区域赛版本

feat: 增加原始模型參數和任務版本

app.py

@@ -1,4 +1,4 @@
-from flask import Flask, render_template
+from flask import Flask, render_template, request
 from flask_socketio import SocketIO
 import toml
 from loguru import logger
@@ -23,6 +23,8 @@ processes = []
 
 time_record = None
 
+task_run_flag = False
+
 # 日志队列
 queue = Queue()
 # 跳过任务 干预任务调度
@@ -49,14 +51,25 @@ logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
 
 fileOptions_path = '/home/evan/Workplace/project_main'
 fileOptions_list = ['cfg_args.toml','cfg_main.toml', 'cfg_subtask.toml']
+cfg_args_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+
 
 @app.route('/')
 def index():
     return render_template('index.html')
 
-@app.route('/csdn')
+@app.route('/run')
-def csdn():
+def run():
-    return render_template('csdn.html')
+    mode_index = request.args.get('mode')
+    config_args = toml.load(cfg_args_path)
+    config_args['lane_mode']['mode_index'] = int(mode_index)
+    with open(cfg_args_path, 'w') as config_file:
+        toml.dump(config_args, config_file)
+    return render_template('index2.html')
+
+# @app.route('/csdn')
+# def csdn():
+#     return render_template('csdn.html')
 
 @socketio.on('operate')
 def operate_handle(data):
@@ -64,6 +77,7 @@ def operate_handle(data):
     global task_process
     global processes
     global time_record
+    global task_run_flag
     if data['type'] == 'save_config':
         f = open(os.path.join(fileOptions_path,data['file_name']), 'w')
         ret = toml.dump(data['content'], f)
@@ -99,6 +113,7 @@ def operate_handle(data):
     elif data['type'] == 'operate_task':
         # 任务函数
         if data['content'] == 'run':
+            task_run_flag = True
             if task_process != None:
                 task_process.terminate()
             time_record = time.perf_counter()
@@ -106,6 +121,7 @@ def operate_handle(data):
             task_process.start()
             logger.info("开启 task")
         elif data['content'] == 'stop':
+            task_run_flag = False
             task_process.terminate()
             logger.info(f"任务结束 用时{time.perf_counter() - time_record}s")
             logger.info("关闭  task")
@@ -125,6 +141,12 @@ def operate_handle(data):
     elif data['type'] == 'skip_task':
         logger.info(data)
         skip_task_queue.put(1)
+    # elif data['type'] == 'save_target_person':
+    #     config_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+    #     config_args = toml.load(config_path)
+    #     config_args['lane_mode']['mode_index'] = int(data['content'])
+    #     with open(config_path, 'w') as config_file:
+    #         toml.dump(config_args, config_file)
 
 @socketio.on('connect')
 def test_connect():
@@ -134,6 +156,7 @@ def test_connect():
     for item in fileOptions_list:
         config_data[item] = toml.load(os.path.join(fileOptions_path,item))
     socketio.emit('config_data', {'type': 'config_data', 'content': config_data})
+    socketio.emit('task_status', {'type': 'task_status', 'content': int(task_run_flag)})
 def thread_function():
     global queue
     while True:
@@ -146,6 +169,12 @@ def thread_function():
     
 if __name__ == '__main__':
 
+    config_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+    config_args = toml.load(config_path)
+    config_args['lane_mode']['mode_index'] = 1
+    with open(config_path, 'w') as config_file:
+        toml.dump(config_args, config_file)
+
     log_file = "server_processes.log"
     log = open(log_file, "w")
     time.sleep(2)

cfg_args.toml

@@ -1,5 +1,5 @@
-[kick_ass]
+[lane_mode]
-target_person = 3
+mode_index = 1
 
 [task]
 Subtask_enable = true

cfg_main.toml

@@ -6,14 +6,14 @@ logger_format = "{time} {level} {message}"
 
 [find_counts]
 GetBlock_counts = 5
-PutBlock_counts = 8
+PutBlock_counts = 12
 GetBBall_counts = 5
 UpTower_counts = 3
 GetRBall_counts = 10
 PutBBall_counts = 15
 PutHanoi1_counts = 7
 PutHanoi2_counts = 2
-PutHanoi3_counts = 1
+PutHanoi3_counts = 5
 MoveArea1_counts = 6
 MoveArea2_counts = 1700
 KickAss_counts = 10

cfg_subtask.toml

@@ -1,5 +1,5 @@
 [get_block]
-pid_kp = 1.2
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 first_block = "blue"
@@ -15,17 +15,17 @@ pid_ki = 0
 pid_kd = 0
 
