feat: 已添加win_ubuntu_bridge

2026-03-06 17:16:50 +08:00
parent 1ea480eccd
commit 18d6500d04
21 changed files with 1673 additions and 196 deletions
@@ -5,19 +5,47 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

-# 1. 寻找 ROS 2 和 行为树 核心依赖
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED) # 🚨 核心依赖：寻找组件库
 find_package(behaviortree_cpp_v3 REQUIRED)
 find_package(ament_index_cpp REQUIRED)
+find_package(win_ubuntu_bridge REQUIRED)

-# 2. 编译主节点
-add_executable(master_node src/master_node.cpp)
-target_include_directories(master_node PUBLIC src)
-ament_target_dependencies(master_node rclcpp behaviortree_cpp_v3 ament_index_cpp)
+# 1. 编译大脑为动态链接库 (SHARED) 组件
+add_library(brain_node SHARED src/brain_node.cpp) 

-# 3. 安装规则 (极其重要：把剧本和程序装到系统目录，让 ROS 2 能找到它)
-install(TARGETS master_node DESTINATION lib/${PROJECT_NAME})
+# 2. 将 include 暴露给编译器
+target_include_directories(brain_node PUBLIC 
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+)
+
+ament_target_dependencies(brain_node 
+  rclcpp 
+  rclcpp_action 
+  rclcpp_components
+  behaviortree_cpp_v3 
+  ament_index_cpp 
+  win_ubuntu_bridge
+)
+
+# 3. 注册插件
+rclcpp_components_register_node(brain_node
+  PLUGIN "agv_calib_core::BrainNode"
+  EXECUTABLE brain_node_exe 
+)
+
+# 4. 安装工程中所有的核心文件夹 (不可遗漏！)
+install(TARGETS brain_node brain_node_exe
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
 install(DIRECTORY behavior_trees/ DESTINATION share/${PROJECT_NAME}/behavior_trees)

 ament_package()
@@ -0,0 +1,9 @@
+<root main_tree_to_execute="MainTree">
+    <BehaviorTree ID="MainTree">
+        <Sequence name="全自动标定总流程">
+            <SetChassisMode target_mode="1" />
+            <TriggerCapture sensor_id="cam_front" capture_code_out="{shared_code}" />
+            <DownloadData sensor_id="cam_front" capture_code_in="{shared_code}" save_dir="/tmp/calib_data" saved_path_out="{saved_image_path}" />
+        </Sequence>
+    </BehaviorTree>
+</root>
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    # 动态指定要加载的 XML 剧本文件名
+    tree_xml_filename: "main_tree.xml"
+    # 行为树的 Tick 循环频率 (毫秒)
+    tick_rate_ms: 50
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <behaviortree_cpp_v3/bt_factory.h>
+#include <thread>
+#include <atomic>
+#include <string>
+
+namespace agv_calib_core {
+
+// 继承 Node，化身为标准的 ROS 2 Component
+class BrainNode : public rclcpp::Node {
+public:
+    explicit BrainNode(const rclcpp::NodeOptions & options);
+    ~BrainNode() override;
+
+private:
+    // 行为树专属的后台执行线程 (极其重要！绝不能阻塞 ROS 2 容器主线程)
+    void execute_behavior_tree();
+
+    std::thread bt_thread_;
+    std::atomic<bool> is_running_;
+};
+
+} // namespace agv_calib_core
@@ -0,0 +1,109 @@
+#pragma once
+
+#include <behaviortree_cpp_v3/action_node.h>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
+
+// 引入底层 win_ubuntu_bridge 接口
+#include "win_ubuntu_bridge/srv/set_diagnostic_mode.hpp"
+#include "win_ubuntu_bridge/srv/trigger_sync_capture.hpp"
+#include "win_ubuntu_bridge/action/download_sensor_data.hpp"
+
+namespace agv_calib_core {
+
+class SetChassisModeNode : public BT::SyncActionNode {
+public:
+    SetChassisModeNode(const std::string& name, const BT::NodeConfiguration& config, rclcpp::Node* node)
+        : BT::SyncActionNode(name, config), node_(node) {
+        client_ = node_->create_client<win_ubuntu_bridge::srv::SetDiagnosticMode>("/chassis_gateway/set_diagnostic_mode");
+    }
+
+    static BT::PortsList providedPorts() { return { BT::InputPort<int>("target_mode") }; }
+
+    BT::NodeStatus tick() override {
+        int mode; if (!getInput("target_mode", mode)) return BT::NodeStatus::FAILURE;
+        RCLCPP_INFO(node_->get_logger(), "🌲 [BT] 下发底盘夺权指令，模式: %d", mode);
+        if (!client_->wait_for_service(std::chrono::seconds(2))) return BT::NodeStatus::FAILURE;
+
+        auto req = std::make_shared<win_ubuntu_bridge::srv::SetDiagnosticMode::Request>(); req->target_mode = mode;
+        auto future = client_->async_send_request(req);
+        
+        // 🚨 这里阻塞等待完全没问题！因为外层 BT 跑在独立线程，根本不影响 ROS 2 Executor 的回调！
+        if (future.wait_for(std::chrono::seconds(3)) == std::future_status::ready) {
+            auto res = future.get();
+            if (res->success) return BT::NodeStatus::SUCCESS;
+        }
+        return BT::NodeStatus::FAILURE;
+    }
+private:
+    rclcpp::Node* node_; rclcpp::Client<win_ubuntu_bridge::srv::SetDiagnosticMode>::SharedPtr client_;
+};
+
+class TriggerCaptureNode : public BT::SyncActionNode {
+public:
+    TriggerCaptureNode(const std::string& name, const BT::NodeConfiguration& config, rclcpp::Node* node)
+        : BT::SyncActionNode(name, config), node_(node) {
+        client_ = node_->create_client<win_ubuntu_bridge::srv::TriggerSyncCapture>("/sensor_gateway/trigger_sync_capture");
+    }
+
+    static BT::PortsList providedPorts() {
+        return { BT::InputPort<std::string>("sensor_id"), BT::OutputPort<int64_t>("capture_code_out") };
+    }
+
+    BT::NodeStatus tick() override {
+        std::string sensor_id; getInput("sensor_id", sensor_id);
+        RCLCPP_INFO(node_->get_logger(), "📷 [BT] 冻结 %s 数据...", sensor_id.c_str());
+        if (!client_->wait_for_service(std::chrono::seconds(2))) return BT::NodeStatus::FAILURE;
+
+        auto req = std::make_shared<win_ubuntu_bridge::srv::TriggerSyncCapture::Request>(); req->sensor_ids.push_back(sensor_id);
+        auto future = client_->async_send_request(req);
+        if (future.wait_for(std::chrono::seconds(3)) == std::future_status::ready) {
+            auto res = future.get();
+            if (res->success) { setOutput("capture_code_out", res->capture_timestamp_us); return BT::NodeStatus::SUCCESS; }
+        }
+        return BT::NodeStatus::FAILURE;
+    }
+private:
+    rclcpp::Node* node_; rclcpp::Client<win_ubuntu_bridge::srv::TriggerSyncCapture>::SharedPtr client_;
+};
+
+class DownloadDataNode : public BT::StatefulActionNode {
+public:
+    DownloadDataNode(const std::string& name, const BT::NodeConfiguration& config, rclcpp::Node* node)
+        : BT::StatefulActionNode(name, config), node_(node) {
+        action_client_ = rclcpp_action::create_client<win_ubuntu_bridge::action::DownloadSensorData>(node_, "/sensor_gateway/download_sensor_data");
+    }
+
+    static BT::PortsList providedPorts() {
+        return { BT::InputPort<std::string>("sensor_id"), BT::InputPort<int64_t>("capture_code_in"),
+                 BT::InputPort<std::string>("save_dir"), BT::OutputPort<std::string>("saved_path_out") };
+    }
+
+    BT::NodeStatus onStart() override {
+        int64_t code; std::string sensor; std::string save_dir;
+        if (!getInput("capture_code_in", code) || !getInput("sensor_id", sensor) || !getInput("save_dir", save_dir)) return BT::NodeStatus::FAILURE;
+
+        RCLCPP_INFO(node_->get_logger(), "📥 [BT] 挂起下载任务，取件码: %ld", code);
+        if (!action_client_->wait_for_action_server(std::chrono::seconds(2))) return BT::NodeStatus::FAILURE;
+
+        auto goal_msg = win_ubuntu_bridge::action::DownloadSensorData::Goal();
+        goal_msg.capture_timestamp_us = code; goal_msg.sensor_id = sensor;
+        goal_msg.data_type = win_ubuntu_bridge::action::DownloadSensorData::Goal::DATA_TYPE_IMAGE; goal_msg.save_directory = save_dir;
+
+        auto send_goal_options = rclcpp_action::Client<win_ubuntu_bridge::action::DownloadSensorData>::SendGoalOptions();
+        send_goal_options.result_callback = [this](const rclcpp_action::ClientGoalHandle<win_ubuntu_bridge::action::DownloadSensorData>::WrappedResult & result) {
+            if (result.code == rclcpp_action::ResultCode::SUCCEEDED && result.result->success) {
+                RCLCPP_INFO(node_->get_logger(), "✅ [BT] 落盘成功！路径: %s", result.result->saved_file_path.c_str());
+                setOutput("saved_path_out", result.result->saved_file_path); done_ = true; success_ = true;
+            } else { done_ = true; success_ = false; }
+        };
+        action_client_->async_send_goal(goal_msg, send_goal_options); done_ = false; return BT::NodeStatus::RUNNING; 
+    }
+    BT::NodeStatus onRunning() override { if (done_) return success_ ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE; return BT::NodeStatus::RUNNING; }
