From e475fe750e029671c9c2fe89f63044e315c8119f Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Wed, 9 Jul 2025 11:29:24 +0800 Subject: [PATCH 01/17] init --- .gitignore | 2 + Cargo.lock | 253 ++++++++++++++++++++++++++++- rpos | 1 - src/main.rs | 4 +- start_scripts/car.sh | 11 -- start_scripts/gz_sim.sh | 12 -- start_scripts/gz_sim_imu_update.sh | 12 -- 7 files changed, 250 insertions(+), 45 deletions(-) delete mode 160000 rpos delete mode 100644 start_scripts/car.sh delete mode 100644 start_scripts/gz_sim.sh delete mode 100644 start_scripts/gz_sim_imu_update.sh diff --git a/.gitignore b/.gitignore index ea8c4bf..6022491 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,3 @@ /target +/rpos +/start_scripts diff --git a/Cargo.lock b/Cargo.lock index 67329a9..f8c1f37 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -1,6 +1,6 @@ # This file is automatically @generated by Cargo. # It is not intended for manual editing. -version = 3 +version = 4 [[package]] name = "aho-corasick" @@ -89,6 +89,12 @@ version = "0.6.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e1e5f035d16fc623ae5f74981db80a439803888314e3a555fd6f04acd51a3205" +[[package]] +name = "byteorder" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b" + [[package]] name = "cc" version = "1.0.83" @@ -135,7 +141,7 @@ dependencies = [ "heck", "proc-macro2", "quote", - "syn", + "syn 2.0.48", ] [[package]] @@ -174,6 +180,12 @@ dependencies = [ "crc-catalog", ] +[[package]] +name = "crc-any" +version = "2.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a62ec9ff5f7965e4d7280bd5482acd20aadb50d632cf6c1d74493856b011fa73" + [[package]] name = "crc-catalog" version = "2.4.0" @@ -212,7 +224,21 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "30d2b3721e861707777e3195b0158f950ae6dc4a27e4d02ff9f67e3eb3de199e" dependencies = [ "quote", - "syn", + "syn 2.0.48", +] + +[[package]] +name = "dashmap" +version = "6.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5041cc499144891f3790297212f32a74fb938e5136a14943f338ef9e0ae276cf" +dependencies = [ + "cfg-if", + "crossbeam-utils", + "hashbrown", + "lock_api", + "once_cell", + "parking_lot_core", ] [[package]] @@ -286,7 +312,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "558423ce9783022be80043db4acf68b36a3efefcc99726b12efe1bd61bb0163d" dependencies = [ "quote", - "syn", + "syn 2.0.48", ] [[package]] @@ -343,6 +369,27 @@ dependencies = [ "mach2", ] +[[package]] +name = "ioctl-rs" +version = "0.1.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f7970510895cee30b3e9128319f2cefd4bde883a39f38baa279567ba3a7eb97d" +dependencies = [ + "libc 0.2.152", +] + +[[package]] +name = "itoa" +version = "1.0.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4a5f13b858c8d314ee3e8f639011f7ccefe71f97f96e50151fb991f267928e2c" + +[[package]] +name = "lazy_static" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe" + [[package]] name = "libc" version = "0.2.151" @@ -362,7 +409,7 @@ checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607" dependencies = [ "bitflags 2.4.2", "libc 0.2.152", - "redox_syscall", + "redox_syscall 0.4.1", ] [[package]] @@ -371,6 +418,16 @@ version = "0.4.13" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "01cda141df6706de531b6c46c3a33ecca755538219bd484262fa09410c13539c" +[[package]] +name = "lock_api" +version = "0.4.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "96936507f153605bddfcda068dd804796c84324ed2510809e5b2a624c81da765" +dependencies = [ + "autocfg", + "scopeguard", +] + [[package]] name = "log" version = "0.4.20" @@ -386,6 +443,48 @@ dependencies = [ "libc 0.2.152", ] +[[package]] +name = "mavlink" +version = "0.13.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "94356eb6ed56a834d6dca79a8c33c650d3d03d3ea79ae762ec1c9182b6fdc1e2" +dependencies = [ + "bitflags 1.3.2", + "mavlink-bindgen", + "mavlink-core", + "num-derive", + "num-traits", + "serde", + "serde_arrays", +] + +[[package]] +name = "mavlink-bindgen" +version = "0.13.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d6c28f3eafc35544c7b4aee7cf9ec35b96c79a05de4bad3fe145bdac23570b04" +dependencies = [ + "crc-any", + "lazy_static", + "proc-macro2", + "quick-xml", + "quote", + "thiserror", +] + +[[package]] +name = "mavlink-core" +version = "0.13.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0e64d975ca3cf0ad8a7c278553f91d77de15fcde9b79bf6bc542e209dd0c7dee" +dependencies = [ + "byteorder", + "crc-any", + "serde", + "serde_arrays", + "serial", +] + [[package]] name = "memchr" version = "2.7.1" @@ -453,6 +552,17 @@ dependencies = [ "nom", ] +[[package]] +name = "num-derive" +version = "0.3.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "876a53fff98e03a936a674b29568b0e605f06b29372c2489ff4de23f1949743d" +dependencies = [ + "proc-macro2", + "quote", + "syn 1.0.109", +] + [[package]] name = "num-traits" version = "0.2.17" @@ -474,6 +584,19 @@ version = "1.19.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92" +[[package]] +name = "parking_lot_core" +version = "0.9.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bc838d2a56b5b1a6c25f55575dfc605fabb63bb2365f6c2353ef9159aa69e4a5" +dependencies = [ + "cfg-if", + "libc 0.2.152", + "redox_syscall 0.5.13", + "smallvec", + "windows-targets", +] + [[package]] name = "pin-project-lite" version = "0.2.13" @@ -550,6 +673,15 @@ dependencies = [ "num-traits", ] +[[package]] +name = "quick-xml" +version = "0.36.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f7649a7b4df05aed9ea7ec6f628c67c9953a43869b8bc50929569b2999d443fe" +dependencies = [ + "memchr", +] + [[package]] name = "quote" version = "1.0.35" @@ -598,6 +730,15 @@ dependencies = [ "bitflags 1.3.2", ] +[[package]] +name = "redox_syscall" +version = "0.5.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0d04b7d0ee6b4a0207a0a7adb104d23ecb0b47d6beae7152d0fa34b692b29fd6" +dependencies = [ + "bitflags 2.4.2", +] + [[package]] name = "redox_termios" version = "0.1.3" @@ -652,13 +793,16 @@ dependencies = [ "clap", "crc", "crsf", + "dashmap", "gz", "gz-msgs-common", + "mavlink", "nom-kconfig", "quaternion-core", "rand", "rpos", "serde", + "serde_json", "serialport", "spidev", "termion", @@ -678,6 +822,12 @@ dependencies = [ "windows-sys", ] +[[package]] +name = "ryu" +version = "1.0.20" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f" + [[package]] name = "scopeguard" version = "1.2.0" @@ -702,6 +852,15 @@ dependencies = [ "serde_derive", ] +[[package]] +name = "serde_arrays" +version = "0.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "38636132857f68ec3d5f3eb121166d2af33cb55174c4d5ff645db6165cbef0fd" +dependencies = [ + "serde", +] + [[package]] name = "serde_derive" version = "1.0.196" @@ -710,7 +869,19 @@ checksum = "33c85360c95e7d137454dc81d9a4ed2b8efd8fbe19cee57357b32b9771fccb67" dependencies = [ "proc-macro2", "quote", - "syn", + "syn 2.0.48", +] + +[[package]] +name = "serde_json" +version = "1.0.140" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373" +dependencies = [ + "itoa", + "memchr", + "ryu", + "serde", ] [[package]] @@ -722,6 +893,48 @@ dependencies = [ "serde", ] +[[package]] +name = "serial" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a1237a96570fc377c13baa1b88c7589ab66edced652e43ffb17088f003db3e86" +dependencies = [ + "serial-core", + "serial-unix", + "serial-windows", +] + +[[package]] +name = "serial-core" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3f46209b345401737ae2125fe5b19a77acce90cd53e1658cda928e4fe9a64581" +dependencies = [ + "libc 0.2.152", +] + +[[package]] +name = "serial-unix" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f03fbca4c9d866e24a459cbca71283f545a37f8e3e002ad8c70593871453cab7" +dependencies = [ + "ioctl-rs", + "libc 0.2.152", + "serial-core", + "termios", +] + +[[package]] +name = "serial-windows" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "15c6d3b776267a75d31bbdfd5d36c0ca051251caafc285827052bc53bcdc8162" +dependencies = [ + "libc 0.2.152", + "serial-core", +] + [[package]] name = "serialport" version = "4.3.0" @@ -740,6 +953,12 @@ dependencies = [ "winapi", ] +[[package]] +name = "smallvec" +version = "1.15.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03" + [[package]] name = "spidev" version = "0.6.0" @@ -757,6 +976,17 @@ version = "0.10.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623" +[[package]] +name = "syn" +version = "1.0.109" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237" +dependencies = [ + "proc-macro2", + "quote", + "unicode-ident", +] + [[package]] name = "syn" version = "2.0.48" @@ -780,6 +1010,15 @@ dependencies = [ "redox_termios", ] +[[package]] +name = "termios" +version = "0.2.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d5d9cf598a6d7ce700a4e6a9199da127e6819a61e64b68609683cc9a01b5683a" +dependencies = [ + "libc 0.2.152", +] + [[package]] name = "thiserror" version = "1.0.56" @@ -797,7 +1036,7 @@ checksum = "fa0faa943b50f3db30a20aa7e265dbc66076993efed8463e8de414e5d06d3471" dependencies = [ "proc-macro2", "quote", - "syn", + "syn 2.0.48", ] [[package]] diff --git a/rpos b/rpos deleted file mode 160000 index 5fceff6..0000000 --- a/rpos +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 5fceff63428dee404f5d5e5f481fb9f283302ae1 diff --git a/src/main.rs b/src/main.rs index 311f070..95cdc6f 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,5 +1,5 @@ -#![feature(trait_upcasting)] -#![feature(once_cell_get_mut)] +// #![feature(trait_upcasting)] +// #![feature(once_cell_get_mut)] mod msg_define; mod param; diff --git a/start_scripts/car.sh b/start_scripts/car.sh deleted file mode 100644 index 110195c..0000000 --- a/start_scripts/car.sh +++ /dev/null @@ -1,11 +0,0 @@ -./rust_pilot --server & - -sleep 1 - -./rust_pilot -- elrs /dev/ttyS2 -# set spi mode tempolarily, as it's a FPGA module bug. -# I have fix the bug in dshot mode, while pwm mode i have never test yet -# so just set spi-mode to 0, in which the module could work -./rust_pilot -- fpga_spi_pwm -d /dev/spidev0.2 --predivider 4 -f ../fpga/spi_pwm.bin --spi-mode 0 -./rust_pilot -- mixer ./car_mixer.json -./rust_pilot -- manual_ctrl -d diff --git a/start_scripts/gz_sim.sh b/start_scripts/gz_sim.sh deleted file mode 100644 index 58a73df..0000000 --- a/start_scripts/gz_sim.sh +++ /dev/null @@ -1,12 +0,0 @@ - -./rust_pilot gazebo_sim /home/ncer/RustPilot/sim/quadcopter.toml - -./rust_pilot gazebo_actuator - -./rust_pilot mixer /home/ncer/RustPilot/mixers/gz_mixer.json - -./rust_pilot att_control - -./rust_pilot -- manual_ctrl - -./rust_pilot -- mavlink_gs --addr localhost:14550 --joystick \ No newline at end of file diff --git a/start_scripts/gz_sim_imu_update.sh b/start_scripts/gz_sim_imu_update.sh deleted file mode 100644 index b6d0e96..0000000 --- a/start_scripts/gz_sim_imu_update.sh +++ /dev/null @@ -1,12 +0,0 @@ - -./target/debug//rust_pilot gazebo_sim /home/ncer/RustPilot/sim/quadcopter.toml - -./target/debug/rust_pilot gazebo_actuator - -./target/debug/rust_pilot mixer /home/ncer/RustPilot/mixers/gz_mixer.json - -#./target/debug/rust_pilot att_control - -./target/debug/rust_pilot -- imu_update - -#./target/debug/rust_pilot -- mavlink_gs --addr localhost:14550 --joystickW \ No newline at end of file From 1a5328f992f2b55ce301939f75c55692487b6415 Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Wed, 30 Jul 2025 15:00:07 +0800 Subject: [PATCH 02/17] =?UTF-8?q?=E6=A1=86=E6=9E=B6=E5=88=9D=E6=AD=A5?= =?UTF-8?q?=E6=90=AD=E5=BB=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Cargo.lock | 445 +- Cargo.toml | 4 + sim/mujoco_x2/assets/X2_lowpoly.obj | 15465 ++++++++++++++++ .../X2_lowpoly_texture_SpinningProps_1024.png | Bin 0 -> 298668 bytes sim/mujoco_x2/scene.xml | 23 + sim/mujoco_x2/x2.xml | 72 + src/main.rs | 2 + src/mujoco_sim.rs | 107 + 8 files changed, 16103 insertions(+), 15 deletions(-) create mode 100644 sim/mujoco_x2/assets/X2_lowpoly.obj create mode 100644 sim/mujoco_x2/assets/X2_lowpoly_texture_SpinningProps_1024.png create mode 100644 sim/mujoco_x2/scene.xml create mode 100644 sim/mujoco_x2/x2.xml create mode 100644 src/mujoco_sim.rs diff --git a/Cargo.lock b/Cargo.lock index f8c1f37..4580180 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -46,7 +46,7 @@ version = "1.0.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648" dependencies = [ - "windows-sys", + "windows-sys 0.52.0", ] [[package]] @@ -56,15 +56,52 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7" dependencies = [ "anstyle", - "windows-sys", + "windows-sys 0.52.0", ] +[[package]] +name = "approx" +version = "0.5.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6" +dependencies = [ + "num-traits", +] + +[[package]] +name = "arrayvec" +version = "0.7.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50" + [[package]] name = "autocfg" version = "1.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa" +[[package]] +name = "bindgen" +version = "0.63.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "36d860121800b2a9a94f9b5604b332d5cffb234ce17609ea479d723dbc9d3885" +dependencies = [ + "bitflags 1.3.2", + "cexpr", + "clang-sys", + "lazy_static", + "lazycell", + "log", + "peeking_take_while", + "proc-macro2", + "quote", + "regex", + "rustc-hash", + "shlex", + "syn 1.0.109", + "which", +] + [[package]] name = "bitfield" version = "0.14.0" @@ -89,6 +126,12 @@ version = "0.6.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e1e5f035d16fc623ae5f74981db80a439803888314e3a555fd6f04acd51a3205" +[[package]] +name = "bytemuck" +version = "1.23.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5c76a5792e44e4abe34d3abf15636779261d45a7450612059293d1d2cfc63422" + [[package]] name = "byteorder" version = "1.5.0" @@ -104,12 +147,32 @@ dependencies = [ "libc 0.2.152", ] +[[package]] +name = "cexpr" +version = "0.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6fac387a98bb7c37292057cffc56d62ecb629900026402633ae9160df93a8766" +dependencies = [ + "nom", +] + [[package]] name = "cfg-if" version = "1.0.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd" +[[package]] +name = "clang-sys" +version = "1.8.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4" +dependencies = [ + "glob", + "libc 0.2.152", + "libloading", +] + [[package]] name = "clap" version = "4.4.18" @@ -241,6 +304,53 @@ dependencies = [ "parking_lot_core", ] +[[package]] +name = "dirs" +version = "4.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ca3aa72a6f96ea37bbc5aa912f6788242832f75369bdfdadcb0e38423f100059" +dependencies = [ + "dirs-sys 0.3.7", +] + +[[package]] +name = "dirs" +version = "5.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "44c45a9d03d6676652bcb5e724c7e988de1acad23a711b5217ab9cbecbec2225" +dependencies = [ + "dirs-sys 0.4.1", +] + +[[package]] +name = "dirs-sys" +version = "0.3.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1b1d1d91c932ef41c0f2663aa8b0ca0342d444d842c06914aa0a7e352d0bada6" +dependencies = [ + "libc 0.2.152", + "redox_users", + "winapi", +] + +[[package]] +name = "dirs-sys" +version = "0.4.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "520f05a5cbd335fae5a99ff7a6ab8627577660ee5cfd6a94a6a929b52ff0321c" +dependencies = [ + "libc 0.2.152", + "option-ext", + "redox_users", + "windows-sys 0.48.0", +] + +[[package]] +name = "either" +version = "1.15.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719" + [[package]] name = "equivalent" version = "1.0.1" @@ -254,7 +364,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245" dependencies = [ "libc 0.2.152", - "windows-sys", + "windows-sys 0.52.0", ] [[package]] @@ -274,6 +384,12 @@ dependencies = [ "wasi", ] +[[package]] +name = "glob" +version = "0.3.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a8d1add55171497b4705a648c6b583acafb01d58050a51727785f0b2c8e0a2b2" + [[package]] name = "gz" version = "0.7.4" @@ -349,6 +465,15 @@ version = "0.4.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8" +[[package]] +name = "home" +version = "0.5.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e3d1354bf6b7235cb4a0576c2619fd4ed18183f689b12b006a0ee7329eeff9a5" +dependencies = [ + "windows-sys 0.52.0", +] + [[package]] name = "indexmap" version = "2.1.0" @@ -378,6 +503,15 @@ dependencies = [ "libc 0.2.152", ] +[[package]] +name = "itertools" +version = "0.10.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473" +dependencies = [ + "either", +] + [[package]] name = "itoa" version = "1.0.15" @@ -390,6 +524,12 @@ version = "1.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe" +[[package]] +name = "lazycell" +version = "1.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55" + [[package]] name = "libc" version = "0.2.151" @@ -401,6 +541,16 @@ version = "0.2.152" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "13e3bf6590cbc649f4d1a3eefc9d5d6eb746f5200ffb04e5e142700b8faa56e7" +[[package]] +name = "libloading" +version = "0.8.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "07033963ba89ebaf1584d767badaa2e8fcec21aedea6b8c0346d487d49c28667" +dependencies = [ + "cfg-if", + "windows-targets 0.52.0", +] + [[package]] name = "libredox" version = "0.0.2" @@ -412,6 +562,16 @@ dependencies = [ "redox_syscall 0.4.1", ] +[[package]] +name = "libredox" +version = "0.1.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "360e552c93fa0e8152ab463bc4c4837fce76a225df11dfaeea66c313de5e61f7" +dependencies = [ + "bitflags 2.4.2", + "libc 0.2.152", +] + [[package]] name = "linux-raw-sys" version = "0.4.13" @@ -443,6 +603,16 @@ dependencies = [ "libc 0.2.152", ] +[[package]] +name = "matrixmultiply" +version = "0.3.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08" +dependencies = [ + "autocfg", + "rawpointer", +] + [[package]] name = "mavlink" version = "0.13.1" @@ -506,6 +676,57 @@ version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a" +[[package]] +name = "mujoco-rs-sys" +version = "0.0.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e20d0a23785661228747a9b26122953a20e91ab9c3742362581e9051999c6f35" +dependencies = [ + "bindgen", + "dirs 4.0.0", +] + +[[package]] +name = "mujoco-rust" +version = "0.0.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "72e3febd1d2020b111eb7d6cb221467421ab063ba29f834fc6af3d04967e9869" +dependencies = [ + "arrayvec", + "dirs 5.0.1", + "itertools", + "lazy_static", + "mujoco-rs-sys", + "nalgebra", +] + +[[package]] +name = "nalgebra" +version = "0.32.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7b5c17de023a86f59ed79891b2e5d5a94c705dbe904a5b5c9c952ea6221b03e4" +dependencies = [ + "approx", + "matrixmultiply", + "nalgebra-macros", + "num-complex", + "num-rational", + "num-traits", + "simba", + "typenum", +] + +[[package]] +name = "nalgebra-macros" +version = "0.2.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.48", +] + [[package]] name = "nix" version = "0.26.4" @@ -552,6 +773,15 @@ dependencies = [ "nom", ] +[[package]] +name = "num-complex" +version = "0.4.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "23c6602fda94a57c990fe0df199a035d83576b496aa29f4e634a8ac6004e68a6" +dependencies = [ + "num-traits", +] + [[package]] name = "num-derive" version = "0.3.3" @@ -563,6 +793,26 @@ dependencies = [ "syn 1.0.109", ] +[[package]] +name = "num-integer" +version = "0.1.46" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f" +dependencies = [ + "num-traits", +] + +[[package]] +name = "num-rational" +version = "0.4.