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bmy
2024-07-05 18:29:22 +08:00
parent f3e6bcc01f
commit 8acecadd2a
19 changed files with 18942 additions and 381 deletions
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54
main.py
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@@ -1,23 +1,24 @@
import toml
import queue
import threading
import queue
from loguru import logger
import subtask as sb
import majtask as mj
from by_cmd_py import by_cmd_py
import time
import action as act
# 读取配置
cfg_main = toml.load('cfg_main.toml')
cfg_subtask = toml.load('cfg_subtask.toml')
# logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
running = True
cmd_py_obj = by_cmd_py()
sb.import_obj(cmd_py_obj)
act.import_obj(cmd_py_obj)
# 读取配置
cfg_main = toml.load('cfg_main.toml')
# 配置日志输出
logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
act.axis.camera(0)
act.axis.x2(140)
act.axis.storage(20)
@@ -27,21 +28,20 @@ act.axis.exec()
# 向任务队列添加任务
task_queue = queue.Queue()
if cfg_main['task']['Subtask_enable'] is True:
task_queue.put(sb.task(sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task(sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task(sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable']))
task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable']))
# TODO 添加一个空任务用于提前降 z 轴
task_queue.put(sb.task(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))
task_queue.put(sb.task(sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable']))
task_queue.put(sb.task(sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable']))
task_queue.put(sb.task(sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], True)) # 无论是否进行任务，检测标识并转向都是必须进行的
task_queue.put(sb.task(sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
task_queue.put(sb.task(sb.put_hanoi3, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
task_queue.put(sb.task(sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable']))
task_queue.put(sb.task(sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable']))
task_queue.put(sb.task(sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable']))
task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))
task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable']))
task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable']))
task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True)) # 无论是否进行任务，检测标识并转向都是必须进行的
task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable']))
task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable']))
task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable']))
# 将任务队列传入调度模块中
task_queuem_t = sb.task_queuem(task_queue)
@@ -54,13 +54,11 @@ def worker_thread():
worker = threading.Thread(target=worker_thread, daemon=True)
worker.start()
# 创建主任务
main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
# 主线程仅在子线程搜索 (SEARCHING) 和 空闲 (IDLE) 状态下进行操作
# while task_queuem_t.busy is True:
try:
while True:
while running:
if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
pass
else:
@@ -74,5 +72,9 @@ except KeyboardInterrupt:
time.sleep(0.1)
cmd_py_obj.send_speed_omega(0)
time.sleep(0.1)
logger.info("Main thread exit")
for _ in range(3):
cmd_py_obj.send_speed_x(0)
time.sleep(0.1)
cmd_py_obj.send_speed_omega(0)
time.sleep(0.1)
logger.info("Main thread exit")