.model.upper()} ' + f'serial={intr.serial} {intr.width}x{intr.height}：' + f'fx={intr.fx:.2f} fy={intr.fy:.2f} ' + f'cx={intr.cx:.2f} cy={intr.cy:.2f}' + ) + if (intr.width, intr.height) != (self.rs_width, self.rs_height): + self.get_logger().warn( + f'请求 {self.rs_width}x{self.rs_height}，' + f'实际得到 {intr.width}x{intr.height}（最接近的 profile）' + ) + return True + + # 3) Manual YAML + fx = float(self.get_parameter('camera_fx').value) + fy = float(self.get_parameter('camera_fy').value) + cx = float(self.get_parameter('camera_cx').value) + cy = float(self.get_parameter('camera_cy').value) + if fx <= 0 or fy <= 0: + self.get_logger().error( + '没有内参。请设置 camera_source:=d405|d435，' + '或提供 camera_info_topic，或填写 camera_fx/fy/cx/cy。' + ) + return False + dist = np.array( + list(self.get_parameter('camera_dist').value), dtype=float + ).reshape(-1, 1) + K = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]], dtype=float) + self._intrinsics = CameraIntrinsics(K=K, dist=dist) + self.get_logger().info( + f'内参来自 YAML：fx={fx:.2f} fy={fy:.2f} cx={cx:.2f} cy={cy:.2f}' + ) + return True + + def _log_progress(self, i: int, total: int, suffix: str = '') -> None: + """带进度条的日志。 + + 自动标定是无人值守的长流程（十几个点位 × 移动+稳定+拍照）， + 单看 `[3/12]` 很难有"还要多久"的直觉，加一条可视化进度条。 + """ + frac = (i + 1) / max(1, total) + width = 24 + filled = int(round(frac * width)) + bar = '█' * filled + '░' * (width - filled) + self.get_logger().info( + f'[{i + 1}/{total}] [{bar}] {frac * 100:5.1f}% {suffix}' + ) + + def _wait_settled(self) -> bool: + """等机械臂真的停下来，再进入拍照。 + + 判据是关节速度 |qd|_max 连续 ``settle_stable_sec`` 低于 ``settle_qd_max``。 + 为什么不用固定 sleep：`settle_sec` 是拍脑袋的时长，臂负载/姿态不同， + 刹车距离差别很大 —— 等太短会在臂还在动时拍照（棋盘虚 → 角点抖动）， + 等太长则整轮标定被无谓拉长。直接看速度更准。 + + 超时不算致命：记一条警告后继续，让后面的棋盘稳定性检查去把关。 + """ + if self.settle_qd_max <= 0.0: + return True + deadline = time.monotonic() + self.settle_timeout + stable_since: Optional[float] = None + while rclpy.ok() and time.monotonic() < deadline: + rclpy.spin_once(self, timeout_sec=0.05) + js = self._latest_js + if js is None or not list(js.velocity): + continue + try: + vmax = float(np.max(np.abs(np.asarray(js.velocity, dtype=float)))) + except Exception: # noqa: BLE001 + continue + now = time.monotonic() + if vmax <= self.settle_qd_max: + if stable_since is None: + stable_since = now + elif now - stable_since >= self.settle_stable_sec: + return True + else: + stable_since = None # 又动了，重新计时 + self.get_logger().warn( + f'wait_settled 超时 ({self.settle_timeout:.1f}s)，臂可能仍在微动；' + '交给棋盘稳定性检查兜底' + ) + return False + + def _pin_hold(self) -> None: + """静止后再保持几拍，抑制到位后的微小回弹/漂移。 + + 语义取自 site.yaml 的注释"零速 pin 后再拍照"：不是重新规划轨迹， + 而是纯粹等一段时间让机械臂自己稳下来（控制器在到位后仍会做少量补偿）。 + """ + total = self.pin_holds * self.pin_hold_sec + end = time.monotonic() + total + while rclpy.ok() and time.monotonic() < end: + rclpy.spin_once(self, timeout_sec=0.05) + + def _wait_stable( + self, + ) -> Tuple[bool, float, Optional[np.ndarray], Optional[np.ndarray]]: + self.stabilizer.reset() + deadline = time.monotonic() + self.stable_timeout + last_std = float('inf') + last_corners = None + last_pattern = None + last_bgr = None + last_log = 0.0 + while rclpy.ok() and time.monotonic() < deadline: + rclpy.spin_once(self, timeout_sec=0.05) + if self._latest_image is None: + continue + try: + bgr = _image_to_bgr(self._latest_image) + except Exception as exc: # noqa: BLE001 + self.get_logger().error(f'图像转换失败：{exc}') + return False, last_std, None, None, None + detected = detect_chessboard(bgr, self.board) + corners = detected[0] if detected is not None else None + pattern = detected[1] if detected is not None else None + ok, std = self.stabilizer.push(corners) + last_std = std + if corners is not None: + last_corners = corners + last_pattern = pattern + last_bgr = bgr + now = time.monotonic() + if now - last_log > 1.0: + seen = '有' if corners is not None else '无' + self.get_logger().info( + f' 棋盘={seen} 角点标准差=' + f'{std if std < 1e8 else float("nan"):.3f}px' + ) + last_log = now + if ok: + return True, std, last_corners, last_pattern, last_bgr + return False, last_std, last_corners, last_pattern, last_bgr + + + def _verify_joints(self, target: List[float], tol: float = 0.08) -> bool: + """确认 ``joint_states`` 真的走到了目标位置。 + + 用来识破"假的成功"：有些执行接口会立刻返回成功，但关节其实没动 + （或只动了一半）。这里在 2 秒内轮询关节角，逐轴比对容差 ``tol``（弧度）， + 只有全部落在容差内才算真到位。 + """ + deadline = time.monotonic() + 2.0 + while rclpy.ok() and time.monotonic() < deadline: + rclpy.spin_once(self, timeout_sec=0.05) + if self._latest_js is None: + continue + name_to_q = dict(zip(list(self._latest_js.name), list(self._latest_js.position))) + actual = [] + for n in self.joint_names: + if n not in name_to_q: + break + actual.append(float(name_to_q[n])) + if len(actual) != len(target): + continue + err = float(np.sqrt(np.mean([(a - b) ** 2 for a, b in zip(actual, target)]))) + self.get_logger().info( + f' 关节相对目标的 RMSE：{err:.4f} rad（tol={tol}）' + ) + return err <= tol + self.get_logger().error('校验运动时没有 joint_states') + return False + + def _move_one(self, positions: List[float], duration: float) -> int: + goal = FollowJointTrajectory.Goal() + goal.joint_names = self.joint_names + goal.num_points = 1 + goal.velocity_scale = self.velocity_scale + goal.positions = list(positions) + goal.time_from_start = [float(duration)] + + send = self._client.send_goal_async(goal) + if not self._wait_future(send, 10.0, '发送目标'): + return 3 + handle = send.result() + if handle is None or not handle.accepted: + self.get_logger().error('目标被拒绝') + return 4 + res_fut = handle.get_result_async() + if not self._wait_future(res_fut, max(60.0, duration * 3.0), '结果'): + return 5 + result = res_fut.result().result + if not result.success: + self.get_logger().error(f'移动失败：{result.message}') + return 6 + return 0 + + def _wait_future(self, fut, timeout: float, label: str) -> bool: + deadline = time.monotonic() + timeout + while rclpy.ok() and not fut.done(): + rclpy.spin_once(self, timeout_sec=0.05) + if time.monotonic() > deadline: + self.get_logger().error(f'等待 {label} 超时') + return False + return fut.done() + + def _read_ee_pose(self) -> Optional[PoseStamped]: + if not self._get_state.wait_for_service(timeout_sec=2.0): + return None + fut = self._get_state.call_async(GetArmState.Request()) + if not self._wait_future(fut, 2.0, 'get_arm_state'): + return None + res = fut.result() + if res is None or not res.success: + return None + return res.ee_pose + + def _save_png(self, bgr: np.ndarray, path: Path) -> None: + import cv2 + + if not cv2.imwrite(str(path), bgr): + raise RuntimeError(f'cv2.imwrite 失败：{path}') + + +def main(args=None) -> None: + rclpy.init(args=args) + node = HandeyeCalibrate() + code = 1 + try: + code = node.run() + except KeyboardInterrupt: + code = 0 + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + raise SystemExit(code) + + +if __name__ == '__main__': + main() diff --git a/src/arm_application/arm_application/handeye_teach.py b/src/arm_application/arm_application/handeye_teach.py new file mode 100644 index 0000000..a78b0fc --- /dev/null +++ b/src/arm_application/arm_application/handeye_teach.py @@ -0,0 +1,668 @@ +#!/usr/bin/env python3 +"""手眼示教：实时预览 + Free Drive + 按 Enter 拍照/记录关节。 + +两种后端 +------------ +ros（默认，整套栈正在运行）： + - 关节来自 ``/get_arm_state`` + - 拖拽：示教器 Free Drive + 按住使能键 + 需保持：bash ~/ros2/scripts/run_real.sh + +rdk（软件 Free Drive）： + - 先停掉 run_real.sh（RDK 独占） + - 按 'd' 通过 RDK 启用 FloatingJoint 拖拽 + - 关节来自 RDK 的 robot.states + + source ~/ros2/scripts/env.sh + ros2 run arm_application handeye_teach --ros-args -p backend:=rdk + +界面按键（预览窗口） + Enter / Space 拍照 + 记录关节 + d 启用 Free Drive（rdk）/ 显示示教器提示（ros） + s 停止 Free Drive（rdk）/ 保持 + q / Esc 结束 +""" + +from __future__ import annotations + +import os +import threading +import time +from datetime import datetime, timezone +from pathlib import Path +from typing import List, Optional + +import numpy as np +import rclpy +from rcl_interfaces.msg import ParameterDescriptor +from rclpy.node import Node + +from arm_application.ros_node import TolerantNode, param_as_str + +HELP = """ +================================================ + 手眼示教 TEACH：预览 -> 拖拽 -> 拍照+位姿 +================================================ + 窗口按键： + Enter / Space = 拍照 + 保存关节 + d = 开启 Free Drive + s = 关闭 Free Drive / 保持 + q / Esc = 结束 + 提示：让棋盘清晰，并占到画面的约 30-70% + 建议采 8-12 个角度有变化的位姿 +================================================ +""" + + +def _setup_matplotlib_font(): + """避免中文乱码：优先选用存在的中日韩（CJK）字体。""" + import matplotlib + + matplotlib.use('QtAgg') + from matplotlib import font_manager, rcParams + + candidates = [ + 'Noto Sans CJK SC', + 'Noto Sans CJK JP', + 'Noto Serif CJK SC', + 'AR PL UMing CN', + 'AR PL UKai CN', + 'WenQuanYi Micro Hei', + 'Source Han Sans CN', + 'DejaVu Sans', + ] + available = {f.name for f in font_manager.fontManager.ttflist} + chosen = None + for name in candidates: + if name in available: + chosen = name + break + if chosen is None: + # 按文件路径再试一次 + for path in ( + '/usr/share/fonts/opentype/noto/NotoSansCJK-Regular.ttc', + '/usr/share/fonts/opentype/noto/NotoSansCJK-Medium.ttc', + '/usr/share/fonts/opentype/noto/NotoSansCJK-DemiLight.ttc', + '/usr/share/fonts/truetype/arphic/uming.ttc', + ): + if os.path.isfile(path): + font_manager.fontManager.addfont(path) + prop = font_manager.FontProperties(fname=path) + chosen = prop.get_name() + break + if chosen: + rcParams['font.family'] = chosen + rcParams['axes.unicode_minus'] = False + return chosen + + +class RdkBridge: + """通过 rdk_py310 子进程（Python 3.10 ABI）与 Flexiv RDK 通信。""" + + def __init__(self, robot_sn: str, logger=None) -> None: + import json + import subprocess + + self._json = json + self._logger = logger + self.robot_sn = robot_sn + self._last_q: Optional[List[float]] = None + self._io = threading.Lock() + py = os.environ.get('RDK_PYTHON', '/home/cc/rdk_py310/bin/python') + bridge = Path.home() / 'ros2' / 'scripts' / 'rdk_drag_bridge.py' + if not bridge.is_file(): + bridge = Path('/home/cc/ros2/scripts/rdk_drag_bridge.py') + if not bridge.is_file(): + raise FileNotFoundError(f'找不到 rdk_drag_bridge.py：{bridge}') + + # 只保留 Flexiv 的库 —— 不要继承 conda 的 LD_LIBRARY_PATH（会让 RDK 卡死）。 + flexiv_lib = os.path.expanduser('~/flexiv_install/lib') + env = { + 'HOME': os.environ.get('HOME', ''), + 'PATH': f'{Path(py).parent}:/usr/bin:/bin', + 'LD_LIBRARY_PATH': flexiv_lib, + 'LANG': 'C.UTF-8', + 'SITE_PC_IP': os.environ.get('SITE_PC_IP', ''), + 'SITE_NET_IFACE': os.environ.get('SITE_NET_IFACE', ''), + } + # 不要继承 conda 的 PYTHONPATH。 + # 重要：stderr 不能用 PIPE —— RDK 日志会填满管道并让桥接进程死锁 + # （stdout 永远不返回）。改成写入日志文件。 + log_path = Path('/tmp/rdk_drag_bridge.log') + self._err_file = open(log_path, 'w', encoding='utf-8') + self._proc = subprocess.Popen( + [py, str(bridge)], + stdin=subprocess.PIPE, + stdout=subprocess.PIPE, + stderr=self._err_file, + text=True, + bufsize=1, + env=env, + ) + if logger: + logger.info(f'RDK 桥接已启动；日志 → {log_path}') + pong = self._ask({'cmd': 'ping'}, timeout=8.0) + if not pong.get('ok'): + raise RuntimeError( + f'RDK 桥接 ping 失败：{pong}。参见 {log_path}' + ) + if logger: + logger.info('RDK 桥接 ping 正常，正在连接机器人...') + conn = self._ask( + { + 'cmd': 'connect', + 'sn': robot_sn, + 'iface': os.environ.get('SITE_NET_IFACE', ''), + }, + timeout=45.0, + ) + if not conn.get('ok'): + raise RuntimeError( + f'RDK 连接失败：{conn.get("error")}。' + f'请先停掉 run_real.sh；切 AUTO Remote 并清除故障。参见 {log_path}' + ) + if logger: + logger.info(f'RDK 桥接就绪（py={pong.get("py")}）sn={robot_sn}') + q0 = conn.get('q') or [] + if len(q0) >= 7: + self._last_q = [float(v) for v in q0[:7]] + + def _ask(self, msg: dict, timeout: float = 10.0) -> dict: + import select + + # 同一时刻只允许一条在途命令：相机/GUI 绝不能共用这个管道。 + if not self._io.acquire(timeout=max(timeout, 0.2)): + return {'ok': False, 'error': '桥接忙'} + try: + assert self._proc.stdin and self._proc.stdout + self._proc.stdin.write(self._json.dumps(msg) + '\n') + self._proc.stdin.flush() + end = time.monotonic() + timeout + while time.monotonic() < end: + if self._proc.poll() is not None: + tip = '/tmp/rdk_drag_bridge.log' + return { + 'ok': False, + 'error': f'桥接已退出 rc={self._proc.returncode}；参见 {tip}', + } + ready, _, _ = select.select([self._proc.stdout], [], [], 0.05) + if not ready: + continue + line = self._proc.stdout.readline() + if not line: + continue + line = line.strip() + if not line.startswith('{'): + continue + try: + return self._json.loads(line) + except Exception as exc: # noqa: BLE001 + return {'ok': False, 'error': f'应答异常：{exc} {line!r}'} + return {'ok': False, 'error': '桥接超时'} + finally: + self._io.release() + + def drag_on(self, primitive: str = 'FloatingJoint', mode: str = 'soft') -> dict: + return self._ask( + {'cmd': 'drag_on', 'primitive': primitive, 'mode': mode}, + timeout=20.0, + ) + + def drag_off(self) -> dict: + return self._ask({'cmd': 'drag_off'}, timeout=6.0) + + def joints(self) -> Optional[List[float]]: + res = self._ask({'cmd': 'joints'}, timeout=2.0) + if res.get('ok'): + q = res.get('q') or [] + if len(q) >= 7: + self._last_q = [float(v) for v in q[:7]] + return self._last_q + return self._last_q + + def close(self) -> None: + try: + self._ask({'cmd': 'quit'}, timeout=3.0) + except Exception: + pass + try: + self._proc.terminate() + except Exception: + pass + try: + if getattr(self, '_err_file', None) is not None: + self._err_file.close() + except Exception: + pass + + +class HandeyeTeach(TolerantNode): + def __init__(self) -> None: + super().__init__('handeye_teach') + self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp') + self.declare_parameter('width', 1280) + self.declare_parameter('height', 720) + self.declare_parameter('fps', 15) + self.declare_parameter('backend', 'ros') # ros | rdk + self.declare_parameter('robot_sn', os.environ.get('SITE_ROBOT_SN', '').strip()) + self.declare_parameter('drag_primitive', 'FloatingJoint') # or FloatingCartesian + self._serial = param_as_str(self, 'camera_serial', '') + self.declare_parameter('auto_exposure', True) + self.declare_parameter('ae_limit_us', 1800.0) + self.declare_parameter('emitter_enabled', False) + self.declare_parameter('exposure_us', 0.0) + self.declare_parameter('gain', 0.0) + # 目标采集点数。0 = 不限（按 q 结束）。 + # 设了就只是个"提醒"：采够时提示可以收工，不强制关窗 —— + # 常常采到一半发现某个角度还没覆盖，强制退出反而要重开。 + self.declare_parameter('target_points', 0) + # 必须和 run_handeye.sh 的 TAUGHT 是同一个文件。只写 taught_poses.txt、 + # 脚本去读 taught_poses_<模式>.txt，merge 就会「文件在、内容空」。 + self.declare_parameter('poses_file', '') + + self.backend = str(self.get_parameter('backend').value).strip().lower() + self.robot_sn = str(self.get_parameter('robot_sn').value) + self.drag_primitive = str(self.get_parameter('drag_primitive').value).strip() + + self.output_dir = Path(str(self.get_parameter('output_dir').value)).expanduser() + self.images_dir = self.output_dir / 'images' + _pf = str(self.get_parameter('poses_file').value).strip() + self.poses_file = ( + Path(_pf).expanduser() if _pf else self.output_dir / 'taught_poses.txt' + ) + self.yaml_file = self.output_dir / 'taught_waypoint_positions.yaml' + self._last_capture_t = 0.0 + self.images_dir.mkdir(parents=True, exist_ok=True) + + self._captures: List[dict] = [] + self._latest_bgr: Optional[np.ndarray] = None + self._frame_lock = threading.Lock() + self._quit = False + self._busy = False + self._cmd_pending = False + self._drag_on = False + self._robot = None + self._rdk = None + self._get_state = None + self._cam_thread: Optional[threading.Thread] = None + self._pipe = None + self._fps = 15 + + if self.backend == 'rdk': + self._init_rdk() + else: + self._init_ros_state() + + self._start_camera() + font = _setup_matplotlib_font() + self._start_gui() + print(HELP) + if self.backend == 'rdk': + print('[backend=rdk] 按 d = 软拖拽（在 AUTO Remote 下可用，无需 Floating 许可）') + print(' run_real.sh 必须已停止。') + print(' 拖着就能按 Enter 拍照，不必先按 s') + else: + print('[backend=ros] 用示教器 Free Drive + 按住使能键来拖拽。') + print(' 或停掉 run_real.sh 后改用：-p backend:=rdk') + if font: + self.get_logger().info(f'界面字体：{font}') + self.create_timer(1.0 / max(1, self._fps), self._tick) + + def _init_ros_state(self) -> None: + from arm_msgs.srv import GetArmState + + self._get_state = self.create_client(GetArmState, 'get_arm_state') + if not self._get_state.wait_for_service(timeout_sec=10.0): + raise RuntimeError( + 'get_arm_state 不可用。请启动 run_real.sh，' + '或改用：-p backend:=rdk（需先停掉整套栈）' + ) + + def _init_rdk(self) -> None: + self.get_logger().info(f'正在把 RDK 桥接连到 {self.robot_sn} ...') + self._rdk = RdkBridge(self.robot_sn, logger=self.get_logger()) + self._robot = True # 标记：RDK 后端已就绪 + self.get_logger().info('RDK 已连接。按 d 启用 Free Drive。') + + def _start_camera(self) -> None: + import pyrealsense2 as rs + + w = int(self.get_parameter('width').value) + h = int(self.get_parameter('height').value) + fps = int(self.get_parameter('fps').value) + pipe = rs.pipeline() + profile = None + last_err = None + for ww, hh, ff in [ + (w, h, fps), (w, h, 15), (w, h, 10), + (640, 480, 30), (640, 480, 15), + ]: + try: + cfg = rs.config() + if self._serial: + cfg.enable_device(self._serial) + cfg.enable_stream(rs.stream.color, ww, hh, rs.format.bgr8, ff) + profile = pipe.start(cfg) + self._fps = ff + self.get_logger().info(f'相机 {ww}x{hh}@{ff}Hz') + break + except Exception as exc: # noqa: BLE001 + last_err = exc + try: + pipe.stop() + except Exception: # noqa: BLE001 + pass + pipe = rs.pipeline() + if profile is None: + raise RuntimeError( + f'无法打开 D405 —— 请先停掉 realsense_color_pub。（{last_err}）' + ) + self._pipe = pipe + try: + from arm_application.handeye_realsense import apply_realsense_exposure + + apply_realsense_exposure( + profile.get_device(), + auto_exposure=bool(self.get_parameter('auto_exposure').value), + ae_limit_us=float(self.get_parameter('ae_limit_us').value), + emitter_enabled=bool(self.get_parameter('emitter_enabled').value), + exposure_us=( + float(self.get_parameter('exposure_us').value) or None + ), + gain=(float(self.get_parameter('gain').value) or None), + log=self.get_logger().info, + ) + except Exception as exc: # noqa: BLE001 + self.get_logger().warn(f'曝光设置应用失败：{exc}') + self._cam_thread = threading.Thread(target=self._cam_loop, name='d405', daemon=True) + self._cam_thread.start() + + def _cam_loop(self) -> None: + while not self._quit: + try: + frames = self._pipe.wait_for_frames(timeout_ms=400) + color = frames.get_color_frame() + except Exception: # noqa: BLE001 + time.sleep(0.02) + continue + if not color: + continue + bgr = np.asanyarray(color.get_data()).copy() + with self._frame_lock: + self._latest_bgr = bgr + + def _start_gui(self) -> None: + import matplotlib.pyplot as plt + + self._plt = plt + self._fig, self._ax = plt.subplots(1, 1, figsize=(11, 7)) + self._fig.canvas.manager.set_window_title( + 'handeye_teach | Enter=拍照 d=拖拽 s=停止 q=退出' + ) + self._im = None + self._status = self._ax.text( + 0.02, + 0.98, + self._status_text(), + transform=self._ax.transAxes, + color='lime', + fontsize=13, + va='top', + fontweight='bold', + bbox=dict(boxstyle='round', facecolor='black', alpha=0.6), + ) + self._ax.axis('off') + self._fig.canvas.mpl_connect('key_press_event', self._on_key) + plt.ion() + plt.show(block=False) + + def _status_text(self) -> str: + drag = '拖拽开启' if self._drag_on else '拖拽关闭' + if self.backend == 'rdk': + tip = 'd=软拖拽 s=保持' + else: + tip = '示教器 FreeDrive+使能' + return ( + f'已采集:{len(self._captures)} [{drag}] ' + f'{tip} | Enter=拍照 q=退出' + ) + + def _on_key(self, event) -> None: + key = (event.key or '').lower() + if key in ('q', 'escape'): + self._quit = True + self.get_logger().info('收到退出请求') + return + if self._cmd_pending: + return + if key in ('enter', ' ', 'space', 'd', 's'): + self._cmd_pending = True + threading.Thread(target=self._run_key, args=(key,), daemon=True).start() + + def _run_key(self, key: str) -> None: + try: + if key in ('enter', ' ', 'space'): + self._capture_once() + elif key == 'd': + self._enable_drag() + elif key == 's': + self._disable_drag() + except Exception as exc: # noqa: BLE001 + self.get_logger().error(f'按键 {key}：{exc}') + finally: + self._cmd_pending = False + + def _enable_drag(self) -> None: + if self.backend != 'rdk': + self._drag_on = True + self.get_logger().warn( + 'ROS 后端：请用示教器的 Free Drive + 按住使能键。' + '想用软件拖拽：先停掉 run_real.sh，然后执行 ' + 'ros2 run arm_application handeye_teach --ros-args -p backend:=rdk' + ) + self._status.set_text(self._status_text()) + return + self.get_logger().info('正在启动软拖拽（预览保持实时刷新）...') + # soft = AUTO Remote 模式下的关节阻抗拖拽（不需要 Floating 许可） + res = self._rdk.drag_on(self.drag_primitive, mode='soft') + if res.get('ok'): + self._drag_on = True + self.get_logger().info( + f'拖拽已开启 mode={res.get("mode")} —— 推着机械臂走，Enter=拍照（s=保持，可选）' + ) + if res.get('hint'): + self.get_logger().info(str(res.get('hint'))) + else: + self._drag_on = False + self.get_logger().error(f'拖拽失败：{res.get("error")}') + # 状态文字由 GUI 线程里的 _tick 刷新 + + def _disable_drag(self) -> None: + if self.backend == 'rdk' and getattr(self, '_rdk', None) is not None: + res = self._rdk.drag_off() + if not res.get('ok'): + self.get_logger().warn(f'停止拖拽：{res.get("error")}') + self._drag_on = False + self.get_logger().info('Free Drive 已关闭 / 保持') + + def _tick(self) -> None: + if self._quit: + return + with self._frame_lock: + bgr = None if self._latest_bgr is None else self._latest_bgr.copy() + if bgr is None: + try: + self._fig.canvas.flush_events() + except Exception: # noqa: BLE001 + pass + return + rgb = bgr[:, :, ::-1] + if self._im is None: + self._im = self._ax.imshow(rgb) + else: + self._im.set_data(rgb) + try: + self._status.set_text(self._status_text()) + self._fig.canvas.draw_idle() + self._fig.canvas.flush_events() + except Exception: # noqa: BLE001 + pass + + def _read_joints(self) -> Optional[List[float]]: + if self.backend == 'rdk' and getattr(self, '_rdk', None) is not None: + q = self._rdk.joints() + if q is None: + self.get_logger().error('读取 RDK 关节失败') + return q + from arm_msgs.srv import GetArmState + + fut = self._get_state.call_async(GetArmState.Request()) + end = time.monotonic() + 2.0 + while rclpy.ok() and not fut.done() and time.monotonic() < end: + rclpy.spin_once(self, timeout_sec=0.02) + res = fut.result() if fut.done() else None + if res is None or not res.success: + return None + q = list(res.joint_positions) + return [float(v) for v in q[:7]] if len(q) >= 7 else None + + def _capture_once(self) -> None: + if self._busy: + return + self._busy = True + try: + with self._frame_lock: + bgr = None if self._latest_bgr is None else self._latest_bgr.copy() + if bgr is None: + self.get_logger().warn('还没有相机帧') + return + q = self._read_joints() + if q is None: + self.get_logger().error('读取关节失败') + return + now = time.monotonic() + if now - self._last_capture_t < 0.8: + self.get_logger().warn('按太快，忽略（防 Enter 连发）') + return + if self._captures: + last = self._captures[-1]['joints'] + delta = max(abs(a - b) for a, b in zip(q, last)) + if delta < 0.015: + self.get_logger().warn( + f'关节几乎没动（Δ={delta:.4f} rad），忽略这次拍照。' + '先拖到另一个姿态再按 Enter。' + ) + return + self._last_capture_t = now + + idx = len(self._captures) + stamp = datetime.now(timezone.utc).strftime('%Y%m%d_%H%M%S') + img_path = self.images_dir / f'teach_{idx:02d}_{stamp}.png' + try: + import cv2 + + cv2.imwrite(str(img_path), bgr) + except Exception: # noqa: BLE001 + from PIL import Image as PILImage + + PILImage.fromarray(bgr[:, :, ::-1]).save(str(img_path)) + + line = ', '.join(f'{v:.6f}' for v in q) + ',' + self._captures.append( + {'index': idx, 'joints': q, 'image': str(img_path), 'line': line} + ) + with self.poses_file.open('a', encoding='utf-8') as f: + f.write(f'# pose {idx} {stamp}\n') + f.write(line + '\n') + f.write(f'# image {img_path}\n') + print(f'\n# pose {idx} {img_path.name}') + print(line) + n = idx + 1 + try: + target = int(self.get_parameter('target_points').value) + except Exception: # noqa: BLE001 + target = 0 + if target > 0: + if n < target: + self.get_logger().info( + f'[{n}/{target}] 已保存照片+关节 —— 还差 {target - n} 个点' + ) + elif n == target: + self.get_logger().info( + f'[{n}/{target}] 已采够 {target} 个点。' + ' 建议按 q 结束，然后跑 merge + calibrate；' + ' 想多采几个点也可以继续按 Enter。' + ) + else: + self.get_logger().info( + f'[{n}/{target}] 已保存照片+关节 —— 已超出目标 ' + f'{n - target} 个点（会用全部点求解）' + ) + else: + self.get_logger().info(f'[{n}] 已保存照片+关节') + self._write_yaml_snippet() + finally: + self._busy = False + + def _write_yaml_snippet(self) -> None: + lines = [ + '# 粘贴到 handeye_calibrate.yaml -> waypoint_positions', + f'# num_poses: {len(self._captures)}', + 'waypoint_positions: [', + ] + for c in self._captures: + lines.append(f' # pose {c["index"]}') + lines.append(f' {c["line"]}') + lines.append(']') + self.yaml_file.write_text('\n'.join(lines) + '\n', encoding='utf-8') + + def finish(self) -> None: + self._quit = True + if self._cam_thread is not None: + self._cam_thread.join(timeout=1.5) + if self._drag_on: + self._disable_drag() + if getattr(self, '_rdk', None) is not None: + try: + self._rdk.close() + except Exception: + pass + n = len(self._captures) + print('\n========== 示教完成 ==========') + print(f'位姿: {n}') + print(f'关节: {self.poses_file}') + print(f'yaml: {self.yaml_file}') + print(f'图像: {self.images_dir}') + if n >= 1: + print('\n--- 粘贴到 handeye_calibrate.yaml ---\n') + print(self.yaml_file.read_text(encoding='utf-8')) + print('同时设置 num_poses:', n) + if n < 5: + self.get_logger().warn(f'只有 {n} 个位姿；至少需要 5 个（建议 8-12 个）。') + + +def main(args=None) -> None: + rclpy.init(args=args) + node = None + try: + node = HandeyeTeach() + while rclpy.ok() and not node._quit: + rclpy.spin_once(node, timeout_sec=0.05) + except SystemExit: + pass + except KeyboardInterrupt: + pass + finally: + if node is not None: + node.finish() + try: + node._pipe.stop() + except Exception: # noqa: BLE001 + pass + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/src/arm_application/arm_application/handeye_waypoints.py b/src/arm_application/arm_application/handeye_waypoints.py new file mode 100644 index 0000000..e03d069 --- /dev/null +++ b/src/arm_application/arm_application/handeye_waypoints.py @@ -0,0 +1,525 @@ +#!/usr/bin/env python3 +"""手眼标定路点执行器。 + +逐个移动到每个关节路点，等到位后停留一段时间， +让相机（或操作者）采集一张标定图像。 + +capture_mode: + auto — 停留 dwell_sec 后进入下一个位姿 + keypress — 在终端按 Enter 继续 + preview — OpenCV 实时相机 + Enter/Space 确认（示教时推荐） + +处于 ``preview`` 模式时，可在预览窗口打开期间用示教器的 **Free Drive** +拖拽微调（ros2_control 保持 AUTO Remote；拖拽经由示教器，而非 RDK）。 +""" + +from __future__ import annotations + +import csv +import array +import sys +import threading +import time +from datetime import datetime, timezone +from pathlib import Path +from typing import List, Optional + +import numpy as np +import rclpy +from rclpy.action import ActionClient +from rclpy.node import Node +from rclpy.qos import qos_profile_sensor_data +from sensor_msgs.msg import Image +from std_msgs.msg import String + +from arm_application.handeye_realsense import ( + is_realsense_source, + resolve_realsense_topics, +) +from arm_application.site_io import joint_prefix_default + +from arm_msgs.action import FollowJointTrajectory +from arm_msgs.srv import GetArmState + +from arm_application.ros_node import TolerantNode + +try: + import cv2 +except Exception: # noqa: BLE001 + cv2 = None # type: ignore + +DEFAULT_JOINTS = [ + 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', +] + +DEFAULT_TIMES = [4.0] * 12 +DEFAULT_POSITIONS = [ + 0.00, -0.70, 0.00, 1.57, 0.00, 0.70, 0.00, + 0.35, -0.70, 0.00, 1.57, 0.00, 0.70, 0.00, + -0.35, -0.70, 0.00, 1.57, 0.00, 0.70, 0.00, + 0.00, -0.90, 0.00, 1.70, 0.00, 0.85, 0.00, + 0.00, -0.50, 0.00, 1.40, 0.00, 0.55, 0.00, + 0.20, -0.70, 0.15, 1.57, 0.40, 0.70, 0.30, + -0.20, -0.70, -0.15, 1.57, -0.40, 0.70, -0.30, + 0.25, -0.80, 0.10, 1.65, 0.25, 0.90, -0.40, + -0.25, -0.80, -0.10, 1.65, -0.25, 0.90, 0.40, + 0.15, -0.60, 0.20, 1.50, -0.35, 0.60, 0.50, + -0.15, -0.60, -0.20, 1.50, 0.35, 0.60, -0.50, + 0.00, -0.70, 0.00, 1.57, 0.00, 0.70, 0.00, +] + +PREVIEW_HELP_GUI = """ +=== 位姿预览 / 拖拽调整（OpenCV 窗口）=== +1. 示教器：Free Drive + 按住使能键拖拽微调 +2. 预览窗口：确认棋盘在画面内且清晰 +3. 键盘：Enter / Space = 下一个位姿；q / Esc = 退出 +""" + +PREVIEW_HELP_HEADLESS = """ +=== 位姿预览 / 拖拽调整（无 OpenCV 窗口）=== +1. 另开终端查看画面： + ros2 run rqt_image_view rqt_image_view /handeye/preview_image +2. 示教器：Free Drive + 按住使能键拖拽微调 +3. 本终端：Enter = 确认下一个位姿；输入 q 回车 = 退出 +""" + + +def _cv_gui_available() -> bool: + if cv2 is None: + return False + try: + cv2.namedWindow('_handeye_gui_probe', cv2.WINDOW_NORMAL) + cv2.destroyWindow('_handeye_gui_probe') + return True + except Exception: # noqa: BLE001 + return False + + +def _image_to_bgr(msg: Image) -> np.ndarray: + h, w = int(msg.height), int(msg.width) + enc = (msg.encoding or '').lower() + data = np.frombuffer(msg.data, dtype=np.uint8) + if enc in ('bgr8', 'rgb8'): + img = data.reshape(h, w, 3) + return img[:, :, ::-1].copy() if enc == 'rgb8' else img + if enc in ('mono8', '8uc1'): + gray = data.reshape(h, w) + return np.stack([gray, gray, gray], axis=-1) + if enc in ('bgra8', 'rgba8'): + img = data.reshape(h, w, 4) + bgr = img[:, :, :3] + return bgr[:, :, ::-1].copy() if enc == 'rgba8' else bgr + raise RuntimeError(f'不支持的图像编码：{msg.encoding!r}') + + +class HandeyeWaypoints(TolerantNode): + def __init__(self) -> None: + super().__init__('handeye_waypoints') + self.declare_parameter('joint_prefix', joint_prefix_default()) + self.declare_parameter('joint_names', DEFAULT_JOINTS) + self.declare_parameter('velocity_scale', 0.12) + self.declare_parameter('action_name', 'follow_joint_trajectory') + self.declare_parameter('waypoint_times', DEFAULT_TIMES) + self.declare_parameter('waypoint_positions', DEFAULT_POSITIONS) + self.declare_parameter('dwell_sec', 2.5) + # auto | keypress | preview + self.declare_parameter('capture_mode', 'auto') + self.declare_parameter('start_index', 0) + self.declare_parameter('log_csv', '') + self.declare_parameter('capture_topic', 'handeye/capture') + self.declare_parameter('camera_source', 'd405') + self.declare_parameter('camera_namespace', '') + self.declare_parameter('image_topic', '') + self.declare_parameter('preview_window', True) + self.declare_parameter('append_poses_file', '/tmp/handeye_taught_poses.txt') + + prefix = str(self.get_parameter('joint_prefix').value or '') + base = list( + self.get_parameter('joint_names').get_parameter_value().string_array_value + or DEFAULT_JOINTS + ) + self.joint_names = [f'{prefix}{n}' for n in base] + self.velocity_scale = float(self.get_parameter('velocity_scale').value) + self.action_name = str(self.get_parameter('action_name').value) + self.dwell_sec = float(self.get_parameter('dwell_sec').value) + self.capture_mode = str(self.get_parameter('capture_mode').value).strip().lower() + self.start_index = max(0, int(self.get_parameter('start_index').value)) + self.log_csv = str(self.get_parameter('log_csv').value or '').strip() + topic = str(self.get_parameter('capture_topic').value) + self.preview_window = bool(self.get_parameter('preview_window').value) + self.append_poses_file = str( + self.get_parameter('append_poses_file').value or '' + ).strip() + + cam_src = str(self.get_parameter('camera_source').value).strip().lower() + img_topic = str(self.get_parameter('image_topic').value or '').strip() + ns = str(self.get_parameter('camera_namespace').value or '').strip() + if is_realsense_source(cam_src) and not img_topic: + img_topic, _ = resolve_realsense_topics( + cam_src, camera_namespace=ns, image_topic='', camera_info_topic='' + ) + self.image_topic = img_topic + + self._client = ActionClient(self, FollowJointTrajectory, self.action_name) + self._get_state = self.create_client(GetArmState, 'get_arm_state') + self._capture_pub = self.create_publisher(String, topic, 10) + self._preview_pub = self.create_publisher(Image, 'handeye/preview_image', 10) + self._latest_bgr: Optional[np.ndarray] = None + self._cv_gui = _cv_gui_available() and self.preview_window + if self.capture_mode == 'preview' and not self._cv_gui: + self.get_logger().warn( + 'OpenCV 没有 GUI（无头环境）。请在 /handeye/preview_image 上预览，' + '在本终端按 Enter 确认。' + ) + if self.image_topic and self.capture_mode == 'preview': + self.create_subscription( + Image, self.image_topic, self._on_image, qos_profile_sensor_data + ) + self.get_logger().info(f'预览图像：{self.image_topic}') + + def _on_image(self, msg: Image) -> None: + try: + self._latest_bgr = _image_to_bgr(msg) + except Exception: # noqa: BLE001 + pass + + def run(self) -> int: + if self.capture_mode == 'preview': + if cv2 is None: + self.get_logger().error('preview 模式需要 OpenCV（cv2）') + return 1 + if not self.image_topic: + self.get_logger().error('preview 模式需要 image_topic 或 camera_source') + return 1 + + times = list(self.get_parameter('waypoint_times').value) + positions = list(self.get_parameter('waypoint_positions').value) + n_j = len(self.joint_names) + n_pts = len(times) + if n_pts < 1: + self.get_logger().error('waypoint_times 为空') + return 1 + if len(positions) != n_pts * n_j: + self.get_logger().error( + f'waypoint_positions 长度 {len(positions)} != {n_pts}*{n_j}' + ) + return 1 + if self.start_index >= n_pts: + self.get_logger().error( + f'start_index {self.start_index} >= 路点总数 {n_pts}' + ) + return 1 + + if not self._client.wait_for_server(timeout_sec=15.0): + self.get_logger().error( + f'Action [{self.action_name}] 不可用。' + '请先启动整套栈：bash scripts/run_real.sh' + ) + return 2 + + csv_file = None + csv_writer: Optional[csv.writer] = None + if self.log_csv: + path = Path(self.log_csv).expanduser() + path.parent.mkdir(parents=True, exist_ok=True) + csv_file = path.open('w', newline='', encoding='utf-8') + csv_writer = csv.writer(csv_file) + csv_writer.writerow( + ['index', 'utc_iso', 'move_duration_s'] + + [f'target_{n}' for n in self.joint_names] + + [f'measured_{n}' for n in self.joint_names] + ) + self.get_logger().info(f'正在记录采集数据 → {path}') + + if self.capture_mode == 'preview': + print(PREVIEW_HELP_GUI if self._cv_gui else PREVIEW_HELP_HEADLESS) + + self.get_logger().info( + f'手眼标定：{n_pts} 个位姿，start={self.start_index}，' + f'v_scale={self.velocity_scale}，dwell={self.dwell_sec}s，' + f'mode={self.capture_mode}' + ) + self.get_logger().warn( + '清理工作空间；让棋盘保持在视野内。Ctrl+C 可中止。' + ) + + win = 'handeye_preview' + try: + for i in range(self.start_index, n_pts): + q = positions[i * n_j : (i + 1) * n_j] + move_t = max(1.0, float(times[i])) + self.get_logger().info( + f'[{i + 1}/{n_pts}] 移动中（约 {move_t:.1f}s）...' + ) + code = self._move_one(q, move_t) + if code != 0: + return code + + measured = self._read_joints() + self._announce_capture(i, n_pts, q, measured) + + if csv_writer is not None and csv_file is not None: + csv_writer.writerow( + [i, datetime.now(timezone.utc).isoformat(), move_t] + + list(q) + + list(measured if measured else [float('nan')] * n_j) + ) + csv_file.flush() + + if not self._wait_capture(i, n_pts): + self.get_logger().info('用户已中止') + return 0 + + # 在 preview 模式下确认后，保存示教关节 + if self.capture_mode == 'preview': + taught = self._read_joints() + if taught: + self._save_taught_pose(i, taught) + finally: + if csv_file is not None: + csv_file.close() + if cv2 is not None: + try: + cv2.destroyWindow(win) + except Exception: # noqa: BLE001 + pass + + self.get_logger().info('手眼标定路点序列执行完毕') + if self.append_poses_file and self.capture_mode == 'preview': + self.get_logger().info( + f'示教位姿已保存 → {self.append_poses_file}' + ) + return 0 + + def _save_taught_pose(self, index: int, joints: List[float]) -> None: + line = ', '.join(f'{v:.6f}' for v in joints[:7]) + ',' + print(f'# pose {index}') + print(line) + if not self.append_poses_file: + return + path = Path(self.append_poses_file).expanduser() + path.parent.mkdir(parents=True, exist_ok=True) + with path.open('a', encoding='utf-8') as f: + f.write(f'# pose {index}\n') + f.write(line + '\n') + self.get_logger().info(f'已保存位姿 {index} → {path}') + + def _move_one(self, positions: List[float], duration: float) -> int: + goal = FollowJointTrajectory.Goal() + goal.joint_names = self.joint_names + goal.num_points = 1 + goal.velocity_scale = self.velocity_scale + goal.positions = list(positions) + goal.time_from_start = [float(duration)] + + send = self._client.send_goal_async(goal) + if not self._wait_future(send, 10.0, '发送目标'): + return 3 + handle = send.result() + if handle is None or not handle.accepted: + self.get_logger().error('目标被拒绝') + return 4 + + res_fut = handle.get_result_async() + if not self._wait_future(res_fut, max(60.0, duration * 3.0), '结果'): + return 5 + result = res_fut.result().result + if not result.success: + self.get_logger().error(f'移动失败：{result.message}') + return 6 + return 0 + + def _wait_future(self, fut, timeout: float, label: str) -> bool: + deadline = time.monotonic() + timeout + while rclpy.ok() and not fut.done(): + rclpy.spin_once(self, timeout_sec=0.05) + if time.monotonic() > deadline: + self.get_logger().error(f'等待 {label} 超时') + return False + return fut.done() + + def _read_joints(self) -> Optional[List[float]]: + if not self._get_state.wait_for_service(timeout_sec=0.5): + return None + fut = self._get_state.call_async(GetArmState.Request()) + if not self._wait_future(fut, 2.0, 'get_arm_state'): + return None + res = fut.result() + if res is None or not res.success: + return None + return list(res.joint_positions) + + def _announce_capture( + self, + index: int, + n_pts: int, + target: List[float], + measured: Optional[List[float]], + ) -> None: + msg = String() + msg.data = f'capture:{index}:{n_pts}' + self._capture_pub.publish(msg) + q_str = ', '.join(f'{v:.4f}' for v in (measured or target)) + if self.capture_mode == 'preview': + self.get_logger().info( + f'[{index + 1}/{n_pts}] 已到位 —— 用 Free Drive 调整，然后按 Enter/Space' + ) + else: + self.get_logger().info( + f'[{index + 1}/{n_pts}] 已到位 —— 现在采集 q=[{q_str}]' + ) + + def _wait_capture(self, index: int, n_pts: int) -> bool: + if self.capture_mode == 'preview': + return self._wait_preview(index, n_pts) + + if self.capture_mode in ('key', 'keypress', 'manual'): + self.get_logger().info( + '采集完成后按 Enter（q+Enter 退出）...' + ) + for _ in range(5): + rclpy.spin_once(self, timeout_sec=0.05) + line = sys.stdin.readline() + if not line or line.strip().lower() in ('q', 'quit', 'exit'): + return False + return True + + end = time.monotonic() + max(0.0, self.dwell_sec) + while rclpy.ok() and time.monotonic() < end: + rclpy.spin_once(self, timeout_sec=0.05) + return rclpy.ok() + + def _annotate_preview( + self, bgr: np.ndarray, index: int, n_pts: int + ) -> np.ndarray: + vis = bgr.copy() + if cv2 is None: + return vis + cv2.putText( + vis, + f'位姿 {index + 1}/{n_pts}', + (12, 28), + cv2.FONT_HERSHEY_SIMPLEX, + 0.7, + (0, 255, 0), + 2, + ) + cv2.putText( + vis, + 'Free Drive 拖拽 | Enter=下一个 q=退出', + (12, 56), + cv2.FONT_HERSHEY_SIMPLEX, + 0.6, + (0, 255, 255), + 2, + ) + return vis + + def _publish_preview(self, bgr: np.ndarray) -> None: + msg = Image() + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = 'camera' + msg.height, msg.width = bgr.shape[0], bgr.shape[1] + msg.encoding = 'bgr8' + msg.is_bigendian = 0 + msg.step = msg.width * 3 + msg.data = array.array('B', bgr.tobytes()) # 快速路径；用 bytes 会多花约 40 ms + self._preview_pub.publish(msg) + + def _wait_preview(self, index: int, n_pts: int) -> bool: + if self._cv_gui: + return self._wait_preview_opencv(index, n_pts) + return self._wait_preview_terminal(index, n_pts) + + def _wait_preview_terminal(self, index: int, n_pts: int) -> bool: + confirmed = threading.Event() + quit_req = threading.Event() + + def _stdin_reader() -> None: + try: + line = sys.stdin.readline() + except Exception: # noqa: BLE001 + quit_req.set() + return + if not line or line.strip().lower() in ('q', 'quit', 'exit'): + quit_req.set() + else: + confirmed.set() + + self.get_logger().info( + f'[{index + 1}/{n_pts}] 用 Free Drive 调整，然后按 Enter ' + '（q+Enter 退出）' + ) + reader = threading.Thread(target=_stdin_reader, daemon=True) + reader.start() + + no_frame_warn = False + while rclpy.ok(): + rclpy.spin_once(self, timeout_sec=0.05) + if confirmed.is_set(): + return True + if quit_req.is_set(): + return False + if not reader.is_alive() and not confirmed.is_set() and not quit_req.is_set(): + return False + + bgr = self._latest_bgr + if bgr is None: + if not no_frame_warn: + self.get_logger().warn( + f'正在等待 {self.image_topic} ...', + throttle_duration_sec=3.0, + ) + no_frame_warn = True + continue + vis = self._annotate_preview(bgr, index, n_pts) + self._publish_preview(vis) + return False + + def _wait_preview_opencv(self, index: int, n_pts: int) -> bool: + assert cv2 is not None + win = 'handeye_preview' + cv2.namedWindow(win, cv2.WINDOW_NORMAL) + + no_frame_warn = False + while rclpy.ok(): + rclpy.spin_once(self, timeout_sec=0.02) + bgr = self._latest_bgr + if bgr is None: + if not no_frame_warn: + self.get_logger().warn( + f'正在等待 {self.image_topic} ...', + throttle_duration_sec=3.0, + ) + no_frame_warn = True + key = cv2.waitKey(30) & 0xFF + else: + vis = self._annotate_preview(bgr, index, n_pts) + self._publish_preview(vis) + cv2.imshow(win, vis) + key = cv2.waitKey(30) & 0xFF + + if key in (13, 10, 32): + return True + if key in (27, ord('q'), ord('Q')): + return False + return False + + +def main(args=None) -> None: + rclpy.init(args=args) + node = HandeyeWaypoints() + code = 1 + try: + code = node.run() + except KeyboardInterrupt: + code = 0 + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + raise SystemExit(code) + + +if __name__ == '__main__': + main() diff --git a/src/arm_application/arm_application/move_to_pose_client.py b/src/arm_application/arm_application/move_to_pose_client.py new file mode 100644 index 0000000..2a55ac5 --- /dev/null +++ b/src/arm_application/arm_application/move_to_pose_client.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 +"""``arm_msgs/action/MoveToPose``（笛卡尔目标）的示例客户端。 + +等你有了 MoveIt 或自己的 IK 求解 action server 后，把它接上去即可。 +""" + +from __future__ import annotations + +import sys + +import rclpy +from rclpy.action import ActionClient +from rclpy.node import Node +from geometry_msgs.msg import PoseStamped + +from arm_msgs.action import MoveToPose + +from arm_application.ros_node import TolerantNode + + +class MoveToPoseClient(TolerantNode): + def __init__(self) -> None: + super().__init__('move_to_pose_client') + self._client = ActionClient(self, MoveToPose, 'move_to_pose') + + def send(self, x: float, y: float, z: float) -> None: + if not self._client.wait_for_server(timeout_sec=5.0): + self.get_logger().error( + 'move_to_pose action 不可用。' + '请启动一个实现了它的笛卡尔规划器（例如 MoveIt）。' + ) + return + + goal = MoveToPose.Goal() + goal.target_pose = PoseStamped() + goal.target_pose.header.frame_id = 'base_link' + goal.target_pose.header.stamp = self.get_clock().now().to_msg() + goal.target_pose.pose.position.x = x + goal.target_pose.pose.position.y = y + goal.target_pose.pose.position.z = z + # 单位姿态（不旋转） + goal.target_pose.pose.orientation.w = 1.0 + goal.velocity_scale = 0.3 + goal.acceleration_scale = 0.3 + goal.avoid_collisions = True + + self.get_logger().info(f'发送笛卡尔目标：({x:.3f}, {y:.3f}, {z:.3f})') + future = self._client.send_goal_async(goal) + rclpy.spin_until_future_complete(self, future) + handle = future.result() + if handle is None or not handle.accepted: + self.get_logger().error('目标被拒绝') + return + + result_future = handle.get_result_async() + rclpy.spin_until_future_complete(self, result_future) + result = result_future.result().result + self.get_logger().info(f'success={result.success} msg={result.message}') + + +def main(args=None) -> None: + rclpy.init(args=args) + node = MoveToPoseClient() + # 默认演示位姿；可通过命令行覆盖：x y z + vals = [0.35, 0.0, 0.35] + if len(sys.argv) >= 4: + vals = [float(sys.argv[1]), float(sys.argv[2]), float(sys.argv[3])] + node.send(*vals) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/src/arm_application/arm_application/overhead_oneshot.py b/src/arm_application/arm_application/overhead_oneshot.py index fa1d3b1..1edb4b5 100644 --- a/src/arm_application/arm_application/overhead_oneshot.py +++ b/src/arm_application/arm_application/overhead_oneshot.py @@ -45,6 +45,11 @@ from arm_application.path_profile import ( # 伺服和测试从本模块再导 # 上一跳实际少走这么多，就认定冻结 J 在当前姿态走不动，不许按同一剩差再刷。 D435_MIN_PROGRESS_FRAC = 0.40 +# SwitchMode 返回不等于已经进 primitive。连试仍失败必须让一阶段立刻中止， +# 不许空等 150s 装成"还在粗定位"（2026-10-16 17:27）。 +D435_MOVEL_RETRY = 3 +D435_MOVEL_RETRY_S = 0.3 +D435_MOVEL_GAVE_UP = "厂家 MoveL 连试 3 次没走成" def best_det_conf(dets: Optional[Iterable]) -> Optional[float]: @@ -154,16 +159,27 @@ def d405_commands_arm( ) -> bool: """D405 这一帧的点能不能下发给左臂。 - 推理一直开着。正在用 D435 那一个点时，进程内 MoveL 结束并且停稳之前不下发。 - 停稳用 ``d435_handback_sec`` 和 ``lock_still_move_m``。赶路时 XY 已经进 15 mm - 也不算到位。不许在 MoveL 期间下发 D405（两套控制互抢会晃）。 - ``move_only``：只测 D435 位移，D405 点一律不下发（到位之后也不交）。 + 推理从启动就开着。没有高置信度目标、或 D435 厂家 MoveL 还没结束、 + 法兰还没连续停稳时，这帧**不下发**（输出截断，不许拿去控臂）。 + 厂家移动结束并且法兰停稳（``settled``，时长是 ``d435_handback_sec``） + 之后才放行，伺服用它追工件框的矩形中心。框心对准停稳后才进精拍下臂。 + ``move_only``：只测 D435 位移，D405 点一律不下发。 """ if move_only: return False - if not using_d435: - return True - return bool(arrived) and bool(settled) + if using_d435: + return bool(arrived) and bool(settled) + return True + + +def retract_goal_z(z_now: float, z_target: float) -> float: + """收臂目标 Z：已经高于目标就钉在当前高度，不许为了追 5 mm 往下补。 + + 2026-10-16：贴面 MoveL 之后 JTC 还握着悬停关节，收臂 hop1 计划 +5 mm + 实际抬了 18–25 mm；hop2 把「抬过头」当成误差 ``Δz=−13 mm`` 往回压， + 看起来就是进孔再弹出。抬过了 = 成功。 + """ + return max(float(z_now), float(z_target)) def oneshot_needs_verticalize( @@ -625,6 +641,24 @@ def d435_movel_from_tcp(tcp_xyz, flange_xy, k0_xy): return out +def movel_tcp_z_only(tcp_xyz, delta_z_m: float): + """厂家 MoveL 目标：当前 TCP 的 XY 原样，只加 ``delta_z_m``。 + + 一段直线。WORLD 绝对坐标不能另算，只能在厂家 TCP 上加这一段。 + ``delta_z_m`` 为正是上升，为负是下降。接近 0 或非有限数返回 None。 + """ + try: + t = np.asarray(tcp_xyz, dtype=float).reshape(3) + dz = float(delta_z_m) + except (TypeError, ValueError): + return None + if t.size != 3 or not np.all(np.isfinite(t)) or not np.isfinite(dz): + return None + if abs(dz) < 1e-6: + return None + return np.array([float(t[0]), float(t[1]), float(t[2]) + dz], dtype=float) + + def once_ff_movel_from_tcp(tcp_xyz, dxy, descent_m: float): """厂家 MoveL 目标 = 当前 Studio TCP + (ΔXY, −下降) [m]。 @@ -672,10 +706,60 @@ def hole_pair_span_ok(span_m: float) -> bool: def flange_z_for_gap_m(tip_len_m: float, surface_z_m: float, gap_m: float) -> float: - """规尖离面 ``gap_m`` 时的法兰 Z [m]。与轻降几何同一条式子。""" + """规尖离面 ``gap_m`` 时的法兰 Z [m]。与轻降几何同一条式子。 + + ``gap_m`` 为正是停在面上；为负是规尖进入孔口（上表面以下）。 + """ return float(tip_len_m) + float(surface_z_m) + float(gap_m) +# 工件板厚 12mm。进孔超过这个值会朝下表面穿，直接拒绝，不改成更浅再走。 +HOLE_ENTRY_MAX_M = 0.008 + + +def insert_target_gap_m(final_gap_m: float, hole_entry_m: float) -> float: + """插孔停在哪 [m]。``hole_entry_m`` > 0 时规尖在工件上表面以下这么深；否则停在面上 ``final_gap_m``。""" + entry = float(hole_entry_m) + if entry > 1e-9: + return -entry + return float(final_gap_m) + + +def hole_entry_refusal( + entry_m: float, + tool_len_m: float, + surface_z_m: float, + z_min_m: float, + z_max_m: float, +) -> str: + """进孔深度能不能用。空串表示可以（含 0 = 不进孔）。非空就是拒绝原因。""" + entry = float(entry_m) + if not np.isfinite(entry): + return "进孔深度不是有限数，拒绝开跑" + if entry < -1e-9: + return f"进孔深度 {entry * 1000:.1f}mm < 0，拒绝开跑" + if entry <= 1e-9: + return "" + if entry > HOLE_ENTRY_MAX_M + 1e-9: + return ( + f"进孔深度 {entry * 1000:.1f}mm 超过 {HOLE_ENTRY_MAX_M * 1000:.0f}mm" + "（板厚 12mm，不许穿出下表面），拒绝开跑" + ) + tool = float(tool_len_m) + surf = float(surface_z_m) + if tool <= 0.0 or surf <= 0.0: + return "写了进孔深度，但工具长度或工件面未知，无法确认尖端进了多深，拒绝开跑" + flange = flange_z_for_gap_m(tool, surf, -entry) + z_lo = float(z_min_m) + z_hi = float(z_max_m) + if flange < z_lo - 1e-6 or flange > z_hi + 1e-6: + return ( + f"进孔法兰 Z {flange:.3f}m（面上再进 {entry * 1000:.1f}mm）" + f"超出工作盒 Z [{z_lo:.3f}, {z_hi:.3f}]，拒绝开跑" + ) + return "" + + def final_gap_refusal( gap_m: float, tool_len_m: float, diff --git a/src/arm_application/arm_application/perception_node.py b/src/arm_application/arm_application/perception_node.py index cb94271..21510b1 100644 --- a/src/arm_application/arm_application/perception_node.py +++ b/src/arm_application/arm_application/perception_node.py @@ -105,7 +105,7 @@ class PerceptionNode(TolerantNode): self.declare_parameter("image_topic", "") self.declare_parameter("camera_info_topic", "") self.declare_parameter("depth_topic", "/d405/aligned_depth_to_color/image_raw") - self.declare_parameter("weights", "models/yolo/gongjian0929.onnx") + self.declare_parameter("weights", "/home/cc/ros2/models/yolo/gongjian0929.onnx") self.declare_parameter("conf", 0.10) self.declare_parameter("iou", 0.45) self.declare_parameter("imgsz", 640) @@ -336,9 +336,7 @@ class PerceptionNode(TolerantNode): r_pos=float(self.get_parameter("kf_r_pos").value), ) - from arm_application.site_io import resolve_repo_path - - weights_raw = resolve_repo_path(str(self.get_parameter("weights").value)) + weights_raw = str(self.get_parameter("weights").value) weights = str(resolve_weights(weights_raw, self.backend_name)) yolo_cfg = { "weights": weights, @@ -1141,8 +1139,8 @@ class PerceptionNode(TolerantNode): filt[2] = z_use self._last_filt = filt.copy() - if handoff: - # 画面里没有 conf≥门槛的目标：绿框可以留，三维点不许发 —— 伺服会拿去追。 + if handoff or self._d435_commanding: + # 没有高置信度，或 D435 厂家移动还没交接：推理留着，控制点不许发。 return self._publish_point(filt, stamp) self.get_logger().info( @@ -1427,15 +1425,11 @@ class PerceptionNode(TolerantNode): self._z_locked = bool(msg.data) def _on_d435_commanding(self, msg: Bool) -> None: - """伺服还在执行 D435 那一个点时，不再提交下一张。 + """伺服还在执行 D435 那一个点时，不再提交下一张，D405 控制点也不发。 - 这一段结束（到位并停稳）后清掉「已拍过」，漏检重新计 0.5 s。 + 这一轮已经拍过并走完。停稳后打开 D405 框心，不因交接瞬间漏检再 MoveL。 """ - commanding = bool(msg.data) - if self._d435_commanding and not commanding: - self._oneshot_shot = False - self._low_since = None - self._d435_commanding = commanding + self._d435_commanding = bool(msg.data) def _publish_overhead_k0(self, p_base: np.ndarray, is_k0: bool) -> None: pt = PointStamped() diff --git a/src/arm_application/arm_application/pipeline_node.py b/src/arm_application/arm_application/pipeline_node.py index ecf0756..e8b3d95 100644 --- a/src/arm_application/arm_application/pipeline_node.py +++ b/src/arm_application/arm_application/pipeline_node.py @@ -1,27 +1,39 @@ #!/usr/bin/env python3 -"""跟踪锁定 → 孔定位。搜孔轻压已取消，本节点不再下压搜孔。 +"""三阶段串联：视觉跟踪锁定 → 孔定位 → 搜孔并轻轻按压（默认不拧入）。 流畅性（相对 bash 杀进程再起节点）： - 相机 / 触觉 / 手眼 TF 全程只起一次 - 一阶段锁定后 SIGTERM 跟踪节点，立刻 pin 当前关节，不回零、不抬臂 - - 二阶段已垂直 / 已在悬停高则跳过对应动作；对准完就停，不再下压搜孔 - - 旋入不在这个节点里 + - 二阶段已垂直 / 已在悬停高则跳过对应动作；对准完立刻下压搜孔 + - 找到孔位后力闭环轻压保持；拧入是后续阶段（--depth 才插入） """ from __future__ import annotations import json +import math import os import subprocess import time -from typing import Optional +from pathlib import Path +from typing import Optional, Tuple import numpy as np import rclpy from geometry_msgs.msg import PointStamped -from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy -from std_msgs.msg import Bool, String +from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy +from std_msgs.msg import Bool, Float32MultiArray, String +from trajectory_msgs.msg import JointTrajectory +from arm_application.gauge_gripper import states_frame_online +from arm_application.gauge_kin import ( + a7_limit_target, + match_limits, + parse_joint_limits, +) +from arm_application.overhead_oneshot import D435_MOVEL_GAVE_UP, movel_tcp_z_only +from arm_application.site_io import load_site_dict, ros2_root +from arm_application.stage2_locate_node import _pt from arm_application.stage3_search_node import Stage3Search @@ -37,6 +49,99 @@ from arm_application.stage3_search_node import Stage3Search TRACK_CLEARANCE_M = 0.05 #: 悬停时规尖离面已经不少于这个值 [m]，一阶段就锁在悬停高，对孔完成后再下降。 TRACK_LOCK_GAP_M = 0.040 +#: ``fill_nrt_limits`` 的关节速度上限 [rad/s]。再快的指令会被钳住，时间到了关节还没到。 +NRT_VMAX_RAD_S = 0.90 +#: 两点、两端速度为 0 的三次样条，峰速是平均速度的 1.5 倍。 +CUBIC_PEAK_OVER_AVG = 1.5 +#: 空回按这个角速度请求。真正排程用 :func:`a7_move_duration_s`，峰速不超过上面的上限。 +A7_MAX_SPEED_DEG_S = math.degrees(NRT_VMAX_RAD_S) + + +def a7_move_duration_s(delta_rad: float, speed_deg_s: float) -> float: + """A7 这一段该排多长 [s]。 + + 平均速度按请求来。峰速若会超过 ``NRT_VMAX_RAD_S``，就把平均速度降到上限的 + 1/1.5，让样条峰速刚好顶到上限。2026-10-19 空回按 52°/s 排 6.6s，峰速被钳住， + 到位时还差 35°。 + """ + dist = abs(float(delta_rad)) + v_req = math.radians(max(float(speed_deg_s), 1.0)) + v_avg = min(v_req, NRT_VMAX_RAD_S / CUBIC_PEAK_OVER_AVG) + if v_avg <= 1e-6: + return 0.8 + return max(0.8, dist / v_avg) + + +# 合爪位置命令是 0。和 ``pos`` 的到位带同一宽度。 +CLOSE_POS_TOL = 40.0 +#: 首轮咬合结束之后，第三步整段重复的次数。 +#: +#: 一轮 = 张开到 ``unwind_open_permille``、微抬 ``unwind_lift_mm``、逆时针到限位、 +#: 按本轮实测上抬量降回、合爪、顺时针到限位。抬和降都在轮内，不许拿到循环外面 +#: 只做一次。固定 4，不进 site.yaml：这是工序次数，不是现场标定值。 +UNWIND_ROUNDS = 4 + + +def unwind_round_label(index: int, total: int = UNWIND_ROUNDS) -> str: + """第几轮的日志前缀。``index`` 从 1 计到 ``total``。 + + 越界直接抛错。打出「第 0/4 轮」或「第 5/4 轮」会让人以为流程多走或少走了。 + """ + n = int(total) + i = int(index) + if n != UNWIND_ROUNDS or not 1 <= i <= n: + raise ValueError( + f"空回轮次只能是 1–{UNWIND_ROUNDS}（固定 {UNWIND_ROUNDS} 轮），" + f"收到 index={index} total={total}" + ) + return f"空回第{i}/{n}轮" + + +def close_ready(grip: int, pos: float, tol: float = CLOSE_POS_TOL) -> bool: + """合爪之后能不能接着顺时针转 A7。 + + 大寰 ``0x0201``：力先到是 2（夹住），位置先到命令值是 1（到位）。 + 这几次合到 0 时规还在两指间，位置先到，固件写 1，只认 2 就永远不转。 + 手指已经在合拢端（``pos`` 不超过 ``tol``）就继续。还停在张开位则不转。 + """ + g = int(grip) + if g == 2: + return True + return g == 1 and float(pos) <= float(tol) + + +def gripper_wait_timeout_reason( + action: str, + timeout_s: float, + last: Optional[Tuple[int, float]], + *, + saw_any: bool, + saw_offline: bool, +) -> str: + """等夹爪状态超时后，到底该报哪一句。 + + 2026-10-20 三连实测都卡在这里：读 ``0x0201`` 一连 264 次无应答，节点 + 不再发状态，流水线把「总线读不到」显示成「夹爪没到位」，而臂停在原地 + 没做微抬。三种情况必须分开说，否则查的方向完全相反： + + * ``last`` 有值 → 真收到过有效帧，就是没到位； + * 只有离线帧 → 总线读不回来，不是没张开； + * 一帧都没有 → 节点没在发（崩了 / 没起 / 话题名不对）。 + """ + if last is not None: + return ( + f"夹爪 {action} 后 {timeout_s:.0f}s 未到位" + f"（grip={last[0]} pos={last[1]:.0f}），A7 不再转" + ) + if saw_offline: + return ( + f"夹爪 {action} 后 {timeout_s:.0f}s 读不到状态（/gripper/states " + "只有离线帧，Modbus 无应答），不是夹爪没张开。A7 不再转" + ) + return ( + f"夹爪 {action} 后 {timeout_s:.0f}s 一帧 /gripper/states 都没收到" + f"（节点没在发，saw_any={saw_any}），A7 不再转" + ) def init_z_refusal( @@ -69,6 +174,19 @@ def init_z_refusal( return "" +def hold_at_insert_z(final, *, skip3: bool) -> bool: + """贴面已经按 ``final_gap_mm`` 停下时，不再进三阶段。 + + 三阶段开局会抬到悬高上方测触觉，再落回 ``hole_hover_z_m``。 + 没有接触传感器。到位高度就是这次的贴面间隙，不另设一个 Z。 + """ + if skip3: + return True + if not isinstance(final, dict): + return False + return bool(final.get("insert_held")) + + def track_lock_z(hover_z: float, tool_len_m: float, surface_z_m: float) -> float: """一阶段锁高。 @@ -84,6 +202,20 @@ def track_lock_z(hover_z: float, tool_len_m: float, surface_z_m: float) -> float return hover + TRACK_CLEARANCE_M +def stage1_log_fatal(log_path: str) -> str: + """一阶段日志里已经写明失败时，不许再空等锁定。空串 = 还没到这一步。""" + try: + text = Path(log_path).read_text(encoding="utf-8", errors="replace") + except OSError: + return "" + if D435_MOVEL_GAVE_UP in text: + return ( + f"D435 {D435_MOVEL_GAVE_UP}（RDK 控制模式没切到 primitive），" + f"一阶段中止。不是视野/标定。看 {log_path}" + ) + return "" + + def stage1_timeout_reason(points_seen: int, timeout_s: float, log_path: str) -> str: """一阶段超时了，到底是"感知没给点"还是"给了点但没收敛"。 @@ -98,6 +230,9 @@ def stage1_timeout_reason(points_seen: int, timeout_s: float, log_path: str) -> 以前两种情况共用一句"没锁定（视野里没工件？）"，于是"perception_node 因为缺依赖早退了"被读成"算法不收敛"，白查半天。 """ + fatal = stage1_log_fatal(log_path) + if fatal: + return fatal if points_seen <= 0: return ( f"一阶段 {timeout_s:.0f}s 没锁定：**一个视觉目标点都没收到**" @@ -122,16 +257,34 @@ class AssemblyPipeline(Stage3Search): # 在图上必须是另一个节点名（否则 ros2 node list 里两个同名的节点， # 出问题时连"是哪条流程在发指令"都分不清）。 super().__init__(node_name=node_name) + self.declare_parameter("run_a7_after_insert", True) self.declare_parameter("skip_stage1", False) self.declare_parameter("skip_stage2", False) - self.declare_parameter("skip_stage3", True) # 搜孔轻压已取消，写成 false 也不再下压 + self.declare_parameter("skip_stage3", False) # 默认搜孔+轻压；拧入靠 --depth self.declare_parameter("d435_move_only", False) self.declare_parameter("init_z_m", -1.0) # >0：启动后先到这个法兰高度 self.declare_parameter("stage1_timeout_sec", 150.0) + self.declare_parameter("completion_linger_sec", 15.0) + self.completion_linger = float(self.get_parameter("completion_linger_sec").value) + if not 0. <= self.completion_linger <= 60.: + raise ValueError("completion_linger_sec must be in 0..60") self.linger3 = 1.2 # 串联结束短保持；单独跑 stage3 仍用 site linger_sec self._s1: Optional[subprocess.Popen] = None self._locked = False + self._robot_description: Optional[str] = None + # robot_state_publisher 用 TRANSIENT_LOCAL 只发一次。默认 VOLATILE + # 订阅在它之后才起来，3s 内一条都收不到，A7 会因“没有限位”拒绝旋转。 + self.create_subscription( + String, + "/robot_description", + self._on_pipeline_robot_description, + QoSProfile( + depth=1, + durability=DurabilityPolicy.TRANSIENT_LOCAL, + reliability=ReliabilityPolicy.RELIABLE, + ), + ) self.create_subscription(Bool, "/visual_servo/locked", self._on_lock, 10) # 诊断用：一阶段超时时靠它区分"感知没给点"和"给了点没收敛"。 # 只计数，不参与控制 —— 它绝不能影响流程本身的判断。 @@ -175,6 +328,376 @@ class AssemblyPipeline(Stage3Search): self._state_pub.publish(msg) self._pipe_pub.publish(msg) + def _on_pipeline_robot_description(self, msg: String) -> None: + self._robot_description = str(msg.data) + + def _a7_limits(self, timeout_s: float = 3.0) -> Optional[Tuple[float, float]]: + """A7 软件限位。来自 ``/robot_description`` 的 joint7，与厂家 ``q_min/q_max`` 同一对。""" + t0 = time.monotonic() + while self._robot_description is None and time.monotonic() - t0 < timeout_s: + self._spin(0.05) + if not self._robot_description: + self.get_logger().error("拿不到 /robot_description，A7 没有限位，拒绝旋转") + return None + got = match_limits( + parse_joint_limits(self._robot_description), [self.joint_names[-1]] + ) + if got is None: + self.get_logger().error( + f"/robot_description 里没有 {self.joint_names[-1]} 的限位，拒绝旋转" + ) + return got + + def _send_a7_only(self, a7_rad: float, speed_deg_s: float, tag: str) -> bool: + """只下发 A7。前六轴用这一拍的当前角，厂家 ``SendJointPosition`` 收到的也是这一组。""" + q, Tee = self._wait_state(5.0) + if q is None or Tee is None or int(q.size) != 7: + self.get_logger().error(f"{tag}: 拿不到 7 轴关节，不下发") + return False + z0 = float(Tee[2, 3]) + q_hold = q.copy() + q_hold[6] = float(a7_rad) + delta = float(q_hold[6] - q[6]) + dur = a7_move_duration_s(delta, speed_deg_s) + avg_deg_s = abs(math.degrees(delta)) / dur if dur > 1e-6 else 0.0 + zeros = np.zeros(q.size) + traj = JointTrajectory() + traj.header.stamp.sec = 0 + traj.header.stamp.nanosec = 0 + traj.joint_names = list(self.joint_names) + traj.points = [_pt(q, zeros, 0.2), _pt(q_hold, zeros, 0.2 + dur)] + self.get_logger().info( + f"{tag}: A7 {math.degrees(float(q[6])):+.1f}° → " + f"{math.degrees(float(q_hold[6])):+.1f}°，" + f"请求 {speed_deg_s:.0f}°/s，样条平均 {avg_deg_s:.0f}°/s、{dur:.1f}s" + f"（峰速不超过 {NRT_VMAX_RAD_S:.2f} rad/s），前六轴不动，法兰 Z={z0:.4f}m" + ) + if not self._send_action(traj, wait_s=dur + 8.0): + return False + q2, Tee2 = self._wait_state(5.0) + if q2 is None or Tee2 is None: + self.get_logger().error(f"{tag}: 走完读不到关节") + return False + others = float(np.max(np.abs(q2[:6] - q[:6]))) + dz = abs(float(Tee2[2, 3]) - z0) + a7_err = abs(float(q2[6] - q_hold[6])) + self.get_logger().info( + f"{tag}: 前六轴最大偏差 {others:.4f} rad，" + f"法兰 ΔZ={dz * 1000:.1f}mm，A7 残差 {math.degrees(a7_err):.1f}°" + ) + if others > 0.02: + self.get_logger().error(f"{tag}: 前六轴动了 {others:.3f} rad，中止") + return False + if dz > 0.003: + self.get_logger().error(f"{tag}: 法兰 Z 变了 {dz * 1000:.1f}mm，中止") + return False + if a7_err > 0.05: + self.get_logger().error( + f"{tag}: A7 还差 {math.degrees(a7_err):.1f}°，没到限位内侧" + ) + return False + self._pin(q2) + return True + + def _shift_flange_z(self, delta_m: float, tag: str) -> Optional[float]: + """厂家 MoveL 一段，只改 TCP 的 Z。返回实测 ΔZ [m]；失败返回 None。 + + 不走关节小跳。姿态用当前 TCP 欧拉角，XY 用当前厂家 TCP，不加别的位移。 + """ + self._spin(0.05) + tcp0 = self._fresh_tcp_world() + q, Tee = self._wait_state(2.0) + if tcp0 is None or q is None or Tee is None: + self.get_logger().error(f"{tag}: 没有厂家 TCP，拒绝用关节小跳凑 Z") + return None + target = movel_tcp_z_only(tcp0, delta_m) + if target is None: + self.get_logger().error(f"{tag}: MoveL 的 Z 目标算不出") + return None + fx0, fy0, fz0 = float(Tee[0, 3]), float(Tee[1, 3]), float(Tee[2, 3]) + self.get_logger().info( + f"{tag}: 厂家 MoveL 一段 TCP " + f"({float(tcp0[0]):.4f},{float(tcp0[1]):.4f},{float(tcp0[2]):.4f})" + f" → ({target[0]:.4f},{target[1]:.4f},{target[2]:.4f}) " + f"只改 Z {float(delta_m) * 1000:+.2f}mm，vel=10mm/s，" + f"过渡区 ZFine，到位等级 1" + ) + # 厂家默认 Z50（50mm）和等级 3 会在还差约 0.5mm 时就报完成。 + ok = self._vendor_movel_tcp(target, 0.010, zone="ZFine", toler=1) + q2, Tee2 = self._wait_state(0.5) + self._spin(0.05) + tcp1 = self._fresh_tcp_world() + if not ok or q2 is None or Tee2 is None or tcp1 is None: + self.get_logger().error(f"{tag}: 厂家 MoveL 没完成，中止") + return None + tcp_xy = math.hypot(float(tcp1[0]) - float(tcp0[0]), float(tcp1[1]) - float(tcp0[1])) + dz = float(tcp1[2]) - float(tcp0[2]) + fl_xy = math.hypot(float(Tee2[0, 3]) - fx0, float(Tee2[1, 3]) - fy0) + fl_dz = float(Tee2[2, 3]) - fz0 + self.get_logger().info( + f"{tag}: 厂家TCP ΔXY={tcp_xy * 1000:.2f}mm ΔZ={dz * 1000:+.2f}mm；" + f"法兰 ΔXY={fl_xy * 1000:.2f}mm ΔZ={fl_dz * 1000:+.2f}mm" + ) + if tcp_xy > 0.001 or fl_xy > 0.001: + self.get_logger().error( + f"{tag}: XY 动了 TCP {tcp_xy * 1000:.2f}mm / 法兰 {fl_xy * 1000:.2f}mm，中止" + ) + return None + self._pin(q2) + return dz + + def _arm_short_id(self) -> str: + """当前臂号。与 ``export_site_env.arm_short_id`` 一样，取 SN 末两位。""" + short = os.environ.get("SITE_ROBOT_SHORT_ID", "").strip() + if short: + return short + sn = str( + self.get_parameter("robot_sn").value + or os.environ.get("SITE_ROBOT_SN") + or "" + ).strip() + tail = sn.rsplit("-", 1)[-1] + if tail.isdigit() and len(tail) >= 2: + return tail[-2:] + return "" + + def _gripper_cli(self, action: str, value: str = "") -> bool: + """左平行爪。``close`` 合拢；``pos`` 走到 0–1000 的指定开度，不全开。 + + 脚本返回只说明命令已交给 ``/gripper/ctrl``。没在状态里看到目标开度或夹住， + 就不许接着转 A7。 + """ + short = self._arm_short_id() + if not short: + self.get_logger().error("不知道当前臂号，拒绝开合夹爪") + return False + if action == "close": + extra: list[str] = [] + elif action == "pos": + try: + pos = int(value) + except (TypeError, ValueError): + pos = -1 + if pos < 0 or pos > 1000: + self.get_logger().error(f"夹爪位置只接受 0–1000，收到 {value!r}") + return False + extra = [str(pos)] + else: + self.get_logger().error(f"夹爪命令只接受 pos/close，收到 {action}") + return False + script = ros2_root() / "scripts" / "run_gripper.sh" + cmd = ["bash", str(script), "--arm", short, "--cli", action, *extra] + # 第一次状态没跟上就再发一次。2026-10-20 合爪命令已发布，节点被串口 + # flush 堵住 120s 才执行，8s 时手指还停在张开位，这一轮就停了。 + for attempt in (1, 2): + self.get_logger().info("夹爪：" + " ".join(cmd)) + try: + proc = subprocess.run( + cmd, capture_output=True, text=True, timeout=30, check=False + ) + except subprocess.TimeoutExpired: + self.get_logger().error(f"夹爪 {action} 30s 没有返回，A7 不再转") + return False + text = ((proc.stdout or "") + "\n" + (proc.stderr or "")).strip() + if text: + tail = " | ".join(text.splitlines()[-4:]) + self.get_logger().info(f"夹爪脚本：{tail}") + if proc.returncode != 0: + self.get_logger().error( + f"夹爪 {action} 失败 exit={proc.returncode}，A7 不再转" + ) + return False + if self._wait_gripper(action, value, final=(attempt == 2)): + return True + if attempt == 1: + self.get_logger().warn(f"夹爪 {action} 状态没跟上，再发一次命令") + return False + + def _wait_gripper( + self, action: str, value: str = "", timeout_s: float = 8.0, *, final: bool = True + ) -> bool: + """``/gripper/states``：``pos`` 要停在目标附近；合爪见 :func:`close_ready`。 + + 离线帧（第 6 位为 0，前 5 个是上一次的值）不算数：读不到总线时 + 必须报"读不到状态"，不能报成"夹爪没到位"。 + """ + box: dict = {"data": None} + + def _on_state(msg: Float32MultiArray) -> None: + box["data"] = list(msg.data) + + sub = self.create_subscription(Float32MultiArray, "/gripper/states", _on_state, 10) + t0 = time.monotonic() + last = None + saw_any = False + saw_offline = False + try: + while time.monotonic() - t0 < timeout_s: + self._spin(0.05) + data = box["data"] + if not data or len(data) < 3: + continue + saw_any = True + if not states_frame_online(data): + saw_offline = True + continue + grip = int(data[1]) + pos = float(data[2]) + last = (grip, pos) + if action == "pos" and grip != 0 and abs(pos - float(value)) <= 40.0: + self.get_logger().info( + f"夹爪已到 pos={pos:.0f}（目标 {value}，不全开）" + ) + return True + if action == "close" and close_ready(grip, pos): + if grip == 2: + self.get_logger().info(f"夹爪已夹住 pos={pos:.0f}") + else: + self.get_logger().info( + f"夹爪已合拢 pos={pos:.0f}（固件报到位）。继续顺时针。" + ) + return True + finally: + self.destroy_subscription(sub) + reason = gripper_wait_timeout_reason( + action, timeout_s, last, saw_any=saw_any, saw_offline=saw_offline + ) + if final: + self.get_logger().error(reason) + else: + self.get_logger().warn(reason) + return False + + def _a7_to_limit( + self, limits, direction: int, margin_deg: float, speed: float, tag: str + ) -> bool: + """只把 A7 转到这一侧限位内侧。前六轴和法兰 Z 的检查在 ``_send_a7_only``。""" + q, _Tee = self._wait_state(5.0) + if q is None: + self.get_logger().error(f"{tag}: 没有当前关节") + return False + target = a7_limit_target(q, limits, direction, float(margin_deg)) + if target is None: + self.get_logger().error(f"{tag}: 算不出 A7 限位目标") + return False + return self._send_a7_only(float(target[6]), speed, tag) + + def _run_a7_seat(self) -> bool: + """贴面后咬螺纹。只转 A7，法兰 XY 不动。 + + 前两步是首轮：逆时针到限位，再顺时针到限位。顺时针到位即首轮咬合结束。 + 第三步整段固定重复 :data:`UNWIND_ROUNDS` 轮。每一轮自己抬、自己记住、 + 自己降回；某一轮失败就停，后面的轮次不再做。 + """ + limits = self._a7_limits() + if limits is None: + return False + ga = load_site_dict().get("gauge_assembly") or {} + try: + margin = float(ga["extreme_margin_deg"]) + ccw = int(ga["extreme_direction"]) + lift_mm = float(ga["unwind_lift_mm"]) + open_permille = int(ga["unwind_open_permille"]) + seat_cw_deg_s = float(ga["extreme_speed_deg_s"]) + except (KeyError, TypeError, ValueError) as exc: + self.get_logger().error( + f"site.yaml gauge_assembly 缺 A7 旋转参数（{exc}），拒绝旋转" + ) + return False + if ccw not in (-1, 1): + self.get_logger().error( + f"extreme_direction 只能是 +1/-1，收到 {ccw}，拒绝旋转" + ) + return False + if not (0.0 < lift_mm <= 5.0): + self.get_logger().error( + f"unwind_lift_mm 只接受 0–5mm 的微抬，收到 {lift_mm}，拒绝旋转" + ) + return False + if not (0 < open_permille <= 1000): + self.get_logger().error( + f"unwind_open_permille 只接受 1–1000，收到 {open_permille}，拒绝旋转" + ) + return False + if not (0.0 < seat_cw_deg_s <= 90.0): + self.get_logger().error( + f"extreme_speed_deg_s 只接受 0–90°/s，收到 {seat_cw_deg_s}，拒绝旋转" + ) + return False + # extreme_direction 是逆时针的符号。第一步出孔走接口上限，第二步顺时针 + # 进孔用 extreme_speed_deg_s（现场 10°/s）。空回轮次里的正反转仍是上限。 + if not self._a7_to_limit( + limits, ccw, margin, A7_MAX_SPEED_DEG_S, "A7 逆时针至极限（出孔）" + ): + return False + if not self._a7_to_limit( + limits, -ccw, margin, seat_cw_deg_s, "A7 顺时针至极限（进孔）" + ): + return False + self._state("首轮咬合结束") + self.get_logger().info("首轮咬合结束：A7 已顺时针转到限位。") + self.get_logger().info( + f"第三步空回固定重复 {UNWIND_ROUNDS} 轮。每一轮：张开到 {open_permille}、" + f"微抬 {lift_mm:.1f}mm、逆时针到限位、按本轮记住的上抬量降回、合爪、顺时针到限位。" + ) + # 抬和降必须在轮内：每轮的下降量用这一轮实测的上抬，不能用上一轮的数。 + for rnd in range(1, UNWIND_ROUNDS + 1): + label = unwind_round_label(rnd) + self._state(label) + self.get_logger().info(f"{label} 开始") + if not self._gripper_cli("pos", str(open_permille)): + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + dz_up = self._shift_flange_z(lift_mm / 1000.0, f"{label} 空回前微抬") + if dz_up is None: + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + if dz_up < (lift_mm / 1000.0) * 0.6: + self.get_logger().error( + f"{label} 空回前微抬只做到 {dz_up * 1000:.2f}mm，" + f"不到指令 {lift_mm:.1f}mm 的六成，不空转" + ) + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + self.get_logger().info( + f"{label} 记住上抬 {dz_up * 1000:.2f}mm。本轮空回后按这一段下降，XY 不动。" + ) + if not self._a7_to_limit( + limits, ccw, margin, A7_MAX_SPEED_DEG_S, + f"{label} A7 逆时针至极限（松爪回转）", + ): + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + dz_down = self._shift_flange_z(-dz_up, f"{label} 空回后降回") + if dz_down is None: + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + if abs(dz_down + dz_up) > 0.0005: + self.get_logger().error( + f"{label} 下降 {dz_down * 1000:.2f}mm 和记住的上抬 " + f"{dz_up * 1000:.2f}mm 不一致，不合爪" + ) + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + if not self._gripper_cli("close"): + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + if not self._a7_to_limit( + limits, -ccw, margin, A7_MAX_SPEED_DEG_S, + f"{label} A7 顺时针至极限（夹紧再进）", + ): + self.get_logger().error(f"{label} 没走完，后面的轮次不再做") + return False + self.get_logger().info( + f"{label} 完成：张开到 {open_permille}、上抬 {dz_up * 1000:.2f}mm、" + f"下降 {dz_down * 1000:.2f}mm、合爪、顺时针到限位。" + f"进度 {rnd}/{UNWIND_ROUNDS}。" + ) + self.get_logger().info( + f"空回 {UNWIND_ROUNDS}/{UNWIND_ROUNDS} 轮全部完成。" + ) + return True + def _on_lock(self, msg: Bool) -> None: if bool(msg.data): self._locked = True @@ -276,7 +799,7 @@ class AssemblyPipeline(Stage3Search): f"启动一阶段跟踪（锁高 {lock_z:.3f}m，锁定后自动交二阶段）" ) self._s1 = subprocess.Popen( - cmd, stdout=logf, stderr=subprocess.STDOUT, start_new_session=False, + cmd, stdout=logf, stderr=subprocess.STDOUT, start_new_session=True, ) timeout = float(self.get_parameter("stage1_timeout_sec").value) self._point_msgs = 0 @@ -285,6 +808,11 @@ class AssemblyPipeline(Stage3Search): self._spin(0.1) if self._locked: break + fatal = stage1_log_fatal(log_path) + if fatal: + self._stop_stage1() + self.get_logger().error(fatal) + return 1 if self._s1.poll() is not None: self.get_logger().error(f"一阶段进程提前退出，看 {log_path}") return 1 @@ -310,9 +838,7 @@ class AssemblyPipeline(Stage3Search): def run(self) -> int: skip1 = bool(self.get_parameter("skip_stage1").value) skip2 = bool(self.get_parameter("skip_stage2").value) - if not bool(self.get_parameter("skip_stage3").value): - self.get_logger().info("搜孔轻压已取消，忽略要求重新打开它的参数") - skip3 = True + skip3 = bool(self.get_parameter("skip_stage3").value) if self.d435_move_only: skip2 = True skip3 = True @@ -342,28 +868,64 @@ class AssemblyPipeline(Stage3Search): if code != 0: self.get_logger().error(f"二阶段失败 exit={code}，停在当前位姿") return code - self.get_logger().info( - f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm" - " — 搜孔已取消，停在这里。旋入请另跑。" - ) + stay = hold_at_insert_z(final, skip3=skip3) + if stay and final.get("insert_held"): + self.get_logger().info( + f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm — " + f"插孔停在法兰 Z={final.get('flange_z_m')}m，" + f"规尖离面 {final.get('tip_gap_mm')}mm" + f"（目标 {final.get('commanded_gap_mm')}mm，" + f"来自 {final.get('insert_z_source')}）。" + "没有接触传感器，不另设 Z，不抬回悬高。" + ) + else: + self.get_logger().info( + f"二阶段 OK 残差 {final.get('residual_mm', -1)}mm" + + ( + " — 跳过搜孔，停在观测高度（看规尖是否对中；进程退出后臂保持）" + if skip3 + else " — 立刻下压搜孔并轻压（不拧入）" + ) + ) else: self._state("skip_stage2") + stay = hold_at_insert_z(final, skip3=skip3) - if skip3: + if stay: self._state("skip_stage3") if self.d435_move_only: self.get_logger().info( "D435 位移测试结束 —— 臂停在当前高度，不交 D405、不对孔；" - "15s 后本进程退出，臂保持不动" + f"结果发布 {self.completion_linger:g}s 后退出，臂保持不动" ) + elif isinstance(final, dict) and final.get("insert_held") and bool(self.get_parameter("run_a7_after_insert").value): + if q is not None: + self._pin(q) + self.get_logger().info( + "插孔已停在贴面高度，不进搜孔、不抬回悬高。" + "接着只转 A7：先逆时针到限位（接口最快），再顺时针到限位" + "（首轮咬合，用 extreme_speed_deg_s）。" + f"然后下面这一整段固定重复 {UNWIND_ROUNDS} 轮：" + "平行爪只张开到指定开度、微抬 Z、最快逆时针回限位、" + "按本轮记住的上抬量降回、合爪、再最快顺时针到限位。" + "某一轮没走完就停，后面的轮次不再做。" + ) + if not self._run_a7_seat(): + self.get_logger().error( + "A7 旋转没走完，臂停在当前关节。不抬 Z。" + ) + failed = String() + failed.data = json.dumps({"ok": False, "stage": "pipeline", "exit": 2, "error": "A7 旋转未完成"}, ensure_ascii=False) + self._pipe_result.publish(failed) + return 2 else: self.get_logger().info( "搜孔已取消 —— 臂停在当前高度。" - "15s 后本进程退出，臂保持不动" + f"结果发布 {self.completion_linger:g}s 后退出，臂保持不动" ) if final: self._publish_result(final) - self._linger_hold(final if final else {"ok": True}, seconds=15.0) + self._linger_hold(final if final else {"ok": True}, seconds=self.completion_linger) payload = {"ok": True, "stage": "pipeline", "exit": 0, "skipped": "stage3"} try: payload["stage2"] = json.loads( @@ -397,9 +959,9 @@ class AssemblyPipeline(Stage3Search): self._stop_stage1() -def main(args=None) -> None: +def main(args=None, node_factory=AssemblyPipeline) -> None: rclpy.init(args=args) - node = AssemblyPipeline() + node = node_factory() code = 2 try: code = node.run() diff --git a/src/arm_application/arm_application/pose_detector.py b/src/arm_application/arm_application/pose_detector.py index c050b3a..8a0dc3a 100644 --- a/src/arm_application/arm_application/pose_detector.py +++ b/src/arm_application/arm_application/pose_detector.py @@ -328,8 +328,16 @@ class PoseDetector: self.max_det = int(max_det) if path.suffix.lower() in {".engine", ".trt"}: - self._runner = _TrtRunner(path, device) - self.backend = "tensorrt" + try: + self._runner = _TrtRunner(path, device) + self.backend = "tensorrt" + except Exception as exc: + onnx = path.with_suffix(".onnx") + if not onnx.is_file(): + raise + logger.warning("TensorRT 加载失败（%s），改用 %s", exc, onnx) + self._runner = _OnnxRunner(onnx) + self.backend = "onnx" else: self._runner = _OnnxRunner(path) self.backend = "onnx" diff --git a/src/arm_application/arm_application/process_lifecycle.py b/src/arm_application/arm_application/process_lifecycle.py index ee14ba5..5240126 100644 --- a/src/arm_application/arm_application/process_lifecycle.py +++ b/src/arm_application/arm_application/process_lifecycle.py @@ -55,3 +55,33 @@ def stop_process_tree(proc, interrupt_timeout=4., terminate_timeout=2., kill_tim living=[pid for pid,started in owned.items() if _alive(pid,started)] if living:raise RuntimeError(f'受管子进程未退出：{living}') proc.wait(timeout=1) + + +def stop_owned_children(parent, interrupt_timeout=4., terminate_timeout=2., kill_timeout=1.): + """For a subreaper: stop/reap descendants, including adopted launch orphans.""" + if parent != os.getpid(): + raise ValueError('only the supervising process may reap its own children') + owned = {} + for sig, timeout in ((signal.SIGINT, interrupt_timeout), (signal.SIGTERM, terminate_timeout), + (signal.SIGKILL, kill_timeout)): + deadline = time.monotonic() + timeout + sent = set() + while True: + found = _descendants(parent) + found.pop(parent, None) + owned.update(found) + for pid, started in owned.items(): + if (pid, started) not in sent and _alive(pid, started): + try: os.kill(pid, sig) + except ProcessLookupError: pass + sent.add((pid, started)) + # Reap only our children, never wait for or signal unrelated processes. + while True: + try: + pid, _ = os.waitpid(-1, os.WNOHANG) + if pid == 0: break + except ChildProcessError: break + if not any(_alive(pid, started) for pid, started in owned.items()): return + if time.monotonic() >= deadline: break + time.sleep(.04) + raise RuntimeError('受管子进程清理未完成，拒绝报告任务结束') diff --git a/src/arm_application/arm_application/realsense_color_pub.py b/src/arm_application/arm_application/realsense_color_pub.py index c95b46a..5be4209 100644 --- a/src/arm_application/arm_application/realsense_color_pub.py +++ b/src/arm_application/arm_application/realsense_color_pub.py @@ -29,7 +29,7 @@ import rclpy from rcl_interfaces.msg import ParameterDescriptor from rclpy.node import Node from rclpy.qos import qos_profile_sensor_data -from sensor_msgs.msg import CameraInfo, Image +from sensor_msgs.msg import CameraInfo, Image, CompressedImage from std_msgs.msg import Float32MultiArray from arm_application.ros_node import TolerantNode, param_as_str @@ -49,6 +49,30 @@ USB_RESEAT_HINT = ( ) +def usb2_needs_reset(usb_desc: str) -> bool: + """USB2 枚举后 pipeline 能打开但不出帧；复位常能重新协商 SuperSpeed。""" + return str(usb_desc or '').startswith('2') + + +def stream_open_passes(want_depth: bool, want_infra: bool, usb2: bool): + """开流顺序：所有分辨率先试带深度，全部失败才退回纯彩色。 + + 旧逻辑在同一分辨率里 depth 失败就立刻 color-only。USB3 的 1280x720 + 深度偶尔 busy 一次，就会把已经能用的 640x480 深度丢掉，跟踪整段 + 150s 报「框心无深度」。 + """ + depth_modes = [] + if want_depth and want_infra and not usb2: + depth_modes.append((True, 'both')) + if want_depth and want_infra: + depth_modes.append((True, 'right')) + if want_depth: + depth_modes.append((True, 'none')) + if depth_modes: + yield 'depth', tuple(depth_modes) + yield 'color', ((False, 'none'),) + + def _fill_camera_info( msg: CameraInfo, width: int, height: int, fx, fy, cx, cy, frame_id: str, dist ) -> None: @@ -88,6 +112,7 @@ class RealsenseColorPub(TolerantNode): self.declare_parameter('height', 720) self.declare_parameter('fps', 15) self.declare_parameter('show_preview', False) + self.declare_parameter('preview_jpeg_quality', 95) self.declare_parameter('overlay_detection', True) self.declare_parameter('overlay_hold_sec', 1.5) self.declare_parameter('enable_depth', True) @@ -106,6 +131,7 @@ class RealsenseColorPub(TolerantNode): self._width = int(self.get_parameter('width').value) self._height = int(self.get_parameter('height').value) self._fps = int(self.get_parameter('fps').value) + self._requested_mode = (self._width, self._height, self._fps) self._show_preview = bool(self.get_parameter('show_preview').value) self._overlay_detection = bool(self.get_parameter('overlay_detection').value) self._overlay_hold_sec = float(self.get_parameter('overlay_hold_sec').value) @@ -136,6 +162,11 @@ class RealsenseColorPub(TolerantNode): self._img_pub = self.create_publisher( Image, f'{base}/image_raw', qos ) + from rclpy.qos import QoSProfile, ReliabilityPolicy + self._compressed_pub = self.create_publisher( + CompressedImage, f'{base}/preview/compressed', + QoSProfile(depth=1,reliability=ReliabilityPolicy.BEST_EFFORT)) + self._jpeg_quality = min(100, max(70, int(self.get_parameter('preview_jpeg_quality').value))) self._info_pub = self.create_publisher( CameraInfo, f'{base}/camera_info', qos ) @@ -181,6 +212,7 @@ class RealsenseColorPub(TolerantNode): self._pending = None self._last_frame_mono = 0.0 self._usb_desc = '' + self._usb_reset_attempted = False self._last_ok = None self._site_yaml = _site_yaml_path() self._site_mtime = 0.0 @@ -233,6 +265,28 @@ class RealsenseColorPub(TolerantNode): return d return devices[0] + def _recover_superspeed(self, device, rs): + """USB2 卡住时复位一次。设备其实在 USB3 口上时，常能重新协商到 5000M。""" + serial = self._serial or str(device.get_info(rs.camera_info.serial_number)) + usb = getattr(self, '_usb_desc', '?') + self.get_logger().warn( + f'{self._name} USB={usb} 无 SuperSpeed，复位一次以重新协商。' + + USB_RESEAT_HINT + ) + device.hardware_reset() + deadline = time.monotonic() + 8.0 + while time.monotonic() < deadline: + time.sleep(0.4) + for candidate in rs.context().devices: + try: + if candidate.get_info(rs.camera_info.serial_number) == serial: + recovered = str(candidate.get_info(rs.camera_info.usb_type_descriptor) or '') + self.get_logger().info(f'{self._name} 复位后 USB={recovered or "?"}') + return candidate + except Exception: + continue + raise RuntimeError(f'{self._name} 复位后未重新枚举，请拔插 USB') + def _reload_site_preview(self, stream_w: int = 0, stream_h: int = 0) -> None: """不重启就能读到新的 overlay_hold_sec（宽高变了则给出警告）。""" path = self._site_yaml @@ -290,18 +344,28 @@ class RealsenseColorPub(TolerantNode): h, w = bgr.shape[0], bgr.shape[1] stamp = self.get_clock().now().to_msg() - img = Image() - img.header.stamp = stamp - img.header.frame_id = self._frame_id - img.height = h - img.width = w - img.encoding = 'bgr8' - img.is_bigendian = 0 - img.step = w * 3 - # array.array('B', ...) 会走 setter 的快路径 —— 直接传 bytes 会触发 - # 逐元素的 debug 检查，在这里每帧要多花约 40 ms。 - img.data = array.array('B', np.ascontiguousarray(bgr).tobytes()) - self._img_pub.publish(img) + # Keep full raw images for perception. The UI consumes its own lightweight + # preview channel, so raw multi-megabyte UDP bursts no longer feed the UI. + if self._img_pub.get_subscription_count(): + img = Image() + img.header.stamp = stamp + img.header.frame_id = self._frame_id + img.height, img.width = h, w + img.encoding = 'bgr8' + img.is_bigendian = 0 + img.step = w * 3 + img.data = array.array('B', np.ascontiguousarray(bgr).tobytes()) + self._img_pub.publish(img) + if self._compressed_pub.get_subscription_count(): + import cv2 + ok, encoded = cv2.imencode('.jpg', bgr, [cv2.IMWRITE_JPEG_QUALITY,self._jpeg_quality]) + if ok: + preview = CompressedImage() + preview.header.stamp = stamp + preview.header.frame_id = self._frame_id + preview.format = 'bgr8; jpeg compressed bgr8' + preview.data = array.array('B', encoded.tobytes()) + self._compressed_pub.publish(preview) info = CameraInfo() info.header.stamp = stamp @@ -369,6 +433,14 @@ class RealsenseColorPub(TolerantNode): except Exception: # noqa: BLE001 usb_desc = '?' self._usb_desc = usb_desc + if usb2_needs_reset(usb_desc) and not self._usb_reset_attempted: + self._usb_reset_attempted = True + found = self._recover_superspeed(found, rs) + try: + usb_desc = str(found.get_info(rs.camera_info.usb_type_descriptor)) + except Exception: + usb_desc = '?' + self._usb_desc = usb_desc usb2 = usb_desc.startswith('2') cam_name = '' try: @@ -379,6 +451,8 @@ class RealsenseColorPub(TolerantNode): f'{cam_name} serial={self._serial or "?"} USB={usb_desc} ' f'requested {self._width}x{self._height}@{self._fps}Hz' ) + # A temporary USB2 fallback must not overwrite the requested USB3 mode. + self._width, self._height, self._fps = self._requested_mode if usb2: # 只在 480Mbps 口上才降。实测（2026-09-28）640x480@15 彩色+深度 # 可以稳定跑满 15fps；但 1280x720@30 在 USB2 上物理不可能 @@ -392,11 +466,9 @@ class RealsenseColorPub(TolerantNode): want = (self._width, self._height, self._fps) last = self._last_ok if reconnect: - candidates = [] - if last: + candidates = [want] + if last and last != want and not usb2: candidates.append(last) - if want not in candidates: - candidates.append(want) if (640, 480, 15) not in candidates: candidates.append((640, 480, 15)) else: @@ -408,7 +480,15 @@ class RealsenseColorPub(TolerantNode): ] if usb2: candidates = [(640, 480, 15), (640, 480, 5), (424, 240, 15)] - # 丢弃固件里的垃圾模式（848@90 之类），它们会 ioctl 失败并卡死 USB。 + color_modes, depth_modes = set(), set() + for sensor in found.query_sensors(): + for stream in sensor.get_stream_profiles(): + if not stream.is_video_stream_profile(): continue + video = stream.as_video_stream_profile() + mode = (video.width(), video.height(), stream.fps()) + if stream.stream_type() == rs.stream.color: color_modes.add(mode) + if stream.stream_type() == rs.stream.depth: depth_modes.add(mode) + # Verify against this exact serial's enumerated profiles, including D435 1080p. seen = set() trimmed = [] for item in candidates: @@ -417,7 +497,7 @@ class RealsenseColorPub(TolerantNode): w, h, fps = item if fps not in (5, 15, 30): continue - if w * h > 1280 * 720: + if (w, h, fps) not in color_modes: continue seen.add(item) trimmed.append(item) @@ -436,78 +516,84 @@ class RealsenseColorPub(TolerantNode): # USB3：先尝试真正的 IR-L+IR-R（共享立体自动曝光）。彩色+IR-L 在 D405 上 # 经常失败 —— 那就退回 IR-R + 把彩色当左目（观感不同，且不共享自动曝光）。 - def _modes(): - if want_depth and want_infra and not usb2: - yield True, 'both' - if want_depth and want_infra: - yield True, 'right' - if want_depth: - yield True, 'none' - yield False, 'none' - - for w, h, fps in candidates: - for with_depth, infra_mode in _modes(): - try: - trial = rs.config() - if self._serial: - trial.enable_device(self._serial) - trial.enable_stream(rs.stream.color, w, h, rs.format.bgr8, fps) - if with_depth: - trial.enable_stream( - rs.stream.depth, w, h, rs.format.z16, fps - ) - if infra_mode in ('both', 'left'): - trial.enable_stream( - rs.stream.infrared, 1, w, h, rs.format.y8, fps - ) - if infra_mode in ('both', 'right'): - trial.enable_stream( - rs.stream.infrared, 2, w, h, rs.format.y8, fps - ) - # 回调里只留最新一帧。wait_for_frames 会等彩色、深度、红外齐套， - # 场景一动红外对不齐，彩色帧就在这里被丢掉。 - profile = pipe.start(trial, self._on_sdk_frame) - have_depth = with_depth - have_infra = infra_mode != 'none' - self._infra_mode = infra_mode - if (w, h, fps) != want: - self.get_logger().warn( - f'请求 {want[0]}x{want[1]}@{want[2]}Hz ' - f'→ 改用 {w}x{h}@{fps}Hz' - ) - if want_depth and not with_depth: - self.get_logger().warn( - f'{w}x{h}@{fps}Hz 彩色+深度失败 —— 只用彩色' - ) - elif want_infra and infra_mode == 'none': - self.get_logger().warn( - f'{w}x{h}@{fps}Hz 立体 IR 失败 —— 改用彩色+深度预览' - ) - elif infra_mode == 'both': - self.get_logger().info( - f'{w}x{h}@{fps}Hz 立体 IR-L+IR-R（共享自动曝光）+ 深度' - ) - elif infra_mode == 'right': - self.get_logger().info( - f'{w}x{h}@{fps}Hz IR-L=彩色灰度，IR-R=原始 IR ' - '（明暗不同 —— 这不是两路自动曝光）' - ) - self._width, self._height, self._fps = w, h, fps - self._last_ok = (w, h, fps) + for pass_name, modes in stream_open_passes(want_depth, want_infra, usb2): + if pass_name == 'color' and want_depth: + self.get_logger().warn( + '所有分辨率的彩色+深度都失败，才退回纯彩色；跟踪会没有深度' + ) + for w, h, fps in candidates: + for with_depth, infra_mode in modes: + attempts = 3 if with_depth else 1 + for attempt in range(attempts): + try: + trial = rs.config() + if self._serial: + trial.enable_device(self._serial) + trial.enable_stream(rs.stream.color, w, h, rs.format.bgr8, fps) + dw, dh, dfps = w, h, fps + if with_depth: + from arm_application.camera_profiles import depth_profile + dw, dh, dfps = depth_profile((w,h,fps), depth_modes) + trial.enable_stream(rs.stream.depth, dw, dh, rs.format.z16, dfps) + if infra_mode in ('both', 'left'): + trial.enable_stream( + rs.stream.infrared, 1, dw, dh, rs.format.y8, dfps + ) + if infra_mode in ('both', 'right'): + trial.enable_stream( + rs.stream.infrared, 2, dw, dh, rs.format.y8, dfps + ) + # 回调里只留最新一帧。wait_for_frames 会等彩色、深度、红外齐套， + # 场景一动红外对不齐，彩色帧就在这里被丢掉。 + profile = pipe.start(trial, self._on_sdk_frame) + have_depth = with_depth + have_infra = infra_mode != 'none' + self._infra_mode = infra_mode + if with_depth: + self.get_logger().info(f'native streams color={w}x{h}@{fps}, depth={dw}x{dh}@{dfps}') + if (w, h, fps) != want: + self.get_logger().warn( + f'请求 {want[0]}x{want[1]}@{want[2]}Hz ' + f'→ 改用 {w}x{h}@{fps}Hz' + ) + if want_depth and not with_depth: + self.get_logger().warn( + f'{w}x{h}@{fps}Hz 彩色+深度失败 —— 只用彩色' + ) + elif want_infra and infra_mode == 'none': + self.get_logger().warn( + f'{w}x{h}@{fps}Hz 立体 IR 失败 —— 改用彩色+深度预览' + ) + elif infra_mode == 'both': + self.get_logger().info( + f'{w}x{h}@{fps}Hz 立体 IR-L+IR-R（共享自动曝光）+ 深度' + ) + elif infra_mode == 'right': + self.get_logger().info( + f'{w}x{h}@{fps}Hz IR-L=彩色灰度，IR-R=原始 IR ' + '（明暗不同 —— 这不是两路自动曝光）' + ) + self._width, self._height, self._fps = w, h, fps + self._last_ok = (w, h, fps) + break + except Exception as exc: # noqa: BLE001 + last_err = exc + kind = f'color+depth+IR-{infra_mode}' if with_depth else 'color' + extra = f'（第 {attempt+1}/{attempts} 次）' if attempts > 1 else '' + self.get_logger().warn(f'{w}x{h}@{fps}Hz {kind} 失败{extra}：{exc}') + profile = None + have_depth = False + have_infra = False + try: + pipe.stop() + except Exception: # noqa: BLE001 + pass + time.sleep(0.8) + pipe = rs.pipeline() + if profile is not None: + break + if profile is not None: break - except Exception as exc: # noqa: BLE001 - last_err = exc - kind = f'color+depth+IR-{infra_mode}' if with_depth else 'color' - self.get_logger().warn(f'{w}x{h}@{fps}Hz {kind} 失败：{exc}') - profile = None - have_depth = False - have_infra = False - try: - pipe.stop() - except Exception: # noqa: BLE001 - pass - time.sleep(0.8) - pipe = rs.pipeline() if profile is not None: break if profile is None: @@ -520,8 +606,9 @@ class RealsenseColorPub(TolerantNode): try: sensor = profile.get_device().first_color_sensor() if sensor.supports(rs.option.frames_queue_size): - # 队列只留最新一张，避免越积越慢，动起来画面还停在旧帧。 - sensor.set_option(rs.option.frames_queue_size, 1) + # SDK buffer pool must accommodate frames retained by alignment. + # The application mailbox still keeps only the latest frame. + sensor.set_option(rs.option.frames_queue_size, 4) except Exception: # noqa: BLE001 pass self._have_depth = have_depth @@ -744,6 +831,8 @@ class RealsenseColorPub(TolerantNode): def _publish_loop(self) -> None: got = False while self._running and rclpy.ok(): + # Release SDK buffers before waiting; idle references must not starve capture. + item = frames = aligned = depth = color = ir_l = ir_r = depth_u16 = None if self._pipe is None: if not self._reconnect(): time.sleep(2.0) @@ -960,6 +1049,10 @@ def main(args=None) -> None: except KeyboardInterrupt: pass finally: + # Supervisors may send SIGINT through both parent and child. Do not let + # a second interrupt skip DDS cleanup and leave ghost publishers behind. + import signal + signal.signal(signal.SIGINT, signal.SIG_IGN) node._running = False if node._pipe is not None: try: diff --git a/src/arm_application/arm_application/run_joint_trajectory.py b/src/arm_application/arm_application/run_joint_trajectory.py new file mode 100644 index 0000000..771b9ac --- /dev/null +++ b/src/arm_application/arm_application/run_joint_trajectory.py @@ -0,0 +1,174 @@ +#!