1+ import copy
2+ from typing_extensions import (
3+ Literal ,
4+ )
5+ from ..version import PiperSDKVersion
6+
7+ class C_PiperParamManager ():
8+ _instance = None
9+
10+ def __new__ (cls , * args , ** kwargs ):
11+ if cls ._instance is None :
12+ cls ._instance = super ().__new__ (cls )
13+ return cls ._instance
14+
15+ def __init__ (self ) -> None :
16+ '''
17+ |joint_name| limit(rad) | limit(angle) |
18+ |----------| ---------- | ---------- |
19+ |joint1 | [-2.618, 2.618] | [-150.0, 150.0] |
20+ |joint2 | [0, 3.14] | [0, 180.0] |
21+ |joint3 | [-2.967, 0] | [-170, 0] |
22+ |joint4 | [-1.745, 1.745] | [-100.0, 100.0] |
23+ |joint5 | [-1.22, 1.22] | [-70.0, 70.0] |
24+ |joint6 | [-2.0944, 2.0944]| [-120.0, 120.0] |
25+ '''
26+ if not hasattr (self , "PIPER_PARAM" ):
27+ self .__PIPER_PARAM_ORIGIN = {
28+ "joint_limit" :{
29+ "j1" : [- 2.618 , 2.618 ],
30+ "j2" : [0 , 3.14 ],
31+ "j3" : [- 2.967 , 0 ],
32+ "j4" : [- 1.745 , 1.745 ],
33+ "j5" : [- 1.22 , 1.22 ],
34+ "j6" : [- 2.0944 , 2.0944 ],
35+ },
36+ "gripper_range" : [0.0 , 0.07 ],
37+ "piper_sdk_version" : PiperSDKVersion .PIPER_SDK_CURRENT_VERSION
38+ }
39+ self .PIPER_PARAM = copy .deepcopy (self .__PIPER_PARAM_ORIGIN )
40+
41+ def ResetDefaultParam (self ):
42+ self .PIPER_PARAM .update (copy .deepcopy (self .__PIPER_PARAM_ORIGIN ))
43+
44+ def GetPiperParamOrigin (self ):
45+ return copy .deepcopy (self .__PIPER_PARAM_ORIGIN )
46+
47+ def GetCurrentPiperParam (self ):
48+ return copy .deepcopy (self .PIPER_PARAM )
49+
50+ def GetCurrentPiperSDKVersion (self ):
51+ return self .PIPER_PARAM ["piper_sdk_version" ]
52+
53+ def GetJointLimitParam (self ,
54+ joint_name : Literal ["j1" , "j2" , "j3" , "j4" , "j5" , "j6" ]):
55+ if joint_name not in "j1" , "j2" , "j3" , "j4" , "j5" , "j6" ]:
56+ raise ValueError (f'"joint_name" Value { joint_name } )
57+ return self .PIPER_PARAM ["joint_limit" ][joint_name ][0 ], self .PIPER_PARAM ["joint_limit" ][joint_name ][1 ]
58+
59+ def GetGripperRangeParam (self ):
60+ return self .PIPER_PARAM ["gripper_range" ][0 ], self .PIPER_PARAM ["gripper_range" ][1 ]
61+
62+ def SetJointLimitParam (self ,
63+ joint_name : Literal ["j1" , "j2" , "j3" , "j4" , "j5" , "j6" ],
64+ min_val : float ,
65+ max_val : float ):
66+ if joint_name not in "j1" , "j2" , "j3" , "j4" , "j5" , "j6" ]:
67+ raise ValueError (f'"joint_name" Value { joint_name } )
68+ if max_val - min_val < 0 :
69+ raise ValueError (f'max_val should be greater than min_val.' )
70+ self .PIPER_PARAM ["joint_limit" ][joint_name ] = [min_val , max_val ]
71+
72+ def SetGripperRangeParam (self ,
73+ min_val : float ,
74+ max_val : float ):
75+ if max_val - min_val < 0 :
76+ raise ValueError (f'max_val should be greater than min_val.' )
77+ self .PIPER_PARAM ["gripper_range" ] = [min_val , max_val ]
78+
79+ # a = C_PiperParamManager()
80+ # print( a.GetCurrentPiperParam())
81+ # a.SetGripperRangeParam(-20000,30000)
82+ # a.SetJointLimitParam("j1",-20000,30000)
83+ # print( a.GetCurrentPiperParam())
84+ # a.ResetDefaultParam()
85+ # print( a.GetCurrentPiperParam())
86+
87+ # # ✅ 测试单例模式
88+ # manager1 = C_PiperParamManager()
89+ # manager2 = C_PiperParamManager()
90+
91+ # print(manager1 is manager2) # ✅ True，确保是同一个实例
92+
93+ # # 修改 manager1 的参数
94+ # manager1.SetGripperRangeParam(-500, 500)
95+ # print(manager2.GetCurrentPiperParam()) # ✅ manager2 也受影响，说明是同一个实例
96+
97+ # # 复位参数
98+ # manager2.ResetDefaultParam()
99+ # print(manager1.GetCurrentPiperParam()) # ✅ manager1 也被复位，单例模式生效！
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