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新增多设备控制

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This commit is contained in:
meiqi
2026-03-30 14:22:53 +08:00
parent 2988d4174b
commit 32702e25f3
7 changed files with 234 additions and 59 deletions
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20
Deploy_Tienkung/common/joystick.py
View File

@@ -3,6 +3,7 @@ Joystick Control Module
Python equivalent of the C++ Joystick functionality for ROS Joy messages
"""
import os
import time
import yaml
import threading
from dataclasses import dataclass
@@ -76,6 +77,8 @@ class JoystickHumanoid:
self.max_yaw_speed = 0.0
# 高度平滑控制
self.target_height = 0.0
self.last_input_time = 0.0
self.last_fsm_command_time = 0.0
# 加载配置文件
self._load_config()
@@ -139,11 +142,14 @@ class JoystickHumanoid:
x2=msg.axes[0] if len(msg.axes) > 1 else 0.0,
y1=msg.axes[2] if len(msg.axes) > 2 else 0.0,
y2=msg.axes[1] if len(msg.axes) > 0 else 0.0)
if yunzhuo_map != self.joy_map:
self.last_input_time = time.time()
self.joy_map = yunzhuo_map
def joy_flag_update(self):
"""根据手柄输入更新控制标志"""
with self.data_mutex:
fsm_command_updated = False
# 更新手柄启动标志
if self.joy_map.f == -1.0:
self.joy_flag.enable = False
@@ -152,14 +158,17 @@ class JoystickHumanoid:
# FSM状态切换命令
if self.joy_map.c == 1.0:
self.joy_flag.fsm_state_command = "gotoSTOP"
fsm_command_updated = True
else:
button_pressed_nums = self.check_button_pressed_nums(
self.joy_map)
if button_pressed_nums == 0:
if self.joy_map.d == 1.0:
self.joy_flag.fsm_state_command = "gotoZERO"
fsm_command_updated = True
elif self.joy_map.a == 1.0:
self.joy_flag.fsm_state_command = "gotoWALKAMP"
fsm_command_updated = True
# 获取walk速度命令
self.get_x_y_yaw_speed_command()
# 获取高度命令
@@ -169,8 +178,13 @@ class JoystickHumanoid:
#e上拨
if self.joy_map.a == 1.0:
self.joy_flag.fsm_state_command = "gotoBEYONDMIMIC"
fsm_command_updated = True
elif self.joy_map.d == 1.0:
self.joy_flag.fsm_state_command = "gotoBEYONDZERO"
fsm_command_updated = True
if fsm_command_updated:
self.last_fsm_command_time = time.time()
@@ -179,6 +193,12 @@ class JoystickHumanoid:
with self.data_mutex:
return self.joy_flag
def get_last_input_time(self) -> float:
return self.last_input_time
def get_last_fsm_command_time(self) -> float:
return self.last_fsm_command_time
def init(self) -> int:
"""初始化手柄控制器"""
print("Joystick controller initialized")

