cheng
568 lines
22 KiB
Python
Executable File
568 lines
22 KiB
Python
Executable File
#!/usr/bin/env python3
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"""RDK 控制桥（必须在 rdk_py310 / Python 3.10 下运行）。
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为什么需要这个进程
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------------------
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非夕的 `flexivrdk` Python 绑定与 ROS 环境的 Python 3.11 ABI 不兼容，且 RDK 对
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同一台机器人是**独占访问**：多个进程同时连同一个 SN 会失败。所以框架里所有
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RDK 操作都收敛到本进程，由它串行化，业务节点通过 JSON 行协议远程调用。
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这也让 `arm_driver_flexiv` 不必 import flexivrdk，符合
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`docs/INTERFACES.md` 的约束（业务节点不得 import flexivrdk）。
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软拖拽为什么用 NRT_JOINT_IMPEDANCE
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----------------------------------
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AUTO(Remote) 模式下示教器上的 Free Drive 按钮不可用（控制权在 Remote）。
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RDK 的 FloatingJoint/FloatingCartesian 通常需要额外授权。
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所以默认用低刚度 NRT_JOINT_IMPEDANCE：目标跟踪实测关节角 + 低刚度，
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于是手臂可以用手推动，同时 Remote 保持开启。
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线程安全
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--------
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`flexivrdk.Robot` 不是线程安全的。所有 robot API 调用（含拖拽循环）共用同一
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把锁 `rlock`。拖拽期间的关节读取走缓存，避免 Enter 与 Stop() 竞争。
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行协议（JSON 只写 stdout；RDK 自身日志走 stderr）
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-------------------------------------------------
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{"cmd":"ping"}
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{"cmd":"connect","sn":"<site.yaml 的 robot.sn>","iface":"<robot.iface>"}
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{"cmd":"enable"} # 使能 + 清故障（幂等）
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{"cmd":"clear_fault"} # 显式清故障并使能
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{"cmd":"switch_tool","name":"tool1"} # 切工具；name 空=只查询
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{"cmd":"status"} # operational/fault/mode/tool
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{"cmd":"drag_on","mode":"soft"} # soft | floating
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{"cmd":"drag_off"}
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{"cmd":"joints"}
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{"cmd":"move_joints","q":[0,0,0,0,0,0,0],"speed":0.15}
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{"cmd":"quit"}
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每个命令的应答都是单行 JSON，含 ``ok`` 字段；失败时另有 ``error``。
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"""
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from __future__ import annotations
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import json
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import os
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import sys
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import threading
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import time
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from pathlib import Path
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from typing import List, Optional
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# 公共 RDK 操作统一在 scripts/lib/rdk_helpers.py，避免与 rdk_switch_tool.py
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# 各写一份导致行为漂移。
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sys.path.insert(0, str(Path(__file__).resolve().parent / 'lib'))
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from rdk_helpers import ( # noqa: E402
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clear_fault as rdk_clear_fault,
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ensure_idle,
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ensure_operational,
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rdk_whitelist_lists,
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resolve_tool_name,
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single_arm_groups,
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switch_tool,
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tool_name,
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tool_params,
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)
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_JSON_OUT = sys.stdout
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sys.stdout = sys.stderr
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def reply(obj: dict) -> None:
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_JSON_OUT.write(json.dumps(obj, ensure_ascii=False) + '\n')
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_JSON_OUT.flush()
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def log(msg: str) -> None:
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print(f'[rdk_bridge] {msg}', file=sys.stderr, flush=True)
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class SoftDrag:
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def __init__(self, robot, flexivrdk, lock: threading.Lock) -> None:
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self.robot = robot
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self.flexivrdk = flexivrdk
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self._lock = lock
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self._stop = threading.Event()
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self._thread: Optional[threading.Thread] = None
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self.latest_q: List[float] = []
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self._groups = {}
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def start(self) -> None:
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mode = self.flexivrdk.Mode
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robot = self.robot
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with self._lock:
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robot.SwitchMode(mode.NRT_JOINT_IMPEDANCE)
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st = robot.states()
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self.latest_q = [float(v) for v in list(st.q)[:7]]
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try:
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info = robot.info()
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self._groups = dict(getattr(info, 'single_arm_groups', None) or {})
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except Exception as exc:
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log(f'info.single_arm_groups: {exc}')
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self._groups = {}
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if self._groups:
