From 35abb286dfd6a93aa9a388b7788490e2bdad537f Mon Sep 17 00:00:00 2001
From: li-shihao-code <2469171725@qq.com>
Date: Thu, 26 Feb 2026 13:52:14 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E5=AE=8C=E5=96=84=E4=BA=86=E8=87=AA?=
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---
agv_calib_brain/CMakeLists.txt | 49 ++++++++++++++++
agv_calib_brain/package.xml | 18 ++++++
.../proto}/agv_calib_chassis.proto | 0
.../proto}/agv_calib_control.proto | 0
.../proto}/agv_calib_sensor.proto | 0
agv_calib_brain/src/brain_node.cpp | 57 +++++++++++++++++++
agv_calib_eu/main.cpp | 47 +++++++++++++++
7 files changed, 171 insertions(+)
create mode 100644 agv_calib_brain/CMakeLists.txt
create mode 100644 agv_calib_brain/package.xml
rename {msg => agv_calib_brain/proto}/agv_calib_chassis.proto (100%)
rename {msg => agv_calib_brain/proto}/agv_calib_control.proto (100%)
rename {msg => agv_calib_brain/proto}/agv_calib_sensor.proto (100%)
create mode 100644 agv_calib_brain/src/brain_node.cpp
create mode 100644 agv_calib_eu/main.cpp
diff --git a/agv_calib_brain/CMakeLists.txt b/agv_calib_brain/CMakeLists.txt
new file mode 100644
index 0000000..21abe94
--- /dev/null
+++ b/agv_calib_brain/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_calib_brain)
+
+# 1. 寻找 ROS 2 依赖
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# 2. 寻找 gRPC 和 Protobuf 依赖
+find_package(Protobuf REQUIRED)
+find_package(gRPC REQUIRED)
+
+# 3. 设置 Proto 文件路径与自动生成的源码输出路径
+set(PROTO_DIR "${CMAKE_CURRENT_SOURCE_DIR}/proto")
+set(PROTO_FILE "${PROTO_DIR}/agv_calib_control.proto")
+set(PROTO_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/grpc_gen")
+file(MAKE_DIRECTORY ${PROTO_OUT_DIR})
+
+# 4. 自动生成 gRPC C++ 源码 (每次 colcon build 自动执行)
+find_program(GRPC_CPP_PLUGIN_EXECUTABLE grpc_cpp_plugin)
+add_custom_command(
+ OUTPUT "${PROTO_OUT_DIR}/agv_calib_control.pb.cc"
+ "${PROTO_OUT_DIR}/agv_calib_control.pb.h"
+ "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.cc"
+ "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.h"
+ COMMAND protoc
+ ARGS --proto_path="${PROTO_DIR}"
+ --cpp_out="${PROTO_OUT_DIR}"
+ --grpc_out="${PROTO_OUT_DIR}"
+ --plugin=protoc-gen-grpc="${GRPC_CPP_PLUGIN_EXECUTABLE}"
+ "${PROTO_FILE}"
+ DEPENDS "${PROTO_FILE}"
+)
+
+# 5. 将生成的网络源码打包成独立的 C++ 库
+add_library(agv_grpc_proto_lib SHARED
+ "${PROTO_OUT_DIR}/agv_calib_control.pb.cc"
+ "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.cc"
+)
+target_include_directories(agv_grpc_proto_lib PUBLIC "${PROTO_OUT_DIR}")
+target_link_libraries(agv_grpc_proto_lib gRPC::grpc++ protobuf::libprotobuf)
+
+# 6. 编译您的 ROS 2 节点主程序
+add_executable(brain_node src/brain_node.cpp)
+ament_target_dependencies(brain_node rclcpp)
+# 🚨 必须链接刚才生成的 gRPC 库
+target_link_libraries(brain_node agv_grpc_proto_lib)
+
+install(TARGETS brain_node DESTINATION lib/${PROJECT_NAME})
+ament_package()
\ No newline at end of file
diff --git a/agv_calib_brain/package.xml b/agv_calib_brain/package.xml
new file mode 100644
index 0000000..3b8a58d
--- /dev/null
+++ b/agv_calib_brain/package.xml
@@ -0,0 +1,18 @@
+
+
+
+ agv_calib_brain
+ 0.0.0
+ TODO: Package description
+ nvidia
+ TODO: License declaration
+
+ ament_cmake
+
+ ament_lint_auto
+ ament_lint_common
+
+
+ ament_cmake
+
+
diff --git a/msg/agv_calib_chassis.proto b/agv_calib_brain/proto/agv_calib_chassis.proto
similarity index 100%
rename from msg/agv_calib_chassis.proto
rename to agv_calib_brain/proto/agv_calib_chassis.proto
diff --git a/msg/agv_calib_control.proto b/agv_calib_brain/proto/agv_calib_control.proto
similarity index 100%
rename from msg/agv_calib_control.proto
