feat:完善结构与仿真环境

2026-05-04 10:42:25 +08:00
parent f82c3ad12a
commit 1cc1ed1544
491 changed files with 14953 additions and 1336 deletions
@@ -1,141 +1,59 @@
-# 🧠 AGV 标定中央大脑
+# 源码目录结构

-**环境**: Ubuntu 22.04 + ROS 2 Humble | **语言**: C++ | **通信**: gRPC over Wi-Fi 6
+`src` 按“仿真、核心逻辑、通信、现场部署”的边界组织，而不是按临时实验文件组织。

-> 标定车间的"发令大脑"，通过局域网跨平台遥控 Windows 车端执行动作并拉取遥测数据。
+## 目录说明

---
+- `apps/`
+  面向操作人员的工具和界面原型。

-## 📋 目录
+- `communication/`
+  ROS 2 接口包、TCP 帧协议、车间工控机到车端电脑的 gateway。这个层应该同时服务于仿真和现场部署。

-1. [系统依赖安装](#1-系统依赖一键安装)
-2. [VS Code 插件配置](#2-vs-code-核心插件配置)
-3. [解决 IntelliSense 报错](#3-解决-vs-code-红色波浪线)
-4. [编译与运行](#4-编译与运行)
+- `core/`
+  标定流程和标定算法，包括 `workshop_orchestrator`、底盘标定、运控标定、传感器标定、车辆参数管理等可复用核心逻辑。

---
+- `simulation/`
+  部署前仿真验证代码。Isaac 车间、仿真车辆、仿真车端 agent、仿真传感器、仿真标定靶和旧版仿真包都放在这里。

-## 1. 系统依赖一键安装
+- `deployment/`
+  部署 profile 和从仿真迁移到现场前的检查清单。这里放配置基准，不放算法实现。

-在 Ubuntu 22.04 终端执行以下命令：
+- `docs/`
+  源码树内的设计说明、边界说明和迁移规则。
+
+- `site_deployment/`
+  真实现场部署代码，例如真实车端电脑适配器、真实车辆 SDK、PLC/CAN 或厂商控制器对接代码。
+
+## 边界规则
+
+- Isaac API 只放在 `simulation/`。
+- 真实车辆 SDK、PLC、CAN、厂商控制器相关代码只放在 `site_deployment/`。
+- ROS 2 接口、TCP 协议和 gateway 放在 `communication/`。
+- 编排流程和标定算法放在 `core/`。
+- 部署 profile 放在 `deployment/`。
+- 设计说明和迁移边界说明放在 `docs/`。
+
+## 主要入口
+
+Isaac 车间仿真：

 ```bash
-sudo apt update
-sudo apt install -y build-essential cmake pkg-config gdb
-sudo apt install -y protobuf-compiler-grpc libgrpc++-dev libprotobuf-dev protobuf-compiler
+python3 src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py
 ```

-> ⚠️ **警告**: 严禁自行去 GitHub 源码编译 gRPC，直接使用 Ubuntu 官方 APT 源即可，避免浪费时间与报错。
-
---
-
-## 2. VS Code 核心插件配置
-
-打开 VS Code → 扩展商店 (Extensions)，**必须安装**以下 4 个插件：
-
-| 插件名称 | 开发者 | 用途 |
-|---------|--------|------|
-| **C/C++**    | Microsoft | 代码补全与 GDB 调试 |
-| **CMake Tools** | Microsoft | 底部快速构建状态栏 |
-| **ROS** | Microsoft | 自动识别 `colcon` 工作空间 |
-| **vscode-proto3** | zxh404 | `.proto` 文件语法高亮 |
-
---
-
-## 3. 解决 VS Code 红色波浪线 (IntelliSense 报错)
-
-**问题原因**: gRPC 生成的 `.pb.h` 文件在 `colcon build` 阶段动态生成于 `build/` 目录，VS Code 初始无法识别。
-
-**修复步骤**:
-
-1. 按 `Ctrl+Shift+P` → 输入 `C/C++: Edit Configurations (JSON)`
-2. 确保 `c_cpp_properties.json` 包含以下配置：
-
-```json
-{
-    "configurations": [
-        {
-            "name": "ROS2",
-            "includePath": [
-                "${workspaceFolder}/**",
-                "/opt/ros/humble/include/**",
-                "${workspaceFolder}/build/agv_calib_brain/grpc_gen/**"
-            ],
-            "compilerPath": "/usr/bin/gcc",
-            "cStandard": "c17",
-            "cppStandard": "c++17",
-            "intelliSenseMode": "linux-gcc-x64"
-        }
-    ]
-}
-```
-
-> 💡 **提示**: `grpc_gen` 是 CMakeLists 中配置的自动生成源码路径，请根据实际情况微调。
-
---
-
-## 4. 编译与运行 (CMake 自动化)
-
-### 4.0 最小联调闭环
-
-当前仓库已经补齐了一个最小可运行闭环：
-
- `vehicle_profile_manager`：提供默认车辆画像
- `external_localization_service`：提供外部真值校核的最小执行端
- `workshop_orchestrator_v2`：负责编排会话、计划和报告
-
-启动顺序：
+仿真车端 agent：

 ```bash
-source /opt/ros/humble/setup.bash
-source install/setup.bash
-ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py
+python3 src/simulation/vehicle_agent_sim/scripts/isaac_vehicle_agent_sim.py
 ```

-如果只想单独跑编排器：
+按 profile 启动完整仿真链路：

 ```bash
-ros2 launch workshop_orchestrator_v2 workshop_orchestrator_v2.launch.py
+python3 src/simulation/tools/launch_sim_stack.py
 ```

-可先调用这些接口做联调：
+这条链路中，车间工控机与车端电脑之间的底盘、运控、外部真值位姿和传感器数据都通过 TCP/WiFi6 仿真边界传输；Isaac topic 只留在仿真内部。