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for g in self._groups:
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try:
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nom = list(info.K_q_nom[g])
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soft = [max(8.0, 0.08 * float(v)) for v in nom]
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robot.SetJointImpedance(g, soft)
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log(f'SetJointImpedance {g} K={soft}')
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except Exception as exc:
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log(f'SetJointImpedance 组 {g}: {exc}')
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else:
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n = max(7, len(self.latest_q))
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try:
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robot.SetJointImpedance([35.0] * n, [0.7] * n)
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except Exception as exc:
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log(f'SetJointImpedance flat（不分组）: {exc}')
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self._stop.clear()
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self._thread = threading.Thread(target=self._loop, name='soft-drag', daemon=True)
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self._thread.start()
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def _loop(self) -> None:
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robot = self.robot
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flexivrdk = self.flexivrdk
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while not self._stop.is_set():
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try:
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with self._lock:
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if self._stop.is_set():
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break
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st = robot.states()
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q = [float(v) for v in list(st.q)[:7]]
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self.latest_q = q
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if self._groups:
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cmds = {}
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for g in self._groups:
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try:
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gq = list(st[g].q)
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except Exception:
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gq = q
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n = len(gq)
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cmds[g] = flexivrdk.NrtJointPositionCmd(
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gq, [0.0] * n, [1.5] * n, [2.0] * n
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)
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robot.SendJointPosition(cmds)
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else:
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n = len(q)
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robot.SendJointPosition(q, [0.0] * n, [1.5] * n, [2.0] * n)
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except Exception as exc:
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log(f'soft 循环: {exc}')
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time.sleep(0.15)
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# 约 20 Hz —— 大部分时间让锁保持释放状态
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for _ in range(10):
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if self._stop.is_set():
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return
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time.sleep(0.005)
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def stop(self) -> None:
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self._stop.set()
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th = self._thread
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if th is not None:
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th.join(timeout=4.0)
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if th.is_alive():
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log('join 之后 soft 循环仍然存活（无论如何都会切到 IDLE）')
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self._thread = None
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def _ensure_operational(robot) -> Optional[str]:
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"""保留旧名以兼容既有调用点；实现已统一到 rdk_helpers.ensure_operational。"""
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return ensure_operational(robot)
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def _restore_tracking_impedance(robot, flexivrdk) -> None:
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"""把关节阻抗从软拖拽拉回名义值，否则回放点位时臂跟不住指令。"""
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try:
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info = robot.info()
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groups = dict(getattr(info, 'single_arm_groups', None) or {})
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except Exception as exc:
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log(f'读名义阻抗失败: {exc}')
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groups = {}
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if groups:
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for group in groups:
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try:
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nominal = [float(v) for v in list(info.K_q_nom[group])]
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robot.SetJointImpedance(group, nominal)
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log(f'恢复阻抗 {group} K={nominal}')
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except Exception as exc:
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log(f'恢复阻抗 {group}: {exc}')
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return
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try:
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robot.SetJointImpedance([350.0] * 7, [7.0] * 7)
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except Exception as exc:
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log(f'恢复阻抗: {exc}')
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def _send_joint_target(robot, flexivrdk, target: List[float], grouped: Optional[bool]) -> bool:
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"""下发 7 关节目标。返回是否走了分组接口。"""
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if grouped is True:
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_send_grouped_joint_target(robot, flexivrdk, target)
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return True
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try:
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n = len(target)
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robot.SendJointPosition(target, [0.0] * n, [1.5] * n, [2.0] * n)
