bdc8ef05ab
1. 重命名 ufactory_lerobot → lerobot_robot_ufactory 以独立插件包形式支持 lerobot 加载，pyproject.toml 同步更新 2. 配置文件迁移至 draccus 格式 所有 YAML config 从 _target_ 格式迁移至 ChoiceRegistry type 格式 dict 值类型从具体类改为抽象基类（RobotConfig/TeleoperatorConfig） 确保嵌套 dict 中的 type 选择器能被 draccus 正确解析 3. teleop 上下文注册替代属性注入 新增 context.py（contextvars 实现），支持多 teleop 按 id 存取 UFBaseTeleop.connect/disconnect 自动注册/注销活跃 teleop UFMockRobot.get_observation 从上下文获取 teleop action 移除 record() 对 cfg.robot.teleop 的注入 4. 部分导入延迟加载 pika_device: serial/list_ports 延迟导入 gello_teleop: gello 依赖延迟导入 umi_teleop/camera_umi: XVLib 延迟导入 space_mouse: spnav 延迟导入 5. Pika 设备实例复用 PIKA_DEVICE_MAP 共享已连接的 Sense/Gripper，防止多实例化抢占端口 修复 pika_gripper 属性误用 _pika_sense_port 的 bug 6. 修复 multiple_uf_mock_robot robots 从 list 改为 dict[str, UFMockRobot]，移除 keys 列表 send_action 改用 dict items 遍历 新增 MultipleUFMockRobot.cameras 聚合属性
234 lines
8.2 KiB
Python
234 lines
8.2 KiB
Python
import time
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import logging
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# 配置日志
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logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(name)s - %(levelname)s - %(message)s')
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logger = logging.getLogger('pika_device')
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def get_serial_ports(vidpid='1a86:7522'):
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"""
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搜索所有指定vidpid的串口
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vidpid: 指定设备的VID:PID字符串, 默认值为'1a86:7522'
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返回找到的所有符合的串口号列表
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"""
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from serial.tools import list_ports
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ports = list_ports.comports()
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pika_ports = []
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for port in ports:
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if port.vid is not None and port.pid is not None:
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if '{:04x}:{:04x}'.format(port.vid, port.pid) == vidpid:
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pika_ports.append(port.device)
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# else:
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# print('pidvid:', '{:04x}:{:04x}'.format(port.vid, port.pid))
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return pika_ports
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def check_pika_device(port):
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"""
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检测串口对应的Pika设备类型
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返回值:
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-1: 无法打开串口
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0: 不是Pika设备
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1: Pika Sense设备
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2: Pika Gripper设备
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"""
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import serial
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try:
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ser = serial.Serial(
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port=port,
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baudrate=460800,
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bytesize=serial.EIGHTBITS,
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parity=serial.PARITY_NONE,
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stopbits=serial.STOPBITS_ONE,
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timeout=1.0
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)
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time.sleep(0.5) # 等待串口稳定
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data = b''
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expired_time = time.monotonic() + 1.0 # 最多等待1秒
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while time.monotonic() < expired_time:
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if ser.in_waiting > 0:
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data += ser.read(ser.in_waiting)
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if len(data) > 200: # 足够的数据来判断
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break
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time.sleep(0.05)
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ser.close()
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data_str = data.decode('utf-8', errors='ignore')
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if '"Command"' in data_str or '"AS5047"' in data_str or '"IMU"' in data_str:
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# logger.info('✓ 检测到 Pika Sense 设备: {}'.format(port))
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return 1
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elif '"motor"' in data_str or '"motorstatus"' in data_str:
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# logger.info('✓ 检测到 Pika Gripper 设备: {}'.format(port))
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return 2
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else:
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# logger.info('✗ 未检测到 Pika 设备: {}, 数据长度: {}'.format(port, len(data)))
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return 0
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except:
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pass
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return -1
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class PikaDevice(object):
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# _instance = None
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# _pika_sense_port = None
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# _pika_gripper_port = None
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# _lock = threading.Lock()
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PIKA_DEVICE_MAP = {}
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def __init__(self, dev_type=1, **kwargs):
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"""
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port: serial port
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dev_type: 1: sense, 2: gripper
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"""
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if dev_type not in [1, 2, 3]:
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raise ValueError('不支持dev_type={}'.format(dev_type))
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self._dev_type = dev_type
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self._pika_sense_port = kwargs.get('pika_sense_port', None)
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self._pika_gripper_port = kwargs.get('pika_gripper_port', None)
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use_pika_sense = self._dev_type in [1, 3]
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use_pika_gripper = self._dev_type in [2, 3]
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self._pika_sense = None
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self._pika_gripper = None
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if (use_pika_sense and self._pika_sense_port is None) or (use_pika_gripper and self._pika_gripper_port is None):
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pika_ports = get_serial_ports()
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if not pika_ports:
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logger.error('未找到Pika设备, 请检查连接')
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exit(1)
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for port in pika_ports:
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device_type = check_pika_device(port)
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if device_type == 1 and use_pika_sense and self._pika_sense_port is None:
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self._pika_sense_port = port
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logger.info('✓ 检测到 Pika Sense 设备: {}'.format(port))
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if not use_pika_gripper:
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break
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if device_type == 2 and use_pika_gripper and self._pika_gripper_port is None:
