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bmy
2024-07-09 00:28:41 +08:00
parent 8acecadd2a
commit da67c9a62b
11 changed files with 379 additions and 177 deletions
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22
app.py
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@@ -47,12 +47,15 @@ handler = WebSocketHandler()
logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG") logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
fileOptions_path = '/home/evan/Workplace/project_main' fileOptions_path = '/home/evan/Workplace/project_main'
fileOptions_list = ['cfg_main.toml', 'cfg_subtask.toml'] fileOptions_list = ['cfg_args.toml','cfg_main.toml', 'cfg_subtask.toml']
@app.route('/') @app.route('/')
def index(): def index():
return render_template('index.html') return render_template('index.html')
@app.route('/csdn')
def csdn():
return render_template('csdn.html')
@socketio.on('operate') @socketio.on('operate')
def operate_handle(data): def operate_handle(data):
@@ -141,6 +144,23 @@ def thread_function():
if __name__ == '__main__': if __name__ == '__main__':
log_file = "server_processes.log"
log = open(log_file, "w")
time.sleep(2)
# 启动所有脚本
for i, env_info in enumerate(server_command):
env_path = env_info["path"]
script = env_info["script"]
env = os.environ.copy()
if i == 0:
process = subprocess.Popen([script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
processes.append(process)
time.sleep(2)
process = subprocess.Popen(['python', script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
processes.append(process)
thread1 = threading.Thread(target=thread_function, daemon = True) thread1 = threading.Thread(target=thread_function, daemon = True)
thread1.start() thread1.start()
socketio.run(app, host='0.0.0.0', port=5001, allow_unsafe_werkzeug=True) socketio.run(app, host='0.0.0.0', port=5001, allow_unsafe_werkzeug=True)

14
cfg_args.toml Normal file
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@@ -0,0 +1,14 @@
[kick_ass]
target_person = 3
[task]
Subtask_enable = true
GetBlock_enable = true
PutBlock_enable = true
GetBBall_enable = true
UpTower_enable = true
GetRBall_enable = true
PutBBall_enable = true
PutHanoi_enable = true
MoveArea_enable = false
KickAss_enable = true

18
cfg_main.toml
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@@ -2,27 +2,17 @@
logger_filename = "log/file_{time}.log" logger_filename = "log/file_{time}.log"
logger_format = "{time} {level} {message}" logger_format = "{time} {level} {message}"
[task]
Subtask_enable = true
GetBlock_enable = true
PutBlock_enable = true
GetBBall_enable = true
UpTower_enable = true
GetRBall_enable = true
PutBBall_enable = true
PutHanoi_enable = true
MoveArea_enable = true
KickAss_enable = true
[find_counts] [find_counts]
GetBlock_counts = 5 GetBlock_counts = 5
PutBlock_counts = 5 PutBlock_counts = 8
GetBBall_counts = 1 GetBBall_counts = 1
UpTower_counts = 3 UpTower_counts = 3
GetRBall_counts = 10 GetRBall_counts = 10
PutBBall_counts = 15 PutBBall_counts = 15
PutHanoi1_counts = 10 PutHanoi1_counts = 7
PutHanoi2_counts = 5 PutHanoi2_counts = 2
PutHanoi3_counts = 2 PutHanoi3_counts = 2
MoveArea1_counts = 6 MoveArea1_counts = 6
MoveArea2_counts = 1700 MoveArea2_counts = 1700

20
cfg_subtask.toml
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@@ -1,5 +1,5 @@
[get_block] [get_block]
pid_kp = 1 pid_kp = 0.9
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
first_block = "blue" first_block = "blue"
@@ -20,42 +20,42 @@ pid_ki = 0
pid_kd = 0 pid_kd = 0
[get_rball] [get_rball]
pid_kp = 0.5 pid_kp = 0.6
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
[put_bball] [put_bball]
pid_kp = 0.7 pid_kp = 1.2
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
[put_hanoi1] [put_hanoi1]
pid_kp = 1 pid_kp = 0.7
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
[put_hanoi2] [put_hanoi2]
pid_kp = 0.7 pid_kp = 1.0
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
pos_gap = 160 pos_gap = 160
first_target = "mp" first_target = "mp"
[put_hanoi3] [put_hanoi3]
pid_kp = 1.2 pid_kp = 1.3
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
[move_area] [move_area]
pid_kp = 1.4 pid_kp = 1.2
