From ffda98edbccf308d9d52b1aa9e09b2d4b5a5758d Mon Sep 17 00:00:00 2001
From: yutang <yt.li2@siat.ac.cn>
Date: Fri, 27 Jun 2025 21:45:44 +0800
Subject: [PATCH] first update

---
 .../realman_shadow_arm.cpython-310.pyc        | Bin 0 -> 5116 bytes
 src/client.py                                 | 126 ++++++++++++++
 src/realman_shadow_arm.py                     | 161 ++++++++++++++++++
 src/servo_arm.yaml                            |   6 +
 src/zerorpc_server.py                         | 157 +++++++++++++++++
 5 files changed, 450 insertions(+)
 create mode 100644 src/__pycache__/realman_shadow_arm.cpython-310.pyc
 create mode 100644 src/client.py
 create mode 100644 src/realman_shadow_arm.py
 create mode 100644 src/servo_arm.yaml
 create mode 100644 src/zerorpc_server.py

diff --git a/src/__pycache__/realman_shadow_arm.cpython-310.pyc b/src/__pycache__/realman_shadow_arm.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..bcfcf55713c0ef15b733e6d7b0896c666aeb556a
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diff --git a/src/client.py b/src/client.py
new file mode 100644
index 0000000..aca2bd3
--- /dev/null
+++ b/src/client.py
@@ -0,0 +1,126 @@
+import zerorpc
+import time
+import logging
+import json
+
+logging.basicConfig(
+    level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s"
+)
+
+class ServoArmClient:
+    def __init__(self, server_address="tcp://localhost:4242"):
+        """初始化客户端连接"""
+        self.server_address = server_address
+        self.client = zerorpc.Client()
+        self.client.connect(server_address)
+        logging.info(f"连接到服务器: {server_address}")
+
+    def test_connection(self):
+        """测试连接"""
+        try:
+            response = self.client.ping()
+            logging.info(f"连接测试: {response}")
+            return True
+        except Exception as e:
+            logging.error(f"连接测试失败: {e}")
+            return False
+
+    def get_joint_data(self):
+        """获取所有关节数据"""
+        try:
+            data = self.client.get_joint_data()
+            return data
+        except Exception as e:
+            logging.error(f"获取关节数据失败: {e}")
+            return None
+
+    def get_left_joint_actions(self):
+        """获取左机械臂数据"""
+        try:
+            data = self.client.get_left_joint_actions()
+            return data
+        except Exception as e:
+            logging.error(f"获取左机械臂数据失败: {e}")
+            return None
+
+    def get_right_joint_actions(self):
+        """获取右机械臂数据"""
+        try:
+            data = self.client.get_right_joint_actions()
+            return data
+        except Exception as e:
+            logging.error(f"获取右机械臂数据失败: {e}")
+            return None
+
+    def get_controller_status(self, arm='left'):
+        """获取控制器状态"""
+        try:
+            status = self.client.get_controller_status(arm)
+            return status
+        except Exception as e:
+            logging.error(f"获取控制器状态失败: {e}")
+            return None
+
+    def get_connection_status(self):
+        """获取连接状态"""
+        try:
+            status = self.client.get_connection_status()
+            return status
+        except Exception as e:
+            logging.error(f"获取连接状态失败: {e}")
+            return None
+
+    def close(self):
+        """关闭客户端连接"""
+        self.client.close()
+        logging.info("客户端连接已关闭")
+
+
+def main():
+    # 创建客户端
+    client = ServoArmClient()
+    
+    # 测试连接
+    if not client.test_connection():
+        logging.error("无法连接到服务器")
+        return
+
+    # 获取连接状态
+    status = client.get_connection_status()
+    if status:
+        logging.info(f"连接状态: {json.dumps(status, indent=2)}")
+
+    try:
+        # 持续获取数据
+        logging.info("开始获取机械臂数据，按Ctrl+C停止...")