+    void onHalted() override { }
+private:
+    rclcpp::Node* node_; rclcpp_action::Client<win_ubuntu_bridge::action::DownloadSensorData>::SharedPtr action_client_;
+    bool done_ = false; bool success_ = false;
+};
+
+} // namespace agv_calib_core
@@ -0,0 +1,31 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    # 获取 yaml 文件的绝对路径
+    config_file = os.path.join(
+        get_package_share_directory('agv_calib_core'),
+        'config',
+        'brain_params.yaml'
+    )
+
+    # 建立多线程容器加载大脑组件 (MT 代表 Multi-Threaded Executor)
+    container = ComposableNodeContainer(
+        name='brain_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container_mt', 
+        composable_node_descriptions=[
+            ComposableNode(
+                package='agv_calib_core',
+                plugin='agv_calib_core::BrainNode',
+                name='brain_node',
+                parameters=[config_file]  # 🚨 动态挂载 YAML 参数表！
+            )
+        ],
+        output='screen',
+    )
+    return LaunchDescription([container])
@@ -2,19 +2,19 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>agv_calib_core</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <version>1.0.0</version>
+  <description>行为树总控大脑</description>
  <maintainer email="2469171725@qq.com">nvidia</maintainer>
-  <license>TODO: License declaration</license>
+  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend> 
  <depend>behaviortree_cpp_v3</depend>
  <depend>ament_index_cpp</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <depend>win_ubuntu_bridge</depend>

  <export>
    <build_type>ament_cmake</build_type>
@@ -0,0 +1,87 @@
+#include "agv_calib_core/brain_node.hpp"
+#include "agv_calib_core/bt_ros2_nodes.hpp"
+
+#include <behaviortree_cpp_v3/bt_factory.h>
+#include <behaviortree_cpp_v3/loggers/bt_cout_logger.h>
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+namespace agv_calib_core {
+
+BrainNode::BrainNode(const rclcpp::NodeOptions & options) 
+: Node("brain_node", options), is_running_(false) {
+    
+    RCLCPP_INFO(this->get_logger(), "👑 AGV 标定中央大脑 (Component 版) 正在挂载...");
+
+    // 1. 从 YAML 配置文件读取动态参数！绝不硬编码！
+    this->declare_parameter<std::string>("tree_xml_filename", "main_tree.xml");
+    this->declare_parameter<int>("tick_rate_ms", 50);
+
+    // 2. 启动专属的后台守护线程去运行行为树。将主线程交还给容器处理网络回调！
+    is_running_ = true;
+    bt_thread_ = std::thread(&BrainNode::execute_behavior_tree, this);
+}
+
+BrainNode::~BrainNode() {
+    is_running_ = false;
+    if (bt_thread_.joinable()) {
+        bt_thread_.join();
+    }
+}
+
+void BrainNode::execute_behavior_tree() {
+    // 稍微延时 0.5 秒，确保节点完全被容器接管，再发起 Client 寻址
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+    BT::BehaviorTreeFactory factory;
+
+    // 注册业务积木，传递 this 裸指针给所有积木
+    factory.registerBuilder<SetChassisModeNode>("SetChassisMode", 
+        [this](const std::string& name, const BT::NodeConfiguration& config) {
+            return std::make_unique<SetChassisModeNode>(name, config, this);
+        });
+
+    factory.registerBuilder<TriggerCaptureNode>("TriggerCapture", 
+        [this](const std::string& name, const BT::NodeConfiguration& config) {
+            return std::make_unique<TriggerCaptureNode>(name, config, this);
+        });
+
+    factory.registerBuilder<DownloadDataNode>("DownloadData", 
+        [this](const std::string& name, const BT::NodeConfiguration& config) {
+            return std::make_unique<DownloadDataNode>(name, config, this);
+        });
+
+    try {
+        std::string xml_filename = this->get_parameter("tree_xml_filename").as_string();
+        int tick_rate = this->get_parameter("tick_rate_ms").as_int();
+
+        std::string pkg_path = ament_index_cpp::get_package_share_directory("agv_calib_core");
+        std::string xml_file = pkg_path + "/behavior_trees/" + xml_filename;
+        
+        auto tree = factory.createTreeFromFile(xml_file);
+        BT::StdCoutLogger logger_cout(tree);
+        
+        RCLCPP_INFO(this->get_logger(), "📜 XML 剧本 [%s] 加载完毕，开始全自动流水线...", xml_filename.c_str());
+        
+        // 按照 YAML 配置的频率持续 Tick
+        BT::NodeStatus status = BT::NodeStatus::RUNNING;
+        while (rclcpp::ok() && is_running_ && status == BT::NodeStatus::RUNNING) {
+            status = tree.tickRoot();
+            std::this_thread::sleep_for(std::chrono::milliseconds(tick_rate));
+        }
+
+        if (status == BT::NodeStatus::SUCCESS) {
+            RCLCPP_INFO(this->get_logger(), "🎉 标定流水线全流程完美结束！");
+        } else {
+            RCLCPP_WARN(this->get_logger(), "⚠️ 流水线未成功完成 (可能被中止)。");
+        }
+        
+    } catch (const std::exception& e) {
+        RCLCPP_ERROR(this->get_logger(), "❌ 行为树崩溃: %s", e.what());
+    }
+}
+
+} // namespace agv_calib_core
+
+// 🚨 终极一步：将该类注册为 ROS 2 Component (插件)！
+RCLCPP_COMPONENTS_REGISTER_NODE(agv_calib_core::BrainNode)
@@ -1,82 +0,0 @@
-#pragma once
-#include <behaviortree_cpp_v3/action_node.h>
-#include <iostream>
-#include <thread>
-#include <chrono>
-
-// 1. 假装连接车端并夺权
-class MockConnectAGV : public BT::SyncActionNode {
-public:
-    MockConnectAGV(const std::string& name) : BT::SyncActionNode(name, {}) {}
-    BT::NodeStatus tick() override {
-        std::cout << "💻 [gRPC 对外] 📡 正在连接 Windows 车端... 夺权成功！" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(500)); // 假装网络耗时 0.5 秒
-        return BT::NodeStatus::SUCCESS;
-    }
-};
-
-// 2. 假装呼叫底盘算法
-class MockCallChassisAlgo : public BT::SyncActionNode {
-public:
-    MockCallChassisAlgo(const std::string& name) : BT::SyncActionNode(name, {}) {}
-    BT::NodeStatus tick() override {
-        std::cout << "🧮 [Action 对内] 🚙 丢给底盘算法团队... 算好了！左轮径 0.098m。" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(800));
-        return BT::NodeStatus::SUCCESS;
-    }
-};
-
-// 3. 假装控制车子跑S型曲线
-class MockTuneControl : public BT::SyncActionNode {
-public:
-    MockTuneControl(const std::string& name) : BT::SyncActionNode(name, {}) {}
-    BT::NodeStatus tick() override {
-        std::cout << "💻 [gRPC 对外] 📈 正在下发S型曲线测试考题... 车端已跑完。" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(500));
-        return BT::NodeStatus::SUCCESS;
-    }
-};
-
-// 4. 假装呼叫AI寻优算法
-class MockCallControlAlgo : public BT::SyncActionNode {
-public:
-    MockCallControlAlgo(const std::string& name) : BT::SyncActionNode(name, {}) {}
-    BT::NodeStatus tick() override {
-        std::cout << "🧮 [Action 对内] 🧠 AI贝叶斯打分完毕... PID 最优参数已锁定！" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(800));
-        return BT::NodeStatus::SUCCESS;
-    }
-};
-
-// 5. 假装走停拍并下载大文件
-class MockMoveAndCapture : public BT::SyncActionNode {
-public:
-    MockMoveAndCapture(const std::string& name) : BT::SyncActionNode(name, {}) {}
-    BT::NodeStatus tick() override {
-        std::cout << "💻 [gRPC 对外] 🛑 刹车静止...咔嚓！5MB大文件已下载至 /tmp/cam.png" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(800));
-        return BT::NodeStatus::SUCCESS;
-    }
-};
-
-// 6. 假装调用外参标定视觉算法
-class MockCallSensorAlgo : public BT::SyncActionNode {
-public:
-    MockCallSensorAlgo(const std::string& name) : BT::SyncActionNode(name, {}) {}
-    BT::NodeStatus tick() override {
-        std::cout << "🧮 [Action 对内] 📷 视觉团队正在算矩阵... 拿到 4x4 外参矩阵！" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(800));
-        return BT::NodeStatus::SUCCESS;
-    }
-};
-
-// 7. 假装出厂固化
-class MockCommitAllParams : public BT::SyncActionNode {
-public:
-    MockCommitAllParams(const std::string& name) : BT::SyncActionNode(name, {}) {}
-    BT::NodeStatus tick() override {
-        std::cout << "💻 [gRPC 对外] 💾 正在把所有完美参数烧录进 AGV... 标定闭环，可以出厂！\n" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(300));
-        return BT::NodeStatus::SUCCESS;
-    }
-};
@@ -1,54 +0,0 @@
-#pragma once
-#include <behaviortree_cpp_v3/action_node.h>
-#include <grpcpp/grpcpp.h>
-// 引入 CMake 自动生成的 C++ 网络契约头文件！
-#include "agv_calib_control.grpc.pb.h"
-
-using namespace agv::calibration::control;
-
-// =========================================================
-// 🌟 真实网络积木：连接车端并夺取控制权
-// =========================================================
-class ConnectAGVNode : public BT::SyncActionNode {
