feat: Implement UDP feedback for RM75 robot arms

2026-07-29 15:26:59 +08:00
parent 687a0b401a
commit 08996434e5
16 changed files with 1600 additions and 329 deletions
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+# RM75 CANFD UDP Feedback Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** Replace synchronous TCP joint polling with the vendor UDP realtime callback while making YAML the source of robot behavior and hardware defaults.
+
+**Architecture:** Keep one `RoboticArm(RM_TRIPLE_MODE_E)` handle per arm. TCP sends CANFD and safety/tool commands; a 5 ms controller UDP push invokes a minimal callback that updates the existing locked joint snapshot. Launch keeps only topology, mock safety mode, PICO input, and generated paths/topics.
+
+**Tech Stack:** Python 3.10, ROS2 Humble, RealMan Python API2, YAML, pytest, colcon
+
+---
+
+### Task 1: Add failing UDP feedback adapter tests
+
+**Files:**
+- Modify: `xr_rm_teleop/test/test_initial_joint_pose.py`
+
+- [ ] **Step 1: Replace polling-specific tests with UDP callback tests**
+
+Add `sys`, `types`, and `SimpleNamespace` imports. Replace
+`test_joint_feedback_is_cached_in_radians` and
+`test_feedback_loop_uses_absolute_schedule_without_catch_up` with helpers and
+tests equivalent to:
+
+```python
+def _udp_state(robot_ip="127.0.0.1", joints=None, error_code=0):
+    return SimpleNamespace(
+        errCode=error_code,
+        arm_ip=robot_ip.encode(),
+        joint_status=SimpleNamespace(
+            joint_position=joints or [0.0, 10.0, -20.0, 30.0, -40.0, 50.0, -60.0]
+        ),
+    )
+
+
+def test_udp_feedback_is_cached_in_radians(monkeypatch) -> None:
+    monotonic = iter([10.0, 10.005])
+    monkeypatch.setattr(realman_adapter.time, "monotonic", lambda: next(monotonic))
+    adapter = RealManAdapter(
+        "127.0.0.1",
+        8080,
+        0,
+        "127.0.0.1",
+        8090,
+    )
+
+    adapter._accept_realtime_feedback = True
+    adapter._on_realtime_arm_state(_udp_state())
+    first = adapter.get_latest_joint_state()
+    adapter._on_realtime_arm_state(_udp_state())
+    second = adapter.get_latest_joint_state()
+
+    assert first is not None
+    assert first.positions == pytest.approx(
+        [math.radians(value) for value in [0, 10, -20, 30, -40, 50, -60]]
+    )
+    assert first.read_duration_ms is None
+    assert first.update_interval_ms is None
+    assert second is not None
+    assert second.update_interval_ms == pytest.approx(5.0)
+
+
+@pytest.mark.parametrize(
+    "state",
+    [
+        _udp_state(error_code=-3),
+        _udp_state(robot_ip="192.168.192.18"),
+        _udp_state(joints=[0.0] * 6),
+        _udp_state(joints=[0.0, 0.0, 0.0, math.nan, 0.0, 0.0, 0.0]),
+    ],
+)
+def test_invalid_udp_feedback_does_not_replace_snapshot(state) -> None:
+    adapter = RealManAdapter(
+        "127.0.0.1",
+        8080,
+        0,
+        "127.0.0.1",
+        8090,
+    )
+    adapter._accept_realtime_feedback = True
+    adapter._on_realtime_arm_state(_udp_state(joints=[1.0] * 7))
+    before = adapter.get_latest_joint_state()
+
+    adapter._on_realtime_arm_state(state)
+
+    assert adapter.get_latest_joint_state() == before
+```
+
+Add a fake vendor module that records callback registration and push config.
+Its `rm_set_realtime_push()` invokes the registered callback with `_udp_state()`.
+Assert:
+
+```python
+adapter.connect()
+arm = fake_module.RoboticArm.instance
+assert arm.config.args == (5, True, 8090, 0, "192.168.192.148")
+assert arm.callback is adapter._realtime_callback
+assert adapter.get_latest_joint_state() is not None
+assert not hasattr(adapter, "_feedback_thread")
+```
+
+Add failure cases where `rm_set_realtime_push()` returns `1`, and where
+`adapter._feedback_ready.wait` returns `False`. Both must raise `RuntimeError`;
+the fake arm must record one `rm_delete_robot_arm()` call.
+
+- [ ] **Step 2: Run the focused tests and verify RED**
+
+Run:
+
+```bash
+cd /home/robot/WS_xr
+source /opt/ros/humble/setup.bash
+python3 -m pytest -q src/xr_rm_teleop/test/test_initial_joint_pose.py
+```
+
+Expected: FAIL because `RealManAdapter` does not accept realtime push
+parameters and has no `_on_realtime_arm_state`.