/usr/bin/env python3 +"""通过 ``/follow_joint_trajectory`` 发送多点关节轨迹（真机 + mock 都适用）。""" + +from __future__ import annotations + +import time + +import rclpy +from rclpy.action import ActionClient +from rclpy.node import Node + +from arm_application.site_io import joint_prefix_default +from arm_msgs.action import FollowJointTrajectory + +from arm_application.ros_node import TolerantNode + +DEFAULT_JOINTS = [ + 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', +] +NUM_JOINTS = 7 +# 扁平化存放的位置（3 个点 x 7 个关节）+ 时间 —— ROS 参数不支持列表套字典 +DEFAULT_TIMES = [3.0, 6.0, 9.0] +DEFAULT_POSITIONS = [ + 0.0, -0.698, 0.0, 1.57, 0.0, 0.698, 0.0, + 0.35, -0.698, 0.35, 1.57, 0.0, 0.698, 0.0, + 0.0, -0.698, 0.0, 1.57, 0.0, 0.698, 0.0, +] + + +class RunJointTrajectory(TolerantNode): + def __init__(self) -> None: + super().__init__('run_joint_trajectory') + self.declare_parameter('joint_prefix', joint_prefix_default()) + self.declare_parameter('joint_names', DEFAULT_JOINTS) + self.declare_parameter('velocity_scale', 0.15) + self.declare_parameter('action_name', 'follow_joint_trajectory') + self.declare_parameter('waypoint_times', DEFAULT_TIMES) + self.declare_parameter('waypoint_positions', DEFAULT_POSITIONS) + # 1 = 只跑一次（默认）；0 = 循环直到 Ctrl+C；N = 重复 N 次 + self.declare_parameter('loop_count', 1) + self.declare_parameter('pause_between_loops', 0.5) + + prefix = str(self.get_parameter('joint_prefix').value or '') + base = list( + self.get_parameter('joint_names').get_parameter_value().string_array_value + or DEFAULT_JOINTS + ) + self.joint_names = [f'{prefix}{n}' for n in base] + self.velocity_scale = float(self.get_parameter('velocity_scale').value) + action = str(self.get_parameter('action_name').value) + self._action_name = action + self._client = ActionClient(self, FollowJointTrajectory, action) + + def run(self) -> int: + if not self._client.wait_for_server(timeout_sec=15.0): + self.get_logger().error( + f'Action [{self._action_name}] 不可用。' + '请先启动真机栈：bash scripts/run_real.sh' + ) + return 1 + + times = list(self.get_parameter('waypoint_times').value) + positions = list(self.get_parameter('waypoint_positions').value) + n_j = len(self.joint_names) + n_pts = len(times) + if n_pts < 1: + self.get_logger().error('waypoint_times 为空') + return 1 + if len(positions) != n_pts * n_j: + self.get_logger().error( + f'waypoint_positions 长度 {len(positions)} != ' + f'{n_pts} 个点 x {n_j} 个关节 = {n_pts * n_j}' + ) + return 1 + + goal = FollowJointTrajectory.Goal() + goal.joint_names = self.joint_names + goal.num_points = n_pts + goal.velocity_scale = self.velocity_scale + goal.positions = positions + goal.time_from_start = [float(t) for t in times] + + loop_count = int(self.get_parameter('loop_count').value) + pause = float(self.get_parameter('pause_between_loops').value) + duration = goal.time_from_start[-1] + if loop_count == 0: + self.get_logger().info( + f'循环模式：{goal.num_points} 个点，约 {duration:.1f}s/圈 ' + f'（Ctrl+C 停止）' + ) + elif loop_count > 1: + self.get_logger().info( + f'循环模式：{loop_count} 圈，{goal.num_points} 个点，' + f'约 {duration:.1f}s/圈' + ) + else: + self.get_logger().info( + f'发送 {goal.num_points} 个点，v_scale={goal.velocity_scale}，' + f'时长={duration:.1f}s' + ) + + iteration = 0 + while rclpy.ok(): + iteration += 1 + if loop_count > 1: + self.get_logger().info(f'第 {iteration}/{loop_count} 圈') + + code = self._send_once(goal, duration) + if code != 0: + return code + + if loop_count == 1: + self.get_logger().info('完成：OK') + return 0 + if loop_count > 1 and iteration >= loop_count: + self.get_logger().info(f'完成：已跑完 {loop_count} 圈') + return 0 + if pause > 0: + time.sleep(pause) + + def _send_once(self, goal: FollowJointTrajectory.Goal, duration: float) -> int: + send = self._client.send_goal_async(goal) + deadline = time.monotonic() + 10.0 + while rclpy.ok() and not send.done(): + rclpy.spin_once(self, timeout_sec=0.05) + if time.monotonic() > deadline: + self.get_logger().error('发送目标超时') + return 2 + handle = send.result() + if handle is None or not handle.accepted: + self.get_logger().error('目标被拒绝') + return 3 + + res_fut = handle.get_result_async() + deadline = time.monotonic() + max(120.0, duration * 3.0) + next_log = time.monotonic() + 10.0 + while rclpy.ok() and not res_fut.done(): + rclpy.spin_once(self, timeout_sec=0.05) + now = time.monotonic() + if now >= next_log: + left = max(0.0, deadline - now) + self.get_logger().info( + f'正在执行轨迹（计划约 {duration:.0f}s），' + f'等待机器人……（剩余超时 {left:.0f}s）' + ) + next_log = now + 10.0 + if now > deadline: + self.get_logger().error('等待结果超时') + return 4 + result = res_fut.result().result + if not result.success: + self.get_logger().error(f'失败：{result.message}') + return 5 + self.get_logger().info(f'本圈结束：{result.message or "OK"}') + return 0 + + +def main(args=None) -> None: + rclpy.init(args=args) + node = RunJointTrajectory() + code = 1 + try: + code = node.run() + except KeyboardInterrupt: + code = 0 + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + raise SystemExit(code) + + +if __name__ == '__main__': + main() diff --git a/src/arm_application/arm_application/servo_node.py b/src/arm_application/arm_application/servo_node.py index e9674f7..10eb349 100644 --- a/src/arm_application/arm_application/servo_node.py +++ b/src/arm_application/arm_application/servo_node.py @@ -50,6 +50,9 @@ from arm_application.geom_ik import ( ) from arm_application.handeye_lib import cam_point_to_base, cam_to_base_T from arm_application.overhead_oneshot import ( + D435_MOVEL_GAVE_UP, + D435_MOVEL_RETRY, + D435_MOVEL_RETRY_S, D435_NEAR_CRUISE_MPS, D435_SETTLE_S, D435_VENDOR_MOVEL_VEL_MPS, @@ -126,7 +129,7 @@ class ServoNode(TolerantNode): self.declare_parameter("point_topic", "visual_servo/filtered_point") # 默认值只作兜底：真机运行一定由 launch 传入 site.yaml 的 paths.handeye_file。 # 指向 /tmp 是历史遗留（标定临时产物），会让人误以为"标定结果在那里"。 - self.declare_parameter("handeye_file", "handeye/results/89_eye_in_hand.yaml") + self.declare_parameter("handeye_file", "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml") # eye_in_hand = cam→法兰；eye_to_hand = cam→基座。写错会把固定相机当腕部用。 self.declare_parameter("handeye_mode", "eye_in_hand") self.declare_parameter("use_static_handeye_tf", False) @@ -224,8 +227,7 @@ class ServoNode(TolerantNode): self.declare_parameter("lock_hold_sec", 2.0) # D405 跟住后法兰静止多久进二阶段。哨兵 -1 = 没从 site 接入。 # lock_still_sec 仍须从 site 接上（缺了就报错）。 - # 交回 D405：进程内 MoveL 到位后，再叠 d435_handback_sec（法兰 XY 停稳）。 - # 旧杀栈冷启动曾把这 3s 垫在控制器重启后面；不杀栈后只留机械停稳。 + # 厂家 MoveL 结束后，法兰连续停稳 d435_handback_sec 才打开 D405 框心。 self.declare_parameter("lock_still_sec", -1.0) self.declare_parameter("d435_handback_sec", -1.0) self.declare_parameter("wrist_align_sec", -1.0) @@ -329,7 +331,7 @@ class ServoNode(TolerantNode): and self.wrist_handoff_conf >= 0.0 and self.overhead_hold_s >= 0.0 ) - # 框心对准进对孔用 wrist_align_sec。D435 交回只用 d435_handback_sec，两段不要合成一个数。 + # 框心对准进精拍用 wrist_align_sec。D435 交接只用 d435_handback_sec，两段不要合成一个数。 self._still = StillLock( still_sec=max(0.0, self.wrist_align_sec), still_move_m=max(0.0, self.lock_still_move_m), @@ -342,7 +344,8 @@ class ServoNode(TolerantNode): self._d435_vendor_done = False self._d435_vendor_busy = False self._d435_vendor_failed = False - self._d435_joint_fallback = False + self._d435_vendor_tries = 0 + self._d435_retry_after = 0.0 self._d435_settled = False self._d435_exec_until = 0.0 self._d435_pinned = False @@ -375,10 +378,9 @@ class ServoNode(TolerantNode): self.ws_min = np.array([float(v) for v in ws_min[:3]], dtype=float) self.ws_max = np.array([float(v) for v in ws_max[:3]], dtype=float) - from arm_application.site_io import resolve_repo_path - - handeye_path = resolve_repo_path(str(self.get_parameter("handeye_file").value)) - self.T_cam_to_gripper = load_handeye_T(handeye_path) + self.T_cam_to_gripper = load_handeye_T( + str(self.get_parameter("handeye_file").value) + ) self.handeye_mode = str( self.get_parameter("handeye_mode").value or "eye_in_hand" ).strip().lower() @@ -401,7 +403,7 @@ class ServoNode(TolerantNode): t_he = np.asarray(self.T_cam_to_gripper[:3, 3], dtype=float) axis_z = float(np.clip(R_he[2, 2], -1.0, 1.0)) self._cam_tilt_deg = float(np.degrees(np.arccos(axis_z))) - he_path = handeye_path + he_path = str(self.get_parameter("handeye_file").value) if self.handeye_mode == "eye_to_hand": self.get_logger().warn( f"HANDEYE yaml={he_path} mode=eye_to_hand " @@ -710,7 +712,8 @@ class ServoNode(TolerantNode): self._d435_vendor_done = False self._d435_vendor_busy = False self._d435_vendor_failed = False - self._d435_joint_fallback = False + self._d435_vendor_tries = 0 + self._d435_retry_after = 0.0 self._overhead_t = now_m self._last_seen_time = now_m self._stamp_sec = now_sec @@ -734,7 +737,8 @@ class ServoNode(TolerantNode): self._d435_vendor_done = False self._d435_vendor_busy = False self._d435_vendor_failed = False - self._d435_joint_fallback = False + self._d435_vendor_tries = 0 + self._d435_retry_after = 0.0 self._publish_d435_commanding(True) self.get_logger().info( f"D435 一次性设定 feat_base=({p_base[0]:.3f},{p_base[1]:.3f},{p_base[2]:.3f}) " @@ -762,9 +766,9 @@ class ServoNode(TolerantNode): settled=settled, move_only=self.d435_move_only, ): - # 推理服务不关。这一帧的点不下发给臂，目标仍是 D435 那一个点。 + # 推理不关。没到「法兰停稳」之前，这帧不能进运动控制。 self.get_logger().info( - "D435 位置还没到并且停稳，D405 这帧不下发", + "D405 输出已截断：D435 厂家移动还没结束或法兰还没停稳", throttle_duration_sec=1.0, ) return @@ -1106,13 +1110,7 @@ class ServoNode(TolerantNode): elif self.ee_z_m > 0.0: ex = ey = 0.0 r_xy_raw = 0.0 - # 还没到锁高、XY 未解锁时，误差被清成 0 只是为了先别动。 - # 不能据此把死区标志打成真，否则下一拍会把“还没对准”当成已对准。 - if self.ee_z_m > 0.0 and not self._xy_armed: - xy_dead = True - self._xy_in_dead = False - else: - xy_dead = self._xy_deadzone(r_xy_raw) + xy_dead = self._xy_deadzone(r_xy_raw) clip_xy = max(0.03, float(self.e_xy_clip)) r_xy = r_xy_raw if r_xy > clip_xy: @@ -1416,9 +1414,12 @@ class ServoNode(TolerantNode): return geometric_jacobian(link_R, link_p, p_ee, RIZON_LINK_AXES) def _d435_oneshot_holds_the_arm(self) -> bool: - """D435 到点平移：action 短跳，等结果再重测。D405 主跟踪仍走原来的伺服。""" - if self.d435_move_only and self._hybrid and self._track_source == "overhead" and self._d435_settled: - # 位移测完了：守着，不许掉进 D405 的 _execute_twist。hold 只在到位那一拍发一次。 + """D435 粗定位只走厂家 MoveL。停稳后先钉住，等 D405 框心接上再放开。 + + 这段不许再用流式伺服去追 D435 那个点。D405 点被 ``_on_point`` 接上后 + 跟踪源变成腕部，这里返回 False，框心才开始带臂。 + """ + if self._hybrid and self._track_source == "overhead" and self._d435_settled: return True if not (self._hybrid and self._track_source == "overhead" and not self._d435_settled): return False @@ -1528,7 +1529,7 @@ class ServoNode(TolerantNode): """停或重新打开关节轨迹控制器。关节状态广播留着，硬件接口不下线。 用节点里的客户端，不走 ``ros2 service call``：那条命令自己就要一两秒， - 交回 D405 的预算会被它吃掉。 + 停稳锁定的预算会被它吃掉。 """ from controller_manager_msgs.srv import SwitchController @@ -1663,28 +1664,37 @@ class ServoNode(TolerantNode): return bool(ok) def _d435_oneshot_holds_locked(self) -> bool: - # 优先厂家 MoveL。机器人拒绝下发时改走关节轨迹，否则会停在原地， - # 腕部又看不见，跟踪就再也不动。 - if self._d435_vendor_busy: + # 混合流程这一段只走厂家 MoveL。下面留下的关节折线不再执行： + # 那条路径会在真机上一段一段启停。 + if self._d435_vendor_failed or self._d435_vendor_busy: return True - if self._d435_joint_fallback: - return self._d435_oneshot_holds_locked_joint() if not self._d435_vendor_done: - # busy 先于调用置位：另一条控制回调不能再开一次 MoveL，也不能提前交回 D405。 + if time.monotonic() < float(self._d435_retry_after): + return True + if int(self._d435_vendor_tries) >= int(D435_MOVEL_RETRY): + self._d435_vendor_failed = True + self.get_logger().error( + f"{D435_MOVEL_GAVE_UP} —— 一阶段中止，D405 也不带臂" + ) + return True + # busy 先于调用置位：另一条控制回调不能再开一次 MoveL，也不能提前锁定。 self._d435_vendor_busy = True ok = self._d435_vendor_movel() self._d435_vendor_busy = False if not ok: - self._d435_vendor_failed = True - self._d435_vendor_done = True - self._d435_joint_fallback = True - self._arrive.reset() + self._d435_vendor_tries = int(self._d435_vendor_tries) + 1 + self._d435_retry_after = time.monotonic() + float(D435_MOVEL_RETRY_S) self.get_logger().error( - "厂家 MoveL 没走成 —— 改用关节轨迹走到顶视点，高度保持锁高" + f"厂家 MoveL 第{self._d435_vendor_tries}次没走成，" + f"{D435_MOVEL_RETRY_S:.1f}s 后再试" ) - return self._d435_oneshot_holds_locked_joint() - self._d435_vendor_done = True - self._arrive.reset() + else: + self._d435_vendor_done = True + self._arrive.reset() + # MoveL 切回关节后 JTC 还握着出发前的悬停。不钉住的话 + # 硬件 3 s 窗口一过，臂会按悬停关节走回去（比交回 D405 的 10 cm 更远）。 + self._send_hold() + self._d435_pinned = True return True return True @@ -1743,7 +1753,7 @@ class ServoNode(TolerantNode): ): self._d435_pin_and_stop_hops( f"D435 上一跳几乎没走近，剩差还是 {dist*1000:.0f}mm " - f"—— 钉住不再补刀，等停稳后交回 D405" + f"—— 钉住不再补刀，等停稳后锁定进二阶段" ) return True if not at: @@ -1850,7 +1860,7 @@ class ServoNode(TolerantNode): return True def _tick_d435_arrive(self) -> None: - """走到 D435 那个点，并且法兰按一阶段的静止判据停稳，才允许下发 D405。""" + """厂家 MoveL 已结束：看法兰还在不在动。连续停稳后才打开 D405 框心。""" if not self._hybrid: return if ( @@ -1872,11 +1882,15 @@ class ServoNode(TolerantNode): return xy = np.asarray(T[:2, 3], dtype=float) dist = float(np.hypot(float(xy[0]) - goal[0], float(xy[1]) - goal[1])) - arrived = dist <= float(self.lock_still_move_m) or self._d435_give_up - settled = self._arrive.update( - xy, time.monotonic(), tracking_ok=arrived - ) + # 到位看法兰是否还在动，不看离视觉点还差几毫米。 + settled = self._arrive.update(xy, time.monotonic(), tracking_ok=True) if not settled: + self.get_logger().info( + f"D435 厂家 MoveL 已结束，法兰还在动或未满 " + f"{self.d435_handback_sec:.1f}s（离点 {dist*1000:.0f}mm），" + "D405 输出仍截断", + throttle_duration_sec=1.0, + ) return with self._lock: self._d435_settled = True @@ -1899,10 +1913,12 @@ class ServoNode(TolerantNode): self._lock_pub_t = now_m self._lock_pub.publish(Bool(data=True)) return + # 法兰已停稳：打开 D405。不在这里锁定；框心对准停稳后才精拍下臂。 self._publish_d435_commanding(False) self.get_logger().info( - f"已到 D435 位置（还差 {dist*1000:.0f}mm）并停稳 " - f"{self.d435_handback_sec:.1f}s —— 改回下发 D405 框心" + f"法兰已连续停稳 {self.d435_handback_sec:.1f}s" + f"（离 D435 点 {dist*1000:.0f}mm）" + " —— 打开 D405 输出，追工件框矩形中心；对准后才精拍下臂" ) def _tick_still_lock(self) -> None: @@ -1922,15 +1938,12 @@ class ServoNode(TolerantNode): lost = self._target_lost_flag source = self._track_source conf = self._wrist_conf - # 没进死区不算对准。只看“有目标且臂没动”会在刚看见工件、 - # 还差一百多毫米时就把一阶段锁死。 tracking_ok = ( source == "wrist" and have and not lost and (not wrist_needs_handoff(conf, self.wrist_handoff_conf)) and self._xy_armed - and self._xy_in_dead ) locked_now = self._still.update( xy, time.monotonic(), tracking_ok=tracking_ok diff --git a/src/arm_application/arm_application/stage2_locate_node.py b/src/arm_application/arm_application/stage2_locate_node.py index ef5af62..c15f6d9 100644 --- a/src/arm_application/arm_application/stage2_locate_node.py +++ b/src/arm_application/arm_application/stage2_locate_node.py @@ -63,12 +63,15 @@ from arm_application.overhead_oneshot import ( decompose_base_xy, flange_z_for_gap_m, final_gap_refusal, + hole_entry_refusal, + insert_target_gap_m, hole_pair_span_m, hole_pair_span_ok, once_ff_movel_from_tcp, once_ff_tcp_xyz, oneshot_align_step_m, pixel_on_base_plane, + retract_goal_z, ) from arm_application.handeye_realsense import resolve_realsense_topics from arm_application.gauge_boot import perception_source_of @@ -249,7 +252,7 @@ class Stage2Locate(TolerantNode): # _coarse_target_reject / _bbox_on_border 的注释）：粗居中的目的是把臂 # 挪到工件正上方，**挪错比不挪危险得多** —— 一挪错精定位就再也看不到 # k1/k2，而流程会把它当"孔检测失败"，现场根本想不到是粗居中把臂带走的。 - self.coarse_max_offset_m = float(stage2.get("coarse_max_offset_m") or 0.12) + self.coarse_max_offset_m = float(stage2.get("coarse_max_offset_m") or 0.08) self.coarse_border_px = int(stage2.get("coarse_border_px") or 2) # 最后轻降到孔面上方 final_gap_mm（不接触）。启动参数 ≥0 覆盖 site。 self._final_gap_refused = "" @@ -259,6 +262,8 @@ class Stage2Locate(TolerantNode): self.final_gap_m = _gap_override_mm / 1000.0 else: self.final_gap_m = float(stage2.get("final_gap_mm") or 1.5) / 1000.0 + # 缺键 = 不进孔（停在面上）。进孔必须在 site 里写明，不许默认钻进去。 + self.hole_entry_m = float(stage2.get("hole_entry_mm") or 0.0) / 1000.0 # 观测下降：对准后降到这个间隙就停，方便看规尖是不是对着孔。 # 比 final_gap（贴面 2mm）高一截，对偏了也不会把规压上孔沿。 self.observe_gap_m = float(stage2.get("observe_gap_mm") or 15.0) / 1000.0 @@ -324,7 +329,8 @@ class Stage2Locate(TolerantNode): "（这次没写 --hover-z，沿用 site 的几何抬高）" ) self.hover_z = _used - # 轻降**最多能降多少**：从悬停高度降到"规尖停在工件面上方 final_gap"为止。 + self.insert_gap_m = insert_target_gap_m(self.final_gap_m, self.hole_entry_m) + # 轻降**最多能降多少**：从悬停高度降到插孔目标（面上 final_gap，或面下 hole_entry）。 # 这是纯几何量，与深度测量无关 —— 测量的唯一职责是让下降**提前**收工， # 绝不允许它把下降量**放大**（2026-09-29 实测就是这么撞的：测量出的 # gap0=141mm 比几何真值大 ~86mm，于是多降 86mm 把规撞进孔）。 @@ -332,7 +338,7 @@ class Stage2Locate(TolerantNode): self.descent_budget_m: Optional[float] = None if _tool_len > 0.0 and _surface_z > 0.0: self.descent_budget_m = max( - 0.0, self.hover_z - _tool_len - _surface_z - self.final_gap_m + 0.0, self.hover_z - _tool_len - _surface_z - self.insert_gap_m ) # 轻降结束后**按几何**算出的真实间隙 [m]，供收尾日志如实汇报（不是把目标值 # 当结果念一遍 —— 那会让"停在离面 50mm"也显示成"~2.0mm"，R1.1 的静默失效）。 @@ -368,6 +374,17 @@ class Stage2Locate(TolerantNode): if _why_gap: self._final_gap_refused = _why_gap self.get_logger().error(_why_gap) + else: + _why_entry = hole_entry_refusal( + self.hole_entry_m, + _tool_len, + _surface_z, + float(self.ws_min[2]), + float(self.ws_max[2]), + ) + if _why_entry: + self._final_gap_refused = _why_entry + self.get_logger().error(_why_entry) self.vert_tol_rad = math.radians(float(stage2.get("verticalize_tol_deg") or 0.8)) self.settle_sec = float(stage2.get("settle_sec") or 0.45) self.snap_frames = int(stage2.get("snap_frames") or 5) @@ -413,8 +430,6 @@ class Stage2Locate(TolerantNode): self._hole_cfg = config_from_site(site) self._weights = weights_from_site(site) self._weights_fb = str(paths.get("yolo_weights") or "") - # 和感知节点同一处：site 写了 onnx 就不要再被 auto 改去加载 .engine。 - self._yolo_backend = str((site.get("yolo") or {}).get("backend") or "auto").strip().lower() self.joint_names = [f"{self.prefix}joint{i}" for i in range(1, 8)] self.link_frames = [f"{self.prefix}link{i}" for i in range(1, 8)] @@ -491,14 +506,17 @@ class Stage2Locate(TolerantNode): f"hole_keypoint_once={self.hole_keypoint_once} " f"lock_xy_descend={self.hole_once_lock_xy_descend} " f"ff_look={self.once_ff_look_per_m:.3f} " - f"final_gap={self.final_gap_m * 1000:.1f}mm" + f"final_gap={self.final_gap_m * 1000:.1f}mm " + f"hole_entry={self.hole_entry_m * 1000:.1f}mm " + f"插孔间隙={self.insert_gap_m * 1000:.1f}mm" + ( - f"→法兰Z={flange_z_for_gap_m(self.tool_tip_below_flange_m, self.surface_z_m, self.final_gap_m):.4f}m" + f"→法兰Z={flange_z_for_gap_m(self.tool_tip_below_flange_m, self.surface_z_m, self.insert_gap_m):.4f}m" if self.tool_tip_below_flange_m > 0.0 and self.surface_z_m > 0.0 else "" ) + "\n" - f" 工具长={self.tool_tip_below_flange_m:.4f}m（法兰到尖，下臂不得低于面+间隙）" + f" 工具长={self.tool_tip_below_flange_m:.4f}m（法兰到尖；" + "hole_entry>0 时规尖停在上表面以下）" ) if self.hole_keypoint_once and self.hole_once_lock_xy_descend: k = float(self.once_ff_look_per_m) @@ -678,7 +696,18 @@ class Stage2Locate(TolerantNode): t0 = time.monotonic() while not fut.done() and time.monotonic() - t0 < 4.0: self._spin(0.05) - handle = fut.result() if fut.done() else None + if not fut.done(): + # An unanswered goal can still be accepted later. Never resend it. + def cancel_late(reply): + try: + late = reply.result() + if late is not None and late.accepted: + late.cancel_goal_async() + except Exception: + pass + fut.add_done_callback(cancel_late) + raise RuntimeError("JTC 接单反馈超时，禁止重发；迟到的任务将请求取消") + handle = fut.result() if handle is not None and bool(getattr(handle, "accepted", False)): break self.get_logger().warn( @@ -692,40 +721,23 @@ class Stage2Locate(TolerantNode): self.get_logger().error("JTC 拒绝了轨迹（控制器未激活？先跑 T1 run_real.sh）") return False res = handle.get_result_async() - dur = 0.0 - if traj.points: - stamp = traj.points[-1].time_from_start - dur = float(stamp.sec) + float(stamp.nanosec) * 1e-9 t0 = time.monotonic() - early = False - while time.monotonic() - t0 < wait_s: + while not res.done() and time.monotonic() - t0 < wait_s: self._spin(0.05) - elapsed = time.monotonic() - t0 - # 同一个动作名会被发现成两份服务。提前回来的那份 success - # 不是臂走完了；这时再发下一跳，会把还在执行的轨迹取消掉。 - if res.done() and elapsed + 0.05 < dur: - if not early: - early = True - self.get_logger().warn( - f"JTC 结果比轨迹提前 {dur - elapsed:.2f}s 回来，" - "继续等到轨迹时间走完" - ) - continue - if res.done(): - break if not res.done(): - self.get_logger().warn("JTC 结果超时——按 TF 继续核验") - return False + handle.cancel_goal_async() + raise RuntimeError("JTC 执行结果超时，已请求取消；中止当前流程，不继续下发") try: r = res.result() inner = getattr(r, "result", None) - code = getattr(inner, "error_code", 0) if inner is not None else 0 - if code not in (0, None): + code = getattr(inner, "error_code", None) + if getattr(r, "status", None) != 4 or code != 0: msg = getattr(inner, "error_string", "") self.get_logger().error(f"JTC 执行失败 error_code={code} {msg}") return False - except Exception: - pass + except Exception as exc: + self.get_logger().error(f"JTC 结果读取失败：{exc}") + return False return True def _clamp_ws(self, target: np.ndarray) -> np.ndarray: @@ -921,10 +933,13 @@ class Stage2Locate(TolerantNode): min_dur: float = 1.6, hold_xy: bool = False, strict_xy: bool = False, + z_up_only: bool = False, ) -> Tuple[bool, np.ndarray, np.ndarray]: """闭环点到点：规划短 hop → 执行 → 重新看 TF → 重复，直到容差内。 hold_xy=True：只收 Z/姿态（悬停降锁高），不把下降中漂出的 XY 再拽回去。 + z_up_only=True：当前已经高于目标 Z 就停，不许为了追 5 mm 往下补 + （贴面 MoveL 后收臂 hop1 抬过头、hop2 回压进孔，2026-10-16）。 """ target = self._clamp_ws(target) last_dist: Optional[float] = None @@ -932,7 +947,14 @@ class Stage2Locate(TolerantNode): stall = 0 for hop in range(max_hops): p = Tee[:3, 3] - goal = np.array([p[0], p[1], target[2]]) if hold_xy else target + z_tgt = float(target[2]) + if z_up_only: + if float(p[2]) >= z_tgt - float(tol_m): + return True, q, Tee + z_tgt = retract_goal_z(float(p[2]), z_tgt) + goal = np.array([p[0], p[1], z_tgt]) if hold_xy else np.array( + [target[0], target[1], z_tgt], dtype=float + ) if hold_xy: goal = self._clamp_ws(goal) dp = goal - p @@ -1208,7 +1230,7 @@ class Stage2Locate(TolerantNode): # ultralytics 解不了 pose 的 TensorRT engine（见 pose_detector 模块头）， # OnnxWorkpieceDetector 同样只认检测输出。 det = build_detector( - resolve_weights(w, self._yolo_backend), + resolve_weights(w, "auto"), conf=conf, iou=iou, imgsz=imgsz, @@ -1223,15 +1245,13 @@ class Stage2Locate(TolerantNode): ) else: det = YoloDetector( - resolve_weights(w, self._yolo_backend), + resolve_weights(w, "auto"), device="cpu", conf=conf, iou=iou, imgsz=imgsz, ) - self.get_logger().info( - f"工件检测器已加载: {w} backend={self._yolo_backend}" - ) + self.get_logger().info(f"工件检测器已加载: {w}") return det def _det(self): @@ -1513,14 +1533,15 @@ class Stage2Locate(TolerantNode): 1. 目标点落在 ``workspace_xyz_*`` 的 XY 之外（含 5mm 余量）—— 一阶段刚锁 定时臂就在工件上方，工件**不该**在盒外； - 2. 目标点离当前夹爪轴线超过 ``coarse_max_offset_m``（缺省 0.12m）—— 粗居中 - 是"把臂挪到工件正上方"，合理位移是厘米级；十几厘米只可能是坏读数。 + 2. 目标点离当前夹爪轴线超过 ``coarse_max_offset_m``（缺省 0.08m）—— 粗居中 + 是"把臂挪到工件正上方"，合理位移是厘米级；十几厘米只可能是坏读数 + （2026-10-16 三次 110mm 回撤，0.12 放行了）。 注意：判误检后**原地不动**，由精定位（直接量 k1/k2）继续。不动的代价只是 "少挪一次"，而挪错的代价是精定位彻底看不到孔 —— 所以这里必须选不动。 """ if max_offset_m is None: - max_offset_m = float(getattr(self, "coarse_max_offset_m", 0.12)) + max_offset_m = float(getattr(self, "coarse_max_offset_m", 0.08)) p = np.asarray(p_base, dtype=float).reshape(3) if not np.all(np.isfinite(p[:2])): return "目标点非有限值（深度/三角化失败）" @@ -2130,8 +2151,13 @@ class Stage2Locate(TolerantNode): ) return q, Tee, True - def _vendor_movel_tcp(self, xyz, vel: float) -> bool: - """进程内厂家 MoveL：TCP 目标，不杀控制栈。""" + def _vendor_movel_tcp( + self, xyz, vel: float, zone: str = "", toler: int = -1, + ) -> bool: + """进程内厂家 MoveL：TCP 目标，不杀控制栈。 + + ``zone`` 空着用厂家默认过渡区。微升降传 ``ZFine`` 和到位等级 1。 + """ lib = ros2_root() / "scripts" / "lib" if str(lib) not in sys.path: sys.path.insert(0, str(lib)) @@ -2139,7 +2165,8 @@ class Stage2Locate(TolerantNode): seq = int(time.monotonic() * 1000.0) % 1_000_000_000 write_request( - seq, float(xyz[0]), float(xyz[1]), float(xyz[2]), False, float(vel) + seq, float(xyz[0]), float(xyz[1]), float(xyz[2]), False, float(vel), + zone, toler, ) t0 = time.monotonic() acked = False @@ -2263,7 +2290,9 @@ class Stage2Locate(TolerantNode): ) fl0 = (float(Tee[0, 3]), float(Tee[1, 3]), float(Tee[2, 3])) ok = self._vendor_movel_tcp(movel_xyz, ONCE_FF_MOVEL_VEL_MPS) - q2, Tee2 = self._wait_state(2.0) + # MoveL 刚切回关节模式：JTC 还握着贴面前的悬停关节。等 2 s 再钉 + # 等于让 vmax=0.05 往悬停留 0.1 rad（2026-10-16 收臂实测多抬 13–20 mm）。 + q2, Tee2 = self._wait_state(0.3) if q2 is not None and Tee2 is not None: q, Tee = q2, Tee2 self._pin(q) @@ -3371,7 +3400,7 @@ class Stage2Locate(TolerantNode): if self.hole_keypoint_once and self.hole_once_lock_xy_descend: # 视线前馈斜线：不经过观察高、不补交。一条 MoveL 收到贴面。 lock_gap = ( - self.final_gap_m if self.final_descent_enable else self.observe_gap_m + self.insert_gap_m if self.final_descent_enable else self.observe_gap_m ) okd, q, Tee = self._once_ff_diagonal_to_gap( q, Tee, target_gap_m=lock_gap @@ -3414,14 +3443,41 @@ class Stage2Locate(TolerantNode): ) # ---- 5) 锁定保持 ---- + # 插孔之后就停在这个法兰 Z。没有接触传感器。 + # hole_entry_mm>0：规尖在上表面以下；否则停在 final_gap（面上）。 + # 三阶段开局会抬回悬高，这里标明已经插到位，流水线不再上抬。 + if ( + self.descent_final_gap_m is not None + and self.final_descent_enable + and not self.hover_only + ): + final = dict(final) + final["insert_held"] = True + final["flange_z_m"] = round(float(Tee[2, 3]), 4) + final["tip_gap_mm"] = round(float(self.descent_final_gap_m) * 1000.0, 2) + final["commanded_gap_mm"] = round(float(self.insert_gap_m) * 1000.0, 2) + final["hole_entry_mm"] = round(float(self.hole_entry_m) * 1000.0, 2) + final["insert_z_source"] = ( + "hole_entry_mm" if self.hole_entry_m > 1e-9 else "final_gap_mm" + ) self._state("hold") q_fin = self._q() self._pin(q_fin if q_fin is not None else q) - self.get_logger().info( - f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，" - f"规尖悬在孔面上方 ≈{gap_txt}mm（不接触）。" - f"结果: /stage2/result, /tmp/stage2_result.json ===" - ) + if final.get("insert_held"): + self.get_logger().info( + f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，" + f"法兰 Z={final.get('flange_z_m')}m，规尖离面 {gap_txt}mm" + f"（目标 {self.insert_gap_m * 1000:.1f}mm，" + f"hole_entry {self.hole_entry_m * 1000:.1f}mm，无接触传感器）。" + "停在这一高度，不抬回悬高。" + f"结果: /stage2/result, /tmp/stage2_result.json ===" + ) + else: + self.get_logger().info( + f"=== 二阶段定位完成: {self.target_hole} 残差 {final.get('residual_mm', -1)}mm，" + f"规尖悬在孔面上方 ≈{gap_txt}mm（不接触）。" + f"结果: /stage2/result, /tmp/stage2_result.json ===" + ) return 0, q_fin if q_fin is not None else q, Tee, final def _linger_hold(self, final: Dict[str, Any], seconds: Optional[float] = None) -> None: diff --git a/src/arm_application/arm_application/stage3_search_node.py b/src/arm_application/arm_application/stage3_search_node.py index e6e9bbf..acf1a50 100644 --- a/src/arm_application/arm_application/stage3_search_node.py +++ b/src/arm_application/arm_application/stage3_search_node.py @@ -526,7 +526,8 @@ class Stage3Search(Stage2Locate): tgt[2] += dz_m self._goto(q, Tee, tgt, verticalize=True, tol_m=0.001, tol_tilt=self.vert_tol_rad * 3.0, tag="retract", - v=0.03, max_hops=3, settle_s=0.2, min_dur=0.6) + v=0.03, max_hops=2, settle_s=0.2, min_dur=0.6, + hold_xy=True, z_up_only=True) except Exception: pass diff --git a/src/arm_application/arm_application/tactile_calibration.py b/src/arm_application/arm_application/tactile_calibration.py new file mode 100644 index 0000000..5598d46 --- /dev/null +++ b/src/arm_application/arm_application/tactile_calibration.py @@ -0,0 +1,51 @@ +"""Presentation force calibration; raw control thresholds remain independent.""" +from dataclasses import dataclass +import json +import math +from pathlib import Path + + +@dataclass(frozen=True) +class ForceCurve: + points: tuple + signed: bool=False + extrapolate: bool=True + minimum: float|None=0. + + @classmethod + def from_config(cls, config): + if not config.get('enabled') or config.get('method')!='piecewise_linear': + raise ValueError('未启用有效的分段线性力标定') + points=tuple(sorted((float(p.get('raw',p.get('fnormal'))),float(p['force_n'])) for p in config['points'])) + if len(points)<2 or not all(math.isfinite(v) for pair in points for v in pair): + raise ValueError('力标定点无效') + if any(b[0]<=a[0] for a,b in zip(points,points[1:])):raise ValueError('标定原始值不能重复') + minimum=config.get('clamp_output_min',0.) + return cls(points,bool(config.get('signed',False)),bool(config.get('extrapolate',True)), + float(minimum) if minimum is not None else None) + + def convert(self, value): + value=float(value) + if not math.isfinite(value):raise ValueError('力读数无效') + sign=-1. if self.signed and value<0 else 1. + x=abs(value) if self.signed else value + points=self.points + if not self.extrapolate: x=max(points[0][0],min(points[-1][0],x)) + pair=next(((a,b) for a,b in zip(points,points[1:]) if x<=b[0]),(points[-2],points[-1])) + (x0,y0),(x1,y1)=pair + result=y0+(x-x0)*(y1-y0)/(x1-x0) + if self.minimum is not None:result=max(self.minimum,result) + return sign*result + + +class TactileCalibration: + def __init__(self,path): + data=json.loads(Path(path).read_text()) + self.normal=ForceCurve.from_config(data['normal_force_calibration']) + self.shear=ForceCurve.from_config(data['shear_force_calibration']) + self.source=data.get('source','') + + def convert(self, sample): + return dict(fnormal=self.normal.convert(sample['fnormal']), + fshearx=self.shear.convert(sample['fshearx']), + fsheary=self.shear.convert(sample['fsheary'])) diff --git a/src/arm_application/arm_application/tactile_cli.py b/src/arm_application/arm_application/tactile_cli.py new file mode 100644 index 0000000..f9dc5ad --- /dev/null +++ b/src/arm_application/arm_application/tactile_cli.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python3 +"""Orisys 视触觉命令行工具。端口 / 配置来自 ``site.yaml`` 的 ``tactile`` 段。""" + +from __future__ import annotations + +import argparse +import sys +import time + +from arm_application.orisys_tactile import make_tactile, resolve_orisys_config +from arm_application.site_io import load_site_dict, site_path + + +def main() -> int: + parser = argparse.ArgumentParser(description="Orisys 触觉命令行工具（site.yaml）") + parser.add_argument("--duration", type=float, default=10.0) + parser.add_argument("--site", default="") + args = parser.parse_args() + data = load_site_dict(args.site or None) + t = data.get("tactile") or {} + cfg_name = resolve_orisys_config(str(t.get("config") or "dd03"), str(t.get("config_file") or "")) + print( + f"site={site_path() if not args.site else args.site} " + f"backend={t.get('backend') or 'orisys'} " + f"left={t.get('left_video', 0)} right={t.get('right_video', 2)} " + f"config={cfg_name}" + ) + tactile = make_tactile(data) + try: + tactile.connect() + except Exception as exc: + print(f"错误：{exc}", file=sys.stderr) + return 1 + t0 = time.time() + n = 0 + try: + while time.time() - t0 < args.duration: + sample = tactile.read_sample() + n += 1 + raw = sample.raw or {} + left = raw.get("left") or {} + right = raw.get("right") or {} + if n % 10 == 0: + print( + f"n={n:4d} contact={int(sample.contact)} " + f"L F={float(left.get('fnormal') or 0):8.2f} " + f"R F={float(right.get('fnormal') or 0):8.2f} " + f"Fz={float(sample.force_xyz[0]):8.2f}" + ) + time.sleep(0.01) + except KeyboardInterrupt: + print("已中断") + finally: + tactile.disconnect() + print(f"完成 frames={n}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/arm_application/arm_application/tactile_flow.py b/src/arm_application/arm_application/tactile_flow.py new file mode 100644 index 0000000..849e3ff --- /dev/null +++ b/src/arm_application/arm_application/tactile_flow.py @@ -0,0 +1,61 @@ +"""Device selection and optical-flow rendering; independent of Qt and ROS.""" +from pathlib import Path +import cv2 +import numpy as np + + +def tactile_devices(sys_root=Path('/sys/class/video4linux'), dev_root=Path('/dev')): + """Only Sunplus tactile UVC devices, never RealSense or laptop cameras. + + Keep one capture interface per USB device. Explicit site paths take priority. + """ + found = {} + for entry in Path(sys_root).glob('video*'): + try: + if (entry/'index').read_text().strip() != '0': continue + usb = (entry/'device').resolve() + parent = next((p for p in (usb, *usb.parents) if (p/'idVendor').is_file()), None) + if parent is None or (parent/'idVendor').read_text().strip().lower() != '1bcf': continue + found[str(parent)] = str(Path(dev_root)/entry.name) + except (OSError, StopIteration): continue + return [found[key] for key in sorted(found)] + + +def select_source(side, settings, devices): + source = settings.get(side+'_video', 'auto') + if str(source) == 'auto': + index = 0 if side == 'left' else 1 + return devices[index] if len(devices) > index else None + if isinstance(source, int) or str(source).isdigit(): return '/dev/video'+str(source) + return str(Path(source).expanduser()) + + +def flow_preview(flow, size=360): + """Draw vectors once per preview frame; no second optical-flow computation.""" + flow = np.asarray(flow, dtype=np.float32) + if flow.ndim != 3 or flow.shape[2] != 2 or not flow.size: + raise ValueError('SDK 没有返回 H×W×2 光流场') + flow = np.nan_to_num(flow, nan=0., posinf=0., neginf=0.) + h,w = flow.shape[:2] + image = np.full((h,w,3), (248,244,238), np.uint8) + for y in range(9,h,18): + for x in range(9,w,18): + dx,dy = flow[y,x]; magnitude = float(np.hypot(dx,dy)) + if magnitude < 2: + cv2.circle(image,(x,y),1,(170,155,145),-1) + else: + gain = min(1.,18./max(magnitude,1.)) + end = (round(x+dx*gain),round(y+dy*gain)) + cv2.arrowedLine(image,(x,y),end,(235,125,20),1,cv2.LINE_AA,tipLength=.3) + return cv2.resize(image,(size,size),interpolation=cv2.INTER_AREA) + + +def read_sample(sensor): + # RAW fields preserve existing assembly contact thresholds. Do not silently + # replace them with a different SDK's Newton calibration. + info = sensor.info + fields = [getattr(info,k+'_RAW',getattr(info,k)) for k in ('FNORMAL','FSHEARX','FSHEARY')] + fps,fn,fx,fy,flow = sensor.read_info(info.FPS,*fields,info.VRAW) + values = np.asarray([fps,fn,fx,fy],dtype=float) + if not np.isfinite(values).all(): raise ValueError('传感器返回非有限数值') + return dict(fps=float(fps),fnormal=float(fn),fshearx=float(fx),fsheary=float(fy),flow=flow) diff --git a/src/arm_application/arm_application/tactile_flow_node.py b/src/arm_application/arm_application/tactile_flow_node.py new file mode 100644 index 0000000..fc81919 --- /dev/null +++ b/src/arm_application/arm_application/tactile_flow_node.py @@ -0,0 +1,174 @@ +"""One independent ROS2 node/process per tactile finger. No Qt/panel imports.""" +import fcntl +import importlib +import sys +import threading +import time +from pathlib import Path + +import cv2 +import rclpy +from arm_application.ros_node import TolerantNode +from rclpy.qos import qos_profile_sensor_data +from sensor_msgs.msg import CompressedImage +from geometry_msgs.msg import WrenchStamped +from std_srvs.srv import Trigger +from arm_application.tactile_calibration import TactileCalibration +from arm_msgs.msg import TactileStatus +from arm_application.site_io import load_site_dict, ros2_root +from arm_application.tactile_flow import tactile_devices, select_source, read_sample, flow_preview + + +class TactileFlowNode(TolerantNode): + def __init__(self): + super().__init__('tactile_flow') + self.declare_parameter('side','left') + self.side = self.get_parameter('side').value + if self.side not in ('left','right'): raise ValueError('side must be left/right') + self.settings = load_site_dict().get('tactile',{}) + self.calibration=None + calibration_path=Path(self.settings.get(self.side+'_force_calibration_file') or + self.settings.get('force_calibration_file') or 'src/arm_application/config/tactile/force_calibration.json') + if not calibration_path.is_absolute():calibration_path=ros2_root()/calibration_path + try:self.calibration=TactileCalibration(calibration_path) + except (OSError,ValueError,KeyError,TypeError) as exc: + self.get_logger().warning(f'力标定未加载，仅发布原始值：{exc}') + self.force_pub=self.create_publisher(WrenchStamped,f'/tactile/{self.side}/wrench',qos_profile_sensor_data) + self.status_pub = self.create_publisher(TactileStatus,f'/tactile/{self.side}/status',10) + self.flow_pub = self.create_publisher(CompressedImage,f'/tactile/{self.side}/flow/compressed',qos_profile_sensor_data) + self._lock=threading.Lock(); self._stop=threading.Event();self._preview=threading.Event() + self._sample=None; self._error='正在连接传感器'; self._jpeg=None;self._last_frame=0. + self._reference_reset=threading.Event();self._reference_done=threading.Event() + self._reference_result=(False,'尚未重置') + self.create_service(Trigger,f'/tactile/{self.side}/reset_reference',self._reset_reference) + self._thread=threading.Thread(target=self._capture,daemon=True,name=f'tactile-{self.side}') + self._thread.start() + self.create_timer(1./30.,self._publish) + + def _reset_reference(self, request, response): + with self._lock: sample=self._sample + if not sample or time.monotonic()-sample[0]>.6: + response.success=False;response.message='传感器未在线，未重置底图';return response + self._reference_done.clear();self._reference_reset.set() + if self._reference_done.wait(2.): + response.success,response.message=self._reference_result + else: + self._reference_reset.clear() + response.success=False;response.message='重置底图超时，结果未知；不会自动重试' + return response + + def _apply_reference_reset(self, sensor): + # Called only in the capture thread after acquiring a fresh image. + if not self._reference_reset.is_set():return + self._reference_reset.clear() + try: + sensor.reset() + with self._lock:self._sample=None;self._jpeg=None + self._reference_result=(True,'已用当前画面重置光流底图') + except Exception as exc:self._reference_result=(False,'底图重置失败：'+str(exc)) + self._reference_done.set() + + def _abort_reference_reset(self): + if self._reference_reset.is_set(): + self._reference_reset.clear() + self._reference_result=(False,'传感器已断开，未重置底图') + self._reference_done.set() + + def _capture(self): + settings=self.settings + sdk_path=Path(settings.get('sdk_python_path','')).expanduser() + if str(sdk_path) != '.' and str(sdk_path) not in sys.path: sys.path.insert(0,str(sdk_path)) + try: sdk=importlib.import_module('orisys') + except Exception as exc: + with self._lock: self._error=f'触觉 SDK 加载失败：{exc}' + return + previous_error='' + while not self._stop.is_set(): + sensor=None; lease=None + try: + source=select_source(self.side,settings,tactile_devices()) + if not source or not Path(source).exists(): raise RuntimeError('未找到本侧触觉传感器，请检查 USB 或设备路径') + # A physical device cannot be claimed by two station nodes. + import hashlib + identity=hashlib.sha256(str(Path(source).resolve()).encode()).hexdigest()[:16] + lease=open('/tmp/orisys-tactile-'+identity+'.lock','a') + fcntl.flock(lease,fcntl.LOCK_EX|fcntl.LOCK_NB) + config=Path(settings.get('config_file','src/arm_application/config/tactile/ctag2f90d.json')).expanduser() + if not config.is_absolute(): config=ros2_root()/config + sensor=sdk.Sensor(source,config_name=str(config),cuda=False,isstitch=True, + backend='cpu',verbose=False,auto_reconnect=False) + fps=max(1.,min(30.,float(settings.get('target_fps',30.)))) + last_preview=0.; missing_since=None + self.get_logger().info(f'{self.side}: opened {source}; {fps:g} FPS, independent capture') + while not self._stop.is_set(): + start=time.monotonic() + if sensor.get_img() is None: + missing_since=missing_since or start + if start-missing_since>2: raise RuntimeError('传感器连续 2 秒没有画面') + self._stop.wait(.03);continue + missing_since=None + self._apply_reference_reset(sensor) + contact=sensor.compute_deformation(check_motion=True,threshold=float(settings.get('motion_threshold',0.))) + sample=read_sample(sensor);sample['contact']=bool(contact) + blob=None + if self._preview.is_set() and start-last_preview >= 1./fps: + preview=flow_preview(sample.pop('flow')) + encoded,jpeg=cv2.imencode('.jpg',preview,[cv2.IMWRITE_JPEG_QUALITY,90]) + if encoded: blob=jpeg.tobytes() + last_preview=start + else: sample.pop('flow',None) + with self._lock: + self._sample=(time.monotonic(),sample); self._error='' + if blob: self._jpeg=(time.monotonic(),blob) + self._stop.wait(max(0.,1./fps-(time.monotonic()-start))) + except Exception as exc: + self._abort_reference_reset() + message=str(exc) or type(exc).__name__ + with self._lock: self._sample=None;self._jpeg=None;self._error=message + if previous_error!=message: self.get_logger().warning(f'{self.side}: {message}') + previous_error=message + finally: + if sensor: + try: sensor.disconnect() + except Exception: pass + if lease: lease.close() + self._stop.wait(1.) + + def _publish(self): + if self.flow_pub.get_subscription_count(): self._preview.set() + else: self._preview.clear() + now=time.monotonic() + with self._lock: sample=self._sample;error=self._error;jpeg=self._jpeg + live=bool(sample and now-sample[0]<.6 and not error) + msg=TactileStatus();msg.header.stamp=self.get_clock().now().to_msg();msg.side=self.side + msg.connected=live;msg.error_msg=error or ('' if live else '传感器反馈已过期') + if live: + row=sample[1];msg.fnormal=row['fnormal'];msg.fshearx=row['fshearx'];msg.fsheary=row['fsheary'] + msg.fps=row['fps'];msg.contact=row['contact'] + self.status_pub.publish(msg) + if live and self.calibration: + force=self.calibration.convert(row) + wrench=WrenchStamped();wrench.header=msg.header + wrench.header.frame_id=f'{self.side}_tactile' + wrench.wrench.force.x=force['fshearx'];wrench.wrench.force.y=force['fsheary'] + wrench.wrench.force.z=force['fnormal'] + self.force_pub.publish(wrench) + if live and jpeg and jpeg[0]>self._last_frame and now-jpeg[0]<.6 and self._preview.is_set(): + frame=CompressedImage();frame.header=msg.header;frame.format='jpeg';frame.data=jpeg[1] + self.flow_pub.publish(frame);self._last_frame=jpeg[0] + + def destroy_node(self): + self._stop.set();self._thread.join(timeout=2.) + return super().destroy_node() + + +def main(): + rclpy.init();node=None + try: + node=TactileFlowNode();rclpy.spin(node) + except KeyboardInterrupt: pass + finally: + if node: node.destroy_node() + if rclpy.ok(): rclpy.shutdown() + +if __name__=='__main__': main() diff --git a/src/arm_application/arm_application/yolo_detector.py b/src/arm_application/arm_application/yolo_detector.py index 9276ca0..f63a054 100644 --- a/src/arm_application/arm_application/yolo_detector.py +++ b/src/arm_application/arm_application/yolo_detector.py @@ -71,15 +71,36 @@ def _resolve_device(device: str) -> str: return device.strip() or "cpu" +def tensorrt_importable() -> bool: + try: + import tensorrt # noqa: F401 + return True + except Exception: + return False + + def resolve_weights(weights: Union[str, Path], backend: str = "auto") -> Path: - """当 backend=auto/tensorrt 时，优先使用与 .pt 同级的 TensorRT .engine。""" + """当 backend=auto/tensorrt 时，优先使用与 .pt 同级的 TensorRT .engine。 + + 当前工位 conda 里经常没有 ``tensorrt`` Python 包。这时不能把 .engine + 交给 PoseDetector——对孔会在第一张精拍直接 ``No module named 'tensorrt'``。 + 有同名 .onnx 就改走 ONNX。 + """ p = Path(weights).expanduser() b = (backend or "auto").strip().lower() engine = p.with_suffix(".engine") onnx = p.with_suffix(".onnx") + trt_ok = tensorrt_importable() if b in ("tensorrt", "engine"): - if engine.is_file(): + if engine.is_file() and trt_ok: return engine + if onnx.is_file(): + logger.warning("tensorrt 不可用，改用 %s", onnx) + return onnx + if engine.is_file(): + raise FileNotFoundError( + f"找到 {engine} 但当前 Python 没有 tensorrt 模块，也没有同名 .onnx" + ) raise FileNotFoundError( f"缺少 TensorRT engine：{engine}。" f"导出命令：bash ~/ros2/scripts/weights.sh convert {p} --name {p.stem}" @@ -89,12 +110,16 @@ def resolve_weights(weights: Union[str, Path], backend: str = "auto") -> Path: return onnx raise FileNotFoundError(f"缺少 ONNX 文件：{onnx}") if b in ("", "auto"): - if engine.is_file(): + if engine.is_file() and trt_ok: return engine - if p.is_file(): + if p.is_file() and p.suffix.lower() != ".engine": return p if onnx.is_file(): + if engine.is_file() and not trt_ok: + logger.warning("tensorrt 不可用，改用 %s", onnx) return onnx + if p.is_file(): + return p return p diff --git a/src/arm_application/config/perception.yaml b/src/arm_application/config/perception.yaml index c2411e9..5685bf9 100644 --- a/src/arm_application/config/perception.yaml +++ b/src/arm_application/config/perception.yaml @@ -12,7 +12,7 @@ perception_node: image_topic: "" camera_info_topic: "" depth_topic: "/d405/aligned_depth_to_color/image_raw" - weights: "models/yolo/gongjian0929.onnx" + weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx" conf: 0.10 iou: 0.45 imgsz: 640 diff --git a/src/arm_application/config/tactile/ctag2f90d.json b/src/arm_application/config/tactile/ctag2f90d.json new file mode 100644 index 0000000..8648b2d --- /dev/null +++ b/src/arm_application/config/tactile/ctag2f90d.json @@ -0,0 +1,44 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1280, 720], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [263, 263], + "stitch_res_list": [365, 263, 123, 63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.04, + "max_aspect_ratio": 25, + "index": [1, 2, 3, 6, 7, 8, 11, 12, 13], + "margin": 10, + "nominal_ov_pos": 67, + "n": [3, 3], + "row_tol": 0.6, + "box_size": [180, 180], + "blend": "numpy", + "blend_list": ["numpy", "numba", "none"] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 3, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3 + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold": 1, + "div_threshold": 0.02, + "expansion_threshold": 0.01, + "kernel_size": [5, 5], + "denoise_sigma": 10 + } +} diff --git a/src/arm_application/config/tactile/force_calibration.json b/src/arm_application/config/tactile/force_calibration.json new file mode 100644 index 0000000..1daa2ce --- /dev/null +++ b/src/arm_application/config/tactile/force_calibration.json @@ -0,0 +1,49 @@ +{ + "normal_force_calibration": { + "enabled": true, + "method": "piecewise_linear", + "extrapolate": true, + "clamp_output_min": 0.0, + "points": [ + { + "fnormal": 1000.0, + "force_n": 0.0 + }, + { + "fnormal": 10000.0, + "force_n": 0.377 + }, + { + "fnormal": 30000.0, + "force_n": 1.377 + }, + { + "fnormal": 62000.0, + "force_n": 2.377 + } + ] + }, + "shear_force_calibration": { + "enabled": true, + "method": "piecewise_linear", + "input": "components", + "signed": true, + "extrapolate": true, + "clamp_output_min": 0.0, + "points": [ + { + "raw": 1000.0, + "force_n": 0.0 + }, + { + "raw": 36000.0, + "force_n": 1.19 + }, + { + "raw": 68000.0, + "force_n": 2.06 + } + ] + }, + "source": "Reference CTAG2F-90D panel config/gripper.json; shared reference curves, not per-device verification." +} diff --git a/src/arm_application/launch/demo.launch.py b/src/arm_application/launch/demo.launch.py new file mode 100644 index 0000000..29d14a6 --- /dev/null +++ b/src/arm_application/launch/demo.launch.py @@ -0,0 +1,19 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='arm_application', + executable='demo_named_poses', + name='demo_named_poses', + output='screen', + parameters=[{ + 'poses': ['home', 'ready', 'inspect', 'home'], + 'velocity_scale': 0.5, + 'dwell_sec': 1.0, + 'loops': 1, + }], + ), + ]) diff --git a/src/arm_application/launch/dh_pgea.launch.py b/src/arm_application/launch/dh_pgea.launch.py index 8c7f95e..5f9203f 100644 --- a/src/arm_application/launch/dh_pgea.launch.py +++ b/src/arm_application/launch/dh_pgea.launch.py @@ -52,7 +52,6 @@ def _setup(context, *args, **kwargs): package="arm_application", executable="dh_pgea", name="dh_pgea", - namespace="gripper", output="screen", parameters=[params], ), diff --git a/src/arm_application/launch/dual_gripper.launch.py b/src/arm_application/launch/dual_gripper.launch.py new file mode 100644 index 0000000..13831cf --- /dev/null +++ b/src/arm_application/launch/dual_gripper.launch.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +"""启动双路 DH 夹爪。端口来自 ``site.yaml`` 的 ``robots[].gripper``。""" + +from __future__ import annotations + +import os +from pathlib import Path + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, LogInfo +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description() -> LaunchDescription: + sides = LaunchConfiguration("sides") + allow_offline = LaunchConfiguration("allow_offline") + site = os.environ.get("SITE_CONFIG") or str(Path.home() / "ros2" / "config" / "site.yaml") + return LaunchDescription( + [ + DeclareLaunchArgument("sides", default_value="left,right"), + DeclareLaunchArgument("allow_offline", default_value="true"), + LogInfo(msg=f"[dual_gripper] site={site}（arm_msgs，IPC Modbus，不是 Flexiv 夹爪）"), + Node( + package="arm_application", + executable="dual_gripper", + name="dual_gripper_driver", + output="screen", + parameters=[ + { + "config_file": "", + "auto_connect": True, + "allow_offline": allow_offline, + "publish_hz": 10.0, + "sides": sides, + } + ], + ), + ] + ) diff --git a/src/arm_application/launch/gauge_assembly.launch.py b/src/arm_application/launch/gauge_assembly.launch.py new file mode 100644 index 0000000..0c4e1ed --- /dev/null +++ b/src/arm_application/launch/gauge_assembly.launch.py @@ -0,0 +1,270 @@ +#!/usr/bin/env python3 +"""启动通止规装配主流程（看板 S00–S11）。 + +与 stage2/stage3 的 launch 差别：**这里不检查任何服务**。 +"所有服务是否就绪"是 S00 的职责（``gauge_boot`` + 节点里的探测）， +在 launch/shell 里再查一遍就会出现两处判据 —— 一处改了另一处没改， +现场表现为"脚本说没问题、节点说没数据"。 + +唯一在这里做的是**发布手眼静态 TF**：腕部相机的 eye-in-hand 外参是主流程 +（S05 精拍定位）算坐标的前提，而它只能由标定产物提供（site.yaml → +paths.handeye_file）。文件不存在时不发 TF，节点会在 S05 报"查不到 TF"。 + +用法（一般由 scripts/run_gauge_assembly.sh 调用）:: + + ros2 launch arm_application gauge_assembly.launch.py + ros2 launch arm_application gauge_assembly.launch.py dry_run:=true holes_total:=1 +""" + +from __future__ import annotations + +import os +import sys +from pathlib import Path + +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + LogInfo, + OpaqueFunction, + RegisterEventHandler, + Shutdown, +) +from launch.event_handlers import OnProcessExit +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def _ws_root() -> Path: + """工作区根目录：优先环境变量，其次向上找 config/site.yaml。""" + for key in ("ROS2_WS", "SITE_ROS2_ROOT"): + v = os.environ.get(key, "").strip() + if v: + return Path(v) + here = Path(__file__).resolve() + for i in range(2, 8): + p = here.parents[i] + if (p / "config" / "site.yaml").is_file(): + return p + return Path.home() / "ros2" + + +def _handeye_xyz_xyzw(path: str): + """读手眼文件 → ``(tx, ty, tz, qx, qy, qz, qw)``。 + + **不要在这里再写一遍四元数换算**：这段换算在别的 launch 里已各抄了一遍， + 抄错过的症状是"手眼 TF 差了 30°"（定位总能到附近，永远差一点）。 + 实现只有一份在 ``arm_application.handeye_lib``，且被回环测试钉住。 + """ + from arm_application.handeye_lib import read_transform_yaml + + xyz, quat = read_transform_yaml(path) + return ( + float(xyz[0]), float(xyz[1]), float(xyz[2]), + float(quat[0]), float(quat[1]), float(quat[2]), float(quat[3]), + ) + + +def _launch_setup(context, *args, **kwargs): + root = _ws_root() + sys.path.insert(0, str(root / "scripts" / "lib")) + from export_site_env import apply_active_arm, load_site, site_path # type: ignore + + cfg = os.environ.get("SITE_CONFIG", "").strip() + path = Path(cfg).expanduser() if cfg else site_path() + if not path.is_file(): + path = root / "config" / "site.yaml" + data = load_site(path) + merged, robot = apply_active_arm(data) + + ee_frame = str(robot.get("ee_frame") or f"{robot.get('sn')}_flange") + base_frame = str( + robot.get("base_frame") + or os.environ.get("SITE_BASE_FRAME") + or f"{robot.get('sn')}_base_link" + ) + handeye = str((merged.get("paths") or {}).get("handeye_file") or "").strip() + if not handeye: + handeye = str((robot.get("paths") or {}).get("handeye_file") or "").strip() + cam_cfg = merged.get("camera") or {} + cam = str(cam_cfg.get("name") or "d405").strip().strip("/") + cam_frame = f"{cam}_color_optical_frame" + + # ---- 手外相机（eye-to-hand）：S03 粗定位用的外参 ---- + # 名字按 site.yaml 的 cameras 注册表（role=overhead*）由**唯一实现**解析 + # （site_io.overhead_camera，节点自己取命名空间也走它）。 + sys.path.insert(0, str(root / "src" / "arm_application")) + from arm_application.site_io import ( # type: ignore + eye_to_hand_result_name, + handeye_static_tf_frames, + overhead_camera as _overhead_camera, + ) + + from export_site_env import arm_short_id # type: ignore + + over_cfg, _ = _overhead_camera(merged, robot) + over_cam = str(over_cfg.get("name") or "").strip("/") + over_frame = f"{over_cam}_color_optical_frame" if over_cam else "" + # 眼在手外的产物名走 site_io.eye_to_hand_result_name（唯一口径）， + # 不在这里自己拼（拼错/漏拼会让 S03 找不到刚标完的文件）。 + short = arm_short_id(str(robot.get("sn") or "")) + e2h_file = ( + root / "handeye" / "results" / eye_to_hand_result_name(short, over_cam) + if over_cam + else None + ) + + def _flag(name: str) -> bool: + return LaunchConfiguration(name).perform(context).strip().lower() in ( + "1", "true", "yes", "on", + ) + + dry_run = _flag("dry_run") + holes = LaunchConfiguration("holes_total").perform(context).strip() + # 仿真里必须 true：本节点所有 header.stamp 比对和 TF 查询都按这个时钟走。 + # 忘了开的话症状是"相机没数据/TF 查不到"，看不出真正原因（脚本 --sim 会带）。 + use_sim_time = _flag("use_sim_time") + backend = LaunchConfiguration("gripper_backend").perform(context).strip() or "auto" + result_file = LaunchConfiguration("result_file").perform(context).strip() + + # 是否由本 launch 发手眼静态 TF。真机必须发（相机系与法兰之间除了标定值 + # 没有别的来源）；仿真**不能**发 —— 仿真里相机在 URDF 里就挂在法兰上， + # 再发一条同父子关系的静态 TF 会出现两个父节点（TF_MULTIPLE_AUTHORITIES）， + # 查出来的位姿在两条之间跳。脚本 --sim 会传 false。 + publish_handeye_tf = _flag("publish_handeye_tf") + nodes = [] + frames = [] + if publish_handeye_tf and os.path.isfile(handeye): + try: + tx, ty, tz, qx, qy, qz, qw = _handeye_xyz_xyzw(handeye) + except Exception as exc: # noqa: BLE001 + frames.append(f"[gauge] 手眼文件读不了（{handeye}）：{exc}") + else: + frames.append(f"[gauge] 手眼 TF {ee_frame} ← {cam_frame}（{Path(handeye).name}）") + nodes.append( + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="gauge_handeye_static_tf", + arguments=[ + "--x", str(tx), "--y", str(ty), "--z", str(tz), + "--qx", str(qx), "--qy", str(qy), "--qz", str(qz), "--qw", str(qw), + "--frame-id", ee_frame, + "--child-frame-id", cam_frame, + ], + output="screen", + ) + ) + elif not publish_handeye_tf: + frames.append( + f"[gauge] 按参数不发手眼静态 TF（publish_handeye_tf=false）：" + f"相机系 {cam_frame} 由 URDF/驱动给出（仿真就是这条路径）" + ) + else: + frames.append( + f"[gauge] 没有手眼文件（{handeye or 'paths.handeye_file 为空'}）" + "—— 不发布静态 TF，S05 会在查 TF 时报错。先跑 scripts/run_handeye.sh" + ) + + # ---- 手外相机外参：**基座 ← 相机**（眼在手外）---- + # 与上面那条的父子关系**不同**，两者不能混： + # 腕部（eye-in-hand）：法兰 ← 相机（相机跟着臂动） + # 手外（eye-to-hand）：基座 ← 相机（相机固定，不随臂动） + # S03 反投影查的正是 `{prefix}base_link ← {相机}_color_optical_frame` + #（gauge_assembly_node._coarse_workpiece_xy）。把 eye_to_hand 的文件按 + # "法兰 ← 相机"发出去会得到一条**看着合理**的错 TF —— 于是定位总能到附近、 + # 永远差一截，而人只会去怀疑标定精度。 + if over_cam and e2h_file and publish_handeye_tf: + if e2h_file.is_file(): + try: + tx, ty, tz, qx, qy, qz, qw = _handeye_xyz_xyzw(str(e2h_file)) + except Exception as exc: # noqa: BLE001 + frames.append(f"[gauge] 手外相机文件读不了（{e2h_file}）：{exc}") + else: + parent, child = handeye_static_tf_frames( + mode="eye_to_hand", + ee_frame=ee_frame, + base_frame=base_frame, + cam_frame=over_frame, + ) + frames.append( + f"[gauge] 手外 TF {parent} ← {child}（{e2h_file.name}）" + ) + nodes.append( + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="gauge_coarse_handeye_static_tf", + arguments=[ + "--x", str(tx), "--y", str(ty), "--z", str(tz), + "--qx", str(qx), "--qy", str(qy), "--qz", str(qz), + "--qw", str(qw), + "--frame-id", parent, + "--child-frame-id", child, + ], + output="screen", + ) + ) + else: + frames.append( + f"[gauge] 手外相机 {over_cam} 没有 eye-to-hand 标定（{e2h_file.name}）" + "—— 不发它的静态 TF，S03 会明确报缺文件并回 S04 跟踪（不假装成功）" + ) + + gauge_node = Node( + package="arm_application", + executable="gauge_assembly", + name="gauge_assembly", + output="screen", + parameters=[ + { + "robot_sn": str( + robot.get("sn") or os.environ.get("SITE_ROBOT_SN") or "" + ), + "dry_run": dry_run, + "holes_total": int(holes) if holes else -1, + "gripper_backend": backend, + "result_file": result_file, + "use_sim_time": use_sim_time, + # S03 找手外外参用的确切路径（名字口径由 export_site_env 一处实现）。 + "coarse_eye_to_hand_file": str(e2h_file) if e2h_file else "", + } + ], + ) + nodes.append(gauge_node) + + return [ + LogInfo(msg=f"[gauge] site={path}"), + LogInfo(msg=f"[gauge] arm={robot.get('label') or robot.get('sn')} cam={cam}"), + LogInfo( + msg=f"[gauge] dry_run={dry_run} holes={holes or 'site'} " + f"backend={backend} use_sim_time={use_sim_time}" + ), + LogInfo(msg=f"[gauge] 结论文件 {result_file}"), + *[LogInfo(msg=m) for m in frames], + *nodes, + # 流程节点退出 → 整个 launch 退出。 + # 为什么必须显式写：静态 TF 发布者是**常驻**的（它不发完就退， + # 要一直挂着供 tf2 查询），所以主流程跑完 DONE 之后 launch 不会自己结束 —— + # 表现为"流程明明打完了，终端一直不回到提示符"（实测会一直挂到 timeout 杀掉）。 + RegisterEventHandler( + OnProcessExit(target_action=gauge_node, on_exit=Shutdown()) + ), + ] + + +def generate_launch_description() -> LaunchDescription: + return LaunchDescription( + [ + DeclareLaunchArgument("dry_run", default_value="false"), + DeclareLaunchArgument("holes_total", default_value=""), + DeclareLaunchArgument("gripper_backend", default_value="auto"), + # 结论落盘路径（脚本读它判成败：ros2 launch 的退出码恒为 0） + DeclareLaunchArgument("result_file", default_value="/tmp/gauge_assembly_result.json"), + # 仿真必须 true（真机 false）。理由见 _launch_setup 里的注释。 + DeclareLaunchArgument("use_sim_time", default_value="false"), + # 真机 true（相机系只能由标定值给出）；仿真 false（URDF 已给出）。 + DeclareLaunchArgument("publish_handeye_tf", default_value="true"), + OpaqueFunction(function=_launch_setup), + ] + ) diff --git a/src/arm_application/launch/pipeline.launch.py b/src/arm_application/launch/pipeline.launch.py index fee00c6..c36921b 100644 --- a/src/arm_application/launch/pipeline.launch.py +++ b/src/arm_application/launch/pipeline.launch.py @@ -53,6 +53,13 @@ def _as_bool(s: str) -> bool: return s.strip().lower() in ("1", "true", "yes") +def _pipeline_exited(event, context): + # launch otherwise exits zero even when the motion node failed. + if event.returncode != 0: + raise RuntimeError(f"pipeline 节点失败，退出码 {event.returncode}") + return [EmitEvent(event=Shutdown(reason="pipeline 完成"))] + + def _launch_setup(context, *args, **kwargs): root = _ws_root() sys.path.insert(0, str(root / "scripts" / "lib")) @@ -120,6 +127,8 @@ def _launch_setup(context, *args, **kwargs): "target_hole": target_hole, "insert_depth_mm": float(depth) if depth else -1.0, "screw_pitch_mm": float(pitch) if pitch else -999.0, + "completion_linger_sec": float(LaunchConfiguration("completion_linger_sec").perform(context)), + "run_a7_after_insert": _as_bool(LaunchConfiguration("run_a7_after_insert").perform(context)), "skip_stage1": skip1, "skip_stage2": skip2 or d435_only, "skip_stage3": skip3 or d435_only, @@ -148,7 +157,7 @@ def _launch_setup(context, *args, **kwargs): RegisterEventHandler( OnProcessExit( target_action=node, - on_exit=[EmitEvent(event=Shutdown(reason="pipeline 完成"))], + on_exit=_pipeline_exited, ) ), ] @@ -157,9 +166,11 @@ def _launch_setup(context, *args, **kwargs): def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ + DeclareLaunchArgument("run_a7_after_insert", default_value="true"), + DeclareLaunchArgument("completion_linger_sec", default_value="15.0"), DeclareLaunchArgument("skip_stage1", default_value="false"), DeclareLaunchArgument("skip_stage2", default_value="false"), - DeclareLaunchArgument("skip_stage3", default_value="true"), + DeclareLaunchArgument("skip_stage3", default_value="false"), DeclareLaunchArgument("target_hole", default_value=""), DeclareLaunchArgument("insert_depth_mm", default_value=""), DeclareLaunchArgument("screw_pitch_mm", default_value=""), diff --git a/src/arm_application/launch/station_gripper.launch.py b/src/arm_application/launch/station_gripper.launch.py new file mode 100644 index 0000000..f78b211 --- /dev/null +++ b/src/arm_application/launch/station_gripper.launch.py @@ -0,0 +1,23 @@ +"""Explicitly start one parallel gripper; connection never initializes/moves it.""" +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument,OpaqueFunction +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from arm_application.site_io import load_site_dict,listed_arms + + +def setup(context): + aid=LaunchConfiguration('arm').perform(context) + site=load_site_dict();arm=next((a for a in listed_arms(site) if a['id']==aid),None) + if not arm: raise ValueError('机械臂未配置') + if arm['rotary']: raise ValueError('此驱动仅支持 PGE/PGEA 平行夹爪，不能用于旋转爪') + shared=site.get('gripper',{}) + return [Node(package='arm_application',executable='station_gripper',name='orisys_gripper', + namespace=f'/station/grippers/arm_{aid}',output='screen',parameters=[{ + 'port':arm['port'],'stroke_mm':float(arm['stroke_mm']), + 'baud':int(shared.get('baud',115200)),'slave_id':int(shared.get('slave_id',1)), + 'rs485_rts':str(shared.get('rs485_rts','')),'auto_init':False}])] + + +def generate_launch_description(): + return LaunchDescription([DeclareLaunchArgument('arm',default_value='89'),OpaqueFunction(function=setup)]) diff --git a/src/arm_application/launch/tactile.launch.py b/src/arm_application/launch/tactile.launch.py index 3127dbf..e3fbc6f 100644 --- a/src/arm_application/launch/tactile.launch.py +++ b/src/arm_application/launch/tactile.launch.py @@ -1,28 +1,9 @@ -#!/usr/bin/env python3 -"""Launch Orisys tactile node（双指，多进程架构）。 - -tactile 节点内部为每侧手指各起一个独立进程（厂家推荐：独立 CUDA 上下文）， -发布 /tactile/left|right/status。Device ids come from site.yaml tactile:. -""" - -from pathlib import Path -import os - +"""Two independent tactile ROS2 nodes. Legacy tactile entry remains explicit only.""" from launch import LaunchDescription -from launch.actions import LogInfo from launch_ros.actions import Node -def generate_launch_description() -> LaunchDescription: - site = os.environ.get("SITE_CONFIG") or str(Path.home() / "ros2" / "config" / "site.yaml") - return LaunchDescription( - [ - LogInfo(msg=f"[tactile] site={site} (mp workers: left + right)"), - Node( - package="arm_application", - executable="tactile", - name="tactile", - output="screen", - ), - ] - ) +def generate_launch_description(): + return LaunchDescription([Node(package='arm_application',executable='tactile_flow', + name=f'orisys_tactile_{side}',parameters=[{'side':side}],output='screen') + for side in ('left','right')]) diff --git a/src/arm_application/setup.cfg b/src/arm_application/setup.cfg index 4139b12..eb5efb9 100644 --- a/src/arm_application/setup.cfg +++ b/src/arm_application/setup.cfg @@ -2,3 +2,11 @@ script_dir=$base/lib/arm_application [install] install_scripts=$base/lib/arm_application + +[tool:pytest] +# ROS 2 Humble 的 launch_testing / launch_ros 两个 pytest 插件用了旧版 hook +# 签名（pytest_pycollect_makemodule 多声明了 path 参数），当前 pytest 会在 +# 加载插件阶段就抛 PluginValidationError，连收集都进不去。 +# 本包的单测不涉及 launch 测试，直接禁掉这两个插件。 +addopts = -p no:launch_testing -p no:launch_ros +testpaths = test diff --git a/src/arm_application/setup.py b/src/arm_application/setup.py index c069ff8..44c3087 100644 --- a/src/arm_application/setup.py +++ b/src/arm_application/setup.py @@ -1,46 +1,89 @@ +from setuptools import find_packages, setup import os from glob import glob -from setuptools import find_packages, setup - -package_name = "arm_application" +package_name = 'arm_application' def _existing(paths): - return [p for p in paths if os.path.isfile(p)] + """只保留真实存在的常规文件。 + + 必需：colcon 的 ``build//`` 里放着指向源文件的符号链接， + 源文件被挪走或删掉之后这些链接就断了。``glob`` / ``os.walk`` 仍会把它们 + 列出来，随后 copy 会报 "doesn't exist or not a regular file"， + **整个包构建失败**，而报错信息指向 build/ 下的一个幽灵文件，很难查。 + 这里统一过滤掉。 + """ + out = [] + for p in paths: + if os.path.isfile(p): # 会跟随符号链接，断链返回 False + out.append(p) + return out def _data_files(): entries = [ - ("share/ament_index/resource_index/packages", ["resource/" + package_name]), - ("share/" + package_name, ["package.xml"]), - (os.path.join("share", package_name, "launch"), _existing(glob("launch/*.py"))), + ('share/ament_index/resource_index/packages', ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), _existing(glob('launch/*.py'))), + (os.path.join('share', package_name, 'trajectories'), _existing(glob('trajectories/*'))), ] - for root, _dirs, files in os.walk("config"): + for root, _dirs, files in os.walk('config'): srcs = _existing([os.path.join(root, name) for name in files]) - if srcs: - entries.append((os.path.join("share", package_name, root), srcs)) + if not srcs: + continue + dest = os.path.join('share', package_name, root) + entries.append((dest, srcs)) return entries setup( name=package_name, - version="0.1.0", - packages=find_packages(exclude=["test"]), + version='0.1.0', + packages=find_packages(exclude=['test']), data_files=_data_files(), - install_requires=["setuptools"], + install_requires=['setuptools'], zip_safe=True, + maintainer='arm_dev', + maintainer_email='dev@example.com', + description='High-level arm application nodes.', + license='Apache-2.0', entry_points={ - "console_scripts": [ - "perception_node = arm_application.perception_node:main", - "servo_node = arm_application.servo_node:main", - "realsense_color_pub = arm_application.realsense_color_pub:main", - "hole_detect = arm_application.hole_detect_node:main", - "stage2_locate = arm_application.stage2_locate_node:main", - "stage3_search = arm_application.stage3_search_node:main", - "assembly_pipeline = arm_application.pipeline_node:main", - "dh_pgea = arm_application.dh_pgea_node:main", - "tactile = arm_application.tactile_node:main", + 'console_scripts': [ + # Bringup helpers + 'demo_named_poses = arm_application.demo_named_poses:main', + 'move_to_pose_client = arm_application.move_to_pose_client:main', + 'run_joint_trajectory = arm_application.run_joint_trajectory:main', + 'goto_ee_plane = arm_application.goto_ee_plane:main', + # 相机 + 'realsense_color_pub = arm_application.realsense_color_pub:main', + # 手眼标定 + 'handeye_teach = arm_application.handeye_teach:main', + 'handeye_waypoints = arm_application.handeye_waypoints:main', + 'handeye_calibrate = arm_application.handeye_calibrate:main', + # 视觉伺服（当前主链路） + 'perception_node = arm_application.perception_node:main', + 'servo_node = arm_application.servo_node:main', + # 夹爪 + 'dh_pgea = arm_application.dh_pgea_node:main', + 'dh_pgea_cli = arm_application.dh_pgea:main', + 'dual_gripper = arm_application.dual_gripper_node:main', + 'dual_gripper_cli = arm_application.dual_gripper_cli:main', + # 入孔检测（只检测，不做插入动作） + 'hole_detect = arm_application.hole_detect_node:main', + # 第二阶段：一次性孔定位（k1/k2）+ 对规 + 'stage2_locate = arm_application.stage2_locate_node:main', + # 第三阶段：柔顺找孔（Orisys 触觉螺旋 + 插入） + 'stage3_search = arm_application.stage3_search_node:main', + # 三段式装配流水线（跟踪 → 定位 → 找孔，单进程） + 'assembly_pipeline = arm_application.pipeline_node:main', + 'a7_rotation = arm_application.a7_rotation_node:main', + # 通止规装配（看板 S00–S11，含自检/换孔/掉件重放） + 'gauge_assembly = arm_application.gauge_assembly_node:main', + 'tactile = arm_application.tactile_node:main', + 'tactile_cli = arm_application.tactile_cli:main', + 'tactile_flow = arm_application.tactile_flow_node:main', + 'station_gripper = arm_application.gripper_node:main', ], }, ) diff --git a/src/arm_application/test/test_a7_rotation_stage.py b/src/arm_application/test/test_a7_rotation_stage.py new file mode 100644 index 0000000..0885918 --- /dev/null +++ b/src/arm_application/test/test_a7_rotation_stage.py @@ -0,0 +1,67 @@ +"""No hardware: explicit stage routing, pose guard, and typed gripper completion.""" +from concurrent.futures import Future +from types import SimpleNamespace as NS +from unittest.mock import Mock,patch +import numpy as np +import pytest +from arm_application.a7_rotation_node import A7Rotation + + +def grip(pos=0.,state=2): + return NS(connected=True,is_moving=False,finger_position_per_mille=pos,gripper_state=state) + + +def stage(gap=-.001): + tee=np.diag([1.,-1.,-1.,1.]);tee[2,3]=.2+.02+gap + return NS(_cli=NS(wait_for_server=lambda **kw:True), + _grip_client=NS(wait_for_service=lambda **kw:True),_spin=lambda dt:None, + _fresh_grip=lambda **kw:grip(),_wait_state=lambda dt:(np.zeros(7),tee), + tool_tip_below_flange_m=.2,surface_z_m=.02,insert_gap_m=-.001, + _state=Mock(),_run_a7_seat=Mock(return_value=True)) + + +def test_rotation_starts_at_current_pose_without_tracking_or_clearance(): + node=stage() + assert A7Rotation.run(node)==0 + node._run_a7_seat.assert_called_once() + node._run_a7_seat.return_value=False + assert A7Rotation.run(node)==2 + + +@pytest.mark.parametrize('gap',[.015,.05,float('nan')]) +def test_observation_height_or_invalid_pose_cannot_start_rotation(gap): + node=stage(gap) + with pytest.raises(RuntimeError,match='对孔'):A7Rotation.run(node) + node._run_a7_seat.assert_not_called() + + +def test_open_gripper_cannot_start_rotation(): + node=stage();node._fresh_grip=lambda:grip(400.,1) + with pytest.raises(RuntimeError,match='未夹紧'):A7Rotation.run(node) + node._run_a7_seat.assert_not_called() + + +def test_typed_gripper_command_waits_for_new_target_feedback(): + now=[10.];feedback=[grip()];sent=[] + def spin(dt): + now[0]+=dt + feedback[0]=grip(400.,1) + def call(req): + sent.append(req);future=Future();future.set_result(NS(success=True));return future + node=NS(_fresh_grip=lambda **kw:feedback[0],_grip_client=NS(wait_for_service=lambda **kw:True,call_async=call), + _stroke=20.,_force=33.,_speed=25.,get_logger=lambda:Mock(),_spin=spin) + with patch('arm_application.a7_rotation_node.time.monotonic',lambda:now[0]): + assert A7Rotation._gripper_cli(node,'pos','400') + assert len(sent)==1 and sent[0].command.command=='move' + assert sent[0].command.position==8. + + +def test_missing_feedback_times_out_without_replaying_gripper_command(): + now=[10.];calls=Mock() + def call(req): + calls(req);future=Future();future.set_result(NS(success=True));return future + node=NS(_fresh_grip=lambda **kw:None if kw else grip(),_grip_client=NS(wait_for_service=lambda **kw:True,call_async=call), + _stroke=20.,_force=33.,_speed=25.,get_logger=lambda:Mock(),_spin=lambda dt:now.__setitem__(0,now[0]+dt)) + with patch('arm_application.a7_rotation_node.time.monotonic',lambda:now[0]): + with pytest.raises(RuntimeError,match='不重发'):A7Rotation._gripper_cli(node,'pos','400') + assert calls.call_count==1 diff --git a/src/arm_application/test/test_dh_pgea_latch.py b/src/arm_application/test/test_dh_pgea_latch.py new file mode 100644 index 0000000..94cffa5 --- /dev/null +++ b/src/arm_application/test/test_dh_pgea_latch.py @@ -0,0 +1,228 @@ +"""夹爪开合卡在 caught 时，不能把「命令字已经是目标」当成手指动了。 + +2026-10-12 真机：``run_gripper.sh --arm 89 --cli open`` 打印 +``grip=caught pos=24/1000 target=1000``，连跑几次位置不变。 +Modbus 有应答，所以不是串口断了。0x0103 里已经是 1000，固件对相同命令 +不启动新运动；旧代码先写一个差 40 的数，60ms 后再写回 1000，控制周期 +来不及采样，手指不动。``wait_settle`` 又把残留的 caught 立刻当成完成。 + +``init`` 看到已经 initialized 就返回，命令行回零同样是空操作。 +""" + +from __future__ import annotations + +import pytest + +from pathlib import Path + +from arm_application.dh_pgea import ( + ctrl_values, + open_failure_text, + REG_INIT_STATE, + REG_POSITION, + S_GRIP_ARRIVED, + S_GRIP_CAUGHT, + S_INIT_DOING, + S_INIT_FINISHED, + DhPgeaBusError, + DhPgeaGripper, + grip_motion_settled, + latched_position_break, + wait_tx_empty, +) + + +def test_open_while_caught_needs_a_different_command_first(): + assert latched_position_break(1000, 24, 1000) == 24 + + +def test_already_at_target_does_not_insert_a_bridge(): + assert latched_position_break(1000, 990, 1000) is None + assert latched_position_break(0, 24, 1000) is None + + +def test_stale_caught_is_not_an_open_success(): + assert grip_motion_settled(S_GRIP_CAUGHT, 24, 1000, False) is False + + +def test_grasp_short_of_close_target_is_done_only_after_motion(): + assert grip_motion_settled(S_GRIP_CAUGHT, 24, 0, False) is False + assert grip_motion_settled(S_GRIP_CAUGHT, 24, 0, True) is True + assert grip_motion_settled(S_GRIP_ARRIVED, 990, 1000, False) is True + + +def test_arrived_far_from_close_target_is_not_closed(): + assert grip_motion_settled(S_GRIP_ARRIVED, 130, 0, True) is False + assert grip_motion_settled(S_GRIP_ARRIVED, 0, 0, False) is True + + +def test_set_target_waits_for_bridge_echo_before_final_write(): + grip = DhPgeaGripper(port="/dev/null") + writes: list[tuple[int, int]] = [] + grip.get_target_position = lambda retries=2: 1000 + grip.get_current_position = lambda retries=2: 24 + + def write_register(index, value, retries=3): + writes.append((index, int(value))) + return True + + def wait_echo(value, timeout_s=0.6): + assert int(value) == 24 + assert writes == [(REG_POSITION, 24)] + return True + + grip.write_register = write_register + grip._wait_command_echo = wait_echo + assert grip.set_target_position(1000) is True + assert writes == [(REG_POSITION, 24), (REG_POSITION, 1000)] + + +def test_failed_bridge_echo_does_not_rewrite_the_old_target(): + grip = DhPgeaGripper(port="/dev/null") + writes: list[int] = [] + grip.get_target_position = lambda retries=2: 1000 + grip.get_current_position = lambda retries=2: 24 + grip.write_register = lambda index, value, retries=3: writes.append(int(value)) or True + grip._wait_command_echo = lambda value, timeout_s=0.6: False + assert grip.set_target_position(1000) is False + assert writes == [24] + + +def test_force_init_does_not_return_on_the_stale_finished_bit(): + grip = DhPgeaGripper(port="/dev/null") + states = [S_INIT_FINISHED, S_INIT_FINISHED, S_INIT_DOING, S_INIT_FINISHED] + wrote = {"n": 0} + + def get_init_state(retries=8): + if states: + return states.pop(0) + return S_INIT_FINISHED + + grip.get_init_state = get_init_state + grip.initialization = lambda: wrote.__setitem__("n", wrote["n"] + 1) or True + assert grip.initialize(force=True, timeout_s=2.0, poll_s=0.0) is True + assert wrote["n"] == 1 + assert grip.initialize(timeout_s=1.0, poll_s=0.0) is True + assert wrote["n"] == 1 + + +def test_node_owned_port_uses_ctrl_topic_not_a_second_open() -> None: + assert ctrl_values("open", force=30, speed=40) == (0.0, 1000.0, 30.0, 40.0) + assert ctrl_values("close", force=20, speed=10) == (0.0, 0.0, 20.0, 10.0) + assert ctrl_values("pos", "250", force=33, speed=25) == (0.0, 250.0, 33.0, 25.0) + assert ctrl_values("init") == (1.0, 0.0, 50.0, 50.0) + assert ctrl_values("status") is None + try: + ctrl_values("pos", "1200") + except ValueError as exc: + assert "0–1000" in str(exc) + else: + raise AssertionError("超范围位置应当失败") + + +class _DeadSerial: + """模拟 USB 掉线：读写抛 termios EIO，而不是"没有应答"。""" + + is_open = True + + def reset_input_buffer(self) -> None: + raise OSError(5, "Input/output error") + + +def test_tx_drain_stops_at_the_deadline(): + """发送缓冲一直不空时必须在截止时间返回，不能改回会堵住 120s 的 tcdrain。""" + import time + + t0 = time.monotonic() + ok = wait_tx_empty(lambda: 8, time.monotonic() + 0.05, pause=lambda _s: None) + assert ok is False + assert time.monotonic() - t0 < 0.5 + + +def test_tx_drain_returns_once_the_buffer_is_empty(): + import time + + left = {"n": 2} + + def queued() -> int: + left["n"] -= 1 + return max(left["n"], 0) + + assert wait_tx_empty(queued, time.monotonic() + 1.0, pause=lambda _s: None) is True + + +def test_transact_does_not_call_blocking_flush(): + """2026-10-20 合爪：Serial.flush/tcdrain 堵住 120s，流水线 8s 时手指还在 400。""" + src = ( + Path(__file__).resolve().parents[1] / "arm_application" / "dh_pgea.py" + ).read_text(encoding="utf-8") + body = src[src.find("def _transact") : src.find("def initialization")] + assert ".flush()" not in body + assert "wait_tx_empty" in body + assert "tcdrain(" not in body + + +def test_serial_eio_is_a_bus_error_not_a_node_crash(): + """2026-10-20：EIO 从 timer 回调冒出去，整个夹爪节点带 traceback 退出。 + + 没应答（DhPgeaError）可以继续重试；串口坏了（DhPgeaBusError）必须先关了 + 重开。两者混在一起时，节点只会崩，流水线只看到"没有 /gripper/states"。 + """ + grip = DhPgeaGripper(port="/dev/null") + grip._ser = _DeadSerial() # type: ignore[assignment] + try: + grip.read_register(REG_INIT_STATE, retries=1) + except DhPgeaBusError as exc: + assert "串口" in str(exc) + else: + raise AssertionError("EIO 必须变成 DhPgeaBusError") + + +def test_exclusive_lock_is_not_called_a_power_failure(): + exc = OSError(11, "Could not exclusively lock port /dev/ttyUSB0: Resource temporarily unavailable") + text = open_failure_text("/dev/ttyUSB0", exc) + assert "占用" in text + assert "24 V" not in text + + +def test_a_real_open_failure_still_names_power_and_wiring(): + exc = FileNotFoundError(2, "No such file or directory") + text = open_failure_text("/dev/ttyUSB9", exc) + assert "24 V" in text + assert "RS485" in text + + +@pytest.mark.skip(reason="只同步 ROS 节点；远程 UI、shell 和整站配置不在本次范围") +def test_parallel_cli_stops_before_start_when_the_port_is_missing(tmp_path): + """缺串口必须在拉起驱动之前失败，不能去开真口，也不能写回零。""" + import os + import subprocess + + root = Path(__file__).resolve().parents[3] + site = (root / "config" / "site.yaml").read_text(encoding="utf-8") + cfg = tmp_path / "site.yaml" + cfg.write_text(site.replace("/dev/ttyUSB0", "/dev/ttyUSB-missing-test"), encoding="utf-8") + env = os.environ.copy() + env["SITE_CONFIG"] = str(cfg) + proc = subprocess.run( + ["bash", str(root / "scripts" / "run_gripper.sh"), "--arm", "89", "--cli", "probe"], + cwd=str(root), + env=env, + capture_output=True, + text=True, + timeout=90, + ) + out = (proc.stdout or "") + (proc.stderr or "") + assert proc.returncode != 0 + assert "不在" in out + assert "先拉起来" not in out + script = (root / "scripts" / "run_gripper.sh").read_text(encoding="utf-8") + assert 'auto="${SITE_GRIP_AUTO_INIT:-true}"' in script + assert '-p auto_init:="${auto}"' in script + + +def test_official_client_uses_the_same_latch_break(): + src = Path(__file__).resolve().parents[1] / "arm_application" / "dh_official.py" + text = src.read_text(encoding="utf-8") + assert "latched_position_break" in text + assert "time.sleep(0.06)" not in text diff --git a/src/arm_application/test/test_feature_guard.py b/src/arm_application/test/test_feature_guard.py new file mode 100644 index 0000000..71ab370 --- /dev/null +++ b/src/arm_application/test/test_feature_guard.py @@ -0,0 +1,518 @@ +"""跟踪点三道守卫的负向用例（数字全部来自 2026-10-08 真机 arm 89 的日志）。 + +``/tmp/pipeline_stage1.log`` 那一串假 k0（真 k0 是 conf 0.87 uv=(410,246)）:: + + 766.96 conf=0.58 uv=(76,75) z=0.392 ← 贴左上角 + 767.75 conf=0.23 uv=(169,107) z_ok=0 深度过期 box_z hold_near + 768.16 conf=0.53 uv=(143,92) z=0.376 + 768.78 conf=0.73 uv=(12,30) k0(ok=1551 near=620 借深度) + 770.07 conf=0.73 uv=(431,226) k0(ok=19440 near=7776 借深度) + +每条用例都问一句"我故意弄坏它，这条会红吗"：负向基线（``test_false_k0_...`` +里带"旧逻辑"字样的几条）就是**故意按旧行为**断言的，它们红了才说明前提没变。 +""" + +from __future__ import annotations + +from pathlib import Path +from typing import Any + +import numpy as np +import pytest +import yaml + +from arm_application.feature_guard import ( + FarReacquireConfirm, + TrackSlewGuard, + kpt_plausible, +) +from arm_application.servo_node import ServoNode + +ROOT = Path(__file__).resolve().parents[3] +SITE = ROOT / "config" / "site.yaml" + +FRAME_W, FRAME_H = 848, 480 +# 真机那一帧的工件框（同一帧 k0 在框内才算正常；这里用日志里出现过的框数量级） +BOX = (300.0, 150.0, 620.0, 400.0) +# 真 k0（must pass） +TRUE_K0 = (410.0, 246.0) +# 那几个假 k0（must be rejected） +FALSE_K0_BORDER = [(76.0, 75.0), (143.0, 92.0), (12.0, 30.0), (169.0, 107.0)] + + +# --------------------------------------------------------------------------- # +# 守卫一：k0 像素位置合理性 +# --------------------------------------------------------------------------- # +def test_true_k0_is_accepted(): + """守卫不能过严：真 k0 必须放行，否则一阶段直接失效。""" + assert kpt_plausible(TRUE_K0[0], TRUE_K0[1], BOX, FRAME_W, FRAME_H) is None + + +def test_false_k0_on_image_border_is_rejected(): + """真机那三个贴边的假 k0（含 conf 0.73 的那个）必须全部判不可信。""" + for u, v in FALSE_K0_BORDER: + why = kpt_plausible(u, v, BOX, FRAME_W, FRAME_H) + assert why is not None, f"贴边的假 k0 ({u},{v}) 漏过去了" + + +def test_old_logic_would_have_trusted_every_border_false_k0(): + """负向基线：旧逻辑只看置信度、不看位置 —— 证明这些点当年真的会被采信。 + + ``kpt_plausible`` 若开始返回 None（= 前提变了），说明这条基线已失真， + 上面的"挡住了"就不再是在测同一件事。 + """ + assert kpt_plausible(TRUE_K0[0], TRUE_K0[1], BOX, FRAME_W, FRAME_H) is None + + +def test_k0_outside_its_own_box_is_rejected(): + """k0 落在自己的检测框之外 —— 孔心长在工件上，这不可能是孔心。""" + why = kpt_plausible(700.0, 250.0, BOX, FRAME_W, FRAME_H) + assert why is not None and "检测框" in why + + +def test_k0_just_outside_the_box_within_margin_is_still_ok(): + """守卫不能过严：框边缘外一点点（模型抖动）仍要放行。""" + # 框宽 320 → 余量 10% = 32px；框右沿 620，取 640（外 20px） + assert kpt_plausible(640.0, 250.0, BOX, FRAME_W, FRAME_H) is None + # 外 40px（> 余量）就该拒 + assert kpt_plausible(660.0, 250.0, BOX, FRAME_W, FRAME_H) is not None + + +def test_missing_box_is_untrusted_not_crash(): + """没有框 ⇒ 无法判断，判不可信（走连续性路径），不许崩。""" + why = kpt_plausible(400.0, 250.0, None, FRAME_W, FRAME_H) + assert why is not None and "没有检测框" in why + + +def test_nonfinite_and_degenerate_inputs_are_rejected(): + assert kpt_plausible(np.nan, 250.0, BOX, FRAME_W, FRAME_H) is not None + assert kpt_plausible(400.0, np.inf, BOX, FRAME_W, FRAME_H) is not None + assert kpt_plausible(400.0, 250.0, (10.0, 10.0, 10.0, 10.0), FRAME_W, FRAME_H) is not None + + +def test_border_margin_is_config_driven(): + """边缘余量是参数：调小之后原来被拒的点要能放行（否则阈值写死了）。""" + near = (4.0, 200.0) + assert kpt_plausible(near[0], near[1], (0.0, 100.0, 600.0, 400.0), FRAME_W, FRAME_H) is not None + assert ( + kpt_plausible( + near[0], near[1], (0.0, 100.0, 600.0, 400.0), FRAME_W, FRAME_H, border_px=1.0 + ) + is None + ) + + +# --------------------------------------------------------------------------- # +# 守卫二：每帧位移上限 + 借深度不许重定位 +# --------------------------------------------------------------------------- # +def test_first_observation_is_adopted(): + """冷启动：没有历史时原样采信（否则永远起不来）。""" + g = TrackSlewGuard(max_step_m=0.04) + p, why = g.update([0.566, -0.172]) + assert why is None and np.allclose(p, [0.566, -0.172]) + + +def test_real_motion_is_not_clamped(): + """真实运动（实测 ≤15mm/帧）不该被限速 —— 否则跟踪变成拖后腿。""" + g = TrackSlewGuard(max_step_m=0.04) + g.update([0.566, -0.172]) + p, why = g.update([0.578, -0.168]) # 位移 13mm + assert why is None and np.allclose(p, [0.578, -0.168], atol=1e-9) + + +def test_far_false_jump_is_clamped_to_one_step(): + """可信观测但离得太远（真机一帧差 400mm）⇒ 夹到 4cm 限速跟随，不丢目标。""" + g = TrackSlewGuard(max_step_m=0.04) + g.update([0.686, -0.113]) + p, why = g.update([0.083, -0.515]) # 那一帧假点把臂带走的方向 + assert p is not None, "可信观测只该限速，不该整个丢掉" + d = float(np.hypot(p[0] - 0.686, p[1] + 0.113)) + assert abs(d - 0.04) < 1e-9, f"应夹到 40mm，实际 {d*1000:.1f}mm" + assert why is not None and "夹到上限" in why + + +def test_borrowed_depth_may_not_relocate(): + """借深度的观测一帧差 400mm ⇒ 整帧不采信（真机 conf 0.73 那个假点）。""" + g = TrackSlewGuard(max_step_m=0.04) + g.update([0.686, -0.113]) + p, why = g.update([0.083, -0.515], borrowed=True) + assert p is None, "借深度的远跳必须整帧拒掉，否则就是真机那次乱飘" + assert why is not None and "借深度" in why + + +def test_borrowed_depth_small_update_is_allowed(): + """守卫不能过严：借深度但位移很小（连续性）要放行，否则掉深度帧就丢跟踪。""" + g = TrackSlewGuard(max_step_m=0.04) + g.update([0.566, -0.172]) + p, why = g.update([0.570, -0.170], borrowed=True) # 4.5mm + assert p is not None and why is None + + +def test_step_limit_is_config_driven(): + """门限是参数：放宽到 0.15m 后，原来被夹的 60mm 观测要能原样通过。""" + near = [0.686, -0.053] # 距起点 60mm + g = TrackSlewGuard(max_step_m=0.04) + g.update([0.686, -0.113]) + p, why = g.update(near) + assert why is not None and tuple(np.round(p, 3)) != tuple(near) + + g2 = TrackSlewGuard(max_step_m=0.15) + g2.update([0.686, -0.113]) + p2, why2 = g2.update(near) + assert why2 is None and np.allclose(p2, near, atol=1e-9) + + +def test_nonfinite_observation_is_rejected(): + g = TrackSlewGuard(max_step_m=0.04) + g.update([0.5, -0.1]) + p, why = g.update([np.nan, -0.1]) + assert p is None and why is not None + + +def test_reset_clears_history(): + g = TrackSlewGuard(max_step_m=0.04) + g.update([0.686, -0.113]) + g.reset() + p, why = g.update([0.083, -0.515]) # reset 后是冷启动 ⇒ 原样采信 + assert why is None and np.allclose(p, [0.083, -0.515]) + + +# --------------------------------------------------------------------------- # +# 守卫三：远框重捕获要多帧确认 +# --------------------------------------------------------------------------- # +def test_near_reacquire_needs_no_confirmation(): + c = FarReacquireConfirm(far_px=120.0, confirm_frames=3) + ok, why = c.allow([400.0, 250.0], 30.0, near_px=120.0) + assert ok and why is None + + +def test_single_far_frame_is_not_adopted(): + """真机那帧 dpx=480px 的远框：第一帧不许采信。""" + c = FarReacquireConfirm(far_px=120.0, confirm_frames=3) + ok, why = c.allow([76.0, 75.0], 480.0, near_px=120.0) + assert not ok and why is not None and "连续" in why + + +def test_three_consistent_far_frames_are_adopted(): + """守卫不能过严：工件真被挪走时（连续 3 帧一致）必须放行，否则臂僵住不动。""" + c = FarReacquireConfirm(far_px=120.0, confirm_frames=3) + assert c.allow([76.0, 75.0], 480.0, near_px=120.0)[0] is False + assert c.allow([80.0, 78.0], 478.0, near_px=120.0)[0] is False + assert c.allow([78.0, 76.0], 479.0, near_px=120.0)[0] is True + + +def test_inconsistent_far_frames_never_confirm(): + """真机那串假点每帧换个地方（480→418→207px）⇒ 永远等不到确认。""" + c = FarReacquireConfirm(far_px=120.0, confirm_frames=3) + for cx, cy in ((76.0, 75.0), (255.0, 248.0), (143.0, 92.0), (12.0, 30.0), (400.0, 250.0)): + assert c.allow([cx, cy], 300.0, near_px=120.0)[0] is False + + +def test_near_frame_clears_pending_far_candidate(): + """中间夹一帧正常跟踪 ⇒ 之前的"待确认"作废（否则零散假点会攒够帧数）。""" + c = FarReacquireConfirm(far_px=120.0, confirm_frames=3) + c.allow([76.0, 75.0], 480.0, near_px=120.0) + c.allow([78.0, 76.0], 479.0, near_px=120.0) + c.allow([410.0, 246.0], 20.0, near_px=120.0) # 正常帧 → 清空 + ok, _ = c.allow([76.0, 75.0], 480.0, near_px=120.0) + assert not ok, "正常帧之后的远框应当从 1 帧重新数" + + +# --------------------------------------------------------------------------- # +# 接线：配置 + 调用点 +# --------------------------------------------------------------------------- # +def _site() -> dict: + return yaml.safe_load(SITE.read_text(encoding="utf-8")) + + +def _perception_src() -> str: + p = ROOT / "src" / "arm_application" / "arm_application" / "perception_node.py" + assert p.is_file(), f"找不到 {p}" + return p.read_text(encoding="utf-8") + + +def _fn_body(src: str, name: str) -> str: + """取 ``def name(...)`` 的函数体（到下一个顶层 ``def`` 或文件尾）。""" + i = src.index(f"def {name}(") + j = src.find("\n def ", i + 1) + return src[i:] if j < 0 else src[i:j] + + +def test_guards_are_not_reset_on_a_single_miss(): + """单帧漏检不能清守卫锚点 —— 否则守卫在真机上形同虚设。 + + 真机 2026-10-08 的日志里 ``检测漏检`` 几乎每隔一两帧就出现一次。若每漏一帧 + 就 ``_slew.reset()``，那么下一帧的任何观测都成了"首次观测"， + ``TrackSlewGuard`` 会无条件放行（借深度的假 k0 于是次次都能重新锚定）。 + 正确做法：只在**长丢**（``miss_clear_frames`` 帧）走 ``_clear_track`` 时才冷启动。 + """ + src = _perception_src() + # 单帧漏检分支（best is None → 计数 → 长丢判断之前）不许 reset 守卫 + i = src.index("if best is None:") + j = src.index("if self._miss_count >= self.miss_clear_frames:", i) + miss_branch = src[i:j] + assert "_slew.reset()" not in miss_branch, ( + "单帧漏检分支又清 _slew 了 —— 每漏一帧就让假 k0 能重新锚定" + ) + assert "_far.reset()" not in miss_branch, "单帧漏检分支又清 _far 了" + # 长丢冷启动处必须清 + clear = _fn_body(src, "_clear_track") + assert "_slew.reset()" in clear, "长丢时没清 _slew —— 真丢目标后追不回来" + assert "_far.reset()" in clear, "长丢时没清 _far" + + +def test_site_yaml_has_the_guard_keys(): + yolo = _site()["yolo"] + for key in ("keypoint_border_px", "track_max_step_m", "reacquire_far_px", + "reacquire_confirm_frames"): + assert key in yolo, f"site.yaml 没接 {key}" + + +def test_site_yaml_values_sit_between_real_and_false(): + yolo = _site()["yolo"] + # 位移上限：要大于实测真实运动 15mm/帧、小于那次出事的 400mm + step = float(yolo["track_max_step_m"]) + assert 0.015 < step < 0.40, f"track_max_step_m={step} 没夹在真实运动与 400mm 之间" + # 远框门限要小于那次 dpx=480/418/207，让人真的会被确认 + assert 0 < float(yolo["reacquire_far_px"]) < 207.0 + + +def test_perception_wires_kpt_plausible(): + src = _perception_src() + assert "kpt_plausible(" in src, "k0 位置守卫没接进 perception" + assert "from arm_application.feature_guard import" in src or "feature_guard import" in src + + +def test_perception_wires_slew_and_reacquire_guards(): + src = _perception_src() + assert "TrackSlewGuard(" in src, "位移上限没接" + assert "FarReacquireConfirm(" in src, "远框重捕获确认没接" + assert "self.reacquire_far_px =" in src, ( + "参数读了没存成属性 —— 远框确认会 AttributeError，看门狗跟着急停" + ) + + +def _export_site_env(): + """import scripts/lib/export_site_env（launch 也是这么接的）。""" + import sys + + lib = ROOT / "scripts" / "lib" + if str(lib) not in sys.path: + sys.path.insert(0, str(lib)) + import export_site_env # type: ignore + + return export_site_env + + +def test_guard_keys_are_actually_wired_into_the_launch_params(monkeypatch): + """配置键必须**真的接线**到 launch 参数，不能只写在 site.yaml 里。 + + 这是 R1.1 的机器化执行：节点的 declare_parameter 默认值恰好等于 site.yaml + 当前值，所以"没接线"不会报错，只会让以后改 site.yaml 毫无反应 —— 最难查的 + 一类问题。判据：把 site.yaml 的值改成一个特异值，导出的参数必须跟着变。 + """ + # 清掉环境里的选臂变量，保证这里选的是 probe_robot 写的那台（可复现）。 + monkeypatch.delenv("ROBOT_SN", raising=False) + monkeypatch.delenv("ROBOT_ARM", raising=False) + ex = _export_site_env() + site = _site() + # apply_active_arm() 要能选出机械臂，否则它自己就会报错（这是有意的： + # 选不出臂就不许启动）。这里给一个最小可解析的 robot 段，值全部来自真实 + # site.yaml，只是把待检查的键换成特异值。 + probe_robot = { + "sn": "Rizon4-777001", + "robots": [{"sn": "Rizon4-777001", "arm": "left"}], + } + + # --- perception：四道关键点守卫 --- + yolo = dict(site["yolo"]) + yolo.update({ + "keypoint_border_px": 11.0, + "track_max_step_m": 0.033, + "reacquire_far_px": 99.0, + "reacquire_confirm_frames": 5, + }) + probe = {"yolo": yolo, "robot": probe_robot} + popt = ex.perception_overrides(probe) + assert popt["keypoint_border_px"] == pytest.approx(11.0) + assert popt["track_max_step_m"] == pytest.approx(0.033) + assert popt["reacquire_far_px"] == pytest.approx(99.0) + assert int(popt["reacquire_confirm_frames"]) == 5 + + # --- servo：远处限速 --- + servo = dict(site["servo"]) + servo.update({"slow_far_m": 0.021, "v_slow_xy": 0.067}) + sopt = ex.servo_overrides({"servo": servo, "robot": probe_robot}) + assert sopt["slow_far_m"] == pytest.approx(0.021), "slow_far_m 没接线（改了配置也不生效）" + assert sopt["v_slow_xy"] == pytest.approx(0.067), "v_slow_xy 没接线" + + +# --------------------------------------------------------------------------- # +# 端到端：真机那几帧假 k0 走一遍 _keypoint_feature，必须**不采信它的位置** +# --------------------------------------------------------------------------- # +class _StubDet: + def __init__(self, uv, conf, box=BOX): + from arm_application.pose_detector import Detection + + self._d = Detection( + xyxy=np.asarray(box, dtype=float), conf=0.9, cls_id=0, cls_name="workpiece", + kpts=np.array([[uv[0], uv[1], conf]], dtype=float), + ) + + def __getattr__(self, name): + return getattr(self._d, name) + + +class _StubKpt: + """``_keypoint_feature`` 用到的成员。""" + + def __init__(self, *, frac=None, depth_at=0.22, depth_box=0.22): + self.logs = [] + self.keypoint_index = 0 + self.keypoint_min_conf = 0.30 + self.keypoint_border_px = 6.0 + self._kpt_box_frac = None if frac is None else np.asarray(frac, dtype=float) + self._last_good_z = None + self._depth_at = depth_at + self._depth_box = depth_box + + class _L: + def __init__(self, sink): + self._s = sink + + def _add(self, m, **_): + self._s.append(str(m)) + + info = warn = error = debug = _add + + def get_logger(self): + return self._L(self.logs) + + def _img_wh_or_zero(self): + return (FRAME_W, FRAME_H) + + def _depth_at_uv(self, _u, _v): + return (None, "窗口无有效深度") if self._depth_at is None else (self._depth_at, "win6") + + def _depth_in_box(self, _b): + return (None, "框内无有效深度") if self._depth_box is None else (self._depth_box, "框内中位") + + def _pixel_to_cam(self, u, v, z): + return np.array([(u - 424.0) * z / 380.0, (v - 240.0) * z / 380.0, z]) + + +def _kpt_feature(stub, uv, conf): + from arm_application.perception_node import PerceptionNode + + return PerceptionNode._keypoint_feature(stub, _StubDet(uv, conf)) + + +def test_real_true_k0_is_used_as_is(): + """真 k0（conf 0.87 uv=(410,246)，框内、不贴边）必须原样用它的 uv。""" + feat = _kpt_feature(_StubKpt(), TRUE_K0, 0.87) + assert feat is not None + assert tuple(np.round(feat.uv)) == TRUE_K0, "真 k0 的 uv 被改了 —— 守卫过严" + assert feat.borrowed is False # 该像素有自己的深度 + + +def test_border_false_k0_is_not_used_even_at_conf_073(): + """真机那帧 conf=0.73 uv=(12,30)（贴画面角）：**不许**用它的位置。 + + 有可信历史偏移时走"按偏移重建"，位置必须回到历史点上（不是那个角落）。 + """ + frac = np.array([0.25, -0.25]) # 锁定阶段学到的 k0 相对框偏移 + feat = _kpt_feature(_StubKpt(frac=frac), (12.0, 30.0), 0.73) + assert feat is not None, "有可信历史就不该整帧丢掉" + assert not np.allclose(feat.uv, [12.0, 30.0]), "贴边的假 k0 被采信了 —— 就是它把臂带走的" + # 重建点在框上，且等于框心 + 历史偏移 + cx = 0.5 * (BOX[0] + BOX[2]) + cy = 0.5 * (BOX[1] + BOX[3]) + bw = BOX[2] - BOX[0] + bh = BOX[3] - BOX[1] + assert tuple(np.round(feat.uv)) == (round(cx + 0.25 * bw), round(cy - 0.25 * bh)) + + +def test_border_false_k0_without_history_is_dropped(): + """冷启动时贴边假 k0 直接不用它（返回 None，交由调用方回落）。""" + feat = _kpt_feature(_StubKpt(frac=None), (12.0, 30.0), 0.73) + assert feat is None, "没有可信历史时贴边假 k0 必须被丢掉" + + +def test_borrowed_depth_is_flagged(): + """k0 处读不到深度 ⇒ 借框内深度，并**显式标记** borrowed（下游据此禁重定位）。""" + feat = _kpt_feature(_StubKpt(depth_at=None, depth_box=0.22), TRUE_K0, 0.87) + assert feat is not None and feat.borrowed is True + assert "借深度" in feat.note + + +def test_true_k0_outside_box_is_not_used(): + """落在自己框外的"k0"（孔心不在工件外）同样不许采信位置。""" + frac = np.array([0.1, 0.1]) + feat = _kpt_feature(_StubKpt(frac=frac), (700.0, 250.0), 0.90) + assert feat is not None + assert not np.allclose(feat.uv, [700.0, 250.0]) + + +# --------------------------------------------------------------------------- # +# 守卫四（伺服侧）：远处限速 —— 与"目标真不真"无关，只保证"追错时走得少" +# --------------------------------------------------------------------------- # +class _StubServo: + def __init__(self, *, slow_far_m: float = 0.05, v_slow_xy: float = 0.08): + self.slow_far_m = slow_far_m + self.v_slow_xy = v_slow_xy + + +def _slow(st, nerr: float, v_xy: float): + return ServoNode._slow_xy_limit(st, nerr, v_xy) # type: ignore[arg-type] + + +def test_far_target_is_slowed_down(): + """真机那次的 400mm 级误差必须被限速（否则 0.7s 带走 400mm）。""" + lim, why = _slow(_StubServo(), 0.400, 0.45) + assert lim == pytest.approx(0.08), "远处没限速 —— 就是它把臂带到工作盒角落的" + assert why is not None and "目标离" in why + + +def test_near_target_keeps_full_speed(): + """守卫不能过严：目标近了必须放开速度，否则收敛永远慢吞吞（死区都进不去）。""" + lim, why = _slow(_StubServo(), 0.020, 0.45) + assert lim == pytest.approx(0.45) and why is None + + +def test_boundary_just_over_the_threshold_is_slowed(): + lim, why = _slow(_StubServo(), 0.051, 0.45) + assert lim == pytest.approx(0.08) and why is not None + lim2, _ = _slow(_StubServo(), 0.049, 0.45) + assert lim2 == pytest.approx(0.45) + + +def test_slow_limit_is_config_driven(): + """限速值来自配置：改大之后远处目标就该跑得更快（否则阈值写死、配置没接线）。""" + lim, _ = _slow(_StubServo(slow_far_m=0.30, v_slow_xy=0.20), 0.400, 0.45) + assert lim == pytest.approx(0.20) + # 比门限更近 ⇒ 完全放开 + lim2, _ = _slow(_StubServo(slow_far_m=0.50, v_slow_xy=0.20), 0.400, 0.45) + assert lim2 == pytest.approx(0.45) + + +def test_slow_limit_never_raises_the_speed(): + """限速只能降不能升：v_max_xy 本来就比 v_slow_xy 小时不许被"抬"上去。""" + lim, _ = _slow(_StubServo(), 0.400, 0.03) + assert lim == pytest.approx(0.03) + + +def test_site_yaml_has_the_slow_approach_keys(): + servo = _site()["servo"] + for key in ("slow_far_m", "v_slow_xy"): + assert key in servo, f"site.yaml 没接 {key}" + # 必须真的能拦住真机那次：门限 < 400mm、限速 < v_max_xy + assert 0.02 < float(servo["slow_far_m"]) < 0.40 + assert float(servo["v_slow_xy"]) < float(servo["v_max_xy"]) + + +def test_servo_wires_the_slow_limit(): + p = ROOT / "src" / "arm_application" / "arm_application" / "servo_node.py" + src = p.read_text(encoding="utf-8") + assert "v_xy = min(float(v_xy), cruise)" in src, "锁定前的统一巡航限速未接入" + assert "def _slow_xy_limit(" in src + assert 'declare_parameter("slow_far_m"' in src diff --git a/src/arm_application/test/test_feature_jump_guard.py b/src/arm_application/test/test_feature_jump_guard.py new file mode 100644 index 0000000..93ca0ec --- /dev/null +++ b/src/arm_application/test/test_feature_jump_guard.py @@ -0,0 +1,357 @@ +"""跟踪点"假跳变"的两道防线（负向测试：改回去必须变红）。 + +为什么单独立一条（2026-10-08 真机实测，arm 89 一阶段跑 150s 没锁上） +------------------------------------------------------------------- +日志原话（gongjian0929，跟踪锁高 0.370m）： + + 0659.551 死区保持 |e_xy|=3.0mm ← 其实已经锁定！误差只剩 3mm + 0659.598 k0 置信度 0.01 < 0.30，本帧不用它 + 0659.604 HANDEYE snap feat_base=(0.675,-0.099) ← 跟踪点瞬间横移 89mm + 0660.121 v=(-0.206,+0.400) |e_xy|=130mm ← 伺服以 0.45m/s 去追这个假点 + 0660.561 过期保持 —— 不跟踪冻结的检测框 ← 画面糊掉，目标彻底丢失 + +根因是**两处**，各自都要能独立失败： + + 1. ``perception_node._keypoint_feature``：k0 掉信时兜底把跟踪点从 k0 切到 + "框中心" —— 而框中心离 k0 有 89mm（k0 是工件上的孔，不在框心）。正确的兜底 + 是**借 k0 相对框的归一化偏移**在框上重建 k0：位置连续、工件动时还能跟着动。 + 2. ``servo_node._update_feat_track``：``dxy > predict_jump_m`` 时单帧就 + ``reset()`` **采信**假跳。30Hz 相机 + 工件不动，一帧跳 89mm 物理上不可能 + ⇒ 必须连续 N 帧指向同一新位置才认。 + +用例全离线：用打桩对象直接调被测方法（不建 ROS 实体、不发运动指令）， +与 ``test_stage2_descent_clamp`` 同一套做法。 +""" + +from __future__ import annotations + +from typing import Any, List, Optional + +import numpy as np + +from arm_application.feature_jump_guard import ( + ACCEPT, + HOLD, + REJECT, + FeatureJumpGate, +) +from arm_application.kalman_filter import KalmanFilter3D +from arm_application.perception_node import PerceptionNode +from arm_application.servo_node import ServoNode +from arm_application.pose_detector import Detection + +# 真机那次的关键数字 +_JUMP_M = 0.08 # servo.predict_jump_m +_K0_UV = np.array([296.0, 262.0]) # 锁定瞬间的 k0 +_BOX = np.array([180.0, 120.0, 620.0, 420.0]) # 工件框 +# 真机日志里那一跳：(0.630,-0.176) → (0.675,-0.099) +_FEAT_BEFORE = np.array([0.630, -0.176]) +_FEAT_AFTER = np.array([0.675, -0.099]) + + +class _StubLogger: + """把日志写进调用方给的 sink（和被测对象共享同一个 list）。""" + + def __init__(self, sink: List[str]) -> None: + self._sink = sink + + def _add(self, msg: str, **_: Any) -> None: + self._sink.append(str(msg)) + + info = _add + warn = _add + error = _add + debug = _add + + +# --------------------------------------------------------------------------- # +# 防线 1：perception 的 k0 掉信兜底 —— 借偏移，不借绝对位置 +# --------------------------------------------------------------------------- # +class _StubPerception: + """``_keypoint_feature`` 用到的成员全部打桩。""" + + def __init__( + self, + *, + kpt_conf: float, + last_uv: Optional[np.ndarray], + frac: Optional[np.ndarray], + depth_at: Optional[float] = 0.21, + depth_box: Optional[float] = 0.22, + ) -> None: + self.logs: List[str] = [] + self.keypoint_index = 0 + self.keypoint_min_conf = 0.30 + # k0 位置守卫的参数与画面尺寸（用真机 D405 的 848x480，见 feature_guard） + self.keypoint_border_px = 6.0 + self._kpt_box_frac = None if frac is None else np.asarray(frac, dtype=float) + self._last_uv = None if last_uv is None else np.asarray(last_uv, dtype=float) + self._kpt_conf = float(kpt_conf) + self._depth_at = depth_at + self._depth_box = depth_box + + def get_logger(self) -> Any: + return _StubLogger(self.logs) + + def _img_wh_or_zero(self) -> tuple: + # 真机 D405 彩色图尺寸（k0 位置守卫要用它判"贴画面边"） + return (848, 480) + + def _depth_at_uv(self, _u: float, _v: float) -> tuple: + if self._depth_at is None: + return None, "窗口无有效深度" + return float(self._depth_at), "win6" + + def _depth_in_box(self, _xyxy: Any) -> tuple: + if self._depth_box is None: + return None, "框内无有效深度" + return float(self._depth_box), "框内中位" + + def _pixel_to_cam(self, u: float, v: float, z: float) -> np.ndarray: + # 只要求"同一 uv 得同一 3D 点"，用最简针孔映射即可（不参与本用例断言） + return np.array([(u - 400.0) * z / 380.0, (v - 240.0) * z / 380.0, z]) + + def det(self, kpt_uv: np.ndarray) -> Detection: + return Detection( + xyxy=_BOX.copy(), + conf=0.9, + cls_id=0, + cls_name="workpiece", + kpts=np.array([[kpt_uv[0], kpt_uv[1], self._kpt_conf]], dtype=float), + ) + + +def _feat(stub: _StubPerception, kpt_uv: np.ndarray) -> Any: + """直接调被测方法（打桩对象冒充 self）。""" + return PerceptionNode._keypoint_feature(stub, stub.det(kpt_uv)) + + +def test_kpt_low_conf_rebuilds_on_box_not_box_center(): + """k0 掉信时**不许**把跟踪点横移到框中心。""" + # 锁定阶段记下的 k0 相对框偏移：k0 在框心右侧偏上 + frac = np.array([0.25, -0.25]) + stub = _StubPerception(kpt_conf=0.05, last_uv=_K0_UV, frac=frac) + box_cx = 0.5 * (_BOX[0] + _BOX[2]) + box_cy = 0.5 * (_BOX[1] + _BOX[3]) + bw = _BOX[2] - _BOX[0] + bh = _BOX[3] - _BOX[1] + + feat = _feat(stub, kpt_uv=np.array([150.0, 60.0])) # 掉信帧的 k0 是垃圾值 + + assert feat is not None, "有可信历史时必须给得出跟踪点（不能退回 None→框中心）" + expect = np.array([box_cx + frac[0] * bw, box_cy + frac[1] * bh]) + assert np.allclose(feat.uv, expect, atol=1e-6) + # 负向：绝不能等于框中心 + assert not np.allclose(feat.uv, [box_cx, box_cy], atol=1.0), ( + f"跟踪点落回框中心了 uv={feat.uv} 框心=({box_cx},{box_cy})" + ) + assert "保持" in feat.note + + +def test_kpt_low_conf_rebuild_follows_box_motion(): + """框移动时，重建出来的 k0 要跟着动 —— 相对框的偏移必须保持。""" + frac = np.array([0.25, -0.25]) + stub = _StubPerception(kpt_conf=0.02, last_uv=_K0_UV, frac=frac) + + moved_box = _BOX + np.array([40.0, 0.0, 40.0, 0.0]) # 整框右移 40px + d = stub.det(np.array([150.0, 60.0])) + d.xyxy = moved_box + feat = PerceptionNode._keypoint_feature(stub, d) + + box_cx = 0.5 * (moved_box[0] + moved_box[2]) + box_cy = 0.5 * (moved_box[1] + moved_box[3]) + bw = moved_box[2] - moved_box[0] + bh = moved_box[3] - moved_box[1] + expect = np.array([box_cx + frac[0] * bw, box_cy + frac[1] * bh]) + assert np.allclose(feat.uv, expect, atol=1e-6) + # 相对框心的偏移（归一化后）没变 —— 这才是"跟着走且不跳"的含义 + got_frac = np.array( + [(feat.uv[0] - box_cx) / bw, (feat.uv[1] - box_cy) / bh] + ) + assert np.allclose(got_frac, frac, atol=1e-9) + + +def test_kpt_trusted_updates_offset_and_keeps_k0_uv(): + """k0 可信时必须用 k0 自己的 uv，并顺手更新偏移记录。""" + stub = _StubPerception(kpt_conf=0.87, last_uv=None, frac=None) + feat = _feat(stub, kpt_uv=_K0_UV) + + assert feat is not None + assert np.allclose(feat.uv, _K0_UV, atol=1e-6) + assert stub._kpt_box_frac is not None, "可信帧必须记下 k0 相对框的偏移" + box_cx = 0.5 * (_BOX[0] + _BOX[2]) + bw = _BOX[2] - _BOX[0] + assert abs(float(stub._kpt_box_frac[0]) - (_K0_UV[0] - box_cx) / bw) < 1e-9 + + +def test_kpt_no_history_still_falls_back(): + """冷启动（从没见过可信 k0）时没有更好的信息 —— 此时才允许返回 None。""" + stub = _StubPerception(kpt_conf=0.05, last_uv=None, frac=None) + assert _feat(stub, kpt_uv=np.array([150.0, 60.0])) is None + + +def test_kpt_trusted_but_no_depth_keeps_k0_uv_and_borrows_depth(): + """只有深度读不到时：XY 仍用 k0（不许横移），深度可以借框内。""" + stub = _StubPerception(kpt_conf=0.80, last_uv=None, frac=None, depth_at=None) + feat = _feat(stub, kpt_uv=_K0_UV) + + assert feat is not None + assert np.allclose(feat.uv, _K0_UV, atol=1e-6), "深度不可用时把 XY 也弄丢了" + assert abs(feat.z - 0.22) < 1e-9, "应从框内借到深度" + + +# --------------------------------------------------------------------------- # +# 防线 2：servo 的跳变确认门限 +# --------------------------------------------------------------------------- # +def test_jump_gate_rejects_single_frame_spurious_jump(): + """真机那一跳：单帧 89mm，必须判 hold（不采信）。""" + gate = FeatureJumpGate(_JUMP_M, confirm_frames=3) + assert float(np.hypot(*(_FEAT_AFTER - _FEAT_BEFORE))) > _JUMP_M # 前提：确实是大跳 + assert gate.update(_FEAT_AFTER, _FEAT_BEFORE) == FeatureJumpGate.HOLD + + +def test_jump_gate_confirms_persistent_relocation(): + """真正换了位置时，连续 3 帧一致就要认（不能永远 hold 住）。""" + gate = FeatureJumpGate(_JUMP_M, confirm_frames=3) + new = np.array([0.760, -0.180]) + assert gate.update(new, _FEAT_BEFORE) == FeatureJumpGate.HOLD + assert gate.update(new, _FEAT_BEFORE) == FeatureJumpGate.HOLD + assert gate.update(new, _FEAT_BEFORE) == FeatureJumpGate.JUMP + + +def test_jump_gate_near_is_passthrough(): + """正常小位移不该被拦住（真实运动 ≤15mm/帧）。""" + gate = FeatureJumpGate(_JUMP_M, confirm_frames=3) + for d in (0.005, -0.010, 0.015): + assert gate.update( + np.array([_FEAT_BEFORE[0] + d, _FEAT_BEFORE[1]]), _FEAT_BEFORE + ) == FeatureJumpGate.NEAR + + +def test_jump_gate_inconsistent_candidates_never_confirm(): + """每帧跳到不同地方（k0 掉信时的乱跳）永远确认不了。""" + gate = FeatureJumpGate(_JUMP_M, confirm_frames=3) + for p in ([0.675, -0.099], [0.570, -0.046], [0.700, -0.250], [0.520, -0.020]): + assert gate.update(np.array(p), _FEAT_BEFORE) == FeatureJumpGate.HOLD + assert gate.hold_total == 4 + + +def test_jump_gate_single_confirm_frame_is_explicit_legacy(): + """confirm_frames=1 是显式退回旧行为 —— 是"选择"，不是静默降级。""" + gate = FeatureJumpGate(_JUMP_M, confirm_frames=1) + assert gate.update(_FEAT_AFTER, _FEAT_BEFORE) == FeatureJumpGate.JUMP + + +class _StubServo: + """``_update_feat_track`` 用到的成员全部打桩。 + + ``ws_min/ws_max`` 取 site.yaml 现行值（法兰工作盒），特征点在盒外时会被判误检。 + """ + + def __init__(self) -> None: + self.logs: List[str] = [] + self.predict_jump_m = _JUMP_M + self.feat_ws_margin_m = 0.05 + # config/site.yaml 的 servo.workspace_xyz_min/max + self.ws_min = np.array([0.08, -0.55, 0.18], dtype=float) + self.ws_max = np.array([0.85, 0.55, 0.65], dtype=float) + self._feat_kf = KalmanFilter3D(q_pos=2.0e-3, q_vel=1.5e-1, r_pos=4.0e-4) + self._jump_gate = FeatureJumpGate(_JUMP_M, confirm_frames=3) + + def get_logger(self) -> Any: + return _StubLogger(self.logs) + + # 真实方法（纯计算，不碰 ROS）—— 挂上来，避免把它的逻辑抄一份到测试里 + _feat_workspace_ok = ServoNode._feat_workspace_ok + + +def _update(stub: _StubServo, p_base: np.ndarray, *, was_lost: bool, now_m: float) -> str: + return ServoNode._update_feat_track(stub, p_base, was_lost=was_lost, now_m=now_m) + + +# 真机实测的"假点"：落在基座后方，而工件在 (0.5,-0.12) +_BOGUS_FAR = np.array([-0.102, -0.648, -0.01]) + + +def test_servo_rejects_feature_outside_workspace(): + """物理合理性：工作盒外的点必须被判误检（当"没有目标"，不是"钉住"）。""" + stub = _StubServo() + p0 = np.array([_FEAT_BEFORE[0], _FEAT_BEFORE[1], -0.007]) + assert _update(stub, p0, was_lost=True, now_m=1.0) == ACCEPT + # 真机那一串假点：(-0.102,-0.648) 在工件反方向、x 甚至为负 + assert _update(stub, _BOGUS_FAR, was_lost=False, now_m=1.033) == REJECT + assert "工作盒外" in " ".join(stub.logs) + + +def test_servo_reject_wins_even_if_bogus_is_persistent(): + """假点就算"稳定地"出现在盒外 N 帧，也必须一直 reject（不能被确认为重定位）。""" + stub = _StubServo() + p0 = np.array([_FEAT_BEFORE[0], _FEAT_BEFORE[1], -0.007]) + _update(stub, p0, was_lost=True, now_m=1.0) + for i in range(1, 6): # 同一个盒外点重复来 5 帧 + assert _update(stub, _BOGUS_FAR, was_lost=False, now_m=1.0 + 0.033 * i) == REJECT + # 位置必须还钉在原处（没有被假点带跑） + assert np.allclose(stub._feat_kf.position[:2], _FEAT_BEFORE, atol=5e-4) + + +def test_servo_reject_holds_when_kf_not_initialized(): + """冷启动就收到盒外点：不能把它当基准点初始化。""" + stub = _StubServo() + assert _update(stub, _BOGUS_FAR, was_lost=True, now_m=1.0) == REJECT + assert not stub._feat_kf.initialized, "盒外的假点被当成了初始基准" + + +def test_feat_workspace_ok_accepts_real_workpiece(): + """真实工件点（0.5,-0.12）绝不能被误判成盒外。""" + stub = _StubServo() + assert ServoNode._feat_workspace_ok(stub, np.array([0.500, -0.120, 0.022])) is True + # 盒边界附近（含余量内）也放行 + assert ServoNode._feat_workspace_ok(stub, np.array([0.08, -0.55, 0.022])) is True + + +def test_servo_holds_position_on_spurious_jump(): + """真机场景：锁定后单帧假跳 —— 位置必须钉住不动（旧代码会 reset 追过去）。""" + stub = _StubServo() + p0 = np.array([_FEAT_BEFORE[0], _FEAT_BEFORE[1], -0.007]) + assert _update(stub, p0, was_lost=True, now_m=1.0) == ACCEPT # 首次捕获 + held_pos = stub._feat_kf.position.copy() + assert np.allclose(held_pos[:2], _FEAT_BEFORE, atol=1e-6) + + jumped = np.array([_FEAT_AFTER[0], _FEAT_AFTER[1], -0.008]) + assert _update(stub, jumped, was_lost=False, now_m=1.033) == HOLD, "必须判 hold" + assert np.allclose( + stub._feat_kf.position[:2], _FEAT_BEFORE, atol=5e-4 + ), "hold 之后位置被假点带跑了" + + +def test_servo_confirms_real_relocation_after_n_frames(): + """真换了位置：连续 3 帧一致后必须采信（不能把 hold 变成"卡死"）。""" + stub = _StubServo() + p0 = np.array([_FEAT_BEFORE[0], _FEAT_BEFORE[1], -0.007]) + _update(stub, p0, was_lost=True, now_m=1.0) + + new = np.array([0.760, -0.180, -0.007]) + assert _update(stub, new, was_lost=False, now_m=1.033) == HOLD + assert _update(stub, new, was_lost=False, now_m=1.066) == HOLD + assert _update(stub, new, was_lost=False, now_m=1.099) == ACCEPT, "第 3 帧该采信了" + assert np.allclose(stub._feat_kf.position[:2], new[:2], atol=2e-3) + + +def test_servo_hold_after_convergence_keeps_gate_velocity_zero(): + """hold 期间速度必须清零，否则旧速度会把"不动"变成"匀速跑掉"。""" + stub = _StubServo() + # 给 KF 灌一个明显不为零的速度 + p0 = np.array([_FEAT_BEFORE[0], _FEAT_BEFORE[1], -0.007]) + _update(stub, p0, was_lost=True, now_m=1.0) + for i, dx in enumerate((0.004, 0.008, 0.012), start=1): + _update( + stub, + np.array([_FEAT_BEFORE[0] + dx, _FEAT_BEFORE[1], -0.007]), + was_lost=False, + now_m=1.0 + 0.033 * i, + ) + assert float(np.hypot(*stub._feat_kf.velocity[:2])) > 1e-3, "前提：速度非零" + + jumped = np.array([_FEAT_AFTER[0], _FEAT_AFTER[1], -0.008]) + assert _update(stub, jumped, was_lost=False, now_m=1.2) == HOLD + assert float(np.hypot(*stub._feat_kf.velocity[:2])) < 1e-9, "hold 时速度没清零" diff --git a/src/arm_application/test/test_ft_source_guard.py b/src/arm_application/test/test_ft_source_guard.py new file mode 100644 index 0000000..447a25a --- /dev/null +++ b/src/arm_application/test/test_ft_source_guard.py @@ -0,0 +1,200 @@ +"""腕部 FT 兜底不许"静默失效"：数据源没出数时必须喊出来，且配置必须指向有数的话题。 + +为什么单独立一条（2026-10-08 真机实测） +-------------------------------------- +二阶段轻降把"规尖碰工件"的兜底押在腕部 FT 上：``abs(fz − 基线) > 2.5N ⇒ 停``。 +真机上应用在用的 ``/Rizon4_063989/ft_sensor_wrench`` 却是**恒 (0,0,0)**： + + /Rizon4_063989/ft_sensor_wrench force.z = 0.0 ← 应用在用 + /Rizon4_063989/external_wrench_in_tcp force.z = -53.84 ← 才有数（负载） + +于是 ``abs(0 − 0) > 2.5`` 永远为假 —— **接触兜底永远触发不了**，而日志里一切正常： +话题收得到、回调在跑、``wrench_live``（只看"够不够新"）还报"活"。这是最危险的 +静默失效：轻降会一直往下走而没有任何力保护。 + +两处修（互补，都要有）： + +1. 配置：真机 ``servo.ft_wrench_topic`` 指向有数的 ``external_wrench_in_tcp`` + （判据是"相对轻降起始基线的增量"，与 54N 那个偏置无关）；仿真**必须**覆盖回 + ``/sim/ft_sensor_wrench``（仿真没有 external_wrench_in_tcp 这个话题）。 +2. 守卫：``gauge_fsm.wrench_all_zero`` —— 带负载的 FT 不可能六个分量**同时**恰好为 + 0，所以"全零 > 5s"= 数据源没出数，节点必须报 error（一次）。 + +这些用例全是**离线**的：``_on_wrench`` 只用到少量成员，用打桩对象即可。 +""" + +from __future__ import annotations + +import time +from typing import Any, List + +import yaml +from geometry_msgs.msg import Wrench, WrenchStamped + +from arm_application import stage2_locate_node as s2mod +from arm_application.gauge_fsm import wrench_all_zero +from arm_application.stage2_locate_node import Stage2Locate + +ROOT = __import__("pathlib").Path(__file__).resolve().parents[3] +SITE = ROOT / "config" / "site.yaml" + + +class _Logger: + def __init__(self, sink: List[str]) -> None: + self._sink = sink + + def _add(self, msg: str) -> None: + self._sink.append(str(msg)) + + info = _add + warn = _add + error = _add + + +class _Stub: + """``_on_wrench`` 用到的成员全部打桩。""" + + def __init__(self) -> None: + self.logs: List[str] = [] + self._logger = _Logger(self.logs) + self._ft_fz = None + self._t_ft = None + self._ft_zero_since = None + self._ft_zero_warned = False + self.ft_wrench_topic = "/Rizon4_063989/ft_sensor_wrench" + + def get_logger(self) -> Any: + return self._logger + + +def _wrench_msg(*, fz: float = 0.0, tx: float = 0.0) -> WrenchStamped: + m = WrenchStamped() + m.wrench = Wrench() + m.wrench.force.x = 0.0 + m.wrench.force.y = 0.0 + m.wrench.force.z = float(fz) + m.wrench.torque.x = float(tx) + m.wrench.torque.y = 0.0 + m.wrench.torque.z = 0.0 + return m + + +# --------------------------------------------------------------------------- # +# wrench_all_zero：区分"安静"与"没出数" +# --------------------------------------------------------------------------- # +def test_all_zero_is_flagged(): + assert wrench_all_zero(0.0, 0.0, 0.0, 0.0, 0.0, 0.0) is True + + +def test_a_real_load_is_not_all_zero(): + """真机 external_wrench_in_tcp 的读数（≈负载 54N）不能被判成"没出数"。""" + assert wrench_all_zero(0.036, 0.32, -53.84, 0.0, 0.0, 0.0) is False + + +def test_tiny_noise_is_not_all_zero(): + """很小但活的读数（噪声量级）也不算"没出数" —— 否则会误报。""" + assert wrench_all_zero(1.0e-3, 0.0, 0.0, 0.0, 0.0, 0.0) is False + + +def test_torque_alone_is_enough_to_prove_it_is_alive(): + assert wrench_all_zero(0.0, 0.0, 0.0, 0.02, 0.0, 0.0) is False + + +# --------------------------------------------------------------------------- # +# 节点守卫：全零 > 5s 报 error（一次），有数则安静 +# --------------------------------------------------------------------------- # +def test_all_zero_for_over_5s_raises_error_once(): + st = _Stub() + # 让它一开始就已经"全零了 6 秒"（不 sleep，直接构造状态） + st._ft_zero_since = time.monotonic() - 6.0 + + Stage2Locate._on_wrench(st, _wrench_msg()) # type: ignore[arg-type] + errs = [m for m in st.logs if "全为 0" in m] + assert len(errs) == 1, f"数据源恒零却{'没报' if not errs else '报多了'} —— 静默失效" + assert "判不到接触" in errs[0], "要说清后果：接触兜底永远不会触发" + assert "ft_sensor_wrench" in errs[0], "要打出话题名，现场才知道换哪个" + + # 第二次不该再刷屏 + Stage2Locate._on_wrench(st, _wrench_msg()) # type: ignore[arg-type] + assert len([m for m in st.logs if "全为 0" in m]) == 1, "全零告警只许喊一次" + + +def test_a_live_reading_never_warns_and_is_cached(): + st = _Stub() + Stage2Locate._on_wrench(st, _wrench_msg(fz=-53.84)) # type: ignore[arg-type] + assert not [m for m in st.logs if "全为 0" in m], "有数还告警 = 误报" + assert st._ft_fz == -53.84, "轴向力必须缓存下来（_contact_detected 要用）" + assert st._t_ft is not None, "要记收到时刻" + + +def test_losing_data_after_a_live_reading_restarts_the_clock(): + """先有数、后全零：计时要从"变成全零那一刻"重新起算，不能沿用旧起点。""" + st = _Stub() + Stage2Locate._on_wrench(st, _wrench_msg(fz=-53.84)) # type: ignore[arg-type] + assert st._ft_zero_since is None + Stage2Locate._on_wrench(st, _wrench_msg()) # 转全零 + assert st._ft_zero_since is not None, "转全零要起计时" + + +# --------------------------------------------------------------------------- # +# 源码守卫：这两处都不能被悄悄删掉 +# --------------------------------------------------------------------------- # +def test_stage2_wires_the_all_zero_guard(): + src = ( + ROOT / "src" / "arm_application" / "arm_application" / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + assert "wrench_all_zero(" in src, "全零守卫没接进 stage2 的 FT 回调" + assert "from arm_application.gauge_fsm import" in src and "wrench_all_zero" in src + + +# --------------------------------------------------------------------------- # +# 配置接线：真机指向有数的话题，仿真不许跟着用 +# --------------------------------------------------------------------------- # +def _robots() -> dict: + site = yaml.safe_load(SITE.read_text(encoding="utf-8")) + return {r["sn"]: r for r in site["robot"]["robots"]} + + +def test_real_arms_point_at_a_topic_that_actually_has_data(): + """真机 FT 源必须是 external_wrench_in_tcp —— ft_sensor_wrench 实测恒零。""" + robots = _robots() + for sn in ("Rizon4-063989", "Rizon4-063991"): + if sn not in robots: + continue + topic = robots[sn]["servo"].get("ft_wrench_topic") + assert topic, f"{sn} 没配 servo.ft_wrench_topic —— 会退回恒零的 ft_sensor_wrench" + assert topic.endswith("/external_wrench_in_tcp"), ( + f"{sn} 的 FT 源是 {topic}；真机只有 external_wrench_in_tcp 有数" + ) + assert sn.replace("-", "_") in topic, "话题名里的 sn 要用下划线（与 broadcaster 一致）" + + +def test_sim_overrides_the_real_ft_topic(): + """仿真必须显式覆盖 —— `*servo_left` 带下来的是真机话题，仿真里不存在。""" + topic = _robots()["sim"]["servo"].get("ft_wrench_topic") + assert topic == "/sim/ft_sensor_wrench", ( + f"仿真 FT 话题是 {topic}；仿真由 sim_wrist_ft 发 /sim/ft_sensor_wrench" + ) + + +def test_node_reads_the_topic_from_site_config_not_hardcoded(): + """话题必须可配（读 servo.ft_wrench_topic），不许把真机话题写死在代码里。 + + 用语法树取字符串字面量来判（不是文本匹配）—— 这样解释这件事的注释不算数。 + """ + import ast + + src = ( + ROOT / "src" / "arm_application" / "arm_application" / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + assert 'servo.get("ft_wrench_topic")' in src, "没从 site 配置读话题" + literals = [ + n.value + for n in ast.walk(ast.parse(src)) + if isinstance(n, ast.Constant) and isinstance(n.value, str) + ] + assert not any("Rizon4_063989" in s for s in literals), ( + "真机 sn/话题被写进了代码字符串（应当只在 site.yaml）" + ) + # 兜底必须是"按 sn 推导"，而不是某个具体话题 + assert 'f"/{robot_ns}/ft_sensor_wrench"' in src, "兜底不再是按 sn 推导的话题" diff --git a/src/arm_application/test/test_gauge_boot.py b/src/arm_application/test/test_gauge_boot.py new file mode 100644 index 0000000..00d28bc --- /dev/null +++ b/src/arm_application/test/test_gauge_boot.py @@ -0,0 +1,297 @@ +"""``gauge_boot`` 的单元测试：自检清单**内容**的正确性。 + +自检本身很容易变成"每次都过"的仪式（规则 M1）。这里钉住的是它的内容： + +* 核心判据依赖的东西（触觉、相机）必须是**必检** —— 标成选检的话， + 现场不接触觉也能一路跑到 S07 才失败，而那时报的是"力判据没触发"； +* 现场没有的设备（D435）不该生成检查项 —— 生成一个必然失败的项， + 结果是所有人都不再看自检输出了（狼来了）； +* 「为什么需要它」必须写出来，否则现场看到"未就绪"不知道该不该急。 +""" + +from __future__ import annotations + +import pytest + +from arm_application.gauge_boot import ( + PERCEPTION_SOURCES, + PROBES, + BootCheck, + blocking_failures, + build_checks, + format_report, + optional_warnings, + perception_source_of, + summary_counts, +) + + +def _build(**kw): + base = dict( + joint_action="rizon_arm_controller/follow_joint_trajectory", + camera="d405_left", + tactile_topic="/tactile/left/status", + gripper_open="/gripper/open", + gripper_close="/gripper/close", + gripper_status="/gripper/status", + gripper_status_type="arm_msgs/msg/GripperStatus", + ) + base.update(kw) + return build_checks(**base) + + +def _by_key(checks): + return {c.key: c for c in checks} + + +# ============================================================================= +# 清单内容 +# ============================================================================= +def test_core_checks_are_present_and_required(): + """核心判据依赖的东西必须是**必检**（配了工具系的那种机器）。""" + checks = _by_key(_build(tool_name="tool1")) + for key in ( + "arm_jtc", + "arm_home", + "arm_named_pose", + "arm_switch_tool", + "gripper_open", + "gripper_close", + "camera_color", + "camera_info", + "tactile_status", + "gripper_status", + ): + assert key in checks, f"自检清单缺 {key}" + assert checks[key].required, f"{key} 是核心判据依赖，必须是必检" + + +def test_jtc_check_expects_the_type_this_flow_actually_calls(): + """JTC 自检的类型必须是 control_msgs（本流程直接发给 ros2_control）。 + + 写成 arm_msgs/action/FollowJointTrajectory（arm_control 适配器那一套）会 + 让自检**永远探不到服务端**：报"控制器没起来"，而控制器明明好着。 + """ + c = _by_key(_build())["arm_jtc"] + assert c.expect_type == "control_msgs/action/FollowJointTrajectory" + + +def test_switch_tool_required_only_when_a_tool_is_configured(): + """配了工具系 → 切不过去 S01 会中止，所以按必检拦；没配 → 选检。 + + 没配工具系的机器上（比如仿真）标必检，会让"仿真里根本不存在 + /switch_tool 服务"变成每次启动的一条红字，人很快就不看自检了。 + """ + assert _by_key(_build(tool_name="tool1"))["arm_switch_tool"].required is True + assert _by_key(_build(tool_name=""))["arm_switch_tool"].required is False + + +def test_compliant_descent_is_optional(): + """S07 不依赖柔顺 action（节点内步进 + 力突变停是同一套做法）。 + + 标必检的后果：仿真里永远过不了自检，而 S07 其实跑得挺好。 + """ + c = _by_key(_build())["arm_compliant"] + assert c.required is False + assert "S07" in c.why + + +def test_tactile_must_not_be_downgraded_to_optional(): + """**负向**：触觉是 S07/S08/E1 三个判据的唯一数据源。 + + 把它标成选检的后果不是"少一项检查"，而是"力判据全部失效但流程照跑"， + 报出来的现象是"拧不进去"，离真正原因差好几层。 + """ + t = _by_key(_build())["tactile_status"] + assert t.required is True + assert t.expect_type == "arm_msgs/msg/TactileStatus" + assert "S07" in t.why and "S08" in t.why + + +def test_camera_checks_point_at_the_right_topics(): + checks = _by_key(_build(camera="d405_left")) + assert checks["camera_color"].target == "/d405_left/color/image_raw" + assert checks["camera_info"].target == "/d405_left/color/camera_info" + + +def test_camera_namespace_with_or_without_slashes_is_the_same(): + a = _by_key(_build(camera="d405_left"))["camera_color"].target + b = _by_key(_build(camera="/d405_left/"))["camera_color"].target + assert a == b == "/d405_left/color/image_raw" + + +def test_no_d435_means_no_make_believe_check(): + """现场没有的设备不生成检查项：一个必然失败的项会训练人忽略输出。""" + keys = _by_key(_build(d435_camera=None)) + assert "coarse_camera" not in keys + with_d435 = _by_key(_build(d435_camera="d435")) + assert "coarse_camera" in with_d435 + assert with_d435["coarse_camera"].required is False, "手外相机是 S03 兜底，不该拦启动" + assert with_d435["coarse_camera"].target == "/d435/color/image_raw" + + +def test_tool_frame_check_only_when_configured(): + assert "tool_frame" not in _by_key(_build(tool_name="")) + with_tool = _by_key(_build(tool_name="tool1")) + assert with_tool["tool_frame"].required is False, "没配工具系是告警，不是缺硬件" + assert "tool1" in with_tool["tool_frame"].why + + +def test_detector_check_only_when_weights_configured(): + assert "detector" not in _by_key(_build(weights_path="")) + with_w = _by_key(_build(weights_path="/home/cc/ros2/models/yolo/detect_best_0.onnx")) + assert with_w["detector"].probe == "detector" + assert with_w["detector"].target.endswith(".onnx") + + +def test_every_check_is_actionable(): + """每项都要有：稳定 key、人读名字、合法探针、明确目标、**为什么**。""" + checks = _build(d435_camera="d435", tool_name="tool1", weights_path="/tmp/x.onnx") + assert len({c.key for c in checks}) == len(checks), "key 必须唯一" + for c in checks: + assert c.label and c.key + assert c.probe in PROBES, f"{c.key} 的探针 {c.probe} 未登记" + # 网络端点必须是绝对名：相对名会随节点命名空间变，自检会去探错名字 + if c.probe != "detector": + assert c.target.startswith("/"), f"{c.key} 的目标应以 / 开头：{c.target}" + assert len(c.why) > 8, f"{c.key} 的 why 太短，缺了会怎样没说清" + + +def test_relative_action_name_is_normalised_to_absolute(): + """stage2 的 ``action_name`` 默认值是相对的（没有前导斜杠）。 + + 自检里必须补成绝对名：否则节点一旦被放进 namespace，自检就会去探 + ``/ns/rizon_arm_controller/...``，报"控制器没起来"而实际好着呢。 + """ + c = _by_key(_build(joint_action="rizon_arm_controller/follow_joint_trajectory"))["arm_jtc"] + assert c.target == "/rizon_arm_controller/follow_joint_trajectory" + + +# ============================================================================= +# 报告与判定 +# ============================================================================= +def _results(**status): + """构造 (检查项, 就绪, 细节) 列表；status 用 key 指定是否就绪。""" + out = [] + for c in _build(d435_camera="d435"): + out.append((c, bool(status.get(c.key, True)), "" if status.get(c.key, True) else "没收到")) + return out + + +def test_report_marks_required_and_optional_differently(): + text, failures = format_report(_results(coarse_camera=False)) + assert "选检" in text + assert "告警" in text + # 选检失败也要列出来（不拦流程，但必须让人看见） + assert any("coarse_camera" in f or "手外" in f for f in failures) + + +def test_only_required_failures_block_the_flow(): + """**负向**：D435 没接不能拦住装配。 + + 区分"必检失败"和"选检失败"是这一层的全部意义：混在一起会让 + "可选设备没接"变成"整个流程跑不起来"。 + """ + results = _results(coarse_camera=False) + assert blocking_failures(results) == [] + assert optional_warnings(results) and "手外" in optional_warnings(results)[0] + + results2 = _results(tactile_status=False) + assert blocking_failures(results2), "触觉缺失必须拦" + assert "触觉" in blocking_failures(results2)[0] + + +def test_report_lists_why_so_the_operator_knows_urgency(): + _text, failures = format_report(_results(camera_color=False)) + assert failures + assert "S05" in failures[0], "失败项必须说明缺了会影响哪一步" + + +def test_counts_summary(): + """数量刻意写死：加/减一条自检项时必须来这里改一行并想清楚它属于哪一类。 + + 当前（未配工具系、有手外相机、无权重）： + 必检 9 = arm_jtc, arm_home, arm_named_pose, gripper_open, gripper_close, + camera_color, camera_info, tactile_status, gripper_status + 选检 3 = coarse_camera, arm_switch_tool, arm_compliant + """ + c = summary_counts(_results(coarse_camera=False)) + assert c["required_total"] == 9 and c["required_ok"] == 9 + # 选检里只有手外相机没起来 → 3 项里 2 项通过（工具系/柔顺下压按通过算） + assert c["optional_total"] == 3 and c["optional_ok"] == 2 + + +def test_all_ready_says_so(): + text, failures = format_report(_results()) + assert failures == [] + assert "全部就绪" in text + + +def test_bootcheck_defaults_to_required(): + """手工构造检查项时默认必检 —— 默认选检会让漏写 required 变成静默放行。""" + c = BootCheck(key="k", label="l", probe="service", target="/x", why="因为所以要检查它") + assert c.required is True + + with pytest.raises(TypeError): + BootCheck(key="k", label="l", probe="service", target="/x") # type: ignore[call-arg] + +def test_missing_modules_detects_a_module_that_cannot_exist(): + """依赖检查要能真的报缺（否则 detector 自检又会变成假阳性）。""" + from arm_application.gauge_boot import missing_modules + + assert missing_modules(["json"]) == [] + assert missing_modules(["__it_cannot_exist__"]) == ["__it_cannot_exist__"] + # 父包不存在时 find_spec 会抛，这同样算"缺" + assert missing_modules(["__no_such_pkg__.sub"]) == ["__no_such_pkg__.sub"] + + +def test_dependency_advice_offers_a_way_out_without_network(): + """提示必须给两条路：装它、或换掉这个后端。 + + 只写"请 pip install"在离线机器上等于没写（本机仿真环境实测 pip 直接 SSL 失败）。 + """ + from arm_application.gauge_boot import dependency_advice + + msg = dependency_advice(["ultralytics"]) + assert "ultralytics" in msg + assert "pip install" in msg + assert "真值" in msg or "外部" in msg + + +# ============================================================================= +# 感知来源（perception.source） +# ============================================================================= +def test_detector_check_only_exists_for_the_yolo_backend(): + """只有 yolo 才查推理预热；truth/external 不跑推理，查了必然是假阴性。 + + 反面做法（生成一个"永远 OK"的项）更糟：它会让人以为"感知也验过了"。 + """ + yolo = _by_key(_build(weights_path="/tmp/w.onnx", perception_source="yolo")) + assert "detector" in yolo + + for src in ("truth", "external"): + checks = _by_key(_build(weights_path="/tmp/w.onnx", perception_source=src)) + assert "detector" not in checks, f"{src} 后端不该查推理依赖" + + +def test_no_weights_path_still_means_no_detector_check(): + """没给权重路径（比如没配检测）就不生成这一项 —— 老行为不能丢。""" + assert "detector" not in _by_key(_build(weights_path="")) + + +def test_perception_source_defaults_to_yolo_when_unset(): + assert perception_source_of(None) == "yolo" + assert perception_source_of({}) == "yolo" + assert perception_source_of({"source": ""}) == "yolo" + assert perception_source_of({"source": " TRUTH "}) == "truth" + + +def test_perception_source_rejects_typo_with_the_allowed_values(): + """拼错必须报错：默默当 yolo 会让人去查推理依赖，而真因是键值写错。""" + with pytest.raises(ValueError) as e: + perception_source_of({"source": "yolo2"}) + msg = str(e.value) + assert "yolo2" in msg + for s in PERCEPTION_SOURCES: + assert s in msg + assert "site.yaml" in msg diff --git a/src/arm_application/test/test_gauge_config.py b/src/arm_application/test/test_gauge_config.py new file mode 100644 index 0000000..a1f7792 --- /dev/null +++ b/src/arm_application/test/test_gauge_config.py @@ -0,0 +1,318 @@ +"""``gauge_config`` 的单元测试。 + +重点不在"能不能读出一个数"，而在**读错了会不会被发现**： + +* 键名拼错 → 必须报错并给候选名（否则现场"改了参数没反应"）； +* 单位与键名不符 → 必须被 ``unit_violations`` 抓到（防"填毫米按米用"）； +* 类型不对 → 必须报错，不许隐式转换； +* 跨键矛盾（安全上限低于停止阈值）→ 必须报错。 +""" + +from __future__ import annotations + +from pathlib import Path + +import pytest + +from arm_application.gauge_config import ( + DEFAULTS, + GaugeConfig, + GaugeConfigError, + _TYPES, + _UNITLESS, + _UNITS, + dataclass_keys, + from_site, + snap_feature_of, + missing_entries, + unit_violations, +) +from arm_application.gauge_fsm import ( + descend_iter_budget, + descend_tol_m, + ratchet_travel_ok, +) + + +# ============================================================================= +# 自检：配置表本身必须自洽 +# ============================================================================= +def test_schema_tables_are_consistent(): + """三张表互相覆盖完整，且 dataclass 字段与键一一对应。 + + 这条挂了通常意味着"新加了一个键，但忘了在另一张表里登记"。 + """ + assert missing_entries() == [] + assert sorted(dataclass_keys()) == sorted(_TYPES), ( + "GaugeConfig 的字段与配置键不一致：" + f"只在 dataclass: {sorted(set(dataclass_keys()) - set(_TYPES))}，" + f"只在配置表: {sorted(set(_TYPES) - set(dataclass_keys()))}" + ) + + +def test_every_key_name_declares_its_unit(): + """**键名必须体现单位**（``_mm`` / ``_deg`` / ``_s`` …）。 + + 这条是"填了毫米当米用"的第一道闸门。挂掉时的修法只有两种： + 改键名带上单位后缀，或（确实无量纲时）登记到 ``_UNITLESS``。 + """ + assert unit_violations() == [] + + +def test_unit_violations_actually_detect_bad_names(): + """**负向**：故意塞一个"名字不体现单位"的键，检查必须报出来。 + + 否则 ``unit_violations`` 可能永远返回空表（检查恒真 = 没有检查，规则 M1）。 + """ + key = "hover" + _UNITS[key] = "m" + try: + bad = unit_violations([key]) + assert bad and "hover" in bad[0], f"应报出 hover 的问题，实际 {bad}" + finally: + del _UNITS[key] + + +def test_unitless_keys_are_explicitly_registered(): + """无量纲键必须显式登记，不能靠"单位为空"蒙混过关。""" + for key, unit in _UNITS.items(): + if not unit: + assert key in _UNITLESS, f"{key} 无量纲却没登记在 _UNITLESS" + + +# ============================================================================= +# 正常解析 +# ============================================================================= +def test_empty_section_uses_defaults_without_error(): + """整段缺失不报错（走默认值）—— 是否可用由节点决定，配置模块只如实解析。""" + cfg = from_site({}) + assert isinstance(cfg, GaugeConfig) + assert cfg.extreme_angle_deg == DEFAULTS["extreme_angle_deg"] + assert cfg.dry_run is False + + +def test_partial_section_merges_defaults(): + cfg = from_site({"gauge_assembly": {"extreme_angle_deg": 120.0, "holes_total": 1}}) + assert cfg.extreme_angle_deg == 120.0 + assert cfg.holes_total == 1 + assert cfg.screw_step_deg == DEFAULTS["screw_step_deg"] + + +def test_int_is_accepted_for_float_key_but_bool_is_not(): + """YAML 里 ``20`` 是 int，填给 float 键要能用；``true`` 不能当 1 用。""" + cfg = from_site({"gauge_assembly": {"extreme_angle_deg": 20}}) + assert cfg.extreme_angle_deg == 20.0 + with pytest.raises(GaugeConfigError) as ei: + from_site({"gauge_assembly": {"extreme_angle_deg": True}}) + assert "类型不对" in str(ei.value) + + +def test_string_number_is_rejected_not_coerced(): + """``"20"`` 必须报错。 + + 隐式转换是"填了字符串、跑起来是默认值"这类静默失效的入口： + YAML 里多写一对引号，现场看不出任何异常。 + """ + with pytest.raises(GaugeConfigError) as ei: + from_site({"gauge_assembly": {"contact_step_mm": "0.5"}}) + msg = str(ei.value) + assert "contact_step_mm" in msg and "mm" in msg and "隐式转换" in msg + + +# ============================================================================= +# 报错要能直接照着改 +# ============================================================================= +def test_unknown_key_is_rejected_with_suggestion(): + with pytest.raises(GaugeConfigError) as ei: + from_site({"gauge_assembly": {"screw_step_degs": 180.0}}) + msg = str(ei.value) + assert "screw_step_degs" in msg + assert "screw_step_deg" in msg, "应给出最相近的候选键名" + assert "gauge_config._TYPES" in msg, "应指出新增配置项要登记在哪" + + +def test_unknown_override_is_rejected(): + with pytest.raises(GaugeConfigError): + from_site({}, overrides={"not_a_key": 1.0}) + + +def test_section_of_wrong_type_reports_clearly(): + with pytest.raises(GaugeConfigError) as ei: + from_site({"gauge_assembly": 12}) + assert "映射" in str(ei.value) + + +def test_cross_key_contradiction_is_rejected(): + """安全上限必须高于停止阈值，否则一接触就报"力超安全上限"。""" + with pytest.raises(GaugeConfigError) as ei: + from_site( + { + "gauge_assembly": { + "contact_tangential_delta": 500.0, + "contact_safe_delta": 500.0, + } + } + ) + assert "contact_safe_delta" in str(ei.value) + + +@pytest.mark.parametrize( + "patch, expect", + [ + ({"holes_total": 0}, "holes_total"), + ({"extreme_direction": 0}, "extreme_direction"), + ({"extreme_angle_deg": -30.0}, "extreme_angle_deg"), + ({"screw_step_deg": 0.0}, "screw_step_deg"), + ({"screw_max_cycles": 0}, "screw_max_cycles"), + ({"snap_tol_px": 0.0}, "snap_tol_px"), + ], +) +def test_bad_values_are_rejected(patch, expect): + with pytest.raises(GaugeConfigError) as ei: + from_site({"gauge_assembly": patch}) + assert expect in str(ei.value) + + +# ============================================================================= +# 派生量：文档与日志共用同一个算法 +# ============================================================================= +def test_derived_totals(): + cfg = from_site( + {"gauge_assembly": {"screw_step_deg": 180.0, "screw_max_cycles": 3, "unscrew_extra_cycles": 1}} + ) + assert cfg.total_screw_deg == 540.0 + assert cfg.unscrew_cycles == 4, "拧出要比拧入多留一轮，确保脱开" + + +def test_describe_prints_effective_values_and_marks_calibration_needed(): + cfg = from_site({}) + text = "\n".join(cfg.describe()) + # 实际生效的值（不是"我读了 site.yaml"） + assert "S01 预绕 150.0°" in text + assert "S08 棘轮 120°×12 轮 = 累计 1440°" in text + # 必须提示这些阈值要现场标定，否则默认值会被当成"调好的参数" + assert "现场标定" in text + # 稳定判据的口径要写出来，避免下次有人改成"相邻帧之差" + assert "到均值的最远距离" in text + + +# ============================================================================= +# S05 稳定判据的特征来源 +# ============================================================================= +def test_snap_feature_auto_follows_perception_source(): + """auto：真机（yolo）用检测框，仿真真值/外部感知用法兰位移。 + + 为什么必须分开：检测框那一路上游是工件模型，仿真合成图过不了真机训练出来的 + 模型（实测最高分 0.017）——选错的话 S05 会永远"不稳定"地空转到超时， + 而日志看起来像"机械臂一直在晃"。 + """ + assert snap_feature_of("auto", "yolo") == "bbox" + assert snap_feature_of("auto", "truth") == "motion" + assert snap_feature_of("auto", "external") == "motion" + + +def test_snap_feature_explicit_override_wins(): + assert snap_feature_of("bbox", "truth") == "bbox" + assert snap_feature_of("motion", "yolo") == "motion" + + +def test_snap_feature_rejects_unknown_value(): + with pytest.raises(GaugeConfigError) as e: + from_site({"gauge_assembly": {"snap_stable_feature": "detect"}}) + assert "snap_stable_feature" in str(e.value) + + +def test_snap_tolerance_must_be_positive(): + with pytest.raises(GaugeConfigError): + from_site({"gauge_assembly": {"snap_tol_mm": 0.0}}) + + +def test_snap_keys_are_declared_with_units(): + """新键必须登记单位/类型，否则"单位自检"对它们就是空话。""" + assert _UNITS["snap_tol_mm"] == "mm" + assert _UNITS["snap_stable_feature"] == "" + assert "snap_stable_feature" in _UNITLESS + assert _TYPES["snap_tol_mm"] is float + assert _TYPES["snap_stable_feature"] is str + + +# ============================================================================= +# 出厂配置的 S07：步长与到位容差不能相等 +# ============================================================================= +def test_shipped_site_yaml_s07_step_cannot_deadlock(): + """**回归锚点**（2026-09-24 在仿真里踩到，真机同参数同结果）。 + + ``contact_step_mm: 0.5`` 配上一个写死的 0.5mm 到位容差时，S07 的"往下走 + 一步"会被 ``_goto`` 判成"已在容差内"→ 直接返回、一动不动；循环条件 + （实测高度还没到最深）恒真 → 静默自旋：日志停在基线那行、CPU 跑满、 + 不报错也不前进。 + + 容差现在由 ``gauge_fsm.descend_tol_m`` 从步长推出来。这条测试盯住 + **出厂 site.yaml 的真实取值**（不是默认值字典），因为现场改的正是它： + 只要容差 ≥ 步长，这里必须报红。 + """ + import yaml + + root = Path(__file__).resolve().parents[3] + doc = yaml.safe_load((root / "config" / "site.yaml").read_text(encoding="utf-8")) + sec = doc["gauge_assembly"] + cfg = from_site(doc) + + step_m = float(sec["contact_step_mm"]) / 1000.0 + assert step_m > 0.0 + assert descend_tol_m(step_m) < step_m, ( + f"出厂配置 S07 步长 {sec['contact_step_mm']}mm 的到位容差 ≥ 步长：" + "臂会一步都不走（静默自旋）" + ) + # 步数上限要够走完整个下探深度，否则"没接触"会被误报成"步数用尽" + depth_m = float(sec["contact_max_depth_mm"]) / 1000.0 + assert descend_iter_budget(depth_m, step_m) >= depth_m / step_m + # 顺带钉住"出厂配置的派生值印得出来"（describe 里会打印容差） + assert "S07" in "\n".join(cfg.describe()) + + +# ============================================================================= +# 出厂配置的 S08：棘轮步长必须放得进**支持的所有臂**的关节7 行程 +# ============================================================================= +def test_shipped_site_yaml_ratchet_step_fits_every_supported_arm(): + """**回归锚点**（2026-09-24 在仿真里踩到：S08 第 3 轮 ABORT）。 + + `screw_step_deg: 180` 配关节 7 的 ±175°（行程 350°）时，棘轮一个来回要 + 2×180°=360° > 350° —— 关节**必然**有一头贴限位，"让余量"也腾不出空间 + （腾一步还是 360°）。日志表现是一长串"贴限位 → 让余量 → 还是贴限位"， + 真因（配置）藏在最后一行，白烧 3 轮节拍。 + + 这条测试盯**出厂 site.yaml 的真实取值**，并且拿 `flexiv_description` 里 + **每台支持臂**的 joint7 限位去算（不是写死 350°）：以后加一台行程更小的 + 臂，这里会自动报红。余量取 `gauge_assembly_node.RATCHET_LIMIT_MARGIN_DEG` + 的同一个口径 —— 两处不一致时，测试会红，而不是现场崩。 + """ + import math + + import yaml + + root = Path(__file__).resolve().parents[3] + doc = yaml.safe_load((root / "config" / "site.yaml").read_text(encoding="utf-8")) + step = float(doc["gauge_assembly"]["screw_step_deg"]) + + margin = 8.0 # 与 gauge_assembly_node.RATCHET_LIMIT_MARGIN_DEG 同口径 + from arm_application.gauge_assembly_node import RATCHET_LIMIT_MARGIN_DEG + + assert margin == RATCHET_LIMIT_MARGIN_DEG, "余量口径变了，测试要跟着改" + + limit_files = sorted((root / "src" / "flexiv_description" / "config").glob("*/joint_limits.yaml")) + assert limit_files, "找不到任何臂的 joint_limits.yaml —— 路径变了？" + for path in limit_files: + doc_l = yaml.safe_load(path.read_text(encoding="utf-8")) or {} + joint7 = (doc_l.get("joint_limits") or {}).get("joint7") or doc_l.get("joint7") + assert joint7, f"{path} 里没有 joint7 限位" + limits = (float(joint7["lower"]), float(joint7["upper"])) + verdict = ratchet_travel_ok(step, limits, margin) + assert verdict.ok, f"{path.name}: 出厂配置的棘轮步长放不下 —— {verdict.why}" + assert verdict.max_step_deg > 0.0 + + # 累计转角必须是整数圈：否则规停在螺纹中间，S09 拧出也少转几分之一圈 + cycles = int(doc["gauge_assembly"]["screw_max_cycles"]) + assert math.isclose(step * cycles % 360.0, 0.0, abs_tol=1e-9), ( + f"screw_step_deg×screw_max_cycles = {step * cycles}° 不是 360° 的整数倍" + ) diff --git a/src/arm_application/test/test_gauge_exit_lift.py b/src/arm_application/test/test_gauge_exit_lift.py new file mode 100644 index 0000000..e895eb6 --- /dev/null +++ b/src/arm_application/test/test_gauge_exit_lift.py @@ -0,0 +1,182 @@ +"""S09 拧出后**先竖直提出孔口**：结构上有序，行为上提对高度。 + +为什么单独钉住（2026-09-24 仿真实测，两次栽在同一个地方） +-------------------------------------------------------- +仿真里**没有螺纹几何**：S09 的"拧出"只让规在孔里转，规**仍然插在孔里** +（真机也只是沿螺纹退回几个毫米）。于是紧跟着的横向动作 —— S10 换孔 / S11 回 home +—— 会把规从孔里**拽**出来：实测抓取锁被拽断、规掉在台面上。 + +最坑的是**它不在这里报错**：两分钟后下游只表现为"下一孔 S07 下探 35mm 判不到 +接触"（工具上已经没规了），日志指不到真因（规则 R5.1 的静默失效）。 + +所以这里有两条断言，缺一不可： +* **结构**：``_step_unscrew`` 在"成功返回"之前必须调用提出动作 —— 顺序错了 + （比如把提出挪到 S10 里）就等于没做，因为横向动作已经发生了； +* **行为**：提出目标是**跟踪高**（``_track_z()``：悬停时尖端离面不够才再抬 + 50mm），不是写死的毫米数；已经在跟踪高上时不动（否则每次换孔白等 1 秒多）。 +""" + +from __future__ import annotations + +import ast +import pathlib +from typing import Any, List + +import numpy as np +import pytest + +from arm_application.gauge_assembly_node import GaugeAssembly + +NODE_SRC = ( + pathlib.Path(__file__).resolve().parents[1] + / "arm_application" / "gauge_assembly_node.py" +) + + +# ============================================================================= +# 结构：提出动作必须在 S09 的"成功出口"之前 +# ============================================================================= +def _node_ast() -> ast.Module: + return ast.parse(NODE_SRC.read_text(encoding="utf-8")) + + +def _find_method(name: str) -> ast.FunctionDef: + for node in ast.walk(_node_ast()): + if isinstance(node, ast.FunctionDef) and node.name == name: + return node + raise AssertionError(f"节点里找不到方法 {name}") + + +def _call_lines(func: ast.AST, attr: str) -> List[int]: + out: List[int] = [] + for node in ast.walk(func): + if isinstance(node, ast.Call): + f = node.func + if isinstance(f, ast.Attribute) and f.attr == attr: + out.append(node.lineno) + return out + + +def test_unscrew_lifts_out_of_the_hole_before_succeeding(): + """拧出成功后必须先提出孔口，再返回 ``UNSCREW_DONE``。""" + fn = _find_method("_step_unscrew") + lifts = _call_lines(fn, "_lift_clear_of_hole") + assert lifts, ( + "S09 结束时没有竖直提出孔口 —— S10/S11 的横向动作会把规从孔里拽出来" + "（实测：锁被拽断、规掉在台面上，下游表现为『S07 判不到接触』）" + ) + exits = [ + n.lineno + for n in ast.walk(fn) + if isinstance(n, ast.Return) + and isinstance(n.value, ast.Attribute) + and n.value.attr == "UNSCREW_DONE" + ] + assert exits, "S09 没有成功出口？" + assert min(lifts) < max(exits), ( + "提出孔口必须在**成功返回之前**：顺序反了等于没做（横向动作已经发生）" + ) + + +def test_lift_helper_exists_and_uses_the_track_height_idiom(): + """提出高度用 ``_track_z()``，不写死毫米数。""" + fn = _find_method("_lift_clear_of_hole") + assert _call_lines(fn, "_track_z"), ( + "提出高度必须用 _track_z()：这是流程里『工具已离开工件』的既有定义，" + "写死毫米数会多出一套没人维护的口径" + ) + assert _call_lines(fn, "_goto"), "提出是一次真实运动（_goto），不是改个变量" + src = ast.get_source_segment(NODE_SRC.read_text(encoding="utf-8"), fn) or "" + assert "hold_xy" in src, "提出必须是**纯 Z**：横向分量会把规别在孔壁上" + + +# ============================================================================= +# 行为：提对高度 / 已在高度上不动 / 拿不到状态不炸 +# ============================================================================= +class _StubLogger: + def __init__(self, sink: List[str]) -> None: + self._sink = sink + + def info(self, msg: str) -> None: + self._sink.append(msg) + + def warn(self, msg: str) -> None: + self._sink.append(msg) + + +class _StubAssembly: + """``_lift_clear_of_hole`` 只用这几样东西；测试里不建任何 ROS 实体。""" + + move_speed = 0.05 + vert_tol_rad = 0.02 + + def __init__(self, z: Any, track_z: float = 0.707, raise_on_goto: bool = False) -> None: + self.logs: List[str] = [] + self.moves: List[Any] = [] + self._z = z + self._tz = float(track_z) + self._raise = bool(raise_on_goto) + + def _wait_state(self, _timeout: float) -> Any: + if self._z is None: + return None, None + Tee = np.eye(4) + Tee[0, 3] = 0.5130 + Tee[1, 3] = -0.0020 + Tee[2, 3] = float(self._z) + return np.zeros(7), Tee + + def _track_z(self) -> float: + return self._tz + + def get_logger(self) -> Any: + return _StubLogger(self.logs) + + def _goto(self, q: Any, Tee: Any, target: Any, **kw: Any) -> Any: + if self._raise: + raise RuntimeError("轨迹被拒") + self.moves.append((np.array(target, dtype=float), kw)) + return True, q, Tee + + +def _stub(z: Any, track_z: float = 0.707, raise_on_goto: bool = False) -> _StubAssembly: + return _StubAssembly(z, track_z, raise_on_goto) + + +def test_deep_in_the_hole_lifts_to_track_height(): + """规还在孔里（实测规尖比工件面低 30mm）→ 提到跟踪高，纯 Z。""" + st = _stub(0.628) + GaugeAssembly._lift_clear_of_hole(st, "k1") # type: ignore[arg-type] + + assert len(st.moves) == 1, "应当恰好走一次提出" + target, kw = st.moves[0] + assert target[0] == pytest.approx(0.5130) and target[1] == pytest.approx(-0.0020), ( + "提出必须是**纯 Z**：XY 一动就是把规别在孔壁上" + ) + assert target[2] == pytest.approx(0.707), "目标高度就是跟踪高（悬停 + 50mm）" + assert kw.get("hold_xy") is True + assert kw.get("tag") == "S09_exit_k1" + assert any("竖直提出" in m for m in st.logs), "日志要能回看这次提出（不然失败时查不到）" + + +def test_already_high_enough_does_not_move(): + """已经比跟踪高还高 → 一步都不走（否则每次换孔白等一秒多）。""" + st = _stub(0.80) + GaugeAssembly._lift_clear_of_hole(st, "k1") # type: ignore[arg-type] + assert st.moves == [] + assert st.logs == [] + + +def test_no_joint_state_is_not_fatal(): + """拿不到状态只告警：这一刻孔里已经没有规要保护，硬失败会把成功的装配变成失败。""" + st = _stub(None) + GaugeAssembly._lift_clear_of_hole(st, "k1") # type: ignore[arg-type] + assert st.moves == [] + assert st.logs == [], "拿不到状态连日志都不用刷（静默跳过即可）" + + +def test_goto_exception_is_swallowed_with_a_warning(): + """提出失败（轨迹被拒）只告警，流程继续 —— 后面 S10/S11 仍会走到安全位。""" + bad = _stub(0.628, raise_on_goto=True) + GaugeAssembly._lift_clear_of_hole(bad, "k1") # type: ignore[arg-type] + assert any("提出孔口失败" in m for m in bad.logs) diff --git a/src/arm_application/test/test_gauge_fsm.py b/src/arm_application/test/test_gauge_fsm.py new file mode 100644 index 0000000..088ea92 --- /dev/null +++ b/src/arm_application/test/test_gauge_fsm.py @@ -0,0 +1,990 @@ +"""``gauge_fsm`` 的单元测试 —— 通止规装配状态机的**顺序**必须被钉住。 + +这些测试的价值不在覆盖率，而在于：状态机的错不会抛异常，只会让流程 +"走得下去但结果不对"（去错了孔、掉件后从头再来、超时没有出路）。 +所以每条转移、每条判据都要有能报红的断言，包括**负向**的（R5.2）。 +""" + +from __future__ import annotations + +import math + +import pytest + +from arm_application.gauge_fsm import ( + EVENT_DOC, + GLOBAL, + RATCHET_STEPS, + STATE_DOC, + TERMINAL, + TRANSITIONS, + ENTRY_HIGH, + ENTRY_OK, + Event, + FsmError, + GaugeContext, + GaugeFsm, + State, + DESCEND_BUDGET_FLOOR_M, + GAUGE_SHOULDER_ABOVE_TIP_M, + WRENCH_MAX_AGE_S, + descend_budget_m, + descend_iter_budget, + descend_needed_m, + descend_progress, + descend_tol_m, + hole_entry_verdict, + relief_tol_m, + tool_clearance_m, + wrench_live, + wrench_touch, + is_joint_limit_error, + pixel_stable, + points_stable, + hover_z_guard, + hover_z_for_tool_clearance, + resolve_hover_z, + ratchet_cycles, + resolve_next, + rotation_verdict, + screw_stop, + tangential_jump, + drag_verdict, + ratchet_delta_rad, + ratchet_travel_ok, + SNAP_DRAG_TOL_M, +) + +from arm_application.gauge_config import DEFAULTS + + +# ============================================================================= +# 主线：k1 → k2 → 复位 +# ============================================================================= +def test_happy_path_covers_every_state_in_order(): + """一次完整装配的**确切**状态序列。 + + 写成一条断言而不是逐步 if：中间任何一步顺序变了（比如 S05 跑到 S07 + 前面）都要在这里红，而不是等到真机上"孔位偏了 2mm"。 + """ + fsm = GaugeFsm(GaugeContext(holes_total=2)) + seq = [ + (Event.BOOT_OK, State.HOME_EXTREME), + (Event.POSE_OK, State.GRIP_CHECK), + (Event.GRIP_SKIPPED, State.TRACK), + (Event.TRACK_LOCKED, State.SNAP), + (Event.SNAP_OK, State.HOVER_K), + (Event.ALIGN_OK, State.CONTACT), + (Event.CONTACT_OK, State.SCREW_IN), + (Event.SCREW_STOP, State.UNSCREW), + (Event.UNSCREW_DONE, State.NEXT_HOLE), # k1 拧出 → 换 k2 + (Event.POSE_OK, State.HOVER_K), # 已在 k2 正悬停 + (Event.ALIGN_OK, State.CONTACT), + (Event.CONTACT_OK, State.SCREW_IN), + (Event.SCREW_DONE, State.UNSCREW), + (Event.UNSCREW_DONE, State.RESET), # 最后一个孔 → 复位 + (Event.POSE_OK, State.DONE), + ] + for i, (ev, want) in enumerate(seq, start=1): + got = fsm.handle(ev) + assert got is want, f"第 {i} 步（{ev.value}）应到 {want}，实际到 {got}" + assert fsm.is_terminal and fsm.ok + assert [s.next for s in fsm.history] == [want for _ev, want in seq] + + +def test_single_hole_job_goes_straight_to_reset(): + """只有一个孔时，S09 拧出后必须直接 S11，不能去 S10 空转一次。""" + fsm = GaugeFsm(GaugeContext(holes_total=1)) + for ev in ( + Event.BOOT_OK, Event.POSE_OK, Event.GRIP_SKIPPED, Event.TRACK_LOCKED, + Event.SNAP_OK, Event.ALIGN_OK, Event.CONTACT_OK, Event.SCREW_STOP, + ): + fsm.handle(ev) + assert fsm.handle(Event.UNSCREW_DONE) is State.RESET + + +# ============================================================================= +# 结构性质：不靠人肉通读转移表 +# ============================================================================= +def test_every_state_can_be_aborted_or_reach_terminal(): + """每个非终态都必须能**走得到**终态。 + + 漏掉的那个状态，在真机上表现为"按了中止，流程还在跑"。 + ABORT/TIMEOUT 是全局兜底，这条断言顺带验证 GLOBAL 真的覆盖了全部状态。 + """ + for state in State: + if state in TERMINAL: + continue + assert state not in TERMINAL + nxt = resolve_next(state, Event.ABORT, GaugeContext()) + assert nxt is State.ABORT, f"{state} 不能中止" + nxt = resolve_next(state, Event.TIMEOUT, GaugeContext()) + assert nxt is State.ABORT, f"{state} 超时没有出路" + + +def test_every_state_is_reachable_from_boot(): + """每个声明出来的状态都要有路径从 S00 走到。 + + 否则就是一个"写在文档里、代码里永远进不去"的阶段 —— 比没有更糟： + 文档说它在跑，现场却在等一个不会发生的事。 + """ + seen = {State.BOOT} + frontier = [State.BOOT] + while frontier: + cur = frontier.pop() + events = [ev for (st, ev) in TRANSITIONS if st is cur] + for ev in events: + nxt = resolve_next(cur, ev, GaugeContext()) + if nxt not in seen: + seen.add(nxt) + frontier.append(nxt) + # S09 的主出口是 UNSCREW_DONE（上下文相关），单独补上 + seen.add(State.UNSCREW) + seen.add(State.NEXT_HOLE) + seen.add(State.RESET) + seen.add(State.DONE) + seen.add(State.ABORT) + missing = {s for s in State} - seen + assert not missing, f"这些状态从 S00 走不到：{sorted(str(s) for s in missing)}" + + +def test_transition_table_has_no_terminal_out_edges(): + """终态不许有出边：有出边就等于"结束了还能继续跑"。""" + for (state, _ev) in TRANSITIONS: + assert state not in TERMINAL, f"{state} 是终态却出现在转移表里" + + +# ============================================================================= +# S05 自环 / S06 回退：不推错孔号 +# ============================================================================= +def test_unstable_snap_keeps_same_hole(): + """S05 等稳定是自环，不能把孔号推走（否则会在 k1 上等，然后去装 k2）。""" + fsm = GaugeFsm(GaugeContext(holes_total=2)) + for ev in (Event.BOOT_OK, Event.POSE_OK, Event.GRIP_SKIPPED, Event.TRACK_LOCKED): + fsm.handle(ev) + assert fsm.ctx.hole_index == 0 + for _ in range(5): + fsm.handle(Event.SNAP_UNSTABLE) + assert fsm.state is State.SNAP and fsm.ctx.hole_index == 0 + assert fsm.ctx.hole_name() == "k1" + + +def test_align_out_goes_back_to_snap_not_to_next_hole(): + """对位超差要**回 S05 重拍**，不是换孔 —— 换孔会静默少装一个孔。""" + fsm = GaugeFsm(GaugeContext(holes_total=2)) + for ev in ( + Event.BOOT_OK, Event.POSE_OK, Event.GRIP_SKIPPED, Event.TRACK_LOCKED, + Event.SNAP_OK, + ): + fsm.handle(ev) + assert fsm.handle(Event.ALIGN_OUT) is State.SNAP + assert fsm.ctx.hole_index == 0 + + +# ============================================================================= +# S03/S04 互为兜底 +# ============================================================================= +def test_track_loss_falls_back_to_coarse_and_back(): + """S04 丢失 → S03 粗定位；S03 识别不到 → 回 S04。两条路都要能来回。""" + fsm = GaugeFsm(GaugeContext()) + for ev in (Event.BOOT_OK, Event.POSE_OK, Event.GRIP_SKIPPED): + fsm.handle(ev) + assert fsm.state is State.TRACK + assert fsm.handle(Event.TRACK_LOST) is State.COARSE + assert fsm.handle(Event.COARSE_FAIL) is State.TRACK + assert fsm.handle(Event.TRACK_LOST) is State.COARSE + assert fsm.handle(Event.COARSE_OK) is State.SNAP + + +def test_joint_limit_is_not_a_failure(): + """S01 贴住关节极限是**预期结果**（用户要求"转到极限角"），不能当中止。""" + fsm = GaugeFsm(GaugeContext()) + fsm.handle(Event.BOOT_OK) + assert fsm.state is State.HOME_EXTREME + assert fsm.handle(Event.JOINT_LIMIT) is State.GRIP_CHECK + + +# ============================================================================= +# E1 掉件重放 +# ============================================================================= +def _to_screw_in(fsm: GaugeFsm) -> None: + for ev in ( + Event.BOOT_OK, Event.POSE_OK, Event.GRIP_SKIPPED, Event.TRACK_LOCKED, + Event.SNAP_OK, Event.ALIGN_OK, Event.CONTACT_OK, + ): + fsm.handle(ev) + + +def test_drop_at_k1_reloads_and_continues_with_k2(): + """E1：张开爪 → S01 流程 → 人工放好按 R → 回记录位姿 → 继续 k2。""" + fsm = GaugeFsm(GaugeContext(holes_total=2)) + _to_screw_in(fsm) + assert fsm.state is State.SCREW_IN and fsm.ctx.hole_index == 0 + + assert fsm.handle(Event.GAUGE_DROPPED) is State.HOME_EXTREME + assert fsm.ctx.relocations == 1 + # 人工重放后直接回记录位姿（等价于换孔动作），坑已跳过，所以是去 k2 + assert fsm.handle(Event.RELOADED) is State.NEXT_HOLE + assert fsm.ctx.hole_index == 1 + assert fsm.handle(Event.POSE_OK) is State.HOVER_K + + +def test_drop_budget_exhaustion_aborts_with_note(): + """掉件超过上限 → ABORT，并留下一条能读懂现场原因的备注。""" + fsm = GaugeFsm(GaugeContext(holes_total=1, max_relocations=2)) + fsm.handle(Event.BOOT_OK) + for attempt in range(3): + fsm.state = State.SCREW_IN # 直接摆到"正在拧"，掉件只可能发生在这一步 + nxt = fsm.handle(Event.GAUGE_DROPPED) + if attempt < 2: + assert nxt is State.HOME_EXTREME, f"第 {attempt + 1} 次掉件应还在预算内" + fsm.handle(Event.RELOADED) + else: + assert nxt is State.ABORT + assert fsm.ctx.relocations == 3 + assert any("掉" in n for n in fsm.ctx.notes) + + +def test_illegal_drop_does_not_consume_reload_budget(): + """**负向**：在错的状态发 GAUGE_DROPPED，不能白吃掉一次重放预算。 + + 实现里"先算转移、再记预算"就是为这条：顺序反了的话，一次手误会让现场 + 少一次重试机会，而报错信息只说"状态不对"，没人会想到预算被扣了。 + """ + fsm = GaugeFsm(GaugeContext(holes_total=1, max_relocations=1)) + assert fsm.state is State.BOOT + with pytest.raises(FsmError): + fsm.handle(Event.GAUGE_DROPPED) + assert fsm.ctx.relocations == 0 + + +# ============================================================================= +# 非法转移要当场炸 +# ============================================================================= +def test_illegal_transition_raises_with_actionable_message(): + fsm = GaugeFsm(GaugeContext()) + with pytest.raises(FsmError) as ei: + fsm.handle(Event.SCREW_DONE) # S00 不可能已经在拧 + msg = str(ei.value) + assert "S00" in msg and "screw_done" in msg + assert "gauge_fsm.TRANSITIONS" in msg # 告诉改代码的人去哪登记 + + +def test_terminal_state_rejects_further_events(): + fsm = GaugeFsm(GaugeContext()) + fsm.handle(Event.BOOT_FAIL) + assert fsm.state is State.ABORT + with pytest.raises(FsmError): + fsm.handle(Event.BOOT_OK) + + +def test_can_does_not_mutate(): + fsm = GaugeFsm(GaugeContext()) + before = (fsm.state, len(fsm.history)) + assert fsm.can(Event.BOOT_OK) is True + assert fsm.can(Event.SCREW_DONE) is False + assert (fsm.state, len(fsm.history)) == before + + +# ============================================================================= +# 判据 +# ============================================================================= +def test_pixel_stable_rejects_zero_mean_jitter(): + """**负向**：相邻两帧很近、但整体在晃，不能被判成"稳定"。 + + 这正是"两帧之差"写法会踩的坑：跟踪抖动的相邻差是小的，于是画面明明 + 在晃，判据早就触发了，然后拍出一张糊图 —— 现场表现为"孔位偶尔偏 1mm"， + 随机且难复现。这里用一条锯齿状的抖动序列把这个坑钉死。 + """ + jitter = [(100.0 + 6.0 * (-1) ** i, 50.0) for i in range(8)] + # 相邻差都是 12px，很大；但下面这条更阴：相邻差 0、整体摆幅 ±6px + sawtooth = [(100.0, 50.0), (100.0, 50.0), (106.0, 50.0), (106.0, 50.0), + (94.0, 50.0), (94.0, 50.0)] + assert not pixel_stable(jitter, tol_px=2.0, min_frames=6) + assert not pixel_stable(sawtooth, tol_px=2.0, min_frames=6) + # 正向：真的不动 + still = [(100.0 + 0.5 * i % 1.0, 50.0) for i in range(8)] + assert pixel_stable(still, tol_px=2.0, min_frames=6) + + +def test_pixel_stable_needs_enough_frames(): + assert not pixel_stable([(100.0, 50.0)], tol_px=5.0, min_frames=6) + assert not pixel_stable([(100.0, 50.0)] * 5, tol_px=5.0, min_frames=6) + assert pixel_stable([(100.0, 50.0)] * 6, tol_px=5.0, min_frames=6) + + +def test_tangential_jump_watches_both_channels(): + """切向力通道未确认 → 两个都监控，任一突变即判定。""" + ref = (100.0, 100.0) + assert not tangential_jump((110.0, 130.0), ref, delta=50.0) + assert tangential_jump((160.0, 100.0), ref, delta=50.0) # X 突变 + assert tangential_jump((100.0, 160.0), ref, delta=50.0) # Y 突变 + # 反向突变（规被顶回来）同样算 + assert tangential_jump((40.0, 100.0), ref, delta=50.0) + # 边界：恰好等于阈值算触发（>=，避免"永远差那么一点"） + assert tangential_jump((150.0, 100.0), ref, delta=50.0) + + +def test_screw_stop_requires_both_conditions(): + """S08 停止判据是**且**：只看一个会误停。""" + # 只有切向力大（规刚蹭到螺纹）→ 不停 + assert not screw_stop(normal_delta=0.0, shear_max=999.0, normal_th=100.0, shear_th=200.0) + # 只有法向力突增（规顶到孔底）→ 不停 + assert not screw_stop(normal_delta=999.0, shear_max=0.0, normal_th=100.0, shear_th=200.0) + # 两者同时满足 → 停 + assert screw_stop(normal_delta=150.0, shear_max=250.0, normal_th=100.0, shear_th=200.0) + + +def test_ratchet_cycle_count_rounds_up(): + assert ratchet_cycles(360.0, 180.0) == 2 + assert ratchet_cycles(361.0, 180.0) == 3 # 差一点也要多做一轮，不能少拧 + assert ratchet_cycles(0.0, 180.0) == 0 + with pytest.raises(ValueError): + ratchet_cycles(360.0, 0.0) + + +def test_ratchet_steps_are_four_separate_atomic_steps(): + """S08 必须是四个可独立调用的原子步，顺序固定。 + + 用户明确要求不能封装成一个"拧螺丝"复合动作：中途掉件时只有每一步都能 + 单独恢复，才可能精确续上（否则只能整段重来，等于少装一个孔）。 + """ + assert RATCHET_STEPS == ("rotate_slow", "release", "rotate_back", "regrip") + assert len(set(RATCHET_STEPS)) == len(RATCHET_STEPS) + + +def test_joint_limit_recognition(): + assert is_joint_limit_error("Joint limit exceeded on joint7") + assert is_joint_limit_error("规划失败：超出关节限位") + assert not is_joint_limit_error("controller not active") + assert not is_joint_limit_error("") + + +# ============================================================================= +# 文档与代码同步 +# ============================================================================= +def test_every_state_and_event_is_documented(): + """每个状态/事件都要有一句人话说明。 + + 没有说明的状态，最后一定会以"日志里只印了个 S07，没人知道 S07 干嘛" + 的形式回到现场。这条断言让"新增状态忘了写说明"当场报红。 + """ + assert set(STATE_DOC) == set(State), ( + f"缺说明的状态: {sorted(str(s) for s in set(State) - set(STATE_DOC))}" + ) + assert set(EVENT_DOC) == set(Event), ( + f"缺说明的事件: {sorted(e.value for e in set(Event) - set(EVENT_DOC))}" + ) + + +def test_global_fallback_covers_only_abort_and_timeout(): + """GLOBAL 只放"谁都该接受"的事件。 + + 一旦有人往里加业务事件，就会悄悄多出一条所有状态都合法的边， + 把"这条转移不存在"这个保护废掉。 + """ + assert set(GLOBAL) == {Event.ABORT, Event.TIMEOUT} + + +def test_context_reports_hole_names(): + ctx = GaugeContext(holes_total=2, hole_index=0) + assert ctx.hole_name() == "k1" + ctx.hole_index = 1 + assert ctx.hole_name() == "k2" + assert ctx.is_last_hole + + +def test_history_index_is_dense_and_monotonic(): + fsm = GaugeFsm(GaugeContext()) + for ev in (Event.BOOT_OK, Event.POSE_OK, Event.GRIP_SKIPPED): + fsm.handle(ev) + assert [s.index for s in fsm.history] == [1, 2, 3] + assert str(fsm.history[0]) == "#1 S00 --boot_ok--> S01" + + +def test_math_hypot_precision_is_not_used_loosely(): + """pixel_stable 的容差是闭区间（<=），恰好等于阈值算稳定。 + + 留一条边界断言，是因为改成 ``<`` 会让"刚好卡在容差上"的稳定画面永远 + 等不到 —— 现场表现为"卡在 S05 不动"，而日志只说"还在等稳定"。 + """ + samples = [(100.0, 50.0), (102.0, 50.0), (98.0, 50.0)] + assert math.isclose(2.0, 2.0) + assert pixel_stable(samples, tol_px=2.0, min_frames=3) + assert not pixel_stable(samples, tol_px=1.9, min_frames=3) + + +def test_points_stable_works_in_three_dimensions(): + """S05 在仿真里改用**法兰位移**（三维、毫米）判稳定，判据必须支持三维。 + + 同一套"到均值最远距离"的判据：换成毫米只是量纲变了，逻辑不该重写一份。 + """ + still = [(1.0, 2.0, 3.05) for _ in range(6)] + assert points_stable(still, tol=0.4, min_frames=6) + # 零均值抖动：相邻帧很近，整体在 ±5mm 之间摆 —— 必须判为不稳 + sawtooth = [(0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (5.0, 0.0, 0.0), + (5.0, 0.0, 0.0), (-5.0, 0.0, 0.0), (-5.0, 0.0, 0.0)] + assert not points_stable(sawtooth, tol=0.4, min_frames=6) + + +def test_points_stable_rejects_ragged_samples(): + """样本维数不一致时必须判不稳（否则会按第一个样本的维数静默比较）。 + + 真实来源是"两种特征混进同一个窗口"：比如特征从 bbox 切成 motion 时， + 残留的二维样本会被当成三维来算 —— 与其猜，不如直接判不稳重采。 + """ + assert not points_stable([(1.0, 2.0), (1.0, 2.0, 3.0)] * 3, tol=1.0, min_frames=6) + + +def test_points_stable_needs_enough_frames(): + assert not points_stable([(0.0, 0.0, 0.0)] * 5, tol=10.0, min_frames=6) + assert points_stable([(0.0, 0.0, 0.0)] * 6, tol=10.0, min_frames=6) + + +# ============================================================================= +# S07 步进下压：容差 < 步长（否则 _goto 空转，一步都不走） +# ============================================================================= +@pytest.mark.parametrize("step_mm", [0.05, 0.1, 0.5, 1.0, 2.0, 4.0]) +def test_descend_tol_is_strictly_smaller_than_the_step(step_mm): + """**回归测试**（2026-09-24 仿真踩到过）： + + 原实现把 ``_goto`` 的到位容差写死 0.5mm，而 ``contact_step_mm`` 也是 0.5mm。 + ``_goto`` 的第一件事就是"已落在容差内 → 直接返回、不动"，于是 S07 + 每次"往下走一步"都变成原地不动：循环条件恒真、日志停在基线那行、 + CPU 跑满、不报错也不前进 —— 典型的静默自旋（规则 R5.1）。 + + 纪律：单步下压的容差必须**严格小于**步长，这是循环能推进的前提， + 不是调参风格的偏好。 + """ + step_m = step_mm / 1000.0 + assert descend_tol_m(step_m) < step_m + + +def test_descend_tol_has_a_floor_for_tiny_steps(): + """步长极小时容差不能退化成 0：伺服追不到 0，会永远"差一点点"。""" + tol = descend_tol_m(0.00001) # 10µm 的步长（比任何现实步长都小） + assert 0.0 < tol <= 0.00001 * 0.5 + + +def test_descend_tol_rejects_nonpositive_step(): + with pytest.raises(ValueError): + descend_tol_m(0.0) + with pytest.raises(ValueError): + descend_tol_m(-0.0005) + + +def test_relief_tolerance_is_strictly_smaller_than_the_relief_move(): + """卸载回退的容差必须**严格小于**回退量（与下压步长同一条纪律）。 + + 2026-09-24 实测踩到：回退 0.50mm 而容差被写死 0.0005 m（同量级）， + 目标 z 的浮点回减让 ``dist`` 比 0.0005 略小 ⇒ ``_goto`` 入口就判"已到位" + ⇒ 卸载成为空操作，而残余力判据比的是两个相同读数 ⇒ 假报"已放干净"。 + 之后 S08 带着 ~70N 轴向力去转（夹持摩擦上限 ≈73N）→ 掉件(E1)。 + """ + for dz_mm in (0.05, 0.2, 0.5, 1.0, 3.0): + dz = dz_mm / 1000.0 + tol = relief_tol_m(dz) + assert 0.0 < tol < dz, f"回退 {dz_mm}mm 的容差 {tol * 1000:.4f}mm 不小于回退量" + + +def test_relief_tolerance_has_a_floor_but_never_swallows_the_move(): + """回退量极小时容差退不下去，但**仍不许**大于等于回退量。""" + dz = 1e-5 + tol = relief_tol_m(dz) + assert 0.0 < tol <= dz * 0.5 + + +def test_relief_tolerance_rejects_nonpositive_move(): + with pytest.raises(ValueError): + relief_tol_m(0.0) + with pytest.raises(ValueError): + relief_tol_m(-0.0005) + + +def test_descend_iter_budget_covers_the_whole_depth(): + """步数上限必须够走完整个下探深度（否则会在"还没到底"时被上限截断）。""" + step_m, depth_m = 0.0005, 0.025 + assert descend_iter_budget(depth_m, step_m) >= math.ceil(depth_m / step_m) + # 但也不能是无限：这正是"臂没动时不要把节点转成电暖器"的那道闸 + assert descend_iter_budget(depth_m, step_m) < 200 + + +def test_tool_clearance_is_negative_when_tool_already_inside(): + """悬停高度按相机定、工具比相机长 → 悬停那一刻工具已经插进工件。 + + 这是 2026-09-24 仿真里实测到的局面（也是真机同参数同结果）： + 悬停法兰 0.632 − 工具长 0.243 = 尖端 0.389，工件上表面 0.412 + → 尖端在面下 23mm + 现象是 S07 一路压到顶都判不到接触，看起来像力阈值标错了 —— 其实是几何错。 + """ + gap = tool_clearance_m(0.632, 0.243, 0.412) + assert gap == pytest.approx(-0.023, abs=1e-9) + + +def test_tool_clearance_positive_when_tool_is_short(): + assert tool_clearance_m(0.632, 0.100, 0.412) == pytest.approx(0.120, abs=1e-9) + + +def test_descend_needed_measures_shoulder_not_tip(): + """判"到底了"的是**台肩落面**，所以需要的下压量按台肩算，不按尖端算。 + + 台肩在尖端上方 30mm：尖端要往下 30mm，台肩才落到面上。 + 按尖端算会少算 30mm —— 那正是"预算 25mm 永远到不了落面"那个 bug。 + """ + # 尖端正好在面上（法兰 = 面 0.412 + 工具长 0.243 = 0.655） + # → 还要再下压 30mm 台肩才落面 + assert descend_needed_m(0.655, 0.243, 0.412, 0.030) == pytest.approx(0.030) + + # 悬停在 0.632（= 仿真里那个按相机定的值）→ 台肩还差 7mm + assert descend_needed_m(0.632, 0.243, 0.412, 0.030) == pytest.approx(0.007) + + # 按尖端算会少算台肩那 30mm —— 差的就是出问题的那个量 + tip_only = tool_clearance_m(0.655, 0.243, 0.412) + assert tip_only == pytest.approx(0.0) + assert descend_needed_m(0.655, 0.243, 0.412, 0.030) - tip_only == pytest.approx(0.030) + + +def test_hole_entry_verdict_flags_gauge_landing_on_the_surface(): + """2026-09-28 实测：同一命令三跑里坏一跑（DONE / ABORT / DONE）。 + + 坏的那跑：k1 装好了，k2 只下压 0.90mm 就"接触"（正常要 28.6~31.9mm）—— + 因为工件在 k1 之后被工具推走了 ~20mm，而 k2 的孔位是 S05 一次性定下的。 + 不拦的代价是干转 5 轮 + 最后报一句"转轴偏差…先确认工具系有没有装转接件"， + 把人引去查工具系（那几个都是好的）。 + """ + needed = 0.0319 # 台肩落面还需下压 31.9mm（实测） + # 坏那跑：0.90 / 31.9 = 3% ⇒ 必须报"没进孔" + assert hole_entry_verdict(0.0009, needed) == ENTRY_HIGH + # 好那跑：28.6 / 31.9 = 90% ⇒ 必须放行（否则白扔一整个孔） + assert hole_entry_verdict(0.0286, needed) == ENTRY_OK + # 另一跑 k1：31.45 / 31.9 ⇒ 放行 + assert hole_entry_verdict(0.03145, needed) == ENTRY_OK + + +def test_hole_entry_verdict_never_flags_the_healthy_band(): + """健康的比值区间（台肩倒角没完全落面、板厚公差）绝不能被判成"没进孔"。 + + 这是"宁可漏报也不能误报"那一边：误报一次就白扔一整个孔， + 而漏报只是回到旧行为（多烧几轮 + 一句误导）。 + """ + needed = 0.032 + for ratio in (0.85, 0.90, 0.95, 1.00, 1.10): + assert hole_entry_verdict(needed * ratio, needed) == ENTRY_OK, ( + f"比值 {ratio} 是正常范围，不该判成没进孔" + ) + # 明确该报的一侧 + for ratio in (0.0, 0.03, 0.10, 0.30, 0.49): + assert hole_entry_verdict(needed * ratio, needed) == ENTRY_HIGH, ( + f"比值 {ratio} 差着一个台肩高度，必须报" + ) + + +def test_hole_entry_verdict_stays_quiet_when_geometry_is_unusable(): + """``needed_m <= 0`` 时不许抢着报第二个错。 + + 那种情况上面那条几何自检（tool_clearance_m / descend_needed_m）已经在报了， + 这里再报一次只会把真正的第一因埋掉。 + """ + assert hole_entry_verdict(0.0005, 0.0) == ENTRY_OK + assert hole_entry_verdict(0.0005, -0.01) == ENTRY_OK + + +def test_hole_lost_event_aborts_and_has_an_honest_label(): + """事件本身与它的中文标签都必须是实话。 + + 复用 FORCE_OVER_LIMIT 会让结论报成"力超安全上限"，而这种情况下力根本没超限 —— + 又是一句误导。所以单列 HOLE_LOST，并且标签要能一眼看出是孔位问题。 + """ + assert resolve_next(State.CONTACT, Event.HOLE_LOST, GaugeContext()) == State.ABORT + label = EVENT_DOC[Event.HOLE_LOST] + assert "孔" in label, "标签要指明是孔位问题" + assert "力" not in label, "别把它说成力的问题 —— 力是好的" + + +def test_descend_budget_has_margin_and_floor(): + """预算要有余量（容纳对位残差/板厚公差），且再小也有下限。 + + 下限的理由：几何算出来"只差 2mm"时，如果预算就填 2mm，一点对位残差就会 + 让"预算用完"先于"判到接触"触发 —— 报出来的原因是假的。 + """ + # 需求很小时吃下限：0.002×1.5 = 0.003 < 0.008 + assert descend_budget_m(0.002) == pytest.approx(DESCEND_BUDGET_FLOOR_M) + # 需求正常时按系数放大：0.030×1.5 = 0.045 + assert descend_budget_m(0.030) == pytest.approx(0.045) + + +def test_shipped_budget_covers_shipped_gauge_and_hover(): + """出厂配置必须自洽：预算要够走完"台肩落面"。 + + 这是那个 bug 的回归测试 —— 当时预算 25mm 而台肩在尖端上方 30mm， + 永远到不了落面那一下，报"下探 25mm 都没触发接触判据"（假原因）。 + 以后谁把 contact_max_depth_mm 调回去、或把 tool_tip_below_flange_m 改大 + 到不匹配，这里就会红。 + """ + budget_m = DEFAULTS["contact_max_depth_mm"] / 1000.0 + tip_below = DEFAULTS["tool_tip_below_flange_m"] + # 出厂配置里 workpiece_surface_z_m = 0（运行期用 stage2 实测孔位兜底）， + # 所以这里取一个"最坏"的悬停-面高差：仿真里实测法兰 0.632、面 0.412。 + needed = descend_needed_m(0.632, tip_below, 0.412, GAUGE_SHOULDER_ABOVE_TIP_M) + assert budget_m >= needed, ( + f"下探预算 {budget_m*1000:.1f}mm 不够走完台肩落面所需的 " + f"{needed*1000:.1f}mm —— 会在到落面之前就用完预算" + ) + + +def test_wrench_touch_is_sign_agnostic(): + """腕部 FT 判据取**绝对增量**，不赌正负号。 + + 正负号方向取决于传感器安装（真机法兰系、仿真 link7 系，压下去是 +z 还是 -z + 都可能）。赌错了就是"整段流程静默失效"：下发正常、日志正常、就是停不住。 + 取绝对值只会更早停一点点，这个方向的错是安全的 —— 与既有 + stage2_locate_node._contact_detected 的口径（abs(fz - baseline)）也一致。 + """ + assert wrench_touch(20.0, 0.0, 8.0) + assert wrench_touch(-20.0, 0.0, 8.0) + # 基线本身不是 0（带载）时同样只看增量 + assert wrench_touch(54.0, 46.0, 8.0) + assert wrench_touch(38.0, 46.0, 8.0) + + +def test_wrench_touch_below_threshold_does_not_fire(): + assert not wrench_touch(7.9, 0.0, 8.0) + assert not wrench_touch(46.0, 46.0, 8.0) + # 边界：等于阈值算触发（与 tangential_jump 的 >= 口径一致） + assert wrench_touch(8.0, 0.0, 8.0) + + +def test_wrench_touch_threshold_is_reachable_before_grip_slips(): + """阈值的量级必须**远低于**夹持摩擦能传的上限，否则等于设了个永远达不到的数。 + + 这是"用 300 当阈值"那个 bug 的一般化回归：夹持段 µ=0.25、实测握力 ≈46N + ⇒ 两指合计能传约 µ·N ≈ 23N。接触刚度 5e4 N/m，所以 8N 阈值 ≈ 0.16mm + 过压就判到，而打滑要到 ≈0.46mm —— 留了约 3 倍余量。 + """ + mu, grip_n = 0.25, 46.0 + slip_limit_n = mu * grip_n * 2 # 两指 + assert DEFAULTS["contact_axial_delta_n"] < slip_limit_n / 2, ( + f"阈值 {DEFAULTS['contact_axial_delta_n']}N 太接近夹持摩擦上限 " + f"{slip_limit_n:.1f}N —— 打滑前可能来不及判到" + ) + + +def test_wrench_live_uses_freshness_not_magnitude(): + """判活看"够不够新"，**不看数值大小**。 + + 静止时轴向力本来就接近 0。拿数值判活会把"安静的传感器"误判成掉线 —— + 这正是 2026-09-24 在触觉上踩过的同一个坑（判据从 |fnormal|>1.0 改成 + "够新 + connected"）。所以这里专门断言 age 有值但数值为 0 → 活的。 + """ + assert wrench_live(0.0) + assert wrench_live(WRENCH_MAX_AGE_S) + assert not wrench_live(WRENCH_MAX_AGE_S + 1e-6) + # None = 一帧都没收到过（话题名错/传感器没起来）→ 不是活的 + assert not wrench_live(None) + + +def test_descend_iter_budget_zero_depth_means_no_iterations(): + assert descend_iter_budget(0.0, 0.0005) == 0 + with pytest.raises(ValueError): + descend_iter_budget(0.025, 0.0) + + +def test_descend_progress_only_counts_real_downward_motion(): + """推进的证据是**实测位移**：指令发出去不等于臂动了。""" + step_m = 0.0005 + assert descend_progress(0.6316, 0.6311, step_m) # 走满一步 + assert descend_progress(0.6316, 0.63146, step_m) # 只走了 0.14mm 也算动了 + assert not descend_progress(0.6316, 0.63159, step_m) # 只走了 0.01mm：被死区吃掉 + assert not descend_progress(0.6316, 0.6316, step_m) # 完全没动（空转） + assert not descend_progress(0.6316, 0.6317, step_m) # 往上跑 ≠ 推进 + + +# ============================================================================= +# 绕轴旋转的验收判据（S01/S08/S09 共用） +# ============================================================================= +def test_rotation_verdict_accepts_a_full_turn(): + assert rotation_verdict(-180.0, -179.7, 0.0, 5.0) == "ok" + assert rotation_verdict(+180.0, +175.1, 0.0, 5.0) == "ok" # 5° 之内算到位 + + +def test_rotation_verdict_calls_a_partial_turn_a_joint_limit(): + """2026-09-24 实测的那一条：**只转了 16.4°**（被关节7 的上限截住）。 + + 期望 +180、实测 +16.4：方向对、只是没走完 ⇒ 判"贴限位"（调用方张开爪 + 让出余量再转），**不是**"偏差过大"直接 ABORT —— 后者把一整轮白扔， + 而且日志看起来像"这台臂坏了"。 + """ + assert rotation_verdict(+180.0, +16.4, 0.1, 5.0) == "limit" + # 完全没动也是同一类（只是余量更少） + assert rotation_verdict(+180.0, +0.4, 0.0, 5.0) == "limit" + + +def test_rotation_verdict_still_stops_on_wrong_direction_or_overshoot(): + """判"贴限位"必须**卡住方向**：反向转/过冲都是真问题，不能拿去让余量重试。""" + assert rotation_verdict(+180.0, -170.0, 0.0, 5.0) == "short" # 转反了 + assert rotation_verdict(+180.0, +260.0, 0.0, 5.0) == "short" # 过冲 + # 小幅指令（≤10°）几乎没动时**不算**"完全没动"那条特例，于是落进 + # "方向对但没走完" ⇒ 同样判 limit。这是有意的：让余量那一步是免费的 + # （张开爪时规在打滑），宁可白让一次，也别把"其实贴住了"判成"臂坏了"。 + assert rotation_verdict(+8.0, +0.2, 0.0, 5.0) == "limit" + + +def test_rotation_verdict_axis_misalignment_beats_everything(): + """转轴不共线（>5°）时，任何角度数字都没有意义 —— 必须先报它。""" + assert rotation_verdict(+180.0, +179.0, 6.0, 5.0) == "axis" + assert rotation_verdict(+180.0, +16.4, 6.0, 5.0) == "axis" + + +def test_ratchet_step_of_180_never_fits_the_rizon_joint7_range(): + """棘轮一步 180° 在 Rizon4 的关节7 行程（±175°）里**永远**放不下。 + + 这是 S09 中止的物理根源，也解释了为什么转腕前要先让余量： + 贴着上限时反向那一步只剩十几度（实测 16.4°）。 + """ + from arm_application.gauge_kin import prewind + + lim = (-3.0543, 3.0543) # Rizon4 关节7：±175° + # 贴在上限（棘轮回转每轮都停在这儿）→ 想再往 + 转：放不下，必须让余量 + plan = prewind(q_now_rad=math.radians(171.0), want_deg=180.0, direction=+1, + limits=lim, margin_deg=8.0) + assert plan.clamped + # 同一个位置往 - 转：放得下（这正是"让余量"那一步） + plan = prewind(q_now_rad=math.radians(171.0), want_deg=180.0, direction=-1, + limits=lim, margin_deg=8.0) + assert not plan.clamped + + +# ============================================================================= +# 悬停高度自检（悬停按相机定、工具比相机长 ⇒ 会捅进工件） +# ============================================================================= +def test_hover_guard_fires_for_the_exact_case_we_hit(): + """2026-09-24 实测：仿真悬停 0.632、工具长 0.245、工件面 0.412。 + + 尖端 0.632−0.245=0.387，比工件面低 25mm ⇒ 悬停这一步就把工具捅进去了， + 紧接着 S05 的横向对准把工件拖走 92mm。这里必须报"要改"并给出几何值。 + """ + fixed, why = hover_z_guard(0.632, 0.412, 0.245, 0.002) + assert why, "这种悬停必须被判为不安全" + assert fixed == pytest.approx(0.412 + 0.245 + 0.002) + assert "钻进工件" in why + assert "hole_hover_z_m = 0.659" in why # 要能直接照着改配置 + + +def test_hover_guard_is_silent_when_the_tool_stays_clear(): + """几何对的配置一个字都不许说（否则每次启动都刷一堆无用告警）。""" + fixed, why = hover_z_guard(0.659, 0.412, 0.245, 0.002) + assert why == "" + assert fixed == pytest.approx(0.659) + # 更高也照过（悬停高一点只是拍得远，不算错） + assert hover_z_guard(0.700, 0.412, 0.245, 0.002)[1] == "" + + +def test_hover_guard_uses_want_clearance_when_configuring(): + """修正值必须落在"刚好 want_clearance"的位置，而不是随手抬一点。""" + fixed, _ = hover_z_guard(0.50, 0.412, 0.245, 0.005) + assert fixed == pytest.approx(0.412 + 0.245 + 0.005) + assert hover_z_for_tool_clearance(0.412, 0.245, 0.005) == pytest.approx(fixed) + + +def test_user_hover_is_refused_instead_of_rewritten(): + """启动参数写了悬停高：不安全就拒绝，不许改成另一个数再往下走。""" + used, why = resolve_hover_z(0.632, 0.412, 0.245, 0.002, True) + assert used == pytest.approx(0.632) + assert "不会改成别的高度" in why + # 没写启动参数：仍按几何抬高，不当成拒绝。 + used_site, why_site = resolve_hover_z(0.632, 0.412, 0.245, 0.002, False) + assert why_site == "" + assert used_site == pytest.approx(0.412 + 0.245 + 0.002) + # 写了且本身安全：原样用。 + used_ok, why_ok = resolve_hover_z(0.700, 0.412, 0.245, 0.002, True) + assert why_ok == "" + assert used_ok == pytest.approx(0.700) + + +def test_hover_guard_tolerates_millimetre_level_shortfall(): + """夹在目标间隙附近（差不到 1mm）不算错：工件面 z 本身就有几毫米不确定度。""" + assert hover_z_guard(0.6580, 0.412, 0.245, 0.002)[1] == "" # 差 1.0mm 之内 + assert hover_z_guard(0.6560, 0.412, 0.245, 0.002)[1] != "" # 差 3mm：判错 + + +# ============================================================================= +# S05 精对位时"工件被工具推走"的看门狗 +# ============================================================================= +def test_drag_verdict_says_nothing_on_the_first_frame(): + """第一拍没有上一拍可比 —— 不能因为"没有历史"就报警。""" + assert drag_verdict((0.49, 0.0), None)[0] is False + + +def test_drag_verdict_ignores_measurement_jitter(): + """正常对准时两孔中点不动（动的是目标孔，不是中点）—— 亚毫米抖动不算。""" + ok, d = drag_verdict((0.4905, 0.0002), (0.4900, 0.0000), (0.4899, 0.0000)) + assert ok is False + assert d == pytest.approx(math.hypot(0.0005, 0.0002), abs=1e-9) + + +def test_drag_verdict_fires_on_one_big_jump(): + """单拍就挪了 8mm：刚体不会自己挪回去，不必等第二拍确认。""" + ok, d = drag_verdict((0.4820, 0.0), (0.4900, 0.0)) + assert ok is True + assert d == pytest.approx(0.008) + + +def test_drag_verdict_needs_two_frames_when_it_is_only_3_plus_mm(): + """只大过 3mm 一点点：要求上一拍也朝同方向挪过，避免一次误检就中止流程。""" + mid = (0.4860, 0.0) + prev = (0.4900, 0.0) + # 上一拍没动（d2 = 0）⇒ 只当噪声 + assert drag_verdict(mid, prev, (0.4901, 0.0))[0] is False + # 上一拍也挪了 4mm、方向一致 ⇒ 判被推走 + assert drag_verdict(mid, prev, (0.4940, 0.0))[0] is True + # 上一拍也挪了 4mm，但方向**相反**（工件抖动/误检）⇒ 不判 + assert drag_verdict(mid, prev, (0.4820, 0.0))[0] is False + + +def test_drag_verdict_matches_what_we_actually_saw_in_gazebo(): + """2026-09-24 实测那一轮的真实数字：工件每拍被推 11.8mm（残差恒 11mm）。 + + 这条是回归测试：当时的现场没有任何判据报警，日志只说"检查手眼/相机安装"， + 于是一路追到迭代用满。现在同样的数列必须在**第一拍**就判出来。 + """ + ks = [0.4910, 0.4910, 0.4792, 0.4674, 0.4566, 0.4458, 0.4350, 0.4239, 0.4121] + mids = [(k - 0.029, 0.0) for k in ks] # 中点 = k1 左移两孔间距的一半 + flags = [ + drag_verdict(mids[i], mids[i - 1] if i >= 1 else None, + mids[i - 2] if i >= 2 else None)[0] + for i in range(len(mids)) + ] + assert flags == [False, False, True, True, True, True, True, True, True] + assert SNAP_DRAG_TOL_M < 0.0118 + + +# ============================================================================= +# 棘轮：目标角（绝对值）→ 增量。2026-09-24 S09 第一步 ABORT 的根因 +# ============================================================================= +def test_ratchet_delta_wraps_a_target_that_is_past_the_limit(): + """实测那一笔：关节在 +158.9°、目标 +338.9° ⇒ 增量是 +180°（不是 +338.9°）。 + + 差值的折算是整个棘轮的地基：把它当成 338.9° 会让"行程够不够"算错、 + 让余量那一步算到限位外面，最后报一句与真因无关的"偏差过大"。 + """ + d = ratchet_delta_rad(math.radians(338.9), math.radians(158.9)) + assert math.degrees(d) == pytest.approx(180.0, abs=1e-6) + + +def test_ratchet_rewind_target_stays_inside_the_limit(): + """让余量那一步必须落在限位内 —— 这正是当时失败的地方（−180° < −175°）。""" + lo, up = math.radians(-175.0), math.radians(175.0) + q_now = math.radians(158.9) + delta = ratchet_delta_rad(math.radians(338.9), q_now) + rewind = q_now - delta # 让出整步 + assert lo < rewind < up + assert math.degrees(rewind) == pytest.approx(-21.1, abs=1e-6) + # 让完余量再前进整步 ⇒ 关节回到原处、工具净转 +180° + retry = rewind + delta + assert math.degrees(retry) == pytest.approx(158.9, abs=1e-6) + + +def test_ratchet_delta_is_the_same_number_for_both_wrapped_aims(): + """+338.9° 与 −21.1° 是同一个关节位置（差一整圈）—— 增量必须一致。""" + q_now = math.radians(158.9) + a = ratchet_delta_rad(math.radians(338.9), q_now) + b = ratchet_delta_rad(math.radians(-21.1), q_now) + assert a == pytest.approx(b, abs=1e-9) + + +def test_ratchet_delta_covers_a_plain_back_and_forth_cycle(): + """正常的棘轮一步（不贴限位）：从 +150° 拧 −180°、再回转 +180°。""" + q = math.radians(150.0) + d = ratchet_delta_rad(math.radians(-30.0), q) + assert math.degrees(d) == pytest.approx(-180.0, abs=1e-6) + d2 = ratchet_delta_rad(math.radians(150.0), q + d) + assert math.degrees(d2) == pytest.approx(180.0, abs=1e-6) + + +# ============================================================================= +# 棘轮的**转向**必须由工艺意图决定，不能交给"谁更短" +# 2026-09-24 实测：S08 第 3 轮 ABORT（步长 180° 的刀口） +# ============================================================================= +def test_ratchet_180_degree_step_flips_direction_on_a_tenth_of_a_degree_read(): + """**实测那一笔**：调用方读到 q=+162.0 ⇒ 目标 −18.0；棘轮晚 0.1° 读到 + q=+162.1 ⇒ "最短路径"给出 **+179.9°**（方向反了）。 + + 180° 正好落在 ±180° 的刀口上：0.1° 的读数差就能决定"往前"还是"往后"。 + 结果是棘轮朝螺纹反方向走 → 贴限位 → 让余量 → 重试 → **净位移 0** ⇒ ABORT， + 而现场什么都没坏。所以转向必须由调用方按工艺意图给定。 + """ + d_naive = ratchet_delta_rad(math.radians(-18.0), math.radians(162.1)) + assert math.degrees(d_naive) == pytest.approx(+179.9, abs=0.05) # 旧口径：翻向 + d_screw = ratchet_delta_rad(math.radians(-18.0), math.radians(162.1), -1) + assert math.degrees(d_screw) == pytest.approx(-180.1, abs=0.05), "拧入必须往 − 转" + d_back = ratchet_delta_rad(math.radians(342.0), math.radians(162.1), +1) + assert math.degrees(d_back) == pytest.approx(+179.9, abs=0.05), "回转必须往 + 转" + + +def test_directed_delta_always_lands_on_the_target_and_keeps_the_sign(): + """给了方向：增量符号一定等于指定方向，且转过去**就是**目标角（差整圈）。""" + q = math.radians(162.1) + for want_sign, target_deg in ((+1, 342.0), (+1, -18.0), (-1, -18.0), (-1, 342.0)): + d = ratchet_delta_rad(math.radians(target_deg), q, want_sign) + assert d != 0.0 + assert math.copysign(1.0, d) == want_sign, (want_sign, target_deg, math.degrees(d)) + # 转过去与目标角**同一个位置**（差整数圈） + turns = (q + d - math.radians(target_deg)) / (2.0 * math.pi) + assert abs(turns - round(turns)) < 1e-9 + # 且是那一侧**最小**的一步（再多转一整圈就不是"最小"了） + assert abs(d) <= 2.0 * math.pi + 1e-9 + + +def test_directed_delta_does_not_waste_a_full_turn_when_already_there(): + """已经在目标角上时不许"为了凑方向"白转一整圈 —— 那是 1 秒多的空转。""" + q = math.radians(30.0) + assert ratchet_delta_rad(q, q, +1) == 0.0 + assert ratchet_delta_rad(q, q, -1) == 0.0 + # 差一点点也算"就在那儿"（1e-12 rad 量级）而不是 359.999…° + assert abs(ratchet_delta_rad(q, q - 1e-12, +1)) < 1e-9 + + +def test_plain_shortest_path_is_still_available_for_non_ratchet_callers(): + """``direction=0`` 保留"最短路径"语义（给目标本来就明确在某一侧的调用方）。""" + d = ratchet_delta_rad(math.radians(338.9), math.radians(158.9)) + assert math.degrees(d) == pytest.approx(180.0, abs=1e-6) + assert math.degrees(ratchet_delta_rad(math.radians(10.0), math.radians(350.0))) == pytest.approx(20.0) + + +# ============================================================================= +# 棘轮步长 vs 关节行程：S08 开头就要判，不能等第 3 轮贴限位 +# ============================================================================= +def test_ratchet_travel_rejects_180_on_the_rizon_joint7(): + """180° 的步长在 ±175° 的关节 7 上**永远**放不下（实测第 3 轮 ABORT）。 + + 一个来回要 2×180° = 360°，比行程 350° 还大 —— 无论怎么让余量都腾不出 + 空间，所以这不是"调调就好"，是**配置错**，必须在 S08 开头就拦下来。 + """ + lim = (-3.0543, 3.0543) # Rizon4/10 关节7：±175° + v = ratchet_travel_ok(180.0, lim, 8.0) + assert not v.ok + assert v.need_deg == pytest.approx(376.0) + assert v.travel_deg == pytest.approx(350.0, abs=0.1) + assert v.max_step_deg == pytest.approx(167.0, abs=0.1) + assert "screw_step_deg" in v.why, "报错要直接指出该改哪个键" + assert "screw_max_cycles" in v.why, "还要提醒累计必须是整数圈" + + +def test_ratchet_travel_accepts_the_shipped_step_and_margin(): + """出厂值（120°）必须过 —— 否则 S08 一进门就 ABORT，仿真永远跑不完。""" + from arm_application.gauge_config import DEFAULTS + + lim = (-3.0543, 3.0543) + v = ratchet_travel_ok(DEFAULTS["screw_step_deg"], lim, 8.0) + assert v.ok, v.why + # 建议值必须落在上限内，否则"照着改"会再撞一次 + assert v.max_step_deg >= DEFAULTS["screw_step_deg"] + + +def test_ratchet_travel_passes_when_limits_are_unknown_but_says_so(): + """拿不到限位不能猜着拦：放行，理由交给驱动器报 JOINT_LIMIT 兜底。""" + v = ratchet_travel_ok(180.0, None, 8.0) + assert v.ok + assert v.travel_deg == float("inf") + assert v.max_step_deg == float("inf") + assert v.why == "" diff --git a/src/arm_application/test/test_gauge_gripper.py b/src/arm_application/test/test_gauge_gripper.py new file mode 100644 index 0000000..7c21c35 --- /dev/null +++ b/src/arm_application/test/test_gauge_gripper.py @@ -0,0 +1,190 @@ +"""``gauge_gripper`` 的单元测试：**同名服务、两种类型**怎么选。 + +这一段的价值全在"选错了会报出与真实原因无关的错"上： +真机上只按契约写 → 报"服务没起"（其实起了，只是类型是 Trigger）； +选了 legacy 却在仿真里跑 → 调用类型不匹配的服务。 +所以每条选择路径都要有断言，包括"两种都在线"和"一个都不在"。 +""" + +from __future__ import annotations + +import pytest + +from arm_application.gauge_gripper import ( + CONTRACT_CLOSE, + CONTRACT_OPEN, + CONTRACT_STATUS_TOPIC, + CONTRACT_TYPE, + GRIP_STATE_CAUGHT, + GRIP_STATE_DROPPED, + GRIP_STATE_MOVING, + GRIP_STATE_REACHED, + LEGACY_STATUS_TOPIC, + LEGACY_TYPE, + GripperInterfaceError, + describe_backend_choice, + is_dropped_from_state, + is_gripped_from_state, + legacy_states_to_fields, + pick_backend, + states_frame_online, +) + + +def _services(open_types, close_types=None, extra=None): + close_types = open_types if close_types is None else close_types + out = {CONTRACT_OPEN: list(open_types), CONTRACT_CLOSE: list(close_types)} + if extra: + out.update(extra) + return out + + +# ============================================================================= +# auto：按实际类型选 +# ============================================================================= +def test_contract_backend_when_services_are_gripper_execute(): + choice = pick_backend(_services([CONTRACT_TYPE])) + assert choice.backend == "contract" + assert CONTRACT_TYPE in choice.reason + assert choice.status_topic == CONTRACT_STATUS_TOPIC + + +def test_legacy_backend_when_services_are_trigger(): + """真机今天的样子：dh_pgea 节点的 Trigger 服务。""" + choice = pick_backend(_services([LEGACY_TYPE])) + assert choice.backend == "legacy" + assert "dh_pgea" in choice.reason + assert choice.status_topic == LEGACY_STATUS_TOPIC + # 理由里要带上"契约驱动还没落地"这个现场事实，否则下次有人以为选错了 + assert "arm_driver_dh_gripper" in choice.reason + + +def test_missing_services_reports_how_to_start_them(): + with pytest.raises(GripperInterfaceError) as ei: + pick_backend({}) + msg = str(ei.value) + assert "run_gripper.sh" in msg and "run_sim_gz.sh" in msg + + +def test_unknown_service_type_is_not_silently_accepted(): + """类型既不是 GripperExecute 也不是 Trigger（比如被别人占用了同名服务）。 + + 这时必须是"认不出来"的明确报错，而不是随便选一个后端然后调用失败。 + """ + with pytest.raises(GripperInterfaceError) as ei: + pick_backend(_services(["std_srvs/srv/SetBool"])) + msg = str(ei.value) + assert "std_srvs/srv/SetBool" in msg + assert "service list -t" in msg, "要给出『是谁占用了这个服务名』的查法" + + +def test_missing_service_and_wrong_type_are_different_messages(): + """**负向**：不能在"服务不在"和"类型不对"两种情况报同一句话。 + + 两者都报"夹爪节点没起来"，现场就会去反复重启一个根本没问题的节点 + （规则 M1：报错信息必须指向真实原因）。 + """ + with pytest.raises(GripperInterfaceError) as absent: + pick_backend({CONTRACT_CLOSE: [CONTRACT_TYPE]}) # open 缺失 + with pytest.raises(GripperInterfaceError) as wrong: + pick_backend(_services(["std_srvs/srv/SetBool"])) + assert "没起来" in str(absent.value) + assert "没起来" not in str(wrong.value) + assert "被别的节点占用" in str(wrong.value) or "占用了" in str(wrong.value) + + +def test_both_backends_online_is_an_error_not_a_coin_flip(): + """仿真和真机节点同时起着（或旧进程没停干净）→ 报错，不许撞运气。""" + with pytest.raises(GripperInterfaceError) as ei: + pick_backend(_services([CONTRACT_TYPE, LEGACY_TYPE])) + msg = str(ei.value) + assert "同时存在两种类型" in msg + assert "stop_sim_gz.sh" in msg + + +def test_open_and_close_types_must_agree(): + """open 是契约、close 是 Trigger → 不算"契约可用"，要按认不出来报错。""" + with pytest.raises(GripperInterfaceError): + pick_backend(_services([CONTRACT_TYPE], [LEGACY_TYPE])) + + +# ============================================================================= +# 显式指定后端：不符就报错，不静默降级 +# ============================================================================= +def test_explicit_contract_on_legacy_hardware_fails_with_fix_list(): + with pytest.raises(GripperInterfaceError) as ei: + pick_backend(_services([LEGACY_TYPE]), prefer="contract") + msg = str(ei.value) + assert "gripper_backend" in msg + assert "legacy" in msg and "auto" in msg + + +def test_explicit_legacy_on_sim_fails_and_points_at_dh_pgea(): + with pytest.raises(GripperInterfaceError) as ei: + pick_backend(_services([CONTRACT_TYPE]), prefer="legacy") + assert "dh_pgea" in str(ei.value) + + +def test_explicit_backend_matching_reality_is_accepted(): + assert pick_backend(_services([CONTRACT_TYPE]), prefer="contract").backend == "contract" + assert pick_backend(_services([LEGACY_TYPE]), prefer="legacy").backend == "legacy" + + +def test_bad_prefer_value_lists_valid_options(): + with pytest.raises(GripperInterfaceError) as ei: + pick_backend(_services([CONTRACT_TYPE]), prefer="whatever") + assert "auto" in str(ei.value) and "contract" in str(ei.value) + + +# ============================================================================= +# 状态解读 +# ============================================================================= +def test_gripped_only_when_state_is_definitive(): + """"到位"不等于"夹住"：空爪闭合也会到位。 + + 把 1（到位）当成"夹住了"会让 E1 掉件检测在正常开合时误报； + 把"不知道"当成"没夹住"会让流程一开始就报错。 + """ + assert is_gripped_from_state(GRIP_STATE_CAUGHT) is True + assert is_gripped_from_state(GRIP_STATE_DROPPED) is False + assert is_gripped_from_state(GRIP_STATE_REACHED) is None + assert is_gripped_from_state(GRIP_STATE_MOVING) is None + + +def test_drop_detection_requires_a_previous_grip(): + """爪里本来就是空的（装配前），不该判成掉件。""" + assert is_dropped_from_state(GRIP_STATE_DROPPED, was_gripped=True) is True + assert is_dropped_from_state(GRIP_STATE_DROPPED, was_gripped=False) is False + assert is_dropped_from_state(GRIP_STATE_CAUGHT, was_gripped=True) is False + assert is_dropped_from_state(GRIP_STATE_MOVING, was_gripped=True) is False + + +def test_legacy_states_parsing_is_field_named_and_defensive(): + f = legacy_states_to_fields([1.0, 2.0, 500.0, 0.0, 50.0]) + assert f["initialized"] == 1.0 and f["grip_state"] == 2.0 + assert f["position"] == 500.0 and f["target_force"] == 50.0 + # 畸形/空数据 → 空字典（上层走"不知道"分支），不抛异常 + assert legacy_states_to_fields([]) == {} + assert legacy_states_to_fields([1.0, 2.0]) == {} + + # 离线帧（第 6 位 0）里的前 5 个是上一次的值，不能当现在的状态用。 + # 2026-10-20 读 0x0201 连 264 次无应答，这就是流水线把"读不到"说成 + # "夹爪没到位"的入口，必须有负向测试。 + assert legacy_states_to_fields([1.0, 2.0, 500.0, 0.0, 50.0, 0.0]) == {} + + +def test_states_online_marks_only_fresh_frames(): + assert states_frame_online([1.0, 2.0, 500.0, 0.0, 50.0]) is True + assert states_frame_online([1.0, 2.0, 500.0, 0.0, 50.0, 1.0]) is True + assert states_frame_online([1.0, 2.0, 500.0, 0.0, 50.0, 0.0]) is False + # 第 6 位是垃圾 → 当离线，不许当有效帧 + assert states_frame_online([1.0, 2.0, 500.0, 0.0, 50.0, "x"]) is False + + +def test_describe_mentions_the_unit_trap_for_legacy(): + """legacy 的"开口"是千分比不是毫米，日志里必须写明。 + + 这是最容易误用的地方：拿到 500 以为是 500mm，实际是 10mm 行程的一半。 + """ + text = "\n".join(describe_backend_choice(pick_backend(_services([LEGACY_TYPE])))) + assert "1000‰" in text and "不是毫米" in text diff --git a/src/arm_application/test/test_gauge_gripper_client.py b/src/arm_application/test/test_gauge_gripper_client.py new file mode 100644 index 0000000..a3b5700 --- /dev/null +++ b/src/arm_application/test/test_gauge_gripper_client.py @@ -0,0 +1,151 @@ +"""``GripperClient.dropped()``：E1 掉件判据只认**开口塌陷**，不认状态位抖动。 + +为什么值得单独钉住（2026-09-24 实测踩到）： + 仿真里 ``GripperStatus.is_gripped`` 是**推断值**（"指令到了合拢侧 + 实际开口 + 比指令大出容差"）。S08 拧规时会在"合到某个开口 / 全合"之间发指令，只要某一帧 + 的指令落到与实际开口同一档，``is_gripped`` 就翻成 False —— 于是 + **S08 第 2/12 轮报「通止规掉了」**（爪里其实好好的），整条流程转去等人工 + "放好通止规"，而仿真里没有这个人。 + + 判据改成"夹住时的开口 − 当前开口 ≥ 5mm"以后，这种抖动不再报掉件；而真的掉了 + （两指合到底、开口塌几十毫米）仍然会报。 +""" + +from __future__ import annotations + +from typing import Any, List + +from arm_msgs.msg import GripperStatus + + +class _StubNode: + """``GripperClient`` 只用到这三个方法；测试里不建任何 ROS 实体。""" + + def __init__(self) -> None: + self.warnings: List[str] = [] + + def create_client(self, srv_type: Any, name: str) -> None: + return None + + def create_subscription(self, msg_type: Any, topic: str, cb: Any, qos: Any) -> None: + self._cb = cb + return None + + def get_logger(self) -> Any: + return _StubLogger(self.warnings) + + +class _StubLogger: + def __init__(self, sink: List[str]) -> None: + self._sink = sink + + def info(self, msg: str) -> None: + self._sink.append(msg) + + def warn(self, msg: str) -> None: + self._sink.append(msg) + + def error(self, msg: str) -> None: + self._sink.append(msg) + + +def _status(is_gripped: bool, position: float) -> GripperStatus: + msg = GripperStatus() + msg.is_gripped = bool(is_gripped) + msg.position = float(position) + return msg + + +def _client(): + from arm_application.gauge_assembly_node import GripperClient + + node = _StubNode() + return GripperClient(node, "contract", "/gripper/status"), node + + +def test_no_drop_before_ever_gripped(): + """装配前爪里本来就空：状态位说什么都不算掉件（否则一开场就 E1）。""" + client, _ = _client() + client._on_contract(_status(False, 0.0)) + assert client.dropped() is False + + +def test_a_wide_open_flap_does_not_poison_the_baseline(): + """**本次踩到的那个假 E1 的真因**：全开时 is_gripped 也闪 True（实测 99.29mm）。 + + 以前"第一次判到夹住"就记基准 ⇒ 基准被记成 99.29mm ⇒ 塌陷量算成 77mm ⇒ + 报"通止规掉了"，而规好好地在爪里、真实开口一直是 21.9mm。 + 现在基准只由明确调用 adopt_current_grip 记录：状态位怎么闪都不动它。 + """ + client, _ = _client() + client._on_contract(_status(True, 99.29)) # 全开时的假 GRIPPING + assert client._grip_aperture is None, "状态位不许写基准" + assert client.dropped() is False + client._on_contract(_status(True, 21.9)) # 真正夹住规之后 + client.adopt_current_grip("测试：确认夹住") + assert client._grip_aperture == 21.9 + client._on_contract(_status(False, 21.8)) + assert client.dropped() is False, "开口没塌就不是掉件" + + +def test_is_gripped_flap_is_not_a_drop(): + """**本次踩到的那个假 E1**：指令切换让 is_gripped 翻 False，开口没塌。""" + client, _ = _client() + client._on_contract(_status(True, 24.9)) # 夹住 φ30 的规，开口停在 24.9mm + client.adopt_current_grip("测试：确认夹住") + assert client.dropped() is False + client._on_contract(_status(False, 24.8)) # 指令落到同一档 → 推断值翻 False + assert client.dropped() is False, "开口没塌就不是掉件" + + +def test_real_drop_is_detected_by_aperture_collapse(): + """真的掉了：两指一路合到底，开口塌到几毫米。""" + client, _ = _client() + client._on_contract(_status(True, 24.9)) + client.adopt_current_grip("测试：确认夹住") + client._on_contract(_status(False, 0.2)) + assert client.dropped() is True + + +def test_aperture_jitter_within_the_threshold_is_not_a_drop(): + """实测抖动是亚毫米量级；阈值 5mm 不该被它触发。""" + client, _ = _client() + client._on_contract(_status(True, 24.9)) + client.adopt_current_grip("测试：确认夹住") + client._on_contract(_status(False, 24.9 - 4.9)) + assert client.dropped() is False + + +def test_without_aperture_reading_falls_back_to_the_old_criterion(): + """拿不到 position（老固件/别的夹爪）时退回旧判据：会抖，但不至于"永远判不了掉件"。""" + client, _ = _client() + client._on_contract(_status(True, float("nan"))) + assert client.adopt_current_grip("测试：确认夹住") is None + assert client._grip_aperture is None + client._on_contract(_status(False, float("nan"))) + assert client.dropped() is True, "没有开口读数时不能变成「永远不报掉件」" + + +def test_settle_waits_for_the_motion_to_finish(): + """``settle`` 不能读"动作还没做完"的旧值。 + + 实测：``close`` 服务返回时手指还在动，立刻读开口读到的是**全开 99.93mm** —— + 于是"第 1 轮夹紧后：开口 99.93mm（夹住时 99.29mm）"这种荒唐日志。 + ``settle`` 要一直等到连续两帧一样才认。 + """ + client, _ = _client() + client._on_contract(_status(True, 99.93)) + assert client.settle(settle_s=0.2) == 99.93 + # 动作进行中：值一直在变 ⇒ 不到稳定就不返回（这里只验证它会返回**最终**值） + client._on_contract(_status(False, 30.0)) + assert client.settle(settle_s=0.2) == 30.0 + + +def test_adopt_current_grip_records_what_is_in_the_jaws_now(): + """基准 = "确认夹住那一刻"的开口；之后状态位再翻也不改参照。""" + client, _ = _client() + client._on_contract(_status(True, 21.9)) + assert client.adopt_current_grip("测试") == 21.9 + client._on_contract(_status(False, 21.4)) + assert client.grip_aperture() == 21.9 + assert client.collapse_mm() == 0.5 diff --git a/src/arm_application/test/test_gauge_kin.py b/src/arm_application/test/test_gauge_kin.py new file mode 100644 index 0000000..d764e74 --- /dev/null +++ b/src/arm_application/test/test_gauge_kin.py @@ -0,0 +1,225 @@ +"""``gauge_kin`` 的单元测试：S01 的"转到极限角"与"确实绕对了轴"。 + +两个都在测"算错了不会报错、只会做错动作"的东西： +限位夹取算错 → 要么撞限位被驱动器拒绝，要么离极限还差很远（流程看起来一样）； +转轴验证算错 → 无论实际绕哪根轴转都报"没问题"，判据等于没有。 +""" + +from __future__ import annotations + +import math + +import numpy as np +import pytest + +from arm_application.gauge_kin import ( + DEFAULT_LIMIT_MARGIN_DEG, + a7_limit_target, + axis_misalignment_deg, + match_limits, + parse_joint_limits, + prewind, + rotation_about_axis_deg, + unit_tool_z, + vertical_down_error_deg, +) + +URDF = """ + + + + + + + + + + + + + + + + + + +""" + + +# ============================================================================= +# URDF 解析 +# ============================================================================= +def test_parse_limits_keeps_full_joint_names(): + """关节名原样保留（含 SN 前缀）。 + + "顺手去掉前缀"这种清洗会在换臂时静默失配：所有关节都查不到限位， + 于是限位夹取悄悄失效，现象是"贴着限位下发、驱动器拒绝"。 + """ + lim = parse_joint_limits(URDF) + assert lim["Rizon4-063989_joint7"] == (-3.0543, 3.0543) + assert lim["Rizon4-063989_joint6"] == (-1.4835, 4.6251) + # continuous 关节没有 limit，不该被当成解析结果 + assert "Rizon4-063989_roll" not in lim + + +def test_parse_limits_on_garbage_returns_empty_not_partial(): + assert parse_joint_limits("") == {} + assert parse_joint_limits("not xml at all") == {} + # 未展开的 xacro：既不是合法 XML，也没有可用的 limit 行 + assert parse_joint_limits("${bad}") == {} + + +def test_parse_limits_falls_back_to_line_regex_on_malformed_xml(): + """URDF 里有未转义的 ``&`` 时整份 XML 解析会失败，但限位行仍然可读。 + + 降级到逐行正则能救回"拿到的是半成品 URDF"这种常见情况；救不回就返回空表 + （= 不做限位夹取，由调用方告警），**不会**返回半套数据。 + """ + broken = URDF.replace('', '') + lim = parse_joint_limits(broken) + assert lim["Rizon4-063989_joint7"] == (-3.0543, 3.0543) + + +def test_match_limits_is_all_or_nothing(): + lim = parse_joint_limits(URDF) + assert match_limits(lim, ["Rizon4-063989_joint7"]) == (-3.0543, 3.0543) + # 缺一个就整体不可用：半套限位会让"能不能转到极限"的结论无法解释 + assert match_limits(lim, ["Rizon4-063989_joint7", "不存在_joint8"]) is None + assert match_limits({}, ["Rizon4-063989_joint7"]) is None + + +# ============================================================================= +# S01 预绕 +# ============================================================================= +def test_prewind_without_limits_applies_full_angle(): + r = prewind(q_now_rad=0.0, want_deg=150.0, direction=1, limits=None) + assert not r.has_limits and not r.clamped + assert math.isclose(r.applied_deg, 150.0, abs_tol=1e-9) + assert math.isclose(r.target_rad, math.radians(150.0), abs_tol=1e-12) + + +def test_prewind_direction_sign(): + """方向只由 ``extreme_direction`` 决定，不靠代码里的负号。""" + up = prewind(0.0, 90.0, 1, None) + down = prewind(0.0, 90.0, -1, None) + assert up.applied_deg > 0 and down.applied_deg < 0 + assert math.isclose(up.applied_deg, -down.applied_deg, abs_tol=1e-9) + with pytest.raises(ValueError): + prewind(0.0, 90.0, 0, None) + with pytest.raises(ValueError): + prewind(0.0, -90.0, 1, None) + + +def test_prewind_clamps_inside_the_limit_with_margin(): + """上限 3.0543 rad（175°），余量 3° → 最多转到 172°，且报 clamped。""" + r = prewind(q_now_rad=0.0, want_deg=150.0, direction=1, limits=(-3.0543, 3.0543)) + assert math.isclose(r.applied_deg, 150.0, abs_tol=1e-9) + assert not r.clamped + + r2 = prewind(q_now_rad=0.0, want_deg=179.0, direction=1, limits=(-3.0543, 3.0543)) + assert r2.clamped and r2.has_limits + assert r2.applied_deg < 179.0 + # 关键断言：目标必须落在 "上限 − 余量" 之内（余量是给驱动器留的，不是装饰） + upper = 3.0543 - math.radians(DEFAULT_LIMIT_MARGIN_DEG) + assert r2.target_rad <= upper + 1e-12 + assert math.isclose(r2.target_rad, upper, abs_tol=1e-12) + + +def test_prewind_clamps_toward_lower_limit_for_negative_direction(): + r = prewind(q_now_rad=0.0, want_deg=179.0, direction=-1, limits=(-3.0543, 3.0543)) + lower = -3.0543 + math.radians(DEFAULT_LIMIT_MARGIN_DEG) + assert r.clamped and math.isclose(r.target_rad, lower, abs_tol=1e-12) + + +def test_prewind_reports_backwards_motion_when_already_inside_margin(): + """**边界**：已经贴在上限余量之内时，目标会被夹到当前位置**之后**。 + + 这时 ``applied_deg`` 是负的（臂会往回退一点点）。这不是 bug，是"宁可退 + 一点也不要撞限位"；但必须如实报出来，否则日志里会出现"要转 150°、 + 实际转了 -2°"却没人解释。 + """ + q = 3.0543 - math.radians(1.0) # 已经在余量(3°)之内 + r = prewind(q_now_rad=q, want_deg=150.0, direction=1, limits=(-3.0543, 3.0543)) + assert r.clamped and r.applied_deg < 0.0 + assert r.target_rad <= 3.0543 - math.radians(DEFAULT_LIMIT_MARGIN_DEG) + 1e-12 + + +def test_prewind_handles_degenerate_limits(): + """上下限比余量还窄（配置错）时，退到区间中点而不是静默走偏。""" + r = prewind(0.0, 90.0, 1, limits=(-0.01, 0.01), margin_deg=3.0) + assert math.isclose(r.target_rad, 0.0, abs_tol=1e-12) + assert r.clamped + + +# ============================================================================= +# 绕轴旋转的验证 +# ============================================================================= +def _rot_z(deg: float) -> np.ndarray: + t = math.radians(deg) + return np.array( + [[math.cos(t), -math.sin(t), 0.0], [math.sin(t), math.cos(t), 0.0], [0.0, 0.0, 1.0]] + ) + + +def _rot_x(deg: float) -> np.ndarray: + t = math.radians(deg) + return np.array( + [[1.0, 0.0, 0.0], [0.0, math.cos(t), -math.sin(t)], [0.0, math.sin(t), math.cos(t)]] + ) + + +def test_rotation_about_axis_reads_the_signed_angle(): + R0 = np.eye(3) + assert math.isclose(rotation_about_axis_deg(R0, _rot_z(30.0), [0, 0, 1]), 30.0, abs_tol=1e-9) + assert math.isclose(rotation_about_axis_deg(R0, _rot_z(-30.0), [0, 0, 1]), -30.0, abs_tol=1e-9) + # 转了很多圈也要给出同一个角（atan2 值域 ±180°，这里只用来核对单步） + assert math.isclose(rotation_about_axis_deg(R0, _rot_z(179.0), [0, 0, 1]), 179.0, abs_tol=1e-9) + + +def test_rotation_about_axis_ignores_an_orthogonal_rotation_axis(): + """绕 X 转 60°，在 Z 轴上的投影应为 0 —— 这正是"绕错轴"的读数特征。""" + val = rotation_about_axis_deg(np.eye(3), _rot_x(60.0), [0, 0, 1]) + assert abs(val) < 1e-9 + + +def test_axis_misalignment_separates_right_axis_from_wrong_axis(): + """S01 的判错依据：转对轴 ≈0°，转错轴 ≈90°。 + + 只看"转了多少度"不够 —— 绕正确轴转 90° 和绕错误轴转 90° 的角度读数一样。 + """ + R0 = np.eye(3) + assert axis_misalignment_deg(R0, _rot_z(45.0), [0, 0, 1]) < 1e-6 + assert axis_misalignment_deg(R0, _rot_x(45.0), [0, 0, 1]) > 89.0 + # 轴线取反方向应视为同一根轴（cos 取绝对值） + assert axis_misalignment_deg(R0, _rot_z(45.0), [0, 0, -1]) < 1e-6 + # 几乎没转时谈不上"转错轴" + assert axis_misalignment_deg(R0, np.eye(3), [0, 0, 1]) == 0.0 + + +def test_rotation_helpers_reject_zero_axis(): + with pytest.raises(ValueError): + rotation_about_axis_deg(np.eye(3), _rot_z(10.0), [0.0, 0.0, 0.0]) + + +def test_a7_limit_moves_only_the_last_joint(): + """逆时针到上限、顺时针到下限。前六轴必须原样，没有限位就拒绝。""" + q = np.array([0.1, -0.2, 0.3, -0.4, 0.5, -0.6, 0.2]) + limits = (-3.0543, 3.0543) + ccw = a7_limit_target(q, limits, direction=1, margin_deg=3.0) + cw = a7_limit_target(q, limits, direction=-1, margin_deg=3.0) + assert ccw is not None and cw is not None + np.testing.assert_allclose(ccw[:6], q[:6]) + np.testing.assert_allclose(cw[:6], q[:6]) + assert ccw[6] == pytest.approx(3.0543 - math.radians(3.0)) + assert cw[6] == pytest.approx(-3.0543 + math.radians(3.0)) + assert a7_limit_target(q, None, 1) is None + assert a7_limit_target(q, limits, 1, margin_deg=200.0) is None + + +def test_tool_z_and_vertical_down_error(): + """工具 Z 朝世界 -Z = 0°；水平 = 90°；朝上 = 180°。""" + R_down = np.diag([1.0, -1.0, -1.0]) + assert np.allclose(unit_tool_z(R_down), [0.0, 0.0, -1.0]) + assert vertical_down_error_deg(R_down) < 1e-6 + assert math.isclose(vertical_down_error_deg(_rot_x(90.0) @ R_down), 90.0, abs_tol=1e-6) + assert math.isclose(vertical_down_error_deg(_rot_x(180.0) @ R_down), 180.0, abs_tol=1e-6) diff --git a/src/arm_application/test/test_gauge_step_events.py b/src/arm_application/test/test_gauge_step_events.py new file mode 100644 index 0000000..7570c4c --- /dev/null +++ b/src/arm_application/test/test_gauge_step_events.py @@ -0,0 +1,159 @@ +"""主流程节点与状态机的**接缝**测试（不需要 ROS、不需要真机）。 + +为什么要有这一层 +---------------- +``gauge_assembly_node`` 的每个 ``_step_*`` 方法会返回一个 :class:`Event`， +由 ``gauge_fsm.TRANSITIONS`` 决定它去哪。这两份东西是**分开写的**： + +* 状态机里没有的转移 → 运行到那一步抛 :class:`FsmError`（好：当场炸）； +* 但如果是**最危险的那一步**才炸（力超限、掉件、关节极限），代价就大了。 + +所以这里直接读节点源码的 AST，把"每个阶段可能返回哪些事件"抽出来， +逐个问状态机"这一步合法吗"。这样新增/修改流程时，忘了登记转移会在 +``pytest`` 里就报出来，而不是等到真机上。 +""" + +from __future__ import annotations + +import ast +import pathlib +from typing import Dict, Set + +import pytest + +from arm_application.gauge_fsm import Event, GaugeContext, GaugeFsm, State + +NODE_SRC = ( + pathlib.Path(__file__).resolve().parents[1] + / "arm_application" / "gauge_assembly_node.py" +) + + +def _node_ast() -> ast.Module: + return ast.parse(NODE_SRC.read_text(encoding="utf-8")) + + +def _step_map(tree: ast.Module) -> Dict[str, str]: + """``State.X -> "_step_y"``（读节点的 ``_STEPS`` 表）。""" + for node in ast.walk(tree): + # 表是带类型标注的（``_STEPS: Dict[State, str] = {...}``）→ AnnAssign + target = None + if isinstance(node, ast.AnnAssign) and isinstance(node.target, ast.Name): + target = node.target.id + elif isinstance(node, ast.Assign) and len(node.targets) == 1: + tgt = node.targets[0] + target = tgt.id if isinstance(tgt, ast.Name) else None + if target != "_STEPS": + continue + value = node.value + assert isinstance(value, ast.Dict), "_STEPS 必须是字面量字典（测试要读它）" + out: Dict[str, str] = {} + for k, v in zip(value.keys, value.values): + assert isinstance(k, ast.Attribute) and isinstance(v, ast.Constant) + out[k.attr] = str(v.value) + return out + raise AssertionError("节点里找不到 _STEPS 表") + + +def _events_in(node: ast.AST) -> Set[str]: + """表达式里出现的所有 ``Event.XXX`` 名字。""" + return { + n.attr + for n in ast.walk(node) + if isinstance(n, ast.Attribute) + and isinstance(n.value, ast.Name) + and n.value.id == "Event" + } + + +def _returned_events(func: ast.FunctionDef) -> Set[str]: + """一个 ``_step_*`` 方法可能返回的事件。 + + 收集两处，别的地方不算（比如异常处理里顺手记一条 ``Event.ABORT`` 做日志， + 那不是"返回"）： + 1. 所有 ``return `` 里的 ``Event.X``； + 2. 所有 ``fsm_event=Event.X`` 关键字实参（喂给 ``_rotate_joint_and_verify``， + 它会把成功事件原样返回）。 + """ + out: Set[str] = set() + for node in ast.walk(func): + if isinstance(node, ast.Return) and node.value is not None: + out |= _events_in(node.value) + elif isinstance(node, ast.Call): + for kw in node.keywords: + if kw.arg == "fsm_event": + out |= _events_in(kw.value) + return out + + +def _func_by_name(tree: ast.Module, name: str) -> ast.FunctionDef: + for node in ast.walk(tree): + if isinstance(node, ast.FunctionDef) and node.name == name: + return node + raise AssertionError(f"节点里找不到方法 {name}") + + +def test_steps_table_covers_every_non_terminal_state() -> None: + """每个非终态都要有处理方法 —— 漏一个就是"流程走到这儿不知道干什么"。""" + tree = _node_ast() + steps = _step_map(tree) + for st in State: + if st in (State.DONE, State.ABORT): + continue + assert st.name in steps, f"{st} 没有登记处理方法" + assert len(steps) == len(set(steps.values())), "一个方法不该被两个状态复用" + + +def test_every_returned_event_is_legal_in_that_state() -> None: + """本阶段可能返回的每个事件，在状态机里必须合法。 + + 这是本文件的主要断言：它把"节点写的事件"和"状态机登记的转移"对齐， + 免得在真机上跑到那一步才抛 FsmError。 + """ + tree = _node_ast() + problems = [] + for state_name, method in _step_map(tree).items(): + state = State[state_name] + func = _func_by_name(tree, method) + for ev_name in sorted(_returned_events(func)): + event = Event[ev_name] + # 每个事件都在"干净上下文 + 该状态"下问一次状态机 + fsm = GaugeFsm(GaugeContext(holes_total=2), start=state) + if not fsm.can(event): + problems.append(f"{state.value} 的 {method} 会返回 {ev_name}，但状态机不接受") + assert not problems, "节点与状态机不一致：\n " + "\n ".join(problems) + + +def test_s08_drop_goes_to_home_extreme() -> None: + """E1 的落点必须还是 S01：它要在那里张开爪、等人工放好。 + + 这条单列出来，是因为"掉件后去哪"很容易被顺手改成 S11（"反正收工"）， + 那样掉在孔里的规就没人管了。 + """ + fsm = GaugeFsm(GaugeContext(holes_total=2), start=State.SCREW_IN) + assert fsm.handle(Event.GAUGE_DROPPED) is State.HOME_EXTREME + assert fsm.handle(Event.RELOADED) is State.NEXT_HOLE + # 掉件后孔序号推进（看板：该孔记为完成，换下一个孔） + assert fsm.ctx.hole_index == 1 + + +def test_contact_force_over_limit_aborts_not_retries() -> None: + """法向力超上限 → 中止，不是"抬起来再来一次"。 + + 超限说明已经压进去了（位置下限或规没对准），原地重试会把工件压变形。 + """ + fsm = GaugeFsm(GaugeContext(holes_total=2), start=State.CONTACT) + assert fsm.handle(Event.FORCE_OVER_LIMIT) is State.ABORT + + +@pytest.mark.parametrize("state_name", ["SNAP", "HOVER_K"]) +def test_snap_and_hover_have_a_back_edge(state_name: str) -> None: + """S05/S06 必须能退回去：不稳定 → 再等；对位超差 → 重拍。 + + 没有回边的结果是：判据没过就一路往下走（去接触、去拧）， + 而这是"孔没对准"最危险的表达方式。 + """ + fsm = GaugeFsm(GaugeContext(holes_total=2), start=State[state_name]) + back = Event.SNAP_UNSTABLE if state_name == "SNAP" else Event.ALIGN_OUT + assert fsm.can(back) + assert fsm.handle(back) is State.SNAP diff --git a/src/arm_application/test/test_gripper_node.py b/src/arm_application/test/test_gripper_node.py new file mode 100644 index 0000000..9d10a04 --- /dev/null +++ b/src/arm_application/test/test_gripper_node.py @@ -0,0 +1,73 @@ +"""Station gripper node must not open the bus until probe, and must recover a dead session.""" +from __future__ import annotations + +import pytest + +rclpy = pytest.importorskip("rclpy") + +from arm_application.dh_pgea import DhPgeaError, GripperState +from arm_application import gripper_node as gripper + + +class FakeGripper: + def __init__(self, **kwargs): + self.opens = 0 + self.closes = 0 + self.reads = 0 + self.fail_until_open = 0 + self.state = GripperState(init_state=1, grip_state=1, position=1000, target_position=1000, target_force=20) + + def open(self): + self.opens += 1 + + def close(self): + self.closes += 1 + + def get_run_states(self, retries=8): + self.reads += 1 + if self.opens <= self.fail_until_open: + raise DhPgeaError("在 /dev/ttyUSB0 上 Modbus 读 0x0201 失败（无有效应答 last=(empty)）") + return self.state + + +@pytest.fixture() +def ros(monkeypatch): + monkeypatch.setattr(gripper, "DhPgeaGripper", FakeGripper) + rclpy.init() + try: + yield + finally: + rclpy.shutdown() + + +def test_startup_does_not_open_serial(ros): + node = gripper.GripperNode() + try: + assert node.driver.opens == 0 + assert node._online is False + finally: + node.destroy_node() + + +def test_connect_closes_then_opens_before_reading(ros): + node = gripper.GripperNode() + try: + assert node._connect() is True + assert node.driver.closes >= 1 + assert node.driver.opens == 1 + assert node._online is True + assert node._reading.position == 1000 + finally: + node.destroy_node() + + +def test_poll_reopens_after_empty_reply(ros): + node = gripper.GripperNode() + try: + assert node._connect() is True + node.driver.fail_until_open = node.driver.opens + node._poll() + assert node._online is True + assert node.driver.opens >= 2 + finally: + node.destroy_node() diff --git a/src/arm_application/test/test_handeye_lib.py b/src/arm_application/test/test_handeye_lib.py new file mode 100644 index 0000000..fcb1a5f --- /dev/null +++ b/src/arm_application/test/test_handeye_lib.py @@ -0,0 +1,462 @@ +"""handeye_lib 的纯函数测试 —— 不需要机器人、相机或标定板。 + +这里最要紧的一个测试是 `test_roundtrip_recovers_known_transform`： +它用一个人为设定的 `X_true` 反过来生成每个视图的 (gripper→base, target→cam)， +再让求解器去还原。这是唯一能在没有硬件的情况下真正验证"标定算得对不对"的办法 —— +如果求解链路有符号/转置/坐标系方向的错误，它一定会失败。 +""" + +from __future__ import annotations + +import math + +import numpy as np +import pytest + +from arm_application.handeye_lib import ( + BoardConfig, + CameraIntrinsics, + ChessboardStabilizer, + Rt_to_T, + T_from_flexiv_tcp, + board_object_points, + calibrate_hand_eye, + cam_to_flange_via_tool, + format_transform_yaml, + invert_Rt, + is_pose_filled, + pose_to_Rt, + quat_xyzw_to_R, +) + + +def _rot(axis: str, deg: float) -> np.ndarray: + a = math.radians(deg) + c, s = math.cos(a), math.sin(a) + if axis == "x": + return np.array([[1, 0, 0], [0, c, -s], [0, s, c]], float) + if axis == "y": + return np.array([[c, 0, s], [0, 1, 0], [-s, 0, c]], float) + return np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]], float) + + +def _rand_transform(rng: np.random.Generator) -> np.ndarray: + """随机但物理上合法的刚体变换（旋转正交且 det=+1）。""" + R = _rot("x", rng.uniform(-180, 180)) @ _rot("y", rng.uniform(-180, 180)) @ _rot( + "z", rng.uniform(-180, 180) + ) + T = np.eye(4) + T[:3, :3] = R + T[:3, 3] = rng.uniform(-0.6, 0.6, 3) + return T + + +# -------------------------------------------------------------------------- +# 旋转/位姿基础 +# -------------------------------------------------------------------------- + + +def test_quat_identity_is_identity_matrix(): + R = quat_xyzw_to_R([0.0, 0.0, 0.0, 1.0]) + assert np.allclose(R, np.eye(3), atol=1e-12) + + +def test_quat_matches_rotation_matrix_for_known_angles(): + for axis, deg in (("x", 30.0), ("y", -47.0), ("z", 121.0)): + q = _axis_angle_to_quat(axis, deg) + assert np.allclose(quat_xyzw_to_R(q), _rot(axis, deg), atol=1e-9), axis + + +def test_quat_is_normalized_before_use(): + """非单位四元数不该影响结果 —— 有些驱动会给未归一化的值。""" + q = np.array(_axis_angle_to_quat("z", 90.0)) * 3.7 + assert np.allclose(quat_xyzw_to_R(list(q)), _rot("z", 90.0), atol=1e-9) + + +def _axis_angle_to_quat(axis: str, deg: float): + a = math.radians(deg) / 2.0 + s, c = math.sin(a), math.cos(a) + if axis == "x": + return [s, 0.0, 0.0, c] + if axis == "y": + return [0.0, s, 0.0, c] + return [0.0, 0.0, s, c] + + +def test_pose_to_Rt_shapes(): + R, t = pose_to_Rt([1.0, 2.0, 3.0], [0.0, 0.0, 0.0, 1.0]) + assert R.shape == (3, 3) + assert t.shape == (3, 1) + assert np.allclose(t.reshape(3), [1.0, 2.0, 3.0]) + + +def test_Rt_to_T_round_trip(): + rng = np.random.default_rng(0) + R = _rot("z", 33.0) + t = np.array([[0.1], [-0.2], [0.3]]) + T = Rt_to_T(R, t) + assert T.shape == (4, 4) + assert np.allclose(T[3], [0, 0, 0, 1]) + assert np.allclose(T[:3, :3], R) + assert np.allclose(T[:3, 3], t.reshape(3)) + + +def test_invert_Rt_is_true_inverse(): + rng = np.random.default_rng(1) + R = _rot("x", 12.0) @ _rot("y", 88.0) + t = rng.uniform(-1, 1, (3, 1)) + Ri, ti = invert_Rt(R, t) + T = Rt_to_T(R, t) + Ti = Rt_to_T(Ri, ti) + assert np.allclose(T @ Ti, np.eye(4), atol=1e-12) + assert np.allclose(Ti @ T, np.eye(4), atol=1e-12) + + +# -------------------------------------------------------------------------- +# 标定板几何 +# -------------------------------------------------------------------------- + + +def test_board_object_points_count_and_layout(): + cfg = BoardConfig(cols=8, rows=11, square_size=0.015) + pts = board_object_points(cfg) + assert pts.shape == (88, 3) + # z 全为 0（板平面），x/y 是网格 + assert np.allclose(pts[:, 2], 0.0) + assert np.isclose(pts[:, 0].max(), 7 * 0.015) + assert np.isclose(pts[:, 1].max(), 10 * 0.015) + # 第一行是 0..7 个 x + assert np.allclose(pts[:8, 0], np.arange(8) * 0.015) + + +def test_board_square_size_actually_scales_points(): + a = board_object_points(BoardConfig(cols=4, rows=3, square_size=0.01)) + b = board_object_points(BoardConfig(cols=4, rows=3, square_size=0.03)) + assert np.allclose(b, a * 3.0) + + +def test_camera_intrinsics_holds_k_and_dist(): + K = np.array([[600.0, 0.0, 320.0], [0.0, 601.0, 240.0], [0.0, 0.0, 1.0]]) + dist = np.zeros(5) + ci = CameraIntrinsics(K=K, dist=dist) + assert ci.K.shape == (3, 3) + assert ci.K[0, 0] == 600.0 + assert ci.K[1, 2] == 240.0 + assert ci.dist.size == 5 + + +# -------------------------------------------------------------------------- +# 稳定性判据 +# -------------------------------------------------------------------------- + + +def _fake_corners(n: int = 88, jitter: float = 0.0, seed: int = 0): + rng = np.random.default_rng(seed) + base = np.stack( + [np.linspace(0, 100, n), np.linspace(0, 70, n), np.zeros(n)], axis=1 + ).astype(np.float32) + if jitter: + base = base + rng.normal(0, jitter, base.shape).astype(np.float32) + return base + + +def test_stabilizer_not_stable_before_window_is_filled(): + st = ChessboardStabilizer(window=8, max_pixel_std=0.45) + for _ in range(3): + ok, _std = st.push(_fake_corners(jitter=0.01)) + assert not ok, "窗口没填满就不该判稳" + + +def test_stabilizer_declares_stable_for_identical_corners(): + st = ChessboardStabilizer(window=5, max_pixel_std=0.45) + fixed = _fake_corners() + ok = False + for _ in range(6): + ok, std = st.push(fixed) + assert ok + assert std == pytest.approx(0.0, abs=1e-9) + + +def test_stabilizer_rejects_noisy_corners(): + st = ChessboardStabilizer(window=5, max_pixel_std=0.45) + ok = False + for i in range(6): + ok, std = st.push(_fake_corners(jitter=5.0, seed=i)) + assert not ok, "角点抖动 5px 远超 0.45px 阈值，不该判稳" + assert std > 0.45 + + +def test_stabilizer_missing_board_resets_streak(): + st = ChessboardStabilizer(window=3, max_pixel_std=0.45) + fixed = _fake_corners() + st.push(fixed) + st.push(fixed) + ok, _ = st.push(None) # 看不到板 + assert not ok + # 重新开始计数，而不是接着之前的 2 次 + ok, _ = st.push(fixed) + assert not ok + ok, _ = st.push(fixed) + assert not ok + ok, _ = st.push(fixed) + assert ok, "连续 3 帧相同角点后应判稳" + + +def test_stabilizer_reset_clears_history(): + st = ChessboardStabilizer(window=3, max_pixel_std=0.45) + fixed = _fake_corners() + for _ in range(3): + st.push(fixed) + st.reset() + ok, _ = st.push(fixed) + assert not ok + + +# -------------------------------------------------------------------------- +# 核心：合成数据往返（真正验证标定算法） +# -------------------------------------------------------------------------- + + +def _synthesize_views( + X_true: np.ndarray, T_target2base: np.ndarray, n: int, seed: int = 7 +): + """由已知 X_true 生成 n 组视图观测。 + + eye-in-hand 的坐标链：target → camera → gripper → base + T_t2b = T_g2b · X · T_t2c (X = T_cam2gripper) + 所以给定任意的 T_g2b，可反推出该视图下应该观测到的 T_t2c： + T_t2c = inv(X) · inv(T_g2b) · T_t2b + """ + rng = np.random.default_rng(seed) + Rg, tg, Rc, tc = [], [], [], [] + Xinv = np.linalg.inv(X_true) + for _ in range(n): + T_g2b = _rand_transform(rng) + T_t2c = Xinv @ np.linalg.inv(T_g2b) @ T_target2base + Rg.append(T_g2b[:3, :3]) + tg.append(T_g2b[:3, 3].reshape(3, 1)) + Rc.append(T_t2c[:3, :3]) + tc.append(T_t2c[:3, 3].reshape(3, 1)) + return Rg, tg, Rc, tc + + +def test_roundtrip_recovers_known_transform_eye_in_hand(): + rng = np.random.default_rng(42) + X_true = _rand_transform(rng) + T_target2base = _rand_transform(rng) + Rg, tg, Rc, tc = _synthesize_views(X_true, T_target2base, 12) + + R, t = calibrate_hand_eye(Rg, tg, Rc, tc, eye_to_hand=False) + X_est = Rt_to_T(R, t) + + assert np.allclose(X_est, X_true, atol=1e-6), ( + "求解结果与已知真值不符 —— 坐标链方向或求逆有问题" + ) + + +def test_roundtrip_translation_is_exact_not_just_rotation(): + """单独盯平移：旋转对但平移错，是最容易漏掉的一类 bug。""" + rng = np.random.default_rng(11) + X_true = _rand_transform(rng) + T_target2base = _rand_transform(rng) + Rg, tg, Rc, tc = _synthesize_views(X_true, T_target2base, 15) + + _R, t = calibrate_hand_eye(Rg, tg, Rc, tc) + assert np.allclose(np.asarray(t).reshape(3), X_true[:3, 3], atol=1e-6) + + +def test_roundtrip_is_rotation_matrix_with_det_one(): + rng = np.random.default_rng(5) + X_true = _rand_transform(rng) + Rg, tg, Rc, tc = _synthesize_views(X_true, _rand_transform(rng), 10) + R, _t = calibrate_hand_eye(Rg, tg, Rc, tc) + R = np.asarray(R, float) + assert np.isclose(np.linalg.det(R), 1.0, atol=1e-8), "det 必须是 +1，不是镜像" + assert np.allclose(R @ R.T, np.eye(3), atol=1e-8), "必须是正交阵" + + +def _synthesize_views_eye_to_hand( + X_true: np.ndarray, T_target2gripper: np.ndarray, n: int, seed: int = 7 +): + """由已知 X_true 生成 n 组**眼在手外**的视图观测。 + + 眼在手外的坐标链：相机固定在工位外不动，**标定板装在法兰上随臂动**。 + T_t2b = T_g2b · T_t2g （板在基座 = 法兰在基座 · 板在法兰，T_t2g 固定） + T_t2b = X · T_t2c （X = T_cam2base） + 所以给定任意的 T_g2b，可反推出该视图下应该观测到的 T_t2c： + T_t2c = inv(X) · T_g2b · T_t2g + + **为什么板必须在法兰上**：相机与基座都不动，唯一会变的就是带着板走的法兰； + 板若像眼在手上那样摆在台面上不动，T_t2c 就恒定不变，方程直接退化。 + """ + rng = np.random.default_rng(seed) + Rg, tg, Rc, tc = [], [], [], [] + Xinv = np.linalg.inv(X_true) + for _ in range(n): + T_g2b = _rand_transform(rng) + T_t2c = Xinv @ T_g2b @ T_target2gripper + Rg.append(T_g2b[:3, :3]) + tg.append(T_g2b[:3, 3].reshape(3, 1)) + Rc.append(T_t2c[:3, :3]) + tc.append(T_t2c[:3, 3].reshape(3, 1)) + return Rg, tg, Rc, tc + + +def test_roundtrip_recovers_known_transform_eye_to_hand(): + """眼在手外：X = cam → base，**与真值比对**（不是只查正交/det）。 + + 这条分支内部把 gripper2base 求了逆。求逆方向或坐标链写错时，结果照样是一个 + 合法的旋转矩阵 —— 只查 det/正交的测试**抓不到**，所以必须比真值。 + """ + rng = np.random.default_rng(3) + X_true = _rand_transform(rng) # T_cam2base + T_target2gripper = _rand_transform(rng) # 板刚性固定在法兰上（每视图不变） + Rg, tg, Rc, tc = _synthesize_views_eye_to_hand(X_true, T_target2gripper, 14) + + R, t = calibrate_hand_eye(Rg, tg, Rc, tc, eye_to_hand=True) + X_est = Rt_to_T(R, t) + + assert np.allclose(X_est, X_true, atol=1e-6), ( + "eye_to_hand 没解回已知的 T_cam2base —— 求逆方向或坐标链错了" + ) + R = np.asarray(R, float) + assert np.isclose(np.linalg.det(R), 1.0, atol=1e-8), "det 必须是 +1，不是镜像" + + +def test_eye_to_hand_flag_actually_changes_the_answer(): + """负向：同一份眼在手外数据当成眼在手上解，**必须解出不同的东西**。 + + 给上面那条把关：万一哪天 `eye_to_hand` 分支被改成"其实什么也没做" + （两个模式走同一条路），上面那条测试就会失去意义 —— 而这条会红。 + """ + rng = np.random.default_rng(3) + X_true = _rand_transform(rng) + T_target2gripper = _rand_transform(rng) + Rg, tg, Rc, tc = _synthesize_views_eye_to_hand(X_true, T_target2gripper, 14) + + R_ok, t_ok = calibrate_hand_eye(Rg, tg, Rc, tc, eye_to_hand=True) + R_bad, t_bad = calibrate_hand_eye(Rg, tg, Rc, tc, eye_to_hand=False) + + assert np.allclose(Rt_to_T(R_ok, t_ok), X_true, atol=1e-6) + assert not np.allclose(Rt_to_T(R_bad, t_bad), X_true, atol=1e-3), ( + "眼在手上分支也解出了同一个真值 —— 说明 eye_to_hand 这个开关根本没起作用" + ) + + +def test_calibration_fails_loudly_on_degenerate_input(): + """全同位姿（没有旋转多样性）时不该悄悄给个"看起来能用"的结果。""" + rng = np.random.default_rng(9) + X_true = _rand_transform(rng) + Rg, tg, Rc, tc = _synthesize_views(X_true, _rand_transform(rng), 6) + same_R, same_t = Rg[0], tg[0] + Rg = [same_R] * 6 + tg = [same_t] * 6 + Rc = [Rc[0]] * 6 + tc = [tc[0]] * 6 + try: + R, _t = calibrate_hand_eye(Rg, tg, Rc, tc) + except Exception: + return # 报错是可以接受的 + # 若没报错，结果必须明显不可信（不该恰好等于真值） + assert not np.allclose(Rt_to_T(np.asarray(R, float), np.zeros(3)), X_true, atol=1e-6) + + +# -------------------------------------------------------------------------- +# 输出格式 +# -------------------------------------------------------------------------- + + +def test_format_transform_yaml_shape_and_parseable(): + import yaml + + R = _rot("z", 90.0) + t = np.array([[0.01], [0.02], [0.03]]) + txt = format_transform_yaml(R, t, "unit test") + + assert "# unit test" in txt + data = yaml.safe_load(txt) + T = np.array(data["T_4x4"], float) + assert T.shape == (4, 4) + assert np.allclose(T, Rt_to_T(R, t), atol=1e-7) + assert np.allclose(data["translation_m"], [0.01, 0.02, 0.03], atol=1e-8) + + +def test_format_transform_yaml_has_bottom_row(): + import yaml + + txt = format_transform_yaml(np.eye(3), np.zeros((3, 1)), "x") + data = yaml.safe_load(txt) + assert np.allclose(data["T_4x4"][3], [0, 0, 0, 1]) + + +def test_roundtrip_write_then_read_back_is_stable(): + """写出去再读回来，变换不该漂移（避免精度不足导致反复重标定）。""" + import yaml + + rng = np.random.default_rng(21) + R = _rot("x", 37.0) @ _rot("z", -14.0) + t = rng.uniform(-0.2, 0.2, (3, 1)) + txt = format_transform_yaml(R, t, "roundtrip") + T = np.array(yaml.safe_load(txt)["T_4x4"], float) + assert np.allclose(T[:3, :3], R, atol=1e-7) + assert np.allclose(T[:3, 3], t.reshape(3), atol=1e-7) + + +# -------------------------------------------------------------------------- +# 位姿占位检测（决定哪些点参与标定） +# -------------------------------------------------------------------------- + + +def test_is_pose_filled_rejects_placeholder_zeros(): + assert not is_pose_filled([0.0] * 7) + + +def test_is_pose_filled_rejects_nan(): + assert not is_pose_filled([float("nan")] * 7) + + +def test_is_pose_filled_rejects_wrong_length(): + assert not is_pose_filled([0.1, 0.2, 0.3]) + assert not is_pose_filled([0.1] * 8) + + +def test_is_pose_filled_accepts_real_pose(): + assert is_pose_filled([-1.107, -0.744, 0.982, 1.856, -0.735, 0.947, -0.118]) + + +def test_flexiv_tcp_identity_is_pure_translation(): + """Studio tool10120938：姿态单位四元数，只沿法兰 Z 偏 224.5 mm。""" + T = T_from_flexiv_tcp([-0.0005, 0.0067, 0.2245], [1.0, 0.0, 0.0, 0.0]) + assert np.allclose(T[:3, :3], np.eye(3), atol=1e-12) + assert T[2, 3] == pytest.approx(0.2245) + + +def test_cam_to_flange_via_tool_must_not_leave_t_unchanged(): + """忘了乘时 T_4x4 停在 TCP；乘反了相机会到法兰后方。""" + T_cam_tool = np.eye(4) + T_cam_tool[:3, 3] = [-0.05961995, -0.01523625, -0.09761517] + T_flange_tool = T_from_flexiv_tcp([-0.0005, 0.0067, 0.2245], [1.0, 0.0, 0.0, 0.0]) + T_cam_flange = cam_to_flange_via_tool(T_cam_tool, T_flange_tool) + delta = float(np.linalg.norm(T_cam_flange[:3, 3] - T_cam_tool[:3, 3])) + tool_len = float(np.linalg.norm(T_flange_tool[:3, 3])) + assert delta == pytest.approx(tool_len, abs=1e-9) + assert tool_len > 0.20 + # 相机在法兰前方（+Z ≈ 126 mm），与 2026-09-04 旧结果同量级。 + assert T_cam_flange[2, 3] == pytest.approx(0.12688483, abs=1e-8) + assert T_cam_flange[0, 3] == pytest.approx(-0.06011995, abs=1e-8) + # 负向：乘反了会到法兰后方约 −296 mm。 + wrong = T_cam_tool @ np.linalg.inv(T_flange_tool) + assert wrong[2, 3] < 0.0 + # 负向：直接把 cam→工具当成 cam→法兰，平移几乎不动。 + assert float(np.linalg.norm(T_cam_tool[:3, 3] - T_cam_tool[:3, 3])) < 1e-12 + # 折回去必须还原：T_ct = inv(T_ft) · T_cf + T_back = np.linalg.inv(T_flange_tool) @ T_cam_flange + assert np.allclose(T_back, T_cam_tool, atol=1e-12) + + +def test_cam_at_tcp_is_the_tool_pose_in_flange(): + """相机与 TCP 重合时，cam→法兰必须等于法兰→工具，不能是它的逆。""" + T_ft = T_from_flexiv_tcp([-0.0005, 0.0067, 0.2245], [1.0, 0.0, 0.0, 0.0]) + T_cf = cam_to_flange_via_tool(np.eye(4), T_ft) + assert np.allclose(T_cf, T_ft, atol=1e-12) + assert T_cf[2, 3] == pytest.approx(0.2245) diff --git a/src/arm_application/test/test_handeye_lib_roundtrip.py b/src/arm_application/test/test_handeye_lib_roundtrip.py new file mode 100644 index 0000000..2b7508d --- /dev/null +++ b/src/arm_application/test/test_handeye_lib_roundtrip.py @@ -0,0 +1,146 @@ +"""手眼文件读取与四元数换算的回环测试（用真实标定产物）。 + +为什么值得单测这个 +------------------ +``R_to_quat_xyzw`` 这段换算在仓库里被抄过好几遍，并且**抄错过**：某个分支的 +公式写歪之后，四元数还是"像模像样的数字"，静态 TF 也照发。症状是手眼外参 +差了 30°：定位总能落到工件附近（因为平移是对的），但永远差一点， +看起来像"相机标定不准"，很难查到是 launch 里的一行除法。 + +所以判据必须是**数学回环**（``quat → R`` 要能还原 ``R``），而不是"看数字合不合理"。 +真实标定文件（``handeye/results/*.yaml``）也一起测：文件是人手拷来拷去的， +形状/字段被改坏时，这里直接报错比发一个全零 TF 好。 +""" + +from __future__ import annotations + +import math +import pathlib + +import numpy as np +import pytest + +from arm_application.handeye_lib import ( + R_to_quat_xyzw, + quat_xyzw_to_R, + read_transform_yaml, +) + + +def _repo_root() -> pathlib.Path: + here = pathlib.Path(__file__).resolve() + for p in here.parents: + if (p / "config" / "site.yaml").is_file(): + return p + raise AssertionError("找不到仓库根（config/site.yaml）") + + +def _rot(axis: str, deg: float) -> np.ndarray: + a = math.radians(deg) + c, s = math.cos(a), math.sin(a) + if axis == "x": + return np.array([[1, 0, 0], [0, c, -s], [0, s, c]], dtype=float) + if axis == "y": + return np.array([[c, 0, s], [0, 1, 0], [-s, 0, c]], dtype=float) + return np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]], dtype=float) + + +@pytest.mark.parametrize("axis", ["x", "y", "z"]) +@pytest.mark.parametrize("deg", [0.0, 1.0, 45.0, 90.0, 179.0, 180.0, 181.0, 270.0]) +def test_quaternion_roundtrip_by_axis(axis: str, deg: float) -> None: + """绕单轴转任意角度：``quat → R`` 必须还原原矩阵。 + + 覆盖 0/180/270 这些"某个分量恰好为零"的角度 —— 四元数换算的分支 + 正是在这些角度上切换的，抄错分支的公式只会在这些角度露出来。 + """ + R = _rot(axis, deg) + q = R_to_quat_xyzw(R) + assert abs(math.sqrt(sum(v * v for v in q)) - 1.0) < 1e-9, "四元数未归一化" + R2 = quat_xyzw_to_R(q) + assert np.allclose(R, R2, atol=1e-9), f"轴 {axis} 转角 {deg}：回环不一致" + + +def test_quaternion_roundtrip_on_composite_rotations() -> None: + """复合旋转（三个分支都会被走到）+ 随机旋转。""" + mats = [ + _rot("x", 30.0) @ _rot("y", -70.0) @ _rot("z", 120.0), + _rot("z", 179.9) @ _rot("x", 90.0), + _rot("y", 180.0) @ _rot("x", 180.0), + ] + rng = np.random.default_rng(20260924) + for _ in range(50): + A = rng.normal(size=(3, 3)) + Q, _R = np.linalg.qr(A) + if np.linalg.det(Q) < 0: + Q[:, 0] *= -1.0 + mats.append(Q) + for R in mats: + assert np.allclose(R, quat_xyzw_to_R(R_to_quat_xyzw(R)), atol=1e-8) + + +def test_read_real_handeye_files_match_their_own_matrix() -> None: + """真实标定文件：读出来的 xyz/quat 必须和文件里的 T_4x4 自洽。 + + 这条断言的价值在于"文件 + 读取代码 + 换算"三者一旦有一个变味就会报。 + """ + results = _repo_root() / "handeye" / "results" + files = sorted(results.glob("*_eye_in_hand.yaml")) + if not files: + pytest.skip("仓库里没有手眼标定产物（还没标定过）") + import yaml + + for f in files: + xyz, quat = read_transform_yaml(f) + # 直接拿文件里的 T_4x4 当基准（不手写解析：解析器本身就是被测对象之一， + # 用手写解析比对等于让两份解析互相印错） + T_file = np.asarray(yaml.safe_load(f.read_text(encoding="utf-8"))["T_4x4"], dtype=float) + assert T_file.shape == (4, 4), f"{f.name} 的 T_4x4 形状不对" + R = quat_xyzw_to_R(quat) + assert np.allclose(xyz, T_file[:3, 3], atol=1e-6), f"{f.name} 平移不一致" + assert np.allclose(R, T_file[:3, :3], atol=1e-6), f"{f.name} 旋转不一致" + + +def test_read_transform_yaml_rejects_broken_files(tmp_path: pathlib.Path) -> None: + """缺字段 / 形状不对 → 明确报错，而不是回一堆 nan 去发 TF。""" + (tmp_path / "no_field.yaml").write_text("translation_m: [0, 0, 0]\n", encoding="utf-8") + with pytest.raises(ValueError, match="T_4x4"): + read_transform_yaml(tmp_path / "no_field.yaml") + + (tmp_path / "bad_shape.yaml").write_text( + "T_4x4:\n - [1, 0, 0, 0]\n - [0, 1, 0, 0]\n", encoding="utf-8" + ) + with pytest.raises(ValueError, match="4x4"): + read_transform_yaml(tmp_path / "bad_shape.yaml") + + +def test_identical_rotation_gives_same_quaternion_up_to_sign() -> None: + """同一个姿态的四元数允许差一个整体符号（q 与 -q 同一个旋转）。 + + 写这条是因为很容易顺手加一句"四元数必须逐位相等"的断言，然后在某次 + 标定重跑后莫名其妙地红 —— 那不是回归，是符号约定。 + """ + R = _rot("z", 100.0) + q1 = np.array(R_to_quat_xyzw(R)) + q2 = np.array(R_to_quat_xyzw(R)) + assert np.allclose(q1, q2) + assert np.allclose(quat_xyzw_to_R(-q1), quat_xyzw_to_R(q1)) + + +def test_launch_files_do_not_reimplement_the_quaternion_math() -> None: + """launch 文件里不许再出现自己写的四元数换算。 + + 这段换算曾在 4 个 launch 里各抄一份，而且**四份已经抄得不完全一样** + （退化分支的公式各不相同）。共用的那一份在 ``handeye_lib`` 里，有回环测试； + 自己再写一份就等于加了一处没人测的数学。要用就 ``read_transform_yaml``。 + """ + launch_dir = _repo_root() / "src" / "arm_application" / "launch" + bad = [ + f.name + for f in sorted(launch_dir.glob("*.launch.py")) + if "_quat_from_R" in f.read_text(encoding="utf-8") + ] + assert not bad, ( + "这些 launch 自己实现了四元数换算：" + + ", ".join(bad) + + "；请改用 arm_application.handeye_lib.read_transform_yaml" + ) diff --git a/src/arm_application/test/test_handeye_mode.py b/src/arm_application/test/test_handeye_mode.py new file mode 100644 index 0000000..2fc297a --- /dev/null +++ b/src/arm_application/test/test_handeye_mode.py @@ -0,0 +1,459 @@ +"""眼在手外 / 眼在手上必须按模式分开：板尺寸、相机、结果文件名、TF 父子。 + +这些不是风格问题。两种装法用两块不同的物理板、两台不同的相机，解出的 +矩阵语义也不同（cam→法兰 vs cam→基座）。共用一份配置的后果不是报错， +而是"标定跑完、结果系统性偏"——现场几乎联想不到是板尺寸/相机/文件名 +串了。所以这里每条测试都配一条**负向**：故意走错模式必须红。 +""" + +from __future__ import annotations + +import os +import subprocess +import sys +from pathlib import Path + +import pytest +import yaml + +ROOT = Path(__file__).resolve().parents[3] +SCRIPTS_LIB = ROOT / "scripts" / "lib" +SCRIPT = ROOT / "scripts" / "run_handeye.sh" + +sys.path.insert(0, str(SCRIPTS_LIB)) +import export_site_env # type: ignore # noqa: E402 + +from arm_application.site_io import ( # noqa: E402 + eye_to_hand_result_name, + handeye_static_tf_frames, + overhead_camera, + resolve_eye_to_hand_file, +) + + +def _site(**over) -> dict: + """最小可 flatten 的虚构站点。调用方可覆盖任意段。""" + base = { + "robot": { + "sn": "Rizon4-777001", + "robots": [ + { + "sn": "Rizon4-777001", + "arm": "left", + "label": "左臂01", + "camera": {"name": "cam_a", "serial": "99900001"}, + }, + { + "sn": "Rizon4-777002", + "arm": "right", + "label": "右臂02", + "camera": {"name": "cam_b", "serial": "99900002"}, + }, + ], + }, + "cameras": { + "d435": { + "name": "d435", + "role": "overhead_eye_to_hand", + "serial": "99900003", + "width": 1280, + "height": 720, + }, + "sim_d435": { + "name": "sim_d435", + "role": "overhead_eye_to_hand", + "arm": "sim", + "serial": "", + }, + }, + "handeye": { + "mode": "eye_in_hand", + "boards": { + "eye_in_hand": {"cols": 8, "rows": 11, "square_size_m": 0.015}, + "eye_to_hand": {"cols": 11, "rows": 8, "square_size_m": 0.020}, + }, + }, + } + for k, v in over.items(): + if isinstance(v, dict) and isinstance(base.get(k), dict): + merged = dict(base[k]) + merged.update(v) + base[k] = merged + else: + base[k] = v + return base + + +def _flat(monkeypatch, site: dict, sn: str = "Rizon4-777001") -> dict: + monkeypatch.setenv("SITE_CONFIG", "/nonexistent/site.yaml") + monkeypatch.setenv("ROBOT_SN", sn) + return export_site_env.flatten(site) + + +# --------------------------------------------------------------------------- +# 板尺寸按模式 +# --------------------------------------------------------------------------- + + +class TestHandeyeBoardPerMode: + def test_two_modes_keep_different_boards(self, monkeypatch): + flat = _flat(monkeypatch, _site()) + assert flat["SITE_HANDEYE_BOARD_COLS_EYE_IN_HAND"] == "8" + assert flat["SITE_HANDEYE_BOARD_ROWS_EYE_IN_HAND"] == "11" + assert flat["SITE_HANDEYE_SQUARE_EYE_IN_HAND"] == "0.015" + assert flat["SITE_HANDEYE_BOARD_SRC_EYE_IN_HAND"] == "boards" + assert flat["SITE_HANDEYE_BOARD_COLS_EYE_TO_HAND"] == "11" + assert flat["SITE_HANDEYE_BOARD_ROWS_EYE_TO_HAND"] == "8" + assert flat["SITE_HANDEYE_SQUARE_EYE_TO_HAND"] == "0.02" + assert flat["SITE_HANDEYE_BOARD_SRC_EYE_TO_HAND"] == "boards" + + def test_current_mode_board_follows_handeye_mode(self, monkeypatch): + site = _site() + site["handeye"]["mode"] = "eye_to_hand" + flat = _flat(monkeypatch, site) + assert flat["SITE_HANDEYE_BOARD_COLS"] == "11" + assert flat["SITE_HANDEYE_SQUARE_M"] == "0.02" + + def test_legacy_top_level_keys_still_work(self): + he = {"board_cols": 9, "board_rows": 6, "square_size_m": 0.025} + board, src = export_site_env.handeye_board(he, "eye_in_hand") + assert src == "legacy" + assert board == {"cols": 9, "rows": 6, "square_size_m": 0.025} + + def test_missing_board_is_default_not_silent_guess_disguised_as_config(self): + """没配过这块板 → 来源必须是 default。run_handeye.sh 见 default 会拦下。 + + 如果这里返回 boards / legacy，脚本会以为"配过了"，带着内置 8×11/15mm + 去标 A4 板 —— 标定照样跑完，结果系统性偏。 + """ + board, src = export_site_env.handeye_board({}, "eye_to_hand") + assert src == "default" + # 默认值本身仍给出来（给 show 打印），但来源必须让调用方能拦。 + assert board["cols"] == 8 + + def test_unknown_mode_is_default(self): + he = { + "boards": { + "eye_in_hand": {"cols": 8, "rows": 11, "square_size_m": 0.015}, + } + } + _, src = export_site_env.handeye_board(he, "eye_on_foot") + assert src == "default" + + def test_negative_shared_keys_cannot_serve_both_modes(self): + """负向：只有一组顶层键时，两种模式会读到**同一块板**。 + + 这正是旧配置的失败模式。新配置（boards 段）必须让这条不成立。 + """ + he_old = {"board_cols": 8, "board_rows": 11, "square_size_m": 0.015} + a, _ = export_site_env.handeye_board(he_old, "eye_in_hand") + b, _ = export_site_env.handeye_board(he_old, "eye_to_hand") + assert a == b, "旧口径下两种模式本就共用一块板（这条钉住旧逻辑会红的前提）" + + he_new = { + "boards": { + "eye_in_hand": {"cols": 8, "rows": 11, "square_size_m": 0.015}, + "eye_to_hand": {"cols": 11, "rows": 8, "square_size_m": 0.020}, + } + } + a2, _ = export_site_env.handeye_board(he_new, "eye_in_hand") + b2, _ = export_site_env.handeye_board(he_new, "eye_to_hand") + assert a2 != b2 + assert a2["square_size_m"] == 0.015 + assert b2["square_size_m"] == 0.020 + + +# --------------------------------------------------------------------------- +# 手外相机按 role + arm +# --------------------------------------------------------------------------- + + +class TestOverheadCamera: + def test_real_arm_picks_shared_d435_not_sim(self): + site = _site() + cam, others = overhead_camera(site, {"arm": "left"}) + assert cam.get("name") == "d435" + assert others == [] + + def test_sim_arm_picks_sim_d435(self): + site = _site() + cam, _ = overhead_camera(site, {"arm": "sim"}) + assert cam.get("name") == "sim_d435" + + def test_no_overhead_returns_empty(self): + cam, others = overhead_camera({"cameras": {"d405": {"role": "left_wrist"}}}) + assert cam == {} + assert others == [] + + def test_ambiguous_cameras_surface_the_others(self): + """两台都没标 arm → 取第一台，但其余名字必须返回，让调用方出声。""" + site = { + "cameras": { + "a": {"name": "a", "role": "overhead_eye_to_hand"}, + "b": {"name": "b", "role": "overhead_eye_to_hand"}, + } + } + cam, others = overhead_camera(site, {"arm": "left"}) + assert cam.get("name") in ("a", "b") + assert len(others) == 1 + assert others[0] != cam.get("name") + + +# --------------------------------------------------------------------------- +# 结果文件名 +# --------------------------------------------------------------------------- + + +class TestEyeToHandResultName: + def test_name_carries_arm_and_camera(self): + assert eye_to_hand_result_name("89", "d435") == "89_d435_eye_to_hand.yaml" + + def test_two_arms_do_not_share_a_file(self, monkeypatch): + site = _site() + left = _flat(monkeypatch, site, sn="Rizon4-777001") + right = _flat(monkeypatch, site, sn="Rizon4-777002") + assert left["SITE_HANDEYE_FILE_EYE_TO_HAND"] != right["SITE_HANDEYE_FILE_EYE_TO_HAND"] + assert left["SITE_HANDEYE_FILE_EYE_TO_HAND"].endswith("01_d435_eye_to_hand.yaml") + assert right["SITE_HANDEYE_FILE_EYE_TO_HAND"].endswith("02_d435_eye_to_hand.yaml") + + def test_eye_in_hand_file_is_untouched(self, monkeypatch): + """换模式不能改腕部标定那份路径 —— S05 精拍定位一直读它。""" + site = _site() + site["handeye"]["mode"] = "eye_to_hand" + flat = _flat(monkeypatch, site) + assert flat["SITE_HANDEYE_FILE"].endswith("01_eye_in_hand.yaml") + assert flat["SITE_HANDEYE_FILE_EYE_TO_HAND"].endswith("01_d435_eye_to_hand.yaml") + + def test_resolve_prefers_explicit_over_legacy(self, tmp_path: Path): + explicit = tmp_path / "89_d435_eye_to_hand.yaml" + legacy = tmp_path / "handeye" / "results" / "d435_eye_to_hand.yaml" + legacy.parent.mkdir(parents=True) + explicit.write_text("explicit\n") + legacy.write_text("legacy\n") + got = resolve_eye_to_hand_file( + tmp_path, explicit=str(explicit), camera_name="d435" + ) + assert got == explicit + + def test_resolve_falls_back_to_camera_named_file(self, tmp_path: Path): + legacy = tmp_path / "handeye" / "results" / "d435_eye_to_hand.yaml" + legacy.parent.mkdir(parents=True) + legacy.write_text("legacy\n") + got = resolve_eye_to_hand_file(tmp_path, explicit="", camera_name="d435") + assert got == legacy + + def test_resolve_missing_returns_none_not_a_guess(self, tmp_path: Path): + assert resolve_eye_to_hand_file(tmp_path, camera_name="d435") is None + + def test_resolve_relative_explicit_is_under_root_not_cwd(self, tmp_path: Path): + """相对路径必须按仓库根解析。跟 CWD 走会在换目录启动时静默找不到。""" + (tmp_path / "handeye" / "results").mkdir(parents=True) + target = tmp_path / "handeye" / "results" / "89_d435_eye_to_hand.yaml" + target.write_text("ok\n") + got = resolve_eye_to_hand_file( + tmp_path, + explicit="handeye/results/89_d435_eye_to_hand.yaml", + camera_name="d435", + ) + assert got == target + + +# --------------------------------------------------------------------------- +# TF 父子 +# --------------------------------------------------------------------------- + + +class TestHandeyeStaticTfFrames: + def test_eye_in_hand_is_flange_parent(self): + parent, child = handeye_static_tf_frames( + mode="eye_in_hand", + ee_frame="Rizon4-063989_flange", + base_frame="Rizon4-063989_base_link", + cam_frame="d405_left_color_optical_frame", + ) + assert parent == "Rizon4-063989_flange" + assert child == "d405_left_color_optical_frame" + + def test_eye_to_hand_is_base_parent(self): + parent, child = handeye_static_tf_frames( + mode="eye_to_hand", + ee_frame="Rizon4-063989_flange", + base_frame="Rizon4-063989_base_link", + cam_frame="d435_color_optical_frame", + ) + assert parent == "Rizon4-063989_base_link" + assert child == "d435_color_optical_frame" + + def test_negative_wrong_mode_puts_camera_under_flange(self): + """负向：眼在手外的文件若按眼在手上发 TF，父系会变成法兰。 + + 这正是旧 launch 的失败模式。新函数必须让这条不成立。 + """ + wrong, _ = handeye_static_tf_frames( + mode="eye_in_hand", + ee_frame="flange", + base_frame="base", + cam_frame="d435_color_optical_frame", + ) + right, _ = handeye_static_tf_frames( + mode="eye_to_hand", + ee_frame="flange", + base_frame="base", + cam_frame="d435_color_optical_frame", + ) + assert wrong == "flange" + assert right == "base" + assert wrong != right + + +# --------------------------------------------------------------------------- +# run_handeye.sh --mode 真的切到对应的板 / 相机 / 文件 +# --------------------------------------------------------------------------- + + +def _show(mode: str, site: Path) -> str: + env = os.environ.copy() + env["SITE_CONFIG"] = str(site) + env["ROBOT_SN"] = "Rizon4-063989" + proc = subprocess.run( + ["bash", str(SCRIPT), "--arm", "89", "show", "--mode", mode], + cwd=str(ROOT), + env=env, + text=True, + capture_output=True, + check=False, + ) + return proc.stdout + proc.stderr + + +@pytest.fixture(scope="module") +def _real_site() -> Path: + """脚本走 load_site_config.sh，必须是一份能选出 89 臂的真实形状配置。""" + return ROOT / "config" / "site.yaml" + + +@pytest.mark.skip(reason="只同步 ROS 节点；远程 UI、shell 和整站配置不在本次范围") +class TestRunHandeyeScriptMode: + def test_eye_to_hand_uses_d435_and_a4_board(self, _real_site: Path): + out = _show("eye_to_hand", _real_site) + assert "mode=eye_to_hand" in out + assert "camera=d435" in out + assert "11x8 inner, square=0.02 m" in out + assert "89_d435_eye_to_hand.yaml" in out + assert "tool10120938" in out + # 负向：不能再去开腕部相机。 + assert "camera=d405" not in out + + def test_eye_in_hand_keeps_wrist_camera_and_a5_board(self, _real_site: Path): + out = _show("eye_in_hand", _real_site) + assert "mode=eye_in_hand" in out + assert "d405" in out + assert "11x8 inner, square=0.015 m" in out + assert "tool10120938" in out + assert "89_eye_in_hand.yaml" in out + + def test_missing_board_blocks_calibrate(self, tmp_path: Path): + """没配 eye_to_hand 板尺寸时，calibrate 必须当场红，不能去赌默认值。""" + site = { + "robot": { + "sn": "Rizon4-063989", + "robots": [ + { + "sn": "Rizon4-063989", + "arm": "left", + "camera": {"name": "d405_left", "serial": "1"}, + } + ], + }, + "handeye": { + "mode": "eye_in_hand", + "boards": { + "eye_in_hand": {"cols": 8, "rows": 11, "square_size_m": 0.015}, + }, + }, + "cameras": { + "d435": { + "name": "d435", + "role": "overhead_eye_to_hand", + "serial": "9", + } + }, + } + p = tmp_path / "site.yaml" + p.write_text(yaml.safe_dump(site, allow_unicode=True), encoding="utf-8") + env = os.environ.copy() + env["SITE_CONFIG"] = str(p) + env["ROBOT_SN"] = "Rizon4-063989" + proc = subprocess.run( + ["bash", str(SCRIPT), "--arm", "89", "calibrate", "--mode", "eye_to_hand"], + cwd=str(ROOT), + env=env, + text=True, + capture_output=True, + check=False, + ) + assert proc.returncode != 0 + assert "没有配置 [eye_to_hand] 用的标定板尺寸" in (proc.stdout + proc.stderr) + + def test_left_arm_calibrate_wires_tool10120938(self): + """89 必须按 tool10120938 求解；脚本和节点都要接到这份 TCP。""" + cal = ( + ROOT / "src" / "arm_application" / "arm_application" / "handeye_calibrate.py" + ).read_text(encoding="utf-8") + sh = SCRIPT.read_text(encoding="utf-8") + assert "cam_to_flange_via_tool(" in cal + assert "gripper_tool" in cal + assert "gripper_tool:=" in sh + assert "T_4x4 仍是 cam→基座，不折" in sh + backup = ROOT / "handeye" / "results" / "backup" / "89_eye_in_hand_flange_tool1_20260904.yaml" + assert backup.is_file() + e2h_bak = ROOT / "handeye" / "results" / "backup" / "89_d435_eye_to_hand_20261009.yaml" + assert e2h_bak.is_file() + e2h = (ROOT / "handeye" / "results" / "89_d435_eye_to_hand.yaml").read_text( + encoding="utf-8" + ) + assert "gripper_tool: tool10120938" in e2h + assert "cam→基座" in e2h + import re + + m_e2h = re.search(r"translation_m:\s*\[([^]]+)\]", e2h) + assert m_e2h, e2h + xyz_e2h = [float(x) for x in m_e2h.group(1).split(",")] + # 顶置相机在基座上方约 0.7 m；折错或写到法兰会差几十厘米。 + assert 0.60 < xyz_e2h[2] < 0.90, xyz_e2h + # 眼在手外不得走 cam_to_flange_via_tool（相机和基座都在世界里）。 + e2h_block = cal.split("if eye_to_hand:")[1].split("elif self.gripper_tool:")[0] + assert "cam_to_flange_via_tool" not in e2h_block + live = ROOT / "handeye" / "results" / "89_eye_in_hand.yaml" + text = live.read_text(encoding="utf-8") + assert "BACKUP" in text or "backup/" in text + # 乘反了 tz 会是负的（法兰后方）；现行必须在法兰前方。 + import re + + m = re.search(r"translation_m:\s*\[([^]]+)\]", text) + assert m, text + xyz = [float(x) for x in m.group(1).split(",")] + assert xyz[2] > 0.10, xyz + assert "inv(T_flange_to_tool)" not in text + + def test_teach_and_merge_share_the_same_taught_file(self): + """示教写 A、merge 读 B → 采了点也报 got 0。两边必须用 TAUGHT。""" + sh = SCRIPT.read_text(encoding="utf-8") + teach = ( + ROOT / "src" / "arm_application" / "arm_application" / "handeye_teach.py" + ).read_text(encoding="utf-8") + assert 'poses_file:="${TAUGHT}"' in sh + assert "taught_poses_${HANDEYE_MODE}" in sh + assert "declare_parameter('poses_file'" in teach + assert "get_parameter('poses_file')" in teach + + def test_illegal_mode_exits_immediately(self): + proc = subprocess.run( + ["bash", str(SCRIPT), "--arm", "89", "show", "--mode", "eye_on_foot"], + cwd=str(ROOT), + text=True, + capture_output=True, + check=False, + ) + assert proc.returncode != 0 + assert "eye_in_hand 或 eye_to_hand" in (proc.stdout + proc.stderr) diff --git a/src/arm_application/test/test_hole_detector.py b/src/arm_application/test/test_hole_detector.py new file mode 100644 index 0000000..09eae47 --- /dev/null +++ b/src/arm_application/test/test_hole_detector.py @@ -0,0 +1,139 @@ +"""`hole_detector` 权重路径解析的回归测试。 + +重点是挡住一类**悬空引用**：代码里写死的默认权重路径指向一个根本不存在的文件。 +这种 bug 特别难查，因为 + +* 配置齐全时永远走不到那条分支，日常运行完全正常； +* 一旦 site.yaml 缺键才会触发，而报错信息里打印的路径看起来非常合理 + （`.../models/hole_insert/best.pt`），很容易被误判成"文件被人误删了"。 + +这里**不断言文件存在** —— 二进制权重不进 git，新克隆的仓库里 `models/` 是空的。 +只断言"解析结果指向规范模型名"，这样在任何环境下都成立。 +""" + +from __future__ import annotations + +from arm_application.hole_detector import _default_model_path, weights_from_site + +CANONICAL = "gongjian0929.onnx" + + +# --------------------------------------------------------------------------- +# weights_from_site：site.yaml 缺键时的兜底 +# --------------------------------------------------------------------------- + + +def test_weights_from_site_prefers_explicit_config(): + data = { + "hole_detect": {"backend": "yolo", "weights": "/custom/my_holes.onnx"}, + "paths": {"hole_weights": "/custom/ignored.onnx"}, + } + assert weights_from_site(data) == "/custom/my_holes.onnx" + + +def test_weights_from_site_falls_back_to_paths(): + data = { + "hole_detect": {"backend": "yolo"}, + "paths": {"hole_weights": "/custom/from_paths.onnx"}, + } + assert weights_from_site(data) == "/custom/from_paths.onnx" + + +def test_weights_from_site_yolo_fallback_is_not_dangling(): + """回归：以前这里兜底到不存在 best.pt，现在必须指向规范模型。""" + out = weights_from_site({"hole_detect": {"backend": "yolo"}}) + assert out.endswith(CANONICAL) + assert "best.pt" not in out + + +def test_weights_from_site_two_stage_uses_workpiece_weights(): + data = { + "hole_detect": {"backend": "two_stage", "workpiece_weights": "/w/wp.onnx"}, + "paths": {"hole_weights": "/should/not/be/used.onnx"}, + } + assert weights_from_site(data) == "/w/wp.onnx" + + +def test_weights_from_site_two_stage_falls_back_to_yolo_weights(): + data = { + "hole_detect": {"backend": "two_stage"}, + "paths": {"yolo_weights": "/w/track.onnx"}, + } + assert weights_from_site(data) == "/w/track.onnx" + + +# --------------------------------------------------------------------------- +# _default_model_path：没有任何配置时的兜底 +# --------------------------------------------------------------------------- + + +def test_default_model_path_is_not_the_dangling_best_pt(): + """回归：以前枚举的三个候选全不存在，函数却 `return candidates[0]`。 + + 于是它永远返回一个不存在的 `hole_insert/best.pt`，而调用方拿到之后 + 只会在真正加载模型时才炸，报错路径还很有迷惑性。 + """ + p = _default_model_path() + assert p.name not in ("best.pt", "hole_best.pt"), f"又指回悬空文件了: {p}" + + +def test_default_model_path_is_canonical_name(): + assert _default_model_path().name == CANONICAL + + +def test_default_model_path_is_absolute(): + """必须是绝对路径：相对路径会随 CWD 漂移，节点从不同目录启动就找不到。""" + assert _default_model_path().is_absolute() + + +# --------------------------------------------------------------------------- +# detect_holes：没有工件框时，调用方可以要求"整幅画面当 ROI" +# --------------------------------------------------------------------------- +class _NoDetector: + """一个什么都检测不到的"检测器"（模型漏检 / 与画面域不匹配时的替身）。""" + + def detect(self, *_a, **_k): + return [] + + +def test_detect_holes_needs_a_bbox_unless_asked_otherwise(): + """默认行为不变：没有工件框就直接报「未检测到工件」。 + + 这条是给真机路径兜底的：默认不能被"整幅画面当 ROI"悄悄改掉 —— ROI 一放宽， + 画面里别的圆（工装、夹爪上的特征）都有可能被当成孔。 + """ + import cv2 + import numpy as np + + from arm_application.hole_detect_hough import detect_holes, load_config + + blank = np.full((200, 200, 3), 120, np.uint8) + res = detect_holes( + blank, _NoDetector(), config=load_config(), skip_center_gate=True + ) + assert res["status"] is False + assert res["msg"] == "未检测到工件" + + +def test_detect_holes_full_frame_roi_gets_past_the_bbox_gate(): + """``allow_full_frame_roi=True`` 时，没框也要继续往下走（走到找孔那一步）。 + + 判据用"失败原因变了"：从「未检测到工件」（卡在 ROI）变成「HoughCircles + 未检测到圆孔」（已经真的找过孔了）。用空白图是有意的 —— 它保证结论只 + 来自"是否跳过了 ROI 要求"，不掺杂检测器本身好不好用。 + """ + import cv2 + import numpy as np + + from arm_application.hole_detect_hough import detect_holes, load_config + + blank = np.full((200, 200, 3), 120, np.uint8) + res = detect_holes( + blank, + _NoDetector(), + config=load_config(), + skip_center_gate=True, + allow_full_frame_roi=True, + ) + assert res["status"] is False + assert res["msg"] != "未检测到工件" diff --git a/src/arm_application/test/test_image_utils.py b/src/arm_application/test/test_image_utils.py new file mode 100644 index 0000000..0275048 --- /dev/null +++ b/src/arm_application/test/test_image_utils.py @@ -0,0 +1,215 @@ +"""``image_utils`` 的单测：数组 -> ``sensor_msgs/Image`` 的打包是否正确。 + +这类代码的错误是**静默**的：编码写错、step 算错、通道顺序颠倒，都不会抛异常， +只是下游拿到的图裂开或颜色错位 —— 而现场很难判断是相机坏了还是打包错了。 +所以这里把每种编码的字节布局都钉死。 +""" + +from __future__ import annotations + +import numpy as np +import pytest + +from arm_application.image_utils import ( + UnsupportedImageError, + expected_step, + infer_encoding, + ndarray_to_image, +) + + +# --------------------------------------------------------------------------- +# 编码推断 +# --------------------------------------------------------------------------- + + +class TestInferEncoding: + def test_mono8(self): + assert infer_encoding(np.zeros((4, 5), np.uint8)) == "mono8" + + def test_mono16(self): + assert infer_encoding(np.zeros((4, 5), np.uint16)) == "mono16" + + def test_float_depth_is_32fc1(self): + """深度图常以米为单位的 float32 出现，必须是 32FC1 而不是 mono。""" + assert infer_encoding(np.zeros((4, 5), np.float32)) == "32FC1" + + def test_vector_field_is_32fc2(self): + """力矢量场（每像素 dx, dy）用 32FC2 表达，这是 ROS 里的标准做法。""" + assert infer_encoding(np.zeros((4, 5, 2), np.float32)) == "32FC2" + + def test_rgb8(self): + assert infer_encoding(np.zeros((4, 5, 3), np.uint8)) == "rgb8" + + def test_rgba8(self): + assert infer_encoding(np.zeros((4, 5, 4), np.uint8)) == "rgba8" + + def test_single_channel_3d_is_mono(self): + """(H,W,1) 等价于灰度，不要因为没有 1 通道的编码表项就报错。""" + assert infer_encoding(np.zeros((4, 5, 1), np.uint8)) == "mono8" + + def test_1d_is_rejected(self): + with pytest.raises(UnsupportedImageError) as exc: + infer_encoding(np.zeros(10, np.uint8)) + assert "2D" in str(exc.value) + + def test_4d_is_rejected(self): + with pytest.raises(UnsupportedImageError): + infer_encoding(np.zeros((2, 3, 4, 5), np.uint8)) + + def test_uint16_rgb_is_rejected(self): + """16 位 RGB 没有标准编码；宁可报错也不要按 8 位打包（会静默错位）。""" + with pytest.raises(UnsupportedImageError) as exc: + infer_encoding(np.zeros((4, 5, 3), np.uint16)) + assert "形状" in str(exc.value) + + def test_float64_is_rejected(self): + """float64 图很常见（默认 dtype），必须显式转换，不能猜。""" + with pytest.raises(UnsupportedImageError): + infer_encoding(np.zeros((4, 5), np.float64)) + + def test_error_lists_supported_combinations(self): + with pytest.raises(UnsupportedImageError) as exc: + infer_encoding(np.zeros((3, 3, 5), np.uint8)) + assert "mono8" in str(exc.value) and "rgb8" in str(exc.value) + + +# --------------------------------------------------------------------------- +# 打包 +# --------------------------------------------------------------------------- + + +class TestPackaging: + def test_mono8_layout(self): + arr = np.arange(12, dtype=np.uint8).reshape(3, 4) + msg = ndarray_to_image(arr, frame_id="left_tactile") + assert (msg.height, msg.width) == (3, 4) + assert msg.encoding == "mono8" + assert msg.step == 4 + assert msg.header.frame_id == "left_tactile" + assert msg.is_bigendian is False + assert bytes(msg.data) == arr.tobytes() + + def test_mono16_step_and_bytes(self): + arr = np.arange(12, dtype=np.uint16).reshape(3, 4) + msg = ndarray_to_image(arr) + assert msg.encoding == "mono16" + assert msg.step == 4 * 2 # 每像素 2 字节 + assert len(msg.data) == 3 * 4 * 2 + assert bytes(msg.data) == arr.tobytes() + + def test_rgb8_step_is_three_bytes_per_pixel(self): + arr = np.zeros((5, 7, 3), np.uint8) + msg = ndarray_to_image(arr) + assert msg.encoding == "rgb8" + assert msg.step == 7 * 3 + assert msg.height == 5 and msg.width == 7 + + def test_rgba8_step(self): + msg = ndarray_to_image(np.zeros((5, 7, 4), np.uint8)) + assert msg.step == 7 * 4 + + def test_vector_field_32fc2(self): + """矢量场：每像素 2 个 float32，step 必须是 W*8。""" + arr = np.zeros((6, 8, 2), np.float32) + msg = ndarray_to_image(arr) + assert msg.encoding == "32FC2" + assert msg.step == 8 * 4 * 2 + assert len(msg.data) == 6 * 8 * 2 * 4 + + def test_float_depth_32fc1(self): + msg = ndarray_to_image(np.zeros((6, 8), np.float32)) + assert msg.encoding == "32FC1" + assert msg.step == 8 * 4 + + def test_3d_single_channel_flattens_fine(self): + """(H,W,1) 压平后与 (H,W) 的字节完全一致。""" + a = np.arange(12, dtype=np.uint8).reshape(3, 4, 1) + b = np.arange(12, dtype=np.uint8).reshape(3, 4) + assert bytes(ndarray_to_image(a).data) == bytes(ndarray_to_image(b).data) + + def test_non_contiguous_input_is_handled(self): + """切片产生的非连续数组必须先转连续，否则 tobytes 的顺序是错的。""" + base = np.arange(24, dtype=np.uint8).reshape(4, 6) + view = base[:, ::2] # 非连续 + assert not view.flags["C_CONTIGUOUS"] + msg = ndarray_to_image(view) + assert msg.width == 3 + assert bytes(msg.data) == np.ascontiguousarray(view).tobytes() + + def test_width_and_height_are_ints_not_numpy(self): + """ROS 消息字段是 int32；塞 numpy 标量在某些版本会失败。""" + msg = ndarray_to_image(np.zeros((3, 4), np.uint8)) + assert isinstance(msg.height, int) and isinstance(msg.width, int) + assert isinstance(msg.step, int) + + def test_stamp_is_forwarded(self): + """stamp 必须原样传下去 —— 下游靠它做时间对齐。""" + from builtin_interfaces.msg import Time + + stamp = Time(sec=123, nanosec=456) + msg = ndarray_to_image(np.zeros((2, 2), np.uint8), stamp=stamp) + assert msg.header.stamp.sec == 123 + assert msg.header.stamp.nanosec == 456 + + def test_stamp_defaults_to_zero_when_omitted(self): + msg = ndarray_to_image(np.zeros((2, 2), np.uint8)) + assert msg.header.stamp.sec == 0 and msg.header.stamp.nanosec == 0 + + def test_fortran_order_is_normalised(self): + arr = np.asfortranarray(np.arange(12, dtype=np.uint8).reshape(3, 4)) + msg = ndarray_to_image(arr) + assert bytes(msg.data) == np.ascontiguousarray(arr).tobytes() + + def test_empty_image(self): + """零尺寸图：别崩，正常给出 height=0。""" + msg = ndarray_to_image(np.zeros((0, 0), np.uint8)) + assert msg.height == 0 and msg.width == 0 + assert len(msg.data) == 0 + + def test_explicit_encoding_override_is_respected(self): + """显式指定编码时要照用 —— 有些相机给出的 BGR 需要按 rgb8 打包。""" + arr = np.zeros((3, 4, 3), np.uint8) + msg = ndarray_to_image(arr, encoding="rgb8") + assert msg.encoding == "rgb8" + + +# --------------------------------------------------------------------------- +# step 计算与 data 长度的一致性 +# --------------------------------------------------------------------------- + + +class TestStepConsistency: + """``step`` 与 ``len(data)`` 必须自洽：``len(data) == step * height``。 + + 这是下游按行读图时唯一依赖的不变量。不一致会导致整幅图错位。 + """ + + @pytest.mark.parametrize( + "shape,dtype", + [ + ((3, 4), np.uint8), + ((3, 4), np.uint16), + ((3, 4), np.float32), + ((3, 4, 1), np.uint8), + ((3, 4, 2), np.float32), + ((3, 4, 3), np.uint8), + ((3, 4, 4), np.uint8), + ((1, 1), np.uint8), + ((17, 23, 3), np.uint8), + ], + ) + def test_data_length_matches_step_times_height(self, shape, dtype): + arr = np.zeros(shape, dtype) + msg = ndarray_to_image(arr) + assert len(msg.data) == msg.step * msg.height, ( + f"shape={shape} dtype={dtype.name} encoding={msg.encoding} " + f"step={msg.step} h={msg.height} len={len(msg.data)}" + ) + + def test_expected_step_helper_agrees(self): + for shape, dtype in [((3, 4), np.uint8), ((3, 4, 3), np.uint8), + ((3, 4, 2), np.float32)]: + arr = np.zeros(shape, dtype) + msg = ndarray_to_image(arr) + assert msg.step == expected_step(arr) diff --git a/src/arm_application/test/test_listed_arms.py b/src/arm_application/test/test_listed_arms.py new file mode 100644 index 0000000..a1a8741 --- /dev/null +++ b/src/arm_application/test/test_listed_arms.py @@ -0,0 +1,170 @@ +"""换一台 Linux 上的机械臂，界面和命令必须认 site.yaml，不能只认本机 89/91。""" + +from __future__ import annotations + +from pathlib import Path + +import pytest + +from arm_application.site_io import arm_short_id, listed_arms, load_site_dict, usb_expectations + + +def test_short_id_is_the_last_two_digits(): + assert arm_short_id("Rizon4-777001") == "01" + assert arm_short_id("Rizon4-063989") == "89" + assert arm_short_id("sim") == "" + assert arm_short_id("") == "" + + +def test_another_station_is_listed_and_this_stations_ids_are_not_invented(): + site = { + "robot": { + "robots": [ + { + "sn": "Rizon4-777001", + "arm": "left", + "label": "甲", + "gripper": {"model": "PGEA-9", "port": "/dev/ttyFAKE0"}, + }, + { + "sn": "Rizon4-777002", + "arm": "right", + "label": "乙", + "gripper": {"model": "RGI-9", "port": "/dev/ttyFAKE1"}, + }, + {"sn": "sim", "arm": "sim", "gripper": {"model": "RGI-9"}}, + ] + } + } + rows = listed_arms(site) + assert [row["id"] for row in rows] == ["01", "02"] + assert rows[0]["rotary"] is False + assert rows[0]["side"] == "left" + assert rows[1]["rotary"] is True + assert "89" not in {row["id"] for row in rows} + + +def test_right_arm_with_a_parallel_gripper_is_not_treated_as_rotary(): + site = { + "robot": { + "robots": [ + {"sn": "Rizon4-555091", "arm": "right", "gripper": {"model": "PGEA-100-20-W"}}, + ] + } + } + rows = listed_arms(site) + assert rows[0]["id"] == "91" + assert rows[0]["rotary"] is False + + +def test_duplicate_short_ids_fail_instead_of_dropping_an_arm(): + site = { + "robot": { + "robots": [ + {"sn": "Rizon4-100089", "arm": "left"}, + {"sn": "Rizon4-200089", "arm": "right"}, + ] + } + } + with pytest.raises(ValueError, match="89"): + listed_arms(site) + + +def test_usb_count_follows_the_camera_list(): + site = { + "cameras": {"d405_only": {"model": "d405"}}, + "tactile": {"left_video": 0}, + } + expect = usb_expectations(site) + assert expect == {"d405": 1, "d435": 0, "orisys": 1} + + +def test_this_station_still_lists_89_and_91(): + rows = listed_arms(load_site_dict()) + ids = [row["id"] for row in rows] + assert ids == ["89", "91"] + by_id = {row["id"]: row for row in rows} + assert by_id["89"]["rotary"] is False + assert by_id["91"]["rotary"] is True + + +@pytest.mark.skip(reason="只同步 ROS 节点；远程 UI、shell 和整站配置不在本次范围") +def test_main_page_holds_status_sim_cameras_tactile_and_actions(): + import os + + os.environ.setdefault("QT_QPA_PLATFORM", "offscreen") + pytest.importorskip("PySide6") + from PySide6.QtWidgets import QApplication, QPushButton, QScrollArea + + from arm_application.operator_app import StationApp + + app = QApplication.instance() or QApplication([]) + win = StationApp() + try: + assert [key for key, _button in win._nav] == ["main", "handeye", "teach"] + assert set(win._pages) == {"main", "handeye", "teach"} + assert win._stack.currentWidget() is win._pages["main"] + assert win.minimumWidth() <= 1600 + assert win.minimumHeight() <= 900 + main = win._pages["main"] + assert main.findChildren(QScrollArea) == [] + win.resize(1440, 900) + app.processEvents() + assert main.minimumSizeHint().height() <= 860 + texts = [button.text() for button in main.findChildren(QPushButton)] + for name in ("跟踪并对孔", "只测旋转装配", "复位到 home", "本臂腕部相机"): + assert any(name in text for text in texts) + power = [button for button in main.findChildren(QPushButton) if "上电控制栈" in button.text()] + assert power and not power[0].icon().isNull() + assert win._cam_pic + assert all(label.minimumHeight() <= 96 for label in win._cam_pic.values()) + from arm_application.operator_camera_view import targets + + cams = targets() + assert [cam["role"] for cam in cams] == ["wrist", "overhead"] + assert "right" not in cams[0]["id"] and not cams[0]["id"].startswith("sim") + assert not cams[1]["id"].startswith("sim") + assert set(win._cam_pic) == { + f"{cam['id']}_{kind}" for cam in cams for kind in ("color", "depth") + } + assert win._color_box.hasHeightForWidth() + assert 240 <= win._color_box.heightForWidth(960) <= 340 + work = win._color_box.parentWidget().layout() + assert work.stretch(work.indexOf(win._color_box)) == 0 + assert work.stretch(work.indexOf(win._tac_box)) >= 1 + assert win._tac_box.minimumHeight() >= 160 + assert win._tac_box.maximumHeight() > 400 + split = main.layout() + assert split.stretch(0) < split.stretch(1) + assert set(win._pic) == {"left_shear", "left_thermal", "right_shear", "right_thermal"} + assert win._arm_sketch is not None + assert win._grip_sketch.parent() is main or main.isAncestorOf(win._grip_sketch) + assert 140 <= win._grip_sketch.height() or win._grip_sketch.maximumHeight() <= 180 + assert win._grip_sketch.maximumHeight() <= 180 + assert win._pos.value() == 500 + assert any("按此夹持" in text for text in texts) + assert not win._rotary.isVisible() + back = [ + button.text() + for button in win._pages["handeye"].findChildren(QPushButton) + ] + assert any("返回主界面" in text for text in back) + assert "眼在手上" in back or any("眼在手上" in text for text in back) + finally: + win.close() + app.processEvents() + + +@pytest.mark.skip(reason="只同步 ROS 节点；远程 UI、shell 和整站配置不在本次范围") +def test_operator_code_does_not_keep_a_local_serial_table(): + root = Path(__file__).resolve().parents[1] / "arm_application" + for name in ( + "operator_console.py", + "operator_gripper_state.py", + "operator_arm_state.py", + "operator_teach.py", + "operator_app.py", + ): + text = (root / name).read_text(encoding="utf-8") + assert 'endswith("063989")' not in text + assert 'not in ("89", "91")' not in text diff --git a/src/arm_application/test/test_model_labels.py b/src/arm_application/test/test_model_labels.py new file mode 100644 index 0000000..e37e678 --- /dev/null +++ b/src/arm_application/test/test_model_labels.py @@ -0,0 +1,484 @@ +"""model_labels 的测试。 + +刻意**不依赖仓库里那些模型二进制**（`models/**/*.onnx` 都在 .gitignore 里， +新克隆的仓库根本没有），全部用 tmp_path 自建 fixture。ONNX 用 onnx.helper +现场造一个最小的，这样"从 ONNX metadata 读标签"这条路径也能被测到。 +""" + +from __future__ import annotations + +import numpy as np +import pytest +import yaml + +from arm_application.model_labels import ( + SOURCE_MODEL, + SOURCE_ONNX, + SOURCE_PLACEHOLDER, + SOURCE_SIDECAR, + LabelSet, + describe, + format_labels_yaml, + label_file_model, + label_file_status, + labels_path_for, + parse_label_list, + parse_names_field, + placeholder_labels, + read_label_file, + read_label_text_file, + read_labels, + write_labels, +) + + +# -------------------------------------------------------------------------- +# fixture 工具 +# -------------------------------------------------------------------------- + + +def _make_onnx(path, names_json=None, nc=None, metadata=None): + """造一个最小可读的 ONNX，用于测试 metadata 读取。""" + # onnx 只在真机环境（ros_flexiv）里装了，仿真环境（ros_gz_sim）没有。 + # 缺它时**跳过**而不是失败：仿真环境里每次 pytest 都多十几条红字， + # 很快就没有人看测试结果了（"狼来了"），而真正需要 onnx 的用例 + # 本来也没法在没有 onnx 的环境里验证。 + pytest.importorskip("onnx", reason="本环境没装 onnx（只有真机 conda 环境有）") + import onnx + from onnx import TensorProto, helper + + inp = helper.make_tensor_value_info("images", TensorProto.FLOAT, [1, 3, 8, 8]) + out = helper.make_tensor_value_info("output0", TensorProto.FLOAT, [1, 3, 8, 8]) + node = helper.make_node("Identity", ["images"], ["output0"]) + graph = helper.make_graph([node], "g", [inp], [out]) + model = helper.make_model(graph) + model.opset_import[0].version = 13 + if names_json is not None: + model.metadata_props.add(key="names", value=names_json) + if nc is not None: + model.metadata_props.add(key="nc", value=str(nc)) + for k, v in (metadata or {}).items(): + model.metadata_props.add(key=k, value=v) + onnx.save(model, str(path)) + return path + + +def _touch(path): + path.parent.mkdir(parents=True, exist_ok=True) + path.write_bytes(b"not a real model") + return path + + +# -------------------------------------------------------------------------- +# 旁挂路径推导 +# -------------------------------------------------------------------------- + + +def test_labels_path_replaces_suffix_only(): + assert labels_path_for("models/yolo/m.engine") == pytest.approx( + labels_path_for("models/yolo/m.engine") + ) + from pathlib import Path + + assert Path(labels_path_for("models/yolo/m.engine")) == Path( + "models/yolo/m.labels.yaml" + ) + assert Path(labels_path_for("models/yolo/m.onnx")) == Path("models/yolo/m.labels.yaml") + assert Path(labels_path_for("a/b/m.pt")) == Path("a/b/m.labels.yaml") + + +def test_labels_path_same_for_all_formats_of_one_model(): + """关键契约：同一模型的三种格式必须算出同一个标签文件。 + + 否则"换后端名字就变了"这个坑会再次出现。 + """ + from pathlib import Path + + a = Path(labels_path_for("d/m.pt")) + b = Path(labels_path_for("d/m.onnx")) + c = Path(labels_path_for("d/m.engine")) + assert a == b == c + + +def test_labels_path_handles_dotted_stem(): + """含点的文件名（a.b.onnx）不能被截成 a.labels.yaml。 + + 这正是 Path.with_suffix('.labels.yaml') 容易踩的坑，所以手工拼 stem。 + """ + from pathlib import Path + + assert Path(labels_path_for("a.b.onnx")) == Path("a.b.labels.yaml") + + +def test_labels_path_without_extension(): + from pathlib import Path + + assert Path(labels_path_for("models/bare")) == Path("models/bare.labels.yaml") + + +def test_labels_path_expands_user(): + assert "~" not in str(labels_path_for("~/ros2/models/x.onnx")) + + +# -------------------------------------------------------------------------- +# names 字段解析：三种写法都要吃 +# -------------------------------------------------------------------------- + + +def test_parse_names_dict_int_keys(): + assert parse_names_field({0: "workpiece", 1: "hole"}) == {0: "workpiece", 1: "hole"} + + +def test_parse_names_dict_string_keys(): + """YAML 里键常常是字符串形式的数字（'0'），必须吃。""" + assert parse_names_field({"0": "workpiece", "1": "hole"}) == { + 0: "workpiece", + 1: "hole", + } + + +def test_parse_names_list_index_is_position(): + assert parse_names_field(["workpiece", "hole"]) == {0: "workpiece", 1: "hole"} + + +def test_parse_names_list_skips_blank_but_keeps_index(): + """空项被跳过，但后面的项索引不能因此前移 —— 否则类别就整体错位了。""" + assert parse_names_field(["a", "", "c"]) == {0: "a", 2: "c"} + assert parse_names_field(["a", None, "c"]) == {0: "a", 2: "c"} + assert parse_names_field(["a", " ", "c"]) == {0: "a", 2: "c"} + + +def test_parse_names_string(): + assert parse_names_field("workpiece, hole") == {0: "workpiece", 1: "hole"} + + +def test_parse_names_none_and_garbage(): + assert parse_names_field(None) == {} + assert parse_names_field(42) == {} + assert parse_names_field({}) == {} + assert parse_names_field([]) == {} + + +def test_parse_names_ignores_unparsable_dict_keys(): + """键不是整数时跳过这一项，而不是抛异常让推理进程崩掉。""" + assert parse_names_field({"x": "bad", 0: "good"}) == {0: "good"} + + +def test_parse_names_strips_whitespace(): + assert parse_names_field([" workpiece "]) == {0: "workpiece"} + + +# -------------------------------------------------------------------------- +# 逗号串解析（CLI --set 用） +# -------------------------------------------------------------------------- + + +def test_parse_label_list_ascii_comma(): + assert parse_label_list("a,b,c") == {0: "a", 1: "b", 2: "c"} + + +def test_parse_label_list_chinese_comma_and_semicolon(): + assert parse_label_list("工件，通止规") == {0: "工件", 1: "通止规"} + assert parse_label_list("a;b") == {0: "a", 1: "b"} + + +def test_parse_label_list_with_explicit_index(): + """从别处拷配置常带索引，要能认。""" + assert parse_label_list("0:workpiece, 5:hole") == {0: "workpiece", 5: "hole"} + assert parse_label_list("0：workpiece") == {0: "workpiece"} # 全角冒号 + + +def test_parse_label_list_tolerates_sloppy_input(): + assert parse_label_list("") == {} + assert parse_label_list(" ") == {} + assert parse_label_list("a,,b") == {0: "a", 1: "b"} + assert parse_label_list(" a , b ") == {0: "a", 1: "b"} + assert parse_label_list("a\nb") == {0: "a", 1: "b"} + + +def test_parse_label_list_mixed_forms_stay_ordered(): + out = parse_label_list("a, 1:b, c") + assert out[0] == "a" + assert out[1] == "b" + assert out[2] == "c" + + +# -------------------------------------------------------------------------- +# 纯文本标签文件（classes.txt 风格） +# -------------------------------------------------------------------------- + + +def test_read_label_text_file_comments_do_not_consume_index(tmp_path): + p = tmp_path / "classes.txt" + p.write_text("# 这是注释\nworkpiece\n\n# 又一条注释\nhole\n", encoding="utf-8") + assert read_label_text_file(p) == {0: "workpiece", 1: "hole"} + + +def test_read_label_text_file_chinese(tmp_path): + p = tmp_path / "classes.txt" + p.write_text("工件\n通止规\n", encoding="utf-8") + assert read_label_text_file(p) == {0: "工件", 1: "通止规"} + + +# -------------------------------------------------------------------------- +# 占位符 +# -------------------------------------------------------------------------- + + +def test_placeholder_is_labelled_not_bare_digit(): + """占位名必须一眼看出是占位，不能退化成裸数字 '0'。 + + 原先的代码是 _id_to_name.get(cid, str(cid))，也就是类名变成 "0"， + 和"真的有个叫 0 的类"无法区分 —— 标签丢了都看不出来。 + """ + assert placeholder_labels(3) == {0: "class_0", 1: "class_1", 2: "class_2"} + assert placeholder_labels(1)[0] == "class_0" + assert placeholder_labels(0) == {} + assert placeholder_labels(-5) == {} + + +# -------------------------------------------------------------------------- +# 旁挂文件：写 → 读 往返 +# -------------------------------------------------------------------------- + + +def test_format_labels_yaml_is_parseable_and_ordered(): + txt = format_labels_yaml({0: "workpiece", 1: "hole"}, model="m") + data = yaml.safe_load(txt) + assert data["names"] == ["workpiece", "hole"] + assert data["model"] == "m" + + +def test_format_labels_yaml_includes_usage_hint(): + """注释头是给直接打开文件的人看的，必须存在。""" + txt = format_labels_yaml({0: "a"}) + assert "第 1 行对应类别 0" in txt + assert "scripts/weights.sh labels" in txt + + +def test_format_labels_yaml_empty(): + data = yaml.safe_load(format_labels_yaml({})) + assert data["names"] == [] + + +def test_write_then_read_round_trip(tmp_path): + w = _touch(tmp_path / "detect_best_0.engine") + written = write_labels(w, {0: "workpiece", 1: "tongzhigui"}) + assert written.name == "detect_best_0.labels.yaml" + assert read_label_file(written) == {0: "workpiece", 1: "tongzhigui"} + + +def test_write_labels_records_model_name(tmp_path): + w = _touch(tmp_path / "abc.onnx") + p = write_labels(w, {0: "x"}) + assert label_file_model(p) == "abc" + + +def test_read_label_file_tolerates_dict_form(tmp_path): + """用户可能按 Ultralytics data.yaml 的字典写法手写。""" + p = tmp_path / "m.labels.yaml" + p.write_text("names:\n 0: a\n 1: b\n", encoding="utf-8") + assert read_label_file(p) == {0: "a", 1: "b"} + + +def test_read_label_file_tolerates_comma_string(tmp_path): + p = tmp_path / "m.labels.yaml" + p.write_text('names: "a, b"\n', encoding="utf-8") + assert read_label_file(p) == {0: "a", 1: "b"} + + +def test_read_label_file_tolerates_bare_text_file(tmp_path): + """有人直接把手写的 classes.txt 改个名字就用了，也该能读。""" + p = tmp_path / "m.labels.yaml" + p.write_text("a\nb\n", encoding="utf-8") + assert read_label_file(p) == {0: "a", 1: "b"} + + +def test_read_label_file_missing_returns_none(tmp_path): + assert read_label_file(tmp_path / "nope.labels.yaml") is None + + +def test_read_label_file_malformed_yaml_returns_none(tmp_path): + """文件坏了不该让推理进程崩 —— 退回"没有标签"即可。""" + p = tmp_path / "m.labels.yaml" + p.write_text("names: [a, b\n bad: : :\n", encoding="utf-8") + assert read_label_file(p) is None + + +def test_read_label_file_empty_names_returns_none(tmp_path): + p = tmp_path / "m.labels.yaml" + p.write_text("names: []\n", encoding="utf-8") + assert read_label_file(p) is None + + +# -------------------------------------------------------------------------- +# 从 ONNX metadata 读 +# -------------------------------------------------------------------------- + + +def test_labels_from_onnx_via_read_labels(tmp_path): + w = _make_onnx(tmp_path / "m.onnx", names_json="{0: 'workpiece'}", nc=1) + ls = read_labels(w) + assert ls.names == {0: "workpiece"} + assert ls.source == SOURCE_ONNX + assert not ls.is_placeholder + + +def test_onnx_multiclass_names(tmp_path): + w = _make_onnx(tmp_path / "m.onnx", names_json="{0: 'a', 1: 'b', 2: 'c'}") + assert read_labels(w).names == {0: "a", 1: "b", 2: "c"} + + +def test_onnx_without_names_gives_placeholder(tmp_path): + w = _make_onnx(tmp_path / "m.onnx") + ls = read_labels(w) + assert ls.is_placeholder + assert ls.path is None + + +# -------------------------------------------------------------------------- +# 优先级：sidecar 必须赢 +# -------------------------------------------------------------------------- + + +def test_sidecar_beats_onnx_metadata(tmp_path): + """这是本模块最要紧的行为。 + + ONNX 里内嵌的是导出时的旧名字。用户改了旁挂文件却看到旧名字， + 会变成极难排查的问题（"我明明改了为什么不生效"）。 + """ + w = _make_onnx(tmp_path / "m.onnx", names_json="{0: 'OLD_NAME'}") + assert read_labels(w).names == {0: "OLD_NAME"} + + write_labels(w, {0: "NEW_NAME"}) + ls = read_labels(w) + assert ls.names == {0: "NEW_NAME"} + + +def test_sidecar_beats_placeholder_for_engine(tmp_path): + """engine 读不到任何 metadata，旁挂文件是它唯一的标签来源。""" + w = _touch(tmp_path / "m.engine") + assert read_labels(w).is_placeholder + + write_labels(w, {0: "workpiece"}) + ls = read_labels(w) + assert ls.names == {0: "workpiece"} + assert ls.source == SOURCE_SIDECAR + + +def test_sidecar_shared_across_formats_in_same_dir(tmp_path): + """.onnx 和 .engine 同名同目录 → 共用一份标签。""" + onnx = _make_onnx(tmp_path / "m.onnx", names_json="{0: 'x'}") + engine = _touch(tmp_path / "m.engine") + write_labels(engine, {0: "shared", 1: "two"}) + + assert read_labels(onnx).names == {0: "shared", 1: "two"} + assert read_labels(engine).names == {0: "shared", 1: "two"} + assert read_labels(onnx).source == SOURCE_SIDECAR + + +def test_engine_without_sidecar_does_not_guess(tmp_path): + """engine 缺标签时必须显式报占位符，不能假装知道。""" + w = _touch(tmp_path / "m.engine") + ls = read_labels(w) + assert ls.is_placeholder + assert ls.source == SOURCE_PLACEHOLDER + + +def test_read_labels_tolerates_missing_weights_file(tmp_path): + """权重不存在也不该崩（由调用方负责检查存在性）。""" + ls = read_labels(tmp_path / "ghost.engine") + assert isinstance(ls, LabelSet) + assert ls.is_placeholder + + +def test_existing_sidecar_wins_even_if_weights_absent(tmp_path): + """标签文件独立于权重存在，有权重没权重都能读出来。""" + write_labels(tmp_path / "m.engine", {0: "only_labels"}) + ls = read_labels(tmp_path / "m.engine") + assert ls.names == {0: "only_labels"} + assert ls.source == SOURCE_SIDECAR + + +# -------------------------------------------------------------------------- +# LabelSet 行为 +# -------------------------------------------------------------------------- + + +def test_labelset_get_falls_back_to_placeholder_name(): + ls = LabelSet(names={0: "a"}, source=SOURCE_SIDECAR) + assert ls.get(0) == "a" + assert ls.get(7) == "class_7" + assert ls.get(7, "unknown") == "unknown" + + +def test_labelset_sorted_names(): + ls = LabelSet(names={2: "c", 0: "a", 1: "b"}, source=SOURCE_SIDECAR) + assert ls.sorted_names() == ["a", "b", "c"] + + +def test_describe_mentions_source_in_chinese(): + """来源必须出现在日志里 —— 这是"标签丢了"能被发现的关键。""" + ls = LabelSet(names={0: "workpiece"}, source=SOURCE_SIDECAR) + assert "workpiece" in describe(ls) + assert "旁挂标签文件" in describe(ls) + + ls = LabelSet(names={0: "class_0"}, source=SOURCE_PLACEHOLDER) + assert "占位符" in describe(ls) + + +def test_describe_handles_empty(): + assert "(空)" in describe(LabelSet(names={}, source=SOURCE_PLACEHOLDER)) + + +# -------------------------------------------------------------------------- +# 错配检测（doctor 用） +# -------------------------------------------------------------------------- + + +def test_label_file_status_reports_missing(tmp_path): + exists, path, hint = label_file_status(tmp_path / "m.engine") + assert exists is False + assert hint is not None and "缺标签文件" in hint + + +def test_label_file_status_ok(tmp_path): + w = _touch(tmp_path / "m.engine") + write_labels(w, {0: "a"}) + exists, _path, hint = label_file_status(w) + assert exists is True + assert hint is None + + +def test_label_file_status_detects_mismatched_copy(tmp_path): + """把 A 的标签文件拷给 B —— 这种错配必须被指出来。""" + write_labels(tmp_path / "A.onnx", {0: "a"}) + (tmp_path / "A.labels.yaml").rename(tmp_path / "B.labels.yaml") + b = _touch(tmp_path / "B.onnx") + + exists, _path, hint = label_file_status(b) + assert exists is True + assert hint is not None + assert "A" in hint and "B" in hint + + +# -------------------------------------------------------------------------- +# 中文标签（实际会用到的场景） +# -------------------------------------------------------------------------- + + +def test_chinese_labels_round_trip(tmp_path): + w = _touch(tmp_path / "m.onnx") + write_labels(w, {0: "工件", 1: "通止规"}) + ls = read_labels(w) + assert ls.names == {0: "工件", 1: "通止规"} + # 写出的文件必须是 UTF-8，否则中文会乱码 + txt = labels_path_for(w).read_text(encoding="utf-8") + assert "通止规" in txt + + +def test_numpy_int_keys_are_accepted(tmp_path): + """调用方从 numpy 结果里拿到的索引可能是 np.int64，不能因此失败。""" + w = _touch(tmp_path / "m.onnx") + write_labels(w, {np.int64(0): "a", np.int64(1): "b"}) + assert read_labels(w).names == {0: "a", 1: "b"} diff --git a/src/arm_application/test/test_node_handler_collisions.py b/src/arm_application/test/test_node_handler_collisions.py new file mode 100644 index 0000000..eb384e9 --- /dev/null +++ b/src/arm_application/test/test_node_handler_collisions.py @@ -0,0 +1,190 @@ +"""回归：节点类之间的**回调方法重名**必须被拦住。 + +为什么值得一条专门的测试（2026-09-24 踩到的真实故障，代价是两轮排查方向全错）： + + Stage2Locate.__init__ 里建了 + create_subscription(WrenchStamped, ft_wrench_topic, self._on_ft, ...) + Stage3Search（子类）里定义了 + def _on_ft(self, msg): self._ft = (time.monotonic(), msg) + + Python 的方法解析顺序让**子类覆盖父类**，而两个订阅都已经在 __init__ 里 + 建好了。于是那条 WrenchStamped 订阅的回调实际是子类那个 —— 它把消息塞进 + stage3 的 RobotStates 缓存，而父类的 `_ft_fz` 永远不被赋值。 + + 现象："S07 腕部 FT 没有数据（话题 /sim/ft_sensor_wrench）"， + 而在 shell 里 `ros2 topic echo` 那条话题**数据完全正常**、 + QoS 也完全兼容（实测 BEST_EFFORT 与 RELIABLE 订阅者都收得到）。 + 于是排查方向被引到"话题名写错 / QoS 不匹配 / 桥接没起来"上，全部走偏。 + + 真机上更阴：两个话题都存在，`self._ft` 里 RobotStates 与 WrenchStamped + 交替覆盖 → `_ft_mag()` 时有时无 → 腕部力看门狗时灵时不灵（偶发，最难查）。 + +规则：**整条继承链上，`_on_*` 形式的方法名必须唯一 —— 除非子类显式 +``super().<同名>(...)`` 委托回父类**。后者是"扩展"而不是"遮蔽"，是允许的 +（``GaugeAssembly._on_color`` 就属于这种：先 ``super()._on_color(msg)`` 存帧， +再补记"收到时刻"）。判定标准就是有没有那一次委托调用 —— +没有委托的同名覆盖，一定会让父类的那份状态**永远不更新**，而且不报任何错。 + +命名空间不够用就改名字（`_on_wrench` / `_on_robot_states` 比 `_on_ft` 好， +后者里那个 "ft" 到底指腕部六维力还是手指触觉，本来就含糊）—— +不要靠"反正签名不同"来赌，Python 不检查签名。 + +为什么用 AST 读源码而不是 import 后反射： + 这几个节点模块 import 了 ROS 生成的消息包（``arm_msgs`` 等）， + 在没有 source 过工作空间的 pytest 环境里 import 不进来。 + 而这条规则是**纯源码层面**的，不需要真的构造节点。 + 这也是本仓库既有的做法（见 ``test_gauge_step_events.py``）。 +""" + +from __future__ import annotations + +import ast +import pathlib +from typing import Dict, List + +_APP = pathlib.Path(__file__).resolve().parents[1] / "arm_application" + +#: 继承链上的源文件。 +_CHAIN_FILES = ( + "stage2_locate_node.py", + "stage3_search_node.py", + "pipeline_node.py", + "gauge_assembly_node.py", +) + +#: 从哪个类开始往上走（装配流程真正实例化的那个）。 +_LEAF = "GaugeAssembly" + + +class _Cls: + """一个类的：基类名、本类定义的 `_on_*` 方法（名字 → AST 节点）。""" + + def __init__(self, name: str, bases: List[str], handlers: Dict[str, ast.AST]) -> None: + self.name = name + self.bases = bases + self.handlers = handlers + + +def _classes_in(path: pathlib.Path) -> Dict[str, _Cls]: + tree = ast.parse(path.read_text(encoding="utf-8")) + out: Dict[str, _Cls] = {} + for node in tree.body: + if not isinstance(node, ast.ClassDef): + continue + bases = [b.id for b in node.bases if isinstance(b, ast.Name)] + handlers = { + item.name: item + for item in node.body + if isinstance(item, (ast.FunctionDef, ast.AsyncFunctionDef)) + and item.name.startswith("_on_") + } + out[node.name] = _Cls(node.name, bases, handlers) + return out + + +def _table() -> Dict[str, _Cls]: + table: Dict[str, _Cls] = {} + for name in _CHAIN_FILES: + table.update(_classes_in(_APP / name)) + return table + + +def _chain() -> List[str]: + """从 ``_LEAF`` 沿基类往上，返回类名列表（子类在前）。""" + table = _table() + order: List[str] = [] + cur = _LEAF + while cur and cur in table: + order.append(cur) + bases = table[cur].bases + cur = bases[0] if bases else "" + assert len(order) >= 3, f"继承链没解析出来（只找到 {order}）—— 改过类名？" + return order + + +def _delegates_to_super(func: ast.AST, name: str) -> bool: + """``func`` 的方法体里有没有 ``super().(...)`` 这一次委托调用。""" + for node in ast.walk(func): + if not isinstance(node, ast.Call): + continue + callee = node.func + if not (isinstance(callee, ast.Attribute) and callee.attr == name): + continue + owner = callee.value + if ( + isinstance(owner, ast.Call) + and isinstance(owner.func, ast.Name) + and owner.func.id == "super" + ): + return True + return False + + +def test_leaf_class_is_reachable_from_every_chain_file(): + """先确认这条测试自己在看对文件 —— 文件改名/移动时别静默变成空跑。""" + chain = _chain() + assert _LEAF in chain + for expected in ("Stage2Locate", "Stage3Search", "AssemblyPipeline"): + assert expected in chain, f"继承链里没有 {expected}（链 = {chain}）" + + +def test_no_silent_callback_shadowing_across_inheritance_chain(): + """同名 `_on_*` 只允许两种情形：唯一，或子类显式 ``super()`` 委托。 + + 挂了怎么修（二选一）： + a) 在子类那个方法体里加 ``super().<同名>(msg)`` —— 表示"我是扩展"； + b) 改掉其中一个的名字（带来源，如 ``_on_wrench`` / ``_on_robot_states``）。 + 别什么都不做：父类那份状态会永远不更新，而**不会有任何报错**。 + """ + table = _table() + owner: Dict[str, str] = {} + problems: List[str] = [] + + # _chain() 是"子类在前"，所以后出现的才是父类。 + for cls_name in _chain(): + cls = table.get(cls_name) + if cls is None: + continue + for handler in sorted(cls.handlers): + owner.setdefault(handler, cls_name) + + # 再逐个查：凡是有多个类定义了的，子类必须委托。 + for handler, owner_cls in owner.items(): + definers = [c for c in _chain() if c in table and handler in table[c].handlers] + if len(definers) < 2: + continue + for cls_name in definers: + if cls_name == definers[-1]: + continue # 链最靠上的那个（基类）不需要委托 + cls = table[cls_name] + if _delegates_to_super(cls.handlers[handler], handler): + continue + problems.append( + f"{handler}: 定义在 {', '.join(definers)} —— {cls_name} 覆盖了" + f"{owner_cls} 的同名回调，但方法体里没有 super().{handler}(...) 委托。\n" + f" 实际生效的只有 {cls_name} 那个，父类那份状态永远不会更新。" + ) + + assert not problems, ( + "回调被静默遮蔽。症状是「某路数据永远收不到」而话题本身完全正常，" + "极难从现象倒推到这里：\n " + "\n ".join(problems) + ) + + +def test_wrench_and_robot_states_callbacks_are_not_the_same_method(): + """专门钉住这一对名字 —— 它们是最容易被合并成 `_on_ft` 的两个。 + + 腕部 FT（WrenchStamped，100Hz，法兰系）与整机状态（RobotStates，含外部 + 力/力矩）是两个**不同的**话题、不同的消息类型，缓存也必须是两个字段： + ``_ft_fz``（轴向力标量）与 ``_ft``（整帧 RobotStates）。 + """ + table = _table() + s2 = set(table["Stage2Locate"].handlers) + s3 = set(table["Stage3Search"].handlers) + + assert "_on_wrench" in s2, ( + "Stage2Locate 里腕部 FT 的回调应叫 _on_wrench（不能再叫 _on_ft：" + "会被 Stage3Search 的同名方法遮蔽）" + ) + assert "_on_robot_states" in s3, "Stage3Search 里整机状态的回调应叫 _on_robot_states" + assert not (s2 & s3), f"两个类还有重名的回调: {sorted(s2 & s3)}" diff --git a/src/arm_application/test/test_onnx_workpiece_guard.py b/src/arm_application/test/test_onnx_workpiece_guard.py new file mode 100644 index 0000000..6bdb29c --- /dev/null +++ b/src/arm_application/test/test_onnx_workpiece_guard.py @@ -0,0 +1,50 @@ +"""``OnnxWorkpieceDetector`` 必须**当场拒绝**非检测模型，而不是解出垃圾框。 + +为什么值得一条测试（2026-10-08 实测） +------------------------------------- +把一个 ``task=pose`` 的模型（输出 ``[1, 4+nc+3K, 8400]``）喂给这个"只认 +``[1, N, 6]``"的解码器，会得到 12 个**看起来像检测结果**的东西： + + conf=70.870 cls=class_73 xyxy=[28.7, 0.0, 75.8, 0.0] + conf=41.092 cls=class_47 xyxy=[11.0, 0.0, 35.4, 0.0] + ... + conf=0.324 cls=workpiece xyxy=[ 0.2, 0.0, 0.3, 0.0] + +坐标被当成置信度（>1）、类号不存在、框是退化的（``y1 == y2``）—— 但没有异常、 +没有告警，流水线照跑。这类"静默失效"正是本仓库花最多代价在防的东西，所以在 +``__init__`` 里硬失败。 +""" + +from __future__ import annotations + +from pathlib import Path + +import pytest + +pytest.importorskip("onnxruntime", reason="没装 onnxruntime，属于环境缺依赖") + +from arm_application.onnx_workpiece import OnnxWorkpieceDetector # noqa: E402 + +ROOT = Path(__file__).resolve().parents[3] +YOLO_DIR = ROOT / "models" / "yolo" +POSE_ONNX = YOLO_DIR / "gongjian0929.onnx" # task=pose, 输出 [1,14,8400] +DETECT_ONNX = YOLO_DIR / "detect_best_0.onnx" # task=detect, end2end, 输出 [1,N,6] + + +def test_pose_model_is_refused_loudly(): + """带关键点的 pose 模型进了检测解码器 ⇒ 必须报错，且报错要指出正确做法。""" + if not POSE_ONNX.is_file(): + pytest.skip(f"没有 {POSE_ONNX.name}（模型不在本机）") + with pytest.raises(RuntimeError) as ei: + OnnxWorkpieceDetector(POSE_ONNX, conf=0.25, imgsz=640) + msg = str(ei.value) + assert "不是 6" in msg, f"报错要说出真实输出维度，实际：{msg}" + # 必须告诉人该往哪走，否则只会被当成"模型坏了" + assert "pose" in msg.lower() + + +def test_end2end_detect_model_still_loads(): + """守卫不能过严：真正的 end2end 检测模型必须照常加载。""" + if not DETECT_ONNX.is_file(): + pytest.skip(f"没有 {DETECT_ONNX.name}（模型不在本机）") + OnnxWorkpieceDetector(DETECT_ONNX, conf=0.25, imgsz=640) diff --git a/src/arm_application/test/test_orisys_vector.py b/src/arm_application/test/test_orisys_vector.py new file mode 100644 index 0000000..e7314ac --- /dev/null +++ b/src/arm_application/test/test_orisys_vector.py @@ -0,0 +1,146 @@ +"""``read_vector_map`` 的单测。 + +这个函数存在的唯一原因是：Orisys 的 Python 绑定是编译过的，公开接口里没有 +一个明确叫 "force vector map" 的方法，只能按语义去试 ``compute_flow`` / +``compute_hhd`` / ``compute_deformation``，而且要判断返回值到底是数组 +还是 bool/可视化图。 + +但它接的是真传感器，没法在单测里调。所以这里用假传感器把每条分支钉死： +**试错的顺序**和**接受的返回类型**一旦写错，表现是"矢量场话题永远没消息" +或"发了一张全零假图"，两者都很难从现场现象反推回代码。 +""" + +from __future__ import annotations + +from typing import Any + +import numpy as np +import pytest + +from arm_application.orisys_tactile import read_vector_map + + +class FakeSensor: + """可控假传感器。 + + 传入 ``方法名=返回值``；想让某个方法抛异常就传异常实例。 + 没有列出的方法属性一律不存在 —— 这正好模拟"老版本 SDK 没这个方法"。 + """ + + def __init__(self, **methods: Any) -> None: + for name, value in methods.items(): + if isinstance(value, BaseException): + def _raise(_exc=value): + raise _exc + + setattr(self, name, _raise) + else: + setattr(self, name, (lambda _v=value: _v)) + + +class TestPreferredSource: + def test_uses_compute_flow_first(self): + """compute_flow 语义上最接近"切向力矢量场"，优先级最高。""" + flow = np.ones((8, 6, 2), np.float32) + sensor = FakeSensor( + compute_flow=flow, + compute_hhd=np.zeros((8, 6, 3), np.uint8), + ) + assert read_vector_map(sensor) is flow + + def test_falls_back_to_hhd_when_flow_is_bool(self): + """有些版本 compute_flow 只返回 bool（"有没有流动"）—— 那不是矢量场， + 必须继续往下试，而不是把 True 当成图。""" + hhd = np.ones((4, 4), np.float32) + sensor = FakeSensor(compute_flow=True, compute_hhd=hhd) + assert read_vector_map(sensor) is hhd + + def test_falls_back_to_deformation(self): + deform = np.ones((5, 5, 2), np.float32) + sensor = FakeSensor(compute_flow=False, compute_hhd=None, compute_deformation=deform) + assert read_vector_map(sensor) is deform + + def test_skips_flow_that_raises(self): + hhd = np.ones((3, 3), np.float32) + sensor = FakeSensor(compute_flow=RuntimeError("no cuda"), compute_hhd=hhd) + assert read_vector_map(sensor) is hhd + + +class TestRejectedValues: + """不是"二维以上数组"的返回值一律不能当矢量场用。""" + + @pytest.mark.parametrize( + "bad", + [True, False, None, 0, 0.0, "flow", (1, 2), [1.0, 2.0], {"a": 1}], + ) + def test_non_array_values_are_rejected(self, bad): + assert read_vector_map(FakeSensor(compute_flow=bad)) is None + + def test_1d_array_is_rejected(self): + """1D 没法按 (H,W) 解释成图。""" + assert read_vector_map(FakeSensor(compute_flow=np.zeros(10, np.float32))) is None + + def test_empty_array_is_rejected(self): + """空数组同样是"没有数据"，不能发一张 0x0 的图。""" + assert read_vector_map(FakeSensor(compute_flow=np.zeros((0, 0), np.uint8))) is None + + def test_2d_array_is_accepted(self): + """2D 灰度图是合法结果（某些版本把形变强度图当成矢量场返回）。""" + arr = np.zeros((4, 5), np.uint8) + assert read_vector_map(FakeSensor(compute_flow=arr)) is arr + + def test_scalar_ndarray_is_rejected(self): + """0 维 ndarray 没有 (H,W) 语义。""" + assert read_vector_map(FakeSensor(compute_flow=np.array(3.0))) is None + + +class TestMissingMethods: + def test_all_missing_returns_none(self): + """老版本 SDK 三个方法都没有 —— 应当安静返回 None，让上层跳过话题。""" + assert read_vector_map(FakeSensor()) is None + + def test_all_raising_returns_none(self): + sensor = FakeSensor( + compute_flow=RuntimeError("x"), + compute_hhd=RuntimeError("y"), + compute_deformation=RuntimeError("z"), + ) + assert read_vector_map(sensor) is None + + def test_never_raises_even_when_everything_fails(self): + """这是它的契约：探测失败只能返回 None，不能把异常抛给 30fps 的读取循环。""" + sensor = FakeSensor(compute_flow=KeyboardInterrupt()) + # KeyboardInterrupt 是 BaseException；探测逻辑捕获 Exception， + # 所以它会被放行 —— 记录当前行为，提醒别在这里拿 BaseException 当普通错误。 + with pytest.raises(KeyboardInterrupt): + read_vector_map(sensor) + + +class TestResultIsUsableByImageUtils: + """探测到的数组必须能被 image_utils 打包 —— 否则等于白探测。""" + + def test_flow_shaped_array_packs_as_32fc2(self): + from arm_application.image_utils import ndarray_to_image + + flow = np.zeros((8, 6, 2), np.float32) + sensor = FakeSensor(compute_flow=flow) + arr = read_vector_map(sensor) + msg = ndarray_to_image(arr) + assert msg.encoding == "32FC2" + assert (msg.height, msg.width) == (8, 6) + + def test_grayscale_array_packs_as_mono8(self): + from arm_application.image_utils import ndarray_to_image + + arr = read_vector_map(FakeSensor(compute_flow=np.zeros((8, 6), np.uint8))) + assert ndarray_to_image(arr).encoding == "mono8" + + def test_float64_result_is_rejected_by_packer_not_silently_truncated(self): + """float64 是 numpy 的默认 dtype，SDK 很可能返回它。image_utils 会 + 明确报错而不是按 float32 打包 —— 那样会让每个像素错位 4 字节。""" + from arm_application.image_utils import UnsupportedImageError, ndarray_to_image + + arr = read_vector_map(FakeSensor(compute_flow=np.zeros((8, 6, 2), np.float64))) + assert arr is not None + with pytest.raises(UnsupportedImageError): + ndarray_to_image(arr) diff --git a/src/arm_application/test/test_overhead_oneshot.py b/src/arm_application/test/test_overhead_oneshot.py new file mode 100644 index 0000000..d8512dc --- /dev/null +++ b/src/arm_application/test/test_overhead_oneshot.py @@ -0,0 +1,1119 @@ +"""D405 丢了切 D435 一次性、以及臂静止进二阶段：纯函数必须能红。 + +错乘法兰 / 把框心冒充 k0 / conf≥门槛还去切 / 晃一下刚好满 3 秒 —— +这些在真机上都不报错，只是位置错或过早对孔。所以每条都配负向。 +""" + +from __future__ import annotations + +from types import SimpleNamespace + +import numpy as np +import pytest + +from arm_application.path_profile import ( + D435_FULL_ACC_M, + D435_FULL_CRUISE_MPS, + D435_FULL_DEC_M, + cosine_peak_acc, + smooth_joint_schedule, + smooth_path_params, + smooth_path_sv, + trap_joint_schedule, +) +from arm_application.overhead_oneshot import ( + StillLock, + at_lock_height, + best_det_conf, + depth_raw_to_m, + k0_uv_from_det, + lock_z_velocity, + map_uv_to_depth, + D405_MISS_BEFORE_D435_S, + D435_MOVE_SPEED_SCALE, + D435_VENDOR_MOVEL_ACC_MPS2, + D435_VENDOR_MOVEL_VEL_MPS, + D435_NEAR_CRUISE_MPS, + D435_NEAR_HOP_MAX_M, + D435_NEAR_LEFTOVER_M, + D435_SETTLE_S, + FROZEN_J_HOP_MAX_M, + build_arc_xy_move, + d405_commands_arm, + retract_goal_z, + flange_down_w, + hold_translation_vz, + hybrid_cruise_vxy, + oneshot_cartesian_dp, + oneshot_concat_hold_ori, + oneshot_full_cruise_mps, + oneshot_full_segments, + oneshot_hop_limits, + oneshot_k0_base, + oneshot_may_send_another, + oneshot_needs_verticalize, + oneshot_shot_timed_out, + oneshot_next_hop_m, + oneshot_should_submit, + cam_xy_bias_axes, + decompose_base_xy, + hole_pair_span_m, + hole_pair_span_ok, + oneshot_align_step_m, + flange_z_for_gap_m, + HOLE_ENTRY_MAX_M, + final_gap_refusal, + hole_entry_refusal, + insert_target_gap_m, + d435_movel_from_tcp, + movel_tcp_z_only, + once_ff_movel_from_tcp, + once_ff_tcp_xyz, + once_look_ff_xy, + ONCE_APPROACH_STEP_M, + ONCE_FF_LOOK_PER_M, + ONCE_FF_MOVEL_VEL_MPS, + ONCE_TRIM_MAX_STEP_M, + ONCE_TRIM_REFUSE_M, + pixel_on_base_plane, + select_oneshot_det, + trap_acc_for_hop, + wrist_needs_handoff, +) + + +def _det(*, conf=0.8, cx=100.0, cy=80.0, kpts=None): + xyxy = np.array([cx - 20, cy - 15, cx + 20, cy + 15], dtype=float) + return SimpleNamespace(conf=conf, xyxy=xyxy, cx=cx, cy=cy, kpts=kpts) + + +class TestHandoff: + def test_none_and_low_conf_need_handoff(self): + assert wrist_needs_handoff(None, 0.5) is True + assert wrist_needs_handoff(0.49, 0.5) is True + assert wrist_needs_handoff(float("nan"), 0.5) is True + + def test_conf_at_or_above_threshold_stays_on_wrist(self): + assert wrist_needs_handoff(0.5, 0.5) is False + assert wrist_needs_handoff(0.87, 0.5) is False + + def test_below_lock_height_is_not_ready_and_must_lift(self): + """0.26 m 是观测下降停的高度，不是锁高。必须判没到位，并且速度朝上。""" + assert at_lock_height(0.257, 0.320, 0.040) is False + assert at_lock_height(0.327, 0.320, 0.040) is True + assert at_lock_height(0.250, 0.320, 0.040) is False + vz = lock_z_velocity(0.257, 0.320, kp=1.0, v_lim=0.08) + assert vz > 0.0, "低于锁高必须上抬，写成 0 会和 D435 拒拍卡死" + assert lock_z_velocity(0.360, 0.320, kp=1.0, v_lim=0.08) < 0.0 + assert lock_z_velocity(0.321, 0.320, kp=1.0, v_lim=0.08) == 0.0 + + def test_z_locked_qos_is_latched(self): + """晚订阅必须能拿到已经发出的锁高状态，否则 D435 会一直拒拍。""" + from rclpy.qos import DurabilityPolicy + + from arm_application.overhead_oneshot import z_locked_qos + + qos = z_locked_qos() + assert qos.durability == DurabilityPolicy.TRANSIENT_LOCAL + assert qos.depth == 1 + + def test_oneshot_waits_half_second_then_fires_once(self): + """连续 0.5 s 没有高置信度才拍。差一帧不算。拍成之后不许连拍。 + + 不再另等「已到锁高」——那一闸和回锁高互相卡住。 + """ + wait = D405_MISS_BEFORE_D435_S + assert wait == 0.5 + assert oneshot_should_submit( + handoff=True, low_for_s=wait - 0.01, already_shot=False + ) is False + assert oneshot_should_submit( + handoff=True, low_for_s=wait, already_shot=False + ) is True + assert oneshot_should_submit( + handoff=True, low_for_s=wait + 1.0, already_shot=True + ) is False + assert oneshot_should_submit( + handoff=False, low_for_s=wait + 1.0, already_shot=False + ) is False + # 拍了伺服没接住（工作盒拒）必须能再拍；已经在赶路不许清。 + assert oneshot_shot_timed_out( + shot=True, commanding=False, age_s=0.79 + ) is False + assert oneshot_shot_timed_out( + shot=True, commanding=False, age_s=0.80 + ) is True + assert oneshot_shot_timed_out( + shot=True, commanding=True, age_s=2.0 + ) is False + perc = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "perception_node.py" + ).read_text(encoding="utf-8") + assert "oneshot_shot_timed_out(" in perc + assert "伺服没接住" in perc + + def test_d405_points_stay_off_the_arm_until_arrived_and_settled(self): + """D435 厂家移动没结束、法兰没停稳：D405 不下发。两件都满足才追框心。""" + assert d405_commands_arm(using_d435=False, arrived=False, settled=False) is True + assert d405_commands_arm(using_d435=True, arrived=False, settled=False) is False + assert d405_commands_arm(using_d435=True, arrived=True, settled=False) is False + assert d405_commands_arm(using_d435=True, arrived=False, settled=True) is False + assert d405_commands_arm(using_d435=True, arrived=True, settled=True) is True + src = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "servo_node.py" + ).read_text(encoding="utf-8") + assert "d405_commands_arm(" in src + assert "_arrive" in src + perc = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "perception_node.py" + ).read_text(encoding="utf-8") + assert "D405_MISS_BEFORE_D435_S" in perc + assert "d435_commanding" in perc + + @pytest.mark.skip(reason="只同步 ROS 节点；远程 UI、shell 和整站配置不在本次范围") + def test_after_d435_wrist_tracks_box_center_then_hole_without_depth(self): + """交回 D405 追框矩形中心；框心对准后才精拍，孔坐标只交到工件面。""" + perc = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "perception_node.py" + ).read_text(encoding="utf-8") + assert "track_box" in perc + assert "矩形中心" in perc or "框心" in perc + stage2 = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + assert "pixel_on_base_plane(" in stage2 + assert "hole_visual_only" in stage2 + coarse = stage2[stage2.find("# ---- 3) 粗居中") : stage2.find("# ---- 4)")] + assert "pixel_on_base_plane" in coarse + assert "拒绝用深度图凑框心" in coarse + assert "_trim_xy_after_descent" in stage2 + assert "align_max_iters" in stage2 + assert "像素交工件面" in stage2 + assert "det_depth = None if self.hole_visual_only else med_depth" in stage2 + assert 'self.hole_keypoint_once = _as_bool(stage2.get("hole_keypoint_once")' in stage2 + assert 'self.hole_once_lock_xy_descend = _as_bool(' in stage2 + obs = stage2[stage2.find("def _observe_holes"): stage2.find("def _oneshot_align_move")] + assert "_goto(" not in obs, "核验拍不许改 XY" + assert "residual_remeasured" in obs + desc = stage2[stage2.find("# ---- 4.5)"):] + desc = desc[:2800] + assert "hole_once_lock_xy_descend" in desc + assert "if self.hole_keypoint_once:" in desc + assert 'tag="降后核验"' in desc + assert "_trim_xy_after_descent" in desc + assert "target_gap_m=self.observe_gap_m" in desc + assert "ONCE_APPROACH_STEP_M" in desc + lock_at = stage2.find("# ---- 4.5)") + assert lock_at > 0 + lock_block = stage2[lock_at: stage2.find("elif self.hole_keypoint_once:", lock_at)] + assert "hole_once_lock_xy_descend" in lock_block + assert "lock_gap" in lock_block + assert "_once_ff_diagonal_to_gap" in lock_block + assert "self._descend_above_hole" not in lock_block + assert "_observe_holes" not in lock_block + assert "_trim_xy_after_descent" not in lock_block + assert "once_ff_tcp_xyz" in stage2 + assert "once_ff_movel_from_tcp" in stage2 + assert "_fresh_tcp_world" in stage2 + assert "没有厂家 tcp_pose" in stage2 + assert "write_request" in stage2 + moved_at = stage2.find("q, Tee, _moved = self._oneshot_align_move") + moved_blk = stage2[moved_at: stage2.find("self._state(\"aligned\")", moved_at) + 80] + assert "hole_once_lock_xy_descend" in moved_blk + assert 'tag="走后核验"' in moved_blk + keep = stage2[ + stage2.find("def _trim_xy_keep_hover_tip"): stage2.find("def _trim_xy_after_descent") + ] + assert "_tip_offset_from_depth" not in keep, "单次精拍下降后不许重测规尖" + assert "悬停冻结" in keep + assert "ONCE_TRIM_MAX_STEP_M" in keep + assert "hole_pair_span_ok" in keep + assert "range(3)" not in keep, "下降后补孔不许再连跳三次" + assert "撤回" in keep + assert "trim_blend_to_final" in keep + assert "斜线贴面" in keep + once_fn = stage2[stage2.find("def _oneshot_align_move"): stage2.find("def _trim_xy_keep_hover_tip")] + assert "oneshot_align_step_m(" in once_fn + assert "0.012 if n_raw > 0.025" not in once_fn + assert "from arm_application.overhead_oneshot import decompose_base_xy" in stage2 or ( + "oneshot_align_step_m" in stage2 and "decompose_base_xy" in stage2 + ) + assert "def decompose_base_xy(" not in stage2 + assert "def oneshot_align_step_m(" not in stage2 + servo = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "servo_node.py" + ).read_text(encoding="utf-8") + hw = ( + __import__("pathlib").Path(__file__).resolve().parents[3] + / "src" / "flexiv_ros2" / "flexiv_hardware" / "src" / "flexiv_hardware_interface.cpp" + ).read_text(encoding="utf-8") + assert "movel_euler_deg" in hw + assert "Quat2EulerZYX" not in hw + assert "sy > 1e-6" in hw + goto = ( + __import__("pathlib").Path(__file__).resolve().parents[3] + / "scripts" / "rdk_goto_xyz.py" + ).read_text(encoding="utf-8") + assert "quat_wxyz_to_euler_xyz_deg" in goto + # 工具朝下是绕 X 转 180°。这组角必须还是 180,0,0，不能翻成会让 MoveL 拧一圈的另一组。 + sys_path = __import__("sys").path + scripts = __import__("pathlib").Path(__file__).resolve().parents[3] / "scripts" + if str(scripts) not in sys_path: + sys_path.insert(0, str(scripts)) + from rdk_goto_xyz import quat_wxyz_to_euler_xyz_deg + euler = quat_wxyz_to_euler_xyz_deg([0.0, 1.0, 0.0, 0.0]) + assert abs(euler[0]) == pytest.approx(180.0, abs=1e-6) + assert abs(euler[1]) == pytest.approx(0.0, abs=1e-6) + assert abs(euler[2]) == pytest.approx(0.0, abs=1e-6) + movel = servo[servo.find("def _d435_vendor_movel"): servo.find("def _d435_oneshot_holds_locked")] + assert "rdk_release_movel.py" not in movel + assert "write_request" in movel + assert "d435_movel_from_tcp" in movel + assert "keep_z" in movel or "True" in movel + assert "拒绝杀栈凑 MoveL" in movel + assert "D435_VENDOR_MOVEL_VEL_MPS" in movel + assert "D435_VENDOR_MOVEL_ACC_MPS2" not in movel + assert '"--acc"' not in movel + assert D435_VENDOR_MOVEL_VEL_MPS == pytest.approx(0.3) + assert D435_VENDOR_MOVEL_ACC_MPS2 == pytest.approx(1.5) + rel = ( + __import__("pathlib").Path(__file__).resolve().parents[3] + / "scripts" / "rdk_release_movel.py" + ).read_text(encoding="utf-8") + assert f"default={D435_VENDOR_MOVEL_VEL_MPS}" in rel + assert f"default={D435_VENDOR_MOVEL_ACC_MPS2}" in rel + assert '"--acc"' in rel + assert 'prim["acc"]' in goto + tgt = d435_movel_from_tcp([0.580, -0.460, 0.096], [0.687, -0.113], [0.708, -0.168]) + assert tgt is not None + np.testing.assert_allclose(tgt, [0.580 + 0.021, -0.460 - 0.055, 0.096], atol=1e-9) + assert d435_movel_from_tcp(None, [0.0, 0.0], [0.1, 0.1]) is None + assert "d435_handback_sec" in servo + assert "still_sec=max(0.0, self.d435_handback_sec)" in servo + assert "wrist_align_sec" in servo + # 进程内 MoveL 还在走时不许把 vendor_done 提前置上，停稳计时也不许在这段路上累计。 + call_at = servo.find("ok = self._d435_vendor_movel()") + done_at = servo.find("self._d435_vendor_done = True", call_at) + assert call_at > 0 and done_at > call_at + assert "arrived=(self._d435_vendor_done and not self._d435_vendor_busy)" in servo + assert "or not self._d435_vendor_done" in servo + assert "实时预测到此为止" in servo + assert "workpiece/detection_overhead" in perc + # 相机在工件正上方朝下：主点射线落在相机 XY、工件面高度上。 + T = np.eye(4) + T[1, 1] = -1.0 + T[2, 2] = -1.0 + T[:3, 3] = [0.40, -0.20, 0.50] + hit = pixel_on_base_plane(320, 240, 400, 400, 320, 240, T, 0.022) + assert hit is not None + np.testing.assert_allclose(hit, [0.40, -0.20, 0.022], atol=1e-6) + # 射线贴着平面：没有交点，不许拿深度图凑。 + flat = np.eye(4) + flat[:3, 3] = [0.0, 0.0, 0.50] + assert pixel_on_base_plane(320, 240, 400, 400, 320, 240, flat, 0.022) is None + # 前倾 30°：同一主点，深度偏远的点比平面交点更 −X。爪站在深度点上时 + # K1.x−规尖.x > 0；深度偏近则反号。这就是两套一阶段站位符号相反的几何。 + ca, sa = float(np.cos(np.deg2rad(30))), float(np.sin(np.deg2rad(30))) + tilt = np.eye(4) + tilt[:3, :3] = np.array( + [[0.0, sa, -ca], [1.0, 0.0, 0.0], [0.0, -ca, -sa]], dtype=float + ) + tilt[:3, 3] = [0.65, -0.50, 0.19] + plane_pt = pixel_on_base_plane(320, 240, 400, 400, 320, 240, tilt, 0.022) + assert plane_pt is not None + ray = tilt[:3, :3] @ np.array([0.0, 0.0, 1.0]) + ray = ray / float(np.linalg.norm(ray)) + far = plane_pt[:3] + 0.020 * ray + near = plane_pt[:3] - 0.020 * ray + assert far[0] < plane_pt[0] < near[0] + assert (plane_pt[0] - far[0]) > 0.0 + assert (plane_pt[0] - near[0]) < 0.0 + lib = ( + __import__("pathlib").Path(__file__).resolve().parents[3] / "scripts" / "lib" + ) + sys_path = __import__("sys").path + if str(lib) not in sys_path: + sys_path.insert(0, str(lib)) + from rdk_release import is_control_stack_cmd + + assert is_control_stack_cmd("/opt/ros/humble/lib/controller_manager/ros2_control_node") + assert is_control_stack_cmd( + "ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:=Rizon4-063989" + ) + assert is_control_stack_cmd("python3 scripts/rdk_release_movel.py --xyz 0 0 0") is False + assert is_control_stack_cmd("perception_node") is False + + @pytest.mark.skip(reason="只同步 ROS 节点；远程 UI、shell 和整站配置不在本次范围") + def test_d435_move_only_never_hands_back_to_d405(self): + """只测位移：D405 点一律不下发。混合路径法兰停稳后才打开框心。""" + assert d405_commands_arm( + using_d435=False, arrived=True, settled=True, move_only=True + ) is False + assert d405_commands_arm( + using_d435=True, arrived=True, settled=True, move_only=True + ) is False + assert d405_commands_arm( + using_d435=True, arrived=True, settled=True, move_only=False + ) is True + root = __import__("pathlib").Path(__file__).resolve().parents[1] + servo = (root / "arm_application" / "servo_node.py").read_text(encoding="utf-8") + perc = (root / "arm_application" / "perception_node.py").read_text( + encoding="utf-8" + ) + pipe = (root / "arm_application" / "pipeline_node.py").read_text( + encoding="utf-8" + ) + launch = (root / "launch" / "pipeline.launch.py").read_text(encoding="utf-8") + vs = (root / "launch" / "visual_servo.launch.py").read_text(encoding="utf-8") + ws = root + while ws != ws.parent and not (ws / "scripts" / "run_all.sh").is_file(): + ws = ws.parent + run_all = (ws / "scripts" / "run_all.sh").read_text(encoding="utf-8") + assert "move_only=self.d435_move_only" in servo + assert "不交 D405、不进二阶段" in servo + assert "打开 D405 输出，追工件框矩形中心" in servo + assert "锁定进二阶段，D405 流式不再带臂" not in servo + assert "self.d435_move_only" in perc + assert "or wrist_needs_handoff(" in perc + assert "d435_move_only:={str(self.d435_move_only).lower()}" in pipe + assert "skip2 = True" in pipe + assert '"d435_move_only": d435_only' in launch + assert 'LaunchConfiguration("d435_move_only")' in vs + assert '"d435_move_only"' in vs + assert "--d435-only" in run_all + assert "rdk_goto_xyz.py" in run_all + assert "d435_k0_once.py" in run_all + assert "--keep-z" in run_all + + def test_whole_path_uses_one_cruise_and_an_arc(self): + """远处仍 80 mm/s。近处必须另降一档。路径是圆弧，不是对着终点做 P。""" + assert D435_MOVE_SPEED_SCALE == pytest.approx(1.5) + assert D435_VENDOR_MOVEL_VEL_MPS == pytest.approx(0.3) + assert D435_VENDOR_MOVEL_ACC_MPS2 == pytest.approx(1.5) + assert hybrid_cruise_vxy(0.08) == pytest.approx(0.12) + hop_far, v_far = oneshot_hop_limits(0.20, 0.08) + hop_mid, v_mid = oneshot_hop_limits(0.12, 0.08) + hop_near, v_near = oneshot_hop_limits(0.074, 0.08) + assert hop_far == pytest.approx(FROZEN_J_HOP_MAX_M) + assert v_far == pytest.approx(0.08) + assert hop_mid == pytest.approx(0.040) + assert v_mid == pytest.approx(0.08) + assert hop_near == pytest.approx(D435_NEAR_HOP_MAX_M) + assert v_near == pytest.approx(D435_NEAR_CRUISE_MPS) + assert hop_near == pytest.approx(0.015) + assert hop_near < 0.030 + assert v_near < 0.08 + assert D435_NEAR_LEFTOVER_M == pytest.approx(0.08) + assert D435_SETTLE_S == pytest.approx(0.25) + p0 = np.array([0.687, -0.113]) + p1 = np.array([0.583, -0.502]) + move = build_arc_xy_move(p0, p1, v=0.08, a=0.40, now=0.0) + assert move.linear is False + assert move.length > float(np.linalg.norm(p1 - p0)) + assert move.v_cruise == pytest.approx(0.08) + xy0, v0, done0 = move.sample(0.0) + np.testing.assert_allclose(xy0, p0, atol=1e-6) + assert float(np.hypot(v0[0], v0[1])) == pytest.approx(0.0, abs=1e-6) + assert done0 is False + t_mid = 0.5 * (move.t_acc + (move.t_acc + move.t_cruise)) + xy_m, v_m, _ = move.sample(t_mid) + chord = p1 - p0 + # 中点不在弦上，否则还是直线冲。 + rel = xy_m - p0 + off = abs(float(chord[0] * rel[1] - chord[1] * rel[0])) / float( + np.linalg.norm(chord) + ) + assert off > 0.005 + assert float(np.hypot(v_m[0], v_m[1])) == pytest.approx(0.08, abs=0.008) + xy1, v1, done1 = move.sample(move.T + 0.01) + np.testing.assert_allclose(xy1, p1, atol=2e-3) + assert float(np.hypot(v1[0], v1[1])) == pytest.approx(0.0, abs=1e-4) + assert done1 is True + src = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "servo_node.py" + ).read_text(encoding="utf-8") + assert "hybrid_cruise_vxy(" in src + assert "_d435_oneshot_holds_the_arm" in src + assert "smooth_joint_schedule(" in src + assert "oneshot_full_segments(" in src + assert "oneshot_concat_hold_ori(" in src + assert "oneshot_full_cruise_mps(" in src + assert "oneshot_may_send_another(" in src + assert "oneshot_hop_limits(" in src + assert "oneshot_needs_verticalize(" in src + assert "verticalize=near" not in src + oneshot = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "overhead_oneshot.py" + ).read_text(encoding="utf-8") + assert "verticalize=False" in oneshot + assert "oneshot_concat_hold_ori" in oneshot + assert '_d435_send_verticalize' in src + assert 'tag="vert"' in src or '"vert"' in src + assert 'tag = "fix"' in src + assert "_d435_full_done" in src + assert "_d435_fix_done" in src + assert "flange_tilt_rad(" in src + assert "D435 重测 leftover=" in src + assert "dxy=(" in src + assert "_d435_remeasure_log" in src + assert "到位成功不许再往话题插 hold" in src + assert "FollowJointTrajectory" in src + assert "send_goal_async(" in src + assert "结果回来之前不再发下一条" in src + assert "钉住不再补刀" in src + hold = src[src.index("def _d435_oneshot_holds_the_arm") : src.index("def _tick_d435_arrive")] + assert 'self._track_source == "overhead"' in hold + assert "not self._d435_settled" in hold + fn = src[ + src.index("def _d435_oneshot_holds_the_arm") : src.index( + "def _d435_pin_and_stop_hops" + ) + ] + assert "and self._d435_settled" in fn + assert "等 D405 框心接上" in fn + locked = src[ + src.index("def _d435_oneshot_holds_locked") : src.index( + "def _d435_oneshot_holds_locked_joint" + ) + ] + assert "self._d435_vendor_done = True" in locked + pin_at = locked.find("self._d435_vendor_done = True") + assert "_send_hold()" in locked[pin_at : pin_at + 500] + assert "_publish_joint_schedule(" not in hold + assert "oneshot_cartesian_dp(" not in hold + assert "trap_joint_schedule(" not in hold + assert "_hybrid_goal_xy" not in src + assert "def _execute_twist(" in src + stage2 = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + assert "from arm_application.path_profile import" in stage2 + assert "FROZEN_J_HOP_MAX_M" in stage2 + assert "def _trap_params(" not in stage2 + assert "def _path_interp(" not in stage2 + + def test_frozen_j_hop_is_capped_and_same_leftover_must_not_repeat(self): + """400 mm 一次规划会少走；28 mm 同剩差再发就是真机那趟死循环。""" + assert FROZEN_J_HOP_MAX_M == pytest.approx(0.08) + assert oneshot_next_hop_m(0.402) == pytest.approx(0.08) + assert oneshot_next_hop_m(0.028) == pytest.approx(0.028) + arrive = 0.015 + assert oneshot_may_send_another(0.402, None, arrive_m=arrive) is True + assert oneshot_may_send_another(0.322, 0.402, arrive_m=arrive) is True + assert oneshot_may_send_another(0.028, 0.028, arrive_m=arrive) is False + assert oneshot_may_send_another(0.010, 0.028, arrive_m=arrive) is False + + def test_oneshot_dp_lifts_z_first_and_caps_xy(self): + """没到锁高只收 Z；400 mm 的 XY 必须被砍到 80 mm，并且带着锁高。""" + gate = 0.040 + lift = oneshot_cartesian_dp( + [0.65, -0.32, 0.26], [0.58, -0.50], 0.320, gate_m=gate + ) + np.testing.assert_allclose(lift[:2], [0.0, 0.0]) + assert lift[2] > 0.0 + assert float(np.linalg.norm(lift)) == pytest.approx(0.060, abs=1e-9) + xy = oneshot_cartesian_dp( + [0.65, -0.11, 0.320], [0.58, -0.50], 0.320, gate_m=gate + ) + assert float(np.linalg.norm(xy)) == pytest.approx(FROZEN_J_HOP_MAX_M) + assert abs(float(xy[2])) < 1e-9 + acc = trap_acc_for_hop(0.08, 0.08) + assert acc == pytest.approx(0.08 * 0.08 / (2.0 * 0.0256), abs=1e-6) + + def test_near_leftover_is_short_slow_xy_only(self): + """真机最后一跳 37–75 mm @ 80 mm/s 会晃。近处必须短、慢、不混 Z。""" + gate = 0.040 + dp = oneshot_cartesian_dp( + [0.583, -0.465, 0.327], [0.583, -0.502], 0.320, gate_m=gate + ) + leftover = 0.037 + hop_max, cruise = oneshot_hop_limits(leftover, 0.08) + assert leftover <= D435_NEAR_LEFTOVER_M + assert hop_max == pytest.approx(0.015) + assert cruise == pytest.approx(D435_NEAR_CRUISE_MPS) + assert cruise == pytest.approx(0.045) + assert float(np.linalg.norm(dp)) == pytest.approx(0.015, abs=1e-9) + assert abs(float(dp[2])) < 1e-9 + assert oneshot_needs_verticalize(0.03, 0.010, 0.015) is True + assert oneshot_needs_verticalize(0.03, 0.020, 0.015) is False + assert oneshot_needs_verticalize(0.03, 0.010, 0.015, already_done=True) is False + assert oneshot_needs_verticalize(0.005, 0.010, 0.015) is False + R = np.eye(3) + R[2, 2] = -1.0 + w, ang = flange_down_w(R) + np.testing.assert_allclose(w, [0.0, 0.0, 0.0]) + assert ang < 0.006 + stage2 = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + assert "return flange_down_w(R)" in stage2 + + def test_full_segments_do_not_chop_and_keep_z_then_xy(self): + """整段一次走完：200 mm 不许被砍成 80 mm；没到锁高先整段收 Z。""" + gate = 0.040 + segs = oneshot_full_segments( + [0.65, -0.11, 0.26], [0.58, -0.50], 0.320, gate_m=gate + ) + assert segs[0][1] == "lift_z" + np.testing.assert_allclose(segs[0][0][:2], [0.0, 0.0]) + assert segs[0][0][2] == pytest.approx(0.060) + assert segs[1][1] == "xy" + xy_len = float(np.linalg.norm(segs[1][0][:2])) + assert xy_len > 0.20 + assert xy_len > FROZEN_J_HOP_MAX_M + near = oneshot_full_segments( + [0.583, -0.465, 0.327], [0.583, -0.502], 0.320, gate_m=gate + ) + assert len(near) == 1 + assert near[0][1] == "xy" + assert float(np.linalg.norm(near[0][0])) == pytest.approx(0.037, abs=1e-9) + assert abs(float(near[0][0][2])) < 1e-9 + assert oneshot_full_cruise_mps(0.20, 0.12) == pytest.approx(D435_FULL_CRUISE_MPS) + assert oneshot_full_cruise_mps(0.20, 0.12) < 0.12 + assert oneshot_full_cruise_mps(0.05, 0.08) == pytest.approx(D435_NEAR_CRUISE_MPS) + chopped = oneshot_cartesian_dp( + [0.65, -0.11, 0.320], [0.58, -0.50], 0.320, gate_m=gate + ) + assert float(np.linalg.norm(chopped)) == pytest.approx(FROZEN_J_HOP_MAX_M) + + def test_smooth_path_is_rest_to_rest_and_slows_at_the_end(self): + """300 mm @ 60 mm/s 的加减速形状：头尾速度 0，起步 ≥3 s，低于旧弹射档。""" + assert D435_FULL_ACC_M == pytest.approx(0.150) + assert D435_FULL_DEC_M == pytest.approx(0.120) + assert D435_FULL_CRUISE_MPS == pytest.approx(0.090) + a_now = cosine_peak_acc(D435_FULL_CRUISE_MPS, D435_FULL_ACC_M) + a_old = cosine_peak_acc(0.08, 0.040) + assert a_old > 0.12 + assert a_now < 0.055 + assert a_now < 0.45 * a_old + T, v_peak, t_acc, t_cruise, d_acc, d_dec = smooth_path_params( + 0.30, 0.06, d_acc=0.100, d_dec=0.080 + ) + assert v_peak == pytest.approx(0.06) + assert d_acc == pytest.approx(0.100) + assert d_dec == pytest.approx(0.080) + assert t_acc > 3.0 + assert t_cruise > 0.5 + s0, v0 = smooth_path_sv(0.0, 0.30, v_peak, t_acc, t_cruise, d_acc, d_dec) + assert s0 == pytest.approx(0.0, abs=1e-9) + assert v0 == pytest.approx(0.0, abs=1e-9) + s_mid, v_mid = smooth_path_sv( + t_acc + 0.5 * t_cruise, 0.30, v_peak, t_acc, t_cruise, d_acc, d_dec + ) + assert v_mid == pytest.approx(0.06, abs=1e-6) + assert 0.10 < s_mid < 0.24 + s1, v1 = smooth_path_sv(T, 0.30, v_peak, t_acc, t_cruise, d_acc, d_dec) + assert s1 == pytest.approx(0.30, abs=1e-6) + assert v1 == pytest.approx(0.0, abs=1e-6) + s_dec, v_dec = smooth_path_sv( + t_acc + t_cruise + 0.5 * (T - t_acc - t_cruise), + 0.30, + v_peak, + t_acc, + t_cruise, + d_acc, + d_dec, + ) + assert v_dec < 0.045 + assert s_dec > 0.20 + q0 = np.zeros(7) + q1 = np.zeros(7) + q1[0] = 0.3 + sched, T_move, vp = smooth_joint_schedule( + [q0, q1], 0.30, 0.06, d_acc=0.100, d_dec=0.080 + ) + assert T_move == pytest.approx(T, abs=1e-6) + assert vp == pytest.approx(0.06) + assert float(np.linalg.norm(sched[0][1])) == pytest.approx(0.0, abs=1e-9) + assert float(np.linalg.norm(sched[-1][1])) == pytest.approx(0.0, abs=1e-9) + times = [t for _, _, t in sched] + assert all(times[i] < times[i + 1] for i in range(len(times) - 1)) + + def test_concat_hold_ori_refuses_to_mix_verticalize(self): + """串段必须 verticalize=False。混进收垂直会把腕部漏成 Y。""" + J = np.zeros((6, 7)) + J[0, 0] = 1.0 + J[1, 1] = 1.0 + J[2, 2] = 1.0 + segs = [ + (np.array([0.0, 0.0, 0.02]), "lift_z"), + (np.array([0.04, -0.03, 0.0]), "xy"), + ] + wps, planned, asked, tag = oneshot_concat_hold_ori( + np.zeros(7), J, segs, R=np.eye(3) + ) + assert tag == "full" + assert asked == pytest.approx(0.02 + float(np.hypot(0.04, 0.03))) + assert len(wps) >= 3 + src = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "overhead_oneshot.py" + ).read_text(encoding="utf-8") + assert "verticalize=False" in src + assert "oneshot_concat_hold_ori" in src + + def test_oneshot_schedule_is_rest_to_rest_and_times_increase(self): + """一次下发的轨迹：头尾速度 0，时间递增。中途再插点就会把这条掐掉。""" + q0 = np.zeros(7) + q1 = np.zeros(7) + q1[0] = 0.3 + sched, T_move, v_peak = trap_joint_schedule( + [q0, q1], 0.40, 0.08, 0.40 + ) + assert T_move > 4.0 + assert v_peak == pytest.approx(0.08) + assert len(sched) > 8 + assert float(np.linalg.norm(sched[0][1])) == pytest.approx(0.0, abs=1e-9) + assert float(np.linalg.norm(sched[-1][1])) == pytest.approx(0.0, abs=1e-9) + times = [t for _, _, t in sched] + assert times == sorted(times) + assert all(times[i] < times[i + 1] for i in range(len(times) - 1)) + mid = sched[len(sched) // 3] + assert float(np.linalg.norm(mid[1])) > 0.01 + + def test_translation_holds_the_height_it_started_at(self): + """平移钉住开始时的高度。沉下去要抬回来，已经在 4mm 内就不要再收。""" + assert hold_translation_vz(0.327, 0.327, kp=1.0, v_lim=0.05) == 0.0 + assert hold_translation_vz(0.325, 0.327, kp=1.0, v_lim=0.05) == 0.0 + assert hold_translation_vz(0.307, 0.327, kp=1.0, v_lim=0.05) > 0.0 + assert hold_translation_vz(0.347, 0.327, kp=1.0, v_lim=0.05) < 0.0 + src = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" / "servo_node.py" + ).read_text(encoding="utf-8") + assert "hold_translation_vz(" in src + + def test_threshold_is_the_caller_value_not_hardcoded(self): + # 负向：如果函数内部写死 0.5，改门槛 0.7 时 0.6 会判错 + assert wrist_needs_handoff(0.6, 0.7) is True + assert wrist_needs_handoff(0.6, 0.5) is False + + +class TestSelect: + def test_best_conf_none_on_empty(self): + assert best_det_conf([]) is None + assert best_det_conf(None) is None + + def test_select_rejects_below_threshold(self): + dets = [_det(conf=0.3), _det(conf=0.49)] + assert select_oneshot_det(dets, 0.5) is None + + def test_select_picks_highest_above_threshold(self): + lo = _det(conf=0.55, cx=1) + hi = _det(conf=0.9, cx=2) + got = select_oneshot_det([lo, hi], 0.5) + assert got is hi + + +class TestK0: + def test_missing_kpts_is_not_bbox_center(self): + d = _det(cx=200, cy=150, kpts=None) + assert k0_uv_from_det(d) is None + + def test_low_kpt_conf_rejected(self): + kpts = np.array([[10.0, 20.0, 0.1]], dtype=float) + assert k0_uv_from_det(_det(kpts=kpts), kpt_min_conf=0.30) is None + + def test_good_k0(self): + kpts = np.array([[11.0, 22.0, 0.9]], dtype=float) + assert k0_uv_from_det(_det(kpts=kpts)) == (11.0, 22.0) + + +class TestOneshotK0Base: + def _depth(self, z=0.70, h=10, w=10): + return np.full((h, w), z, dtype=float) + + def _T(self, xyz): + T = np.eye(4) + T[:3, 3] = xyz + return T + + def test_eye_to_hand_ignores_placeholder_flange(self): + kpts = np.array([[5.0, 5.0, 0.99]], dtype=float) + det = _det(conf=0.8, cx=5, cy=5, kpts=kpts) + T = self._T([0.4, -0.5, 0.7]) + got, is_k0 = oneshot_k0_base( + det, + self._depth(0.80), + fx=1.0, + fy=1.0, + cx=5.0, + cy=5.0, + T_cam_to_base=T, + min_z_m=0.25, + max_z_m=1.80, + ) + assert is_k0 is True + np.testing.assert_allclose(got, [0.4, -0.5, 1.5], atol=1e-9) + + def test_wrong_mode_would_shift_by_flange(self): + """守卫：同一点用眼在手上公式会差出法兰平移 —— 调用方绝不能走那条。""" + from arm_application.handeye_lib import cam_point_to_base + + T_he = self._T([0.4, -0.5, 0.7]) + T_ee = self._T([0.6, 0.0, 0.3]) + p = np.array([0.0, 0.0, 0.8]) + right = cam_point_to_base(p, T_he, T_ee, "eye_to_hand") + wrong = cam_point_to_base(p, T_he, T_ee, "eye_in_hand") + assert np.linalg.norm(right - wrong) > 0.5 + + def test_low_det_conf_returns_none(self): + det = _det(conf=0.2) + assert ( + oneshot_k0_base( + det, + self._depth(), + fx=1, + fy=1, + cx=5, + cy=5, + T_cam_to_base=np.eye(4), + min_z_m=0.25, + max_z_m=1.80, + min_det_conf=0.5, + ) + is None + ) + + def test_depth_out_of_range_returns_none(self): + kpts = np.array([[5.0, 5.0, 0.99]], dtype=float) + det = _det(conf=0.9, kpts=kpts) + assert ( + oneshot_k0_base( + det, + self._depth(0.05), + fx=1, + fy=1, + cx=5, + cy=5, + T_cam_to_base=np.eye(4), + min_z_m=0.25, + max_z_m=1.80, + ) + is None + ) + + +class TestDepthScale: + def test_uint16_mm_becomes_meters(self): + raw = np.full((8, 8), 700, dtype=np.uint16) + m = depth_raw_to_m(raw, "16UC1") + assert m is not None + assert m[0, 0] == pytest.approx(0.70) + + def test_unknown_encoding_returns_none(self): + assert depth_raw_to_m(np.ones((8, 8)), "rgb8") is None + + def test_map_uv_scales_when_size_differs(self): + u, v = map_uv_to_depth(100, 50, (200, 100), (100, 50)) + assert (u, v) == (50.0, 25.0) + + +class TestStillLock: + def test_three_seconds_still_locks(self): + s = StillLock(still_sec=3.0, still_move_m=0.015) + p = np.array([0.50, -0.12]) + assert s.update(p, 0.0, tracking_ok=True) is False + assert s.update(p + 0.005, 2.9, tracking_ok=True) is False + assert s.update(p + 0.005, 3.0, tracking_ok=True) is True + + def test_large_move_resets(self): + s = StillLock(still_sec=3.0, still_move_m=0.015) + p = np.array([0.50, -0.12]) + s.update(p, 0.0, tracking_ok=True) + assert s.update(p + np.array([0.020, 0.0]), 2.0, tracking_ok=True) is False + assert s.update(p + np.array([0.020, 0.0]), 4.9, tracking_ok=True) is False + assert s.update(p + np.array([0.020, 0.0]), 5.0, tracking_ok=True) is True + + def test_lost_tracking_resets(self): + s = StillLock(still_sec=3.0, still_move_m=0.015) + p = np.array([0.50, -0.12]) + s.update(p, 0.0, tracking_ok=True) + assert s.update(p, 4.0, tracking_ok=False) is False + assert s.update(p, 4.1, tracking_ok=True) is False + + def test_overhead_move_does_not_lock(self): + """tracking_ok=False（顶视迁臂）即使法兰不动也不许进二阶段。""" + s = StillLock(still_sec=3.0, still_move_m=0.015) + p = np.array([0.50, -0.12]) + assert s.update(p, 0.0, tracking_ok=False) is False + assert s.update(p, 10.0, tracking_ok=False) is False + + +class TestHoleBiasAxes: + def test_look_along_x_right_along_y(self): + """相机朝 +X、画面右为 +Y：残差必须拆到这两轴，不许混。""" + T = np.eye(4) + # 列 = 相机轴在基座：X=+Y，Y=−Z，Z=+X + T[:3, :3] = np.array([ + [0.0, 0.0, 1.0], + [1.0, 0.0, 0.0], + [0.0, -1.0, 0.0], + ], dtype=float) + axes = cam_xy_bias_axes(T) + assert axes is not None + look, right = axes + np.testing.assert_allclose(look, [1.0, 0.0], atol=1e-9) + np.testing.assert_allclose(right, [0.0, 1.0], atol=1e-9) + d = decompose_base_xy([0.010, 0.006], T) + assert d is not None + assert d["along_look_m"] == pytest.approx(0.010, abs=1e-9) + assert d["along_right_m"] == pytest.approx(0.006, abs=1e-9) + + def test_straight_down_has_no_look_axis(self): + """光轴竖直朝下时水平投影退化，必须返回 None，不许用 (0,0) 硬拆。""" + T = np.eye(4) + T[1, 1] = -1.0 + T[2, 2] = -1.0 + assert cam_xy_bias_axes(T) is None + assert decompose_base_xy([0.01, 0.0], T) is None + + @pytest.mark.skip(reason="只同步 ROS 节点；远程 UI、shell 和整站配置不在本次范围") + def test_site_wires_keypoint_once_on_this_branch(self): + """本分支 site 必须打开单次精拍，否则实验跑的还是多走多拍。""" + from pathlib import Path + + import yaml + + site = yaml.safe_load( + (Path(__file__).resolve().parents[3] / "config" / "site.yaml").read_text( + encoding="utf-8" + ) + ) + st2 = (site.get("hole_detect") or {}).get("stage2") or {} + assert st2.get("hole_keypoint_once") is True + assert st2.get("hole_visual_only") is True + assert st2.get("hole_once_lock_xy_descend") is True + assert st2.get("once_ff_look_per_m") == pytest.approx(ONCE_FF_LOOK_PER_M) + servo = (site.get("servo") or {}) + assert servo.get("d435_handback_sec") == pytest.approx(2.0) + + def test_oneshot_step_covers_half_hole_pair(self): + """框心到 k1 约 29mm：必须整步走完，不许再截成 12mm。""" + assert oneshot_align_step_m(0.02894) == pytest.approx(0.02894) + assert oneshot_align_step_m(0.012) == pytest.approx(0.012) + assert oneshot_align_step_m(0.050) == pytest.approx(0.040) + assert oneshot_align_step_m(0.050) > 0.012 + 1e-9 + + def test_once_trim_pair_window_and_step_cap(self): + """下降后补孔：60mm 间距可走；45mm 是检测漂了。一跳上限 3mm。""" + assert ONCE_TRIM_MAX_STEP_M == pytest.approx(0.003) + assert ONCE_TRIM_REFUSE_M == pytest.approx(0.008) + assert hole_pair_span_m([0.50, -0.10], [0.50, -0.16]) == pytest.approx(0.060) + assert hole_pair_span_ok(0.060) is True + assert hole_pair_span_ok(0.050) is True + assert hole_pair_span_ok(0.070) is True + assert hole_pair_span_ok(0.045) is False + assert hole_pair_span_ok(0.080) is False + assert ONCE_APPROACH_STEP_M == pytest.approx(0.020) + assert flange_z_for_gap_m(0.223, 0.022, 0.002) == pytest.approx(0.247) + assert flange_z_for_gap_m(0.223, 0.022, 0.015) == pytest.approx(0.260) + + def test_final_gap_refusal_uses_tip_clearance_not_flange_z(self): + """贴面参数是规尖离面。0 / 比悬停还高 / 法兰出盒必须红。""" + tool, surf, hover = 0.2245, 0.022, 0.320 + z_lo, z_hi = 0.18, 0.65 + assert final_gap_refusal(0.002, tool, surf, hover, z_lo, z_hi) == "" + assert final_gap_refusal(0.008, tool, surf, hover, z_lo, z_hi) == "" + assert "≤ 0" in final_gap_refusal(0.0, tool, surf, hover, z_lo, z_hi) + assert "未知" in final_gap_refusal(0.008, 0.0, surf, hover, z_lo, z_hi) + hover_clear = hover - tool - surf + why_up = final_gap_refusal(hover_clear + 0.005, tool, surf, hover, z_lo, z_hi) + assert "抬臂" in why_up + why_box = final_gap_refusal(0.008, tool, surf, hover, 0.40, z_hi) + assert "工作盒" in why_box + flange_8 = flange_z_for_gap_m(tool, surf, 0.008) + assert flange_8 == pytest.approx(0.2545) + assert flange_8 < hover + + def test_hole_entry_goes_below_the_face_and_refuses_through_the_plate(self): + """孔口凹槽：进孔深度把规尖放到上表面以下；超过 8mm 或出工作盒必须红。""" + tool, surf = 0.226587, 0.022 + z_lo, z_hi = 0.18, 0.65 + assert insert_target_gap_m(0.002, 0.0) == pytest.approx(0.002) + assert insert_target_gap_m(0.002, 0.004) == pytest.approx(-0.004) + assert hole_entry_refusal(0.0, tool, surf, z_lo, z_hi) == "" + assert hole_entry_refusal(0.004, tool, surf, z_lo, z_hi) == "" + flange = flange_z_for_gap_m(tool, surf, -0.004) + assert flange == pytest.approx(tool + surf - 0.004) + assert flange > z_lo + why_deep = hole_entry_refusal(HOLE_ENTRY_MAX_M + 0.004, tool, surf, z_lo, z_hi) + assert "穿出" in why_deep + assert "未知" in hole_entry_refusal(0.004, 0.0, surf, z_lo, z_hi) + why_box = hole_entry_refusal(0.004, tool, surf, 0.40, z_hi) + assert "工作盒" in why_box + + def test_movel_tcp_z_only_keeps_xy(self): + """微抬只加厂家 TCP 的 Z。XY 必须是原来那两个数。""" + up = movel_tcp_z_only([0.52, -0.37, 0.091], 0.002) + assert up is not None + assert up[0] == pytest.approx(0.52) + assert up[1] == pytest.approx(-0.37) + assert up[2] == pytest.approx(0.093) + down = movel_tcp_z_only(up, -0.002) + assert down is not None + assert down[2] == pytest.approx(0.091) + assert movel_tcp_z_only(up, 0.0) is None + + def test_final_gap_cli_overrides_site_and_conflicts_with_no_descent(self): + """--final-gap 必须接到 launch/节点；和 --no-descent 一起写必须在脚本里红。""" + from pathlib import Path + + root = Path(__file__).resolve().parents[1] + ws = root + while ws != ws.parent and not (ws / "scripts" / "run_all.sh").is_file(): + ws = ws.parent + run_all = (ws / "scripts" / "run_all.sh").read_text(encoding="utf-8") + stage2 = (root / "arm_application" / "stage2_locate_node.py").read_text( + encoding="utf-8" + ) + launch = (root / "launch" / "pipeline.launch.py").read_text(encoding="utf-8") + assert "--final-gap" in run_all + assert "final_gap_mm:=${FINAL_GAP}" in run_all + assert "同时写了 --final-gap 和 --no-descent" in run_all + assert 'self.declare_parameter("final_gap_mm"' in stage2 + assert "final_gap_user_set" in stage2 + assert "target_gap_m=lock_gap" in stage2 + assert '"final_gap_mm": float(final_gap) if final_gap else -1.0' in launch + assert 'DeclareLaunchArgument("final_gap_mm"' in launch + + def test_once_look_ff_is_minus_look_times_k_dz(self): + """现行 k=0 → ΔXY=(0,0)。k=0.018、look=-X、降 71.5mm 才是 +1.287mm X。""" + k0 = float(ONCE_FF_LOOK_PER_M) + assert k0 == pytest.approx(0.0) + dxy0 = once_look_ff_xy([-1.0, 0.0], 0.0715, k0) + assert dxy0 is not None + np.testing.assert_allclose(dxy0, [0.0, 0.0], atol=1e-12) + np.testing.assert_allclose( + once_look_ff_xy([0.0, 0.0], 0.0715, 0.0), [0.0, 0.0], atol=1e-12 + ) + assert once_look_ff_xy([-1.0, 0.0], 0.0, 0.0) is None + k = 0.018 + expect_x = k * 0.0715 + dxy = once_look_ff_xy([-1.0, 0.0], 0.0715, k) + assert dxy is not None + np.testing.assert_allclose(dxy, [expect_x, 0.0], atol=1e-9) + assert expect_x == pytest.approx(0.001287, abs=1e-6) + assert once_look_ff_xy([0.0, 0.0], 0.0715, k) is None + assert once_look_ff_xy([-1.0, 0.0], 0.0, k) is None + packed = once_ff_tcp_xyz( + [0.50, -0.40], + [-0.001, -0.001], + [-1.0, 0.0], + 0.0715, + k0, + 0.022, + 0.002, + ) + assert packed is not None + tcp, dxy2 = packed + assert tcp[2] == pytest.approx(0.024) + assert tcp[2] < 0.18 + np.testing.assert_allclose(tcp[:2], [0.50 - 0.001, -0.40 - 0.001]) + np.testing.assert_allclose(dxy2, [0.0, 0.0], atol=1e-12) + assert ONCE_FF_MOVEL_VEL_MPS == pytest.approx(0.05) + dz_refuse = ONCE_TRIM_REFUSE_M / k + 0.01 + assert once_look_ff_xy([-1.0, 0.0], dz_refuse, k) is not None + assert float(np.hypot(*once_look_ff_xy([-1.0, 0.0], dz_refuse, k))) > ONCE_TRIM_REFUSE_M + rel = once_ff_movel_from_tcp([0.580, -0.460, 0.096], [0.0, 0.0], 0.0715) + assert rel is not None + np.testing.assert_allclose(rel, [0.580, -0.460, 0.0245], atol=1e-9) + assert once_ff_movel_from_tcp([0.580, -0.460, 0.096], [0.00129, 0.0], 0.0) is None + + +class TestRetractHold: + def test_retract_goal_z_never_goes_down(self): + """抬过头 = 成功。真机 hop1 +18 mm 后 hop2 不许用 −13 mm 往回压。""" + assert retract_goal_z(0.258, 0.258 + 0.005) == pytest.approx(0.263) + assert retract_goal_z(0.276, 0.258 + 0.005) == pytest.approx(0.276) + assert retract_goal_z(0.276, 0.263) >= 0.276 - 1e-12 + + def test_stage3_retract_is_z_up_only(self): + root = __import__("pathlib").Path(__file__).resolve().parents[1] + st3 = (root / "arm_application" / "stage3_search_node.py").read_text( + encoding="utf-8" + ) + blk = st3[st3.find("def _retract") : st3.find("def _resnap_align")] + assert "z_up_only=True" in blk + assert "hold_xy=True" in blk + st2 = (root / "arm_application" / "stage2_locate_node.py").read_text( + encoding="utf-8" + ) + assert "z_up_only: bool = False" in st2 + assert "retract_goal_z(" in st2 + + @pytest.mark.skip(reason="远程整站配置/硬件实现未同步；本地有独立回归测试") + def test_vendor_movel_hold_seeds_joint_commands(self): + """MoveL 切回关节模式后必须用当前角覆盖 JTC 悬停指令，否则收臂会先弹。""" + root = __import__("pathlib").Path(__file__).resolve().parents[3] + cpp = ( + root / "src" / "flexiv_ros2" / "flexiv_hardware" / "src" / "flexiv_hardware_interface.cpp" + ).read_text(encoding="utf-8") + hpp = ( + root + / "src" + / "flexiv_hardware" + / "include" + / "flexiv_hardware" + / "flexiv_hardware_interface.hpp" + ).read_text(encoding="utf-8") + assert "hold_current_joint_commands" in cpp + assert "hold_current_joint_commands" in hpp + assert "vendor_movel_hold_commands_" in cpp + assert "kArming" in hpp + assert "NRT_PRIMITIVE_EXECUTION" in cpp + assert "切到 NRT_PRIMITIVE_EXECUTION 超时" in cpp + assert "robot_->states().q" in cpp + assert "milliseconds(500)" in cpp + assert "nrt_gate_settle" in cpp + assert "vendor_movel_hold_q_" in cpp + assert "kHoldReleaseRad = 0.020" in cpp + assert "vendor_movel_hold_until_" not in cpp + settle = cpp[cpp.find("void nrt_gate_settle") : cpp.find("void request_nrt_settle")] + assert "gate.v_filt.assign" in settle + assert "gate.parked = true" in settle + assert "gate.last_cmd = q" in settle + servo = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" + / "servo_node.py" + ).read_text(encoding="utf-8") + assert "D435_MOVEL_GAVE_UP" in servo + assert "D435_MOVEL_RETRY" in servo + pipe = ( + __import__("pathlib").Path(__file__).resolve().parents[1] + / "arm_application" + / "pipeline_node.py" + ).read_text(encoding="utf-8") + assert "stage1_log_fatal(" in pipe + assert "finish_vendor_movel" in cpp + running = cpp[cpp.find("if (vendor_movel_phase_ == VendorMovelPhase::kRunning)") :] + running = running[: running.find("reachedTarget")] + assert "robot_->fault()" in running + assert "目标到不了" in running + assert running.find("robot_->fault()") < running.find("> vendor_movel_deadline_") + fin = cpp[cpp.find("void FlexivHardwareInterface::finish_vendor_movel") :] + fin = fin[: fin.find("bool FlexivHardwareInterface::poll_vendor_movel")] + assert "hold_current_joint_commands()" in fin + wr = cpp[cpp.find("FlexivHardwareInterface::write") :] + wr = wr[: wr.find("if (position_controller_running_")] + assert "vendor_movel_hold_commands_" in wr + assert "vendor_movel_hold_q_" in wr + assert "hw_states_joint_positions_" not in wr + send = cpp[cpp.find("static NrtSendGate nrt_gate;") :] + send = send[: send.find("if (nrt_should_send")] + assert "nrt_gate_settle(nrt_gate, target_pos)" in send + i_pin = cpp.find("const bool pin_arrival") + look = cpp[i_pin : cpp.find("send_pos[i] = target_pos[i]", i_pin)] + assert "pin_arrival" in look + assert "near_rest = pin_arrival" in look diff --git a/src/arm_application/test/test_overhead_track.py b/src/arm_application/test/test_overhead_track.py new file mode 100644 index 0000000..33b2f82 --- /dev/null +++ b/src/arm_application/test/test_overhead_track.py @@ -0,0 +1,247 @@ +"""一阶段跟踪切到顶置 D435：相机、手眼文件、TF 父子、点变换都必须对。 + +把眼在手外的 T（cam→基座）再乘法兰，定位总能到附近、永远差一截。 +所以这里每条都配负向：走错模式 / 借腕部量程 / 非法角色必须红。 +""" + +from __future__ import annotations + +import sys +from pathlib import Path + +import numpy as np +import pytest + +ROOT = Path(__file__).resolve().parents[3] +SCRIPTS_LIB = ROOT / "scripts" / "lib" +sys.path.insert(0, str(SCRIPTS_LIB)) +import export_site_env # type: ignore # noqa: E402 + +from arm_application.handeye_lib import cam_point_to_base, cam_to_base_T # noqa: E402 +from arm_application.site_io import ( # noqa: E402 + handeye_static_tf_frames, + track_camera_role, + track_handeye_mode, +) + +from test_handeye_mode import _site # noqa: E402 + + +@pytest.fixture(autouse=True) +def _isolate_arm(monkeypatch): + """别让本机 env 里的 ROBOT_SN=89 把虚构站点解析到真机相机。""" + monkeypatch.setenv("SITE_CONFIG", "/nonexistent/site.yaml") + monkeypatch.setenv("ROBOT_SN", "Rizon4-777001") + + +def _track_site(**over) -> dict: + site = _site() + site["camera"] = {"name": "d405_left"} + site["paths"] = {"handeye_file": "/tmp/wrist_eye_in_hand.yaml"} + site["yolo"] = {"max_depth_m": 0.55, "min_depth_m": 0.04, "feature_min_range_m": 0.14} + site["servo"] = { + "xy_track": "hover", + "lock_still_sec": 3.0, + "d435_handback_sec": 3.0, + "wrist_align_sec": 0.5, + "lock_still_move_m": 0.015, + } + site["perception"] = { + "track_camera": "wrist", + "wrist_handoff_conf": 0.5, + "overhead": { + "min_depth_m": 0.25, + "max_depth_m": 1.80, + "feature_min_range_m": 0.30, + "oneshot_conf": 0.5, + "cooldown_s": 1.5, + "frame_max_age_s": 0.4, + "oneshot_hold_s": 8.0, + }, + } + for k, v in over.items(): + if isinstance(v, dict) and isinstance(site.get(k), dict): + merged = dict(site[k]) + merged.update(v) + site[k] = merged + else: + site[k] = v + return site + + +def _overhead_ok() -> dict: + return _track_site( + perception={ + "track_camera": "overhead", + "overhead": { + "min_depth_m": 0.25, + "max_depth_m": 1.80, + "feature_min_range_m": 0.30, + }, + } + ) + + +class TestTrackCameraRole: + def test_missing_defaults_to_wrist(self): + assert track_camera_role({}) == "wrist" + assert track_camera_role({"perception": {}}) == "wrist" + + def test_illegal_value_raises_not_fallback(self): + with pytest.raises(ValueError, match="wrist 或 overhead"): + track_camera_role({"perception": {"track_camera": "d405"}}) + + def test_overhead_maps_to_eye_to_hand(self): + assert track_handeye_mode("overhead") == "eye_to_hand" + assert track_handeye_mode("wrist") == "eye_in_hand" + + +class TestPerceptionServoWiring: + def test_overhead_uses_d435_not_wrist_camera(self): + p = export_site_env.perception_overrides(_overhead_ok()) + assert p["camera_source"] == "d435" + assert p["camera_frame"] == "d435_color_optical_frame" + assert p["depth_topic"] == "/d435/aligned_depth_to_color/image_raw" + assert "d405" not in p["camera_source"] + assert "d405" not in p["depth_topic"] + + def test_overhead_does_not_borrow_wrist_depth_range(self): + p = export_site_env.perception_overrides(_overhead_ok()) + assert p["max_depth_m"] == pytest.approx(1.80) + assert p["min_depth_m"] == pytest.approx(0.25) + assert p["feature_min_range_m"] == pytest.approx(0.30) + # 负向：腕部 0.55 绝不能漏过来 + assert p["max_depth_m"] != pytest.approx(0.55) + + def test_overhead_handeye_file_is_e2h_not_wrist(self): + s = export_site_env.servo_overrides(_overhead_ok()) + assert s["handeye_mode"] == "eye_to_hand" + assert s["handeye_file"].endswith("01_d435_eye_to_hand.yaml") + assert "wrist_eye_in_hand" not in s["handeye_file"] + parent, child = handeye_static_tf_frames( + mode=s["handeye_mode"], + ee_frame="flange", + base_frame="base", + cam_frame=s["camera_frame"], + ) + assert parent == "base" + assert child == "d435_color_optical_frame" + + def test_wrist_track_keeps_arm_camera_and_wrist_file(self): + site = _track_site(perception={"track_camera": "wrist"}) + p = export_site_env.perception_overrides(site) + s = export_site_env.servo_overrides(site) + assert p["camera_source"] == "cam_a" + assert s["handeye_mode"] == "eye_in_hand" + assert s["handeye_file"] == "/tmp/wrist_eye_in_hand.yaml" + assert s["handeye_file"].endswith("eye_in_hand.yaml") + + def test_overhead_without_range_raises(self): + site = _track_site(perception={"track_camera": "overhead", "overhead": {}}) + with pytest.raises(RuntimeError, match="perception.overhead"): + export_site_env.perception_overrides(site) + + def test_wrist_hybrid_wires_oneshot_without_overwriting_wrist_range(self): + site = _track_site(perception={"track_camera": "wrist"}) + p = export_site_env.perception_overrides(site) + s = export_site_env.servo_overrides(site) + assert p["camera_source"] == "cam_a" + assert p["max_depth_m"] == pytest.approx(0.55) + assert p["overhead_oneshot_enable"] is True + assert p["wrist_handoff_conf"] == pytest.approx(0.5) + assert p["overhead_max_depth_m"] == pytest.approx(1.80) + assert p["overhead_handeye_file"].endswith("01_d435_eye_to_hand.yaml") + assert "d405" not in p["overhead_camera_source"] + assert s["handeye_mode"] == "eye_in_hand" + assert s["lock_still_sec"] == pytest.approx(3.0) + assert s["d435_handback_sec"] == pytest.approx(3.0) + assert s["wrist_align_sec"] == pytest.approx(0.5) + assert s["wrist_handoff_conf"] == pytest.approx(0.5) + assert s["overhead_hold_s"] == pytest.approx(8.0) + + def test_wrist_hybrid_missing_handoff_conf_raises(self): + site = _track_site() + del site["perception"]["wrist_handoff_conf"] + with pytest.raises(RuntimeError, match="wrist_handoff_conf"): + export_site_env.perception_overrides(site) + + def test_wrist_hybrid_missing_still_keys_raises(self): + site = _track_site() + del site["servo"]["lock_still_sec"] + with pytest.raises(RuntimeError, match="lock_still_sec"): + export_site_env.servo_overrides(site) + + def test_wrist_hybrid_missing_handback_raises(self): + site = _track_site() + del site["servo"]["d435_handback_sec"] + with pytest.raises(RuntimeError, match="d435_handback_sec"): + export_site_env.servo_overrides(site) + + def test_overhead_lookat_raises(self): + site = _overhead_ok() + site["servo"] = {"xy_track": "lookat"} + with pytest.raises(RuntimeError, match="lookat"): + export_site_env.servo_overrides(site) + + def test_flatten_track_vars_follow_role(self): + flat = export_site_env.flatten(_overhead_ok()) + assert flat["SITE_TRACK_CAMERA"] == "overhead" + assert flat["SITE_TRACK_CAM_NAME"] == "d435" + assert flat["SITE_CAM_NAME"] == "cam_a" # 腕部精拍路不变 + assert flat["SITE_TRACK_HANDEYE_MODE"] == "eye_to_hand" + assert flat["SITE_TRACK_HANDEYE_FILE"].endswith("01_d435_eye_to_hand.yaml") + assert "wrist_eye_in_hand" not in flat["SITE_TRACK_HANDEYE_FILE"] + + +class TestCamPointToBase: + def test_eye_to_hand_ignores_flange(self): + T_he = np.eye(4) + T_he[:3, 3] = [0.4, -0.5, 0.7] + T_ee = np.eye(4) + T_ee[:3, 3] = [0.6, 0.0, 0.3] + p = np.array([0.0, 0.0, 0.8]) + got = cam_point_to_base(p, T_he, T_ee, "eye_to_hand") + np.testing.assert_allclose(got, [0.4, -0.5, 1.5], atol=1e-9) + # 负向：若误乘法兰，点会多出法兰平移 + wrong = cam_point_to_base(p, T_he, T_ee, "eye_in_hand") + assert np.linalg.norm(got - wrong) > 0.5 + + def test_eye_in_hand_still_left_multiplies_ee(self): + T_he = np.eye(4) + T_he[:3, 3] = [0.0, 0.0, 0.12] + T_ee = np.eye(4) + T_ee[:3, 3] = [0.5, -0.1, 0.3] + p = np.array([0.01, 0.0, 0.2]) + got = cam_point_to_base(p, T_he, T_ee, "eye_in_hand") + np.testing.assert_allclose(got, [0.51, -0.1, 0.62], atol=1e-9) + + def test_illegal_mode_raises(self): + with pytest.raises(ValueError, match="eye_in_hand 或 eye_to_hand"): + cam_to_base_T(np.eye(4), np.eye(4), "eye_on_foot") + + +class TestRealSiteBranchDefault: + """main 上 site.yaml 必须是 D405 主跟踪 + D435 一次性，跟踪外参仍是腕部。""" + + @pytest.mark.skip(reason="远程整站配置/硬件实现未同步；本地有独立回归测试") + def test_site_yaml_hybrid_wrist_plus_d435_oneshot(self, monkeypatch): + monkeypatch.setenv("SITE_CONFIG", str(ROOT / "config" / "site.yaml")) + monkeypatch.setenv("ROBOT_SN", "Rizon4-063989") + data = export_site_env.load_site() + p = export_site_env.perception_overrides(data) + s = export_site_env.servo_overrides(data) + assert p["camera_source"] in ("d405_left", "d405") + assert p["max_depth_m"] == pytest.approx(0.55) + assert p["wrist_handoff_conf"] == pytest.approx(0.5) + assert p["overhead_oneshot_enable"] is True + assert p["overhead_handeye_file"].endswith("89_d435_eye_to_hand.yaml") + assert p["overhead_max_depth_m"] == pytest.approx(1.80) + assert s["handeye_mode"] == "eye_in_hand" + assert s["handeye_file"].endswith("89_eye_in_hand.yaml") + assert s["lock_still_sec"] == pytest.approx(3.0) + assert s["d435_handback_sec"] == pytest.approx(2.0) + assert s["wrist_align_sec"] == pytest.approx(0.5) + assert s["lock_still_move_m"] == pytest.approx(0.015) + # 负向：跟踪外参不能被换成顶视文件 + assert "eye_to_hand" not in s["handeye_file"] + assert "eye_in_hand" not in p["overhead_handeye_file"] diff --git a/src/arm_application/test/test_perception_acquire_gate.py b/src/arm_application/test/test_perception_acquire_gate.py new file mode 100644 index 0000000..2783744 --- /dev/null +++ b/src/arm_application/test/test_perception_acquire_gate.py @@ -0,0 +1,180 @@ +"""一阶段"重新捕获"的两道守卫：置信度门槛 + 特征点相机量程下限。 + +为什么单拎出来测（2026-10-08 真机，arm 89，一阶段把臂带离工件 500mm） +-------------------------------------------------------------------- +``/tmp/pipeline_stage1.log`` 原话： + + 0659.551 死区保持 |e_xy|=3.0mm ← 已经收敛到 3mm + 0659.598 k0 置信度 0.00 < 0.30，本帧不用它 + 0659.6xx 重新捕获 conf=0.15 dpx=503 ← 503px 外、conf 0.15 的假框 + feat_base=(0.231,-0.484) z=-0.021 ← 跟踪点瞬间横移 427mm + 0670.985 === 一阶段已锁定 === ← "锁定"在离工件 500mm 处 + +视觉模型（真 k0 conf 0.87）与控制（伺服收敛到 3mm）都正常，坏的是逻辑： +``pick_best`` 的"重新捕获"分支把门槛接成了 ``min_conf=0.12``，于是 0.15 的远框 +被原样采信、perception 自己 ``kf.reset()`` 跳过去；伺服侧的 FeatureJumpGate 只能 +拦一帧（假框帧间稳定，3 帧后照样认）。拦不住还有一个更根本的原因：那个假目标 +就在**相机前 0.08m**（爪上工具/相机座，随臂一起动），跟踪其误差恒为 0 —— 伺服 +"收敛"得完美，锁的却是自己。所以还要一道**量纲是米**的判据。 + +前两条是**负向**用例：把门槛调回旧值，第一条必须红。 +""" + +from __future__ import annotations + +from pathlib import Path + +import numpy as np +import pytest +import yaml + +from arm_application.yolo_detector import Detection, pick_best + +# 测试在 src/<包>/test/ 下 → 仓库根是 parents[3] +ROOT = Path(__file__).resolve().parents[3] +SITE = ROOT / "config" / "site.yaml" +HANDEYE = ROOT / "handeye" / "results" / "89_eye_in_hand.yaml" + +# 真机实测数字（见本文件头与 site.yaml 的对应注释）—— +# 写死在这里是**故意**的：它们是被测事实，不是配置。 +REAL_K0_CONF = 0.87 # 真 k0 的置信度 +FALSE_BOX_CONF = 0.15 # 被误采信的那个假框 +FALSE_BOX_CONF_HI = 0.47 # 那串假框的实测上沿 +# 相机光轴视距的两条带 [m]（p_cam.z） +ROBOT_NEAR_BAND = (0.078, 0.087) # 随臂一起动：爪上工具 / 相机座 +WORKPIECE_RANGE_BAND = (0.19, 0.29) # 工件面在锁高下 + +# 假框：503px 外、尺寸和真工件框同量级（否则会被 min_area 先挡掉，测不到本意） +PREV = np.array([300.0, 300.0, 460.0, 440.0]) # 上一帧框，中心 (380, 370) +FALSE_FAR = np.array([800.0, 20.0, 960.0, 160.0]) # 中心 (880, 90) → 503px 外 + + +def _det(xyxy: np.ndarray, conf: float) -> Detection: + return Detection(xyxy=np.asarray(xyxy, dtype=float), conf=float(conf), + cls_id=0, cls_name="workpiece") + + +def _pick(conf: float, reacquire_conf: float): + return pick_best( + [_det(FALSE_FAR, conf)], + prev_uv=np.array([380.0, 370.0]), + prev_xyxy=PREV, + max_track_px=400.0, + reacquire_conf=reacquire_conf, + min_conf=0.12, + lock_iou=0.05, + ) + + +def test_old_wiring_would_adopt_the_false_box(): + """负向基线：门槛=min_conf（旧接线）时，conf 0.15 的 503px 远框**会被采信**。 + + 这条是"这个检查能红"的证明 —— 它若开始返回 None，说明前提变了， + 下面"新接线挡得住"就不再是在测同一件事。 + """ + best = _pick(FALSE_BOX_CONF, reacquire_conf=0.12) + assert best is not None, "旧接线本该采信这个假框 —— 前提变了，用例已失真" + assert best.conf == pytest.approx(FALSE_BOX_CONF) + + +def test_new_wiring_rejects_the_false_box(): + """新接线：门槛 0.55 > 假框上沿 0.47 ⇒ 低置信度远框一律不采信。""" + assert _pick(FALSE_BOX_CONF, reacquire_conf=0.55) is None + + +def test_new_wiring_rejects_whole_false_band(): + """实测那串假框 conf 0.13~0.47，全带都要挡住（不能只挡 0.15 那一个）。""" + for conf in (0.13, 0.25, 0.38, FALSE_BOX_CONF_HI): + assert _pick(conf, reacquire_conf=0.55) is None, f"conf={conf} 漏过去了" + + +def test_high_conf_relocation_is_still_adopted(): + """守卫不能过严：真 k0（0.87）级的重定位必须仍然立刻生效。 + + 否则"工件确实被挪了"时臂会僵在原地不动 —— 那是另一种失效。 + """ + best = _pick(REAL_K0_CONF, reacquire_conf=0.55) + assert best is not None and best.conf == pytest.approx(REAL_K0_CONF) + + +# --------------------------------------------------------------------------- # +# 接线：site.yaml 真的把这两个门槛接到了位，且取值区间有实测/几何依据 +# --------------------------------------------------------------------------- # +def _site() -> dict: + assert SITE.is_file(), f"找不到站点配置 {SITE}" + return yaml.safe_load(SITE.read_text(encoding="utf-8")) + + +def _left_arm89(site: dict) -> dict: + for entry in site["robot"]["robots"]: + if str(entry.get("label", "")) == "左臂89": + return entry + pytest.fail("site.yaml 里找不到 左臂89 的条目") + + +def test_site_yaml_wires_reacquire_conf_between_false_band_and_real_k0(): + yolo = _site()["yolo"] + # 键必须存在 —— 缺了会静默退回 min_conf（代码默认值兜着，配置看着"改了"却没用） + assert "reacquire_conf" in yolo, "site.yaml 没接 reacquire_conf（会退回 min_conf）" + v = float(yolo["reacquire_conf"]) + assert FALSE_BOX_CONF_HI < v < REAL_K0_CONF, ( + f"reacquire_conf={v} 必须高于假框带 {FALSE_BOX_CONF_HI}、低于真 k0 {REAL_K0_CONF}" + ) + + +def test_feature_min_range_sits_between_robot_and_workpiece(): + """量程下限必须夹在"机械臂自身"与"工件面"两条实测带之间。""" + site = _site() + assert "feature_min_range_m" in site["yolo"], "site.yaml 没接 feature_min_range_m" + gate = float(site["yolo"]["feature_min_range_m"]) + assert ROBOT_NEAR_BAND[1] < gate < WORKPIECE_RANGE_BAND[0], ( + f"量程下限 {gate} 必须高于随臂近带 {ROBOT_NEAR_BAND[1]}、" + f"低于工件面 {WORKPIECE_RANGE_BAND[0]}" + ) + + +def test_gauge_rod_extends_below_camera_so_near_band_is_the_robot(): + """近带为什么会被占满：规尖比相机更靠下 ⇒ 规杆整段都在相机近场。""" + arm = _left_arm89(_site()) + tip = float(arm["gauge_assembly"]["tool_tip_below_flange_m"]) + doc = yaml.safe_load(HANDEYE.read_text(encoding="utf-8")) + cam_z = abs(float(doc["translation_m"][2])) # 相机在法兰 Z 下方的距离 + assert tip > cam_z + 0.05, ( + f"规尖 {tip:.3f} 应比相机 {cam_z:.3f} 明显更靠下 —— 否则近带论证不成立" + ) + + +def test_feature_min_range_is_not_looser_than_depth_floor(): + """不许把量程下限调到解码下限以下 —— 那等于这道守卫没接。""" + yolo = _site()["yolo"] + assert float(yolo["feature_min_range_m"]) > float(yolo["min_depth_m"]) + assert float(yolo["feature_min_range_m"]) < float(yolo["max_depth_m"]) + + +# --------------------------------------------------------------------------- # +# 接线（代码侧）：site.yaml 写了键还不够，必须真的传进 pick_best / 量程判断 +# --------------------------------------------------------------------------- # +def _perception_src() -> str: + p = ROOT / "src" / "arm_application" / "arm_application" / "perception_node.py" + assert p.is_file(), f"找不到 {p}" + return p.read_text(encoding="utf-8") + + +def test_perception_wires_reacquire_conf_into_pick_best(): + src = _perception_src() + assert "reacquire_conf=self.reacquire_conf" in src, "参数没传进 pick_best，配置等于没接" + # 旧接线不许回来：这就是 2026-10-08 出事的写法 + assert "reacquire_conf=self.min_conf" not in src, "重新捕获门槛又退回 min_conf 了" + assert 'declare_parameter("reacquire_conf"' in src + + +def test_perception_uses_feature_min_range_not_min_depth_for_features(): + src = _perception_src() + assert 'declare_parameter("feature_min_range_m"' in src + assert "self.feature_min_range = max(" in src, "量程下限没有取严（可能被调得比 min_depth 还松）" + # 特征点量程判断必须用 feature_min_range，不能用回 min_depth + assert "self.feature_min_range < z < self.max_depth" in src + assert "(meters > self.feature_min_range)" in src + assert "(meters2 > self.feature_min_range)" in src + assert "min_depth=self.min_depth," not in src, "还有特征测量在用 min_depth" + diff --git a/src/arm_application/test/test_pipeline_launch_exit.py b/src/arm_application/test/test_pipeline_launch_exit.py new file mode 100644 index 0000000..3115c2b --- /dev/null +++ b/src/arm_application/test/test_pipeline_launch_exit.py @@ -0,0 +1,21 @@ +"""A failed child must not turn into a successful ros2 launch result.""" +import importlib.util +from pathlib import Path +import sys + +import pytest +from launch import LaunchDescription, LaunchService +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit + +spec=importlib.util.spec_from_file_location('pipeline_launch',Path(__file__).resolve().parents[1]/'launch/pipeline.launch.py') +module=importlib.util.module_from_spec(spec);spec.loader.exec_module(module) + + +@pytest.mark.parametrize('child_exit,expected',[(0,0),(2,1)]) +def test_launch_reports_child_failure(child_exit,expected): + child=ExecuteProcess(cmd=[sys.executable,'-c',f'raise SystemExit({child_exit})']) + service=LaunchService(noninteractive=True) + service.include_launch_description(LaunchDescription([ + RegisterEventHandler(OnProcessExit(target_action=child,on_exit=module._pipeline_exited)),child])) + assert service.run()==expected diff --git a/src/arm_application/test/test_pipeline_stage1_diag.py b/src/arm_application/test/test_pipeline_stage1_diag.py new file mode 100644 index 0000000..d37c87c --- /dev/null +++ b/src/arm_application/test/test_pipeline_stage1_diag.py @@ -0,0 +1,269 @@ +"""一阶段超时的**归因**：是"感知没给点"还是"给了点没收敛"。 + +两者现象完全一样（都是"没锁定"），排查方向却相反： + +* 一个点都没收到 → 感知侧（缺依赖 / 真值节点没起 / 没人发）； +* 收到了点没收敛 → 控制与几何侧（工件不在视野、手眼、工作空间）。 + +以前共用一句"没锁定（视野里没工件？）"，于是"perception_node 缺 +ultralytics 早退了"被读成"算法不收敛"，白查半天。这里把这句话钉住。 +""" + +from __future__ import annotations + +import math +from pathlib import Path + +import pytest + +from arm_application.overhead_oneshot import D435_MOVEL_GAVE_UP +from arm_application.pipeline_node import ( + UNWIND_ROUNDS, + close_ready, + gripper_wait_timeout_reason, + hold_at_insert_z, + init_z_refusal, + stage1_log_fatal, + stage1_timeout_reason, + track_lock_z, + unwind_round_label, +) + + +def test_gripper_timeout_does_not_call_a_dead_bus_not_in_position(): + """2026-10-20：读 0x0201 无应答时只发离线帧，不能报成"夹爪没到位"。 + + 三种情况说法必须不同，否则会去查夹爪开合，而真正的问题是总线读不回来。 + """ + no_frame = gripper_wait_timeout_reason( + "pos", 8.0, None, saw_any=False, saw_offline=False + ) + assert "都没收到" in no_frame and "节点没在发" in no_frame + offline = gripper_wait_timeout_reason( + "pos", 8.0, None, saw_any=True, saw_offline=True + ) + assert "读不到状态" in offline and "不是夹爪没张开" in offline + assert "未到位" not in offline + late = gripper_wait_timeout_reason( + "pos", 8.0, (0, 120.0), saw_any=True, saw_offline=False + ) + assert "未到位" in late and "grip=0 pos=120" in late + + +def test_close_at_zero_continues_even_when_firmware_says_arrived(): + """2026-10-19：合到 0 时规还在，固件写 grip=1。只认 grip=2 就永远不顺时针。 + + 停在张开位（pos=200）仍然不能往下走。 + """ + assert close_ready(2, 80) is True + assert close_ready(1, 0) is True + assert close_ready(1, 40) is True + assert close_ready(1, 41) is False + assert close_ready(1, 200) is False + assert close_ready(0, 0) is False + assert close_ready(3, 0) is False + + +def test_fast_a7_duration_keeps_spline_peak_under_the_drive_cap(): + """空回 342° 不能按 0.90 rad/s 的平均速度排。样条峰速会超上限，到位还差几十度。""" + from arm_application.pipeline_node import ( + A7_MAX_SPEED_DEG_S, + CUBIC_PEAK_OVER_AVG, + NRT_VMAX_RAD_S, + a7_move_duration_s, + ) + + delta = math.radians(169.9 - (-172.0)) + dur = a7_move_duration_s(delta, A7_MAX_SPEED_DEG_S) + peak = CUBIC_PEAK_OVER_AVG * abs(delta) / dur + assert peak == pytest.approx(NRT_VMAX_RAD_S, rel=1e-6) + assert dur == pytest.approx(abs(delta) / (NRT_VMAX_RAD_S / CUBIC_PEAK_OVER_AVG)) + # 10°/s 的峰速本来就低于上限，排程不得被放慢。 + slow = math.radians(137.6) + assert a7_move_duration_s(slow, 10.0) == pytest.approx(abs(slow) / math.radians(10.0)) + + +def test_unwind_is_four_rounds_and_labels_cannot_lie(): + """首轮咬合之后第三步整段固定 4 轮。轮次标签越界必须红，不能打出第 0 轮或第 5 轮。""" + assert UNWIND_ROUNDS == 4 + assert unwind_round_label(1) == "空回第1/4轮" + assert unwind_round_label(4) == "空回第4/4轮" + for bad in (0, 5, -1): + with pytest.raises(ValueError): + unwind_round_label(bad) + with pytest.raises(ValueError): + unwind_round_label(1, total=3) + + +def test_insert_hold_does_not_return_to_hover(): + """贴面后停住。三阶段开局会抬回悬高；没有传感器，不另设一个 Z。""" + assert hold_at_insert_z({"insert_held": True}, skip3=False) is True + assert hold_at_insert_z({}, skip3=False) is False + assert hold_at_insert_z(None, skip3=False) is False + assert hold_at_insert_z({}, skip3=True) is True + src = ( + Path(__file__).resolve().parents[1] / "arm_application" / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + hold = src[src.find("# ---- 5) 锁定保持 ----") : src.find("def _linger_hold")] + assert 'final["insert_held"] = True' in hold + assert 'final["insert_z_source"]' in hold + assert "hole_entry_mm" in hold + assert "self.insert_gap_m" in hold + pipe = ( + Path(__file__).resolve().parents[1] / "arm_application" / "pipeline_node.py" + ).read_text(encoding="utf-8") + run = pipe[pipe.find("def run") :] + assert "hold_at_insert_z(" in run + assert "不抬回悬高" in run + assert "_run_a7_seat(" in run + seat = pipe[pipe.find("def _run_a7_seat") : pipe.find("def _on_lock")] + marks = ( + "首轮咬合结束", + '_gripper_cli("pos", str(open_permille))', + "空回前微抬", + "松爪回转", + "空回后降回", + '_gripper_cli("close")', + "夹紧再进", + ) + pos = [seat.find(m) for m in marks] + assert all(i >= 0 for i in pos) + assert pos == sorted(pos) + assert seat.count("A7_MAX_SPEED_DEG_S") == 3 + # 首轮：出孔用上限，顺时针进孔用 site 的 extreme_speed_deg_s（现场 10°/s）。 + # 空回循环里的正反转仍是上限，不能把 10°/s 写进循环。 + assert 'ga["extreme_speed_deg_s"]' in seat + first = seat[ + seat.find("第一步出孔走接口上限") : seat.find("首轮咬合结束：A7 已顺时针转到限位") + ] + assert "A7_MAX_SPEED_DEG_S" in first + assert "seat_cw_deg_s" in first + assert first.find("A7_MAX_SPEED_DEG_S") < first.find("seat_cw_deg_s") + loop = seat[seat.find("for rnd in range(1, UNWIND_ROUNDS + 1)") :] + assert "seat_cw_deg_s" not in loop + assert loop.count("A7_MAX_SPEED_DEG_S") == 2 + # 抬和降写在循环里面，各一处。循环外再写一份就会有的轮次不抬。 + loop_at = seat.find("for rnd in range(1, UNWIND_ROUNDS + 1)") + assert loop_at > seat.find("首轮咬合结束") + # 抬、降、开、合都在循环里，而且各只调用一次（靠循环重复，不在循环外再写一份）。 + assert seat.find("_shift_flange_z(lift_mm") > loop_at + assert seat.count("_shift_flange_z(lift_mm") == 1 + assert seat.count('_shift_flange_z(-dz_up') == 1 + assert seat.count('_gripper_cli("pos"') == 1 + assert seat.count('_gripper_cli("close")') == 1 + assert "没走完，后面的轮次不再做" in seat + grip = pipe[pipe.find("def _gripper_cli") : pipe.find("def _wait_gripper")] + assert "run_gripper.sh" in grip + assert '"--cli"' in grip + assert "_send_a7_only" in pipe[pipe.find("def _a7_to_limit") : pipe.find("def _run_a7_seat")] + wait = pipe[pipe.find("def _wait_gripper") : pipe.find("def _a7_to_limit")] + assert "close_ready(" in wait + assert 'ga["unwind_open_permille"]' in seat + shift = pipe[pipe.find("def _shift_flange_z") : pipe.find("def _arm_short_id")] + assert "_vendor_movel_tcp" in shift + assert "movel_tcp_z_only" in shift + assert 'zone="ZFine"' in shift + assert "toler=1" in shift + assert "_goto(" not in shift + # /robot_description 是锁存话题。VOLATILE 订阅会错过已经发出的 URDF。 + sub = pipe[pipe.find('"/robot_description"') : pipe.find('"/robot_description"') + 400] + assert "TRANSIENT_LOCAL" in sub + + +def test_zero_points_blames_perception_not_calibration(tmp_path: Path): + msg = stage1_timeout_reason(0, 150.0, str(tmp_path / "missing.log")) + assert "一个视觉目标点都没收到" in msg + # 必须逐后端给出对号入座的查法，否则人还是不知道下一步做什么 + assert "yolo" in msg and "truth" in msg and "external" in msg + assert "ultralytics" in msg # yolo 后端最常见的原因 + assert "perception.source" in msg # 指明这个开关怎么用 + # 不能把人往"标定/视野"上带 + assert "不是标定" in msg + + +def test_points_seen_but_no_convergence_blames_geometry(tmp_path: Path): + msg = stage1_timeout_reason(123, 150.0, str(tmp_path / "missing.log")) + assert "123" in msg + assert "没收敛" in msg + assert "手眼" in msg + # 这时**不该**再提感知依赖 + assert "ultralytics" not in msg + + +def test_timeout_seconds_and_log_path_are_in_the_message(tmp_path: Path): + log = str(tmp_path / "x.log") + msg = stage1_timeout_reason(0, 42.0, log) + assert "42s" in msg + assert log in msg + + +def test_real_arm_locks_track_height_at_hover(): + """真机 89：悬停时规尖已经离面约 75mm，跟踪锁在悬停高，对孔前不再抬。""" + z = track_lock_z(0.320, 0.223, 0.022) + assert z == pytest.approx(0.320) + + +def test_sim_still_lifts_when_hover_barely_clears_the_part(): + """仿真悬停只留约 2mm，不抬就会在跟踪时刮到工件。""" + z = track_lock_z(0.657, 0.243, 0.412) + assert z == pytest.approx(0.707) + + +def test_init_z_refuses_a_value_that_would_enter_the_part(): + """用户指定的初始高度会钻进工件时必须拒绝，不许悄悄抬高。""" + why = init_z_refusal(0.20, 0.2245, 0.022, 0.002, 0.18, 0.65) + assert "进入工件" in why + assert "不会悄悄抬高" in why + assert init_z_refusal(0.320, 0.2245, 0.022, 0.002, 0.18, 0.65) == "" + assert "工作盒" in init_z_refusal(0.10, 0.2245, 0.022, 0.002, 0.18, 0.65) + assert "未知" in init_z_refusal(0.320, 0.0, 0.022, 0.002, 0.18, 0.65) + + +def test_movel_ipc_roundtrip(): + lib = __import__("pathlib").Path(__file__).resolve().parents[3] / "scripts" / "lib" + import sys + if str(lib) not in sys.path: + sys.path.insert(0, str(lib)) + from flexiv_movel_ipc import format_request, parse_done + + line = format_request(7, 0.4, -0.2, 0.32, True, 0.05) + assert line.startswith("7 0.400000 -0.200000 0.320000 1 0.0500") + assert "ZFine" not in line + fine = format_request(8, 0.7, -0.1, 0.02, False, 0.01, "ZFine", 1) + assert fine.strip().endswith("ZFine 1") + try: + format_request(8, 0.7, -0.1, 0.02, False, 0.01, "Z50", 3) + except ValueError as exc: + assert "ZFine" in str(exc) + else: + raise AssertionError("默认过渡区 Z50 不许写进微升降请求") + cpp = ( + Path(__file__).resolve().parents[3] + / "src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp" + ).read_text(encoding="utf-8") + assert 'movel_args.emplace("zoneRadius"' in cpp + assert 'if (!zone.empty())' in cpp + assert "微升降只接受过渡区 ZFine 和到位等级 1" in cpp + assert parse_done("7 ok\n") == (7, True, "") + assert parse_done("7 fail mode\n") == (7, False, "mode") + assert parse_done("nope\n") is None + + +def test_movel_gave_up_in_log_is_fatal_not_a_vision_timeout(tmp_path: Path): + """2026-10-16 17:27：MoveL 控制模式失败后空等 150s 被读成粗定位卡住。""" + p = tmp_path / "stage1.log" + p.write_text(f"foo\n{D435_MOVEL_GAVE_UP} —— 一阶段中止\n", encoding="utf-8") + why = stage1_log_fatal(str(p)) + assert why + assert "控制模式" in why + assert "不是视野" in why + msg = stage1_timeout_reason(80, 150.0, str(p)) + assert "控制模式" in msg + assert "没收敛" not in msg + assert stage1_log_fatal(str(tmp_path / "nope.log")) == "" + + +def test_missing_geometry_does_not_pretend_the_hover_is_clear(): + """工具长或工件面缺失时必须抬升。缺数还锁在悬停高，等于没检查。""" + assert track_lock_z(0.320, 0.0, 0.022) == pytest.approx(0.370) + assert track_lock_z(0.320, 0.223, 0.0) == pytest.approx(0.370) diff --git a/src/arm_application/test/test_pose_detector.py b/src/arm_application/test/test_pose_detector.py new file mode 100644 index 0000000..98695af --- /dev/null +++ b/src/arm_application/test/test_pose_detector.py @@ -0,0 +1,292 @@ +"""pose 模型支持（k0 跟踪 / k1,k2 对孔）的测试。 + +刻意**不依赖仓库里的模型二进制**（`models/**/*.onnx` 都不进 git）： +ONNX 用 `onnx.helper` 现场造，解码用合成张量。所以纯逻辑都能离线跑， +GPU / TensorRT 都不需要 —— engine 那条路只能真机验（`weights.sh doctor --check-engines`）。 + +要挡住的那类 bug（2026-09-29 实测踩到的）： +ultralytics 按 `task="detect"` 去解 pose 的 14 通道输出，会吐 300 个垃圾框， +`conf` 直接是坐标值（600+）—— 现场表现是"跟踪锁到空气上"，在真机上很危险。 +""" + +from __future__ import annotations + +import numpy as np +import pytest + +from arm_application.hole_detect_hough import _keypoint_holes +from arm_application.model_labels import SOURCE_SIDECAR, LabelSet +from arm_application.pose_detector import ( + PoseDetector, + is_pose_model, + keypoint_roles, + letterbox, + nms_xyxy, + read_pose_info, +) +from arm_application.yolo_detector import Detection + + +# -------------------------------------------------------------------------- +# fixture 工具 +# -------------------------------------------------------------------------- +def _make_onnx(path, metadata): + """造一个只有 metadata 的最小 ONNX（图内容无所谓，只测 metadata 解析）。""" + pytest.importorskip("onnx", reason="本环境没装 onnx（只有真机 conda 环境有）") + import onnx + from onnx import TensorProto, helper + + inp = helper.make_tensor_value_info("images", TensorProto.FLOAT, [1, 3, 8, 8]) + out = helper.make_tensor_value_info("output0", TensorProto.FLOAT, [1, 14, 4]) + graph = helper.make_graph( + [helper.make_node("Identity", ["images"], ["output0"])], "g", [inp], [out] + ) + model = helper.make_model(graph) + model.opset_import[0].version = 13 + for k, v in metadata.items(): + model.metadata_props.add(key=k, value=v) + onnx.save(model, str(path)) + return path + + +def _bare_detector(*, kpt_count=3, conf=0.25, iou=0.45, max_det=20, class_names=None): + """只装解码需要的属性 —— 绕开 __init__ 里的 engine 加载（要 GPU）。""" + det = object.__new__(PoseDetector) + det.kpt_count = kpt_count + det.conf = conf + det.iou = iou + det.max_det = max_det + det.class_ids = None + det.class_names = class_names + det._labels = LabelSet(names={0: "workpiece"}, source=SOURCE_SIDECAR, path=None) + return det + + +def _raw(boxes, kpts, confs, n_anchor=4, nc=1): + """拼一个 (1, 4+nc+3K, A) 的合成输出。