+        
+        while True:
+            print("\n" + "="*50)
+            
+            # 获取所有数据
+            joint_data = client.get_joint_data()
+            if joint_data:
+                print(f"时间戳: {joint_data['timestamp']}")
+                print(f"左机械臂数据: {json.dumps(joint_data['left_joint_actions'], indent=2)}")
+                print(f"右机械臂数据: {json.dumps(joint_data['right_joint_actions'], indent=2)}")
+            
+            # 获取控制器状态
+            left_controller = client.get_controller_status('left')
+            right_controller = client.get_controller_status('right')
+            
+            if left_controller:
+                print(f"左控制器状态: {json.dumps(left_controller, indent=2)}")
+            if right_controller:
+                print(f"右控制器状态: {json.dumps(right_controller, indent=2)}")
+            
+            # time.sleep(1)  # 1Hz显示频率
+            
+    except KeyboardInterrupt:
+        logging.info("收到中断信号，正在关闭客户端...")
+    finally:
+        client.close()
+
+
+
+if __name__ == "__main__":
+    main()
diff --git a/src/realman_shadow_arm.py b/src/realman_shadow_arm.py
new file mode 100644
index 0000000..0142348
--- /dev/null
+++ b/src/realman_shadow_arm.py
@@ -0,0 +1,161 @@
+import threading
+import time
+import serial
+import binascii
+import logging
+import yaml
+from typing import Dict
+
+logging.basicConfig(
+    level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s"
+)
+
+class ServoArm:
+    def __init__(self, config_file="config.yaml", port_name="left_port"):
+        """初始化机械臂的串口连接并发送初始数据。
+
+        Args:
+            config_file (str): 配置文件的路径。
+        """
+        self.config = self._load_config(config_file)
+        self.port = self.config[port_name]
+        self.baudrate = self.config["baudrate"]
+        self.joint_hex_data = self.config["joint_hex_data"]
+        self.control_hex_data = self.config["control_hex_data"]
+        self.arm_axis = self.config.get("arm_axis", 7)
+
+        try:
+            self.serial_conn = serial.Serial(self.port, self.baudrate, timeout=0)
+            self.bytes_to_send = binascii.unhexlify(self.joint_hex_data.replace(" ", ""))
+            self.serial_conn.write(self.bytes_to_send)
+            time.sleep(1)
+            self.connected = True
+            logging.info(f"串口连接成功: {self.port}")
+        except Exception as e:
+            logging.error(f"串口连接失败: {e}")
+            self.connected = False
+
+    def _load_config(self, config_file):
+        """加载配置文件。
+
+        Args:
+            config_file (str): 配置文件的路径。
+
+        Returns:
+            dict: 配置文件内容。
+        """
+        try:
+            with open(config_file, "r") as file:
+                config = yaml.safe_load(file)
+            return config
+        except Exception as e:
+            logging.error(f"配置文件加载失败: {e}")
+            # 返回默认配置
+            return {
+                "port": "/dev/ttyUSB0",
+                "baudrate": 460800,
+                "joint_hex_data": "55 AA 02 00 00 67",
+                "control_hex_data": "55 AA 08 00 00 B9",
+                "arm_axis": 6
+            }
+
+    def _bytes_to_signed_int(self, byte_data):
+        """将字节数据转换为有符号整数。
+
+        Args:
+            byte_data (bytes): 字节数据。
+
+        Returns:
+            int: 有符号整数。
+        """
+        return int.from_bytes(byte_data, byteorder="little", signed=True)
+
+    def _parse_joint_data(self, hex_received):
+        """解析接收到的十六进制数据并提取关节数据。
+
+        Args:
+            hex_received (str): 接收到的十六进制字符串数据。
+
+        Returns:
+            dict: 解析后的关节数据。
+        """
+        logging.debug(f"hex_received: {hex_received}")
+        joints = {}
+        for i in range(self.arm_axis):
+            start = 14 + i * 10
+            end = start + 8
+            joint_hex = hex_received[start:end]
+            joint_byte_data = bytearray.fromhex(joint_hex)
+            joint_value = self._bytes_to_signed_int(joint_byte_data) / 10000.0
+            joints[f"joint_{i+1}"] = joint_value
+        grasp_start = 14 + self.arm_axis*10
+        grasp_hex = hex_received[grasp_start:grasp_start+8]
