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Continue rapport
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rapport/gz-unitree.typ
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rapport/gz-unitree.typ
···
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Voici une trace wireshark d'un échange usuel entre commandes (`rt/lowcmd`) et états (`rt/lowstate`)
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#let img = image("./wireshark-trace.png")
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// https://forum.typst.app/t/how-to-blend-a-color-with-an-image-and-make-the-image-transparent/1677/5
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#let overlayed-img = (contents, img) => layout(bounds => {
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let size = measure(img, ..bounds)
···
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#figure(
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caption: [Trace de paquets RTPS sur _Wireshark_],
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overlayed-img([
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overlayed-img(image("./wireshark-trace.png"))[
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#diagram(spacing: (4.54pt, 2.75pt), {
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node((0, 0))[]
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let annotations-x = 80
slides/main.pdf
slides/main.pdf
This is a binary file and will not be displayed.
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slides/main.typ
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slides/main.typ
···
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#import "../rapport/utils.typ": dontbreak, todo
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#import "../rapport/context.typ": argmax, cL, definitions_paths_set, exp
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#import "../rapport/gz-unitree.typ": overlayed-img
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#import "../rapport/gz-unitree.typ": overlayed-img, zebraw
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#import "@preview/touying:0.6.1": *
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#import themes.simple: *
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···
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#super[1]Software Development Kit
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]
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== DDS
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#overlayed-img[
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#diagram(spacing: (4.54pt, 2.75pt), {
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node((0, 0))[]
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let annotations-x = 80
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let annotate = (y-start, y-end, label) => edge(
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(annotations-x, y-start),
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"|-|",
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(annotations-x, y-end),
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label-fill: white,
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label-side: left,
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label,
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)
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annotate(3, 20)[Attente]
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annotate(20, 60)[Initialisation]
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annotate(60, 100)[Échange `rt/` \ `lowstate` $arrows.lr$ `lowcmd`]
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})
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]
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== Le SDK d'Unitree
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···
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== Développement de _gz-unitree_
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Un bridge pour Gazebo
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]
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#centered[
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#diagram({
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node((0, 0), $Pi$)
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node((1, 0), "SDK")
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node((2, 0))[*gz-unitree*]
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node((3, 0), "Gazebo")
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+
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edge((0, 0), (0, 0), "<-", bend: 130deg, loop-angle: 180deg)[]
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edge((3.25, 0), (3.25, 0), "->", bend: -130deg, loop-angle: -180deg)[]
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for i in range(0, 3) {
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let dash = if i == 1 { "--" } else { "-" }
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edge((i, 0), (i + 1, 0), dash + ">", shift: 7pt)[ordres]
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edge((i, 0), (i + 1, 0), "<" + dash, shift: -7pt, label-side: right)[état]
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}
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edge((0, 1), (2, 1), "|-|", label-side: right)[API du SDK]
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edge((2, 1), (3, 1), "|-|", label-side: right)[API de Gazebo]
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})
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]
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#pagebreak()
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#centered(scale(75%, reflow: true, ```cpp
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#include <gz/sim/System.hh>
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namespace gz_unitree
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{
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class UnitreePlugin :
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public gz::sim::System,
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public gz::sim::ISystemPreUpdate
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{
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public:
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UnitreePlugin();
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public:
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~UnitreePlugin() override;
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public:
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void PreUpdate(const gz::sim::UpdateInfo &_info,
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gz::sim::EntityComponentManager &ecm) override;
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};
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}
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```))
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#pagebreak()
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#centered(scale(75%, reflow: true, grid(
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columns: 2,
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gutter: 2em,
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```cpp
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#include <gz/plugin/Register.hh>
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... // class implementation
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GZ_ADD_PLUGIN(
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UnitreePlugin,
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gz::sim::System,
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UnitreePlugin::ISystemPreUpdate)
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```,
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zebraw(
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numbering: false,
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highlight-lines: (..range(3, 5),),
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```xml
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<sdf version='1.11'>
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<world name="default">
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<plugin filename="gz-unitree" name="gz_unitree::UnitreePlugin">
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</plugin>
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</world>
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<model name='h1_description'>
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<link name='pelvis'>
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<inertial>
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...
