add lingxi_x1 demo

Author: owny990312

README.md

@@ -16,4 +16,4 @@ English | [中文](README.zh_CN.md)
 | [my_ros2_channel](./my_ros2_channel) | A simple example demonstrating publisher-subscriber communication using Channel API with ROS2 messages     | :star:        |
 | [my_pb_rpc](./my_pb_rpc)             | A simple example demonstrating request-response communication using Rpc API with Protobuf messages         | :star:        |
 | [my_ros2_rpc](./my_ros2_rpc)         | A simple example demonstrating request-response communication using Rpc API with ROS2 messages             | :star:        |
-| [lingxi_x1](./lingxi_x1)             | Demonstrates how to control Lingxi X1 in MuJoCo simulation                                                 | :star: :star: |
+| [lingxi_x1_sim](./lingxi_x1_sim)     | Demonstrates how to control Lingxi X1 in MuJoCo simulation                                                 | :star: :star: |

README.zh_CN.md

@@ -15,4 +15,4 @@
 | [my_ros2_channel](./my_ros2_channel) | 演示使用 Channel API 进行发布者-订阅者通信的简单示例，使用 ROS2 消息     | :star:        |
 | [my_pb_rpc](./my_pb_rpc)             | 演示使用 Rpc API 进行发布者-订阅者通信的简单示例，使用 Protobuf 消息     | :star:        |
 | [my_ros2_rpc](./my_ros2_rpc)         | 演示使用 Rpc API 进行发布者-订阅者通信的简单示例，使用 ROS2 消息         | :star:        |
-| [lingxi_x1](./lingxi_x1)             | 演示如何在 mujoco 仿真中控制灵犀X1                                       | :star: :star: |
+| [lingxi_x1_sim](./lingxi_x1_sim)     | 演示如何在 mujoco 仿真中控制灵犀X1                                       | :star: :star: |

lingxi_x1_sim/cmake/GetAimrtMujocoSim.cmake

@@ -3,7 +3,7 @@ include(FetchContent)
 message(STATUS "get aimrt mujoco sim ...")
 
 set(aimrt_mujoco_sim_DOWNLOAD_URL
-    "https://github.com/AimRT/aimrt_mujoco_sim/archive/refs/tags/v1.0.1.tar.gz"
+    "https://github.com/AimRT/aimrt_mujoco_sim/archive/refs/tags/v1.0.2.tar.gz"
     CACHE STRING "")
 
 

lingxi_x1_sim/src/module/control_module/third_party/lib/libruckig.so

@@ -30,7 +30,7 @@ target_link_directories(
 
 # Set link libraries of target
 find_package(sensor_msgs)
-find_package(SDL2)
+find_package(SDL2 REQUIRED)
 
 target_link_libraries(
   ${CUR_TARGET_NAME}

lingxi_x1_sim/src/module/control_module/third_party/lib/libruckig.soBACK

@@ -1,94 +1,204 @@
 #include "keyboard_module/keyboard/keyboard.h"
-#include <iostream>
+#include <cmath>
+#include <map>
+#include <stdexcept>
 
 namespace my_robot::keyboard_module {
 
 Keyboard::Keyboard() {
-  printUsage();
-  input_thread_ = std::thread(&Keyboard::inputLoop, this);
+  if (SDL_Init(SDL_INIT_VIDEO) < 0) {
+    throw std::runtime_error("SDL init failed");
+  }
+
+  if (TTF_Init() < 0) {
+    SDL_Quit();
+    throw std::runtime_error("TTF init failed");
+  }
+
+  window_ =
+      SDL_CreateWindow("Robot Control Interface", SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED,
+                       UIConfig::WINDOW_WIDTH, UIConfig::WINDOW_HEIGHT, SDL_WINDOW_SHOWN);
+  if (!window_) {
+    TTF_Quit();
+    SDL_Quit();
+    throw std::runtime_error("Window creation failed");
+  }
+
+  renderer_ = SDL_CreateRenderer(window_, -1, SDL_RENDERER_ACCELERATED);
+  if (!renderer_) {
+    SDL_DestroyWindow(window_);
+    TTF_Quit();
+    SDL_Quit();
+    throw std::runtime_error("Renderer creation failed");
+  }
+
+  const char* fonts[] = {
+      "/usr/share/fonts/truetype/dejavu/DejaVuSans-Bold.ttf",
+      "/usr/share/fonts/truetype/liberation/LiberationSans-Bold.ttf",
+  };
+  for (const auto* path : fonts) {
+    font_ = TTF_OpenFont(path, UIConfig::FONT_SIZE);
+    if (font_) break;
+  }
+
+  current_event_ = KeyboardEvent::None();
+  last_axis_state_.fill(0.0);
+
+  for (const auto& btn : UIConfig::MODE_BTNS) {
+    last_button_state_[btn.state_id] = false;
+  }
+
+  render();
+
+  event_thread_ = std::thread(&Keyboard::eventThread, this);
 }
 
