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feat: 新增文心一言接口

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This commit is contained in:
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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16
cfg_subtask.toml
View File

@@ -6,8 +6,8 @@ pid_ki = 0
pid_kd = 0
# *第一个抓取的方块
# first_block = "red"
first_block = "blue"
first_block = "red"
# first_block = "blue"
################################################
[put_block]
@@ -40,7 +40,7 @@ pid_kd = 0
################################################
[put_bball]
# pid 参数值
pid_kp = 1.2
pid_kp = 0.6
pid_ki = 0
pid_kd = 0
@@ -60,9 +60,9 @@ pid_kd = 0
# 距离标定值
pos_gap = 160 # 标定值，两个放置位置的标定距离
pos_lp = 2 # 1\2\3 数字越小越靠近红色置物区
pos_mp = 1
# first_target = "lp"
first_target = "mp"
# first_target = "sp"
################################################
[put_hanoi3]
# pid 参数值
@@ -77,7 +77,7 @@ pid_kp = 1.4
pid_ki = 0
pid_kd = 0
llm_enable = false # 大模型机器人
llm_enable = true # 大模型机器人
################################################
[kick_ass]
@@ -88,5 +88,5 @@ pid_kd = 0
pos_gap1 = 150 # 目标牌和第一个 person 之间的距离
pos_gap2 = 80 # person 之间的距离
target_person = 2 # 击打的人 - 最靠近标识牌的为 1
target_person = 3 # 击打的人 - 最靠近标识牌的为 1
################################################

224
subtask.py
View File

@@ -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

227
test/test_filter.py
View File

@@ -9,6 +9,10 @@ from loguru import logger
from utils import tlabel
import zmq
import time
from by_cmd_py import by_cmd_py
import time
from utils import CountRecord
by_cmd = by_cmd_py()
context = zmq.Context()
socket = context.socket(zmq.REQ)
@@ -17,35 +21,210 @@ logger.info("subtask yolo client init")
filter = label_filter(socket)
filter.switch_camera(1)
offset = 12
while True:
time.sleep(0.2)
# ret1 = filter.get_mult(tlabel.RMARK)
# ret, label, error = filter.get_mult_box([tlabel.LMARK, tlabel.RMARK])
# if ret:
# # print(error)
# if abs(error) < 40:
# logger.info('yes')
label = tlabel.RBLOCK
def car_stop():
for _ in range(3):
by_cmd.send_speed_x(0)
time.sleep(0.2)
by_cmd.send_speed_omega(0)
# 蓝色球使用
def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
not_found_counts = 0
ret, error = filter.aim_right(label)
while not ret:
not_found_counts += 1
if not_found_counts >= 20:
not_found_counts = 0
error = -320 # error > 0 front run
logger.info("calibrate_right_new:找不到次数超过 20 帧 直接前进寻找")
break
ret, error = filter.aim_right(label)
error += offset
if abs(error) > 10 and run:
if error > 0:
by_cmd.send_speed_x(-run_speed)
else:
by_cmd.send_speed_x(run_speed)
pass
# 停的位置已经很接近目标，可以直接使用 distance 校准
else:
# logger.info("停车时误差就小于")
# error = error * 3
# if error > 0:
# by_cmd.send_distance_x(-10, int(error))
# else:
# by_cmd.send_distance_x(10, int(-error))
return
while True:
ret, error = filter.aim_right(label)
while not ret:
ret, error = filter.aim_right(label)
error += offset
if ret:
if abs(error) <= 8:
car_stop()
logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
ret, error = filter.aim_right(label)
while not ret:
ret, error = filter.aim_right(label)
error += offset
logger.info(f"calibrate_right_new:停车后的误差是{error}")
if abs(error) > 8:
logger.info(f"calibrate_right_new:停车后的误差大于 8 使用 distance 校准")
error = error * 3
if error > 0:
by_cmd.send_distance_x(-10, int(error))
else:
by_cmd.send_distance_x(10, int(-error))
break
'''
description: 校准新方法 找到后停止 然后根据 error 判断前后低速前进 error < 5 后直接停车
如果停车后 error > 8 则使用 distance 校准
这个方法仅用于在视野里能找到的情况下进行校准，并不能实现边走边寻找 然后再校准
param {*} label
param {*} offset
param {*} run
param {*} run_speed
return {*}
'''
def calibrate_new(label, offset, run = True, run_speed = 3.5):
not_found_counts = 0
ret, box = filter.get(label)
while not ret:
# 注意这里一定要保证摄像头内有该目标 否则会无限循环
not_found_counts += 1
if not_found_counts >= 20:
not_found_counts = 0
error = -320 # error > 0 front run
logger.info("calibrate_new:找不到次数超过 20 帧 直接前进寻找")
ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset
# ret, box = filter.get(tlabel.BBLOCK)
if ret:
print(error)
if abs(error) > 10 and run:
if error > 0:
by_cmd.send_speed_x(-run_speed)
else:
by_cmd.send_speed_x(run_speed)
# 停的位置已经很接近目标，可以直接使用 distance 校准
else:
pass
if abs(error) > 8:
logger.info(f"calibrate_new:停车后误差{error}大于 8 使用 distance 校准")
# error = error # 3
if error > 0:
by_cmd.send_distance_x(-10, int(error))
else:
by_cmd.send_distance_x(10, int(-error))
return
logger.info(f"calibrate_new:停车后误差{error}小于 8 不校准")
return
while True:
ret, box = filter.get(label)
while not ret:
ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset
if ret:
if abs(error) <= 10: # 5
car_stop()
logger.info("calibrate_new:行进时 误差小于 10 直接停车")
ret, box = filter.get(label)
while not ret:
ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset
logger.info(f"calibrate_new:停车后的误差是{error}")
if abs(error) > 8:
logger.info(f"calibrate_new:停车后的误差大于 8 使用 distance 校准")
error = error * 3
logger.error(f"error * 3{error}")
if error > 0:
by_cmd.send_distance_x(-10, int(error))
else:
by_cmd.send_distance_x(10, int(-error))
break
def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
# run_direc == 1 向前
if run_direc == 1:
by_cmd.send_speed_x(run_speed)
else:
by_cmd.send_speed_x(-run_speed)
while True:
ret, box = filter.get(label)
while not ret:
ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset
if ret:
logger.info(f"当前误差:{error}, box[{box[0][2]},{box[0][0]}]")
# 校准速度越大 停车的条件越宽泛
if abs(error) <= 20:
car_stop()
logger.info("explore_calibrate_new:行进时 误差小于 10 直接停车")
error_sum = 0
for _ in range(3):
ret, box = filter.get(label)
while not ret:
ret, box = filter.get(label)
error = (box[0][2] + box[0][0] - 320) / 2 + offset
error_sum += error
error_sum /= 3
# logger.info(f"停车后像素误差:{error}")
logger.info(f"停车后像素误差:{error_sum}")
# if abs(error) > 8:
logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
error_sum = error_sum * 3
logger.error(f"error * 3 {error}")
if error > 0:
by_cmd.send_distance_x(-10, int(error))
else:
by_cmd.send_distance_x(10, int(-error))
break
offset = 10
# by_cmd.send_angle_claw_arm(217)
# while True:
# pass
# while (by_cmd.send_angle_camera(180) == -1):
# by_cmd.send_angle_camera(180)
while (by_cmd.send_angle_camera(180) == -1):
by_cmd.send_angle_camera(180)
# by_cmd.send_speed_x(15)
find_counts = 0
label = tlabel.HOSPITAL
record = CountRecord(5)
while True:
time.sleep(0.2)
# if ret1:
# print(error1)
# if abs(error1) < 30:
# print("you")
# elif ret2:
# print(error2)
# if abs(error2) < 30:
# print("zuo")
# ret = filter.find(label)
# ret = filter.find(label)
# if ret > 0:
# find_counts += 1
# if record(label):
# car_stop()
# if find_counts >= 5:
# car_stop()
ret, box = filter.get(label)
while not ret:
ret, box = filter.get(label)
width = box[0][2] - box[0][0]
logger.info(width)
# error = (box[0][2] + box[0][0] - 320) / 2 + offset
# explore_calibrate_new(tlabel.LPILLER, offset = 10, run_direc = 1, run_speed = 5)
# calibrate_new(label, offset = 15, run = True)
# car_stop()
# time.sleep(0.5)
# for _ in range(3):
# calibrate_right_new(tlabel.BBALL, offset = 27, run = True, run_speed = 4)
# logger.info("抓蓝色球")
# time.sleep(5)
# logger.info("抓取块")
# time.sleep(0.1)