 [up_tower]
-pid_kp = 1.1
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 
 [get_rball]
-pid_kp = 0.8
+pid_kp = 1.5
 pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 1.6
+pid_kp = 2.0
 pid_ki = 0
 pid_kd = 0
 
@@ -42,7 +42,7 @@ pos_gap = 160
 first_target = "mp"
 
 [put_hanoi3]
-pid_kp = 1.3
+pid_kp = 1.7
 pid_ki = 0
 pid_kd = 0
 

cfg_subtask.toml.6_9.bak

@@ -35,7 +35,7 @@ pid_ki = 0
 pid_kd = 0
 
 [put_hanoi2]
-pid_kp = 1.0
+pid_kp = 2.0
 pid_ki = 0
 pid_kd = 0
 pos_gap = 160

cfg_subtask.toml.7154.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 2
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 2.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.raw.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.8
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

main.py

@@ -27,21 +27,21 @@ act.axis.exec()
 
 # 向任务队列添加任务
 task_queue = queue.Queue()
-if cfg_main['task']['Subtask_enable'] is True:
+# if cfg_main['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_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_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_main['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_main['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_main['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_main['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_main['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_main['task']['GetBBall_enable'] and cfg_main['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_main['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_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_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_main['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_main['task']['KickAss_enable'])) 
 # 将任务队列传入调度模块中
 task_queuem_t = sb.task_queuem(task_queue)
 

main_upper.py

@@ -40,6 +40,7 @@ def main_func(_queue, _skip_queue):
 
     # 配置日志输出
     logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
+    logger.info(cfg_args)
 
     act.axis.camera(0)
     act.axis.x2(140)
@@ -59,7 +60,7 @@ def main_func(_queue, _skip_queue):
         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
         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_args['task']['GetRBall_enable'])) 
+        task_queue.put(sb.task("高空排险", 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_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("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_args['task']['PutHanoi_enable'])) 

majtask.py

@@ -67,6 +67,7 @@ class main_task():
             error_abs = abs(self.lane_error)
 
             if error_abs > 50:
+                # speed = 11
                 speed = 13
             elif error_abs > 45:
                 speed = 15

subtask.py

@@ -546,7 +546,7 @@ class put_block():
         ret, box = filter.get(tlabel.HOSPITAL)
         if ret > 0:
             width = box[0][2] - box[0][0]
-            if width > 130:
+            if width > 135:
                 return True
         return False
     def exec(self):
@@ -557,7 +557,7 @@ class put_block():
         by_cmd.send_distance_x(10, 100)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 20)
+        by_cmd.send_position_axis_x(1, 50) # 20
         time.sleep(1)
         by_cmd.send_angle_claw(63)
         time.sleep(1)
@@ -582,7 +582,7 @@ class put_block():
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 20)
+        by_cmd.send_position_axis_x(1, 50)
         time.sleep(1.5)
         by_cmd.send_angle_claw(45)
         time.sleep(1)
@@ -702,12 +702,12 @@ class up_tower():
         by_cmd.send_distance_x(-10, 120)
         time.sleep(1)
         # 上古參數
-        # by_cmd.send_distance_y(-10, 50)
+        by_cmd.send_distance_y(-10, 80)
         # 6_9 模型參數
-        by_cmd.send_distance_y(-10, 40)
+        # by_cmd.send_distance_y(-10, 40)
         # 7_12_3 模型參數
         # by_cmd.send_distance_y(-10, 50)
-        # time.sleep(1)
+        time.sleep(2)
         car_stop()
         # FIXME 如果下發 distance 後直接 car_stop，則 distance 執行時間僅由指令間處理延時決定
         # time.sleep(3)
@@ -758,21 +758,23 @@ class get_rball():
         # 靠近塔
         by_cmd.send_angle_scoop(20)
         # 上古參數
-        # by_cmd.send_distance_y(-15, 45) # 50
+        by_cmd.send_distance_y(-15, 70) # 50
         # 6_9 參數
-        by_cmd.send_distance_y(-15, 35)
+        # by_cmd.send_distance_y(-15, 35)
-        time.sleep(2)
+        # time.sleep(2)
         # 7_12_3 參數
         # by_cmd.send_distance_y(-15, 45)
-        # time.sleep(2)
+        time.sleep(2)
         car_stop()
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
         logger.info("抓红球")
-        # by_cmd.send_angle_scoop(15)
+        # by_cmd.send_angle_scoop(12)
         time.sleep(0.5)
         by_cmd.send_position_axis_z(30, 170)
         time.sleep(2.5)
+        by_cmd.send_angle_scoop(12)
+        time.sleep(0.5)
         by_cmd.send_angle_scoop(7)
         time.sleep(0.5)
         by_cmd.send_speed_y(15)
@@ -811,7 +813,7 @@ class put_bball():
         calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
         # by_cmd.send_distance_x(10, 10)
         # 向左运动
-        # by_cmd.send_distance_y(-10, 35)
+        by_cmd.send_distance_y(-10, 35)
         # by_cmd.send_angle_storage(10)
         # time.sleep(1)
 
