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feat: 新增文心一言接口

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bmy
2024-06-28 21:34:49 +08:00
parent 066ef112ad
commit e82c254dc4
5 changed files with 368 additions and 112 deletions
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224
subtask.py
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@@ -194,7 +194,7 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
if abs(error) < 8:
error = error * 3
else:
error = error
error = error * 2
if error > 0:
by_cmd.send_distance_x(-10, int(error))
else:
@@ -324,7 +324,7 @@ class get_block1():
return False
def exec(self):
car_stop()
calibrate_new(self.target_label, offset = 15, run = True)
calibrate_new(self.target_label, offset = 15, run = True, run_speed = 5)
logger.info("抓取块")
# act.axis.wait(0.5)
# act.axis.z2(60)
@@ -350,7 +350,7 @@ class get_block1():
by_cmd.send_angle_claw(63)
by_cmd.send_position_axis_x(1, 20)
time.sleep(2)
by_cmd.send_angle_claw(30)
by_cmd.send_angle_claw(25)
by_cmd.send_beep(1)
time.sleep(0.5)
by_cmd.send_beep(0)
@@ -399,7 +399,7 @@ class get_block2():
return False
def exec(self):
car_stop()
calibrate_new(self.target_label, offset = 15, run = True)
calibrate_new(self.target_label, offset = 15, run = True, run_speed = 5)
logger.info("抓取块")
time.sleep(0.5)
by_cmd.send_angle_claw_arm(220)
@@ -408,7 +408,7 @@ class get_block2():
time.sleep(1)
by_cmd.send_position_axis_x(1, 20)
time.sleep(1)
by_cmd.send_angle_claw(30)
by_cmd.send_angle_claw(25)
by_cmd.send_beep(1)
time.sleep(0.5)
by_cmd.send_beep(0)
@@ -468,7 +468,7 @@ class put_block():
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 40)
time.sleep(2)
by_cmd.send_angle_claw(30)
by_cmd.send_angle_claw(25)
time.sleep(0.5)
by_cmd.send_position_axis_z(30, 140)
time.sleep(2)
@@ -489,7 +489,7 @@ class put_block():
def after(self):
var.pid_turning.set(cfg["put_block"]["pid_kp"], cfg["put_block"]["pid_ki"], cfg["put_block"]["pid_kd"])
# 下一动作预备位置
while by_cmd.send_position_axis_z(30, 135) == -1:
while by_cmd.send_position_axis_z(30, 130) == -1:
pass
time.sleep(1)
while by_cmd.send_position_axis_x(1, 0) == -1:
@@ -536,7 +536,7 @@ class get_bball():
car_stop()
time.sleep(0.5)
for _ in range(3):
calibrate_right_new(tlabel.BBALL, offset = 16, run = True, run_speed = 4)
calibrate_right_new(tlabel.BBALL, offset = 16, run = True, run_speed = 5)
logger.info("抓蓝色球")
time.sleep(0.5)
by_cmd.send_angle_claw_arm(36)
@@ -545,7 +545,7 @@ class get_bball():
time.sleep(1)
by_cmd.send_angle_claw(60)
time.sleep(1)
by_cmd.send_angle_claw(30)
by_cmd.send_angle_claw(25)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 20)
time.sleep(1)
@@ -570,7 +570,8 @@ class get_bball():
# 下一动作预备位置
by_cmd.send_angle_claw(30)
time.sleep(0.5)
by_cmd.send_position_axis_z(30, 0)
while by_cmd.send_position_axis_z(30, 0) == -1:
pass
time.sleep(1)
# # 任务检查间隔
# time.sleep(1)
@@ -651,7 +652,7 @@ class get_rball():
# by_cmd.send_angle_scoop(15)
time.sleep(0.5)
by_cmd.send_position_axis_z(30, 170)
time.sleep(5)
time.sleep(3.5)
by_cmd.send_angle_scoop(7)
by_cmd.send_distance_y(15, 70)
time.sleep(1)
@@ -672,9 +673,10 @@ class put_bball():
def init(self):
logger.info("派发物资初始化")
filter.switch_camera(1)
by_cmd.send_position_axis_z(30, 0)
while (by_cmd.send_angle_camera(90) == -1):
by_cmd.send_angle_camera(90)
while by_cmd.send_position_axis_z(30, 0) == -1:
pass
while by_cmd.send_angle_camera(90) == -1:
pass
def find(self):
ret = filter.find(tlabel.BASKET)
if ret > 0:
@@ -684,9 +686,10 @@ class put_bball():
def exec(self):
logger.info("找到篮筐")
car_stop()
calibrate_new(tlabel.BASKET,offset = -21, run = True, run_speed = 5.5)
calibrate_new(tlabel.BASKET,offset = -21, run = True, run_speed = 6)
by_cmd.send_distance_x(10, 20)
by_cmd.send_distance_y(-10, 55)
# 向左运动
by_cmd.send_distance_y(-10, 35)
time.sleep(1)
by_cmd.send_angle_storage(55)
@@ -709,6 +712,7 @@ class put_bball():
# 物资盘点
class put_hanoi1():
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")
filter.switch_camera(2)
def find(self):
@@ -804,23 +808,16 @@ class put_hanoi1():
class put_hanoi2():
def __init__(self):
self.pos_lp = cfg['put_hanoi2']['pos_lp']
self.pos_mp = cfg['put_hanoi2']['pos_mp']
self.pos_sp = 6 - self.pos_lp - self.pos_mp
if self.pos_lp == 1:
if cfg['put_hanoi2']['first_target'] == "lp":
self.target_label = tlabel.LPILLER
elif self.pos_mp == 1:
elif cfg['put_hanoi2']['first_target'] == "mp":
self.target_label = tlabel.MPILLER
else:
elif cfg['put_hanoi2']['first_target'] == "sp":
self.target_label = tlabel.SPILLER
self.distance_lp = self.pos_lp * cfg['put_hanoi2']['pos_gap']
self.distance_mp = self.pos_mp * cfg['put_hanoi2']['pos_gap']
self.distance_sp = self.pos_sp * cfg['put_hanoi2']['pos_gap']
logger.info(f"setting hanoi pos_lp[{self.pos_lp}] pos_mp[{self.pos_mp}] pos_sp[{self.pos_sp}]")
def init(self):
logger.info("物资盘点 2 初始化")
if utils.direction == tlabel.RMARK:
self.offset = 25
self.offset = 22
else:
self.offset = 10
def find(self):
@@ -846,28 +843,28 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(90)
by_cmd.send_angle_claw(81)
time.sleep(1.5)
by_cmd.send_angle_claw(45)
time.sleep(2)
by_cmd.send_distance_axis_z(30, 20)
by_cmd.send_angle_claw(40)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10)
time.sleep(2)
time.sleep(1)
pass
else:
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(90)
by_cmd.send_angle_claw(81)
time.sleep(1.5)
by_cmd.send_angle_claw(45)
time.sleep(2)
by_cmd.send_distance_axis_z(30, 20)
by_cmd.send_angle_claw(40)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160)
time.sleep(2)
time.sleep(1)
pass
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
time.sleep(1)
@@ -877,18 +874,24 @@ class put_hanoi2():
time.sleep(1.5)
by_cmd.send_distance_axis_z(30, -20)
time.sleep(1)
by_cmd.send_angle_claw(90)
time.sleep(1)
by_cmd.send_angle_claw(81)
time.sleep(0.5)
by_cmd.send_angle_claw(63)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10)
time.sleep(1)
pass
else:
by_cmd.send_position_axis_x(1, 40)
time.sleep(1.5)
by_cmd.send_distance_axis_z(30, -20)
time.sleep(1)
by_cmd.send_angle_claw(90)
time.sleep(1)
by_cmd.send_angle_claw(81)
time.sleep(0.5)
by_cmd.send_angle_claw(63)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160)
time.sleep(1)
explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
time.sleep(1)
@@ -898,30 +901,30 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(85)
time.sleep(2)
by_cmd.send_angle_claw(40)
time.sleep(2)
by_cmd.send_distance_axis_z(30, 20)
by_cmd.send_angle_claw(75)
time.sleep(1)
by_cmd.send_angle_claw(35)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10)
time.sleep(3)
time.sleep(1)
pass
else:
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(85)
time.sleep(2)
by_cmd.send_angle_claw(40)
time.sleep(2)
by_cmd.send_distance_axis_z(30, 20)
by_cmd.send_angle_claw(75)
time.sleep(1)
by_cmd.send_angle_claw(35)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 20)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160)