+
+---
+
+### Task 2: Implement single-handle UDP feedback
+
+**Files:**
+- Modify: `xr_rm_teleop/xr_rm_teleop/realman_adapter.py`
+- Modify: `xr_rm_teleop/xr_rm_teleop/single_arm_velocity_teleop.py`
+- Modify: `xr_rm_teleop/test/test_initial_joint_pose.py`
+
+- [ ] **Step 1: Replace polling constructor state with realtime push state**
+
+Change `RealManAdapter.__init__` positional parameters from `feedback_period`
+to:
+
+```python
+realtime_push_host_ip: str,
+realtime_push_port: int,
+realtime_push_cycle_ms: int = 5,
+```
+
+Validate with stdlib `ipaddress.IPv4Address`:
+
+```python
+try:
+    self._realtime_push_host_ip = str(
+        ipaddress.IPv4Address(realtime_push_host_ip)
+    )
+except ipaddress.AddressValueError as exc:
+    raise ValueError("realtime_push_host_ip must be a valid IPv4 address") from exc
+if not 1 <= realtime_push_port <= 65535:
+    raise ValueError("realtime_push_port must be between 1 and 65535")
+if realtime_push_cycle_ms <= 0 or realtime_push_cycle_ms % 5 != 0:
+    raise ValueError("realtime_push_cycle_ms must be a positive multiple of 5")
+```
+
+Store the port and cycle, then replace feedback thread members with:
+
+```python
+self._feedback_ready = threading.Event()
+self._realtime_callback: Any | None = None
+self._accept_realtime_feedback = False
+self._feedback_fault_logged = False
+```
+
+- [ ] **Step 2: Configure callback and UDP push during connect**
+
+Import these SDK symbols inside `connect()` so mock mode stays SDK-free:
+
+```python
+from Robotic_Arm.rm_robot_interface import (
+    RoboticArm,
+    rm_realtime_arm_state_callback_ptr,
+    rm_realtime_push_config_t,
+    rm_thread_mode_e,
+)
+```
+
+After existing safety and optional initial-pose configuration:
+
+```python
+self._feedback_ready.clear()
+self._accept_realtime_feedback = True
+self._realtime_callback = rm_realtime_arm_state_callback_ptr(
+    self._on_realtime_arm_state
+)
+self._arm.rm_realtime_arm_state_call_back(self._realtime_callback)
+config = rm_realtime_push_config_t(
+    self._realtime_push_cycle_ms,
+    True,
+    self._realtime_push_port,
+    0,
+    self._realtime_push_host_ip,
+)
+self._check_return(
+    self._arm.rm_set_realtime_push(config),
+    "rm_set_realtime_push",
+)
+if not self._feedback_ready.wait(timeout=2.0):
+    raise RuntimeError(
+        "RealMan UDP realtime feedback did not receive a valid frame within 2 seconds"
+    )
+```
+
+Wrap post-handle initialization so any exception disables callback acceptance,
+deletes the handle, sets `_arm = None`, and re-raises.
+
+- [ ] **Step 3: Implement the bounded callback**
+
+Replace `_feedback_loop()` and `_read_joint_state_once()` with:
+
+```python
+def _on_realtime_arm_state(self, data: Any) -> None:
+    if not self._accept_realtime_feedback:
+        return
+    try:
+        if data is None or int(data.errCode) != 0:
+            raise ValueError("invalid realtime feedback error code")
+        arm_ip = data.arm_ip
+        if isinstance(arm_ip, bytes):
+            arm_ip = arm_ip.decode("utf-8").split("\x00", 1)[0]
+        if str(arm_ip) != self._robot_ip:
+            raise ValueError(f"unexpected realtime feedback source: {arm_ip}")
+        degrees = list(data.joint_status.joint_position)
+        if (
+            len(degrees) != 7
+            or not all(isinstance(value, Number) for value in degrees)
+        ):
+            raise ValueError("RM75 UDP feedback must contain 7 numeric joints")
+        positions = [math.radians(float(value)) for value in degrees]
+        if not all(math.isfinite(value) for value in positions):
+            raise ValueError("RM75 UDP feedback contains NaN/Inf")
+        received_at = time.monotonic()
+        with self._joint_state_lock:
+            update_interval_ms = (
+                None
+                if self._latest_joint_state is None
+                else (received_at - self._latest_joint_state.received_at) * 1000.0
+            )
+            self._latest_joint_state = JointStateSnapshot(
+                positions,
+                received_at,
+                None,
+                update_interval_ms,
+            )
+        self._feedback_fault_logged = False
+        self._feedback_ready.set()
+    except Exception as exc:
+        if not self._feedback_fault_logged:
+            self._log_warn(f"RealMan UDP realtime feedback invalid: {exc}")
+            self._feedback_fault_logged = True
+```
+
+In `close()`, set `_accept_realtime_feedback = False` before slow-stop and
+handle deletion. Remove feedback thread stop/join logic. Keep the callback
+reference alive until after `rm_delete_robot_arm()`.