21
Deploy_Tienkung/common/stdin_keyboard_control.py
View File

@@ -8,6 +8,7 @@ import select
import termios
import tty
import os
import time
import yaml
from typing import Optional
from .joystick import ControlFlag
@@ -50,6 +51,8 @@ class KeyboardController:
self.running = False
self.input_thread = None
self.original_terminal_settings = None
self.last_input_time = 0.0
self.last_fsm_command_time = 0.0
# 加载配置文件
self._load_config()
@@ -166,6 +169,7 @@ class KeyboardController:
def _process_key(self, key):
"""处理按键输入"""
handled = True
if key == 'w':
self._on_w_key()
elif key == 's':
@@ -207,7 +211,10 @@ class KeyboardController:
self._handle_arrow_key()
else:
# 忽略其他按键
pass
handled = False
if handled:
self.last_input_time = time.time()
def _handle_arrow_key(self):
"""处理方向键序列"""
@@ -296,17 +303,20 @@ class KeyboardController:
"""处理z键 - 切换到ZERO状态"""
with self.data_mutex:
self.keyboard_flag.fsm_state_command = "gotoZERO"
self.last_fsm_command_time = time.time()
print("Command: gotoZERO")
def _on_v_key(self):
"""处理v键 - 切换到BEYONGDMIMIC状态"""
with self.data_mutex:
self.keyboard_flag.fsm_state_command = "gotoBEYONDMIMIC"
self.last_fsm_command_time = time.time()
print("Command: gotoBEYONDMIMIC")
def _on_c_key(self):
"""处理c键 - 切换到STOP状态"""
with self.data_mutex:
self.keyboard_flag.fsm_state_command = "gotoSTOP"
self.last_fsm_command_time = time.time()
print("Command: gotoSTOP")
@@ -346,6 +356,7 @@ class KeyboardController:
"""处理m键 - 切换到WALKAMP状态"""
with self.data_mutex:
self.keyboard_flag.fsm_state_command = "gotoWALKAMP"
self.last_fsm_command_time = time.time()
print("Command: gotoWALKAMP")
def _on_p_key(self):
@@ -355,6 +366,7 @@ class KeyboardController:
self.keyboard_flag.y_speed_command = 0.0
self.keyboard_flag.yaw_speed_command = 0.0
self.keyboard_flag.fsm_state_command = "gotoMYPOLICY"
self.last_fsm_command_time = time.time()
print("Command: gotoMYPOLICY (movement commands reset to zero)")
def _on_n_key(self):
@@ -364,6 +376,7 @@ class KeyboardController:
self.keyboard_flag.y_speed_command = 0.0
self.keyboard_flag.yaw_speed_command = 0.0
self.keyboard_flag.fsm_state_command = "gotoXSIMRUN"
self.last_fsm_command_time = time.time()
print("Command: gotoXSIMRUN (movement commands reset to zero)")
def _handle_ctrl_c(self):
@@ -418,6 +431,12 @@ class KeyboardController:
flag_copy = KeyboardFlag()
flag_copy.__dict__.update(self.keyboard_flag.__dict__)
return flag_copy
def get_last_input_time(self) -> float:
return self.last_input_time
def get_last_fsm_command_time(self) -> float:
return self.last_fsm_command_time
def init(self) -> int:
"""初始化键盘控制器"""