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
llm_enable = true llm_enable = false
[kick_ass] [kick_ass]
pid_kp = 1.2 pid_kp = 0.8
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
pos_gap1 = 150 pos_gap1 = 150
pos_gap2 = 80 pos_gap2 = 80
target_person = 2 target_person = 1

33
main_upper.py
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@@ -29,12 +29,13 @@ def main_func(_queue, _skip_queue):
cmd_py_obj = by_cmd_py(_queue) cmd_py_obj = by_cmd_py(_queue)
sb.import_obj(cmd_py_obj) sb.import_obj(cmd_py_obj, _skip_queue)
act.import_obj(cmd_py_obj) act.import_obj(cmd_py_obj)
# 读取配置 # 读取配置
cfg_main = toml.load('/home/evan/Workplace/project_main/cfg_main.toml') cfg_main = toml.load('/home/evan/Workplace/project_main/cfg_main.toml')
logger.info(cfg_main) cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.toml')
# logger.info(cfg_main)
cfg_subtask = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml') cfg_subtask = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml')
# 配置日志输出 # 配置日志输出
@@ -50,21 +51,21 @@ def main_func(_queue, _skip_queue):
# 向任务队列添加任务 # 向任务队列添加任务
task_queue = queue.Queue() task_queue = queue.Queue()
if cfg_main['task']['Subtask_enable'] is True: if cfg_args['task']['Subtask_enable'] is True:
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("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_args['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("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_args['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("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_args['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'])) task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_args['task']['GetBBall_enable']))
# # TODO 添加一个空任务用于提前降 z 轴 # # TODO 添加一个空任务用于提前降 z 轴
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("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_args['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("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_args['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("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_args['task']['GetBBall_enable'] and cfg_args['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("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_args['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("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("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_args['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("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_args['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'])) task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_args['task']['KickAss_enable']))
# 将任务队列传入调度模块中 # 将任务队列传入调度模块中
task_queuem_t = sb.task_queuem(task_queue) task_queuem_t = sb.task_queuem(task_queue)
# 创建任务队列的工作线程 # 创建任务队列的工作线程
@@ -101,4 +102,6 @@ def main_func(_queue, _skip_queue):
time.sleep(0.1) time.sleep(0.1)
logger.info("Main thread exit") logger.info("Main thread exit")
if __name__ == '__main__': if __name__ == '__main__':
main_func(None) from multiprocessing import Queue
temp = Queue()
main_func(None, temp)

14
majtask.py
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@@ -62,17 +62,17 @@ class main_task():
error_abs = abs(self.lane_error) error_abs = abs(self.lane_error)
if error_abs > 50: if error_abs > 50:
speed = 11
elif error_abs > 45:
speed = 13 speed = 13
elif error_abs > 45:
speed = 15
elif error_abs > 35: elif error_abs > 35:
speed = 15 speed = 17
elif error_abs > 25: elif error_abs > 25:
speed = 15
elif error_abs > 15:
speed = 15
else:
speed = 18 speed = 18
elif error_abs > 15:
speed = 19
else:
speed = 21
# lane_model initial # lane_model initial
# if error_abs > 50: # if error_abs > 50:

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288
subtask.py
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@@ -1,7 +1,3 @@
'''
待办事项：
- 第一二個方塊自動識別，hanoi2 識別到物塊即停車，不需手動輸入第一個物塊（修改 fliter 使其能一次請求過濾多個標籤)
'''
from enum import Enum from enum import Enum
from loguru import logger from loguru import logger
from utils import label_filter from utils import label_filter