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0" +dependencies = [ + "autocfg", + "num-integer", + "num-traits", +] + [[package]] name = "num-traits" version = "0.2.17" @@ -584,6 +834,12 @@ version = "1.19.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92" +[[package]] +name = "option-ext" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "04744f49eae99ab78e0d5c0b603ab218f515ea8cfe5a456d7629ad883a3b6e7d" + [[package]] name = "parking_lot_core" version = "0.9.11" @@ -594,9 +850,21 @@ dependencies = [ "libc 0.2.152", "redox_syscall 0.5.13", "smallvec", - "windows-targets", + "windows-targets 0.52.0", ] +[[package]] +name = "paste" +version = "1.0.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a" + +[[package]] +name = "peeking_take_while" +version = "0.1.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099" + [[package]] name = "pin-project-lite" version = "0.2.13" @@ -626,7 +894,7 @@ dependencies = [ "pin-project-lite", "rustix", "tracing", - "windows-sys", + "windows-sys 0.52.0", ] [[package]] @@ -721,6 +989,12 @@ dependencies = [ "getrandom", ] +[[package]] +name = "rawpointer" +version = "0.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3" + [[package]] name = "redox_syscall" version = "0.4.1" @@ -745,6 +1019,17 @@ version = "0.1.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "20145670ba436b55d91fc92d25e71160fbfbdd57831631c8d7d36377a476f1cb" +[[package]] +name = "redox_users" +version = "0.4.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ba009ff324d1fc1b900bd1fdb31564febe58a8ccc8a6fdbb93b543d33b13ca43" +dependencies = [ + "getrandom", + "libredox 0.1.8", + "thiserror", +] + [[package]] name = "regex" version = "1.10.3" @@ -797,6 +1082,8 @@ dependencies = [ "gz", "gz-msgs-common", "mavlink", + "mujoco-rs-sys", + "mujoco-rust", "nom-kconfig", "quaternion-core", "rand", @@ -809,6 +1096,12 @@ dependencies = [ "toml", ] +[[package]] +name = "rustc-hash" +version = "1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2" + [[package]] name = "rustix" version = "0.38.31" @@ -819,7 +1112,7 @@ dependencies = [ "errno", "libc 0.2.152", "linux-raw-sys", - "windows-sys", + "windows-sys 0.52.0", ] [[package]] @@ -828,6 +1121,15 @@ version = "1.0.20" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f" +[[package]] +name = "safe_arch" +version = "0.7.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323" +dependencies = [ + "bytemuck", +] + [[package]] name = "scopeguard" version = "1.2.0" @@ -953,6 +1255,25 @@ dependencies = [ "winapi", ] +[[package]] +name = "shlex" +version = "1.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64" + +[[package]] +name = "simba" +version = "0.8.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae" +dependencies = [ + "approx", + "num-complex", + "num-traits", + "paste", + "wide", +] + [[package]] name = "smallvec" version = "1.15.1" @@ -1005,7 +1326,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "417813675a504dfbbf21bfde32c03e5bf9f2413999962b479023c02848c1c7a5" dependencies = [ "libc 0.2.152", - "libredox", + "libredox 0.0.2", "numtoa", "redox_termios", ] @@ -1089,6 +1410,12 @@ version = "0.1.32" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54" +[[package]] +name = "typenum" +version = "1.18.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f" + [[package]] name = "unescaper" version = "0.1.4" @@ -1116,6 +1443,28 @@ version = "0.11.0+wasi-snapshot-preview1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423" +[[package]] +name = "which" +version = "4.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "87ba24419a2078cd2b0f2ede2691b6c66d8e47836da3b6db8265ebad47afbfc7" +dependencies = [ + "either", + "home", + "once_cell", + "rustix", +] + +[[package]] +name = "wide" +version = "0.7.33" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03" +dependencies = [ + "bytemuck", + "safe_arch", +] + [[package]] name = "winapi" version = "0.3.9" @@ -1138,13 +1487,37 @@ version = "0.4.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f" +[[package]] +name = "windows-sys" +version = "0.48.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9" +dependencies = [ + "windows-targets 0.48.5", +] + [[package]] name = "windows-sys" version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d" dependencies = [ - "windows-targets", + "windows-targets 0.52.0", +] + +[[package]] +name = "windows-targets" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c" +dependencies = [ + "windows_aarch64_gnullvm 0.48.5", + "windows_aarch64_msvc 0.48.5", + "windows_i686_gnu 0.48.5", + "windows_i686_msvc 0.48.5", + "windows_x86_64_gnu 0.48.5", + "windows_x86_64_gnullvm 0.48.5", + "windows_x86_64_msvc 0.48.5", ] [[package]] @@ -1153,51 +1526,93 @@ version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd" dependencies = [ - "windows_aarch64_gnullvm", - "windows_aarch64_msvc", - "windows_i686_gnu", - "windows_i686_msvc", - "windows_x86_64_gnu", - "windows_x86_64_gnullvm", - "windows_x86_64_msvc", + "windows_aarch64_gnullvm 0.52.0", + "windows_aarch64_msvc 0.52.0", + "windows_i686_gnu 0.52.0", + "windows_i686_msvc 0.52.0", + "windows_x86_64_gnu 0.52.0", + "windows_x86_64_gnullvm 0.52.0", + "windows_x86_64_msvc 0.52.0", ] +[[package]] +name = "windows_aarch64_gnullvm" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8" + [[package]] name = "windows_aarch64_gnullvm" version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea" +[[package]] +name = "windows_aarch64_msvc" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc" + [[package]] name = "windows_aarch64_msvc" version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef" +[[package]] +name = "windows_i686_gnu" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e" + [[package]] name = "windows_i686_gnu" version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313" +[[package]] +name = "windows_i686_msvc" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406" + [[package]] name = "windows_i686_msvc" version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ffe5e8e31046ce6230cc7215707b816e339ff4d4d67c65dffa206fd0f7aa7b9a" +[[package]] +name = "windows_x86_64_gnu" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e" + [[package]] name = "windows_x86_64_gnu" version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3d6fa32db2bc4a2f5abeacf2b69f7992cd09dca97498da74a151a3132c26befd" +[[package]] +name = "windows_x86_64_gnullvm" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc" + [[package]] name = "windows_x86_64_gnullvm" version = "0.52.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e" +[[package]] +name = "windows_x86_64_msvc" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538" + [[package]] name = "windows_x86_64_msvc" version = "0.52.0" diff --git a/Cargo.toml b/Cargo.toml index 6acfb7b..983ecfd 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -20,6 +20,8 @@ spidev = "0.6.0" mavlink = "0.13.1" dashmap = "6.1.0" serde_json = "1.0.140" +mujoco-rust = { version = "0.0.6", optional = true} +mujoco-rs-sys = {version = "0.0.4", optional = true} [dev-dependencies] bitfield = "0.14" @@ -30,6 +32,8 @@ rand = "0.8.4" [features] default = [] gzsim = ["rpos/lock_step_enabled","gz","gz-msgs-common"] +mujoco = ["mujoco-rust","mujoco-rs-sys"] + [build-dependencies] nom-kconfig = "0.2.0" diff --git a/sim/mujoco_x2/assets/X2_lowpoly.obj b/sim/mujoco_x2/assets/X2_lowpoly.obj new file mode 100644 index 0000000..96ab26c --- /dev/null +++ b/sim/mujoco_x2/assets/X2_lowpoly.obj @@ -0,0 +1,15465 @@ +mtllib phong3SG.mtl +usemtl phong3SG +v 15.46903800 7.63837400 3.19430100 +v 15.46903800 7.63837400 3.19430100 +v 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z+JK_>|GP0oRkdYrJCgc<2@QI6Z_v^QOkJn~zwStC?1#7#?;mUM5;F?bTvww{66I~+ zga79(>?C;Ad^J@T)D=!uSfK_+s^sMQ;oxy=h)p5mHIKyBF!KM~eek6X?|vOtKBd3r zpsq|9MOv~JnO-)323yrD84(Ct`xL`P&cGiBzCUQ2{!eE^Q6}YWW-6YK^H^{c(d7DJ z z%m3eN(o~~>pU2*fnLFYC_i`M|x + + + + + + + + + + + + + + + + + + + + + diff --git a/sim/mujoco_x2/x2.xml b/sim/mujoco_x2/x2.xml new file mode 100644 index 0000000..49449ed --- /dev/null +++ b/sim/mujoco_x2/x2.xml @@ -0,0 +1,72 @@ + + + + diff --git a/src/main.rs b/src/main.rs index 95cdc6f..5e4235a 100644 --- a/src/main.rs +++ b/src/main.rs @@ -9,6 +9,8 @@ mod param; mod gazebo_sim; #[cfg(feature = "gzsim")] mod gazebo_actuator; +#[cfg(feature = "mujoco")] +mod mujoco_sim; mod fake_linux_input; mod att_control; diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs new file mode 100644 index 0000000..393da4c --- /dev/null +++ b/src/mujoco_sim.rs @@ -0,0 +1,107 @@ +use crate::msg_define::*; +use crate::basic::rotation::Rotation; +use core::slice; +use rpos::channel::Sender; +use rpos::ctor::ctor; +use rpos::hrt::Timespec; +use rpos::module::Module; +use rpos::msg::get_new_tx_of_message; +use std::sync::Arc; +// use std::{cell::RefCell, sync::Arc, time::Duration}; + +use mujoco_rs_sys::no_render::*; + +unsafe impl Send for MujocoSim {} +unsafe impl Sync for MujocoSim {} + + +struct MujocoSim { + mj_model: mujoco_rs_sys::mjModel_, + simulation: mujoco_rust::Simulation, + gyro_tx: Sender, + acc_tx: Sender, + attitude_tx: Sender, +} + +impl MujocoSim{ + pub fn run(self: Arc, mut ctrl: Vec) { + // 获取mixer_output的Receiver + let mut mixer_rx = rpos::msg::get_new_rx_of_message::("mixer_output").unwrap(); + loop { + // 1. 应用最新的mixer_output到ctrl + if let Some(mixer) = mixer_rx.try_read() { + for (i, val) in mixer.output.iter().enumerate() { + if i < ctrl.len() { + ctrl[i] = *val as f64; + } + } + } + let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); + + // 2. 推进仿真一步 + self.simulation.control(&ctrl_f64); + self.simulation.step(); + + // 0: gyro + let gyro_start = unsafe { *self.mj_model.sensor_adr.add(0) } as usize; + let gyro_dim = unsafe { *self.mj_model.sensor_dim.add(0) } as usize; + let gyro_data = &self.simulation.sensordata()[gyro_start..gyro_start + gyro_dim]; + + // 1: accelerometer + let acc_start = unsafe { *self.mj_model.sensor_adr.add(1) } as usize; + let acc_dim = unsafe { *self.mj_model.sensor_dim.add(1) } as usize; + let acc_data = &self.simulation.sensordata()[acc_start..acc_start + acc_dim]; + + // 2: framequat (attitude quaternion) + let att_start = unsafe { *self.mj_model.sensor_adr.add(2) } as usize; + let att_dim = unsafe { *self.mj_model.sensor_dim.add(2) } as usize; + let att_data = &self.simulation.sensordata()[att_start..att_start + att_dim]; + + // 例如：上传gyro/acc/attitude + self.gyro_tx.send(Vector3 { x: gyro_data[0] as f32, y: gyro_data[1] as f32, z: gyro_data[2] as f32}); + self.acc_tx.send(Vector3 { x: acc_data[0] as f32, y: acc_data[1] as f32, z: acc_data[2] as f32}); + self.attitude_tx.send(Vector4 { w: att_data[0] as f32, x: att_data[1] as f32, y: att_data[2] as f32, z: att_data[3] as f32}); + + // 4. 控制仿真步长（如需要可sleep或同步外部时钟） + } + + } + + fn new(xml_filename: &str) -> Arc { + let model = mujoco_rust::Model::from_xml(xml_filename).unwrap(); + let mj_model = unsafe { *model.ptr() }; + let simulation = mujoco_rust::Simulation::new(model.clone()); + + let sim = Arc::new_cyclic(|_| { + let a = MujocoSim { + mj_model: mj_model.clone(), + simulation: simulation, + gyro_tx: get_new_tx_of_message("gyro").unwrap(), + acc_tx: get_new_tx_of_message("acc").unwrap(), + attitude_tx: get_new_tx_of_message("attitude").unwrap(), + }; + a + }); + sim + } + +} + +pub fn init_mujoco_sim(_argc: u32, _argv: *const &str){ + assert!(_argc == 2); + let argv = unsafe { slice::from_raw_parts(_argv, _argc as usize) }; + let sim = MujocoSim::new(argv[1]); + let actuator_num = unsafe { (*sim.simulation.model.ptr()).nu }; + + let ctrl = vec![0.0; actuator_num as usize]; + std::thread::spawn(move || { + sim.run(ctrl); + }); + println!("MujocoSim inited!"); +} + + +#[ctor] +fn register() { + Module::register("mujoco_sim", init_mujoco_sim); +} \ No newline at end of file From f77da886c0ed8d5b7e96e7e0b564a68abde997a5 Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Sat, 2 Aug 2025 15:31:13 +0800 Subject: [PATCH 03/17] mujoco sim update --- src/main.rs | 4 +-- src/mujoco_sim.rs | 75 +++++++++++++++++++++++++++++++++++------------ 2 files changed, 59 insertions(+), 20 deletions(-) diff --git a/src/main.rs b/src/main.rs index 5e4235a..a7f88ed 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,5 +1,5 @@ -// #![feature(trait_upcasting)] -// #![feature(once_cell_get_mut)] +#![feature(trait_upcasting)] +#![feature(once_cell_get_mut)] mod msg_define; mod param; diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs index 393da4c..0b95c36 100644 --- a/src/mujoco_sim.rs +++ b/src/mujoco_sim.rs @@ -5,7 +5,7 @@ use rpos::channel::Sender; use rpos::ctor::ctor; use rpos::hrt::Timespec; use rpos::module::Module; -use rpos::msg::get_new_tx_of_message; +use rpos::msg::{get_new_tx_of_message, get_new_rx_of_message}; use std::sync::Arc; // use std::{cell::RefCell, sync::Arc, time::Duration}; @@ -16,7 +16,7 @@ unsafe impl Sync for MujocoSim {} struct MujocoSim { - mj_model: mujoco_rs_sys::mjModel_, + model: mujoco_rust::Model, simulation: mujoco_rust::Simulation, gyro_tx: Sender, acc_tx: Sender, @@ -24,18 +24,24 @@ struct MujocoSim { } impl MujocoSim{ - pub fn run(self: Arc, mut ctrl: Vec) { + pub fn run(&self, ctrl:&mut Vec) { // 获取mixer_output的Receiver - let mut mixer_rx = rpos::msg::get_new_rx_of_message::("mixer_output").unwrap(); + let mut mixer_rx = get_new_rx_of_message::("mixer_output").unwrap(); + // println!("mixer_rx run"); + let mj_model = unsafe { *self.model.ptr() }; + // println!("mj_model run"); + loop { // 1. 应用最新的mixer_output到ctrl if let Some(mixer) = mixer_rx.try_read() { for (i, val) in mixer.output.iter().enumerate() { + // println!("mixer_output[{}]: {}", i, val); if i < ctrl.len() { ctrl[i] = *val as f64; } } } + println!("mixer_output: {:?}", ctrl); let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); // 2. 推进仿真一步 @@ -43,24 +49,55 @@ impl MujocoSim{ self.simulation.step(); // 0: gyro - let gyro_start = unsafe { *self.mj_model.sensor_adr.add(0) } as usize; - let gyro_dim = unsafe { *self.mj_model.sensor_dim.add(0) } as usize; + let gyro_start = unsafe { *mj_model.sensor_adr.add(0) } as usize; + let gyro_dim = unsafe { *mj_model.sensor_dim.add(0) } as usize; let gyro_data = &self.simulation.sensordata()[gyro_start..gyro_start + gyro_dim]; // 1: accelerometer - let acc_start = unsafe { *self.mj_model.sensor_adr.add(1) } as usize; - let acc_dim = unsafe { *self.mj_model.sensor_dim.add(1) } as usize; + let acc_start = unsafe { *mj_model.sensor_adr.add(1) } as usize; + let acc_dim = unsafe { *mj_model.sensor_dim.add(1) } as usize; let acc_data = &self.simulation.sensordata()[acc_start..acc_start + acc_dim]; // 2: framequat (attitude quaternion) - let att_start = unsafe { *self.mj_model.sensor_adr.add(2) } as usize; - let att_dim = unsafe { *self.mj_model.sensor_dim.add(2) } as usize; + let att_start = unsafe { *mj_model.sensor_adr.add(2) } as usize; + let att_dim = unsafe { *mj_model.sensor_dim.add(2) } as usize; let att_data = &self.simulation.sensordata()[att_start..att_start + att_dim]; - // 例如：上传gyro/acc/attitude - self.gyro_tx.send(Vector3 { x: gyro_data[0] as f32, y: gyro_data[1] as f32, z: gyro_data[2] as f32}); - self.acc_tx.send(Vector3 { x: acc_data[0] as f32, y: acc_data[1] as f32, z: acc_data[2] as f32}); - self.attitude_tx.send(Vector4 { w: att_data[0] as f32, x: att_data[1] as f32, y: att_data[2] as f32, z: att_data[3] as f32}); + + let rotation = Rotation::Yaw270; + self.gyro_tx.send(rotation.rotate_v(Vector3 { + x: gyro_data[0] as f32, + y: gyro_data[1] as f32, + z: gyro_data[2] as f32, + })); + self.acc_tx.send(rotation.rotate_v(Vector3 { + x: acc_data[0] as f32, + y: acc_data[1] as f32, + z: acc_data[2] as f32, + })); + let imu_q: quaternion_core::Quaternion = ( + att_data[0] as f32, + [ + att_data[1] as f32, + att_data[2] as f32, + att_data[3] as f32, + ], + ); + let imu_q = rotation.rotate_q(imu_q); + /* + imu_q is the rotate quaternion from gazebo axis to body axis + rotate_q is the rotate quaternion from gazebo axis to world axis(our defination): x -> -y_old , y -> x_old. + */ + self.attitude_tx.send(Vector4 { + w: imu_q.0, + x: imu_q.1[0], + y: imu_q.1[1], + z: imu_q.1[2], + }); + println!("{:?}, {:?}, {:?}", gyro_data, acc_data, att_data); + // self.gyro_tx.send(Vector3 { x: gyro_data[0] as f32, y: gyro_data[1] as f32, z: gyro_data[2] as f32}); + // self.acc_tx.send(Vector3 { x: acc_data[0] as f32, y: acc_data[1] as f32, z: acc_data[2] as f32}); + // self.attitude_tx.send(Vector4 { w: att_data[0] as f32, x: att_data[1] as f32, y: att_data[2] as f32, z: att_data[3] as f32}); // 4. 控制仿真步长（如需要可sleep或同步外部时钟） } @@ -69,12 +106,12 @@ impl MujocoSim{ fn new(xml_filename: &str) -> Arc { let model = mujoco_rust::Model::from_xml(xml_filename).unwrap(); - let mj_model = unsafe { *model.ptr() }; + // let mj_model = unsafe { *model.ptr() }; let simulation = mujoco_rust::Simulation::new(model.clone()); let sim = Arc::new_cyclic(|_| { let a = MujocoSim { - mj_model: mj_model.clone(), + model: model.clone(), simulation: simulation, gyro_tx: get_new_tx_of_message("gyro").unwrap(), acc_tx: get_new_tx_of_message("acc").unwrap(), @@ -93,10 +130,12 @@ pub fn init_mujoco_sim(_argc: u32, _argv: *const &str){ let sim = MujocoSim::new(argv[1]); let actuator_num = unsafe { (*sim.simulation.model.ptr()).nu }; - let ctrl = vec![0.0; actuator_num as usize]; + let mut ctrl = vec![0.0; actuator_num as usize]; + std::thread::spawn(move || { - sim.run(ctrl); + sim.run(&mut ctrl); }); + println!("MujocoSim inited!"); } From 1860c1496df2b83c7788126ee6e7ebe94c227974 Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Sat, 16 Aug 2025 17:11:19 +0800 Subject: [PATCH 04/17] mj_model has successfully connected to QGC, but drone model didn't move. --- mixers/gz_mixer.json | 24 +++--- src/mujoco_sim.rs | 175 ++++++++++++++++++++++++++----------------- 2 files changed, 120 insertions(+), 79 deletions(-) diff --git a/mixers/gz_mixer.json b/mixers/gz_mixer.json index 6c3e707..5125ead 100644 --- a/mixers/gz_mixer.json +++ b/mixers/gz_mixer.json @@ -31,11 +31,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 1000, - "scale_n": 1000, + "scale_p": 10, + "scale_n": 10, "offset": 0, "min": 0, - "max": 1000 + "max": 10 } } ] @@ -71,11 +71,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 1000, - "scale_n": 1000, + "scale_p": 10, + "scale_n": 10, "offset": 0, "min": 0, - "max": 1000 + "max": 10 } } ] @@ -111,11 +111,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 1000, - "scale_n": 1000, + "scale_p": 10, + "scale_n": 10, "offset": 0, "min": 0, - "max": 1000 + "max": 10 } } ] @@ -151,11 +151,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 1000, - "scale_n": 1000, + "scale_p": 10, + "scale_n": 10, "offset": 0, "min": 0, - "max": 1000 + "max": 10 } } ] diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs index 0b95c36..bd9e8fe 100644 --- a/src/mujoco_sim.rs +++ b/src/mujoco_sim.rs @@ -9,11 +9,23 @@ use rpos::msg::{get_new_tx_of_message, get_new_rx_of_message}; use std::sync::Arc; // use std::{cell::RefCell, sync::Arc, time::Duration}; +use std::sync::mpsc; +use std::thread; +use std::time::Duration; + + use mujoco_rs_sys::no_render::*; +// use crate::mujoco_camera; + unsafe impl Send for MujocoSim {} unsafe impl Sync for MujocoSim {} +enum SimEvent { + MixerUpdate(Vec), + TimerTick, + Quit, +} struct MujocoSim { model: mujoco_rust::Model, @@ -24,84 +36,115 @@ struct MujocoSim { } impl MujocoSim{ - pub fn run(&self, ctrl:&mut Vec) { - // 获取mixer_output的Receiver - let mut mixer_rx = get_new_rx_of_message::("mixer_output").unwrap(); - // println!