Kaya代码解析
2020-04-04 本文已影响0人
YottaYuan
kaya_hardware.subgraph.json文件
此文件解析了kaya机器人硬件相关的细节
"modules": [
"dynamixel",
"imu",
"kaya",
"realsense",
"viewers"
],
kaya_base
"kaya_base": {
"holonomic_to_wheels": {
"max_linear_speed": 0.5,
"max_angular_speed": 2.0
}
},
{
"name": "kaya_base",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "holonomic_to_wheels",
"type": "isaac::kaya::KayaBaseDriver"
}
]
},
dynamixels
{
"name": "dynamixels",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "driver",
"type": "isaac::dynamixel::DynamixelDriver"
},
{
"name": "isaac.alice.Failsafe",
"type": "isaac::alice::Failsafe"
}
]
},
与dynamixels交互
{
"source": "subgraph/interface/base_command",
"target": "kaya_base/holonomic_to_wheels/base_command"
},
{
"source": "kaya_base/holonomic_to_wheels/base_state",
"target": "subgraph/interface/base_state"
},
{
"source": "dynamixels/driver/state",
"target": "kaya_base/holonomic_to_wheels/wheel_state"
},
{
"source": "kaya_base/holonomic_to_wheels/wheel_command",
"target": "dynamixels/driver/command"
},
isaac::alice::Subgraph
//engine/alice/components/Subgraph.hpp
#pragma once
#include "engine/alice/component.hpp"
namespace isaac {
namespace alice {
// Creates interface for a subgraph.
// Subgraphs JSON files are modular and meaningful collections of nodes, edges, and configurations
// that are ready to be plugged-in when creating application JSON files. For ease of use, each
// subgraph has an interface node of isaac::alice::Subgraph type registered here. Interface node
// receives and transmits messages for the other nodes of the subgraph, so that an application
// using this subgraph can edge with the interface node instead of directly communicating with other
// nodes within the subgraph. In the future, in addition to message passing, interface nodes will
// 1. read parameters set by user and map them to other components in the subgraph,
// 2. pass handles to the behavior trees within the subgraph,
// 3. sync poses between inside and outside the subgraph.
class Subgraph : public Component {};
} // namespace alice
} // namespace isaac
ISAAC_ALICE_REGISTER_COMPONENT(isaac::alice::Subgraph)
DynamixelDriver.hpp
packages/dynamixel/components/dynamixelDriver.hpp
电机和主板通过StateProto进行通信。
// The desired angular speeds for each motor
ISAAC_PROTO_RX(StateProto, command);
// The measured angular speeds for each motor
ISAAC_PROTO_TX(StateProto, state);
state.capnp.h
/home/nvidia/.cache/bazel/_bazel_nvidia/16b182569cf02a0dcbe9eb1e7674905b/execroot/com_nvidia_isaac/bazel-out/k8-opt/genfiles/messages/state.capnp.h
// Generated by Cap'n Proto compiler, DO NOT EDIT
// source: state.capnp
#pragma once
#include <capnp/generated-header-support.h>
#include <kj/windows-sanity.h>
#if CAPNP_VERSION != 7000
#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library."
#endif
#include "tensor.capnp.h"
namespace capnp {
namespace schemas {
CAPNP_DECLARE_SCHEMA(b6e133a2596fcbc4);
} // namespace schemas
} // namespace capnp
struct StateProto {
StateProto() = delete;
class Reader;
class Builder;
class Pipeline;
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(b6e133a2596fcbc4, 0, 3)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
};
};
// =======================================================================================
class StateProto::Reader {
public:
typedef StateProto Reads;
Reader() = default;
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
inline ::capnp::MessageSize totalSize() const {
return _reader.totalSize().asPublic();
}
#if !CAPNP_LITE
inline ::kj::StringTree toString() const {
return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
}
#endif // !CAPNP_LITE
inline bool hasPack() const;
inline ::TensorProto::Reader getPack() const;
inline bool hasSchema() const;
inline ::capnp::Text::Reader getSchema() const;
inline bool hasData() const;
inline ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Reader getData() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
friend struct ::capnp::ToDynamic_;
template <typename, ::capnp::Kind>
friend struct ::capnp::_::PointerHelpers;
template <typename, ::capnp::Kind>
friend struct ::capnp::List;
friend class ::capnp::MessageBuilder;
friend class ::capnp::Orphanage;
};
class StateProto::Builder {
public:
typedef StateProto Builds;
Builder() = delete; // Deleted to discourage incorrect usage.