@@ -18,7 +14,7 @@ import re
import threading import threading
import ctypes import ctypes
cfg = None cfg = None
cfg_args = None
by_cmd = None by_cmd = None
filter = None filter = None
llm_bot = None llm_bot = None
@@ -30,12 +26,14 @@ socket = None
context1 = None context1 = None
ocr_socket = None ocr_socket = None
global_skip_queue = None
''' '''
description: main.py 里执行 引入全局变量 description: main.py 里执行 引入全局变量
param {*} _by_cmd 控制器对象 param {*} _by_cmd 控制器对象
return {*} return {*}
''' '''
def import_obj(_by_cmd): def import_obj(_by_cmd, skip_queue):
global by_cmd global by_cmd
global filter global filter
@@ -48,9 +46,12 @@ def import_obj(_by_cmd):
global ocr_socket global ocr_socket
global cfg global cfg
global cfg_args
global global_skip_queue
cfg = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml') # 加载任务配置 cfg = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml') # 加载任务配置
cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.toml')
by_cmd = _by_cmd by_cmd = _by_cmd
global_skip_queue = skip_queue
# 目标检测 socket 客户端 # 目标检测 socket 客户端
context = zmq.Context() context = zmq.Context()
@@ -59,10 +60,10 @@ def import_obj(_by_cmd):
logger.info("subtask yolo client init") logger.info("subtask yolo client init")
# ocr socket 客户端 # ocr socket 客户端
context1 = zmq.Context() # context1 = zmq.Context()
ocr_socket = context1.socket(zmq.REQ) # ocr_socket = context1.socket(zmq.REQ)
ocr_socket.connect("tcp://localhost:6668") # ocr_socket.connect("tcp://localhost:6668")
logger.info("subtask ocr client init") # logger.info("subtask ocr client init")
filter = label_filter(socket) filter = label_filter(socket)
if cfg['move_area']['llm_enable']: if cfg['move_area']['llm_enable']:
@@ -192,25 +193,34 @@ def calibrate_new(label, offset, run = True, run_speed = 3.5):
else: else:
by_cmd.send_distance_x(10, int(-error)) by_cmd.send_distance_x(10, int(-error))
break break
# 弃用 distance 校准
def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5): def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
# run_direc == 1 向前 # run_direc == 1 向前
stop_error = 0
if run_direc == 1: if run_direc == 1:
by_cmd.send_speed_x(run_speed) by_cmd.send_speed_x(run_speed)
else: else:
by_cmd.send_speed_x(-run_speed) by_cmd.send_speed_x(-run_speed)
if label == tlabel.TPLATFORM:
stop_error = 10
else:
stop_error = 15
while True: while True:
ret, box = filter.get(label) ret, box = filter.get(label)
while not ret: while not ret:
if not global_skip_queue.empty():
_ = global_skip_queue.get()
logger.error("跳过 explore_calibrate_new")
return False
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
if ret: if ret:
# 校准速度越大 停车的条件越宽泛 # 校准速度越大 停车的条件越宽泛 20 15
if abs(error) <= 20: if abs(error) <= stop_error:
car_stop() car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 10 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:
@@ -218,17 +228,18 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
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")
if abs(error) < 8: # if abs(error) < 8:
error = error * 3 # error = error * 3
else: # else:
error = error * 2 # error = error * 2
if error > 0: # if error > 0:
by_cmd.send_distance_x(-10, int(error)) # by_cmd.send_distance_x(-10, int(error))
else: # else:
by_cmd.send_distance_x(10, int(-error)) # by_cmd.send_distance_x(10, int(-error))
break break
return True
# 任务类 # 任务类
class task: class task:
@@ -326,24 +337,24 @@ class task_queuem(task):
elif self.status is task_queuem_status.EXECUTING: elif self.status is task_queuem_status.EXECUTING:
if self.task_now.enable is True: if self.task_now.enable is True:
logger.info(f"[TaskM]# Start execute task function") logger.info(f"[TaskM]# Start execute task function")
self.exec_thread = threading.Thread(target=self.task_now.exec) # self.exec_thread = threading.Thread(target=self.task_now.exec)
# 启动线程 # # 启动线程
self.exec_thread.start() # self.exec_thread.start()
while True: # while True:
if not self.exec_thread.is_alive(): # if not self.exec_thread.is_alive():
break # break
else: # else:
if not skip_queue.empty(): # if not skip_queue.empty():
car_stop() # car_stop()
thread_id = self.exec_thread.ident # thread_id = self.exec_thread.ident