@@ -944,7 +946,7 @@ class put_hanoi1():
     def after(self):
         # var.switch_lane_model = True
         if utils.direction == tlabel.RMARK:
-            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.2, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         else:
             var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         pass
@@ -1184,7 +1186,7 @@ class put_hanoi2():
         # while True:
         #     pass
         by_cmd.send_speed_x(12)
-        time.sleep(1.5)
+        time.sleep(1.2)
     def nexec(self):
         pass
     def after(self):
@@ -1194,6 +1196,7 @@ class put_hanoi2():
         else:
             var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"]) 
         # time.sleep(2)
+        var.task_speed = 13
         pass
 
 class put_hanoi3():
@@ -1439,7 +1442,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)
@@ -1477,6 +1480,16 @@ class kick_ass():
         by_cmd.send_position_axis_x(1, 120)
         time.sleep(1)
         logger.debug("結束任務，前進四")
+
+        filter.switch_camera(2)
+        for _ in range(3):
+            by_cmd.send_speed_x(15)
+        while True:
+            ret, box = filter.get(tlabel.BASE)
+            if ret:
+                error = (box[0][2] + box[0][0] - 320) / 2
+                by_cmd.send_speed_omega(-error * 0.8)
+            time.sleep(0.02)
         # by_cmd.send_speed_x(25)
         # time.sleep(4)
         pass

subtask_69.py

@@ -118,7 +118,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
             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
+                error = error * 1.5
                 if error > 0:
                     by_cmd.send_distance_x(-10, int(error))
                 else:
@@ -241,6 +241,49 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
                 break
     return True
 
+# 对准应知道是左还是右，右侧需在过滤器中进行翻转
+# flipv 为垂直翻转标志，转右侧开启
+def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.5):
+    stop_error = 0
+    error_record = CountRecord(10)
+    if run_direc == 1:
+        by_cmd.send_speed_x(run_speed)
+    else:
+        by_cmd.send_speed_x(-run_speed)
+        
+    if target_label == tlabel.TPLATFORM:
+        stop_error = 8
+    else:
+        stop_error = 15
+    while True:
+        ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
+        while not ret1:
+            # 如果找不到目标且跳过任务队列非空 (即指令跳过)
+            if not global_skip_queue.empty():
+                _ = global_skip_queue.get()
+                logger.error("跳过 hanoi_calibrate")
+                return False
+            # 如果找不到目标且发现错误目标 (上次放置任务失败)
+            if ret2:
+                # 如果连续计数超过阈值，则直接返回
+                if error_record(ret2):
+                    return False
+            ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
+        
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        if ret1:
+            # 校准速度越大 停车的条件越宽泛 20 15
+            if abs(error) <= stop_error:
+                car_stop()
+                logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
+                
+                ret, box = filter.get(target_label)
+                while not ret:
+                    ret, box = filter.get(target_label)
+                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                logger.info(f"停车后像素误差:{error}")
+                break
+    return True
 # 任务类
 class task:  
     def __init__(self, name, task_template, find_counts=10, enable=True):  
@@ -372,8 +415,8 @@ class task_queuem(task):
 class get_block1():
     def init(self):
         var.task_speed = 15
-        act.cmd.camera(0)
+        while (by_cmd.send_angle_camera(0) == -1):
-        act.cmd.z2(20, 60, 0)
+            pass
         filter.switch_camera(1)
         # if cfg['get_block']['first_block'] == "blue":
         #     self.target_label = tlabel.BBLOCK
@@ -397,7 +440,6 @@ class get_block1():
             return True
         return False
     
