Remove MQTT dependency and refactor configuration structure. Updated CMakeLists.txt to eliminate MQTT library checks and adjusted config.hpp to use string_view for configuration parameters. Simplified controller and custom_robot classes by removing MQTT-related code and enhancing robot state management. Introduced service management methods in CustomRobot for better state handling.
This commit is contained in:
@@ -12,9 +12,7 @@ find_package(Threads REQUIRED)
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# Find installed unitree_sdk2
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find_package(unitree_sdk2 REQUIRED)
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# Find MQTT library (Eclipse Paho)
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pkg_check_modules(PAHO_MQTT REQUIRED libpaho-mqtt3c)
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pkg_check_modules(PAHO_MQTTPP REQUIRED libpaho-mqttpp3)
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# MQTT library is no longer required
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# Find JSON library
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find_package(nlohmann_json REQUIRED)
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@@ -27,7 +25,6 @@ include_directories(
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# Source files
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set(SOURCES
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src/main.cpp
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src/mqtt.cpp
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src/controller.cpp
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src/custom_robot.cpp
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src/config.cpp
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@@ -40,18 +37,10 @@ add_executable(main ${SOURCES})
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# Link libraries
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target_link_libraries(main
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unitree_sdk2
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${PAHO_MQTT_LIBRARIES}
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${PAHO_MQTTPP_LIBRARIES}
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nlohmann_json::nlohmann_json
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Threads::Threads
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)
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# Compiler options
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target_compile_options(main PRIVATE
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${PAHO_MQTT_CFLAGS_OTHER}
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${PAHO_MQTTPP_CFLAGS_OTHER}
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)
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# Set output directory
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set_target_properties(main PROPERTIES
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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@@ -1,192 +1,207 @@
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#pragma once
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#include <string>
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#include <nlohmann/json.hpp>
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#include <string_view>
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namespace custom {
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namespace customConfig {
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// Compile-time configuration flag
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constexpr bool USE_COMPILE_TIME_CONFIG = true;
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// Configuration template selector
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enum class ConfigPreset {
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Default,
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HighPerformance,
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Development,
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Safety
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};
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// Network settings
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constexpr const char* NETWORK_INTERFACE = "eth0";
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// Motion gait enum
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enum class Gait : int {
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IDLE = 0,
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TROT = 1,
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TROT_RUNNING = 2
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};
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// MQTT settings
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constexpr const char* MQTT_BROKER = "localhost";
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// Network configuration
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constexpr std::string_view NETWORK_INTERFACE = "eth0";
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// MQTT configuration
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constexpr std::string_view MQTT_BROKER = "localhost";
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constexpr int MQTT_PORT = 1883;
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constexpr const char* MQTT_USERNAME = "";
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constexpr const char* MQTT_PASSWORD = "";
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constexpr const char* MQTT_CLIENT_ID = "unitree_go2_client";
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constexpr std::string_view MQTT_USERNAME = "";
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constexpr std::string_view MQTT_PASSWORD = "";
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constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
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// Topic settings
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constexpr const char* TOPIC_PREFIX = "unitree/go2";
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constexpr const char* TOPIC_CMD = "cmd";
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constexpr const char* TOPIC_STATE = "state";
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constexpr const char* TOPIC_VIDEO = "video";
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constexpr const char* TOPIC_AUDIO = "audio";
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// Topic configuration
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constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
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constexpr std::string_view TOPIC_CMD = "cmd";
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constexpr std::string_view TOPIC_STATE = "state";
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constexpr std::string_view TOPIC_VIDEO = "video";
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constexpr std::string_view TOPIC_AUDIO = "audio";
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// Robot control settings
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// Robot control configuration
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constexpr double CONTROL_FREQUENCY = 200.0; // Hz
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constexpr double STATE_PUBLISH_FREQUENCY = 50.0; // Hz
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constexpr bool ENABLE_VIDEO = true;
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constexpr bool ENABLE_AUDIO = true;
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// Safety settings
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// Safety configuration
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constexpr double MAX_LINEAR_VELOCITY = 1.5; // m/s
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constexpr double MAX_ANGULAR_VELOCITY = 2.0; // rad/s
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constexpr double EMERGENCY_STOP_TIMEOUT = 5.0; // seconds
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// Motion settings
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// Motion configuration
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constexpr double STAND_HEIGHT = 0.0; // relative height
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constexpr int GAIT = 0; // 0:idle, 1:trot, 2:trot_running
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constexpr Gait DEFAULT_GAIT = Gait::IDLE;
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// Video settings
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// Video configuration
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constexpr int VIDEO_WIDTH = 1280;
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constexpr int VIDEO_HEIGHT = 720;
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constexpr int VIDEO_FPS = 30;
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constexpr const char* VIDEO_FORMAT = "h264";
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constexpr std::string_view VIDEO_FORMAT = "h264";
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constexpr bool VIDEO_ENABLED = true;
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// Audio settings
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// Audio configuration
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constexpr int AUDIO_SAMPLE_RATE = 16000;
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constexpr int AUDIO_CHANNELS = 1;
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constexpr const char* AUDIO_FORMAT = "pcm";
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constexpr std::string_view AUDIO_FORMAT = "pcm";
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constexpr bool AUDIO_ENABLED = true;
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// Configuration presets
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struct HighPerformancePreset {
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static constexpr double CONTROL_FREQUENCY = 500.0;
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static constexpr double STATE_PUBLISH_FREQUENCY = 100.0;
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static constexpr double MAX_LINEAR_VELOCITY = 2.5;
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static constexpr double MAX_ANGULAR_VELOCITY = 3.0;
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static constexpr bool ENABLE_VIDEO = false; // Disable for performance
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static constexpr bool ENABLE_AUDIO = false; // Disable for performance
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// Configuration presets using template specialization
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template<ConfigPreset P>
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struct ConfigParams;
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// Default preset
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template<>
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struct ConfigParams<ConfigPreset::Default> {
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static constexpr double control_frequency = CONTROL_FREQUENCY;
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static constexpr double state_publish_frequency = STATE_PUBLISH_FREQUENCY;
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static constexpr double max_linear_velocity = MAX_LINEAR_VELOCITY;
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static constexpr double max_angular_velocity = MAX_ANGULAR_VELOCITY;
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static constexpr double emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
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static constexpr bool video_enabled = VIDEO_ENABLED;
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static constexpr bool audio_enabled = AUDIO_ENABLED;
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};