res = ctypes.pythonapi.PyThreadState_SetAsyncExc(thread_id, ctypes.py_object(SystemExit)) # res = ctypes.pythonapi.PyThreadState_SetAsyncExc(thread_id, ctypes.py_object(SystemExit))
_ = skip_queue.get() # _ = skip_queue.get()
logger.error(f"{self.task_now.name} 任务在 exec 中已经被手动跳过") # logger.error(f"{self.task_now.name} 任务在 exec 中已经被手动跳过")
self.status = task_queuem_status.IDEL # 空动作不需要阻塞巡线，直接置位 # self.status = task_queuem_status.IDEL # 空动作不需要阻塞巡线，直接置位
self.task_now.after() # 执行任务后处理 # self.task_now.after() # 执行任务后处理
self.queue.task_done() # 弹出已执行的任务 # self.queue.task_done() # 弹出已执行的任务
return True # return True
# self.task_now.exec() # 执行当前任务函数 self.task_now.exec() # 执行当前任务函数
self.status = task_queuem_status.IDEL # 执行完成后为退出巡线阻塞 self.status = task_queuem_status.IDEL # 执行完成后为退出巡线阻塞
self.task_now.after() # 执行任务后处理 self.task_now.after() # 执行任务后处理
self.queue.task_done() # 弹出已执行的任务 self.queue.task_done() # 弹出已执行的任务
@@ -405,12 +416,12 @@ class get_block1():
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(25) by_cmd.send_angle_claw(25)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_z(30, 80) by_cmd.send_position_axis_z(30, 90)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw_arm(175) by_cmd.send_angle_claw_arm(175)
time.sleep(0.1) time.sleep(0.1)
by_cmd.send_position_axis_x(1, 110) by_cmd.send_position_axis_x(1, 120)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 70) by_cmd.send_position_axis_z(30, 70)
time.sleep(0.1) time.sleep(0.1)
@@ -423,12 +434,14 @@ class get_block1():
by_cmd.send_angle_claw_arm(220) by_cmd.send_angle_claw_arm(220)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_storage(55) by_cmd.send_angle_storage(55)
time.sleep(1)
pass pass
def nexec(self): def nexec(self):
# TODO 完成不执行任务的空动作 # TODO 完成不执行任务的空动作
pass pass
def after(self): def after(self):
var.pid_turning.set(cfg["get_block"]["pid_kp"], cfg["get_block"]["pid_ki"], cfg["get_block"]["pid_kd"])
pass pass
class get_block2(): class get_block2():
@@ -460,9 +473,6 @@ class get_block2():
by_cmd.send_position_axis_x(1, 20) by_cmd.send_position_axis_x(1, 20)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(25) by_cmd.send_angle_claw(25)
by_cmd.send_beep(1)
time.sleep(0.5)
by_cmd.send_beep(0)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 100) by_cmd.send_position_axis_x(1, 100)
@@ -503,7 +513,7 @@ class put_block():
by_cmd.send_distance_x(10, 100) by_cmd.send_distance_x(10, 100)
by_cmd.send_position_axis_z(30, 0) by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 40) by_cmd.send_position_axis_x(1, 20)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(1) time.sleep(1)
@@ -528,9 +538,10 @@ class put_block():
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 0) by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 40) by_cmd.send_position_axis_x(1, 20)
time.sleep(1.5) time.sleep(1.5)
by_cmd.send_angle_claw(45) by_cmd.send_angle_claw(45)
time.sleep(1)
pass pass
def nexec(self): def nexec(self):
pass pass
@@ -590,14 +601,12 @@ class get_bball():
by_cmd.send_angle_claw_arm(36) by_cmd.send_angle_claw_arm(36)
by_cmd.send_angle_claw(54) by_cmd.send_angle_claw(54)
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
time.sleep(1) time.sleep(1.5)
by_cmd.send_angle_claw(60)
time.sleep(1)
by_cmd.send_angle_claw(25) by_cmd.send_angle_claw(25)
time.sleep(1) time.sleep(1)
by_cmd.send_distance_axis_z(30, 20) by_cmd.send_distance_axis_z(30, 20)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_x(1, 30) by_cmd.send_position_axis_x(1, 60)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_distance_axis_z(30, -40) by_cmd.send_distance_axis_z(30, -40)
time.sleep(0.5) time.sleep(0.5)
@@ -650,9 +659,10 @@ class up_tower():
by_cmd.send_distance_y(-10, 50) by_cmd.send_distance_y(-10, 50)
time.sleep(3) time.sleep(3)
by_cmd.send_angle_zhuan(10) by_cmd.send_angle_zhuan(10)
time.sleep(11) time.sleep(12)
by_cmd.send_distance_y(10, 60) by_cmd.send_distance_y(10, 60)
time.sleep(1) time.sleep(1)
car_stop()
by_cmd.send_angle_zhuan(0) by_cmd.send_angle_zhuan(0)
# while True: # while True:
# pass # pass
@@ -691,7 +701,7 @@ class get_rball():
time.sleep(0.5) time.sleep(0.5)
