379 lines
12 KiB
Python
379 lines
12 KiB
Python
import threading
|
||
import time
|
||
import serial
|
||
import numpy as np
|
||
import keyboard # 需要 pip install keyboard
|
||
from enum import Enum
|
||
|
||
# === 官方驱动引用 (请确保这3个文件在同级目录) ===
|
||
from class_ch341 import *
|
||
from class_sensorcmd import *
|
||
from class_finger import *
|
||
|
||
# ==========================================
|
||
# PART 1: 传感器驱动 (完整版 TactileSensorDAQ)
|
||
# ==========================================
|
||
DEF_MAX_FINGER_NUM = 3
|
||
PCA_ADDR = 0x70
|
||
SAMPLE_RATE_MS = 10
|
||
|
||
|
||
class EnumCh341ConnectStatus(Enum):
|
||
CH341_CONNECT_INIT = 0
|
||
CH341_CONNECT_OPEN = 1
|
||
CH341_CONNECT_SET_SPEED = 2
|
||
CH341_CONNECT_SAMPLE_START = 3
|
||
CH341_CONNECT_CHECK = 4
|
||
|
||
|
||
class TactileSensorDAQ:
|
||
def __init__(self):
|
||
# 1. 硬件初始化
|
||
self.ch341 = ClassCh341()
|
||
self.fingers = list()
|
||
# 初始化3个传感器对象
|
||
for i in range(DEF_MAX_FINGER_NUM):
|
||
self.fingers.append(ClassFinger(4 + i, self.ch341))
|
||
|
||
# 2. 状态机变量
|
||
self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
|
||
self.ch341CheckTimer = 0
|
||
self.pcaAddr = PCA_ADDR
|
||
self.syncTimer = 0
|
||
|
||
# 3. 数据容器
|
||
self.raw_data = np.zeros(12, dtype=np.float32)
|
||
self.offset = np.zeros(12, dtype=np.float32)
|
||
self.clean_data = np.zeros(12, dtype=np.float32)
|
||
|
||
# 4. 线程控制
|
||
self.running = False
|
||
self.lock = threading.Lock()
|
||
self.thread = None
|
||
|
||
def _set_sensor_enable(self, idx):
|
||
_pack = list()
|
||
_pack.append(idx)
|
||
self.ch341.write(self.pcaAddr, _pack)
|
||
|
||
def _update_state_machine(self):
|
||
if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_INIT:
|
||
if self.ch341.init(): self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_OPEN
|
||
elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_OPEN:
|
||
if self.ch341.open():
|
||
self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED
|
||
else:
|
||
self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
|
||
elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED:
|
||
if self.ch341.set_speed(self.ch341.IIC_SPEED_400):
|
||
self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START
|
||
else:
|
||
self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START
|
||
elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START:
|
||
self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_CHECK
|
||
|
||
def _read_hardware(self):
|
||
connectedSensorChan = 0
|
||
temp_data_buffer = []
|
||
|
||
for fingerIndex in range(len(self.fingers)):
|
||
self._set_sensor_enable(1 << (self.fingers[fingerIndex].pcaIdx))
|
||
connectedSensorChan |= 1 << (self.fingers[fingerIndex].pcaIdx)
|
||
current_finger = self.fingers[fingerIndex]
|
||
|
||
if not current_finger.connect:
|
||
if current_finger.checkSensor():
|
||
print(f"[Sensor] Finger {fingerIndex} Connected!")
|
||
else:
|
||
current_finger.capRead()
|
||
for unit_i in range(current_finger.projectPara.ydds_num):
|
||
fn = current_finger.readData.nf[unit_i]
|
||
ft = current_finger.readData.tf[unit_i]
|
||
temp_data_buffer.append(fn)
|
||
temp_data_buffer.append(ft)
|
||
|
||
if len(temp_data_buffer) == 12:
|
||
with self.lock:
|
||
self.raw_data = np.array(temp_data_buffer, dtype=np.float32)
|
||
self.clean_data = self.raw_data - self.offset
|
||
|
||
if (time.time() - self.syncTimer) > 1.0:
|
||
self.syncTimer = time.time()
|
||
self._set_sensor_enable(connectedSensorChan)
|
||
for f in self.fingers:
|
||
if f.connect:
|
||
f.snsCmd.setSensorSync(0)
|
||
break
|
||
|
||
def _thread_worker(self):
|
||
while self.running:
|
||
if self.connectStatus != EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
|
||
self._update_state_machine()
|
||
time.sleep(0.1)
|
||
continue
|
||
|
||
start_time = time.time()
|
||
try:
|
||
self._read_hardware()
|
||
except Exception as e:
|
||
print(f"Read Error: {e}")
|
||
|
||
self.ch341CheckTimer += (time.time() - start_time) * 1000
|
||
if self.ch341CheckTimer >= 1000:
|
||
self.ch341CheckTimer = 0
|
||
if not self.ch341.connectCheck():
|
||
print("[Sensor] CH341 Disconnected!")
