feat:完善了自动标定车间的环境

2026-02-26 13:52:14 +08:00
parent a6674de46d
commit 35abb286df
7 changed files with 171 additions and 0 deletions
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_calib_brain)
+
+# 1. 寻找 ROS 2 依赖
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# 2. 寻找 gRPC 和 Protobuf 依赖
+find_package(Protobuf REQUIRED)
+find_package(gRPC REQUIRED)
+
+# 3. 设置 Proto 文件路径与自动生成的源码输出路径
+set(PROTO_DIR "${CMAKE_CURRENT_SOURCE_DIR}/proto")
+set(PROTO_FILE "${PROTO_DIR}/agv_calib_control.proto")
+set(PROTO_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/grpc_gen")
+file(MAKE_DIRECTORY ${PROTO_OUT_DIR})
+
+# 4. 自动生成 gRPC C++ 源码 (每次 colcon build 自动执行)
+find_program(GRPC_CPP_PLUGIN_EXECUTABLE grpc_cpp_plugin)
+add_custom_command(
+    OUTPUT "${PROTO_OUT_DIR}/agv_calib_control.pb.cc"
+           "${PROTO_OUT_DIR}/agv_calib_control.pb.h"
+           "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.cc"
+           "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.h"
+    COMMAND protoc
+    ARGS --proto_path="${PROTO_DIR}"
+         --cpp_out="${PROTO_OUT_DIR}" 
+         --grpc_out="${PROTO_OUT_DIR}"
+         --plugin=protoc-gen-grpc="${GRPC_CPP_PLUGIN_EXECUTABLE}"
+         "${PROTO_FILE}"
+    DEPENDS "${PROTO_FILE}"
+)
+
+# 5. 将生成的网络源码打包成独立的 C++ 库
+add_library(agv_grpc_proto_lib SHARED 
+    "${PROTO_OUT_DIR}/agv_calib_control.pb.cc"
+    "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.cc"
+)
+target_include_directories(agv_grpc_proto_lib PUBLIC "${PROTO_OUT_DIR}")
+target_link_libraries(agv_grpc_proto_lib gRPC::grpc++ protobuf::libprotobuf)
+
+# 6. 编译您的 ROS 2 节点主程序
+add_executable(brain_node src/brain_node.cpp)
+ament_target_dependencies(brain_node rclcpp)
+# 🚨 必须链接刚才生成的 gRPC 库
+target_link_libraries(brain_node agv_grpc_proto_lib) 
+
+install(TARGETS brain_node DESTINATION lib/${PROJECT_NAME})
+ament_package()
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>agv_calib_brain</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="2469171725@qq.com">nvidia</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -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;
+}
@@ -0,0 +1,47 @@
+#include <iostream>
+#include <memory>
+#include <string>
+#include <grpcpp/grpcpp.h>
+// 包含刚才手动翻译出的头文件
+#include "agv_calib_control.grpc.pb.h" 
+
+using namespace agv::calibration::control;
+
+// 继承并实现定义在 .proto 里的服务契约
+class AgvCalibServiceImpl final : public AgvCalibControlService::Service {
+    
+    // 覆盖接管控制权的方法
+    grpc::Status SetControlMode(grpc::ServerContext* context, 
+                                const ModeRequest* request, 
+                                StandardResponse* reply) override {
+        
+        if (request->target_mode() == ModeRequest::OPEN_LOOP_MODE) {
+            std::cout << "\n[Windows底层] 收到 Linux 指令: 进入开环提线木偶模式" << std::endl;
+            // TODO: 在这里调用 Windows 原有的底盘驱动 DLL 或 CAN 接口，切断避障算法
+            
+            reply->set_success(true);
+            reply->set_message("Windows 已交出控制权，避障与运动学逆解已关闭");
+        }
+        return grpc::Status::OK;
+    }
+    // TODO: 接着 override 实现 ExecuteOpenLoopCmd 等其他函数...
+};
+
+void RunServer() {
+    // 🚨 关键排雷：必须绑定 0.0.0.0，千万不要写 localhost 或 127.0.0.1，否则 ROS2 连不上！
+    std::string server_address("0.0.0.0:50051"); 
+    AgvCalibServiceImpl service;
+
+    grpc::ServerBuilder builder;
+    builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
+    builder.RegisterService(&service);
+    
+    std::unique_ptr<grpc::Server> server(builder.BuildAndStart());
+    std::cout << "🚀 Windows 车端 gRPC 代理已启动，监听外部请求: " << server_address << std::endl;
+    server->Wait();
+}
+
+int main() {
+    RunServer();
+    return 0;
+}