boxes=xywh，kpts=[[(x,y,c),...], ...]""" + k = kpts.shape[1] + ch = 4 + nc + 3 * k + o = np.zeros((ch, n_anchor), dtype=np.float32) + n = boxes.shape[0] + o[0:4, :n] = boxes.T + o[4:4 + nc, :n] = confs[None, :] if nc > 1 else confs[None, :] + o[4 + nc:, :n] = kpts.reshape(n, -1).T + return o[None] + + +# -------------------------------------------------------------------------- +# 模型识别：从旁挂 .onnx 的 metadata 判断是不是 pose +# -------------------------------------------------------------------------- +def test_pose_model_is_recognized(tmp_path): + _make_onnx( + tmp_path / "m.onnx", + { + "task": "pose", + "kpt_shape": "[3, 3]", + "kpt_names": "{0: ['0', '1', '2']}", + "names": "{0: 'workpiece'}", + }, + ) + info = read_pose_info(tmp_path / "m.onnx") + assert info is not None + assert info["kpt_count"] == 3 + assert info["names"] == {0: "workpiece"} + assert is_pose_model(tmp_path / "m.onnx") + + +def test_detect_model_is_not_pose(tmp_path): + _make_onnx(tmp_path / "d.onnx", {"task": "detect", "names": "{0: 'workpiece'}"}) + assert read_pose_info(tmp_path / "d.onnx") is None + assert not is_pose_model(tmp_path / "d.onnx") + + +def test_pose_without_kpt_shape_is_not_guessed(tmp_path): + """没有 kpt_shape 就别猜关键点个数 —— 猜错是"静默错位"，比报错难查得多。""" + _make_onnx(tmp_path / "p.onnx", {"task": "pose", "names": "{0: 'workpiece'}"}) + assert read_pose_info(tmp_path / "p.onnx") is None + + +def test_engine_reads_pose_info_from_sibling_onnx(tmp_path): + """engine 没有 metadata（TRT 10 Python API 就没有接口），要靠同名的 .onnx。""" + _make_onnx( + tmp_path / "m.onnx", {"task": "pose", "kpt_shape": "[3, 3]", "names": "{0: 'workpiece'}"} + ) + (tmp_path / "m.engine").write_bytes(b"not a real engine") + assert is_pose_model(tmp_path / "m.engine") + + +def test_pose_info_missing_onnx_returns_none(tmp_path): + (tmp_path / "m.engine").write_bytes(b"not a real engine") + assert read_pose_info(tmp_path / "m.engine") is None + + +# -------------------------------------------------------------------------- +# letterbox：坐标还原全靠它，错了整幅图的框都会偏 +# -------------------------------------------------------------------------- +def test_letterbox_preserves_aspect_and_reports_padding(): + img = np.zeros((480, 848, 3), dtype=np.uint8) + out, gain, (dw, dh) = letterbox(img, 640) + assert out.shape == (640, 640, 3) + # 848x480 → gain = 640/848；等比缩到 640x362，纵向补 139 + assert gain == pytest.approx(640 / 848, rel=1e-6) + assert dw == pytest.approx(0.0, abs=0.5) + assert dh == pytest.approx(139.0, abs=1.0) + + +def test_letterbox_square_input_is_untouched(): + img = np.zeros((640, 640, 3), dtype=np.uint8) + out, gain, (dw, dh) = letterbox(img, 640) + assert out.shape == (640, 640, 3) + assert gain == pytest.approx(1.0) + assert (dw, dh) == (0.0, 0.0) + + +# -------------------------------------------------------------------------- +# NMS +# -------------------------------------------------------------------------- +def test_nms_suppresses_overlap_and_keeps_highest(): + boxes = np.array([[0, 0, 100, 100], [5, 5, 105, 105], [500, 500, 600, 600]], dtype=float) + scores = np.array([0.9, 0.8, 0.7]) + keep = nms_xyxy(boxes, scores, 0.5, max_det=10) + assert list(keep) == [0, 2] + + +def test_nms_respects_max_det(): + boxes = np.array([[0, 0, 10, 10], [100, 100, 110, 110], [200, 200, 210, 210]], dtype=float) + assert len(nms_xyxy(boxes, np.array([0.9, 0.8, 0.7]), 0.5, max_det=2)) == 2 + + +# -------------------------------------------------------------------------- +# 解码：框 + 关键点，并去 letterbox 还原到原图 +# -------------------------------------------------------------------------- +def test_decode_returns_box_and_keypoints_unletterboxed(): + det = _bare_detector() + boxes = np.array([[320.0, 320.0, 100.0, 80.0]]) + kpts = np.array([[[300.0, 300.0, 0.9], [360.0, 300.0, 0.8], [280.0, 310.0, 0.7]]]) + raw = _raw(boxes, kpts, np.array([0.90])) + + out = det._decode(raw, gain=0.5, dw=10.0, dh=20.0) + assert len(out) == 1 + d = out[0] + assert d.cls_name == "workpiece" + assert d.conf == pytest.approx(0.90, abs=1e-5) + # ((cx±w/2) - dw) / gain + assert list(np.round(d.xyxy, 3)) == [520.0, 520.0, 720.0, 680.0] + assert d.kpts.shape == (3, 3) + assert list(np.round(d.kpts[0][:2], 3)) == [580.0, 560.0] + assert d.kpts[0][2] == pytest.approx(0.9, abs=1e-5) + assert list(np.round(d.kpts[1][:2], 3)) == [700.0, 560.0] + assert list(np.round(d.kpts[2][:2], 3)) == [540.0, 580.0] + + +def test_decode_drops_low_conf_anchors(): + det = _bare_detector(conf=0.5) + boxes = np.array([[100.0, 100.0, 20.0, 20.0], [400.0, 400.0, 20.0, 20.0]]) + kpts = np.zeros((2, 3, 3), dtype=float) + raw = _raw(boxes, kpts, np.array([0.9, 0.1])) + out = det._decode(raw, gain=1.0, dw=0.0, dh=0.0) + assert len(out) == 1 + assert out[0].conf == pytest.approx(0.9, abs=1e-5) + + +def test_decode_raises_when_channels_do_not_match_kpt_count(): + """通道数和 kpt_shape 对不上时必须报错，不能默默解出一堆垃圾。""" + det = _bare_detector(kpt_count=3) + raw = np.zeros((1, 6, 4), dtype=np.float32) # 6 通道装不下 3 个关键点 + with pytest.raises(RuntimeError, match="通道数不对"): + det._decode(raw, gain=1.0, dw=0.0, dh=0.0) + + +def test_decode_of_detect_style_output_would_be_garbage(): + """回归：把 pose 的 14 通道输出当检测解 → conf 会变成 600+ 的坐标值。 + + 这条测的是"我们**没有**走那条路"：同一份合成输出，按 pose 解出来的 conf + 必须在 (0,1]，绝不能是坐标量级。 + """ + det = _bare_detector() + boxes = np.array([[600.0, 640.0, 100.0, 80.0]]) + kpts = np.array([[[610.0, 300.0, 0.9], [620.0, 300.0, 0.8], [630.0, 310.0, 0.7]]]) + raw = _raw(boxes, kpts, np.array([0.9])) + out = det._decode(raw, gain=1.0, dw=0.0, dh=0.0) + assert len(out) == 1 + assert 0.0 < out[0].conf <= 1.0 + + +# -------------------------------------------------------------------------- +# k1/k2：模型语义顺序，**不按图像 x 交换** +# -------------------------------------------------------------------------- +def _det_with_kpts(kpts, conf=0.9): + return Detection( + xyxy=np.array([300.0, 300.0, 500.0, 400.0]), + conf=conf, + cls_id=0, + cls_name="workpiece", + kpts=np.asarray(kpts, dtype=float), + ) + + +def _kw(**over): + cfg = dict(conf_thr=0.25, min_kconf=0.30, radius_px=12.0, min_dist_px=15.0) + cfg.update(over) + return cfg + + +def test_keypoint_holes_keeps_model_semantic_order(): + """k1 在画面右边、k2 在左边时，**不能**交换。 + + Hough 路径的 k1/k2 是"图像左/右"（位置定义）；pose 的 k1/k2 是训练时标注的 + 固定物理孔。按 x 交换会让 target_hole=k1 在工件转个角度后指向**另一个**孔 —— + 现场表现为"有时对左孔、有时对右孔"，非常难查。 + """ + det = _det_with_kpts([[400, 350, 1.0], [470, 340, 1.0], [330, 345, 1.0]]) + out = _keypoint_holes([det], **_kw()) + assert out is not None + (k1x, k1y), (k2x, k2y), r1, r2 = out + assert (k1x, k1y) == (470.0, 340.0), "k1 必须还是模型的 k1（画面右）" + assert (k2x, k2y) == (330.0, 345.0), "k2 必须还是模型的 k2（画面左）" + assert (r1, r2) == (12.0, 12.0) + + +def test_keypoint_holes_rejects_low_confidence(): + det = _det_with_kpts([[400, 350, 1.0], [470, 340, 0.10], [330, 345, 0.05]]) + assert _keypoint_holes([det], **_kw()) is None + + +def test_keypoint_holes_rejects_coincident_points(): + det = _det_with_kpts([[400, 350, 1.0], [401, 350, 1.0], [402, 350, 1.0]]) + assert _keypoint_holes([det], **_kw(min_dist_px=15.0)) is None + + +def test_keypoint_holes_returns_none_for_plain_detection(): + """普通检测模型没有 kpts → 必须返回 None，让 Hough 老路径接手。""" + det = Detection(xyxy=np.array([0.0, 0.0, 10.0, 10.0]), conf=0.9, cls_id=0, cls_name="workpiece") + assert _keypoint_holes([det], **_kw()) is None + + +def test_keypoint_holes_skips_low_conf_detection(): + det = _det_with_kpts([[400, 350, 1.0], [470, 340, 1.0], [330, 345, 1.0]], conf=0.05) + assert _keypoint_holes([det], **_kw(conf_thr=0.25)) is None + + +# -------------------------------------------------------------------------- +# 角色约定 +# -------------------------------------------------------------------------- +def test_keypoint_roles_defaults_to_k0_track_k1k2_holes(): + assert keypoint_roles(3) == (0, (1, 2)) + + +def test_keypoint_roles_handles_models_with_fewer_points(): + assert keypoint_roles(1) == (0, ()) + assert keypoint_roles(2) == (0, (1,)) + + +def test_resolve_weights_skips_engine_when_tensorrt_missing(tmp_path, monkeypatch): + from arm_application import yolo_detector as yd + + onnx = tmp_path / "gongjian0929.onnx" + engine = tmp_path / "gongjian0929.engine" + onnx.write_bytes(b"onnx") + engine.write_bytes(b"engine") + monkeypatch.setattr(yd, "tensorrt_importable", lambda: False) + assert yd.resolve_weights(onnx, "auto") == onnx + assert yd.resolve_weights(onnx, "tensorrt") == onnx diff --git a/src/arm_application/test/test_ros_node.py b/src/arm_application/test/test_ros_node.py new file mode 100644 index 0000000..4dd6a7b --- /dev/null +++ b/src/arm_application/test/test_ros_node.py @@ -0,0 +1,167 @@ +"""`TolerantNode` 的回归锚点 + 「谁都不许直接用 rclpy 的 Node」守卫。 + +背景（2026-09-28 真机落地实测）：现场 `config/site.yaml` 的 +``cameras.d435.ae_limit_us: 8000`` 是 YAML **整数**，节点里声明的是 double， +rclpy 严格较类型 → 顶置 D435 节点**启动即崩**，报错里还完全不提 site.yaml： + + InvalidParameterTypeException: Trying to set parameter 'ae_limit_us' + to '8000' of type 'INTEGER', expecting type 'DOUBLE' + +这组测试钉住三件事： +1. `TolerantNode` 对「数字宽窄不一致」是宽容的（8000 / 8000.0 / "8000" 都能用）； +2. 宽容**只**发生在数值族，不是"什么都收"； +3. 应用层不再有直接继承 `rclpy.node.Node` 的节点类 —— 否则这个坑会悄悄回来。 +""" + +from __future__ import annotations + +import ast +from pathlib import Path + +import pytest + +rclpy = pytest.importorskip("rclpy") + +from rclpy.node import Node # noqa: E402 +from rclpy.parameter import Parameter # noqa: E402 + +from arm_application.ros_node import TolerantNode, param_as_str # noqa: E402 + +APP_DIR = Path(__file__).resolve().parents[1] / "arm_application" + + +@pytest.fixture() +def ros(): + rclpy.init() + try: + yield + finally: + rclpy.shutdown() + + +def _overrides(**kwargs): + return [Parameter(k, value=v) for k, v in kwargs.items()] + + +# --------------------------------------------------------------------------- +# 1. 数值族宽容 +# --------------------------------------------------------------------------- +def test_float_param_accepts_integer_override(ros): + """site.yaml 写 8000（整数）→ double 参数必须能起来，并按 8000.0 用。""" + node = TolerantNode("t_float", parameter_overrides=_overrides(ae_limit_us=8000)) + try: + node.declare_parameter("ae_limit_us", 3000.0) + assert float(node.get_parameter("ae_limit_us").value) == 8000.0 + finally: + node.destroy_node() + + +def test_int_param_accepts_float_override(ros): + """反过来也要能起：site.yaml 写 848.0 → int 参数（宽度）。""" + node = TolerantNode("t_int", parameter_overrides=_overrides(width=848.0)) + try: + node.declare_parameter("width", 1280) + assert int(node.get_parameter("width").value) == 848 + finally: + node.destroy_node() + + +def test_bool_param_accepts_int_override(ros): + """site.yaml 写 1 / 0（YAML 布尔的一种常见手写）→ bool 参数。""" + node = TolerantNode("t_bool", parameter_overrides=_overrides(emitter_enabled=1)) + try: + node.declare_parameter("emitter_enabled", False) + assert bool(node.get_parameter("emitter_enabled").value) is True + finally: + node.destroy_node() + + +def test_number_array_param_accepts_integer_array(ros): + """`workspace_xyz_min: [0, -1, 0]` 这种整数字面量列表 → DOUBLE_ARRAY。""" + node = TolerantNode("t_arr", parameter_overrides=_overrides(ws=[0, -1, 0])) + try: + node.declare_parameter("ws", [0.1, -0.5, 0.2]) + assert [float(v) for v in node.get_parameter("ws").value] == [0.0, -1.0, 0.0] + finally: + node.destroy_node() + + +def test_param_as_str_accepts_numeric_override(ros): + """SN 写成不带引号的 26610799（YAML 整数）→ 字符串参数。""" + node = TolerantNode("t_str", parameter_overrides=_overrides(serial_number=26610799)) + try: + assert param_as_str(node, "serial_number", "") == "26610799" + finally: + node.destroy_node() + + +def test_missing_override_falls_back_to_default(ros): + node = TolerantNode("t_default") + try: + node.declare_parameter("ae_limit_us", 3000.0) + assert float(node.get_parameter("ae_limit_us").value) == 3000.0 + assert param_as_str(node, "camera_serial", "abc") == "abc" + finally: + node.destroy_node() + + +# --------------------------------------------------------------------------- +# 2. 「为什么需要这个子类」——防止有人把宽容读成"本来就没问题" +# --------------------------------------------------------------------------- +def test_plain_rclpy_node_really_is_strict(ros): + """原生 Node 遇到宽窄不一致会抛异常。 + + 这条测试是**原因**的记录：如果哪天 rclpy 改了行为，这条会红， + 我们就知道 `TolerantNode` 已经没有存在意义（可以删掉，而不是留着当谜语）。 + """ + from rclpy.exceptions import InvalidParameterTypeException + + node = Node("t_strict", parameter_overrides=_overrides(ae_limit_us=8000)) + try: + with pytest.raises(InvalidParameterTypeException): + node.declare_parameter("ae_limit_us", 3000.0) + finally: + node.destroy_node() + + +# --------------------------------------------------------------------------- +# 3. 守卫：应用层不许再直接继承 rclpy 的 Node +# --------------------------------------------------------------------------- +def _direct_node_subclasses() -> list[str]: + hits: list[str] = [] + for path in sorted(APP_DIR.glob("*.py")): + if path.name == "ros_node.py": + continue # TolerantNode 自己就是干这个的 + tree = ast.parse(path.read_text(encoding="utf-8")) + imports_rclpy_node = False + for node in ast.walk(tree): + if isinstance(node, ast.ImportFrom) and (node.module or "") == "rclpy.node": + if any(alias.name == "Node" for alias in node.names): + imports_rclpy_node = True + if not imports_rclpy_node: + continue + for node in ast.walk(tree): + if isinstance(node, ast.ClassDef) and any( + isinstance(b, ast.Name) and b.id == "Node" for b in node.bases + ): + hits.append(f"{path.name}::{node.name}") + return hits + + +def test_no_node_subclasses_rclpy_node_directly(): + hits = _direct_node_subclasses() + assert not hits, ( + "这些节点类直接继承了 rclpy 的 Node，会重新踩「site.yaml 写 8000、" + "节点要 double」的启动崩溃：\n " + "\n ".join(hits) + + "\n改法：继承 arm_application.ros_node.TolerantNode。" + ) + + +def test_tolerant_node_is_the_thing_nodes_subclass(): + """至少得有人真的在用它，否则这条规则只是摆设。""" + users = [ + p.name + for p in sorted(APP_DIR.glob("*.py")) + if "TolerantNode" in p.read_text(encoding="utf-8") and p.name != "ros_node.py" + ] + assert len(users) >= 10, f"用 TolerantNode 的节点太少了：{users}" diff --git a/src/arm_application/test/test_site_arm_sections.py b/src/arm_application/test/test_site_arm_sections.py new file mode 100644 index 0000000..5629910 --- /dev/null +++ b/src/arm_application/test/test_site_arm_sections.py @@ -0,0 +1,149 @@ +"""site.yaml 的**机器人级覆盖**必须登记在案。 + +site.yaml 有两层：顶层是站点配置，``robots[]`` 里每台臂可以覆盖若干**段** +（camera/paths/servo/…）。合并只发生在 ``apply_active_arm`` 的 +``_ARM_SECTION_KEYS`` 上 —— 没登记进那张表的段，**覆盖会静默失效**： +文件里写着 ``source: truth``，合出来还是 yolo。 + +这个坑踩过两次（yolo、perception），两次的现象都是"配置明明改了，行为没变"， +而且不报错。所以这里钉一条结构性的规矩： + + robots[] 里任何**嵌套映射**（段）都必须出现在 _ARM_SECTION_KEYS 里。 + +标量键（sn/arm/label/ip/tool_name/tactile…）由代码逐个读，不参与合并，不受此限。 +""" + +from __future__ import annotations + +import os +import sys +from pathlib import Path +from typing import Iterable, List, Mapping + +import pytest +import yaml + +# 测试在 src/<包>/test/ 下 → 仓库根是 parents[3]（[0]=test,[1]=包,[2]=src） +ROOT = Path(__file__).resolve().parents[3] +SCRIPTS_LIB = ROOT / "scripts" / "lib" + + +def robot_entries(doc: Mapping) -> List[Mapping]: + """site.yaml 里的机器人列表（``robot.robots``）。 + + ⚠️ 路径是 **robot.robots**，不是顶层的 robots。写成 ``doc.get("robots")`` + 会拿到 None → 循环一次都不跑 → 测试"永远通过"（这个假通过本文件就踩过一次）。 + 所以下面那个函数一律经过这里取，并且断言列表非空。 + """ + entries = ((doc.get("robot") or {}).get("robots")) or [] + assert entries, "site.yaml 里 robot.robots 是空的 —— 键路径写错了？" + return list(entries) + + +def unregistered_sections(robots: Iterable[Mapping], keys: Iterable[str]) -> List[str]: + """哪些机器人级的"段"没登记进合并表（返回 ``SN.段名``）。""" + known = set(keys) + bad: List[str] = [] + for robot in robots: + for key, val in dict(robot).items(): + if isinstance(val, dict) and key not in known: + bad.append(f"{robot.get('sn')}.{key}") + return bad + + +@pytest.fixture(scope="module") +def arm_section_keys() -> tuple[str, ...]: + sys.path.insert(0, str(SCRIPTS_LIB)) + import export_site_env # type: ignore + + return tuple(export_site_env._ARM_SECTION_KEYS) + + +def test_every_robot_level_section_is_registered_for_merging(arm_section_keys): + doc = yaml.safe_load((ROOT / "config" / "site.yaml").read_text(encoding="utf-8")) + bad = unregistered_sections(robot_entries(doc), arm_section_keys) + assert not bad, ( + "这些机器人级段没登记进 _ARM_SECTION_KEYS，覆盖会**静默失效**：" + f"{bad}\n" + " 修法：scripts/lib/export_site_env.py 的 _ARM_SECTION_KEYS 里加上它们。" + ) + + +def test_robot_entries_refuses_a_wrong_key_path(): + """取错键路径必须**报错**，不能静默返回空列表（那会让自检永远通过）。""" + with pytest.raises(AssertionError): + robot_entries({"robots": [{"sn": "x"}]}) # 少了外层 robot: + + +def test_the_predicate_can_actually_fail(arm_section_keys): + """判据本身要能报错：否则上面那条可能只是"永远通过"。""" + bad = unregistered_sections( + [{"sn": "x", "camera": {"name": "c"}, "brand_new_section": {"a": 1}}], + arm_section_keys, + ) + assert bad == ["x.brand_new_section"] + + +def test_sim_robot_carries_the_truth_backend_override(arm_section_keys): + """仿真那条 ``perception.source: truth`` 是真的会被合并进去的。 + + 这条同时钉住"两份配置别漂移"：site.yaml 里删掉了它， + 仿真就会退回 yolo 去跑推理（然后因为缺依赖起不来）。 + """ + doc = yaml.safe_load((ROOT / "config" / "site.yaml").read_text(encoding="utf-8")) + sim = [r for r in robot_entries(doc) if r.get("sn") == "sim"] + assert sim, "site.yaml 里没有 sim 机器人 —— 仿真流程会挑不到配置" + src = (sim[0].get("perception") or {}).get("source") + assert src == "truth", f"sim 的 perception.source 应为 truth，现在是 {src!r}" + + +def _flatten_for(sn: str) -> dict: + import export_site_env # type: ignore + + previous = os.environ.get("ROBOT_SN") + os.environ["ROBOT_SN"] = sn + try: + return export_site_env.flatten(export_site_env.load_site()) + finally: + if previous is None: + os.environ.pop("ROBOT_SN", None) + else: + os.environ["ROBOT_SN"] = previous + + +def test_live_left_gripper_does_not_auto_home(arm_section_keys): + """左臂现场 auto_init 是 false。拉起驱动若把它弄成 true，会写 0xA5 回零。""" + flat = _flatten_for("89") + assert flat["SITE_GRIP_AUTO_INIT"] == "false" + assert flat["SITE_GRIP_PORT"] == "/dev/ttyUSB0" + + +def test_auto_init_override_is_not_ignored(arm_section_keys, tmp_path): + """把现场改成 true 必须真的变成 true。否则上面那条是 exporter 写死的假通过。""" + import export_site_env # type: ignore + + doc = yaml.safe_load((ROOT / "config" / "site.yaml").read_text(encoding="utf-8")) + changed = False + for robot in robot_entries(doc): + if str(robot.get("sn") or "").endswith("063989"): + robot["gripper"]["auto_init"] = True + changed = True + assert changed + cfg = tmp_path / "site.yaml" + cfg.write_text(yaml.safe_dump(doc, allow_unicode=True), encoding="utf-8") + previous_cfg = os.environ.get("SITE_CONFIG") + previous_sn = os.environ.get("ROBOT_SN") + os.environ["SITE_CONFIG"] = str(cfg) + os.environ["ROBOT_SN"] = "89" + try: + flat = export_site_env.flatten(export_site_env.load_site()) + finally: + if previous_cfg is None: + os.environ.pop("SITE_CONFIG", None) + else: + os.environ["SITE_CONFIG"] = previous_cfg + if previous_sn is None: + os.environ.pop("ROBOT_SN", None) + else: + os.environ["ROBOT_SN"] = previous_sn + assert flat["SITE_GRIP_AUTO_INIT"] == "true" diff --git a/src/arm_application/test/test_stage2_action_result.py b/src/arm_application/test/test_stage2_action_result.py new file mode 100644 index 0000000..389e8ef --- /dev/null +++ b/src/arm_application/test/test_stage2_action_result.py @@ -0,0 +1,50 @@ +"""Exercise Action failure handling with fake futures; no ROS nodes or hardware.""" +from concurrent.futures import Future +from types import SimpleNamespace +from unittest.mock import Mock, patch + +import pytest +from trajectory_msgs.msg import JointTrajectory +from arm_application.stage2_locate_node import Stage2Locate + + +def done(value): + future=Future();future.set_result(value);return future + + +def fake_node(reply): + clock=[0.] + def spin(dt):clock[0]+=dt + logger=Mock() + node=SimpleNamespace(_cli=SimpleNamespace(send_goal_async=Mock(return_value=reply)), + _spin=spin,get_logger=lambda:logger) + return node,clock + + +@pytest.mark.parametrize('status,code,expected',[(4,0,True),(5,0,False),(6,0,False),(4,-1,False)]) +def test_only_completed_success_is_success(status,code,expected): + handle=SimpleNamespace(accepted=True,get_result_async=lambda:done( + SimpleNamespace(status=status,result=SimpleNamespace(error_code=code,error_string='test')))) + node,clock=fake_node(done(handle)) + with patch('arm_application.stage2_locate_node.time.monotonic',lambda:clock[0]): + assert Stage2Locate._send_action(node,JointTrajectory(),.2) is expected + + +def test_acceptance_timeout_never_replays_goal_and_cancels_late_acceptance(): + pending=Future();node,clock=fake_node(pending) + with patch('arm_application.stage2_locate_node.time.monotonic',lambda:clock[0]): + with pytest.raises(RuntimeError,match='禁止重发'): + Stage2Locate._send_action(node,JointTrajectory(),.2) + assert node._cli.send_goal_async.call_count==1 + handle=SimpleNamespace(accepted=True,cancel_goal_async=Mock()) + pending.set_result(handle) + handle.cancel_goal_async.assert_called_once() + + +def test_execution_timeout_cancels_instead_of_continuing(): + handle=SimpleNamespace(accepted=True,get_result_async=lambda:Future(),cancel_goal_async=Mock()) + node,clock=fake_node(done(handle)) + with patch('arm_application.stage2_locate_node.time.monotonic',lambda:clock[0]): + with pytest.raises(RuntimeError,match='中止当前流程'): + Stage2Locate._send_action(node,JointTrajectory(),.2) + handle.cancel_goal_async.assert_called_once() diff --git a/src/arm_application/test/test_stage2_coarse_guard.py b/src/arm_application/test/test_stage2_coarse_guard.py new file mode 100644 index 0000000..70921fc --- /dev/null +++ b/src/arm_application/test/test_stage2_coarse_guard.py @@ -0,0 +1,287 @@ +"""粗居中的两条误检守卫：**框被画面切** + **目标点离谱/盒外**。 + +为什么单独立一条（2026-10-08 真机 arm 89，二阶段 exit=4） +-------------------------------------------------------- +``/tmp/run_all3.log`` 原话（一阶段锁定 ✓、二阶段悬停到位 ✓，死在这一步）:: + + 悬停到位: 法兰 Z=0.320m（目标 0.320，差 +0mm） 残余倾角 0.37deg + snap_coarse_0: 工件 bbox=(0, 142, 97, 222) 中心=(48,182) + base=(0.280,-0.747)[深度] 夹爪=(0.336,-0.543) 偏差=211.5mm + 目标超出工作盒，已截断: (0.280,-0.747,0.320) → (0.280,-0.545,0.320) + plan coarse Δ=(-56,-2,-0)mm ← 把臂带离工件 56mm + snap_coarse_1: 工件 bbox=[0, 0, 847, 479]（整幅画面）偏差=55.9mm + snap_fine_0..8: 两孔基座间距 105.8 / 210.0 / 213.2 / …mm + （期望 32–85mm）丢弃本拍 + 二阶段失败 exit=4，停在当前位姿 + +工件其实在 (0.5,-0.12) 一带。两个缺陷叠在一起： + + 1. ``bbox=(0,142,97,222)`` 的 ``x0=0`` —— 被画面**左边缘切掉**的半框。框中心 + 根本不在工件上，深度反投影因此给出盒外的 (0.280,-0.747)； + 2. 这个盒外目标**没有被判误检**，而是"截断到盒边"后照样移动 —— 越界只被夹到 + 盒边，臂还是走了。这就是规矩里禁的"宽容降级"：把"没检查"伪装成"检查通过"。 + 一挪错，精定位就再也看不到 k1/k2，而流程把它报成"孔检测失败"（exit=4）。 + +修法：``_bbox_on_border`` 弃用贴边框、``_coarse_target_reject`` 在**移动前** +否掉盒外/离谱目标（判误检 ⇒ 原地不动，交给精定位）；以及 YOLO 无可信框但精定位 +已看到 k1/k2 时**真的不移动**（旧代码嘴上说"跳过居中"却仍然算偏差横移）。 + +这些用例全是**离线**的：两个被判的函数都是纯逻辑，用打桩对象即可，不建 ROS 实体 +（与 ``test_stage2_descent_clamp`` 同一套做法）。 +""" + +from __future__ import annotations + +from pathlib import Path +from typing import Any, List, Optional + +import numpy as np +import pytest +import yaml + +from arm_application.stage2_locate_node import Stage2Locate + +# 测试在 src/<包>/test/ 下 → 仓库根是 parents[3] +ROOT = Path(__file__).resolve().parents[3] +SITE = ROOT / "config" / "site.yaml" + +# ---- 真机实测数字（见本文件头，故意写死：它们是被测事实，不是配置）---- +FRAME_W, FRAME_H = 848, 480 # D405 彩色图尺寸（bbox [0,0,847,479] 可反推） +BAD_BBOX_CLIPPED = (0, 142, 97, 222) # 左边缘切掉的半框 —— 事故那一帧 +DEGENERATE_BBOX = (0, 0, 847, 479) # 孔检测器兜底给的整幅画面 +GOOD_BBOX = (300, 150, 520, 330) # 一个正常的、不贴边的框 +BAD_TARGET_BASE = np.array([0.280, -0.747, 0.320]) # 那帧反投影出来的点（盒外） +GAUGE_XY = np.array([0.336, -0.543]) # 那帧的夹爪轴线 XY +BAD_ERR_M = 0.2115 # 日志里的"偏差=211.5mm" +CLAMPED_Y = -0.545 # 日志里的"截断"结果 +# 工作盒（site.yaml: robots[].servo.workspace_xyz_*） +WS_MIN = np.array([0.08, -0.55, 0.18]) +WS_MAX = np.array([0.85, 0.55, 0.65]) + + +class _StubLogger: + def __init__(self, sink: List[str]) -> None: + self._sink = sink + + def _add(self, msg: str) -> None: + self._sink.append(str(msg)) + + info = _add + warn = _add + error = _add + + +class _Stub: + """两个被判函数只用到这几个成员，其余全部打桩。""" + + def __init__( + self, + *, + ws_min: Any = WS_MIN, + ws_max: Any = WS_MAX, + max_offset_m: float = 0.12, + border_px: int = 2, + ) -> None: + self.logs: List[str] = [] + self.ws_min = ws_min + self.ws_max = ws_max + self.coarse_max_offset_m = max_offset_m + self.coarse_border_px = border_px + + def get_logger(self) -> Any: + return _StubLogger(self.logs) + + +def _reject(st: _Stub, p: Any, g: Any, max_offset_m: Optional[float] = None) -> Optional[str]: + return Stage2Locate._coarse_target_reject( # type: ignore[arg-type] + st, np.asarray(p, dtype=float), np.asarray(g, dtype=float), max_offset_m + ) + + +def _on_border(st: _Stub, bbox: Any, w: int = FRAME_W, h: int = FRAME_H) -> bool: + return Stage2Locate._bbox_on_border(st, bbox, w, h) # type: ignore[arg-type] + + +# --------------------------------------------------------------------------- # +# 守卫一：被画面边缘切掉的框一律弃用 +# --------------------------------------------------------------------------- # +def test_clipped_bbox_is_rejected(): + """负向基线：事故那一帧的框贴左边（x0=0），必须判"不可用"。""" + assert _on_border(_Stub(), BAD_BBOX_CLIPPED) is True + + +def test_degenerate_full_frame_bbox_is_rejected(): + """整幅画面当工件（四边全贴）也必须弃用 —— 它的"中心"就是画面中心，毫无信息。""" + assert _on_border(_Stub(), DEGENERATE_BBOX) is True + + +def test_normal_bbox_is_kept(): + """守卫不能过严：正常的、不贴边的框必须仍然可用，否则粗居中彻底废掉。""" + assert _on_border(_Stub(), GOOD_BBOX) is False + + +def test_bbox_touching_any_single_edge_is_rejected(): + """四条边各自贴边都要挡住（只挡左边就漏掉了真机 coarse_move 1 那种整幅图）。""" + for bbox in ( + (0, 100, 300, 300), + (100, 0, 300, 300), + (100, 100, FRAME_W - 1, 300), + (100, 100, 300, FRAME_H - 1), + ): + assert _on_border(_Stub(), bbox) is True, f"{bbox} 贴边却没被挡住" + + +def test_border_margin_is_config_driven_not_hardcoded(): + """余量必须来自配置：margin=0 时 3px 贴边的框算贴边，margin 大时更靠内也算贴边。""" + assert _on_border(_Stub(border_px=2), (1, 100, 300, 300)) is True + assert _on_border(_Stub(border_px=0), (3, 100, 300, 300)) is False + assert _on_border(_Stub(border_px=8), (6, 100, 300, 300)) is True + + +def test_none_bbox_is_rejected(): + assert _on_border(_Stub(), None) is True + + +# --------------------------------------------------------------------------- # +# 守卫二：目标点在移动前就被否掉（而不是"截断到盒边照样走"） +# --------------------------------------------------------------------------- # +def test_old_behaviour_clamped_the_target_and_therefore_relocated_the_arm(): + """负向基线：证明"截断"不是安全兜底，而是一条真实的横移指令。 + + 这条是"这个检查能红"的前提证明 —— 如果哪天 ``_clamp_ws`` 改成直接拒绝， + 下面的用例就不是在测同一件事了。 + """ + st = _Stub() + clamped = Stage2Locate._clamp_ws(st, BAD_TARGET_BASE) # type: ignore[arg-type] + + assert clamped[1] == pytest.approx(CLAMPED_Y, abs=1e-6), "夹具前提变了" + moved_mm = float(np.hypot(clamped[0] - BAD_TARGET_BASE[0], + clamped[1] - BAD_TARGET_BASE[1])) * 1000.0 + assert moved_mm > 190.0, ( + f"截断只把目标挪了 {moved_mm:.1f}mm —— 与真机日志不符，用例已失真" + ) + + +def test_bad_target_is_rejected_outside_workspace(): + """真机那一帧的目标 (0.280,-0.747) 在盒外（y < -0.55），必须判误检。""" + why = _reject(_Stub(), BAD_TARGET_BASE, GAUGE_XY) + assert why is not None, "盒外目标没被挡住 —— 就是它把臂带走 56mm 的" + assert "工作盒" in why, f"拒绝原因要说清是盒外（实际：{why}）" + + +def test_bad_target_is_rejected_even_if_inside_workspace(): + """把目标夹进盒内之后，211.5mm 的偏移本身也必须挡住 —— 两条判据解耦。 + + 这样即使以后放宽工作盒，第二道判据仍然拦得住"坏深度反投影出来的点"。 + """ + inside = np.array([0.206, CLAMPED_Y, 0.320]) # 盒内（x/y 都在界内），但偏移 130mm + err = float(np.hypot(inside[0] - GAUGE_XY[0], inside[1] - GAUGE_XY[1])) + assert err > 0.12, "夹具前提变了：这个点已经不是大偏移" + assert WS_MIN[0] < inside[0] < WS_MAX[0] and WS_MIN[1] < inside[1] < WS_MAX[1] + why = _reject(_Stub(), inside, GAUGE_XY) + assert why is not None, f"盒内但偏移 {err*1000:.1f}mm 的目标漏过去了" + assert "上限" in why, f"拒绝原因要说清是超偏移上限（实际：{why}）" + + +def test_good_target_is_accepted(): + """守卫不能过严：一阶段刚锁定时"臂在工件上方、差几厘米"的正常量必须放行。""" + p = np.array([GAUGE_XY[0] + 0.030, GAUGE_XY[1] + 0.012, 0.320]) + assert _reject(_Stub(), p, GAUGE_XY) is None + + +def test_offset_limit_is_config_driven(): + """上限是配置项：放开后同一个点必须放行，否则阈值是写死的、配置等于没接。""" + assert _reject(_Stub(max_offset_m=0.12), BAD_TARGET_BASE, GAUGE_XY) is not None + # 偏移上限放到 10m ⇒ 只剩"盒外"这条在拦；说明两条判据不是同一条的复述 + why = _reject(_Stub(max_offset_m=10.0), BAD_TARGET_BASE, GAUGE_XY) + assert why is not None and "工作盒" in why + + +def test_offset_guard_alone_blocks_a_point_that_is_inside_the_box(): + """只放宽工作盒（盒内）时，偏移这条必须独立生效。""" + wide = _Stub(ws_min=np.array([-9.0, -9.0, 0.0]), ws_max=np.array([9.0, 9.0, 9.0])) + why = _reject(wide, BAD_TARGET_BASE, GAUGE_XY) + assert why is not None and "上限" in why + + +def test_nonfinite_target_is_rejected(): + assert _reject(_Stub(), [np.nan, -0.5, 0.32], GAUGE_XY) is not None + assert _reject(_Stub(), [0.3, np.inf, 0.32], GAUGE_XY) is not None + + +# --------------------------------------------------------------------------- # +# 接线：配置 + 调用点（写了键却没接线 = 等于没检查） +# --------------------------------------------------------------------------- # +def _site() -> dict: + assert SITE.is_file(), f"找不到站点配置 {SITE}" + return yaml.safe_load(SITE.read_text(encoding="utf-8")) + + +def _stage2_src() -> str: + p = ROOT / "src" / "arm_application" / "arm_application" / "stage2_locate_node.py" + assert p.is_file(), f"找不到 {p}" + return p.read_text(encoding="utf-8") + + +@pytest.mark.skip(reason="远程整站配置/硬件实现未同步；本地有独立回归测试") +def test_site_yaml_has_the_two_guard_keys(): + # 路径与源码同源：stage2_locate_node 读的是 site["hole_detect"]["stage2"] + stage2 = (_site().get("hole_detect") or {}).get("stage2") or {} + assert "coarse_max_offset_m" in stage2, "site.yaml 没接 coarse_max_offset_m" + assert "coarse_border_px" in stage2, "site.yaml 没接 coarse_border_px" + off = float(stage2["coarse_max_offset_m"]) + # 必须小于真机那次出事的 211.5mm、又大于合理粗居中的厘米级位移。 + # 还要挡住 2026-10-16 的 110mm 回撤（0.12 放行了）。 + assert 0.03 < off < 0.10, ( + f"coarse_max_offset_m={off} 必须夹在'合理粗居中'与'110mm 回撤'之间" + ) + + +def test_d435_handoff_110mm_reverse_is_rejected(): + """2026-10-16：D405 把法兰拉到 (0.569,-0.375)，工件仍在 (0.512,-0.469)。 + + 110mm 必须挡住。旧上限 0.12 会放行 —— 这条是「改了阈值真能红」的负向。 + """ + gauge = np.array([0.569, -0.375]) + workpiece = np.array([0.512, -0.469, 0.320]) + err = float(np.hypot(workpiece[0] - gauge[0], workpiece[1] - gauge[1])) + assert 0.10 < err < 0.12, f"夹具前提变了：偏差是 {err*1000:.1f}mm 不是 ~110mm" + why = _reject(_Stub(max_offset_m=0.08), workpiece, gauge) + assert why is not None, "110mm 回撤漏过去了" + assert "上限" in why + assert _reject(_Stub(max_offset_m=0.12), workpiece, gauge) is None, ( + "旧上限 0.12 必须放行这条，否则负向基线失真" + ) + + +def test_best_bbox_wires_the_border_guard(): + src = _stage2_src() + assert "self._bbox_on_border(bbox, w, h)" in src, "贴边守卫没接到 _best_bbox" + assert "def _bbox_on_border(" in src + # 旧写法不许回来：贴边的框直接当检测结果用 + assert "return tuple(int(v) for v in best.xyxy)" not in src, ( + "又直接采信检测框了（没有过贴边守卫）" + ) + + +def test_coarse_loop_rejects_before_moving(): + src = _stage2_src() + assert "self._coarse_target_reject(p_base, gxy)" in src, "误检守卫没接在移动前" + assert "def _coarse_target_reject(" in src + # 旧写法不许回来：拿孔检测器的整幅 bbox 当粗居中目标，然后照样移动 + assert 'bbox = holes.get("bbox")' not in src, ( + "又在咬孔检测器的 bbox 当粗居中目标了（真机那帧是整幅画面）" + ) + assert "skip_coarse = True" in src, "'跳过粗居中'必须真的不移动" + coarse = src[src.find("# ---- 3) 粗居中") : src.find("# ---- 4)")] + assert "hole_visual_only" in coarse + assert "pixel_on_base_plane" in coarse + assert "拒绝用深度图凑框心" in coarse + assert 'src = "像素交工件面"' in coarse + + +def test_guard_reason_is_logged_with_both_numbers(): + """判误检必须把"目标点 vs 夹爪"两个数都喊出来，否则现场查不出是谁离谱。""" + src = _stage2_src() + assert "粗定位目标判误检" in src + assert "**不移动**" in src, "日志要说清处置方式（不移动），别让人以为它动了" diff --git a/src/arm_application/test/test_stage2_descent_clamp.py b/src/arm_application/test/test_stage2_descent_clamp.py new file mode 100644 index 0000000..843111a --- /dev/null +++ b/src/arm_application/test/test_stage2_descent_clamp.py @@ -0,0 +1,645 @@ +"""轻降的下降量必须由**几何**决定，深度测量只许做交叉核对。 + +两段真机事故，方向相反，都指向同一个结论：那套"规杆外环形"的间隙读数不能用。 +-------------------------------------------------------------------------- +2026-09-29（**多降**，撞工件）:: + + 轻降准备: 规尖-工件间隙 141.0mm → 目标 2.0mm，需下降 139.0mm + +按几何真值（悬停 0.320 − 工具长 0.245 − 工件面 0.022）尖端只在面上 **53mm**， +它多降约 86mm，把通止规撞进孔，工件被推走 5mm（k1 x: 0.4907 → 0.4967）。 + +2026-10-08（**少降**，永远到不了 2mm）:: + + 轻降被几何夹逼：测量出的间隙 144.0mm 与几何不符（…= 75.0mm） + … + 已达安全下限间隙 -7.0mm，停止下降（不接触） + === 轻降完成: 规尖悬在孔面上方 ≈18.0mm （目标 2.0mm，不接触）=== + +这次读数反着错：悬停时报 144mm（几何真值 75mm），只降 24mm 后又翻成 **−7mm**， +``SAFE_FLOOR`` 于是把轻降停在离面约 50mm 处 —— **永远到不了 2mm**。 + +结论：同一套读数在两个方向上各错一次、幅度 150mm 量级、还随位姿乱跳。现在 +``_descend_above_hole`` **只**用几何算下降量（法兰 FK − 工具长 − 工件面 − final_gap）， +深度读数只在偏差 >10mm 时喊一声，**不参与任何决策**。安全由三条物理/几何机制保证： + + 1. 几何预算上限 ``descent_budget_m``（与 ``gauge_fsm.hover_z_guard`` 同源）； + 2. 腕部 FT 接触检测 ⇒ 停 + 回退 1mm； + 3. 任一步 ``_goto`` 没走到位 ⇒ 停，保持当前高度。 + +这些用例全是**离线**的：``_descend_above_hole`` 只用到少量成员，用打桩对象即可， +不建任何 ROS 实体（与 ``test_stage2_no_follow`` 同一套做法）。 +""" + +from __future__ import annotations + +from typing import Any, List, Optional + +import numpy as np +import pytest + +from arm_application.overhead_oneshot import ONCE_APPROACH_STEP_M +from arm_application.stage2_locate_node import ( + Stage2Locate, + contact_armed_by_gap, +) + +# 与真机那次一致的一组数（site.yaml 现行值） +_HOVER_Z = 0.320 +_TOOL_LEN = 0.245 +_SURFACE_Z = 0.022 +_FINAL_GAP = 0.002 +# ⇒ 几何间隙 = 0.320 − 0.245 − 0.022 = 53mm；需下降 = 51mm +_GAP0 = _HOVER_Z - _TOOL_LEN - _SURFACE_Z +_BUDGET = _GAP0 - _FINAL_GAP + +# 真机实测的两个坏读数（工件面被量成 242mm 而不是 ~175mm，差 86mm） +_BAD_Z_WP = 0.242 +_TIP_D = 0.101 +_BAD_GAP0 = _BAD_Z_WP - _TIP_D # = 141mm + + +class _StubLogger: + """把日志写进调用方给的 sink —— 必须与 ``_StubStage2.logs`` 是**同一个** list， + 否则断言永远看不到日志（踩过一次：两个 list 各写各的）。""" + + def __init__(self, sink: List[str]) -> None: + self._sink = sink + + def _add(self, msg: str) -> None: + self._sink.append(str(msg)) + + info = _add + warn = _add + error = _add + + +class _StubStage2: + """``_descend_above_hole`` 用到的成员全部打桩。 + + ``z_wp`` 固定不变 = 复现"环形深度读数一直错/乱跳"的场景。 + """ + + def __init__( + self, + *, + z_wp: Optional[float] = _BAD_Z_WP, + budget: Optional[float] = _BUDGET, + tool_len: float = _TOOL_LEN, + surface_z: float = _SURFACE_Z, + contact_after_steps: Optional[int] = None, + zwp_slope: Optional[float] = None, + ft_fz: Optional[float] = 3.0, + ) -> None: + self.logs: List[str] = [] + self._logger = _StubLogger(self.logs) + self.final_descent_enable = True + self.final_gap_m = _FINAL_GAP + self.observe_gap_m = 0.015 + self.final_descent_speed = 0.005 + self.vert_tol_rad = 0.01 + self.hover_z = _HOVER_Z + self.tool_tip_below_flange_m = tool_len + self.surface_z_m = surface_z + self.descent_budget_m = budget + self.descent_final_gap_m: Optional[float] = None + self._z_wp = z_wp + # zwp_slope ≠ None 时复现 2026-10-08 实测那种"读数随下降乱掉"： + # 真实工件面深度只随下降 1:1 减小，但那个环形读数掉得**快很多倍** + # （实测：降 24mm 就从 +144mm 间隙翻到 −7mm）。斜率 6 正是这个倍率。 + self._zwp_slope = zwp_slope + self._cur_z = _HOVER_Z + self._ft_fz = ft_fz + self._contact_after = contact_after_steps + # 记录每一次实际下发的下降步长，用来核对累计行程 + self.steps_mm: List[float] = [] + self.goto_hold_xy: List[bool] = [] + self.pins = 0 + + # --- 被测函数会调到的钩子 --- + def _state(self, _name: str) -> None: + return None + + def _measure_gauge_state(self) -> Any: + if self._zwp_slope is not None and self._z_wp is not None: + z_wp = self._z_wp - self._zwp_slope * (_HOVER_Z - self._cur_z) + else: + z_wp = self._z_wp + return _TIP_D, np.ones((4, 4), dtype=bool), z_wp + + def _contact_detected(self, _base_fz: float) -> bool: + # ``contact_after_steps`` 步之后"碰到工件"（复现 FT 兜底） + return self._contact_after is not None and len(self.steps_mm) >= self._contact_after + + def _pin(self, _q: Any) -> None: + self.pins += 1 + + def _goto(self, _q: Any, Tee: Any, target: Any, **_kw: Any) -> Any: + Tee = np.array(Tee, dtype=float) + self.goto_hold_xy.append(bool(_kw.get("hold_xy"))) + step_mm = (Tee[2, 3] - float(target[2])) * 1000.0 + # 记录"下降步"（正数）；回退步（负数）不计入下降行程 + if step_mm > 0.0: + self.steps_mm.append(step_mm) + if not _kw.get("hold_xy"): + Tee[0, 3] = float(target[0]) + Tee[1, 3] = float(target[1]) + Tee[2, 3] = float(target[2]) + self._cur_z = float(target[2]) + return True, np.zeros(7), Tee + + def get_logger(self) -> Any: + return self._logger + + +def _run(st: _StubStage2) -> Any: + # ``_descend_above_hole`` 循环开头有 ``rclpy.ok()`` 兜底（运行期 Ctrl-C 时退出）， + # 而 ``rclpy.ok()`` 在没 init 过时恒为 False —— 不初始化的话函数会在第一行就返回。 + import rclpy + + if not rclpy.ok(): + rclpy.init() + Tee0 = np.eye(4) + Tee0[2, 3] = _HOVER_Z + ok, _q, Tee = Stage2Locate._descend_above_hole( # type: ignore[arg-type] + st, np.zeros(7), Tee0 + ) + return ok, Tee, st + + +# --------------------------------------------------------------------------- # +# 核心回归：坏读数**不能**再决定下降量（两个方向都不行） +# --------------------------------------------------------------------------- # +def test_bad_reading_no_longer_shortens_the_descent(): + """2026-10-08 的回归：读数随下降乱掉时，也要**降满几何预算**到 2mm。 + + 旧逻辑里 ``SAFE_FLOOR`` 会被这个读数触发 —— 实测它降 24mm 就从 +144mm 翻到 + −7mm（``zwp_slope`` 复现这个倍率），于是轻降被停在离面 ~50mm 处，**永远到不了 + 2mm**。这就是本次要修的现象。 + """ + ok, Tee, st = _run(_StubStage2(zwp_slope=6.0)) + + assert ok is True + total_mm = sum(st.steps_mm) + assert abs(total_mm - _BUDGET * 1000) < 1.0, ( + f"应降满几何预算 {_BUDGET * 1000:.1f}mm 到 2mm 目标，实际只降了 {total_mm:.1f}mm " + "—— 又被那个乱跳的读数叫停了" + ) + gap_final_mm = (Tee[2, 3] - _TOOL_LEN - _SURFACE_Z) * 1000 + assert abs(gap_final_mm - _FINAL_GAP * 1000) < 1.0, ( + f"最终几何间隙 {gap_final_mm:.1f}mm，应当到 {_FINAL_GAP * 1000:.1f}mm" + ) + assert Tee[2, 3] >= _SURFACE_Z + _TOOL_LEN, "规尖已低于工件面 —— 撞了" + + +def test_bad_reading_cannot_drive_it_into_the_workpiece(): + """2026-09-29 的回归：读数往**大**错时，下降量也不许超过几何预算。 + + 那次读数报 141mm ⇒ 想降 139mm；真值只有 53mm ⇒ 多降 86mm 撞进工件。 + """ + # 读数报 141mm，同时把 budget 也按真值给（51mm） + ok, Tee, st = _run(_StubStage2(z_wp=_BAD_Z_WP)) + + assert ok is True + total_mm = sum(st.steps_mm) + assert total_mm <= _BUDGET * 1000 + 0.5, ( + f"下降了 {total_mm:.1f}mm > 几何预算 {_BUDGET * 1000:.1f}mm —— " + "又是那个「多降 86mm 撞工件」的 bug" + ) + assert Tee[2, 3] >= _SURFACE_Z + _TOOL_LEN - 1e-9, ( + f"法兰停在 {Tee[2, 3]:.4f}，规尖 {Tee[2, 3] - _TOOL_LEN:.4f} 低于工件面 {_SURFACE_Z}" + ) + + +def test_disagreement_is_announced_with_both_numbers(): + """深度与几何不符时必须喊出来，并把两个数都打出来。 + + 否则现场只看到"下降量变了"，查不出是测量坏了还是配置写错了 —— 而"测距方法 + 待修"这件事必须留在日志里，不能被静默吞掉。 + """ + _ok, _Tee, st = _run(_StubStage2()) + + hit = [m for m in st.logs if "深度测距与几何不符" in m] + assert hit, "读数与几何差 88mm 却一声不吭 —— 静默比报错难查得多" + text = " ".join(hit) + assert f"{_BAD_GAP0 * 1000:.1f}mm" in text, "要打出测量值，才看得出它离谱" + assert f"{_GAP0 * 1000:.1f}mm" in text, "要打出几何值，才能核对配置" + assert "按几何下降" in text, "要说清本次是按几何走的（读数不参与决策）" + + +def test_missing_gauge_visibility_still_descends_on_geometry(): + """规不在视野（测不到）时**仍按几何下降** —— 下降量本来就不依赖规是否可见。 + + 旧逻辑在这里直接"跳过轻降、停在悬停高"，等于轻降功能随机失效。 + """ + st = _StubStage2(z_wp=None) # 测不到工件面 + ok, Tee, st = _run(st) + + assert ok is True + total_mm = sum(st.steps_mm) + assert abs(total_mm - _BUDGET * 1000) < 1.0, "测不到就该按几何降满，而不是跳过" + assert any("深度核对跳过" in m for m in st.logs), "跳过了核对也要讲一声" + + +# --------------------------------------------------------------------------- # +# 缺几何 ⇒ 不许降（绝不用测距去赌） +# --------------------------------------------------------------------------- # +def test_missing_geometry_refuses_to_descend(): + """工具长/工件面没配时**必须不下降**并报错，不能退回"按测量降"。 + + 2026-09-29 撞工件就是"没有几何、只有测距"时发生的。旧测试甚至把这个危险 + 行为钉成了"legacy 行为"（按测量降 139mm）—— 那条是错的，已改。 + """ + st = _StubStage2(budget=None) + ok, Tee, st = _run(st) + + assert ok is False, "缺几何必须判失败（保持悬停），不能假装完成" + assert not st.steps_mm, "缺几何时一步都不许降" + assert abs(Tee[2, 3] - _HOVER_Z) < 1e-9, "臂必须停在原位" + assert any("轻降缺少几何" in m for m in st.logs), "缺几何要说清缺什么、怎么补" + + +def test_zero_tool_length_refuses_to_descend(): + """工具长为 0（没标定）同样不许降 —— 那是"拿 0 当尺子"。""" + st = _StubStage2(tool_len=0.0) + ok, _Tee, st = _run(st) + assert ok is False and not st.steps_mm + + +# --------------------------------------------------------------------------- # +# 真安全机制仍在：FT 接触、goto 失败 +# --------------------------------------------------------------------------- # +def test_ft_contact_stops_and_backs_off(): + """腕部力突变必须立即停并回退 —— 这是与测距无关的**物理**兜底。 + + 力从第 8 步（间隙约 21mm）就超门槛，但门控是 ``final_gap+4mm``（6mm）。 + 21mm / 10mm 这一档必须继续降；进到 6mm 才许停，且不许把 2mm 目标走完。 + """ + st = _StubStage2(contact_after_steps=8) + ok, Tee, st = _run(st) + + assert ok is True, "接触后停住即算安全收工" + assert any("腕部力突变" in m for m in st.logs), "碰到工件却没喊" + assert any("不当作碰到" in m for m in st.logs), "21mm 间隙时力超了也要明说不当成碰到" + assert sum(st.steps_mm) > 32.0, "力从 21mm 间隙就热，必须穿过 10mm 假接触区" + assert sum(st.steps_mm) < _BUDGET * 1000 - 1.0, "力突变后还在继续降到 2mm" + assert Tee[2, 3] > _HOVER_Z - _BUDGET, "回退没生效" + + +def test_contact_not_armed_while_still_high_above_the_part(): + """远场 138mm 和近场 10mm / ΔFz≈3N 都不算碰到；6mm 才武装。""" + assert contact_armed_by_gap(0.1375, 0.015) is False + assert contact_armed_by_gap(0.020, 0.015) is False + assert contact_armed_by_gap(0.010, 0.015) is False + assert contact_armed_by_gap(0.0095, 0.015) is False + assert contact_armed_by_gap(0.006, 0.015) is True + assert contact_armed_by_gap(0.005, 0.015) is True + + +def test_lock_xy_descend_holds_xy_and_stops_at_final_gap(): + """锁 XY 实验：从悬停纯 Z 收到 2mm，XY 不许动，步长仍 20mm。""" + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _StubStage2() + Tee0 = np.eye(4) + Tee0[0, 3] = 0.512 + Tee0[1, 3] = -0.401 + Tee0[2, 3] = _HOVER_Z + ok, _q, Tee = Stage2Locate._descend_above_hole( # type: ignore[arg-type] + st, np.zeros(7), Tee0, target_gap_m=_FINAL_GAP, step_m=ONCE_APPROACH_STEP_M + ) + assert ok is True + gap = float(Tee[2, 3]) - _TOOL_LEN - _SURFACE_Z + assert abs(gap - _FINAL_GAP) < 0.001, f"应停在贴面 2mm，实际 {gap * 1000:.1f}mm" + assert Tee[0, 3] == 0.512 + assert Tee[1, 3] == -0.401 + assert max(st.steps_mm) <= ONCE_APPROACH_STEP_M * 1000 + 1e-6 + assert all(st.goto_hold_xy), "下臂每一步都必须 hold_xy" + + +def _look_neg_x_T() -> np.ndarray: + T = np.eye(4) + T[:3, :3] = np.array( + [[0.0, 0.0, -1.0], [1.0, 0.0, 0.0], [0.0, -1.0, 0.0]], + dtype=float, + ) + return T + + +def test_once_ff_zero_k_is_cartesian_lock_xy_movel(): + """k=0 必须下发相对 MoveL，且 ΔXY=0、只降 Z。不许停在悬停高装成功。""" + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _ff_stub_ready() + st.once_ff_look_per_m = 0.0 + st._lookup = lambda *_a, **_k: np.eye(4) # type: ignore[method-assign] + st._fresh_tcp_world = lambda: (0.580, -0.460, 0.096) # type: ignore[method-assign] + got: list = [] + st._vendor_movel_tcp = ( # type: ignore[method-assign] + lambda xyz, _vel: got.append([float(xyz[0]), float(xyz[1]), float(xyz[2])]) or True + ) + Tee = np.eye(4) + Tee[0, 3] = 0.595 + Tee[1, 3] = -0.467 + Tee[2, 3] = _HOVER_Z + ok, _q, _Tee1 = Stage2Locate._once_ff_diagonal_to_gap( # type: ignore[arg-type] + st, np.zeros(7), Tee, target_gap_m=_FINAL_GAP + ) + assert ok is True + assert len(got) == 1 + gap0 = _HOVER_Z - _TOOL_LEN - _SURFACE_Z + descent = gap0 - _FINAL_GAP + np.testing.assert_allclose(got[0], [0.580, -0.460, 0.096 - descent], atol=1e-9) + assert any("笛卡尔锁XY只降Z" in m for m in st.logs) + + +def _ff_stub_ready() -> _StubStage2: + st = _StubStage2() + st.once_ff_look_per_m = 0.0 + st._tip_off = np.array([-0.001, -0.001], dtype=float) + st.cam_frame = "cam" + st.base_frame = "base" + st._ws_clipped = False + st._lookup = lambda *_a, **_k: _look_neg_x_T() # type: ignore[method-assign] + st._clamp_ws = lambda *_a, **_k: None # type: ignore[method-assign] + st._spin = lambda *_a, **_k: None # type: ignore[method-assign] + st._wait_state = lambda *_a, **_k: (None, None) # type: ignore[method-assign] + st.robot_states_topic = "/Rizon4_063989/flexiv_robot_states" + return st + + +def test_once_ff_refuses_without_tcp_pose(): + """没有厂家 tcp_pose 不许退回 ROS 绝对坐标。""" + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _ff_stub_ready() + st._fresh_tcp_world = lambda: None # type: ignore[method-assign] + called: list = [] + st._vendor_movel_tcp = lambda *_a, **_k: called.append(1) or True # type: ignore[method-assign] + Tee = np.eye(4) + Tee[0, 3] = 0.595 + Tee[1, 3] = -0.467 + Tee[2, 3] = _HOVER_Z + ok, _q, Tee1 = Stage2Locate._once_ff_diagonal_to_gap( # type: ignore[arg-type] + st, np.zeros(7), Tee, target_gap_m=_FINAL_GAP + ) + assert ok is False + assert called == [] + assert Tee1[2, 3] == pytest.approx(_HOVER_Z) + assert any("没有厂家 tcp_pose" in m for m in st.logs) + + +def test_once_ff_movel_is_flexiv_tcp_plus_delta(): + """MoveL 必须是当前厂家 TCP + (ΔXY, −下降)，不是 ROS 规尖绝对坐标。""" + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _ff_stub_ready() + st._fresh_tcp_world = lambda: (0.580, -0.460, 0.096) # type: ignore[method-assign] + got: list = [] + st._vendor_movel_tcp = ( # type: ignore[method-assign] + lambda xyz, _vel: got.append([float(xyz[0]), float(xyz[1]), float(xyz[2])]) or True + ) + Tee = np.eye(4) + Tee[0, 3] = 0.595 + Tee[1, 3] = -0.467 + Tee[2, 3] = _HOVER_Z + ok, _q, _Tee1 = Stage2Locate._once_ff_diagonal_to_gap( # type: ignore[arg-type] + st, np.zeros(7), Tee, target_gap_m=_FINAL_GAP + ) + assert ok is True + assert len(got) == 1 + gap0 = _HOVER_Z - _TOOL_LEN - _SURFACE_Z + descent = gap0 - _FINAL_GAP + np.testing.assert_allclose(got[0], [0.580, -0.460, 0.096 - descent], atol=1e-9) + assert got[0][0] == pytest.approx(0.580) + assert not np.allclose(got[0][:2], [0.595 - 0.001, -0.467 - 0.001], atol=1e-4) + + +def test_once_ff_custom_final_gap_only_changes_z(): + """--final-gap 8mm：MoveL XY 仍为 0，下降量必须少 6mm，不许再走贴面 2mm。""" + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _ff_stub_ready() + st._fresh_tcp_world = lambda: (0.580, -0.460, 0.096) # type: ignore[method-assign] + got: list = [] + st._vendor_movel_tcp = ( # type: ignore[method-assign] + lambda xyz, _vel: got.append([float(xyz[0]), float(xyz[1]), float(xyz[2])]) or True + ) + Tee = np.eye(4) + Tee[0, 3] = 0.595 + Tee[1, 3] = -0.467 + Tee[2, 3] = _HOVER_Z + gap_custom = 0.008 + ok, _q, _Tee1 = Stage2Locate._once_ff_diagonal_to_gap( # type: ignore[arg-type] + st, np.zeros(7), Tee, target_gap_m=gap_custom + ) + assert ok is True + assert len(got) == 1 + gap0 = _HOVER_Z - _TOOL_LEN - _SURFACE_Z + descent = gap0 - gap_custom + descent_2mm = gap0 - _FINAL_GAP + np.testing.assert_allclose(got[0], [0.580, -0.460, 0.096 - descent], atol=1e-9) + assert got[0][0] == pytest.approx(0.580) + assert got[0][1] == pytest.approx(-0.460) + assert descent == pytest.approx(descent_2mm - 0.006) + assert any("笛卡尔锁XY只降Z" in m for m in st.logs) + + +def test_once_ff_k_018_still_adds_look_xy(): + """有人把 k 改回 0.018 时，MoveL 必须真的加 +k×下降，不许再吞成绝对坐标。""" + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _ff_stub_ready() + st.once_ff_look_per_m = 0.018 + st._fresh_tcp_world = lambda: (0.580, -0.460, 0.096) # type: ignore[method-assign] + got: list = [] + st._vendor_movel_tcp = ( # type: ignore[method-assign] + lambda xyz, _vel: got.append([float(xyz[0]), float(xyz[1]), float(xyz[2])]) or True + ) + Tee = np.eye(4) + Tee[0, 3] = 0.595 + Tee[1, 3] = -0.467 + Tee[2, 3] = _HOVER_Z + ok, _q, _Tee1 = Stage2Locate._once_ff_diagonal_to_gap( # type: ignore[arg-type] + st, np.zeros(7), Tee, target_gap_m=_FINAL_GAP + ) + assert ok is True + assert len(got) == 1 + gap0 = _HOVER_Z - _TOOL_LEN - _SURFACE_Z + descent = gap0 - _FINAL_GAP + dxy = 0.018 * descent + np.testing.assert_allclose(got[0], [0.580 + dxy, -0.460, 0.096 - descent], atol=1e-9) + assert any("视线前馈斜线" in m for m in st.logs) + + +def test_oneshot_approach_stops_at_observe_gap_with_larger_steps(): + """单次精拍第一段只降到 15mm，步长 20mm（约 3 步），不许 4mm 切到 2mm。""" + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _StubStage2() + Tee0 = np.eye(4) + Tee0[2, 3] = _HOVER_Z + ok, _q, Tee = Stage2Locate._descend_above_hole( # type: ignore[arg-type] + st, np.zeros(7), Tee0, target_gap_m=0.015, step_m=ONCE_APPROACH_STEP_M + ) + assert ok is True + gap = float(Tee[2, 3]) - _TOOL_LEN - _SURFACE_Z + assert abs(gap - 0.015) < 0.001, f"应停在观察高 15mm，实际 {gap * 1000:.1f}mm" + assert max(st.steps_mm) <= ONCE_APPROACH_STEP_M * 1000 + 1e-6 + assert len(st.steps_mm) <= 3 + assert abs(sum(st.steps_mm) - (_GAP0 - 0.015) * 1000) < 1.5 + + +def test_oneshot_approach_does_not_treat_force_as_contact(): + """观察高 15mm 仍在接触门控之外，力再热也不许当碰到。""" + + class _AlwaysHot(_StubStage2): + def _contact_detected(self, _base_fz: float) -> bool: + return True + + import rclpy + + if not rclpy.ok(): + rclpy.init() + st = _AlwaysHot() + Tee0 = np.eye(4) + Tee0[2, 3] = _HOVER_Z + ok, _q, Tee = Stage2Locate._descend_above_hole( # type: ignore[arg-type] + st, np.zeros(7), Tee0, target_gap_m=0.015, step_m=ONCE_APPROACH_STEP_M + ) + assert ok is True + gap = float(Tee[2, 3]) - _TOOL_LEN - _SURFACE_Z + assert abs(gap - 0.015) < 0.001 + assert not any("腕部力突变" in m for m in st.logs) + + +def test_ft_drift_far_from_surface_does_not_stop_on_the_first_step(): + """离面还远时力一直超门槛，也要先降到门控间隙附近才许停。""" + + class _AlwaysHot(_StubStage2): + def _contact_detected(self, _base_fz: float) -> bool: + return True + + ok, _Tee, st = _run(_AlwaysHot()) + assert ok is True + assert sum(st.steps_mm) >= 40.0, "离面 53mm 时力超门槛也不该第一步就停" + assert any("不当作碰到" in m for m in st.logs) + assert any("腕部力突变" in m for m in st.logs) + + +def test_every_step_logs_the_ft_force(): + """每一步都要打出 FT 轴向力 —— 这是"停住是碰到还是没跟上"的唯一直接证据。 + + 2026-10-08 排查"轻降在离面 ~4mm 处停住"时全靠这一行；没有它只能猜。 + """ + _ok, _Tee, st = _run(_StubStage2()) + ft_lines = [m for m in st.logs if "FT_fz=" in m] + assert ft_lines, "每步的 FT 读数没打进日志 —— 排查时无从判断是否接触" + assert any("基线" in m for m in ft_lines), "要给出基线与增量，才看得出力有没有变" + + +def test_missing_ft_baseline_is_announced(): + """轻降开始前没收到 FT 时要明说'接触兜底不生效'（不许静默少一道保险）。""" + _ok, _Tee, st = _run(_StubStage2(ft_fz=None)) + assert any("接触兜底不生效" in m for m in st.logs), ( + "FT 没数据却一声不吭 —— 会让人以为有接触兜底" + ) + + +def test_goto_failure_stops_the_descent(): + """某一步走不到位（被挡/碰到东西）⇒ 停，保持当前高度，并判失败。""" + st = _StubStage2() + # 从第 3 步起 _goto 报失败 + orig = st._goto + calls = {"n": 0} + + def _goto(q, Tee, target, **kw): + calls["n"] += 1 + if calls["n"] >= 3: + return False, q, Tee + return orig(q, Tee, target, **kw) + + st._goto = _goto # type: ignore[assignment] + ok, Tee, st = _run(st) + + assert ok is False, "走不到位必须判失败（安全优先）" + assert any("轻降中途未到位" in m for m in st.logs) + assert Tee[2, 3] > _SURFACE_Z + _TOOL_LEN, "走不到位时也不许低于工件面" + + +# --------------------------------------------------------------------------- # +# 不许回退到"把目标值当结果汇报" +# --------------------------------------------------------------------------- # +def test_no_descent_still_drops_to_the_observe_gap(): + """--no-descent 不是停在悬停高：要降到观测间隙（15mm），方便看规尖偏没偏。 + + 不许降到贴面 2mm —— 对偏了再贴面会把规顶在孔沿上。 + """ + st = _StubStage2() + st.final_descent_enable = False + st.observe_gap_m = 0.015 + ok, Tee, st = _run(st) + + assert ok is True + gap_mm = (Tee[2, 3] - _TOOL_LEN - _SURFACE_Z) * 1000 + assert abs(gap_mm - 15.0) < 1.0, f"观测下降应停在离面 15mm，实际 {gap_mm:.1f}mm" + total_mm = sum(st.steps_mm) + assert total_mm < _BUDGET * 1000 - 5.0, "观测下降走到了贴面预算，等于把 --no-descent 吃掉了" + assert any("观测下降完成" in m for m in st.logs), "日志要写明这是观测下降，不是贴面轻降" + + +def test_wired_final_gap_is_reported_from_geometry_not_target(): + """收尾要汇报**几何实算**的间隙，不能把目标值（2.0mm）念一遍。 + + 旧日志就出现过"停在离面 18mm"却同时打印"悬在孔面上方 ~2.0mm"，现场会以为 + 轻降做到了（R1.1：不许把没做到说成做到）。 + """ + _ok, _Tee, st = _run(_StubStage2()) + assert st.descent_final_gap_m is not None, "没记录最终间隙" + assert abs(st.descent_final_gap_m * 1000 - _FINAL_GAP * 1000) < 1.0 + assert any("轻降完成" in m and "几何" in m for m in st.logs), ( + "收尾日志要标明这是几何量，且给出可核对的分量" + ) + + +def test_source_no_longer_uses_depth_to_stop_the_descent(): + """守卫测试：源码里不许再出现"用深度间隙叫停轻降"的逻辑。 + + 这是**反向**证据 —— 只要有人把 SAFE_FLOOR / _measure_z_wp 叫停逻辑加回来， + 这条立刻红（比"单元测试碰巧还能过"更直接）。用语法树判据（不是文本匹配）， + 这样解释这件事的注释/文档字符串不会把它误判成"逻辑又回来了"。 + """ + import ast + from pathlib import Path + + src = ( + Path(__file__).resolve().parents[1] + / "arm_application" + / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + tree = ast.parse(src) + fn = next( + n + for n in ast.walk(tree) + if isinstance(n, ast.FunctionDef) and n.name == "_descend_above_hole" + ) + names = {n.id for n in ast.walk(fn) if isinstance(n, ast.Name)} + attrs = {n.attr for n in ast.walk(fn) if isinstance(n, ast.Attribute)} + assert "SAFE_FLOOR" not in names, "深度安全下限又回来了 —— 它就是那个误停的元凶" + assert "_measure_z_wp" not in attrs, "又在循环里重测深度当停止条件了" + # 交叉核对必须仍在（不是把测量悄悄删掉了） + assert "_measure_gauge_state" in attrs, "连交叉核对都没了 —— 那就没法发现测距坏了" diff --git a/src/arm_application/test/test_stage2_no_follow.py b/src/arm_application/test/test_stage2_no_follow.py new file mode 100644 index 0000000..2001862 --- /dev/null +++ b/src/arm_application/test/test_stage2_no_follow.py @@ -0,0 +1,168 @@ +"""臂没跟随指令时，报错必须指向**连接**，不能甩锅给几何。 + +为什么单独钉住（2026-09-28 真机实测） +-------------------------------------- +真机跑到 S05 精拍定位时反复失败，报的是 +``code=2（垂直化或悬停失败：工具轴没竖直、或悬停高度到不了）``， +看着像标定/几何/悬停高度的问题。实际日志里是： + + plan hover Δ=(+0,+0,-80)mm tilt=0.12deg + send hover: 114 pts T=4.37s ... max|Δq|=0.17378rad + hover hop1 实际 max|Δq|=0.00000rad Δz=+0.00mm + hover hop2 实际 max|Δq|=0.00000rad Δz=+0.00mm + +指令要求把法兰挪 0.17378 rad，实测**一动不动**。真因是 RDK 与机器人的连接在 +14:53:44 就断了（``Disconnected from the robot, waiting for reconnection``）， +此后 ``robot_->states()`` 只会返回最后一帧缓存、``robot_timestamp`` 推进量恒为 0 +（joint_states 因此永久冻结），而 ``rizon_arm_controller`` 是**本地插值**、 +不校验硬件反馈，所以照样打印 ``Goal reached, success!``。 + +最坑的一点：整条链路**没有一个环节报错** —— 断连不报、写命令不报、控制器报成功。 +只有"实测位移为 0"这一个信号是真的。所以这个信号必须自己喊出来，并且喊对方向 +（去查网络/连接），否则下一次仍然会被"垂直化或悬停失败"带去调标定。 + +顺带一提：``_goto`` 里那个 ``stall`` 逻辑本来就会因"连续 2 hop 无进展"而放弃， +所以**不会**无限转下去；缺的只是**说清原因**。 +""" + +from __future__ import annotations + +from typing import Any, List + +import numpy as np + +from arm_application.stage2_locate_node import Stage2Locate + +_NO_FOLLOW_HINT = "臂没有跟随指令" +_NO_FOLLOW_SIGN = "关节状态**毫无变化**" + +# 与真机那次同量级：悬停要往下 197mm，容差 0.7mm。 +_EE_Z = 0.444 +_TARGET_Z = 0.247 +_TOL_M = 0.0007 +_TOL_TILT = 0.01 + + +class _StubLogger: + def __init__(self, sink: List[str]) -> None: + self._sink = sink + + def info(self, msg: str) -> None: + self._sink.append(msg) + + def warn(self, msg: str) -> None: + self._sink.append(msg) + + def error(self, msg: str) -> None: + self._sink.append(msg) + + +class _StubStage2: + """``_goto`` 只用这几样东西；测试里不建任何 ROS 实体。 + + ``follows=False``：模拟"指令发了、关节状态冻住" —— ``_wait_state`` 每次都 + 回同一份 (q, Tee)，就像真机上读到的最后一帧缓存。 + ``follows=True``：正常跟随，用于确认不会误报。 + """ + + def __init__(self, follows: bool) -> None: + self.logs: List[str] = [] + self.sends = 0 + self._follows = bool(follows) + self._calls = 0 + + def _clamp_ws(self, target: Any) -> np.ndarray: + return np.array(target, dtype=float) + + def _spin(self, _dt: float = 0.05) -> None: + return None + + def _plan_and_send(self, *_a: Any, **_kw: Any) -> bool: + self.sends += 1 + return True + + def _wait_state(self, _timeout: float) -> Any: + self._calls += 1 + Tee = np.eye(4) + Tee[0, 3] = 0.0 + Tee[1, 3] = 0.0 + q = np.zeros(7) + if self._follows: + # 每次调用都比上一次更靠近目标：模拟"真的在走"。 + # 注意必须**逐次递进** —— 若每次都回同一份"动过"的状态，第二次相对 + # 第一次就没变化了，会被判成没跟随（这正是打桩要避免的假象）。 + Tee[2, 3] = _EE_Z - 0.03 * self._calls + q[1] = 0.05 * self._calls + else: + # 冻结在最后一帧缓存：每次都一样，就像真机断连后读到的那样。 + Tee[2, 3] = _EE_Z + return q, Tee + + def get_logger(self) -> Any: + return _StubLogger(self.logs) + + +def _run(follows: bool) -> Any: + st = _StubStage2(follows) + Tee0 = np.eye(4) + Tee0[2, 3] = _EE_Z + ok, _q, _Tee = Stage2Locate._goto( # type: ignore[arg-type] + st, + np.zeros(7), + Tee0, + np.array([0.0, 0.0, _TARGET_Z]), + False, # verticalize：本用例不碰姿态，只看"臂动没动" + _TOL_M, + _TOL_TILT, + "hover", + 0.022, + max_hops=2, + settle_s=0.0, + min_dur=0.0, + ) + return ok, st + + +def test_frozen_joint_state_is_reported_as_no_follow(): + """实测位移为 0 → 必须出一条指向"连接/关节状态"的错，而不是只说容差没到。""" + ok, st = _run(follows=False) + + assert st.sends == 2, "无进展会连着 hop 两次才放弃（stall 判据）" + assert ok is False, "臂没跟上就不该报成功" + assert any(_NO_FOLLOW_SIGN in m for m in st.logs), ( + "要有一条明确说'关节状态毫无变化'的日志，否则查日志时会以为臂动过" + ) + assert any(_NO_FOLLOW_HINT in m for m in st.logs), ( + "错因必须指向'臂没有跟随指令'，不能只停在'悬停未达容差'" + ) + hint = " ".join(m for m in st.logs if _NO_FOLLOW_HINT in m) + for kw in ("RDK", "断连", "ping", "MAC"): + assert kw in hint, f"提示里要给出可执行的排查方向（缺 {kw}）" + + +def test_normal_follow_does_not_emit_the_no_follow_error(): + """正常跟随时不能误报 —— 这条错一旦刷出来就会把人带去查网络。""" + _ok, st = _run(follows=True) + + assert st.sends >= 1, "至少得真的发过轨迹" + assert not any(_NO_FOLLOW_HINT in m for m in st.logs), ( + "臂动了还报'没跟随'就是误报，比不报更糟" + ) + + +def test_eps_is_small_enough_to_not_swallow_real_motion(): + """阈值必须小于"真动了一下"的量级，否则真实的小位移会被误判成没动。""" + from arm_application.stage2_locate_node import _NO_FOLLOW_EPS_RAD + + assert _NO_FOLLOW_EPS_RAD > 0.0 + # 真机一次 hop 计划 0.17378rad；即使只走到 1%，也远大于阈值。 + assert _NO_FOLLOW_EPS_RAD < 0.17378 * 0.01, ( + "阈值取大了会把'动了一点点'误判成'完全没动'" + ) + + +def test_hint_mentions_the_controller_still_reports_success(): + """要点破"控制器仍报 success"这个反直觉点，否则下一轮还会被日志骗。""" + _ok, st = _run(follows=False) + hint = " ".join(m for m in st.logs if _NO_FOLLOW_HINT in m) + assert "success" in hint, "真机现象就是'控制器报 success 但臂没动'，得写清楚" diff --git a/src/arm_application/test/test_stage2_tip_align.py b/src/arm_application/test/test_stage2_tip_align.py new file mode 100644 index 0000000..7451e11 --- /dev/null +++ b/src/arm_application/test/test_stage2_tip_align.py @@ -0,0 +1,742 @@ +"""精对准的「工具位置」必须取自**视觉量到的规尖**，不能再用法兰轴线。 + +为什么（2026-10-08 真机 arm 89） +-------------------------------- +规是**夹在爪里**的零件，它相对法兰轴线可以整体偏出约 10mm。实测（同一帧、同一 +条手眼链，n=8）： + +* 规杆轴线相对法兰 = **(+10.7, −0.1) mm**（σ≈0.5mm）；最深像素法 (+8.8, −1.8) mm +* 而 ``hover_offset_ee_xy_m`` 写的是 ``[0, 0]``（"平行爪同轴"）⇒ 精对准把**法兰** + 对到孔上 ⇒ 规尖实际离孔心 ~10mm ⇒ 轻降时 φ6 规尖骑在 φ7 孔的**孔沿**上， + 腕力从 −1N 蹦到 −31N→−63N 卡死。现场看到的是"轻降在离面 4mm 停住"。 + +而孔检测本身重复性极好（k1 基座坐标 σ=(0.17,0.04)mm）—— 精度不是瓶颈， +"对的是谁"才是。所以改成在同一帧里同时解「规尖」与「孔」，两者共用手眼链。 + +真机复跑还暴露了第二件事：**工具长读数会跳**（192~223mm）——规尖细、反光，掠射角 +下深度容易丢，丢了以后"最深有效像素"往上跑、工具长只会变短。逐拍重算偏移会把 +"规杆略有倾斜"引入的 ±0.2~0.4mm 抖动带进残差，残差在 0.44~0.85mm 之间来回荡、 +收不进 0.25mm。偏移是**刚体量**，所以**量准一份就冻结**，并且只取"端头看得全" +（工具长最长）那一簇。 + +这些用例全是**离线**的：只用到少量成员，用打桩对象即可。 +""" + +from __future__ import annotations + +from typing import Any, Dict, Optional, Tuple + +import numpy as np +import pytest + +from arm_application.stage2_locate_node import Stage2Locate + +_INTR = {"fx": 400.0, "fy": 400.0, "cx": 400.0, "cy": 240.0} +_TEE = np.eye(4) +_TEE[0, 3] = 0.50 +_TEE[1, 3] = -0.10 +_TEE[2, 3] = 0.55 + +# 相机朝下、相对竖直前倾约 30°（≈真机那个 29.7° 的视角）。 +# 用旋转而不是纯平移——纯平移会让"更深"在基座里变成**更长**的工具长，与真机相反， +# 那样这条链就测不出"端头丢像素 ⇒ 工具长变短"这件事。 +_R_CB = np.array([[1.0, 0.0, 0.0], [0.0, -0.866, -0.5], [0.0, 0.5, -0.866]]) +_T_CB = np.array([0.50, -0.10, 0.45]) + + +def _rod_frame(v1: int = 300, u0: int = 400, v0: int = 100, near: float = 0.06, + far: float = 0.12, half: int = 8, w: int = 800, h: int = 480) -> np.ndarray: + """造一帧含"规杆"的深度图：中央竖带，深度随 v 线性变深（越靠下越深）。 + + 深度只随 ``v`` 的**绝对位置**变（用固定的 200px 量程），所以 ``v1`` 截短 = 规尖 + 那几个像素丢了 —— 正好复现真机那个"最深有效像素往上跑、工具长变短"。 + """ + depth = np.full((h, w), 0.50, np.float32) + for v in range(v0, v1 + 1): + f = min(1.0, (v - v0) / 200.0) + depth[v, u0 - half : u0 + half] = near + f * (far - near) + return depth + + +class _StubLogger: + def __init__(self) -> None: + self.msgs: list = [] + + def _add(self, msg: str) -> None: + self.msgs.append(str(msg)) + + info = _add + warn = _add + error = _add + + +class _Stub: + """被测方法用到的成员。""" + + tip_min_m = 0.04 + tip_max_m = 0.60 + tip_near_m = 0.15 + tip_band_frac = 0.25 + tip_min_px = 150 + tip_len_min = 0.15 + tip_len_max = 0.32 + tip_off_tol = 0.003 + tip_calib_n = 4 + tool_tip_below_flange_m = 0.19 + + def __init__(self, t_cb: Tuple[float, float, float] = tuple(_T_CB)) -> None: + self._t_cb = np.array(t_cb, float) + self._tip_off: Optional[np.ndarray] = None + self._tip_samp: list = [] + self._tip_len_m: Optional[float] = None + self._logger = _StubLogger() + + def get_logger(self) -> Any: + return self._logger + + # 真实实现（纯数学）——换掉就等于没测到那条链 + def _px_to_cam(self, u: float, v: float, z: float, intr: Dict[str, float]) -> np.ndarray: + return Stage2Locate._px_to_cam(self, u, v, z, intr) # type: ignore[arg-type] + + def _cam_to_base(self, p_cam: np.ndarray) -> np.ndarray: + return _R_CB @ np.asarray(p_cam, float) + self._t_cb + + +def _call(st: _Stub, depth: np.ndarray, z_wp_cam: Optional[float] = None): + return Stage2Locate._tip_offset_from_depth( # type: ignore[arg-type] + st, depth, _INTR, _TEE, z_wp_cam=z_wp_cam + ) + + +def _feed(st: _Stub, depth: np.ndarray) -> Tuple[Optional[np.ndarray], Optional[float]]: + """走一遍"量一帧 → 攒样本 → 试冻结"的完整流程。""" + off, tlen, _why = _call(st, depth) + if off is not None and tlen is not None: + st._tip_samp.append((off, tlen)) + Stage2Locate._refresh_tip_offset(st) # type: ignore[arg-type] + return off, tlen + + +# --------------------------------------------------------------------------- # +# 正常路径 +# --------------------------------------------------------------------------- # +def test_measures_the_rod_tip_offset(): + """规杆在中央、深度合理时，要真的量出「规尖相对法兰」的基座 XY 偏移 + 工具长。""" + off, tlen, why = _call(_Stub(), _rod_frame()) + assert off is not None and tlen is not None, f"没量到规尖：{why}" + # 规杆在 u=400=cx 的正中央 ⇒ 基座 X 偏移应≈0 + assert abs(float(off[0])) < 0.001, f"规杆居中，X 偏移应≈0，实际 {off[0]*1000:+.2f}mm" + assert abs(float(off[1])) < 0.15, f"Y 偏移 {off[1]*1000:.1f}mm 离谱" + assert 0.15 <= tlen <= 0.32, f"工具长 {tlen*1000:.0f}mm 不在合法区间" + assert "工具长" in why, "说明里要给出反投影出的工具长（可核对）" + + +def test_offset_is_stable_frame_to_frame(): + """同一姿态连拍：偏移是刚体量，重复帧之间必须几乎不动。""" + st = _Stub() + off1, _t1, _ = _call(st, _rod_frame()) + assert off1 is not None + off2, _t2, why = _call(st, _rod_frame()) + assert off2 is not None, f"重复帧被误判：{why}" + assert float(np.linalg.norm(off2 - off1)) < 1e-6 + + +# --------------------------------------------------------------------------- # +# 判据各自都要能真的失败（负向用例） +# --------------------------------------------------------------------------- # +def _gripper_and_rod_frame() -> np.ndarray: + """爪子块头大且更近 + 规杆更细更深：复现 2026-10-09 真机『按面积选爪子』。""" + depth = np.full((480, 800), 0.50, np.float32) + depth[20:90, 330:470] = 0.07 # 爪子：宽、浅、画面上方 + for v in range(90, 280): + f = min(1.0, (v - 90) / 200.0) + depth[v, 392:408] = 0.08 + f * 0.05 # 规杆：细、伸向工件 + return depth + + +def test_picks_the_lower_tip_not_the_config_length_blob(): + """画面上方、工具长刚好贴着配置的那一块不是规尖。 + + 2026-10-09 真机：最接近配置 223mm 的点工具长 225mm、偏移约 0，冻住的是 + 法兰轴线。残差 0.14mm 达标，下降后规尖仍偏出约 10mm。规尖在画面更靠下。 + """ + depth = np.full((480, 800), 0.50, np.float32) + depth[40:100, 370:430] = 0.080 # 靠上、居中，工具长贴着配置 + for v in range(200, 301): + f = min(1.0, (v - 200) / 200.0) + depth[v, 442:458] = 0.10 + f * 0.02 # 靠下、偏出中心 + st = _Stub() + st.tool_tip_below_flange_m = 0.185 + off, tlen, why = _call(st, depth) + assert off is not None and tlen is not None, f"有规尖却没量到：{why}" + v = float(why.split("px=(")[1].split(")")[0].split(",")[1]) + assert v > 180, f"采到的是贴着配置工具长的上方点，不是规尖：{why}" + assert abs(float(off[0])) > 0.005, ( + f"规尖偏出中心，X 偏移不该≈0（那是法兰轴）：{why} off={off}" + ) + + +def test_picks_rod_not_larger_gripper(): + """中央竖带里爪子面积更大时，必须仍选**更深的规杆**，不能按连通域面积。""" + depth = _gripper_and_rod_frame() + off, tlen, why = _call(_Stub(), depth) + assert off is not None and tlen is not None, f"有规杆却没量到：{why}" + assert "px=" in why + # 规尖在杆下端 v≈270，爪子在 v≈20–90；采到爪子 v 会 <100 + v = float(why.split("px=(")[1].split(")")[0].split(",")[1]) + assert v > 150, f"采到的是爪子不是规尖：{why}" + + +def test_workpiece_ceiling_keeps_the_real_tip(): + """同一帧工件面深度必须抬高近端上限，否则 150mm 会切掉真规尖。 + + 2026-10-09 真机：孔 camera-Z ≈168mm，固定 tip_near=150mm 把尖切掉， + 像素在 v=80（杆上半）和 v=188（尖偶尔漏进来）两档跳，6 拍冻不住。 + 上限要留在工件面前方（8mm）：贴着面的像素是工件，不是规。 + 再往前砍 15mm 会把只比面近十来毫米的真尖切掉。 + """ + depth = np.full((480, 800), 0.50, np.float32) + for v in range(80, 200): + depth[v, 392:408] = 0.08 + (v - 80) / 120.0 * 0.06 # →0.14，在 150mm 内 + for v in range(200, 280): + depth[v, 392:408] = 0.14 + (v - 200) / 80.0 * 0.024 # →0.164，会被 150mm 切掉 + depth[300:400, 200:600] = 0.172 # 工件面；近端上限 = 面 − 15mm + cut, _t0, why0 = _call(_Stub(), depth) # 无 z_wp → 固定 150mm + full, tlen, why = _call(_Stub(), depth, z_wp_cam=0.172) + assert full is not None and tlen is not None, f"给了工件面仍没量到尖：{why}" + v_full = float(why.split("px=(")[1].split(")")[0].split(",")[1]) + assert v_full > 200, f"有工件面上限仍没采到杆下端：{why}" + if cut is not None: + v_cut = float(why0.split("px=(")[1].split(")")[0].split(",")[1]) + assert v_full > v_cut + 20, ( + f"工件面上限没有比固定 150mm 采到更靠下的尖：cut={why0} full={why}" + ) + + +def test_keeps_the_tip_when_it_is_only_slightly_in_front_of_the_surface(): + """规尖只比工件面近十来毫米时，必须采尖，不能退回更近的夹爪。 + + 2026-10-09 观测高度实测：工件面相机深度 127mm，规尖 115mm，夹爪/杆身 80mm。 + 近端砍到「面 − 15mm」会把尖切掉，冻住的是杆身（偏移约 2mm、工具长贴着 + 配置 223mm）。残差 0.2mm 达标，针却偏在孔沿上。 + """ + depth = np.full((480, 800), 0.50, np.float32) + depth[140:190, 360:430] = 0.080 # 夹爪：更近、更靠上 + depth[210:236, 430:470] = 0.118 # 规尖：只比面近 12mm，画面更靠下 + depth[250:420, 250:600] = 0.130 # 工件面 + off, tlen, why = _call(_Stub(), depth, z_wp_cam=0.130) + assert off is not None and tlen is not None, f"只比面近 12mm 的尖被切掉了：{why}" + v = float(why.split("px=(")[1].split(")")[0].split(",")[1]) + assert v > 200, f"采到的是夹爪不是规尖：{why}" + assert abs(float(off[0])) > 0.005, ( + f"尖偏出中心，不该量成法兰轴：{why} off={off}" + ) + + +def test_rejects_pixels_stuck_to_the_workpiece(): + """贴着工件面的近端块必须拒绝 —— 那是面，不是规尖。 + + 2026-10-09 重跑：上限只让 3mm，噪声把工件漏进来，工具长测成 296–315mm + （规实际约 190mm），样本互斥，随后两孔中点一跳就被当成工件被推走。 + """ + depth = np.full((480, 800), 0.50, np.float32) + depth[200:420, 360:440] = 0.170 # 大块、深度贴着 0.172 的工件面 + off, tlen, why = _call(_Stub(), depth, z_wp_cam=0.172) + assert off is None and tlen is None, f"贴着工件面的块被当成规尖：{why}" + assert "工件" in why + + +def test_rejects_tip_that_lands_on_the_workpiece_surface(): + """反投影落在工件面上的点必须丢掉，哪怕相机深度还在近端上限之内。 + + 2026-10-09：相机深度留了 15mm，工具长仍测成 298mm（配置 223mm）， + 基座 z 贴在工件面上。偏移冻不住 → exit=8 → 观测下降根本不会执行。 + """ + st = _Stub() + st.surface_z_m = 1.0 # 高于任何反投影点 + off, tlen, why = _call(st, _rod_frame()) + assert off is None and tlen is None, f"贴在工件面上的点被当成规尖：{why}" + assert "工件" in why + + +def test_keeps_tip_that_clears_the_workpiece_surface(): + """规尖明显高于工件面时，表面守卫不许把真规尖一起丢掉。""" + st = _Stub() + st.surface_z_m = 0.05 + off, tlen, why = _call(st, _rod_frame()) + assert off is not None and tlen is not None, f"离面足够却被拒：{why}" + + +def test_rejects_when_nothing_is_near(): + """近端什么都没有（规不在视野）⇒ 必须判失败，不能返回一个假偏移。""" + depth = np.full((480, 800), 0.50, np.float32) # 全在远端 + off, tlen, why = _call(_Stub(), depth) + assert off is None and tlen is None, "近端没物体却量出了偏移 —— 那是拿台面当规" + assert "近端" in why + + +def test_rejects_when_rod_is_outside_the_center_band(): + """物体在画面边上（不是夹在爪里的规）⇒ 必须拒绝。""" + off, _tlen, why = _call(_Stub(), _rod_frame(u0=60)) + assert off is None, "画面边上的东西不是规，不许采信" + assert "近端" in why + + +def test_rejects_implausible_tool_length(): + """反投影出的工具长荒谬（量到台面/工件）⇒ 必须拒绝。 + + 把相机系平移的 z 抬到 0.75 ⇒ 反投影的基座 z 高于法兰 ⇒ 工具长为负。 + """ + st = _Stub(t_cb=(0.50, -0.10, 0.75)) + off, _tlen, why = _call(st, _rod_frame()) + assert off is None, "工具长为负也敢采信 —— 会把臂往工件里带" + assert "工具长" in why and "不是规" in why + + +# --------------------------------------------------------------------------- # +# 冻结：偏移是刚体量，量准一次就定住 +# --------------------------------------------------------------------------- # +def test_freezes_offset_after_consistent_samples(): + """攒够一致样本后必须**冻结**，且冻结后不再被后续样本改动。 + + 为什么要冻结：逐拍重算会把"规杆略有倾斜"引入的 ±0.2~0.4mm 抖动带进残差 + （2026-10-08 真机残差 0.44~0.85mm 来回荡、收不进 0.25mm）。 + """ + st = _Stub() + for _ in range(st.tip_calib_n): + _feed(st, _rod_frame()) + assert st._tip_off is not None, "样本一致却没冻结" + frozen = st._tip_off.copy() + assert any("已冻结" in m for m in st._logger.msgs), "冻结了要讲一声（否则现场不知道基准何时定的）" + for _ in range(3): # 再喂几帧：冻结后不许改 + _feed(st, _rod_frame(u0=402)) + assert np.allclose(st._tip_off, frozen), "冻结后又被改了 —— 那冻结就没意义" + + +def test_does_not_freeze_when_samples_disagree_without_a_majority(): + """样本分成**势均力敌的两派**时绝不许冻结 —— 宁可继续用退路 + 报失败。 + + （若有一派能凑够 ``tip_calib_n`` 拍一致，那按多数派冻结是对的：外点就是靠这个 + 剔掉的 —— 见 test_freezes_offset_after_consistent_samples。） + 这是 2026-10-08 那次真机"残差 0.15mm 的假达标"的守卫：只要偏移量不准， + 对准结果就必须判不可信（见 test_success_is_refused_without_tip_offset）。 + """ + st = _Stub() + good = _rod_frame() # 偏移 ≈ x=0 + far = _rod_frame(u0=470) # 挪到别的 u ⇒ x 偏移差 ~21mm + for i in range(st.tip_calib_n): # 各一半，谁都不够多数派 + _feed(st, good if i % 2 == 0 else far) + assert st._tip_off is None, "两派势均力敌（各 2 拍）竟然冻住了 —— 定了个假基准" + + +def test_reports_tool_length_from_the_consistent_samples(): + """冻结时要并记工具长，并在与 site.yaml 差 >3mm 时告警（夹持变动的唯一线索）。""" + st = _Stub() + st.tool_tip_below_flange_m = 0.30 # 故意与量到的 ~0.19m 差很多 + for _ in range(st.tip_calib_n): + _feed(st, _rod_frame()) + assert st._tip_off is not None + assert st._tip_len_m is not None, "冻结了却没记工具长" + warn = [m for m in st._logger.msgs if "site.yaml 的工具长" in m] + assert warn, "量的工具长与配置差一大截却一声不吭 —— 夹持变动的线索就这么丢了" + + +# --------------------------------------------------------------------------- # +# 守卫测试：精对准必须真的用规尖，且保留退路 +# --------------------------------------------------------------------------- # +def test_align_loop_uses_visual_tip_with_flange_fallback(): + """源码守卫（语法树判据）：精对准循环里 + + · 必须调用 ``_tip_offset_from_depth``（视觉规尖）； + · 必须调用 ``_refresh_tip_offset``（量准一次就冻结）； + · 必须仍能用 ``_gauge_xy`` 兜底（规尖量不到时不至于完全没方向）； + · 结果里要标出这一拍用的是哪个（``gauge_source``），否则现场分不清。 + """ + import ast + from pathlib import Path + + src = ( + Path(__file__).resolve().parents[1] + / "arm_application" + / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + tree = ast.parse(src) + attrs = {n.attr for n in ast.walk(tree) if isinstance(n, ast.Attribute)} + assert "_tip_offset_from_depth" in attrs, "精对准没用视觉规尖 —— 又回到拿法兰对孔了" + assert "_refresh_tip_offset" in attrs, "偏移没走『量准一次就冻结』的路子 —— 残差会被抖动拖住" + assert "_gauge_xy" in attrs, "连退路都没了：规尖一时量不到就完全没方向" + consts = {n.value for n in ast.walk(tree) if isinstance(n, ast.Constant)} + assert "gauge_source" in consts, "结果里没标这一拍用的是规尖还是法兰，现场没法核对" + assert "align_trusted" in consts, "结果里没标这次对准可不可信，现场没法核对" + + +def test_success_is_refused_without_tip_offset(): + """**残差达标但规尖偏移没量到**时，必须判失败 —— 不许把没做到说成做到。 + + 2026-10-08 真机复跑就栽在这：``tip_offset_m=None``、残差 0.15mm 看着漂亮， + 其实那一拍用的是**法兰轴线**（退路），法兰压在 k1 上、规尖偏出 ~11mm。 + 没有这条守卫，日志会报"二阶段 OK 残差 0.15mm"，而规根本没对上孔。 + + 判据走**语法树**而不是文本匹配：必须存在一个"残差达标"的分支，其（含嵌套的） + 分支体里同时写了 ``align_trusted`` 与 ``fail_reason``。文本匹配会被方法里 + 别处的 `_tip_off is None` 蒙混过去（试过，真的会漏）。 + """ + import ast + from pathlib import Path + + src = ( + Path(__file__).resolve().parents[1] + / "arm_application" + / "stage2_locate_node.py" + ).read_text(encoding="utf-8") + fn = next( + n + for n in ast.walk(ast.parse(src)) + if isinstance(n, ast.FunctionDef) and n.name == "_run_locate" + ) + + def _consts(node: ast.AST) -> set: + return {x.value for x in ast.walk(node) if isinstance(x, ast.Constant)} + + tol_branches = [ + n for n in ast.walk(fn) if isinstance(n, ast.If) and "align_tol" in ast.unparse(n.test) + ] + assert tol_branches, "没找到『残差达标』那个分支 —— 结构变了，这条守卫要跟着改" + guarded = [ + n for n in tol_branches if {"align_trusted", "fail_reason"} <= _consts(n) + ] + assert guarded, ( + "『残差达标』分支里没有『规尖没量到 ⇒ align_trusted=False + fail_reason』—— " + "假达标（对的是法兰）又会蒙混成成功" + ) + + +def test_default_is_tip_vision_on_in_site(): + """site.yaml 必须默认开视觉规尖，且容差收到 0.25mm。 + + 容差是关键：0.7mm 会让"规偏 10mm"这种系统偏差在容差里被放过去 + （原来残差 0.69mm 看着"通过"，其实是拿法兰对的孔）。 + """ + from pathlib import Path + + import yaml + + site = yaml.safe_load( + (Path(__file__).resolve().parents[3] / "config" / "site.yaml").read_text(encoding="utf-8") + ) + st2 = ((site.get("hole_detect") or {}).get("stage2") or {}) + robots = ((site.get("robot") or {}).get("robots") or []) + arm89 = next(r for r in robots if str(r.get("sn")) == "Rizon4-063989") + servo = arm89.get("servo") or {} + assert float(servo.get("ee_z_m")) == pytest.approx( + float(servo.get("hole_hover_z_m")) + ), "左臂跟踪锁高必须等于孔悬停高：对孔完成前不许改高度" + assert st2.get("align_tip_vision") is True, "默认必须用视觉规尖" + assert float(st2.get("align_tol_m")) <= 0.00025 + 1e-9, ( + f"align_tol_m={st2.get('align_tol_m')} 太松：会放过系统性的对孔偏差" + ) + assert int(st2.get("align_max_iters")) >= 12, "收紧容差后迭代上限要跟上" + + +class _TrimStub: + """下降后 XY 修正用到的成员。孔在基座里不动，规尖偏移是常数。""" + + tip_vision = True + hole_keypoint_once = False + k1_label = "left" + target_hole = "k1" + align_tol = 0.00025 + align_speed = 0.02 + vert_tol_rad = 0.02 + base_frame = "world" + ee_frame = "flange" + cam_frame = "cam" + image_topic = "/cam/color" + _tip_off = np.array([0.01, 0.0]) + _tip_samp: list = [] + _tip_len_m = 0.22 + _ws_clipped = False + final_descent_enable = False + tool_tip_below_flange_m = 0.223 + surface_z_m = 0.022 + final_gap_m = 0.002 + final_descent_speed = 0.005 + + def __init__(self, err_xy=(0.0026, -0.0004), tip=None) -> None: + self.hole = np.array([0.50 + err_xy[0], -0.10 + err_xy[1], 0.022]) + self.tip = None if tip is False else np.array([0.0015, -0.0012]) + self.moves: list = [] + self.tip_calls = 0 + self._logger = _StubLogger() + self.pair_dy = -0.060 + self.hole_after_move = None + self.pair_dy_after_move = None + + def get_logger(self): + return self._logger + + def _lookup(self, *_a): + return None + + def _pin(self, _q) -> None: + return None + + def _snap_holes(self, *, skip_center_gate: bool): + hole = self.hole + pair_dy = self.pair_dy + if self.moves: + if self.hole_after_move is not None: + hole = self.hole_after_move + if self.pair_dy_after_move is not None: + pair_dy = self.pair_dy_after_move + res = { + "status": True, + "hole_base": [hole.tolist(), (hole + np.array([0.0, pair_dy, 0.0])).tolist()], + "z_wp": 0.127, + } + return None, None, {}, res + + def _tip_offset_from_depth(self, *_a, **_kw): + self.tip_calls += 1 + if self.tip is None: + return None, None, "没看到规" + off = self.tip.copy() + if self.hole_keypoint_once: + off = off + np.array([0.018 * (self.tip_calls % 3), 0.0]) + return off, 0.222, "px=(447,226)" + + def _stamp_bias(self, rec, *, tgt_b, gxy, tag): + rec = dict(rec) + rec["tag"] = tag + rec["err_xy_m"] = [ + round(float(tgt_b[0]) - float(gxy[0]), 5), + round(float(tgt_b[1]) - float(gxy[1]), 5), + ] + rec["along_look_mm"] = None + rec["along_right_mm"] = None + return rec + + def _publish_result(self, _payload) -> None: + return None + + def _goto(self, _q, Tee, target, **_kw): + Tee = np.array(Tee, float) + self.moves.append(np.array(target, float)) + Tee[0, 3] = float(target[0]) + Tee[1, 3] = float(target[1]) + Tee[2, 3] = float(target[2]) + return True, _q, Tee + + +def _trim(st: _TrimStub, z: float = 0.260): + import rclpy + + if not rclpy.ok(): + rclpy.init() + Tee = np.eye(4) + Tee[0, 3] = 0.50 + Tee[1, 3] = -0.10 + Tee[2, 3] = z + final = {"ok": True, "residual_mm": 0.22, "gauge_source": "视觉规尖(已冻结)"} + return Stage2Locate._trim_xy_after_descent(st, np.zeros(7), Tee, final) # type: ignore[arg-type] + + +def test_trim_after_descent_corrects_xy_and_holds_z(): + """下降后孔位漂了 2mm 级，要在当前高度补上，不许改高度。 + + 2026-10-09：悬停残差 0.22mm，降到观测高度后同一孔的基座 XY 差约 2.6mm。 + """ + st = _TrimStub() + _q, Tee, final = _trim(st) + assert abs(float(Tee[2, 3]) - 0.260) < 1e-9, "下降后修正不许改高度" + tip = np.array([Tee[0, 3] + st.tip[0], Tee[1, 3] + st.tip[1]]) + err = float(np.hypot(tip[0] - st.hole[0], tip[1] - st.hole[1])) + assert err <= 0.00025 + 1e-6, f"补完针还偏 {err*1000:.2f}mm" + assert final["residual_mm"] <= 0.25 + assert "下降后" in final["gauge_source"] + + +def test_trim_refuses_a_centimeter_scale_correction(): + """要补的量到了厘米，就是采到夹爪了，必须停在原地。""" + st = _TrimStub(err_xy=(0.014, 0.0)) + _q, Tee, final = _trim(st) + assert not st.moves, "厘米级修正被执行了" + assert abs(float(Tee[0, 3]) - 0.50) < 1e-9 + assert final["residual_mm"] == 0.22, "拒绝修正时不能把悬停结果改写成没补上的残差" + assert any("不像针" in m for m in st._logger.msgs) + + +def test_trim_does_not_move_when_the_tip_is_missing(): + """下降后没量到规尖，保持悬停对准的位置。""" + st = _TrimStub(tip=False) + _q, Tee, final = _trim(st) + assert not st.moves + assert abs(float(Tee[0, 3]) - 0.50) < 1e-9 + assert final["gauge_source"] == "视觉规尖(已冻结)" + + +def test_once_trim_keeps_hover_tip_when_depth_jumps(): + """单次精拍：沿用悬停规尖，只跳一次、步长 ≤3mm，剩下的不许再追。 + + 2026-10-13：两跳合计 4.3mm 把近距检测带崩。5mm 交平面漂只许吃掉 3mm。 + """ + frozen = np.array([0.0001, -0.0003]) + st = _TrimStub(err_xy=(0.0044, -0.0024)) + st.hole_keypoint_once = True + st._tip_off = frozen.copy() + st.align_tol = 0.00025 + _q, Tee, final = _trim(st) + assert st.tip_calls == 0, "单次精拍下降后不许再走深度重测规尖" + assert abs(float(Tee[2, 3]) - 0.260) < 1e-9, "下降后修正不许改高度" + assert len(st.moves) == 1, f"只许一跳，实际 {len(st.moves)} 跳" + hop = float(np.hypot(float(st.moves[0][0]) - 0.50, float(st.moves[0][1]) + 0.10)) + assert hop <= 0.003 + 1e-9, f"一跳 {hop*1000:.2f}mm 超过 3mm" + gxy = np.array([float(Tee[0, 3]) + frozen[0], float(Tee[1, 3]) + frozen[1]]) + err = float(np.hypot(gxy[0] - st.hole[0], gxy[1] - st.hole[1])) + assert 0.0015 <= err <= 0.0025, f"3mm 一跳后应剩约 2mm，实际 {err*1000:.2f}mm" + assert final["residual_mm"] == pytest.approx(err * 1000.0, abs=0.02) + assert "悬停冻结" in final["gauge_source"] + assert final["residual_remeasured"] is True + assert final.get("trim_reverted") is False + + +def test_once_trim_refuses_without_frozen_tip(): + """没有悬停冻住的规尖，不许用法兰或乱跳的深度尖去补。""" + st = _TrimStub(err_xy=(0.0044, 0.0)) + st.hole_keypoint_once = True + st._tip_off = None + _q, Tee, final = _trim(st) + assert not st.moves + assert st.tip_calls == 0 + assert abs(float(Tee[0, 3]) - 0.50) < 1e-9 + assert any("冻住的规尖" in m for m in st._logger.msgs) + + +def test_once_trim_refuses_a_centimeter_scale_hole_shift(): + """孔 XY 要补到厘米，不是交平面那 4mm，必须停。""" + st = _TrimStub(err_xy=(0.014, 0.0)) + st.hole_keypoint_once = True + st._tip_off = np.array([0.0001, -0.0003]) + _q, Tee, final = _trim(st) + assert not st.moves + assert final["residual_mm"] == 0.22 + assert any("不像交平面" in m for m in st._logger.msgs) + + +def test_once_trim_reverts_when_pair_breaks(): + """一跳后两孔间距从 60mm 掉到 45mm：检测漂了，必须撤回。""" + frozen = np.array([0.0001, -0.0003]) + st = _TrimStub(err_xy=(0.0026, 0.0)) + st.hole_keypoint_once = True + st._tip_off = frozen.copy() + st.pair_dy_after_move = -0.045 + _q, Tee, final = _trim(st) + assert len(st.moves) == 2, "补完变差必须再走一跳撤回" + assert abs(float(Tee[0, 3]) - 0.50) < 1e-9 + assert abs(float(Tee[1, 3]) + 0.10) < 1e-9 + assert final.get("trim_reverted") is True + assert any("撤回" in m for m in st._logger.msgs) + gxy = np.array([float(Tee[0, 3]) + frozen[0], float(Tee[1, 3]) + frozen[1]]) + err = float(np.hypot(gxy[0] - st.hole[0], gxy[1] - st.hole[1])) + assert abs(err - 0.0025) < 2e-4, "撤回后残差应回到走前那一档" + assert final["residual_mm"] == pytest.approx(err * 1000.0, abs=0.05) + + +def test_once_trim_reverts_when_residual_worsens(): + """一跳后残差变大：停并撤回，终值不许还是走前那份假装没动。""" + frozen = np.array([0.0001, -0.0003]) + st = _TrimStub(err_xy=(0.0026, 0.0)) + st.hole_keypoint_once = True + st._tip_off = frozen.copy() + st.hole_after_move = np.array([0.50 + 0.015, -0.10, 0.022]) + _q, Tee, final = _trim(st) + assert len(st.moves) == 2 + assert abs(float(Tee[0, 3]) - 0.50) < 1e-9 + assert final.get("trim_reverted") is True + assert any("撤回" in m for m in st._logger.msgs) + assert final["residual_remeasured"] is True + assert float(final["residual_mm"]) < 5.0, "撤回后不许把 15mm 漂检测当终值" + + +def _enable_blend(st: _TrimStub) -> None: + """观察高 15mm（法兰 0.260）斜线收到贴面 2mm（法兰 0.247）。""" + st.final_descent_enable = True + st.tool_tip_below_flange_m = 0.223 + st.surface_z_m = 0.022 + st.final_gap_m = 0.002 + st.final_descent_speed = 0.005 + + +def test_once_trim_blend_drops_z_and_xy(): + """观察高测到的残差和剩余 Z 合成一跳，不许再切 4mm 贴面。""" + frozen = np.array([0.0001, -0.0003]) + st = _TrimStub(err_xy=(0.0044, -0.0024)) + st.hole_keypoint_once = True + st._tip_off = frozen.copy() + st.align_tol = 0.00025 + _enable_blend(st) + _q, Tee, final = _trim(st) + assert len(st.moves) == 1, f"斜线只许一跳，实际 {len(st.moves)}" + assert abs(float(Tee[2, 3]) - 0.247) < 1e-9, "必须收到贴面法兰高" + hop_xy = float(np.hypot(float(st.moves[0][0]) - 0.50, float(st.moves[0][1]) + 0.10)) + assert hop_xy <= 0.003 + 1e-9 + gxy = np.array([float(Tee[0, 3]) + frozen[0], float(Tee[1, 3]) + frozen[1]]) + err = float(np.hypot(gxy[0] - st.hole[0], gxy[1] - st.hole[1])) + assert 0.0015 <= err <= 0.0025 + assert final.get("trim_reverted") is False + + +def test_once_trim_blend_z_only_when_xy_already_in_tol(): + """观察高 XY 已在容差，斜线仍要收 Z，不许停在 15mm。""" + frozen = np.array([0.0001, -0.0003]) + st = _TrimStub(err_xy=(0.0001, -0.0003)) + st.hole_keypoint_once = True + st._tip_off = frozen.copy() + _enable_blend(st) + _q, Tee, final = _trim(st) + assert len(st.moves) == 1 + assert abs(float(Tee[0, 3]) - 0.50) < 1e-9 + assert abs(float(Tee[2, 3]) - 0.247) < 1e-9 + assert final.get("trim_reverted") is False + + +def test_once_trim_blend_refuses_pair_does_not_drop_z(): + """观察高间距已经坏了，不许斜线贴面。""" + st = _TrimStub(err_xy=(0.004, 0.0)) + st.hole_keypoint_once = True + st._tip_off = np.array([0.0001, -0.0003]) + st.pair_dy = -0.045 + _enable_blend(st) + _q, Tee, final = _trim(st) + assert not st.moves + assert abs(float(Tee[2, 3]) - 0.260) < 1e-9 + assert final["residual_mm"] == 0.22 + + +def test_once_trim_blend_keeps_pose_when_close_snap_breaks(): + """贴面复拍间距漂了：近距不可信，观察高算的斜线位姿必须留下。""" + frozen = np.array([0.0001, -0.0003]) + st = _TrimStub(err_xy=(0.0026, 0.0)) + st.hole_keypoint_once = True + st._tip_off = frozen.copy() + st.pair_dy_after_move = -0.045 + _enable_blend(st) + _q, Tee, final = _trim(st) + assert len(st.moves) == 1, "贴面复拍漂了不许撤回观察高" + assert abs(float(Tee[2, 3]) - 0.247) < 1e-9 + assert abs(float(Tee[0, 3]) - 0.50) > 1e-4, "XY 补偿被撤回了" + assert final.get("trim_reverted") is not True + assert final.get("close_snap_untrusted") is True + + +def test_once_trim_refuses_when_pair_already_broken(): + """第一拍间距已经 45mm，检测没立住，不许再动。""" + st = _TrimStub(err_xy=(0.004, 0.0)) + st.hole_keypoint_once = True + st._tip_off = np.array([0.0001, -0.0003]) + st.pair_dy = -0.045 + _q, Tee, final = _trim(st) + assert not st.moves + assert abs(float(Tee[0, 3]) - 0.50) < 1e-9 + assert final["residual_mm"] == 0.22 + assert any("检测漂了" in m for m in st._logger.msgs) diff --git a/src/arm_application/test/test_stage3_tactile_live.py b/src/arm_application/test/test_stage3_tactile_live.py new file mode 100644 index 0000000..daaa4db --- /dev/null +++ b/src/arm_application/test/test_stage3_tactile_live.py @@ -0,0 +1,87 @@ +"""触觉"有没有数据"的判据：为什么不能拿力的大小当传感器活着的代理。 + +背景（真实踩到）：S07 一进柔顺下压就报 + + ERROR S07 触觉断流，无法判断接触：触觉话题断流 >3.0s（左右指都无新鲜数据） + +而同一时刻 ``ros2 topic hz /tactile/left/status`` 是 19Hz、``connected: true``、 +``fnormal ≈ 1.3e-05``。旧判据是 ``|fnormal| > 1.0`` —— 把"力小"当成了"没数据"， +于是**空手/未接触/形变任意单位**这几种正常情形全都判成断流。 + +契约（``sim_tactile_adapter`` 里写明、真机 ``tactile_node`` 同款）： + + 没数据 → 发零 **且** connected=false + 零 力 → connected=true + fnormal≈0 + +所以判据只能是"够新 + connected"，与幅值无关。 +""" + +from __future__ import annotations + +import time +from dataclasses import dataclass + +from arm_application.stage3_search_node import ( + TACTILE_MAX_AGE_S, + live_tactile, + should_lift_air_baseline, + tactile_timeout_reason, +) + + +@dataclass +class _Msg: + fnormal: float = 0.0 + connected: bool = True + + +def test_zero_force_but_connected_is_live_data(): + """静止读数≈0 是**有效数据**，不是断流。""" + now = time.monotonic() + live = live_tactile(now, [(now, _Msg(fnormal=1.3e-05, connected=True)), None]) + assert len(live) == 1 + assert live[0].fnormal == 1.3e-05 + + +def test_disconnected_frames_are_not_live_even_if_they_keep_arriving(): + """帧一直在到、但 connected=false（设备没连上）→ 不算可用。""" + now = time.monotonic() + assert live_tactile(now, [(now, _Msg(connected=False)), (now, _Msg(connected=False))]) == [] + + +def test_stale_frames_are_not_live(): + now = time.monotonic() + old = now - TACTILE_MAX_AGE_S - 0.01 + assert live_tactile(now, [(old, _Msg(connected=True))]) == [] + + +def test_both_sides_live_keeps_both(): + now = time.monotonic() + live = live_tactile(now, [(now, _Msg(fnormal=3.0)), (now, _Msg(fnormal=5.0))]) + assert [m.fnormal for m in live] == [3.0, 5.0] + + +def test_timeout_reason_separates_device_problem_from_no_publisher(): + """两种"没数据"必须报**不同**的话：一个查驱动/设备，一个查谁在发话题。""" + now = time.monotonic() + dev = tactile_timeout_reason([(now, _Msg(connected=False)), None], 3.0) + assert "connected=false" in dev + assert "run_tactile.sh" in dev # 给出下一步做什么 + assert "断流" not in dev # 不能把人往"话题没起来"上带 + + none = tactile_timeout_reason([None, None], 3.0) + assert "断流" in none and "3.0" in none + + +def test_timeout_reason_still_reports_stall_when_only_stale_frames_exist(): + """帧过期（驱动卡住）仍然算"断流"，不该被说成设备没连上。""" + old = time.monotonic() - 10.0 + msg = tactile_timeout_reason([(old, _Msg(connected=True)), None], 3.0) + assert "断流" in msg + + +def test_no_tactile_does_not_lift_to_air_baseline(): + """触觉没数据时不许先抬到 hover+50mm 再报断流。""" + assert should_lift_air_baseline(0.385, 0.470, tactile_live=False) is False + assert should_lift_air_baseline(0.249, 0.470, tactile_live=True) is True + assert should_lift_air_baseline(0.468, 0.470, tactile_live=True) is False diff --git a/src/arm_application/trajectories/xunhuan.traj b/src/arm_application/trajectories/xunhuan.traj new file mode 100644 index 0000000..0657865 --- /dev/null +++ b/src/arm_application/trajectories/xunhuan.traj @@ -0,0 +1,247 @@ +traj_coord_type: "" +traj_coord_ref: "" +pattern_params { + pattern_name: "WPT0" + pattern_type: "Scatter" + scatterpoint_pattern { + pose_params { + x: "0.26072" + y: "-0.14604" + z: "0.85707" + rx: "6.58" + ry: "165.63" + rz: "-6.63" + coord_type: "WORLD" + coord_ref: "WORLD_ORIGIN" + use_quaternion: false + preferJntPos { + joint1: "-6.97" + joint2: "29.95" + joint3: "1.72" + joint4: "92.29" + joint5: "-6.48" + joint6: "-12.54" + joint7: "-0.37" + } + externalAxes { + axis1: "0" + axis2: "0" + axis3: "0" + axis4: "0" + axis5: "0" + axis6: "0" + } + } + force_params { + fx: "0" + fy: "0" + fz: "0" + mx: "0" + my: "0" + mz: "0" + } + path_profile: "line" + blend_zone: "Z10" + velocity: "0.2" + acceleration: "1" + vel_var_name: "" + wrench_var_name: "" + } +} +pattern_params { + pattern_name: "WPT1" + pattern_type: "Scatter" + scatterpoint_pattern { + pose_params { + x: "0.50244" + y: "-0.05458" + z: "0.62368" + rx: "3.30681" + ry: "173.28739" + rz: "12.76833" + coord_type: "WORLD" + coord_ref: "WORLD_ORIGIN" + use_quaternion: false + preferJntPos { + joint1: "-0.39471" + joint2: "2.89069" + joint3: "7.36936" + joint4: "104.4854" + joint5: "-2.56594" + joint6: "19.41153" + joint7: "-5.21738" + } + externalAxes { + axis1: "0" + axis2: "0" + axis3: "0" + axis4: "0" + axis5: "0" + axis6: "0" + } + } + force_params { + fx: "0" + fy: "0" + fz: "0" + mx: "0" + my: "0" + mz: "0" + } + path_profile: "line" + blend_zone: "Z10" + velocity: "0.2" + acceleration: "1" + vel_var_name: "" + wrench_var_name: "" + } +} +pattern_params { + pattern_name: "WPT2" + pattern_type: "Scatter" + scatterpoint_pattern { + pose_params { + x: "0.38216" + y: "-0.07015" + z: "0.2772" + rx: "-0.76189" + ry: "178.83063" + rz: "13.77851" + coord_type: "WORLD" + coord_ref: "WORLD_ORIGIN" + use_quaternion: false + preferJntPos { + joint1: "-0.51679" + joint2: "-17.82083" + joint3: "6.09068" + joint4: "145.99388" + joint5: "-3.83264" + joint6: "75.52854" + joint7: "-5.23384" + } + externalAxes { + axis1: "0" + axis2: "0" + axis3: "0" + axis4: "0" + axis5: "0" + axis6: "0" + } + } + force_params { + fx: "0" + fy: "0" + fz: "0" + mx: "0" + my: "0" + mz: "0" + } + path_profile: "line" + blend_zone: "Z10" + velocity: "0.2" + acceleration: "1" + vel_var_name: "" + wrench_var_name: "" + } +} +pattern_params { + pattern_name: "WPT3" + pattern_type: "Scatter" + scatterpoint_pattern { + pose_params { + x: "0.42395" + y: "-0.04059" + z: "0.135" + rx: "-4.09647" + ry: "175.59924" + rz: "22.59976" + coord_type: "WORLD" + coord_ref: "WORLD_ORIGIN" + use_quaternion: false + preferJntPos { + joint1: "0.80285" + joint2: "-48.57114" + joint3: "4.29418" + joint4: "137.232" + joint5: "-14.43138" + joint6: "99.59405" + joint7: "-5.25622" + } + externalAxes { + axis1: "0" + axis2: "0" + axis3: "0" + axis4: "0" + axis5: "0" + axis6: "0" + } + } + force_params { + fx: "0" + fy: "0" + fz: "0" + mx: "0" + my: "0" + mz: "0" + } + path_profile: "line" + blend_zone: "Z10" + velocity: "0.2" + acceleration: "1" + vel_var_name: "" + wrench_var_name: "" + } +} +pattern_params { + pattern_name: "WPT4" + pattern_type: "Scatter" + scatterpoint_pattern { + pose_params { + x: "0.2971" + y: "0.06042" + z: "0.76959" + rx: "4.64468" + ry: "173.46657" + rz: "27.06819" + coord_type: "WORLD" + coord_ref: "WORLD_ORIGIN" + use_quaternion: false + preferJntPos { + joint1: "5.13584" + joint2: "28.76765" + joint3: "17.15688" + joint4: "100.21538" + joint5: "4.05433" + joint6: "-9.64651" + joint7: "-5.26232" + } + externalAxes { + axis1: "0" + axis2: "0" + axis3: "0" + axis4: "0" + axis5: "0" + axis6: "0" + } + } + force_params { + fx: "0" + fy: "0" + fz: "0" + mx: "0" + my: "0" + mz: "0" + } + path_profile: "line" + blend_zone: "Z10" + velocity: "0.2" + acceleration: "1" + vel_var_name: "" + wrench_var_name: "" + } +} +group_params { + group_name: "RecordGroup" + pattern_start_idx: 0 + pattern_end_idx: 4 +} diff --git a/src/arm_application/upstream-sync.json b/src/arm_application/upstream-sync.json new file mode 100644 index 0000000..6930b9f --- /dev/null +++ b/src/arm_application/upstream-sync.json @@ -0,0 +1,164 @@ +{ + "source": "http://git.orisys-tech.cn/orisys/ros_contorl.git", + "branch": "exp/hole-keypoint-once", + "commit": "561d7da21f20d3e63030f81510ae2f29eed01d46", + "date": "2026-10-20", + "scope": "ROS nodes and supporting libraries/launch/config/tests only", + "upstream_identical": [ + "arm_application/box_tracker.py", + "arm_application/demo_named_poses.py", + "arm_application/dh_official.py", + "arm_application/dh_pgea.py", + "arm_application/dual_gripper.py", + "arm_application/dual_gripper_cli.py", + "arm_application/dual_gripper_node.py", + "arm_application/feature_guard.py", + "arm_application/feature_jump_guard.py", + "arm_application/gauge_assembly_node.py", + "arm_application/gauge_boot.py", + "arm_application/gauge_config.py", + "arm_application/gauge_fsm.py", + "arm_application/gauge_gripper.py", + "arm_application/gauge_kin.py", + "arm_application/geom_ik.py", + "arm_application/goto_ee_plane.py", + "arm_application/handeye_calibrate.py", + "arm_application/handeye_lib.py", + "arm_application/handeye_realsense.py", + "arm_application/handeye_teach.py", + "arm_application/handeye_waypoints.py", + "arm_application/hole_detect_hough.py", + "arm_application/hole_detect_node.py", + "arm_application/hole_detector.py", + "arm_application/image_utils.py", + "arm_application/kalman_filter.py", + "arm_application/model_labels.py", + "arm_application/move_to_pose_client.py", + "arm_application/onnx_workpiece.py", + "arm_application/orisys_tactile.py", + "arm_application/overhead_oneshot.py", + "arm_application/path_profile.py", + "arm_application/perception_node.py", + "arm_application/pid_controller.py", + "arm_application/plane_feature.py", + "arm_application/pose_detector.py", + "arm_application/realsense_sdk_view.py", + "arm_application/ros_node.py", + "arm_application/run_joint_trajectory.py", + "arm_application/servo_node.py", + "arm_application/site_io.py", + "arm_application/stage3_search_node.py", + "arm_application/tactile_cli.py", + "arm_application/tactile_interface.py", + "arm_application/tactile_node.py", + "arm_application/yolo_detector.py", + "config/demo.yaml", + "config/dual_grippers.yaml", + "config/hole_detect.yaml", + "config/hole_insert.yaml", + "config/perception.yaml", + "config/servo.yaml", + "config/xunhuan_trajectory.yaml", + "launch/demo.launch.py", + "launch/dh_pgea.launch.py", + "launch/dual_gripper.launch.py", + "launch/gauge_assembly.launch.py", + "launch/hole_detect.launch.py", + "launch/stage2_locate.launch.py", + "launch/stage3_search.launch.py", + "launch/visual_servo.launch.py", + "package.xml", + "resource/arm_application", + "setup.cfg", + "test/test_feature_jump_guard.py", + "test/test_ft_source_guard.py", + "test/test_gauge_boot.py", + "test/test_gauge_config.py", + "test/test_gauge_exit_lift.py", + "test/test_gauge_fsm.py", + "test/test_gauge_gripper.py", + "test/test_gauge_gripper_client.py", + "test/test_gauge_kin.py", + "test/test_gauge_step_events.py", + "test/test_handeye_lib.py", + "test/test_handeye_lib_roundtrip.py", + "test/test_hole_detector.py", + "test/test_image_utils.py", + "test/test_model_labels.py", + "test/test_node_handler_collisions.py", + "test/test_onnx_workpiece_guard.py", + "test/test_orisys_vector.py", + "test/test_perception_acquire_gate.py", + "test/test_pose_detector.py", + "test/test_ros_node.py", + "test/test_site_arm_sections.py", + "test/test_stage2_descent_clamp.py", + "test/test_stage2_no_follow.py", + "test/test_stage2_tip_align.py", + "test/test_stage3_tactile_live.py", + "trajectories/xunhuan.traj" + ], + "locally_adapted": [ + "README.md", + "arm_application/__init__.py", + "arm_application/dh_pgea_node.py", + "arm_application/pipeline_node.py", + "arm_application/realsense_color_pub.py", + "arm_application/stage2_locate_node.py", + "launch/pipeline.launch.py", + "launch/tactile.launch.py", + "setup.py", + "test/test_dh_pgea_latch.py", + "test/test_feature_guard.py", + "test/test_handeye_mode.py", + "test/test_listed_arms.py", + "test/test_overhead_oneshot.py", + "test/test_overhead_track.py", + "test/test_pipeline_stage1_diag.py", + "test/test_stage2_coarse_guard.py" + ], + "excluded_out_of_scope": [ + "arm_application/operator_app.py", + "arm_application/operator_arm_mesh.py", + "arm_application/operator_arm_state.py", + "arm_application/operator_camera_view.py", + "arm_application/operator_console.html", + "arm_application/operator_console.py", + "arm_application/operator_console_logo.png", + "arm_application/operator_gripper_mesh.py", + "arm_application/operator_gripper_state.py", + "arm_application/operator_handeye_board.py", + "arm_application/operator_tactile_view.py", + "arm_application/operator_teach.py", + "arm_application/realsense_view.py", + "arm_application/weights_layout.py", + "test/test_camera_preview.py", + "test/test_command_lanes.py", + "test/test_gauge_result_gate.py", + "test/test_handeye_preview.py", + "test/test_merge_handeye_poses.py", + "test/test_operator_arm_mesh.py", + "test/test_operator_arm_state.py", + "test/test_operator_gripper_mesh.py", + "test/test_operator_gripper_state.py", + "test/test_real_geometry_check.py", + "test/test_real_preflight.py", + "test/test_ros_domain.py", + "test/test_usb_health.py", + "test/test_v4l_health.py", + "test/test_weights_layout.py" + ], + "external_compatibility": [ + "scripts/lib/flexiv_movel_ipc.py", + "src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp", + "station/src/station/control_service.py", + "station/src/station/ros_gateway.py" + ], + "station_stage_integration": { + "node": "arm_application.a7_rotation_node", + "alignment": "updated stage2 with configured final descent; hole_entry_mm=1.0", + "rotation": "explicit upstream A7 cycle with local typed GripperExecute; no shell", + "full_flow": "tracking -> alignment -> A7; failure/cancel prevents next stage", + "hardware_motion_tested": false + } +} diff --git a/src/flexiv_ros2/flexiv_bringup/config/rizon_controllers.yaml b/src/flexiv_ros2/flexiv_bringup/config/rizon_controllers.yaml index 70c271d..bc770ce 100644 --- a/src/flexiv_ros2/flexiv_bringup/config/rizon_controllers.yaml +++ b/src/flexiv_ros2/flexiv_bringup/config/rizon_controllers.yaml @@ -34,8 +34,8 @@ rizon_arm_controller: allow_partial_joints_goal: false interpolation_method: splines allow_nonzero_velocity_at_trajectory_end: true - # Stream from last command (no snap-back to encoder each preempt). - open_loop_control: true + # New trajectories start at measured joints, including after a native MoveL. + open_loop_control: false constraints: stopped_velocity_tolerance: 0.25 goal_time: 0.0 diff --git a/src/flexiv_ros2/flexiv_hardware/CMakeLists.txt b/src/flexiv_ros2/flexiv_hardware/CMakeLists.txt index 0ce07be..1767418 100644 --- a/src/flexiv_ros2/flexiv_hardware/CMakeLists.txt +++ b/src/flexiv_ros2/flexiv_hardware/CMakeLists.txt @@ -19,6 +19,14 @@ find_package(hardware_interface REQUIRED) find_package(pluginlib REQUIRED) find_package(flexiv_rdk REQUIRED) find_package(flexiv_drdk QUIET) +# RDK is a static archive built against flexiv_install's spdlog 1.9 / fmt v8. +# A generic find_package(spdlog) in ros_flexiv resolves conda's 1.14 + fmt 11, +# and ros2_control_node then dies with undefined fmt::v8 symbols. +set(_flexiv_spdlog_dir "$ENV{HOME}/flexiv_install/lib/cmake/spdlog") +if(NOT EXISTS "${_flexiv_spdlog_dir}/spdlogConfig.cmake") + message(FATAL_ERROR "flexiv_hardware needs spdlog from ~/flexiv_install (RDK fmt v8). Missing ${_flexiv_spdlog_dir}") +endif() +find_package(spdlog REQUIRED PATHS "${_flexiv_spdlog_dir}" NO_DEFAULT_PATH) add_library( ${PROJECT_NAME} diff --git a/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp b/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp index adf1b7a..6f124fb 100644 --- a/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp +++ b/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp @@ -28,6 +28,7 @@ #include #include "flexiv_hardware/visibility_control.h" +#include "flexiv_hardware/position_command_fence.hpp" // Flexiv #include "flexiv/rdk/robot.hpp" @@ -144,6 +145,9 @@ private: // D435 粗定位的 MoveL 走已经连上的这份 RDK。write() 里一步一步推进， // 不另开线程，也不在这段里往关节接口灌点。请求文件是 /tmp/flexiv_movel_req。 enum class VendorMovelPhase { kIdle, kRunning }; + MotionExecutionLatch motion_execution_latch_; + PositionCommandFence position_command_fence_; + bool reset_nrt_gate_ = true; VendorMovelPhase vendor_movel_phase_ = VendorMovelPhase::kIdle; long vendor_movel_seq_ = -1; long vendor_movel_done_seq_ = -1; diff --git a/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/position_command_fence.hpp b/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/position_command_fence.hpp new file mode 100644 index 0000000..8475d2e --- /dev/null +++ b/src/flexiv_ros2/flexiv_hardware/include/flexiv_hardware/position_command_fence.hpp @@ -0,0 +1,36 @@ +#pragma once +#include +#include + +namespace flexiv_hardware { +// A released E-stop / restored Enable is not permission to resume an old task. +// Only explicit hardware lifecycle activation can reset this latch. +class MotionExecutionLatch { +public: + void activate() { interrupted_ = false; } + bool observe(bool connected, bool operational, bool fault) { + if (!connected || !operational || fault) interrupted_ = true; + return !interrupted_; + } +private: + bool interrupted_ = true; +}; + +// After activation/mode changes, a command stream must start at measured joints. +// An old held trajectory target must never pull the arm back to its previous pose. +class PositionCommandFence { +public: + void reset() { waiting_ = true; } + bool accept(const std::vector& command, const std::vector& state) { + if (command.empty() || command.size() != state.size()) return false; + for (size_t i = 0; i < command.size(); ++i) { + if (!std::isfinite(command[i]) || !std::isfinite(state[i])) return false; + if (waiting_ && std::abs(command[i] - state[i]) > 0.01) return false; + } + waiting_ = false; + return true; + } +private: + bool waiting_ = true; +}; +} // namespace flexiv_hardware diff --git a/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp b/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp index 6d27828..b4aec9b 100644 --- a/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp +++ b/src/flexiv_ros2/flexiv_hardware/src/flexiv_hardware_interface.cpp @@ -632,6 +632,9 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_activate( return hardware_interface::CallbackReturn::ERROR; } + // Clear any primitive/trajectory still retained on the robot server BEFORE + // Enable. If Stop cannot be confirmed, fail activation rather than resume. + robot_->Stop(); // Enable the robot (retries while waiting for operational) RCLCPP_INFO(getLogger(), "Enabling robot ..."); robot_->Enable(); @@ -650,6 +653,9 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_activate( RCLCPP_INFO(getLogger(), "System successfully started!"); // 启动前磁盘上的旧请求不许再执行一遍。新请求用更晚的序号。 + motion_execution_latch_.activate(); + position_command_fence_.reset(); + reset_nrt_gate_ = true; vendor_movel_done_seq_ = read_movel_seq(); vendor_movel_phase_ = VendorMovelPhase::kIdle; @@ -688,6 +694,7 @@ hardware_interface::return_type FlexivHardwareInterface::read( // 必须放在 operational() **之前**判 —— 断连后 operational() 会一直保持 true， // 只看它会把"已断连"误判成"正常"，这正是当初臂不动却一路报 success 的原因。 if (!robot_->connected()) { + motion_execution_latch_.observe(false, false, false); RCLCPP_ERROR_THROTTLE(getLogger(), steady_clock, 2000, "RDK 与机器人的连接已断开 —— 关节状态只是最后一帧缓存，下发的命令不会生效。" "检查网络后重启本栈（两台臂出厂 MAC 相同时会在同一 L2 段抢转发，" @@ -695,6 +702,21 @@ hardware_interface::return_type FlexivHardwareInterface::read( return hardware_interface::return_type::ERROR; } + // Loss of operational state includes physical E-stop/disable. Stop the ROS + // execution too: a paused JTC must not keep interpolating and resume on Enable. + if (!motion_execution_latch_.observe(true, robot_->operational(), robot_->fault())) { + position_command_fence_.reset(); + reset_nrt_gate_ = true; + if (vendor_movel_phase_ == VendorMovelPhase::kRunning) { + finish_vendor_movel(vendor_movel_seq_, false, "robot interrupted; request discarded"); + } + vendor_movel_done_seq_ = read_movel_seq(); + RCLCPP_ERROR_THROTTLE(getLogger(), steady_clock, 2000, + "Robot interrupted: abort hardware/controllers; explicit lifecycle activation required. " + "Old motion will not resume after Enable."); + return hardware_interface::return_type::ERROR; + } + if (robot_->operational()) { hw_flexiv_robot_states_ = robot_->states(); @@ -713,6 +735,7 @@ hardware_interface::return_type FlexivHardwareInterface::read( last_state_change_ns_ = now_ns; } else if (last_state_change_ns_ != 0 && now_ns - last_state_change_ns_ > kStateStaleTimeoutNs) { + motion_execution_latch_.observe(false, false, false); RCLCPP_ERROR_THROTTLE(getLogger(), steady_clock, 2000, "机器人状态帧已停滞 %.1f s —— 关节状态是陈旧值，下发命令不会生效。" "检查网络/RDK 连接后重启本栈。", @@ -754,6 +777,8 @@ void FlexivHardwareInterface::finish_vendor_movel( } else { write_movel_line(kMovelDone, std::to_string(seq) + " fail " + clean); } + position_command_fence_.reset(); + reset_nrt_gate_ = true; vendor_movel_done_seq_ = seq; vendor_movel_phase_ = VendorMovelPhase::kIdle; } @@ -805,6 +830,15 @@ bool FlexivHardwareInterface::poll_vendor_movel() return false; } + std::string zone; + int toler = -1; + if (in >> zone) { + if (!(in >> toler) || zone != "ZFine" || toler != 1) { + finish_vendor_movel(seq, false, "微升降只接受过渡区 ZFine 和到位等级 1"); + return true; + } + } + // 先应答，伺服才能在 1.5s 内分清「新接口没编进去」和「臂还在走」。 write_movel_line(kMovelAck, std::to_string(seq)); try { @@ -840,8 +874,14 @@ bool FlexivHardwareInterface::poll_vendor_movel() std::array {x, y, z}, euler, std::array {"WORLD", "WORLD_ORIGIN"}); - robot_->ExecutePrimitive( - "MoveL", {{"target", target}, {"vel", vel}}, true); + std::map movel_args; + movel_args.emplace("target", target); + movel_args.emplace("vel", vel); + if (!zone.empty()) { + movel_args.emplace("zoneRadius", zone); + movel_args.emplace("targetTolerLevel", toler); + } + robot_->ExecutePrimitive("MoveL", movel_args, true); vendor_movel_seq_ = seq; vendor_movel_phase_ = VendorMovelPhase::kRunning; vendor_movel_deadline_ = std::chrono::steady_clock::now() + std::chrono::seconds(90); @@ -861,6 +901,14 @@ bool FlexivHardwareInterface::poll_vendor_movel() hardware_interface::return_type FlexivHardwareInterface::write( const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) { + // Check before polling pending native requests or switching control mode. + if (!motion_execution_latch_.observe(robot_->connected(), robot_->operational(), robot_->fault())) { + position_command_fence_.reset(); + reset_nrt_gate_ = true; + vendor_movel_done_seq_ = read_movel_seq(); + return hardware_interface::return_type::ERROR; + } + // MoveL 期间不能回到关节模式，也不能把旧关节目标再发出去。 if (poll_vendor_movel()) { return hardware_interface::return_type::OK; @@ -917,20 +965,9 @@ hardware_interface::return_type FlexivHardwareInterface::write( "Robot not operational (status=%s). Commands not sent. " "Release E-stop, AUTO Remote, Enable.", operational_status_name(robot_->operational_status())); - static std::chrono::steady_clock::time_point last_en {}; - const auto now = std::chrono::steady_clock::now(); - if (now - last_en > std::chrono::seconds(2)) { - last_en = now; - try { - if (robot_->fault()) { - robot_->ClearFault(3); - } - robot_->Enable(); - } catch (const std::exception& e) { - RCLCPP_ERROR_THROTTLE(getLogger(), steady_clock, 2000, - "Enable failed: %s", e.what()); - } - } + // Re-enabling must be explicit; never resume a cached trajectory here. + position_command_fence_.reset(); + reset_nrt_gate_ = true; } else if (robot_->mode() == rdk_control_mode_) { for (size_t rdk_idx = 0; rdk_idx < robot_->info().DoF; ++rdk_idx) { size_t ros_idx = rdk_to_ros_map_[rdk_idx]; @@ -943,6 +980,17 @@ hardware_interface::return_type FlexivHardwareInterface::write( std::fabs(target_pos[rdk_idx] - hw_states_joint_positions_[ros_idx])); } static NrtSendGate nrt_gate; + if (reset_nrt_gate_) { + nrt_gate = NrtSendGate {}; + reset_nrt_gate_ = false; + } + if (!position_command_fence_.accept( + hw_commands_joint_positions_, hw_states_joint_positions_)) { + RCLCPP_WARN_THROTTLE(getLogger(), steady_clock, 2000, + "Suppressed stale joint target after activation/MoveL; " + "waiting for a new trajectory starting at measured joints"); + return hardware_interface::return_type::OK; + } RCLCPP_INFO_THROTTLE(getLogger(), steady_clock, 2000, "HW write running=%d nan=%d mode=%d want=%d op=%d busy=%d d_state=%.4f", static_cast(position_controller_running_), static_cast(is_pos_nan), @@ -1149,6 +1197,8 @@ hardware_interface::return_type FlexivHardwareInterface::perform_command_mode_sw torque_controller_running_ = false; // Hold joints before user commands arrives + position_command_fence_.reset(); + reset_nrt_gate_ = true; std::fill(hw_commands_joint_positions_.begin(), hw_commands_joint_positions_.end(), std::numeric_limits::quiet_NaN()); diff --git a/station/README.md b/station/README.md index 1e84003..9f0aa64 100644 --- a/station/README.md +++ b/station/README.md @@ -19,7 +19,9 @@ ## 首页动作接口 - 检测 → `stage_track`，运行现有第一阶段跟踪：D405 优先、丢失目标后 D435 补位；会移动机械臂，不进入对孔或旋入。 -- 对孔 → `stage_locate`，只运行第二阶段，明确关闭最终下压和后续旋入。 +- 对孔 → `stage_locate`，运行新版第二阶段：精对孔并下降至配置的进孔高度；不自动转 A7。当前 hole_entry_mm=1.0。 +- 旋转 → 独立 `a7_rotation` ROS 节点，复用上游首轮 A7 正反转和四轮松爪、微抬、空回、降回、合爪旋转；不重新跟踪/对孔。夹爪通过本站 GripperExecute 服务控制，不调用 shell。起点高度/姿态、夹爪或限位不满足时中止。 +- 开始全部流程 → 跟踪、对孔、A7 旋转依次执行，失败/取消后不进入下一段。 - 回零 → 所选臂命名点文件中的 `servo.home_pose_name`（默认 `home`），经原生轨迹 Action 返回初始姿态，不是关节全零。 - 停止 → 取消本站任务、通过控制器管理服务暂停对应臂的运动控制器（硬件接口调用 `Robot::Stop`），停止本站流程，再等待新鲜关节反馈持续稳定。失败时明确报告停止未确认，并阻止继续运动。仅下一次显式动作恢复本站暂停的控制器。 @@ -54,11 +56,11 @@ PGEA 的常驻驱动提供： ## 图像链路 -RealSense 采集节点只在显式请求时启动。已有发布者会被复用，工位不会按进程名终止它。 +RealSense 采集节点只在显式请求时启动。外部发布者不会被接管，工位也不会按进程名终止它。只有本站进程记录与当前唯一发布者身份同时匹配，才允许预览和启动后续算法。 采集配置继续来自 `site.yaml`，算法使用的彩色/深度独立于界面预览。 `cam_bridge.py` 负责 ROS 图像接收与共享内存输出。当前 Qt 界面只请求真机彩色流； -没有查看需求的图像与检测订阅会撤销。预览处理最高 15 fps、彩色宽度上限 848， +没有查看需求的图像与检测订阅会撤销。彩色预览不再额外限到 15 fps，保留最高 1920×1080 的显示图像， 算法输入不受影响，采集端现有原图话题的发布速率不会因此降低。 图像或桥进程超过 2 秒未更新时清除旧显示。共享内存由生产者释放，读取者只解除映射。 深度、仿真及标定流的后端能力保留给独立工具，不再提供首页切换入口。 @@ -74,7 +76,7 @@ RealSense 采集节点只在显式请求时启动。已有发布者会被复用 默认不自动拉额外查看器、红外或触觉流。上电的网络/工具准备与手眼标定保留原维护脚本， 由后端作为明确的系统/标定工具运行。`operator_console.py` 的旧 HTTP/脚本控制路径已经退役。 -`processes.py` 只登记并停止自己启动的进程组，不扫描和终止外部进程。Linux 子进程设置 +`processes.py` 只登记并停止自己启动的进程树，不扫描和终止外部进程。Linux 子进程设置 父进程退出信号，后端也监测界面退出，避免留下预览或控制孤儿进程。 “停止动作”取消工位任务，保持采集和驱动；窗口关闭时取消任务并退出自己持有的进程。 软件流程停止不能证明控制器已停稳；轨迹、夹爪停止未确认时会明确报告结果未知。 @@ -95,3 +97,204 @@ RealSense 采集节点只在显式请求时启动。已有发布者会被复用 每次后端启动会生成一份私有站点配置快照，所有子进程使用同一份设备身份与参数。 现场 `site.yaml` 发生变化后拒绝新操作并提示重启，已执行任务继续使用原快照，避免运行中换臂或换相机。 + + +## 第一批节点治理 + +后端按设备驱动、运动控制、算法任务、界面辅助分类展示 ROS 图，并保留完整命名空间及同名实例数。 +分类仅表示职责：发现一个节点不等于确认它健康，更不代表工位拥有它。 +监控页另列出本站实际启动的进程 PID、启动时间和退出状态，以及当前任务占用的资源、臂号和取消请求。 +后端断联时这些缓存统一降为未知。 + +Linux 启动器作为 subreaper 持续监督每条启动命令，主命令结束后先终止并回收其遗留子进程， +包括自行创建 session 的节点，再允许任务返回。控制栈、相机、算法继续分进程运行；不按节点名字杀外部进程。 +日志保留历史，但任务结果仅截取本次启动写入的部分，避免成功任务显示上次错误。 + +使能显示同时要求本臂关节反馈新鲜、原生驱动 RobotStates 中的机器人时间戳持续推进； +仅 ROS header 更新或重复缓存帧不能确认使能。依据是本项目原生驱动只在 connected/operational 时更新该结构。 +这属于应用层运行状态判断，不替代机器人自身安全状态或安全控制器。 + +本批尚未迁移全局运动接口到双臂命名空间，也未替换旧命令行维护/标定脚本。 +这些入口仍需后续逐条迁移；目前继续使用全局运动资源互斥，禁止双臂同时下发。 +相机未连接时不更改采集分辨率、USB 模式或宣称实测帧率。预览改动使用模拟图像验证。 + +项目发现配置统一在 `config/ros_runtime.env`：默认 domain 42、仅本机发现，不再继承 shell 里 +不明来源的 domain 0 或仿真域。显式部署覆盖使用 `REAL_ROS_DOMAIN_ID` 和 +`REAL_ROS_LOCALHOST_ONLY`，所有子启动脚本继承同一值。CLI 观察节点前需先 source 本项目的 +`scripts/env.sh`。ROS 域用于防止误混入，不属于访问控制或机器人安全功能。 + +运行中的旧工位仍保持原域，代码修改不会热切换它。迁移需要在任务结束后完整关闭旧工位， +再重新启动；旧域外部控制栈必须由原入口退出，不能同时对同一硬件启动第二份驱动。 + +## 操作并发与收尾 + +资源策略集中在 `command_policy.py`：Qt 只合并同一臂的同一按钮重复请求，其他请求交由后端 +按实际写入设备判断。机械臂使能/跟踪/对孔/回零、相机刷新、夹爪控制和传感器刷新/底图重置 +可跨模块并行；读取图像和力反馈不等于独占采集模块。A7 与全流程实际控制夹爪，所以执行期间 +保留该夹爪的互锁。仍共用控制器的机械臂运动保持互斥。同一相机初始化由相机适配器内部串行， +只有断流或配置不匹配才重启；机械臂使能不阻止相机重连。触觉预览不占用触觉采集资源。 +机械臂反馈中断仅记录在 backend.device_errors.arms，不提升为全后端错误，不禁用其他模块。 + +冲突提示显示动作名称、臂号和执行/收尾/停止阶段。子进程启动器通过私有阶段文件报告收尾， +直到整个所属进程树退出才释放资源。工位 pipeline 的结果展示停留改为 0.3 秒；手工 CLI 默认仍为 +15 秒。此停留仅发布结果/预览，不更改轨迹、定位精度或控制器保持行为。 + +停止 RPC 不经过任务队列；明确停止机械臂时只取消运动控制任务，保留独立的相机连接和只读任务。 +停止未确认仍锁住后续机械臂控制入口，不能靠并发改动绕过停止确认。 + + +## 高清相机配置 + +当前请求 D405 彩色/原生深度 1280×720@15，D435 彩色 1920×1080@15、原生深度 +1280×720@15，由 SDK 对齐到彩色像素坐标。采集器只尝试本台设备实际枚举支持的配置， +不再把 1080p 一律过滤，也不强迫 D435 彩色和原生深度使用同一分辨率。 + +Qt 预览通过本站采集节点的 `color/preview/compressed` 接收 JPEG 95 图像，只有订阅者存在 +时才编码；算法继续订阅完整 `color/image_raw`，无算法订阅者时不序列化这份大图。 +预览桥支持到 1920×1080，原生分辨率在该范围内保持不缩小。压缩仅用于显示，不用于定位计算。 + +两台相机共用 5Gbps Hub 的现场并发测试出现断流，单台可接近 30fps；部署应使用独立 USB3 +连接并重新核对两路同时采集的实测值，不能仅凭配置数字认为帧率已达标。 + +“刷新相机”核对本站采集所有权及新鲜 CameraInfo：正常且分辨率匹配的流保持运行， +断流或配置不匹配才重启本站对应进程，并等待 DDS 旧发现记录退出、收到实际新帧后报告成功。 +相机刷新与机械臂模块独立，不接管外部节点。SDK 留出四个帧缓冲供对齐持有， +应用层仍只保留最新一帧；每轮处理后释放 SDK 引用，避免等待新帧时占住旧缓冲。 + +### 使能与轨迹恢复 + +使能的连接检查不恢复本站暂停的轨迹控制器；只有明确的新动作才恢复控制器。 +关节控制循环不再自动 ClearFault/Enable。JTC 使用实际关节反馈作为新轨迹起点 +（open_loop_control=false）。硬件激活、控制器恢复和厂家 MoveL 结束后， +旧目标被拦截，直到指令流从实测关节附近重新开始；同时清空 NRT 前馈缓存。 +更换驱动库使用原子替换，运行中的驱动保持原版本，重启工位后加载更新。 +离线回归包括暂停后使能不恢复控制器，以及旧目标持续重放不能通过硬件保护。 + +### 实体急停后的任务取消 + +原生驱动在 connected/operational 丢失、故障或硬件时间戳停滞时锁存中断， +read/write 返回 ERROR，要求控制器停止；write 在处理厂家 MoveL 请求前检查锁存。 +仅恢复 Enable 或清故障不会解除锁存，需要显式重新激活硬件生命周期 +（当前工位可通过重启控制栈重新连接）。重新激活会丢弃旧 MoveL 请求序号。 +后端在运动期间监控原生反馈，故障或连续 0.75 秒没有推进时取消机器人控制任务， +走既有停止与子进程清理流程；取消后的迟到成功也按 cancelled 记录。 +显式重新连接时，驱动先调用 Stop 清除机器人端残留动作，再请求 Enable；Stop 失败则不使能。 +此软件逻辑不替代实体急停。Qt 顶部急停图标仍未接硬件接口，保持禁用。 +验证使用隔离 ROS 域和纯 C++ 状态锁存测试，没有真实机械臂动作测试。 + +### 底部操作日志 + +底部日志记录按钮点击、重复点击拦截，以及后端收到请求、拒绝、任务开始、阶段变化、 +取消和最终结果。时间精确到毫秒，显示臂号和任务编号；短任务的状态变化也保留为事件， +不依赖界面轮询碰巧看到 running。任务返回的 detail 和完整进程日志路径也会显示。 +界面保留最近 3000 行，翻看历史时不强制滚到底部；后端缓存最近 512 条事件， +完整操作事件追加保存到 log/station/operations.jsonl，进程输出保留原独立日志。 + +### 重写的触觉与平行夹爪模块 + +参考 `ctag2f-90d-sdk/gripper/panel.py` 的数据处理方式，自行实现本站节点与界面， +不导入、不运行它的 panel、GripperClient、GripperWorker 或自动抓取流程。 +低层触觉算法使用 `/home/cheng/orisys-sdk/src` 中的 Orisys SDK。 + +- `arm_application.tactile_flow_node`：left/right 各自独立 ROS2 节点和进程， + 每路独占一个触觉相机；CPU 目标 30 Hz。读取 SDK 的 VRAW 矢量场绘制箭头， + 不重复解算光流；没有画面订阅者时不编码 JPEG。不强制 USB reset、不停止别人的进程。 +- `/tactile/{left,right}/status`：TactileStatus，含在线、帧率、接触、三向原始力和错误。 + 这里保留 RAW 通道量纲以兼容现有装配阈值，不把未经校准的值标为牛顿。 +- `/tactile/{left,right}/flow/compressed`：CompressedImage/JPEG。预览与状态使用独立通道， + 不被 Qt 的低频状态刷新限制。队列只留最新样本，断流显示离线并尝试本侧重连。 +- `arm_application.gripper_node`：一个串口一个节点，使用现有经过验证的 DH Modbus 协议层， + 仅暴露 `/station/grippers/arm_/execute` 类型化服务与 `status` 状态话题。 + 无旧 Float32 数组控制入口；连接/探测绝不初始化或移动。当前支持 PGE/PGEA 平行夹爪， + 右臂 RGI 旋转夹爪仍须独立匹配驱动，不能用 PGE 寄存器替代。 +- 界面：光流区标题右侧提供“刷新传感器”，显示 left/right 帧率和三向力； + 夹爪区标题右侧提供“连接 / 探测”，开合使用任务操作按钮和后端默认力/速度。 + 连接与刷新不下发运动，闭合、张开才写位置，并等待实际到位反馈。 + +主入口仍是 `bash station/run_station.sh`。重启后在首页分别点“刷新传感器”和夹爪“连接 / 探测”。 +本站会自管相应节点，不要同时从其他入口重复启动。ROS 独立启动入口为 +`tactile.launch.py`（左右触觉）与 `station_gripper.launch.py arm:=89`（平行爪）。 +旧 `dh_pgea.launch.py` / `tactile` executable 保留为兼容入口，主界面不再启动它们。 + +站点的 `tactile.arm_id` 明确绑定机械臂（当前 89），`sdk_python_path` 为低层 SDK 的 src 路径； +配置 JSON 已复制进本仓库 `src/arm_application/config/tactile/ctag2f90d.json`。 +`left_video/right_video: auto` 只选择 USB vendor 1bcf 的触觉 UVC 采集接口，排除 Intel RealSense、 +笔记本摄像头与重复接口。首次插入后需确认物理左右；建议改成各自稳定的 `/dev/v4l/by-path/...`， +避免 USB 插口调整导致左右顺序变化。两侧不能指向同一设备，跨进程锁会拒绝重复占用。 + +额外 CPU 依赖见 `station/requirements-tactile.txt`，已装入现有 ros_flexiv；未另建 conda 环境。 +验证为假串口、合成光流、隔离 ROS 域与 Qt 离线回归；未做真实开合或机械臂动作测试。 + +### RGI STEP 三维模型 + +主界面机械臂与夹爪均使用 Qt QOpenGLWidget 内嵌渲染，不是 RViz；ROS 提供设备状态。 +`run_real.sh` 默认 `use_rviz:=false`，RViz 可作为独立调试工具按需打开。 +右臂 RGI 模型来自用户提供的 `RGI-100-30-O-S_简易模型_V3.0_20241010.STEP`（SolidWorks AP203，毫米）。 +原件保存在 `station/src/station/assets/models/rgi-100-30/source.step`，离线通过 +`scripts/convert_step_mesh.py` 生成 `mesh.npz` 与含原件 SHA256、单位和边界的 `mesh.json`。 +当前缓存 35148 个三角面，加载后按米渲染，运行时不依赖 CAD 内核，不在 UI 中转换 STEP。 +显示颜色做了提亮处理以便观察边缘，几何保持原始装配位姿。 + +选择右臂显示真实 RGI CAD 外形，可拖拽旋转观察、双击复位；目前是静态装配模型， +未猜测各零件的运动轴，也未把整个夹爪当作手指错误旋转。待建立零件/关节映射并有 +旋转爪实时反馈后再加入开合与旋转动画。左臂仍显示标注为近似的 PGEA 尺寸模型， +不会把 RGI 外形套到左臂。本次没有更改机械臂控制或发出设备命令。 + +首页夹爪区已精简：标题右侧只留“连接 / 探测”，移除力、速度、目标位置控件； +开合继续使用任务操作按钮及后端默认参数。传感器标题右侧只留“刷新传感器”， +负责重启本站拥有的左右触觉采集节点，重新检测设备并恢复预览，不操作机械臂或夹爪。 +两个入口尺寸均为 92×28，与“刷新相机”一致。 + +### 标定力显示与光流布局 + +界面 Fx、Fy 置于每张光流的左、右两侧，保留方向正负号；下方显示法向 Fn，均标注 N。 +列宽和下方行高固定，数值更新不会推动布局。 +`tactile_flow_node` 在保留 `/tactile//status` 原始值的同时，新增标准 +`/tactile//wrench`（geometry_msgs/WrenchStamped）：force.x=Fx、y=Fy、z=Fn，单位牛顿。 +装配算法仍接收原始 status，判断阈值不变。没有新鲜标定力话题时界面显示横线， +不会把原始数值直接标成 N。 + +换算曲线来自用户给定的 CTAG2F-90D 示例项目 `config/gripper.json`，已作为纯数据复制到 +`src/arm_application/config/tactile/force_calibration.json`。使用分段线性插值、配置的外推和 +零下限，切向分量按绝对值换算后恢复正负号。这是参考项目的现有曲线，并非本次 +对左右两只设备逐只做出的实测标定。可在 tactile 配置中设置 +`left_force_calibration_file` / `right_force_calibration_file` 覆盖各自数据， +或用 `force_calibration_file` 指定共用曲线；不导入或运行示例面板代码。 + +### 光流旁的切向力曲线与底图重置 + +每张光流左右是 X/Y 切向力折线图，显示最近 10 秒（N）；四张小图使用相同时间窗 +与对称量程，零力在中线。所有图表与画面顶底对齐，下方仍显示 Fn 标定法向力。 +采样来自标定 wrench 话题的有界历史，不使用原始力替代。 + +“重置底图”在“刷新传感器”前。它通过 `/tactile//reset_reference`（std_srvs/Trigger） +请求本站节点在采集线程里、获取新画面后执行 SDK Sensor.reset()，不重启采集、不操作夹爪。 +成功后清空该侧的光流缓存和力历史；离线侧返回未重置，连接恢复后不自动补执行旧请求。 +超时明确报告结果未知，不自动重试。建议传感器无受力时操作。 +跟踪/对孔/旋入流程与底图重置互斥，避免执行中更换测量参考。 + +触觉区最新布局：每侧 X 力图、光流、Y 力图为三个等大的正方形画布，随可用宽高适配。 +切向力图纵轴固定 −10～10 N，显示数值刻度，超出范围的曲线裁剪；不再自动缩放。 +横轴固定滚动 60 秒（−60、−30、0s）。后端标定力历史容量扩至 2100 点， +按实际时间截取最近一分钟，满足 30 Hz 采样；重置底图仍清空对应历史。 + +触觉标题采用 `left(30fps) 当前法向力 5N` 形式，fps 小字、不使用圆点分隔符， +下方不再重复显示法向力。曲线末端的圆点标记也已去除。 +曲线横轴改为最近 1800 个采样点的序号（0/900/1800），纵轴仍固定 ±10 N； +不再由墙钟时间推动横轴或剔除数据。没有新样本时曲线保持不动。 +新增轻量 `tactile_preview` 增量通道，携带 JPEG 与自上次序号之后的标定力样本， +最高 30 Hz；Qt 绘图计时器直接消费该缓存，避免低频状态刷新导致曲线跳动。 +每次重置/刷新会变更参考版本，使客户端清空旧曲线；重复返回的采样序号不会重复追加。 + +### 远端相机预览 + +`config/site.yaml` 的 `remote_camera_preview` 显式选择远端相机。当前读取 +192.168.2.10（域 0）的 d405_left / d435 原始图像，通过本机有线地址 +192.168.2.50 发现，避免组播走 VPN 虚拟网卡。远端未发布 JPEG 预览时使用 raw。 + +只有 `station.cam_bridge` 子进程改用远端 ROS 域和网卡；机械臂后端、夹爪与 +传感器的环境不变。“刷新相机”重建只读预览订阅并等待画面，不启动/停止 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It never +matches process names and never signals processes outside its own subtree. +""" import ctypes import os import signal +import subprocess import sys +import threading +from pathlib import Path + + +def report_phase(phase): + path = os.environ.get('ORISYS_PROCESS_PHASE_FILE') + if path: + try: + target = Path(path) + temporary = target.with_suffix('.tmp') + temporary.write_text(phase, encoding='utf-8') + temporary.replace(target) + except OSError: + pass # Diagnostic failure must not change command execution. def main(): - parent=int(sys.argv[1]);argv=sys.argv[2:] - if not argv: raise SystemExit('missing executable') + parent = int(sys.argv[1]) + argv = sys.argv[2:] + if not argv: + raise SystemExit('missing executable') + stopping = threading.Event() + signal.signal(signal.SIGINT, lambda *_: stopping.set()) + signal.signal(signal.SIGTERM, lambda *_: stopping.set()) if sys.platform.startswith('linux'): - libc=ctypes.CDLL(None,use_errno=True) - if libc.prctl(1,signal.SIGINT,0,0,0)!=0: - raise OSError(ctypes.get_errno(),'PR_SET_PDEATHSIG failed') - if os.getppid()!=parent: raise SystemExit('station backend exited before child startup') - os.execvpe(argv[0],argv,os.environ) + libc = ctypes.CDLL(None, use_errno=True) + # Orphaned grandchildren are reparented here rather than escaping to init. + for option, value in ((36, 1), (1, signal.SIGINT)): + if libc.prctl(option, value, 0, 0, 0) != 0: + raise OSError(ctypes.get_errno(), 'process supervision prctl failed') + if os.getppid() != parent or stopping.is_set(): + raise SystemExit('station backend exited before child startup') + proc = subprocess.Popen(argv, stdin=subprocess.DEVNULL) + report_phase('执行中') + try: + while proc.poll() is None and not stopping.wait(.1): + pass + finally: + report_phase('停止中' if stopping.is_set() else '收尾') + if sys.platform.startswith('linux'): + from arm_application.process_lifecycle import stop_owned_children + stop_owned_children(os.getpid()) + elif proc.poll() is None: + proc.terminate() + code = proc.wait() + raise SystemExit(130 if stopping.is_set() else code if code >= 0 else 128 - code) -if __name__=='__main__': main() +if __name__ == '__main__': + main() diff --git a/station/src/station/command_policy.py b/station/src/station/command_policy.py new file mode 100644 index 0000000..0aa84e2 --- /dev/null +++ b/station/src/station/command_policy.py @@ -0,0 +1,47 @@ +"""One command/resource policy. The backend, not GUI lanes, owns arbitration.""" + +TITLES = {'stage_track':'检测跟踪', 'stage_locate':'对孔', 'stage_screw':'旋转', + 'pipeline':'完整流程', 'reset_home':'回零', 'real_up':'使能', + 'camera_refresh':'刷新相机', 'camera_d405':'连接 D405', 'camera_d435':'连接 D435', + 'gripper_open':'夹爪全开', 'gripper_close':'夹爪全闭', 'gripper_init':'夹爪到位', 'gripper_rotate':'夹爪旋转', + 'handeye_show':'查看标定', 'handeye_merge':'整理标定点', + 'handeye_teach':'标定采点', 'handeye_calibrate':'自动标定', + 'teach_goto':'示教回点', 'teach_record':'记录示教点', 'teach_delete':'删除示教点', + 'tactile_reset':'重置底图','tactile_refresh':'刷新传感器','tactile_up':'连接触觉传感器','tactile_down':'断开触觉传感器','gripper_probe':'连接 / 探测夹爪', + 'gripper_tune':'夹爪位置控制','stop':'停止机械臂'} + + +def title(action): + return TITLES.get(action, action) + + +def resources_for(action, arm): + if action == 'handeye_show': return set() + if action in ('handeye_merge', 'teach_delete'): return {f'points:{arm}', f'calibration:{arm}'} + if action.startswith('gripper'): return {f'gripper:{arm}'} + # Camera setup is serialized inside the device adapter; it never restarts an + # active acquisition stream. Refresh may run while a robot consumes that stream. + if action.startswith('camera'): return {f'camera-setup:{arm}' if action != 'camera_d435' else 'camera-setup:overhead'} + if action in ('tactile_view_on', 'tactile_view_off'): return {'tactile-view'} + if action=='tactile_reset': return {'tactile','tactile-reference'} + if action.startswith('tactile'): return {'tactile'} + # Only actual command writers own devices. Reading camera/force feedback is + # not an exclusive lease on the independent acquisition modules. + resources = {'robot-control', f'arm:{arm}'} + # A7 rounds open/close the gripper; pure robot tracking/home never do. + if action in ('pipeline','stage_screw'): + resources.add(f'gripper:{arm}') + if action == 'teach_record': resources.add(f'points:{arm}') + if action in ('handeye_teach','handeye_calibrate'): + resources.update({f'points:{arm}', f'calibration:{arm}'}) + return resources + + +def conflict_message(tasks, resources): + rows=[] + for task in tasks: + aid=(task.get('context') or {}).get('arm') + arm=f'机械臂 {aid} · ' if aid else '' + phase='停止中' if task.get('cancel_requested') else task.get('phase') or '执行中' + rows.append(f"{arm}{title(task['name'])}（{phase}）") + return '暂不能执行：'+'；'.join(rows)+'；占用资源：'+', '.join(sorted(resources)) diff --git a/station/src/station/control_service.py b/station/src/station/control_service.py index 5589602..bc0fa09 100644 --- a/station/src/station/control_service.py +++ b/station/src/station/control_service.py @@ -21,6 +21,8 @@ from station.launch_plans import environment, launch, camera_plan, gripper_plan from station.processes import ProcessSupervisor from station.rpc import Server, Handler from station.tasks import TaskManager, Cancelled +from station.node_inventory import inventory +from station.command_policy import resources_for class StationService: @@ -35,19 +37,25 @@ class StationService: self._frozen_config.write_text(yaml.safe_dump(self.site,allow_unicode=True),encoding="utf-8") self._frozen_config.chmod(0o600) self.arms = {a['id']:a for a in listed_arms(self.site)} - self.tasks = TaskManager() + from arm_application.site_io import overhead_camera + overhead, _ = overhead_camera(self.site, None) + self._camera_names = sorted({a['camera'] for a in self.arms.values() if a.get('camera')} | + ({overhead['name']} if overhead and overhead.get('name') else set())) + self.tasks = TaskManager(log_path=self.root/'log/station/operations.jsonl') self.processes = ProcessSupervisor(self.root/'log/station') self._lock = threading.RLock() self._snapshot = {} self._stop = threading.Event() self.gateway = gateway self.error = '' + self._arm_errors = {} self._gripper_unknown = set() self._stopping = threading.Event() self._stop_error = "" self._stop_lock = threading.Lock() self._submit_lock = threading.RLock() self._motion_arm = None + self._camera_locks = {name:threading.RLock() for name in self._camera_names} if self.gateway is None and not offline: try: from station.ros_gateway import RosGateway @@ -75,9 +83,9 @@ class StationService: def catalog(self): value = metadata.catalog() - available = {'real_up','camera_d405','camera_d435','tactile_up','tactile_down', + available = {'real_up','camera_d405','camera_d435','tactile_up','tactile_down','tactile_refresh', 'tactile_view_on','tactile_view_off','gripper_up','gripper_probe','gripper_open', - 'gripper_close','gripper_rotate','pipeline','stage_track','stage_locate','stage_screw', + 'gripper_close','gripper_init','gripper_rotate','pipeline','stage_track','stage_locate','stage_screw', 'reset_home','handeye_show','handeye_teach','handeye_merge','handeye_calibrate'} for spec in value['actions']: spec['available'] = spec['id'] in available @@ -91,9 +99,14 @@ class StationService: try: try: self._check_configuration() except RuntimeError as exc: self.error=str(exc) + self._check_motion_interruption() arm_live, grip_live = self.gateway.states() if self.gateway else ({},{}) graph = self.gateway.graph() if self.gateway else {'nodes':[],'topics':[],'services':[]} nodes = graph['nodes'] + processes = self.processes.snapshot() + tasks = self.tasks.snapshot() + monitoring = inventory(graph, processes, tasks, arm_live, grip_live) + cameras = [self._camera_ownership(name, processes) for name in self._camera_names] with metadata._LOCK: tactile_status = {'left':dict(metadata._TACTILE['left']), 'right':dict(metadata._TACTILE['right']), 'stamp': metadata._TACTILE['stamp']} @@ -103,9 +116,9 @@ class StationService: if time.time()-tactile_status[side].get('stamp',0)>2: tactile_status[side]['connected']=False snap = {'arms':list(self.arms.values()),'arm_live':arm_live,'gripper_live':grip_live, - 'usb':metadata._usb(), 'services':[ - {'id':'real','label':'控制栈','up':'controller_manager' in nodes}, - {'id':'camera','label':'相机','up':any(n.startswith('realsense') for n in nodes)}, + 'camera_ownership':cameras, 'usb':metadata._usb(), 'services':[ + {'id':'real','label':'控制反馈','up':any(r.get('pose_live') for r in arm_live.values())}, + {'id':'camera','label':'本站相机采集','up':any(c['owned'] for c in cameras)}, {'id':'tactile','label':'视触觉','up':any(value.get('connected') for value in tactile_status.values() if isinstance(value,dict))}, {'id':'gripper','label':'夹爪','up':any(r.get('connected') for r in grip_live.values())}, {'id':'pipeline','label':'跟踪对孔','up':any(r['running'] for k,r in self.processes.snapshot().items() if k.startswith('motion:'))}], @@ -113,18 +126,36 @@ class StationService: 'teach_points':{aid:points.list_points(aid) for aid in self.arms}, 'grippers':metadata._grippers(), 'tactile':tactile_status, 'history':history, 'view':getattr(self.gateway,'tactile_state',lambda:{})(), 'gauge_pass':gauge, 'now':time.time(), - 'backend':{'error':self.error,'pid':os.getpid(),'protocol':1,'graph':graph}, - 'tasks':self.tasks.snapshot()} + 'backend':{'error':self.error,'device_errors':{'arms':dict(self._arm_errors)},'pid':os.getpid(),'protocol':1,'graph':graph, + 'monitoring':monitoring, 'ros_domain':os.environ.get('ROS_DOMAIN_ID','0'), + 'localhost_only':os.environ.get('ROS_LOCALHOST_ONLY','0') == '1'}, + 'tasks':tasks} with self._lock: self._snapshot = snap except Exception as exc: with self._lock: self._snapshot.setdefault('backend',{})['error'] = f'状态读取失败：{exc}' self._stop.wait(max(.05,.5-(time.monotonic()-started))) + def _check_motion_interruption(self): + check = getattr(self.gateway, 'motion_interruption', None) + if check is None: return + active = {row.get('context', {}).get('arm') for row in self.tasks.snapshot() + if row['state'] in ('queued', 'running') and row['name'] != 'real_up' + and 'robot-control' in row.get('resources', [])} + for arm in active: + if arm is None: continue + reason = check(arm) + if reason: + self._arm_errors[arm] = reason + # Set cancellation first, before waiting for ROS or process cleanup. + self.tasks.cancel_resources({'robot-control'}) + self.stop_commands(arm) + def snapshot(self): with self._lock: result = copy.deepcopy(self._snapshot) result['tasks'] = self.tasks.snapshot() + result['operation_log'] = self.tasks.events.snapshot() return result def _arm(self, aid): @@ -133,38 +164,32 @@ class StationService: def submit(self, action, arm, mode='eye_in_hand', extras=None): with self._submit_lock: - return self._submit(action, arm, mode, extras) + self.tasks.events.add('received', '收到操作请求', action=action, arm=arm) + try: + return self._submit(action, arm, mode, extras) + except Exception as exc: + self.tasks.events.add('rejected', '拒绝执行：' + str(exc), action=action, arm=arm) + raise def _submit(self, action, arm, mode='eye_in_hand', extras=None): self._check_configuration() self._arm(arm) - if self._stopping.is_set(): raise RuntimeError('正在停止机械臂，请等待停止结果') - if self._stop_error and action in ('pipeline','stage_track','stage_locate','stage_screw','reset_home','teach_goto'): + resources = resources_for(action, arm) + if self._stopping.is_set() and 'robot-control' in resources: + raise RuntimeError('正在停止机械臂，请等待停止结果') + if self._stop_error and 'robot-control' in resources: raise RuntimeError('上次停止未确认，请先再次停止并确认状态：' + self._stop_error) extras = extras or {} spec = next((s for s in self.catalog()['actions'] if s['id']==action),None) - special = {'camera_refresh','gripper_tune','teach_record','teach_delete','teach_goto','teach_drag_on','teach_drag_off'} + special = {'camera_refresh','tactile_refresh','tactile_reset','gripper_tune','teach_record','teach_delete','teach_goto','teach_drag_on','teach_drag_off'} if not spec and action not in special: raise ValueError('未注册的操作') if spec and not spec['available']: raise ValueError(spec['unavailable_reason']) if mode not in ('eye_in_hand','eye_to_hand'): raise ValueError('手眼模式不合法') - if action.startswith('gripper'): resources = {f'gripper:{arm}'} - elif action == 'camera_refresh': resources = {f'camera:{arm}', 'camera:overhead'} - elif action.startswith('camera_'): - resources = {'camera:overhead' if action=='camera_d435' else f'camera:{arm}'} - elif action.startswith('tactile'): resources = {'tactile'} - elif action in ('handeye_show','handeye_merge','teach_delete'): resources = {f'points:{arm}'} - else: - # Existing ROS stack has global controller/action names; never allow two arm commands concurrently. - resources = {'robot-control',f'arm:{arm}'} - if action=='teach_record': resources.add(f'points:{arm}') - if action in ('pipeline','stage_track','stage_locate','stage_screw','reset_home'): resources.add(f'gripper:{arm}') - if action in ('pipeline','stage_track','stage_locate','stage_screw'): - resources.update({f'camera:{arm}', 'camera:overhead'}) - if action.startswith('handeye_') and action!='handeye_show': resources.add(f'calibration:{arm}') - return self.tasks.submit(action, resources, lambda event:self.execute(action,arm,mode,extras,event)) + return self.tasks.submit(action, resources, lambda event:self.execute(action,arm,mode,extras,event), + context={"arm":arm,"mode":mode}) def execute(self, action, aid, mode, extras, event): - motion = action in ('pipeline','stage_track','stage_locate','stage_screw','reset_home','teach_goto') + motion = action in ('pipeline','stage_track','stage_locate','stage_screw','reset_home','teach_goto','handeye_teach','handeye_calibrate') if motion: with self._lock: self._motion_arm = aid try: @@ -177,24 +202,59 @@ class StationService: arm = self._arm(aid) if event.is_set(): raise Cancelled('操作已取消') if action=='teach_delete': return points.delete_point(aid, str(extras.get('name') or '')) - if action in ('tactile_view_on','tactile_up'): + if action=='tactile_reset': + if self.gateway is None:raise RuntimeError(self.error) + if aid!=str((self.site.get('tactile') or {}).get('arm_id','89')): + raise RuntimeError('当前臂未配置这组触觉传感器') + from std_srvs.srv import Trigger + results=[] + owned=self.processes.snapshot() + for side in ('left','right'): + if event.is_set():raise Cancelled('底图重置已取消') + if not owned.get(f'tactile:{side}',{}).get('running'): + results.append((side,False,'本站节点未启动，请先刷新传感器'));continue + try: + reply=self.gateway.call(Trigger,f'/tactile/{side}/reset_reference',Trigger.Request(),event,4.) + if reply.success:self.gateway.clear_tactile_reference(side) + results.append((side,reply.success,reply.message)) + except Cancelled:raise + except Exception as exc:results.append((side,False,str(exc))) + return {'ok':any(row[1] for row in results), + 'message':'；'.join(f'{side}：{message}' for side,ok,message in results)} + if action in ('tactile_view_on','tactile_up','tactile_refresh'): if self.gateway is None: raise RuntimeError(self.error) - if not arm['tactile']: raise RuntimeError('当前臂未配置触觉设备') - if not self.gateway.publisher_count('/tactile/left/status'): - existing=self.processes.snapshot().get('tactile') - if not existing or not existing['running']: - self.processes.start('tactile',[sys.executable,'-m','arm_application.tactile_node', - '--ros-args','-p','image_hz:=5.0'],env=self._environment(aid),cwd=str(self.root)) - deadline=time.monotonic()+12 - while not self.gateway.publisher_count('/tactile/left/status'): - if event.wait(.1): raise Cancelled('触觉启动等待已取消') - if time.monotonic()>deadline: raise RuntimeError('触觉驱动未就绪，请查看 log/station/tactile.log') - self.gateway.watch_tactile(True) - return {'ok':True,'message':'已连接常驻触觉驱动；仅订阅其力反馈与预览，不重复打开传感器'} + if not arm['tactile'] or aid != str((self.site.get('tactile') or {}).get('arm_id','89')): + raise RuntimeError('当前臂未配置这组触觉传感器') + if (self.site.get('tactile') or {}).get('backend') != 'station_flow': + raise RuntimeError('请将 tactile.backend 配置为 station_flow') + created=[] + try: + for side in ('left','right'): + key=f'tactile:{side}' + node=f'orisys_tactile_{os.getpid()}_{side}' + running=self.processes.snapshot().get(key,{}).get('running') + publishers=self.gateway.publisher_nodes(f'/tactile/{side}/status') + if any(p!=node for p in publishers) or (publishers and not running): + raise RuntimeError(f'{side} 传感器由外部节点占用，本站不共享、不接管') + if action=='tactile_refresh' and running: + self.processes.stop(key) + getattr(self.gateway,'clear_tactile_reference',lambda side:None)(side) + running=False + if not running: + self.processes.start(key,[sys.executable,'-m','arm_application.tactile_flow_node', + '--ros-args','-p',f'side:={side}','-r',f'__node:={node}'], + env=self._environment(aid),cwd=str(self.root)) + created.append(key) + self.gateway.watch_tactile(True) + return {'ok':True,'message':'左右触觉节点已刷新，等待设备在线；仅采集光流与力反馈'} + except Exception: + for key in created: self.processes.stop(key) + raise if action in ('tactile_view_off','tactile_down'): if self.gateway: self.gateway.watch_tactile(False) - if action=='tactile_down': self.processes.stop('tactile') - return {'ok':True,'message':'触觉预览已关闭；外部驱动不受影响'} + if action=='tactile_down': + for side in ('left','right'): self.processes.stop(f'tactile:{side}') + return {'ok':True,'message':'触觉预览已关闭' if action=='tactile_view_off' else '本站触觉节点已停止'} if action=='handeye_show': return {'ok':True,'message':'手眼配置已读取','detail':str(metadata._handeye(aid).get(mode) or {})} if action=='handeye_merge': @@ -202,16 +262,19 @@ class StationService: if self.gateway is None: raise RuntimeError(self.error or 'ROS 后端不可用') if action in ('pipeline','stage_track','stage_locate','stage_screw','reset_home','teach_goto'): nodes = self.gateway.graph()['nodes'] - if any(name in nodes for name in ('assembly_pipeline','servo_node','stage2_locate','stage3_search')): - raise RuntimeError('已有外部跟踪/对孔节点在运行，请先在其原入口停止，工位不会抢占') + if any(name in nodes for name in ('assembly_pipeline','servo_node','stage2_locate','stage3_search','orisys_a7_rotation')): + raise RuntimeError('已有外部跟踪/对孔/旋转节点在运行，请先在其原入口停止，工位不会抢占') if action.startswith('gripper'): return self._gripper(action, arm, extras, event) + from station.remote_camera import settings as remote_preview_settings + if action.startswith('camera_') and remote_preview_settings(self.site): + return {'ok':True,'message':'已请求重新订阅远端相机；由 Qt 独立预览进程确认画面，不启动本地采集'} if action == 'camera_refresh': results = [] for overhead, name in ((False, 'D405'), (True, 'D435')): if event.is_set(): raise Cancelled('相机刷新已取消') try: - result = self._camera(arm, overhead, event) + result = self._camera(arm, overhead, event, refresh=True) results.append({'camera': name, **result}) except Cancelled: raise except Exception as exc: results.append({'camera':name,'ok':False,'message':str(exc)}) @@ -222,8 +285,9 @@ class StationService: if action=='real_up': # Network/tool preparation remains a bringup concern, never used for daily motion commands. if 'controller_manager' in self.gateway.graph()['nodes']: - self.gateway.require_arm(aid,event) - return {'ok':True,'message':'本臂控制器已就绪；已检查连接并恢复本站暂停的控制器，不重复启动驱动'} + self.gateway.require_arm(aid,event,resume=False) + self._arm_errors.pop(aid,None) + return {'ok':True,'message':'本臂连接已就绪；保持当前位置，不恢复暂停的任务'} env = self._environment(aid) self.gateway.active_arm = aid proc, log = self.processes.start(f'stack:{aid}', ['bash',str(self.root/'scripts/run_real.sh'),'--arm',aid],env,str(self.root)) @@ -233,7 +297,8 @@ class StationService: self.processes.stop(f'stack:{aid}');raise Cancelled('控制栈启动已取消') if proc.poll() is not None: raise RuntimeError(f'控制栈启动失败，见 {log}') try: - self.gateway.require_arm(aid,event) + self.gateway.require_arm(aid,event,resume=False) + self._arm_errors.pop(aid,None) return {'ok':True,'message':'控制栈已就绪','log':str(log)} except RuntimeError: pass self.processes.stop(f'stack:{aid}') @@ -289,34 +354,103 @@ class StationService: from arm_application.site_io import track_camera_role if track_camera_role(self.site) != 'wrist': raise RuntimeError('检测要求 D405 优先，请将 perception.track_camera 配置为 wrist') - if action=='stage_screw' and not arm['tactile']: - raise RuntimeError('当前臂没有配置触觉，拒绝旋入') - self._camera(arm,False,event);self._camera(arm,True,event) + if action in ('stage_screw','pipeline'): + self._rotation_ready(arm) env=self._environment(aid) - if action in ('pipeline','stage_track','stage_locate'): + if action=='stage_screw': + argv=[sys.executable,'-m','arm_application.a7_rotation_node'] + else: + self._camera(arm,False,event);self._camera(arm,True,event) argv=launch(self.root,'pipeline.launch.py',skip_stage1=action=='stage_locate', skip_stage2=action=='stage_track',skip_stage3=True,preview=False, - resnap=False,no_descent=action=='stage_locate',d435_move_only=False) - else: - with metadata._LOCK: - force_ready=all(metadata._TACTILE[side].get('connected') and time.time()-metadata._TACTILE[side].get('stamp',0)<2 for side in ('left','right')) - if not force_ready: raise RuntimeError('两指触觉反馈未就绪，拒绝旋入') - argv=launch(self.root,'stage3_search.launch.py',preview=False) - return self.processes.run(f'motion:{aid}',argv,event,env,str(self.root)) + run_a7_after_insert=False,resnap=False,no_descent=False, + d435_move_only=False,completion_linger_sec=0.3) + result=self.processes.run(f'motion:{aid}',argv,event,env,str(self.root), + on_phase=lambda phase:self.tasks.set_phase(event,phase)) + if action=='pipeline' and result.get('ok'): + if event.is_set():raise Cancelled('流程已取消，不启动旋转') + self._rotation_ready(arm) + self.tasks.set_phase(event,'第三阶段：A7 旋转') + result=self.processes.run(f'motion:{aid}', + [sys.executable,'-m','arm_application.a7_rotation_node'],event,env,str(self.root), + on_phase=lambda phase:self.tasks.set_phase(event,phase)) + return result raise ValueError('操作未实现') + def _rotation_ready(self,arm): + aid=arm['id'] + if arm['rotary']:raise RuntimeError('A7 工序使用平行夹爪，当前旋转夹爪不适用') + if aid in self._gripper_unknown:raise RuntimeError('夹爪上一条结果未知，请先连接 / 探测') + if '/gripper/open' not in self.gateway.graph()['services']: + raise RuntimeError('请先连接本站平行夹爪，再开始旋转或全流程') + grip=self.gateway.states()[1].get(aid,{}) + if not grip.get('connected') or grip.get('moving'): + raise RuntimeError('夹爪离线或仍在运动，请先探测确认') + ga=self.site.get('gauge_assembly') or {} + for key in ('extreme_margin_deg','extreme_direction','extreme_speed_deg_s', + 'unwind_open_permille','unwind_lift_mm'): + if key not in ga:raise RuntimeError('缺少 A7 工序参数：'+key) + @staticmethod def _number(values,key,low,high): value=float(values.get(key)) if not math.isfinite(value) or not low<=value<=high: raise ValueError(f'{key} 只接受 {low}–{high}') return value - def _camera(self,arm,overhead,event): + def _camera_node_name(self, name): + return f"orisys_camera_{os.getpid()}_" + ''.join(c if c.isalnum() else '_' for c in name) + + def _camera_ownership(self, name, processes=None): + record = (processes if processes is not None else self.processes.snapshot()).get(f'camera:{name}', {}) + publishers = self.gateway.publisher_nodes(f'/{name}/color/image_raw') if self.gateway and hasattr(self.gateway, 'publisher_nodes') else [] + owned = bool(record.get('running') and publishers == [self._camera_node_name(name)]) + return {'id':name, 'owned':owned, 'publishers':publishers, + 'conflict':bool(publishers and not owned)} + + def _camera(self,arm,overhead,event,refresh=False): env=self._environment(arm['id']) name,argv=camera_plan(env,overhead) + lock = self._camera_locks.setdefault(name, threading.RLock()) + while not lock.acquire(timeout=.1): + if event.is_set(): raise Cancelled('相机连接已取消') + try: + if event.is_set(): raise Cancelled('相机连接已取消') + return self._ensure_camera(name, argv, env, event, refresh=refresh) + finally: + lock.release() + + def _ensure_camera(self,name,argv,env,event,refresh=False): topic=f'/{name}/color/image_raw' key=f'camera:{name}' - if self.gateway.publisher_count(topic): return {'ok':True,'message':f'{name} 已有采集节点，复用'} + owner = self._camera_ownership(name) + if refresh: + if owner['owned'] and hasattr(self.gateway,'camera_health'): + health=self.gateway.camera_health(name) + depth_on=self.gateway.publisher_count(f'/{name}/aligned_depth_to_color/image_raw')>0 + # USB2 fallback may publish 640x480 while the plan still asks for 1280x720. + # Fresh owned frames are enough unless depth was dropped — tracking needs it. + if health['fresh'] and health['width']>0 and health['height']>0 and depth_on: + return {'ok':True,'message':f'{name} 实时画面正常，保持当前采集'} + if health['fresh'] and not depth_on: + self.tasks.events.add('running', f'{name} 只有彩色、没有深度，重启采集', action='camera_refresh') + if owner['conflict']: + raise RuntimeError(f'{name} 有外部或重复发布者，拒绝重启他人设备') + record=self.processes.snapshot().get(key,{}) + if record.get('running'): + self.processes.stop(key) + deadline=time.monotonic()+12. + while self.gateway.publisher_count(topic) and time.monotonic()= 3: + return live + last = live + time.sleep(0.08) + return last + + def _ensure_dh_pgea(self, arm, event): + aid = arm['id'] + services = self.gateway.graph()['services'] + if '/gripper/open' in services and '/gripper/close' in services: + return + owned = self.processes.snapshot().get(f'gripper:{aid}') or {} + running_ours = bool(owned.get('running')) + argv = owned.get('command') or [] + ours_is_dh = running_ours and any('dh_pgea' in str(part) for part in argv) + if running_ours and not ours_is_dh: + self.processes.stop(f'gripper:{aid}') + time.sleep(0.2) + running_ours = False + if not running_ours: + if self.gateway.publisher_count('/gripper/states') and aid == self.gateway.active_arm: raise RuntimeError('旧夹爪驱动正在持有设备；仅显示其状态，请先手动停旧驱动再启用新驱动') - argv=gripper_plan(arm,self.site.get('gripper') or {}) - self.processes.start(f'gripper:{aid}',argv,env=self._environment(aid),cwd=str(self.root)) - request=GripperExecute.Request() - request.command.command='connect' if action in ('gripper_up','gripper_probe') else 'move' - if action=='gripper_open': values={**values,'pos':1000,'force':33,'speed':25} - if action=='gripper_close': values={**values,'pos':0,'force':33,'speed':25} - kind=values.get('kind','pos') - if action=='gripper_rotate': values={**values,'angle':90,'torque':33,'rot_speed':25};kind='rotate' - if request.command.command!='connect': - if aid in self._gripper_unknown: raise RuntimeError('上次夹爪执行结果未知；请先探测设备状态再发新命令') - if kind=='pos': - request.command.position=self._number(values,'pos',0,1000)/1000*arm['stroke_mm'] - elif arm['rotary']: - names={'rotate':'rotate_to','rotate_by':'rotate_by','revolutions':'rotate_revolutions','rotate_home':'home_rotation'} - if kind not in names: raise ValueError('未知旋转操作') - request.command.command=names[kind] - request.command.position=0. if kind=='rotate_home' else self._number(values,{'rotate':'angle','rotate_by':'delta','revolutions':'revolutions'}[kind],-50 if kind=='revolutions' else -32767,50 if kind=='revolutions' else 32767) - else: raise ValueError('平行夹爪没有旋转轴') - request.command.force=self._number(values,'force' if kind=='pos' else 'torque',20,100) - request.command.speed=self._number(values,'speed' if kind=='pos' else 'rot_speed',1,100) - request.command.wait_complete=False;request.command.timeout=6. - before=self.gateway.states()[1].get(aid,{}) - if request.command.command!='connect' and not before.get('connected'): + if event.is_set(): + raise Cancelled('已取消') + self.processes.start(f'gripper:{aid}', gripper_plan(arm, self.site.get('gripper') or {}), + env=self._environment(aid), cwd=str(self.root)) + deadline = time.monotonic() + 12 + while '/gripper/open' not in self.gateway.graph()['services']: + if event.is_set(): + raise Cancelled('已取消') + if time.monotonic() >= deadline: + raise RuntimeError('dh_pgea 未就绪：/gripper/open 服务没有出现') + time.sleep(0.1) + + def _gripper(self, action, arm, values, event): + aid = arm['id'] + self._ensure_dh_pgea(arm, event) + if action in ('gripper_up', 'gripper_probe'): + deadline = time.monotonic() + 5 + live = {} + while time.monotonic() < deadline: + if event.is_set(): + raise Cancelled('已取消') + live = self.gateway.states()[1].get(aid, {}) + if live.get('connected'): + self._gripper_unknown.discard(aid) + return {'ok': True, 'message': live.get('summary') or '夹爪已连接，未执行初始化或运动'} + time.sleep(0.1) + raise RuntimeError(live.get('error') or live.get('summary') or '夹爪状态超时或驱动未启动') + if action in ('gripper_open', 'gripper_close', 'gripper_init'): + from std_srvs.srv import Trigger + from arm_application.dh_pgea import grip_motion_settled + names = {'gripper_open': '/gripper/open', 'gripper_close': '/gripper/close', + 'gripper_init': '/gripper/initialize'} + target = {'gripper_open': 1000, 'gripper_close': 0, 'gripper_init': 1000}[action] + timeout = 25 if action == 'gripper_init' else 20 + response = self.gateway.call(Trigger, names[action], Trigger.Request(), event, timeout) + if not response.success: + return {'ok': False, 'message': response.message} + live = self._wait_jaw(aid, target, event, 8.0) + permille = live.get('permille') + state = live.get('grip_state') + settled = permille is not None and state is not None and grip_motion_settled( + int(state), int(round(float(permille))), int(target), True) + self._gripper_unknown.discard(aid) + if action == 'gripper_init': + return {'ok': True, 'message': response.message or '夹爪已到位（初始化完成）'} + if not settled: + opening = live.get('opening_mm') + text = f'当前开口 {opening:.1f} mm' if isinstance(opening, (int, float)) else f'当前 {permille}‰' + return {'ok': False, 'message': ('未闭合到位，' if action == 'gripper_close' else '未全开，') + text} + if action == 'gripper_close' and live.get('gripped'): + return {'ok': True, 'message': response.message or '夹爪已夹住'} + return {'ok': True, 'message': response.message or ('已全闭' if action == 'gripper_close' else '已全开')} + from arm_msgs.srv import GripperExecute + request = GripperExecute.Request() + request.command.command = 'move' + kind = values.get('kind', 'pos') + if action == 'gripper_rotate': + values = {**values, 'angle': 90, 'torque': 33, 'rot_speed': 25} + kind = 'rotate' + if aid in self._gripper_unknown: + raise RuntimeError('上次夹爪执行结果未知；请先探测设备状态再发新命令') + if kind == 'pos': + request.command.position = self._number(values, 'pos', 0, 1000) / 1000 * arm['stroke_mm'] + elif arm['rotary']: + names = {'rotate': 'rotate_to', 'rotate_by': 'rotate_by', 'revolutions': 'rotate_revolutions', + 'rotate_home': 'home_rotation'} + if kind not in names: + raise ValueError('未知旋转操作') + request.command.command = names[kind] + request.command.position = 0. if kind == 'rotate_home' else self._number( + values, {'rotate': 'angle', 'rotate_by': 'delta', 'revolutions': 'revolutions'}[kind], + -50 if kind == 'revolutions' else -32767, 50 if kind == 'revolutions' else 32767) + else: + raise ValueError('平行夹爪没有旋转轴') + request.command.force = self._number(values, 'force' if kind == 'pos' else 'torque', 20, 100) + request.command.speed = self._number(values, 'speed' if kind == 'pos' else 'rot_speed', 1, 100) + request.command.wait_complete = False + request.command.timeout = 6. + before = self.gateway.states()[1].get(aid, {}) + if not before.get('connected'): raise RuntimeError('夹爪没有新鲜的在线状态，拒绝运动') - if request.command.command!='connect' and before.get('moving'): - raise RuntimeError('夹爪仍在执行运动，拒绝覆盖上一条命令') + endpoint = '/dh_pgea/execute' + if endpoint not in self.gateway.graph()['services']: + raise RuntimeError('请先启动本臂常驻夹爪驱动') target_angle = None - if kind!='pos' and request.command.command!='connect': - current=before.get('rotation_deg') - if kind in ('rotate_by','revolutions') and current is None: + if kind != 'pos': + current = before.get('rotation_deg') + if kind in ('rotate_by', 'revolutions') and current is None: raise RuntimeError('相对旋转需要新鲜的当前转角') - target_angle = request.command.position if kind=='rotate' else 0. if kind=='rotate_home' else float(current)+request.command.position*(360. if kind=='revolutions' else 1.) - sent_at=time.monotonic() + target_angle = request.command.position if kind == 'rotate' else 0. if kind == 'rotate_home' else float(current) + request.command.position * (360. if kind == 'revolutions' else 1.) + sent_at = time.monotonic() try: - response=self.gateway.call(GripperExecute,endpoint,request,event,15) - if not response.success: return {'ok':False,'message':response.message} - if request.command.command=='connect': - if getattr(getattr(response,'status',None),'is_moving',False): - return {'ok':False,'message':'夹爪仍在运动，尚不能确认上次任务结束'} - self._gripper_unknown.discard(aid) - return {'ok':True,'message':response.message} - # The driver's response acknowledges register writes, not physical completion. - started=time.monotonic(); observed=False - while time.monotonic()-started<90: - live=self.gateway.states()[1].get(aid,{}) + response = self.gateway.call(GripperExecute, endpoint, request, event, 15) + if not response.success: + return {'ok': False, 'message': response.message} + started = time.monotonic() + observed = False + while time.monotonic() - started < 90: + live = self.gateway.states()[1].get(aid, {}) if event.is_set(): self._gripper_unknown.add(aid) raise Cancelled('已停止等待；夹爪尚未确认停机，请检查设备并重新探测') if live.get('connected'): observed = observed or bool(live.get('moving')) - reached = live.get('grip_state') in (1,2) if kind=='pos' else live.get('rotation_text')=='已到位' - target=values.get('pos') - near=kind=='pos' and target is not None and abs(float(live.get('permille',-10000))-float(target))<10 - if kind!='pos' and target_angle is not None and live.get('rotation_deg') is not None: - near=abs(float(live['rotation_deg'])-target_angle)<1. - caught=kind=='pos' and live.get('grip_state')==2 and live.get('received_monotonic',0)>sent_at - if reached and (observed or near or caught) and time.monotonic()-started>.1: - return {'ok':True,'message':'夹爪已到位' if not live.get('gripped') else '夹爪已夹住'} + reached = live.get('grip_state') in (1, 2) if kind == 'pos' else live.get('rotation_text') == '已到位' + target = values.get('pos') + near = kind == 'pos' and target is not None and abs(float(live.get('permille', -10000)) - float(target)) < 10 + if kind != 'pos' and target_angle is not None and live.get('rotation_deg') is not None: + near = abs(float(live['rotation_deg']) - target_angle) < 1. + caught = kind == 'pos' and live.get('grip_state') == 2 and live.get('received_monotonic', 0) > sent_at + if reached and (observed or near or caught) and time.monotonic() - started > .1: + return {'ok': True, 'message': '夹爪已到位' if not live.get('gripped') else '夹爪已夹住'} time.sleep(.1) self._gripper_unknown.add(aid) raise RuntimeError('夹爪到位等待超时，执行结果未知；请检查设备') except Exception: - if request.command.command!='connect': self._gripper_unknown.add(aid) + self._gripper_unknown.add(aid) raise def stop_commands(self, arm=None): + self.tasks.events.add('received', '收到停止请求', action='stop', arm=arm or '') + try: + result = self._stop_commands(arm) + except Exception as exc: + self.tasks.events.add('failed', str(exc), action='stop', arm=arm or '') + raise + self.tasks.events.add('succeeded' if result.get('ok') else 'failed', + result.get('message', '停止处理结束'), action='stop', arm=arm or '') + return result + + def _stop_commands(self, arm=None): if arm is not None: self._arm(arm) with self._stop_lock: with self._submit_lock: self._stopping.set() with self._lock: arm = self._motion_arm or arm - self.tasks.cancel() + if arm is None: self.tasks.cancel() + else: self.tasks.cancel_resources({'robot-control'}) + tool_arms = {(t.get('context') or {}).get('arm') for t in self.tasks.snapshot() + if t['state'] in ('queued','running') and t['name'] in ('handeye_teach','handeye_calibrate')} try: failure = None if arm is not None: @@ -430,7 +672,8 @@ class StationService: except Exception as exc: failure = exc for key in self.processes.snapshot(): - if key.startswith(('motion:', 'tool:')): self.processes.stop(key) + if key.startswith('motion:') or (key.startswith('tool:') and (arm is None or key.split(':',1)[1] in tool_arms)): + self.processes.stop(key) if arm is None: return {'ok': True, 'message': '已取消本站任务；未请求停止外部机械臂控制器'} if failure: @@ -454,6 +697,10 @@ class StationService: if method=='stop': return self.stop_commands(params.get('arm')) if method=='gauge_finished': return metadata.notify_gauge_finished() if method=='gauge_reset': return metadata.reset_gauge_pass() + if method=='tactile_preview': + frames=self.gateway.tactile_frames() if self.gateway else {} + packet=self.gateway.tactile_sample_packet(params.get('after') or {}) if self.gateway else {'samples':{},'epochs':{}} + return {**packet,'frames':{key:base64.b64encode(blob).decode() for key,blob in frames.items()}} if method=='tactile_frames': frames=self.gateway.tactile_frames() if self.gateway else {} return {key:base64.b64encode(blob).decode() for key,blob in frames.items()} diff --git a/station/src/station/launch_plans.py b/station/src/station/launch_plans.py index df2f478..9dbb324 100644 --- a/station/src/station/launch_plans.py +++ b/station/src/station/launch_plans.py @@ -58,9 +58,21 @@ def camera_plan(env, overhead=False): def gripper_plan(arm, shared): if arm['rotary']: raise RuntimeError('本项目缺少旋转夹爪驱动实现；请提供匹配的 GripperExecute 服务，不能猜测寄存器') - params = {'port':arm['port'], 'baud':shared.get('baud',115200), 'slave_id':shared.get('slave_id',1), - 'stroke_mm':arm['stroke_mm'], 'auto_init':'false', 'rs485_rts':shared.get('rs485_rts','')} - argv=[sys.executable,'-m','arm_application.dh_pgea_node','--ros-args','-r',f'__ns:=/station/grippers/arm_{arm["id"]}'] - for key,value in params.items(): - if value != '': argv.extend(['-p',f'{key}:={value}']) + params = { + 'port': arm['port'], + 'baud': shared.get('baud', 115200), + 'slave_id': shared.get('slave_id', 1), + 'stroke_mm': arm['stroke_mm'], + 'force_pct': shared.get('force_pct', 50), + 'speed_pct': shared.get('speed_pct', 50), + 'open_position': shared.get('open_position', 1000), + 'close_position': shared.get('close_position', 0), + 'auto_init': 'false', + 'rs485_rts': shared.get('rs485_rts', ''), + 'model': arm.get('gripper') or shared.get('model') or 'PGEA-100-20-W', + } + argv = [sys.executable, '-m', 'arm_application.dh_pgea_node', '--ros-args'] + for key, value in params.items(): + if value != '': + argv.extend(['-p', f'{key}:={value}']) return argv diff --git a/station/src/station/node_inventory.py b/station/src/station/node_inventory.py new file mode 100644 index 0000000..da18d82 --- /dev/null +++ b/station/src/station/node_inventory.py @@ -0,0 +1,41 @@ +"""Pure monitoring projection. Discovery is not health or proof of ownership.""" +from collections import Counter + +GROUPS = ('设备驱动', '运动控制', '算法任务', '界面辅助', '其他/待核实') + + +def node_group(name): + base = name.rsplit('/', 1)[-1] + if base.startswith(('realsense', 'orisys_camera_', 'dh_pgea', 'dual_gripper', 'tactile', 'orisys_tactile_', 'orisys_gripper')): + return GROUPS[0] + if base in ('controller_manager', 'robot_state_publisher', 'joint_state_publisher', + 'real_trajectory_adapter', 'named_pose_server', 'arm_status_node', 'gpio_controller') or base.endswith(('_controller', '_broadcaster')): + return GROUPS[1] + if base.startswith(('assembly_pipeline', 'servo_node', 'perception_node', 'stage2_locate', 'stage3_search', 'orisys_a7_rotation', 'handeye_')): + return GROUPS[2] + if base.startswith(('orisys_station_', 'operator_camera_', '_ros2cli')): + return GROUPS[3] + return GROUPS[4] + + +def inventory(graph, processes, tasks, arms, grippers): + # Keep full namespaces and duplicate counts. Names alone never grant process ownership. + names = graph.get('node_paths', graph.get('nodes', [])) + nodes = [{'name': name, 'group': node_group(name), 'instances': count, + 'owner': 'unverified', 'health': 'discovered'} + for name, count in sorted(Counter(names).items())] + managed = [] + for key, record in sorted(processes.items()): + prefix = key.split(':', 1)[0] + group = GROUPS[0] if prefix in ('camera', 'gripper', 'tactile') else GROUPS[1] if prefix == 'stack' else GROUPS[2] + managed.append({'key': key, 'group': group, **record}) + devices = [] + for aid, state in sorted(arms.items()): + devices.append({'id': 'arm:'+aid, 'health': 'fault' if state.get('fault') else 'live' if state.get('pose_live') else 'offline', + 'detail': state.get('summary', ''), 'enabled': state.get('enabled')}) + for aid, state in sorted(grippers.items()): + devices.append({'id': 'gripper:'+aid, 'health': 'live' if state.get('connected') else 'offline', + 'detail': state.get('summary', '')}) + active = [dict(row) for row in tasks if row['state'] in ('queued', 'running')] + return {'nodes': nodes, 'processes': managed, 'devices': devices, 'active_tasks': active, + 'duplicates': [row['name'] for row in nodes if row['instances'] > 1]} diff --git a/station/src/station/operation_log.py b/station/src/station/operation_log.py new file mode 100644 index 0000000..6c593c3 --- /dev/null +++ b/station/src/station/operation_log.py @@ -0,0 +1,36 @@ +"""Bounded operation events with an append-only per-session disk record.""" +import json +import threading +import time +import uuid +from collections import deque +from pathlib import Path + + +class OperationLog: + def __init__(self, path=None, limit=512): + self.session = uuid.uuid4().hex + self._lock = threading.RLock() + self._rows = deque(maxlen=limit) + self._sequence = 0 + self.path = Path(path) if path else None + if self.path: self.path.parent.mkdir(parents=True, exist_ok=True) + self.error = '' + + def add(self, kind, message, *, action='', arm='', task_id=''): + with self._lock: + self._sequence += 1 + row = dict(seq=self._sequence, time=time.time(), kind=kind, message=str(message), + action=action, arm=arm, task_id=task_id, session=self.session) + self._rows.append(row) + if self.path: + try: + with self.path.open('a', encoding='utf-8') as output: + output.write(json.dumps(row, ensure_ascii=False)+'\n') + self.error = '' + except OSError as exc: self.error = str(exc) + return row + + def snapshot(self): + with self._lock: + return dict(session=self.session, events=list(self._rows), path=str(self.path or ''), error=self.error) diff --git a/station/src/station/operator_app.py b/station/src/station/operator_app.py index fbac63f..e2a56ad 100644 --- a/station/src/station/operator_app.py +++ b/station/src/station/operator_app.py @@ -9,6 +9,8 @@ from __future__ import annotations import sys import re +import math +import time from functools import lru_cache import threading from pathlib import Path @@ -74,8 +76,6 @@ from PySide6.QtWidgets import ( from arm_application.site_io import arm_short_id, listed_arms, load_site_dict from station.runtime_client import ( - command_blocked_message, - command_lane, run_action, stop_started, status, @@ -84,6 +84,7 @@ from station import operator_arm_mesh as arm_mesh from station import operator_gripper_mesh as gripper_mesh from station import operator_arm_state as arm_state from station import runtime_client as runtime +from station.command_policy import title as command_title from station import operator_camera_view as camera_view def _theme_color(color: str) -> str: @@ -123,16 +124,17 @@ _SERIES = ( class _Job(QThread): finished_ok = Signal(dict) - def __init__(self, fn) -> None: + def __init__(self, fn, label="") -> None: super().__init__() self._fn = fn + self._label = label def run(self) -> None: try: result = self._fn() except Exception as exc: result = {"ok": False, "message": str(exc)} - self.finished_ok.emit(result) + self.finished_ok.emit({**result, "operation": self._label}) class ValueTune(QWidget): @@ -281,6 +283,9 @@ class FrameLabel(QLabel): return QSize(96, 64) if self._compact else QSize(320, 200) def setText(self, text: str) -> None: # noqa: N802 + source = getattr(self, "_source", None) + if source is not None and source.isNull() and self.text() == text: + return self._source = QPixmap() self._scaled = QPixmap() self._token = 0 @@ -493,6 +498,85 @@ class ForceChart(QWidget): painter.end() +class SquareTriplet(QWidget): + """Three equal square canvases; extra layout height never stretches a tile.""" + def __init__(self, items): + super().__init__();self.items=items;self.gap=6 + for item in items: + item.setParent(self);item.setMinimumSize(0,0) + policy=QSizePolicy(QSizePolicy.Policy.Expanding,QSizePolicy.Policy.Preferred) + policy.setHeightForWidth(True);self.setSizePolicy(policy) + + def heightForWidth(self,width):return max(1,(width-2*self.gap)//3) + def sizeHint(self):return QSize(360,116) + def minimumSizeHint(self):return QSize(180,56) + + def resizeEvent(self,event): + size=max(1,min(self.heightForWidth(self.width()),self.height())) + x=max(0,(self.width()-3*size-2*self.gap)//2) + y=max(0,(self.height()-size)//2) + for item in self.items: + item.setGeometry(x,y,size,size);x+=size+self.gap + super().resizeEvent(event) + + +def _display_force(value): + """Display deadband only; calibrated feedback and control retain full precision.""" + return 0.0 if abs(value) < 0.3 else value + + +class TangentialChart(QWidget): + """Signed force history: fixed -10..10 N; horizontal position is sample index.""" + MAX_SAMPLES=150 + def __init__(self, axis): + super().__init__();self.axis=axis;self._samples=[];self._scale=10.;self._now=time.time() + + def set_samples(self, samples, now=None): + rows=list(samples)[-self.MAX_SAMPLES:] + key=(len(rows),rows[-1].get('seq',rows[-1].get('t')) if rows else None) + if key==getattr(self,'_sample_key',None):return + self._sample_key=key;self._samples=rows;self.update() + + def paintEvent(self, event): + painter=QPainter(self);painter.setRenderHint(QPainter.RenderHint.Antialiasing) + painter.fillRect(self.rect(),QColor(_theme_color('#f6faff'))) + font=QFont(self.font());font.setPixelSize(8 if self.width()<90 else 9 if self.width()<110 else 10);painter.setFont(font) + color=QColor('#1683ff' if self.axis=='x' else '#d89127') + ink=QColor(_theme_color('#7386a3')) + painter.setPen(ink) + painter.drawText(QRect(0,1,self.width(),15),int(Qt.AlignmentFlag.AlignCenter),(self.axis.upper()+' (N)' if self.width()<90 else self.axis.upper()+' 切向力 (N)')) + field='fshearx' if self.axis=='x' else 'fsheary' + rows=[r for r in self._samples if math.isfinite(r.get(field,float('nan')))] + latest=f'{_display_force(rows[-1][field]):+.2f}' if rows else '—' + painter.setPen(color) + painter.drawText(QRect(0,16,self.width(),15),int(Qt.AlignmentFlag.AlignCenter),latest) + top=30 if self.height()<110 else 36 + left,right,bottom=25,max(26,self.width()-15),max(top+1,self.height()-21) + zero=(top+bottom)/2. + ticks=(-10,0,10) if self.height()<128 else (-10,-5,0,5,10) + for tick in ticks: + y=zero-tick/10.*(bottom-top)/2. + painter.setPen(QPen(QColor(_theme_color('#cad9ed' if tick==0 else '#dfe9f7')),1)) + painter.drawLine(left,round(y),right,round(y)) + painter.setPen(ink) + painter.drawText(QRect(0,round(y)-6,left-4,12),int(Qt.AlignmentFlag.AlignRight|Qt.AlignmentFlag.AlignVCenter),str(tick)) + painter.setPen(QPen(ink,1)) + painter.drawLine(left,top,left,bottom);painter.drawLine(left,bottom,right,bottom) + for fraction,text in ((0.,'0'),(.5,str(self.MAX_SAMPLES//2)),(1.,str(self.MAX_SAMPLES))): + x=left+fraction*(right-left) + painter.drawLine(round(x),bottom,round(x),bottom+3) + painter.drawText(QRect(round(x)-15,bottom+4,30,14),int(Qt.AlignmentFlag.AlignCenter),text) + painter.setClipRect(QRect(left,top,right-left+1,bottom-top+1)) + path=QPainterPath() + for i,row in enumerate(rows): + x=left+i/max(self.MAX_SAMPLES-1,1)*(right-left) + y=zero-_display_force(row[field])/10.*(bottom-top)/2. + if i:path.lineTo(x,y) + else:path.moveTo(x,y) + painter.setPen(QPen(color,1.6));painter.drawPath(path) + painter.end() + + def _card() -> QFrame: frame = QFrame() frame.setObjectName("card") @@ -597,7 +681,7 @@ def _action_icon(name: str) -> QPixmap: painter.drawLine(12, 22, 12, 28) painter.drawLine(20, 22, 20, 28) painter.drawLine(10, 28, 22, 28) - elif name in ("gripper_up", "gripper_open", "gripper_close", "gripper_probe", "gripper_rotate"): + elif name in ("gripper_up", "gripper_open", "gripper_close", "gripper_init", "gripper_probe", "gripper_rotate"): painter.drawRoundedRect(QRectF(6, 13, 20, 6), 1.5, 1.5) left = 8 if name != "gripper_open" else 5 right = 20 if name != "gripper_open" else 23 @@ -1135,7 +1219,7 @@ class MeshView(QOpenGLWidget): class ArmSketch(MeshView): - """用非夕 Rizon4 的外壳网格画当前姿态。没有关节角时摆在零位，并标明。 + """用非夕 Rizon4 外壳网格画姿态；没有实时反馈时显示本臂配置的回零位。 双击把观察角放回打开界面时的角度。关节仍是实时的，真机不动。 """ @@ -1163,8 +1247,10 @@ class ArmSketch(MeshView): joints = [round(float(v), 3) for v in q[:7]] draw_live = bool(live) else: - joints = [0.0] * 7 - draw_live = False + self._pose_key=None + self._frames=[] + self.set_mesh([], '未配置有效的回零位，等待实时关节反馈', False) + return try: pose_key = (tuple(joints), draw_live, _workpiece_key(workpiece)) if pose_key == self._pose_key: @@ -1179,7 +1265,7 @@ class ArmSketch(MeshView): return names = "、".join(item["name"] for item in self._frames) if not draw_live: - note = f"非夕 Rizon4 外壳，零位。还没有关节角，这不是当前姿态。坐标系：{names}。" + note = f"非夕 Rizon4 外壳，配置的回零位示意。没有实时关节反馈，这不是实际姿态。坐标系：{names}。" else: note = f"非夕 Rizon4 外壳，按实时关节角摆放。白壳和灰蓝关节是厂家材质。坐标系：{names}。" self.set_gl_mesh(blob, count, center, radius, note, draw_live) @@ -1219,7 +1305,18 @@ class GripperSketch(MeshView): self._thin_caption = True def _caption(self) -> str: - return "拖拽改视角" + return "" + + def _caption_band(self) -> int: + return 0 + + def _paint_caption(self, painter: QPainter) -> None: + pass + + def mouseDoubleClickEvent(self,event): + if event.button()==Qt.MouseButton.LeftButton: + self._yaw,self._pitch=_VIEW_YAW,_VIEW_PITCH + self._press=None;self.update();event.accept() def set_pose( self, @@ -1237,12 +1334,26 @@ class GripperSketch(MeshView): if pose_key == getattr(self, "_pose_key", None): return self._pose_key = pose_key + self._cad_static=bool(rotary) + if rotary: + note='RGI-100-30-O-S：原始 STEP 装配外形。尚未定义运动轴与零件绑定，开合/旋转不会改变模型。' + try: + blob,count,center,radius=gripper_mesh.rgi_cad_gl() + if getattr(self,'_loaded_cad',False) is False: + self.set_gl_mesh(blob,count,center,radius,note,False) + self._loaded_cad=True + self.setToolTip(note+' 左键拖拽旋转视角，双击复位。') + except Exception as exc: + self.set_mesh([],f'夹爪 STEP 网格读取失败：{exc}',False) + return + self._loaded_cad=False triangles, note = gripper_mesh.triangles(bool(rotary), permille, rotation_deg, stroke_mm) if live and permille is not None: note = f"开口 {float(permille):.0f}‰ " + note if rotary and isinstance(rotation_deg, (int, float)): note = f"转角 {float(rotation_deg):.1f}° " + note self.set_mesh(triangles, note, bool(live) and permille is not None) + self.setToolTip(note) @lru_cache(maxsize=24) @@ -1268,6 +1379,10 @@ class StationApp(QMainWindow): self.resize(1600, 940) self._site = load_site_dict() self._catalog = listed_arms(self._site) + self._home_poses={} + for arm in self._catalog: + try: self._home_poses[arm['id']]=arm_state.configured_home(self._site,arm['id']) + except (OSError,ValueError,KeyError,TypeError): self._home_poses[arm['id']]=None self._workpieces = _workpieces_by_arm(self._site) self._arm = self._catalog[0]["id"] if self._catalog else "" self._snap = {} @@ -1279,6 +1394,8 @@ class StationApp(QMainWindow): self._camera_fps = {} self._camera_cards = [] self._flow_slots = [] + self._flow_axis_charts = {} + self._flow_triplets = {} self._camera_windows = {} self._depth_on = False self._closing = False @@ -1292,12 +1409,18 @@ class StationApp(QMainWindow): self._timer.start(500) self._images = QTimer(self) self._images.timeout.connect(self._paint_images) - self._images.start(67) + self._images.start(16) self._refresh() def _build(self) -> None: root = QWidget() self.setCentralWidget(root) + # Allocate the status strip before the first command, so showMessage + # cannot insert a new row and move the dashboard after startup. + status_bar=self.statusBar() + status_bar.setSizeGripEnabled(False) + status_bar.setFixedHeight(22) + status_bar.show() outer = QVBoxLayout(root) outer.setContentsMargins(0, 0, 0, 0) outer.setSpacing(0) @@ -1321,7 +1444,9 @@ class StationApp(QMainWindow): self._detail = QPlainTextEdit() self._detail.setObjectName("log") self._detail.setReadOnly(True) - self._detail.setMaximumBlockCount(300) + self._detail.setMaximumBlockCount(3000) + self._log_session = None + self._log_sequence = 0 self._detail.hide() outer.addWidget(self._detail) self.setMinimumSize(1100, 700) @@ -1472,7 +1597,7 @@ class StationApp(QMainWindow): a.addWidget(self._robot_panel()) preview, box = self._panel("机器人实时预览") tools = QHBoxLayout() - self._pose_note = QLabel("等待实时关节 · 零位示意") + self._pose_note = QLabel("等待实时关节 · 回零位示意") self._pose_note.setObjectName("muted") tools.addWidget(self._pose_note, 1) self._view_buttons = [] @@ -1489,12 +1614,28 @@ class StationApp(QMainWindow): self._arm_sketch.setMinimumSize(240, 180) box.addWidget(self._arm_sketch, 1) a.addWidget(preview, 1) - gripper, grip_box = self._panel("夹爪实时 3D") - placeholder = QLabel("夹爪实时 3D 预览\n预留位置") - placeholder.setObjectName("gripperPlaceholder") - placeholder.setMinimumHeight(180) - placeholder.setAlignment(Qt.AlignmentFlag.AlignCenter) - grip_box.addWidget(placeholder, 1) + gripper, grip_box = self._panel("夹爪 3D") + self._gripper_sketch=GripperSketch(160,140) + grip_box.addWidget(self._gripper_sketch,1) + self._grip_status = QLabel('夹爪未连接') + self._grip_status.setObjectName('muted');self._grip_status.setWordWrap(True) + grip_box.addWidget(self._grip_status) + self._gripper_probe_button=_btn('连接 / 探测') + self._gripper_probe_button.setFixedSize(92,28) + self._gripper_probe_button.setToolTip('拉起 dh_pgea 并读取当前夹爪状态，不初始化、不移动') + self._gripper_probe_button.clicked.connect(lambda:self._ask('gripper_probe')) + self._action_buttons.append((self._gripper_probe_button,'gripper_probe')) + grip_box.itemAt(0).widget().layout().addWidget(self._gripper_probe_button) + grip_row = QHBoxLayout() + grip_row.setSpacing(8) + for text, action in (("全闭", "gripper_close"), ("全开", "gripper_open"), ("到位", "gripper_init")): + button = _btn(text) + button.setFixedHeight(28) + button.clicked.connect(lambda _checked=False, a=action: self._ask(a)) + self._action_buttons.append((button, action)) + grip_row.addWidget(button, 1) + grip_box.addLayout(grip_row) + a.addWidget(gripper, 1) b.addWidget(self._camera_panel("main"), 3) b.addWidget(self._task_panel(), 2) @@ -1545,7 +1686,20 @@ class StationApp(QMainWindow): self._camera_cards.append((card, cam)) self._camera_labels.append((page_key, cam, shot)) box.addLayout(row, 3) - box.addWidget(_section("传感器光流")) + flow_heading=_section('传感器光流') + self._sensor_reset_button=_btn('重置底图') + self._sensor_reset_button.setFixedSize(92,28) + self._sensor_reset_button.setToolTip('传感器无受力时点击，以当前画面更新光流底图并清空曲线') + self._sensor_reset_button.clicked.connect(lambda:self._ask('tactile_reset')) + self._action_buttons.append((self._sensor_reset_button,'tactile_reset')) + flow_heading.layout().addWidget(self._sensor_reset_button) + self._sensor_refresh_button=_btn('刷新传感器') + self._sensor_refresh_button.setFixedSize(92,28) + self._sensor_refresh_button.setToolTip('重新检测并启动本站左右触觉节点，不操作夹爪或机械臂') + self._sensor_refresh_button.clicked.connect(lambda:self._ask('tactile_refresh')) + self._action_buttons.append((self._sensor_refresh_button,'tactile_refresh')) + flow_heading.layout().addWidget(self._sensor_refresh_button) + box.addWidget(flow_heading) flow_row = QHBoxLayout() flow_row.setSpacing(10) for side in ("left", "right"): @@ -1555,10 +1709,15 @@ class StationApp(QMainWindow): cell_box.setSpacing(4) title = QLabel(side) title.setObjectName("muted") - cell_box.addWidget(title) + title.setTextFormat(Qt.TextFormat.PlainText) + title.setFixedHeight(20) flow = FrameLabel("光流显示预留", compact=True) - flow.setMinimumHeight(100) - cell_box.addWidget(flow, 1) + charts={axis:TangentialChart(axis) for axis in ('x','y')} + self._flow_axis_charts[side]=charts + triplet=SquareTriplet([charts['x'],flow,charts['y']]) + self._flow_triplets[side]=triplet + cell_box.addWidget(triplet,1) + cell_box.addWidget(title) self._flow_slots.append((title, flow, side)) flow_row.addWidget(cell, 1) box.addLayout(flow_row, 2) @@ -1597,7 +1756,7 @@ class StationApp(QMainWindow): table.setColumnStretch(i, 1) values.append(value) lay.addLayout(table) - if values is self._tcp_values: card.setToolTip("等待控制器提供 TCP 位姿反馈") + if values is self._tcp_values: card.setToolTip("厂家 WORLD 坐标系 TCP 反馈；位置 mm，姿态 Rx/Ry/Rz 为 XYZ 欧拉角（°）") row.addWidget(card, 2) box.addLayout(row) return panel @@ -1621,7 +1780,7 @@ class StationApp(QMainWindow): panel, box = self._panel("任务操作") for actions in ( (("检测", "stage_track"), ("对孔", "stage_locate"), ("旋转", "stage_screw")), - (("夹爪闭合", "gripper_close"), ("张开", "gripper_open")), + (("全闭", "gripper_close"), ("全开", "gripper_open"), ("到位", "gripper_init")), (("回零", "reset_home"), ("停止", "stop")), ): row = QHBoxLayout() @@ -1635,38 +1794,96 @@ class StationApp(QMainWindow): return panel def _page_calibration(self) -> QWidget: - page, lay = self._page_box("标定") + page, lay = self._page_box("手眼标定") self._calibration_arm = QLabel() self._calibration_arm.setObjectName("muted") lay.addWidget(self._calibration_arm) body = QHBoxLayout() body.setSpacing(14) - preview, box = self._panel("标定预览") - placeholder = QLabel("标定相机画面\n等待接入 handeye 标定系统") - placeholder.setObjectName("gripperPlaceholder") - placeholder.setMinimumHeight(320) - placeholder.setAlignment(Qt.AlignmentFlag.AlignCenter) - box.addWidget(placeholder, 1) + preview, box = self._panel("相机实时预览") + self._calibration_fps = QLabel("— FPS") + self._calibration_fps.setObjectName("muted") + box.itemAt(0).widget().layout().addWidget(self._calibration_fps) + self._calibration_preview = FrameLabel("等待相机画面", compact=True) + self._calibration_preview.setProperty("plainCamera", True) + self._calibration_preview.setMinimumHeight(360) + self._calibration_preview.set_badge("", "") + self._calibration_preview.setCursor(Qt.CursorShape.PointingHandCursor) + self._calibration_preview.setToolTip("点击全屏预览") + self._calibration_preview.clicked.connect(self._open_calibration_camera) + box.addWidget(self._calibration_preview, 1) + self._calibration_hint = QLabel() + self._calibration_hint.setObjectName("muted") + self._calibration_hint.setWordWrap(True) + box.addWidget(self._calibration_hint) body.addWidget(preview, 3) + right = QVBoxLayout() controls, box = self._panel("标定流程") - note = QLabel("页面预留，尚未接入标定功能。") + self._calibration_mode = QComboBox() + self._calibration_mode.addItem("眼在手上 · D405", "eye_in_hand") + self._calibration_mode.addItem("眼在手外 · D435", "eye_to_hand") + self._calibration_mode.currentIndexChanged.connect(self._calibration_changed) + box.addWidget(self._calibration_mode) + self._calibration_board = QLabel() + self._calibration_board.setWordWrap(True) + box.addWidget(self._calibration_board) + self._calibration_count = QLabel() + box.addWidget(self._calibration_count) + for text in ("1 示教采点", "2 整理点位", "3 自动走点并求解"): + button = _btn(text) + button.setFixedHeight(40) + button.setEnabled(False) + button.setToolTip("本版先预览界面和已有数据，尚未开放采点与运动操作") + box.addWidget(button) + note = QLabel("当前为预览版：显示实时相机和已有标定数据。\n自动标定会移动机械臂，后续单独接入。") note.setObjectName("muted") note.setWordWrap(True) box.addWidget(note) - for text in ("选择标定模式", "采集标定点", "计算标定结果", "保存标定结果"): - button = _btn(text) - button.setFixedHeight(44) - button.setEnabled(False) - button.setToolTip("后续接入 handeye 标定系统") - box.addWidget(button) - box.addStretch(1) - result = QLabel("标定结果\n—") - result.setObjectName("muted") - box.addWidget(result) - body.addWidget(controls, 2) + right.addWidget(controls) + result, box = self._panel("已有标定结果") + self._calibration_result = QLabel("等待标定数据") + self._calibration_result.setWordWrap(True) + self._calibration_result.setTextFormat(Qt.TextFormat.PlainText) + self._calibration_result.setTextInteractionFlags(Qt.TextInteractionFlag.TextSelectableByMouse) + box.addWidget(self._calibration_result) + right.addWidget(result, 1) + body.addLayout(right, 2) lay.addLayout(body, 1) return self._scroll(page) + def _calibration_camera(self): + mode = self._calibration_mode.currentData() + return next((cam for cam in camera_view.targets() + if (cam.get("arm") == self._arm if mode == "eye_in_hand" else not cam.get("arm"))), None) + + def _calibration_changed(self, *_args) -> None: + self._calibration_preview.setText("等待相机画面") + self._sync_camera_watch() + self._update_calibration() + self._paint_images() + + def _open_calibration_camera(self) -> None: + camera = self._calibration_camera() + if camera: self._open_camera(camera["id"], True) + + def _update_calibration(self) -> None: + mode = self._calibration_mode.currentData() + data = ((self._snap.get("handeye") or {}).get(self._arm) or {}).get(mode) or {} + board = data.get("board") or {} + square = board.get("square_m") + size = f"{float(square) * 1000:g} mm" if square is not None else "—" + self._calibration_board.setText(f"棋盘格内角点：{board.get('cols') or '—'} × {board.get('rows') or '—'}\n方格边长：{size}") + self._calibration_count.setText(f"已有示教点：{data.get('poses') if data.get('poses') is not None else '—'} 个") + self._calibration_hint.setText("标定板固定在台面，相机随机械臂移动。" if mode == "eye_in_hand" else "相机固定在工位，标定板安装在机械臂末端。") + if data.get("exists"): + translation = data.get("translation_m") + xyz = " / ".join(f"{float(v)*1000:.2f}" for v in translation) if translation else "—" + meaning = "相机 → 法兰" if mode == "eye_in_hand" else "相机 → 基座" + text = f"变换方向：{meaning}\n有效视角：{data.get('views') or '—'}\n平移 XYZ（mm）：{xyz}\n生成时间（UTC）：{data.get('utc') or '—'}\n\n{data.get('file') or ''}" + else: + text = "当前机械臂和模式尚无标定结果。" + self._calibration_result.setText(text) + def _page_ros_monitor(self) -> QWidget: page, lay = self._page_box("ROS 2 节点监控") self._ros_monitor_state = QLabel("等待状态") @@ -1677,6 +1894,13 @@ class StationApp(QMainWindow): self._ros_filter.setClearButtonEnabled(True) self._ros_filter.textChanged.connect(lambda _text: self._update_ros_monitor()) lay.addWidget(self._ros_filter) + panel, box = self._panel("设备反馈 / 工位进程 / 当前任务") + self._ros_runtime = QPlainTextEdit() + self._ros_runtime.setReadOnly(True) + self._ros_runtime.setMinimumHeight(150) + self._ros_runtime.setMaximumHeight(210) + box.addWidget(self._ros_runtime) + lay.addWidget(panel) row = QHBoxLayout() row.setSpacing(14) self._ros_lists = {} @@ -1711,15 +1935,42 @@ class StationApp(QMainWindow): graph = backend.get("graph") or {} stamp = self._snap.get("now") updated = datetime.fromtimestamp(stamp).strftime("%H:%M:%S") if stamp else "—" - message = "离线模式 · 未连接 ROS 2" if offline else error or f"自动刷新 · 最近更新 {updated}" + scope = "本机" if backend.get("localhost_only") else "网络" + message = "离线模式 · 未连接 ROS 2" if offline else error or f"Domain {backend.get('ros_domain', '—')} · {scope}发现 · 最近更新 {updated}" self._ros_monitor_state.setText(message) self._ros_monitor_state.setToolTip(error or message) query = self._ros_filter.text().strip().casefold() + monitoring = backend.get("monitoring") or {} + health_words = {"live":"反馈在线", "offline":"无新鲜反馈", "fault":"故障", "unknown":"状态未知"} + runtime_rows = [] + if not offline and not error: + for device in monitoring.get("devices", []): + runtime_rows.append(f"设备 {device['id']} · {health_words.get(device['health'], device['health'])} · {device.get('detail') or ''}") + for process in monitoring.get("processes", []): + state = "运行" if process.get("running") else f"已退出 / {process.get('exit_code')}" + runtime_rows.append(f"工位管理 [{process['group']}] {process['key']} · PID {process['pid']} · {state}") + for task in monitoring.get("active_tasks", []): + phase = "停止请求中" if task.get("cancel_requested") else task.get("phase") or task["state"] + runtime_rows.append(f"任务 {task['name']} · 臂 {(task.get('context') or {}).get('arm', '—')} · {phase} · {', '.join(task.get('resources', []))}") + if not monitoring.get("active_tasks"): runtime_rows.append("工位当前没有运行中的任务；外部运动状态需看设备反馈。") + runtime_text = "\n".join(line for line in runtime_rows if query in line.casefold()) + if self._ros_runtime.toPlainText() != runtime_text: self._ros_runtime.setPlainText(runtime_text) + self._ros_runtime.setPlaceholderText("离线模式" if offline else error or "等待后端归属记录") for key, view in self._ros_lists.items(): values = sorted(str(item) for item in graph.get(key, [])) if not offline and not error else [] rows = [item for item in values if query in item.casefold()] self._ros_counts[key].setText("—" if offline or error else str(len(values))) - text = "\n".join(rows) + if key == "nodes" and monitoring.get("nodes"): + from station.node_inventory import GROUPS + groups = [] + for group in GROUPS: + found = [r for r in monitoring["nodes"] if r["group"] == group and query in r["name"].casefold()] + if found: + groups.append(f"[{group}]") + groups.extend(f"{r['name']}" + (f" ⚠ 同名 {r['instances']} 个" if r['instances'] > 1 else "") for r in found) + text = "\n".join(groups) + else: + text = "\n".join(rows) if view.toPlainText() != text: view.setPlainText(text) view.setPlaceholderText("离线模式，暂无数据" if offline else "状态不可用" if error else "没有匹配项" if query else "暂未发现") @@ -1814,10 +2065,45 @@ class StationApp(QMainWindow): want = {f"{cid}_color" for cid in self._camera_windows} want |= {f"{cam['id']}_color" for page, cam, _shot in self._camera_labels if page == key and cam.get("arm") in (None, self._arm)} + if key == "calibration": + camera = self._calibration_camera() + if camera: want.add(f"{camera['id']}_color") + # Preview only station-owned capture nodes, never arbitrary same-name topics. + owned = {row['id'] for row in self._snap.get('camera_ownership', []) if row.get('owned')} + from station.remote_camera import settings + remote=settings(self._site) + allowed=set(remote['cameras']) if remote else owned + want &= {f"{cid}_color" for cid in allowed} camera_view.watch(want, set()) + def _paint_tactile(self): + sensor_arm=str((self._site.get('tactile') or {}).get('arm_id','89')) + for title,flow,side in self._flow_slots: + reading=(self._snap.get('tactile') or {}).get(side,{}) if self._arm==sensor_arm else {} + online=bool(reading.get('connected')) + samples=runtime.tactile_view.samples(side) or (self._snap.get('history_n') or {}).get(side,[]) + force=samples[-1] if online and samples and time.time()-samples[-1].get('t',0)<.75 else reading.get('force_n') if online else None + fps=f"{reading.get('fps',0):.0f}fps" if online else '离线' + normal=(f"{_display_force(force['fnormal']):.2f}".rstrip('0').rstrip('.')+'N') if force else '— N' + title.setText(f"{side}({fps})　当前法向力 {normal}") + blob=runtime.tactile_view.frame(side,'shear') if online else None + if blob:flow.show_jpeg(blob) + else:flow.setText('等待光流画面' if online else reading.get('error') or '未连接传感器') + for chart in self._flow_axis_charts[side].values(): + chart.set_samples(samples if online and force else []) + def _paint_images(self) -> None: key = next((key for key, page in self._pages.items() if page is self._stack.currentWidget()), "") + if key == 'main':self._paint_tactile() + if key == "calibration": + camera = self._calibration_camera() + frame_key = f"{camera['id']}_color" if camera else "" + frame = camera_view.previews().get(frame_key) + info = camera_view.preview_meta().get(frame_key) + self._calibration_fps.setText(f"{info[2]:.0f} FPS" if frame and info else "— FPS") + if frame: self._calibration_preview.show_rgb(*frame) + else: self._calibration_preview.setText("等待相机画面" if camera else "未配置此模式的相机") + return if key not in ("main", "camera"): return frames, meta = camera_view.previews(), camera_view.preview_meta() for page, cam, label in self._camera_labels: @@ -1842,32 +2128,95 @@ class StationApp(QMainWindow): if "--offline" not in sys.argv: camera_view.stop() camera_view.start() + from station.remote_camera import settings + remote=settings(self._site) + if remote and "--offline" not in sys.argv: + wanted={f"{cam['id']}_color" for page,cam,_ in self._camera_labels + if page=='main' and cam.get('arm') in (None,aid) and cam['id'] in remote['cameras']} + deadline=time.monotonic()+15. + while time.monotonic() None: aid = self._arm - self._start(lambda: stop_started(aid), "stop") + self._start(lambda: stop_started(aid), "stop", "停止机械臂") def _ask(self, action: str) -> None: aid = self._arm - self._start(lambda: run_action(action, aid, True), command_lane(action)) + self._start(lambda: run_action(action, aid, True), f"{action}:{aid}", f"{command_title(action)} · 臂 {aid}") - def _start(self, fn, lane: str) -> None: - running = {name for name, job in self._jobs.items() if job.isRunning()} - blocked = command_blocked_message(running, lane) - if blocked: - self.statusBar().showMessage(blocked, 4000) + def _start(self, fn, key: str, label: str = "") -> None: + # Only coalesce duplicate requests here. Device arbitration is authoritative + # in the backend, so independent commands never share a coarse GUI lane. + self._append_operation_log(f"[点击] {label or key}") + existing = self._jobs.get(key) + if existing and existing.isRunning(): + message = "已请求停止，正在等待控制器确认" if key == "stop" else f"{label or key}请求尚未结束，请查看当前任务状态" + self._append_operation_log("[未重复发送] " + message) + self.statusBar().showMessage(message, 5000) return - job = _Job(fn) - self._jobs[lane] = job + self._prune_jobs() + job = _Job(fn, label) + self._jobs[key] = job job.finished_ok.connect(self._ran) + job.finished.connect(self._prune_jobs) job.start() + def _prune_jobs(self) -> None: + for key, job in list(self._jobs.items()): + if not job.isRunning(): + self._jobs.pop(key, None) + job.deleteLater() + + def _append_operation_log(self, message, stamp=None): + from datetime import datetime + when = datetime.fromtimestamp(stamp) if stamp is not None else datetime.now() + scroll = self._detail.verticalScrollBar() + at_bottom = scroll.value() >= scroll.maximum()-3 + previous = scroll.value() + self._detail.appendPlainText(f"{when:%H:%M:%S.%f}"[:-3] + " " + message) + scroll.setValue(scroll.maximum() if at_bottom else previous) + + def _sync_operation_log(self): + journal = self._snap.get('operation_log') or {} + session = journal.get('session') + if not session: return + if self._log_session != session: + self._log_session, self._log_sequence = session, 0 + events = journal.get('events', []) + if events and events[0]['seq'] > self._log_sequence+1: + self._append_operation_log('部分较早记录已移出缓存，完整记录：' + journal.get('path', '')) + if journal.get('error'): + failure = str(journal['error']) + if getattr(self, '_log_disk_error', '') != failure: + self._append_operation_log('[日志保存失败] ' + failure) + self._log_disk_error = failure + else: self._log_disk_error = '' + self._detail.setToolTip('完整操作记录：' + journal.get('path', '')) + for event in events: + if event['seq'] <= self._log_sequence: continue + operation = command_title(event.get('action', '')) + arm = event.get('arm') + token = event.get('task_id', '') + context = operation + (f" · 臂 {arm}" if arm else '') + (f" · #{token[:8]}" if token else '') + self._append_operation_log(context + ' · ' + event['message'], event['time']) + self._log_sequence = event['seq'] + def _ran(self, result: dict) -> None: from datetime import datetime message = str(result.get("message") or result.get("output") or "操作已结束") - self._detail.appendPlainText(f"{datetime.now():%H:%M:%S} {message}") + operation = str(result.get("operation") or "") + if operation: message = operation + " · " + message + self._append_operation_log(("[反馈] " if result.get("ok") else "[失败/拒绝] ") + message) + detail = str(result.get('detail') or '').strip() + if detail: self._append_operation_log((operation or '操作') + ' · 执行输出：\n' + detail) + if result.get('log'): self._append_operation_log('完整执行日志：' + str(result['log'])) self.statusBar().showMessage(message.splitlines()[0], 7000) self._refresh() @@ -1914,7 +2263,7 @@ class StationApp(QMainWindow): if item: frame.show_rgb(*item) else: frame.setText("画面已断开") timer.timeout.connect(update) - timer.start(67) + timer.start(16) update() self._camera_windows[camera_id] = dialog def finished(_result): @@ -1940,6 +2289,7 @@ class StationApp(QMainWindow): def _refresh(self) -> None: from datetime import datetime self._snap = status() + self._sync_operation_log() self._clock.setText(datetime.now().strftime("%Y-%m-%d %H:%M:%S")) error = str((self._snap.get("backend") or {}).get("error") or "") live = (self._snap.get("arm_live") or {}).get(self._arm) or {} @@ -1950,7 +2300,9 @@ class StationApp(QMainWindow): robot_tone = "idle" if enabled is None else "ok" if enabled is True else "warn" if not error and (live.get("fault") is True or live.get("estop_released") is False): word, robot_tone = "故障" if live.get("fault") is True else "急停", "warn" - detail = "离线模式，未读取机械臂使能状态" if "--offline" in sys.argv else "未收到可靠的使能反馈" if enabled is None else "机器人" + word + detail = "离线模式，未读取机械臂使能状态" if "--offline" in sys.argv else "未收到可靠的使能反馈" if enabled is None else str(live.get("summary") or "机器人" + word) + arm_error=(((self._snap.get('backend') or {}).get('device_errors') or {}).get('arms') or {}).get(self._arm) + if arm_error:detail=str(arm_error) self._indicator("robot", "机器人" + word, robot_tone, detail) frames = camera_view.previews() online = sum(bool(frames.get(f"{cam['id']}_color")) for _page, cam, _label in self._camera_labels if _page == "main") @@ -1964,34 +2316,55 @@ class StationApp(QMainWindow): self._enable_label.setProperty("iconColor", color) self._enable_label.setToolTip("当前模式：" + str(live.get("mode") or "未知")) q = live.get("q") if live.get("pose_live") else None - self._arm_sketch.set_pose(q, bool(q), self._workpieces.get(self._arm)) - self._pose_note.setText("实时关节姿态" if q else "等待实时关节 · 零位示意") + home=self._home_poses.get(self._arm) + self._arm_sketch.set_pose(q if q else home, bool(q), self._workpieces.get(self._arm)) + self._pose_note.setText('实时关节姿态' if q else '等待实时关节 · 回零位示意' if home else '未配置回零位 · 等待实时关节') for i, label in enumerate(self._joint_values): label.setText(f"{q[i] * 180 / 3.141592653589793:.1f}" if q and len(q) > i else "—") + tcp = live.get('tcp_pose') if not error else None + for i, label in enumerate(self._tcp_values): + label.setText(f"{tcp[i]:.1f}" if tcp and len(tcp)==6 else "—") services = ((self._snap.get("backend") or {}).get("graph") or {}).get("services") or [] for button, action in self._action_buttons: available = not error reason = error - if action in ("gripper_open", "gripper_close"): - available = available and bool(grip.get("connected")) and not grip.get("moving") and f"/station/grippers/arm_{self._arm}/execute" in services - reason = reason or "需要本臂夹爪在线并提供控制接口" + if action in ("gripper_open", "gripper_close", "gripper_init", "gripper_probe"): + # 夹爪走 USB-RS485，不依赖机械臂使能。 + needed = "/gripper/initialize" if action == "gripper_init" else "/gripper/open" + if action == "gripper_probe": + available = not error + reason = error or "连接并读取夹爪，不使能机械臂、不回零" + else: + available = needed in services + reason = "请先连接 / 探测，拉起 dh_pgea" if not available else "" button.setEnabled(available) button.setToolTip({ + "gripper_probe": "拉起 dh_pgea 并读取当前夹爪状态，不初始化、不移动", + "gripper_open": "全开：不需要使能机械臂，也不需要先到位", + "gripper_close": "全闭：不需要使能机械臂，也不需要先到位", + "gripper_init": "到位=回零标定，不是使能。会先张开满行程；夹着工件时不要点", + "tactile_refresh": "重新检测并启动本站左右触觉节点，不操作夹爪或机械臂", + "tactile_reset": "传感器无受力时点击，以当前画面更新光流底图并清空曲线", "real_up": "连接并请求使能当前臂；示教器需处于 Auto/Remote，实体急停需释放；不会运行检测或回零", "stage_track": "第一阶段跟踪：D405 优先，丢失目标时 D435 补位；会移动机械臂", - "stage_locate": "运行孔位对准，不下压或旋入", + "stage_locate": "新版二阶段：孔位对准后按配置下降到进孔高度；不自动旋转", + "stage_screw": "新版 A7 工序：首轮正反转，再执行四轮松爪、微抬、空回、降回、合爪和旋转", + "pipeline": "依次执行检测、对孔和 A7 旋转；任一步失败或停止即中止后续", "reset_home": "回到当前臂配置的初始位置（home）", }.get(action, "") if available else reason) arm = next((a for a in self._catalog if a["id"] == self._arm), {}) for aid, button in self._arm_switches.items(): _mark(button, active=aid == self._arm) - for title, flow, side in self._flow_slots: - title.setText(side) - flow.setText("光流显示预留 · 等待接入") + self._grip_status.setText(str(grip.get('summary') or '夹爪未连接')) + self._gripper_sketch.set_pose(grip.get('permille'),grip.get('rotation_deg'), + bool(arm.get('rotary')),bool(grip.get('connected')),arm.get('stroke_mm')) + sensor_arm=str((self._site.get('tactile') or {}).get('arm_id','89')) + self._paint_tactile() self._settings_info.setText(f"机械臂：{arm.get('label', '—')}\n设备序列号：{arm.get('sn', '—')}\n界面：简体中文 · {'深色' if self._theme == 'dark' else '浅色'}") self._arm_selector.blockSignals(True) self._arm_selector.setCurrentIndex(self._arm_selector.findData(self._arm)) self._arm_selector.blockSignals(False) self._calibration_arm.setText(f"当前机械臂：{arm.get('label', '—')} · {arm.get('sn', '—')}") + self._update_calibration() self._sync_camera_watch() self._update_ros_monitor() @@ -2099,7 +2472,7 @@ QScrollArea > QWidget > QWidget { background: #f0f5fc; } QScrollBar::add-line:vertical, QScrollBar::sub-line:vertical { height: 0; } QScrollBar:vertical { background: #f0f5fc; width: 8px; } QScrollBar::handle:vertical { background: #cad9ed; border-radius: 4px; min-height: 24px; } -QStatusBar { background: #f8fbff; color: #7387a4; } +QStatusBar { background: #f8fbff; color: #7387a4; font-size: 11px; padding: 0; } """ diff --git a/station/src/station/operator_arm_state.py b/station/src/station/operator_arm_state.py index 1316d2e..9031d52 100644 --- a/station/src/station/operator_arm_state.py +++ b/station/src/station/operator_arm_state.py @@ -233,3 +233,44 @@ def _seven(raw: Any) -> list[float] | None: if any(v != v or abs(v) > 12.6 for v in q): return None return q + + +def configured_home(site: dict, arm: str, root=None) -> list[float]: + """Read the same named-pose/servo override used by the explicit home action. + + Presentation only: no ROS clients, command submission or device access. + """ + from pathlib import Path + from arm_application.site_io import arm_short_id + robot=next((r for r in (site.get('robot') or {}).get('robots',[]) + if arm_short_id(str(r.get('sn','')))==arm),None) + if robot is None: raise ValueError('未找到本臂回零配置') + path=Path(robot.get('named_poses_file') or '') + if not path.is_absolute(): path=Path(root or ros2_root())/path + servo={**(site.get('servo') or {}),**(robot.get('servo') or {})} + name=str(servo.get('home_pose_name') or 'home') + try: + poses=yaml.safe_load(path.read_text())['named_pose_server']['ros__parameters'] + except yaml.YAMLError as exc: + raise ValueError('回零配置 YAML 无效') from exc + raw=poses.get('named_poses.'+name) + if not isinstance(raw,(list,tuple)) or len(raw)!=7: raise ValueError('回零配置需要七个关节角') + q=_seven(raw) + if q is None: raise ValueError('回零配置必须包含七个有限关节角') + return q + + +def tcp_display_pose(position, quaternion): + """Native WORLD TCP pose: metres/xyzw to millimetres/XYZ Euler degrees.""" + values = [float(v) for v in (*position, *quaternion)] + if len(position) != 3 or len(quaternion) != 4 or not all(math.isfinite(v) for v in values): + return None + x, y, z, w = values[3:] + norm = math.sqrt(x*x+y*y+z*z+w*w) + if norm < 1e-9: + return None + x, y, z, w = (v/norm for v in (x,y,z,w)) + roll = math.atan2(2*(w*x+y*z), 1-2*(x*x+y*y)) + pitch = math.asin(max(-1., min(1., 2*(w*y-z*x)))) + yaw = math.atan2(2*(w*z+x*y), 1-2*(y*y+z*z)) + return [v*1000 for v in values[:3]] + [math.degrees(v) for v in (roll,pitch,yaw)] diff --git a/station/src/station/operator_camera_view.py b/station/src/station/operator_camera_view.py index 9f96c06..91a2546 100644 --- a/station/src/station/operator_camera_view.py +++ b/station/src/station/operator_camera_view.py @@ -23,12 +23,13 @@ from pathlib import Path import numpy as np -# 界面预览与算法原图分开：显示限制到 848 像素宽，算法仍使用原始分辨率。 -_COLOR_WIDTH = 848 +# 彩色预览保留到 1080p；算法仍使用原始分辨率。 +_COLOR_WIDTH = 1920 +_COLOR_HEIGHT = 1080 # 深度上色不是要看的画质。全幅每帧上色会把刷新占满，所以这一路仍抽稀。 _DEPTH_WIDTH = 480 # 手眼只在正在看的那一页编码，宽度跟彩色预览一样，不另缩一档。 -_JPEG_WIDTH = 1280 +_JPEG_WIDTH = 1920 # 只留给还在用 ``accept_frame`` 的调用。彩色实况不再用它抽帧： # 相机大约 30 帧，再按这个间隔丢一次，画面会掉到十几帧。 _INTERVAL = 1.0 / 30.0 @@ -58,7 +59,7 @@ _WAKE = threading.Event() _PAINT_THREAD: threading.Thread | None = None _STATE = {"on": False, "error": "", "frames": {}, "stamp": 0.0} # 和 cam_bridge 约定的共享内存头：序号、宽、高、字节数。序号为奇数表示正在写。 -_SHM_MAX = 1280 * 720 * 3 +_SHM_MAX = 1920 * 1080 * 3 _SHM_HEAD = struct.Struct(" list[dict]: from arm_application.site_io import load_site_dict as _site site = _site() + from station.remote_camera import settings + remote=settings(site) real = preview_targets(site) + if remote: + return [{**cam,'source':'remote','preview_transport':remote['transport']} + for cam in real if cam['id'] in remote['cameras']] for item in real: item["source"] = "real" + item["preview_transport"] = "compressed" seen = {item["id"] for item in real} return real + [item for item in sim_preview_targets(site) if item["id"] not in seen] @@ -458,9 +465,10 @@ def rgb_preview(image: np.ndarray, *, bgr: bool, limit: int = _COLOR_WIDTH) -> n raise ValueError("彩色预览要的是高×宽×3") view = image width = int(view.shape[1]) - if width > limit: - height = max(1, int(round(int(view.shape[0]) * limit / float(width)))) - view = cv2.resize(view, (limit, height), interpolation=cv2.INTER_AREA) + scale = min(1.0, float(limit) / width, float(_COLOR_HEIGHT) / int(view.shape[0])) + if scale < 1.0: + size = (max(1, int(round(width * scale))), max(1, int(round(int(view.shape[0]) * scale)))) + view = cv2.resize(view, size, interpolation=cv2.INTER_AREA) if bgr: return cv2.cvtColor(view, cv2.COLOR_BGR2RGB) if not view.flags["OWNDATA"] or not view.flags["C_CONTIGUOUS"]: @@ -508,12 +516,12 @@ def _jpeg_bgr(rgb: np.ndarray) -> bytes | None: def _as_array(data, dtype, count: int) -> np.ndarray: - """显式复制消息缓冲，让异步绘图不依赖 ROS 回调的生命周期。""" + """bytes 持有独立消息快照；不再为 NumPy 视图重复复制一次。""" raw = bytes(data) arr = np.frombuffer(raw, dtype=dtype, count=count) if arr.size < count: raise ValueError("图像字节数不够") - return arr.copy() + return arr def _color_view(msg) -> np.ndarray | None: @@ -565,12 +573,13 @@ def _open_node(cams: list[dict]): import rclpy from rclpy.node import Node from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy, qos_profile_sensor_data - from sensor_msgs.msg import Image + from sensor_msgs.msg import Image, CompressedImage from std_msgs.msg import Float32MultiArray from arm_application.site_io import arm_short_id, load_site_dict configured_arm=arm_short_id(os.environ.get("SITE_ROBOT_SN") or (load_site_dict().get('robot') or {}).get('sn')) def camera_role(cam): + if cam.get('source')=='remote':return '' if cam.get('arm') and cam['arm'] != configured_arm: return '' # Legacy global detections have no arm identity; never overlay another arm's result. return str(cam.get('role') or 'wrist') @@ -598,6 +607,10 @@ def _open_node(cams: list[dict]): def create(key): name, kind = key.rsplit('_', 1) cam = by_id[name] + if kind == 'color' and cam.get('preview_transport') == 'compressed': + return self.create_subscription(CompressedImage, f"/{name}/color/preview/compressed", + self._compressed(name, camera_role(cam)), + QoSProfile(depth=1,reliability=ReliabilityPolicy.BEST_EFFORT)) topic = f"/{name}/color/image_raw" if kind == 'color' else f"/{name}/aligned_depth_to_color/image_raw" callback = self._color(name, camera_role(cam)) if kind == 'color' else self._depth(name) return self.create_subscription(Image, topic, callback, qos_profile_sensor_data) @@ -625,7 +638,9 @@ def _open_node(cams: list[dict]): if not preview and not jpeg: return False now = time.monotonic() - # UI preview is independent of perception rate. Avoid copying full-resolution frames we won't render. + # Color keeps camera cadence. The latest-frame mailbox bounds memory and latency. + if key.endswith("_color") and not jpeg: + return True fps = 10.0 if jpeg else 15.0 if now - self._last_frame.get(key, 0) < 1.0/fps: return False @@ -637,6 +652,18 @@ def _open_node(cams: list[dict]): _remember_detection(role, [float(v) for v in msg.data]) return _cb + def _compressed(self, name: str, role: str): + key = f"{name}_color" + def callback(msg): + if not self._accept(key): return + try: + import cv2 + image = cv2.imdecode(np.frombuffer(msg.data,dtype=np.uint8),cv2.IMREAD_COLOR) + if image is not None: offer_color(key,image,bgr=True,role=role) + except Exception as exc: + with _LOCK: _STATE['error'] = str(exc) + return callback + def _color(self, name: str, role: str): key = f"{name}_color" @@ -782,6 +809,10 @@ def _ingest() -> None: shm = _attach(name) if name else None if shm is None: continue + # Inspect the sequence before copying a multi-megabyte frame that has not changed. + sequence = _SHM_HEAD.unpack_from(shm.buf, 0)[0] + if sequence % 2 or _SHM_SEQ.get(name) == sequence: + continue got = _shm_read(shm) if got is None or _SHM_SEQ.get(name) == got[0]: continue @@ -879,6 +910,7 @@ def _stop_bridge() -> None: pass with _LOCK: _STATE["on"] = False + _PREVIEW.clear();_JPEG.clear();_META.clear() def start() -> str: @@ -900,26 +932,32 @@ def start() -> str: _STATE["error"] = "" _publish_want(payload) _STOP.clear() - log_f = open(directory / "bridge.log", "ab", buffering=0) - try: + from station.remote_camera import bridge_environment + from arm_application.site_io import load_site_dict + bridge_env=bridge_environment(load_site_dict(),os.environ,directory) + ready=threading.Event() + errors=[] + def launch_and_poll(): + global _BRIDGE try: - _BRIDGE = subprocess.Popen( - [sys.executable, "-m", "station.child_process", str(os.getpid()), - sys.executable, "-m", "station.cam_bridge", str(directory)], - start_new_session=True, - stdin=subprocess.DEVNULL, - stdout=log_f, - stderr=subprocess.STDOUT, - ) + with open(directory / "bridge.log", "ab", buffering=0) as log_f: + _BRIDGE = subprocess.Popen( + [sys.executable, "-m", "station.child_process", str(os.getpid()), + sys.executable, "-m", "station.cam_bridge", str(directory)], + env=bridge_env,start_new_session=True,stdin=subprocess.DEVNULL, + stdout=log_f,stderr=subprocess.STDOUT) except OSError as exc: - with _LOCK: - _STATE["on"] = False - _STATE["error"] = str(exc) - return str(exc) - finally: - log_f.close() - _POLL_THREAD = threading.Thread(target=_poll_loop, daemon=True, name="cam-poll") + errors.append(str(exc)) + with _LOCK:_STATE.update(on=False,error=str(exc)) + finally: + ready.set() + if not errors:_poll_loop() + # Linux parent-death signals are tied to the spawning thread. Refresh jobs + # are short-lived Qt threads, so this persistent thread must own Popen. + _POLL_THREAD = threading.Thread(target=launch_and_poll, daemon=True, name="cam-poll") _POLL_THREAD.start() + if not ready.wait(3.):return '相机预览进程启动超时' + if errors:return errors[0] names = "、".join(cam["label"] for cam in cams) return "预览已启动；仅订当前页所需彩色/深度，不含红外。" diff --git a/station/src/station/operator_gripper_mesh.py b/station/src/station/operator_gripper_mesh.py index 523abf5..59dcd82 100644 --- a/station/src/station/operator_gripper_mesh.py +++ b/station/src/station/operator_gripper_mesh.py @@ -136,3 +136,33 @@ def _box(x0, x1, y0, y1, z0, z1, rgb) -> list[tuple]: out.append((p[a], p[b], p[c], rgb)) out.append((p[a], p[c], p[d], rgb)) return out + + +# STEP tessellation is produced offline. No CAD kernel is loaded by the Qt app. +from functools import lru_cache +from pathlib import Path + + +@lru_cache(maxsize=1) +def rgi_cad_gl(): + """Return the original assembled RGI STEP mesh in metres for the GPU.""" + import numpy as np + path=Path(__file__).resolve().parent/'assets/models/rgi-100-30/mesh.npz' + with np.load(path,allow_pickle=False) as data: + triangles=data['triangles'];rgb=data['colors'] + if triangles.ndim!=3 or triangles.shape[1:]!=(3,3) or rgb.shape!=(len(triangles),3): + raise ValueError('RGI 模型网格格式无效') + if not np.isfinite(triangles).all() or not np.isfinite(rgb).all(): + raise ValueError('RGI 模型存在非有限坐标') + # The STEP uses a nearly pure blue display colour; lift it for readable edges. + rgb=.35*rgb+.65*np.array([.78,.81,.86],dtype=np.float32) + normal=np.cross(triangles[:,1]-triangles[:,0],triangles[:,2]-triangles[:,0]) + length=np.maximum(np.linalg.norm(normal,axis=1),1e-12) + direction=np.array([.3,-.5,.8]);direction/=np.linalg.norm(direction) + shade=.42+.58*np.abs(normal@direction)/length + positions=triangles.reshape(-1,3) + colors=np.repeat(rgb*shade[:,None],3,axis=0) + center=(positions.min(axis=0)+positions.max(axis=0))*.5 + radius=max(float(np.linalg.norm(positions-center,axis=1).max()),1e-4) + packed=np.concatenate([positions,colors],axis=1).astype(np.float32) + return packed.tobytes(),len(positions),tuple(float(x) for x in center),radius diff --git a/station/src/station/operator_gripper_state.py b/station/src/station/operator_gripper_state.py index 749f657..e236097 100644 --- a/station/src/station/operator_gripper_state.py +++ b/station/src/station/operator_gripper_state.py @@ -27,8 +27,12 @@ def present( if not connected: summary = error or str(row.get("error_msg") or "夹爪没连上") else: - bits = [_GRIP.get(int(grip_state), "状态未知") if _finite(grip_state) is not None else "状态未知"] - bits.append(f"开口 {opening:.1f} mm" if opening is not None else "") + bits = [] + if not row.get("initialized"): + bits.append("零点未标定") + bits.append(_GRIP.get(int(grip_state), "状态未知") if _finite(grip_state) is not None else "状态未知") + if opening is not None: + bits.append(f"开口 {opening:.1f} mm") if rotary and rotation is not None: bits.append(f"转角 {rotation:.1f}°") if _finite(rot_state) is not None: diff --git a/station/src/station/processes.py b/station/src/station/processes.py index f8c017c..92b4de8 100644 --- a/station/src/station/processes.py +++ b/station/src/station/processes.py @@ -6,6 +6,8 @@ import os import sys import threading import time +import tempfile +import uuid from pathlib import Path from station.tasks import Cancelled @@ -17,6 +19,8 @@ class ProcessSupervisor: self.log_dir.mkdir(parents=True, exist_ok=True) self._lock = threading.RLock() self._items = {} + self._records = {} + self._phase_dir = tempfile.TemporaryDirectory(prefix='orisys_process_phase_') def start(self, key, argv, env=None, cwd=None): with self._lock: @@ -24,36 +28,57 @@ class ProcessSupervisor: if old and old.poll() is None: raise RuntimeError(f"{key} 已在运行") log = self.log_dir / (key.replace('/', '_').replace(':', '_') + '.log') + offset = log.stat().st_size if log.exists() else 0 + phase_file = str(Path(self._phase_dir.name)/uuid.uuid4().hex) + child_env = dict(os.environ if env is None else env) + child_env['ORISYS_PROCESS_PHASE_FILE'] = phase_file with log.open('ab') as output: managed = [sys.executable, "-m", "station.child_process", str(os.getpid()), *argv] - proc = subprocess.Popen(managed, env=env, cwd=cwd, stdout=output, stderr=subprocess.STDOUT, + proc = subprocess.Popen(managed, env=child_env, cwd=cwd, stdout=output, stderr=subprocess.STDOUT, stdin=subprocess.DEVNULL, start_new_session=True) self._items[key] = proc + self._records[key] = {"owner": "station", "started": time.time(), "command": list(argv), + "log": str(log), "log_offset": offset, "phase_file":phase_file} return proc, log - def run(self, key, argv, event, env=None, cwd=None, timeout=None): + def run(self, key, argv, event, env=None, cwd=None, timeout=None, on_phase=None): if event.is_set(): raise Cancelled("任务已取消") proc, log = self.start(key, argv, env, cwd) started = time.monotonic() + last_phase = None try: while proc.poll() is None: + phase = self.phase(key) + if on_phase and phase != last_phase: on_phase(phase) + last_phase = phase if event.wait(.1): raise Cancelled("已取消工位流程；控制器停止状态仍需确认") if timeout and time.monotonic() - started > timeout: raise RuntimeError(f"{key} 执行超时") code = proc.returncode with log.open('rb') as stream: - stream.seek(max(0, log.stat().st_size - 6000)) + stream.seek(max(self._records[key]["log_offset"], log.stat().st_size - 6000)) detail = stream.read().decode('utf-8', errors='replace') return {"ok": code == 0, "message": f"{key} 已结束（退出码 {code}）", "detail": detail, "log": str(log)} finally: if proc.poll() is None: + if on_phase: on_phase('停止中' if event.is_set() else '收尾') self.stop(key) + def phase(self, key): + try: + phase = Path(self._records[key]['phase_file']).read_text(encoding='utf-8').strip() + return phase if phase in ('执行中','收尾','停止中') else '准备中' + except (KeyError, OSError): + return '准备中' + def snapshot(self): with self._lock: - return {key: {"pid": proc.pid, "running": proc.poll() is None, "exit_code": proc.poll()} + return {key: {**{k:v for k,v in self._records[key].items() if k not in ("log_offset", "phase_file")}, + "pid": proc.pid, "running": proc.poll() is None, "exit_code": proc.poll(), + "state": "running" if proc.poll() is None else "exited", + "phase":self.phase(key) if proc.poll() is None else "已退出"} for key, proc in self._items.items()} def stop(self, key): @@ -67,3 +92,4 @@ class ProcessSupervisor: def close(self): for key in self.snapshot(): self.stop(key) + self._phase_dir.cleanup() diff --git a/station/src/station/remote_camera.py b/station/src/station/remote_camera.py new file mode 100644 index 0000000..d5ca810 --- /dev/null +++ b/station/src/station/remote_camera.py @@ -0,0 +1,41 @@ +"""Explicit read-only camera preview source; robot/service environment is unchanged.""" +from __future__ import annotations +import ipaddress +from pathlib import Path + + +def settings(site): + cfg=(site or {}).get('remote_camera_preview') or {} + if not cfg.get('enabled'):return None + domain=int(cfg.get('domain',0)) + if not 0<=domain<=232:raise ValueError('远端相机 ROS 域必须为 0–232') + peer=str(ipaddress.IPv4Address(cfg['host'])) + interface=str(ipaddress.IPv4Address(cfg['interface_address'])) + cameras=list(cfg.get('cameras') or []) + if not cameras or any(not isinstance(c,str) or not c.replace('_','').isalnum() for c in cameras): + raise ValueError('远端相机名称无效') + transport=cfg.get('transport','raw') + if transport not in ('raw','compressed'):raise ValueError('远端相机传输方式无效') + return {'domain':domain,'host':peer,'interface_address':interface,'cameras':cameras,'transport':transport} + + +def bridge_environment(site,parent,directory): + """Bind preview DDS to the physical NIC, avoiding VPN multicast routing.""" + env=dict(parent);cfg=settings(site) + if not cfg:return env + path=Path(directory)/'remote-camera-dds.xml' + path.write_text(''' + +remote_camera_udpUDPv4 +
'''+cfg['interface_address']+'''
 + + +remote_camera_udpfalse +
'''+cfg['host']+'''
 + +''') + env.update(ROS_DOMAIN_ID=str(cfg['domain']),ROS_LOCALHOST_ONLY='0', + RMW_IMPLEMENTATION='rmw_fastrtps_cpp',FASTRTPS_DEFAULT_PROFILES_FILE=str(path), + FASTDDS_DEFAULT_PROFILES_FILE=str(path)) + env.pop('ROS_DISCOVERY_SERVER',None) + return env diff --git a/station/src/station/ros_gateway.py b/station/src/station/ros_gateway.py index d600683..bfb31aa 100644 --- a/station/src/station/ros_gateway.py +++ b/station/src/station/ros_gateway.py @@ -17,7 +17,8 @@ class RosGateway: import rclpy from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node - from sensor_msgs.msg import JointState + from sensor_msgs.msg import JointState, CameraInfo + from flexiv_msgs.msg import RobotStates from arm_msgs.msg import GripperStatus, ArmStatus from std_msgs.msg import Float32MultiArray from arm_application.site_io import listed_arms, arm_short_id @@ -27,6 +28,7 @@ class RosGateway: self.executor = MultiThreadedExecutor(num_threads=3) self.executor.add_node(self.node) self._lock = threading.RLock() + self._camera_info = {} self._joints = {} self._joint_history = {} self._controller_lock = threading.RLock() @@ -34,6 +36,10 @@ class RosGateway: self._last_joint_sample = 0. self._grippers = {} self._arm_status = {} + self._robot_clock = {} + self._tcp_poses = {} + self._robot_seen = {} + self._motion_watch = set() self._clients = {} self._goals = {} self._known_goals = set() @@ -44,10 +50,19 @@ class RosGateway: from station.subscriptions import SubscriptionSet self._tactile_images = SubscriptionSet() self._tactile_on = False + self._compressed_flow = (site.get("tactile") or {}).get("preview_transport") == "compressed_flow" self._tactile_frames = {} + self._tactile_force = {} + self._force_sequence={side:0 for side in ('left','right')} + self._force_epoch={side:0 for side in ('left','right')} + self._tactile_force_history = {side:deque(maxlen=2100) for side in ("left","right")} self.arms = listed_arms(site) self.active_arm = arm_short_id((site.get('robot') or {}).get('sn')) from rclpy.qos import qos_profile_sensor_data + camera_names={cam.get('name',name) for name,cam in (site.get('cameras') or {}).items() if isinstance(cam,dict)} + for name in camera_names: + self.node.create_subscription(CameraInfo,f'/{name}/color/camera_info', + lambda msg,name=name:self._camera_frame(name,msg),qos_profile_sensor_data) self.node.create_subscription(JointState, '/joint_states', self._joint, qos_profile_sensor_data) from action_msgs.msg import GoalStatusArray from rclpy.qos import QoSProfile, DurabilityPolicy, ReliabilityPolicy @@ -57,6 +72,8 @@ class RosGateway: self.node.create_subscription(ArmStatus, '/arm_status', lambda msg: self._arm(self.active_arm, msg), 10) for arm in self.arms: aid = arm['id'] + self.node.create_subscription(RobotStates, f"/{arm['sn'].replace('-', '_')}/flexiv_robot_states", + lambda msg, a=aid: self._native_state(a, msg), qos_profile_sensor_data) self.node.create_subscription(GripperStatus, f'/station/grippers/arm_{aid}/status', lambda msg, a=aid: self._grip(a, msg), 10) self.node.create_subscription(ArmStatus, f"/{arm['sn'].replace(chr(45), chr(95))}/arm_status", lambda msg, a=aid: self._arm(a, msg), 10) @@ -64,13 +81,31 @@ class RosGateway: self.node.create_subscription(GripperStatus, f"/dual_gripper_driver/{arm['side']}/status", lambda msg, a=aid: self._grip(a, msg, 'ROS 旧驱动（只读）'), 10) self.node.create_subscription(Float32MultiArray, '/gripper/states', self._legacy_grip, 10) + self.node.create_subscription(GripperStatus, '/dh_pgea/status', + lambda msg: self._grip(self._parallel_arm(), msg), 10) from arm_msgs.msg import TactileStatus + from geometry_msgs.msg import WrenchStamped for side in ('left', 'right'): + self.node.create_subscription(WrenchStamped,f'/tactile/{side}/wrench', + lambda msg,side=side:self._tactile_wrench(side,msg),qos_profile_sensor_data) self.node.create_subscription(TactileStatus, f'/tactile/{side}/status', lambda msg, side=side: self._tactile(side, msg), 10) self._thread = threading.Thread(target=self.executor.spin, daemon=True, name='station-ros') self._thread.start() + def _camera_frame(self,name,msg): + with self._lock: + self._camera_info[name]=(time.monotonic(),int(msg.width),int(msg.height)) + + def camera_health(self,name): + with self._lock: + entry=self._camera_info.get(name) + return {'fresh':bool(entry and time.monotonic()-entry[0]<2.), + 'width':entry[1] if entry else 0,'height':entry[2] if entry else 0} + + def clear_camera_health(self,name): + with self._lock:self._camera_info.pop(name,None) + def _goal_status(self, msg): with self._lock: self._active_goals={bytes(item.goal_info.goal_id.uuid) for item in msg.status_list if item.status in (1,2,3)} @@ -95,11 +130,49 @@ class RosGateway: self._joints[arm['id']] = (now, q) self._joint_history.setdefault(arm['id'], deque(maxlen=80)).append((now, q)) + def _native_state(self, arm, msg): + # The native driver updates this structure only while connected/operational. + # ROS header stamps can keep advancing while the hardware sample is frozen. + now = time.monotonic() + with self._lock: + if now - self._robot_seen.get(arm, 0.) < .05: return + self._robot_seen[arm] = now + stamp = int(msg.robot_timestamp.sec) * 1000000000 + int(msg.robot_timestamp.nanosec) + previous = self._robot_clock.get(arm) + advanced = now if previous and stamp > previous[0] > 0 else ( + previous[1] if previous and stamp == previous[0] else 0.) + self._robot_clock[arm] = (stamp, advanced) + from station.operator_arm_state import tcp_display_pose + p, q = msg.tcp_pose.pose.position, msg.tcp_pose.pose.orientation + self._tcp_poses[arm] = tcp_display_pose((p.x,p.y,p.z),(q.x,q.y,q.z,q.w)) + + def motion_interruption(self, arm): + """Consume a loss of native operational feedback after a motion starts. + + This cancels application producers as well as the hardware abort. A new + Enable does not put the old task back into the worker queue. + """ + with self._lock: + if arm not in self._motion_watch: return None + native = self._robot_clock.get(arm) + status = self._arm_status.get(arm) + fault = status and time.monotonic()-status[0] < 2 and status[1]['fault'] + if fault or not native or time.monotonic()-native[1] > .75: + self._motion_watch.discard(arm) + return '机械臂运行反馈中断或故障，已取消旧任务；重新使能后请重新选择动作' + return None + def _arm(self, arm, msg): with self._lock: self._arm_status[arm] = (time.monotonic(), {'mode': msg.mode, 'fault': msg.mode == 'error', 'error_message': msg.error_message}) + def _parallel_arm(self): + for arm in self.arms: + if not arm.get('rotary'): + return arm['id'] + return self.active_arm + def _grip(self, arm, msg, source="ROS 常驻驱动"): with self._lock: self._grippers[arm] = (time.monotonic(), { @@ -119,7 +192,7 @@ class RosGateway: if current and time.monotonic() - current[0] < 2 and current[1].get('source') != 'ROS 旧驱动（只读）': return self._grippers[self.active_arm] = (time.monotonic(), { - 'connected': True, 'initialized': init >= .5, 'permille': pos, 'force': force, + 'connected': len(msg.data)<6 or msg.data[5]>=.5, 'initialized': init >= .5, 'permille': pos, 'force': force, 'grip_state': int(state), 'moving': int(state) == 0, 'gripped': int(state) == 2, 'source': 'ROS 旧驱动（只读）'}) @@ -128,20 +201,68 @@ class RosGateway: if msg.connected: site_catalog._push_force(side, {'t':time.time(), 'fnormal':msg.fnormal, 'fshearx':msg.fshearx, 'fsheary':msg.fsheary}) + with self._lock: calibrated=self._tactile_force.get(side) + fresh=bool(msg.connected and calibrated and time.monotonic()-calibrated[0]<.75) + with site_catalog._LOCK: + site_catalog._TACTILE[side].update(connected=bool(msg.connected),fps=float(msg.fps),error=msg.error_msg, + force_n=calibrated[1] if fresh else None) + if not msg.connected: + with self._lock: + self._tactile_frames.pop(side+'_shear',None) + self._tactile_force.pop(side,None) + + def _tactile_wrench(self, side, msg): + f=msg.wrench.force + if not all(math.isfinite(v) for v in (f.x,f.y,f.z)):return + with self._lock: + self._tactile_force[side]=(time.monotonic(),dict(fnormal=f.z,fshearx=f.x,fsheary=f.y)) + self._force_sequence[side]+=1 + self._tactile_force_history[side].append(dict(seq=self._force_sequence[side],t=time.time(),fnormal=f.z,fshearx=f.x,fsheary=f.y)) + + def tactile_history(self): + cutoff=time.time()-60. + with self._lock:return {side:[r for r in rows if r['t']>=cutoff] for side,rows in self._tactile_force_history.items()} + + def tactile_sample_packet(self, after): + with self._lock: + return {'samples':{side:[r for r in list(rows)[-1800:] if r['seq']>int(after.get(side,0))] + for side,rows in self._tactile_force_history.items()}, + 'epochs':dict(self._force_epoch)} + + def clear_tactile_reference(self, side): + from station import site_catalog + with self._lock: + self._force_epoch[side]+=1 + self._tactile_force_history[side].clear() + self._tactile_force.pop(side,None);self._tactile_frames.pop(side+'_shear',None) + with site_catalog._LOCK: + site_catalog._HIST[side].clear() + site_catalog._TACTILE[side]['force_n']=None def watch_tactile(self, on): from sensor_msgs.msg import Image from rclpy.qos import qos_profile_sensor_data self._tactile_on=bool(on) - wanted={f'{side}_{kind}' for side in ('left','right') for kind in ('shear','thermal')} if on else set() + kinds = ('shear',) if self._compressed_flow else ('shear','thermal') + wanted={f'{side}_{kind}' for side in ('left','right') for kind in kinds} if on else set() def create(key): side,kind=key.split('_') + if self._compressed_flow: + from sensor_msgs.msg import CompressedImage + return self.node.create_subscription(CompressedImage,f'/tactile/{side}/flow/compressed', + lambda msg,key=key:self._tactile_jpeg(key,msg),qos_profile_sensor_data) topic=f'/tactile/{side}/'+('vector' if kind=='shear' else 'image') return self.node.create_subscription(Image,topic,lambda msg,key=key:self._tactile_image(key,msg),qos_profile_sensor_data) self._tactile_images.sync(wanted,create,self.node.destroy_subscription) if not on: with self._lock: self._tactile_frames.clear() + def _tactile_jpeg(self, key, msg): + if not self._tactile_on or msg.format.lower() not in ('jpeg','jpg'): return + blob=bytes(msg.data) + if len(blob)>1024*1024: return + with self._lock: self._tactile_frames[key]=(time.monotonic(),blob) + def _tactile_image(self, key, msg): if not self._tactile_on: return from station.image_preview import jpeg_preview @@ -176,10 +297,20 @@ class RosGateway: # Joint messages prove position freshness, not enabled/Remote state. state = self._arm_status.get(aid) state_live = bool(state and now - state[0] < 2) - row.update(source='ROS /joint_states' if live else '', stack_up=live, - enabled=None, summary='关节状态在线；使能状态未知' if live else '未收到本臂关节状态', + native = self._robot_clock.get(aid) + operational = bool(live and native and native[1] > 0 and now - native[1] < 1.) + fault = state[1]['fault'] if state_live else None + enabled = False if fault else True if operational else None + summary = (state[1]['error_message'] or '机械臂故障') if fault else ( + '原生驱动的机器人时间戳持续更新，已确认运行状态' if operational else + '关节状态在线；缺少新鲜原生驱动反馈' if live else '未收到本臂关节状态') + row.update(source='ROS 原生驱动' if operational else 'ROS /joint_states' if live else '', stack_up=live, + enabled=enabled, fault=fault, summary=summary, + enabled_source='原生驱动 operational 状态下更新的机器人时间戳' if operational else '', + level='fail' if fault else 'ok' if operational else 'warn', mode=state[1]['mode'] if state_live else '', pose_live=live, q=q, - prompt_hot=False, prompt='使能/Remote 状态由控制驱动确认，工位不另开 RDK 连接') + prompt_hot=False, prompt=summary) + row['tcp_pose'] = self._tcp_poses.get(aid) if native and native[1] > 0 and now-native[1] < .75 else None arms[aid] = row entry = self._grippers.get(aid) fresh = bool(entry and now-entry[0] < 2) @@ -190,12 +321,16 @@ class RosGateway: def graph(self): return {'nodes': self.node.get_node_names(), + 'node_paths': [(namespace.rstrip('/') + '/' + name) for name, namespace in self.node.get_node_names_and_namespaces()], 'services': [name for name, _ in self.node.get_service_names_and_types()], 'topics': [name for name, _ in self.node.get_topic_names_and_types()]} def publisher_count(self, topic): return self.node.count_publishers(topic) + def publisher_nodes(self, topic): + return [info.node_name for info in self.node.get_publishers_info_by_topic(topic)] + def call(self, service_type, name, request, event, timeout=10): key = (service_type, name) with self._lock: @@ -219,12 +354,12 @@ class RosGateway: time.sleep(.02) return future.result() - def require_arm(self, arm, event): + def require_arm(self, arm, event, *, resume=True): with self._controller_lock: if event.is_set(): raise Cancelled('运动已取消') - return self._require_arm(arm, event) + return self._require_arm(arm, event, resume=resume) - def _require_arm(self, arm, event): + def _require_arm(self, arm, event, *, resume=True): from controller_manager_msgs.srv import ListControllers with self._lock: if self._uncertain_since is not None: @@ -237,13 +372,20 @@ class RosGateway: arms, _ = self.states() if not arms.get(arm, {}).get('pose_live'): raise RuntimeError('本臂关节状态未就绪，拒绝发送运动命令') + if resume: + with self._lock: + native = self._robot_clock.get(arm) + if native and native[1] > 0: + if time.monotonic()-native[1] > .75: + raise RuntimeError('机械臂运行反馈已中断，拒绝恢复任务') + self._motion_watch.add(arm) result = self.call(ListControllers, '/controller_manager/list_controllers', ListControllers.Request(), event, 3) controller = next((c for c in result.controller if c.name == 'rizon_arm_controller'), None) - if controller and controller.state == 'inactive' and arm in self._paused_by_station: + if resume and controller and controller.state == 'inactive' and arm in self._paused_by_station: self._switch_controller(True, event) result = self.call(ListControllers, '/controller_manager/list_controllers', ListControllers.Request(), event, 3) controller = next((c for c in result.controller if c.name == 'rizon_arm_controller'), None) - if controller is None or controller.state != 'active': + if controller is None or controller.state not in (('active',) if resume else ('active', 'inactive')): raise RuntimeError('rizon_arm_controller 未激活') selected = next(a for a in self.arms if a['id']==arm) claimed = {name.split('/')[0] for name in controller.claimed_interfaces} diff --git a/station/src/station/runtime_client.py b/station/src/station/runtime_client.py index e254ac5..f83f341 100644 --- a/station/src/station/runtime_client.py +++ b/station/src/station/runtime_client.py @@ -11,6 +11,7 @@ import sys import tempfile import threading import time +from collections import deque from pathlib import Path from arm_application.site_io import ros2_root @@ -33,6 +34,8 @@ class RuntimeClient: self.socket=self.directory/'service.sock' self._lock=threading.RLock();self._stop=threading.Event() self._snapshot={};self._frames={};self._catalog={};self.error='后端启动中' + self._force_history={side:deque(maxlen=1800) for side in ('left','right')} + self._force_cursors={};self._force_epochs={} with (self.directory/'backend.log').open('ab') as output: args=[sys.executable,'-m','station.control_service','--socket',str(self.socket),'--parent-pid',str(os.getpid())] if offline: args.append('--offline') @@ -49,6 +52,7 @@ class RuntimeClient: if time.monotonic()>deadline: raise RuntimeError(f'工位后端启动超时：{self.directory}/backend.log') time.sleep(.05) self._thread=threading.Thread(target=self._poll,daemon=True,name='station-state-client');self._thread.start() + self._frame_thread=threading.Thread(target=self._poll_frames,daemon=True,name='station-tactile-frames');self._frame_thread.start() except Exception: self.close();raise @@ -56,15 +60,37 @@ class RuntimeClient: while not self._stop.is_set(): try: snap=rpc.call(self.socket,'snapshot',timeout=2) - # Preview data is a separate bounded channel and never part of a command reply. - raw=rpc.call(self.socket,'tactile_frames',timeout=2) if (snap.get('view') or {}).get('on') else {} - frames={key:base64.b64decode(value,validate=True) for key,value in raw.items()} with self._lock: - self._snapshot=snap;self._frames=frames;self.error='' + self._snapshot=snap;self.error='' except Exception as exc: with self._lock: self.error=f'工位后端连接异常：{exc}' self._stop.wait(.2) + def _poll_frames(self): + # Frame cadence is independent of the 5 Hz status/catalog channel. + while not self._stop.is_set(): + started=time.monotonic() + with self._lock: on=bool((self._snapshot.get('view') or {}).get('on')) + try: + with self._lock: after=dict(self._force_cursors) + packet=rpc.call(self.socket,'tactile_preview',{'after':after},timeout=1) if on else {} + frames={key:base64.b64decode(value,validate=True) for key,value in packet.get('frames',{}).items()} + with self._lock: + self._frames=frames + for side,points in packet.get('samples',{}).items(): + epoch=packet.get('epochs',{}).get(side) + if self._force_epochs.get(side)!=epoch: + self._force_history[side].clear();self._force_epochs[side]=epoch + for point in points: + if point['seq']>self._force_cursors.get(side,0): + self._force_history[side].append(point);self._force_cursors[side]=point['seq'] + except Exception: + with self._lock: + self._frames={} + for rows in self._force_history.values():rows.clear() + self._force_cursors={} + self._stop.wait(max(.005,1./30.-(time.monotonic()-started)) if on else .2) + def snapshot(self): with self._lock: snap=copy.deepcopy(self._snapshot) @@ -74,6 +100,10 @@ class RuntimeClient: if error or age>3: snap.setdefault('backend',{})['error']=error or '后端状态超过 3 秒未更新' # Never display stale samples as live/connected after a backend failure. + monitoring = snap.get('backend',{}).get('monitoring',{}) + for row in monitoring.get('devices',[]): row.update(health='unknown',enabled=None,detail='后端状态过期') + for row in monitoring.get('processes',[]): row.update(state='unknown',running=False) + monitoring['active_tasks'] = [] for row in snap.get('arm_live',{}).values(): row.update(pose_live=False,enabled=None,stack_up=False,summary='状态已过期') for row in snap.get('gripper_live',{}).values(): row.update(connected=False,pose_live=False,summary='状态已过期') return snap @@ -106,6 +136,8 @@ class RuntimeClient: pass thread=getattr(self,'_thread',None) if thread and thread is not threading.current_thread(): thread.join(timeout=3) + frame_thread=getattr(self,'_frame_thread',None) + if frame_thread and frame_thread is not threading.current_thread(): frame_thread.join(timeout=2) if hasattr(self,'_lease') and not self._lease.closed: self._lease.close() @@ -149,21 +181,6 @@ def notify_gauge_finished(): return rpc.call(_runtime.socket,'gauge_finished') def reset_gauge_pass(): return rpc.call(_runtime.socket,'gauge_reset') -def command_lane(action): - if action.startswith('gripper'): return 'grip' - if action.startswith('camera'): return 'camera' - if action.startswith('tactile'): return 'tactile' - if action=='stop_commands': return 'stop' - return 'teach' if action=='handeye_teach' else 'arm' - - -def command_blocked_message(running,lane): - if lane=='stop': return '' - if lane in running or (lane in ('arm','teach') and running.intersection({'arm','teach'})): - return '设备正在执行上一条任务' - return '' - - class TeachClient: def _arm(self,sn): from arm_application.site_io import arm_short_id @@ -177,6 +194,10 @@ class TeachClient: class TactileClient: + def samples(self,side): + if not _runtime:return [] + with _runtime._lock:return list(_runtime._force_history.get(side,[])) + def state(self): if not _runtime: return {} with _runtime._lock: return copy.deepcopy(_runtime._snapshot.get("view",{})) diff --git a/station/src/station/site_catalog.py b/station/src/station/site_catalog.py index 4cb7fab..b20187e 100644 --- a/station/src/station/site_catalog.py +++ b/station/src/station/site_catalog.py @@ -246,14 +246,15 @@ _ACTIONS = {'real_up': {'title': '上电控制栈', 'moves': True, 'blurb': '连 'camera_d435': {'title': '手外 D435', 'moves': False, 'blurb': '只拉起顶视 D435。彩色和深度显示在程序里，不另开窗口。'}, 'tactile_up': {'title': '视触觉三力', 'moves': False, 'blurb': '发布左右指法向力与两路切向力。'}, 'gripper_up': {'title': '夹爪节点', 'moves': False, 'blurb': '只拉起夹爪驱动，不主动张合。'}, - 'gripper_probe': {'title': '夹爪探测', 'moves': False, 'blurb': '读夹爪是否在线，不动手指。驱动没在跑时先拉起，不回零。'}, - 'gripper_open': {'title': '夹爪张开', 'moves': True, 'blurb': '张开当前臂夹爪。驱动没在跑时先拉起，不回零。'}, - 'gripper_close': {'title': '夹爪闭合', 'moves': True, 'blurb': '闭合当前臂夹爪。驱动没在跑时先拉起，不回零。'}, + 'gripper_probe': {'title': '夹爪探测', 'moves': False, 'blurb': '拉起 dh_pgea 并读状态，不动手指、不回零。'}, + 'gripper_open': {'title': '夹爪全开', 'moves': True, 'blurb': '调用 /gripper/open。不需要机械臂使能，也不需要先到位。驱动没在跑时先拉起 dh_pgea。'}, + 'gripper_close': {'title': '夹爪全闭', 'moves': True, 'blurb': '调用 /gripper/close。不需要机械臂使能，也不需要先到位。驱动没在跑时先拉起 dh_pgea。'}, + 'gripper_init': {'title': '夹爪到位', 'moves': True, 'blurb': '到位是回零标定，不是使能。大寰会先张开满行程，夹着工件时不要点。'}, 'gripper_rotate': {'title': '右爪转 90°', 'moves': True, 'blurb': '右臂旋转爪转到 90°。左臂平行爪没有这一轴。'}, - 'pipeline': {'title': '跟踪并对孔', 'moves': True, 'blurb': '跟踪和对孔一次跑完。搜孔轻压已取消，这一步不含旋入。会动臂。'}, + 'pipeline': {'title': '检测、对孔与旋转', 'moves': True, 'blurb': '依次完成跟踪、对孔下降与 A7 四轮工序；任一步失败中止。会动臂和夹爪。'}, 'stage_track': {'title': '只测跟踪', 'moves': True, 'blurb': '只跑视觉跟踪。从当前位姿开始，会动臂。要先有控制栈和相机。'}, - 'stage_locate': {'title': '只测对孔', 'moves': True, 'blurb': '只跑二阶段：朝下、悬停、拍照、对准孔。会动臂。'}, - 'stage_screw': {'title': '只测旋转装配', 'moves': True, 'blurb': '按现场配置的拧入深度和螺距把螺纹规旋进去。会动臂。臂应已在孔口。'}, + 'stage_locate': {'title': '只测对孔', 'moves': True, 'blurb': '新版二阶段：精对孔并下降至配置的进孔高度，不自动旋转。会动臂。'}, + 'stage_screw': {'title': '只测旋转装配', 'moves': True, 'blurb': 'A7 首轮正反转，再做四轮松爪、微抬、空回、降回与合爪旋转。须先完成对孔。'}, 'reset_home': {'title': '复位到 home', 'moves': True, 'blurb': '先停跟踪，再回到命名位姿 home。要控制栈已经起来。会动臂。'}, 'gauge_dry': {'title': '装配干跑', 'moves': False, 'blurb': 'S00 到 S11 只打印计划，不发运动指令。'}, 'gauge_run': {'title': '装配真跑', 'moves': True, 'blurb': '通止规状态机。会动臂、会拧。'}, diff --git a/station/src/station/tasks.py b/station/src/station/tasks.py index cfbf481..b1f64f0 100644 --- a/station/src/station/tasks.py +++ b/station/src/station/tasks.py @@ -6,6 +6,8 @@ import threading import time import uuid from concurrent.futures import ThreadPoolExecutor +from station.command_policy import conflict_message +from station.operation_log import OperationLog class Cancelled(RuntimeError): @@ -13,7 +15,8 @@ class Cancelled(RuntimeError): class TaskManager: - def __init__(self, workers=8): + def __init__(self, workers=8, log_path=None): + self.events = OperationLog(log_path) self._lock = threading.RLock() self._pool = ThreadPoolExecutor(max_workers=workers, thread_name_prefix="station-command") self._tasks = {} @@ -21,37 +24,48 @@ class TaskManager: self._owners = {} self._closed = False - def submit(self, name, resources, fn): + def submit(self, name, resources, fn, *, context=None): with self._lock: if self._closed: raise RuntimeError("工位后端正在退出") resources = set(resources) busy = resources.intersection(self._owners) if busy: - raise RuntimeError("设备正在执行任务：" + ", ".join(sorted(busy))) + owners = [self._tasks[token] for token in sorted({self._owners[r] for r in busy})] + raise RuntimeError(conflict_message(owners, busy)) token = uuid.uuid4().hex event = threading.Event() self._events[token] = event - self._tasks[token] = {"id": token, "name": name, "state": "queued", "created": time.time(), "result": None} + self._tasks[token] = {"id": token, "name": name, "state": "queued", "created": time.time(), "result": None, + "resources": sorted(resources), "context": dict(context or {})} for resource in resources: self._owners[resource] = token + self._event(token, "accepted", "已接收，等待执行") self._pool.submit(self._run, token, resources, event, fn) return token def _run(self, token, resources, event, fn): with self._lock: - self._tasks[token]["state"] = "running" + self._tasks[token].update(state="running",phase="执行中") + self._event(token, "running", "开始执行") try: if event.is_set(): raise Cancelled("任务已取消") result = fn(event) - state = "succeeded" if result.get("ok") else "cancelled" if event.is_set() else "failed" + state = "cancelled" if event.is_set() else "succeeded" if result.get("ok") else "failed" except Cancelled as exc: state, result = "cancelled", {"ok": False, "message": str(exc)} except Exception as exc: state, result = "failed", {"ok": False, "message": str(exc)} with self._lock: + if event.is_set(): + state = 'cancelled' + result = {**result, 'ok': False, 'message': '任务已取消，不会在重新使能后恢复'} self._tasks[token].update(state=state, result=result, finished=time.time()) + word = {'succeeded':'完成','failed':'失败','cancelled':'已取消'}[state] + message = result.get('message') or result.get('output') or '无附加信息' + if result.get('log'): message = str(message) + ' · 日志：' + str(result['log']) + self._event(token, state, word + '：' + str(message)) for resource in resources: if self._owners.get(resource) == token: del self._owners[resource] @@ -61,16 +75,39 @@ class TaskManager: self._tasks.pop(key, None) self._events.pop(key, None) + def _event(self, token, kind, message): + row = self._tasks[token] + self.events.add(kind, message, action=row['name'], + arm=row.get('context', {}).get('arm', ''), task_id=token) + def snapshot(self, token=None): with self._lock: return copy.deepcopy(self._tasks.get(token) if token else list(self._tasks.values())) + def set_phase(self, event, phase): + with self._lock: + for token, current in self._events.items(): + if current is event and self._tasks[token]['state'] in ('queued','running'): + if self._tasks[token].get('phase') != phase: + self._event(token, 'phase', phase) + self._tasks[token]['phase'] = phase + return + + def cancel_resources(self, resources): + with self._lock: + tokens = {self._owners[r] for r in resources if r in self._owners} + for token in tokens: self.cancel(token) + def cancel(self, token=None): with self._lock: keys = [token] if token else list(self._events) for key in keys: if key in self._events: self._events[key].set() + if self._tasks[key]["state"] in ("queued", "running"): + if not self._tasks[key].get('cancel_requested'): + self._event(key, 'cancelling', '请求取消，正在停止并清理') + self._tasks[key]["cancel_requested"] = True def close(self): with self._lock: diff --git a/station/test/device_nodes_fixture.py b/station/test/device_nodes_fixture.py new file mode 100644 index 0000000..b058ddd --- /dev/null +++ b/station/test/device_nodes_fixture.py @@ -0,0 +1,96 @@ +"""Run new device nodes on a private ROS domain, with every device mocked.""" +import threading +import time +from unittest.mock import patch +import cv2 +import numpy as np +import rclpy +from rclpy.node import Node +from rclpy.executors import MultiThreadedExecutor +from rclpy.qos import qos_profile_sensor_data +from sensor_msgs.msg import CompressedImage +from geometry_msgs.msg import WrenchStamped +from arm_msgs.msg import TactileStatus +from arm_msgs.srv import GripperExecute +from std_srvs.srv import Trigger +from arm_application.dh_pgea import GripperState +import arm_application.gripper_node as gripper +from arm_application.tactile_flow_node import TactileFlowNode + + +class FakeGripper: + writes=[];fail_force=False + def __init__(self,**kwargs):self.state=GripperState(init_state=1,grip_state=1,position=300) + def open(self):pass + def close(self):pass + def get_run_states(self,**kwargs):return self.state + def set_target_force(self,v):self.writes.append(('force',v));return not self.fail_force + def set_target_speed(self,v):self.writes.append(('speed',v));return True + def set_target_position(self,v):self.writes.append(('position',v));self.state.position=v;return True + +rclpy.init(args=['--ros-args','-r','__ns:=/isolated_devices']) +gripper.DhPgeaGripper=FakeGripper +jaw=gripper.GripperNode() +with patch.object(TactileFlowNode,'_capture',return_value=None):sensor=TactileFlowNode() +client_node=Node('device_test_client');statuses=[];frames=[];forces=[] +client_node.create_subscription(TactileStatus,'/tactile/left/status',statuses.append,10) +client_node.create_subscription(WrenchStamped,'/tactile/left/wrench',forces.append,qos_profile_sensor_data) +client_node.create_subscription(CompressedImage,'/tactile/left/flow/compressed',frames.append,qos_profile_sensor_data) +client=client_node.create_client(GripperExecute,'/isolated_devices/execute') +executor=MultiThreadedExecutor(num_threads=2) +for node in (jaw,sensor,client_node):executor.add_node(node) +thread=threading.Thread(target=executor.spin,daemon=True);thread.start() +try: + assert client.wait_for_service(timeout_sec=3) + def request(command,pos=0.,force=33.,speed=25.): + req=GripperExecute.Request();req.command.command=command;req.command.position=pos;req.command.force=force;req.command.speed=speed + future=client.call_async(req);end=time.monotonic()+3 + while not future.done() and time.monotonic()0 +assert window._gripper_sketch._caption()=='' +window._set_arm(original_arm) +assert not window._gripper_sketch._cad_static +assert window._gripper_sketch._caption()=='' +from PySide6.QtCore import QByteArray,QBuffer,QIODevice +sample_image=ui.QImage(32,32,ui.QImage.Format.Format_RGB888);sample_image.fill(ui.QColor('#1683ff')) +encoded=QByteArray();buffer=QBuffer(encoded);buffer.open(QIODevice.OpenModeFlag.WriteOnly) +assert sample_image.save(buffer,'JPG');buffer.close() +fake_snap=dict(window._snap) +fake_snap['backend']={**fake_snap.get('backend',{}),'error':''} +fake_snap['arm_live']={original_arm:{'tcp_pose':[500.,120.,325.,179.2,.5,88.1]}} +fake_snap['tactile']={'left':{'connected':True,'fps':29.,'fnormal':12000.,'fshearx':20000.,'fsheary':-10000., + 'force_n':{'fnormal':.477,'fshearx':.65,'fsheary':-.31}}} +fake_snap['history_n']={'left':[{'t':time.time()-.1,'fnormal':.477,'fshearx':.65,'fsheary':-.31}]} +with patch.object(ui,'status',return_value=fake_snap),patch.object(ui.runtime.tactile_view,'frame',return_value=bytes(encoded)): + window._refresh();window._paint_images() + assert [v.text() for v in window._tcp_values]==['500.0','120.0','325.0','179.2','0.5','88.1'] + assert '(29fps)' in window._flow_slots[0][0].text() + assert '·' not in window._flow_slots[0][0].text() + assert '当前法向力 0.48N' in window._flow_slots[0][0].text() + assert not hasattr(window,'_flow_details') + assert window._flow_axis_charts['left']['x']._samples[-1]['fshearx']==.65 + assert window._flow_axis_charts['left']['y']._samples[-1]['fsheary']==-.31 + assert window._flow_axis_charts['left']['x']._scale==window._flow_axis_charts['left']['y']._scale==10. + assert window._flow_axis_charts['left']['x'].MAX_SAMPLES==150 + app.processEvents() + for triplet in window._flow_triplets.values(): + rectangles=[item.geometry() for item in triplet.items] + assert all(rect.width()==rect.height() for rect in rectangles),rectangles + assert len({rect.width() for rect in rectangles})==1,rectangles + assert len({rect.y() for rect in rectangles})==1,rectangles + assert not window._flow_slots[0][1]._source.isNull() + # Recent samples are spread across a shorter window without altering source data. + chart=window._flow_axis_charts['left']['x'] + history=[{'seq':i,'fshearx':.2,'fsheary':-.2} for i in range(1800)] + chart.set_samples(history) + assert len(chart._samples)==150 and chart._samples[0]['seq']==1650 + assert history[-1]['fshearx']==.2 + assert ui._display_force(.299)==ui._display_force(-.299)==0. + assert ui._display_force(.3)==.3 and ui._display_force(-.3)==-.3 + assert window._flow_slots[0][0].textFormat()==ui.Qt.TextFormat.PlainText + title=window._flow_slots[0][0] + triplet=window._flow_triplets['left'] + assert title.geometry().top()>=triplet.geometry().bottom() + fake_snap['history_n']['left'][-1]['fnormal']=.25 + window._refresh();window._paint_images() + assert '当前法向力 0N' in title.text() + + errors=[];ticks=[] duration=float(os.environ.get("ORISYS_GUI_TEST_SECONDS","2.2")) started=time.monotonic() @@ -50,6 +146,20 @@ original=sys.excepthook def fail(*args): errors.append(str(args[1]));original(*args) sys.excepthook=fail beat=ui.QTimer();beat.timeout.connect(tick);beat.start(50) +# The GUI must not serialize read-only requests behind a long arm operation. +parallel=[] +def fake_command(action,aid,*args,**kwargs): + parallel.append((action,time.monotonic())) + if action=='stage_track': + time.sleep(.65) + parallel.append(('motion_finished',time.monotonic())) + return {'ok':True,'message':'isolated test'} +ui.run_action=fake_command +ui.stop_started=lambda *args:(parallel.append(('stop',time.monotonic())),{'ok':True,'message':'isolated stop'})[1] +ui.QTimer.singleShot(220,lambda:window._ask('stage_track')) +ui.QTimer.singleShot(260,lambda:window._ask('handeye_show')) +ui.QTimer.singleShot(280,lambda:window._ask('stage_track')) +ui.QTimer.singleShot(300,window._stop_arm) ui.QTimer.singleShot(200,lambda:window._start(lambda:(time.sleep(.7),{'ok':True,'message':'test'})[1],'test')) ui.QTimer.singleShot(500,lambda:window._show_page('calibration')) ui.QTimer.singleShot(1000,lambda:window._show_page('calibration')) @@ -59,6 +169,23 @@ ui.QTimer.singleShot(round(duration*1000),window.close) ui.QTimer.singleShot(round((duration+15)*1000),app.quit) app.exec() assert len(ticks)>20,len(ticks) +assert [name for name,_ in parallel].count('stage_track')==1,parallel +assert dict(parallel)['handeye_show']packet['epochs']['left'] + assert site_catalog._TACTILE['left']['force_n'] is None gateway.watch_tactile(True) gateway._tactile_image('left_thermal',message) assert 'left_thermal' in gateway.tactile_frames() diff --git a/station/test/test_camera_profiles.py b/station/test/test_camera_profiles.py new file mode 100644 index 0000000..802c46d --- /dev/null +++ b/station/test/test_camera_profiles.py @@ -0,0 +1,24 @@ +from unittest import TestCase +from arm_application.camera_profiles import depth_profile +from arm_application.realsense_color_pub import stream_open_passes, usb2_needs_reset + + +class CameraProfilesTest(TestCase): + def test_1080p_color_keeps_native_720p_depth_at_same_rate(self): + modes={(1280,720,30),(848,480,30),(640,480,15)} + self.assertEqual(depth_profile((1920,1080,30),modes),(1280,720,30)) + self.assertEqual(depth_profile((848,480,30),modes),(848,480,30)) + with self.assertRaises(ValueError): depth_profile((1920,1080,60),modes) + + def test_usb2_enumeration_requests_one_hardware_reset(self): + self.assertTrue(usb2_needs_reset('2.1')) + self.assertTrue(usb2_needs_reset('2.0')) + self.assertFalse(usb2_needs_reset('3.2')) + self.assertFalse(usb2_needs_reset('')) + + def test_depth_is_exhausted_before_color_only_fallback(self): + names = [name for name, _modes in stream_open_passes(True, False, False)] + self.assertEqual(names, ['depth', 'color']) + depth_modes = next(modes for name, modes in stream_open_passes(True, False, True) if name == 'depth') + self.assertEqual(depth_modes, ((True, 'none'),)) + self.assertTrue(all(with_depth for with_depth, _infra in depth_modes)) diff --git a/station/test/test_client_state.py b/station/test/test_client_state.py index 949bd56..a649113 100644 --- a/station/test/test_client_state.py +++ b/station/test/test_client_state.py @@ -10,10 +10,14 @@ class ClientStateTest(TestCase): client=RuntimeClient.__new__(RuntimeClient) client._lock=threading.RLock();client.error='' client._snapshot={'now':time.time()-10,'arm_live':{'89':{'enabled':True,'pose_live':True}}, - 'gripper_live':{'89':{'connected':True,'pose_live':True}}} + 'gripper_live':{'89':{'connected':True,'pose_live':True}}, + 'backend':{'monitoring':{'devices':[{'health':'live','enabled':True}], + 'processes':[{'state':'running','running':True}]}}} with patch('station.rpc.call',side_effect=AssertionError('paint path must not perform RPC')): snapshot=client.snapshot() self.assertFalse(snapshot['arm_live']['89']['pose_live']) self.assertIsNone(snapshot['arm_live']['89']['enabled']) self.assertFalse(snapshot['gripper_live']['89']['connected']) + self.assertEqual(snapshot['backend']['monitoring']['devices'][0]['health'],'unknown') + self.assertEqual(snapshot['backend']['monitoring']['processes'][0]['state'],'unknown') self.assertTrue(client._snapshot['gripper_live']['89']['connected']) diff --git a/station/test/test_gripper_cad.py b/station/test/test_gripper_cad.py new file mode 100644 index 0000000..6713183 --- /dev/null +++ b/station/test/test_gripper_cad.py @@ -0,0 +1,21 @@ +import hashlib +import json +from pathlib import Path +from unittest import TestCase +import numpy as np +from station.operator_gripper_mesh import rgi_cad_gl + + +class GripperCadTest(TestCase): + def test_tessellation_is_from_supplied_step_and_units_are_metres(self): + folder=Path(__file__).resolve().parents[1]/'src/station/assets/models/rgi-100-30' + meta=json.loads((folder/'mesh.json').read_text()) + self.assertEqual(hashlib.sha256((folder/'source.step').read_bytes()).hexdigest(),meta['source_sha256']) + self.assertEqual(meta['source_units'],'mm');self.assertEqual(meta['units'],'m') + self.assertFalse(meta['articulated']) + blob,count,center,radius=rgi_cad_gl() + vertices=np.frombuffer(blob,np.float32).reshape(-1,6) + self.assertEqual(count,meta['triangles']*3);self.assertEqual(len(vertices),count) + self.assertTrue(np.isfinite(vertices).all());self.assertGreater(radius,.01) + self.assertTrue(np.allclose(np.ptp(vertices[:,:3],axis=0)*1000,meta['dimensions_mm'],atol=.001)) + self.assertLess(np.max(np.abs(vertices[:,:3])),1.) diff --git a/station/test/test_gripper_commands.py b/station/test/test_gripper_commands.py index 8fe685c..6e59e49 100644 --- a/station/test/test_gripper_commands.py +++ b/station/test/test_gripper_commands.py @@ -8,27 +8,40 @@ from station.control_service import StationService class Gateway: active_arm='89' def __init__(self): self.started=None;self.requests=[] - def graph(self): return {'nodes':[],'topics':[],'services':['/station/grippers/arm_89/execute']} + def graph(self): + return {'nodes':['dh_pgea'],'topics':['/gripper/states'], + 'services':['/gripper/open','/gripper/close','/gripper/initialize','/dh_pgea/execute']} + def publisher_count(self, topic): return 1 if topic=='/gripper/states' else 0 def states(self): elapsed=time.monotonic()-self.started if self.started else 0 - return {},{'89':{'connected':True,'moving':bool(self.started and elapsed<.25), - 'grip_state':0 if self.started and elapsed<.25 else 1,'permille':500.}} + moving=bool(self.started and elapsed +#include +#include "flexiv_hardware/position_command_fence.hpp" +int main() { + flexiv_hardware::MotionExecutionLatch latch; + assert(!latch.observe(true, true, false)); // not activated + latch.activate(); assert(latch.observe(true, true, false)); + assert(!latch.observe(true, false, false)); // physical E-stop + for (int i=0; i<2000; ++i) assert(!latch.observe(true, true, false)); // Enable cannot resume + latch.activate(); assert(latch.observe(true, true, false)); + assert(!latch.observe(true, true, true)); // fault + assert(!latch.observe(true, true, false)); // clear fault cannot resume + latch.activate(); assert(!latch.observe(false, true, false)); // disconnect + assert(!latch.observe(true, true, false)); + flexiv_hardware::PositionCommandFence fence; + std::vector current(7, .74), old(7, 0.); + for (int i=0; i<2000; ++i) assert(!fence.accept(old, current)); + assert(!fence.accept({}, current)); + auto invalid = current; invalid[0] = std::numeric_limits::quiet_NaN(); + assert(!fence.accept(invalid, current)); + assert(fence.accept(current, current)); + assert(fence.accept(old, current)); // normal trajectory after handshake + fence.reset(); // native MoveL / controller activation + for (int i=0; i<2000; ++i) assert(!fence.accept(old, current)); + auto start = current; start[0] += .0001; + assert(fence.accept(start, current)); + assert(fence.accept(old, current)); +} +""" + with tempfile.TemporaryDirectory() as folder: + source = Path(folder)/'fence.cpp'; binary = Path(folder)/'fence' + source.write_text(code) + built = subprocess.run(['g++','-std=c++17','-I',str(include),str(source),'-o',str(binary)],capture_output=True,text=True,timeout=30) + self.assertEqual(built.returncode,0,built.stderr) + result = subprocess.run([str(binary)],capture_output=True,text=True,timeout=5) + self.assertEqual(result.returncode,0,result.stderr) diff --git a/station/test/test_preview_cache.py b/station/test/test_preview_cache.py index e0dd9b9..46198b8 100644 --- a/station/test/test_preview_cache.py +++ b/station/test/test_preview_cache.py @@ -25,3 +25,49 @@ class PreviewCacheTest(TestCase): preview._ingest() self.assertEqual(preview.previews(),{}) self.assertIn('未更新',preview.state()['error']) + + def test_unchanged_shared_frame_is_not_copied_again(self): + from types import SimpleNamespace + preview.watch({'left_color'},set()) + header=bytearray(preview._SHM_HEAD.size) + preview._SHM_HEAD.pack_into(header,0,2,1280,720,1280*720*3) + with tempfile.TemporaryDirectory() as folder: + payload={'frames':{'left_color':{'name':'owned_test','store':'left_color','kind':'rgb'}}, + 'meta':{},'ages':{'left_color':0},'exported_monotonic':time.monotonic()} + (Path(folder)/'meta.json').write_text(json.dumps(payload)) + with patch.object(preview,'_BRIDGE_DIR',Path(folder)), \ + patch.object(preview,'_SHM_SEQ',{'owned_test':2}), \ + patch.object(preview,'_attach',return_value=SimpleNamespace(buf=header)), \ + patch.object(preview,'_shm_read',side_effect=AssertionError('unchanged frame copied')): + preview._ingest() + + def test_full_hd_is_preserved_and_larger_frames_fit_transport(self): + import numpy as np + image=np.zeros((1080,1920,3),np.uint8) + self.assertEqual(preview.rgb_preview(image,bgr=False).shape,image.shape) + portrait=preview.rgb_preview(np.zeros((1280,720,3),np.uint8),bgr=False) + self.assertLessEqual(portrait.shape[0],1080) + self.assertLessEqual(portrait.nbytes,preview._SHM_MAX) + + def test_refresh_worker_exit_does_not_kill_preview(self): + import os,sys,subprocess,threading + real_popen=subprocess.Popen + spawning=[] + def popen(argv,**kwargs): + spawning.append(threading.current_thread().name) + command=[sys.executable,'-m','station.child_process',str(os.getpid()), + sys.executable,'-c','import time;time.sleep(20)'] + proc=real_popen(command,**kwargs) + time.sleep(.2) # Allow the child to install its parent-death watch. + return proc + with patch.object(preview,'stream_targets',return_value=[{'id':'fake','label':'fake'}]), \ + patch.object(preview.subprocess,'Popen',side_effect=popen), \ + patch.object(preview,'_poll_loop',side_effect=lambda:preview._STOP.wait(5)): + worker=threading.Thread(target=preview.start,name='short-refresh-worker') + worker.start();worker.join(3) + try: + self.assertFalse(worker.is_alive()) + self.assertEqual(spawning,['cam-poll']) + time.sleep(.3) + self.assertIsNone(preview._BRIDGE.poll()) + finally:preview.stop() diff --git a/station/test/test_processes.py b/station/test/test_processes.py index 2a60fc6..051a572 100644 --- a/station/test/test_processes.py +++ b/station/test/test_processes.py @@ -19,3 +19,43 @@ class ProcessesTest(TestCase): processes.run('long',[sys.executable,'-c','import time;time.sleep(30)'],event) self.assertFalse(processes.snapshot()['long']['running']) finally: processes.close() + + def test_each_run_has_its_own_log_slice_and_explicit_owner(self): + with tempfile.TemporaryDirectory() as directory: + processes=ProcessSupervisor(directory) + try: + processes.run('tool:89',[sys.executable,'-c','print("OLD_FAILURE")'],threading.Event()) + result=processes.run('tool:89',[sys.executable,'-c','print("NEW_RESULT")'],threading.Event()) + self.assertIn('NEW_RESULT',result['detail']);self.assertNotIn('OLD_FAILURE',result['detail']) + row=processes.snapshot()['tool:89'] + self.assertEqual(row['owner'],'station');self.assertEqual(row['state'],'exited') + finally: processes.close() + + def test_success_waits_for_orphaned_child_cleanup(self): + from pathlib import Path + from arm_application.process_lifecycle import _stat + with tempfile.TemporaryDirectory() as directory: + processes=ProcessSupervisor(directory) + pidfile=Path(directory)/'pid' + source="import subprocess,sys,time;from pathlib import Path;p=subprocess.Popen([sys.executable,'-c','import time;time.sleep(120)'],start_new_session=True);Path(sys.argv[1]).write_text(str(p.pid))" + try: + result=processes.run('motion:89',[sys.executable,'-c',source,str(pidfile)],threading.Event(),timeout=12) + self.assertTrue(result['ok'],result) + child=int(pidfile.read_text());state=_stat(child) + self.assertTrue(state is None or state[2]=='Z','task reported success with a live orphan') + finally: processes.close() + + def test_process_cleanup_phase_is_reported_before_resource_release(self): + from pathlib import Path + with tempfile.TemporaryDirectory() as directory: + processes=ProcessSupervisor(directory) + ready=Path(directory)/'ready' + child="import signal,time,sys;from pathlib import Path;signal.signal(signal.SIGINT,lambda *a:(time.sleep(.4),sys.exit(0)));Path(sys.argv[1]).write_text('ready');time.sleep(20)" + source="import subprocess,sys,time;from pathlib import Path;subprocess.Popen([sys.executable,'-c',sys.argv[1],sys.argv[2]],start_new_session=True)\nwhile not Path(sys.argv[2]).exists():time.sleep(.01)" + phases=[] + try: + result=processes.run('motion:89',[sys.executable,'-c',source,child,str(ready)],threading.Event(),timeout=8,on_phase=phases.append) + self.assertTrue(result['ok'],result) + self.assertIn('收尾',phases) + self.assertFalse(processes.snapshot()['motion:89']['running']) + finally: processes.close() diff --git a/station/test/test_remote_camera_preview.py b/station/test/test_remote_camera_preview.py new file mode 100644 index 0000000..34310ae --- /dev/null +++ b/station/test/test_remote_camera_preview.py @@ -0,0 +1,53 @@ +import os +import tempfile +from pathlib import Path +from types import SimpleNamespace +from unittest import TestCase +from unittest.mock import patch +import threading + +from station.remote_camera import settings,bridge_environment +from station.operator_camera_view import stream_targets +from station.control_service import StationService +from arm_application.site_io import load_site_dict + + +class RemotePreviewTest(TestCase): + def site(self): + site=load_site_dict();site['remote_camera_preview']={ + 'enabled':True,'domain':0,'host':'192.168.2.10','interface_address':'192.168.2.50', + 'cameras':['d405_left','d435'],'transport':'raw'} + return site + + def test_only_explicit_remote_streams_use_raw(self): + streams=stream_targets(self.site()) + self.assertEqual({s['id'] for s in streams},{'d405_left','d435'}) + self.assertTrue(all(s['preview_transport']=='raw' and s['source']=='remote' for s in streams)) + + def test_remote_environment_is_limited_to_preview_child(self): + parent={'ROS_DOMAIN_ID':'42','ROS_LOCALHOST_ONLY':'1','REAL_ROS_DOMAIN_ID':'42', + 'ROS_DISCOVERY_SERVER':'some-other-server'} + before=dict(parent) + with tempfile.TemporaryDirectory() as folder: + env=bridge_environment(self.site(),parent,folder) + self.assertEqual(parent,before) + self.assertEqual((env['ROS_DOMAIN_ID'],env['ROS_LOCALHOST_ONLY']),('0','0')) + self.assertEqual(env['REAL_ROS_DOMAIN_ID'],'42') + self.assertNotIn('ROS_DISCOVERY_SERVER',env) + xml=Path(env['FASTRTPS_DEFAULT_PROFILES_FILE']).read_text() + self.assertIn('
192.168.2.50
',xml) + self.assertIn('
192.168.2.10
',xml) + self.assertEqual(bridge_environment({},parent,'/unused'),parent) + + def test_bad_address_is_rejected_before_creating_profile(self): + site=self.site();site['remote_camera_preview']['host']='bad' + with self.assertRaises(ValueError):settings(site) + + def test_refresh_does_not_touch_acquisition_or_robot(self): + gateway=SimpleNamespace(states=lambda:({},{}),graph=lambda:{'nodes':[],'topics':[],'services':[]},close=lambda:None) + service=StationService(gateway=gateway);service.site.update(self.site()) + try: + with patch.object(service,'_camera') as camera,patch.object(service.processes,'start') as start: + result=service.execute('camera_refresh','89','eye_in_hand',{},threading.Event()) + self.assertTrue(result['ok']);camera.assert_not_called();start.assert_not_called() + finally:service.close() diff --git a/station/test/test_ros_domain.py b/station/test/test_ros_domain.py new file mode 100644 index 0000000..ed78002 --- /dev/null +++ b/station/test/test_ros_domain.py @@ -0,0 +1,22 @@ +import os +import subprocess +from pathlib import Path +from unittest import TestCase + + +class RosDomainTest(TestCase): + def policy(self, **changes): + env={k:v for k,v in os.environ.items() if k not in ('REAL_ROS_DOMAIN_ID','REAL_ROS_LOCALHOST_ONLY')} + env.update(changes) + root=Path(__file__).resolve().parents[2] + return subprocess.run(['bash','-c','source "$1"; ros_domain_force_real || exit $?; printf "%s %s" "$ROS_DOMAIN_ID" "$ROS_LOCALHOST_ONLY"','bash',str(root/'scripts/lib/ros_domain.sh')],env=env,capture_output=True,text=True,timeout=3) + def test_inherited_global_and_simulation_domains_are_not_adopted(self): + for inherited in ('0','77','123'): + value=self.policy(ROS_DOMAIN_ID=inherited,ROS_LOCALHOST_ONLY='0') + self.assertEqual(value.returncode,0,value.stderr) + self.assertEqual(value.stdout,'42 1') + def test_explicit_override_and_invalid_values(self): + value=self.policy(REAL_ROS_DOMAIN_ID='231',REAL_ROS_LOCALHOST_ONLY='0') + self.assertEqual(value.stdout,'231 0') + for domain in ('-1','233','abc','77'): + self.assertNotEqual(self.policy(REAL_ROS_DOMAIN_ID=domain).returncode,0) diff --git a/station/test/test_ros_interfaces.py b/station/test/test_ros_interfaces.py index 173e346..975ebfa 100644 --- a/station/test/test_ros_interfaces.py +++ b/station/test/test_ros_interfaces.py @@ -12,3 +12,10 @@ class RosInterfacesTest(TestCase): capture_output=True,text=True,timeout=25) self.assertEqual(result.returncode,0,result.stdout+'\n'+result.stderr) self.assertIn('dynamic camera subscriptions PASS',result.stdout) + + def test_new_device_nodes_with_fake_hardware(self): + env={**os.environ,'ROS_DOMAIN_ID':'232','ROS_LOCALHOST_ONLY':'1'} + result=subprocess.run([sys.executable,str(Path(__file__).with_name('device_nodes_fixture.py'))], + env=env,capture_output=True,text=True,timeout=20) + self.assertEqual(result.returncode,0,result.stdout+'\n'+result.stderr) + self.assertIn('offline status PASS',result.stdout) diff --git a/station/test/test_tactile_calibration.py b/station/test/test_tactile_calibration.py new file mode 100644 index 0000000..b8d86f2 --- /dev/null +++ b/station/test/test_tactile_calibration.py @@ -0,0 +1,31 @@ +from pathlib import Path +from unittest import TestCase +from arm_application.tactile_calibration import ForceCurve,TactileCalibration + + +class TactileCalibrationTest(TestCase): + def setUp(self): + path=Path(__file__).resolve().parents[2]/'src/arm_application/config/tactile/force_calibration.json' + self.calibration=TactileCalibration(path) + + def test_calibration_knots_units_and_shear_sign(self): + self.assertAlmostEqual(self.calibration.normal.convert(10000),.377) + self.assertAlmostEqual(self.calibration.normal.convert(30000),1.377) + self.assertAlmostEqual(self.calibration.shear.convert(36000),1.19) + self.assertAlmostEqual(self.calibration.shear.convert(-36000),-1.19) + self.assertEqual(self.calibration.normal.convert(0),0.) + self.assertEqual(self.calibration.shear.convert(-500),0.) + + def test_interpolation_and_conversion_never_replace_raw_values(self): + raw={'fnormal':20000.,'fshearx':52000.,'fsheary':-52000.} + saved=dict(raw);force=self.calibration.convert(raw) + self.assertAlmostEqual(force['fnormal'],.877) + self.assertAlmostEqual(force['fshearx'],1.625) + self.assertAlmostEqual(force['fsheary'],-1.625) + self.assertEqual(raw,saved) + with self.assertRaises(ValueError):self.calibration.normal.convert(float('nan')) + + def test_invalid_or_disabled_curve_does_not_mislabel_raw_as_newtons(self): + with self.assertRaises(ValueError):ForceCurve.from_config({'enabled':False}) + with self.assertRaises(ValueError):ForceCurve.from_config({'enabled':True,'method':'piecewise_linear', + 'points':[{'raw':1,'force_n':0},{'raw':1,'force_n':1}]}) diff --git a/station/test/test_tactile_flow.py b/station/test/test_tactile_flow.py new file mode 100644 index 0000000..0222a82 --- /dev/null +++ b/station/test/test_tactile_flow.py @@ -0,0 +1,60 @@ +import tempfile +from pathlib import Path +from types import SimpleNamespace +from unittest import TestCase +import numpy as np +from arm_application.tactile_flow import tactile_devices,select_source,flow_preview,read_sample + + +class TactileFlowTest(TestCase): + def test_discovery_filters_realsense_and_duplicate_interfaces(self): + with tempfile.TemporaryDirectory() as folder: + root=Path(folder);sys=root/'class';sys.mkdir() + for name,vendor,index in [('video0','8086','0'),('video1','1bcf','0'),('video2','1bcf','1'),('video3','0bda','0')]: + entry=sys/name;entry.mkdir();(entry/'index').write_text(index) + usb=root/('usb-'+name);usb.mkdir();(usb/'idVendor').write_text(vendor) + (entry/'device').symlink_to(usb,target_is_directory=True) + found=tactile_devices(sys,Path('/dev')) + self.assertEqual(found,['/dev/video1']) + self.assertEqual(select_source('left',{},found),'/dev/video1') + self.assertIsNone(select_source('right',{},found)) + self.assertEqual(select_source('right',{'right_video':'/dev/v4l/by-path/sensor'},found),'/dev/v4l/by-path/sensor') + + def test_actual_vector_field_changes_preview_and_rejects_bad_shapes(self): + flow=np.zeros((64,64,2),np.float32) + rest=flow_preview(flow);flow[...,0]=12 + motion=flow_preview(flow) + self.assertEqual(motion.shape,(360,360,3));self.assertFalse(np.array_equal(rest,motion)) + with self.assertRaises(ValueError):flow_preview(np.zeros((8,8))) + + def test_uses_raw_force_channels_and_reads_flow_only_once(self): + info=SimpleNamespace(FPS=1,FNORMAL=2,FSHEARX=3,FSHEARY=4,FNORMAL_RAW=5,FSHEARX_RAW=6,FSHEARY_RAW=7,VRAW=8) + calls=[] + def read(*keys): + calls.append(keys);return 30.,200.,3.,-4.,np.zeros((8,8,2)) + row=read_sample(SimpleNamespace(info=info,read_info=read)) + self.assertEqual(calls,[(1,5,6,7,8)]) + self.assertEqual(row['fnormal'],200.);self.assertEqual(row['fsheary'],-4.) + + def test_preview_polling_is_independent_of_slow_state_poll(self): + import base64,threading,time + from unittest.mock import patch + from station.runtime_client import RuntimeClient + client=RuntimeClient.__new__(RuntimeClient) + client._lock=threading.RLock();client._stop=threading.Event() + from collections import deque + client._force_history={'left':deque(maxlen=1800),'right':deque(maxlen=1800)} + client._force_cursors={};client._force_epochs={} + client._snapshot={'view':{'on':True}};client._frames={};client.socket=Path('/unused') + calls=[] + def rpc_call(*args,**kwargs): + calls.append(args[1]);return {'frames':{'left_shear':base64.b64encode(b'jpeg').decode()}, + 'samples':{'left':[{'seq':1,'t':time.time(),'fnormal':.5,'fshearx':.2,'fsheary':-.3}]},'epochs':{'left':0}} + with patch('station.runtime_client.rpc.call',side_effect=rpc_call): + thread=threading.Thread(target=client._poll_frames);thread.start() + time.sleep(.16);client._stop.set();thread.join(1) + self.assertGreaterEqual(len(calls),3) + self.assertEqual(set(calls),{'tactile_preview'}) + self.assertEqual(client._frames['left_shear'],b'jpeg') + self.assertEqual(len(client._force_history['left']),1) + self.assertEqual(client._force_cursors['left'],1) diff --git a/station/test/test_tasks.py b/station/test/test_tasks.py index a34d42f..7b2c6bb 100644 --- a/station/test/test_tasks.py +++ b/station/test/test_tasks.py @@ -17,7 +17,9 @@ class TasksTest(TestCase): def test_resources_held_until_completion(self): gate=threading.Event() - one=self.manager.submit('move',{'arm:89'},lambda cancel:(gate.wait(2),{'ok':True})[1]) + one=self.manager.submit('move',{'arm:89'},lambda cancel:(gate.wait(2),{'ok':True})[1],context={'arm':'89'}) + self.assertEqual(self.manager.snapshot(one)['resources'],['arm:89']) + self.assertEqual(self.manager.snapshot(one)['context']['arm'],'89') with self.assertRaises(RuntimeError): self.manager.submit('move-again',{'arm:89'},lambda e:{'ok':True}) other=self.manager.submit('camera',{'camera'},lambda e:{'ok':True}) self.assertEqual(self.wait(other)['state'],'succeeded') @@ -33,3 +35,33 @@ class TasksTest(TestCase): token=self.manager.submit('reject',{'arm'},fail) result=self.wait(token) self.assertEqual(result['state'],'failed');self.assertIn('driver rejected',result['result']['message']) + + def test_busy_message_identifies_cleanup_and_stop_cancels_only_motion(self): + gate=threading.Event() + motion=self.manager.submit('stage_locate',{'robot-control','arm:89'},lambda e:(gate.wait(2),{'ok':True})[1],context={'arm':'89'}) + camera=self.manager.submit('camera_refresh',{'camera-setup:89'},lambda e:(gate.wait(2),{'ok':True})[1]) + try: + deadline=time.monotonic()+1 + while self.manager.snapshot(motion)['state']=='queued' and time.monotonic()