qing
fe12dd7b33
- 新增 run_loop 闭环：F 帧+H 步历史双滑窗，冷启动重复同帧+零动作， 每步 采样→推理→执行→回写，hz 节拍控制，可选同步录制 - --loop CKPT/--hz/--loop-steps 参数，按 .hef 后缀选 Hailo/PyTorch 后端， actpred 软依赖（仅 --loop 时 import），保持 pybot 零依赖 - P1-2 帧源修复：闭环改从 camera 守护线程队列取最近 F 帧（低延迟）， 替代 capture() 同步曝光阻塞，framerate/capacity 配置真正生效 - P1-1 overrun 告警：超时步记录实际耗时，汇总 overrun 比例并给降频建议 - 剔除 Speaker.delay 发声阻塞，speaker 补 delay=0 非阻塞 - 新增 tests/test_loop.py 11 用例（冷启动/历史滑动/索引映射/帧源等）
156 lines
6.0 KiB
Python
156 lines
6.0 KiB
Python
"""CLI 入口 —— 移植自 bot4cj/src/main.cj
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用法（与仓颉版管道方式兼容）：
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cat scripts/std.mt | python3 -m pybot # stdin 管道
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python3 -m pybot scripts/std.mt # 位置参数（增强）
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python3 -m pybot --dry-run scripts/std.mt # Mock 总线，动作序列到 stdout
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python3 -m pybot --test roundtrip in.mt out.mt # 解析↔序列化往返
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与仓颉版的差异（见方案 §4.7）：
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--test nn/cnn/cnn1 移除（NN 由 actpred 承担）；
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--test matrix_o/matrix_2 合并为 --test roundtrip（路径改为参数）；
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新增 --dry-run / --verbose；-i / -o 保留参数位（reserved，对接 actpred）。
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日志规范（S02 根治）：全部诊断走 logging(stderr)，stdout 保持纯净。
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"""
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import argparse
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import logging
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import sys
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from .hd import i2c, spi
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from .parser import MatrixParser, MatrixSaver
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from .robot import RobotStruct
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def _build_argparser():
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p = argparse.ArgumentParser(
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prog="pybot",
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description="机器人 .mt 动作脚本解析器（bot4cj 的 Python 迁移版）")
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p.add_argument("script", nargs="?", default=None,
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help=".mt 脚本路径（缺省从 stdin 读取）")
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p.add_argument("--test", nargs=3, metavar=("MODE", "IN", "OUT"),
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help="自检：roundtrip <in.mt> <out.mt> 解析↔序列化往返")
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p.add_argument("--dry-run", action="store_true",
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help="Mock 总线运行（不碰硬件），动作序列输出到 stdout")
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p.add_argument("--verbose", action="store_true",
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help="DEBUG 级日志（stderr）")
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p.add_argument("-i", metavar="FIFO", default=None,
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help="(reserved) 传感器数据输出管道，对接 actpred")
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p.add_argument("-o", metavar="FIFO", default=None,
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help="(reserved) 动作指令输入管道，对接 actpred")
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p.add_argument("--record", metavar="DIR", default=None,
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help="录制 actpred 格式 episode 到 DIR（需要 @Camera 块；"
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"--dry-run 下用合成帧）")
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p.add_argument("--action-dim", type=int, default=18,
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help="动作向量维度（默认 18，与 actpred 一致）")
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p.add_argument("--loop", metavar="CKPT", default=None,
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help="实时预测闭环：加载 actpred checkpoint，"
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"采样→推理→执行→回写（不执行脚本 @Action 行，"
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"仅用其表头做动作向量索引映射）")
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p.add_argument("--hz", type=float, default=10.0,
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help="闭环控制频率 Hz（默认 10，须 ≥ 推理+执行耗时）")
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p.add_argument("--loop-steps", type=int, default=None, metavar="N",
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help="闭环步数上限（默认无限，调试用）")
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return p
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def _roundtrip(in_path, out_path):
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"""解析 in.mt 再序列化到 out.mt（对应仓颉版 --test matrix_o/matrix_2）"""
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objects = []
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with open(in_path, encoding="utf-8") as f:
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parser = MatrixParser(f)
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while True:
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obj = parser.parse()
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if obj is None:
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break
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objects.append(obj)
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with open(out_path, "w", encoding="utf-8") as f:
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MatrixSaver(f).save(objects)
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logging.info("roundtrip: %d blocks, %s -> %s",
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len(objects), in_path, out_path)
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return 0
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def _dump_journal(*mocks):
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"""--dry-run 结束后把 Mock 总线动作序列输出到 stdout（等价性验证工件）"""
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for mock in mocks:
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for entry in mock.journal:
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print(" ".join(str(x) for x in entry))
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def main(argv=None):
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args = _build_argparser().parse_args(argv)
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logging.basicConfig(
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stream=sys.stderr,
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level=logging.DEBUG if args.verbose else logging.INFO,
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format="%(levelname)s %(name)s: %(message)s")
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if args.i or args.o:
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logging.warning("-i/-o are reserved for actpred integration, ignored")
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if args.test:
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mode, in_path, out_path = args.test
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if mode != "roundtrip":
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logging.error("unknown --test mode: %s (supported: roundtrip)", mode)
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return 2
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return _roundtrip(in_path, out_path)
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mocks = ()
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if args.dry_run:
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mocks = (i2c.use_mock(), spi.use_mock())
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predictor = None
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if args.loop:
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predictor = _load_predictor(args.loop)
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if predictor is None:
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return 2
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source = open(args.script, encoding="utf-8") if args.script else sys.stdin
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try:
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robot = RobotStruct(source, dry_run=args.dry_run)
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recorder = None
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if args.record:
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from .recorder import EpisodeRecorder
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recorder = EpisodeRecorder(args.record,
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action_dim=args.action_dim)
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with robot:
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if predictor is not None:
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robot.run_loop(predictor, hz=args.hz,
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max_steps=args.loop_steps, recorder=recorder)
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else:
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robot.run(recorder=recorder)
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finally:
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if args.script:
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source.close()
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if args.dry_run:
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_dump_journal(*mocks)
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return 0
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def _load_predictor(checkpoint):
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"""进程内构建 actpred 推理器；失败返回 None
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pybot 不硬依赖 actpred：仅 --loop 时才尝试 import，actpred 不在
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sys.path 时给出可操作提示。checkpoint 目录名决定后端（.hef → Hailo
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NPU，否则 → PyTorch），推理类由 actpred 提供。
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"""
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try:
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if checkpoint.endswith(".hef"):
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from actpred.hailo_infer import HailoPredictor as _P
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else:
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from actpred.predict import ActionPredictorInference as _P
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except ImportError:
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logging.error("--loop 需要 actpred 模块（把 blackbird 根目录加入 "
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"PYTHONPATH，或在 actpred/ 同级运行）")
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return None
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try:
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return _P(checkpoint)
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except Exception:
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logging.exception("加载 actpred checkpoint 失败: %s", checkpoint)
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return None
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if __name__ == "__main__":
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sys.exit(main())
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