54
Deploy_Tienkung/common/xbox_control.py
View File

@@ -3,6 +3,7 @@ XBOX Controller compatibility layer.
Implements the same FSM modes and control flags as `stdin_keyboard_control.py` / `joystick.py`.
"""
import os
import time
import yaml
import threading
from typing import Optional
@@ -53,6 +54,8 @@ class XBOXController:
self.map = XBOXMap()
self.flag = XBOXFlag()
self.data_mutex = threading.Lock()
self.last_input_time = 0.0
self.last_fsm_command_time = 0.0
# state tracking
self.last_select = 0
@@ -130,44 +133,51 @@ class XBOXController:
# axes layout may differ; try safe indexing
axes = list(msg.axes) + [0.0] * 16
buttons = list(msg.buttons) + [0] * 32
# common mapping assumptions (best-effort)
self.map.lx = axes[self.axis_map['lx']]
self.map.ly = axes[self.axis_map['ly']]
self.map.rx = axes[self.axis_map['rx']]
self.map.ry = axes[self.axis_map['ry']]
# triggers sometimes on axes
self.map.l_trigger = axes[self.axis_map['l_trigger']]
self.map.r_trigger = axes[self.axis_map['r_trigger']]
# dpad may be on axes
self.map.dpad_h = axes[self.axis_map['dpad_h']]
self.map.dpad_v = axes[self.axis_map['dpad_v']]
# buttons using button_map indices
new_map = XBOXMap(
lx=axes[self.axis_map['lx']],
ly=axes[self.axis_map['ly']],
rx=axes[self.axis_map['rx']],
ry=axes[self.axis_map['ry']],
l_trigger=axes[self.axis_map['l_trigger']],
r_trigger=axes[self.axis_map['r_trigger']],
dpad_h=axes[self.axis_map['dpad_h']],
dpad_v=axes[self.axis_map['dpad_v']],
)
for name, idx in self.button_map.items():
try:
val = buttons[idx]
except Exception:
val = 0
setattr(self.map, name, val)
setattr(new_map, name, val)
if new_map != self.map:
self.last_input_time = time.time()
self.map = new_map
def xbox_flag_update(self):
"""Update ControlFlag from the xbox map, mirroring joystick logic."""
with self.data_mutex:
fsm_command = None
# FSM state mapping - cover keyboard commands z/c/m/h/g/p/o
# c -> gotoSTOP
if self.map.y == 1:
self.flag.fsm_state_command = 'gotoSTOP'
fsm_command = 'gotoSTOP'
# a -> gotoWALKAMP
elif self.map.a == 1:
self.flag.fsm_state_command = 'gotoWALKAMP'
fsm_command = 'gotoWALKAMP'
# h -> gotoDH (Left trigger + A)
# v -> gotoBEYONDMIMIC (Left trigger + home)
elif self.map.l_trigger < -0.5 and self.map.home == 1:
self.flag.fsm_state_command = 'gotoBEYONDMIMIC'
fsm_command = 'gotoBEYONDMIMIC'
# z -> gotoZERO
elif self.map.x == 1:
self.flag.fsm_state_command = 'gotoZERO'
fsm_command = 'gotoZERO'
if fsm_command is not None:
self.flag.fsm_state_command = fsm_command
self.last_fsm_command_time = time.time()
# detect state change
if not hasattr(self, '_last_state'):
@@ -251,6 +261,12 @@ class XBOXController:
with self.data_mutex:
return self.flag
def get_last_input_time(self) -> float:
return self.last_input_time
def get_last_fsm_command_time(self) -> float:
return self.last_fsm_command_time
def init(self) -> int:
print("XBOX controller initialized")
return 0

2
Deploy_Tienkung/config/dex_config.yaml
View File

@@ -6,7 +6,7 @@ sim: false
debug: false
control_tool: keyboard # joystick, xbox, keyboard, udp_loopback
control_tool: [keyboard] # joystick, xbox, keyboard, udp_loopback
joystick:
initial_height: 0.957

