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feat: 启用llm任务初版

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bmy
2024-08-01 22:54:05 +08:00
parent e51c126f1f
commit d0b02a66e6
8 changed files with 514 additions and 120 deletions
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263
subtask.py
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@@ -11,8 +11,9 @@ import time
import variable as var
import action as act
import re
import threading
import ctypes
import math
# import threading
# import ctypes
cfg = None
cfg_args = None
by_cmd = None
@@ -60,10 +61,10 @@ def import_obj(_by_cmd, skip_queue):
logger.info("subtask yolo client init")
# ocr socket 客户端
# context1 = zmq.Context()
# ocr_socket = context1.socket(zmq.REQ)
# ocr_socket.connect("tcp://localhost:6668")
# logger.info("subtask ocr client init")
context1 = zmq.Context()
ocr_socket = context1.socket(zmq.REQ)
ocr_socket.connect("tcp://localhost:6668")
logger.info("subtask ocr client init")
filter = label_filter(socket)
if cfg['move_area']['llm_enable']:
@@ -1234,6 +1235,7 @@ class move_area1():
logger.info("应急避险第一阶段初始化")
while (by_cmd.send_angle_camera(0) == -1):
by_cmd.send_angle_camera(0)
filter.switch_camera(1)
def find(self):
ret = filter.find(tlabel.SIGN)
if ret:
@@ -1296,6 +1298,31 @@ class move_area1():
# 应急避险 第二阶段 找停车区域
class move_area2():
def __init__(self):
self.action_dict = {
'beep_seconds': self.beep_seconds,
'beep_counts': self.beep_counts,
'light_seconds': self.light_seconds,
'light_counts': self.light_counts,
'beep_light_counts': self.beep_light_counts,
'beep_light_seconds': self.beep_light_seconds,
'go_front': self.go_front,
'go_back': self.go_back,
'go_left': self.go_left,
'go_right': self.go_right,
'go_left_rotate': self.go_left_rotate,
'go_right_rotate': self.go_right_rotate,
'go_sleep': self.go_sleep
}
self.front_time = 0
self.back_time = 0
self.left_time = 0
self.right_time = 0
self.sum_rotate_angle = 0
self.abs_x = 0 # 为了和程序指令适配，其中 x y 方向互换
self.abs_y = 0
self.abs_w = 0
pass
def init(self):
logger.info("应急避险第二阶段初始化")
self.offset = 15
@@ -1303,7 +1330,6 @@ class move_area2():
self.delta_y = 0
self.delta_omage = 0
def find(self):
# time.sleep(0.001)
if var.skip_llm_task_flag:
return 5000
ret, box = filter.get(tlabel.SHELTER)
@@ -1312,44 +1338,138 @@ class move_area2():
if abs(error) < 20:
return 5000
return False
def sub_light(self, delay_time):
by_cmd.send_light(1)
time.sleep(delay_time)
by_cmd.send_light(0)
def sub_beep(self,delay_time):
def add_item(self, item):
try:
return self.action_dict[item.get('action')](item.get('time'))
except:
pass
return False
def beep_seconds(self, _time):
by_cmd.send_beep(1)
time.sleep(delay_time)
time.sleep(_time * 0.7)
by_cmd.send_beep(0)
def sub_move(self, x, y):
# FIXME 如果同時有 xy，是否會造成 delay 不足
self.delta_x += x
self.delta_y += y
if x != 0:
delay_time = int(abs(x) * 500)
if x > 0:
by_cmd.send_distance_x(15, delay_time)
else:
by_cmd.send_distance_x(-15, delay_time)
elif y != 0:
delay_time = int(abs(y) * 500)
if y > 0: # 向左
by_cmd.send_distance_y(-15, delay_time)
else:
by_cmd.send_distance_y(15, delay_time)