- `/vehicle_profile_manager/get_vehicle_profile`
- `/vehicle_profile_manager/evaluate_vehicle_calibration_applicability`
- `/external_localization/get_readiness`
- `/external_localization/execute_task`
- `/workshop_v2/create_session`
- `/workshop_v2/execute_session`
- `/workshop_v2/get_report`
-
-最小会话建议至少包含：
-
- `session.config.localization_source_id = demo_vehicle_001`
- `session.config.workcell_zone_id = demo_workcell`
- 一个 `requested_tasks`，其中 `stage_type = EXTERNAL_REFERENCE_READY_CHECK_STAGE`
- 该任务的 `task_params` 至少包含：
-  - `external.static_sample_count`
-  - `external.dynamic_sample_count`
-  - `external.max_position_stddev_m`
-  - `external.max_yaw_stddev_rad`
-  - `external.max_tracking_loss_ratio`
-  - `external.max_time_sync_offset_ms`
-  - `external.timeout_sec`
-
-
-> ✨ **无需手动执行 `protoc`** —— CMakeLists.txt 已配置自动化脚本，编译时自动生成 C++ 网络源码。
-
-### 4.1 编译
-
-```bash
-# 回到工作空间根目录（如 ~/agv_ws）
-source /opt/ros/humble/setup.bash
-colcon build --packages-select agv_calib_brain --symlink-install
-```
-
-### 4.2 运行
-
-```bash
-source install/setup.bash
-ros2 run agv_calib_brain brain_node
-```
+车间 gateway 和 `workshop_orchestrator` 仍然按 ROS 2 包名启动；源码分别在 `communication/` 和 `core/` 下。
@@ -1,24 +0,0 @@
-#include "chassis_calibration_service/chassis_calibration_common.hpp"
-
-namespace chassis_calibration_service
-{
-
-bool DifferentialChassisAlgorithm::run(
-  const ChassisCalibrationInput & input,
-  ChassisCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // TODO: 在这里填写差速底盘标定算法。
-  // 算法工程师应从这里读取并计算：
-  // - 任务请求：input.request（request_id、任务目的、selected_primitive、straight_line 参数、timeout 等）
-  // - 底盘反馈：由上层扩展到 ChassisCalibrationInput 中的实时数据（轮速、左右电机反馈、IMU、里程计、定位等）
-  // - 输出：output.response.result（success、error_code、validation_summary、estimated_params、artifacts 等）
-  fill_common_result(input, output);
-  output.response.result.message = "differential chassis template executed.";
-  output.response.result.recommended_parameter_version = "differential_template_v1";
-  return true;
-}
-
-}  // namespace chassis_calibration_service
@@ -1,33 +0,0 @@
-#include "control_calibration_service/control_calibration_common.hpp"
-
-namespace control_calibration_service
-{
-
-bool PurePursuitControlCalibrationAlgorithm::run(
-  const ControlCalibrationInput & input,
-  ControlCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // Pure Pursuit 控制标定模板：
-  // 适合基于参考轨迹和前视点策略的横向控制评估。
-  // 算法工程师通常会在这里处理：
-  // 1. 参考轨迹读取：
-  //    - input.reference_trajectory
-  //    - input.reference_stop_at_end / input.reference_timeout_sec
-  // 2. 观测输入：
-  //    - input.control_telemetry_history 中的横向误差、航向误差、转向输出
-  //    - input.chassis_telemetry_history 中的速度、姿态和底盘运动状态
-  //    - input.truth_source_diagnostics / 真值历史，用于判断轨迹对齐是否可靠
-  // 3. 参数输出：
-  //    - 可将前视距离、速度相关增益等写入 output.response.result.estimated_parameter_set
-  // 4. 验收输出：
-  //    - 将最大误差、均方误差、振荡情况、自动验收结论写入 validation_summary
-  fill_common_result(input, output);
-  output.response.result.message = "pure pursuit control calibration template executed.";
-  output.response.result.recommended_parameter_version = "pure_pursuit_template_v1";
-  return true;
-}
-
-}  // namespace control_calibration_service
@@ -1,120 +0,0 @@
-#include "external_localization_service/external_localization_service_node.hpp"
-
-#include <chrono>
-#include <thread>
-
-#include "calibration_common_interfaces/msg/error_code.hpp"
-#include "calibration_common_interfaces/msg/job_state.hpp"
-
-namespace external_localization_service
-{
-
-namespace
-{
-int64_t now_us()
-{
-  return std::chrono::duration_cast<std::chrono::microseconds>(
-           std::chrono::system_clock::now().time_since_epoch())
-    .count();
-}
-}  // namespace
-
-using calibration_common_interfaces::msg::ErrorCode;
-using calibration_common_interfaces::msg::JobState;
-
-ExternalLocalizationServiceNode::ExternalLocalizationServiceNode(const rclcpp::NodeOptions & options)
-: Node("external_localization_service", options)
-{
-  readiness_service_ = create_service<ReadinessSrv>(
-    "/external_localization/get_readiness",
-    std::bind(&ExternalLocalizationServiceNode::handle_readiness, this, std::placeholders::_1, std::placeholders::_2));
-
-  execute_task_action_server_ = rclcpp_action::create_server<ExecuteTask>(
-    this,
-    "/external_localization/execute_task",
-    std::bind(&ExternalLocalizationServiceNode::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
-    std::bind(&ExternalLocalizationServiceNode::handle_cancel, this, std::placeholders::_1),
-    std::bind(&ExternalLocalizationServiceNode::handle_accepted, this, std::placeholders::_1));
-}
-
-void ExternalLocalizationServiceNode::handle_readiness(
-  const std::shared_ptr<ReadinessSrv::Request> request,
-  std::shared_ptr<ReadinessSrv::Response> response)
-{
-  (void)request;
-
-  // 这里先保留最小 readiness 逻辑。
-  // 后续若接入真实外部定位设备/真值源桥接程序，可在这里增加：
-  // - 真值源在线检查
-  // - 同步状态检查
-  // - 覆盖范围检查
-  // - 观测质量检查
-  // - 切源稳定性检查
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "external_localization_service is ready.";
-  response->response.agent_ready = true;
-  response->response.ready_for_reference_validation = true;
-  response->response.checked_timestamp_us = now_us();
-  response->response.validation_summary.time_sync_ok = true;
-  response->response.validation_summary.coverage_ok = true;
-  response->response.validation_summary.quality_ok = true;
-  response->response.validation_summary.tracking_stable = true;
-  response->response.validation_summary.recommended_as_truth_source = true;
-  response->response.validation_summary.position_stddev_m = 0.0;
-  response->response.validation_summary.yaw_stddev_rad = 0.0;
-  response->response.validation_summary.tracking_loss_ratio = 0.0;
-  response->response.validation_summary.time_sync_offset_ms = 0.0;
-}
-
-rclcpp_action::GoalResponse ExternalLocalizationServiceNode::handle_goal(
-  const rclcpp_action::GoalUUID & /*uuid*/,
-  std::shared_ptr<const ExecuteTask::Goal> goal)
-{
-  std::string reject_reason;
-  if (!executor_.validate_goal(*goal, reject_reason)) {
-    RCLCPP_WARN(get_logger(), "Reject external_localization goal: %s", reject_reason.c_str());
-    return rclcpp_action::GoalResponse::REJECT;
-  }
-  return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
-}
-
-rclcpp_action::CancelResponse ExternalLocalizationServiceNode::handle_cancel(
-  const std::shared_ptr<GoalHandleExecuteTask> /*goal_handle*/)
-{
-  return rclcpp_action::CancelResponse::ACCEPT;
-}
-
-void ExternalLocalizationServiceNode::handle_accepted(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  std::thread(std::bind(&ExternalLocalizationServiceNode::execute_goal, this, goal_handle)).detach();
-}
-
-void ExternalLocalizationServiceNode::execute_goal(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  auto feedback = std::make_shared<ExecuteTask::Feedback>();
-  feedback->feedback.job_id = goal_handle->get_goal()->goal.header.request_id;
-  feedback->feedback.state.state = JobState::RUNNING;
-  feedback->feedback.progress = 0.5;
-  feedback->feedback.error_code.code = ErrorCode::OK;
-  feedback->feedback.message = "external localization task is running.";
-  feedback->feedback.server_timestamp_us = now_us();
-  feedback->feedback.safe_to_retry = false;
-  goal_handle->publish_feedback(feedback);
-
-  auto result = std::make_shared<ExecuteTask::Result>();