|
||
self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
|
||
|
||
elapsed = (time.time() - start_time) * 1000
|
||
sleep_time = (SAMPLE_RATE_MS - elapsed) / 1000.0
|
||
if sleep_time > 0: time.sleep(sleep_time)
|
||
|
||
def start(self):
|
||
if self.running: return
|
||
self.running = True
|
||
self.thread = threading.Thread(target=self._thread_worker)
|
||
self.thread.daemon = True
|
||
self.thread.start()
|
||
print("[System] Sensor Thread Started.")
|
||
|
||
def stop(self):
|
||
self.running = False
|
||
if self.thread: self.thread.join()
|
||
self.ch341.disconnect()
|
||
print("[System] Sensor Thread Stopped.")
|
||
|
||
def tare(self):
|
||
print("[System] Taring sensors... please wait.")
|
||
time.sleep(1)
|
||
with self.lock:
|
||
self.offset = np.copy(self.raw_data)
|
||
print("[System] Tare complete.")
|
||
|
||
def get_max_force(self):
|
||
with self.lock:
|
||
data = np.copy(self.clean_data)
|
||
max_force = 0.0
|
||
for i in range(0, 12, 2):
|
||
if data[i] > max_force: max_force = data[i]
|
||
return max_force
|
||
|
||
|
||
# ==========================================
|
||
# PART 2: 执行器驱动 (RobotDriver)
|
||
# ==========================================
|
||
class RobotDriver:
|
||
def __init__(self, port='COM9', baud=115200):
|
||
try:
|
||
self.ser = serial.Serial(port, baud, timeout=1)
|
||
print(f"[System] Robot Connected to {port}")
|
||
time.sleep(2)
|
||
except Exception as e:
|
||
print(f"[Error] Robot Connection failed: {e}")
|
||
self.ser = None
|
||
|
||
def _send(self, cmd):
|
||
if self.ser:
|
||
# 加上 \r\n 以防万一
|
||
full_cmd = f"{cmd}\r\n"
|
||
self.ser.write(full_cmd.encode())
|
||
time.sleep(0.05)
|
||
|
||
def motor_open(self):
|
||
self._send("M:OPEN")
|
||
|
||
def motor_close(self):
|
||
self._send("M:CLOSE")
|
||
|
||
def motor_stop(self):
|
||
self._send("M:STOP")
|
||
|
||
def set_servo(self, servo_id, angle):
|
||
self._send(f"S{servo_id}:{angle}")
|
||
|
||
def set_config(self, mode):
|
||
print(f"[Robot] Switching to Config Mode {mode}...")
|
||
if mode == 0:
|
||
self.set_servo(1, 90)
|
||
self.set_servo(2, 90)
|
||
elif mode == 1:
|
||
self.set_servo(1, 30)
|
||
self.set_servo(2, 150)
|
||
elif mode == 2:
|
||
self.set_servo(1, 120)
|
||
self.set_servo(2, 60)
|
||
time.sleep(1)
|
||
|
||
def close(self):
|
||
self.motor_stop()
|
||
if self.ser: self.ser.close()
|
||
|
||
|
||
# ==========================================
|
||
# PART 3: 全局急停逻辑 (SafetyGuard)
|
||
# ==========================================
|
||
class SafetyGuard:
|
||
def __init__(self, robot):
|
||
self.robot = robot
|
||
self.is_paused = False
|
||
keyboard.add_hotkey('space', self.toggle_safety)
|
||
|
||
def toggle_safety(self):
|
||
self.is_paused = not self.is_paused
|
||
if self.is_paused:
|
||
self.robot.motor_stop()
|
||
print("\n\n" + "!" * 40)
|
||
print("!!! 紧急停止触发 (EMERGENCY STOP) !!!")
|
||
print("!!! 电机已锁死，程序挂起 !!!")
|
||
print("!!! 再按一次 [空格] 恢复运行 !!!")
|
||
print("!" * 40 + "\n")
|
||
else:
|
||
print("\n" + "=" * 40)
|
||
print(">>> 解除急停，继续任务 (Resuming)...")