time.sleep(delay_time / 500)
car_stop()
pass
def sub_turn(self, angle):
self.delta_omage += angle
delay_time = int(abs(angle) * 400 / 90)
if angle < 0:
# 左转
by_cmd.send_angle_omega(+55, delay_time)
return True
def beep_counts(self, _time):
for _ in range(_time):
by_cmd.send_beep(1)
time.sleep(0.3)
by_cmd.send_beep(0)
time.sleep(0.2)
return True
def light_seconds(self, _time):
by_cmd.send_light(1)
time.sleep(_time * 0.7)
by_cmd.send_light(0)
return True
def light_counts(self, _time):
for _ in range(_time):
by_cmd.send_light(1)
time.sleep(0.3)
by_cmd.send_light(0)
time.sleep(0.2)
return True
def beep_light_counts(self, _time):
for _ in range(_time):
by_cmd.send_beep(1)
by_cmd.send_light(1)
time.sleep(0.3)
by_cmd.send_beep(0)
by_cmd.send_light(0)
time.sleep(0.2)
return True
def beep_light_seconds(self, _time):
by_cmd.send_beep(1)
by_cmd.send_light(1)
time.sleep(_time * 0.3)
by_cmd.send_beep(0)
by_cmd.send_light(0)
return True
def go_front(self, _time):
self.abs_y -= math.sin(self.abs_w) * _time
self.abs_x += math.cos(self.abs_w) * _time
logger.info(f"向前移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
speed_time = int(abs(_time) * 750)
by_cmd.send_distance_x(10, speed_time)
time.sleep(speed_time / 100)
self.front_time += speed_time
return True
def go_back(self, _time):
self.abs_y += math.sin(self.abs_w) * _time
self.abs_x -= math.cos(self.abs_w) * _time
logger.info(f"向后移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
speed_time = int(abs(_time) * 750)
by_cmd.send_distance_x(-10, speed_time)
time.sleep(speed_time / 100)
self.back_time += speed_time
return True
def go_left(self, _time):
self.abs_y -= math.cos(self.abs_w) * _time
self.abs_x -= math.sin(self.abs_w) * _time
logger.info(f"向左移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
speed_time = int(abs(_time) * 750)
by_cmd.send_distance_y(-10, speed_time)
time.sleep(speed_time / 100)
self.left_time += speed_time
return True
def go_right(self, _time):
self.abs_y += math.cos(self.abs_w) * _time
self.abs_x += math.sin(self.abs_w) * _time
logger.info(f"向右移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
speed_time = int(abs(_time) * 750)
by_cmd.send_distance_y(10, speed_time)
time.sleep(speed_time / 100)
self.right_time += speed_time
return True
def go_shift(self, _dis_x, _dis_y):
direct_x = 1.0 if (_dis_x > 0) else -1.0
direct_y = 1.0 if (_dis_y > 0) else -1.0
self.abs_y -= math.sin(self.abs_w) * _dis_x
self.abs_x += math.cos(self.abs_w) * _dis_x
self.abs_y += math.cos(self.abs_w) * _dis_y
self.abs_x += math.sin(self.abs_w) * _dis_y
logger.info(f"水平移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
speed_time_x = int(abs(_dis_x) * 750)
speed_time_y = int(abs(_dis_y) * 750)
by_cmd.send_distance_x(10 * direct_x, speed_time_x)
by_cmd.send_distance_y(10 * direct_y, speed_time_y)
time.sleep(max(speed_time_x, speed_time_y) / 100) #FIXME 除以 100 是否正确
return True
def go_left_rotate(self, _time):
self.abs_w += math.radians(_time) # 弧度制
logger.info(f"向左旋转：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
self.sum_rotate_angle -= _time