-  std::string failure_reason;
-  if (!executor_.build_result(*goal_handle->get_goal(), *result, failure_reason)) {
-    result->result.success = false;
-    result->result.error_code.code = ErrorCode::INVALID_ARGUMENT;
-    result->result.message = failure_reason;
-    goal_handle->abort(result);
-    return;
-  }
-
-  goal_handle->succeed(result);
-}
-
-}  // namespace external_localization_service
@@ -1,66 +0,0 @@
-#include "external_localization_service/external_localization_common.hpp"
-
-namespace external_localization_service
-{
-
-bool MarkerAlignmentAlgorithm::run(
-  const ExternalLocalizationInput & input,
-  ExternalLocalizationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 标靶对齐模板：
-  // 【本文件负责什么】
-  // - 负责标靶检测结果读取、坐标系对齐求解和残差统计相关算法实现。
-  // - 后续算法工程师应主要修改本文件，不要改 node 层和模板分发层。
-  //
-  // 【建议优先读取的输入】
-  // 1. input.marker_alignment_task
-  //    - target_board_id、min_valid_observation_count、timeout_sec 等关键约束。
-  // 2. input.latest_external_localization_telemetry / input.external_localization_telemetry_history
-  //    - 读取观测位姿、标准差、丢失率、时间同步偏差和质量评分。
-  // 3. input.marker_alignment_diagnostics
-  //    - 读取标靶检测失败、角点不足、姿态求解不稳定等问题描述。
-  // 4. input.sensor_quality_diagnostics
-  //    - 如果标靶检测依赖相机 / LiDAR 质量，可在这里读取辅助质量信息。
-  //
-  // 【必写输出】
-  // 1. output.response.result.result.workshop_to_localization
-  //    - 这是标靶对齐最核心的输出结果。
-  // 2. output.response.result.result.residual_error_m / residual_error_rad
-  //    - 写回对齐残差，供 orchestrator 判断是否自动验收。
-  // 3. output.response.result.validation_summary
-  //    - 写位置标准差、航向标准差、时间同步偏差等摘要。
-  //
-  // 【可选输出】
-  // - output.response.result.artifacts
-  //   可挂标靶检测日志、可视化结果、拟合报告、残差统计文件等。
-  //
-  // 【常见失败原因】
-  // - 有效观测数不足、标靶检测失败、姿态求解不稳定、时间同步异常、质量评分过低。
-  //
-  // 【在这里添加真实算法】
-  // - 请在 fill_external_localization_common_success(...) 之前或之后补充真实对齐求解逻辑。
-  // - 当前文件仅提供交付模板，不包含真实外部定位算法。
-
-  fill_external_localization_common_success(
-    input,
-    output,
-    "标靶对齐完成。",
-    "demo_external_marker_alignment_v1");
-
-  output.response.result.result.workshop_frame_id = "workshop";
-  output.response.result.result.localization_frame_id = "localization";
-  output.response.result.result.workshop_to_localization.z_m = 0.0;
-  output.response.result.result.position_repeatability_m = 0.0;
-  output.response.result.result.yaw_repeatability_rad = 0.0;
-  output.response.result.result.residual_error_m = 0.0;
-  output.response.result.result.residual_error_rad = 0.0;
-  output.response.result.result.tracking_loss_ratio = 0.0;
-  output.response.result.result.time_sync_offset_ms = 0.0;
-  output.response.result.result.validated_as_truth_source = true;
-  return true;
-}
-
-}  // namespace external_localization_service
@@ -1,65 +0,0 @@
-#include "external_localization_service/external_localization_common.hpp"
-
-namespace external_localization_service
-{
-
-bool ReferencePoseCollectionAlgorithm::run(
-  const ExternalLocalizationInput & input,
-  ExternalLocalizationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 参考位姿采集模板：
-  // 【本文件负责什么】
-  // - 负责参考位姿采集与静态重复性分析相关算法实现。
-  // - 后续算法工程师应主要修改本文件，不要改 node 层和模板分发层。
-  //
-  // 【建议优先读取的输入】
-  // 1. input.reference_pose_collection_task
-  //    - sample_count、require_vehicle_static、timeout_sec、min_sample_interval_sec 等采样约束。
-  // 2. input.latest_external_localization_telemetry / input.external_localization_telemetry_history
-  //    - 每帧外部定位位姿、位置标准差、航向标准差、时间同步偏差、质量评分。
-  // 3. input.latest_chassis_telemetry / input.chassis_telemetry_history
-  //    - 用于判断车辆是否真实静止，避免采入无效参考位姿。
-  // 4. input.truth_source_diagnostics / input.acquisition_diagnostics
-  //    - 记录时间同步异常、观测缺失、采样不足、落盘失败等问题。
-  //
-  // 【必写输出】
-  // 1. output.response.result.validation_summary
-  //    - 写位置标准差、航向标准差、时间同步偏差、是否推荐为真值源等摘要。
-  // 2. output.response.result.result
-  //    - 写 workshop_frame_id / localization_frame_id / repeatability / residual 等结果。
-  // 3. output.response.result.suitable_for_commit
-  //    - 明确当前采集结果是否建议进入下一阶段。
-  //
-  // 【可选输出】
-  // - output.response.result.artifacts
-  //   可挂采样日志、原始位姿文件、统计报告等文件引用。
-  //
-  // 【常见失败原因】
-  // - 车辆未静止、有效样本不足、时间同步超标、外部定位观测丢失、采样频率不足。
-  //
-  // 【在这里添加真实算法】
-  // - 请在 fill_external_localization_common_success(...) 之前或之后补充真实采样与统计逻辑。
-  // - 当前文件仅提供交付模板，不包含真实外部定位算法。
-
-  fill_external_localization_common_success(
-    input,
-    output,
-    "参考位姿采集完成。",
-    "demo_external_reference_pose_collection_v1");
-
-  output.response.result.result.workshop_frame_id = "workshop";
-  output.response.result.result.localization_frame_id = "localization";
-  output.response.result.result.position_repeatability_m = 0.0;
-  output.response.result.result.yaw_repeatability_rad = 0.0;
-  output.response.result.result.residual_error_m = 0.0;
-  output.response.result.result.residual_error_rad = 0.0;
-  output.response.result.result.tracking_loss_ratio = 0.0;
-  output.response.result.result.time_sync_offset_ms = 0.0;
-  output.response.result.result.validated_as_truth_source = true;
-  return true;
-}
-
-}  // namespace external_localization_service
@@ -1,77 +0,0 @@
-#include "external_localization_service/external_localization_common.hpp"
-
-namespace external_localization_service
-{
-
-bool TruthSourceValidationAlgorithm::run(
-  const ExternalLocalizationInput & input,
-  ExternalLocalizationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 真值源验证模板：
-  // 【本文件负责什么】
-  // - 负责静态重复性、动态稳定性、时间同步与丢失率等真值源验证算法实现。
-  // - 后续算法工程师应主要修改本文件，不要改 node 层和模板分发层。
-  //
-  // 【建议优先读取的输入】
-  // 1. input.truth_source_validation_task
-  //    - static_sample_count、dynamic_sample_count、require_short_motion_segment 等任务要求。
-  // 2. input.external_localization_telemetry_history
-  //    - 外部定位历史观测窗口，是稳定性、同步性、重复性分析的核心输入。
-  // 3. input.chassis_telemetry_history / input.control_telemetry_history
-  //    - 如果要求短运动段验证，需要结合车辆实际运动状态和控制输出做时序对齐。
-  // 4. input.sensor_telemetry_history
-  //    - 用于判断辅助传感器质量是否影响外部定位观测可信度。
-  // 5. input.truth_source_diagnostics
-  //    - 记录时间同步超标、观测丢失、切源异常等问题。
-  //
-  // 【必写输出】
-  // 1. output.response.result.validation_summary
-  //    - 这是 orchestrator 自动验收最关键的摘要区域。
-  // 2. output.response.result.result
-  //    - 写 repeatability、tracking_loss_ratio、time_sync_offset_ms 等核心结果。
-  // 3. output.response.result.data_quality_passed / suitable_for_commit
-  //    - 明确当前真值源是否可进入后续标定闭环。
-  //
-  // 【可选输出】
-  // - output.response.result.artifacts
-  //   可挂稳定性分析报告、同步统计图、丢失率分析文件等。
-  //
-  // 【常见失败原因】
-  // - 动态窗口不足、时间同步偏差超阈值、观测丢失率过高、重复性不满足要求。
-  //
-  // 【在这里添加真实算法】
-  // - 请在 fill_external_localization_common_success(...) 之前或之后补充真实验证逻辑。
-  // - 当前文件仅提供交付模板，不包含真实外部定位算法。
-
-  fill_external_localization_common_success(
-    input,
-    output,
-    "真值源验证完成。",
-    "demo_external_truth_source_validation_v1");
-
-  output.response.result.validation_summary.time_sync_ok = true;
-  output.response.result.validation_summary.coverage_ok = true;
-  output.response.result.validation_summary.quality_ok = true;
-  output.response.result.validation_summary.tracking_stable = true;
-  output.response.result.validation_summary.recommended_as_truth_source = true;
-  output.response.result.validation_summary.position_stddev_m = 0.0;
-  output.response.result.validation_summary.yaw_stddev_rad = 0.0;
-  output.response.result.validation_summary.tracking_loss_ratio = 0.0;
-  output.response.result.validation_summary.time_sync_offset_ms = 0.0;
-