time.sleep(3)
time.sleep(1)
pass
explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
time.sleep(1)
logger.info("放中平台")
if utils.direction is tlabel.RMARK:
@@ -931,7 +934,7 @@ class put_hanoi2():
time.sleep(2)
by_cmd.send_distance_axis_z(30, -20)
time.sleep(0.5)
by_cmd.send_angle_claw(90)
by_cmd.send_angle_claw(65)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10)
time.sleep(1)
@@ -943,12 +946,12 @@ class put_hanoi2():
time.sleep(2)
by_cmd.send_distance_axis_z(30, -20)
time.sleep(0.5)
by_cmd.send_angle_claw(90)
by_cmd.send_angle_claw(65)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160)
time.sleep(1)
explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
time.sleep(1)
logger.info("抓小平台")
if utils.direction is tlabel.RMARK:
@@ -956,30 +959,30 @@ class put_hanoi2():
by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(85)
by_cmd.send_angle_claw(70)
time.sleep(1)
by_cmd.send_angle_claw(30)
by_cmd.send_angle_claw(27)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 10)
time.sleep(1)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10)
time.sleep(2)
time.sleep(1)
pass
else:
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(85)
by_cmd.send_angle_claw(70)
time.sleep(1)
by_cmd.send_angle_claw(30)
by_cmd.send_angle_claw(27)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 10)
time.sleep(1)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 160)
time.sleep(2)
time.sleep(1)
pass
explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
time.sleep(1)
logger.info("放小平台")
if utils.direction is tlabel.RMARK:
@@ -1031,7 +1034,8 @@ class put_hanoi3():
time.sleep(1)
return True
def exec(self):
by_cmd.send_position_axis_z(30, 100)
while by_cmd.send_position_axis_z(30, 100) == -1:
pass
pass
def nexec(self):
pass
@@ -1054,7 +1058,7 @@ class move_area1():
# 停车 ocr 识别文字 调用大模型
car_stop()
time.sleep(2)
var.task_speed = 8
var.task_speed = 12
pass
def nexec(self):
pass
@@ -1068,6 +1072,9 @@ class move_area2():
def init(self):
logger.info("应急避险第二阶段初始化")
self.offset = 15
self.delta_x = 0
self.delta_y = 0
self.delta_omage = 0
def find(self):
# time.sleep(0.001)
ret, box = filter.get(tlabel.SHELTER)
@@ -1076,25 +1083,88 @@ 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):
by_cmd.send_beep(1)
time.sleep(delay_time)
by_cmd.send_beep(0)
def sub_move(self, x, y):
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 / 400 * 1.5)
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)
else:
# 右转
by_cmd.send_angle_omega(-55, delay_time)
time.sleep(delay_time / 300 * 1.5)
def exec(self):
var.task_speed = 0
logger.info("开始寻找停车区域")
car_stop()
calibrate_new(tlabel.SHELTER, offset = 15, run = True)
time.sleep(1)
time.sleep(0.5)
# 进入停车区域
by_cmd.send_distance_y(10, 450)
by_cmd.send_distance_y(15, 300)
time.sleep(3)
# time.sleep(1)
# TODO 调用大模型 然后执行动作
by_cmd.send_light(1)
time.sleep(2)
by_cmd.send_light(0)
# 调用大模型 然后执行动作
resp_commands = eval(llm_bot.get_command_json("旋转 90 度，发声 1 秒，照亮 1 秒").replace("'''json","").replace("'''",''))
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
time.sleep(0.5)
time.sleep(1)
# 回到原位
delay_time = int(abs(self.delta_omage) * 400 / 90)
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 = 300 - (self.delta_y * 500)
else:
delay_time = 300 + (abs(self.delta_y) * 500)
# 离开停车区域
by_cmd.send_distance_y(-10, 450)
time.sleep(4)
by_cmd.send_distance_y(-15, delay_time)
time.sleep(delay_time / 400 * 1.5)
# 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):
pass