2. 软件系统概述
2. 软件系统概述
2.1 基本启动模式
机器人工控机由MDU、HDU、ADU组成，均安装 Ubuntu 24.04 系统，使用 systemd 作为系统服务管理器，开机时会拉起 PM（进程启动管理）、SM（进程状态管理）模块，再由 PM 和 SM 配合拉起其余各个模块进程，SM 会对不同系统模式下的进程列表进行开启和关闭的状态管理。
PM 和 SM 的配置文件路径分别为 /agibot/software/v0/entry/launch/A3_ULTRA_DEFAULT.yaml（HDU & MDU & ADU，yaml名称根据机型变化） 和 agibot/software/v0/config/sm/sm_config.yaml（MDU），前者列有默认启动的进程列表，后者列有各个系统模式分别启用哪些功能组的进程 。
2.2 模块功能简介
| 模块性质 | 所属工控机 | 模块名称 | 模块说明 |
|---|---|---|---|
| 管理模块 | MDU | SM | 负责切换系统状态，管控进程列表 |
| MDU & HDU&ADU | PM | 负责拉起进程，查询进程状态 | |
| 公共服务 | MDU & HDU&ADU | setting | 提供基本机器人工控机设置，如 wifi、蓝牙等 |
| recordbag | 用来持续记录bag包 | ||
| ota_service | 软件更新工具 | ||
| MDU | gateway | 将外部的请求转发到内部各个模块 | |
| HDU | data_exporter | 提供日志批量、分时段导出等功能 | |
| 功能模块 | HDU | hal_audio | 音频硬件层 |
| hal_hdu_camera | hdu硬件相机层 | ||
| hal_imu | 硬件Imu层 | ||
| MDU | hal_ethercat | 负责与HDU进行ethercat通信，传递硬件的状态信息和控制指令 | |
| hds | 健康管理模块 | ||
| mc | 负责整个机器人的运动控制，下发运控动作指令 | ||
| motion_player | 提供动作播放能力 | ||
| skillpilot | 技能管理模块 | ||
| tf | 坐标变换服务 | ||
| ADU | agivslam | AGI 视觉 SLAM 定位模块 | |
| embodied_agent | 统一管理机器人交互能力 | ||
| hal_depth_camera | HAL 层深度相机接口 | ||
| hal_lidar | HAL 层激光雷达接口 | ||
| hal_sipl | HAL 层 NVIDIA SIPL 相机框架接口 | ||
| legged_odometry | 足式里程计，提供腿部运动状态估计 | ||
| mm | 地图管理模块 | ||
| pnc | 规划与控制模块 | ||
| slam | SLAM 导航定位模块 |
2.2.1 系统模式
各个系统模式下激活和启动的模块有所不同，如下（摘录自 sm_config.yaml）
python
# 系统状态
system_modes:
"Startup":
next_mode_list: [ "Ready", "OTA", "Poweroff" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
"Poweroff":
next_mode_list: []
active_FG_list: []
action_list:
- [ open Poweroff ]
"Reboot":
next_mode_list: []
active_FG_list: []
action_list:
- [ open Reboot ]
# 系统的就绪状态，会启动业务管理模块以及HAL
"Ready":
next_mode_list: [ "Manual", "EStop", "Poweroff" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ activate agent ]
- [ activate motion_player ]
# post_process:
# - level: 34
# action_list: [ [ forbid Manual ] ]
# OTA状态，会启动OTA功能组，完成OTA相关功能
"OTA":
next_mode_list: [ "Reboot", "Ready", "Poweroff" ]
active_FG_list: [ "System", "HAL", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ deactivate agent ]
- [ activate mc ]
- [ deactivate motion_player ]
# 手动状态，会启动遥控以及MC功能组
"Manual":
next_mode_list: [ "OTA", "Auto", "Reset", "EStop", "Poweroff", "MotionStream", "DataCollection", "FreeExploration", "Mapping", "Manipulator", "Lock" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ activate agent ]
- [ activate mc ]
- [ activate motion_player ]
child_modes:
- mode_name: "Safety" # 通过tools下使能脚本调用进入的状态
extra_next_modes: [ "OTA", "Reset" ]
action_list:
- [ close Motion ]
- [ close EStop ]
post_process:
- level: 47
action_list: [ [ fallback mc ] ]
# 锁机状态
"Lock":
next_mode_list: [ "Manual" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ deactivate agent ]
- [ activate mc ]
- [ deactivate motion_player ]
post_process:
- level: 47
action_list: [ [ fallback mc ] ]
# 重置状态，用于恢复出厂设置
"Reset":
next_mode_list: [ "Reboot", "Poweroff" ]
active_FG_list: [ "System", "OTA", "Gateway" ]
action_list:
- [ DIFF ]
# 紧急停止状态，用于紧急停止
"EStop":
next_mode_list: [ "Ready", "OTA", "Poweroff" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ activate agent ]
- [ deactivate mc ]
- [ activate motion_player ]