("mixer_rx run"); + pub fn update_mj_sensor(&self) { + // Update the Mujoco sensor data let mj_model = unsafe { *self.model.ptr() }; - // println!("mj_model run"); + // 0: gyro + let gyro_start = unsafe { *mj_model.sensor_adr.add(0) } as usize; + let gyro_dim = unsafe { *mj_model.sensor_dim.add(0) } as usize; + let gyro_data = &self.simulation.sensordata()[gyro_start..gyro_start + gyro_dim]; + + // 1: accelerometer + let acc_start = unsafe { *mj_model.sensor_adr.add(1) } as usize; + let acc_dim = unsafe { *mj_model.sensor_dim.add(1) } as usize; + let acc_data = &self.simulation.sensordata()[acc_start..acc_start + acc_dim]; + + // 2: framequat (attitude quaternion) + let att_start = unsafe { *mj_model.sensor_adr.add(2) } as usize; + let att_dim = unsafe { *mj_model.sensor_dim.add(2) } as usize; + let att_data = &self.simulation.sensordata()[att_start..att_start + att_dim]; + + + let rotation = Rotation::Yaw270; + self.gyro_tx.send(rotation.rotate_v(Vector3 { + x: gyro_data[0] as f32, + y: gyro_data[1] as f32, + z: gyro_data[2] as f32, + })); + self.acc_tx.send(rotation.rotate_v(Vector3 { + x: acc_data[0] as f32, + y: acc_data[1] as f32, + z: acc_data[2] as f32, + })); + let imu_q: quaternion_core::Quaternion = ( + att_data[0] as f32, + [ + att_data[1] as f32, + att_data[2] as f32, + att_data[3] as f32, + ], + ); + let imu_q = rotation.rotate_q(imu_q); + /* + imu_q is the rotate quaternion from gazebo axis to body axis + rotate_q is the rotate quaternion from gazebo axis to world axis(our defination): x -> -y_old , y -> x_old. + */ + self.attitude_tx.send(Vector4 { + w: imu_q.0, + x: imu_q.1[0], + y: imu_q.1[1], + z: imu_q.1[2], + }); + } + pub fn detect_movement_and_heading(sim: &Arc, last_qpos: Vec) -> (bool, bool) { + let qpos = sim.simulation.qpos(); + // 假设 qpos[0], qpos[1], qpos[2] 是 x, y, z 位置 + // qpos[3], qpos[4], qpos[5], qpos[6] 是四元数（朝向） + let dx = qpos[0] - last_qpos[0]; + let dy = qpos[1] - last_qpos[1]; + let dz = qpos[2] - last_qpos[2]; // 加上 Z 轴 + let pos_change = (dx * dx + dy * dy + dz * dz).sqrt(); + let pos_changed = pos_change > 1e-4; + let current_quat = &qpos[3..7]; + let last_quat = &last_qpos[3..7]; + + // 计算两个四元数的点积 + let dot_product: f64 = current_quat.iter().zip(last_quat.iter()).map(|(a, b)| a * b).sum(); + + // 如果点积的绝对值非常接近 1.0，则认为朝向没有变化 + let heading_changed = (1.0 - dot_product.abs()) > 1e-4; + (pos_changed, heading_changed) + } + + pub fn mujoco_sim_event_loop(sim: Arc, actuator_num: usize) { + // 获取mixer_output的Receiver + let mut mixer_rx = get_new_rx_of_message::("mixer_output").unwrap(); + + let mut ctrl = vec![0.0; actuator_num as usize]; + let mut i = 0; + + // let (mut vopt, mut cam, mut scene, mut context) = mujoco_camera::init_camera(&sim.simulation, 200, 400); + loop { + i += 1; // 1. 应用最新的mixer_output到ctrl if let Some(mixer) = mixer_rx.try_read() { for (i, val) in mixer.output.iter().enumerate() { - // println!("mixer_output[{}]: {}", i, val); if i < ctrl.len() { ctrl[i] = *val as f64; } } } - println!("mixer_output: {:?}", ctrl); + // println!("mixer_output: {:?}", ctrl); let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); + println!("ctrl:{:?}", ctrl_f64); // 2. 推进仿真一步 - self.simulation.control(&ctrl_f64); - self.simulation.step(); - - // 0: gyro - let gyro_start = unsafe { *mj_model.sensor_adr.add(0) } as usize; - let gyro_dim = unsafe { *mj_model.sensor_dim.add(0) } as usize; - let gyro_data = &self.simulation.sensordata()[gyro_start..gyro_start + gyro_dim]; - - // 1: accelerometer - let acc_start = unsafe { *mj_model.sensor_adr.add(1) } as usize; - let acc_dim = unsafe { *mj_model.sensor_dim.add(1) } as usize; - let acc_data = &self.simulation.sensordata()[acc_start..acc_start + acc_dim]; - - // 2: framequat (attitude quaternion) - let att_start = unsafe { *mj_model.sensor_adr.add(2) } as usize; - let att_dim = unsafe { *mj_model.sensor_dim.add(2) } as usize; - let att_data = &self.simulation.sensordata()[att_start..att_start + att_dim]; - - - let rotation = Rotation::Yaw270; - self.gyro_tx.send(rotation.rotate_v(Vector3 { - x: gyro_data[0] as f32, - y: gyro_data[1] as f32, - z: gyro_data[2] as f32, - })); - self.acc_tx.send(rotation.rotate_v(Vector3 { - x: acc_data[0] as f32, - y: acc_data[1] as f32, - z: acc_data[2] as f32, - })); - let imu_q: quaternion_core::Quaternion = ( - att_data[0] as f32, - [ - att_data[1] as f32, - att_data[2] as f32, - att_data[3] as f32, - ], - ); - let imu_q = rotation.rotate_q(imu_q); - /* - imu_q is the rotate quaternion from gazebo axis to body axis - rotate_q is the rotate quaternion from gazebo axis to world axis(our defination): x -> -y_old , y -> x_old. - */ - self.attitude_tx.send(Vector4 { - w: imu_q.0, - x: imu_q.1[0], - y: imu_q.1[1], - z: imu_q.1[2], - }); - println!("{:?}, {:?}, {:?}", gyro_data, acc_data, att_data); - // self.gyro_tx.send(Vector3 { x: gyro_data[0] as f32, y: gyro_data[1] as f32, z: gyro_data[2] as f32}); - // self.acc_tx.send(Vector3 { x: acc_data[0] as f32, y: acc_data[1] as f32, z: acc_data[2] as f32}); - // self.attitude_tx.send(Vector4 { w: att_data[0] as f32, x: att_data[1] as f32, y: att_data[2] as f32, z: att_data[3] as f32}); - - // 4. 控制仿真步长（如需要可sleep或同步外部时钟） + sim.simulation.control(&ctrl_f64); + sim.simulation.step(); + + let pos = sim.simulation.qpos(); + // detect_movement_and_heading(sim, pos); + println!("Position Changed?: {:?}", MujocoSim::detect_movement_and_heading(&sim, pos)); + sim.update_mj_sensor(); + + // mujoco_camera::get_camera_jpg(&sim.simulation, 200, 400, &mut vopt, &mut cam, &mut scene, &mut context); + + // 控制时间步长 + std::thread::sleep(std::time::Duration::from_millis(10)); + } - } fn new(xml_filename: &str) -> Arc { @@ -128,12 +171,10 @@ pub fn init_mujoco_sim(_argc: u32, _argv: *const &str){ assert!(_argc == 2); let argv = unsafe { slice::from_raw_parts(_argv, _argc as usize) }; let sim = MujocoSim::new(argv[1]); - let actuator_num = unsafe { (*sim.simulation.model.ptr()).nu }; - - let mut ctrl = vec![0.0; actuator_num as usize]; + let actuator_num = unsafe { (*sim.simulation.model.ptr()).nu as usize}; std::thread::spawn(move || { - sim.run(&mut ctrl); + MujocoSim::mujoco_sim_event_loop(sim, actuator_num); }); println!("MujocoSim inited!"); From ad7d406ab3e21412cefcef34a15a7333c85f46ef Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Sat, 16 Aug 2025 17:13:14 +0800 Subject: [PATCH 05/17] add mujoco camera module, but memory allocate failed. --- .gitignore | 1 + Cargo.lock | 747 ++++++++++++++++++++++++++++++++++++++++++- Cargo.toml | 5 +- src/main.rs | 3 + src/mujoco_camera.rs | 131 ++++++++ 5 files changed, 869 insertions(+), 18 deletions(-) create mode 100644 src/mujoco_camera.rs diff --git a/.gitignore b/.gitignore index 6022491..b8d9360 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ /target /rpos /start_scripts +MUJOCO_LOG.TXT \ No newline at end of file diff --git a/Cargo.lock b/Cargo.lock index 4580180..ace3563 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2,6 +2,12 @@ # It is not intended for manual editing. version = 4 +[[package]] +name = "adler2" +version = "2.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa" + [[package]] name = "aho-corasick" version = "1.1.2" @@ -11,6 +17,15 @@ dependencies = [ "memchr", ] +[[package]] +name = "aligned-vec" +version = "0.6.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dc890384c8602f339876ded803c97ad529f3842aba97f6392b3dba0dd171769b" +dependencies = [ + "equator", +] + [[package]] name = "anstream" version = "0.6.11" @@ -59,6 +74,12 @@ dependencies = [ "windows-sys 0.52.0", ] +[[package]] +name = "anyhow" +version = "1.0.99" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100" + [[package]] name = "approx" version = "0.5.1" @@ -68,6 +89,23 @@ dependencies = [ "num-traits", ] +[[package]] +name = "arbitrary" +version = "1.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c3d036a3c4ab069c7b410a2ce876bd74808d2d0888a82667669f8e783a898bf1" + +[[package]] +name = "arg_enum_proc_macro" +version = "0.3.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0ae92a5119aa49cdbcf6b9f893fe4e1d98b04ccbf82ee0584ad948a44a734dea" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "arrayvec" version = "0.7.6" @@ -80,6 +118,29 @@ version = "1.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa" +[[package]] +name = "av1-grain" +version = "0.2.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4f3efb2ca85bc610acfa917b5aaa36f3fcbebed5b3182d7f877b02531c4b80c8" +dependencies = [ + "anyhow", + "arrayvec", + "log", + "nom", + "num-rational", + "v_frame", +] + +[[package]] +name = "avif-serialize" +version = "0.8.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "47c8fbc0f831f4519fe8b810b6a7a91410ec83031b8233f730a0480029f6a23f" +dependencies = [ + "arrayvec", +] + [[package]] name = "bindgen" version = "0.63.0" @@ -102,6 +163,12 @@ dependencies = [ "which", ] +[[package]] +name = "bit_field" +version = "0.10.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dc827186963e592360843fb5ba4b973e145841266c1357f7180c43526f2e5b61" + [[package]] name = "bitfield" version = "0.14.0" @@ -120,6 +187,24 @@ version = "2.4.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ed570934406eb16438a4e976b1b4500774099c13b8cb96eec99f620f05090ddf" +[[package]] +name = "bitstream-io" +version = "2.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6099cdc01846bc367c4e7dd630dc5966dccf36b652fae7a74e17b640411a91b2" + +[[package]] +name = "built" +version = "0.7.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "56ed6191a7e78c36abdb16ab65341eefd73d64d303fffccdbb00d51e4205967b" + +[[package]] +name = "bumpalo" +version = "3.19.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "46c5e41b57b8bba42a04676d81cb89e9ee8e859a1a66f80a5a72e1cb76b34d43" + [[package]] name = "bytecount" version = "0.6.7" @@ -138,13 +223,21 @@ version = "1.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b" +[[package]] +name = "byteorder-lite" +version = "0.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8f1fe948ff07f4bd06c30984e69f5b4899c516a3ef74f34df92a2df2ab535495" + [[package]] name = "cc" -version = "1.0.83" +version = "1.2.33" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0" +checksum = "3ee0f8803222ba5a7e2777dd72ca451868909b1ac410621b676adf07280e9b5f" dependencies = [ + "jobserver", "libc 0.2.152", + "shlex", ] [[package]] @@ -156,6 +249,16 @@ dependencies = [ "nom", ] +[[package]] +name = "cfg-expr" +version = "0.15.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d067ad48b8650848b989a59a86c6c36a995d02d2bf778d45c3c5d57bc2718f02" +dependencies = [ + "smallvec", + "target-lexicon", +] + [[package]] name = "cfg-if" version = "1.0.0" @@ -201,10 +304,10 @@ version = "4.4.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442" dependencies = [ - "heck", + "heck 0.4.1", "proc-macro2", "quote", - "syn 2.0.48", + "syn 2.0.106", ] [[package]] @@ -213,6 +316,21 @@ version = "0.6.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1" +[[package]] +name = "cmake" +version = "0.1.54" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e7caa3f9de89ddbe2c607f4101924c5abec803763ae9534e4f4d7d8f84aa81f0" +dependencies = [ + "cc", +] + +[[package]] +name = "color_quant" +version = "1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b" + [[package]] name = "colorchoice" version = "1.0.0" @@ -255,6 +373,15 @@ version = "2.4.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5" +[[package]] +name = "crc32fast" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9481c1c90cbf2ac953f07c8d4a58aa3945c425b7185c9154d67a65e4230da511" +dependencies = [ + "cfg-if", +] + [[package]] name = "crossbeam-channel" version = "0.5.11" @@ -264,6 +391,25 @@ dependencies = [ "crossbeam-utils", ] +[[package]] +name = "crossbeam-deque" +version = "0.8.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51" +dependencies = [ + "crossbeam-epoch", + "crossbeam-utils", +] + +[[package]] +name = "crossbeam-epoch" +version = "0.9.18" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e" +dependencies = [ + "crossbeam-utils", +] + [[package]] name = "crossbeam-utils" version = "0.8.19" @@ -280,6 +426,12 @@ dependencies = [ "crc", ] +[[package]] +name = "crunchy" +version = "0.2.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "460fbee9c2c2f33933d720630a6a0bac33ba7053db5344fac858d4b8952d77d5" + [[package]] name = "ctor" version = "0.2.6" @@ -287,7 +439,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "30d2b3721e861707777e3195b0158f950ae6dc4a27e4d02ff9f67e3eb3de199e" dependencies = [ "quote", - "syn 2.0.48", + "syn 2.0.106", ] [[package]] @@ -351,6 +503,26 @@ version = "1.15.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719" +[[package]] +name = "equator" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4711b213838dfee0117e3be6ac926007d7f433d7bbe33595975d4190cb07e6fc" +dependencies = [ + "equator-macro", +] + +[[package]] +name = "equator-macro" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "44f23cf4b44bfce11a86ace86f8a73ffdec849c9fd00a386a53d278bd9e81fb3" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "equivalent" version = "1.0.1" @@ -367,12 +539,46 @@ dependencies = [ "windows-sys 0.52.0", ] +[[package]] +name = "exr" +version = "1.73.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f83197f59927b46c04a183a619b7c29df34e63e63c7869320862268c0ef687e0" +dependencies = [ + "bit_field", + "half", + "lebe", + "miniz_oxide", + "rayon-core", + "smallvec", + "zune-inflate", +] + +[[package]] +name = "fdeflate" +version = "0.3.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1e6853b52649d4ac5c0bd02320cddc5ba956bdb407c4b75a2c6b75bf51500f8c" +dependencies = [ + "simd-adler32", +] + [[package]] name = "fdt" version = "0.1.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "784a4df722dc6267a04af36895398f59d21d07dce47232adf31ec0ff2fa45e67" +[[package]] +name = "flate2" +version = "1.1.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4a3d7db9596fecd151c5f638c0ee5d5bd487b6e0ea232e5dc96d5250f6f94b1d" +dependencies = [ + "crc32fast", + "miniz_oxide", +] + [[package]] name = "getrandom" version = "0.2.12" @@ -384,6 +590,38 @@ dependencies = [ "wasi", ] +[[package]] +name = "gif" +version = "0.13.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4ae047235e33e2829703574b54fdec96bfbad892062d97fed2f76022287de61b" +dependencies = [ + "color_quant", + "weezl", +] + +[[package]] +name = "glfw" +version = "0.51.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "919ebc7bdbf60a529689a5e58f80d9dcde27e3d2ab4f2f7ce711ec439fe789c5" +dependencies = [ + "bitflags 1.3.2", + "glfw-sys", + "objc", + "raw-window-handle", + "winapi", +] + +[[package]] +name = "glfw-sys" +version = "4.0.0+3.3.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5abed6d39a50226676aab893d6b4ad154da7e93fcdfed90d7696758a1b477ed1" +dependencies = [ + "cmake", +] + [[package]] name = "glob" version = "0.3.2" @@ -428,7 +666,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "558423ce9783022be80043db4acf68b36a3efefcc99726b12efe1bd61bb0163d" dependencies = [ "quote", - "syn 2.0.48", + "syn 2.0.106", ] [[package]] @@ -453,6 +691,16 @@ dependencies = [ "pkg-config", ] +[[package]] +name = "half" +version = "2.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "459196ed295495a68f7d7fe1d84f6c4b7ff0e21fe3017b2f283c6fac3ad803c9" +dependencies = [ + "cfg-if", + "crunchy", +] + [[package]] name = "hashbrown" version = "0.14.3" @@ -465,6 +713,12 @@ version = "0.4.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8" +[[package]] +name = "heck" +version = "0.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea" + [[package]] name = "home" version = "0.5.9" @@ -474,6 +728,45 @@ dependencies = [ "windows-sys 0.52.0", ] +[[package]] +name = "image" +version = "0.25.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "db35664ce6b9810857a38a906215e75a9c879f0696556a39f59c62829710251a" +dependencies = [ + "bytemuck", + "byteorder-lite", + "color_quant", + "exr", + "gif", + "image-webp", + "num-traits", + "png", + "qoi", + "ravif", + "rayon", + "rgb", + "tiff", + "zune-core", + "zune-jpeg", +] + +[[package]] +name = "image-webp" +version = "0.2.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f6970fe7a5300b4b42e62c52efa0187540a5bef546c60edaf554ef595d2e6f0b" +dependencies = [ + "byteorder-lite", + "quick-error", +] + +[[package]] +name = "imgref" +version = "1.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d0263a3d970d5c054ed9312c0057b4f3bde9c0b33836d3637361d4a9e6e7a408" + [[package]] name = "indexmap" version = "2.1.0" @@ -484,6 +777,17 @@ dependencies = [ "hashbrown", ] +[[package]] +name = "interpolate_name" +version = "0.2.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c34819042dc3d3971c46c2190835914dfbe0c3c13f61449b2997f4e9722dfa60" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "io-kit-sys" version = "0.4.1" @@ -512,12 +816,36 @@ dependencies = [ "either", ] +[[package]] +name = "itertools" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ba291022dbbd398a455acf126c1e341954079855bc60dfdda641363bd6922569" +dependencies = [ + "either", +] + [[package]] name = "itoa" version = "1.0.15" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4a5f13b858c8d314ee3e8f639011f7ccefe71f97f96e50151fb991f267928e2c" +[[package]] +name = "jobserver" +version = "0.1.32" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "48d1dbcbbeb6a7fec7e059840aa538bd62aaccf972c7346c4d9d2059312853d0" +dependencies = [ + "libc 0.2.152", +] + +[[package]] +name = "jpeg-decoder" +version = "0.3.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "00810f1d8b74be64b13dbf3db89ac67740615d6c891f0e7b6179326533011a07" + [[package]] name = "lazy_static" version = "1.5.0" @@ -530,6 +858,12 @@ version = "1.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55" +[[package]] +name = "lebe" +version = "0.5.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "03087c2bad5e1034e8cace5926dec053fb3790248370865f5117a7d0213354c8" + [[package]] name = "libc" version = "0.2.151" @@ -541,6 +875,16 @@ version = "0.2.152" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "13e3bf6590cbc649f4d1a3eefc9d5d6eb746f5200ffb04e5e142700b8faa56e7" +[[package]] +name = "libfuzzer-sys" +version = "0.4.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5037190e1f70cbeef565bd267599242926f724d3b8a9f510fd7e0b540cfa4404" +dependencies = [ + "arbitrary", + "cc", +] + [[package]] name = "libloading" version = "0.8.8" @@ -594,6 +938,15 @@ version = "0.4.20" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f" +[[package]] +name = "loop9" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0fae87c125b03c1d2c0150c90365d7d6bcc53fb73a9acaef207d2d065860f062" +dependencies = [ + "imgref", +] + [[package]] name = "mach2" version = "0.4.2" @@ -603,6 +956,15 @@ dependencies = [ "libc 0.2.152", ] +[[package]] +name = "malloc_buf" +version = "0.0.