-  output.response.result.result.workshop_frame_id = "workshop";
-  output.response.result.result.localization_frame_id = "localization";
-  output.response.result.result.position_repeatability_m = 0.0;
-  output.response.result.result.yaw_repeatability_rad = 0.0;
-  output.response.result.result.residual_error_m = 0.0;
-  output.response.result.result.residual_error_rad = 0.0;
-  output.response.result.result.tracking_loss_ratio = 0.0;
-  output.response.result.result.time_sync_offset_ms = 0.0;
-  output.response.result.result.validated_as_truth_source = true;
-  return true;
-}
-
-}  // namespace external_localization_service
@@ -1,167 +0,0 @@
-#include "sensor_calibration_service/sensor_calibration_service_node.hpp"
-
-#include <chrono>
-#include <thread>
-
-#include "calibration_common_interfaces/msg/error_code.hpp"
-#include "calibration_common_interfaces/msg/job_state.hpp"
-#include "calibration_sensor_interfaces/msg/sensor_calibration_job_result.hpp"
-#include "calibration_sensor_interfaces/msg/sensor_readiness_response.hpp"
-
-namespace sensor_calibration_service
-{
-
-namespace
-{
-int64_t now_us()
-{
-  return std::chrono::duration_cast<std::chrono::microseconds>(
-           std::chrono::system_clock::now().time_since_epoch())
-    .count();
-}
-}  // namespace
-
-using calibration_common_interfaces::msg::ErrorCode;
-using calibration_common_interfaces::msg::JobState;
-
-SensorCalibrationServiceNode::SensorCalibrationServiceNode(const rclcpp::NodeOptions & options)
-: Node("sensor_calibration_service", options)
-{
-  readiness_service_ = create_service<ReadinessSrv>(
-    "/sensor_calibration/get_readiness",
-    std::bind(&SensorCalibrationServiceNode::handle_readiness, this, std::placeholders::_1, std::placeholders::_2));
-
-  execute_task_action_server_ = rclcpp_action::create_server<ExecuteTask>(
-    this,
-    "/sensor_calibration/execute_task",
-    std::bind(&SensorCalibrationServiceNode::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
-    std::bind(&SensorCalibrationServiceNode::handle_cancel, this, std::placeholders::_1),
-    std::bind(&SensorCalibrationServiceNode::handle_accepted, this, std::placeholders::_1));
-}
-
-void SensorCalibrationServiceNode::handle_readiness(
-  const std::shared_ptr<ReadinessSrv::Request> request,
-  std::shared_ptr<ReadinessSrv::Response> response)
-{
-  (void)request;
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "sensor_calibration_service is ready.";
-  response->response.agent_ready = true;
-  response->response.capture_pipeline_ready = true;
-  response->response.storage_ready = true;
-  response->response.telemetry_ready = true;
-  response->response.vehicle_safe_to_move = true;
-  response->response.arm_ready = true;
-  response->response.ready_sensor_ids.push_back("demo_sensor_001");
-  response->response.checked_timestamp_us = now_us();
-}
-
-rclcpp_action::GoalResponse SensorCalibrationServiceNode::handle_goal(
-  const rclcpp_action::GoalUUID & /*uuid*/,
-  std::shared_ptr<const ExecuteTask::Goal> goal)
-{
-  if (goal->goal.header.request_id.empty()) {
-    return rclcpp_action::GoalResponse::REJECT;
-  }
-  return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
-}
-
-rclcpp_action::CancelResponse SensorCalibrationServiceNode::handle_cancel(
-  const std::shared_ptr<GoalHandleExecuteTask> /*goal_handle*/)
-{
-  return rclcpp_action::CancelResponse::ACCEPT;
-}
-
-void SensorCalibrationServiceNode::handle_accepted(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  std::thread(std::bind(&SensorCalibrationServiceNode::execute_goal, this, goal_handle)).detach();
-}
-
-void SensorCalibrationServiceNode::execute_goal(
-  const std::shared_ptr<GoalHandleExecuteTask> goal_handle)
-{
-  // 先回一帧 RUNNING feedback，告诉 orchestrator 当前任务已经进入执行阶段。
-  auto feedback = std::make_shared<ExecuteTask::Feedback>();
-  feedback->feedback.state.state = JobState::RUNNING;
-  goal_handle->publish_feedback(feedback);
-
-  // ===== 组装算法输入上下文 =====
-  // 当前模板阶段先把“算法最常用的任务侧输入”显式展开。
-  // 后续如果要接真实车辆画像、已生效参数查询、历史遥测缓存、外部定位缓存，
-  // 也应继续在这里补齐并写入 SensorCalibrationInput。
-  SensorCalibrationAlgorithmTemplate::Input input;
-  input.request = *goal_handle->get_goal();
-  input.task_type = goal_handle->get_goal()->goal.selected_task;
-  input.task_subtype = goal_handle->get_goal()->goal.task_subtype;
-  input.target_sensor_id = resolve_target_sensor_id(*goal_handle->get_goal());
-  input.camera_intrinsic_task = goal_handle->get_goal()->goal.camera_intrinsic;
-  input.imu_intrinsic_task = goal_handle->get_goal()->goal.imu_intrinsic;
-  input.sensor_to_base_extrinsic_task = goal_handle->get_goal()->goal.sensor_to_base_extrinsic;
-  input.hand_eye_task = goal_handle->get_goal()->goal.hand_eye;
-  input.required_image_count = goal_handle->get_goal()->goal.camera_intrinsic.required_image_count;
-  input.required_static_segment_count = goal_handle->get_goal()->goal.imu_intrinsic.required_static_segment_count;
-  input.required_motion_segment_count = goal_handle->get_goal()->goal.imu_intrinsic.required_motion_segment_count;
-  input.required_sample_count = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.required_sample_count;
-  input.required_pose_count = goal_handle->get_goal()->goal.hand_eye.required_pose_count;
-  switch (goal_handle->get_goal()->goal.selected_task.value) {
-    case TaskType::CAMERA_INTRINSIC:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.camera_intrinsic.timeout_sec;
-      break;
-    case TaskType::IMU_INTRINSIC:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.imu_intrinsic.timeout_sec;
-      break;
-    case TaskType::SENSOR_TO_BASE_EXTRINSIC:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.timeout_sec;
-      break;
-    case TaskType::HAND_EYE:
-      input.reference_timeout_sec = goal_handle->get_goal()->goal.hand_eye.timeout_sec;
-      break;
-    default:
-      input.reference_timeout_sec = 0.0;
-      break;
-  }
-  input.reference_board_id = goal_handle->get_goal()->goal.camera_intrinsic.target_board_id;
-  input.reference_base_frame_id = goal_handle->get_goal()->goal.sensor_to_base_extrinsic.base_frame_id;
-  input.reference_arm_id = goal_handle->get_goal()->goal.hand_eye.arm_id;
-  input.sensor_history_available = false;
-  input.chassis_history_available = false;
-  input.control_history_available = false;
-  input.truth_history_available = false;
-
-  SensorCalibrationAlgorithmTemplate::Output output;
-  std::string failure_reason;
-  if (!algorithm_.run(input, output, failure_reason)) {
-    auto result = std::make_shared<ExecuteTask::Result>();
-    result->result.success = false;
-    result->result.error_code.code = ErrorCode::INVALID_STATE;
-    result->result.message = failure_reason;
-    result->result.job_id = goal_handle->get_goal()->goal.header.request_id;
-    result->result.data_quality_passed = false;
-    result->result.suitable_for_commit = false;
-    goal_handle->abort(result);
-    return;
-  }
-
-  auto result = std::make_shared<ExecuteTask::Result>(output.response);
-  goal_handle->succeed(result);
-}
-
-std::string SensorCalibrationServiceNode::resolve_target_sensor_id(const ExecuteTask::Goal & goal) const
-{
-  switch (goal.goal.selected_task.value) {
-    case TaskType::CAMERA_INTRINSIC:
-      return goal.goal.camera_intrinsic.sensor_id;
-    case TaskType::IMU_INTRINSIC:
-      return goal.goal.imu_intrinsic.sensor_id;