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return False
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except Exception as exc:
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if grouped is False:
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raise
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log(f'扁平关节指令失败，改分组: {exc}')
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_send_grouped_joint_target(robot, flexivrdk, target)
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return True
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def _send_grouped_joint_target(robot, flexivrdk, target: List[float]) -> None:
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info = robot.info()
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groups = dict(getattr(info, 'single_arm_groups', None) or {})
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if not groups:
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raise RuntimeError('没有分组，扁平关节指令也失败了')
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states = robot.states()
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cmds = {}
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placed = False
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for group in groups:
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try:
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current = [float(v) for v in list(states[group].q)]
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except Exception:
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current = list(target)
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use = target if (not placed and len(current) == len(target)) else current
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if use is target:
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placed = True
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n = len(use)
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cmds[group] = flexivrdk.NrtJointPositionCmd(use, [0.0] * n, [1.5] * n, [2.0] * n)
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if not placed:
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raise RuntimeError('没有一组关节数和示教点一致，拒绝下发')
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robot.SendJointPosition(cmds)
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def _idle_async(robot, lock: threading.Lock, flexivrdk, timeout: float = 4.0) -> bool:
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"""切到 IDLE，同时避免把 stdin 循环永久阻塞住。"""
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done = threading.Event()
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def run() -> None:
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try:
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acquired = lock.acquire(timeout=2.0)
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try:
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if acquired:
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try:
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robot.Stop()
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except Exception as exc:
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log(f'Stop: {exc}')
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try:
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robot.SwitchMode(flexivrdk.Mode.IDLE)
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except Exception as exc:
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log(f'SwitchMode IDLE: {exc}')
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finally:
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if acquired:
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lock.release()
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finally:
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done.set()
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threading.Thread(target=run, name='idle', daemon=True).start()
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ok = done.wait(timeout)
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if not ok:
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log('IDLE/Stop 超时 —— stdin 循环继续运行')
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return ok
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def main() -> int:
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import flexivrdk
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robot = None
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drag_on = False
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soft: Optional[SoftDrag] = None
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rlock = threading.Lock()
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cached_q: List[float] = []
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for line in sys.stdin:
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line = line.strip()
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if not line:
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continue
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try:
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msg = json.loads(line)
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except Exception as exc: # noqa: BLE001
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reply({'ok': False, 'error': f'JSON 解析失败: {exc}'})
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continue
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cmd = str(msg.get('cmd', '')).strip()
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try:
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if cmd == 'ping':
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reply({'ok': True, 'py': sys.version.split()[0]})
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elif cmd == 'connect':
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sn = str(msg.get('sn') or os.environ.get('SITE_ROBOT_SN') or '')
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iface = str(msg.get('iface') or '')
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robot = None
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last_err = None
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attempts = []
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# 白名单必须是 IPv4。传 eth0 / enx… 会被 FastDDS 整段滤掉，
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# ping 通也会 Failed to connect。
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for listen in rdk_whitelist_lists(iface):
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log('白名单: ' + ', '.join(listen))
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attempts.extend([(sn, listen), (sn, listen, True)])
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attempts.append((sn,))
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for args in attempts:
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try:
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robot = flexivrdk.Robot(*args)
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log(f'已连接 {sn} args={args!r}')
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last_err = None