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "62bb907fe88d54d8d9ce32a3cceab4218ed2f6b7d35617cafe9adf84e43919cb" +dependencies = [ + "libc 0.2.152", +] + [[package]] name = "matrixmultiply" version = "0.3.10" @@ -622,7 +984,7 @@ dependencies = [ "bitflags 1.3.2", "mavlink-bindgen", "mavlink-core", - "num-derive", + "num-derive 0.3.3", "num-traits", "serde", "serde_arrays", @@ -655,6 +1017,16 @@ dependencies = [ "serial", ] +[[package]] +name = "maybe-rayon" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8ea1f30cedd69f0a2954655f7188c6a834246d2bcf1e315e2ac40c4b24dc9519" +dependencies = [ + "cfg-if", + "rayon", +] + [[package]] name = "memchr" version = "2.7.1" @@ -676,6 +1048,16 @@ version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a" +[[package]] +name = "miniz_oxide" +version = "0.8.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1fa76a2c86f704bdb222d66965fb3d63269ce38518b83cb0575fca855ebb6316" +dependencies = [ + "adler2", + "simd-adler32", +] + [[package]] name = "mujoco-rs-sys" version = "0.0.4" @@ -694,7 +1076,7 @@ checksum = "72e3febd1d2020b111eb7d6cb221467421ab063ba29f834fc6af3d04967e9869" dependencies = [ "arrayvec", "dirs 5.0.1", - "itertools", + "itertools 0.10.5", "lazy_static", "mujoco-rs-sys", "nalgebra", @@ -724,9 +1106,15 @@ checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc" dependencies = [ "proc-macro2", "quote", - "syn 2.0.48", + "syn 2.0.106", ] +[[package]] +name = "new_debug_unreachable" +version = "1.0.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "650eef8c711430f1a879fdd01d4745a7deea475becfb90269c06775983bbf086" + [[package]] name = "nix" version = "0.26.4" @@ -773,6 +1161,23 @@ dependencies = [ "nom", ] +[[package]] +name = "noop_proc_macro" +version = "0.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0676bb32a98c1a483ce53e500a81ad9c3d5b3f7c920c28c24e9cb0980d0b5bc8" + +[[package]] +name = "num-bigint" +version = "0.4.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "608e7659b5c3d7cba262d894801b9ec9d00de989e8a82bd4bef91d08da45cdc0" +dependencies = [ + "autocfg", + "num-integer", + "num-traits", +] + [[package]] name = "num-complex" version = "0.4.5" @@ -793,6 +1198,17 @@ dependencies = [ "syn 1.0.109", ] +[[package]] +name = "num-derive" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "num-integer" version = "0.1.46" @@ -809,6 +1225,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0" dependencies = [ "autocfg", + "num-bigint", "num-integer", "num-traits", ] @@ -828,6 +1245,15 @@ version = "0.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b8f8bdf33df195859076e54ab11ee78a1b208382d3a26ec40d142ffc1ecc49ef" +[[package]] +name = "objc" +version = "0.2.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "915b1b472bc21c53464d6c8461c9d3af805ba1ef837e1cac254428f4a77177b1" +dependencies = [ + "malloc_buf", +] + [[package]] name = "once_cell" version = "1.19.0" @@ -883,6 +1309,19 @@ version = "0.3.29" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "2900ede94e305130c13ddd391e0ab7cbaeb783945ae07a279c268cb05109c6cb" +[[package]] +name = "png" +version = "0.17.16" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "82151a2fc869e011c153adc57cf2789ccb8d9906ce52c0b39a6b5697749d7526" +dependencies = [ + "bitflags 1.3.2", + "crc32fast", + "fdeflate", + "flate2", + "miniz_oxide", +] + [[package]] name = "polling" version = "3.5.0" @@ -905,13 +1344,32 @@ checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de" [[package]] name = "proc-macro2" -version = "1.0.78" +version = "1.0.97" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae" +checksum = "d61789d7719defeb74ea5fe81f2fdfdbd28a803847077cecce2ff14e1472f6f1" dependencies = [ "unicode-ident", ] +[[package]] +name = "profiling" +version = "1.0.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3eb8486b569e12e2c32ad3e204dbaba5e4b5b216e9367044f25f1dba42341773" +dependencies = [ + "profiling-procmacros", +] + +[[package]] +name = "profiling-procmacros" +version = "1.0.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "52717f9a02b6965224f95ca2a81e2e0c5c43baacd28ca057577988930b6c3d5b" +dependencies = [ + "quote", + "syn 2.0.106", +] + [[package]] name = "protobuf" version = "3.3.0" @@ -932,6 +1390,15 @@ dependencies = [ "thiserror", ] +[[package]] +name = "qoi" +version = "0.4.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7f6d64c71eb498fe9eae14ce4ec935c555749aef511cca85b5568910d6e48001" +dependencies = [ + "bytemuck", +] + [[package]] name = "quaternion-core" version = "0.5.0" @@ -941,6 +1408,12 @@ dependencies = [ "num-traits", ] +[[package]] +name = "quick-error" +version = "2.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a993555f31e5a609f617c12db6250dedcac1b0a85076912c436e6fc9b2c8e6a3" + [[package]] name = "quick-xml" version = "0.36.2" @@ -952,9 +1425,9 @@ dependencies = [ [[package]] name = "quote" -version = "1.0.35" +version = "1.0.40" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef" +checksum = "1885c039570dc00dcb4ff087a89e185fd56bae234ddc7f056a945bf36467248d" dependencies = [ "proc-macro2", ] @@ -989,12 +1462,88 @@ dependencies = [ "getrandom", ] +[[package]] +name = "rav1e" +version = "0.7.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cd87ce80a7665b1cce111f8a16c1f3929f6547ce91ade6addf4ec86a8dda5ce9" +dependencies = [ + "arbitrary", + "arg_enum_proc_macro", + "arrayvec", + "av1-grain", + "bitstream-io", + "built", + "cfg-if", + "interpolate_name", + "itertools 0.12.1", + "libc 0.2.152", + "libfuzzer-sys", + "log", + "maybe-rayon", + "new_debug_unreachable", + "noop_proc_macro", + "num-derive 0.4.2", + "num-traits", + "once_cell", + "paste", + "profiling", + "rand", + "rand_chacha", + "simd_helpers", + "system-deps", + "thiserror", + "v_frame", + "wasm-bindgen", +] + +[[package]] +name = "ravif" +version = "0.11.20" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5825c26fddd16ab9f515930d49028a630efec172e903483c94796cfe31893e6b" +dependencies = [ + "avif-serialize", + "imgref", + "loop9", + "quick-error", + "rav1e", + "rayon", + "rgb", +] + +[[package]] +name = "raw-window-handle" +version = "0.5.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f2ff9a1f06a88b01621b7ae906ef0211290d1c8a168a15542486a8f61c0833b9" + [[package]] name = "rawpointer" version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3" +[[package]] +name = "rayon" +version = "1.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "368f01d005bf8fd9b1206fb6fa653e6c4a81ceb1466406b81792d87c5677a58f" +dependencies = [ + "either", + "rayon-core", +] + +[[package]] +name = "rayon-core" +version = "1.13.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "22e18b0f0062d30d4230b2e85ff77fdfe4326feb054b9783a3460d8435c8ab91" +dependencies = [ + "crossbeam-deque", + "crossbeam-utils", +] + [[package]] name = "redox_syscall" version = "0.4.1" @@ -1059,6 +1608,12 @@ version = "0.8.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f" +[[package]] +name = "rgb" +version = "0.8.52" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0c6a884d2998352bb4daf0183589aec883f16a6da1f4dde84d8e2e9a5409a1ce" + [[package]] name = "rpos" version = "0.1.0" @@ -1079,8 +1634,10 @@ dependencies = [ "crc", "crsf", "dashmap", + "glfw", "gz", "gz-msgs-common", + "image", "mavlink", "mujoco-rs-sys", "mujoco-rust", @@ -1115,6 +1672,12 @@ dependencies = [ "windows-sys 0.52.0", ] +[[package]] +name = "rustversion" +version = "1.0.22" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d" + [[package]] name = "ryu" version = "1.0.20" @@ -1171,7 +1734,7 @@ checksum = "33c85360c95e7d137454dc81d9a4ed2b8efd8fbe19cee57357b32b9771fccb67" dependencies = [ "proc-macro2", "quote", - "syn 2.0.48", + "syn 2.0.106", ] [[package]] @@ -1274,6 +1837,21 @@ dependencies = [ "wide", ] +[[package]] +name = "simd-adler32" +version = "0.3.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe" + +[[package]] +name = "simd_helpers" +version = "0.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "95890f873bec569a0362c235787f3aca6e1e887302ba4840839bcc6459c42da6" +dependencies = [ + "quote", +] + [[package]] name = "smallvec" version = "1.15.1" @@ -1310,15 +1888,34 @@ dependencies = [ [[package]] name = "syn" -version = "2.0.48" +version = "2.0.106" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0f3531638e407dfc0814761abb7c00a5b54992b849452a0646b7f65c9f770f3f" +checksum = "ede7c438028d4436d71104916910f5bb611972c5cfd7f89b8300a8186e6fada6" dependencies = [ "proc-macro2", "quote", "unicode-ident", ] +[[package]] +name = "system-deps" +version = "6.2.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a3e535eb8dded36d55ec13eddacd30dec501792ff23a0b1682c38601b8cf2349" +dependencies = [ + "cfg-expr", + "heck 0.5.0", + "pkg-config", + "toml", + "version-compare", +] + +[[package]] +name = "target-lexicon" +version = "0.12.16" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1" + [[package]] name = "termion" version = "3.0.0" @@ -1357,7 +1954,18 @@ checksum = "fa0faa943b50f3db30a20aa7e265dbc66076993efed8463e8de414e5d06d3471" dependencies = [ "proc-macro2", "quote", - "syn 2.0.48", + "syn 2.0.106", +] + +[[package]] +name = "tiff" +version = "0.9.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ba1310fcea54c6a9a4fd1aad794ecc02c31682f6bfbecdf460bf19533eed1e3e" +dependencies = [ + "flate2", + "jpeg-decoder", + "weezl", ] [[package]] @@ -1437,12 +2045,93 @@ version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a" +[[package]] +name = "v_frame" +version = "0.3.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "666b7727c8875d6ab5db9533418d7c764233ac9c0cff1d469aec8fa127597be2" +dependencies = [ + "aligned-vec", + "num-traits", + "wasm-bindgen", +] + +[[package]] +name = "version-compare" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "852e951cb7832cb45cb1169900d19760cfa39b82bc0ea9c0e5a14ae88411c98b" + [[package]] name = "wasi" version = "0.11.0+wasi-snapshot-preview1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423" +[[package]] +name = "wasm-bindgen" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1edc8929d7499fc4e8f0be2262a241556cfc54a0bea223790e71446f2aab1ef5" +dependencies = [ + "cfg-if", + "once_cell", + "rustversion", + "wasm-bindgen-macro", +] + +[[package]] +name = "wasm-bindgen-backend" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2f0a0651a5c2bc21487bde11ee802ccaf4c51935d0d3d42a6101f98161700bc6" +dependencies = [ + "bumpalo", + "log", + "proc-macro2", + "quote", + "syn 2.0.106", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-macro" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7fe63fc6d09ed3792bd0897b314f53de8e16568c2b3f7982f468c0bf9bd0b407" +dependencies = [ + "quote", + "wasm-bindgen-macro-support", +] + +[[package]] +name = "wasm-bindgen-macro-support" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", + "wasm-bindgen-backend", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-shared" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1a05d73b933a847d6cccdda8f838a22ff101ad9bf93e33684f39c1f5f0eece3d" +dependencies = [ + "unicode-ident", +] + +[[package]] +name = "weezl" +version = "0.1.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a751b3277700db47d3e574514de2eced5e54dc8a5436a3bf7a0b248b2cee16f3" + [[package]] name = "which" version = "4.4.2" @@ -1627,3 +2316,27 @@ checksum = "1931d78a9c73861da0134f453bb1f790ce49b2e30eba8410b4b79bac72b46a2d" dependencies = [ "memchr", ] + +[[package]] +name = "zune-core" +version = "0.4.12" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3f423a2c17029964870cfaabb1f13dfab7d092a62a29a89264f4d36990ca414a" + +[[package]] +name = "zune-inflate" +version = "0.2.54" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "73ab332fe2f6680068f3582b16a24f90ad7096d5d39b974d1c0aff0125116f02" +dependencies = [ + "simd-adler32", +] + +[[package]] +name = "zune-jpeg" +version = "0.4.20" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fc1f7e205ce79eb2da3cd71c5f55f3589785cb7c79f6a03d1c8d1491bda5d089" +dependencies = [ + "zune-core", +] diff --git a/Cargo.toml b/Cargo.toml index 983ecfd..abc47ff 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -22,6 +22,9 @@ dashmap = "6.1.0" serde_json = "1.0.140" mujoco-rust = { version = "0.0.6", optional = true} mujoco-rs-sys = {version = "0.0.4", optional = true} +image = { version = "0.25.6", optional = true} +glfw = { version = "0.51", optional = true} + [dev-dependencies] bitfield = "0.14" @@ -32,7 +35,7 @@ rand = "0.8.4" [features] default = [] gzsim = ["rpos/lock_step_enabled","gz","gz-msgs-common"] -mujoco = ["mujoco-rust","mujoco-rs-sys"] +mujoco = ["mujoco-rust","mujoco-rs-sys","image","glfw"] [build-dependencies] diff --git a/src/main.rs b/src/main.rs index a7f88ed..868bca1 100644 --- a/src/main.rs +++ b/src/main.rs @@ -11,6 +11,9 @@ mod gazebo_sim; mod gazebo_actuator; #[cfg(feature = "mujoco")] mod mujoco_sim; +// #[cfg(feature = "mujoco")] +// mod mujoco_camera; + mod fake_linux_input; mod att_control; diff --git a/src/mujoco_camera.rs b/src/mujoco_camera.rs new file mode 100644 index 0000000..0804abf --- /dev/null +++ b/src/mujoco_camera.rs @@ -0,0 +1,131 @@ +use mujoco_rust::{Simulation, model::ObjType}; +// use nalgebra::{Vector3, Quaternion}; +use image::{RgbImage, ImageBuffer}; +use glfw::Context; + +use mujoco_rs_sys::no_render::*; +use mujoco_rs_sys as sys; +use std::ptr; + + +pub fn init_camera(simulation: &Simulation, height: usize, width: usize) -> (mjvOption_, mjvCamera_, mjvScene_, sys::render::mjrContext_){ + let cam_id = simulation.model.name_to_id(ObjType::CAMERA, "onboard").unwrap(); + + unsafe { + // 初始化渲染上下文 + let mut vopt = mjvOption_::default(); + let mut cam = mjvCamera_::default(); + let mut scene = mjvScene_::default(); + let mut context = sys::render::mjrContext_::default(); + let mut glfw: glfw::Glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap(); + + glfw.window_hint(glfw::WindowHint::Visible(false)); + let (mut window, _events) = glfw.create_window(width.try_into().unwrap(), height.try_into().unwrap(), "hidden", glfw::WindowMode::Windowed) + .expect("Failed to create GLFW window."); + + window.make_current(); + + + mjv_defaultOption(&mut vopt); + mjv_defaultCamera(&mut cam); + + let maxgeom = 500; // 根据模型复杂度调整 + mjv_makeScene(simulation.model.ptr(), &mut scene, maxgeom); + + sys::mjr_defaultContext(&mut context); + + // 初始化 context + sys::mjr_makeContext(simulation.model.ptr(), &mut context, 150); + + // 设置相机为你要的那个 + cam.fixedcamid = cam_id as i32; + + // 固定相机，而不是第三方视角 + cam.type_ = 2; + + (vopt, cam, scene, context) + } +} + + +pub fn get_camera_jpg(simulation: &Simulation, height: usize, width: usize, + vopt: &mut mjvOption_, + cam: &mut mjvCamera_, + scene: &mut mjvScene_, + context: &mut sys::render::mjrContext_){ + // let cam_id = simulation.model.name_to_id(ObjType::CAMERA, "track").unwrap(); + + unsafe { + + // 更新场景 + mjv_updateScene( + simulation.model.ptr(), + simulation.state.ptr(), + vopt, + ptr::null(), + cam, + 0xFFFFFF, + scene, + ); + + // 分配 buffer + let mut rgb = vec![0u8; width * height * 3]; + let mut depth = vec![0f32; width * height]; + + // 渲染到 buffer + let viewport = sys::render::mjrRect_ { left: 0, bottom: 0, width: width as i32, height: height as i32 }; + sys::mjr_render( + viewport, + scene, + context, + ); + sys::mjr_readPixels( + rgb.as_mut_ptr(), + depth.as_mut_ptr(), + viewport, + context, + ); + let img: RgbImage = ImageBuffer::from_raw(width as u32, height as u32, rgb).unwrap(); + img.save("camera.jpg").unwrap(); + } + +} + +// 释放 scene/context +pub fn free_camera(scene: &mut mjvScene_, + context: &mut sys::render::mjrContext_){ + unsafe{ + mjv_freeScene(scene); + sys::mjr_freeContext(context); + } +} + + +// fn get_camera_world_pose(sim: &Simulation, cam_name: &str) -> Option<(Vector3, Quaternion)> { +// let model = &sim.model; +// let cam_id = model.name_to_id(ObjType::CAMERA, cam_name)? as usize; +// let mj_model = unsafe { *model.ptr() }; + +// // 相机在绑定body坐标系下的位置 +// let pos = unsafe { +// let ptr = mj_model.cam_pos.add(cam_id * 3); +// Vector3::new(*ptr, *ptr.add(1), *ptr.add(2)) +// }; +// // 相机在绑定body坐标系下的四元数 +// let quat = unsafe { +// let ptr = mj_model.cam_quat.add(cam_id * 4); +// Quaternion::new(*ptr, *ptr.add(1), *ptr.add(2), *ptr.add(3)) +// }; +// // 相机绑定的body id +// let body_id = unsafe { *mj_model.cam_bodyid.add(cam_id) } as usize; + +// // 获取body的世界坐标和朝向 +// let body_pos = sim.model.bodies()[body_id].pos; +// let body_quat = sim.model.bodies()[body_id].quat; + +// // 相机的世界坐标 = body世界坐标 + body朝向旋转后的相机局部坐标 +// let world_pos = body_pos + body_quat * pos; +// let world_quat = body_quat * quat; + +// Some((world_pos, world_quat)) +// } From c3430f4d49c1dad448d243c87c86c756a28ab2ec Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Mon, 25 Aug 2025 11:44:58 +0800 Subject: [PATCH 06/17] fix mujoco_ui problem. --- mixers/gz_mixer.json | 24 +++---- mixers/mj_mixer.json | 164 +++++++++++++++++++++++++++++++++++++++++++ src/main.rs | 21 +++--- src/mujoco_sim.rs | 67 +++++++----------- src/mujoco_ui.rs | 75 ++++++++++++++++++++ 5 files changed, 290 insertions(+), 61 deletions(-) create mode 100644 mixers/mj_mixer.json create mode 100644 src/mujoco_ui.rs diff --git a/mixers/gz_mixer.json b/mixers/gz_mixer.json index 5125ead..6c3e707 100644 --- a/mixers/gz_mixer.json +++ b/mixers/gz_mixer.json @@ -31,11 +31,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 10, - "scale_n": 10, + "scale_p": 1000, + "scale_n": 1000, "offset": 0, "min": 0, - "max": 10 + "max": 1000 } } ] @@ -71,11 +71,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 10, - "scale_n": 10, + "scale_p": 1000, + "scale_n": 1000, "offset": 0, "min": 0, - "max": 10 + "max": 1000 } } ] @@ -111,11 +111,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 10, - "scale_n": 10, + "scale_p": 1000, + "scale_n": 1000, "offset": 0, "min": 0, - "max": 10 + "max": 1000 } } ] @@ -151,11 +151,11 @@ "ctrl_group_id": 0, "ctrl_channel": "ThrustZ", "scaler": { - "scale_p": 10, - "scale_n": 10, + "scale_p": 1000, + "scale_n": 1000, "offset": 0, "min": 0, - "max": 10 + "max": 1000 } } ] diff --git a/mixers/mj_mixer.json b/mixers/mj_mixer.json new file mode 100644 index 0000000..098489c --- /dev/null +++ b/mixers/mj_mixer.json @@ -0,0 +1,164 @@ +{ + "mixers": [ + { + "bind_ctrl_group_id": 0, + "output_channel_idx": 0, + "mode": "Speed", + "list": [ + { + "ctrl_group_id": 0, + "ctrl_channel": "Pitch", + "scaler": { + "scale_p": 1, + "scale_n": 1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "Roll", + "scaler": { + "scale_p": -1, + "scale_n": -1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "ThrustZ", + "scaler": { + "scale_p": 5, + "scale_n": 5, + "offset": 0, + "min": 0, + "max": 20 + } + } + ] + }, + { + "bind_ctrl_group_id": 0, + "output_channel_idx": 1, + "mode": "Speed", + "list": [ + { + "ctrl_group_id": 0, + "ctrl_channel": "Pitch", + "scaler": { + "scale_p": -1, + "scale_n": -1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "Roll", + "scaler": { + "scale_p": 1, + "scale_n": 1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "ThrustZ", + "scaler": { + "scale_p": 5, + "scale_n": 5, + "offset": 0, + "min": 0, + "max": 20 + } + } + ] + }, + { + "bind_ctrl_group_id": 0, + "output_channel_idx": 2, + "mode": "Speed", + "list": [ + { + "ctrl_group_id": 0, + "ctrl_channel": "Pitch", + "scaler": { + "scale_p": 1, + "scale_n": 1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "Roll", + "scaler": { + "scale_p": 1, + "scale_n": 1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "ThrustZ", + "scaler": { + "scale_p": 5, + "scale_n": 5, + "offset": 0, + "min": 0, + "max": 20 + } + } + ] + }, + { + "bind_ctrl_group_id": 0, + "output_channel_idx": 3, + "mode": "Speed", + "list": [ + { + "ctrl_group_id": 0, + "ctrl_channel": "Pitch", + "scaler": { + "scale_p": -1, + "scale_n": -1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "Roll", + "scaler": { + "scale_p": -1, + "scale_n": -1, + "offset": 0, + "min": -1, + "max": 1 + } + }, + { + "ctrl_group_id": 0, + "ctrl_channel": "ThrustZ", + "scaler": { + "scale_p": 5, + "scale_n": 5, + "offset": 0, + "min": 0, + "max": 20 + } + } + ] + } + ] + } \ No newline at end of file diff --git a/src/main.rs b/src/main.rs index 868bca1..b09b22b 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,5 +1,5 @@ -#![feature(trait_upcasting)] -#![feature(once_cell_get_mut)] +// #![feature(trait_upcasting)] +// #![feature(once_cell_get_mut)] mod msg_define; mod param; @@ -13,7 +13,8 @@ mod gazebo_actuator; mod mujoco_sim; // #[cfg(feature = "mujoco")] // mod mujoco_camera; - +#[cfg(feature = "mujoco")] +mod mujoco_ui; mod fake_linux_input; mod att_control; @@ -33,6 +34,7 @@ use rpos::libc; use clap::Parser; use rpos::server_client::{server_init, Client}; + #[derive(Parser)] #[command(author, version, about, long_about = None, arg_required_else_help(true))] struct Cli{ @@ -52,20 +54,23 @@ fn main() { let cli = Cli::parse(); const SOCKET_PATH: &str = "./rpsocket"; - unsafe {assert_eq!