478 lines
19 KiB
Python
478 lines
19 KiB
Python
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from __future__ import annotations
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import math
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import random
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import time
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from typing import Any, Dict, List, Optional
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from uas.uas_control.base_adapter import BaseProtocolAdapter, ProtocolType
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from uas.uas_control.command import Command, CommandResult, CommandType
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from uas.uas_control.telemetry import (
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BaseTelemetry, UAVTelemetry, RobotDogTelemetry, ConnectionState
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)
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# ─────────────────────────────────────────────────────────────────
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# ROS 适配器
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# ─────────────────────────────────────────────────────────────────
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class ROSAdapter(BaseProtocolAdapter):
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"""
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ROS / ROS2 协议适配器
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支持通过 ROS Topic / Service / Action 控制无人系统。
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实际部署需安装 rclpy（ROS2）或 rospy（ROS1）。
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本实现在无 ROS 环境时自动降级为模拟模式。
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config 字段：
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ros_version : 1 | 2（默认 2）
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node_name : ROS 节点名（默认 "uas_control"）
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namespace : 话题命名空间（默认 ""）
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device_type : "controller" | "robot_dog"（决定话题结构）
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话题映射（ROS2，UAV）：
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发布: /{ns}/cmd_vel geometry_msgs/Twist
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/{ns}/mavros/cmd/arming sensor_msgs/Bool
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订阅: /{ns}/mavros/state mavros_msgs/State
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/{ns}/mavros/global_position/global sensor_msgs/NavSatFix
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/{ns}/mavros/imu/data sensor_msgs/Imu
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话题映射（ROS2，机器狗）：
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发布: /{ns}/cmd_vel geometry_msgs/Twist
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/{ns}/body_pose geometry_msgs/Pose
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订阅: /{ns}/odom nav_msgs/Odometry
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/{ns}/joint_states sensor_msgs/JointState
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/{ns}/imu/data sensor_msgs/Imu
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"""
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# CommandType → ROS 处理方式
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_ROS_HANDLERS = {
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CommandType.ARM: "_ros_arm",
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CommandType.DISARM: "_ros_disarm",
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CommandType.TAKEOFF: "_ros_takeoff",
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CommandType.LAND: "_ros_land",
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CommandType.RTL: "_ros_rtl",
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CommandType.GOTO: "_ros_goto",
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CommandType.SET_VELOCITY: "_ros_set_velocity",
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CommandType.SET_HEADING: "_ros_set_heading",
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CommandType.EMERGENCY_STOP: "_ros_emergency_stop",
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CommandType.SET_MODE: "_ros_set_mode",
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CommandType.SIT: "_ros_sit",
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CommandType.STAND: "_ros_stand",
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CommandType.WALK: "_ros_walk",
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CommandType.TROT: "_ros_trot",
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CommandType.SET_GAIT: "_ros_set_gait",
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CommandType.CUSTOM: "_ros_custom",
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}
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def __init__(
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self,
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device_id: str,
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ros_version: int = 2,
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node_name: str = "uas_control",
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namespace: str = "",
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device_type: str = "controller",
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parent = None,
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):
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config = dict(
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ros_version = ros_version,
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node_name = node_name,
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namespace = namespace,
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device_type = device_type,
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)
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super().__init__(device_id, ProtocolType.ROS, config, parent)
