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）

  # 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.

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：

@@ -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：

@@ -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]

@@ -36,7 +36,7 @@ SystemManagerModule:
     "RC":
       [ "rc" ]
     "MoCap":
-      [ "motion_player" ]
+      []
     "MoStream":
       [ "motion_streamer" ]

@@ -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 ]