// You can explicitly initialize to nullptr instead.
inline Builder(decltype(nullptr)) {}
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
inline operator Reader() const { return Reader(_builder.asReader()); }
inline Reader asReader() const { return *this; }
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
#if !CAPNP_LITE
inline ::kj::StringTree toString() const { return asReader().toString(); }
#endif // !CAPNP_LITE
inline bool hasPack();
inline ::TensorProto::Builder getPack();
inline void setPack( ::TensorProto::Reader value);
inline ::TensorProto::Builder initPack();
inline void adoptPack(::capnp::Orphan< ::TensorProto>&& value);
inline ::capnp::Orphan< ::TensorProto> disownPack();
inline bool hasSchema();
inline ::capnp::Text::Builder getSchema();
inline void setSchema( ::capnp::Text::Reader value);
inline ::capnp::Text::Builder initSchema(unsigned int size);
inline void adoptSchema(::capnp::Orphan< ::capnp::Text>&& value);
inline ::capnp::Orphan< ::capnp::Text> disownSchema();
inline bool hasData();
inline ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Builder getData();
inline void setData( ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Reader value);
inline void setData(::kj::ArrayPtr<const double> value);
inline ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Builder initData(unsigned int size);
inline void adoptData(::capnp::Orphan< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>&& value);
inline ::capnp::Orphan< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>> disownData();
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
friend struct ::capnp::ToDynamic_;
friend class ::capnp::Orphanage;
template <typename, ::capnp::Kind>
friend struct ::capnp::_::PointerHelpers;
};
#if !CAPNP_LITE
class StateProto::Pipeline {
public:
typedef StateProto Pipelines;
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
: _typeless(kj::mv(typeless)) {}
inline ::TensorProto::Pipeline getPack();
private:
::capnp::AnyPointer::Pipeline _typeless;
friend class ::capnp::PipelineHook;
template <typename, ::capnp::Kind>
friend struct ::capnp::ToDynamic_;
};
#endif // !CAPNP_LITE
// =======================================================================================
inline bool StateProto::Reader::hasPack() const {
return !_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline bool StateProto::Builder::hasPack() {
return !_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline ::TensorProto::Reader StateProto::Reader::getPack() const {
return ::capnp::_::PointerHelpers< ::TensorProto>::get(_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline ::TensorProto::Builder StateProto::Builder::getPack() {
return ::capnp::_::PointerHelpers< ::TensorProto>::get(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
#if !CAPNP_LITE
inline ::TensorProto::Pipeline StateProto::Pipeline::getPack() {
return ::TensorProto::Pipeline(_typeless.getPointerField(0));
}
#endif // !CAPNP_LITE
inline void StateProto::Builder::setPack( ::TensorProto::Reader value) {
::capnp::_::PointerHelpers< ::TensorProto>::set(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), value);
}
inline ::TensorProto::Builder StateProto::Builder::initPack() {
return ::capnp::_::PointerHelpers< ::TensorProto>::init(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline void StateProto::Builder::adoptPack(
::capnp::Orphan< ::TensorProto>&& value) {
::capnp::_::PointerHelpers< ::TensorProto>::adopt(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::TensorProto> StateProto::Builder::disownPack() {
return ::capnp::_::PointerHelpers< ::TensorProto>::disown(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline bool StateProto::Reader::hasSchema() const {
return !_reader.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
}
inline bool StateProto::Builder::hasSchema() {
return !_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
}
inline ::capnp::Text::Reader StateProto::Reader::getSchema() const {
return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline ::capnp::Text::Builder StateProto::Builder::getSchema() {
return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline void StateProto::Builder::setSchema( ::capnp::Text::Reader value) {
::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS), value);
}
inline ::capnp::Text::Builder StateProto::Builder::initSchema(unsigned int size) {
return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS), size);
}
inline void StateProto::Builder::adoptSchema(
::capnp::Orphan< ::capnp::Text>&& value) {
::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::capnp::Text> StateProto::Builder::disownSchema() {
