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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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test/test_action.py Normal file
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import os
import sys
import math
parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(parent_dir)
from by_cmd_py import by_cmd_py
import time
import zmq
import numpy as np
context = zmq.Context()
socket = context.socket(zmq.REQ)
socket.connect("tcp://localhost:6666")
def car_stop():
for _ in range(3):
cmd_py_obj.send_speed_x(0)
time.sleep(0.2)
cmd_py_obj.send_speed_y(0)
time.sleep(0.2)
cmd_py_obj.send_speed_omega(0)
class LLM_Action:
def __init__(self,cmd_py_obj):
self.by_cmd = cmd_py_obj
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 __call__(self, item):
try:
return self.action_dict[item.get('action')](item.get('time'))
except:
pass
return False
def beep_seconds(self, _time):
self.by_cmd.send_beep(1)
time.sleep(_time * 0.7)
self.by_cmd.send_beep(0)
return True
def beep_counts(self, _time):
for _ in range(_time):
self.by_cmd.send_beep(1)
time.sleep(0.3)
self.by_cmd.send_beep(0)
time.sleep(0.2)
return True
def light_seconds(self, _time):
self.by_cmd.send_light(1)
time.sleep(_time * 0.7)
self.by_cmd.send_light(0)
return True
def light_counts(self, _time):
for _ in range(_time):
self.by_cmd.send_light(1)
time.sleep(0.3)
self.by_cmd.send_light(0)
time.sleep(0.2)
return True
def beep_light_counts(self, _time):
for _ in range(_time):
self.by_cmd.send_beep(1)
self.by_cmd.send_light(1)
time.sleep(0.3)
self.by_cmd.send_beep(0)
self.by_cmd.send_light(0)
time.sleep(0.2)
return True
def beep_light_seconds(self, _time):
self.by_cmd.send_beep(1)
self.by_cmd.send_light(1)
time.sleep(_time * 0.3)
self.by_cmd.send_beep(0)
self.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
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
speed_time = int(abs(_time) * 750)
self.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
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
speed_time = int(abs(_time) * 750)
self.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
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
speed_time = int(abs(_time) * 750)
self.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
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
speed_time = int(abs(_time) * 750)
self.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
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
speed_time_x = int(abs(_dis_x) * 750)
speed_time_y = int(abs(_dis_y) * 750)
self.by_cmd.send_distance_x(10 * direct_x, speed_time_x)
self.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
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
self.sum_rotate_angle -= _time
speed_time = int(abs(_time) * 7.25)
self.by_cmd.send_angle_omega(30, speed_time)
time.sleep(speed_time / 200 + 0.5)
# time.sleep(speed_time / _time / 2)
return True
def go_right_rotate(self, _time):
self.abs_w -= math.radians(_time) # 弧度制
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
self.sum_rotate_angle += _time
speed_time = int(abs(_time) * 7.25)
self.by_cmd.send_angle_omega(-30, speed_time)
time.sleep(speed_time / 200 + 0.5)
# time.sleep(speed_time / _time / 2)
return True
def go_sleep(self, _time):
time.sleep(_time*0.7)
return True
def reset(self):
print(f"开始复位：[当前位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)}]")
# 先复位角度
if self.sum_rotate_angle > 0:
self.sum_rotate_angle = self.sum_rotate_angle % 360
else:
self.sum_rotate_angle = -(abs(self.sum_rotate_angle) % 360)
# if self.sum_rotate_angle > 0:
# # 采用左转回正
# self.go_left_rotate(self.sum_rotate_angle)
# # speed_time = int(abs(self.sum_rotate_angle) * 7.25)
# # self.by_cmd.send_angle_omega(30, speed_time)
# pass
# else:
# # 采用右转回正
# self.go_right_rotate(abs(self.sum_rotate_angle))
# # speed_time = int(abs(self.sum_rotate_angle) * 7.25)
# # self.by_cmd.send_angle_omega(-30, speed_time)
left_dregee = math.degrees(self.abs_w % (2 * math.pi)) #归一化角度到 0-2pi
if math.sin(self.abs_w) < 0:
print(f"需要左旋 {360.0 - left_dregee} 回正")
self.go_left_rotate(360.0 - left_dregee)
else:
print(f"需要右旋 {left_dregee} 回正")
self.go_right_rotate(left_dregee)
time.sleep(0.1)
self.go_shift(self.abs_x * -1.0, self.abs_y * -1.0 - 0.6) # 左移 0.6m 回到赛道
# # 再回正 x 轴
# if self.front_time > self.back_time:
# # 采用后退回正
# speed_time = self.front_time - self.back_time
# self.by_cmd.send_distance_x(-10, speed_time)
# else:
# speed_time = self.back_time - self.front_time
# self.by_cmd.send_distance_x(10, speed_time)
# time.sleep(speed_time / 100)
# time.sleep(0.1)
# # 最后回正 y 轴
# speed_time = self.left_time - self.right_time
# if speed_time < 0:
# speed_time = 4500 + abs(speed_time)
# else:
# speed_time = 4500 - speed_time
# self.by_cmd.send_distance_y(-10, speed_time / 15 + 100)
# print(speed_time * 1e-3 * 0.9)
# time.sleep(speed_time * 1e-3 * 0.9)
print(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))}")
if __name__ == "__main__":
cmd_py_obj = by_cmd_py()
# cmd_py_obj.send_angle_omega(-30, 20 * 7.25)
# time.sleep(20 * 7.25 / 20 / 2)
llm_act = LLM_Action(cmd_py_obj)
action_list = [{"index":0,"action":"go_left_rotate","time":270},{"index":1,"action":"go_back","time":0.2},{"index":2,"action":"go_left","time":0.2},{"index":2,"action":"beep_counts","time":3}]
cmd_py_obj.send_distance_y(10, 450)
time.sleep((450 * 5 / 1000) + 0.5)
# time.sleep(15 * 300 * 1e-3 * 0.7)
# car_stop()
for action in action_list:
llm_act(action)
time.sleep(0.1)
pass
time.sleep(1)
llm_act.reset()
# car_stop()