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break
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except TypeError:
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continue
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except Exception as exc:
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last_err = exc
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log(f'连接 {args!r}: {exc}')
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robot = None
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if robot is None:
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reply({'ok': False, 'error': str(last_err or '连接失败')})
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continue
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err = _ensure_operational(robot)
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if err:
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reply({'ok': False, 'error': err})
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continue
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with rlock:
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q = [float(v) for v in list(robot.states().q)[:7]]
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cached_q = q
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reply({'ok': True, 'sn': sn, 'q': q})
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elif cmd == 'drag_on':
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if robot is None:
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reply({'ok': False, 'error': '尚未连接'})
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continue
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err = _ensure_operational(robot)
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if err:
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reply({'ok': False, 'error': err})
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continue
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prefer = str(msg.get('mode', 'soft')).strip().lower()
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if prefer in ('floating', 'primitive', 'floatingjoint'):
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name = str(msg.get('primitive', 'FloatingJoint')).replace('()', '')
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try:
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with rlock:
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robot.SwitchMode(flexivrdk.Mode.NRT_PRIMITIVE_EXECUTION)
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robot.ExecutePrimitive(name, {})
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drag_on = True
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reply({'ok': True, 'drag': True, 'mode': 'floating', 'primitive': name})
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continue
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except Exception as exc:
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log(f'Floating 失败，退回 soft 模式: {exc}')
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try:
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if soft is not None:
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soft.stop()
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soft = SoftDrag(robot, flexivrdk, rlock)
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soft.start()
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if soft.latest_q:
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cached_q = list(soft.latest_q)
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drag_on = True
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log('软拖拽已开启')
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reply({
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'ok': True,
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'drag': True,
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'mode': 'soft',
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'hint': '轻推机械臂即可，关节阻抗已调低。Enter=拍照（s=保持）。',
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})
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except Exception as exc:
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reply({'ok': False, 'error': f'软拖拽失败: {exc}'})
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elif cmd == 'drag_off':
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log('收到 drag_off 请求')
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if soft is not None:
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if soft.latest_q:
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cached_q = list(soft.latest_q)
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soft.stop()
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soft = None
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if robot is not None:
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_idle_async(robot, rlock, flexivrdk, timeout=4.0)
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drag_on = False
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log('drag_off 已完成')
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reply({'ok': True, 'drag': False, 'q': cached_q})
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elif cmd == 'joints':
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q: Optional[List[float]] = None
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if soft is not None and len(soft.latest_q) >= 7:
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q = list(soft.latest_q)
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elif len(cached_q) >= 7:
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q = list(cached_q)
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if q is None or len(q) < 7:
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reply({'ok': False, 'error': '没有关节缓存'})
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continue
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cached_q = q
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reply({'ok': True, 'q': q, 'drag': drag_on})
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elif cmd == 'enable':
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if robot is None:
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reply({'ok': False, 'error': '尚未连接'})
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continue
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err = ensure_operational(robot)
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reply({
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'ok': err is None,
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'error': err,
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'operational': bool(robot.operational()),
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})
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elif cmd == 'clear_fault':
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if robot is None:
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reply({'ok': False, 'error': '尚未连接'})
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continue
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err = rdk_clear_fault(robot)
