arm_dev
6edb8d39ab
在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态， 使后续任何删除/重构都可回退。 本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
330 lines
12 KiB
Python
Executable File
330 lines
12 KiB
Python
Executable File
#!/usr/bin/env python3
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"""RDK Free-Drive bridge (must run under rdk_py310 / Python 3.10).
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Why soft-impedance drag
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-----------------------
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Under AUTO (Remote) the Studio Free Drive button is unavailable (remote owns
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the robot). RDK FloatingJoint/FloatingCartesian often need an extra license.
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So we default to soft NRT_JOINT_IMPEDANCE: low stiffness + target tracks
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measured joints → arm can be pushed by hand while Remote stays on.
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IMPORTANT: flexivrdk.Robot is NOT thread-safe. All robot API calls (including
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the drag loop) share one lock. Joint reads during drag use a cache so Enter
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does not race Stop()/SendJointPosition.
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Line protocol (JSON on stdout only; RDK logs → stderr):
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{"cmd":"ping"}
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{"cmd":"connect","sn":"Rizon4-063989"}
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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":"quit"}
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"""
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from __future__ import annotations
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import json
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import sys
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import threading
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import time
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from typing import List, Optional
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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 group {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: {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 loop: {exc}')
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time.sleep(0.15)
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# ~20 Hz — keep lock released most of the time
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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('soft loop still alive after join (will idle anyway)')
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self._thread = None
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def _ensure_operational(robot) -> Optional[str]:
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try:
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if robot.fault():
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robot.ClearFault()
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time.sleep(0.5)
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if not robot.operational():
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for fn in ('ServoOn', 'Enable'):
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if hasattr(robot, fn):
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try:
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getattr(robot, fn)()
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break
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except Exception:
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pass
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t0 = time.monotonic()
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while not robot.operational() and time.monotonic() - t0 < 10:
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time.sleep(0.2)
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if not robot.operational():
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return (
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'Robot not operational (fault/E-Stop?). '
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'Clear fault on pendant, release E-Stop, AUTO Remote.'
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)
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except Exception as exc:
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return str(exc)
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return None
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def _idle_async(robot, lock: threading.Lock, flexivrdk, timeout: float = 4.0) -> bool:
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"""Switch to IDLE without blocking the stdin loop forever."""
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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 timed out — stdin loop continues')
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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'bad json: {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', 'Rizon4-063989'))
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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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if iface:
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attempts.extend([(sn, [iface]), (sn, [iface], 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'connected {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'connect {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 'connect failed')})
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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': 'not connected'})
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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 failed, fallback soft: {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('soft drag ON')
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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': 'Push the arm gently; low joint impedance. Enter=photo (s=hold).',
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})
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except Exception as exc:
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reply({'ok': False, 'error': f'soft drag failed: {exc}'})
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elif cmd == 'drag_off':
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log('drag_off requested')
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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 done')
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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': 'no joint cache'})
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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 == 'quit':
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if soft is not None:
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soft.stop()
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soft = None
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if robot is not None and drag_on:
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_idle_async(robot, rlock, flexivrdk, timeout=3.0)
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reply({'ok': True})
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return 0
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else:
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reply({'ok': False, 'error': f'unknown cmd {cmd}'})
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except Exception as exc: # noqa: BLE001
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log(f'cmd={cmd} error: {exc}')
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reply({'ok': False, 'error': str(exc)})
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return 0
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if __name__ == '__main__':
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raise SystemExit(main())
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