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.
128 lines
3.4 KiB
C++
128 lines
3.4 KiB
C++
#pragma once
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#include <cmath>
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namespace unitree::common
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{
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// bytecode mapping for raw joystick data
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// 16b
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typedef union
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{
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struct
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{
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uint8_t R1 : 1;
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uint8_t L1 : 1;
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uint8_t start : 1;
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uint8_t select : 1;
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uint8_t R2 : 1;
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uint8_t L2 : 1;
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uint8_t F1 : 1;
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uint8_t F2 : 1;
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uint8_t A : 1;
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uint8_t B : 1;
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uint8_t X : 1;
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uint8_t Y : 1;
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uint8_t up : 1;
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uint8_t right : 1;
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uint8_t down : 1;
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uint8_t left : 1;
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} components;
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uint16_t value;
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} xKeySwitchUnion;
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// 40 Byte (now used 24B)
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typedef struct
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{
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uint8_t head[2];
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xKeySwitchUnion btn;
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float lx;
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float rx;
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float ry;
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float L2;
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float ly;
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uint8_t idle[16];
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} xRockerBtnDataStruct;
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typedef union
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{
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xRockerBtnDataStruct RF_RX;
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uint8_t buff[40];
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} REMOTE_DATA_RX;
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class Button
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{
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public:
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Button() {}
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void update(bool state)
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{
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on_press = state ? state != pressed : false;
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on_release = state ? false : state != pressed;
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pressed = state;
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}
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bool pressed = false;
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bool on_press = false;
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bool on_release = false;
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};
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class Gamepad
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{
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public:
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Gamepad() {}
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void update(xRockerBtnDataStruct &key_data)
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{
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lx = lx * (1 - smooth) + (std::fabs(key_data.lx) < dead_zone ? 0.0 : key_data.lx) * smooth;
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rx = rx * (1 - smooth) + (std::fabs(key_data.rx) < dead_zone ? 0.0 : key_data.rx) * smooth;
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ry = ry * (1 - smooth) + (std::fabs(key_data.ry) < dead_zone ? 0.0 : key_data.ry) * smooth;
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l2 = l2 * (1 - smooth) + (std::fabs(key_data.L2) < dead_zone ? 0.0 : key_data.L2) * smooth;
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ly = ly * (1 - smooth) + (std::fabs(key_data.ly) < dead_zone ? 0.0 : key_data.ly) * smooth;
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R1.update(key_data.btn.components.R1);
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L1.update(key_data.btn.components.L1);
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start.update(key_data.btn.components.start);
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select.update(key_data.btn.components.select);
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R2.update(key_data.btn.components.R2);
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L2.update(key_data.btn.components.L2);
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F1.update(key_data.btn.components.F1);
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F2.update(key_data.btn.components.F2);
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A.update(key_data.btn.components.A);
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B.update(key_data.btn.components.B);
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X.update(key_data.btn.components.X);
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Y.update(key_data.btn.components.Y);
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up.update(key_data.btn.components.up);
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right.update(key_data.btn.components.right);
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down.update(key_data.btn.components.down);
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left.update(key_data.btn.components.left);
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}
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float lx = 0.;
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float rx = 0.;
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float ry = 0.;
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float l2 = 0.;
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float ly = 0.;
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float smooth = 0.03;
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float dead_zone = 0.01;
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Button R1;
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Button L1;
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Button start;
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Button select;
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Button R2;
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Button L2;
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Button F1;
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Button F2;
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Button A;
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Button B;
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Button X;
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Button Y;
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Button up;
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Button right;
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Button down;
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Button left;
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};
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} // namespace unitree::common
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