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Refactor code structure for improved readability and maintainability

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YikaiFu-cart
2026-06-01 18:23:19 +08:00
parent 948d50cab4
commit 9260e46b3c
7 changed files with 1396 additions and 27 deletions
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78
xr_rm_bringup/tools/launcher_ui.py
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@ -56,6 +56,21 @@ CMD_VEL_MONITORS = [
("Right Target Vel", "/xr_rm/right_rm75/cmd_vel"),
]
CONTROLLER_POSITION_MONITOR_TITLE = "XR-RM Controller Position Monitor"
CONTROLLER_POSITION_MONITOR_ACTION = "__xr_rm_controller_position_monitor__"
CONTROLLER_HZ_MONITOR_TITLE = "XR-RM Controller Hz Monitor"
CONTROLLER_HZ_MONITOR_ACTION = "__xr_rm_controller_hz_monitor__"
CONTROLLER_POSITION_MONITORS = [
("Left Controller Position", "ros2 topic echo /xr/left_controller --field pose.position"),
("Right Controller Position", "ros2 topic echo /xr/right_controller --field pose.position"),
]
CONTROLLER_HZ_MONITORS = [
("Left Controller Hz", "ros2 topic hz /xr/left_controller"),
("Right Controller Hz", "ros2 topic hz /xr/right_controller"),
]
ROS_GRAPH_MONITORS = [
("ROS Topic List", "ros2 topic list"),
("ROS Node List", "ros2 node list"),
@ -171,21 +186,42 @@ def _cmd_vel_monitor_item() -> tuple[str, str]:
def _is_topic_monitor_action(action: str) -> bool:
return action in (TOPIC_MONITOR_ACTION, CMD_VEL_MONITOR_ACTION)
return action in (
TOPIC_MONITOR_ACTION,
CMD_VEL_MONITOR_ACTION,
CONTROLLER_POSITION_MONITOR_ACTION,
CONTROLLER_HZ_MONITOR_ACTION,
)
def _topic_monitor_spec(action: str) -> tuple[str, list[tuple[str, str]], str, str, str]:
if action == CONTROLLER_POSITION_MONITOR_ACTION:
return (
CONTROLLER_POSITION_MONITOR_TITLE,
CONTROLLER_POSITION_MONITORS,
"xr_rm_controller_position_monitor",
"xr_rm_controller_position_monitor_",
"controller position topic",
)
if action == CONTROLLER_HZ_MONITOR_ACTION:
return (
CONTROLLER_HZ_MONITOR_TITLE,
CONTROLLER_HZ_MONITORS,
"xr_rm_controller_hz_monitor",
"xr_rm_controller_hz_monitor_",
"controller hz topic",
)
if action == CMD_VEL_MONITOR_ACTION:
return (
CMD_VEL_MONITOR_TITLE,
CMD_VEL_MONITORS,
[(title, f"ros2 topic echo {topic}") for title, topic in CMD_VEL_MONITORS],
"xr_rm_cmd_vel_monitor",
"xr_rm_cmd_vel_monitor_",
"target velocity topic",
)
return (
TOPIC_MONITOR_TITLE,
TOPIC_MONITORS,
[(title, f"ros2 topic echo {topic}") for title, topic in TOPIC_MONITORS],
"xr_rm_topic_monitor",
"xr_rm_topic_monitor_",
"controller topic",
@ -227,6 +263,14 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
("One-Click Left Mock Demo", _one_click_mock("left", "left")),
("One-Click Right Mock Demo", _one_click_mock("right", "right")),
("One-Click Dual Mock Demo", _one_click_mock("both", "both")),
(
"Open Controller Position Monitor",
CONTROLLER_POSITION_MONITOR_ACTION,
),
(
"Open Controller Hz Monitor",
CONTROLLER_HZ_MONITOR_ACTION,
),
]
one_click = None
elif mode == "Left Arm":
@ -420,8 +464,8 @@ class LauncherApp:
text = selected[1] if selected else ""
if _is_topic_monitor_action(text):
_window_title, monitors, _layout_name, _config_prefix, _label = _topic_monitor_spec(text)
topics = ", ".join(topic for _title, topic in monitors)
text = f"Open one Terminator window split into topic panes:\n{topics}"
commands = "\n".join(command for _title, command in monitors)
text = f"Open one Terminator window split into left/right panes:\n{commands}"
elif text == ROS_GRAPH_MONITOR_ACTION:
text = "Open one Terminator window split into 2 horizontal panes:\nros2 topic list | ros2 node list"
self.preview.configure(state=tk.NORMAL)
@ -622,7 +666,7 @@ class LauncherApp:
except OSError:
return Path(terminal).name
def topic_pane_command(self, title: str, topic: str, window_title: str = TOPIC_MONITOR_TITLE) -> str:
def topic_pane_command(self, title: str, command: str, window_title: str = TOPIC_MONITOR_TITLE) -> str:
pane_title = f"{window_title} - {title}"
lines = _source_lines(self.workspace_root)
lines.extend([
@ -630,11 +674,11 @@ class LauncherApp:
f"printf '\\033]0;%s\\007' {_quote(pane_title)}",
"clear",
f"echo {_quote('=== ' + title + ' ===')}",
f"echo {_quote('ros2 topic echo ' + topic)}",
f"echo {_quote(command)}",
"echo",
f"ros2 topic echo {topic}",
command,
"echo",
"echo 'Topic echo stopped. This pane is left open for inspection.'",
"echo 'Monitor stopped. This pane is left open for inspection.'",
"exec bash",
])
return "\n".join(lines)
@ -661,7 +705,7 @@ class LauncherApp:
def write_topic_monitor_script(
self,
title: str,
topic: str,
command: str,
window_title: str = TOPIC_MONITOR_TITLE,
config_prefix: str = "xr_rm_topic_monitor_",
) -> Path:
@ -673,7 +717,7 @@ class LauncherApp:
encoding="utf-8",
)
with script_file:
script_file.write(self.topic_pane_command(title, topic, window_title))
script_file.write(self.topic_pane_command(title, command, window_title))
script_file.write("\n")
os.chmod(script_file.name, 0o755)
return Path(script_file.name)
@ -993,8 +1037,8 @@ class LauncherApp:
window_title, monitors, layout_name, config_prefix, _label = _topic_monitor_spec(action)
width, height, left, top = target_rect or self.topic_monitor_rect()
left_script, right_script = [
self.write_topic_monitor_script(title, topic, window_title, config_prefix)
for title, topic in monitors
self.write_topic_monitor_script(title, command, window_title, config_prefix)
for title, command in monitors
]
config_text = "\n".join([
"[global_config]",
@ -1189,6 +1233,8 @@ class LauncherApp:
TERMINAL_TITLE_PREFIX,
TOPIC_MONITOR_TITLE,
CMD_VEL_MONITOR_TITLE,
CONTROLLER_POSITION_MONITOR_TITLE,
CONTROLLER_HZ_MONITOR_TITLE,
ROS_GRAPH_MONITOR_TITLE,
)
closed = 0
@ -1247,12 +1293,18 @@ class LauncherApp:
ROS_GRAPH_MONITOR_TITLE,
"xr_rm_topic_monitor_",
"xr_rm_cmd_vel_monitor_",
"xr_rm_controller_position_monitor_",
"xr_rm_controller_hz_monitor_",
"xr_rm_ros_graph_monitor_",
"udp_controller_receiver",
"sample_udp_sender",
"single_arm_velocity_teleop",
"ros2 topic echo /xr/left_controller --field pose.position",
"ros2 topic echo /xr/right_controller --field pose.position",
"ros2 topic echo /xr/left_controller",
"ros2 topic echo /xr/right_controller",
"ros2 topic hz /xr/left_controller",
"ros2 topic hz /xr/right_controller",
"ros2 topic echo /xr_rm/left_rm75/cmd_vel",
"ros2 topic echo /xr_rm/right_rm75/cmd_vel",
"ros2 topic list",