(libc::mlockall(1 | 2),0)}; - if cli.server{ + // unsafe {assert_eq!(libc::mlockall(1 | 2),0)}; + + if cli.server { let hello_txt = r" ____ __ ____ _ __ __ / __ \ __ __ _____ / /_ / __ \ (_) / / ____ / /_ / /_/ / / / / / / ___/ / __/ / /_/ / / / / / / __ \ / __/ / _, _/ / /_/ / (__ ) / /_ / ____/ / / / / / /_/ // /_ /_/ |_| \__,_/ /____/ \__/ /_/ /_/ /_/ \____/ \__/"; // slant + println!("{}",hello_txt); + + server_init(SOCKET_PATH).unwrap(); - }else{ + } else { let mut client = Client::new(SOCKET_PATH).unwrap(); client.send_str(cli.other.unwrap().join(" ").as_str()); client.block_read(); } - -} +} \ No newline at end of file diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs index bd9e8fe..1cf1d73 100644 --- a/src/mujoco_sim.rs +++ b/src/mujoco_sim.rs @@ -3,21 +3,19 @@ use crate::basic::rotation::Rotation; use core::slice; use rpos::channel::Sender; use rpos::ctor::ctor; -use rpos::hrt::Timespec; use rpos::module::Module; use rpos::msg::{get_new_tx_of_message, get_new_rx_of_message}; use std::sync::Arc; -// use std::{cell::RefCell, sync::Arc, time::Duration}; use std::sync::mpsc; use std::thread; -use std::time::Duration; +use std::ptr; - -use mujoco_rs_sys::no_render::*; +use mujoco_rust::Simulation; +use mujoco_rs_sys::render::*; +use crate::mujoco_ui; // use crate::mujoco_camera; - unsafe impl Send for MujocoSim {} unsafe impl Sync for MujocoSim {} @@ -75,10 +73,7 @@ impl MujocoSim{ ], ); let imu_q = rotation.rotate_q(imu_q); - /* - imu_q is the rotate quaternion from gazebo axis to body axis - rotate_q is the rotate quaternion from gazebo axis to world axis(our defination): x -> -y_old , y -> x_old. - */ + self.attitude_tx.send(Vector4 { w: imu_q.0, x: imu_q.1[0], @@ -87,59 +82,47 @@ impl MujocoSim{ }); } - pub fn detect_movement_and_heading(sim: &Arc, last_qpos: Vec) -> (bool, bool) { - let qpos = sim.simulation.qpos(); - // 假设 qpos[0], qpos[1], qpos[2] 是 x, y, z 位置 - // qpos[3], qpos[4], qpos[5], qpos[6] 是四元数（朝向） - let dx = qpos[0] - last_qpos[0]; - let dy = qpos[1] - last_qpos[1]; - let dz = qpos[2] - last_qpos[2]; // 加上 Z 轴 - let pos_change = (dx * dx + dy * dy + dz * dz).sqrt(); - let pos_changed = pos_change > 1e-4; - let current_quat = &qpos[3..7]; - let last_quat = &last_qpos[3..7]; - - // 计算两个四元数的点积 - let dot_product: f64 = current_quat.iter().zip(last_quat.iter()).map(|(a, b)| a * b).sum(); - - // 如果点积的绝对值非常接近 1.0，则认为朝向没有变化 - let heading_changed = (1.0 - dot_product.abs()) > 1e-4; - (pos_changed, heading_changed) - } pub fn mujoco_sim_event_loop(sim: Arc, actuator_num: usize) { - // 获取mixer_output的Receiver let mut mixer_rx = get_new_rx_of_message::("mixer_output").unwrap(); - let mut ctrl = vec![0.0; actuator_num as usize]; + let mut ctrl: Vec = vec![0.0; actuator_num as usize]; let mut i = 0; - // let (mut vopt, mut cam, mut scene, mut context) = mujoco_camera::init_camera(&sim.simulation, 200, 400); + let (mut cam, mut opt, mut scn, mut con, mut window) = mujoco_ui::init_glfw(&sim.simulation); + + // distance between view and model + cam.distance = 10.0; + + // vedio streaming test + // let (mut VS_vopt, mut VS_cam, mut VS_scene, mut VS_context) = mujoco_camera::init_camera(&sim.simulation, 200, 400); + sim.simulation.control(&ctrl); loop { i += 1; - // 1. 应用最新的mixer_output到ctrl if let Some(mixer) = mixer_rx.try_read() { for (i, val) in mixer.output.iter().enumerate() { if i < ctrl.len() { ctrl[i] = *val as f64; } } + println!("mixer_output {:?}", ctrl); } - // println!("mixer_output: {:?}", ctrl); let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); - println!("ctrl:{:?}", ctrl_f64); + sim.simulation.control(&ctrl); + // 2. 推进仿真一步 - sim.simulation.control(&ctrl_f64); sim.simulation.step(); let pos = sim.simulation.qpos(); - // detect_movement_and_heading(sim, pos); - println!("Position Changed?: {:?}", MujocoSim::detect_movement_and_heading(&sim, pos)); sim.update_mj_sensor(); - - // mujoco_camera::get_camera_jpg(&sim.simulation, 200, 400, &mut vopt, &mut cam, &mut scene, &mut context); + + // if i == 100 { + // mujoco_camera::get_camera_jpg(&sim.simulation, 200, 400, &mut VS_vopt, &mut VS_cam, &mut VS_scene, &mut VS_context); + // } + + mujoco_ui::update_Mjscene(&sim.simulation, &mut window, &mut cam, &mut opt, &mut scn, &mut con); // 控制时间步长 std::thread::sleep(std::time::Duration::from_millis(10)); @@ -147,6 +130,7 @@ impl MujocoSim{ } } + fn new(xml_filename: &str) -> Arc { let model = mujoco_rust::Model::from_xml(xml_filename).unwrap(); // let mj_model = unsafe { *model.ptr() }; @@ -172,12 +156,13 @@ pub fn init_mujoco_sim(_argc: u32, _argv: *const &str){ let argv = unsafe { slice::from_raw_parts(_argv, _argc as usize) }; let sim = MujocoSim::new(argv[1]); let actuator_num = unsafe { (*sim.simulation.model.ptr()).nu as usize}; + + println!("MujocoSim inited!"); std::thread::spawn(move || { MujocoSim::mujoco_sim_event_loop(sim, actuator_num); }); - println!("MujocoSim inited!"); } diff --git a/src/mujoco_ui.rs b/src/mujoco_ui.rs new file mode 100644 index 0000000..d9353ce --- /dev/null +++ b/src/mujoco_ui.rs @@ -0,0 +1,75 @@ +// ui.rs +use mujoco_rs_sys::mjr_render; +use mujoco_rs_sys::render::*; +use mujoco_rs_sys::no_render::{mjv_makeScene}; +use glfw; +use glfw::Context; +use mujoco_rust::Simulation; +use std::ptr; + + +pub fn init_glfw(sim: &Simulation) -> (mjvCamera_, mjvOption_, mjvScene_, mjrContext_, glfw::Window) { + let mut glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap(); + + // 2. 创建窗口，并设置 OpenGL 上下文 + let (mut window, events) = glfw + .create_window(1200, 900, "MuJoCo UI", glfw::WindowMode::Windowed) + .expect("Unable to create GLFW window."); + + window.make_current(); + + window.set_key_polling(true); + window.set_cursor_pos_polling(true); + window.set_mouse_button_polling(true); + window.set_scroll_polling(true); + + // gl::load_with(|symbol| window.get_proc_address(symbol) as *const _); + + let mut cam = mjvCamera_::default(); + let mut opt = mjvOption_::default(); + let mut scn = mjvScene_::default(); + let mut con = mjrContext_::default(); + + unsafe{ + mjv_defaultCamera(&mut cam); + mjv_defaultOption(&mut opt); + mjv_defaultScene(&mut scn); + mjr_defaultContext(&mut con); + mjv_makeScene(sim.model.ptr(), &mut scn, 2000); + mjr_makeContext(sim.model.ptr(), &mut con, 200); + } + (cam, opt, scn, con, window) +} + + +pub fn update_Mjscene( + sim: &Simulation, + window: &mut glfw::Window, + cam: &mut mujoco_rs_sys::no_render::mjvCamera_, + opt: &mut mujoco_rs_sys::no_render::mjvOption_, + scn: &mut mujoco_rs_sys::no_render::mjvScene_, + con: &mut mujoco_rs_sys::render::mjrContext_, +) { + unsafe { + mujoco_rs_sys::no_render::mjv_updateScene( + sim.model.ptr(), + sim.state.ptr(), + opt, + ptr::null(), + cam, + 0xFFFFFF, + scn, + ); + + let (width, height) = window.get_framebuffer_size(); + let viewport = mujoco_rs_sys::render::mjrRect_ { + left: 0, + bottom: 0, + width, + height, + }; + + mujoco_rs_sys::mjr_render(viewport, scn, con); + window.swap_buffers(); + } +} \ No newline at end of file From 03913553a3bf0fbbd5cd9576ef4e7de79a770611 Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Mon, 1 Sep 2025 17:20:00 +0800 Subject: [PATCH 07/17] Preliminary implementation of the main functions required. --- src/main.rs | 4 +- src/mujoco_camera.rs | 131 ---------------------------- src/mujoco_sim.rs | 52 ++++++++--- src/mujoco_vedio_streaming.rs | 158 ++++++++++++++++++++++++++++++++++ 4 files changed, 198 insertions(+), 147 deletions(-) delete mode 100644 src/mujoco_camera.rs create mode 100644 src/mujoco_vedio_streaming.rs diff --git a/src/main.rs b/src/main.rs index b09b22b..4bc84c9 100644 --- a/src/main.rs +++ b/src/main.rs @@ -11,8 +11,8 @@ mod gazebo_sim; mod gazebo_actuator; #[cfg(feature = "mujoco")] mod mujoco_sim; -// #[cfg(feature = "mujoco")] -// mod mujoco_camera; +#[cfg(feature = "mujoco")] +mod mujoco_vedio_streaming; #[cfg(feature = "mujoco")] mod mujoco_ui; diff --git a/src/mujoco_camera.rs b/src/mujoco_camera.rs deleted file mode 100644 index 0804abf..0000000 --- a/src/mujoco_camera.rs +++ /dev/null @@ -1,131 +0,0 @@ -use mujoco_rust::{Simulation, model::ObjType}; -// use nalgebra::{Vector3, Quaternion}; -use image::{RgbImage, ImageBuffer}; -use glfw::Context; - -use mujoco_rs_sys::no_render::*; -use mujoco_rs_sys as sys; -use std::ptr; - - -pub fn init_camera(simulation: &Simulation, height: usize, width: usize) -> (mjvOption_, mjvCamera_, mjvScene_, sys::render::mjrContext_){ - let cam_id = simulation.model.name_to_id(ObjType::CAMERA, "onboard").unwrap(); - - unsafe { - // 初始化渲染上下文 - let mut vopt = mjvOption_::default(); - let mut cam = mjvCamera_::default(); - let mut scene = mjvScene_::default(); - let mut context = sys::render::mjrContext_::default(); - let mut glfw: glfw::Glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap(); - - glfw.window_hint(glfw::WindowHint::Visible(false)); - let (mut window, _events) = glfw.create_window(width.try_into().unwrap(), height.try_into().unwrap(), "hidden", glfw::WindowMode::Windowed) - .expect("Failed to create GLFW window."); - - window.make_current(); - - - mjv_defaultOption(&mut vopt); - mjv_defaultCamera(&mut cam); - - let maxgeom = 500; // 根据模型复杂度调整 - mjv_makeScene(simulation.model.ptr(), &mut scene, maxgeom); - - sys::mjr_defaultContext(&mut context); - - // 初始化 context - sys::mjr_makeContext(simulation.model.ptr(), &mut context, 150); - - // 设置相机为你要的那个 - cam.fixedcamid = cam_id as i32; - - // 固定相机，而不是第三方视角 - cam.type_ = 2; - - (vopt, cam, scene, context) - } -} - - -pub fn get_camera_jpg(simulation: &Simulation, height: usize, width: usize, - vopt: &mut mjvOption_, - cam: &mut mjvCamera_, - scene: &mut mjvScene_, - context: &mut sys::render::mjrContext_){ - // let cam_id = simulation.model.name_to_id(ObjType::CAMERA, "track").unwrap(); - - unsafe { - - // 更新场景 - mjv_updateScene( - simulation.model.ptr(), - simulation.state.ptr(), - vopt, - ptr::null(), - cam, - 0xFFFFFF, - scene, - ); - - // 分配 buffer - let mut rgb = vec![0u8; width * height * 3]; - let mut depth = vec![0f32; width * height]; - - // 渲染到 buffer - let viewport = sys::render::mjrRect_ { left: 0, bottom: 0, width: width as i32, height: height as i32 }; - sys::mjr_render( - viewport, - scene, - context, - ); - sys::mjr_readPixels( - rgb.as_mut_ptr(), - depth.as_mut_ptr(), - viewport, - context, - ); - let img: RgbImage = ImageBuffer::from_raw(width as u32, height as u32, rgb).unwrap(); - img.save("camera.jpg").unwrap(); - } - -} - -// 释放 scene/context -pub fn free_camera(scene: &mut mjvScene_, - context: &mut sys::render::mjrContext_){ - unsafe{ - mjv_freeScene(scene); - sys::mjr_freeContext(context); - } -} - - -// fn get_camera_world_pose(sim: &Simulation, cam_name: &str) -> Option<(Vector3, Quaternion)> { -// let model = &sim.model; -// let cam_id = model.name_to_id(ObjType::CAMERA, cam_name)? as usize; -// let mj_model = unsafe { *model.ptr() }; - -// // 相机在绑定body坐标系下的位置 -// let pos = unsafe { -// let ptr = mj_model.cam_pos.add(cam_id * 3); -// Vector3::new(*ptr, *ptr.add(1), *ptr.add(2)) -// }; -// // 相机在绑定body坐标系下的四元数 -// let quat = unsafe { -// let ptr = mj_model.cam_quat.add(cam_id * 4); -// Quaternion::new(*ptr, *ptr.add(1), *ptr.add(2), *ptr.add(3)) -// }; -// // 相机绑定的body id -// let body_id = unsafe { *mj_model.cam_bodyid.add(cam_id) } as usize; - -// // 获取body的世界坐标和朝向 -// let body_pos = sim.model.bodies()[body_id].pos; -// let body_quat = sim.model.bodies()[body_id].quat; - -// // 相机的世界坐标 = body世界坐标 + body朝向旋转后的相机局部坐标 -// let world_pos = body_pos + body_quat * pos; -// let world_quat = body_quat * quat; - -// Some((world_pos, world_quat)) -// } diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs index 1cf1d73..cf2a5bb 100644 --- a/src/mujoco_sim.rs +++ b/src/mujoco_sim.rs @@ -13,8 +13,9 @@ use std::ptr; use mujoco_rust::Simulation; use mujoco_rs_sys::render::*; +use std::io::Write; use crate::mujoco_ui; -// use crate::mujoco_camera; +use crate::mujoco_vedio_streaming; unsafe impl Send for MujocoSim {} unsafe impl Sync for MujocoSim {} @@ -89,14 +90,18 @@ impl MujocoSim{ let mut ctrl: Vec = vec![0.0; actuator_num as usize]; let mut i = 0; - let (mut cam, mut opt, mut scn, mut con, mut window) = mujoco_ui::init_glfw(&sim.simulation); + // ui + // let (mut cam, mut opt, mut scn, mut con, mut window) = mujoco_ui::init_glfw(&sim.simulation); + + + // vedio streaming + let mut ffmpeg = mujoco_vedio_streaming::init_ffmpeg(); + let mut stdin = ffmpeg.stdin.take().unwrap(); // Take the stdin handle + let (mut window, mut VS_cam, mut VS_vopt, mut VS_scene, mut VS_context) = mujoco_vedio_streaming::init_glfw(&sim.simulation); // distance between view and model - cam.distance = 10.0; + VS_cam.distance = 10.0; - // vedio streaming test - // let (mut VS_vopt, mut VS_cam, mut VS_scene, mut VS_context) = mujoco_camera::init_camera(&sim.simulation, 200, 400); - sim.simulation.control(&ctrl); loop { i += 1; @@ -106,27 +111,46 @@ impl MujocoSim{ ctrl[i] = *val as f64; } } - println!("mixer_output {:?}", ctrl); } let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); sim.simulation.control(&ctrl); - // 2. 推进仿真一步 sim.simulation.step(); let pos = sim.simulation.qpos(); sim.update_mj_sensor(); - // if i == 100 { - // mujoco_camera::get_camera_jpg(&sim.simulation, 200, 400, &mut VS_vopt, &mut VS_cam, &mut VS_scene, &mut VS_context); - // } + let frame = mujoco_vedio_streaming::update_mjscene(&sim.simulation, &mut VS_cam, &mut VS_vopt, &mut VS_scene, &mut VS_context); + stdin.write_all(&frame); - mujoco_ui::update_Mjscene(&sim.simulation, &mut window, &mut cam, &mut opt, &mut scn, &mut con); + // ui界面 + // mujoco_ui::update_Mjscene(&sim.simulation, &mut window, &mut cam, &mut opt, &mut scn, &mut con); - // 控制时间步长 + // time step std::thread::sleep(std::time::Duration::from_millis(10)); - + } + + unsafe { + mjv_freeScene(&mut VS_scene); + mjr_freeContext(&mut VS_context); + } + + // 关闭 stdin + drop(stdin); + + // 等待 FFmpeg 进程结束 + match ffmpeg.wait_with_output() { + Ok(output) => { + if !output.status.success() { + eprintln!("FFmpeg 错误: {}", String::from_utf8_lossy(&output.stderr)); + return; + } + } + Err(e) => { + eprintln!("错误: 等待 FFmpeg 失败: {}", e); + return; + } } } diff --git a/src/mujoco_vedio_streaming.rs b/src/mujoco_vedio_streaming.rs new file mode 100644 index 0000000..358862f --- /dev/null +++ b/src/mujoco_vedio_streaming.rs @@ -0,0 +1,158 @@ +use mujoco_rust::{Simulation, model::ObjType}; +// use nalgebra::{Vector3, Quaternion}; +use image::{RgbImage, ImageBuffer}; +use glfw::{Context, Window}; + +use mujoco_rs_sys::render::*; +use mujoco_rs_sys as sys; +use std::ptr; + +use std::process::{Command, Stdio}; + + +pub fn init_ffmpeg() -> std::process::Child { + let rtsp_url = "rtsp://localhost:8554/mystream".to_string(); + let mut ffmpeg = Command::new("ffmpeg") + .args([ + "-f", "rawvideo", + "-pixel_format", "rgb24", + "-video_size", "640x480", + "-framerate", "30", + "-i", "pipe:", + "-c:v", "libx264", + "-pix_fmt", "yuv420p", + "-preset", "ultrafast", + "-tune", "zerolatency", + "-f", "rtsp", + "-rtsp_transport", "tcp", + &rtsp_url + ]) + .stdin(Stdio::piped()) + .stderr(Stdio::piped()) + .spawn() // Spawn the process + .expect("Failed to start FFmpeg"); + + ffmpeg +} + + + +pub fn init_glfw(sim: &Simulation) -> (Window, mjvCamera_, mjvOption_, mjvScene_, mjrContext_) { + let mut glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap(); + let width = 640; + let height = 480; + + // 创建隐藏窗口 + glfw.window_hint(glfw::WindowHint::Visible(false)); + let (mut window, _events) = glfw + .create_window( + width.try_into().unwrap(), + height.try_into().unwrap(), + "hidden", + glfw::WindowMode::Windowed, + ) + .expect("无法创建 GLFW 窗口"); + + // 激活 OpenGL 上下文 + window.make_current(); + glfw.make_context_current(Some(&window)); + + // 加载 OpenGL 函数（使用 GLAD 或其他加载器） + // gl::load_with(|symbol| window.get_proc_address(symbol) as *const _); + + let mut cam = mjvCamera_::default(); + let mut opt = mjvOption_::default(); + let mut scn = mjvScene_::default(); + let mut con = mjrContext_::default(); + + unsafe { + mjv_defaultCamera(&mut cam); + mjv_defaultOption(&mut opt); + // mjv_defaultScene(&mut scn); // 不需要，手动初始化 + mjr_defaultContext(&mut con); + mjv_makeScene(sim.model.ptr(), &mut scn, 2000); // 正确设置 maxgeom + mjr_makeContext(sim.model.ptr(), &mut con, 200); // mjFONTSCALE_200 + } + + (window, cam, opt, scn, con) +} + +pub fn update_mjscene( + sim: &Simulation, + cam: &mut mjvCamera_, + opt: &mut mjvOption_, + scn: &mut mjvScene_, + con: &mut mjrContext_, +) -> Vec { + let width = 640; + let height = 480; + cam.distance = 10.0; + unsafe { + sys::mjv_updateScene( + sim.model.ptr(), + sim.state.ptr(), + opt, // 应为 &opt + ptr::null(), + cam, + 0xFFFFFF, + scn, + ); + + let viewport = sys::render::mjrRect_ { + left: 0, + bottom: 0, + width, + height, + }; + + sys::mjr_render(viewport, scn, con); + + // 分配 RGB 缓冲区 + let mut rgb = vec![0u8; 640 * 480 * 3]; + let mut depth = vec![0f32; 640 * 480]; + + // 读取像素 + sys::mjr_readPixels(rgb.as_mut_ptr(), depth.as_mut_ptr(), viewport, con); + + rgb + } +} + +// 释放 scene/context +pub fn free_camera(scene: &mut mjvScene_, + context: &mut sys::render::mjrContext_){ + unsafe{ + mjv_freeScene(scene); + sys::mjr_freeContext(context); + } +} + + +// fn get_camera_world_pose(sim: &Simulation, cam_name: &str) -> Option<(Vector3, Quaternion)> { +// let model = &sim.model; +// let cam_id = model.name_to_id(ObjType::CAMERA, cam_name)? as usize; +// let mj_model = unsafe { *model.ptr() }; + +// // 相机在绑定body坐标系下的位置 +// let pos = unsafe { +// let ptr = mj_model.cam_pos.add(cam_id * 3); +// Vector3::new(*ptr, *ptr.add(1), *ptr.add(2)) +// }; +// // 相机在绑定body坐标系下的四元数 +// let quat = unsafe { +// let ptr = mj_model.cam_quat.add(cam_id * 4); +// Quaternion::new(*ptr, *ptr.add(1), *ptr.add(2), *ptr.add(3)) +// }; +// // 相机绑定的body id +// let body_id = unsafe { *mj_model.cam_bodyid.add(cam_id) } as usize; + +// // 获取body的世界坐标和朝向 +// let body_pos = sim.model.bodies()[body_id].pos; +// let body_quat = sim.model.bodies()[body_id].quat; + +// // 相机的世界坐标 = body世界坐标 + body朝向旋转后的相机局部坐标 +// let world_pos = body_pos + body_quat * pos; +// let world_quat = body_quat * quat; + +// Some((world_pos, world_quat)) +// } From f2b3da6d1276e2d19c53966388514a60d6f780c4 Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Mon, 8 Sep 2025 16:36:58 +0800 Subject: [PATCH 08/17] fix video stream image inversion problem. --- src/mujoco_vedio_streaming.rs | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/src/mujoco_vedio_streaming.rs b/src/mujoco_vedio_streaming.rs index 358862f..6624592 100644 --- a/src/mujoco_vedio_streaming.rs +++ b/src/mujoco_vedio_streaming.rs @@ -114,7 +114,18 @@ pub fn update_mjscene( // 读取像素 sys::mjr_readPixels(rgb.as_mut_ptr(), depth.as_mut_ptr(), viewport, con); - rgb + // 垂直翻转图像 + let mut flipped_rgb = vec![0u8; (width * height * 3) as usize] ; + for y in 0..height { + for x in 0..width { + let src_idx :usize = ((y * width + x) * 3) as usize; + let dst_idx :usize = (((height - 1 - y) * width + x) * 3) as usize; + flipped_rgb[dst_idx] = rgb[src_idx]; + flipped_rgb[dst_idx + 1] = rgb[src_idx + 1]; + flipped_rgb[dst_idx + 2] = rgb[src_idx + 2]; + } + } + flipped_rgb } } From d6fc373764490c5da3c7c6e77fc7e66bbad10e03 Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Mon, 8 Sep 2025 16:38:12 +0800 Subject: [PATCH 09/17] add new module Lidar & fix some warnings & update scene.xml. --- Cargo.lock | 381 +++++++++++++++++++++++++++++++++++++++- Cargo.toml | 4 +- sim/mujoco_x2/scene.xml | 6 + sim/mujoco_x2/x2.xml | 63 +++++++ src/main.rs | 2 + src/mujoco_lidar.rs | 148 ++++++++++++++++ src/mujoco_sim.rs | 67 +++++-- src/mujoco_ui.rs | 2 +- 8 files changed, 649 insertions(+), 24 deletions(-) create mode 100644 src/mujoco_lidar.rs diff --git a/Cargo.lock b/Cargo.lock index ace3563..904492d 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -497,6 +497,21 @@ dependencies = [ "windows-sys 0.48.0", ] +[[package]] +name = "dlib" +version = "0.5.