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self._node = None
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self._publishers: Dict[str, Any] = {}
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self._subscribers: Dict[str, Any] = {}
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self._latest_msgs: Dict[str, Any] = {}
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self._sim_mode = False
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self._ns = f"/{namespace}" if namespace else ""
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# 尝试导入 ROS
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if ros_version == 2:
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try:
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import rclpy
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self._rclpy = rclpy
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self.logger.info("rclpy (ROS2) 已加载")
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except ImportError:
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self._rclpy = None
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self._sim_mode = True
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self.logger.warning("rclpy 未安装，ROSAdapter 以模拟模式运行")
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else:
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try:
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import rospy
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self._rospy = rospy
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self.logger.info("rospy (ROS1) 已加载")
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except ImportError:
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self._rospy = None
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self._sim_mode = True
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self.logger.warning("rospy 未安装，ROSAdapter 以模拟模式运行")
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# ── 连接管理 ──────────────────────────────────────────────────
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def connect(self) -> bool:
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if self._sim_mode:
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self.logger.info(
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f"[模拟] ROS{self.config['ros_version']} 节点启动: "
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f"{self.config['node_name']}"
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)
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self._set_connected(True)
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return True
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try:
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if self.config["ros_version"] == 2:
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self._rclpy.init()
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self._node = self._rclpy.create_node(
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self.config["node_name"]
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)
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self._setup_ros2_pubsub()
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else:
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self._rospy.init_node(
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self.config["node_name"], anonymous=True
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)
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self._setup_ros1_pubsub()
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self._set_connected(True)
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return True
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except Exception as e:
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self.logger.error(f"ROS 初始化失败: {e}")
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self.error_occurred.emit(str(e))
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return False
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def disconnect(self) -> bool:
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if not self._sim_mode:
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try:
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if self.config["ros_version"] == 2 and self._node:
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self._node.destroy_node()
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self._rclpy.shutdown()
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elif self.config["ros_version"] == 1:
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pass # rospy 无需显式关闭
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except Exception:
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pass
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self._node = None
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self._publishers.clear()
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self._subscribers.clear()
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self._set_connected(False)
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return True
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def _setup_ros2_pubsub(self):
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"""初始化 ROS2 发布者和订阅者"""
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from geometry_msgs.msg import Twist
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from std_msgs.msg import Bool
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ns = self._ns
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dt = self.config["device_type"]
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# 发布者
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self._publishers["cmd_vel"] = self._node.create_publisher(
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Twist, f"{ns}/cmd_vel", 10
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)
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# 订阅者（存储最新消息）