-
     def exec(self):
         car_stop()
         if self.target_counts[0] > self.target_counts[1]:
@@ -406,7 +448,7 @@ class get_block1():
         else:
             var.first_block = tlabel.BBLOCK
             var.second_block = tlabel.RBLOCK
-        calibrate_new(var.first_block, offset = 15, run = True, run_speed = 5)
+        calibrate_new(var.first_block, offset = 16, run = True, run_speed = 5)
         logger.info("抓取块")
 
         by_cmd.send_position_axis_z(30, 60)
@@ -421,20 +463,21 @@ class get_block1():
 
         by_cmd.send_angle_claw_arm(175)
         time.sleep(0.1)
-        by_cmd.send_position_axis_x(1, 120)
+        by_cmd.send_position_axis_x(1, 100)
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 70)
-        time.sleep(0.1)
+        time.sleep(0.5)
         by_cmd.send_angle_claw(63)
         time.sleep(0.5)
 
         by_cmd.send_position_axis_z(30, 130)
         time.sleep(1)
         by_cmd.send_position_axis_x(1, 140)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
         time.sleep(0.5)
-        by_cmd.send_angle_storage(55)
+        # by_cmd.send_angle_storage(55)
-        time.sleep(1)
+        # time.sleep(1)
+        by_cmd.send_position_axis_z(30, 60)
 
         pass
     def nexec(self):
@@ -463,13 +506,12 @@ class get_block2():
         return False
     def exec(self):
         car_stop()
-        calibrate_new(var.second_block, offset = 15, run = True, run_speed = 5)
+        calibrate_new(var.second_block, offset = 16, run = True, run_speed = 5)
         logger.info("抓取块")
         time.sleep(0.5)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
         by_cmd.send_angle_claw(63)
-        by_cmd.send_position_axis_z(30, 60)
+        time.sleep(0.1)
-        time.sleep(1)
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(1)
         by_cmd.send_angle_claw(25)
@@ -521,7 +563,7 @@ class put_block():
 
         # 放置第二個塊
         by_cmd.send_angle_storage(20)
-        by_cmd.send_position_axis_x(1, 130)
+        by_cmd.send_position_axis_x(1, 110)
         by_cmd.send_position_axis_z(30, 120)
         time.sleep(1.5)
         by_cmd.send_angle_claw_arm(180)
@@ -535,7 +577,7 @@ class put_block():
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 110)
         time.sleep(1)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
@@ -554,7 +596,7 @@ class put_block():
         time.sleep(1)
         while by_cmd.send_position_axis_x(1, 0) == -1:
             pass
-        while by_cmd.send_angle_claw_arm(36) == -1:
+        while by_cmd.send_angle_claw_arm(45) == -1:
             pass
         # 任务检查间隔
         # time.sleep(2)
@@ -569,7 +611,7 @@ class get_bball():
         # time.sleep(0.5)
         # by_cmd.send_position_axis_x(1, 0)
         # time.sleep(2)
-        # by_cmd.send_angle_claw_arm(36)
+        # by_cmd.send_angle_claw_arm(45)
         