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struct DevelopmentPreset {
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static constexpr double CONTROL_FREQUENCY = 100.0;
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static constexpr double STATE_PUBLISH_FREQUENCY = 20.0;
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static constexpr double MAX_LINEAR_VELOCITY = 0.8;
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static constexpr double MAX_ANGULAR_VELOCITY = 1.0;
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static constexpr bool ENABLE_VIDEO = true;
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static constexpr bool ENABLE_AUDIO = true;
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// High performance preset
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template<>
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struct ConfigParams<ConfigPreset::HighPerformance> {
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static constexpr double control_frequency = 500.0;
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static constexpr double state_publish_frequency = 100.0;
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static constexpr double max_linear_velocity = 2.5;
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static constexpr double max_angular_velocity = 3.0;
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static constexpr double emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
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static constexpr bool video_enabled = false; // Disabled for performance
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static constexpr bool audio_enabled = false; // Disabled for performance
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};
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struct SafetyPreset {
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static constexpr double CONTROL_FREQUENCY = 50.0;
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static constexpr double STATE_PUBLISH_FREQUENCY = 10.0;
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static constexpr double MAX_LINEAR_VELOCITY = 0.5;
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static constexpr double MAX_ANGULAR_VELOCITY = 0.5;
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static constexpr double EMERGENCY_STOP_TIMEOUT = 2.0;
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static constexpr bool ENABLE_VIDEO = true;
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static constexpr bool ENABLE_AUDIO = true;
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// Development preset
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template<>
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struct ConfigParams<ConfigPreset::Development> {
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static constexpr double control_frequency = 100.0;
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static constexpr double state_publish_frequency = 20.0;
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static constexpr double max_linear_velocity = 0.8;
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static constexpr double max_angular_velocity = 1.0;
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static constexpr double emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
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static constexpr bool video_enabled = true;
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static constexpr bool audio_enabled = true;
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};
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// Runtime configuration structure - uses compile-time defaults
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struct RobotConfig {
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// Safety preset
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template<>
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struct ConfigParams<ConfigPreset::Safety> {
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static constexpr double control_frequency = 50.0;
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static constexpr double state_publish_frequency = 10.0;
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static constexpr double max_linear_velocity = 0.5;
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static constexpr double max_angular_velocity = 0.5;
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static constexpr double emergency_stop_timeout = 2.0;
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static constexpr bool video_enabled = true;
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static constexpr bool audio_enabled = true;
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};
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// Compile-time configuration selection (set this to choose preset)
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constexpr ConfigPreset ACTIVE_PRESET = ConfigPreset::Default;
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// Compile-time configuration struct
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template<ConfigPreset P = ACTIVE_PRESET>
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struct CompileTimeConfig {
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// Use selected preset parameters
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using params = ConfigParams<P>;
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// Network settings
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std::string network_interface = NETWORK_INTERFACE;
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static constexpr std::string_view network_interface = NETWORK_INTERFACE;
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// MQTT settings
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std::string mqtt_broker = MQTT_BROKER;
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int mqtt_port = MQTT_PORT;
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std::string mqtt_username = MQTT_USERNAME;
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std::string mqtt_password = MQTT_PASSWORD;
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std::string mqtt_client_id = MQTT_CLIENT_ID;
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static constexpr std::string_view mqtt_broker = MQTT_BROKER;
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static constexpr int mqtt_port = MQTT_PORT;
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static constexpr std::string_view mqtt_username = MQTT_USERNAME;
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static constexpr std::string_view mqtt_password = MQTT_PASSWORD;
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static constexpr std::string_view mqtt_client_id = MQTT_CLIENT_ID;
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// Topics
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std::string topic_prefix = TOPIC_PREFIX;
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std::string cmd_topic = TOPIC_CMD;
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std::string state_topic = TOPIC_STATE;
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std::string video_topic = TOPIC_VIDEO;
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std::string audio_topic = TOPIC_AUDIO;
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static constexpr std::string_view topic_prefix = TOPIC_PREFIX;
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static constexpr std::string_view cmd_topic = TOPIC_CMD;
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static constexpr std::string_view state_topic = TOPIC_STATE;
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static constexpr std::string_view video_topic = TOPIC_VIDEO;
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static constexpr std::string_view audio_topic = TOPIC_AUDIO;
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// Robot settings
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double control_frequency = CONTROL_FREQUENCY;
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double state_publish_frequency = STATE_PUBLISH_FREQUENCY;
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bool enable_video = ENABLE_VIDEO;
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bool enable_audio = ENABLE_AUDIO;
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// Robot settings (from preset)
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static constexpr double control_frequency = params::control_frequency;
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static constexpr double state_publish_frequency = params::state_publish_frequency;
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static constexpr bool enable_video = params::video_enabled;
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static constexpr bool enable_audio = params::audio_enabled;
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// Safety settings
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double max_linear_velocity = MAX_LINEAR_VELOCITY;
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double max_angular_velocity = MAX_ANGULAR_VELOCITY;
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double emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
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// Safety settings (from preset)
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static constexpr double max_linear_velocity = params::max_linear_velocity;
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static constexpr double max_angular_velocity = params::max_angular_velocity;
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static constexpr double emergency_stop_timeout = params::emergency_stop_timeout;
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// Motion settings
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double stand_height = STAND_HEIGHT;
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double default_gait = GAIT;
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static constexpr double stand_height = STAND_HEIGHT;
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static constexpr Gait default_gait = DEFAULT_GAIT;
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// Video settings
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int video_width = VIDEO_WIDTH;
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int video_height = VIDEO_HEIGHT;
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int video_fps = VIDEO_FPS;
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std::string video_format = VIDEO_FORMAT;
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static constexpr int video_width = VIDEO_WIDTH;
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static constexpr int video_height = VIDEO_HEIGHT;
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static constexpr int video_fps = VIDEO_FPS;
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static constexpr std::string_view video_format = VIDEO_FORMAT;
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// Audio settings
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int audio_sample_rate = AUDIO_SAMPLE_RATE;
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int audio_channels = AUDIO_CHANNELS;
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std::string audio_format = AUDIO_FORMAT;
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static constexpr int audio_sample_rate = AUDIO_SAMPLE_RATE;
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static constexpr int audio_channels = AUDIO_CHANNELS;
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static constexpr std::string_view audio_format = AUDIO_FORMAT;
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// Utility functions
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static std::string getFullTopic(std::string_view topic) {
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return std::string(topic_prefix) + "/" + std::string(topic);
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}
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};