-    case TaskType::SENSOR_TO_BASE_EXTRINSIC:
-      return goal.goal.sensor_to_base_extrinsic.sensor_id;
-    case TaskType::HAND_EYE:
-      return goal.goal.hand_eye.sensor_id;
-    default:
-      return "";
-  }
-}
-
-}  // namespace sensor_calibration_service
@@ -1,76 +0,0 @@
-#include "sensor_calibration_service/sensor_calibration_common.hpp"
-
-namespace sensor_calibration_service
-{
-
-bool FrontCameraExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 前视相机到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "front camera extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "front_camera_extrinsic_template_v1";
-  return true;
-}
-
-bool DownwardCameraExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 下视相机到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "downward camera extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "downward_camera_extrinsic_template_v1";
-  return true;
-}
-
-bool ImuExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // IMU 到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "imu extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "imu_extrinsic_template_v1";
-  return true;
-}
-
-bool Lidar2DExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 2D 激光雷达到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "2d lidar extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "lidar_2d_extrinsic_template_v1";
-  return true;
-}
-
-bool Lidar3DExtrinsicCalibrationAlgorithm::run(
-  const SensorCalibrationInput & input,
-  SensorCalibrationOutput & output,
-  std::string & failure_reason) const
-{
-  (void)failure_reason;
-
-  // 3D 激光雷达到 base_link 外参标定模板。
-  fill_common_result(input, output);
-  output.response.result.message = "3d lidar extrinsic calibration template executed.";
-  output.response.result.recommended_parameter_version = "lidar_3d_extrinsic_template_v1";
-  return true;
-}
-
-}  // namespace sensor_calibration_service
@@ -1,180 +0,0 @@
-#include "vehicle_profile_manager/vehicle_profile_manager_node.hpp"
-
-#include <chrono>
-
-#include "calibration_common_interfaces/msg/error_code.hpp"
-#include "calibration_vehicle_profile_interfaces/msg/chassis_type.hpp"
-#include "calibration_vehicle_profile_interfaces/msg/workflow_stage_type.hpp"
-#include "rclcpp_components/register_node_macro.hpp"
-
-namespace vehicle_profile_manager
-{
-
-using calibration_common_interfaces::msg::ErrorCode;
-using calibration_vehicle_profile_interfaces::msg::ChassisType;
-using calibration_vehicle_profile_interfaces::msg::WorkflowStageType;
-
-VehicleProfileManagerNode::VehicleProfileManagerNode(const rclcpp::NodeOptions & options)
-: Node("vehicle_profile_manager", options)
-{
-  get_profile_service_ = create_service<GetProfileSrv>(
-    "/vehicle_profile_manager/get_vehicle_profile",
-    std::bind(
-      &VehicleProfileManagerNode::handle_get_profile, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  register_service_ = create_service<RegisterSrv>(
-    "/vehicle_profile_manager/register_or_update_vehicle_profile",
-    std::bind(
-      &VehicleProfileManagerNode::handle_register, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  applicability_service_ = create_service<ApplicabilitySrv>(
-    "/vehicle_profile_manager/evaluate_vehicle_calibration_applicability",
-    std::bind(
-      &VehicleProfileManagerNode::handle_applicability, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  heartbeat_service_ = create_service<HeartbeatSrv>(
-    "/vehicle_profile_manager/heartbeat",
-    std::bind(
-      &VehicleProfileManagerNode::handle_heartbeat, this,
-      std::placeholders::_1, std::placeholders::_2));
-
-  load_demo_profile();
-
-  RCLCPP_INFO(get_logger(), "VehicleProfileManagerNode 启动，已预载 demo 车辆画像。");
-}
-
-void VehicleProfileManagerNode::handle_get_profile(
-  const std::shared_ptr<GetProfileSrv::Request> request,
-  std::shared_ptr<GetProfileSrv::Response> response)
-{
-  const auto & vehicle_id = request->request.vehicle_id;
-  auto it = profiles_.find(vehicle_id);
-  if (it == profiles_.end()) {
-    response->response.success = false;
-    response->response.error_code.code = ErrorCode::INVALID_ARGUMENT;
-    response->response.message = "找不到 vehicle_id=[" + vehicle_id + "] 的车辆画像。";
-    return;
-  }
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "查询成功。";
-  response->response.profile = it->second;
-}
-
-void VehicleProfileManagerNode::handle_register(
-  const std::shared_ptr<RegisterSrv::Request> request,
-  std::shared_ptr<RegisterSrv::Response> response)
-{
-  const auto & vehicle_id = request->request.profile.base_info.vehicle_id;
-  if (vehicle_id.empty()) {
-    response->response.success = false;
-    response->response.error_code.code = ErrorCode::INVALID_ARGUMENT;
-    response->response.message = "vehicle_id 不能为空。";
-    return;
-  }
-  profiles_[vehicle_id] = request->request.profile;
-  RCLCPP_INFO(get_logger(), "已注册/更新车辆画像 vehicle_id=[%s]", vehicle_id.c_str());
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "注册/更新成功。";
-}
-
-void VehicleProfileManagerNode::handle_applicability(
-  const std::shared_ptr<ApplicabilitySrv::Request> request,
-  std::shared_ptr<ApplicabilitySrv::Response> response)
-{
-  const auto & profile = request->request.profile_snapshot;
-  auto stages = evaluate_supported_stages(profile);
-
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "适用性评估完成。";
-  response->response.overall_supported = !stages.empty();
-  response->response.recommended_workflow_stages = stages;
-}
-
-void VehicleProfileManagerNode::handle_heartbeat(
-  const std::shared_ptr<HeartbeatSrv::Request> /*request*/,
-  std::shared_ptr<HeartbeatSrv::Response> response)
-{
-  const auto now_us = std::chrono::duration_cast<std::chrono::microseconds>(
-    std::chrono::system_clock::now().time_since_epoch()).count();
-  response->response.success = true;
-  response->response.error_code.code = ErrorCode::OK;
-  response->response.message = "vehicle_profile_manager 在线。";
-  response->response.server_timestamp_us = now_us;
-  response->response.vehicle_ready = true;
-}
-
-std::vector<WorkflowStageType>
-VehicleProfileManagerNode::evaluate_supported_stages(const VehicleProfile & profile) const
-{
-  std::vector<WorkflowStageType> stages;
-
-  auto make_stage = [](uint8_t v) {
-    WorkflowStageType s;
-    s.value = v;
-    return s;
-  };
-
-  // 预检和画像校验始终支持。
-  stages.push_back(make_stage(WorkflowStageType::PROFILE_VALIDATION_STAGE));
-  stages.push_back(make_stage(WorkflowStageType::WORKSHOP_PRECHECK_STAGE));
-
-  // 底盘标定：底盘类型已指定时支持。
-  if (profile.chassis_type.value != ChassisType::CHASSIS_TYPE_UNSPECIFIED) {
-    stages.push_back(make_stage(WorkflowStageType::CHASSIS_CALIBRATION_STAGE));
-    stages.push_back(make_stage(WorkflowStageType::CONTROL_CALIBRATION_STAGE));
-  }
-
-  // 传感器标定：有传感器配置时支持。
-  if (!profile.sensors.empty()) {
-    stages.push_back(make_stage(WorkflowStageType::SENSOR_INTRINSIC_CALIBRATION_STAGE));
-    stages.push_back(make_stage(WorkflowStageType::SENSOR_EXTRINSIC_CALIBRATION_STAGE));
-  }
-
-  // 手眼标定：有机械臂且有传感器时支持。
-  if (profile.arm_profile.has_mechanical_arm && !profile.sensors.empty()) {
-    stages.push_back(make_stage(WorkflowStageType::HAND_EYE_CALIBRATION_STAGE));
-  }
-
-  // 最终阶段始终加入。
-  stages.push_back(make_stage(WorkflowStageType::PARAMETER_COMMIT_STAGE));
-  stages.push_back(make_stage(WorkflowStageType::REPORT_ARCHIVE_STAGE));