# 靠近塔 # 靠近塔
by_cmd.send_angle_scoop(20) by_cmd.send_angle_scoop(20)
by_cmd.send_distance_y(-15, 50) # 50 by_cmd.send_distance_y(-15, 45) # 50
time.sleep(2) time.sleep(2)
calibrate_new(tlabel.RBALL,offset = 44, run = True) calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1) time.sleep(1)
@@ -699,12 +709,13 @@ class get_rball():
# by_cmd.send_angle_scoop(15) # by_cmd.send_angle_scoop(15)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_z(30, 170) by_cmd.send_position_axis_z(30, 170)
time.sleep(3) time.sleep(2.5)
by_cmd.send_angle_scoop(7) by_cmd.send_angle_scoop(7)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_distance_y(15, 70) by_cmd.send_distance_y(15, 70)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_omega(-55,30) car_stop()
# by_cmd.send_angle_omega(-55,30)
# while True: # while True:
# pass # pass
pass pass
@@ -737,18 +748,18 @@ class put_bball():
calibrate_new(tlabel.BASKET,offset = -21, run = True, run_speed = 6) calibrate_new(tlabel.BASKET,offset = -21, run = True, run_speed = 6)
by_cmd.send_distance_x(10, 20) by_cmd.send_distance_x(10, 20)
# 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(15) # by_cmd.send_angle_storage(10)
time.sleep(1) # time.sleep(1)
by_cmd.send_angle_storage(55) 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(1)
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)
car_stop() # car_stop()
pass pass
def nexec(self): def nexec(self):
pass pass
@@ -761,7 +772,6 @@ class put_bball():
# 物资盘点 # 物资盘点
class put_hanoi1(): class put_hanoi1():
def init(self): def init(self):
var.pid_turning.set(cfg["put_bball"]["pid_kp"], cfg["put_bball"]["pid_ki"], cfg["put_bball"]["pid_kd"])
logger.info("物资盘点 1 初始化") logger.info("物资盘点 1 初始化")
filter.switch_camera(2) filter.switch_camera(2)
def find(self): def find(self):
@@ -805,17 +815,19 @@ class put_hanoi1():
logger.info("应该向左转") logger.info("应该向左转")
# 校准 omega # # 校准 omega
if error > 0: # if error > 0:
by_cmd.send_angle_omega(-20,abs(var.lane_error)) # by_cmd.send_angle_omega(-20,abs(var.lane_error))
else: # else:
by_cmd.send_angle_omega(20,abs(var.lane_error)) # by_cmd.send_angle_omega(20,abs(var.lane_error))
time.sleep(0.5) # time.sleep(0.5)
car_stop() # car_stop()
time.sleep(0.5) # time.sleep(0.5)
# by_cmd.send_distance_x(10, 200) # by_cmd.send_distance_x(10, 200)
by_cmd.send_distance_x(10, 180) by_cmd.send_distance_x(10, 180)
time.sleep(0.5) time.sleep(1)
car_stop()
# 根据方向初始化执行器位置 # 根据方向初始化执行器位置
if utils.direction is tlabel.RMARK: if utils.direction is tlabel.RMARK:
@@ -825,11 +837,11 @@ class put_hanoi1():
by_cmd.send_angle_storage(0) by_cmd.send_angle_storage(0)
else: else:
by_cmd.send_position_axis_x(1, 150) by_cmd.send_position_axis_x(1, 150)
by_cmd.send_angle_claw_arm(217) by_cmd.send_angle_claw_arm(220)
by_cmd.send_angle_storage(55) by_cmd.send_angle_storage(55)
time.sleep(1.5) time.sleep(1)
by_cmd.send_position_axis_z(30, 0) by_cmd.send_position_axis_z(30, 10)
if utils.direction_right > utils.direction_left: if utils.direction_right > utils.direction_left:
utils.direction = tlabel.RMARK utils.direction = tlabel.RMARK
@@ -852,7 +864,7 @@ class put_hanoi1():
def nexec(self): def nexec(self):
pass pass
def after(self): def after(self):
var.pid_turning.set(0.8, 0, 0) var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
pass pass
class put_hanoi2(): class put_hanoi2():
@@ -866,11 +878,14 @@ class put_hanoi2():
def init(self): def init(self):
logger.info("物资盘点 2 初始化") logger.info("物资盘点 2 初始化")
if utils.direction == tlabel.RMARK: if utils.direction == tlabel.RMARK:
self.offset = 22 # 15
self.platform_offset = -29 self.offset = 19
# self.platform_offset = -25
self.platform_offset = -10
else: else:
self.offset = 10 self.offset = 10
self.platform_offset = -39 #self.platform_offset = -30
self.platform_offset = -15
def find(self): def find(self):
# ret, box = filter.get(self.target_label) # ret, box = filter.get(self.target_label)
ret, box = filter.get(tlabel.TPLATFORM) ret, box = filter.get(tlabel.TPLATFORM)
@@ -884,21 +899,29 @@ class put_hanoi2():
logger.info(f"direction:{utils.direction.name}") logger.info(f"direction:{utils.direction.name}")
var.task_speed = 0 var.task_speed = 0
car_stop() car_stop()