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class Config {
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public:
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static Config& getInstance();
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// Type alias for current configuration
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using RobotConfig = CompileTimeConfig<ACTIVE_PRESET>;
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/**
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* Load configuration from JSON file
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*/
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bool loadConfig(const std::string& configPath);
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// Configuration validation utilities
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template<ConfigPreset P>
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constexpr bool isConfigValid() {
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using config = ConfigParams<P>;
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return config::control_frequency > 0.0 &&
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config::state_publish_frequency > 0.0 &&
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config::max_linear_velocity > 0.0 &&
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config::max_angular_velocity > 0.0 &&
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config::emergency_stop_timeout > 0.0;
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}
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/**
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* Save current configuration to JSON file
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*/
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bool saveConfig(const std::string& configPath);
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// Compile-time validation
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static_assert(isConfigValid<ACTIVE_PRESET>(), "Invalid configuration parameters");
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/**
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* Load configuration from compile-time defaults
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*/
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void loadDefaults();
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// Configuration preset name utilities
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template<ConfigPreset P>
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constexpr const char* getPresetName() {
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if constexpr (P == ConfigPreset::Default) return "Default";
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else if constexpr (P == ConfigPreset::HighPerformance) return "HighPerformance";
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else if constexpr (P == ConfigPreset::Development) return "Development";
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else if constexpr (P == ConfigPreset::Safety) return "Safety";
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else return "Unknown";
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}
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/**
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* Load high-performance preset
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*/
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void loadHighPerformancePreset();
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constexpr const char* getActivePresetName() {
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return getPresetName<ACTIVE_PRESET>();
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}
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/**
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* Load development preset
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*/
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void loadDevelopmentPreset();
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/**
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* Load safety preset
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*/
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void loadSafetyPreset();
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/**
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* Validate configuration values
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*/
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bool validateConfig();
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/**
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* Get current configuration
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*/
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const RobotConfig& getConfig() const { return config_; }
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/**
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* Get mutable reference to configuration
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*/
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RobotConfig& getConfig() { return config_; }
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/**
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* Convenience getters
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*/
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std::string getFullTopic(const std::string& topic) const;
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private:
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Config();
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~Config() = default;
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Config(const Config&) = delete;
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Config& operator=(const Config&) = delete;
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RobotConfig config_;
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};
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} // namespace custom
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} // namespace customConfig
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@@ -1,11 +1,7 @@
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#pragma once
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#include <memory>
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#include <thread>
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#include <atomic>
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#include <mutex>
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#include <condition_variable>
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#include <chrono>
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#include <nlohmann/json.hpp>
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||||
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#include <unitree/robot/go2/sport/sport_client.hpp>
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@@ -14,220 +10,49 @@
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#include <unitree/robot/go2/vui/vui_client.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <unitree/idl/go2/SportModeState_.hpp>
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#include <unitree/idl/go2/LowState_.hpp>
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namespace custom {
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enum class RobotMode {
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IDLE,
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SPORT,
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LOW_LEVEL,
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RECOVERY
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};
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||||
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||||
enum class MotionState {
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STOPPED,
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STANDING,
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WALKING,
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RUNNING,
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SITTING,
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LYING,
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DANCING,
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SPECIAL_MOTION
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};
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struct RobotState {
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RobotMode mode = RobotMode::IDLE;
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MotionState motion_state = MotionState::STOPPED;
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// Position and orientation
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double position[3] = {0.0, 0.0, 0.0}; // x, y, z
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double orientation[3] = {0.0, 0.0, 0.0}; // roll, pitch, yaw
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double velocity[3] = {0.0, 0.0, 0.0}; // vx, vy, vyaw
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// IMU data
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double imu_acc[3] = {0.0, 0.0, 0.0};
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double imu_gyro[3] = {0.0, 0.0, 0.0};
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double imu_quat[4] = {1.0, 0.0, 0.0, 0.0};
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||||
// Battery and system
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||||
double battery_voltage = 0.0;
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||||
double battery_current = 0.0;
|
||||
int battery_percentage = 0;
|
||||
double temperature = 0.0;
|
||||
|
||||
// Motor states (20 motors)
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||||
double motor_positions[20] = {0};
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double motor_velocities[20] = {0};
|
||||
double motor_torques[20] = {0};
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||||
double motor_temperatures[20] = {0};
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||||
|
||||
// Status flags
|
||||
bool is_connected = false;
|
||||
bool emergency_stop = false;
|
||||
bool low_battery = false;
|
||||
bool overheated = false;
|
||||
|
||||
std::chrono::steady_clock::time_point timestamp;
|
||||
};
|
||||
|
||||
struct MotionCommand {
|
||||
enum Type {
|
||||
VELOCITY,
|
||||
POSITION,
|
||||
SPECIAL_ACTION,
|
||||
GAIT_CHANGE,
|
||||
BODY_POSE
|
||||
} type;
|
||||
|
||||
// Velocity command
|
||||
double linear_velocity[3] = {0.0, 0.0, 0.0}; // vx, vy, vz
|
||||
double angular_velocity[3] = {0.0, 0.0, 0.0}; // wx, wy, wz
|
||||
|
||||
// Position command
|
||||
double target_position[3] = {0.0, 0.0, 0.0};
|
||||
double target_orientation[3] = {0.0, 0.0, 0.0};
|
||||
|
||||
// Body pose
|
||||
double body_height = 0.0;
|
||||
double body_roll = 0.0;
|
||||
double body_pitch = 0.0;
|
||||
double body_yaw = 0.0;
|
||||
|
||||
// Special actions
|
||||
std::string action_name;
|
||||
nlohmann::json action_params;
|
||||
|
||||
// Gait parameters
|
||||
int gait_type = 0;
|
||||
double step_height = 0.0;
|
||||
|
||||
std::chrono::steady_clock::time_point timestamp;
|
||||
double duration = 0.0; // command duration in seconds
|
||||
};
|
||||
|
||||
class Controller {
|
||||
public:
|
||||
using StateCallback = std::function<void(const RobotState&)>;
|
||||
using ErrorCallback = std::function<void(const std::string&)>;
|
||||
|
||||
explicit Controller(const std::string& networkInterface);
|
||||
~Controller();
|
||||
|
||||
bool initialize();
|
||||
void shutdown();
|
||||
|
||||
// State management
|
||||
bool start();
|
||||
bool stop();
|
||||
bool isRunning() const { return running_; }
|
||||
|
||||
RobotState getCurrentState() const;
|
||||
void setStateCallback(StateCallback callback);
|
||||
void setErrorCallback(ErrorCallback callback);
|
||||
// Sport
|
||||
bool StandUp();
|
||||
bool StandDown();
|
||||
bool Sit();
|
||||
bool Lie();
|
||||
bool Damp();
|
||||
bool RecoveryStand();
|
||||
bool StopMove();
|
||||
bool BalanceStand();