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "330c60081dcc4c72131f8eb70510f1ac07223e5d4163db481a04a0befcffa412" +dependencies = [ + "libloading", +] + +[[package]] +name = "downcast-rs" +version = "1.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2" + [[package]] name = "either" version = "1.15.0" @@ -554,6 +569,12 @@ dependencies = [ "zune-inflate", ] +[[package]] +name = "fastrand" +version = "2.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "37909eebbb50d72f9059c3b6d82c0463f2ff062c9e95845c43a6c9c0355411be" + [[package]] name = "fdeflate" version = "0.3.7" @@ -579,6 +600,95 @@ dependencies = [ "miniz_oxide", ] +[[package]] +name = "futures" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876" +dependencies = [ + "futures-channel", + "futures-core", + "futures-executor", + "futures-io", + "futures-sink", + "futures-task", + "futures-util", +] + +[[package]] +name = "futures-channel" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10" +dependencies = [ + "futures-core", + "futures-sink", +] + +[[package]] +name = "futures-core" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e" + +[[package]] +name = "futures-executor" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f" +dependencies = [ + "futures-core", + "futures-task", + "futures-util", +] + +[[package]] +name = "futures-io" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6" + +[[package]] +name = "futures-macro" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + +[[package]] +name = "futures-sink" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7" + +[[package]] +name = "futures-task" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988" + +[[package]] +name = "futures-util" +version = "0.3.31" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81" +dependencies = [ + "futures-channel", + "futures-core", + "futures-io", + "futures-macro", + "futures-sink", + "futures-task", + "memchr", + "pin-project-lite", + "pin-utils", + "slab", +] + [[package]] name = "getrandom" version = "0.2.12" @@ -609,7 +719,7 @@ dependencies = [ "bitflags 1.3.2", "glfw-sys", "objc", - "raw-window-handle", + "raw-window-handle 0.5.2", "winapi", ] @@ -777,6 +887,18 @@ dependencies = [ "hashbrown", ] +[[package]] +name = "instant" +version = "0.1.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e0242819d153cba4b4b05a5a8f2a7e9bbf97b6055b2a002b395c96b5ff3c0222" +dependencies = [ + "cfg-if", + "js-sys", + "wasm-bindgen", + "web-sys", +] + [[package]] name = "interpolate_name" version = "0.2.4" @@ -846,6 +968,16 @@ version = "0.3.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "00810f1d8b74be64b13dbf3db89ac67740615d6c891f0e7b6179326533011a07" +[[package]] +name = "js-sys" +version = "0.3.77" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1cfaf33c695fc6e08064efbc1f72ec937429614f25eef83af942d0e227c3a28f" +dependencies = [ + "once_cell", + "wasm-bindgen", +] + [[package]] name = "lazy_static" version = "1.5.0" @@ -1033,6 +1165,15 @@ version = "2.7.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149" +[[package]] +name = "memoffset" +version = "0.6.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5aa361d4faea93603064a027415f07bd8e1d5c88c9fbf68bf56a285428fd79ce" +dependencies = [ + "autocfg", +] + [[package]] name = "memoffset" version = "0.7.1" @@ -1042,6 +1183,32 @@ dependencies = [ "autocfg", ] +[[package]] +name = "minifb" +version = "0.27.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b0c470a74618b43cd182c21b3dc1e6123501249f3bad9a0085e95d1304ca2478" +dependencies = [ + "cc", + "dlib", + "futures", + "instant", + "js-sys", + "lazy_static", + "libc 0.2.152", + "orbclient", + "raw-window-handle 0.6.2", + "serde", + "serde_derive", + "tempfile", + "wasm-bindgen-futures", + "wayland-client", + "wayland-cursor", + "wayland-protocols", + "winapi", + "x11-dl", +] + [[package]] name = "minimal-lexical" version = "0.2.1" @@ -1115,6 +1282,18 @@ version = "1.0.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "650eef8c711430f1a879fdd01d4745a7deea475becfb90269c06775983bbf086" +[[package]] +name = "nix" +version = "0.24.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fa52e972a9a719cecb6864fb88568781eb706bac2cd1d4f04a648542dbf78069" +dependencies = [ + "bitflags 1.3.2", + "cfg-if", + "libc 0.2.152", + "memoffset 0.6.5", +] + [[package]] name = "nix" version = "0.26.4" @@ -1124,7 +1303,7 @@ dependencies = [ "bitflags 1.3.2", "cfg-if", "libc 0.2.152", - "memoffset", + "memoffset 0.7.1", "pin-utils", ] @@ -1266,6 +1445,18 @@ version = "0.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "04744f49eae99ab78e0d5c0b603ab218f515ea8cfe5a456d7629ad883a3b6e7d" +[[package]] +name = "orbclient" +version = "0.3.47" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "52f0d54bde9774d3a51dcf281a5def240c71996bc6ca05d2c847ec8b2b216166" +dependencies = [ + "libc 0.2.152", + "libredox 0.0.2", + "sdl2", + "sdl2-sys", +] + [[package]] name = "parking_lot_core" version = "0.9.11" @@ -1518,6 +1709,12 @@ version = "0.5.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "f2ff9a1f06a88b01621b7ae906ef0211290d1c8a168a15542486a8f61c0833b9" +[[package]] +name = "raw-window-handle" +version = "0.6.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539" + [[package]] name = "rawpointer" version = "0.2.1" @@ -1639,6 +1836,7 @@ dependencies = [ "gz-msgs-common", "image", "mavlink", + "minifb", "mujoco-rs-sys", "mujoco-rust", "nom-kconfig", @@ -1693,12 +1891,41 @@ dependencies = [ "bytemuck", ] +[[package]] +name = "scoped-tls" +version = "1.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294" + [[package]] name = "scopeguard" version = "1.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49" +[[package]] +name = "sdl2" +version = "0.35.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f7959277b623f1fb9e04aea73686c3ca52f01b2145f8ea16f4ff30d8b7623b1a" +dependencies = [ + "bitflags 1.3.2", + "lazy_static", + "libc 0.2.152", + "sdl2-sys", +] + +[[package]] +name = "sdl2-sys" +version = "0.35.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e3586be2cf6c0a8099a79a12b4084357aa9b3e0b0d7980e3b67aaf7a9d55f9f0" +dependencies = [ + "cfg-if", + "libc 0.2.152", + "version-compare 0.1.1", +] + [[package]] name = "sendfd" version = "0.4.3" @@ -1811,7 +2038,7 @@ dependencies = [ "core-foundation-sys", "io-kit-sys", "mach2", - "nix", + "nix 0.26.4", "regex", "scopeguard", "unescaper", @@ -1852,6 +2079,12 @@ dependencies = [ "quote", ] +[[package]] +name = "slab" +version = "0.4.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7a2ae44ef20feb57a68b23d846850f861394c2e02dc425a50098ae8c90267589" + [[package]] name = "smallvec" version = "1.15.1" @@ -1866,7 +2099,7 @@ checksum = "c2800c129338c77998c1dcb6d4200447e018beb7d29959eb104cba2d45f83c1a" dependencies = [ "bitflags 2.4.2", "libc 0.2.152", - "nix", + "nix 0.26.4", ] [[package]] @@ -1907,7 +2140,7 @@ dependencies = [ "heck 0.5.0", "pkg-config", "toml", - "version-compare", + "version-compare 0.2.0", ] [[package]] @@ -1916,6 +2149,19 @@ version = "0.12.16" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1" +[[package]] +name = "tempfile" +version = "3.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b8fcd239983515c23a32fb82099f97d0b11b8c72f654ed659363a95c3dad7a53" +dependencies = [ + "cfg-if", + "fastrand", + "once_cell", + "rustix", + "windows-sys 0.52.0", +] + [[package]] name = "termion" version = "3.0.0" @@ -2056,6 +2302,12 @@ dependencies = [ "wasm-bindgen", ] +[[package]] +name = "version-compare" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "579a42fc0b8e0c63b76519a339be31bed574929511fa53c1a3acae26eb258f29" + [[package]] name = "version-compare" version = "0.2.0" @@ -2094,6 +2346,19 @@ dependencies = [ "wasm-bindgen-shared", ] +[[package]] +name = "wasm-bindgen-futures" +version = "0.4.50" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "555d470ec0bc3bb57890405e5d4322cc9ea83cebb085523ced7be4144dac1e61" +dependencies = [ + "cfg-if", + "js-sys", + "once_cell", + "wasm-bindgen", + "web-sys", +] + [[package]] name = "wasm-bindgen-macro" version = "0.2.100" @@ -2126,6 +2391,89 @@ dependencies = [ "unicode-ident", ] +[[package]] +name = "wayland-client" +version = "0.29.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3f3b068c05a039c9f755f881dc50f01732214f5685e379829759088967c46715" +dependencies = [ + "bitflags 1.3.2", + "downcast-rs", + "libc 0.2.152", + "nix 0.24.3", + "scoped-tls", + "wayland-commons", + "wayland-scanner", + "wayland-sys", +] + +[[package]] +name = "wayland-commons" +version = "0.29.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8691f134d584a33a6606d9d717b95c4fa20065605f798a3f350d78dced02a902" +dependencies = [ + "nix 0.24.3", + "once_cell", + "smallvec", + "wayland-sys", +] + +[[package]] +name = "wayland-cursor" +version = "0.29.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6865c6b66f13d6257bef1cd40cbfe8ef2f150fb8ebbdb1e8e873455931377661" +dependencies = [ + "nix 0.24.3", + "wayland-client", + "xcursor", +] + +[[package]] +name = "wayland-protocols" +version = "0.29.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b950621f9354b322ee817a23474e479b34be96c2e909c14f7bc0100e9a970bc6" +dependencies = [ + "bitflags 1.3.2", + "wayland-client", + "wayland-commons", + "wayland-scanner", +] + +[[package]] +name = "wayland-scanner" +version = "0.29.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8f4303d8fa22ab852f789e75a967f0a2cdc430a607751c0499bada3e451cbd53" +dependencies = [ + "proc-macro2", + "quote", + "xml-rs", +] + +[[package]] +name = "wayland-sys" +version = "0.29.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "be12ce1a3c39ec7dba25594b97b42cb3195d54953ddb9d3d95a7c3902bc6e9d4" +dependencies = [ + "dlib", + "lazy_static", + "pkg-config", +] + +[[package]] +name = "web-sys" +version = "0.3.77" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "33b6dd2ef9186f1f2072e409e99cd22a975331a6b3591b12c764e0e55c60d5d2" +dependencies = [ + "js-sys", + "wasm-bindgen", +] + [[package]] name = "weezl" version = "0.1.10" @@ -2317,6 +2665,29 @@ dependencies = [ "memchr", ] +[[package]] +name = "x11-dl" +version = "2.21.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "38735924fedd5314a6e548792904ed8c6de6636285cb9fec04d5b1db85c1516f" +dependencies = [ + "libc 0.2.152", + "once_cell", + "pkg-config", +] + +[[package]] +name = "xcursor" +version = "0.3.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bec9e4a500ca8864c5b47b8b482a73d62e4237670e5b5f1d6b9e3cae50f28f2b" + +[[package]] +name = "xml-rs" +version = "0.8.27" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6fd8403733700263c6eb89f192880191f1b83e332f7a20371ddcf421c4a337c7" + [[package]] name = "zune-core" version = "0.4.12" diff --git a/Cargo.toml b/Cargo.toml index abc47ff..33bf025 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -24,7 +24,7 @@ mujoco-rust = { version = "0.0.6", optional = true} mujoco-rs-sys = {version = "0.0.4", optional = true} image = { version = "0.25.6", optional = true} glfw = { version = "0.51", optional = true} - +minifb = { version = "0.27", optional = true} [dev-dependencies] bitfield = "0.14" @@ -35,7 +35,7 @@ rand = "0.8.4" [features] default = [] gzsim = ["rpos/lock_step_enabled","gz","gz-msgs-common"] -mujoco = ["mujoco-rust","mujoco-rs-sys","image","glfw"] +mujoco = ["mujoco-rust","mujoco-rs-sys","image","glfw", "minifb"] [build-dependencies] diff --git a/sim/mujoco_x2/scene.xml b/sim/mujoco_x2/scene.xml index b32de3b..265c7c8 100644 --- a/sim/mujoco_x2/scene.xml +++ b/sim/mujoco_x2/scene.xml @@ -19,5 +19,11 @@ + + + + + + diff --git a/sim/mujoco_x2/x2.xml b/sim/mujoco_x2/x2.xml index 49449ed..1b35e64 100644 --- a/sim/mujoco_x2/x2.xml +++ b/sim/mujoco_x2/x2.xml @@ -50,6 +50,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -64,6 +96,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/main.rs b/src/main.rs index 4bc84c9..6f22ce1 100644 --- a/src/main.rs +++ b/src/main.rs @@ -15,6 +15,8 @@ mod mujoco_sim; mod mujoco_vedio_streaming; #[cfg(feature = "mujoco")] mod mujoco_ui; +#[cfg(feature = "mujoco")] +mod mujoco_lidar; mod fake_linux_input; mod att_control; diff --git a/src/mujoco_lidar.rs b/src/mujoco_lidar.rs new file mode 100644 index 0000000..04e0cf2 --- /dev/null +++ b/src/mujoco_lidar.rs @@ -0,0 +1,148 @@ +use minifb::{Window, WindowOptions}; +use std::f64::consts::PI; + +pub fn init_lidar_window(width: usize, height: usize) -> Result> { + let window = Window::new( + "LiDAR Scan (Press ESC to exit)", + width, + height, + WindowOptions { + borderless: true, // 禁用窗口装饰 + ..WindowOptions::default() + } + )?; + Ok(window) +} + +pub fn update_lidar_buffer( + lidar_width: usize, + lidar_height: usize, + buffer: &mut [u32], + rf_ids: &[u16], + angles: &[u16], + simulation: &mujoco_rust::Simulation, +) { + // Lidar 坐标线 + let center_x = lidar_width as f64 / 2.0; + let center_y = lidar_height as f64 / 2.0; + let max_radius = 10.0; // 最大距离10米 + let pixels_per_meter = (lidar_width as f64 / 2.0 - 20.0) / max_radius; + + // update lidar window + buffer.fill(0xFFFFFFFF); // 白色背景，确保清除上一次记录点 + + for r in 1..=10 { + let radius = r as f64 * pixels_per_meter; + draw_circle_outline(buffer, lidar_width, lidar_height, center_x, center_y, radius, 0x800000); + } + + for theta in (0..360).step_by(30) { + let theta_rad = theta as f64 * PI / 180.0; + let x1 = center_x; + let y1 = center_y; + let x2 = center_x + (max_radius * pixels_per_meter) * theta_rad.cos(); + let y2 = center_y + (max_radius * pixels_per_meter) * theta_rad.sin(); + draw_line(buffer, lidar_width, lidar_height, x1, y1, x2, y2, 0xFF000000); // 黑色角度线 + } + + let mut points = Vec::new(); + for (i, &id) in rf_ids.iter().enumerate() { + let distance = simulation.sensordata()[(id +1) as usize]; + let theta = angles[i] as f64 * PI / 180.0; + if distance >= 0.0 && distance <= 10.0 { + points.push((theta, distance)); + } + } + + // 绘制激光雷达点（黑色） + for (theta, r) in &points { + let x = center_x + (r * pixels_per_meter) * theta.cos(); + let y = center_y + (r * pixels_per_meter) * theta.sin(); + draw_circle(buffer, lidar_width, lidar_height, x, y, 3.0, 0xFF000000); + } +} + +// 绘制圆形 +pub fn draw_circle(buffer: &mut [u32], width: usize, height: usize, cx: f64, cy: f64, radius: f64, color: u32) { + let cx = cx.round() as i32; + let cy = cy.round() as i32; + let radius = radius.round() as i32; + for y in (cy - radius).max(0)..(cy + radius + 1).min(height as i32) { + for x in (cx - radius).max(0)..(cx + radius + 1).min(width as i32) { + let dx = x - cx; + let dy = y - cy; + if dx * dx + dy * dy <= radius * radius { + buffer[(y * width as i32 + x) as usize] = color; + } + } + } +} + + +// 绘制空心圆环（用于距离网格，细线） +pub fn draw_circle_outline(buffer: &mut [u32], width: usize, height: usize, cx: f64, cy: f64, radius: f64, color: u32) { + let cx = cx.round() as i32; + let cy = cy.round() as i32; + let radius = radius.round() as i32; + let mut x = radius; + let mut y = 0; + let mut err = 0; + + while x >= y { + let points = [ + (cx + x, cy + y), + (cx + y, cy + x), + (cx - y, cy + x), + (cx - x, cy + y), + (cx - x, cy - y), + (cx - y, cy - x), + (cx + y, cy - x), + (cx + x, cy - y), + ]; + + for (px, py) in points.iter() { + if *px >= 0 && *px < width as i32 && *py >= 0 && *py < height as i32 { + buffer[(*py * width as i32 + *px) as usize] = color; + } + } + + y += 1; + err += 1 + 2 * y; + if 2 * (err - x) + 1 > 0 { + x -= 1; + err += 1 - 2 * x; + } + } +} + +// 绘制线条（Bresenham 算法） +pub fn draw_line(buffer: &mut [u32], width: usize, height: usize, x1: f64, y1: f64, x2: f64, y2: f64, color: u32) { + let mut x1 = x1.round() as i32; + let mut y1 = y1.round() as i32; + let x2 = x2.round() as i32; + let y2 = y2.round() as i32; + + let dx = (x2 - x1).abs(); + let dy = (y2 - y1).abs(); + let sx = if x1 < x2 { 1 } else { -1 }; + let sy = if y1 < y2 { 1 } else { -1 }; + let mut err = dx - dy; + + loop { + if x1 >= 0 && x1 < width as i32 && y1 >= 0 && y1 < height as i32 { + buffer[(y1 * width as i32 + x1) as usize] = color; + } + if x1 == x2 && y1 == y2 { + break; + } + let e2 = 2 * err; + if e2 > -dy { + err -= dy; + x1 += sx; + } + if e2 < dx { + err += dx; + y1 += sy; + } + } +} \ No newline at end of file diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs index cf2a5bb..852d436 100644 --- a/src/mujoco_sim.rs +++ b/src/mujoco_sim.rs @@ -14,8 +14,11 @@ use std::ptr; use mujoco_rust::Simulation; use mujoco_rs_sys::render::*; use std::io::Write; +use mujoco_rust::model::ObjType; + use crate::mujoco_ui; use crate::mujoco_vedio_streaming; +use crate::mujoco_lidar; unsafe impl Send for MujocoSim {} unsafe impl Sync for MujocoSim {} @@ -32,6 +35,8 @@ struct MujocoSim { gyro_tx: Sender, acc_tx: Sender, attitude_tx: Sender, + rf_ids: Vec, + angles: Vec, } impl MujocoSim{ @@ -84,23 +89,37 @@ impl MujocoSim{ } - pub fn mujoco_sim_event_loop(sim: Arc, actuator_num: usize) { + fn mujoco_sim_event_loop(sim: Arc, actuator_num: usize) -> Result<(), Box> { let mut mixer_rx = get_new_rx_of_message::("mixer_output").unwrap(); let mut ctrl: Vec = vec![0.0; actuator_num as usize]; let mut i = 0; + + // init lidar + let lidar_width = 800; + let lidar_height = 800; + let mut buffer: Vec = vec![0; lidar_width * lidar_height]; + let mut lidar_window = minifb::Window::new( + "LiDAR Scan (Press ESC to exit)", + lidar_width, + lidar_height, + minifb::WindowOptions { + borderless: true, + ..minifb::WindowOptions::default() + }, + )?; + // ui // let (mut cam, mut opt, mut scn, mut con, mut window) = mujoco_ui::init_glfw(&sim.simulation); - // vedio streaming let mut ffmpeg = mujoco_vedio_streaming::init_ffmpeg(); let mut stdin = ffmpeg.stdin.take().unwrap(); // Take the stdin handle - let (mut window, mut VS_cam, mut VS_vopt, mut VS_scene, mut VS_context) = mujoco_vedio_streaming::init_glfw(&sim.simulation); + let (mut window, mut vs_cam, mut vs_vopt, mut vs_scene, mut vs_context) = mujoco_vedio_streaming::init_glfw(&sim.simulation); // distance between view and model - VS_cam.distance = 10.0; + vs_cam.distance = 10.0; sim.simulation.control(&ctrl); loop { @@ -113,6 +132,10 @@ impl MujocoSim{ } } let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); + + // update Lidar window + mujoco_lidar::update_lidar_buffer(lidar_width, lidar_height, &mut buffer, &sim.rf_ids, &sim.angles, &sim.simulation); + lidar_window.update_with_buffer(&buffer, lidar_width, lidar_height)?; sim.simulation.control(&ctrl); @@ -121,19 +144,19 @@ impl MujocoSim{ let pos = sim.simulation.qpos(); sim.update_mj_sensor(); - let frame = mujoco_vedio_streaming::update_mjscene(&sim.simulation, &mut VS_cam, &mut VS_vopt, &mut VS_scene, &mut VS_context); - stdin.write_all(&frame); + let frame = mujoco_vedio_streaming::update_mjscene(&sim.simulation, &mut vs_cam, &mut vs_vopt, &mut vs_scene, &mut vs_context); + let _ = stdin.write_all(&frame); // ui界面 - // mujoco_ui::update_Mjscene(&sim.simulation, &mut window, &mut cam, &mut opt, &mut scn, &mut con); + // mujoco_ui::update_mjscene(&sim.simulation, &mut window, &mut cam, &mut opt, &mut scn, &mut con); // time step std::thread::sleep(std::time::Duration::from_millis(10)); } unsafe { - mjv_freeScene(&mut VS_scene); - mjr_freeContext(&mut VS_context); + mjv_freeScene(&mut vs_scene); + mjr_freeContext(&mut vs_context); } // 关闭 stdin @@ -143,13 +166,14 @@ impl MujocoSim{ match ffmpeg.wait_with_output() { Ok(output) => { if !output.status.success() { - eprintln!