time.sleep(0.5)
# if utils.direction is tlabel.RMARK:
# by_cmd.send_distance_y(10, 50)
# time.sleep(1)
# time.sleep(0.5)
# by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30) # by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30)
time.sleep(1) # time.sleep(1)
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)
time.sleep(1) if not ret:
logger.error("跳过物资盘点 2 exec")
return
time.sleep(0.5)
logger.info("抓大平台") logger.info("抓大平台")
if utils.direction is tlabel.RMARK: if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_z(30, 10) by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 130) by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(81) by_cmd.send_angle_claw(78)
time.sleep(1.5)
by_cmd.send_angle_claw(40)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(40)
time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20) by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10) by_cmd.send_position_axis_x(1, 10)
@@ -909,17 +932,20 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 40) by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(81) by_cmd.send_angle_claw(78)
time.sleep(1.5)
by_cmd.send_angle_claw(40)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(40)
time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20) by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
time.sleep(1) time.sleep(1)
pass pass
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5) ret = explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
time.sleep(1) if not ret:
logger.error("跳过物资盘点 2 exec")
return
time.sleep(0.5)
logger.info("放大平台") logger.info("放大平台")
if utils.direction is tlabel.RMARK: if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_x(1, 130) by_cmd.send_position_axis_x(1, 130)
@@ -945,18 +971,21 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
time.sleep(1) time.sleep(1)
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)
time.sleep(1) if not ret:
logger.error("跳过物资盘点 2 exec")
return
time.sleep(0.5)
logger.info("抓中平台") logger.info("抓中平台")
if utils.direction is tlabel.RMARK: if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_z(30, 10) by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 130) by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(75) by_cmd.send_angle_claw(70)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(35) by_cmd.send_angle_claw(35)
time.sleep(1) time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20) by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10) by_cmd.send_position_axis_x(1, 10)
@@ -967,17 +996,20 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 40) by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(75) by_cmd.send_angle_claw(70)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(35) by_cmd.send_angle_claw(35)
time.sleep(1) time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20) by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
time.sleep(1) time.sleep(1)
pass pass
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)
time.sleep(1) if not ret:
logger.error("跳过物资盘点 2 exec")
return
time.sleep(0.5)
logger.info("放中平台") logger.info("放中平台")
if utils.direction is tlabel.RMARK: if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_z(30, 100) by_cmd.send_position_axis_z(30, 100)
@@ -1003,15 +1035,18 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
time.sleep(1) time.sleep(1)
explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5) ret = explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
time.sleep(1) if not ret:
logger.error("跳过物资盘点 2 exec")
return
time.sleep(0.5)
logger.info("抓小平台") logger.info("抓小平台")
if utils.direction is tlabel.RMARK: if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_z(30, 10) by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 130) by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(50)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(70) by_cmd.send_angle_claw(58)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(27) by_cmd.send_angle_claw(27)
time.sleep(1) time.sleep(1)
@@ -1023,9 +1058,9 @@ class put_hanoi2():
else: else:
