137 lines
5.7 KiB
Python
137 lines
5.7 KiB
Python
"""Odin1 IMU 客户端封装。
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核心改动相对 sim_rl/odin1/python/odin1_imu.py：
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- 自动加载默认 .so 路径，调用方只需要 IMUClient(lib_path=...)
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- 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，
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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。
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- 数据老化检测：若 imu_age_ms > stale_threshold 则报警（不阻塞）。
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"""
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import sys
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import time
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from pathlib import Path
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from typing import Optional
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import numpy as np
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class IMUClient:
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"""Odin1 IMU 包装。
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Args:
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lib_path: libodin1_imu_bridge.so 的绝对路径；None 则按方法论 1.2 中
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约定的相对位置寻找。
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gravity_align_samples: 启动时取多少帧加速度计平均值用于姿态初始化
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stale_threshold_ms: 单帧数据超过该 age 视为陈旧
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"""
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def __init__(self, lib_path: Optional[str] = None, gravity_align_samples: int = 50,
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stale_threshold_ms: float = 50.0):
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# 优先级 1: vendored/odin1_imu（独立部署模式）
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# 优先级 2: ../../odin1/odin1/python（开发模式，即 sim_rl/odin1/odin1/python）
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sim2real_root = Path(__file__).resolve().parents[1]
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candidates = [
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sim2real_root / "vendored" / "odin1_imu",
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sim2real_root.parents[1] / "odin1" / "odin1" / "python",
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]
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for cand in candidates:
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if cand.exists() and str(cand) not in sys.path:
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sys.path.insert(0, str(cand))
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break
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try:
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from odin1_imu import Odin1ImuClient # type: ignore
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except ImportError as e:
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raise ImportError(
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f"无法导入 Odin1ImuClient，已尝试的路径: {[str(c) for c in candidates]}: {e}"
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)
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# lib_path 默认查找：vendored/odin1_imu/build/libodin1_imu_bridge.so → 开发路径
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if lib_path is None:
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so_candidates = [
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sim2real_root / "vendored" / "odin1_imu" / "build" / "libodin1_imu_bridge.so",
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sim2real_root / "vendored" / "odin1_imu" / "libodin1_imu_bridge.so",
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sim2real_root.parents[1] / "odin1" / "odin1" / "build" / "libodin1_imu_bridge.so",
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]
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for so in so_candidates:
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if so.exists():
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lib_path = str(so)
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break
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self._client = Odin1ImuClient(lib_path=lib_path)
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self._gravity_align_samples = gravity_align_samples
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self._stale_threshold_ms = stale_threshold_ms
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self._initial_gravity: Optional[np.ndarray] = None
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# 用本机时钟追踪数据新鲜度（stamp_ns 是设备单调时钟，不能和 time.time 混算）
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self._last_seq: int = -1
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self._last_fresh_time: float = 0.0
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def version(self) -> str:
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return self._client.version()
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def start(self, timeout_ms: int = 8000):
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"""启动 IMU 流，并采集若干帧用于重力对齐。"""
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self._client.start(timeout_ms=timeout_ms)
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self._wait_for_stream()
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self._initial_gravity = self._collect_gravity_samples()
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self._last_fresh_time = time.time()
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def stop(self):
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try:
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self._client.stop()
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except Exception:
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pass
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@property
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def initial_gravity(self) -> Optional[np.ndarray]:
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"""启动后的初始重力向量（机身坐标系），用于初始化 Mahony 四元数。"""
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return self._initial_gravity
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def get_latest(self):
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"""返回 (gyro[3], accel[3], age_ms, fresh)；fresh=False 表示无新数据。"""
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sample = self._client.get_latest()
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if sample is None:
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return (np.zeros(3, dtype=np.float32),
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np.array([0.0, 0.0, 9.81], dtype=np.float32),
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-1.0, False)
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gyro = np.array([sample.gyro_x, sample.gyro_y, sample.gyro_z], dtype=np.float32)
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accel = np.array([sample.accel_x, sample.accel_y, sample.accel_z], dtype=np.float32)
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# 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
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stamp = getattr(sample, "stamp_ns", 0)
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now = time.time()
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if stamp != self._last_seq:
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self._last_seq = stamp
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self._last_fresh_time = now
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fresh = True
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else:
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fresh = False
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age_ms = (now - self._last_fresh_time) * 1000.0
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return gyro, accel, age_ms, fresh
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# ---- 内部方法 ----
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def _wait_for_stream(self, timeout: float = 3.0):
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deadline = time.time() + timeout
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while time.time() < deadline:
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if self._client.wait_for_data(timeout_ms=200):
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# 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
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while self._client.pop_sample() is not None:
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pass
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return
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raise RuntimeError("IMU 启动超时，未收到任何样本")
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def _collect_gravity_samples(self) -> np.ndarray:
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accels = []
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for _ in range(self._gravity_align_samples):
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sample = self._client.pop_sample()
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if sample is None:
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if not self._client.wait_for_data(timeout_ms=100):
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continue
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sample = self._client.pop_sample()
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if sample is None:
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continue
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accels.append([sample.accel_x, sample.accel_y, sample.accel_z])
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if not accels:
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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]")
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return np.array([0.0, 0.0, -9.81], dtype=np.float32)
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gravity = np.mean(accels, axis=0).astype(np.float32)
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print(f"[IMU] 重力对齐完成: g_body = {gravity}")
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return gravity
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