-public:
-    // 注意：构造函数这里多了一个 const BT::NodeConfiguration& config 参数
-    ConnectAGVNode(const std::string& name, const BT::NodeConfiguration& config) : BT::SyncActionNode(name, config) {
-        // 1. 初始化时，拨号连接到车端 (因为我们要自己测，所以先连本机 127.0.0.1 端口)
-        channel_ = grpc::CreateChannel("127.0.0.1:50051", grpc::InsecureChannelCredentials());
-        stub_ = AgvCalibControlService::NewStub(channel_);
-    }
-    
-    // 行为树必须的静态函数 (定义端口)
-    static BT::PortsList providedPorts() { return {}; }
-
-    BT::NodeStatus tick() override {
-        std::cout << "\n💻 [行为树真节点] 正在通过 gRPC 向车端发起夺权请求..." << std::endl;
-        
-        // 2. 准备发送载荷：要求进入调优模式
-        ModeRequest request;
-        request.set_target_mode(ModeRequest::TUNING_MODE);
-        
-        StandardResponse response;
-        grpc::ClientContext context;
-        
-        // 🚨 架构师防线：设置 2 秒网络超时！如果网络断了，绝不让主线程死锁卡住！
-        context.set_deadline(std::chrono::system_clock::now() + std::chrono::seconds(2));
-
-        // 3. 发射真正的网络脉冲！
-        grpc::Status status = stub_->SetControlMode(&context, request, &response);
-
-        // 4. 根据网络回复，决定行为树这根树枝是亮绿灯还是红灯
-        if (status.ok() && response.success()) {
-            std::cout << "✅ [网络通信成功] 车端回执: " << response.message() << std::endl;
-            return BT::NodeStatus::SUCCESS; // 绿灯，允许行为树执行下一步
-        } else {
-            std::cerr << "❌ [网络通信失败] 错误码: " << status.error_code() 
-                      << " 详情: " << status.error_message() << std::endl;
-            return BT::NodeStatus::FAILURE; // 红灯，触发行为树重试或报警
-        }
-    }
-
-private:
-    std::shared_ptr<grpc::Channel> channel_;
-    std::unique_ptr<AgvCalibControlService::Stub> stub_;
-};
@@ -1,44 +0,0 @@
-#include <rclcpp/rclcpp.hpp>
-#include <behaviortree_cpp_v3/bt_factory.h>
-#include <ament_index_cpp/get_package_share_directory.hpp>
-
-// 引入刚才写的假节点
-#include "bt_nodes/dummy_nodes.hpp" 
-
-int main(int argc, char **argv) {
-    rclcpp::init(argc, argv);
-    
-    std::cout << "\n=========================================" << std::endl;
-    std::cout << "🚀 AGV 标定车间中央大脑 [空转测试版] 启动！" << std::endl;
-    std::cout << "=========================================\n" << std::endl;
-
-    BT::BehaviorTreeFactory factory;
-
-    // 1. 把 C++ 类注册到工厂，名字必须和 XML 里的一模一样！
-    factory.registerNodeType<MockConnectAGV>("MockConnectAGV");
-    factory.registerNodeType<MockCallChassisAlgo>("MockCallChassisAlgo");
-    factory.registerNodeType<MockTuneControl>("MockTuneControl");
-    factory.registerNodeType<MockCallControlAlgo>("MockCallControlAlgo");
-    factory.registerNodeType<MockMoveAndCapture>("MockMoveAndCapture");
-    factory.registerNodeType<MockCallSensorAlgo>("MockCallSensorAlgo");
-    factory.registerNodeType<MockCommitAllParams>("MockCommitAllParams");
-
-    try {
-        // 2. 动态获取 XML 剧本的绝对路径 (防止你运行程序时路径不对找不到文件)
-        std::string pkg_path = ament_index_cpp::get_package_share_directory("agv_calib_core");
-        std::string xml_file = pkg_path + "/behavior_trees/main_pipeline.xml";
-        
-        auto tree = factory.createTreeFromFile(xml_file);
-        std::cout << "📜 行为树剧本加载完毕，开始全自动流水线...\n" << std::endl;
-        
-        // 3. 开始执行总控流！
-        tree.tickRoot();
-        
-    } catch (const std::exception& e) {
-        std::cerr << "❌ 加载 XML 失败: " << e.what() << std::endl;
-    }
-
-    std::cout << "🎉 全流程执行完毕，完美收工！\n" << std::endl;
-    rclcpp::shutdown();
-    return 0;
-}
@@ -154,6 +154,6 @@ install(TARGETS

 install(DIRECTORY proto/ DESTINATION share/${PROJECT_NAME}/proto)
 # 若有 launch 或 behavior_trees 文件，随时解开下面这行的注释
-# install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+install(DIRECTORY launch/ config/ DESTINATION share/${PROJECT_NAME}/launch)

 ament_package()
@@ -0,0 +1,47 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    # 1. 声明一个外部参数 agv_ip，默认值是本地
+    agv_ip_arg = DeclareLaunchArgument(
+        'agv_ip',
+        default_value='127.0.0.1:50051',
+        description='Windows 车端在 Wi-Fi 下的 IP 和端口'
+    )
+    
+    agv_ip = LaunchConfiguration('agv_ip')
+
+    # 2. 把参数动态注入给三个网关组件
+    container = ComposableNodeContainer(
+        name='agv_gateway_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container_mt', 
+        composable_node_descriptions=[
+            ComposableNode(
+                package='win_ubuntu_bridge', 
+                plugin='win_ubuntu_bridge::ChassisGatewayNode', 
+                name='chassis_gateway',
+                parameters=[{'agv_ip': agv_ip}]  # 👈 动态注入真实 IP
+            ),
+            
+            ComposableNode(
+                package='win_ubuntu_bridge', 
+                plugin='win_ubuntu_bridge::ControlGatewayNode', 
+                name='control_gateway',
+                parameters=[{'agv_ip': agv_ip}]  # 👈 动态注入真实 IP
+            ),
+            
+            ComposableNode(
+                package='win_ubuntu_bridge', 
+                plugin='win_ubuntu_bridge::SensorGatewayNode', 
+                name='sensor_gateway',
+                parameters=[{'agv_ip': agv_ip}]  # 👈 动态注入真实 IP
+            ),
+        ],
+        output='screen',
+    )
+    return LaunchDescription([agv_ip_arg, container])
@@ -0,0 +1,52 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: agv_calib_chassis.proto
+# Protobuf Python Version: 6.31.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'agv_calib_chassis.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x61gv_calib_chassis.proto\x12\x17\x61gv.calibration.chassis\"\x07\n\x05\x45mpty\"4\n\x10StandardResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"\x96\x01\n\x15\x44iagnosticModeRequest\x12H\n\x0btarget_mode\x18\x01 \x01(\x0e\x32\x33.agv.calibration.chassis.DiagnosticModeRequest.Mode\"3\n\x04Mode\x12\x15\n\x11NORMAL_KINEMATICS\x10\x00\x12\x14\n\x10\x44IRECT_RAW_DRIVE\x10\x01\"\xfd\x02\n\rHardwareState\x12\x1d\n\x15hardware_timestamp_us\x18\x01 \x01(\x03\x12\x18\n\x10\x65ncoder_ticks_fl\x18\x02 \x01(\x03\x12\x18\n\x10\x65ncoder_ticks_fr\x18\x03 \x01(\x03\x12\x18\n\x10\x65ncoder_ticks_rl\x18\x04 \x01(\x03\x12\x18\n\x10\x65ncoder_ticks_rr\x18\x05 \x01(\x03\x12$\n\x1c\x61\x63tual_steer_angle_front_deg\x18\x06 \x01(\x01\x12#\n\x1b\x61\x63tual_steer_angle_rear_deg\x18\x07 \x01(\x01\x12\x16\n\x0e\x63urrent_fl_amp\x18\x08 \x01(\x01\x12\x16\n\x0e\x63urrent_fr_amp\x18\t \x01(\x01\x12\x16\n\x0e\x63urrent_rl_amp\x18\n \x01(\x01\x12\x16\n\x0e\x63urrent_rr_amp\x18\x0b \x01(\x01\x12\x1f\n\x17\x63urrent_steer_front_amp\x18\x0c \x01(\x01\x12\x19\n\x11\x64river_error_code\x18\r \x01(\r\"\x95\x01\n\x0fRawDriveRequest\x12\x14\n\x0ctest_case_id\x18\x01 \x01(\t\x12\x14\n\x0c\x66l_motor_rpm\x18\x02 \x01(\x01\x12\x14\n\x0c\x66r_motor_rpm\x18\x03 \x01(\x01\x12\x14\n\x0crl_motor_rpm\x18\x04 \x01(\x01\x12\x14\n\x0crr_motor_rpm\x18\x05 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x06 \x01(\x01\"\xec\x01\n\x0fRawSteerRequest\x12\x14\n\x0ctest_case_id\x18\x01 \x01(\t\x12\x1d\n\x15\x66ront_steer_angle_deg\x18\x02 \x01(\x01\x12\x1c\n\x14rear_steer_angle_deg\x18\x03 \x01(\x01\x12 \n\x13sweep_amplitude_deg\x18\x04 \x01(\x01H\x00\x88\x01\x01\x12\x1f\n\x12sweep_frequency_hz\x18\x05 \x01(\x01H\x01\x88\x01\x01\x12\x14\n\x0c\x64uration_sec\x18\x06 \x01(\x01\x42\x16\n\x14_sweep_amplitude_degB\x15\n\x13_sweep_frequency_hz\"\xdd\x04\n\x0fKinematicParams\x12\x1e\n\x11wheel_radius_fl_m\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x1e\n\x11wheel_radius_fr_m\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x1e\n\x11wheel_radius_rl_m\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x1e\n\x11wheel_radius_rr_m\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12(\n\x1bsteer_zero_offset_front_deg\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\'\n\x1asteer_zero_offset_rear_deg\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12$\n\x17\x65\x66\x66\x65\x63tive_track_width_m\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12#\n\x16\x65\x66\x66\x65\x63tive_wheel_base_m\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x1b\n\x0eicr_offset_x_m\x18\t \x01(\x01H\x08\x88\x01\x01\x12\x1b\n\x0eicr_offset_y_m\x18\n \x01(\x01H\t\x88\x01\x01\x42\x14\n\x12_wheel_radius_fl_mB\x14\n\x12_wheel_radius_fr_mB\x14\n\x12_wheel_radius_rl_mB\x14\n\x12_wheel_radius_rr_mB\x1e\n\x1c_steer_zero_offset_front_degB\x1d\n\x1b_steer_zero_offset_rear_degB\x1a\n\x18_effective_track_width_mB\x19\n\x17_effective_wheel_base_mB\x11\n\x0f_icr_offset_x_mB\x11\n\x0f_icr_offset_y_m2\xa2\x05\n\x16\x41gvCalibChassisService\x12n\n\x11SetDiagnosticMode\x12..agv.calibration.chassis.DiagnosticModeRequest\x1a).agv.calibration.chassis.StandardResponse\x12\x63\n\x16HardwareEmergencyBrake\x12\x1e.agv.calibration.chassis.Empty\x1a).agv.calibration.chassis.StandardResponse\x12\x63\n\x17StreamHardwareTelemetry\x12\x1e.agv.calibration.chassis.Empty\x1a&.agv.calibration.chassis.HardwareState0\x01\x12m\n\x16\x45xecuteRawDriveCommand\x12(.agv.calibration.chassis.RawDriveRequest\x1a).agv.calibration.chassis.StandardResponse\x12m\n\x16\x45xecuteRawSteerCommand\x12(.agv.calibration.chassis.RawSteerRequest\x1a).agv.calibration.chassis.StandardResponse\x12p\n\x19\x43ommitKinematicParameters\x12(.agv.calibration.chassis.KinematicParams\x1a).agv.calibration.chassis.StandardResponseb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'agv_calib_chassis_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_EMPTY']._serialized_start=52
+  _globals['_EMPTY']._serialized_end=59
+  _globals['_STANDARDRESPONSE']._serialized_start=61
+  _globals['_STANDARDRESPONSE']._serialized_end=113
+  _globals['_DIAGNOSTICMODEREQUEST']._serialized_start=116
+  _globals['_DIAGNOSTICMODEREQUEST']._serialized_end=266
+  _globals['_DIAGNOSTICMODEREQUEST_MODE']._serialized_start=215
+  _globals['_DIAGNOSTICMODEREQUEST_MODE']._serialized_end=266
+  _globals['_HARDWARESTATE']._serialized_start=269
+  _globals['_HARDWARESTATE']._serialized_end=650
+  _globals['_RAWDRIVEREQUEST']._serialized_start=653
+  _globals['_RAWDRIVEREQUEST']._serialized_end=802
+  _globals['_RAWSTEERREQUEST']._serialized_start=805
+  _globals['_RAWSTEERREQUEST']._serialized_end=1041
+  _globals['_KINEMATICPARAMS']._serialized_start=1044
+  _globals['_KINEMATICPARAMS']._serialized_end=1649
+  _globals['_AGVCALIBCHASSISSERVICE']._serialized_start=1652
+  _globals['_AGVCALIBCHASSISSERVICE']._serialized_end=2326
+# @@protoc_insertion_point(module_scope)
@@ -0,0 +1,351 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+import agv_calib_chassis_pb2 as agv__calib__chassis__pb2
+
+GRPC_GENERATED_VERSION = '1.78.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in agv_calib_chassis_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class AgvCalibChassisServiceStub(object):
+    """=========================================================
+    核心服务：AGV 底盘底层硬件自诊与物理运动学标定代理服务
+    [部署端 Server]：Windows 车端 (只负责听口令、转电机、报裸数据)
+    [调用端 Client]：Linux 车间服务器 (负责发口令、看雷达真值、算误差)
+    =========================================================
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.SetDiagnosticMode = channel.unary_unary(
+                '/agv.calibration.chassis.AgvCalibChassisService/SetDiagnosticMode',
+                request_serializer=agv__calib__chassis__pb2.DiagnosticModeRequest.SerializeToString,
+                response_deserializer=agv__calib__chassis__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.HardwareEmergencyBrake = channel.unary_unary(
+                '/agv.calibration.chassis.AgvCalibChassisService/HardwareEmergencyBrake',
+                request_serializer=agv__calib__chassis__pb2.Empty.SerializeToString,
+                response_deserializer=agv__calib__chassis__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.StreamHardwareTelemetry = channel.unary_stream(
+                '/agv.calibration.chassis.AgvCalibChassisService/StreamHardwareTelemetry',
+                request_serializer=agv__calib__chassis__pb2.Empty.SerializeToString,
+                response_deserializer=agv__calib__chassis__pb2.HardwareState.FromString,
+                _registered_method=True)
+        self.ExecuteRawDriveCommand = channel.unary_unary(
+                '/agv.calibration.chassis.AgvCalibChassisService/ExecuteRawDriveCommand',
+                request_serializer=agv__calib__chassis__pb2.RawDriveRequest.SerializeToString,
+                response_deserializer=agv__calib__chassis__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.ExecuteRawSteerCommand = channel.unary_unary(
+                '/agv.calibration.chassis.AgvCalibChassisService/ExecuteRawSteerCommand',
+                request_serializer=agv__calib__chassis__pb2.RawSteerRequest.SerializeToString,
+                response_deserializer=agv__calib__chassis__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.CommitKinematicParameters = channel.unary_unary(
+                '/agv.calibration.chassis.AgvCalibChassisService/CommitKinematicParameters',
+                request_serializer=agv__calib__chassis__pb2.KinematicParams.SerializeToString,
+                response_deserializer=agv__calib__chassis__pb2.StandardResponse.FromString,
+                _registered_method=True)
+
+
+class AgvCalibChassisServiceServicer(object):
+    """=========================================================
+    核心服务：AGV 底盘底层硬件自诊与物理运动学标定代理服务
+    [部署端 Server]：Windows 车端 (只负责听口令、转电机、报裸数据)
+    [调用端 Client]：Linux 车间服务器 (负责发口令、看雷达真值、算误差)
+    =========================================================
+    """
+
+    def SetDiagnosticMode(self, request, context):
+        """---------------------------------------------------------
+        第一步：权限接管与安全熔断 (剥夺车端算法大脑)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：要求切断底盘运动学逆解，进入纯物理开环直驱模式
+        🚙 [Windows 返回 -> Linux]：返回接管是否成功的回执
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def HardwareEmergencyBrake(self, request, context):
+        """💻 [Linux 发送 -> Windows]：无视一切状态立刻抱死电机的紧急急停指令
+        🚙 [Windows 返回 -> Linux]：返回急停执行状态
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StreamHardwareTelemetry(self, request, context):
+        """---------------------------------------------------------
+        第二步：打开体征监控水龙头 (数字孪生健康诊断)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：发送空请求，触发高频推流开关
+        🚙 [Windows 持续流式返回 -> Linux]：以 50Hz 频率持续不断地回传原始脉冲与电流
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExecuteRawDriveCommand(self, request, context):
+        """---------------------------------------------------------
+        第三步：原始物理开环考题下发 (逼迫底盘暴露机械缺陷)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：绕过算法，直接命令指定驱动轮以固定 RPM 盲跑
+        🚙 [Windows 返回 -> Linux]：返回电机是否已成功按给定 RPM 运转
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExecuteRawSteerCommand(self, request, context):
+        """💻 [Linux 发送 -> Windows]：直接对转向机构下发绝对物理角度 (测机械装歪的角度)
+        🚙 [Windows 返回 -> Linux]：返回舵机是否已开始执行角度指令
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def CommitKinematicParameters(self, request, context):
+        """---------------------------------------------------------
+        第四步：物理本底参数定稿写值 (标定闭环结束)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：下发 Linux 结合外部真值算出的绝对物理修正系数
+        🚙 [Windows 返回 -> Linux]：将系数覆写到本地硬盘/驱动板后，返回成功回执
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_AgvCalibChassisServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'SetDiagnosticMode': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetDiagnosticMode,
+                    request_deserializer=agv__calib__chassis__pb2.DiagnosticModeRequest.FromString,
+                    response_serializer=agv__calib__chassis__pb2.StandardResponse.SerializeToString,
+            ),
+            'HardwareEmergencyBrake': grpc.unary_unary_rpc_method_handler(
+                    servicer.HardwareEmergencyBrake,
+                    request_deserializer=agv__calib__chassis__pb2.Empty.FromString,
+                    response_serializer=agv__calib__chassis__pb2.StandardResponse.SerializeToString,
+            ),
+            'StreamHardwareTelemetry': grpc.unary_stream_rpc_method_handler(
+                    servicer.StreamHardwareTelemetry,
+                    request_deserializer=agv__calib__chassis__pb2.Empty.FromString,
+                    response_serializer=agv__calib__chassis__pb2.HardwareState.SerializeToString,
+            ),