-
-  return stages;
-}
-
-void VehicleProfileManagerNode::load_demo_profile()
-{
-  VehicleProfile demo;
-
-  // 基础信息
-  demo.base_info.vehicle_id   = "demo_agv_001";
-  demo.base_info.vehicle_name = "Demo AGV";
-  demo.base_info.model_name   = "DemoModel-X1";
-  demo.base_info.manufacturer = "Demo Manufacturer";
-
-  // 底盘类型：差速
-  demo.chassis_type.value = ChassisType::DIFFERENTIAL;
-
-  // base_link
-  demo.base_link_frame = "base_link";
-
-  // 画像版本
-  demo.profile_version = "demo_v1";
-
-  // 启用的工作流阶段
-  demo.enabled_workflow_stages = evaluate_supported_stages(demo);
-
-  profiles_[demo.base_info.vehicle_id] = demo;
-  RCLCPP_INFO(get_logger(), "已预载 demo 车辆画像 vehicle_id=[%s]",
-    demo.base_info.vehicle_id.c_str());
-}
-
-}  // namespace vehicle_profile_manager
-
-RCLCPP_COMPONENTS_REGISTER_NODE(vehicle_profile_manager::VehicleProfileManagerNode)
@@ -1,13 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package="workshop_orchestrator_v2",
-            executable="workshop_orchestrator_v2_node",
-            name="workshop_orchestrator_v2",
-            output="screen",
-        )
-    ])
@@ -1,153 +0,0 @@
-#include "workshop_orchestrator_v2/precheck_runner.hpp"
-
-#include "calibration_workshop_orchestration_interfaces/msg/precheck_item.hpp"
-
-namespace workshop_orchestrator_v2
-{
-
-bool PrecheckRunner::has_metadata_key(const StagePlan & stage, const std::string & key) const
-{
-  for (const auto & kv : stage.metadata) {
-    if (kv.key == key) {
-      return true;
-    }
-  }
-  return false;
-}
-
-bool PrecheckRunner::has_metadata_prefix(const StagePlan & stage, const std::string & prefix) const
-{
-  for (const auto & kv : stage.metadata) {
-    if (kv.key.rfind(prefix, 0) == 0) {
-      return true;
-    }
-  }
-  return false;
-}
-
-WorkshopPrecheckResponse PrecheckRunner::run(const WorkshopSession & session) const
-{
-  WorkshopPrecheckResponse response;
-  response.success = true;
-  response.error_code = make_error_code(ErrorCode::OK);
-  response.checked_timestamp_us = now_us();
-
-  auto append_item = [&](const std::string & code,
-                         const std::string & name,
-                         bool passed,
-                         const std::string & message,
-                         uint8_t stage_type,
-                         uint8_t module_type) {
-    calibration_workshop_orchestration_interfaces::msg::PrecheckItem item;
-    item.item_code = code;
-    item.display_name = name;
-    item.passed = passed;
-    item.blocking = true;
-    item.error_code = make_error_code(passed ? ErrorCode::OK : ErrorCode::INVALID_STATE);
-    item.message = message;
-    item.related_stage_type = make_stage_type(stage_type);
-    item.related_module_type = make_module_type(module_type);
-    response.items.push_back(item);
-    if (!passed) {
-      response.blocking_issue_count += 1;
-      response.all_passed = false;
-    }
-  };
-
-  response.all_passed = true;
-  response.blocking_issue_count = 0;
-
-  append_item(
-    "plan_not_empty",
-    "Execution plan exists",
-    !session.stage_plan.empty(),
-    session.stage_plan.empty() ? "Session has no executable stages." : "Session has executable stages.",
-    WorkflowStageType::WORKFLOW_STAGE_UNSPECIFIED,
-    CalibrationModuleType::CALIBRATION_MODULE_UNSPECIFIED);
-
-  for (const auto & stage : session.stage_plan) {
-    if (stage.module_type.value == CalibrationModuleType::CHASSIS_MODULE) {
-      const bool passed =
-        has_metadata_key(stage, metadata_keys::CHASSIS_PRIMITIVE_TYPE) &&
-        has_metadata_key(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_DISTANCE_M) &&
-        has_metadata_key(stage, metadata_keys::CHASSIS_STRAIGHT_LINE_SPEED_MS);
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        passed ? "底盘阶段输入完整。" : "底盘阶段缺少 primitive_type 或直线动作参数。",
-        stage.stage_type.value,
-        stage.module_type.value);
-    } else if (stage.module_type.value == CalibrationModuleType::CONTROL_MODULE) {
-      const bool passed =
-        has_metadata_key(stage, metadata_keys::CONTROL_TASK_TYPE) &&
-        has_metadata_prefix(stage, metadata_keys::CONTROL_TRAJECTORY_PREFIX);
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        passed ? "运控阶段输入完整。" : "运控阶段缺少 control.task_type 或轨迹点输入。",
-        stage.stage_type.value,
-        stage.module_type.value);
-    } else if (
-      stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE ||
-      stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE ||
-      stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE) {
-      bool passed =
-        has_metadata_key(stage, metadata_keys::SENSOR_ID) &&
-        has_metadata_key(stage, metadata_keys::SENSOR_TASK_SUBTYPE);
-      std::string message = passed ? "传感器阶段基础输入完整。" : "传感器阶段缺少 sensor.sensor_id 或 sensor.task_subtype。";
-
-      if (passed && stage.module_type.value == CalibrationModuleType::SENSOR_INTRINSIC_MODULE) {
-        const bool has_image_count = has_metadata_key(stage, metadata_keys::CAMERA_INTRINSIC_REQUIRED_IMAGE_COUNT);
-        const bool has_board = has_metadata_key(stage, metadata_keys::CAMERA_INTRINSIC_TARGET_BOARD_ID);
-        passed = has_image_count || has_board;
-        message = passed ? "传感器内参阶段输入完整。" : "传感器内参阶段缺少图像数或标定板信息。";
-      }
-
-      if (passed && stage.module_type.value == CalibrationModuleType::SENSOR_EXTRINSIC_MODULE) {
-        passed =
-          has_metadata_key(stage, metadata_keys::SENSOR_EXTRINSIC_BASE_FRAME_ID) &&
-          has_metadata_key(stage, metadata_keys::SENSOR_EXTRINSIC_REQUIRED_SAMPLE_COUNT);
-        message = passed ? "传感器外参阶段输入完整。" : "传感器外参阶段缺少 base_frame_id 或 required_sample_count。";
-      }
-
-      if (passed && stage.module_type.value == CalibrationModuleType::HAND_EYE_MODULE) {
-        passed =
-          has_metadata_key(stage, metadata_keys::HAND_EYE_ARM_ID) &&
-          has_metadata_key(stage, metadata_keys::HAND_EYE_REQUIRED_POSE_COUNT);
-        message = passed ? "手眼阶段输入完整。" : "手眼阶段缺少 arm_id 或 required_pose_count。";
-      }
-
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        message,
-        stage.stage_type.value,
-        stage.module_type.value);
-    } else if (stage.module_type.value == CalibrationModuleType::EXTERNAL_LOCALIZATION_MODULE) {
-      const bool passed =
-        has_metadata_key(stage, metadata_keys::EXTERNAL_STATIC_SAMPLE_COUNT) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_DYNAMIC_SAMPLE_COUNT) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_POSITION_STDDEV_M) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_YAW_STDDEV_RAD) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_TRACKING_LOSS_RATIO) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_MAX_TIME_SYNC_OFFSET_MS) &&
-        has_metadata_key(stage, metadata_keys::EXTERNAL_TIMEOUT_SEC);
-      append_item(
-        stage.stage_id + ".metadata",
-        stage.display_name + " metadata",
-        passed,
-        passed ? "external 阶段输入完整。" : "external 阶段缺少真值校核阈值配置。",
-        stage.stage_type.value,
-        stage.module_type.value);
-    }
-  }
-
-  response.ready_for_start = response.all_passed;
-  response.message = response.ready_for_start ? "Precheck passed." : "Precheck failed.";
-  return response;
-}
-
-}  // namespace workshop_orchestrator_v2
@@ -1,5 +1,4 @@
-
-# workshop_ui_pyside6_config_aligned
+# 操作员界面原型