by_cmd.send_position_axis_z(30, 10) by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 40) by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(50)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(70) by_cmd.send_angle_claw(58)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(27) by_cmd.send_angle_claw(27)
time.sleep(1) time.sleep(1)
@@ -1034,8 +1069,11 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
time.sleep(1) time.sleep(1)
pass pass
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)
time.sleep(1) if not ret:
logger.error("跳过物资盘点 2 exec")
return
time.sleep(0.5)
logger.info("放小平台") logger.info("放小平台")
if utils.direction is tlabel.RMARK: if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_z(30, 170) by_cmd.send_position_axis_z(30, 170)
@@ -1044,8 +1082,8 @@ class put_hanoi2():
time.sleep(2) time.sleep(2)
by_cmd.send_distance_axis_z(30, -20) by_cmd.send_distance_axis_z(30, -20)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw(90) by_cmd.send_angle_claw(80)
time.sleep(1) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10) by_cmd.send_position_axis_x(1, 10)
time.sleep(1.5) time.sleep(1.5)
pass pass
@@ -1056,8 +1094,8 @@ class put_hanoi2():
time.sleep(2) time.sleep(2)
by_cmd.send_distance_axis_z(30, -20) by_cmd.send_distance_axis_z(30, -20)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw(90) by_cmd.send_angle_claw(80)
time.sleep(1) time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
time.sleep(1.5) time.sleep(1.5)
# while True: # while True:
@@ -1294,6 +1332,8 @@ class move_area2():
# by_cmd.send_distance_y(-15, 300) # by_cmd.send_distance_y(-15, 300)
pass pass
def nexec(self): def nexec(self):
logger.warning("正在跳過大模型任務")
time.sleep(2)
pass pass
def after(self): def after(self):
var.pid_turning.set(cfg["move_area"]["pid_kp"], cfg["move_area"]["pid_ki"], cfg["move_area"]["pid_kd"]) var.pid_turning.set(cfg["move_area"]["pid_kp"], cfg["move_area"]["pid_ki"], cfg["move_area"]["pid_kd"])
@@ -1310,7 +1350,7 @@ class kick_ass():
logger.info("扫黑除暴初始化") logger.info("扫黑除暴初始化")
self.pos_gap1 = cfg['kick_ass']['pos_gap1'] self.pos_gap1 = cfg['kick_ass']['pos_gap1']
self.pos_gap2 = cfg['kick_ass']['pos_gap2'] self.pos_gap2 = cfg['kick_ass']['pos_gap2']
self.target_person = cfg['kick_ass']['target_person'] self.target_person = cfg_args['kick_ass']['target_person']
# by_cmd.send_angle_claw(15) # by_cmd.send_angle_claw(15)
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 160)
@@ -1328,25 +1368,23 @@ class kick_ass():
calibrate_new(tlabel.SIGN, offset = 8, run = True) calibrate_new(tlabel.SIGN, offset = 8, run = True)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_z(30, 60) by_cmd.send_position_axis_z(30, 60)
by_cmd.send_position_axis_x(1, 120)
if self.target_person == 1: if self.target_person == 1:
target_distance = self.pos_gap1 target_distance = self.pos_gap1
else: else:
target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10 target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
by_cmd.send_distance_x(10, target_distance) by_cmd.send_distance_x(10, target_distance)
time.sleep(4) logger.info(f"target distance {target_distance}")
time.sleep(1.5 + (self.target_person - 1) * 0.7 )
car_stop()
while by_cmd.send_angle_claw_arm(220) == -1: by_cmd.send_angle_claw_arm(220)
pass by_cmd.send_angle_claw(15)
while by_cmd.send_angle_claw(15) == -1: by_cmd.send_position_axis_x(1, 20)
pass
while by_cmd.send_position_axis_x(1, 160) == -1:
pass
time.sleep(2)
by_cmd.send_position_axis_x(1, 0)
time.sleep(3) time.sleep(3)
by_cmd.send_position_axis_x(1, 160) by_cmd.send_position_axis_x(1, 120)
time.sleep(2) time.sleep(1)
pass pass
def nexec(self): def nexec(self):
pass pass

112
templates/csdn.html Normal file
View File

@@ -0,0 +1,112 @@
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>第十九届全国大学生智能汽车竞赛 百度智慧交通创意组 “风雨同舟”比赛规则_全国大学生智能汽车竞赛 智慧交通创意-CSDN博客</title>
<script src="/static/vue.js"></script>
<script src="static/socket.io.js"></script>
<style>
body, html {
margin: 0;
padding: 0;
height: 100%;
overflow: hidden;
}
#app {
width: 100vw;
height: 100vh;
overflow: hidden;
position: relative;
}
.background-container {
width: 100%;
height: 100%;
background-size: cover;
background-position: center;