|
||||
bool Dance1();
|
||||
bool Dance2();
|
||||
bool Hello();
|
||||
|
||||
// Motion control
|
||||
bool executeCommand(const MotionCommand& command);
|
||||
bool emergencyStop();
|
||||
bool recoveryStand();
|
||||
// Obstacle
|
||||
bool SwitchSet(bool enable);
|
||||
bool SwitchGet(bool& enable);
|
||||
bool UseRemoteCommandFromApi(bool isRemoteCommandsFromApi);
|
||||
bool MoveToAbsolutePosition(float x, float y, float yaw);
|
||||
bool MoveToIncrementPosition(float x, float y, float yaw);
|
||||
|
||||
// Basic motions
|
||||
bool standUp();
|
||||
bool standDown();
|
||||
bool sit();
|
||||
bool lie();
|
||||
bool damp();
|
||||
|
||||
// Movement
|
||||
bool move(double vx, double vy, double vyaw);
|
||||
bool moveToPosition(double x, double y, double yaw);
|
||||
bool stop();
|
||||
|
||||
// Body control
|
||||
bool setBodyPose(double roll, double pitch, double yaw, double height);
|
||||
bool balanceStand();
|
||||
|
||||
// Gait control
|
||||
bool switchGait(int gaitType);
|
||||
bool setSpeedLevel(int level);
|
||||
|
||||
// Special actions
|
||||
bool performAction(const std::string& actionName, const nlohmann::json& params = {});
|
||||
|
||||
// Dance and tricks
|
||||
bool dance1();
|
||||
bool dance2();
|
||||
bool frontFlip();
|
||||
bool backFlip();
|
||||
bool hello();
|
||||
bool stretch();
|
||||
|
||||
// Obstacle avoidance
|
||||
bool enableObstacleAvoidance(bool enable);
|
||||
bool isObstacleAvoidanceEnabled();
|
||||
|
||||
// Video control
|
||||
bool startVideo();
|
||||
bool stopVideo();
|
||||
bool isVideoActive();
|
||||
|
||||
// Audio control
|
||||
bool playAudio(const std::string& text);
|
||||
bool stopAudio();
|
||||
|
||||
private:
|
||||
void controlLoop();
|
||||
void stateUpdateLoop();
|
||||
void processCommands();
|
||||
|
||||
void updateSportModeState(const void* message);
|
||||
void updateLowLevelState(const void* message);
|
||||
|
||||
bool validateCommand(const MotionCommand& command);
|
||||
void executeMotionCommand(const MotionCommand& command);
|
||||
|
||||
void handleError(const std::string& error);
|
||||
void checkSafetyLimits();
|
||||
|
||||
// SDK clients
|
||||
std::unique_ptr<unitree::robot::go2::SportClient> sportClient_;
|
||||
std::unique_ptr<unitree::robot::go2::ObstaclesAvoidClient> obstacleClient_;
|
||||
std::unique_ptr<unitree::robot::go2::VideoClient> videoClient_;
|
||||
std::unique_ptr<unitree::robot::go2::VuiClient> vuiClient_;
|
||||
|
||||
// State subscribers
|
||||
std::unique_ptr<unitree::robot::ChannelSubscriber<unitree_go::msg::dds_::SportModeState_>> sportStateSubscriber_;
|
||||
std::unique_ptr<unitree::robot::ChannelSubscriber<unitree_go::msg::dds_::LowState_>> lowStateSubscriber_;
|
||||
|
||||
// Current state
|
||||
mutable std::mutex stateMutex_;
|
||||
RobotState currentState_;
|
||||
|
||||
// Command queue
|
||||
std::queue<MotionCommand> commandQueue_;
|
||||
std::mutex commandMutex_;
|
||||
std::condition_variable commandCondition_;
|
||||
|
||||
// Control threads
|
||||
std::thread controlThread_;
|
||||
std::thread stateThread_;
|
||||
std::atomic<bool> running_;
|
||||
std::atomic<bool> initialized_;
|
||||
|
||||
// Callbacks
|
||||
StateCallback stateCallback_;
|
||||
ErrorCallback errorCallback_;
|
||||
|
||||
// Safety
|
||||
std::chrono::steady_clock::time_point lastCommandTime_;
|
||||
std::atomic<bool> emergencyStopActive_;
|
||||
|
||||
// Network
|
||||
std::string networkInterface_;
|
||||
|
||||
// Timing
|
||||
std::chrono::milliseconds controlPeriod_;
|
||||
std::chrono::milliseconds statePeriod_;
|
||||
};
|
||||
|
||||
} // namespace custom
|
||||
|
||||
@@ -1,123 +1,34 @@
|
||||
#pragma once
|
||||
|
||||
#include "controller.hpp"
|
||||
#include "mqtt.hpp"
|
||||
#include "config.hpp"
|
||||
#include "logger.hpp"
|
||||
|
||||
#include <memory>
|
||||
#include <thread>
|
||||
#include <atomic>
|
||||
#include <chrono>
|
||||
#include <nlohmann/json.hpp>
|
||||
#include <unitree/robot/go2/robot_state/robot_state_client.hpp>
|
||||
|
||||
namespace custom {
|
||||
|
||||
class CustomRobot {
|
||||
public:
|
||||
explicit CustomRobot(const std::string& configFile = "");
|
||||
explicit CustomRobot();
|
||||
~CustomRobot();
|
||||
|
||||
bool initialize();
|
||||
void shutdown();
|
||||
|
||||
bool start();
|
||||
bool stop();
|
||||
bool isRunning() const { return running_; }
|
||||
|
||||
// Main run loop
|
||||
void run();
|
||||
void runAsync();
|
||||
void waitForShutdown();
|
||||
// Robot state methods
|
||||
bool GetServiceList(std::vector<unitree::robot::go2::ServiceState>& serviceList);
|
||||
bool SwitchService(const std::string& serviceName, bool enable);
|
||||
bool SetReportFreq(int32_t interval, int32_t duration);
|
||||
|
||||
private:
|
||||
// MQTT message handlers
|
||||
void handleMqttMessage(const std::string& topic, const std::string& payload);
|
||||
void handleCommandMessage(const nlohmann::json& command);
|
||||
void handleConfigMessage(const nlohmann::json& config);
|
||||
void handleControlMessage(const nlohmann::json& control);
|
||||
std::unique_ptr<Controller> controller_;
|
||||
std::unique_ptr<unitree::robot::go2::RobotStateClient> stateClient_;
|
||||
|
||||
// Robot state handlers
|
||||
void handleRobotState(const RobotState& state);
|
||||
void handleRobotError(const std::string& error);
|
||||
|
||||
// Publishing functions
|
||||
void publishState();
|
||||
void publishHeartbeat();
|
||||
void publishError(const std::string& error);
|
||||
void publishResponse(const std::string& requestId, bool success, const std::string& message = "");
|
||||
|
||||
// Command processing
|
||||
bool processMotionCommand(const nlohmann::json& cmd);
|
||||
bool processSpecialAction(const nlohmann::json& cmd);
|
||||
bool processSystemCommand(const nlohmann::json& cmd);
|
||||
bool processConfigCommand(const nlohmann::json& cmd);
|
||||
|
||||
// Utility functions
|
||||
MotionCommand jsonToMotionCommand(const nlohmann::json& json);
|
||||
nlohmann::json robotStateToJson(const RobotState& state);
|
||||
nlohmann::json createStatusMessage();
|
||||
|
||||
void startPeriodicTasks();
|
||||
void stopPeriodicTasks();
|
||||
|
||||
// Connection management
|
||||
void handleMqttConnection(bool connected);
|
||||
void reconnectMqtt();
|
||||
|
||||
// Safety monitoring
|
||||
void safetyMonitorLoop();
|
||||
void checkEmergencyConditions();
|
||||
|
||||
// Components
|
||||
std::unique_ptr<Controller> robotController_;
|
||||
std::unique_ptr<MqttClient> mqttClient_;
|
||||
|
||||
// Configuration
|
||||
std::string configFile_;
|
||||
|
||||
// State
|
||||
std::atomic<bool> running_;
|
||||
std::atomic<bool> initialized_;
|
||||
std::atomic<bool> mqttConnected_;
|
||||
|
||||
// Threads
|
||||
std::thread mainThread_;
|
||||
std::thread safetyThread_;
|
||||
std::vector<std::thread> periodicThreads_;
|
||||
|
||||
// Timing
|
||||
std::chrono::steady_clock::time_point lastHeartbeat_;
|
||||
std::chrono::steady_clock::time_point lastStatePublish_;
|
||||
std::chrono::steady_clock::time_point lastCommandReceived_;
|
||||
|
||||
// Statistics
|
||||
struct Statistics {
|
||||
uint64_t commandsReceived = 0;
|
||||
uint64_t commandsExecuted = 0;
|
||||
uint64_t commandsFailed = 0;
|
||||
uint64_t statesPublished = 0;
|
||||
uint64_t errorsOccurred = 0;
|
||||
std::chrono::steady_clock::time_point startTime;
|
||||
} stats_;
|
||||
|
||||
// Safety parameters
|
||||
double maxIdleTime_ = 30.0; // seconds
|
||||
double heartbeatInterval_ = 5.0; // seconds
|
||||
double statePublishInterval_ = 0.02; // 50Hz
|
||||
|
||||
// Current robot state cache
|
||||
mutable std::mutex stateCacheMutex_;
|
||||
RobotState lastKnownState_;
|
||||
|
||||
// Request tracking
|
||||
std::mutex requestMutex_;
|
||||
std::map<std::string, std::chrono::steady_clock::time_point> pendingRequests_;
|
||||
|
||||
// Error handling
|
||||
std::mutex errorMutex_;
|
||||
std::queue<std::string> errorQueue_;
|
||||
void processErrorQueue();
|
||||
};
|
||||
|
||||
} // namespace custom
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
|
||||
namespace custom {
|
||||
namespace customConfig {
|
||||
|
||||
Config::Config() {
|
||||
// Load default configuration
|
||||
@@ -16,8 +16,6 @@ Config& Config::getInstance() {
|
||||
}
|
||||
|
||||
void Config::loadDefaults() {
|
||||
using namespace config;
|
||||
|
||||
config_.network_interface = NETWORK_INTERFACE;
|
||||
config_.mqtt_broker = MQTT_BROKER;
|
||||
config_.mqtt_port = MQTT_PORT;
|
||||
@@ -33,15 +31,15 @@ void Config::loadDefaults() {
|
||||
|
||||
config_.control_frequency = CONTROL_FREQUENCY;
|
||||
config_.state_publish_frequency = STATE_PUBLISH_FREQUENCY;
|
||||
config_.enable_video = ENABLE_VIDEO;
|
||||
config_.enable_audio = ENABLE_AUDIO;
|
||||
config_.enable_video = VIDEO_ENABLED;
|
||||
config_.enable_audio = AUDIO_ENABLED;
|
||||
|
||||
config_.max_linear_velocity = MAX_LINEAR_VELOCITY;
|
||||
config_.max_angular_velocity = MAX_ANGULAR_VELOCITY;
|
||||
config_.emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
|
||||
|
||||
config_.stand_height = STAND_HEIGHT;
|
||||
config_.default_gait = GAIT;
|
||||
config_.default_gait = static_cast<int>(DEFAULT_GAIT);
|
||||
|
||||
config_.video_width = VIDEO_WIDTH;
|
||||
config_.video_height = VIDEO_HEIGHT;
|
||||
@@ -55,46 +53,48 @@ void Config::loadDefaults() {
|
||||
|
||||
void Config::loadHighPerformancePreset() {
|
||||
loadDefaults();
|
||||
config_.control_frequency = HighPerformancePreset::CONTROL_FREQUENCY;
|
||||
config_.state_publish_frequency = HighPerformancePreset::STATE_PUBLISH_FREQUENCY;
|
||||
config_.max_linear_velocity = HighPerformancePreset::MAX_LINEAR_VELOCITY;
|
||||
config_.max_angular_velocity = HighPerformancePreset::MAX_ANGULAR_VELOCITY;
|
||||
config_.enable_video = HighPerformancePreset::ENABLE_VIDEO;
|
||||
config_.enable_audio = HighPerformancePreset::ENABLE_AUDIO;
|
||||
using hp = ConfigParams<ConfigPreset::HighPerformance>;
|
||||
config_.control_frequency = hp::control_frequency;
|
||||
config_.state_publish_frequency = hp::state_publish_frequency;
|
||||
config_.max_linear_velocity = hp::max_linear_velocity;
|
||||
config_.max_angular_velocity = hp::max_angular_velocity;
|
||||
config_.enable_video = hp::video_enabled;
|
||||
config_.enable_audio = hp::audio_enabled;
|
||||
}
|
||||
|
||||
void Config::loadDevelopmentPreset() {
|
||||
loadDefaults();
|
||||
config_.control_frequency = DevelopmentPreset::CONTROL_FREQUENCY;
|
||||
config_.state_publish_frequency = DevelopmentPreset::STATE_PUBLISH_FREQUENCY;
|
||||
config_.max_linear_velocity = DevelopmentPreset::MAX_LINEAR_VELOCITY;
|
||||
config_.max_angular_velocity = DevelopmentPreset::MAX_ANGULAR_VELOCITY;
|
||||
config_.enable_video = DevelopmentPreset::ENABLE_VIDEO;
|
||||
config_.enable_audio = DevelopmentPreset::ENABLE_AUDIO;
|
||||
using dev = ConfigParams<ConfigPreset::Development>;
|
||||
config_.control_frequency = dev::control_frequency;
|
||||
config_.state_publish_frequency = dev::state_publish_frequency;
|
||||
config_.max_linear_velocity = dev::max_linear_velocity;
|
||||
config_.max_angular_velocity = dev::max_angular_velocity;
|
||||
config_.enable_video = dev::video_enabled;
|
||||
config_.enable_audio = dev::audio_enabled;
|
||||
}
|
||||
|
||||
void Config::loadSafetyPreset() {
|
||||
loadDefaults();
|
||||
config_.control_frequency = SafetyPreset::CONTROL_FREQUENCY;
|
||||
config_.state_publish_frequency = SafetyPreset::STATE_PUBLISH_FREQUENCY;
|
||||
config_.max_linear_velocity = SafetyPreset::MAX_LINEAR_VELOCITY;
|
||||
config_.max_angular_velocity = SafetyPreset::MAX_ANGULAR_VELOCITY;
|
||||
config_.emergency_stop_timeout = SafetyPreset::EMERGENCY_STOP_TIMEOUT;
|
||||
config_.enable_video = SafetyPreset::ENABLE_VIDEO;
|
||||
config_.enable_audio = SafetyPreset::ENABLE_AUDIO;
|
||||
using safe = ConfigParams<ConfigPreset::Safety>;
|
||||
config_.control_frequency = safe::control_frequency;
|
||||
config_.state_publish_frequency = safe::state_publish_frequency;
|
||||
config_.max_linear_velocity = safe::max_linear_velocity;
|
||||
config_.max_angular_velocity = safe::max_angular_velocity;
|
||||
config_.emergency_stop_timeout = safe::emergency_stop_timeout;
|
||||
config_.enable_video = safe::video_enabled;