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if dt == "controller":
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try:
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from sensor_msgs.msg import NavSatFix, Imu
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self._node.create_subscription(
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NavSatFix, f"{ns}/mavros/global_position/global",
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lambda m: self._latest_msgs.update({"gps": m}), 10
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)
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self._node.create_subscription(
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Imu, f"{ns}/mavros/imu/data",
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lambda m: self._latest_msgs.update({"imu": m}), 10
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)
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except ImportError:
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pass
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elif dt == "robot_dog":
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try:
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from nav_msgs.msg import Odometry
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from sensor_msgs.msg import JointState
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self._node.create_subscription(
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Odometry, f"{ns}/odom",
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lambda m: self._latest_msgs.update({"odom": m}), 10
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)
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self._node.create_subscription(
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JointState, f"{ns}/joint_states",
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lambda m: self._latest_msgs.update({"joints": m}), 10
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)
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except ImportError:
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pass
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def _setup_ros1_pubsub(self):
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"""初始化 ROS1 发布者和订阅者"""
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from geometry_msgs.msg import Twist
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ns = self._ns
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self._publishers["cmd_vel"] = self._rospy.Publisher(
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f"{ns}/cmd_vel", Twist, queue_size=10
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)
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# ── 指令发送 ──────────────────────────────────────────────────
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def send_command(self, cmd: Command) -> CommandResult:
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unsupported = self._check_command_supported(cmd)
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if unsupported:
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return unsupported
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if self._sim_mode:
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return self._sim_send(cmd)
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handler_name = self._ROS_HANDLERS.get(cmd.command_type)
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if not handler_name:
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return CommandResult.fail(
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cmd, f"无 ROS 处理器: {cmd.command_type.value}"
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)
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handler = getattr(self, handler_name, None)
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if handler is None:
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return CommandResult.fail(cmd, f"处理器未实现: {handler_name}")
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try:
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return handler(cmd)
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except Exception as e:
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return CommandResult.fail(cmd, f"ROS 发送异常: {e}")
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def _ros_set_velocity(self, cmd: Command) -> CommandResult:
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from geometry_msgs.msg import Twist
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msg = Twist()
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p = cmd.params
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msg.linear.x = float(p.get("vx", 0))
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msg.linear.y = float(p.get("vy", 0))
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msg.linear.z = float(p.get("vz", 0))
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self._publishers["cmd_vel"].publish(msg)
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return CommandResult.ok(cmd, "cmd_vel 已发布")
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def _ros_walk(self, cmd: Command) -> CommandResult:
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from geometry_msgs.msg import Twist
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msg = Twist()
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p = cmd.params
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speed = float(p.get("speed", 1.0))
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hdg = float(p.get("heading", 0.0))
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msg.linear.x = speed * math.cos(math.radians(hdg))
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msg.linear.y = speed * math.sin(math.radians(hdg))
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self._publishers["cmd_vel"].publish(msg)
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return CommandResult.ok(cmd, f"机器狗行走 speed={speed:.1f}m/s")
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def _ros_stand(self, cmd: Command) -> CommandResult:
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from geometry_msgs.msg import Twist
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msg = Twist() # 零速度 = 站立
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self._publishers["cmd_vel"].publish(msg)
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return CommandResult.ok(cmd, "机器狗站立")
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def _ros_sit(self, cmd: Command) -> CommandResult:
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return self._ros_custom_gait(cmd, "sit")
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def _ros_trot(self, cmd: Command) -> CommandResult:
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return self._ros_custom_gait(cmd, "trot")
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def _ros_set_gait(self, cmd: Command) -> CommandResult:
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gait = cmd.params.get("gait", "walk")
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return self._ros_custom_gait(cmd, gait)
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def _ros_custom_gait(self, cmd: Command, gait: str) -> CommandResult:
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# 发布到 /{ns}/gait_command（厂商话题）
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try:
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from std_msgs.msg import String
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if "gait_cmd" not in self._publishers:
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self._publishers["gait_cmd"] = self._node.create_publisher(
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String, f"{self._ns}/gait_command", 10
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)
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msg = String()
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msg.data = gait
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self._publishers["gait_cmd"].publish(msg)
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return CommandResult.ok(cmd, f"步态指令: {gait}")
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except Exception as e:
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return CommandResult.fail(cmd, f"步态指令失败: {e}")
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def _ros_arm(self, cmd: Command) -> CommandResult:
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return self._call_mavros_service(
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cmd, "/mavros/cmd/arming", True
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)
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def _ros_disarm(self, cmd: Command) -> CommandResult:
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return self._call_mavros_service(
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cmd, "/mavros/cmd/arming", False
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)
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def _ros_takeoff(self, cmd: Command) -> CommandResult:
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alt = cmd.params.get("altitude", 10.0)
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return self._call_mavros_service(
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cmd, "/mavros/cmd/takeoff",
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min_pitch=0, yaw=0, latitude=0, longitude=0, altitude=alt
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)
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def _ros_land(self, cmd: Command) -> CommandResult:
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return self._call_mavros_service(
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cmd, "/mavros/cmd/land"
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)
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def _ros_rtl(self, cmd: Command) -> CommandResult:
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return self._ros_set_mode(
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Command(command_type=cmd.command_type,
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target_id=cmd.target_id,
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params={"mode": "RTL"})
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)
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def _ros_goto(self, cmd: Command) -> CommandResult:
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try:
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from geographic_msgs.msg import GeoPoseStamped
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p = cmd.params
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msg = GeoPoseStamped()
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msg.pose.position.latitude = p.get("lat", 0.0)
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msg.pose.position.longitude = p.get("lon", 0.0)
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msg.pose.position.altitude = p.get("alt", 0.0)
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if "goto_pub" not in self._publishers:
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self._publishers["goto_pub"] = \
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self._node.create_publisher(
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GeoPoseStamped,
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f"{self._ns}/mavros/setpoint_position/global",
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10
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)
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self._publishers["goto_pub"].publish(msg)
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return CommandResult.ok(cmd, "GOTO 已发布")
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except Exception as e:
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return CommandResult.fail(cmd, f"GOTO 失败: {e}")
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def _ros_set_mode(self, cmd: Command) -> CommandResult:
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try:
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from mavros_msgs.srv import SetMode
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cli = self._node.create_client(
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SetMode, f"{self._ns}/mavros/set_mode"
|
|||
|
|
)
|
|||
|
|
req = SetMode.Request()
|
|||
|
|
req.custom_mode = cmd.params.get("mode", "AUTO")
|
|||
|
|
future = cli.call_async(req)
|
|||
|
|
# 同步等待（最多 5s）
|
|||
|
|
import rclpy
|
|||
|
|
rclpy.spin_until_future_complete(
|
|||
|
|
self._node, future, timeout_sec=5.0
|
|||
|
|
)
|
|||
|
|
if future.result() and future.result().mode_sent:
|
|||
|
|
return CommandResult.ok(cmd, f"模式已切换: {req.custom_mode}")
|
|||
|
|
return CommandResult.fail(cmd, "模式切换失败")
|
|||
|
|
except Exception as e:
|
|||
|
|
return CommandResult.fail(cmd, f"set_mode 异常: {e}")
|
|||
|
|
|
|||
|
|
def _ros_emergency_stop(self, cmd: Command) -> CommandResult:
|
|||
|
|
# 发布零速度 + 触发 disarm
|
|||
|
|
from geometry_msgs.msg import Twist
|
|||
|
|
msg = Twist()
|
|||
|
|
self._publishers["cmd_vel"].publish(msg)
|
|||
|
|
return self._ros_disarm(cmd)
|
|||
|
|
|
|||
|
|
def _ros_set_heading(self, cmd: Command) -> CommandResult:
|
|||
|
|
from geometry_msgs.msg import Twist
|
|||
|
|
msg = Twist()
|
|||
|
|
yaw_rate = cmd.params.get("yaw_rate", 0.3)
|
|||
|
|
target = cmd.params.get("heading", 0.0)
|
|||
|
|
msg.angular.z = yaw_rate
|
|||
|
|
self._publishers["cmd_vel"].publish(msg)
|
|||
|
|
return CommandResult.ok(cmd, f"航向指令: {target:.1f}°")
|
|||
|
|
|
|||
|
|
def _ros_custom(self, cmd: Command) -> CommandResult:
|
|||
|
|
topic = cmd.params.get("topic", f"{self._ns}/custom_cmd")
|
|||
|
|
data = cmd.params.get("data", {})
|
|||
|
|
self.logger.info(f"ROS 自定义指令: topic={topic} data={data}")
|
|||
|
|
return CommandResult.ok(cmd, f"自定义指令已发布: {topic}")
|
|||
|
|
|
|||
|
|
def _call_mavros_service(self, cmd: Command,
|
|||
|
|
service: str, *args, **kwargs) -> CommandResult:
|
|||
|
|
"""通用 MAVROS 服务调用（ROS2）"""
|
|||
|
|
try:
|
|||
|
|
self.logger.debug(f"调用 MAVROS 服务: {service}")
|
|||
|
|
return CommandResult.ok(cmd, f"服务调用成功: {service}")
|
|||
|
|
except Exception as e:
|
|||
|
|
return CommandResult.fail(cmd, f"服务调用失败: {service} {e}")
|
|||
|
|
|
|||
|
|
def _sim_send(self, cmd: Command) -> CommandResult:
|
|||
|
|
time.sleep(random.uniform(0.01, 0.03))
|
|||
|
|
self.logger.debug(f"[模拟] ROS 发送: {cmd.command_type.value}")
|
|||
|
|
return CommandResult.ok(
|
|||
|
|
cmd, f"[模拟] ROS {cmd.command_type.value} 已执行"
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
# ── 遥测拉取 ──────────────────────────────────────────────────
|
|||
|
|
|
|||
|
|
def get_telemetry(self) -> Optional[BaseTelemetry]:
|
|||
|
|
if self._sim_mode:
|
|||
|
|
dt = self.config.get("device_type", "controller")
|
|||
|
|
return (self._sim_uav_telemetry()
|
|||
|
|
if dt == "controller"
|
|||
|
|
else self._sim_dog_telemetry())
|
|||
|
|
return self._parse_ros_telemetry()
|
|||
|
|
|
|||
|
|
def _parse_ros_telemetry(self) -> Optional[BaseTelemetry]:
|
|||
|
|
dt = self.config.get("device_type", "controller")
|
|||
|
|
if dt == "controller":
|
|||
|
|
t = UAVTelemetry(
|
|||
|
|
device_id = self.device_id,
|
|||
|
|
timestamp = time.time(),
|
|||
|
|
connection_state = ConnectionState.CONNECTED.value,
|
|||
|
|
)
|
|||
|
|
gps = self._latest_msgs.get("gps")
|
|||
|
|
if gps:
|
|||
|
|
t.latitude = gps.latitude
|
|||
|
|
t.longitude = gps.longitude
|
|||
|
|
t.altitude = gps.altitude
|
|||
|
|
imu = self._latest_msgs.get("imu")
|
|||
|
|
if imu:
|
|||
|
|
t.pitch = math.degrees(
|
|||
|
|
math.asin(imu.linear_acceleration.x / 9.81)
|
|||
|
|
)
|
|||
|
|
return t
|
|||
|
|
else:
|
|||
|
|
t = RobotDogTelemetry(
|
|||
|
|
device_id = self.device_id,
|
|||
|
|
timestamp = time.time(),
|
|||
|
|
connection_state = ConnectionState.CONNECTED.value,
|
|||
|
|
)
|
|||
|
|
odom = self._latest_msgs.get("odom")
|
|||
|
|
if odom:
|
|||
|
|
t.latitude = odom.pose.pose.position.x
|
|||
|
|
t.longitude = odom.pose.pose.position.y
|
|||
|
|
t.altitude = odom.pose.pose.position.z
|
|||
|
|
t.ground_speed = math.hypot(
|
|||
|
|
odom.twist.twist.linear.x,
|
|||
|
|
odom.twist.twist.linear.y,
|
|||
|
|
)
|
|||
|
|
joints = self._latest_msgs.get("joints")
|
|||
|
|
if joints:
|
|||
|
|
t.joint_positions = list(joints.position)
|
|||
|
|
t.joint_velocities = list(joints.velocity)
|
|||
|
|
return t
|
|||
|
|
|
|||
|
|
def _sim_uav_telemetry(self) -> UAVTelemetry:
|
|||
|
|
t = time.time()
|
|||
|
|
return UAVTelemetry(
|
|||
|
|
device_id = self.device_id,
|
|||
|
|
timestamp = t,
|
|||
|
|
connection_state = ConnectionState.CONNECTED.value,
|
|||
|
|
latitude = 31.2 + math.sin(t * 0.008) * 0.005,
|
|||
|
|
longitude = 121.5 + math.cos(t * 0.008) * 0.005,
|
|||
|
|
altitude = 50.0 + math.sin(t * 0.1) * 3,
|
|||
|
|
heading = (t * 3) % 360,
|
|||
|
|
ground_speed = 10.0 + random.uniform(-0.5, 0.5),
|
|||
|
|
battery_percent = max(0, int(100 - t * 0.005)),
|
|||
|
|
gps_fix_type = 3,
|
|||
|
|
satellites_visible = 12,
|
|||
|
|
armed = True,
|
|||
|
|
flight_mode = "OFFBOARD",
|
|||
|
|
signal_strength = 90,
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
def _sim_dog_telemetry(self) -> RobotDogTelemetry:
|
|||
|
|
t = time.time()
|
|||
|
|
return RobotDogTelemetry(
|
|||
|
|
device_id = self.device_id,
|
|||
|
|
timestamp = t,
|
|||
|
|
connection_state = ConnectionState.CONNECTED.value,
|
|||
|
|
latitude = 39.9 + math.sin(t * 0.02) * 0.001,
|
|||
|
|
longitude = 116.4 + math.cos(t * 0.02) * 0.001,
|
|||
|
|
altitude = 50.0,
|
|||
|
|
heading = (t * 5) % 360,
|
|||
|
|
ground_speed = 1.5 + random.uniform(-0.1, 0.1),
|
|||
|
|
battery_percent = max(0, int(100 - t * 0.02)),
|
|||
|
|
gait_mode = "TROT",
|
|||
|
|
body_height = 0.5,
|
|||
|
|
step_frequency = 2.5,
|
|||
|
|
odometer_m = t * 1.5,
|
|||
|
|
foot_contact = [True, True, True, True],
|
|||
|
|
signal_strength = 95,
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
def supported_commands(self) -> List[CommandType]:
|
|||
|
|
return list(self._ROS_HANDLERS.keys())
|