feat:完善了自动标定车间的环境

agv_calib_brain/src/brain_node.cpp

@@ -0,0 +1,57 @@
+#include <rclcpp/rclcpp.hpp>
+#include <grpcpp/grpcpp.h>
+// 包含刚才 CMake 自动生成的头文件
+#include "agv_calib_control.grpc.pb.h" 
+
+using namespace agv::calibration::control;
+
+class BrainNode : public rclcpp::Node {
+public:
+    BrainNode() : Node("calib_brain_node") {
+        // 1. 拨号连接到 Windows 车端 (请替换为车端在 Wi-Fi 6 下的真实 IP)
+        std::string target_ip = "192.168.1.100:50051";
+        
+        // 🚨 Wi-Fi 防断联核心：强制开启 gRPC 保活机制 (KeepAlive)
+        grpc::ChannelArguments args;
+        args.SetInt(GRPC_ARG_KEEPALIVE_TIME_MS, 2000);    // 每 2 秒发一次 TCP 心跳探活
+        args.SetInt(GRPC_ARG_KEEPALIVE_TIMEOUT_MS, 1000); // 1 秒没回音即认为掉线
+        args.SetInt(GRPC_ARG_KEEPALIVE_PERMIT_WITHOUT_CALLS, 1);
+        
+        auto channel = grpc::CreateCustomChannel(target_ip, grpc::InsecureChannelCredentials(), args);
+        stub_ = AgvCalibControlService::NewStub(channel);
+
+        RCLCPP_INFO(this->get_logger(), "连接车端 %s 中...", target_ip.c_str());
+        
+        // 2. 发起夺权指令测试
+        send_control_mode_request();
+    }
+
+private:
+    std::unique_ptr<AgvCalibControlService::Stub> stub_;
+
+    void send_control_mode_request() {
+        ModeRequest request;
+        request.set_target_mode(ModeRequest::OPEN_LOOP_MODE); // 下发开环提线木偶模式
+
+        StandardResponse response;
+        grpc::ClientContext context;
+        
+        // 【网络防卡死】设置单次通信的超时时间为 2 秒，防止死锁 ROS 2 主线程
+        context.set_deadline(std::chrono::system_clock::now() + std::chrono::seconds(2));
+
+        grpc::Status status = stub_->SetControlMode(&context, request, &response);
+
+        if (status.ok() && response.success()) {
+            RCLCPP_INFO(this->get_logger(), "✅ 夺权成功！车端回复: %s", response.message().c_str());
+        } else {
+            RCLCPP_ERROR(this->get_logger(), "❌ 调用失败: %d - %s", status.error_code(), status.error_message().c_str());
+        }
+    }
+};
+
+int main(int argc, char **argv) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<BrainNode>());
+    rclcpp::shutdown();
+    return 0;
+}