+
+- [ ] **Step 4: Declare and pass ROS parameters**
+
+In `SingleArmVelocityTeleop`, declare:
+
+```python
+self.declare_parameter("realtime_push_host_ip", "")
+self.declare_parameter("realtime_push_port", 0)
+self.declare_parameter("realtime_push_cycle_ms", 5)
+```
+
+Replace `feedback_period=self._dt` in `_make_adapter()` with:
+
+```python
+realtime_push_host_ip=str(
+    self.get_parameter("realtime_push_host_ip").value
+),
+realtime_push_port=int(
+    self.get_parameter("realtime_push_port").value
+),
+realtime_push_cycle_ms=int(
+    self.get_parameter("realtime_push_cycle_ms").value
+),
+```
+
+Update all direct `RealManAdapter(...)` calls in tests to pass a host and port.
+
+- [ ] **Step 5: Run focused tests and verify GREEN**
+
+Run:
+
+```bash
+cd /home/robot/WS_xr
+source /opt/ros/humble/setup.bash
+python3 -m pytest -q src/xr_rm_teleop/test/test_initial_joint_pose.py
+```
+
+Expected: all focused tests pass, with no real SDK connection.
+
+---
+
+### Task 3: Move robot defaults into YAML and simplify launch
+
+**Files:**
+- Modify: `xr_rm_bringup/config/right_arm_rm75.yaml`
+- Modify: `xr_rm_bringup/config/left_arm_rm75.yaml`
+- Modify: `xr_rm_bringup/config/dual_arm_rm75.yaml`
+- Modify: `xr_rm_bringup/launch/arm_debug.launch.py`
+
+- [ ] **Step 1: Run a failing ownership assertion**
+
+Run a one-off Python assertion that requires the three YAMLs to contain UDP
+and tool parameters, and requires launch not to declare robot behavior
+arguments:
+
+```python
+from pathlib import Path
+import yaml
+
+config_dir = Path("xr_rm_bringup/config")
+for name in ("left_arm_rm75.yaml", "right_arm_rm75.yaml"):
+    params = yaml.safe_load((config_dir / name).read_text())
+    params = params["single_arm_velocity_teleop"]["ros__parameters"]
+    assert "use_mock" not in params
+    assert params["realtime_push_host_ip"] == "192.168.192.148"
+    assert params["realtime_push_cycle_ms"] == 5
+    assert params["enable_tool_control"] is True
+
+source = Path("xr_rm_bringup/launch/arm_debug.launch.py").read_text()
+for name in (
+    "left_robot_ip",
+    "right_robot_ip",
+    "robot_port",
+    "avoid_singularity",
+    "control_rate_hz",
+    "follow",
+    "configure_safety_limits",
+    "move_to_initial_pose_on_connect",
+):
+    assert f'DeclareLaunchArgument("{name}"' not in source
+```
+
+Expected: FAIL because the YAML parameters are missing and launch still
+declares overrides.
+
+- [ ] **Step 2: Update all YAML nodes**
+
+Remove `use_mock`. Add:
+
+```yaml
+realtime_push_host_ip: 192.168.192.148
+realtime_push_cycle_ms: 5
+enable_tool_control: true
+enable_trigger_gripper_control: true
+trigger_close_threshold: 0.95
+configure_peripheral_on_connect: true
+```
+
+Use `realtime_push_port: 8089` for left-arm nodes and `8090` for right-arm
+nodes. Keep:
+
+```yaml
+# all single-arm and dual-arm nodes
+follow: false
+canfd_trajectory_mode: 2
+```
+
+The right-arm high-follow default was reverted after the first hardware test
+exposed an unplanned stationary null-space trajectory. Do not change speeds,
+workspace limits, timeouts, safety limits, or initial pose defaults.
