v 1.1

gripper_control_02/README.md

@@ -111,9 +111,10 @@ gripper_control_02\config\gripper_demo_02.py
 
 - 左右两边的光流箭头图。
 - 左右两边的光流幅值图。
-- 左右法向力、最大切向力、左右差值。
+- 左右法向力、左切向力、右切向力。
 - 当前 `state`、`action`、`trigger/armed`、`grip_contact`。
 - 当前 `force_pct`、自适应目标力、速度 `speed_pct`、`hold_pos`。
+- 顶部有 `重启` 按钮，会先停止当前控制线程，释放相机与夹爪后再重新启动。
 - 当前 `release_armed`，用于判断系统是在补夹紧力，还是已经开始检测人取物松开。
 - 折线图带图例，默认固定 y 轴为 `0~3 N`，范围在 `visualizer.py` 顶部的 `PLOT_FORCE_Y_MIN_N / PLOT_FORCE_Y_MAX_N` 调整。
 - 左右传感器 FPS、接触标志、光流均值/最大值。

gripper_control_02/config/gripper_demo_02.py

@@ -153,9 +153,8 @@ SHEAR_FORCE_CALIBRATION = {
     "clamp_output_min": 0.0,
     "points": [
         {"raw": 1000.0, "force_n": 0.0},
-        {"raw": 10000.0, "force_n": 0.377},
+        {"raw": 36000.0, "force_n": 1.19},
-        {"raw": 30000.0, "force_n": 1.377},
+        {"raw": 68000.0, "force_n": 2.06},
-        {"raw": 62000.0, "force_n": 2.377},
     ],
 }
 

gripper_control_02/visualizer.py

@@ -60,6 +60,7 @@ from .main import build_controller
 PLOT_POINTS = 180
 PLOT_FORCE_Y_MIN_N = 0.0
 PLOT_FORCE_Y_MAX_N = 3.0
+FORCE_DISPLAY_ZERO_THRESHOLD_N = 0.05
 CURVE_COLOR = "#00E5FF"
 
 
@@ -74,11 +75,19 @@ def cv2_to_pixmap(img_bgr):
     return QPixmap.fromImage(qimg)
 
 
+def force_display_value(value):
+    value = float(value)
+    if abs(value) < FORCE_DISPLAY_ZERO_THRESHOLD_N:
+        return 0.0
+    return value
+
+
 def fmt(value, unit="", width=0, precision=3):
     if value is None:
         text = "--"
     else:
-        text = f"{float(value):.{precision}f}"
+        value = force_display_value(value)
+        text = "0" if value == 0.0 else f"{value:.{precision}f}"
     if width:
         text = text.rjust(width)
     return f"{text}{unit}"
@@ -169,6 +178,11 @@ QPushButton#StopButton {
     color: #f07070;
     border: 1px solid #4d1a1a;
 }
+QPushButton#RestartButton {
+    background-color: #1d1d12;
+    color: #e0c96a;
+    border: 1px solid #4d4520;
+}
 """
 
 
@@ -232,6 +246,8 @@ class GripperDemo02Viewer(QMainWindow):
         self.latest_status = None
         self.status_lock = threading.Lock()
         self.controller_finished = False
+        self.restart_pending = False
+        self.button_state = "idle"
         self.start_time = time.time()
         self.force_history = []
         self.argv = argv
@@ -265,11 +281,16 @@ class GripperDemo02Viewer(QMainWindow):
         self.stop_button.setObjectName("StopButton")
         self.stop_button.clicked.connect(self.stop_control)
         self.stop_button.setEnabled(False)
+        self.restart_button = QPushButton("重启")
+        self.restart_button.setObjectName("RestartButton")
+        self.restart_button.clicked.connect(self.restart_control)
+        self._set_button_state("idle")
         top.addWidget(title)
         top.addWidget(self.status_chip)
         top.addWidget(self.action_chip, 1)
         top.addWidget(self.start_button)
         top.addWidget(self.stop_button)
+        top.addWidget(self.restart_button)
         outer.addLayout(top)
 
