2a78f1b609
Dashboard (web/hand_web.py) - Record/replay panel driving g1_record_replay.py as a pty child: take library (replay/download/duplicate/rename/delete/upload/delete-all), pause & resume, and in-take key buttons that grey out in the --fingers modes the recorder ignores (measured: in touch mode the keys change nothing at all). - /api/restart is container-aware: it kills inspire_g1 and lets the supervisor relaunch it. It used to run manage.sh, which started a SECOND inspire_g1 beside the supervised one - two writers on one RS-485 bus - and never returned. - Shape/combo libraries take a .bak on every write, with an undo button. Both files are rewritten in full, so deleting the last entry was unrecoverable. recorder/ - The recorder lives in this project now: one source of truth for the CLI and the dashboard, with pause/resume added to replay. - record.sh picks a runtime by itself (a python with the SDK, the vendored SDK, or the inspire-hand container). bundle.sh packs a ~340KB portable kit. tools/ - preflight.sh: read-only readiness report for a new robot (hardware, docker, build prerequisites, per-robot settings) ending in an install-path verdict. - fetch_deps.sh: stage build dependencies, verifying the libs are aarch64. - export_ui.py: regenerate an embedding app's vendored copy of the UI. docker/ - build_image.sh resolves its dependencies from several layouts: deps/ inside the project, /usr/local, a source install prefix, or a ROS2 colcon workspace (where the idl headers live when /usr/local has none). - web/ is copied in the last layer, so dashboard edits skip the C++ rebuild. - restart=always, and start.sh always builds so an edit cannot silently run a stale image. deps/unitree_sdk2 is vendored so a robot that has never seen the SDK can build. Docs: README quickstart + embedding notes, SETUP_G1 corrected (that udev rule stopped creating /dev/inspire_* symlinks a while ago), ROBOT_README describing a live install.
46 lines
929 B
C++
46 lines
929 B
C++
#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <unitree/common/time/time_tool.hpp>
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#include "HelloWorldData.hpp"
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#define TOPIC "TopicHelloWorld"
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using namespace unitree::robot;
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using namespace unitree::common;
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void Handler(const void* msg)
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{
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const HelloWorldData::Msg* pm = (const HelloWorldData::Msg*)msg;
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std::cout << "userID:" << pm->userID() << ", message:" << pm->message() << std::endl;
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}
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int main()
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{
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ChannelFactory::Instance()->Init(0);
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ChannelSubscriber<HelloWorldData::Msg> subscriber(TOPIC);
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subscriber.InitChannel(Handler);
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sleep(5);
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subscriber.CloseChannel();
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std::cout << "reseted. sleep 3" << std::endl;
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sleep(3);
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subscriber.InitChannel();
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sleep(5);
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subscriber.CloseChannel();
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std::cout << "reseted. sleep 3" << std::endl;
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sleep(3);
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subscriber.InitChannel();
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while (true)
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{
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sleep(10);
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}
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return 0;
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}
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