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.
60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
#include <iostream>
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#include <sstream>
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#include <fstream>
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#include <string>
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#include <vector>
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#include <filesystem>
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#include <algorithm>
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#include <optional>
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#include <chrono>
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#include <iomanip>
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#include "robot_controller.hpp"
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#include "user_controller.hpp"
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#include "robot_interface.hpp"
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using namespace unitree::common;
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using namespace unitree::robot;
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namespace fs = std::filesystem;
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int main(int argc, char const *argv[])
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{
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std::string param_folder;
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// parse command line params
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for (int i = 1; i < argc; ++i)
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{
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std::string arg = argv[i];
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if (arg == "--param" && i + 1 < argc)
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{
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param_folder = argv[i + 1];
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}
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}
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fs::path param = fs::current_path() / param_folder;
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// log
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auto now = std::chrono::system_clock::now();
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auto time = std::chrono::system_clock::to_time_t(now);
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std::stringstream ss;
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ss << std::put_time(std::localtime(&time), "%Y_%m_%d_%H_%M_%S");
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fs::path log_folder = fs::current_path() / "logs" / ss.str();
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fs::create_directories(log_folder);
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std::ofstream cfg_file(log_folder / "cfg.txt");
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cfg_file << "param_folder: " << param << std::endl;
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cfg_file.close();
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fs::path log_file_name = log_folder / "log.txt";
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RobotController<ExampleUserController> robot_controller(log_file_name);
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robot_controller.LoadParam(param);
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robot_controller.InitDdsModel();
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robot_controller.StartControl();
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return 0;
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} |