         main = QGridLayout()
@@ -294,10 +315,10 @@ class GripperDemo02Viewer(QMainWindow):
         side.addLayout(metrics_grid)
         self.left_force = MetricBox("左法向力", "--")
         self.right_force = MetricBox("右法向力", "--")
-        self.shear_force = MetricBox("最大切向力", "--")
+        self.left_shear_box = MetricBox("左切向力", "--")
-        self.force_diff = MetricBox("左右差值", "--")
+        self.right_shear_box = MetricBox("右切向力", "--")
-        self.force_pct_box = MetricBox("force_pct", "--")
+        self.force_pct_box = MetricBox("夹爪当前力比例（%）", "--")
-        self.target_force_box = MetricBox("目标力", "--")
+        self.target_force_box = MetricBox("夹爪目标力比例（%）", "--")
         self.speed_box = MetricBox("速度", "--")
         self.trigger_box = MetricBox("是否触发/系统是否允许触发", "--")
         self.contact_box = MetricBox("接触", "--")
@@ -305,8 +326,8 @@ class GripperDemo02Viewer(QMainWindow):
         boxes = [
             self.left_force,
             self.right_force,
-            self.shear_force,
+            self.left_shear_box,
-            self.force_diff,
+            self.right_shear_box,
             self.force_pct_box,
             self.target_force_box,
             self.speed_box,
@@ -342,7 +363,7 @@ class GripperDemo02Viewer(QMainWindow):
 
     def _configure_plot(self):
         self.plot = self.plot_widget.addPlot()
-        self.plot.setTitle("左右法向力与最大切向力", color="#999999", size="13pt")
+        self.plot.setTitle("左右法向力", color="#999999", size="13pt")
         self.plot.titleLabel.setFont(QFont("SimHei", 13))
         self.plot.showAxis("top", False)
         self.plot.showAxis("right", False)
@@ -361,20 +382,43 @@ class GripperDemo02Viewer(QMainWindow):
             pen=pg.mkPen("#ffb000", width=2),
             name="右法向 (N)",
         )
-        self.shear_curve = self.plot.plot(
-            pen=pg.mkPen("#7ddc8a", width=2),
-            name="最大切向 (N)",
-        )
 
-    def start_control(self):
+    def _set_button_state(self, state):
+        labels = {
+            "idle": ("启动", "停止", "重启"),
+            "starting": ("启动中", "停止", "重启"),
+            "running": ("启动", "停止", "重启"),
+            "stopping": ("启动", "停止中", "重启"),
+            "restarting": ("启动", "停止", "重启中"),
+        }
+        enabled = {
+            "idle": (True, False, True),
+            "starting": (False, True, False),
+            "running": (False, True, True),
+            "stopping": (False, False, False),
+            "restarting": (False, False, False),
+        }
+        self.button_state = state
+        start_text, stop_text, restart_text = labels[state]
+        start_enabled, stop_enabled, restart_enabled = enabled[state]
+        self.start_button.setText(start_text)
+        self.stop_button.setText(stop_text)
+        self.restart_button.setText(restart_text)
+        self.start_button.setEnabled(start_enabled)
+        self.stop_button.setEnabled(stop_enabled)
+        self.restart_button.setEnabled(restart_enabled)
+
+    def start_control(self, from_restart=False):
         if self.control_thread is not None and self.control_thread.is_alive():
             return
         self.force_history.clear()
         self.start_time = time.time()
-        self.start_button.setEnabled(False)
+        self._set_button_state("restarting" if from_restart else "starting")
-        self.stop_button.setEnabled(True)
         self.controller_finished = False
-        self.info_label.setText("启动中：正在连接夹爪与两个触觉传感器")
+        if from_restart:
+            self.info_label.setText("重启中：正在重新连接夹爪与两个触觉传感器")
+        else:
+            self.info_label.setText("启动中：正在连接夹爪与两个触觉传感器")
 
         self.controller = build_controller(
             self.argv,
@@ -391,9 +435,20 @@ class GripperDemo02Viewer(QMainWindow):
     def stop_control(self):
         if self.controller is not None:
             self.controller.stop()
-        self.stop_button.setEnabled(False)
+        self._set_button_state("stopping")
         self.info_label.setText("停止中：正在释放相机与夹爪")
 