+        grasp_byte_data = bytearray.fromhex(grasp_hex)
+        # 夹爪进行归一化处理
+        grasp_value = self._bytes_to_signed_int(grasp_byte_data)/1000
+
+        joints["grasp"] = grasp_value
+        return joints
+    
+    def _parse_controller_data(self, hex_received):
+        status = {
+            'infrared': 0,
+            'button': 0
+        }
+        if len(hex_received) == 18:
+            status['infrared'] = self._bytes_to_signed_int(bytearray.fromhex(hex_received[12:14]))
+            status['button'] = self._bytes_to_signed_int(bytearray.fromhex(hex_received[14:16]))
+            # print(infrared)
+        return status
+
+    def get_joint_actions(self):
+        """从串口读取数据并解析关节动作。
+
+        Returns:
+            dict: 包含关节数据的字典。
+        """
+        if not self.connected:
+            return {}
+        
+        try:
+            self.serial_conn.write(self.bytes_to_send)
+            time.sleep(0.02)
+            bytes_received = self.serial_conn.read(self.serial_conn.inWaiting())
+            if len(bytes_received) == 0:
+                return {}
+            
+            hex_received = binascii.hexlify(bytes_received).decode("utf-8").upper()
+            actions = self._parse_joint_data(hex_received)
+            return actions
+        except Exception as e:
+            logging.error(f"读取串口数据错误: {e}")
+            return {}
+
+    def get_controller_status(self):
+        bytes_to_send = binascii.unhexlify(self.control_hex_data.replace(" ", ""))
+        self.serial_conn.write(bytes_to_send)
+        time.sleep(0.02)
+        bytes_received = self.serial_conn.read(self.serial_conn.inWaiting())
+        hex_received = binascii.hexlify(bytes_received).decode("utf-8").upper()
+        # print("control status:", hex_received)
+        status = self._parse_controller_data(hex_received)
+        return status
+
+    def close(self):
+        """关闭串口连接"""
+        if self.connected and hasattr(self, 'serial_conn'):
+            self.serial_conn.close()
+            self.connected = False
+            logging.info("串口连接已关闭")
+
+
+if __name__ == "__main__":
+    left_servo_arm = ServoArm("/home/maic/LYT/issacsim_zerorpc/src/servo_arm.yaml", "left_port")
+    right_servo_arm = ServoArm("/home/maic/LYT/issacsim_zerorpc/src/servo_arm.yaml", "right_port")
+    while True:
+        left_joint_actions = left_servo_arm.get_joint_actions()
+        right_joint_actions = right_servo_arm.get_joint_actions()
+        # print(joint_actions)
+        logging.info(left_joint_actions)
+        logging.info(right_joint_actions)
+        time.sleep(1)
\ No newline at end of file
diff --git a/src/servo_arm.yaml b/src/servo_arm.yaml
new file mode 100644
index 0000000..e90e019
--- /dev/null
+++ b/src/servo_arm.yaml
@@ -0,0 +1,6 @@
+left_port: /dev/ttyUSB0
+right_port: /dev/ttyUSB1
+baudrate: 460800
+joint_hex_data: "55 AA 02 00 00 67"
+control_hex_data: "55 AA 08 00 00 B9"
+arm_axis: 6
diff --git a/src/zerorpc_server.py b/src/zerorpc_server.py
new file mode 100644
index 0000000..960bc61
--- /dev/null
+++ b/src/zerorpc_server.py
@@ -0,0 +1,157 @@
+import threading
+import time
+import logging
+import zerorpc
+from realman_shadow_arm import ServoArm
+
+logging.basicConfig(
+    level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s"
+)
+
+
+class ServoArmServer:
+    def __init__(self, config_file="/home/maic/LYT/issacsim_zerorpc/src/servo_arm.yaml"):
+        """初始化服务器，创建左右机械臂实例"""
+        self.config_file = config_file
+        self.left_servo_arm = None
+        self.right_servo_arm = None
+        self.running = False
+        self.data_lock = threading.Lock()
+        self.latest_data = {
+            'left_joint_actions': {},
+            'right_joint_actions': {},
+            'timestamp': time.time()
+        }
+        
+        # 初始化机械臂
+        self._initialize_arms()
+        # 启动数据采集线程
+        self._start_data_collection()
+
+    def _initialize_arms(self):
+        """初始化左右机械臂"""
+        try:
+            self.left_servo_arm = ServoArm(self.config_file, "left_port")