return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline bool StateProto::Reader::hasData() const {
return !_reader.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS).isNull();
}
inline bool StateProto::Builder::hasData() {
return !_builder.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS).isNull();
}
inline ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Reader StateProto::Reader::getData() const {
return ::capnp::_::PointerHelpers< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS));
}
inline ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Builder StateProto::Builder::getData() {
return ::capnp::_::PointerHelpers< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS));
}
inline void StateProto::Builder::setData( ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Reader value) {
::capnp::_::PointerHelpers< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS), value);
}
inline void StateProto::Builder::setData(::kj::ArrayPtr<const double> value) {
::capnp::_::PointerHelpers< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS), value);
}
inline ::capnp::List<double, ::capnp::Kind::PRIMITIVE>::Builder StateProto::Builder::initData(unsigned int size) {
return ::capnp::_::PointerHelpers< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS), size);
}
inline void StateProto::Builder::adoptData(
::capnp::Orphan< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>&& value) {
::capnp::_::PointerHelpers< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>> StateProto::Builder::disownData() {
return ::capnp::_::PointerHelpers< ::capnp::List<double, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
::capnp::bounded<2>() * ::capnp::POINTERS));
}
state.capnp.c++
/home/nvidia/.cache/bazel/_bazel_nvidia/16b182569cf02a0dcbe9eb1e7674905b/execroot/com_nvidia_isaac/bazel-out/k8-opt/genfiles/messages/state.capnp.c++
// Generated by Cap'n Proto compiler, DO NOT EDIT
// source: state.capnp
#include "state.capnp.h"
namespace capnp {
namespace schemas {
static const ::capnp::_::AlignedData<67> b_b6e133a2596fcbc4 = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
196, 203, 111, 89, 162, 51, 225, 182,
21, 0, 0, 0, 1, 0, 0, 0,
26, 192, 108, 8, 143, 192, 242, 128,
3, 0, 7, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
21, 0, 0, 0, 2, 1, 0, 0,
33, 0, 0, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
29, 0, 0, 0, 175, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
109, 101, 115, 115, 97, 103, 101, 115,
47, 115, 116, 97, 116, 101, 46, 99,
97, 112, 110, 112, 58, 83, 116, 97,
116, 101, 80, 114, 111, 116, 111, 0,
0, 0, 0, 0, 1, 0, 1, 0,
12, 0, 0, 0, 3, 0, 4, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
69, 0, 0, 0, 42, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
64, 0, 0, 0, 3, 0, 1, 0,
76, 0, 0, 0, 2, 0, 1, 0,
1, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
73, 0, 0, 0, 58, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
68, 0, 0, 0, 3, 0, 1, 0,
80, 0, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
77, 0, 0, 0, 42, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
72, 0, 0, 0, 3, 0, 1, 0,
100, 0, 0, 0, 2, 0, 1, 0,
112, 97, 99, 107, 0, 0, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
237, 156, 174, 53, 228, 229, 223, 206,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
115, 99, 104, 101, 109, 97, 0, 0,
12, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
12, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
100, 97, 116, 97, 0, 0, 0, 0,
14, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 3, 0, 1, 0,
11, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
14, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, }
};
::capnp::word const* const bp_b6e133a2596fcbc4 = b_b6e133a2596fcbc4.words;
#if !CAPNP_LITE
static const ::capnp::_::RawSchema* const d_b6e133a2596fcbc4[] = {
&s_cedfe5e435ae9ced,
};
static const uint16_t m_b6e133a2596fcbc4[] = {2, 0, 1};
static const uint16_t i_b6e133a2596fcbc4[] = {0, 1, 2};
const ::capnp::_::RawSchema s_b6e133a2596fcbc4 = {
0xb6e133a2596fcbc4, b_b6e133a2596fcbc4.words, 67, d_b6e133a2596fcbc4, m_b6e133a2596fcbc4,
1, 3, i_b6e133a2596fcbc4, nullptr, nullptr, { &s_b6e133a2596fcbc4, nullptr, nullptr, 0, 0, nullptr }
};
#endif // !CAPNP_LITE
} // namespace schemas
} // namespace capnp
// =======================================================================================
// StateProto
constexpr uint16_t StateProto::_capnpPrivate::dataWordSize;
constexpr uint16_t StateProto::_capnpPrivate::pointerCount;
#if !CAPNP_LITE
constexpr ::capnp::Kind StateProto::_capnpPrivate::kind;
constexpr ::capnp::_::RawSchema const* StateProto::_capnpPrivate::schema;
#endif // !CAPNP_LITE
