"""Odin1 IMU 客户端封装。 核心改动相对 sim_rl/odin1/python/odin1_imu.py： - 自动加载默认 .so 路径，调用方只需要 IMUClient(lib_path=...) - 启动后做一次"重力对齐" — 用静止时的加速度计读数初始化 Mahony 滤波器， 把首步姿态偏差从可能的 5°+ 降到 0.3° 内。这是方法论 D4 的关键一步。 - 数据老化检测：若 imu_age_ms > stale_threshold 则报警（不阻塞）。 """ import sys import time from pathlib import Path from typing import Dict, Optional import numpy as np class IMUClient: """Odin1 IMU 包装。 Args: lib_path: libodin1_imu_bridge.so 的绝对路径；None 则按方法论 1.2 中 约定的相对位置寻找。 gravity_align_samples: 启动时取多少帧加速度计平均值用于姿态初始化 stale_threshold_ms: 单帧数据超过该 age 视为陈旧 """ def __init__(self, lib_path: Optional[str] = None, gravity_align_samples: int = 50, stale_threshold_ms: float = 50.0, dry_run: bool = False): self._mock_mode = dry_run self._initial_gravity = None self._last_seq = -1 self._last_fresh_time = 0.0 self._last_odom_stamp = -1 self._last_odom_fresh_time = 0.0 if self._mock_mode: print("[IMUClient] 启动 Mock IMU 模式 (不加载物理 IMU 驱动)。") self._client = None return # 优先级 1: vendored/odin1_imu（独立部署模式） # 优先级 2: ../../odin1/odin1/python（开发模式，即 sim_rl/odin1/odin1/python） sim2real_root = Path(__file__).resolve().parents[1] candidates = [ sim2real_root / "vendored" / "odin1_imu", sim2real_root.parents[1] / "odin1" / "odin1" / "python", ] for cand in candidates: if cand.exists() and str(cand) not in sys.path: sys.path.insert(0, str(cand)) break try: from odin1_imu import Odin1ImuClient # type: ignore # lib_path 默认查找：vendored/odin1_imu/build/libodin1_imu_bridge.so → 开发路径 if lib_path is None: so_candidates = [ sim2real_root / "vendored" / "odin1_imu" / "build" / "libodin1_imu_bridge.so", sim2real_root / "vendored" / "odin1_imu" / "libodin1_imu_bridge.so", sim2real_root.parents[1] / "odin1" / "odin1" / "build" / "libodin1_imu_bridge.so", ] for so in so_candidates: if so.exists(): lib_path = str(so) break self._client = Odin1ImuClient(lib_path=lib_path) self._gravity_align_samples = gravity_align_samples self._stale_threshold_ms = stale_threshold_ms except Exception as e: print(f"[IMUClient] 错误: 无法初始化实机 IMU 驱动 ({type(e).__name__}: {e})。实机部署下拒绝启动。") raise def version(self) -> str: if self._mock_mode: return "MockIMU-v1.0" return self._client.version() def start(self, timeout_ms: int = 8000): """启动 IMU 流，并采集若干帧用于重力对齐。""" if self._mock_mode: self._initial_gravity = np.array([0.0, 0.0, 9.81], dtype=np.float32) self._last_fresh_time = time.time() self._last_odom_fresh_time = time.time() return self._client.start(timeout_ms=timeout_ms) self._wait_for_stream() self._initial_gravity = self._collect_gravity_samples() self._last_fresh_time = time.time() def stop(self): if self._mock_mode: return try: self._client.stop() except Exception: pass @property def initial_gravity(self) -> Optional[np.ndarray]: """启动后的初始重力向量（机身坐标系），用于初始化 Mahony 四元数。""" return self._initial_gravity def get_latest(self): """返回 (gyro[3], accel[3], age_ms, fresh)；fresh=False 表示无新数据。""" if self._mock_mode: now = time.time() age_ms = float(getattr(self, "_debug_mock_age_ms", 0.0)) fresh = True return (np.zeros(3, dtype=np.float32), np.array([0.0, 0.0, 9.81], dtype=np.float32), age_ms, fresh) sample = self._client.get_latest() if sample is None: return (np.zeros(3, dtype=np.float32), np.array([0.0, 0.0, 9.81], dtype=np.float32), -1.0, False) gyro = np.array([sample.gyro_x, sample.gyro_y, sample.gyro_z], dtype=np.float32) accel = np.array([sample.accel_x, sample.accel_y, sample.accel_z], dtype=np.float32) # 用 stamp_ns 判断是否有新数据，因为 sequence 字段在 C++ 中可能没有赋值，导致永远为 0 stamp = getattr(sample, "stamp_ns", 0) now = time.time() if stamp != self._last_seq: self._last_seq = stamp self._last_fresh_time = now fresh = True else: fresh = False age_ms = (now - self._last_fresh_time) * 1000.0 return gyro, accel, age_ms, fresh def get_latest_odom(self) -> Optional[Dict[str, object]]: """Return latest Odin odom for diagnostics only; policy observations stay unchanged.""" if self._mock_mode: now = time.time() # 模拟一个围绕 (0, 0) 的圆形轨迹，用于测试 Web UI Canvas 绘图 theta = now * 0.2 x = 0.5 * np.cos(theta) y = 0.5 * np.sin(theta) return { "type": "STANDARD", "stamp_ns": int(now * 1e9), "fresh": True, "age_ms": 0.0, "pos": [float(x), float(y), 0.33], "quat_wxyz": [1.0, 0.0, 0.0, 0.0], "linear_vel": [0.0, 0.0, 0.0], "angular_vel": [0.0, 0.0, 0.2], } getter = getattr(self._client, "odom_get_latest", None) if getter is None: return None try: sample = getter() except Exception: return None if sample is None: return None stamp = int(getattr(sample, "stamp_ns", 0)) now = time.time() if stamp != self._last_odom_stamp: self._last_odom_stamp = stamp self._last_odom_fresh_time = now fresh = True else: fresh = False age_ms = (now - self._last_odom_fresh_time) * 1000.0 if self._last_odom_fresh_time else -1.0 return { "type": _odom_type_name(int(getattr(sample, "type", -1))), "stamp_ns": stamp, "fresh": fresh, "age_ms": age_ms, "pos": [ float(getattr(sample, "pos_x", 0.0)), float(getattr(sample, "pos_y", 0.0)), float(getattr(sample, "pos_z", 0.0)), ], "quat_wxyz": [ float(getattr(sample, "orient_w", 1.0)), float(getattr(sample, "orient_x", 0.0)), float(getattr(sample, "orient_y", 0.0)), float(getattr(sample, "orient_z", 0.0)), ], "linear_vel": [ float(getattr(sample, "linear_vel_x", 0.0)), float(getattr(sample, "linear_vel_y", 0.0)), float(getattr(sample, "linear_vel_z", 0.0)), ], "angular_vel": [ float(getattr(sample, "angular_vel_x", 0.0)), float(getattr(sample, "angular_vel_y", 0.0)), float(getattr(sample, "angular_vel_z", 0.0)), ], } # ---- 内部方法 ---- def _wait_for_stream(self, timeout: float = 3.0): deadline = time.time() + timeout while time.time() < deadline: if self._client.wait_for_data(timeout_ms=200): # 有数据进来后清空一次队列以保证后续 get_latest 拿到的都是最新 while self._client.pop_sample() is not None: pass return raise RuntimeError("IMU 启动超时，未收到任何样本") def _collect_gravity_samples(self) -> np.ndarray: accels = [] for _ in range(self._gravity_align_samples): sample = self._client.pop_sample() if sample is None: if not self._client.wait_for_data(timeout_ms=100): continue sample = self._client.pop_sample() if sample is None: continue accels.append([sample.accel_x, sample.accel_y, sample.accel_z]) if not accels: print("[IMU] 警告: 重力对齐期间未收到样本，使用默认重力 [0,0,-9.81]") return np.array([0.0, 0.0, -9.81], dtype=np.float32) gravity = np.mean(accels, axis=0).astype(np.float32) print(f"[IMU] 重力对齐完成: g_body = {gravity}") return gravity def _odom_type_name(value: int) -> str: return {0: "STANDARD", 1: "HIGHFREQ", 2: "TF"}.get(value, f"UNKNOWN_{value}")