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