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update: 更新891/8822/raw的subtask文件

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bmy
2024-08-17 01:59:00 +08:00
parent 91d6491f64
commit 7dd0d6677e
4 changed files with 79 additions and 67 deletions
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2
subtask.py
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@@ -787,7 +787,7 @@ class get_rball():
# by_cmd.send_distance_y(-15, 40) # by_cmd.send_distance_y(-15, 40)
# time.sleep(1.5) # time.sleep(1.5)
# 891 参数 # 891 参数
by_cmd.send_distance_y(-15, 30) by_cmd.send_distance_y(-15, 40)
time.sleep(0.3) time.sleep(0.3)
calibrate_new(tlabel.RBALL,offset = 44, run = True) calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1) time.sleep(1)

48
subtask_8822.py
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@@ -10,7 +10,6 @@ import toml
import zmq import zmq
import time import time
import variable as var import variable as var
import action as act
import re import re
import math import math
import json import json
@@ -116,7 +115,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
ret, error = filter.aim_right(label) ret, error = filter.aim_right(label)
error += offset error += offset
# if ret: # if ret:
if abs(error) <= 8: if abs(error) <= 10:
car_stop() car_stop()
logger.info("calibrate_right_new:行进时 误差小于 8 直接停车") logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
ret, error = filter.aim_right(label) ret, error = filter.aim_right(label)
@@ -233,10 +232,10 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
car_stop() car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车") logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
ret, box = filter.get(label) # ret, box = filter.get(label)
while not ret: # while not ret:
ret, box = filter.get(label) # ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset # error = (box[0][2] + box[0][0] - 320) / 2 + offset
logger.info(f"停车后像素误差:{error}") logger.info(f"停车后像素误差:{error}")
# logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准") # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
@@ -288,10 +287,10 @@ def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.
car_stop() car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车") logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
ret, box = filter.get(target_label) # ret, box = filter.get(target_label)
while not ret: # while not ret:
ret, box = filter.get(target_label) # ret, box = filter.get(target_label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset # error = (box[0][2] + box[0][0] - 320) / 2 + offset
logger.info(f"停车后像素误差:{error}") logger.info(f"停车后像素误差:{error}")
break break
return True return True
@@ -426,8 +425,7 @@ class task_queuem(task):
class get_block1(): class get_block1():
def init(self): def init(self):
var.task_speed = 15 var.task_speed = 15
act.cmd.camera(0) by_cmd.send_angle_camera(0)
act.cmd.z2(20, 60, 0)
filter.switch_camera(1) filter.switch_camera(1)
# if cfg['get_block']['first_block'] == "blue": # if cfg['get_block']['first_block'] == "blue":
# self.target_label = tlabel.BBLOCK # self.target_label = tlabel.BBLOCK
@@ -464,7 +462,7 @@ class get_block1():
logger.info("抓取块") logger.info("抓取块")
by_cmd.send_position_axis_z(30, 80) by_cmd.send_position_axis_z(30, 80)
time.sleep(1) time.sleep(1.5)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
by_cmd.send_position_axis_x(1, 20) by_cmd.send_position_axis_x(1, 20)
time.sleep(1) time.sleep(1)
@@ -557,7 +555,7 @@ class put_block():
ret, box = filter.get(tlabel.HOSPITAL) ret, box = filter.get(tlabel.HOSPITAL)
if ret > 0: if ret > 0:
width = box[0][2] - box[0][0] width = box[0][2] - box[0][0]
if width > 130: if width > 130: #FIXME maybe 125 batter
return True return True
return False return False
def exec(self): def exec(self):
@@ -651,6 +649,7 @@ class get_bball():
car_stop() car_stop()
time.sleep(0.5) time.sleep(0.5)
for _ in range(3): for _ in range(3):
by_cmd.send_position_axis_z(30, 155)
calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5) calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
logger.info("抓蓝色球") logger.info("抓蓝色球")