141
Deploy_Tienkung/rl_control_node.py
View File

@@ -47,6 +47,8 @@ def timing_decorator(func):
class XMIGCSControlNode(Node):
"""xMIGCS控制节点Python版本"""
VALID_CONTROL_TOOLS = ("joystick", "xbox", "keyboard", "udp_loopback")
def __init__(self, debug=False):
super().__init__('xmigcs_control_node')
@@ -95,7 +97,8 @@ class XMIGCSControlNode(Node):
print(self.config)
# 获取控制器类型
self.control_tool = self.config.get('control_tool', 'keyboard')
raw_control_tool = self.config.get('control_tool', 'keyboard')
self.control_tools = self._normalize_control_tools(raw_control_tool)
# 提取关键配置参数
self.motor_num = self.config.get('motor_num')
self.dt = self.config.get('dt')
@@ -107,6 +110,34 @@ class XMIGCSControlNode(Node):
if self.sim and user_name == 'ubuntu':
raise RuntimeError("On ubuntu user, sim must be set to false")
def _normalize_control_tools(self, raw_control_tool):
"""Normalize control_tool config to an ordered tool list."""
if isinstance(raw_control_tool, str):
normalized = raw_control_tool.replace("+", ",")
requested_tools = [
item.strip() for item in normalized.split(",") if item.strip()
]
elif isinstance(raw_control_tool, list):
requested_tools = [str(item).strip() for item in raw_control_tool if str(item).strip()]
else:
raise ValueError("control_tool must be a string or list")
if not requested_tools:
requested_tools = ["keyboard"]
deduped_tools = []
for tool_name in requested_tools:
if tool_name not in self.VALID_CONTROL_TOOLS:
raise ValueError(
f"Unsupported control tool '{tool_name}'. "
f"Expected one of {self.VALID_CONTROL_TOOLS}"
)
if tool_name not in deduped_tools:
deduped_tools.append(tool_name)
print(f"[control] active tools: {deduped_tools}")
return deduped_tools
def _init_data_structures(self):
"""初始化数据结构"""
# 机器人数据
@@ -117,6 +148,7 @@ class XMIGCSControlNode(Node):
self.queue_joy_cmd = queue.Queue(maxsize=1)
self.queue_xbox_cmd = queue.Queue(maxsize=1)
self.control_flag = ControlFlag()
self.last_applied_fsm_command_time = 0.0
def _init_ros_interfaces(self):
"""初始化ROS接口（仅非电机相关）"""
@@ -125,10 +157,10 @@ class XMIGCSControlNode(Node):
depth=5)
# 订阅者（非电机相关）
if self.control_tool == "joystick":
if "joystick" in self.control_tools:
self.sub_joy_cmd = self.create_subscription(
Joy, '/sbus_data', self._joy_callback, qos_profile)
if self.control_tool == "xbox":
if "xbox" in self.control_tools:
self.sub_xbox_cmd = self.create_subscription(
Joy, '/xbox_data', self._xbox_callback, qos_profile)
@@ -136,25 +168,25 @@ class XMIGCSControlNode(Node):
"""初始化控制系统"""
# 手柄控制器
if self.control_tool == "joystick":
if "joystick" in self.control_tools:
self.joystick_humanoid = JoystickHumanoid()
self.joystick_humanoid.init()
# 键盘控制器
if self.control_tool == "keyboard":
if "keyboard" in self.control_tools:
self.keyboard_controller = KeyboardController()
self.keyboard_controller.init()
# 如果使用键盘控制，启动键盘监听
self.keyboard_controller.start()
# UDP控制器
if self.control_tool == "udp_loopback":
if "udp_loopback" in self.control_tools:
self.udp_fsm_controller = UDPFSMController()
self.udp_fsm_controller.init()
self.udp_fsm_controller.start()
# Xbox控制器
if self.control_tool == "xbox":
if "xbox" in self.control_tools:
self.xbox_controller = XBOXController()
self.xbox_controller.init()
@@ -247,8 +279,10 @@ class XMIGCSControlNode(Node):
# @timing_decorator
def _process_controller_data(self):
source_flags = []
# 处理控制器输入
if self.control_tool == "joystick":
if "joystick" in self.control_tools:
# 处理手柄输入
while not self.queue_joy_cmd.empty():
try:
@@ -258,7 +292,14 @@ class XMIGCSControlNode(Node):
break
except queue.Empty:
break
if self.control_tool == "xbox":
source_flags.append((
"joystick",