+            'ExecuteRawDriveCommand': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExecuteRawDriveCommand,
+                    request_deserializer=agv__calib__chassis__pb2.RawDriveRequest.FromString,
+                    response_serializer=agv__calib__chassis__pb2.StandardResponse.SerializeToString,
+            ),
+            'ExecuteRawSteerCommand': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExecuteRawSteerCommand,
+                    request_deserializer=agv__calib__chassis__pb2.RawSteerRequest.FromString,
+                    response_serializer=agv__calib__chassis__pb2.StandardResponse.SerializeToString,
+            ),
+            'CommitKinematicParameters': grpc.unary_unary_rpc_method_handler(
+                    servicer.CommitKinematicParameters,
+                    request_deserializer=agv__calib__chassis__pb2.KinematicParams.FromString,
+                    response_serializer=agv__calib__chassis__pb2.StandardResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'agv.calibration.chassis.AgvCalibChassisService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('agv.calibration.chassis.AgvCalibChassisService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class AgvCalibChassisService(object):
+    """=========================================================
+    核心服务：AGV 底盘底层硬件自诊与物理运动学标定代理服务
+    [部署端 Server]：Windows 车端 (只负责听口令、转电机、报裸数据)
+    [调用端 Client]：Linux 车间服务器 (负责发口令、看雷达真值、算误差)
+    =========================================================
+    """
+
+    @staticmethod
+    def SetDiagnosticMode(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.chassis.AgvCalibChassisService/SetDiagnosticMode',
+            agv__calib__chassis__pb2.DiagnosticModeRequest.SerializeToString,
+            agv__calib__chassis__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def HardwareEmergencyBrake(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.chassis.AgvCalibChassisService/HardwareEmergencyBrake',
+            agv__calib__chassis__pb2.Empty.SerializeToString,
+            agv__calib__chassis__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StreamHardwareTelemetry(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_stream(
+            request,
+            target,
+            '/agv.calibration.chassis.AgvCalibChassisService/StreamHardwareTelemetry',
+            agv__calib__chassis__pb2.Empty.SerializeToString,
+            agv__calib__chassis__pb2.HardwareState.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExecuteRawDriveCommand(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.chassis.AgvCalibChassisService/ExecuteRawDriveCommand',
+            agv__calib__chassis__pb2.RawDriveRequest.SerializeToString,
+            agv__calib__chassis__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExecuteRawSteerCommand(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.chassis.AgvCalibChassisService/ExecuteRawSteerCommand',
+            agv__calib__chassis__pb2.RawSteerRequest.SerializeToString,
+            agv__calib__chassis__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def CommitKinematicParameters(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.chassis.AgvCalibChassisService/CommitKinematicParameters',
+            agv__calib__chassis__pb2.KinematicParams.SerializeToString,
+            agv__calib__chassis__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
@@ -0,0 +1,56 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: agv_calib_control.proto
+# Protobuf Python Version: 6.31.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'agv_calib_control.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x61gv_calib_control.proto\x12\x17\x61gv.calibration.control\"\x07\n\x05\x45mpty\"4\n\x10StandardResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"\x8b\x01\n\x0bModeRequest\x12>\n\x0btarget_mode\x18\x01 \x01(\x0e\x32).agv.calibration.control.ModeRequest.Mode\"<\n\x04Mode\x12\x0f\n\x0bNORMAL_MODE\x10\x00\x12\x12\n\x0eOPEN_LOOP_MODE\x10\x01\x12\x0f\n\x0bTUNING_MODE\x10\x02\"p\n\x0fOpenLoopRequest\x12\x16\n\x0eleft_motor_cmd\x18\x01 \x01(\x01\x12\x17\n\x0fright_motor_cmd\x18\x02 \x01(\x01\x12\x16\n\x0esteering_angle\x18\x03 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x04 \x01(\x01\"h\n\x0fTrajectoryPoint\x12\x0b\n\x03x_m\x18\x01 \x01(\x01\x12\x0b\n\x03y_m\x18\x02 \x01(\x01\x12\x0f\n\x07yaw_rad\x18\x03 \x01(\x01\x12\x17\n\x0ftarget_speed_ms\x18\x04 \x01(\x01\x12\x11\n\tcurvature\x18\x05 \x01(\x01\"a\n\x11TrajectoryRequest\x12\x14\n\x0ctest_case_id\x18\x01 \x01(\t\x12\x36\n\x04path\x18\x02 \x03(\x0b\x32(.agv.calibration.control.TrajectoryPoint\"G\n\x13StepResponseRequest\x12\x1a\n\x12target_velocity_ms\x18\x01 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x02 \x01(\x01\"\xf9\x05\n\rControlParams\x12$\n\x17wheel_radius_left_ratio\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12%\n\x18wheel_radius_right_ratio\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12$\n\x17\x65\x66\x66\x65\x63tive_track_width_m\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12%\n\x18steering_zero_offset_deg\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x1b\n\x0epid_kp_lateral\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x1b\n\x0epid_ki_lateral\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x1b\n\x0epid_kd_lateral\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x1b\n\x0epid_kp_heading\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x1b\n\x0epid_ki_heading\x18\t \x01(\x01H\x08\x88\x01\x01\x12\x1b\n\x0epid_kd_heading\x18\n \x01(\x01H\t\x88\x01\x01\x12%\n\x18pure_pursuit_lookahead_m\x18\x0b \x01(\x01H\n\x88\x01\x01\x12!\n\x14mpc_weight_q_lateral\x18\x0c \x01(\x01H\x0b\x88\x01\x01\x12\"\n\x15mpc_weight_r_steering\x18\r \x01(\x01H\x0c\x88\x01\x01\x42\x1a\n\x18_wheel_radius_left_ratioB\x1b\n\x19_wheel_radius_right_ratioB\x1a\n\x18_effective_track_width_mB\x1b\n\x19_steering_zero_offset_degB\x11\n\x0f_pid_kp_lateralB\x11\n\x0f_pid_ki_lateralB\x11\n\x0f_pid_kd_lateralB\x11\n\x0f_pid_kp_headingB\x11\n\x0f_pid_ki_headingB\x11\n\x0f_pid_kd_headingB\x1b\n\x19_pure_pursuit_lookahead_mB\x17\n\x15_mpc_weight_q_lateralB\x18\n\x16_mpc_weight_r_steering\"\xad\x02\n\rTelemetryData\x12\x1d\n\x15hardware_timestamp_us\x18\x01 \x01(\x03\x12\x10\n\x08odom_x_m\x18\x02 \x01(\x01\x12\x10\n\x08odom_y_m\x18\x03 \x01(\x01\x12\x14\n\x0codom_yaw_rad\x18\x04 \x01(\x01\x12\x1e\n\x16\x66\x65\x65\x64\x62\x61\x63k_linear_vel_ms\x18\x05 \x01(\x01\x12!\n\x19\x66\x65\x65\x64\x62\x61\x63k_angular_vel_rads\x18\x06 \x01(\x01\x12\x1e\n\x16left_motor_current_amp\x18\x07 \x01(\x01\x12\x1f\n\x17right_motor_current_amp\x18\x08 \x01(\x01\x12\"\n\x1asteering_motor_current_amp\x18\t \x01(\x01\x12\x1b\n\x13\x63md_steering_output\x18\n \x01(\x01\x32\xd1\x06\n\x16\x41gvCalibControlService\x12\x61\n\x0eSetControlMode\x12$.agv.calibration.control.ModeRequest\x1a).agv.calibration.control.StandardResponse\x12Z\n\rEmergencyStop\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12i\n\x12\x45xecuteOpenLoopCmd\x12(.agv.calibration.control.OpenLoopRequest\x1a).agv.calibration.control.StandardResponse\x12m\n\x14\x46ollowTestTrajectory\x12*.agv.calibration.control.TrajectoryRequest\x1a).agv.calibration.control.StandardResponse\x12n\n\x13\x45xecuteStepResponse\x12,.agv.calibration.control.StepResponseRequest\x1a).agv.calibration.control.StandardResponse\x12k\n\x16InjectTuningParameters\x12&.agv.calibration.control.ControlParams\x1a).agv.calibration.control.StandardResponse\x12\x64\n\x17\x43ommitControlParameters\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12[\n\x0fStreamTelemetry\x12\x1e.agv.calibration.control.Empty\x1a&.agv.calibration.control.TelemetryData0\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'agv_calib_control_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_EMPTY']._serialized_start=52
+  _globals['_EMPTY']._serialized_end=59
+  _globals['_STANDARDRESPONSE']._serialized_start=61
+  _globals['_STANDARDRESPONSE']._serialized_end=113
+  _globals['_MODEREQUEST']._serialized_start=116
+  _globals['_MODEREQUEST']._serialized_end=255
+  _globals['_MODEREQUEST_MODE']._serialized_start=195