transition: background-position 0.1s ease-out;
}
.floating-buttons {
position: fixed;
bottom: 20px;
left: 0;
right: 0;
display: flex;
justify-content: center;
gap: 20px;
z-index: 10;
}
.floating-button {
width: 160px;
height: 40px;
border-radius: 20px;
background-color: #fc5531;
border: none;
color: white;
font-size: 16px;
cursor: pointer;
transition: background-color 0.3s;
}
.floating-button:hover {
background-color: #fc5531;
}
</style>
</head>
<body>
<div id="app">
<div class="background-container"
:style="backgroundStyle"
@mousemove="handleMouseMove"
ref="container">
</div>
<div class="floating-buttons">
<button class="floating-button" @click="handleButton1Click">打开 CSDN APP</button>
<button class="floating-button" @click="handleButton2Click">小程序看全文</button>
</div>
</div>
<script>
new Vue({
el: '#app',
data: {
imageSrc: '/static/csdn.png', // 使用大尺寸占位图片
backgroundPosition: '0%'
},
computed: {
backgroundStyle() {
return {
backgroundImage: `url(${this.imageSrc})`,
backgroundPosition: `center ${this.backgroundPosition}`
};
}
},
methods: {
handleMouseMove(event) {
const containerRect = this.$refs.container.getBoundingClientRect();
const mouseY = event.clientY - containerRect.top;
const scrollPercent = (mouseY / containerRect.height) * 100;
this.backgroundPosition = `${scrollPercent}%`;
},
handleButton1Click() {
// alert('按钮 1 被点击了');
},
handleButton2Click() {
this.socket.emit('operate', { type: 'skip_task', content: '' });
},
onImageLoad() {
console.log('背景图片加载完成');
// 这里可以添加图片加载完成后的额外操作
}
},
mounted() {
const img = new Image();
img.onload = this.onImageLoad;
img.src = this.imageSrc;
this.socket = io('http://' + document.domain + ':5001');
}
});
</script>
</body>
</html>

30
templates/index.html
View File

@@ -123,9 +123,9 @@
</el-option> </el-option>
</el-select> </el-select>
<el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;"> <!-- <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
{{ showConfigForm ? '关闭' : '打开' }} 配置 {{ showConfigForm ? '关闭' : '打开' }} 配置
</el-button> </el-button> -->
<el-form v-if="showConfigForm && config" class="config-form"> <el-form v-if="showConfigForm && config" class="config-form">
<div v-for="(section, sectionName) in config" :key="sectionName"> <div v-for="(section, sectionName) in config" :key="sectionName">
@@ -133,6 +133,14 @@
<el-row :gutter="20"> <el-row :gutter="20">
<el-col v-for="(value, key) in section" :key="key" :xs="24" :sm="12" :md="8" :lg="6"> <el-col v-for="(value, key) in section" :key="key" :xs="24" :sm="12" :md="8" :lg="6">
<el-form-item :label="key"> <el-form-item :label="key">
<el-select v-if="sectionName === 'kick_ass'" v-model="config[sectionName][key]">
<el-option
v-for="item in target_person_options"
:key="item.value"
:label="item.label"
:value="item.value">
</el-option>
</el-select>
<el-switch <el-switch
v-if="typeof value === 'boolean'" v-if="typeof value === 'boolean'"
v-model="config[sectionName][key]"> v-model="config[sectionName][key]">
@@ -155,6 +163,9 @@
</el-row> </el-row>
</div> </div>
<el-button @click="saveConfig" type="primary" style="margin-top: 20px;">保存配置</el-button> <el-button @click="saveConfig" type="primary" style="margin-top: 20px;">保存配置</el-button>
<el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
{{ showConfigForm ? '关闭' : '打开' }} 配置
</el-button>
</el-form> </el-form>
<h2 class="section-title">Log Display</h2> <h2 class="section-title">Log Display</h2>
@@ -183,7 +194,20 @@
files: {}, files: {},
ServerLog: "", ServerLog: "",
showServerLogFlag: false, showServerLogFlag: false,
timer: null timer: null,
target_person_options: [{
value: 1,
label: '模式 1'
}, {
value: 2,
label: '模式 2'
}, {
value: 3,
label: '模式 3'
}, {
value: 4,
label: '模式 4'
}],
}, },
methods: { methods: {
loadConfig() { loadConfig() {

3
test/test_filter.py
View File

@@ -20,8 +20,9 @@ filter.switch_camera(1)
find_counts = 0 find_counts = 0
offset = 22 offset = 19
label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER] label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
label = tlabel.TPLATFORM
while True: while True:
time.sleep(0.2) time.sleep(0.2)
ret, box = filter.get(tlabel.TPLATFORM) ret, box = filter.get(tlabel.TPLATFORM)