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if err:
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reply({'ok': False, 'error': err})
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continue
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# 清故障后顺手使能，否则调用方还得再发一条 enable。
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err2 = ensure_operational(robot)
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reply({
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'ok': err2 is None,
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'error': err2,
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'fault': bool(robot.fault()),
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'operational': bool(robot.operational()),
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})
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elif cmd == 'switch_tool':
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if robot is None:
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reply({'ok': False, 'error': '尚未连接'})
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continue
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want = str(msg.get('name', '')).strip()
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# 切换工具要求 IDLE；这一步是同步的，因为切换本身不能被打断。
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err = ensure_idle(robot, flexivrdk.Mode, timeout_s=12.0)
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if err:
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reply({'ok': False, 'error': err})
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continue
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try:
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with rlock:
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tool = flexivrdk.Tool(robot)
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groups = single_arm_groups(robot)
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available = [str(n) for n in (tool.list() or [])]
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anchor = groups[0] if groups else None
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if not want:
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# 纯查询：不切换，把当前工具与参数报回去。
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params = tool_params(tool, anchor)
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reply({
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'ok': True,
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'switched': False,
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'current': tool_name(tool, anchor),
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'available': available,
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**params,
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})
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continue
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target = resolve_tool_name(tool, want)
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already = all(tool_name(tool, g) == target for g in groups)
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if not already:
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for g in groups:
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switch_tool(tool, g, target)
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time.sleep(0.3)
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params = tool_params(tool, anchor)
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reply({
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'ok': True,
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'switched': not already,
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'already': already,
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'current': tool_name(tool, anchor),
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'target': target,
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'available': available,
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**params,
|
||
})
|
||
except Exception as exc: # noqa: BLE001
|
||
reply({'ok': False, 'error': str(exc)})
|
||
|
||
elif cmd == 'status':
|
||
if robot is None:
|
||
reply({'ok': False, 'connected': False, 'error': '尚未 connect'})
|
||
continue
|
||
info = {'ok': True, 'connected': True, 'drag': drag_on}
|
||
try:
|
||
info['operational'] = bool(robot.operational())
|
||
info['fault'] = bool(robot.fault())
|
||
info['mode'] = str(robot.mode())
|
||
except Exception as exc: # noqa: BLE001
|
||
info['error'] = str(exc)
|
||
try:
|
||
with rlock:
|
||
tool = flexivrdk.Tool(robot)
|
||
groups = single_arm_groups(robot)
|
||
info['tool'] = tool_name(tool, groups[0] if groups else None)
|
||
except Exception:
|
||
info['tool'] = ''
|
||
reply(info)
|
||
|
||
elif cmd == 'move_joints':
|
||
if robot is None:
|
||
reply({'ok': False, 'error': '尚未连接'})
|
||
continue
|
||
raw = msg.get('q')
|
||
if not isinstance(raw, list) or len(raw) < 7:
|
||
reply({'ok': False, 'error': '需要 7 个关节角（弧度）'})
|
||
continue
|
||
try:
|
||
target = [float(v) for v in raw[:7]]
|
||
except (TypeError, ValueError):
|
||
reply({'ok': False, 'error': '关节角不是数字'})
|
||
continue
|
||
if any(v != v or abs(v) > 12.6 for v in target):
|
||
reply({'ok': False, 'error': '关节角不是有限值，或超出约两圈'})
|
||
continue
|
||
try:
|
||
speed = float(msg.get('speed', 0.15))
|
||
except (TypeError, ValueError):
|
||
speed = 0.15
|
||
speed = max(0.05, min(0.35, speed))
|
||
if soft is not None:
|
||
soft.stop()
|
||
soft = None
|
||
drag_on = False
|
||
err = _ensure_operational(robot)
|
||
if err:
|
||
reply({'ok': False, 'error': err})
|
||
continue
|
||
try:
|
||
with rlock:
|
||
robot.SwitchMode(flexivrdk.Mode.NRT_JOINT_IMPEDANCE)
|
||
current = [float(v) for v in list(robot.states().q)[:7]]
|
||
_restore_tracking_impedance(robot, flexivrdk)
|
||
max_delta = max(abs(a - b) for a, b in zip(current, target))
|
||
step_s = 0.05
|
||
steps = max(1, int(max_delta / (speed * step_s)))
|
||
if steps * step_s > 150.0:
|
||
reply({
|
||
'ok': False,
|
||
'error': f'路程太长（{max_delta:.2f} rad），请先拖近一点再回放',
|
||
})
|
||
continue
|
||
grouped: Optional[bool] = None
|
||
for index in range(1, steps + 1):
|
||
alpha = index / steps
|
||
sample = [a + (b - a) * alpha for a, b in zip(current, target)]
|
||
with rlock:
|
||
grouped = _send_joint_target(robot, flexivrdk, sample, grouped)
|
||
time.sleep(step_s)
|
||
for _hold in range(8):
|
||
with rlock:
|
||
grouped = _send_joint_target(robot, flexivrdk, target, grouped)
|
||
time.sleep(step_s)
|
||
cached_q = list(target)
|
||
reply({'ok': True, 'q': target, 'from': current, 'steps': steps, 'speed': speed})
|
||
except Exception as exc:
|
||
reply({'ok': False, 'error': f'回点失败: {exc}'})
|
||
|
||
elif cmd == 'quit':
|
||
if soft is not None:
|
||
soft.stop()
|
||
soft = None
|
||
if robot is not None and drag_on:
|
||
_idle_async(robot, rlock, flexivrdk, timeout=3.0)
|
||
reply({'ok': True})
|
||
return 0
|
||
|
||
else:
|
||
reply({'ok': False, 'error': f'未知命令 {cmd}'})
|
||
except Exception as exc: # noqa: BLE001
|
||
log(f'cmd={cmd} 出错: {exc}')
|
||
reply({'ok': False, 'error': str(exc)})
|
||
return 0
|
||
|
||
|
||
if __name__ == '__main__':
|
||
raise SystemExit(main())
|