         while (by_cmd.send_angle_storage(0) == -1):
             by_cmd.send_angle_storage(0)
@@ -582,13 +624,14 @@ class get_bball():
         self.record = CountRecord(5)
     def find(self):
         # 目标检测蓝球
-        ret = filter.find(tlabel.BBALL)
+        # ret = filter.find(tlabel.BBALL)
+        ret = filter.find_mult([tlabel.BBALL, tlabel.YBALL])
         # ret = filter.find(tlabel.BBALL) or filter.find(tlabel.YBALL)
         # TODO 此处使用连续检出判断感觉不是很好，黄球放置远时停车较晚，可能跟请求速度相关
         # if ret:
         #     if self.record(tlabel.BBALL):
         #         return True
-        if ret:
+        if ret[0] or ret[1]:
             return True
         return False
     def exec(self):
@@ -596,10 +639,10 @@ class get_bball():
         car_stop()
         time.sleep(0.5)
         for _ in range(3):
-            calibrate_right_new(tlabel.BBALL, offset = 16, run = True, run_speed = 5)
+            calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
             logger.info("抓蓝色球")
             time.sleep(0.5)
-            by_cmd.send_angle_claw_arm(36)
+            by_cmd.send_angle_claw_arm(45)
             by_cmd.send_angle_claw(54)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1.2)
@@ -615,7 +658,7 @@ class get_bball():
             time.sleep(0.5)
             by_cmd.send_angle_claw(54)
             time.sleep(0.5)
-            by_cmd.send_angle_claw_arm(36)
+            by_cmd.send_angle_claw_arm(45)
             time.sleep(1)
             by_cmd.send_position_axis_z(30, 135)
             # 继续向前走
@@ -727,8 +770,8 @@ class get_rball():
         logger.info("抓红球")
         # by_cmd.send_angle_scoop(15)
         time.sleep(0.5)
-        by_cmd.send_position_axis_z(30, 170)
+        by_cmd.send_position_axis_z(30, 190) #170
-        time.sleep(2.5)
+        time.sleep(3.5)
         by_cmd.send_angle_scoop(7)
         time.sleep(0.5)
         by_cmd.send_speed_y(15)
@@ -834,30 +877,40 @@ class put_hanoi1():
             logger.info("应该向左转")
 
 
-        # # 校准 omega
+        # 校准 omega
-        # if error > 0:
+        for _ in range(10):
-        #     by_cmd.send_angle_omega(-20,abs(var.lane_error))
+            ret, box = filter.get(utils.direction)
-        # else:
+            if ret:
-        #     by_cmd.send_angle_omega(20,abs(var.lane_error))
+                error = (box[0][2] + box[0][0] - 320) / 2
-        # time.sleep(0.5)
+            by_cmd.send_speed_omega(-error * 0.8)
-        # car_stop()
+            time.sleep(0.2)
-        # time.sleep(0.5)
-        # by_cmd.send_distance_x(10, 200)
-
-        # by_cmd.send_distance_x(10, 180)
-        by_cmd.send_distance_x(10, 250)
-        time.sleep(1)
         car_stop()
 
+
+        # 前进
+        # by_cmd.send_distance_x(10, 200)
+        # by_cmd.send_distance_x(10, 180)
+        # by_cmd.send_distance_x(10, 180)
+        # time.sleep(1.5)
+        # car_stop()
+        
+        while True:
+            by_cmd.send_speed_x(8.5)
+            ret, box = filter.get(utils.direction)
+            if ret:
+                if abs(box[0][2] - box[0][0]) > 41:
+                    car_stop()
+                    break
+        
         # 根据方向初始化执行器位置
         if utils.direction is tlabel.RMARK:
             # FIXME 右侧的爪子会被 storage 挡住
             by_cmd.send_position_axis_x(1, 0)
-            by_cmd.send_angle_claw_arm(36)
+            by_cmd.send_angle_claw_arm(45)
             by_cmd.send_angle_storage(0)
         else:
             by_cmd.send_position_axis_x(1, 150)
-            by_cmd.send_angle_claw_arm(220)
+            by_cmd.send_angle_claw_arm(225)
             by_cmd.send_angle_storage(55)
         time.sleep(1)
 
@@ -866,16 +919,20 @@ class put_hanoi1():
         if utils.direction_right > utils.direction_left:
             utils.direction = tlabel.RMARK
             # by_cmd.send_angle_omega(-25,430)
-            by_cmd.send_angle_omega(-45,238)
             # by_cmd.send_angle_omega(-55,194)
+            # by_cmd.send_angle_omega(-45,238)
+            # by_cmd.send_angle_omega(-45,252)
+            by_cmd.send_angle_omega(-45,260)
             time.sleep(2)
             while (by_cmd.send_angle_camera(90) == -1):
                 by_cmd.send_angle_camera(90)
         else:
             utils.direction = tlabel.LMARK
             # by_cmd.send_angle_omega(25,430)
-            by_cmd.send_angle_omega(45,238)
             # by_cmd.send_angle_omega(55,194)
+            # by_cmd.send_angle_omega(45,238)
+            # by_cmd.send_angle_omega(45,252)
+            by_cmd.send_angle_omega(45,260)
             time.sleep(2)
             while (by_cmd.send_angle_camera(0) == -1):
                 by_cmd.send_angle_camera(0)
@@ -884,11 +941,17 @@ class put_hanoi1():
     def nexec(self):
         pass
     def after(self):
-        var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+        # var.switch_lane_model = True
+        if utils.direction == tlabel.RMARK:
+            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.4, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+        else:
+            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         pass
+        # time.sleep(1.5)
 