self.joystick_humanoid.get_joy_flag(),
self.joystick_humanoid.get_last_input_time(),
self.joystick_humanoid.get_last_fsm_command_time(),
))
if "xbox" in self.control_tools:
while not self.queue_xbox_cmd.empty():
try:
msg = self.queue_xbox_cmd.get_nowait()
@@ -267,22 +308,78 @@ class XMIGCSControlNode(Node):
break
except queue.Empty:
break
source_flags.append((
"xbox",
self.xbox_controller.get_xbox_flag(),
self.xbox_controller.get_last_input_time(),
self.xbox_controller.get_last_fsm_command_time(),
))
if self.control_tool == "keyboard":
if "keyboard" in self.control_tools:
self.keyboard_controller.update_flag()
flag = self.keyboard_controller.get_keyboard_flag()
elif self.control_tool == "udp_loopback":
source_flags.append((
"keyboard",
self.keyboard_controller.get_keyboard_flag(),
self.keyboard_controller.get_last_input_time(),
self.keyboard_controller.get_last_fsm_command_time(),
))
if "udp_loopback" in self.control_tools:
self.udp_fsm_controller.update_flag()
flag = self.udp_fsm_controller.get_udp_flag()
elif self.control_tool == "joystick":
flag = self.joystick_humanoid.get_joy_flag()
elif self.control_tool == "xbox":
flag = self.xbox_controller.get_xbox_flag()
else:
print("[ERROR] No control tool specified")
print('*' * 30 + f"current flag: {flag}" + '*' * 30)
source_flags.append((
"udp_loopback",
self.udp_fsm_controller.get_udp_flag(),
self.udp_fsm_controller.get_last_input_time(),
self.udp_fsm_controller.get_last_fsm_command_time(),
))
source_name, active_flag = self._select_control_flag(source_flags)
flag = self._copy_control_flag(active_flag)
flag.fsm_state_command = self._select_fsm_command(source_flags)
print('*' * 30 + f"current flag source={source_name}: {flag}" + '*' * 30)
self.control_flag = flag
def _select_control_flag(self, source_flags):
"""Select the most recently active controller."""
if not source_flags:
print("[ERROR] No control tool specified")
return "none", ControlFlag()
selected_source = source_flags[0]
for candidate in source_flags[1:]:
if candidate[2] > selected_source[2]:
selected_source = candidate
return selected_source[0], selected_source[1]
def _copy_control_flag(self, flag: ControlFlag) -> ControlFlag:
flag_copy = type(flag)()
flag_copy.__dict__.update(flag.__dict__)
return flag_copy
def _select_fsm_command(self, source_flags) -> str:
latest_source = None
for candidate in source_flags:
if latest_source is None or candidate[3] > latest_source[3]:
latest_source = candidate
if latest_source is not None and latest_source[3] > self.last_applied_fsm_command_time:
self.last_applied_fsm_command_time = latest_source[3]
return latest_source[1].fsm_state_command
return self._get_hold_fsm_command()
def _get_hold_fsm_command(self) -> str:
state_to_command = {
FSMStateName.STOP: "gotoSTOP",
FSMStateName.ZERO: "gotoZERO",
FSMStateName.WALKAMP: "gotoWALKAMP",
FSMStateName.MYPOLICY: "gotoMYPOLICY",
FSMStateName.XSIMRUN: "gotoXSIMRUN",
}
current_state = self.robot_fsm.get_current_state()
return state_to_command.get(current_state, self.control_flag.fsm_state_command)
# @timing_decorator
def _update_robot_data(self, flag: ControlFlag, time_passed: float):
"""更新机器人数据"""
@@ -321,10 +418,10 @@ class XMIGCSControlNode(Node):
self.control_running = False
# # 先停止键盘控制器（重要！）
if hasattr(self,
'keyboard_controller') and self.control_tool == "keyboard":
'keyboard_controller') and "keyboard" in self.control_tools:
self.keyboard_controller.stop()
if hasattr(self,
'udp_fsm_controller') and self.control_tool == "udp_loopback":
'udp_fsm_controller') and "udp_loopback" in self.control_tools:
self.udp_fsm_controller.stop()
if self.control_thread and self.control_thread.is_alive():