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self._pika_gripper_port = port
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logger.info('✓ 检测到 Pika Gripper 设备: {}'.format(port))
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if not use_pika_sense:
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break
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if use_pika_sense and self._pika_sense_port is None:
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logger.error('未找到Pika Sense设备, 请检查连接')
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exit(1)
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if use_pika_gripper and self._pika_gripper_port is None:
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logger.error('未找到Pika Gripper设备, 请检查连接')
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exit(1)
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if use_pika_sense:
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print('Pika Sense设备:', self._pika_sense_port)
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if use_pika_gripper:
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print('Pika Gripper 设备:', self._pika_gripper_port)
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self.pika_tracker_device = None
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# def __new__(cls, *args, **kwargs):
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# if not cls._instance:
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# with cls._lock:
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# if not cls._instance:
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# cls._instance = super().__new__(cls)
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# cls._instance.init(*args, *kwargs)
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# return cls._instance
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def __del__(self):
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if self._pika_sense:
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self._pika_sense.disconnect()
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if self._pika_gripper:
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self._pika_gripper.disconnect()
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@property
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def pika_sense(self):
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if self._dev_type not in [1, 3]:
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return None
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if self._pika_sense is None:
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if self._pika_sense_port in self.PIKA_DEVICE_MAP:
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self._pika_sense = self.PIKA_DEVICE_MAP[self._pika_sense_port]
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return self._pika_sense
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from pika.sense import Sense
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# 初始化Sense对象
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self._pika_sense = Sense(port=self._pika_sense_port)
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# 连接设备
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if not self._pika_sense.connect():
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logger.error('连接Pika Sense设备失败')
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exit(1)
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logger.info('Pika Sense设备连接成功')
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self.PIKA_DEVICE_MAP[self._pika_sense_port] = self._pika_sense # 注册共享
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# 配置Vive Tracker（可选）
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# sense.set_vive_tracker_config(config_path='path/to/config', lh_config='lighthouse_config')
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tracker = self._pika_sense.get_vive_tracker()
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if not tracker:
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logger.error('Vive Tracker初始化失败')
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self._pika_sense.disconnect()
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exit(1)
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logger.info('Vive Tracker初始化成功')
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time.sleep(2)
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devices = self._pika_sense.get_tracker_devices()
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if not devices:
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logger.error('未检测到Vive Tracker设备')
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self._pika_sense.disconnect()
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exit(1)
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logger.info('检测到Vive Tracker设备: {}'.format(devices))
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self.pika_tracker_device = None
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for device in devices:
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if device.startswith('WM'):
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self.pika_tracker_device = device
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break
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else:
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self.pika_tracker_device = devices[0]
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logger.info('开始跟踪设备: {}\n'.format(self.pika_tracker_device))
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return self._pika_sense
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@property
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def pika_gripper(self):
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if self._dev_type not in [2, 3]:
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return None
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if self._pika_gripper is None:
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if self._pika_gripper_port in self.PIKA_DEVICE_MAP:
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self._pika_gripper = self.PIKA_DEVICE_MAP[self._pika_gripper_port]
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return self._pika_gripper
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from pika.gripper import Gripper
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self._pika_gripper = Gripper(port=self._pika_gripper_port)
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self.PIKA_DEVICE_MAP[self._pika_gripper_port] = self._pika_gripper # 注册共享
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# 连接设备
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if not self._pika_gripper.connect():
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logger.error('连接Pika Gripper设备失败')
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if self._dev_type in [1, 3]:
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self.pika_sense.disconnect()
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exit(1)
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logger.info('Pika Gripper设备连接成功')
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return self._pika_gripper
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if __name__ == '__main__':
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pika_device1 = PikaDevice(1)
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pika_device1.pika_sense
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pika_device1.pika_gripper
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time.sleep(3)
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# input('=================')
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pika_device2 = PikaDevice(2)
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pika_device2.pika_sense
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pika_device2.pika_gripper
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input('=================')
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print(pika_device1)
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print(pika_device1.pika_sense)
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print(pika_device1.pika_gripper)
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print(pika_device2)
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print(pika_device2.pika_sense)
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print(pika_device2.pika_gripper)
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input('=================')
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