+    def restart_control(self):
+        if self.control_thread is not None and self.control_thread.is_alive():
+            self.restart_pending = True
+            self._set_button_state("restarting")
+            if self.controller is not None:
+                self.controller.stop()
+            self.info_label.setText("重启中：正在停止当前控制线程")
+            return
+        self.restart_pending = False
+        self.start_control(from_restart=True)
+
     def _run_controller(self):
         try:
             self.controller.run()
@@ -413,6 +468,13 @@ class GripperDemo02Viewer(QMainWindow):
             self._update_thread_buttons()
             return
         self._update_thread_buttons()
+        if (
+            self.control_thread is not None
+            and self.control_thread.is_alive()
+            and not self.restart_pending
+            and self.button_state in ("starting", "restarting")
+        ):
+            self._set_button_state("running")
 
         state = status.get("state", "--")
         action = status.get("action", "--")
@@ -429,13 +491,13 @@ class GripperDemo02Viewer(QMainWindow):
             fmt(status.get("right_normal"), unit),
             f"raw FPS {self._sample_fps(status, 'right_sample')}",
         )
-        self.shear_force.set_value(
+        self.left_shear_box.set_value(
-            fmt(status.get("max_shear"), shear_unit),
+            fmt(status.get("left_shear"), shear_unit),
-            f"dShear {fmt(status.get('shear_change'), shear_unit)}",
+            "left_shear",
         )
-        self.force_diff.set_value(
+        self.right_shear_box.set_value(
-            fmt(status.get("normal_diff"), unit),
+            fmt(status.get("right_shear"), shear_unit),
-            f"dN {fmt(status.get('normal_change'), unit)}",
+            "right_shear",
         )
         self.force_pct_box.set_value(
             str(status.get("force_pct", "--")),
@@ -473,9 +535,8 @@ class GripperDemo02Viewer(QMainWindow):
         self.force_history.append(
             (
                 elapsed,
-                float(status.get("left_normal", 0.0) or 0.0),
+                force_display_value(status.get("left_normal", 0.0) or 0.0),
-                float(status.get("right_normal", 0.0) or 0.0),
+                force_display_value(status.get("right_normal", 0.0) or 0.0),
-                float(status.get("max_shear", 0.0) or 0.0),
             )
         )
         if len(self.force_history) > PLOT_POINTS:
@@ -503,7 +564,6 @@ class GripperDemo02Viewer(QMainWindow):
         x = data[:, 0]
         self.left_curve.setData(x, data[:, 1])
         self.right_curve.setData(x, data[:, 2])
-        self.shear_curve.setData(x, data[:, 3])
         self.plot.setYRange(PLOT_FORCE_Y_MIN_N, PLOT_FORCE_Y_MAX_N, padding=0)
         if len(x) >= 2:
             self.plot.setXRange(max(0.0, x[-1] - 6.0), max(6.0, x[-1]), padding=0)
@@ -512,8 +572,15 @@ class GripperDemo02Viewer(QMainWindow):
         if not self.controller_finished:
             return
         self.controller_finished = False
-        self.start_button.setEnabled(True)
+        if self.control_thread is not None:
-        self.stop_button.setEnabled(False)
+            self.control_thread.join(timeout=0.1)
+            self.control_thread = None
+        if self.restart_pending:
+            self.restart_pending = False
+            self.info_label.setText("重启中：正在重新启动")
+            self.start_control(from_restart=True)
+            return
+        self._set_button_state("idle")
         if self.controller is not None:
             self.info_label.setText("已停止")
 
@@ -548,6 +615,7 @@ class GripperDemo02Viewer(QMainWindow):
 
     def closeEvent(self, event):
         self.timer.stop()
+        self.restart_pending = False
         self.stop_control()
         if self.control_thread is not None:
             self.control_thread.join(timeout=3.0)