 class put_hanoi2():
     def __init__(self):
+        
         if cfg['put_hanoi2']['first_target'] == "lp":
             self.target_label = tlabel.LPILLER
         elif cfg['put_hanoi2']['first_target'] == "mp":
@@ -897,20 +960,25 @@ class put_hanoi2():
             self.target_label = tlabel.SPILLER
     def init(self):
         logger.info("物资盘点 2 初始化")
+        var.task_speed = 8.5
         if utils.direction == tlabel.RMARK:
             # 15
-            self.offset = 19
+            self.offset = 14
             # self.platform_offset = -25
-            self.platform_offset = -10
+            # self.platform_offset = -19
-        else:
-            self.offset = 10
-            #self.platform_offset = -30
             self.platform_offset = -15
+        else:
+            self.offset = 14
+            # self.platform_offset = -30
+            # self.platform_offset = -19
+            self.platform_offset = -15
+        # 延时，防止过早看到 tplatform（虽然此现象相当少见且诡异）
+        time.sleep(1.5)
+
     def find(self):
         # ret, box = filter.get(self.target_label)
         ret, box = filter.get(tlabel.TPLATFORM)
         if ret:
-            var.task_speed = 8.5
             error = (box[0][2] + box[0][0] - 320) / 2 + self.platform_offset
             if error > 0:
                 return True
@@ -935,12 +1003,12 @@ class put_hanoi2():
         logger.info("抓大平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 10)
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(63)
             time.sleep(2)
             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, 30)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
             time.sleep(1)
@@ -952,7 +1020,7 @@ class put_hanoi2():
             time.sleep(2)
             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, 30)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
@@ -964,15 +1032,15 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("放大平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             time.sleep(1.5)
             by_cmd.send_distance_axis_z(30, -20)
             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(0.5)
+            by_cmd.send_angle_claw(63)
             time.sleep(1)
             pass
         else:
@@ -982,9 +1050,9 @@ class put_hanoi2():
             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(0.5)
+            by_cmd.send_angle_claw(63)
             time.sleep(1)
 
         ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed =  5)
@@ -995,8 +1063,8 @@ class put_hanoi2():
         logger.info("抓中平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 10)
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
-            by_cmd.send_angle_claw(63)
+            by_cmd.send_angle_claw(55)
             time.sleep(2)
             by_cmd.send_angle_claw(35)
             time.sleep(0.5)
@@ -1008,7 +1076,7 @@ class put_hanoi2():
         else:
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 40)
-            by_cmd.send_angle_claw(63)
+            by_cmd.send_angle_claw(55)
             time.sleep(2)
             by_cmd.send_angle_claw(35)
             time.sleep(0.5)
@@ -1017,32 +1085,33 @@ class put_hanoi2():
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
             pass
-        ret = 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)
+        ret = hanoi_calibrate(tlabel.LPILLER, tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
-            logger.error("跳过物资盘点 2 exec")
+            logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec")
             return
         time.sleep(0.5)
         logger.info("放中平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 100)
+            by_cmd.send_position_axis_z(30, 120)
             time.sleep(2)
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(65)
+            by_cmd.send_angle_claw(55)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
             time.sleep(1)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 100)
+            by_cmd.send_position_axis_z(30, 120)
             time.sleep(2)
             by_cmd.send_position_axis_x(1, 40)
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(65)
+            by_cmd.send_angle_claw(55)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
@@ -1055,15 +1124,15 @@ class put_hanoi2():
         logger.info("抓小平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 10)
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(50)
             time.sleep(2)
             by_cmd.send_angle_claw(27)
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 10)
             time.sleep(0.5)
-            by_cmd.send_position_axis_x(1, 10)
+            by_cmd.send_position_axis_x(1, 0)
-            time.sleep(1)
+            time.sleep(2)
             pass
         else:
             by_cmd.send_position_axis_z(30, 10)
@@ -1074,19 +1143,20 @@ class put_hanoi2():
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 10)
             time.sleep(0.5)
-            by_cmd.send_position_axis_x(1, 160)
+            by_cmd.send_position_axis_x(1, 170)
-            time.sleep(1)
+            time.sleep(2)
             pass
-        ret = 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)
+        ret = hanoi_calibrate(tlabel.MPILLER, tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
-            logger.error("跳过物资盘点 2 exec")
+            logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec")
             return
         time.sleep(0.5)
         logger.info("放小平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 170)
+            by_cmd.send_position_axis_z(30, 190) # 170
             time.sleep(1.5)
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
@@ -1094,12 +1164,13 @@ class put_hanoi2():
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
             time.sleep(1)
-            by_cmd.send_speed_y(15)
+
-            time.sleep(0.1)
+            # by_cmd.send_speed_y(10)
-            car_stop()
+            # time.sleep(0.12)
+            # car_stop()
             pass
         else:
-            by_cmd.send_position_axis_z(30, 170)
+            by_cmd.send_position_axis_z(30, 190)
             time.sleep(1.5)
             by_cmd.send_position_axis_x(1, 40)
             time.sleep(2)
@@ -1111,11 +1182,18 @@ class put_hanoi2():
             time.sleep(1.5)
         # while True:
         #     pass
-        
+        by_cmd.send_speed_x(12)
+        time.sleep(1.5)
+        var.task_speed = 10
     def nexec(self):
         pass
     def after(self):
-        var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"])
+        # var.switch_lane_model = False
+        if utils.direction is tlabel.RMARK:
+            var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"])
+        else:
+            var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"]) 
+        # time.sleep(2)
         pass
 
