230 lines
9.2 KiB
Python
230 lines
9.2 KiB
Python
"""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}")
|