time.sleep(0.5) time.sleep(0.5)
@@ -672,7 +671,7 @@ class get_bball():
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw_arm(45) by_cmd.send_angle_claw_arm(45)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 155) # by_cmd.send_position_axis_z(30, 155)
# 继续向前走 # 继续向前走
# by_cmd.send_speed_x(4) # by_cmd.send_speed_x(4)
pass pass
@@ -710,10 +709,10 @@ class up_tower():
calibrate_new(tlabel.TOWER, offset = 20, run = True) calibrate_new(tlabel.TOWER, offset = 20, run = True)
time.sleep(1) time.sleep(1)
# calibrate(tlabel.TOWER, 27, False, 6) # calibrate(tlabel.TOWER, 27, False, 6)
by_cmd.send_distance_x(-10, 120) by_cmd.send_distance_x(-10, 100) # used to be 120
time.sleep(1) time.sleep(1)
# 上古參數 # 上古參數
by_cmd.send_distance_y(-10, 50) # 80 # by_cmd.send_distance_y(-10, 50) # 80
# 6_9 模型參數 # 6_9 模型參數
# by_cmd.send_distance_y(-10, 40) # by_cmd.send_distance_y(-10, 40)
# 7_12_3 模型參數 # 7_12_3 模型參數
@@ -724,6 +723,12 @@ class up_tower():
# time.sleep(3) # time.sleep(3)
# by_cmd.send_speed_y(-10) # by_cmd.send_speed_y(-10)
# time.sleep(0.15) # time.sleep(0.15)
# 8822
by_cmd.send_distance_y(-10, 50)
time.sleep(0.3)
# 891
# by_cmd.send_distance_y(-10, 35)
# time.sleep(0.3)
by_cmd.send_angle_zhuan(10) by_cmd.send_angle_zhuan(10)
time.sleep(12) time.sleep(12)
@@ -781,7 +786,10 @@ class get_rball():
# car_stop() # car_stop()
# 8822 参数 # 8822 参数
by_cmd.send_distance_y(-15, 40) by_cmd.send_distance_y(-15, 40)
time.sleep(1.5) time.sleep(0.5)
# 891 参数
# by_cmd.send_distance_y(-15, 40)
# time.sleep(0.3)
calibrate_new(tlabel.RBALL,offset = 44, run = True) calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1) time.sleep(1)
logger.info("抓红球") logger.info("抓红球")
@@ -1105,7 +1113,7 @@ class put_hanoi2():
time.sleep(1) time.sleep(1)
pass pass
# ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5) # ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
ret = hanoi_calibrate(tlabel.LPILLER, tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5) ret = hanoi_calibrate(tlabel.LPILLER, [tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
if not ret: if not ret:
logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec") logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec")
return return
@@ -1166,7 +1174,7 @@ class put_hanoi2():
time.sleep(2) time.sleep(2)
pass pass
# ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5) # ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
ret = hanoi_calibrate(tlabel.MPILLER, tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5) ret = hanoi_calibrate(tlabel.MPILLER, [tlabel.LPILLER, tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
if not ret: if not ret:
logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec") logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec")
return return

33
subtask_891.py
View File

@@ -10,7 +10,6 @@ import toml
import zmq import zmq
import time import time
import variable as var import variable as var
import action as act
import re import re
import math import math
import json import json
@@ -116,7 +115,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
ret, error = filter.aim_right(label) ret, error = filter.aim_right(label)
error += offset error += offset
# if ret: # if ret:
if abs(error) <= 8: if abs(error) <= 10:
car_stop() car_stop()
logger.info("calibrate_right_new:行进时 误差小于 8 直接停车") logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
ret, error = filter.aim_right(label) ret, error = filter.aim_right(label)
@@ -233,10 +232,10 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
car_stop() car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车") logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
ret, box = filter.get(label) # ret, box = filter.get(label)
while not ret: # while not ret:
ret, box = filter.get(label) # ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset # error = (box[0][2] + box[0][0] - 320) / 2 + offset
logger.info(f"停车后像素误差:{error}") logger.info(f"停车后像素误差:{error}")
# logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准") # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
@@ -288,10 +287,10 @@ def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.