rename to agv_calib_brain/proto/agv_calib_control.proto
diff --git a/msg/agv_calib_sensor.proto b/agv_calib_brain/proto/agv_calib_sensor.proto
similarity index 100%
rename from msg/agv_calib_sensor.proto
rename to agv_calib_brain/proto/agv_calib_sensor.proto
diff --git a/agv_calib_brain/src/brain_node.cpp b/agv_calib_brain/src/brain_node.cpp
new file mode 100644
index 0000000..d6a9e1f
--- /dev/null
+++ b/agv_calib_brain/src/brain_node.cpp
@@ -0,0 +1,57 @@
+#include
+#include
+// 包含刚才 CMake 自动生成的头文件
+#include "agv_calib_control.grpc.pb.h"
+
+using namespace agv::calibration::control;
+
+class BrainNode : public rclcpp::Node {
+public:
+ BrainNode() : Node("calib_brain_node") {
+ // 1. 拨号连接到 Windows 车端 (请替换为车端在 Wi-Fi 6 下的真实 IP)
+ std::string target_ip = "192.168.1.100:50051";
+
+ // 🚨 Wi-Fi 防断联核心：强制开启 gRPC 保活机制 (KeepAlive)
+ grpc::ChannelArguments args;
+ args.SetInt(GRPC_ARG_KEEPALIVE_TIME_MS, 2000); // 每 2 秒发一次 TCP 心跳探活
+ args.SetInt(GRPC_ARG_KEEPALIVE_TIMEOUT_MS, 1000); // 1 秒没回音即认为掉线
+ args.SetInt(GRPC_ARG_KEEPALIVE_PERMIT_WITHOUT_CALLS, 1);
+
+ auto channel = grpc::CreateCustomChannel(target_ip, grpc::InsecureChannelCredentials(), args);
+ stub_ = AgvCalibControlService::NewStub(channel);
+
+ RCLCPP_INFO(this->get_logger(), "连接车端 %s 中...", target_ip.c_str());
+
+ // 2. 发起夺权指令测试
+ send_control_mode_request();
+ }
+
+private:
+ std::unique_ptr stub_;
+
+ void send_control_mode_request() {
+ ModeRequest request;
+ request.set_target_mode(ModeRequest::OPEN_LOOP_MODE); // 下发开环提线木偶模式
+
+ StandardResponse response;
+ grpc::ClientContext context;
+
+ // 【网络防卡死】设置单次通信的超时时间为 2 秒，防止死锁 ROS 2 主线程
+ context.set_deadline(std::chrono::system_clock::now() + std::chrono::seconds(2));
+
+ grpc::Status status = stub_->SetControlMode(&context, request, &response);
+
+ if (status.ok() && response.success()) {
+ RCLCPP_INFO(this->get_logger(), "✅ 夺权成功！车端回复: %s", response.message().c_str());
+ } else {
+ RCLCPP_ERROR(this->get_logger(), "❌ 调用失败: %d - %s", status.error_code(), status.error_message().c_str());
+ }
+ }
+};
+
+int main(int argc, char **argv) {
+ rclcpp::init(argc, argv);
+ rclcpp::spin(std::make_shared());
+ rclcpp::shutdown();
+ return 0;
+}
\ No newline at end of file
diff --git a/agv_calib_eu/main.cpp b/agv_calib_eu/main.cpp
new file mode 100644
index 0000000..3749ff1
--- /dev/null
+++ b/agv_calib_eu/main.cpp
@@ -0,0 +1,47 @@
+#include
+#include
+#include
+#include
+// 包含刚才手动翻译出的头文件
+#include "agv_calib_control.grpc.pb.h"
+
+using namespace agv::calibration::control;
+
+// 继承并实现定义在 .proto 里的服务契约
+class AgvCalibServiceImpl final : public AgvCalibControlService::Service {
+
+ // 覆盖接管控制权的方法
+ grpc::Status SetControlMode(grpc::ServerContext* context,
+ const ModeRequest* request,
+ StandardResponse* reply) override {
+
+ if (request->target_mode() == ModeRequest::OPEN_LOOP_MODE) {
+ std::cout << "\n[Windows底层] 收到 Linux 指令: 进入开环提线木偶模式" << std::endl;
+ // TODO: 在这里调用 Windows 原有的底盘驱动 DLL 或 CAN 接口，切断避障算法
+
+ reply->set_success(true);
+ reply->set_message("Windows 已交出控制权，避障与运动学逆解已关闭");
+ }
+ return grpc::Status::OK;
+ }
+ // TODO: 接着 override 实现 ExecuteOpenLoopCmd 等其他函数...
+};
+
+void RunServer() {
+ // 🚨 关键排雷：必须绑定 0.0.0.0，千万不要写 localhost 或 127.0.0.1，否则 ROS2 连不上！
+ std::string server_address("0.0.0.0:50051");
+ AgvCalibServiceImpl service;
+
+ grpc::ServerBuilder builder;
+ builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
+ builder.RegisterService(&service);
+
+ std::unique_ptr server(builder.BuildAndStart());
+ std::cout << "🚀 Windows 车端 gRPC 代理已启动，监听外部请求: " << server_address << std::endl;
+ server->Wait();
+}
+
+int main() {
+ RunServer();
+ return 0;
+}
\ No newline at end of file