 这版 PySide6 原型的目标不是单纯展示界面，而是：

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(vehicle_internal_interfaces)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(calibration_vehicle_profile_interfaces REQUIRED)
+
+set(msg_files
+  "msg/VehicleControlMode.msg"
+  "msg/AckermannDriveCommand.msg"
+  "msg/VehicleSafetyCommand.msg"
+  "msg/AckermannActuatorState.msg"
+  "msg/VehicleInternalState.msg"
+  "msg/VehicleHealthStatus.msg"
+  "msg/VehicleTimeSyncStatus.msg"
+  "msg/SensorLinkStatus.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES calibration_vehicle_profile_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
@@ -0,0 +1,17 @@
+# 车辆内部接口
+
+这个包定义车端电脑和车辆本体之间的内部 ROS2 消息。
+
+它不直接作为车间电脑和车端电脑之间的 WiFi6 协议。WiFi6 对外协议仍由 `calibration_*_interfaces/proto` 定义。这个包用于把真实 Windows 小车的 CAN、串口、厂商 SDK 或仿真 Isaac topic 统一映射成车端内部语义。
+
+当前消息包括：
+
+- `AckermannDriveCommand`：阿克曼底盘速度、转角、制动、超时命令。
+- `VehicleSafetyCommand`：上使能、下使能、急停、清故障、标定低速模式。
+- `AckermannActuatorState`：速度、转角、轮速、电机电流、制动/油门反馈。
+- `VehicleInternalState`：车辆模式、安全状态、底盘执行器状态、电源与运动状态。
+- `VehicleHealthStatus`：控制器在线、总线状态、通信质量和车端资源状态。
+- `VehicleTimeSyncStatus`：车端、传感器、外部真值之间的时间同步状态。
+- `SensorLinkStatus`：车载传感器在线状态、帧率、丢帧和延迟。
+
+仿真中，`vehicle_agent_sim` 会把车间电脑下发的控制请求转换为 `AckermannDriveCommand`，同时继续发布 Isaac 当前需要的 `cmd_vel`。真实部署时，Windows 车端应把这些内部消息映射到实际车辆接口。
@@ -0,0 +1,35 @@
+# =========================================================
+# 阿克曼底盘内部执行器状态
+# 发送方：车辆控制器 / Isaac 底盘执行器适配层
+# 接收方：车端电脑
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 实际纵向速度
+float64 actual_speed_ms
+# 实际纵向加速度
+float64 actual_accel_ms2
+# 实际前轮等效转角
+float64 actual_steering_angle_rad
+# 实际转向角速度
+float64 actual_steering_rate_rads
+
+# 左后驱动轮速度
+float64 rear_left_wheel_speed_ms
+# 右后驱动轮速度
+float64 rear_right_wheel_speed_ms
+# 左前轮等效转角
+float64 front_left_steering_angle_rad
+# 右前轮等效转角
+float64 front_right_steering_angle_rad
+
+# 驱动电机电流
+float64 drive_motor_current_amp
+# 转向电机电流
+float64 steering_motor_current_amp
+# 制动压力或制动比例，范围 [0, 1]
+float64 brake_pressure
+# 驱动控制输出，范围 [0, 1]
+float64 throttle_output
@@ -0,0 +1,33 @@
+# =========================================================
+# 阿克曼底盘内部控制命令
+# 发送方：车端电脑
+# 接收方：车辆运动控制器 / Isaac 底盘执行器适配层
+# =========================================================
+
+# 命令时间戳
+int64 command_timestamp_us
+# 命令 ID，用于追踪和去重
+string command_id
+# 命令来源，例如 vehicle_agent_sim / real_vehicle_agent
+string source
+# 控制模式
+vehicle_internal_interfaces/VehicleControlMode control_mode
+
+# 目标纵向速度
+float64 target_speed_ms
+# 目标纵向加速度；0 表示由车辆控制器默认限幅
+float64 target_accel_ms2
+# 目标前轮等效转角，左正右负
+float64 target_steering_angle_rad
+# 目标转向角速度；0 表示由车辆控制器默认限幅
+float64 target_steering_rate_rads
+
+# 制动命令，范围 [0, 1]
+float64 brake_command
+# 油门 / 驱动命令，范围 [0, 1]；仿真可选
+float64 throttle_command
+# 命令超时时间
+float64 command_timeout_sec
+
+# 是否要求控制器在超时或任务结束后停车
+bool stop_when_timeout
@@ -0,0 +1,33 @@
+# =========================================================
+# 车端传感器链路状态
+# 发送方：车端传感器代理
+# 接收方：车端电脑 / 车间电脑桥接层
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 传感器 ID
+string sensor_id
+# 传感器类型
+calibration_vehicle_profile_interfaces/SensorType sensor_type
+# 传感器 frame
+string frame_id
+# 车端订阅或驱动 topic / 通道名
+string source_channel
+
+# 是否在线
+bool online
+# 当前帧率
+float64 frame_rate_hz
+# 最近一帧年龄
+float64 latest_frame_age_ms
+# 累计帧数
+uint64 frame_count
+# 丢帧比例
+float64 dropped_frame_ratio
+# 最近一帧传输延迟
+float64 latest_transport_latency_ms
+
+# 当前链路状态说明
+string status_message
@@ -0,0 +1,15 @@
+# =========================================================
+# 车辆内部控制模式
+# 作用：车端电脑与车辆控制器之间约定当前车辆控制状态
+# =========================================================
+
+uint8 MODE_UNSPECIFIED=0
+uint8 DISABLED=1
+uint8 MANUAL=2
+uint8 AUTO=3
+uint8 CALIBRATION=4
+uint8 ESTOP=5
+uint8 FAULT=6
+
+# 当前模式
+uint8 value
@@ -0,0 +1,40 @@
+# =========================================================
+# 车辆内部健康诊断状态
+# 发送方：车端电脑 / 车辆控制器
+# 接收方：车端电脑内部监控或车间电脑桥接层
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 车端电脑进程是否在线
+bool vehicle_agent_online
+# 车辆主控制器是否在线
+bool vehicle_controller_online
+# 驱动控制器是否在线
+bool drive_controller_online
+# 转向控制器是否在线
+bool steering_controller_online
+# 传感器总线是否在线
+bool sensor_bus_online
+# CAN 或厂商控制链路是否在线
+bool vehicle_bus_online
+# 外部真值链路是否在线
+bool external_truth_link_online
+
+# 通信质量
+float64 vehicle_bus_rx_hz
+float64 vehicle_bus_drop_ratio
+float64 command_latency_ms
+float64 telemetry_latency_ms
+
+# 车端电脑资源
+float64 cpu_load_ratio
+float64 memory_used_ratio
+float64 disk_used_ratio
+float64 temperature_c
+
+# 诊断摘要
+bool healthy
+string diagnostic_code
+string diagnostic_message
@@ -0,0 +1,35 @@
+# =========================================================
+# 车辆内部综合状态
+# 发送方：车辆控制器 / Isaac 底盘执行器适配层
+# 接收方：车端电脑
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+# 当前控制模式
+vehicle_internal_interfaces/VehicleControlMode current_mode
+
+# 车辆是否已上使能
+bool vehicle_enabled
+# 急停是否触发
+bool estop_engaged
+# 是否处于低速标定模式
+bool calibration_low_speed_mode
+# 是否存在故障
+bool fault_active
+# 主故障码
+string primary_fault_code
+# 主故障说明
+string primary_fault_message
+
+# 当前底盘状态
+vehicle_internal_interfaces/AckermannActuatorState ackermann_state
+
+# 电源状态
+float64 battery_voltage_v
+float64 battery_current_amp
+float64 battery_soc
+
+# 车辆运动状态
+float64 yaw_rate_rads
+float64 lateral_accel_ms2
@@ -0,0 +1,30 @@
+# =========================================================
+# 车辆内部安全命令
+# 发送方：车端电脑
+# 接收方：车辆安全控制器 / 底盘控制器
+# =========================================================
+
+# 命令时间戳
+int64 command_timestamp_us
+# 命令 ID
+string command_id
+# 命令来源
+string source
+
+# 上使能车辆
+bool enable_vehicle
+# 下使能车辆
+bool disable_vehicle
+# 触发急停
+bool engage_estop
+# 解除急停
+bool release_estop
+# 清除可恢复故障
+bool clear_faults
+# 切换到标定低速安全模式
+bool enter_calibration_low_speed_mode
+# 退出标定低速安全模式
+bool exit_calibration_low_speed_mode
+
+# 操作原因
+string reason
@@ -0,0 +1,27 @@
+# =========================================================
+# 车辆内部时间同步状态
+# 发送方：车端电脑
+# 接收方：车间电脑桥接层 / 车端诊断
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 同步源，例如 ptp / ntp / external_truth / sim_clock
+string sync_source
+# 是否认为已同步
+bool synchronized
+
+# 车端系统时钟相对传感器硬件时钟偏差
+float64 system_to_sensor_offset_ms
+# 车端系统时钟相对外部真值时钟偏差
+float64 system_to_external_truth_offset_ms
+# 同步抖动
+float64 jitter_ms
+# 近期最大时间同步误差
+float64 max_offset_ms
+# 时间同步链路延迟
+float64 sync_transport_latency_ms
+
+# 说明
+string status_message
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>vehicle_internal_interfaces</name>
+  <version>0.0.1</version>
+  <description>ROS 2 interfaces for vehicle-computer to vehicle-controller internal communication.</description>
+
+  <maintainer email="user@example.com">user</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>calibration_vehicle_profile_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -3,8 +3,8 @@ syntax = "proto3";
 package agv.calibration.common;