car_stop() car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车") logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
ret, box = filter.get(target_label) # ret, box = filter.get(target_label)
while not ret: # while not ret:
ret, box = filter.get(target_label) # ret, box = filter.get(target_label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset # error = (box[0][2] + box[0][0] - 320) / 2 + offset
logger.info(f"停车后像素误差:{error}") logger.info(f"停车后像素误差:{error}")
break break
return True return True
@@ -426,8 +425,7 @@ class task_queuem(task):
class get_block1(): class get_block1():
def init(self): def init(self):
var.task_speed = 15 var.task_speed = 15
act.cmd.camera(0) by_cmd.send_angle_camera(0)
act.cmd.z2(20, 60, 0)
filter.switch_camera(1) filter.switch_camera(1)
# if cfg['get_block']['first_block'] == "blue": # if cfg['get_block']['first_block'] == "blue":
# self.target_label = tlabel.BBLOCK # self.target_label = tlabel.BBLOCK
@@ -464,7 +462,7 @@ class get_block1():
logger.info("抓取块") logger.info("抓取块")
by_cmd.send_position_axis_z(30, 80) by_cmd.send_position_axis_z(30, 80)
time.sleep(1) time.sleep(1.5)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
by_cmd.send_position_axis_x(1, 20) by_cmd.send_position_axis_x(1, 20)
time.sleep(1) time.sleep(1)
@@ -557,7 +555,7 @@ class put_block():
ret, box = filter.get(tlabel.HOSPITAL) ret, box = filter.get(tlabel.HOSPITAL)
if ret > 0: if ret > 0:
width = box[0][2] - box[0][0] width = box[0][2] - box[0][0]
if width > 128: #135 130 if width > 125: #135 130 128
return True return True
return False return False
def exec(self): def exec(self):
@@ -651,6 +649,7 @@ class get_bball():
car_stop() car_stop()
time.sleep(0.5) time.sleep(0.5)
for _ in range(3): for _ in range(3):
by_cmd.send_position_axis_z(30, 155)
calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5) calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
logger.info("抓蓝色球") logger.info("抓蓝色球")
time.sleep(0.5) time.sleep(0.5)
@@ -672,7 +671,7 @@ class get_bball():
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw_arm(45) by_cmd.send_angle_claw_arm(45)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 155) # by_cmd.send_position_axis_z(30, 155)
# 继续向前走 # 继续向前走
# by_cmd.send_speed_x(4) # by_cmd.send_speed_x(4)
pass pass
@@ -710,7 +709,7 @@ class up_tower():
calibrate_new(tlabel.TOWER, offset = 20, run = True) calibrate_new(tlabel.TOWER, offset = 20, run = True)
time.sleep(1) time.sleep(1)
# calibrate(tlabel.TOWER, 27, False, 6) # calibrate(tlabel.TOWER, 27, False, 6)
by_cmd.send_distance_x(-10, 120) by_cmd.send_distance_x(-10, 100)
time.sleep(1) time.sleep(1)
# 上古參數 # 上古參數
# by_cmd.send_distance_y(-10, 50) # 80 # by_cmd.send_distance_y(-10, 50) # 80
@@ -788,7 +787,7 @@ class get_rball():
# by_cmd.send_distance_y(-15, 40) # by_cmd.send_distance_y(-15, 40)
# time.sleep(1.5) # time.sleep(1.5)
# 891 参数 # 891 参数
by_cmd.send_distance_y(-15, 30) by_cmd.send_distance_y(-15, 40)
time.sleep(0.3) time.sleep(0.3)
calibrate_new(tlabel.RBALL,offset = 44, run = True) calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1) time.sleep(1)

63
subtask_raw.py
View File

@@ -10,7 +10,6 @@ import toml
import zmq import zmq
import time import time
import variable as var import variable as var
import action as act
import re import re
import math import math
import json import json
@@ -116,7 +115,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
ret, error = filter.aim_right(label) ret, error = filter.aim_right(label)
error += offset error += offset
# if ret: # if ret:
if abs(error) <= 8: if abs(error) <= 10:
car_stop() car_stop()
logger.info("calibrate_right_new:行进时 误差小于 8 直接停车") logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
ret, error = filter.aim_right(label) ret, error = filter.aim_right(label)
@@ -233,10 +232,10 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
car_stop() car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车") logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
ret, box = filter.get(label) # ret, box = filter.get(label)
while not ret: # while not ret:
ret, box = filter.get(label) # ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset # error = (box[0][2] + box[0][0] - 320) / 2 + offset
logger.info(f"停车后像素误差:{error}") logger.info(f"停车后像素误差:{error}")
# logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准") # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
@@ -288,10 +287,10 @@ def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.