|
||
print("=" * 40 + "\n")
|
||
|
||
def check_pause(self):
|
||
if not self.is_paused: return None
|
||
while self.is_paused: time.sleep(0.1)
|
||
time.sleep(0.5)
|
||
return True
|
||
|
||
|
||
# ==========================================
|
||
# PART 4: 主逻辑 (Main Controller)
|
||
# ==========================================
|
||
|
||
def run_auto_grasp_task(robot, sensor, safety):
|
||
print("\n>>> 任务开始 <<<")
|
||
|
||
# 1. 构型输入
|
||
try:
|
||
mode_str = input("请输入目标构型 (0:初始, 1:错位, 2:对握): ").strip()
|
||
mode = int(mode_str)
|
||
if mode not in [0, 1, 2]: raise ValueError
|
||
except:
|
||
print("[Error] 无效输入")
|
||
return
|
||
|
||
# 2. 变构型
|
||
safety.check_pause()
|
||
robot.set_config(mode)
|
||
|
||
# === 限制任务开始时的张开等待，避免过度张开 ===
|
||
OPEN_WAIT_TIME = 1.0 # 秒
|
||
|
||
safety.check_pause()
|
||
print(f"[Task] 初始化：直线电机张开... (等待 {OPEN_WAIT_TIME} 秒)")
|
||
robot.motor_open()
|
||
|
||
# 3. 延时 (带倒计时的充分等待)
|
||
steps = int(OPEN_WAIT_TIME * 10) # 转换为 0.1s 的步数
|
||
print(f"[Task] 正在张开并等待放置番茄 (按空格可急停)...")
|
||
|
||
for i in range(steps):
|
||
if safety.check_pause():
|
||
print("[Task] 暂停恢复，重置倒计时...")
|
||
|
||
time.sleep(0.1)
|
||
|
||
# 每秒打印一次倒计时
|
||
seconds_left = OPEN_WAIT_TIME - (i / 10)
|
||
if i % 10 == 0:
|
||
print(f"{int(seconds_left)}...", end=' ', flush=True)
|
||
|
||
print("Go!")
|
||
# ===============================================
|
||
|
||
# 4. 开始闭合
|
||
safety.check_pause()
|
||
print("[Task] 直线电机开始闭合...")
|
||
robot.motor_close()
|
||
|
||
# 5. 力反馈循环
|
||
# ================= 修改位置：力控阈值 =================
|
||
FORCE_THRESHOLD = 0.3
|
||
# ===================================================
|
||
start_time = time.time()
|
||
|
||
try:
|
||
while True:
|
||
# 急停恢复检查
|
||
recover_flag = safety.check_pause()
|
||
if recover_flag:
|
||
print("[Task] 恢复运动：重新下发闭合指令...")
|
||
robot.motor_close()
|
||
start_time = time.time()
|
||
|
||
# 获取传感器数据
|
||
current_max_force = sensor.get_max_force()
|
||
|
||
# 打印状态
|
||
if (time.time() * 1000) % 200 < 20:
|
||
print(f"\r[Grasping] Force: {current_max_force:.1f} / {FORCE_THRESHOLD}", end="")
|
||
|
||
# 触发判断
|
||
if current_max_force > FORCE_THRESHOLD:
|
||
print(f"\n[Task] 触觉触发！停止。")
|
||
break
|
||
|
||
# 超时保护 (15秒，防止闭合行程也很长)
|
||
if time.time() - start_time > 15.0:
|
||
print("\n[Task] 抓取超时 (未检测到受力)。")
|
||
break
|
||
|
||
time.sleep(0.01)
|
||
|
||
except KeyboardInterrupt:
|
||
print("\n[Task] 人工强制中断！")
|
||
|
||
# 6. 停止
|
||
robot.motor_stop()
|
||
print("[Task] 任务结束。\n")
|
||
|
||
|
||
if __name__ == "__main__":
|
||
sensor = TactileSensorDAQ()
|
||
sensor.start()
|
||
|
||
# ================= 修改位置：串口号 =================
|
||
# 请务必确认这里是 STM32 的串口号，而不是传感器的
|
||
robot = RobotDriver(port='COM9')
|
||
# ==================================================
|
||
|
||
|
||
safety = SafetyGuard(robot)
|
||
|
||
|
||
try:
|
||
print("等待传感器稳定...")
|
||
|
||
time.sleep(2)
|
||
sensor.tare()
|
||
|
||
while True:
|
||
print("========================")
|
||
print(" [Enter] 运行抓取任务")
|
||
print(" [Space] 随时急停/恢复")
|
||
print(" [t] 重新去皮")
|
||
print(" [q] 退出")
|
||
|
||
cmd = input("Command > ").strip().lower()
|
||
|
||
if cmd == '':
|
||
run_auto_grasp_task(robot, sensor, safety)
|
||
|
||
elif cmd == 't':
|
||
sensor.tare()
|
||
elif cmd == 'q':
|
||
break
|
||
|
||
except KeyboardInterrupt:
|
||
pass
|
||
finally:
|
||
robot.close()
|
||
sensor.stop()
|
||
try:
|
||
keyboard.unhook_all()
|
||
except:
|
||
pass
|
||
print("System All Shutdown.") |