 // ├── msg/
-// │   ├── Vector3d.msg
-// │   ├── Pose3dEuler.msg
+// │   ├── Vector3D.msg
+// │   ├── Pose3D.msg
 // │   ├── RequestHeader.msg
 // │   ├── ErrorCode.msg
 // │   ├── StandardResponse.msg
@@ -263,4 +263,4 @@ message FileReference {
 message KeyValuePair {
  string key = 1;     // 键
  string value = 2;   // 值
-}
+}
@@ -0,0 +1,146 @@
+syntax = "proto3";
+
+package agv.calibration.transport;
+
+// =========================================================
+// 文件作用：WiFi6/TCP 传输契约
+// 使用范围：
+// 1) Ubuntu 车间工控机与 Windows 车端代理之间的网络边界
+// 2) 仿真车端 agent 与真实车端 agent 需要共同遵守的帧号和通道约定
+// 3) 业务消息仍由 chassis/control/sensor/external_localization proto 定义
+// 说明：
+// 1) WiFi6 是承载网络，当前工程传输层使用 TCP 长/短连接
+// 2) 当前仿真实现 payload 使用 proto 字段名风格的 JSON
+// 3) 现场可切换为 protobuf binary，但必须保持本文件中的通道和帧号不变
+// =========================================================
+
+// =========================================================
+// WiFi6 逻辑通道
+// =========================================================
+enum Wifi6Channel {
+  WIFI6_CHANNEL_UNSPECIFIED = 0;
+  WIFI6_CHANNEL_CHASSIS = 1;        // 底盘标定动作和急停
+  WIFI6_CHANNEL_CONTROL = 2;        // 运控参数评估、轨迹跟踪
+  WIFI6_CHANNEL_SENSOR = 3;         // 车端传感器原始数据
+  WIFI6_CHANNEL_EXTERNAL_POSE = 4;  // 外部真值位姿输入到车端
+}
+
+// =========================================================
+// 默认端口
+// 说明：
+// 1) WiFi6 边界默认只暴露一个车端 gateway 端口
+// 2) channel 只是协议里的逻辑通道，不应该被理解成“一类功能一个物理端口”
+// 3) 9001-9004 仅保留给仿真 router 背后的内部域服务或旧版兼容使用
+// =========================================================
+enum Wifi6DefaultPort {
+  WIFI6_DEFAULT_PORT_UNSPECIFIED = 0;
+  WIFI6_DEFAULT_PORT_VEHICLE_GATEWAY = 9000;
+  WIFI6_LEGACY_INTERNAL_PORT_CHASSIS = 9001;
+  WIFI6_LEGACY_INTERNAL_PORT_CONTROL = 9002;
+  WIFI6_LEGACY_INTERNAL_PORT_SENSOR = 9003;
+  WIFI6_LEGACY_INTERNAL_PORT_EXTERNAL_POSE = 9004;
+}
+
+// =========================================================
+// TCP 载荷编码方式
+// =========================================================
+enum Wifi6PayloadEncoding {
+  WIFI6_PAYLOAD_ENCODING_UNSPECIFIED = 0;
+  WIFI6_PAYLOAD_ENCODING_JSON_PROTO_FIELD_NAMES = 1; // 当前仿真实现：JSON key 使用 proto 字段名
+  WIFI6_PAYLOAD_ENCODING_PROTOBUF_BINARY = 2;        // 现场高性能实现可选
+}
+
+// =========================================================
+// TCP 连接方向
+// =========================================================
+enum Wifi6FrameDirection {
+  WIFI6_FRAME_DIRECTION_UNSPECIFIED = 0;
+  WIFI6_FRAME_DIRECTION_WORKSHOP_TO_VEHICLE = 1;
+  WIFI6_FRAME_DIRECTION_VEHICLE_TO_WORKSHOP = 2;
+}
+
+// =========================================================
+// TCP 帧号
+// 帧头格式固定为：
+//   uint32 little-endian msg_type
+//   uint32 little-endian payload_len
+//   payload_len bytes payload
+// 注意：
+// 1) 这个 8 字节帧头不是 protobuf 序列化结果，而是传输层二进制头
+// 2) payload 的业务结构由本字段注释中对应的 proto 消息定义
+// 3) 逻辑 channel 由 msg_type 映射得到；同一个 gateway 端口根据 msg_type 做路由
+// =========================================================
+enum Wifi6FrameType {
+  WIFI6_FRAME_TYPE_UNSPECIFIED = 0;
+
+  // 底盘域：chassis_calibration.proto / AgvCalibChassisService
+  WIFI6_FRAME_CHASSIS_GET_READINESS_REQ = 1;     // AgentReadinessRequest
+  WIFI6_FRAME_CHASSIS_GET_READINESS_RSP = 2;     // ChassisReadinessResponse
+  WIFI6_FRAME_CHASSIS_MOTION_PRIMITIVE_REQ = 3;  // MotionPrimitiveRequest
+  WIFI6_FRAME_CHASSIS_MOTION_PRIMITIVE_RSP = 4;  // ChassisJobResult
+  WIFI6_FRAME_CHASSIS_EMERGENCY_BRAKE_REQ = 5;   // Empty 或 EmergencyBrake 请求
+  WIFI6_FRAME_CHASSIS_EMERGENCY_BRAKE_RSP = 6;   // StandardResponse
+
+  // 运控域：control_calibration.proto / AgvCalibControlService
+  WIFI6_FRAME_CONTROL_GET_READINESS_REQ = 11;  // AgentReadinessRequest
+  WIFI6_FRAME_CONTROL_GET_READINESS_RSP = 12;  // ControlReadinessResponse
+  WIFI6_FRAME_CONTROL_EVALUATION_REQ = 13;     // ControllerEvaluationRequest
+  WIFI6_FRAME_CONTROL_EVALUATION_RSP = 14;     // ControlJobResult
+
+  // 传感器域：sensor_calibration.proto / AgvCalibSensorService
+  WIFI6_FRAME_SENSOR_GET_READINESS_REQ = 21;    // AgentReadinessRequest
+  WIFI6_FRAME_SENSOR_GET_READINESS_RSP = 22;    // SensorReadinessResponse
+  WIFI6_FRAME_SENSOR_GET_LATEST_FRAME_REQ = 23; // StreamVehicleSensorDataRequest 的轻量轮询形态
+  WIFI6_FRAME_SENSOR_GET_LATEST_FRAME_RSP = 24; // VehicleSensorFrame
+  WIFI6_FRAME_SENSOR_LIST_SENSORS_REQ = 25;     // Empty 或能力查询请求
+  WIFI6_FRAME_SENSOR_LIST_SENSORS_RSP = 26;     // Sensor 列表响应
+
+  // 外部真值位姿域：external_localization.proto / AgvCalibExternalPoseFeedService
+  WIFI6_FRAME_EXTERNAL_POSE_PUSH_REQ = 31; // ExternalLocalizationTelemetry
+  WIFI6_FRAME_EXTERNAL_POSE_PUSH_RSP = 32; // StandardResponse
+}
+
+// =========================================================
+// TCP 帧头的 protobuf 表达
+// 说明：
+// 1) 这个 message 仅用于文档、测试、代码生成时表达契约
+// 2) 实际线上帧头仍是上面注释中定义的 8 字节小端二进制结构
+// =========================================================
+message Wifi6TcpFrameHeader {
+  Wifi6FrameType msg_type = 1; // 对应 8 字节帧头中的 uint32 msg_type
+  uint32 payload_len = 2;      // 对应 8 字节帧头中的 uint32 payload_len
+}
+
+// =========================================================
+// 逻辑通道端点
+// =========================================================
+message Wifi6ChannelEndpoint {
+  Wifi6Channel channel = 1;
+  Wifi6DefaultPort default_port = 2;
+  Wifi6FrameDirection request_direction = 3;
+  string canonical_proto_file = 4; // 例如 chassis_calibration.proto
+  string canonical_service = 5;    // 例如 AgvCalibChassisService
+}
+
+// =========================================================
+// 请求 / 响应帧映射
+// =========================================================
+message Wifi6FrameMapping {
+  Wifi6Channel channel = 1;
+  Wifi6FrameType request_type = 2;
+  Wifi6FrameType response_type = 3;
+  Wifi6PayloadEncoding payload_encoding = 4;
+  string request_message = 5;  // proto 消息名
+  string response_message = 6; // proto 消息名
+  string rpc_name = 7;         // 对齐的 RPC 名称；轻量轮询可为空
+}
+
+// =========================================================
+// 当前工程默认契约版本
+// =========================================================
+message Wifi6TransportContract {
+  string contract_version = 1; // 当前为 "wifi6_tcp_v1"
+  Wifi6PayloadEncoding default_payload_encoding = 2;
+  repeated Wifi6ChannelEndpoint endpoints = 3;
+  repeated Wifi6FrameMapping frame_mappings = 4;
+}
--- a/Show More
+++ b/Show More