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```,
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),
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)))
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#pagebreak()
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#let legend = (
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..descriptions,
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) => grid(
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columns: (1fr, 3fr),
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align: left,
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row-gutter: 0.5em,
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..descriptions
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.pos()
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.map(((arrow, desc)) => (
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diagram(edge((0, 0), arrow, (0.75, 0))),
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desc,
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))
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.flatten()
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)
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#let architecture = (
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caption,
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group-inset: 12pt,
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group-color: luma(80),
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show-legend: true,
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..edges,
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) => {
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let group = (
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nodes,
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label,
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alignment: bottom + center,
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name: none,
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) => node(
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name: name,
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enclose: nodes,
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snap: if name == none { false } else { 1 },
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inset: group-inset,
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stroke: group-color.lighten(75%) + 2pt,
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align(alignment, move(
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dy: 3.5 * group-inset * if alignment.y == bottom { 1 } else { -1 },
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text(fill: group-color, label),
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)),
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)
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let subtitled = (title, subtitle) => [#title \ #text(
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size: 0.8em,
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subtitle,
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)]
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diagram(
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debug: false,
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node-stroke: 0.5pt,
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edge-corner-radius: 6pt,
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(
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node(name: <configure>, (0, 1), `::Configure`),
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node(name: <preupdate>, (0, 2), `::PreUpdate`),
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group(
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name: <gz>,
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(<configure>, <preupdate>),
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`gz::sim::System`,
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alignment: top + center,
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),
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node(
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name: <channelfactory>,
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enclose: ((1, 0), (2, 0)),
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inset: 8pt,
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subtitled(`ChannelFactory`, [domaine 1, interface `lo`]),
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),
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node(name: <publisher>, (1, 1), inset: 8pt, subtitled(
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`ChannelPublisher`,
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[canal `rt/lowstate`],
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)),
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node(name: <subscriber>, (2, 1), inset: 8pt, subtitled(
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`ChannelSubscriber`,
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[canal `rt/lowcmd`],
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)),
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group(
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name: <dds>,
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(<channelfactory>, <publisher>, <subscriber>),
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alignment: top + center,
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)[Unitree SDK],
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node(name: <gzclock>, (1, 5), subtitled(
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`::TickHandler`,
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[topic Gazebo `/clock`],
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)),
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node(name: <gzimu>, (2, 5), subtitled(
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`::IMUHandler`,
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[topic Gazebo `/imu`],
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)),
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node(name: <lowstate>, (1, 2), `::LowStateWriter`),
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node(name: <lowcmd>, (2, 2), `::CmdHandler`),
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node(name: <statebuf>, (1, 3), subtitled("State buffer", `statebuf`)),
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node(name: <cmdbuf>, (2, 3), subtitled("Commands buffer", `cmdbuf`)),
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group(
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(
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<lowstate>,
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<lowcmd>,
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<statebuf>,
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<cmdbuf>,
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<gzclock>,
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<gzimu>,
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),
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[Plugin internals],
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),
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node(name: <policy>, (0, -1), $Pi$),
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..edges.pos(),
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if show-legend {
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node((0, 5), stroke: none, width: 15em, fill: white, legend(
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("-->", "Message DDS"),
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("..>", "Message Gazebo"),
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("@->", "Désynchronisation"),
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))
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},
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),
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)
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}
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#centered-slide(scale(56%, reflow: true, architecture([Phase d'initialisation du plugin], show-legend: false, (
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edge(
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<configure>,
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"u",
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<channelfactory>,
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"->",
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label-side: left,
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label-pos: 50%,
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)[appelle],
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pause,
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edge(<configure>, "d,d,d,r", <gzclock>, "->", label-pos: 85%)[démarre],
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edge(
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<configure>,
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"d,d",
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(0, 3.75),
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"r,r",
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<gzimu>,
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"->",
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label-pos: 75%,
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)[démarre],
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pause,
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edge(<channelfactory>, "->", <publisher>)[initialise],
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edge(<channelfactory>, "->", <subscriber>)[initialise],
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pause,
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edge(<publisher>, "<->", <lowstate>)[`std::bind`],
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edge(<subscriber>, "<->", <lowcmd>)[`std::bind`],
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))))