+  _globals['_MODEREQUEST_MODE']._serialized_end=255
+  _globals['_OPENLOOPREQUEST']._serialized_start=257
+  _globals['_OPENLOOPREQUEST']._serialized_end=369
+  _globals['_TRAJECTORYPOINT']._serialized_start=371
+  _globals['_TRAJECTORYPOINT']._serialized_end=475
+  _globals['_TRAJECTORYREQUEST']._serialized_start=477
+  _globals['_TRAJECTORYREQUEST']._serialized_end=574
+  _globals['_STEPRESPONSEREQUEST']._serialized_start=576
+  _globals['_STEPRESPONSEREQUEST']._serialized_end=647
+  _globals['_CONTROLPARAMS']._serialized_start=650
+  _globals['_CONTROLPARAMS']._serialized_end=1411
+  _globals['_TELEMETRYDATA']._serialized_start=1414
+  _globals['_TELEMETRYDATA']._serialized_end=1715
+  _globals['_AGVCALIBCONTROLSERVICE']._serialized_start=1718
+  _globals['_AGVCALIBCONTROLSERVICE']._serialized_end=2567
+# @@protoc_insertion_point(module_scope)
@@ -0,0 +1,444 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+import agv_calib_control_pb2 as agv__calib__control__pb2
+
+GRPC_GENERATED_VERSION = '1.78.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in agv_calib_control_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class AgvCalibControlServiceStub(object):
+    """=========================================================
+    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
+    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
+    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
+    =========================================================
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.SetControlMode = channel.unary_unary(
+                '/agv.calibration.control.AgvCalibControlService/SetControlMode',
+                request_serializer=agv__calib__control__pb2.ModeRequest.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.EmergencyStop = channel.unary_unary(
+                '/agv.calibration.control.AgvCalibControlService/EmergencyStop',
+                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.ExecuteOpenLoopCmd = channel.unary_unary(
+                '/agv.calibration.control.AgvCalibControlService/ExecuteOpenLoopCmd',
+                request_serializer=agv__calib__control__pb2.OpenLoopRequest.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.FollowTestTrajectory = channel.unary_unary(
+                '/agv.calibration.control.AgvCalibControlService/FollowTestTrajectory',
+                request_serializer=agv__calib__control__pb2.TrajectoryRequest.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.ExecuteStepResponse = channel.unary_unary(
+                '/agv.calibration.control.AgvCalibControlService/ExecuteStepResponse',
+                request_serializer=agv__calib__control__pb2.StepResponseRequest.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.InjectTuningParameters = channel.unary_unary(
+                '/agv.calibration.control.AgvCalibControlService/InjectTuningParameters',
+                request_serializer=agv__calib__control__pb2.ControlParams.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.CommitControlParameters = channel.unary_unary(
+                '/agv.calibration.control.AgvCalibControlService/CommitControlParameters',
+                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.StreamTelemetry = channel.unary_stream(
+                '/agv.calibration.control.AgvCalibControlService/StreamTelemetry',
+                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
+                response_deserializer=agv__calib__control__pb2.TelemetryData.FromString,
+                _registered_method=True)
+
+
+class AgvCalibControlServiceServicer(object):
+    """=========================================================
+    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
+    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
+    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
+    =========================================================
+    """
+
+    def SetControlMode(self, request, context):
+        """---------------------------------------------------------
+        第一步：权限接管与生命周期安全管控
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：要求切断避障，但保留底层 PID/MPC 算法就绪
+        🚙 [Windows 返回 -> Linux]：回复模式切换成功，准备好接考题
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def EmergencyStop(self, request, context):
+        """💻 [Linux 发送 -> Windows]：断网或飞车时的最高级别急停，无视一切直接刹车
+        🚙 [Windows 返回 -> Linux]：返回底层抱死结果
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExecuteOpenLoopCmd(self, request, context):
+        """---------------------------------------------------------
+        第二步：运动考题下发 (开环排雷 / 闭环寻优 / 波峰对齐)
+        ---------------------------------------------------------
+        【场景A: 纯物理开环备用】
+        💻 [Linux 发送 -> Windows]：要求切断算法盲跑，多用于摸底或辅助验证
+        🚙 [Windows 返回 -> Linux]：确认已按指定 RPM/PWM 运转
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def FollowTestTrajectory(self, request, context):
+        """【场景B: 算法闭环调优】
+        💻 [Linux 发送 -> Windows]：下发一条由几百个点组成的测试轨迹(如 S型贝塞尔曲线)
+        🚙 [Windows 返回 -> Linux]：收到轨迹后，车端立刻使用它自带的 PID/MPC 算法努力贴合轨迹跑圈
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExecuteStepResponse(self, request, context):
+        """【场景C: 波峰时序对齐】
+        💻 [Linux 发送 -> Windows]：下发极短促的阶跃加速指令，人为制造绝对速度波峰
+        🚙 [Windows 返回 -> Linux]：确认加速。(Linux 借此波峰算出网络的绝对 Time Offset)
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def InjectTuningParameters(self, request, context):
+        """---------------------------------------------------------
+        第三步：运控参数 AI 寻优：动态热注入与最终固化
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：Linux 发现上一圈跑得差，AI算出了新的 PID/前瞻距离，要求立即热注入
+        🚙 [Windows 返回 -> Linux]：车端将新参数瞬间覆写进运行内存(不重启系统)，随时准备用新参数重跑
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def CommitControlParameters(self, request, context):
+        """💻 [Linux 发送 -> Windows]：Linux 判定误差极小，调优结束，命令固化目前内存里的最高分参数
+        🚙 [Windows 返回 -> Linux]：车端将这组完美参数永久覆写进硬盘的 config.yaml 或系统注册表
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StreamTelemetry(self, request, context):
+        """---------------------------------------------------------
+        第四步：高频数字孪生体感上报 (50Hz)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：空包触发，命令车端开始疯狂推流
+        🚙 [Windows 持续流式返回 -> Linux]：以 50Hz 频率，持续上报自己的里程计坐标、速度和单调时间戳
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_AgvCalibControlServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'SetControlMode': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetControlMode,
+                    request_deserializer=agv__calib__control__pb2.ModeRequest.FromString,
+                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
+            ),
+            'EmergencyStop': grpc.unary_unary_rpc_method_handler(
+                    servicer.EmergencyStop,
+                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
+                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
+            ),
+            'ExecuteOpenLoopCmd': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExecuteOpenLoopCmd,
+                    request_deserializer=agv__calib__control__pb2.OpenLoopRequest.FromString,
+                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
+            ),
+            'FollowTestTrajectory': grpc.unary_unary_rpc_method_handler(
+                    servicer.FollowTestTrajectory,
+                    request_deserializer=agv__calib__control__pb2.TrajectoryRequest.FromString,
+                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
+            ),
+            'ExecuteStepResponse': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExecuteStepResponse,
+                    request_deserializer=agv__calib__control__pb2.StepResponseRequest.FromString,
+                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
+            ),
+            'InjectTuningParameters': grpc.unary_unary_rpc_method_handler(
+                    servicer.InjectTuningParameters,
+                    request_deserializer=agv__calib__control__pb2.ControlParams.FromString,
+                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
+            ),
