feat: developing.........

agv_calib_brain/src/agv_calib_core/CMakeLists.txt

@@ -39,7 +39,7 @@ rclcpp_components_register_node(brain_node
 # 4. 安装工程中所有的核心文件夹 (不可遗漏！)
 install(TARGETS brain_node brain_node_exe
   ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

agv_calib_brain/src/win_ubuntu_bridge/CMakeLists.txt

@@ -148,7 +148,7 @@ install(TARGETS
     sensor_gateway_node sensor_gateway_node_exe
     master_node brain_node
   ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib/
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

agv_calib_eu/scripts/mock_windows_agv.py

@@ -2,48 +2,57 @@ import grpc
 from concurrent import futures
 import time
 
-# 导入刚才生成的 3 个 Python 契约库
 import agv_calib_chassis_pb2 as chassis_pb2, agv_calib_chassis_pb2_grpc as chassis_grpc
 import agv_calib_control_pb2 as control_pb2, agv_calib_control_pb2_grpc as control_grpc
 import agv_calib_sensor_pb2 as sensor_pb2, agv_calib_sensor_pb2_grpc as sensor_grpc
 
-# 1. 伪装物理底盘
 class FakeChassis(chassis_grpc.AgvCalibChassisServiceServicer):
     def SetDiagnosticMode(self, request, context):
         mode = "纯物理直驱" if request.target_mode == 1 else "正常算法"
         print(f"\n[⚙️ 底盘硬件] 收到 Linux 夺权指令！切换至: {mode}模式")
         return chassis_pb2.StandardResponse(success=True, message="底盘已交出控制权")
 
-    def StreamHardwareTelemetry(self, request, context):
-        print("[🌊 底盘硬件] 开始向 Linux 推送 50Hz 硬件裸数据流...")
-        while context.is_active():
-            # 疯狂发送假脉冲数据
-            yield chassis_pb2.HardwareState(hardware_timestamp_us=int(time.time()*1000000), encoder_ticks_fl=1024, current_fl_amp=2.5)
-            time.sleep(0.02) # 50Hz
-    
-# 2. 伪装运控大脑
 class FakeControl(control_grpc.AgvCalibControlServiceServicer):
-    def InjectTuningParameters(self, request, context):
+    pass # 暂未调用，保持空壳即可
-        print(f"\n[🧠 运控大脑] 收到 AI 热注入参数！Kp 被修改为: {request.pid_kp_lateral}")
-        return control_pb2.StandardResponse(success=True, message="PID参数已瞬间写入内存")
 
-# 3. 伪装传感器代理
 class FakeSensor(sensor_grpc.SensorCalibrationServiceServicer):
     def TriggerSyncCapture(self, request, context):
         print(f"\n[📷 传感器代理] 收到冻结指令！要求拍摄: {request.sensor_ids}")
-        time.sleep(0.5) # 模拟硬件快门延迟
+        time.sleep(0.5) 
         print("[📷 传感器代理] 咔嚓！照片和点云已锁存。取件码: 999888777")
+        # 🚨 吐出取件码给行为树！
         return sensor_pb2.CaptureResponse(success=True, capture_timestamp_us=999888777)
 
+    # 🚨 终极大招：模拟 2MB 大文件的流式分块发送！
+    def DownloadImage(self, request, context):
+        print(f"\n[📥 传感器代理] 收到大文件拉取请求！取件码: {request.capture_timestamp_us}, 传感器: {request.sensor_id}")
+        print("[🌊 传感器代理] 正在切割 2MB 的无损 PNG 假图片，以 512KB 碎片流式发往 Linux...")
+        
+        chunk_size = 512 * 1024  # 每次切 512KB
+        total_chunks = 4         # 发 4 次，共 2MB
+        
+        for i in range(total_chunks):
+            is_last = (i == total_chunks - 1)
+            # 伪造一点假二进制数据 (带个 PNG 文件头，否则后续 OpenCV 可能会报格式错)
+            dummy_data = b'\x89PNG\r\n\x1a\n' + b'\x00' * (chunk_size - 8) if i == 0 else b'\x00' * chunk_size
+            
+            yield sensor_pb2.FileChunk(
+                chunk_data=dummy_data,
+                is_last_chunk=is_last,
+                format_ext="png"
+            )
+            time.sleep(0.3) # 故意制造网络延迟，观察网关如何应对
+            
+        print("[📥 传感器代理] ✅ 2MB 碎片流全部分发完毕！")
+
 def serve():
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
-    # 三大假硬件全挂载到同一个网络端口！
     chassis_grpc.add_AgvCalibChassisServiceServicer_to_server(FakeChassis(), server)
     control_grpc.add_AgvCalibControlServiceServicer_to_server(FakeControl(), server)
     sensor_grpc.add_SensorCalibrationServiceServicer_to_server(FakeSensor(), server)
     
     server.add_insecure_port('[::]:50051')
-    print("🚀 [全能 Windows 假车端] 已启动，正在监听 50051 端口，等待 ROS 2 召唤...")
+    print("🚀 [全能 Windows 假车端] 已启动，监听 50051 端口，等待 ROS 2 召唤...")
     server.start()
     server.wait_for_termination()