init pro_sdk

examples/monitor_remote.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+"""实时监听遥控器状态 (按键 + 摇杆 + L2).
+
+用法: python examples/monitor_remote.py --duration 60
+"""
+import argparse
+import signal
+import sys
+import time
+
+from go1_pro_sdk import MCUClient, LowCmd
+
+running = True
+
+
+def sigint(s, f):
+    global running
+    running = False
+
+
+def main():
+    p = argparse.ArgumentParser()
+    p.add_argument('--state', default=None)
+    p.add_argument('--duration', type=float, default=60)
+    p.add_argument('--raw', action='store_true')
+    args = p.parse_args()
+    signal.signal(signal.SIGINT, sigint)
+
+    with MCUClient(state_path=args.state) as client:
+        recv = client.wake_mcu(50)
+        if recv == 0:
+            print('❌ 无回包')
+            return 1
+
+        damping = LowCmd().all_damping()
+        last_btn = 0
+        last_print = 0
+        start = time.time()
+
+        print(f'📡 监听遥控器 {args.duration}s, Ctrl+C 退出\n')
+
+        while running and time.time() - start < args.duration:
+            client.send(damping)
+            time.sleep(0.005)
+            state = client.recv_latest()
+            if state is None:
+                continue
+
+            r = state.remote
+            now = time.time()
+
+            # 按键事件
+            if r.btn != last_btn:
+                pressed_now = set(r.pressed)
+                pressed_before = set(n for m, n in __import__('go1_pro_sdk').BUTTON_NAMES if last_btn & m)
+                just_p = pressed_now - pressed_before
+                just_r = pressed_before - pressed_now
+                if just_p:
+                    print(f"[{now-start:6.2f}s] ⬇ {'+'.join(sorted(just_p))}")
+                if just_r:
+                    print(f"[{now-start:6.2f}s] ⬆ {'+'.join(sorted(just_r))}")
+                last_btn = r.btn
+
+            # 摇杆 (0.2s 一次)
+            if now - last_print > 0.2:
+                active = (abs(r.lx) > 0.02 or abs(r.ly) > 0.02 or
+                          abs(r.rx) > 0.02 or abs(r.ry) > 0.02 or r.L2 > 0.02)
+                if active:
+                    print(f'[{now-start:6.2f}s] L=({r.lx:+.2f},{r.ly:+.2f}) '
+                          f'R=({r.rx:+.2f},{r.ry:+.2f}) L2={r.L2:+.2f}'
+                          + (f'  raw={state.wirelessRemote.hex()}' if args.raw else ''))
+                    last_print = now
+
+        print('\n✅ 退出')
+
+
+if __name__ == '__main__':
+    sys.exit(main() or 0)