+
+- [ ] **Step 3: Reduce launch overrides**
+
+Make `_single_arm_node(arm, use_mock)` and `_dual_arm_nodes(use_mock)` load
+their YAML first, then pass only:
+
+```python
+{
+    "use_mock": use_mock,
+    "robot_urdf_path": _rm75_urdf(),
+    "peripheral_config_file": _config_file("peripherals_rm75.yaml"),
+    "peripheral_arm": arm,
+    "tool_command_topic": f"/xr_rm/{_arm_name(arm)}/tool_enable",
+}
+```
+
+Keep equivalent per-side generated values in dual mode. Remove
+`_initial_pose_override`, robot IP/port, avoid-singularity, control-rate,
+follow, safety, tool-control and initial-pose parsing from `_launch_setup`.
+
+Keep only these launch arguments:
+
+```python
+DeclareLaunchArgument("arm", default_value="right")
+DeclareLaunchArgument("use_mock", default_value="true")
+DeclareLaunchArgument("udp_host", default_value="0.0.0.0")
+DeclareLaunchArgument("udp_port", default_value="15000")
+DeclareLaunchArgument("udp_timer_hz", default_value="200.0")
+```
+
+- [ ] **Step 4: Re-run ownership assertion and inspect launch arguments**
+
+Run the assertion from Step 1, then:
+
+```bash
+cd /home/robot/WS_xr
+source /opt/ros/humble/setup.bash
+source install/setup.bash
+ros2 launch xr_rm_bringup arm_debug.launch.py --show-args
+```
+
+Expected: the assertion passes; launch lists only `arm`, `use_mock`,
+`udp_host`, `udp_port`, and `udp_timer_hz`.
+
+---
+
+### Task 4: Synchronize launcher UI and README
+
+**Files:**
+- Modify: `xr_rm_bringup/tools/launcher_ui.py`
+- Modify: `README.md`
+
+- [ ] **Step 1: Remove deleted launch arguments from UI commands**
+
+Keep ping targets unchanged. Change real launch commands to:
+
+```python
+"ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false"
+"ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false"
+"ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false"
+```
+
+- [ ] **Step 2: Update README ownership and commands**
+
+Remove examples and launch-argument descriptions for robot IP/port,
+avoid-singularity, control-rate, follow, safety/tool flags, and initial-pose
+overrides. State that these values live in the selected YAML. Add the UDP
+feedback parameters, host `192.168.192.148`, ports `8089/8090`, 5 ms cycle,
+and the command used after Wi-Fi changes:
+
+```bash
+ip -4 route get 192.168.192.19
+```
+
+Keep `arm`, `use_mock`, and PICO UDP arguments documented as launch
+arguments. Keep the warning that checked-in default `use_mock=true` prevents
+an accidental real connection.
+
+- [ ] **Step 3: Check syntax and stale references**
+
+Run:
+
+```bash
+python3 -m py_compile \
+  xr_rm_bringup/launch/arm_debug.launch.py \
+  xr_rm_bringup/tools/launcher_ui.py
+rg -n "left_robot_ip:=|right_robot_ip:=|move_to_initial_pose_on_connect:=" \
+  README.md xr_rm_bringup/tools/launcher_ui.py
+```
+
+Expected: compilation passes; `rg` returns no stale command-line overrides.
+
+---
+
+### Task 5: Full verification
+
+**Files:**
+- Verify all files changed by Tasks 1–4
+
+- [ ] **Step 1: Run teleop tests**
+
+```bash
+cd /home/robot/WS_xr
+source /opt/ros/humble/setup.bash
+python3 -m pytest -q src/xr_rm_teleop/test
+python3 -m pytest -q src/xr_rm_teleop/test/test_orientation_control.py
+```
+
+Expected: all tests pass.
+
+- [ ] **Step 2: Build all workspace packages**
+
+```bash
+cd /home/robot/WS_xr
+source /opt/ros/humble/setup.bash
+colcon build --symlink-install --executor sequential
+```
+
+Expected: `xr_rm_interfaces`, `xr_rm_input`, `xr_rm_teleop`, and
+`xr_rm_bringup` all finish successfully.
+
+- [ ] **Step 3: Verify mock launch without vendor hardware**
+
+```bash
+cd /home/robot/WS_xr
+source /opt/ros/humble/setup.bash
+source install/setup.bash
+timeout 8s ros2 launch xr_rm_bringup arm_debug.launch.py \
+  arm:=right use_mock:=true
+```
+
+Expected: the mock teleop and UDP input nodes start; timeout ends the launch.
+No RealMan SDK connection is attempted.
+
+- [ ] **Step 4: Inspect final diff**
+
+```bash
+cd /home/robot/WS_xr/src
+git diff --check
+git status --short
+git diff --stat
+```
+
+Expected: no whitespace errors and no unrelated files. Do not commit, push,
+or connect to the real robot unless the user explicitly requests it.