+            'CommitControlParameters': grpc.unary_unary_rpc_method_handler(
+                    servicer.CommitControlParameters,
+                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
+                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
+            ),
+            'StreamTelemetry': grpc.unary_stream_rpc_method_handler(
+                    servicer.StreamTelemetry,
+                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
+                    response_serializer=agv__calib__control__pb2.TelemetryData.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'agv.calibration.control.AgvCalibControlService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('agv.calibration.control.AgvCalibControlService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class AgvCalibControlService(object):
+    """=========================================================
+    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
+    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
+    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
+    =========================================================
+    """
+
+    @staticmethod
+    def SetControlMode(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/SetControlMode',
+            agv__calib__control__pb2.ModeRequest.SerializeToString,
+            agv__calib__control__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def EmergencyStop(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/EmergencyStop',
+            agv__calib__control__pb2.Empty.SerializeToString,
+            agv__calib__control__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExecuteOpenLoopCmd(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/ExecuteOpenLoopCmd',
+            agv__calib__control__pb2.OpenLoopRequest.SerializeToString,
+            agv__calib__control__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def FollowTestTrajectory(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/FollowTestTrajectory',
+            agv__calib__control__pb2.TrajectoryRequest.SerializeToString,
+            agv__calib__control__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExecuteStepResponse(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/ExecuteStepResponse',
+            agv__calib__control__pb2.StepResponseRequest.SerializeToString,
+            agv__calib__control__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def InjectTuningParameters(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/InjectTuningParameters',
+            agv__calib__control__pb2.ControlParams.SerializeToString,
+            agv__calib__control__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def CommitControlParameters(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/CommitControlParameters',
+            agv__calib__control__pb2.Empty.SerializeToString,
+            agv__calib__control__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StreamTelemetry(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_stream(
+            request,
+            target,
+            '/agv.calibration.control.AgvCalibControlService/StreamTelemetry',
+            agv__calib__control__pb2.Empty.SerializeToString,
+            agv__calib__control__pb2.TelemetryData.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
@@ -0,0 +1,54 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: agv_calib_sensor.proto
+# Protobuf Python Version: 6.31.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'agv_calib_sensor.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16\x61gv_calib_sensor.proto\x12\x16\x61gv.calibration.sensor\"4\n\x10StandardResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"b\n\x0bPoseRequest\x12\x12\n\ntarget_x_m\x18\x01 \x01(\x01\x12\x12\n\ntarget_y_m\x18\x02 \x01(\x01\x12\x16\n\x0etarget_yaw_deg\x18\x03 \x01(\x01\x12\x13\n\x0bis_relative\x18\x04 \x01(\x08\"$\n\x0e\x43\x61ptureRequest\x12\x12\n\nsensor_ids\x18\x01 \x03(\t\"W\n\x0f\x43\x61ptureResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x1c\n\x14\x63\x61pture_timestamp_us\x18\x02 \x01(\x03\x12\x15\n\rerror_message\x18\x03 \x01(\t\"C\n\x10\x44\x61taFetchRequest\x12\x1c\n\x14\x63\x61pture_timestamp_us\x18\x01 \x01(\x03\x12\x11\n\tsensor_id\x18\x02 \x01(\t\"J\n\tFileChunk\x12\x12\n\nchunk_data\x18\x01 \x01(\x0c\x12\x15\n\ris_last_chunk\x18\x02 \x01(\x08\x12\x12\n\nformat_ext\x18\x03 \x01(\t\"j\n\x10\x43\x61meraIntrinsics\x12\x11\n\tcamera_id\x18\x01 \x01(\t\x12\n\n\x02\x66x\x18\x02 \x01(\x01\x12\n\n\x02\x66y\x18\x03 \x01(\x01\x12\n\n\x02\x63x\x18\x04 \x01(\x01\x12\n\n\x02\x63y\x18\x05 \x01(\x01\x12\x13\n\x0b\x64ist_coeffs\x18\x06 \x03(\x01\"\xb0\x01\n\x10SensorExtrinsics\x12\x14\n\x0csource_frame\x18\x01 \x01(\t\x12\x14\n\x0ctarget_frame\x18\x02 \x01(\t\x12\x12\n\ntrans_x_mm\x18\x03 \x01(\x01\x12\x12\n\ntrans_y_mm\x18\x04 \x01(\x01\x12\x12\n\ntrans_z_mm\x18\x05 \x01(\x01\x12\x10\n\x08roll_deg\x18\x06 \x01(\x01\x12\x11\n\tpitch_deg\x18\x07 \x01(\x01\x12\x0f\n\x07yaw_deg\x18\x08 \x01(\x01\"\xb1\x01\n\x12\x43\x61librationPayload\x12\x0f\n\x07task_id\x18\x01 \x01(\t\x12\x44\n\x12updated_intrinsics\x18\x02 \x03(\x0b\x32(.agv.calibration.sensor.CameraIntrinsics\x12\x44\n\x12updated_extrinsics\x18\x03 \x03(\x0b\x32(.agv.calibration.sensor.SensorExtrinsics2\xa0\x04\n\x18SensorCalibrationService\x12\x66\n\x15MoveToObservationPose\x12#.agv.calibration.sensor.PoseRequest\x1a(.agv.calibration.sensor.StandardResponse\x12\x65\n\x12TriggerSyncCapture\x12&.agv.calibration.sensor.CaptureRequest\x1a\'.agv.calibration.sensor.CaptureResponse\x12^\n\rDownloadImage\x12(.agv.calibration.sensor.DataFetchRequest\x1a!.agv.calibration.sensor.FileChunk0\x01\x12\x63\n\x12\x44ownloadPointCloud\x12(.agv.calibration.sensor.DataFetchRequest\x1a!.agv.calibration.sensor.FileChunk0\x01\x12p\n\x18\x43ommitCalibrationResults\x12*.agv.calibration.sensor.CalibrationPayload\x1a(.agv.calibration.sensor.StandardResponseb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'agv_calib_sensor_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_STANDARDRESPONSE']._serialized_start=50
+  _globals['_STANDARDRESPONSE']._serialized_end=102
+  _globals['_POSEREQUEST']._serialized_start=104
+  _globals['_POSEREQUEST']._serialized_end=202
+  _globals['_CAPTUREREQUEST']._serialized_start=204
+  _globals['_CAPTUREREQUEST']._serialized_end=240
+  _globals['_CAPTURERESPONSE']._serialized_start=242
+  _globals['_CAPTURERESPONSE']._serialized_end=329
+  _globals['_DATAFETCHREQUEST']._serialized_start=331
+  _globals['_DATAFETCHREQUEST']._serialized_end=398
+  _globals['_FILECHUNK']._serialized_start=400
+  _globals['_FILECHUNK']._serialized_end=474
+  _globals['_CAMERAINTRINSICS']._serialized_start=476
+  _globals['_CAMERAINTRINSICS']._serialized_end=582
+  _globals['_SENSOREXTRINSICS']._serialized_start=585
+  _globals['_SENSOREXTRINSICS']._serialized_end=761
+  _globals['_CALIBRATIONPAYLOAD']._serialized_start=764
+  _globals['_CALIBRATIONPAYLOAD']._serialized_end=941
+  _globals['_SENSORCALIBRATIONSERVICE']._serialized_start=944
+  _globals['_SENSORCALIBRATIONSERVICE']._serialized_end=1488
+# @@protoc_insertion_point(module_scope)
@@ -0,0 +1,306 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+import agv_calib_sensor_pb2 as agv__calib__sensor__pb2
+
+GRPC_GENERATED_VERSION = '1.78.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in agv_calib_sensor_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class SensorCalibrationServiceStub(object):
+    """=========================================================
+    核心服务：多传感器自动化外参标定代理服务 
+    [部署端 Server]：Windows车端 (充当带轮子的三脚架与文件下载服务器)
+    [调用端 Client]：Linux标定服务器 (掌控状态机、拉取大文件、算 Ceres 矩阵)
+    =========================================================
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.MoveToObservationPose = channel.unary_unary(
+                '/agv.calibration.sensor.SensorCalibrationService/MoveToObservationPose',
+                request_serializer=agv__calib__sensor__pb2.PoseRequest.SerializeToString,
+                response_deserializer=agv__calib__sensor__pb2.StandardResponse.FromString,