14
Deploy_Tienkung/udp_loopback/udp_fsm_controller.py
View File

@@ -72,6 +72,7 @@ class UDPFSMController:
self.udp_flag = UDPFSMFlag()
self.udp_flag.height_cmd = self.initial_lift
self.last_seq_id = -1
self.last_fsm_command_time = 0.0
def start(self) -> None:
self.rx_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@@ -132,6 +133,14 @@ class UDPFSMController:
flag_copy.__dict__.update(self.udp_flag.__dict__)
return flag_copy
def get_last_input_time(self) -> float:
with self.data_mutex:
return self.motion_frame.last_rx_time
def get_last_fsm_command_time(self) -> float:
with self.data_mutex:
return self.last_fsm_command_time
def init(self) -> int:
print("UDP FSM controller initialized")
return 0
@@ -145,14 +154,19 @@ class UDPFSMController:
event_code = packet.event_code
if event_code == "pose_home":
self.motion_frame.mode_tag = "pose_home"
self.last_fsm_command_time = packet.sent_at
elif event_code == "pose_hold":
self.motion_frame.mode_tag = "pose_hold"
self.last_fsm_command_time = packet.sent_at
elif event_code == "mode_stride":
self.motion_frame.mode_tag = "mode_stride"
self.last_fsm_command_time = packet.sent_at
elif event_code == "mode_dash":
self.motion_frame.mode_tag = "mode_dash"
self.last_fsm_command_time = packet.sent_at
elif event_code == "mode_xrun":
self.motion_frame.mode_tag = "mode_xrun"
self.last_fsm_command_time = packet.sent_at
elif event_code == "surge_up":
self.motion_frame.surge_goal = min(
self.max_surge, self.motion_frame.surge_goal + self.surge_step

41
Deploy_Tienkung/udp_loopback/udp_keyboard_sender.py
View File

@@ -64,6 +64,9 @@ class UDPKeyboardSender:
print(" Left/Right -> lift +/-")
print(" Up/Down -> surge +/-")
print(" r -> trim_reset")
print(" 4 -> clear x speed")
print(" 5 -> clear y speed")
print(" 6 -> clear yaw speed")
print(" x -> session_quit")
def start(self) -> None:
@@ -106,19 +109,22 @@ class UDPKeyboardSender:
def _process_key(self, key: str) -> None:
event_map = {
"w": ("surge_up", "w"),
"s": ("surge_down", "s"),
"a": ("sway_left", "a"),
"d": ("sway_right", "d"),
"q": ("spin_left", "q"),
"e": ("spin_right", "e"),
"z": ("pose_home", "z"),
"c": ("pose_hold", "c"),
"m": ("mode_stride", "m"),
"p": ("mode_dash", "p"),
"n": ("mode_xrun", "n"),
"r": ("trim_reset", "r"),
"x": ("session_quit", "x"),
"w": ("surge_up", "w", 1.0),
"s": ("surge_down", "s", 1.0),
"a": ("sway_left", "a", 1.0),
"d": ("sway_right", "d", 1.0),
"q": ("spin_left", "q", 1.0),
"e": ("spin_right", "e", 1.0),
"z": ("pose_home", "z", 1.0),
"c": ("pose_hold", "c", 1.0),
"m": ("mode_stride", "m", 1.0),
"p": ("mode_dash", "p", 1.0),
"n": ("mode_xrun", "n", 1.0),
"r": ("trim_reset", "r", 1.0),
"4": ("set_surge", "4", 0.0),
"5": ("set_sway", "5", 0.0),
"6": ("set_spin", "6", 0.0),
"x": ("session_quit", "x", 1.0),
}
if key == "\x03":
@@ -130,8 +136,8 @@ class UDPKeyboardSender:
return
if key in event_map:
event_code, key_name = event_map[key]
self._send_event(event_code, key_name)
event_code, key_name, drive_value = event_map[key]
self._send_event(event_code, key_name, drive_value=drive_value)
def _handle_arrow_key(self) -> None:
if not select.select([sys.stdin], [], [], 0.1)[0]:
@@ -152,13 +158,16 @@ class UDPKeyboardSender:
event_code, key_name = arrow_map[key3]
self._send_event(event_code, key_name)
def _send_event(self, event_code: str, key_name: str) -> None:
def _send_event(
self, event_code: str, key_name: str, drive_value: float = 1.0
) -> None:
if self.socket is None:
return
envelope = InputEnvelope(
seq_id=self.seq_id,
event_code=event_code,
key_name=key_name,
drive_value=drive_value,
source_tag=self.source_tag,
)
self.seq_id += 1