# 实时遥操作状态，用于实时遥操作
"MotionStream":
next_mode_list: [ "Manual", "EStop", "Poweroff", "DataCollection" ]
active_FG_list: [ "System", "HAL", "EStop", "MoStream", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ activate agent ]
- [ activate mc ]
decision: # 系统决策层
Auto_transToReady: true # 如果为false需要在一定时机下调用一键激活脚本
Auto_transToManual: true
type: 1
2.2.2 模块禁用方式（谨慎）
如需二开替换某些功能模块，需要在系统中配置禁用该模块。
模块依照受 A3_ULTRA_DEFAULT.yaml 和 sm_config.yaml 管理分为两种，前者管理的模块会在启动时默认启动，后续也不受 sm 管理，保持常驻；后者管理的模块会在各个系统模式间切换。
- 如果需要禁用 A3_ULTRA_DEFAULT.yaml 中管理的模块（即其中 default_apps 中的部分），只需要从 default_apps 中移除即可。
- 如果需要禁用 sm 管理的模块，则需在相应的系统模式中加入一行 deactivate，指定去使能对应模块。
- 操作前请先备份相应目录下的A3_ULTRA_DEFAULT.yaml 和sm_config.yaml
以禁用 motion_player 模块为例，可按照如下步骤进行操作： 首先备份A3_ULTRA_DEFAULT.yaml（MDU）和 sm_config.yaml.
bash
cp /agibot/software/v0/entry/launch/A3_ULTRA_DEFAULT.yaml \
/agibot/software/v0/entry/launch/A3_ULTRA_DEFAULT_backup.yaml
cp /agibot/software/v0/config/sm/sm_config.yaml \
agibot/software/v0/config/sm/sm_config_backup.yaml
在 A3_ULTRA_DEFAULT.yaml（MDU） 将 default_apps 列表里 motion_player 模块移除：
diff
@@ -22,7 +22,6 @@ process_manager:
"health_monitor0",
"recordbag0",
- "motion_player",
"hds",
"setting0",
"mc",
# "pnc",
# "uwb_fusion",
"hal_ethercat",
"hal_elink",
"skillpilot",
"ota_master",
"gateway",
"ota_service0",
然后在 sm_config.yaml (MDU) 中 移除 SystemManagerModule 中 group 里的 motion_player， 将 MoCap 配置修改为空，并移除各状态下对 motion_player 的 activate / deactivate 操作：
diff
@@ -14,7 +14,7 @@ SystemManagerModule:
- group: [motion_player, mc, hal_ethercat, poweroff0, reboot0, setting0, recordbag0, health_monitor0, hds, gateway, ota_master, ota_service0]
+ group: [mc, hal_ethercat, poweroff0, reboot0, setting0, recordbag0, health_monitor0, hds, gateway, ota_master, ota_service0]
diff
@@ -36,7 +36,7 @@ SystemManagerModule:
"RC":
[ "rc" ]
"MoCap":
- [ "motion_player" ]
+ []
"MoStream":
[ "motion_streamer" ]
diff
@@ -78,7 +78,6 @@ SystemManagerModule:
"Ready":
next_mode_list: [ "Manual", "EStop", "Poweroff" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- - [ activate motion_player ]
@@ -93,7 +93,6 @@ SystemManagerModule:
"OTA":
next_mode_list: [ "Reboot", "Ready", "Poweroff" ]
active_FG_list: [ "System", "HAL", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ deactivate agent ]
- [ activate mc ]
- - [ deactivate motion_player]
@@ -105,7 +105,6 @@ SystemManagerModule:
"Manual":
next_mode_list: [ "OTA", "Auto", "Reset", "EStop", "Poweroff", "MotionStream", "DataCollection", "FreeExploration", "Mapping", "Manipulator", "Lock" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ activate agent ]
- [ activate mc ]
- - [ activate motion_player ]
@@ -126,7 +126,6 @@ SystemManagerModule:
"Lock":
next_mode_list: [ "Manual" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ deactivate agent ]
- [ activate mc ]
- - [ deactivate motion_player ]
@@ -148,7 +148,6 @@ SystemManagerModule:
"EStop":
next_mode_list: [ "Ready", "OTA", "Poweroff" ]
active_FG_list: [ "System", "HAL", "EStop", "MoCap", "Gateway", "Motion", "OTA" ]
action_list:
- [ DIFF ]
- [ activate recordbag0 ]
- [ activate recordbag1 ]
- [ activate agent ]
- [ deactivate mc ]
- - [ activate motion_player ]