+            logging.info("左机械臂初始化成功")
+        except Exception as e:
+            logging.error(f"左机械臂初始化失败: {e}")
+            
+        try:
+            self.right_servo_arm = ServoArm(self.config_file, "right_port")
+            logging.info("右机械臂初始化成功")
+        except Exception as e:
+            logging.error(f"右机械臂初始化失败: {e}")
+    
+    def _start_data_collection(self):
+        """启动数据采集线程"""
+        self.running = True
+        self.data_thread = threading.Thread(target=self._data_collection_loop)
+        self.data_thread.daemon = True
+        self.data_thread.start()
+        logging.info("数据采集线程已启动")
+    
+    def _data_collection_loop(self):
+        """数据采集循环"""
+        while self.running:
+            try:
+                left_actions = {}
+                right_actions = {}
+                
+                # 获取左机械臂数据
+                if self.left_servo_arm and self.left_servo_arm.connected:
+                    left_actions = self.left_servo_arm.get_joint_actions()
+                
+                # 获取右机械臂数据
+                if self.right_servo_arm and self.right_servo_arm.connected:
+                    right_actions = self.right_servo_arm.get_joint_actions()
+                
+                # 更新最新数据
+                with self.data_lock:
+                    self.latest_data = {
+                        'left_joint_actions': left_actions,
+                        'right_joint_actions': right_actions,
+                        'timestamp': time.time()
+                    }
+                
+                time.sleep(0.02)  # 50Hz采集频率
+                
+            except Exception as e:
+                logging.error(f"数据采集错误: {e}")
+                time.sleep(0.1)
+    
+    # ZeroRPC 服务方法
+    def get_joint_data(self):
+        """获取最新的关节数据"""
+        with self.data_lock:
+            return self.latest_data.copy()
+    
+    def get_left_joint_actions(self):
+        """获取左机械臂关节数据"""
+        with self.data_lock:
+            return {
+                'data': self.latest_data['left_joint_actions'],
+                'timestamp': self.latest_data['timestamp']
+            }
+    
+    def get_right_joint_actions(self):
+        """获取右机械臂关节数据"""
+        with self.data_lock:
+            return {
+                'data': self.latest_data['right_joint_actions'],
+                'timestamp': self.latest_data['timestamp']
+            }
+    
+    def get_controller_status(self, arm='left'):
+        """获取控制器状态"""
+        try:
+            if arm == 'left' and self.left_servo_arm:
+                return self.left_servo_arm.get_controller_status()
+            elif arm == 'right' and self.right_servo_arm:
+                return self.right_servo_arm.get_controller_status()
+            else:
+                return {'error': f'Invalid arm: {arm}'}
+        except Exception as e:
+            logging.error(f"获取控制器状态错误: {e}")
+            return {'error': str(e)}
+    
+    def get_connection_status(self):
+        """获取连接状态"""
+        return {
+            'left_connected': self.left_servo_arm.connected if self.left_servo_arm else False,
+            'right_connected': self.right_servo_arm.connected if self.right_servo_arm else False,
+            'server_running': self.running
+        }
+    
+    def ping(self):
+        """测试连接"""
+        return "pong"
+    
+    def shutdown(self):
+        """关闭服务器"""
+        logging.info("正在关闭服务器...")
+        self.running = False
+        
+        if self.left_servo_arm:
+            self.left_servo_arm.close()
+        if self.right_servo_arm:
+            self.right_servo_arm.close()
+            
+        return "Server shutdown"
+    
+def main():
+    server = ServoArmServer()
+    
+    # 创建ZeroRPC服务器
+    s = zerorpc.Server(server)
+    s.bind("tcp://0.0.0.0:4242")
+    logging.info("ServoArm ZeroRPC服务器启动在 tcp://0.0.0.0:4242")
+    
+    try:
+        s.run()
+    except KeyboardInterrupt:
+        logging.info("收到中断信号，正在关闭服务器...")
+        server.shutdown()
+        s.close()
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file