 Keyboard::~Keyboard() {
   running_ = false;
-  // 由于 std::cin 是阻塞的，在某些系统上可能需要按下回车才能完全退出
-  if (input_thread_.joinable()) {
-    input_thread_.detach();
+  if (event_thread_.joinable()) {
+    event_thread_.join();
   }
+  if (font_) TTF_CloseFont(font_);
+  if (renderer_) SDL_DestroyRenderer(renderer_);
+  if (window_) SDL_DestroyWindow(window_);
+  TTF_Quit();
+  SDL_Quit();
 }
 
 KeyboardEvent Keyboard::GetKeyboardEvent() {
   std::lock_guard<std::mutex> lock(mutex_);
   auto event = current_event_;
-  current_event_ = KeyboardEvent::None();  // 消费掉事件
+  current_event_ = KeyboardEvent::None();
   return event;
 }
 
-void Keyboard::printUsage() {
-  std::cout << "\n========== Robot CLI Control ==========\n"
-            << "[W/S] Forward/Backward  [A/D] Left/Right\n"
-            << "[Q/E] Turn Left/Right   [Space] Stop\n"
-            << "---------------------------------------\n"
-            << "[1] Stand  [2] Zero  [3] Walk  [0] Idle\n"
-            << "=======================================\n"
-            << "Enter command: " << std::flush;
+void Keyboard::handleMouseButton(int x, int y, bool is_down) {
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  // 处理鼠标按下
+  if (is_down) {
+    for (const auto& btn : UIConfig::MODE_BTNS) {
+      if (x >= btn.x && x <= btn.x + btn.w && y >= btn.y && y <= btn.y + btn.h) {
+        if (!last_button_state_[btn.state_id]) {
+          current_event_ = KeyboardEvent::StateChange(btn.state_id, btn.text);
+          last_button_state_[btn.state_id] = true;
+        }
+        return;
+      }
+    }
+
+    for (const auto& key : UIConfig::DIR_KEYS) {
+      if (x >= key.x && x <= key.x + key.w && y >= key.y && y <= key.y + key.h) {
+        current_event_ =
+            KeyboardEvent::VelocityChange(key.linear_x, key.linear_y, 0.0, 0.0, 0.0, key.angular_z);
+        return;
+      }
+    }
+  } else {
+    for (const auto& btn : UIConfig::MODE_BTNS) {
+      if (x >= btn.x && x <= btn.x + btn.w && y >= btn.y && y <= btn.y + btn.h) {
+        last_button_state_[btn.state_id] = false;
+        return;
+      }
+    }
+  }
+}
+
+void Keyboard::render() {
+  if (!renderer_) return;
+
+  SDL_SetRenderDrawColor(renderer_, 245, 245, 250, 255);
+  SDL_RenderClear(renderer_);
+
+  // 绘制方向按键
+  for (const auto& k : UIConfig::DIR_KEYS) {
+    SDL_Rect rect = {k.x, k.y, k.w, k.h};
+
+    SDL_SetRenderDrawColor(renderer_, 220, 220, 220, 255);
+    SDL_RenderFillRect(renderer_, &rect);
+
+    SDL_SetRenderDrawColor(renderer_, 100, 100, 100, 255);
+    SDL_RenderDrawRect(renderer_, &rect);
+
+    if (font_) {
+      SDL_Color color = {60, 60, 60, 255};
+
+      // 按键字母
+      SDL_Surface* s = TTF_RenderText_Blended(font_, k.key, color);
+      if (s) {
+        SDL_Texture* t = SDL_CreateTextureFromSurface(renderer_, s);
+        SDL_Rect r = {k.x + (k.w - s->w) / 2, k.y + 15, s->w, s->h};
+        SDL_RenderCopy(renderer_, t, nullptr, &r);
+        SDL_DestroyTexture(t);
+        SDL_FreeSurface(s);
+      }
+
+      // 功能标签
+      TTF_SetFontSize(font_, UIConfig::LABEL_FONT_SIZE);
+      s = TTF_RenderText_Blended(font_, k.label, color);
+      if (s) {
+        SDL_Texture* t = SDL_CreateTextureFromSurface(renderer_, s);
+        SDL_Rect r = {k.x + (k.w - s->w) / 2, k.y + 45, s->w, s->h};
+        SDL_RenderCopy(renderer_, t, nullptr, &r);
+        SDL_DestroyTexture(t);
+        SDL_FreeSurface(s);
+      }
+      TTF_SetFontSize(font_, UIConfig::FONT_SIZE);
+    }
+  }
+
+  // 绘制模式按钮
+  for (const auto& b : UIConfig::MODE_BTNS) {
+    SDL_Rect rect = {b.x, b.y, b.w, b.h};
+
+    SDL_SetRenderDrawColor(renderer_, b.color.r, b.color.g, b.color.b, 255);
+    SDL_RenderFillRect(renderer_, &rect);
+
+    SDL_SetRenderDrawColor(renderer_, 50, 50, 50, 255);
+    SDL_RenderDrawRect(renderer_, &rect);
+
+    if (font_) {
+      SDL_Color white = {255, 255, 255, 255};
+      SDL_Surface* s = TTF_RenderText_Blended(font_, b.text, white);
+      if (s) {
+        SDL_Texture* t = SDL_CreateTextureFromSurface(renderer_, s);
+        SDL_Rect r = {b.x + (b.w - s->w) / 2, b.y + (b.h - s->h) / 2, s->w, s->h};
+        SDL_RenderCopy(renderer_, t, nullptr, &r);
+        SDL_DestroyTexture(t);
+        SDL_FreeSurface(s);
+      }
+    }
+  }
+
+  SDL_RenderPresent(renderer_);
 }
 