speed_time = int(abs(_time) * 7.25)
by_cmd.send_angle_omega(30, speed_time)
time.sleep(speed_time / 200 + 0.5)
return True
def go_right_rotate(self, _time):
self.abs_w -= math.radians(_time) # 弧度制
logger.info(f"向右旋转：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
self.sum_rotate_angle += _time
speed_time = int(abs(_time) * 7.25)
by_cmd.send_angle_omega(-30, speed_time)
time.sleep(speed_time / 200 + 0.5)
return True
def go_sleep(self, _time):
time.sleep(_time*0.7)
return True
def reset(self):
logger.info(f"开始复位：[当前位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)}]")
# 归一化角度到 0-2pi
left_dregee = math.degrees(self.abs_w % (2 * math.pi))
# 确定旋转方向 (寻找回正角度最小旋转方向)
if math.sin(self.abs_w) < 0:
logger.info(f"需要左旋 {360.0 - left_dregee} 回正")
self.go_left_rotate(360.0 - left_dregee)
else:
# 右转
by_cmd.send_angle_omega(-55, delay_time)
time.sleep(delay_time / 300 * 1.5)
logger.info(f"需要右旋 {left_dregee} 回正")
self.go_right_rotate(left_dregee)
time.sleep(0.1)
# 在框中原点添加向左 0.6m 的偏移值，以便直接回到赛道
self.go_shift(self.abs_x * -1.0, self.abs_y * -1.0 - 0.6)
logger.info(f"回正后最终位置： ({self.abs_y:.2f}, {self.abs_x:.2f}), 角度： {math.degrees(self.abs_w % (2 * math.pi))}")
def exec(self):
var.task_speed = 0
if var.skip_llm_task_flag:
@@ -1357,8 +1477,9 @@ class move_area2():
return
logger.info("开始寻找停车区域")
car_stop()
calibrate_new(tlabel.SHELTER, offset = 15, run = True)
# calibrate_new(tlabel.SHELTER, offset = 15, run = True)
time.sleep(0.5)
var.llm_text = "黑暗环境，照亮三秒，左转 90 度，鸣叫三声"
# 调用大模型 然后执行动作
try:
resp = llm_bot.get_command_json(var.llm_text)
@@ -1372,57 +1493,19 @@ class move_area2():
resp_commands = eval(re.findall("```json(.*?)```", resp, re.S)[0])
if len(resp_commands) == 0:
return
action_list = resp_commands
# 进入停车区域
# by_cmd.send_speed_y(15)
by_cmd.send_distance_y(25, 180)
time.sleep(1)
# time.sleep(1.25)
car_stop()
logger.info(resp_commands)
for command in resp_commands:
logger.info(command)
if command['func'] == 'move':
self.sub_move(float(command['x']), float(command['y']))
elif command['func'] == 'light':
self.sub_light(int(command['time']))
elif command['func'] == 'beep':
self.sub_beep(int(command['time']))
elif command['func'] == 'turn':
self.sub_turn(int(command['angle']))
pass
else:
continue
time.sleep(0.5)
by_cmd.send_distance_y(10, 450)
time.sleep((450 * 5 / 1000) + 0.5)
except:
pass
time.sleep(1)
# 回到原位
delay_time = int(abs(self.delta_omage) * 400 / 90)
if int(abs(self.delta_omage)) == 360:
delay_time = 0
if self.delta_omage < 0:
# 左转
by_cmd.send_angle_omega(-55, delay_time)
else:
# 右转
by_cmd.send_angle_omega(55, delay_time)
time.sleep(delay_time / 300 * 1.5)
if self.delta_y > 0:
# 向左移动的距离就要比进入的时候少一些 因为 action 已经向左运动了
delay_time = 180 - (self.delta_y * 500)
else:
delay_time = 180 + (abs(self.delta_y) * 500)
# 离开停车区域
by_cmd.send_distance_y(-25, delay_time)
for action in action_list:
self.add_item(action)
time.sleep(0.1)
pass
time.sleep(0.5)
self.reset()
time.sleep(delay_time * 5e-3)
car_stop()
# FIXME 移动距离指令下发后未完成，再发送速度指令，将不会清除未完成的速度值
# by_cmd.send_distance_y(-15, 300)
pass
def nexec(self):
logger.warning("正在跳過大模型任務")
time.sleep(2)