car_stop() car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车") logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
ret, box = filter.get(target_label) # ret, box = filter.get(target_label)
while not ret: # while not ret:
ret, box = filter.get(target_label) # ret, box = filter.get(target_label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset # error = (box[0][2] + box[0][0] - 320) / 2 + offset
logger.info(f"停车后像素误差:{error}") logger.info(f"停车后像素误差:{error}")
break break
return True return True
@@ -426,8 +425,7 @@ class task_queuem(task):
class get_block1(): class get_block1():
def init(self): def init(self):
var.task_speed = 15 var.task_speed = 15
act.cmd.camera(0) by_cmd.send_angle_camera(0)
act.cmd.z2(20, 60, 0)
filter.switch_camera(1) filter.switch_camera(1)
# if cfg['get_block']['first_block'] == "blue": # if cfg['get_block']['first_block'] == "blue":
# self.target_label = tlabel.BBLOCK # self.target_label = tlabel.BBLOCK
@@ -464,7 +462,7 @@ class get_block1():
logger.info("抓取块") logger.info("抓取块")
by_cmd.send_position_axis_z(30, 80) by_cmd.send_position_axis_z(30, 80)
time.sleep(1) time.sleep(1.5)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
by_cmd.send_position_axis_x(1, 20) by_cmd.send_position_axis_x(1, 20)
time.sleep(1) time.sleep(1)
@@ -651,6 +649,7 @@ class get_bball():
car_stop() car_stop()
time.sleep(0.5) time.sleep(0.5)
for _ in range(3): for _ in range(3):
by_cmd.send_position_axis_z(30, 155)
calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5) calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
logger.info("抓蓝色球") logger.info("抓蓝色球")
time.sleep(0.5) time.sleep(0.5)
@@ -672,7 +671,7 @@ class get_bball():
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw_arm(45) by_cmd.send_angle_claw_arm(45)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 155) # by_cmd.send_position_axis_z(30, 155)
# 继续向前走 # 继续向前走
# by_cmd.send_speed_x(4) # by_cmd.send_speed_x(4)
pass pass
@@ -710,10 +709,11 @@ class up_tower():
calibrate_new(tlabel.TOWER, offset = 20, run = True) calibrate_new(tlabel.TOWER, offset = 20, run = True)
time.sleep(1) time.sleep(1)
# calibrate(tlabel.TOWER, 27, False, 6) # calibrate(tlabel.TOWER, 27, False, 6)
by_cmd.send_distance_x(-10, 120) by_cmd.send_distance_x(-10, 100)
time.sleep(1) time.sleep(1)
# 上古參數 # 上古參數
by_cmd.send_distance_y(-10, 50) # 80 by_cmd.send_distance_y(-10, 50) # 80
time.sleep(0.5)
# 6_9 模型參數 # 6_9 模型參數
# by_cmd.send_distance_y(-10, 40) # by_cmd.send_distance_y(-10, 40)
# 7_12_3 模型參數 # 7_12_3 模型參數
@@ -724,6 +724,11 @@ class up_tower():
# time.sleep(3) # time.sleep(3)
# by_cmd.send_speed_y(-10) # by_cmd.send_speed_y(-10)
# time.sleep(0.15) # time.sleep(0.15)
# 8822
# by_cmd.send_distance_y(-10, 50)
# 891
# by_cmd.send_distance_y(-10, 35)
# time.sleep(0.3)
by_cmd.send_angle_zhuan(10) by_cmd.send_angle_zhuan(10)
time.sleep(12) time.sleep(12)
@@ -770,8 +775,8 @@ class get_rball():
by_cmd.send_angle_scoop(20) by_cmd.send_angle_scoop(20)
# 上古參數 # 上古參數
# by_cmd.send_distance_y(-15, 50) # 50 # 70 # by_cmd.send_distance_y(-15, 50) # 50 # 70
by_cmd.send_distance_y(-15, 40) # 50 # 70 by_cmd.send_istance_y(-15, 40) # 50 # 70