8
test/test_llm.py
View File

@@ -14,7 +14,7 @@ class LLM:
self.model = 'ernie-3.5'
self.prompt = '''你是一个机器人动作规划者，需要把我的话翻译成机器人动作规划并生成对应的 json 结果，机器人工作空间参考右手坐标系。
严格按照下面的描述生成给定格式 json，从现在开始你仅仅给我返回 json 数据！'''
严格按照下面的描述生成给定格式 json，从现在开始你仅仅给我返回 json 数据'''
self.prompt += '''正确的示例如下：
向左移 0.1m, 向左转弯 85 度 [{'func': 'move', 'x': 0, 'y': 0.1},{'func': 'turn','angle': -85}],
向右移 0.2m, 向前 0.1m [{'func': 'move', 'x': 0, 'y': -0.2},{'func': 'move', 'x': 0.1, 'y': 0}],
@@ -22,6 +22,8 @@ class LLM:
原地左转 38 度 [{'func': 'turn','angle': -38}],
蜂鸣器发声 5 秒 [{'func': 'beep', 'time': 5}]
发光或者照亮 5 秒 [{'func': 'light', 'time': 5}]
向右走 30cm，照亮 2s [{'func': 'move', 'x': 0, 'y': -0.3}, {'func': 'light', 'time': 2}],
向左移 0.2m, 向后 0.1m [{'func': 'move', 'x': 0, 'y': 0.2},{'func': 'move', 'x': -0.1, 'y': 0}],
'''
self.messages = []
self.resp = None
@@ -47,6 +49,8 @@ if __name__ == "__main__":
lmm_bot = LLM()
while True:
chat = input("输入：")
print(lmm_bot.get_command_json(chat))
resp = lmm_bot.get_command_json(chat).replace(' ', '').replace('\n', '').replace('\t', '')
print(eval(resp[7:-3]))

5
utils.py
View File

@@ -256,6 +256,8 @@ class LLM:
原地左转 38 度 [{'func': 'turn','angle': -38}],
蜂鸣器发声 5 秒 [{'func': 'beep', 'time': 5}]
发光或者照亮 5 秒 [{'func': 'light', 'time': 5}]
向右走 30cm，照亮 2s [{'func': 'move', 'x': 0, 'y': -0.3}, {'func': 'light', 'time': 2}],
向左移 0.2m, 向后 0.1m [{'func': 'move', 'x': 0, 'y': 0.2},{'func': 'move', 'x': -0.1, 'y': 0}],
'''
self.prompt += '''你无需回复我'''
self.messages = []
@@ -277,7 +279,8 @@ class LLM:
messages=self.messages,
)
self.messages.append(self.resp.to_message())
return self.resp.get_result()
resp = self.resp.get_result().replace(' ', '').replace('\n', '').replace('\t', '')
return resp[7:-3]
class CountRecord:
def __init__(self, stop_count=2) -> None: