ZhengLiu-cart/acRealman_xr_from_Yikai
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Refactor code structure for improved readability and maintainability

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This commit is contained in:
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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2
unity/XR_RM_PICO_UDP_Sender/Assets/Editor/XrRmUdpSenderProjectSetup.cs
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@ -80,7 +80,7 @@ public static class XrRmUdpSenderProjectSetup
string targetHost = ResolveTargetHost();
component.host = targetHost;
component.port = 15000;
component.sendHz = 60.0f;
component.sendHz = 90.0f;
component.convertUnityToProjectCoordinates = true;
component.sendOnStart = true;

4
unity/XR_RM_PICO_UDP_Sender/Assets/Scenes/Main.unity
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@ -168,9 +168,9 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: e4c7a11d85854eddb40a6a614bfb129c, type: 3}
m_Name:
m_EditorClassIdentifier:
host: 192.168.9.99
host: 192.168.9.92
port: 15000
sendHz: 60
sendHz: 90
convertUnityToProjectCoordinates: 1
sendOnStart: 1
--- !u!114 &100003

26
unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoControllerUdpSender.cs
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@ -12,13 +12,14 @@ public class PicoControllerUdpSender : MonoBehaviour
private const string PortPrefsKey = "xr_rm_udp_sender.port";
private const string SendHzPrefsKey = "xr_rm_udp_sender.send_hz";
private const string ConvertPrefsKey = "xr_rm_udp_sender.convert_coordinates";
private const int MaxPacketsPerFrame = 4;
[Header("ROS UDP Target")]
public string host = "192.168.9.99";
public int port = 15000;
[Header("Send")]
public float sendHz = 60.0f;
public float sendHz = 90.0f;
public bool convertUnityToProjectCoordinates = true;
public bool sendOnStart = true;
@ -106,17 +107,24 @@ public class PicoControllerUdpSender : MonoBehaviour
return;
}
if (Time.unscaledTime < nextSendTime)
{
return;
}
nextSendTime = Time.unscaledTime + 1.0f / Mathf.Max(sendHz, 1.0f);
packet.t = Time.realtimeSinceStartupAsDouble;
FillController(XRNode.LeftHand, packet.controllers.left);
FillController(XRNode.RightHand, packet.controllers.right);
float now = Time.unscaledTime;
float interval = 1.0f / Mathf.Max(sendHz, 1.0f);
if (nextSendTime <= 0.0f || now - nextSendTime > interval * MaxPacketsPerFrame)
{
nextSendTime = now;
}
int sentThisFrame = 0;
while (now >= nextSendTime && sentThisFrame < MaxPacketsPerFrame)
{
packet.t = Time.realtimeSinceStartupAsDouble;
SendPacket();
nextSendTime += interval;
sentThisFrame++;
}
}
public bool ApplyConfig(string newHost, int newPort, float newSendHz, bool newConvertUnityToProjectCoordinates, bool save)

28
unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoUdpConfigPanel.cs
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@ -3,6 +3,11 @@ using System.Globalization;
using UnityEngine;
using UnityEngine.UI;
using UnityEngine.XR;
#if PICO_OPENXR_SDK
using Unity.XR.OpenXR.Features.PICOSupport;
#else
using Unity.XR.PXR;
#endif
public class PicoUdpConfigPanel : MonoBehaviour
{
@ -90,6 +95,29 @@ public class PicoUdpConfigPanel : MonoBehaviour
QualitySettings.vSyncCount = 0;
Screen.sleepTimeout = SleepTimeout.NeverSleep;
XRSettings.eyeTextureResolutionScale = 1.0f;
RequestPicoDisplayRefreshRate();
}
private void RequestPicoDisplayRefreshRate()
{
#if UNITY_ANDROID && !UNITY_EDITOR
try
{
#if PICO_OPENXR_SDK
bool applied = DisplayRefreshRateFeature.SetDisplayRefreshRate((float)targetFrameRate);
if (!applied)
{
Debug.LogWarning($"XR-RM failed to request PICO display refresh rate: {targetFrameRate} Hz");
}
#else
PXR_System.SetSystemDisplayFrequency((float)targetFrameRate);
#endif
}
catch (Exception exception)
{
Debug.LogWarning($"XR-RM failed to request PICO display refresh rate: {exception.Message}");
}
#endif
}
private void EnsurePanel()

2
unity/XR_RM_PICO_UDP_Sender/Assets/XR/Settings/PXR_Settings.asset
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@ -13,7 +13,7 @@ MonoBehaviour:
m_Name: PXR_Settings
m_EditorClassIdentifier:
stereoRenderingModeAndroid: 0
systemDisplayFrequency: 0
systemDisplayFrequency: 2
optimizeBufferDiscards: 1
enableAppSpaceWarp: 0
systemSplashScreen: {fileID: 0}

1281
unity_build.log Normal file
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File diff suppressed because one or more lines are too long

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",