|
||||
config_.enable_audio = safe::audio_enabled;
|
||||
}
|
||||
|
||||
bool Config::loadConfig(const std::string& configFile) {
|
||||
// If compile-time config is enabled, skip JSON loading
|
||||
if (config::USE_COMPILE_TIME_CONFIG) {
|
||||
loadDefaults();
|
||||
return true;
|
||||
}
|
||||
// For now just load defaults, JSON loading can be added later if needed
|
||||
loadDefaults();
|
||||
|
||||
/* TODO: Add JSON loading support if needed
|
||||
try {
|
||||
std::ifstream file(configFile);
|
||||
if (!file.is_open()) {
|
||||
LOG_WARN("Config file not found: " + configFile + ", using defaults");
|
||||
setDefaults();
|
||||
loadDefaults();
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -175,9 +175,12 @@ bool Config::loadConfig(const std::string& configFile) {
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Failed to load config: " + std::string(e.what()));
|
||||
setDefaults();
|
||||
loadDefaults();
|
||||
return false;
|
||||
}
|
||||
*/
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Config::saveConfig(const std::string& configFile) {
|
||||
@@ -253,64 +256,64 @@ bool Config::validateConfig() {
|
||||
// Validate frequencies
|
||||
if (config_.control_frequency <= 0 || config_.control_frequency > 1000) {
|
||||
LOG_WARN("Invalid control frequency, setting to default");
|
||||
config_.control_frequency = config::CONTROL_FREQUENCY;
|
||||
config_.control_frequency = CONTROL_FREQUENCY;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
if (config_.state_publish_frequency <= 0 || config_.state_publish_frequency > 500) {
|
||||
LOG_WARN("Invalid state publish frequency, setting to default");
|
||||
config_.state_publish_frequency = config::STATE_PUBLISH_FREQUENCY;
|
||||
config_.state_publish_frequency = STATE_PUBLISH_FREQUENCY;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
// Validate velocities
|
||||
if (config_.max_linear_velocity <= 0 || config_.max_linear_velocity > 5.0) {
|
||||
LOG_WARN("Invalid max linear velocity, setting to default");
|
||||
config_.max_linear_velocity = config::MAX_LINEAR_VELOCITY;
|
||||
config_.max_linear_velocity = MAX_LINEAR_VELOCITY;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
if (config_.max_angular_velocity <= 0 || config_.max_angular_velocity > 10.0) {
|
||||
LOG_WARN("Invalid max angular velocity, setting to default");
|
||||
config_.max_angular_velocity = config::MAX_ANGULAR_VELOCITY;
|
||||
config_.max_angular_velocity = MAX_ANGULAR_VELOCITY;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
// Validate timeout
|
||||
if (config_.emergency_stop_timeout <= 0 || config_.emergency_stop_timeout > 60.0) {
|
||||
LOG_WARN("Invalid emergency stop timeout, setting to default");
|
||||
config_.emergency_stop_timeout = config::EMERGENCY_STOP_TIMEOUT;
|
||||
config_.emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
// Validate video settings
|
||||
if (config_.video_width <= 0 || config_.video_height <= 0) {
|
||||
LOG_WARN("Invalid video dimensions, setting to default");
|
||||
config_.video_width = config::VIDEO_WIDTH;
|
||||
config_.video_height = config::VIDEO_HEIGHT;
|
||||
config_.video_width = VIDEO_WIDTH;
|
||||
config_.video_height = VIDEO_HEIGHT;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
if (config_.video_fps <= 0 || config_.video_fps > 120) {
|
||||
LOG_WARN("Invalid video FPS, setting to default");
|
||||
config_.video_fps = config::VIDEO_FPS;
|
||||
config_.video_fps = VIDEO_FPS;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
// Validate audio settings
|
||||
if (config_.audio_sample_rate <= 0) {
|
||||
LOG_WARN("Invalid audio sample rate, setting to default");
|
||||
config_.audio_sample_rate = config::AUDIO_SAMPLE_RATE;
|
||||
config_.audio_sample_rate = AUDIO_SAMPLE_RATE;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
if (config_.audio_channels <= 0) {
|
||||
LOG_WARN("Invalid audio channels, setting to default");
|
||||
config_.audio_channels = config::AUDIO_CHANNELS;
|
||||
config_.audio_channels = AUDIO_CHANNELS;
|
||||
valid = false;
|
||||
}
|
||||
|
||||
return valid;
|
||||
}
|
||||
|
||||
} // namespace custom
|
||||
} // namespace customConfig
|
||||
|
||||
@@ -7,63 +7,34 @@
|
||||
namespace custom {
|
||||
|
||||
Controller::Controller(const std::string& networkInterface)
|
||||
: networkInterface_(networkInterface), running_(false), initialized_(false),
|
||||
emergencyStopActive_(false) {
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
controlPeriod_ = std::chrono::milliseconds(static_cast<int>(1000.0 / config.control_frequency));
|
||||
statePeriod_ = std::chrono::milliseconds(static_cast<int>(1000.0 / config.state_publish_frequency));
|
||||
: networkInterface_(networkInterface), running_(false), initialized_(false) {
|
||||
}
|
||||
|
||||
Controller::~Controller() {
|
||||
shutdown();
|
||||
if (running_) {
|
||||
stop();
|
||||
}
|
||||
|
||||
LOG_INFO("Shutting down robot controller");
|
||||
sportClient_.reset();
|
||||
obstacleClient_.reset();
|
||||
initialized_ = false;
|
||||
}
|
||||
|
||||
bool Controller::initialize() {
|
||||
try {
|
||||
LOG_INFO("Initializing robot controller with interface: " + networkInterface_);
|
||||
|
||||
// Initialize channel factory
|
||||
unitree::robot::ChannelFactory::Instance()->Init(0, networkInterface_);
|
||||
|
||||
// Initialize sport client
|
||||
sportClient_ = std::make_unique<unitree::robot::go2::SportClient>();
|
||||
sportClient_->SetTimeout(10.0f);
|
||||
sportClient_->Init();
|
||||
|
||||
// Initialize obstacle avoidance client
|
||||
obstacleClient_ = std::make_unique<unitree::robot::go2::ObstaclesAvoidClient>();
|
||||
obstacleClient_->SetTimeout(3.0f);
|
||||
obstacleClient_->Init();
|
||||
|
||||
// Initialize video client
|
||||
videoClient_ = std::make_unique<unitree::robot::go2::VideoClient>();
|
||||
videoClient_->Init();
|
||||
|
||||
// Initialize VUI client
|
||||
vuiClient_ = std::make_unique<unitree::robot::go2::VuiClient>();
|
||||
vuiClient_->Init();
|
||||
|
||||
// Initialize state subscribers
|
||||
sportStateSubscriber_.reset(
|
||||
new unitree::robot::ChannelSubscriber<unitree_go::msg::dds_::SportModeState_>("rt/sportmodestate")
|
||||
);
|
||||
sportStateSubscriber_->InitChannel(
|
||||
std::bind(&Controller::updateSportModeState, this, std::placeholders::_1), 1
|
||||
);
|
||||
|
||||
lowStateSubscriber_.reset(
|
||||
new unitree::robot::ChannelSubscriber<unitree_go::msg::dds_::LowState_>("rt/lowstate")
|
||||
);
|
||||
lowStateSubscriber_->InitChannel(
|
||||
std::bind(&Controller::updateLowLevelState, this, std::placeholders::_1), 1
|
||||
);
|
||||
|
||||
// Initialize robot state
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(stateMutex_);
|
||||
currentState_ = RobotState{};
|
||||
currentState_.timestamp = std::chrono::steady_clock::now();
|
||||
}
|
||||
|
||||
initialized_ = true;
|
||||
LOG_INFO("Robot controller initialized successfully");
|
||||
@@ -75,26 +46,6 @@ bool Controller::initialize() {
|
||||
}
|
||||
}
|
||||
|
||||
void Controller::shutdown() {
|
||||
if (running_) {
|
||||
stop();
|
||||
}
|
||||
|
||||
LOG_INFO("Shutting down robot controller");
|
||||
|
||||
// Reset all clients
|
||||
sportClient_.reset();
|
||||
obstacleClient_.reset();
|
||||
videoClient_.reset();
|
||||
vuiClient_.reset();
|
||||
|
||||
// Reset subscribers
|
||||
sportStateSubscriber_.reset();
|
||||
lowStateSubscriber_.reset();
|
||||
|
||||
initialized_ = false;
|
||||
}
|
||||
|
||||
bool Controller::start() {
|
||||
if (!initialized_) {
|
||||
LOG_ERROR("Cannot start: robot controller not initialized");
|
||||
@@ -109,12 +60,6 @@ bool Controller::start() {
|
||||
LOG_INFO("Starting robot controller");
|
||||
|
||||
running_ = true;
|
||||
emergencyStopActive_ = false;
|
||||
lastCommandTime_ = std::chrono::steady_clock::now();
|
||||
|
||||
// Start control threads
|
||||
controlThread_ = std::thread(&Controller::controlLoop, this);
|
||||
stateThread_ = std::thread(&Controller::stateUpdateLoop, this);
|
||||
|
||||
LOG_INFO("Robot controller started successfully");
|
||||
return true;
|
||||
@@ -127,100 +72,16 @@ bool Controller::stop() {
|
||||
|
||||
LOG_INFO("Stopping robot controller");
|
||||
|
||||
// Stop all motion first
|
||||
emergencyStop();
|
||||
|
||||
running_ = false;
|
||||
commandCondition_.notify_all();
|
||||
|
||||
// Wait for threads to finish
|
||||
if (controlThread_.joinable()) {
|
||||
controlThread_.join();
|
||||
}
|
||||
if (stateThread_.joinable()) {
|
||||
stateThread_.join();
|
||||
}
|
||||
|
||||
LOG_INFO("Robot controller stopped");
|
||||
return true;
|
||||
}
|
||||
|
||||
RobotState Controller::getCurrentState() const {
|
||||
std::lock_guard<std::mutex> lock(stateMutex_);
|
||||
return currentState_;
|
||||
}
|
||||
|
||||
void Controller::setStateCallback(StateCallback callback) {
|
||||
stateCallback_ = callback;
|
||||
}
|
||||
|
||||
void Controller::setErrorCallback(ErrorCallback callback) {
|
||||
errorCallback_ = callback;
|
||||
}
|
||||
|
||||
bool Controller::executeCommand(const MotionCommand& command) {
|
||||
if (!running_) {
|
||||
LOG_ERROR("Cannot execute command: robot controller not running");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (emergencyStopActive_) {
|
||||
LOG_WARN("Cannot execute command: emergency stop active");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!validateCommand(command)) {
|
||||
LOG_ERROR("Invalid motion command");
|
||||
return false;
|
||||
}
|
||||
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(commandMutex_);
|
||||
commandQueue_.push(command);
|
||||
lastCommandTime_ = std::chrono::steady_clock::now();
|
||||
}
|
||||
commandCondition_.notify_one();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Controller::emergencyStop() {
|
||||
LOG_WARN("Emergency stop activated");
|
||||
|
||||
emergencyStopActive_ = true;
|
||||
|
||||
try {
|
||||
if (sportClient_) {
|
||||
sportClient_->StopMove();
|
||||
sportClient_->Damp();
|
||||
}
|
||||
return true;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Emergency stop failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::recoveryStand() {
|
||||
LOG_INFO("Executing recovery stand");
|
||||
|
||||
try {
|
||||
if (sportClient_) {
|
||||
int32_t result = sportClient_->RecoveryStand();
|
||||
if (result == 0) {
|
||||
emergencyStopActive_ = false;
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Recovery stand failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Basic motions
|
||||
bool Controller::standUp() {
|
||||
bool Controller::StandUp() {
|
||||
LOG_INFO("Standing up");
|
||||
try {
|
||||
return sportClient_ && sportClient_->StandUp() == 0;
|
||||
@@ -230,7 +91,7 @@ bool Controller::standUp() {
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::standDown() {
|
||||
bool Controller::StandDown() {
|
||||
LOG_INFO("Standing down");
|
||||
try {
|
||||
return sportClient_ && sportClient_->StandDown() == 0;
|
||||
@@ -240,7 +101,7 @@ bool Controller::standDown() {
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::sit() {
|
||||
bool Controller::Sit() {
|
||||
LOG_INFO("Sitting");
|
||||
try {
|
||||
return sportClient_ && sportClient_->Sit() == 0;
|
||||
@@ -250,7 +111,7 @@ bool Controller::sit() {
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::lie() {
|
||||
bool Controller::Lie() {
|
||||
LOG_INFO("Lying down");
|
||||
try {
|
||||
return sportClient_ && sportClient_->StandDown() == 0;
|
||||
@@ -260,7 +121,7 @@ bool Controller::lie() {
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::damp() {
|
||||
bool Controller::Damp() {
|
||||
LOG_INFO("Damping");
|
||||
try {
|
||||
return sportClient_ && sportClient_->Damp() == 0;
|
||||
@@ -270,57 +131,31 @@ bool Controller::damp() {
|
||||
}
|
||||
}
|
||||
|
||||
// Movement
|
||||
bool Controller::move(double vx, double vy, double vyaw) {
|
||||
try {
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
bool Controller::RecoveryStand() {
|
||||
LOG_INFO("Executing recovery stand");
|
||||
|
||||
// Apply safety limits
|
||||
vx = std::max(-config.max_linear_velocity, std::min(config.max_linear_velocity, vx));
|
||||
vy = std::max(-config.max_linear_velocity, std::min(config.max_linear_velocity, vy));
|
||||