+                _registered_method=True)
+        self.TriggerSyncCapture = channel.unary_unary(
+                '/agv.calibration.sensor.SensorCalibrationService/TriggerSyncCapture',
+                request_serializer=agv__calib__sensor__pb2.CaptureRequest.SerializeToString,
+                response_deserializer=agv__calib__sensor__pb2.CaptureResponse.FromString,
+                _registered_method=True)
+        self.DownloadImage = channel.unary_stream(
+                '/agv.calibration.sensor.SensorCalibrationService/DownloadImage',
+                request_serializer=agv__calib__sensor__pb2.DataFetchRequest.SerializeToString,
+                response_deserializer=agv__calib__sensor__pb2.FileChunk.FromString,
+                _registered_method=True)
+        self.DownloadPointCloud = channel.unary_stream(
+                '/agv.calibration.sensor.SensorCalibrationService/DownloadPointCloud',
+                request_serializer=agv__calib__sensor__pb2.DataFetchRequest.SerializeToString,
+                response_deserializer=agv__calib__sensor__pb2.FileChunk.FromString,
+                _registered_method=True)
+        self.CommitCalibrationResults = channel.unary_unary(
+                '/agv.calibration.sensor.SensorCalibrationService/CommitCalibrationResults',
+                request_serializer=agv__calib__sensor__pb2.CalibrationPayload.SerializeToString,
+                response_deserializer=agv__calib__sensor__pb2.StandardResponse.FromString,
+                _registered_method=True)
+
+
+class SensorCalibrationServiceServicer(object):
+    """=========================================================
+    核心服务：多传感器自动化外参标定代理服务 
+    [部署端 Server]：Windows车端 (充当带轮子的三脚架与文件下载服务器)
+    [调用端 Client]：Linux标定服务器 (掌控状态机、拉取大文件、算 Ceres 矩阵)
+    =========================================================
+    """
+
+    def MoveToObservationPose(self, request, context):
+        """---------------------------------------------------------
+        第一步：物理走位 (走)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：调度车辆开到指定的标定观测点，到达后【绝对刹车静止】
+        🚙 [Windows 返回 -> Linux]：物理到位抱死刹车后，返回成功回执
+        🚨 业务潜台词：Linux 收到回执后，必须在代码里强制 sleep(0.5s) 等待避震悬挂平息，冻结物理空间！
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def TriggerSyncCapture(self, request, context):
+        """---------------------------------------------------------
+        第二步：防延迟同步锁存 (停与拍)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：命令车辆瞬间将底层相机的显存和雷达的点云冻结到后备内存池
+        🚙 [Windows 返回 -> Linux]：立刻锁存，并返回高精度硬件时间戳，作为后续拉取大文件的唯一“取件码”
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def DownloadImage(self, request, context):
+        """---------------------------------------------------------
+        第三步：大文件流式下载 (传 —— 破解 Windows 网络延迟的绝杀)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：凭“取件码”请求下载巨大的图片/点云原文件
+        🚙 [Windows 持续流式返回 -> Linux]：将 5MB+ 的无损文件切成小块，像流水一样源源不断传回 Linux
+        🚨 业务潜台词：必须使用 stream 关键字！否则 gRPC 会因为单包超过 4MB 瞬间崩溃！
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def DownloadPointCloud(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def CommitCalibrationResults(self, request, context):
+        """---------------------------------------------------------
+        第四步：标定闭环定稿 (写)
+        ---------------------------------------------------------
+        💻 [Linux 发送 -> Windows]：Linux 攒够数据算完复杂的 4x4 外参矩阵后，下发给车端持久化保存
+        🚙 [Windows 返回 -> Linux]：车端收到后直接覆写 sensor_config.yaml 或注册表，返回成功
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_SensorCalibrationServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'MoveToObservationPose': grpc.unary_unary_rpc_method_handler(
+                    servicer.MoveToObservationPose,
+                    request_deserializer=agv__calib__sensor__pb2.PoseRequest.FromString,
+                    response_serializer=agv__calib__sensor__pb2.StandardResponse.SerializeToString,
+            ),
+            'TriggerSyncCapture': grpc.unary_unary_rpc_method_handler(
+                    servicer.TriggerSyncCapture,
+                    request_deserializer=agv__calib__sensor__pb2.CaptureRequest.FromString,
+                    response_serializer=agv__calib__sensor__pb2.CaptureResponse.SerializeToString,
+            ),
+            'DownloadImage': grpc.unary_stream_rpc_method_handler(
+                    servicer.DownloadImage,
+                    request_deserializer=agv__calib__sensor__pb2.DataFetchRequest.FromString,
+                    response_serializer=agv__calib__sensor__pb2.FileChunk.SerializeToString,
+            ),
+            'DownloadPointCloud': grpc.unary_stream_rpc_method_handler(
+                    servicer.DownloadPointCloud,
+                    request_deserializer=agv__calib__sensor__pb2.DataFetchRequest.FromString,
+                    response_serializer=agv__calib__sensor__pb2.FileChunk.SerializeToString,
+            ),
+            'CommitCalibrationResults': grpc.unary_unary_rpc_method_handler(
+                    servicer.CommitCalibrationResults,
+                    request_deserializer=agv__calib__sensor__pb2.CalibrationPayload.FromString,
+                    response_serializer=agv__calib__sensor__pb2.StandardResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'agv.calibration.sensor.SensorCalibrationService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('agv.calibration.sensor.SensorCalibrationService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class SensorCalibrationService(object):
+    """=========================================================
+    核心服务：多传感器自动化外参标定代理服务 
+    [部署端 Server]：Windows车端 (充当带轮子的三脚架与文件下载服务器)
+    [调用端 Client]：Linux标定服务器 (掌控状态机、拉取大文件、算 Ceres 矩阵)
+    =========================================================
+    """
+
+    @staticmethod
+    def MoveToObservationPose(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.sensor.SensorCalibrationService/MoveToObservationPose',
+            agv__calib__sensor__pb2.PoseRequest.SerializeToString,
+            agv__calib__sensor__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def TriggerSyncCapture(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.sensor.SensorCalibrationService/TriggerSyncCapture',
+            agv__calib__sensor__pb2.CaptureRequest.SerializeToString,
+            agv__calib__sensor__pb2.CaptureResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def DownloadImage(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_stream(
+            request,
+            target,
+            '/agv.calibration.sensor.SensorCalibrationService/DownloadImage',
+            agv__calib__sensor__pb2.DataFetchRequest.SerializeToString,
+            agv__calib__sensor__pb2.FileChunk.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def DownloadPointCloud(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_stream(
+            request,
+            target,
+            '/agv.calibration.sensor.SensorCalibrationService/DownloadPointCloud',
+            agv__calib__sensor__pb2.DataFetchRequest.SerializeToString,
+            agv__calib__sensor__pb2.FileChunk.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def CommitCalibrationResults(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/agv.calibration.sensor.SensorCalibrationService/CommitCalibrationResults',
+            agv__calib__sensor__pb2.CalibrationPayload.SerializeToString,
+            agv__calib__sensor__pb2.StandardResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
@@ -0,0 +1,51 @@
+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):
+        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
+        print("[📷 传感器代理] 咔嚓！照片和点云已锁存。取件码: 999888777")
+        return sensor_pb2.CaptureResponse(success=True, capture_timestamp_us=999888777)
+
+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...")
+    server.start()
+    server.wait_for_termination()
+
+if __name__ == '__main__':
+    serve()
@@ -0,0 +1 @@
+cd scripts && python3 -m grpc_tools.protoc -I../proto --python_out=. --grpc_python_out=. ../proto/*.proto
				`@@ -0,0 +1 @@`
				`cd scripts && python3 -m grpc_tools.protoc -I../proto --python_out=. --grpc_python_out=. ../proto/*.proto`