time.sleep(1.5) time.sleep(0.5)
# 6_9 參數 # 6_9 參數
# by_cmd.send_distance_y(-15, 35) # by_cmd.send_distance_y(-15, 35)
# time.sleep(2) # time.sleep(2)
@@ -779,6 +784,12 @@ class get_rball():
# by_cmd.send_distance_y(-15, 45) # by_cmd.send_distance_y(-15, 45)
# time.sleep(2) # time.sleep(2)
# car_stop() # car_stop()
# 8822 参数
# by_cmd.send_distance_y(-15, 40)
# time.sleep(1.5)
# 891 参数
# by_cmd.send_distance_y(-15, 40)
# time.sleep(0.3)
calibrate_new(tlabel.RBALL,offset = 44, run = True) calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1) time.sleep(1)
logger.info("抓红球") logger.info("抓红球")
@@ -826,14 +837,14 @@ class put_bball():
calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6) calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
# by_cmd.send_distance_x(10, 10) # by_cmd.send_distance_x(10, 10)
# 向左运动 # 向左运动
by_cmd.send_distance_y(-10, 35) # by_cmd.send_distance_y(-10, 35)
# by_cmd.send_angle_storage(10) # by_cmd.send_angle_storage(10)
# time.sleep(1) # time.sleep(1)
by_cmd.send_angle_storage(50) by_cmd.send_angle_storage(50)
logger.info("把球放篮筐里") logger.info("把球放篮筐里")
time.sleep(1) time.sleep(2)
# by_cmd.send_distance_y(10, 55) # by_cmd.send_distance_y(10, 55)
by_cmd.send_angle_storage(20) by_cmd.send_angle_storage(20)
# time.sleep(1) # time.sleep(1)
@@ -1102,7 +1113,7 @@ class put_hanoi2():
time.sleep(1) time.sleep(1)
pass pass
# ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5) # ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
ret = hanoi_calibrate(tlabel.LPILLER, tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5) ret = hanoi_calibrate(tlabel.LPILLER, [tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
if not ret: if not ret:
logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec") logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec")
return return
@@ -1163,7 +1174,7 @@ class put_hanoi2():
time.sleep(2) time.sleep(2)
pass pass
# ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5) # ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
ret = hanoi_calibrate(tlabel.MPILLER, tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5) ret = hanoi_calibrate(tlabel.MPILLER, [tlabel.LPILLER, tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
if not ret: if not ret:
logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec") logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec")
return return
@@ -1537,14 +1548,6 @@ class move_area2():
if len(resp_commands) == 0: if len(resp_commands) == 0:
return return
action_list = resp_commands action_list = resp_commands
# 先检查一下 action 是否生成正确，如果不正确直接跳过
actions_keys = self.action_dict.keys()
try:
for action in action_list:
if not (action.get('action') in actions_keys):
return
except:
return
# 进入停车区域 # 进入停车区域
by_cmd.send_distance_y(10, 450) by_cmd.send_distance_y(10, 450)
time.sleep((450 * 5 / 1000) + 0.5) time.sleep((450 * 5 / 1000) + 0.5)
@@ -1656,6 +1659,8 @@ class kick_ass():
# by_cmd.send_speed_x(25) # by_cmd.send_speed_x(25)
# time.sleep(4) # time.sleep(4)
pass pass
def nexec(self): def nexec(self):
pass pass
def after(self): def after(self):