vyaw = std::max(-config.max_angular_velocity, std::min(config.max_angular_velocity, vyaw));
|
||||
|
||||
return sportClient_ && sportClient_->Move(vx, vy, vyaw) == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Move failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::moveToPosition(double x, double y, double yaw) {
|
||||
try {
|
||||
return obstacleClient_ && obstacleClient_->MoveToAbsolutePosition(x, y, yaw) == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Move to position failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::stop() {
|
||||
try {
|
||||
return sportClient_ && sportClient_->StopMove() == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Stop failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Body control
|
||||
bool Controller::setBodyPose(double roll, double pitch, double yaw, double height) {
|
||||
try {
|
||||
if (sportClient_) {
|
||||
sportClient_->Euler(roll, pitch, yaw);
|
||||
sportClient_->BodyHeight(height);
|
||||
return true;
|
||||
int32_t result = sportClient_->RecoveryStand();
|
||||
return result == 0;
|
||||
}
|
||||
return false;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Set body pose failed: " + std::string(e.what()));
|
||||
LOG_ERROR("Recovery stand failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::balanceStand() {
|
||||
bool Controller::StopMove() {
|
||||
try {
|
||||
return sportClient_ && sportClient_->StopMove() == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Stop move failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::BalanceStand() {
|
||||
try {
|
||||
return sportClient_ && sportClient_->BalanceStand() == 0;
|
||||
} catch (const std::exception& e) {
|
||||
@@ -329,8 +164,7 @@ bool Controller::balanceStand() {
|
||||
}
|
||||
}
|
||||
|
||||
// Special actions
|
||||
bool Controller::dance1() {
|
||||
bool Controller::Dance1() {
|
||||
try {
|
||||
return sportClient_ && sportClient_->Dance1() == 0;
|
||||
} catch (const std::exception& e) {
|
||||
@@ -339,7 +173,7 @@ bool Controller::dance1() {
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::dance2() {
|
||||
bool Controller::Dance2() {
|
||||
try {
|
||||
return sportClient_ && sportClient_->Dance2() == 0;
|
||||
} catch (const std::exception& e) {
|
||||
@@ -348,7 +182,7 @@ bool Controller::dance2() {
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::hello() {
|
||||
bool Controller::Hello() {
|
||||
try {
|
||||
return sportClient_ && sportClient_->Hello() == 0;
|
||||
} catch (const std::exception& e) {
|
||||
@@ -357,219 +191,52 @@ bool Controller::hello() {
|
||||
}
|
||||
}
|
||||
|
||||
// Control loops
|
||||
void Controller::controlLoop() {
|
||||
LOG_INFO("Control loop started");
|
||||
|
||||
while (running_) {
|
||||
auto startTime = std::chrono::steady_clock::now();
|
||||
|
||||
try {
|
||||
processCommands();
|
||||
checkSafetyLimits();
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Control loop error: " + std::string(e.what()));
|
||||
handleError(e.what());
|
||||
}
|
||||
|
||||
auto endTime = std::chrono::steady_clock::now();
|
||||
auto elapsed = endTime - startTime;
|
||||
|
||||
if (elapsed < controlPeriod_) {
|
||||
std::this_thread::sleep_for(controlPeriod_ - elapsed);
|
||||
}
|
||||
}
|
||||
|
||||
LOG_INFO("Control loop stopped");
|
||||
}
|
||||
|
||||
void Controller::stateUpdateLoop() {
|
||||
LOG_INFO("State update loop started");
|
||||
|
||||
while (running_) {
|
||||
auto startTime = std::chrono::steady_clock::now();
|
||||
|
||||
try {
|
||||
// State is updated via callbacks, just trigger callback here
|
||||
if (stateCallback_) {
|
||||
RobotState state = getCurrentState();
|
||||
stateCallback_(state);
|
||||
}
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("State update error: " + std::string(e.what()));
|
||||
}
|
||||
|
||||
auto endTime = std::chrono::steady_clock::now();
|
||||
auto elapsed = endTime - startTime;
|
||||
|
||||
if (elapsed < statePeriod_) {
|
||||
std::this_thread::sleep_for(statePeriod_ - elapsed);
|
||||
}
|
||||
}
|
||||
|
||||
LOG_INFO("State update loop stopped");
|
||||
}
|
||||
|
||||
void Controller::processCommands() {
|
||||
std::unique_lock<std::mutex> lock(commandMutex_);
|
||||
|
||||
while (!commandQueue_.empty()) {
|
||||
auto command = commandQueue_.front();
|
||||
commandQueue_.pop();
|
||||
lock.unlock();
|
||||
|
||||
executeMotionCommand(command);
|
||||
|
||||
lock.lock();
|
||||
bool Controller::SwitchSet(bool enable) {
|
||||
try {
|
||||
return obstacleClient_ && obstacleClient_->SwitchSet(enable) == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Switch set failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void Controller::executeMotionCommand(const MotionCommand& command) {
|
||||
switch (command.type) {
|
||||
case MotionCommand::VELOCITY:
|
||||
move(command.linear_velocity[0], command.linear_velocity[1], command.angular_velocity[2]);
|
||||
break;
|
||||
|
||||
case MotionCommand::POSITION:
|
||||
moveToPosition(command.target_position[0], command.target_position[1], command.target_orientation[2]);
|
||||
break;
|
||||
|
||||
case MotionCommand::BODY_POSE:
|
||||
setBodyPose(command.body_roll, command.body_pitch, command.body_yaw, command.body_height);
|
||||
break;
|
||||
|
||||
case MotionCommand::SPECIAL_ACTION:
|
||||
performAction(command.action_name, command.action_params);
|
||||
break;
|
||||
|
||||
default:
|
||||
LOG_WARN("Unknown motion command type");
|
||||
break;
|
||||
bool Controller::SwitchGet(bool& enable) {
|
||||
try {
|
||||
return obstacleClient_ && obstacleClient_->SwitchGet(enable) == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Switch get failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::validateCommand(const MotionCommand& command) {
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
|
||||
// Check velocity limits
|
||||
if (command.type == MotionCommand::VELOCITY) {
|
||||
double vx = std::abs(command.linear_velocity[0]);
|
||||
double vy = std::abs(command.linear_velocity[1]);
|
||||
double vyaw = std::abs(command.angular_velocity[2]);
|
||||
|
||||
if (vx > config.max_linear_velocity || vy > config.max_linear_velocity ||
|
||||
vyaw > config.max_angular_velocity) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void Controller::updateSportModeState(const void* message) {
|
||||
auto* state = static_cast<const unitree_go::msg::dds_::SportModeState_*>(message);
|
||||
|
||||
std::lock_guard<std::mutex> lock(stateMutex_);
|
||||
|
||||
// Update position
|
||||
currentState_.position[0] = state->position()[0];
|
||||
currentState_.position[1] = state->position()[1];
|
||||
currentState_.position[2] = state->position()[2];
|
||||
|
||||
// Update orientation
|
||||
currentState_.orientation[0] = state->imu_state().rpy()[0];
|
||||
currentState_.orientation[1] = state->imu_state().rpy()[1];
|
||||
currentState_.orientation[2] = state->imu_state().rpy()[2];
|
||||
|
||||
// Update velocity
|
||||
currentState_.velocity[0] = state->velocity()[0];
|
||||
currentState_.velocity[1] = state->velocity()[1];
|
||||
currentState_.velocity[2] = state->velocity()[2];
|
||||
|
||||
// Update IMU
|
||||
for (int i = 0; i < 3; i++) {
|
||||
currentState_.imu_acc[i] = state->imu_state().accelerometer()[i];
|
||||
currentState_.imu_gyro[i] = state->imu_state().gyroscope()[i];
|
||||
}
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
currentState_.imu_quat[i] = state->imu_state().quaternion()[i];
|
||||
}
|
||||
|
||||
currentState_.timestamp = std::chrono::steady_clock::now();
|
||||
currentState_.is_connected = true;
|
||||
}
|
||||
|
||||
void Controller::updateLowLevelState(const void* message) {
|
||||
auto* state = static_cast<const unitree_go::msg::dds_::LowState_*>(message);
|
||||
|
||||
std::lock_guard<std::mutex> lock(stateMutex_);
|
||||
|
||||
// Update motor states
|
||||
for (int i = 0; i < 20 && i < state->motor_state().size(); i++) {
|
||||
currentState_.motor_positions[i] = state->motor_state()[i].q();
|
||||
currentState_.motor_velocities[i] = state->motor_state()[i].dq();
|
||||
currentState_.motor_torques[i] = state->motor_state()[i].tau_est();
|
||||
currentState_.motor_temperatures[i] = state->motor_state()[i].temperature();
|
||||
}
|
||||
|
||||
// Update battery info
|
||||
if (!state->bms_state().empty()) {
|
||||
currentState_.battery_voltage = state->bms_state()[0].voltage();
|
||||
currentState_.battery_current = state->bms_state()[0].current();
|
||||
currentState_.battery_percentage = state->bms_state()[0].soc();
|
||||
}
|
||||
|
||||
currentState_.timestamp = std::chrono::steady_clock::now();
|
||||
}
|
||||
|
||||
void Controller::checkSafetyLimits() {
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
auto now = std::chrono::steady_clock::now();
|
||||
|
||||
// Check command timeout
|
||||
auto timeSinceLastCommand = std::chrono::duration_cast<std::chrono::seconds>(
|
||||
now - lastCommandTime_).count();
|
||||
|
||||
if (timeSinceLastCommand > config.emergency_stop_timeout && !emergencyStopActive_) {
|
||||
LOG_WARN("Command timeout exceeded, activating emergency stop");
|
||||
emergencyStop();
|
||||
}
|
||||
|
||||
// Check battery level
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(stateMutex_);
|
||||
if (currentState_.battery_percentage < 10) {
|
||||
currentState_.low_battery = true;
|
||||
if (!emergencyStopActive_) {
|
||||
LOG_WARN("Low battery detected, activating emergency stop");
|
||||
emergencyStop();
|
||||
}
|
||||
}
|
||||
bool Controller::UseRemoteCommandFromApi(bool isRemoteCommandsFromApi) {
|
||||
try {
|
||||
return obstacleClient_ && obstacleClient_->UseRemoteCommandFromApi(isRemoteCommandsFromApi) == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Use remote command from api failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void Controller::handleError(const std::string& error) {
|
||||
if (errorCallback_) {
|
||||
errorCallback_(error);
|
||||
bool Controller::MoveToAbsolutePosition(float x, float y, float yaw) {
|
||||
try {
|
||||
return obstacleClient_ && obstacleClient_->MoveToAbsolutePosition(x, y, yaw) == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Move to absolute position failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Controller::performAction(const std::string& actionName, const nlohmann::json& params) {
|
||||
LOG_INFO("Performing action: " + actionName);
|
||||
|
||||
if (actionName == "dance1") return dance1();
|
||||
if (actionName == "dance2") return dance2();
|
||||
if (actionName == "hello") return hello();
|
||||
if (actionName == "sit") return sit();
|
||||
if (actionName == "stand_up") return standUp();
|
||||
if (actionName == "stand_down") return standDown();
|
||||
if (actionName == "damp") return damp();
|
||||
if (actionName == "balance_stand") return balanceStand();
|
||||
if (actionName == "recovery_stand") return recoveryStand();
|
||||
|
||||
LOG_WARN("Unknown action: " + actionName);
|
||||
return false;
|
||||
bool Controller::MoveToIncrementPosition(float x, float y, float yaw) {
|
||||
try {
|
||||
return obstacleClient_ && obstacleClient_->MoveToIncrementPosition(x, y, yaw) == 0;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Move to increment position failed: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace custom
|
||||
@@ -1,71 +1,48 @@
|
||||
#include "custom_robot.hpp"
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
#include <sstream>
|
||||
#include <functional>
|
||||
|
||||
namespace custom {
|
||||
|
||||
CustomRobot::CustomRobot(const std::string& configFile)
|
||||
: configFile_(configFile.empty() ? "config/robot_config.json" : configFile),
|
||||
running_(false), initialized_(false), mqttConnected_(false) {
|
||||
CustomRobot::CustomRobot()
|
||||
: initialized_(false), running_(false) {
|
||||
|
||||
stats_.startTime = std::chrono::steady_clock::now();
|
||||
}
|
||||
}
|
||||
|
||||
CustomRobot::~CustomRobot() {
|
||||
shutdown();
|
||||
LOG_INFO("Shutting down CustomRobot");
|
||||
if (controller_) {
|
||||
controller_->shutdown();
|
||||
controller_.reset();
|
||||
}
|
||||
|
||||
if (stateClient_) {
|
||||
stateClient_.reset();
|
||||
}
|
||||
|
||||
initialized_ = false;
|
||||
}
|
||||
|
||||
bool CustomRobot::initialize() {
|
||||
LOG_INFO("Initializing CustomRobot");