("FFmpeg 错误: {}", String::from_utf8_lossy(&output.stderr)); - return; + eprintln!("FFmpeg error: {}", String::from_utf8_lossy(&output.stderr)); + return Ok(()); } + Ok(()) } Err(e) => { - eprintln!("错误: 等待 FFmpeg 失败: {}", e); - return; + eprintln!("Error: wait for FFmpeg failed: {}", e); + return Ok(()); } } } @@ -159,7 +183,15 @@ impl MujocoSim{ let model = mujoco_rust::Model::from_xml(xml_filename).unwrap(); // let mj_model = unsafe { *model.ptr() }; let simulation = mujoco_rust::Simulation::new(model.clone()); - + + // Lidar + let angles = vec![0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, 195, 210, 225, 240, 255, 270, 285, 300, 315, 330, 345]; + let mut rf_ids = Vec::new(); + for angle in angles.iter() { + let sensor_name = format!("rf_{}", angle); + let id = model.name_to_id(ObjType::SITE, &sensor_name).unwrap(); + rf_ids.push(id as u16); + } let sim = Arc::new_cyclic(|_| { let a = MujocoSim { model: model.clone(), @@ -167,6 +199,8 @@ impl MujocoSim{ gyro_tx: get_new_tx_of_message("gyro").unwrap(), acc_tx: get_new_tx_of_message("acc").unwrap(), attitude_tx: get_new_tx_of_message("attitude").unwrap(), + rf_ids: rf_ids, + angles: angles }; a }); @@ -184,9 +218,10 @@ pub fn init_mujoco_sim(_argc: u32, _argv: *const &str){ println!("MujocoSim inited!"); std::thread::spawn(move || { - MujocoSim::mujoco_sim_event_loop(sim, actuator_num); + if let Err(e) = MujocoSim::mujoco_sim_event_loop(sim, actuator_num) { + eprintln!("模拟线程错误: {:?}", e); + } }); - } diff --git a/src/mujoco_ui.rs b/src/mujoco_ui.rs index d9353ce..d9c55fb 100644 --- a/src/mujoco_ui.rs +++ b/src/mujoco_ui.rs @@ -42,7 +42,7 @@ pub fn init_glfw(sim: &Simulation) -> (mjvCamera_, mjvOption_, mjvScene_, mjrCon } -pub fn update_Mjscene( +pub fn update_mjscene( sim: &Simulation, window: &mut glfw::Window, cam: &mut mujoco_rs_sys::no_render::mjvCamera_, From 444364a8ba4c94314d91b990ec2dbfe42f0e625b Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Sat, 13 Sep 2025 15:41:15 +0800 Subject: [PATCH 10/17] complete new module for display. --- Cargo.lock | 27 ++++ Cargo.toml | 3 +- sim/mujoco_x2/x2.xml | 21 ++- src/main.rs | 4 +- src/mujoco_display.rs | 239 ++++++++++++++++++++++++++++++++++ src/mujoco_sim.rs | 70 +++++----- src/mujoco_ui.rs | 75 ----------- src/mujoco_vedio_streaming.rs | 169 ------------------------ 8 files changed, 329 insertions(+), 279 deletions(-) create mode 100644 src/mujoco_display.rs delete mode 100644 src/mujoco_ui.rs delete mode 100644 src/mujoco_vedio_streaming.rs diff --git a/Cargo.lock b/Cargo.lock index 904492d..ad51724 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -710,6 +710,26 @@ dependencies = [ "weezl", ] +[[package]] +name = "gl" +version = "0.14.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a94edab108827d67608095e269cf862e60d920f144a5026d3dbcfd8b877fb404" +dependencies = [ + "gl_generator", +] + +[[package]] +name = "gl_generator" +version = "0.14.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1a95dfc23a2b4a9a2f5ab41d194f8bfda3cabec42af4e39f08c339eb2a0c124d" +dependencies = [ + "khronos_api", + "log", + "xml-rs", +] + [[package]] name = "glfw" version = "0.51.0" @@ -978,6 +998,12 @@ dependencies = [ "wasm-bindgen", ] +[[package]] +name = "khronos_api" +version = "3.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e2db585e1d738fc771bf08a151420d3ed193d9d895a36df7f6f8a9456b911ddc" + [[package]] name = "lazy_static" version = "1.5.0" @@ -1831,6 +1857,7 @@ dependencies = [ "crc", "crsf", "dashmap", + "gl", "glfw", "gz", "gz-msgs-common", diff --git a/Cargo.toml b/Cargo.toml index 33bf025..95b814a 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -24,6 +24,7 @@ mujoco-rust = { version = "0.0.6", optional = true} mujoco-rs-sys = {version = "0.0.4", optional = true} image = { version = "0.25.6", optional = true} glfw = { version = "0.51", optional = true} +gl = { version = "0.14", optional = true} minifb = { version = "0.27", optional = true} [dev-dependencies] @@ -35,7 +36,7 @@ rand = "0.8.4" [features] default = [] gzsim = ["rpos/lock_step_enabled","gz","gz-msgs-common"] -mujoco = ["mujoco-rust","mujoco-rs-sys","image","glfw", "minifb"] +mujoco = ["mujoco-rust","mujoco-rs-sys","image","glfw", "minifb","gl"] [build-dependencies] diff --git a/sim/mujoco_x2/x2.xml b/sim/mujoco_x2/x2.xml index 1b35e64..00abb69 100644 --- a/sim/mujoco_x2/x2.xml +++ b/sim/mujoco_x2/x2.xml @@ -34,7 +34,26 @@ - + + + + + + + + + + + + + + + + + + + + diff --git a/src/main.rs b/src/main.rs index 6f22ce1..06d4478 100644 --- a/src/main.rs +++ b/src/main.rs @@ -12,9 +12,7 @@ mod gazebo_actuator; #[cfg(feature = "mujoco")] mod mujoco_sim; #[cfg(feature = "mujoco")] -mod mujoco_vedio_streaming; -#[cfg(feature = "mujoco")] -mod mujoco_ui; +mod mujoco_display; #[cfg(feature = "mujoco")] mod mujoco_lidar; diff --git a/src/mujoco_display.rs b/src/mujoco_display.rs new file mode 100644 index 0000000..2e35b1f --- /dev/null +++ b/src/mujoco_display.rs @@ -0,0 +1,239 @@ +// ui.rs +use mujoco_rs_sys::render; +use mujoco_rs_sys::no_render; +use glfw; +use glfw::Context; +use gl; +use mujoco_rust::Simulation; +use std::ptr; + +use mujoco_rust::model::ObjType; +use image::{RgbImage, ImageBuffer}; +use std::process::{Command, Stdio}; + +pub struct UIState { + pub cameras: Vec, + pub opt: render::mjvOption_, + pub scenes: Vec, + pub contexts: Vec, // 改为 Vec 以支持多个上下文 + pub window: glfw::Window, + // pub events: glfw::Receiver<(f64, glfw::WindowEvent)>, +} + +pub fn glfw_init(simulation: &Simulation, cam_ids: &[i32]) -> UIState { + let mut glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap(); + glfw.default_window_hints(); + + let (mut window, events) = if cam_ids[0] == 0x7FFFFFFF { + glfw.create_window(1200, 900, "MuJoCo UI", glfw::WindowMode::Windowed) + .expect("无法创建 GLFW 窗口") + } else { + glfw.window_hint(glfw::WindowHint::Visible(false)); + glfw.create_window(640, 480, "hidden", glfw::WindowMode::Windowed) + .expect("无法创建 GLFW 窗口") + }; + + // 设置窗口为当前上下文 + window.make_current(); + window.set_key_polling(true); + window.set_cursor_pos_polling(true); + window.set_mouse_button_polling(true); + window.set_scroll_polling(true); + + gl::load_with(|symbol| window.get_proc_address(symbol) as *const _); + + // 初始化 MuJoCo 结构 + let mut cameras = Vec::new(); + let mut scenes = Vec::new(); + let mut contexts = Vec::new(); + let mut opt = render::mjvOption_::default(); + + for &cam_id in cam_ids { + let mut cam = render::mjvCamera_::default(); + let mut scn = render::mjvScene_::default(); + let mut con = render::mjrContext_::default(); + + unsafe { + no_render::mjv_defaultCamera(&mut cam); + render::mjv_defaultScene(&mut scn); + render::mjr_defaultContext(&mut con); + + // 为每个相机初始化场景和上下文 + no_render::mjv_makeScene(simulation.model.ptr(), &mut scn, 2000); + render::mjr_makeContext(simulation.model.ptr(), &mut con, 200); + } + if cam_id == 0x7FFFFFFF { + cam.type_ = 1; // 自由相机 + cam.trackbodyid = 1; // 设置跟踪的物体 ID + // cam.fixedcamid = -1; // 跟踪模式不需要 fixedcamid + cam.distance = 5.0; // 设置初始距离 + } else { + cam.fixedcamid = cam_id; + cam.type_ = 2; // 固定相机 + } + + cameras.push(cam); + scenes.push(scn); + contexts.push(con); + } + + unsafe { + no_render::mjv_defaultOption(&mut opt); + } + + UIState { + cameras, + opt, + scenes, + contexts, + window, + // events, // 返回 events 以供主循环使用 + } +} + +pub fn glfw_update_scene(simulation: &Simulation, ui_state: &mut UIState) { + ui_state.window.make_current(); + unsafe { + // 获取窗口大小 + let (width, height) = ui_state.window.get_framebuffer_size(); + let num_cameras = ui_state.cameras.len().min(4); + let cols = if num_cameras < 2 { 1 } else { 2 }; + let rows = if num_cameras <= 2 { 1 } else { 2 }; + let sub_window_width = width / cols as i32; + let sub_window_height = height / rows as i32; + + // 清除帧缓冲区 + gl::Clear(gl::COLOR_BUFFER_BIT | gl::DEPTH_BUFFER_BIT); + + // 更新并渲染每个场景 + for i in 0..num_cameras { + // 更新当前相机的场景 + no_render::mjv_updateScene( + simulation.model.ptr(), + simulation.state.ptr(), + &ui_state.opt, + ptr::null(), + &mut ui_state.cameras[i], + 0xFFFFFF, + &mut ui_state.scenes[i], + ); + + // 计算网格中的行和列 + let row = i / cols; // 行索引 + let col = i % cols; // 列索引 + + // 定义当前子窗口的视口 + let viewport = render::mjrRect_ { + left: col as i32 * sub_window_width, + bottom: (rows - 1 - row) as i32 * sub_window_height, // 从底部开始，翻转行顺序 + width: sub_window_width, + height: sub_window_height, + }; + + // 在视口中渲染场景 + render::mjr_render(viewport, &mut ui_state.scenes[i], &mut ui_state.contexts[i]); + } + + // 交换缓冲区以显示 + ui_state.window.swap_buffers(); + } +} + +pub fn init_ffmpeg() -> std::process::Child { + let rtsp_url = "rtsp://localhost:8554/mystream".to_string(); + let mut ffmpeg = Command::new("ffmpeg") + .args([ + "-f", "rawvideo", + "-pixel_format", "rgb24", + "-video_size", "640x480", + "-framerate", "30", + "-i", "pipe:", + "-c:v", "libx264", + "-pix_fmt", "yuv420p", + "-preset", "ultrafast", + "-tune", "zerolatency", + "-f", "rtsp", + "-rtsp_transport", "tcp", + &rtsp_url + ]) + .stdin(Stdio::piped()) + .stderr(Stdio::piped()) + .spawn() // Spawn the process + .expect("Failed to start FFmpeg"); + + ffmpeg +} + +pub fn update_mjscene(simulation: &Simulation, ui_state: &mut UIState) -> Vec { + ui_state.window.make_current(); + unsafe { + // 获取窗口大小 + let (width, height) = ui_state.window.get_framebuffer_size(); + let num_cameras = ui_state.cameras.len().min(4); + let cols = if num_cameras < 2 { 1 } else { 2 }; + let rows = if num_cameras <= 2 { 1 } else { 2 }; + let sub_window_width = width / cols as i32; + let sub_window_height = height / rows as i32; + + // 清除帧缓冲区 + gl::Clear(gl::COLOR_BUFFER_BIT | gl::DEPTH_BUFFER_BIT); + + // 更新并渲染每个场景 + for i in 0..num_cameras { + // 更新当前相机的场景 + no_render::mjv_updateScene( + simulation.model.ptr(), + simulation.state.ptr(), + &ui_state.opt, + ptr::null(), + &mut ui_state.cameras[i], + 0xFFFFFF, + &mut ui_state.scenes[i], + ); + + // 计算网格中的行和列 + let row = i / cols; // 行索引 + let col = i % cols; // 列索引 + + // 定义当前子窗口的视口 + let viewport = render::mjrRect_ { + left: col as i32 * sub_window_width, + bottom: (rows - 1 - row) as i32 * sub_window_height, // 从底部开始，翻转行顺序 + width: sub_window_width, + height: sub_window_height, + }; + + // 在视口中渲染场景 + render::mjr_render(viewport, &mut ui_state.scenes[i], &mut ui_state.contexts[i]); + } + + // 分配 RGB 缓冲区 + let mut rgb = vec![0u8; (width * height * 3) as usize]; + + // 定义整个窗口的视口 + let full_viewport = render::mjrRect_ { + left: 0, + bottom: 0, + width: width, + height: height, + }; + + gl::PixelStorei(gl::PACK_ALIGNMENT, 1); + + // 读取整个窗口的像素 + render::mjr_readPixels(rgb.as_mut_ptr(), ptr::null_mut(), full_viewport, &mut ui_state.contexts[0]); + + // 垂直翻转图像 + let mut flipped_rgb = vec![0u8; (width * height * 3) as usize]; + for y in 0..height { + for x in 0..width { + let src_idx = ((y * width + x) * 3) as usize; + let dst_idx = (((height - 1 - y) * width + x) * 3) as usize; + flipped_rgb[dst_idx] = rgb[src_idx]; + flipped_rgb[dst_idx + 1] = rgb[src_idx + 1]; + flipped_rgb[dst_idx + 2] = rgb[src_idx + 2]; + } + } + flipped_rgb + } +} \ No newline at end of file diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs index 852d436..e2d25b1 100644 --- a/src/mujoco_sim.rs +++ b/src/mujoco_sim.rs @@ -16,8 +16,7 @@ use mujoco_rs_sys::render::*; use std::io::Write; use mujoco_rust::model::ObjType; -use crate::mujoco_ui; -use crate::mujoco_vedio_streaming; +use crate::mujoco_display; use crate::mujoco_lidar; unsafe impl Send for MujocoSim {} @@ -97,29 +96,33 @@ impl MujocoSim{ // init lidar - let lidar_width = 800; - let lidar_height = 800; - let mut buffer: Vec = vec![0; lidar_width * lidar_height]; - let mut lidar_window = minifb::Window::new( - "LiDAR Scan (Press ESC to exit)", - lidar_width, - lidar_height, - minifb::WindowOptions { - borderless: true, - ..minifb::WindowOptions::default() - }, - )?; - - // ui - // let (mut cam, mut opt, mut scn, mut con, mut window) = mujoco_ui::init_glfw(&sim.simulation); - - // vedio streaming - let mut ffmpeg = mujoco_vedio_streaming::init_ffmpeg(); + // let lidar_width = 800; + // let lidar_height = 800; + // let mut buffer: Vec = vec![0; lidar_width * lidar_height]; + // let mut lidar_window = minifb::Window::new( + // "LiDAR Scan (Press ESC to exit)", + // lidar_width, + // lidar_height, + // minifb::WindowOptions { + // borderless: true, + // ..minifb::WindowOptions::default() + // }, + // )?; + + let front_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "front_cam").unwrap() as i32; + let down_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "down_cam").unwrap() as i32; + let rear_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "rear_cam").unwrap() as i32; + let right_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "right_cam").unwrap() as i32; + + let body_id = sim.simulation.model.name_to_id(ObjType::BODY, "x2").unwrap() as i32; + + // ui 3rd viewer + let mut ui_state_3rd = mujoco_display::glfw_init(&sim.simulation, &[0x7FFFFFFF]); + + // vedio streaming 1st viewer + let mut ffmpeg = mujoco_display::init_ffmpeg(); let mut stdin = ffmpeg.stdin.take().unwrap(); // Take the stdin handle - let (mut window, mut vs_cam, mut vs_vopt, mut vs_scene, mut vs_context) = mujoco_vedio_streaming::init_glfw(&sim.simulation); - - // distance between view and model - vs_cam.distance = 10.0; + let mut ui_state_1st = mujoco_display::glfw_init(&sim.simulation, &[down_cam, front_cam, right_cam, rear_cam]); sim.simulation.control(&ctrl); loop { @@ -134,8 +137,8 @@ impl MujocoSim{ let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); // update Lidar window - mujoco_lidar::update_lidar_buffer(lidar_width, lidar_height, &mut buffer, &sim.rf_ids, &sim.angles, &sim.simulation); - lidar_window.update_with_buffer(&buffer, lidar_width, lidar_height)?; + // mujoco_lidar::update_lidar_buffer(lidar_width, lidar_height, &mut buffer, &sim.rf_ids, &sim.angles, &sim.simulation); + // lidar_window.update_with_buffer(&buffer, lidar_width, lidar_height)?; sim.simulation.control(&ctrl); @@ -144,19 +147,26 @@ impl MujocoSim{ let pos = sim.simulation.qpos(); sim.update_mj_sensor(); - let frame = mujoco_vedio_streaming::update_mjscene(&sim.simulation, &mut vs_cam, &mut vs_vopt, &mut vs_scene, &mut vs_context); + let frame = mujoco_display::update_mjscene(&sim.simulation, &mut ui_state_1st); let _ = stdin.write_all(&frame); // ui界面 - // mujoco_ui::update_mjscene(&sim.simulation, &mut window, &mut cam, &mut opt, &mut scn, &mut con); + mujoco_display::glfw_update_scene(&sim.simulation, &mut ui_state_3rd); + // mujoco_display::glfw_update_scene(&sim.simulation, &mut ui_state_1st); // time step std::thread::sleep(std::time::Duration::from_millis(10)); } unsafe { - mjv_freeScene(&mut vs_scene); - mjr_freeContext(&mut vs_context); + for i in 0..ui_state_1st.scenes.len() { + mjv_freeScene(&mut ui_state_1st.scenes[i]); + mjr_freeContext(&mut ui_state_1st.contexts[i]); + } + for i in 0..ui_state_3rd.scenes.len() { + mjv_freeScene(&mut ui_state_3rd.scenes[i]); + mjr_freeContext(&mut ui_state_3rd.contexts[i]); + } } // 关闭 stdin diff --git a/src/mujoco_ui.rs b/src/mujoco_ui.rs deleted file mode 100644 index d9c55fb..0000000 --- a/src/mujoco_ui.rs +++ /dev/null @@ -1,75 +0,0 @@ -// ui.rs -use mujoco_rs_sys::mjr_render; -use mujoco_rs_sys::render::*; -use mujoco_rs_sys::no_render::{mjv_makeScene}; -use glfw; -use glfw::Context; -use mujoco_rust::Simulation; -use std::ptr; - - -pub fn init_glfw(sim: &Simulation) -> (mjvCamera_, mjvOption_, mjvScene_, mjrContext_, glfw::Window) { - let mut glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap(); - - // 2. 