-void Keyboard::inputLoop() {
-  char cmd;
+void Keyboard::eventThread() {
   while (running_) {
-    if (!(std::cin >> cmd)) break;
-
-    std::lock_guard<std::mutex> lock(mutex_);
-    switch (cmd) {
-      // 速度控制
-      case 'w':
-      case 'W':
-        current_event_ = KeyboardEvent::VelocityChange(0.5, 0.0, 0.0);
-        break;
-      case 's':
-      case 'S':
-        current_event_ = KeyboardEvent::VelocityChange(-0.5, 0.0, 0.0);
-        break;
-      case 'a':
-      case 'A':
-        current_event_ = KeyboardEvent::VelocityChange(0.0, 0.3, 0.0);
-        break;
-      case 'd':
-      case 'D':
-        current_event_ = KeyboardEvent::VelocityChange(0.0, -0.3, 0.0);
-        break;
-      case 'q':
-      case 'Q':
-        current_event_ = KeyboardEvent::VelocityChange(0.0, 0.0, 0.5);
-        break;
-      case 'e':
-      case 'E':
-        current_event_ = KeyboardEvent::VelocityChange(0.0, 0.0, -0.5);
-        break;
-      case ' ':
-        current_event_ = KeyboardEvent::VelocityChange(0.0, 0.0, 0.0);
-        break;
+    SDL_Event e;
 
-      // 状态控制
-      case '1':
-        current_event_ = KeyboardEvent::StateChange(1, "Stand");
-        break;
-      case '2':
-        current_event_ = KeyboardEvent::StateChange(2, "Zero");
-        break;
-      case '3':
-        current_event_ = KeyboardEvent::StateChange(3, "Walk");
-        break;
-      case '0':
-        current_event_ = KeyboardEvent::StateChange(0, "Idle");
+    while (SDL_PollEvent(&e)) {
+      if (e.type == SDL_QUIT) {
+        running_ = false;
         break;
+      }
 
-      default:
-        std::cout << "Unknown command: " << cmd << "\n";
-        printUsage();
-        continue;
+      switch (e.type) {
+        case SDL_MOUSEBUTTONDOWN:
+          handleMouseButton(e.button.x, e.button.y, true);
+          break;
+        case SDL_MOUSEBUTTONUP:
+          handleMouseButton(e.button.x, e.button.y, false);
+          break;
+      }
     }
-    std::cout << "Command Sent: " << cmd << "\nEnter command: " << std::flush;
+
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      render();
+    }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(33));
   }
 }