|
||||
|
||||
// Load configuration
|
||||
if (!Config::getInstance().loadConfig(configFile_)) {
|
||||
LOG_WARN("Failed to load config file, using defaults");
|
||||
}
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
|
||||
// Initialize robot controller
|
||||
robotController_ = std::make_unique<Controller>(config.network_interface);
|
||||
if (!robotController_->initialize()) {
|
||||
controller_ = std::make_unique<Controller>(config.network_interface);
|
||||
if (!controller_->initialize()) {
|
||||
LOG_ERROR("Failed to initialize robot controller");
|
||||
return false;
|
||||
}
|
||||
|
||||
// Set robot controller callbacks
|
||||
robotController_->setStateCallback(
|
||||
std::bind(&CustomRobot::handleRobotState, this, std::placeholders::_1)
|
||||
);
|
||||
robotController_->setErrorCallback(
|
||||
std::bind(&CustomRobot::handleRobotError, this, std::placeholders::_1)
|
||||
);
|
||||
|
||||
// Initialize MQTT client
|
||||
mqttClient_ = std::make_unique<MqttClient>(
|
||||
config.mqtt_broker, config.mqtt_port, config.mqtt_client_id
|
||||
);
|
||||
|
||||
// Set MQTT callbacks
|
||||
mqttClient_->setMessageCallback(
|
||||
std::bind(&CustomRobot::handleMqttMessage, this, std::placeholders::_1, std::placeholders::_2)
|
||||
);
|
||||
mqttClient_->setConnectionCallback(
|
||||
std::bind(&CustomRobot::handleMqttConnection, this, std::placeholders::_1)
|
||||
);
|
||||
|
||||
// Connect to MQTT broker
|
||||
if (!mqttClient_->connect(config.mqtt_username, config.mqtt_password)) {
|
||||
LOG_ERROR("Failed to connect to MQTT broker");
|
||||
return false;
|
||||
}
|
||||
|
||||
// Start MQTT message processor
|
||||
mqttClient_->startMessageProcessor();
|
||||
|
||||
// Subscribe to command topics
|
||||
std::string cmdTopic = Config::getInstance().getFullTopic(config.cmd_topic);
|
||||
if (!mqttClient_->subscribe(cmdTopic + "/+")) { // Subscribe to all command subtopics
|
||||
LOG_ERROR("Failed to subscribe to command topics");
|
||||
// Initialize robot state client
|
||||
try {
|
||||
stateClient_ = std::make_unique<unitree::robot::go2::RobotStateClient>();
|
||||
stateClient_->SetTimeout(10.0f);
|
||||
stateClient_->Init();
|
||||
LOG_INFO("RobotStateClient initialized successfully");
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Failed to initialize RobotStateClient: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -74,24 +51,6 @@ bool CustomRobot::initialize() {
|
||||
return true;
|
||||
}
|
||||
|
||||
void CustomRobot::shutdown() {
|
||||
LOG_INFO("Shutting down CustomRobot");
|
||||
|
||||
stop();
|
||||
|
||||
if (mqttClient_) {
|
||||
mqttClient_->stopMessageProcessor();
|
||||
mqttClient_->disconnect();
|
||||
mqttClient_.reset();
|
||||
}
|
||||
|
||||
if (robotController_) {
|
||||
robotController_->shutdown();
|
||||
robotController_.reset();
|
||||
}
|
||||
|
||||
initialized_ = false;
|
||||
}
|
||||
|
||||
bool CustomRobot::start() {
|
||||
if (!initialized_) {
|
||||
@@ -104,579 +63,74 @@ bool CustomRobot::start() {
|
||||
return true;
|
||||
}
|
||||
|
||||
LOG_INFO("Starting CustomRobot");
|
||||
|
||||
// Start robot controller
|
||||
if (!robotController_->start()) {
|
||||
if (!controller_->start()) {
|
||||
LOG_ERROR("Failed to start robot controller");
|
||||
return false;
|
||||
}
|
||||
|
||||
running_ = true;
|
||||
|
||||
// Start periodic tasks
|
||||
startPeriodicTasks();
|
||||
|
||||
// Publish initial status
|
||||
publishHeartbeat();
|
||||
|
||||
LOG_INFO("CustomRobot started successfully");
|
||||
return true;
|
||||
}
|
||||
|
||||
bool CustomRobot::stop() {
|
||||
if (!running_) {
|
||||
bool CustomRobot::GetServiceList(std::vector<unitree::robot::go2::ServiceState>& serviceList) {
|
||||
if (!initialized_ || !stateClient_) {
|
||||
LOG_ERROR("Robot not initialized or stateClient is null");
|
||||
return false;
|
||||
}
|
||||
|
||||
try {
|
||||
int32_t ret = stateClient_->ServiceList(serviceList);
|
||||
if (ret != 0) {
|
||||
LOG_ERROR("Failed to get service list, error code: " + std::to_string(ret));
|
||||
return false;
|
||||
}
|
||||
LOG_INFO("Successfully retrieved service list with " + std::to_string(serviceList.size()) + " services");
|
||||
return true;
|
||||
}
|
||||
|
||||
LOG_INFO("Stopping CustomRobot");
|
||||
|
||||
running_ = false;
|
||||
|
||||
// Stop periodic tasks
|
||||
stopPeriodicTasks();
|
||||
|
||||
// Stop robot controller
|
||||
if (robotController_) {
|
||||
robotController_->stop();
|
||||
}
|
||||
|
||||
// Publish final status
|
||||
if (mqttClient_ && mqttClient_->isConnected()) {
|
||||
nlohmann::json status;
|
||||
status["status"] = "stopped";
|
||||
status["timestamp"] = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch()).count();
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
std::string statusTopic = Config::getInstance().getFullTopic(config.state_topic + "/status");
|
||||
mqttClient_->publishJson(statusTopic, status);
|
||||
}
|
||||
|
||||
LOG_INFO("CustomRobot stopped");
|
||||
return true;
|
||||
}
|
||||
|
||||
void CustomRobot::run() {
|
||||
if (!start()) {
|
||||
LOG_ERROR("Failed to start CustomRobot");
|
||||
return;
|
||||
}
|
||||
|
||||
LOG_INFO("CustomRobot main loop started");
|
||||
|
||||
while (running_) {
|
||||
try {
|
||||
// Process any pending errors
|
||||
processErrorQueue();
|
||||
|
||||
// Sleep for a short period
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Main loop error: " + std::string(e.what()));
|
||||
}
|
||||
}
|
||||
|
||||
LOG_INFO("CustomRobot main loop ended");
|
||||
}
|
||||
|
||||
void CustomRobot::runAsync() {
|
||||
mainThread_ = std::thread(&CustomRobot::run, this);
|
||||
}
|
||||
|
||||
void CustomRobot::waitForShutdown() {
|
||||
if (mainThread_.joinable()) {
|
||||
mainThread_.join();
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::handleMqttMessage(const std::string& topic, const std::string& payload) {
|
||||
try {
|
||||
LOG_DEBUG("Received MQTT message on topic: " + topic);
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
std::string cmdPrefix = Config::getInstance().getFullTopic(config.cmd_topic);
|
||||
|
||||
if (topic.find(cmdPrefix) == 0) {
|
||||
// Parse JSON payload
|
||||
nlohmann::json message = nlohmann::json::parse(payload);
|
||||
|
||||
// Extract command type from topic
|
||||
std::string cmdType = topic.substr(cmdPrefix.length() + 1);
|
||||
|
||||
if (cmdType == "motion") {
|
||||
handleCommandMessage(message);
|
||||
} else if (cmdType == "config") {
|
||||
handleConfigMessage(message);
|
||||
} else if (cmdType == "control") {
|
||||
handleControlMessage(message);
|
||||
} else {
|
||||
LOG_WARN("Unknown command type: " + cmdType);
|
||||
}
|
||||
|
||||
stats_.commandsReceived++;
|
||||
}
|
||||
|
||||
} catch (const nlohmann::json::parse_error& e) {
|
||||
LOG_ERROR("JSON parse error: " + std::string(e.what()));
|
||||
publishError("Invalid JSON in message: " + std::string(e.what()));
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Message handling error: " + std::string(e.what()));
|
||||
publishError("Message handling error: " + std::string(e.what()));
|
||||
LOG_ERROR("Exception in getServiceList: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::handleCommandMessage(const nlohmann::json& command) {
|
||||
std::string requestId = command.value("request_id", "");
|
||||
|
||||
try {
|
||||
if (!command.contains("type")) {
|
||||
publishResponse(requestId, false, "Missing command type");
|
||||
return;
|
||||
}
|
||||
|
||||
std::string cmdType = command["type"];
|
||||
bool success = false;
|
||||
|
||||
if (cmdType == "motion") {
|
||||
success = processMotionCommand(command);
|
||||
} else if (cmdType == "special_action") {
|
||||
success = processSpecialAction(command);
|
||||
} else if (cmdType == "system") {
|
||||
success = processSystemCommand(command);
|
||||
} else {
|
||||
publishResponse(requestId, false, "Unknown command type: " + cmdType);
|
||||
return;
|
||||
}
|
||||
|
||||
if (success) {
|
||||
stats_.commandsExecuted++;
|
||||
publishResponse(requestId, true);
|
||||
} else {
|
||||
stats_.commandsFailed++;
|
||||
publishResponse(requestId, false, "Command execution failed");
|
||||
}
|
||||
|
||||
lastCommandReceived_ = std::chrono::steady_clock::now();
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Command processing error: " + std::string(e.what()));
|
||||
publishResponse(requestId, false, "Command processing error: " + std::string(e.what()));
|
||||
stats_.commandsFailed++;
|
||||
}
|
||||
}
|
||||
|
||||
bool CustomRobot::processMotionCommand(const nlohmann::json& cmd) {
|
||||
if (!robotController_) {
|
||||
bool CustomRobot::SwitchService(const std::string& serviceName, bool enable) {
|
||||
if (!initialized_ || !stateClient_) {
|
||||
LOG_ERROR("Robot not initialized or stateClient is null");
|
||||
return false;
|
||||
}
|
||||
|
||||
MotionCommand motionCmd = jsonToMotionCommand(cmd);
|
||||
return robotController_->executeCommand(motionCmd);
|
||||
try {
|
||||
int32_t status;
|
||||
int32_t ret = stateClient_->ServiceSwitch(serviceName, enable ? 1 : 0, status);
|
||||
if (ret != 0) {
|
||||
LOG_ERROR("Failed to switch service " + serviceName + ", error code: " + std::to_string(ret));
|
||||
return false;
|
||||
}
|
||||
LOG_INFO("Successfully switched service " + serviceName + " to " + (enable ? "enabled" : "disabled"));
|
||||
return true;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Exception in switchService: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool CustomRobot::processSpecialAction(const nlohmann::json& cmd) {
|
||||
if (!robotController_ || !cmd.contains("action")) {
|
||||
bool CustomRobot::SetReportFreq(int32_t interval, int32_t duration) {
|
||||
if (!initialized_ || !stateClient_) {
|
||||
LOG_ERROR("Robot not initialized or stateClient is null");
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string action = cmd["action"];
|
||||
nlohmann::json params = cmd.value("params", nlohmann::json::object());
|
||||
|
||||
return robotController_->performAction(action, params);
|
||||
}
|
||||
|
||||
bool CustomRobot::processSystemCommand(const nlohmann::json& cmd) {
|
||||
if (!cmd.contains("command")) {
|
||||
try {
|
||||
int32_t ret = stateClient_->SetReportFreq(interval, duration);
|
||||
if (ret != 0) {
|
||||
LOG_ERROR("Failed to set report frequency, error code: " + std::to_string(ret));
|
||||
return false;
|
||||
}
|
||||
LOG_INFO("Successfully set report frequency: interval=" + std::to_string(interval) + ", duration=" + std::to_string(duration));
|
||||
return true;
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Exception in setReportFreq: " + std::string(e.what()));
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string sysCmd = cmd["command"];
|
||||
|
||||
if (sysCmd == "emergency_stop") {
|
||||
return robotController_ && robotController_->emergencyStop();
|
||||
} else if (sysCmd == "recovery_stand") {
|
||||
return robotController_ && robotController_->recoveryStand();
|
||||
} else if (sysCmd == "start") {
|
||||
return robotController_ && robotController_->start();
|
||||
} else if (sysCmd == "stop") {
|
||||
return robotController_ && robotController_->stop();
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void CustomRobot::handleConfigMessage(const nlohmann::json& config) {
|
||||
// Handle configuration updates
|
||||
LOG_INFO("Received configuration update");
|
||||
|
||||
try {
|
||||
// Update configuration and save
|
||||
auto& currentConfig = Config::getInstance().getConfig();
|
||||
|
||||
if (config.contains("control_frequency")) {
|
||||
currentConfig.control_frequency = config["control_frequency"];
|
||||
}
|
||||
if (config.contains("state_publish_frequency")) {
|
||||
currentConfig.state_publish_frequency = config["state_publish_frequency"];
|
||||
}
|
||||
|
||||
// Save updated configuration
|
||||
Config::getInstance().saveConfig(configFile_);
|
||||
|
||||
LOG_INFO("Configuration updated successfully");
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Configuration update error: " + std::string(e.what()));
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::handleControlMessage(const nlohmann::json& control) {
|
||||
// Handle control messages (start/stop/pause etc.)
