增加仿真模式控制

robot_client/robots/realman/motors_bus.py

@@ -5,52 +5,6 @@ from lerobot.motors import Motor, MotorCalibration, MotorsBus
 #动作执行成功
 ACTION_SUCCESS = 0
 
-class RoboticArmMock:
-    def __init__(self,*args):
-        pass
-        
-    def rm_create_robot_arm(self, ip, port):
-        print(f"connnect {ip}:{port}")
-        return {"id":1}
-    
-    def rm_movej(self,*args):
-        print(f"rm_movej:{args}")
-
-    def rm_movej_follow(self,*args):
-        print(f"rm_movej_follow:{args}")
-
-    def rm_get_current_arm_state(self):
-        print("get_current_arm_state")
-        return ACTION_SUCCESS, {"pose":[0.0,0.0,0.0,0.0,0.0,0.0],"joint":[0.0,0.0,0.0,0.0,0.0,0.0]}
-    
-    def rm_movej_p(self,*args):
-        print(f"rm_movej_p:{args}")
-
-
-    def rm_set_joint_en_state(self,*args):
-        print(f"rm_set_joint_en_state:{args}")
-
-    def rm_set_gripper_route(self,*args):
-        print(f"rm_set_gripper_route:{args}")
-    
-    def rm_set_gripper_position(self,*kargs):
-        print(f"rm_set_gripper_position:{kargs}")
-    
-    def rm_get_gripper_state(self):
-        print("get_gripper_state")
-        return ACTION_SUCCESS, {"actpos":0.0}
-    
-    def rm_set_gripper_release(self,*args):
-        print(f"rm_set_gripper_release:{args}")
-    def rm_set_gripper_pick_on(self,*args):
-        print(f"rm_set_gripper_pick_on:{args}")
-
-    def rm_movev_canfd(self,*args):
-        print(f"rm_movev_canfd:{args}")
-        
-    def rm_destory(self):
-        print("destory")
-
 
 class RealmanMotorsBus(MotorsBus):
     model_number_table={}
@@ -72,10 +26,11 @@ class RealmanMotorsBus(MotorsBus):
         calibration: dict[str, MotorCalibration] | None = None,
     ):
         super().__init__(port,motors, calibration)
+        self.rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
         if mock:
-            self.rmarm = RoboticArmMock()
+            self.rmarm.rm_set_arm_run_mode(0)#仿真模式
         else:
-            self.rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
+            self.rmarm.rm_set_arm_run_mode(1)
         address  = port.split(':')
         self.ip = address[0]
         self.port = int(address[1])
@@ -105,7 +60,6 @@ class RealmanMotorsBus(MotorsBus):
         '''
 
         self.handle = self.rmarm.rm_create_robot_arm(self.ip, self.port)
-        self.rmarm.rm_set_arm_run_mode(0)
         enable_flag = False
         loop_flag = False
         # 设置超时时间（秒）