创建窗口，并设置 OpenGL 上下文 - let (mut window, events) = glfw - .create_window(1200, 900, "MuJoCo UI", glfw::WindowMode::Windowed) - .expect("Unable to create GLFW window."); - - window.make_current(); - - window.set_key_polling(true); - window.set_cursor_pos_polling(true); - window.set_mouse_button_polling(true); - window.set_scroll_polling(true); - - // gl::load_with(|symbol| window.get_proc_address(symbol) as *const _); - - let mut cam = mjvCamera_::default(); - let mut opt = mjvOption_::default(); - let mut scn = mjvScene_::default(); - let mut con = mjrContext_::default(); - - unsafe{ - mjv_defaultCamera(&mut cam); - mjv_defaultOption(&mut opt); - mjv_defaultScene(&mut scn); - mjr_defaultContext(&mut con); - mjv_makeScene(sim.model.ptr(), &mut scn, 2000); - mjr_makeContext(sim.model.ptr(), &mut con, 200); - } - (cam, opt, scn, con, window) -} - - -pub fn update_mjscene( - sim: &Simulation, - window: &mut glfw::Window, - cam: &mut mujoco_rs_sys::no_render::mjvCamera_, - opt: &mut mujoco_rs_sys::no_render::mjvOption_, - scn: &mut mujoco_rs_sys::no_render::mjvScene_, - con: &mut mujoco_rs_sys::render::mjrContext_, -) { - unsafe { - mujoco_rs_sys::no_render::mjv_updateScene( - sim.model.ptr(), - sim.state.ptr(), - opt, - ptr::null(), - cam, - 0xFFFFFF, - scn, - ); - - let (width, height) = window.get_framebuffer_size(); - let viewport = mujoco_rs_sys::render::mjrRect_ { - left: 0, - bottom: 0, - width, - height, - }; - - mujoco_rs_sys::mjr_render(viewport, scn, con); - window.swap_buffers(); - } -} \ No newline at end of file diff --git a/src/mujoco_vedio_streaming.rs b/src/mujoco_vedio_streaming.rs deleted file mode 100644 index 6624592..0000000 --- a/src/mujoco_vedio_streaming.rs +++ /dev/null @@ -1,169 +0,0 @@ -use mujoco_rust::{Simulation, model::ObjType}; -// use nalgebra::{Vector3, Quaternion}; -use image::{RgbImage, ImageBuffer}; -use glfw::{Context, Window}; - -use mujoco_rs_sys::render::*; -use mujoco_rs_sys as sys; -use std::ptr; - -use std::process::{Command, Stdio}; - - -pub fn init_ffmpeg() -> std::process::Child { - let rtsp_url = "rtsp://localhost:8554/mystream".to_string(); - let mut ffmpeg = Command::new("ffmpeg") - .args([ - "-f", "rawvideo", - "-pixel_format", "rgb24", - "-video_size", "640x480", - "-framerate", "30", - "-i", "pipe:", - "-c:v", "libx264", - "-pix_fmt", "yuv420p", - "-preset", "ultrafast", - "-tune", "zerolatency", - "-f", "rtsp", - "-rtsp_transport", "tcp", - &rtsp_url - ]) - .stdin(Stdio::piped()) - .stderr(Stdio::piped()) - .spawn() // Spawn the process - .expect("Failed to start FFmpeg"); - - ffmpeg -} - - - -pub fn init_glfw(sim: &Simulation) -> (Window, mjvCamera_, mjvOption_, mjvScene_, mjrContext_) { - let mut glfw = glfw::init(glfw::FAIL_ON_ERRORS).unwrap(); - let width = 640; - let height = 480; - - // 创建隐藏窗口 - glfw.window_hint(glfw::WindowHint::Visible(false)); - let (mut window, _events) = glfw - .create_window( - width.try_into().unwrap(), - height.try_into().unwrap(), - "hidden", - glfw::WindowMode::Windowed, - ) - .expect("无法创建 GLFW 窗口"); - - // 激活 OpenGL 上下文 - window.make_current(); - glfw.make_context_current(Some(&window)); - - // 加载 OpenGL 函数（使用 GLAD 或其他加载器） - // gl::load_with(|symbol| window.get_proc_address(symbol) as *const _); - - let mut cam = mjvCamera_::default(); - let mut opt = mjvOption_::default(); - let mut scn = mjvScene_::default(); - let mut con = mjrContext_::default(); - - unsafe { - mjv_defaultCamera(&mut cam); - mjv_defaultOption(&mut opt); - // mjv_defaultScene(&mut scn); // 不需要，手动初始化 - mjr_defaultContext(&mut con); - mjv_makeScene(sim.model.ptr(), &mut scn, 2000); // 正确设置 maxgeom - mjr_makeContext(sim.model.ptr(), &mut con, 200); // mjFONTSCALE_200 - } - - (window, cam, opt, scn, con) -} - -pub fn update_mjscene( - sim: &Simulation, - cam: &mut mjvCamera_, - opt: &mut mjvOption_, - scn: &mut mjvScene_, - con: &mut mjrContext_, -) -> Vec { - let width = 640; - let height = 480; - cam.distance = 10.0; - unsafe { - sys::mjv_updateScene( - sim.model.ptr(), - sim.state.ptr(), - opt, // 应为 &opt - ptr::null(), - cam, - 0xFFFFFF, - scn, - ); - - let viewport = sys::render::mjrRect_ { - left: 0, - bottom: 0, - width, - height, - }; - - sys::mjr_render(viewport, scn, con); - - // 分配 RGB 缓冲区 - let mut rgb = vec![0u8; 640 * 480 * 3]; - let mut depth = vec![0f32; 640 * 480]; - - // 读取像素 - sys::mjr_readPixels(rgb.as_mut_ptr(), depth.as_mut_ptr(), viewport, con); - - // 垂直翻转图像 - let mut flipped_rgb = vec![0u8; (width * height * 3) as usize] ; - for y in 0..height { - for x in 0..width { - let src_idx :usize = ((y * width + x) * 3) as usize; - let dst_idx :usize = (((height - 1 - y) * width + x) * 3) as usize; - flipped_rgb[dst_idx] = rgb[src_idx]; - flipped_rgb[dst_idx + 1] = rgb[src_idx + 1]; - flipped_rgb[dst_idx + 2] = rgb[src_idx + 2]; - } - } - flipped_rgb - } -} - -// 释放 scene/context -pub fn free_camera(scene: &mut mjvScene_, - context: &mut sys::render::mjrContext_){ - unsafe{ - mjv_freeScene(scene); - sys::mjr_freeContext(context); - } -} - - -// fn get_camera_world_pose(sim: &Simulation, cam_name: &str) -> Option<(Vector3, Quaternion)> { -// let model = &sim.model; -// let cam_id = model.name_to_id(ObjType::CAMERA, cam_name)? as usize; -// let mj_model = unsafe { *model.ptr() }; - -// // 相机在绑定body坐标系下的位置 -// let pos = unsafe { -// let ptr = mj_model.cam_pos.add(cam_id * 3); -// Vector3::new(*ptr, *ptr.add(1), *ptr.add(2)) -// }; -// // 相机在绑定body坐标系下的四元数 -// let quat = unsafe { -// let ptr = mj_model.cam_quat.add(cam_id * 4); -// Quaternion::new(*ptr, *ptr.add(1), *ptr.add(2), *ptr.add(3)) -// }; -// // 相机绑定的body id -// let body_id = unsafe { *mj_model.cam_bodyid.add(cam_id) } as usize; - -// // 获取body的世界坐标和朝向 -// let body_pos = sim.model.bodies()[body_id].pos; -// let body_quat = sim.model.bodies()[body_id].quat; - -// // 相机的世界坐标 = body世界坐标 + body朝向旋转后的相机局部坐标 -// let world_pos = body_pos + body_quat * pos; -// let world_quat = body_quat * quat; - -// Some((world_pos, world_quat)) -// } From 8f9f6903a7882cc1b2d485704c9710090aa99d85 Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Sat, 13 Sep 2025 16:13:08 +0800 Subject: [PATCH 11/17] Complete all major mujoco functions. --- Cargo.toml | 2 +- src/main.rs | 10 +++--- src/mujoco_display.rs | 77 ++++++++++++++++++++++--------------------- src/mujoco_lidar.rs | 21 ++++++------ src/mujoco_sim.rs | 73 ++++++++++++++++------------------------ 5 files changed, 85 insertions(+), 98 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 95b814a..d8c97a0 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -36,7 +36,7 @@ rand = "0.8.4" [features] default = [] gzsim = ["rpos/lock_step_enabled","gz","gz-msgs-common"] -mujoco = ["mujoco-rust","mujoco-rs-sys","image","glfw", "minifb","gl"] +mjsim = ["mujoco-rust","mujoco-rs-sys","image","glfw", "minifb","gl"] [build-dependencies] diff --git a/src/main.rs b/src/main.rs index 06d4478..5b6ab50 100644 --- a/src/main.rs +++ b/src/main.rs @@ -9,11 +9,11 @@ mod param; mod gazebo_sim; #[cfg(feature = "gzsim")] mod gazebo_actuator; -#[cfg(feature = "mujoco")] +#[cfg(feature = "mjsim")] mod mujoco_sim; -#[cfg(feature = "mujoco")] +#[cfg(feature = "mjsim")] mod mujoco_display; -#[cfg(feature = "mujoco")] +#[cfg(feature = "mjsim")] mod mujoco_lidar; mod fake_linux_input; @@ -54,7 +54,9 @@ fn main() { let cli = Cli::parse(); const SOCKET_PATH: &str = "./rpsocket"; - // unsafe {assert_eq!(libc::mlockall(1 | 2),0)}; + + #[cfg(not(feature = "mjsim"))] + unsafe {assert_eq!(libc::mlockall(1 | 2),0)}; if cli.server { let hello_txt = r" diff --git a/src/mujoco_display.rs b/src/mujoco_display.rs index 2e35b1f..e13ef89 100644 --- a/src/mujoco_display.rs +++ b/src/mujoco_display.rs @@ -15,9 +15,8 @@ pub struct UIState { pub cameras: Vec, pub opt: render::mjvOption_, pub scenes: Vec, - pub contexts: Vec, // 改为 Vec 以支持多个上下文 + pub contexts: Vec, pub window: glfw::Window, - // pub events: glfw::Receiver<(f64, glfw::WindowEvent)>, } pub fn glfw_init(simulation: &Simulation, cam_ids: &[i32]) -> UIState { @@ -26,14 +25,14 @@ pub fn glfw_init(simulation: &Simulation, cam_ids: &[i32]) -> UIState { let (mut window, events) = if cam_ids[0] == 0x7FFFFFFF { glfw.create_window(1200, 900, "MuJoCo UI", glfw::WindowMode::Windowed) - .expect("无法创建 GLFW 窗口") + .expect("Unable to create visible GLFW window.") } else { glfw.window_hint(glfw::WindowHint::Visible(false)); glfw.create_window(640, 480, "hidden", glfw::WindowMode::Windowed) - .expect("无法创建 GLFW 窗口") + .expect("Unable to create hidden GLFW window.") }; - // 设置窗口为当前上下文 + // window settings init window.make_current(); window.set_key_polling(true); window.set_cursor_pos_polling(true); @@ -42,7 +41,7 @@ pub fn glfw_init(simulation: &Simulation, cam_ids: &[i32]) -> UIState { gl::load_with(|symbol| window.get_proc_address(symbol) as *const _); - // 初始化 MuJoCo 结构 + // init UIstate let mut cameras = Vec::new(); let mut scenes = Vec::new(); let mut contexts = Vec::new(); @@ -54,22 +53,21 @@ pub fn glfw_init(simulation: &Simulation, cam_ids: &[i32]) -> UIState { let mut con = render::mjrContext_::default(); unsafe { + // init camera & scene no_render::mjv_defaultCamera(&mut cam); render::mjv_defaultScene(&mut scn); render::mjr_defaultContext(&mut con); - // 为每个相机初始化场景和上下文 no_render::mjv_makeScene(simulation.model.ptr(), &mut scn, 2000); render::mjr_makeContext(simulation.model.ptr(), &mut con, 200); } if cam_id == 0x7FFFFFFF { - cam.type_ = 1; // 自由相机 - cam.trackbodyid = 1; // 设置跟踪的物体 ID - // cam.fixedcamid = -1; // 跟踪模式不需要 fixedcamid - cam.distance = 5.0; // 设置初始距离 + cam.type_ = 1; // free viewport + cam.trackbodyid = 1; // Set tracked object ID + cam.distance = 5.0; } else { cam.fixedcamid = cam_id; - cam.type_ = 2; // 固定相机 + cam.type_ = 2; // fix camera } cameras.push(cam); @@ -87,14 +85,13 @@ pub fn glfw_init(simulation: &Simulation, cam_ids: &[i32]) -> UIState { scenes, contexts, window, - // events, // 返回 events 以供主循环使用 } } pub fn glfw_update_scene(simulation: &Simulation, ui_state: &mut UIState) { ui_state.window.make_current(); unsafe { - // 获取窗口大小 + // get window size let (width, height) = ui_state.window.get_framebuffer_size(); let num_cameras = ui_state.cameras.len().min(4); let cols = if num_cameras < 2 { 1 } else { 2 }; @@ -102,12 +99,11 @@ pub fn glfw_update_scene(simulation: &Simulation, ui_state: &mut UIState) { let sub_window_width = width / cols as i32; let sub_window_height = height / rows as i32; - // 清除帧缓冲区 + // clear buffer gl::Clear(gl::COLOR_BUFFER_BIT | gl::DEPTH_BUFFER_BIT); - // 更新并渲染每个场景 + // update & render for i in 0..num_cameras { - // 更新当前相机的场景 no_render::mjv_updateScene( simulation.model.ptr(), simulation.state.ptr(), @@ -118,11 +114,11 @@ pub fn glfw_update_scene(simulation: &Simulation, ui_state: &mut UIState) { &mut ui_state.scenes[i], ); - // 计算网格中的行和列 - let row = i / cols; // 行索引 - let col = i % cols; // 列索引 + // calc sub window's pos in the main window + let row = i / cols; + let col = i % cols; - // 定义当前子窗口的视口 + // define sub window viewport let viewport = render::mjrRect_ { left: col as i32 * sub_window_width, bottom: (rows - 1 - row) as i32 * sub_window_height, // 从底部开始，翻转行顺序 @@ -130,11 +126,11 @@ pub fn glfw_update_scene(simulation: &Simulation, ui_state: &mut UIState) { height: sub_window_height, }; - // 在视口中渲染场景 + // render scene render::mjr_render(viewport, &mut ui_state.scenes[i], &mut ui_state.contexts[i]); } - // 交换缓冲区以显示 + // swap buffer to display render scene ui_state.window.swap_buffers(); } } @@ -167,7 +163,7 @@ pub fn init_ffmpeg() -> std::process::Child { pub fn update_mjscene(simulation: &Simulation, ui_state: &mut UIState) -> Vec { ui_state.window.make_current(); unsafe { - // 获取窗口大小 + // get window size let (width, height) = ui_state.window.get_framebuffer_size(); let num_cameras = ui_state.cameras.len().min(4); let cols = if num_cameras < 2 { 1 } else { 2 }; @@ -175,12 +171,11 @@ pub fn update_mjscene(simulation: &Simulation, ui_state: &mut UIState) -> Vec Vec Vec Vec Vec Result> { let window = Window::new( - "LiDAR Scan (Press ESC to exit)", + "LiDAR Scan", width, height, WindowOptions { - borderless: true, // 禁用窗口装饰 + borderless: true, // Disable window decoration ..WindowOptions::default() } )?; @@ -22,14 +22,14 @@ pub fn update_lidar_buffer( angles: &[u16], simulation: &mujoco_rust::Simulation, ) { - // Lidar 坐标线 + // Lidar coordinate line let center_x = lidar_width as f64 / 2.0; let center_y = lidar_height as f64 / 2.0; - let max_radius = 10.0; // 最大距离10米 + let max_radius = 10.0; // max distance:10m let pixels_per_meter = (lidar_width as f64 / 2.0 - 20.0) / max_radius; - // update lidar window - buffer.fill(0xFFFFFFFF); // 白色背景，确保清除上一次记录点 + // update lidar window to clear the last recorded point + buffer.fill(0xFFFFFFFF); for r in 1..=10 { let radius = r as f64 * pixels_per_meter; @@ -42,7 +42,7 @@ pub fn update_lidar_buffer( let y1 = center_y; let x2 = center_x + (max_radius * pixels_per_meter) * theta_rad.cos(); let y2 = center_y + (max_radius * pixels_per_meter) * theta_rad.sin(); - draw_line(buffer, lidar_width, lidar_height, x1, y1, x2, y2, 0xFF000000); // 黑色角度线 + draw_line(buffer, lidar_width, lidar_height, x1, y1, x2, y2, 0xFF000000); // black angle line } let mut points = Vec::new(); @@ -54,7 +54,7 @@ pub fn update_lidar_buffer( } } - // 绘制激光雷达点（黑色） + // Draw black lidar dots for (theta, r) in &points { let x = center_x + (r * pixels_per_meter) * theta.cos(); let y = center_y + (r * pixels_per_meter) * theta.sin(); @@ -62,7 +62,6 @@ pub fn update_lidar_buffer( } } -// 绘制圆形 pub fn draw_circle(buffer: &mut [u32], width: usize, height: usize, cx: f64, cy: f64, radius: f64, color: u32) { let cx = cx.round() as i32; let cy = cy.round() as i32; @@ -79,7 +78,7 @@ pub fn draw_circle(buffer: &mut [u32], width: usize, height: usize, cx: f64, cy: } -// 绘制空心圆环（用于距离网格，细线） +//Draw hollow rings pub fn draw_circle_outline(buffer: &mut [u32], width: usize, height: usize, cx: f64, cy: f64, radius: f64, color: u32) { let cx = cx.round() as i32; let cy = cy.round() as i32; @@ -115,7 +114,7 @@ pub fn draw_circle_outline(buffer: &mut [u32], width: usize, height: usize, cx: } } -// 绘制线条（Bresenham 算法） +//Draw lines in Bresenham algorithm pub fn draw_line(buffer: &mut [u32], width: usize, height: usize, x1: f64, y1: f64, x2: f64, y2: f64, color: u32) { let mut x1 = x1.round() as i32; let mut y1 = y1.round() as i32; diff --git a/src/mujoco_sim.rs b/src/mujoco_sim.rs index e2d25b1..b1fa539 100644 --- a/src/mujoco_sim.rs +++ b/src/mujoco_sim.rs @@ -6,16 +6,12 @@ use rpos::ctor::ctor; use rpos::module::Module; use rpos::msg::{get_new_tx_of_message, get_new_rx_of_message}; use std::sync::Arc; - +use std::io::Write; use std::sync::mpsc; use std::thread; use std::ptr; -use mujoco_rust::Simulation; -use mujoco_rs_sys::render::*; -use std::io::Write; use mujoco_rust::model::ObjType; - use crate::mujoco_display; use crate::mujoco_lidar; @@ -92,22 +88,20 @@ impl MujocoSim{ let mut mixer_rx = get_new_rx_of_message::("mixer_output").unwrap(); let mut ctrl: Vec = vec![0.0; actuator_num as usize]; - let mut i = 0; - // init lidar - // let lidar_width = 800; - // let lidar_height = 800; - // let mut buffer: Vec = vec![0; lidar_width * lidar_height]; - // let mut lidar_window = minifb::Window::new( - // "LiDAR Scan (Press ESC to exit)", - // lidar_width, - // lidar_height, - // minifb::WindowOptions { - // borderless: true, - // ..minifb::WindowOptions::default() - // }, - // )?; + let lidar_width = 800; + let lidar_height = 800; + let mut buffer: Vec = vec![0; lidar_width * lidar_height]; + let mut lidar_window = minifb::Window::new( + "LiDAR Scan", + lidar_width, + lidar_height, + minifb::WindowOptions { + borderless: true, + ..minifb::WindowOptions::default() + }, + )?; let front_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "front_cam").unwrap() as i32; let down_cam = sim.simulation.model.name_to_id(ObjType::CAMERA, "down_cam").unwrap() as i32; @@ -116,17 +110,16 @@ impl MujocoSim{ let body_id = sim.simulation.model.name_to_id(ObjType::BODY, "x2").unwrap() as i32; - // ui 3rd viewer + // UI with 3rd-person view let mut ui_state_3rd = mujoco_display::glfw_init(&sim.simulation, &[0x7FFFFFFF]); - // vedio streaming 1st viewer + // vedio streaming with 1st-person view let mut ffmpeg = mujoco_display::init_ffmpeg(); - let mut stdin = ffmpeg.stdin.take().unwrap(); // Take the stdin handle + let mut stdin = ffmpeg.stdin.take().unwrap(); let mut ui_state_1st = mujoco_display::glfw_init(&sim.simulation, &[down_cam, front_cam, right_cam, rear_cam]); sim.simulation.control(&ctrl); loop { - i += 1; if let Some(mixer) = mixer_rx.try_read() { for (i, val) in mixer.output.iter().enumerate() { if i < ctrl.len() { @@ -137,8 +130,8 @@ impl MujocoSim{ let ctrl_f64: Vec = ctrl.iter().map(|&x| x as f64).collect(); // update Lidar window - // mujoco_lidar::update_lidar_buffer(lidar_width, lidar_height, &mut buffer, &sim.rf_ids, &sim.angles, &sim.simulation); - // lidar_window.update_with_buffer(&buffer, lidar_width, lidar_height)?; + mujoco_lidar::update_lidar_buffer(lidar_width, lidar_height, &mut buffer, &sim.rf_ids, &sim.angles, &sim.simulation); + lidar_window.update_with_buffer(&buffer, lidar_width, lidar_height)?; sim.simulation.control(&ctrl); @@ -150,29 +143,19 @@ impl MujocoSim{ let frame = mujoco_display::update_mjscene(&sim.simulation, &mut ui_state_1st); let _ = stdin.write_all(&frame); - // ui界面 + // ui render update mujoco_display::glfw_update_scene(&sim.simulation, &mut ui_state_3rd); - // mujoco_display::glfw_update_scene(&sim.simulation, &mut ui_state_1st); - // time step + // time step setting std::thread::sleep(std::time::Duration::from_millis(10)); } + mujoco_display::free_resource(&mut ui_state_1st); + mujoco_display::free_resource(&mut ui_state_3rd); - unsafe { - for i in 0..ui_state_1st.scenes.len() { - mjv_freeScene(&mut ui_state_1st.scenes[i]); - mjr_freeContext(&mut ui_state_1st.contexts[i]); - } - for i in 0..ui_state_3rd.scenes.len() { - mjv_freeScene(&mut ui_state_3rd.scenes[i]); - mjr_freeContext(&mut ui_state_3rd.contexts[i]); - } - } - - // 关闭 stdin + // close stdin drop(stdin); - // 等待 FFmpeg 进程结束 + // wait for FFmpeg end match ffmpeg.wait_with_output() { Ok(output) => { if !output.status.success() { @@ -191,7 +174,6 @@ impl MujocoSim{ fn new(xml_filename: &str) -> Arc { let model = mujoco_rust::Model::from_xml(xml_filename).unwrap(); - // let mj_model = unsafe { *model.ptr() }; let simulation = mujoco_rust::Simulation::new(model.clone()); // Lidar @@ -202,8 +184,9 @@ impl MujocoSim{ let id = model.name_to_id(ObjType::SITE, &sensor_name).unwrap(); rf_ids.push(id as u16); } + let sim = Arc::new_cyclic(|_| { - let a = MujocoSim { + let tmp = MujocoSim { model: model.clone(), simulation: simulation, gyro_tx: get_new_tx_of_message("gyro").unwrap(), @@ -212,7 +195,7 @@ impl MujocoSim{ rf_ids: rf_ids, angles: angles }; - a + tmp }); sim } @@ -229,7 +212,7 @@ pub fn init_mujoco_sim(_argc: u32, _argv: *const &str){ std::thread::spawn(move || { if let Err(e) = MujocoSim::mujoco_sim_event_loop(sim, actuator_num) { - eprintln!("模拟线程错误: {:?}", e); + eprintln!("Simulated thread error: {:?}", e); } }); } From a6997550a787fb6dac68be4051d9bc8094cb932f Mon Sep 17 00:00:00 2001 From: M3nglin <2428791869@qq.com> Date: Mon, 22 Sep 2025 15:50:32 +0800 Subject: [PATCH 12/17] add new scene definitions. --- sim/mujoco_x2/axis_x2.xml | 72 +++++++++++++++++++++ sim/mujoco_x2/scene.xml | 13 +++- sim/mujoco_x2/x2.xml | 18 ++---- sim/mujoco_x2/x_axis_scene.xml | 113 ++++++++++++++++++++++++++++++++ sim/mujoco_x2/y_axis_scene.xml | 113 ++++++++++++++++++++++++++++++++ sim/mujoco_x2/z_axis_scene.xml | 115 +++++++++++++++++++++++++++++++++ 6 files changed, 430 insertions(+), 14 deletions(-) create mode 100644 sim/mujoco_x2/axis_x2.xml create mode 100644 sim/mujoco_x2/x_axis_scene.xml create mode 100644 sim/mujoco_x2/y_axis_scene.xml create mode 100644 sim/mujoco_x2/z_axis_scene.xml diff --git a/sim/mujoco_x2/axis_x2.xml b/sim/mujoco_x2/axis_x2.xml new file mode 100644 index 0000000..5c6d641 --- /dev/null +++ b/sim/mujoco_x2/axis_x2.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sim/mujoco_x2/scene.xml b/sim/mujoco_x2/scene.xml index 265c7c8..cc98a39 100644 --- a/sim/mujoco_x2/scene.xml +++ b/sim/mujoco_x2/scene.xml @@ -19,11 +19,20 @@ - + + + + + + + + + + diff --git a/sim/mujoco_x2/x2.xml b/sim/mujoco_x2/x2.xml index 00abb69..7000994 100644 --- a/sim/mujoco_x2/x2.xml +++ b/sim/mujoco_x2/x2.xml @@ -1,7 +1,7 @@ -