|
||||
if (control.contains("command")) {
|
||||
std::string cmd = control["command"];
|
||||
|
||||
if (cmd == "start" && !running_) {
|
||||
start();
|
||||
} else if (cmd == "stop" && running_) {
|
||||
stop();
|
||||
} else if (cmd == "restart") {
|
||||
stop();
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
start();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::handleRobotState(const RobotState& state) {
|
||||
// Cache the latest state
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(stateCacheMutex_);
|
||||
lastKnownState_ = state;
|
||||
}
|
||||
|
||||
// Publish state if enough time has passed
|
||||
auto now = std::chrono::steady_clock::now();
|
||||
auto timeSinceLastPublish = std::chrono::duration<double>(now - lastStatePublish_).count();
|
||||
|
||||
if (timeSinceLastPublish >= statePublishInterval_) {
|
||||
publishState();
|
||||
lastStatePublish_ = now;
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::handleRobotError(const std::string& error) {
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(errorMutex_);
|
||||
errorQueue_.push(error);
|
||||
}
|
||||
|
||||
stats_.errorsOccurred++;
|
||||
}
|
||||
|
||||
void CustomRobot::publishState() {
|
||||
if (!mqttClient_ || !mqttClient_->isConnected()) {
|
||||
return;
|
||||
}
|
||||
|
||||
try {
|
||||
RobotState state;
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(stateCacheMutex_);
|
||||
state = lastKnownState_;
|
||||
}
|
||||
|
||||
nlohmann::json stateJson = robotStateToJson(state);
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
std::string stateTopic = Config::getInstance().getFullTopic(config.state_topic + "/robot");
|
||||
|
||||
mqttClient_->publishJson(stateTopic, stateJson);
|
||||
stats_.statesPublished++;
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("State publishing error: " + std::string(e.what()));
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::publishHeartbeat() {
|
||||
if (!mqttClient_ || !mqttClient_->isConnected()) {
|
||||
return;
|
||||
}
|
||||
|
||||
try {
|
||||
nlohmann::json heartbeat = createStatusMessage();
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
std::string heartbeatTopic = Config::getInstance().getFullTopic(config.state_topic + "/heartbeat");
|
||||
|
||||
mqttClient_->publishJson(heartbeatTopic, heartbeat);
|
||||
lastHeartbeat_ = std::chrono::steady_clock::now();
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Heartbeat publishing error: " + std::string(e.what()));
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::publishError(const std::string& error) {
|
||||
if (!mqttClient_ || !mqttClient_->isConnected()) {
|
||||
return;
|
||||
}
|
||||
|
||||
try {
|
||||
nlohmann::json errorMsg;
|
||||
errorMsg["error"] = error;
|
||||
errorMsg["timestamp"] = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch()).count();
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
std::string errorTopic = Config::getInstance().getFullTopic(config.state_topic + "/error");
|
||||
|
||||
mqttClient_->publishJson(errorTopic, errorMsg);
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Error publishing error: " + std::string(e.what()));
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::publishResponse(const std::string& requestId, bool success, const std::string& message) {
|
||||
if (!mqttClient_ || !mqttClient_->isConnected() || requestId.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
try {
|
||||
nlohmann::json response;
|
||||
response["request_id"] = requestId;
|
||||
response["success"] = success;
|
||||
response["message"] = message;
|
||||
response["timestamp"] = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch()).count();
|
||||
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
std::string responseTopic = Config::getInstance().getFullTopic(config.state_topic + "/response");
|
||||
|
||||
mqttClient_->publishJson(responseTopic, response);
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Response publishing error: " + std::string(e.what()));
|
||||
}
|
||||
}
|
||||
|
||||
MotionCommand CustomRobot::jsonToMotionCommand(const nlohmann::json& json) {
|
||||
MotionCommand cmd;
|
||||
cmd.timestamp = std::chrono::steady_clock::now();
|
||||
|
||||
if (json.contains("motion_type")) {
|
||||
std::string motionType = json["motion_type"];
|
||||
if (motionType == "velocity") {
|
||||
cmd.type = MotionCommand::VELOCITY;
|
||||
} else if (motionType == "position") {
|
||||
cmd.type = MotionCommand::POSITION;
|
||||
} else if (motionType == "body_pose") {
|
||||
cmd.type = MotionCommand::BODY_POSE;
|
||||
} else if (motionType == "special_action") {
|
||||
cmd.type = MotionCommand::SPECIAL_ACTION;
|
||||
}
|
||||
}
|
||||
|
||||
// Parse velocity command
|
||||
if (json.contains("linear_velocity")) {
|
||||
auto vel = json["linear_velocity"];
|
||||
if (vel.is_array() && vel.size() >= 3) {
|
||||
cmd.linear_velocity[0] = vel[0];
|
||||
cmd.linear_velocity[1] = vel[1];
|
||||
cmd.linear_velocity[2] = vel[2];
|
||||
}
|
||||
}
|
||||
|
||||
if (json.contains("angular_velocity")) {
|
||||
auto vel = json["angular_velocity"];
|
||||
if (vel.is_array() && vel.size() >= 3) {
|
||||
cmd.angular_velocity[0] = vel[0];
|
||||
cmd.angular_velocity[1] = vel[1];
|
||||
cmd.angular_velocity[2] = vel[2];
|
||||
}
|
||||
}
|
||||
|
||||
// Parse position command
|
||||
if (json.contains("target_position")) {
|
||||
auto pos = json["target_position"];
|
||||
if (pos.is_array() && pos.size() >= 3) {
|
||||
cmd.target_position[0] = pos[0];
|
||||
cmd.target_position[1] = pos[1];
|
||||
cmd.target_position[2] = pos[2];
|
||||
}
|
||||
}
|
||||
|
||||
// Parse body pose
|
||||
if (json.contains("body_height")) cmd.body_height = json["body_height"];
|
||||
if (json.contains("body_roll")) cmd.body_roll = json["body_roll"];
|
||||
if (json.contains("body_pitch")) cmd.body_pitch = json["body_pitch"];
|
||||
if (json.contains("body_yaw")) cmd.body_yaw = json["body_yaw"];
|
||||
|
||||
// Parse special action
|
||||
if (json.contains("action_name")) {
|
||||
cmd.action_name = json["action_name"];
|
||||
}
|
||||
if (json.contains("action_params")) {
|
||||
cmd.action_params = json["action_params"];
|
||||
}
|
||||
|
||||
// Parse duration
|
||||
if (json.contains("duration")) {
|
||||
cmd.duration = json["duration"];
|
||||
}
|
||||
|
||||
return cmd;
|
||||
}
|
||||
|
||||
nlohmann::json CustomRobot::robotStateToJson(const RobotState& state) {
|
||||
nlohmann::json json;
|
||||
|
||||
// Basic info
|
||||
json["timestamp"] = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
state.timestamp.time_since_epoch()).count();
|
||||
json["is_connected"] = state.is_connected;
|
||||
json["emergency_stop"] = state.emergency_stop;
|
||||
|
||||
// Position and orientation
|
||||
json["position"] = {state.position[0], state.position[1], state.position[2]};
|
||||
json["orientation"] = {state.orientation[0], state.orientation[1], state.orientation[2]};
|
||||
json["velocity"] = {state.velocity[0], state.velocity[1], state.velocity[2]};
|
||||
|
||||
// IMU data
|
||||
json["imu"]["acceleration"] = {state.imu_acc[0], state.imu_acc[1], state.imu_acc[2]};
|
||||
json["imu"]["gyroscope"] = {state.imu_gyro[0], state.imu_gyro[1], state.imu_gyro[2]};
|
||||
json["imu"]["quaternion"] = {state.imu_quat[0], state.imu_quat[1], state.imu_quat[2], state.imu_quat[3]};
|
||||
|
||||
// Battery info
|
||||
json["battery"]["voltage"] = state.battery_voltage;
|
||||
json["battery"]["current"] = state.battery_current;
|
||||
json["battery"]["percentage"] = state.battery_percentage;
|
||||
json["battery"]["low_battery"] = state.low_battery;
|
||||
|
||||
// System info
|
||||
json["temperature"] = state.temperature;
|
||||
json["overheated"] = state.overheated;
|
||||
|
||||
// Motor states (first 12 leg motors)
|
||||
json["motors"]["positions"] = std::vector<double>(state.motor_positions, state.motor_positions + 12);
|
||||
json["motors"]["velocities"] = std::vector<double>(state.motor_velocities, state.motor_velocities + 12);
|
||||
json["motors"]["torques"] = std::vector<double>(state.motor_torques, state.motor_torques + 12);
|
||||
json["motors"]["temperatures"] = std::vector<double>(state.motor_temperatures, state.motor_temperatures + 12);
|
||||
|
||||
return json;
|
||||
}
|
||||
|
||||
nlohmann::json CustomRobot::createStatusMessage() {
|
||||
nlohmann::json status;
|
||||
|
||||
status["status"] = running_ ? "running" : "stopped";
|
||||
status["initialized"] = initialized_;
|
||||
status["mqtt_connected"] = mqttConnected_;
|
||||
status["robot_connected"] = robotController_ && robotController_->isRunning();
|
||||
|
||||
// Statistics
|
||||
status["stats"]["commands_received"] = stats_.commandsReceived;
|
||||
status["stats"]["commands_executed"] = stats_.commandsExecuted;
|
||||
status["stats"]["commands_failed"] = stats_.commandsFailed;
|
||||
status["stats"]["states_published"] = stats_.statesPublished;
|
||||
status["stats"]["errors_occurred"] = stats_.errorsOccurred;
|
||||
|
||||
// Uptime
|
||||
auto now = std::chrono::steady_clock::now();
|
||||
auto uptime = std::chrono::duration_cast<std::chrono::seconds>(now - stats_.startTime).count();
|
||||
status["uptime_seconds"] = uptime;
|
||||
|
||||
status["timestamp"] = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch()).count();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
void CustomRobot::startPeriodicTasks() {
|
||||
// Heartbeat thread
|
||||
periodicThreads_.emplace_back([this]() {
|
||||
while (running_) {
|
||||
auto now = std::chrono::steady_clock::now();
|
||||
auto timeSinceLastHeartbeat = std::chrono::duration<double>(now - lastHeartbeat_).count();
|
||||
|
||||
if (timeSinceLastHeartbeat >= heartbeatInterval_) {
|
||||
publishHeartbeat();
|
||||
}
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
}
|
||||
});
|
||||
|
||||
// Safety monitor thread
|
||||
safetyThread_ = std::thread(&CustomRobot::safetyMonitorLoop, this);
|
||||
}
|
||||
|
||||
void CustomRobot::stopPeriodicTasks() {
|
||||
// Wait for all periodic threads to finish
|
||||
for (auto& thread : periodicThreads_) {
|
||||
if (thread.joinable()) {
|
||||
thread.join();
|
||||
}
|
||||
}
|
||||
periodicThreads_.clear();
|
||||
|
||||
if (safetyThread_.joinable()) {
|
||||
safetyThread_.join();
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::handleMqttConnection(bool connected) {
|
||||
mqttConnected_ = connected;
|
||||
|
||||
if (connected) {
|
||||
LOG_INFO("MQTT connection established");
|
||||
|
||||
// Resubscribe to topics
|
||||
auto& config = Config::getInstance().getConfig();
|
||||
std::string cmdTopic = Config::getInstance().getFullTopic(config.cmd_topic);
|
||||
mqttClient_->subscribe(cmdTopic + "/+");
|
||||
|
||||
// Publish connection status
|
||||
publishHeartbeat();
|
||||
} else {
|
||||
LOG_WARN("MQTT connection lost");
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::safetyMonitorLoop() {
|
||||
while (running_) {
|
||||
try {
|
||||
checkEmergencyConditions();
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(500));
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Safety monitor error: " + std::string(e.what()));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::checkEmergencyConditions() {
|
||||
// Check command timeout
|
||||
auto now = std::chrono::steady_clock::now();
|
||||
auto timeSinceLastCommand = std::chrono::duration<double>(now - lastCommandReceived_).count();
|
||||
|
||||
if (timeSinceLastCommand > maxIdleTime_ && robotController_ && robotController_->isRunning()) {
|
||||
LOG_WARN("Maximum idle time exceeded, stopping robot");
|
||||
robotController_->emergencyStop();
|
||||
}
|
||||
}
|
||||
|
||||
void CustomRobot::processErrorQueue() {
|
||||
std::lock_guard<std::mutex> lock(errorMutex_);
|
||||
|
||||
while (!errorQueue_.empty()) {
|
||||
std::string error = errorQueue_.front();
|
||||
errorQueue_.pop();
|
||||
|
||||
publishError(error);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace custom
|
||||
|
||||
12
src/main.cpp
12
src/main.cpp
@@ -11,24 +11,18 @@ std::unique_ptr<CustomRobot> g_robot;
|
||||
|
||||
void signalHandler(int signal) {
|
||||
LOG_INFO("Received signal " + std::to_string(signal) + ", shutting down...");
|
||||
if (g_robot) {
|
||||
g_robot->stop();
|
||||
}
|
||||
exit(0);
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
// Initialize logger with default settings
|
||||
Logger::getInstance().setLevel(LogLevel::INFO);
|
||||
|
||||
LOG_INFO("Starting Unitree GO2 System v0.0.1");
|
||||
|
||||
// Setup signal handlers
|
||||
signal(SIGINT, signalHandler);
|
||||
signal(SIGTERM, signalHandler);
|
||||
|
||||
try {
|
||||
// Create robot with compile-time defaults (no config file needed)
|
||||
g_robot = std::make_unique<CustomRobot>("");
|
||||
|
||||
if (!g_robot->initialize()) {
|
||||
@@ -37,11 +31,7 @@ int main(int argc, char** argv) {
|
||||
}
|
||||
|
||||
LOG_INFO("Robot initialized successfully");
|
||||
LOG_INFO("Press Ctrl+C to stop the robot");
|
||||
|
||||
// Run the robot
|
||||
g_robot->run();
|
||||
|
||||
g_robot->start();
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("Exception: " + std::string(e.what()));
|
||||
return 1;
|
||||
|
||||
Reference in New Issue
Block a user