 class put_hanoi3():
@@ -1130,10 +1208,10 @@ class put_hanoi3():
         while by_cmd.send_position_axis_x(1, 0) == -1:
             pass
         time.sleep(1)
-        # while by_cmd.send_angle_claw_arm(220) == -1:
+        # while by_cmd.send_angle_claw_arm(225) == -1:
-        #     pass
-        # while by_cmd.send_angle_claw(90) == -1:
         #     pass
+        while by_cmd.send_angle_claw(85) == -1:
+            pass
     def find(self):
         time.sleep(1)
         return True
@@ -1144,6 +1222,7 @@ class put_hanoi3():
     def nexec(self):
         pass
     def after(self):
+        var.task_speed = 0
         by_cmd.send_position_axis_x(1, 150)
         var.pid_turning.set(cfg["put_hanoi3"]["pid_kp"], cfg["put_hanoi3"]["pid_ki"], cfg["put_hanoi3"]["pid_kd"])
 
@@ -1209,7 +1288,7 @@ class move_area1():
         # 任务检查间隔
         by_cmd.send_position_axis_x(1, 150)
         # time.sleep(1)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
 
         pass
 
@@ -1361,7 +1440,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)
@@ -1387,17 +1466,28 @@ class kick_ass():
         else:
             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)
+        
         logger.info(f"target distance {target_distance}")
         time.sleep(1.5 + (self.target_person - 1) * 0.7 )
         car_stop()
         
-        # by_cmd.send_angle_claw_arm(220)
+        # by_cmd.send_angle_claw_arm(225)
         # time.sleep(0.5)
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(3)
         by_cmd.send_position_axis_x(1, 120)
         time.sleep(1)
         logger.debug("結束任務，前進四")
+
+        filter.switch_camera(2)
+        for _ in range(3):
+            by_cmd.send_speed_x(15)
+        while True:
+            ret, box = filter.get(tlabel.BASE)
+            if ret:
+                error = (box[0][2] + box[0][0] - 320) / 2
+            by_cmd.send_speed_omega(-error * 0.8)
+            time.sleep(0.02)
         # by_cmd.send_speed_x(25)
         # time.sleep(4)
         pass

subtask_7123.py

@@ -1367,7 +1367,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)

subtask_7126.py

@@ -1360,7 +1360,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)

templates/index.html

@@ -109,7 +109,7 @@
                     </el-col>
                     <el-col :xs="24" :sm="8">
                         <el-button @click="skipTask" type="success" style="width: 100%">
-                            强制跳转
+                            关闭
                         </el-button>
                     </el-col>
                 </el-row>
@@ -128,12 +128,16 @@
                 </el-button> -->
                 
                 <el-form v-if="showConfigForm && config" class="config-form">
+                    <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>
                     <div v-for="(section, sectionName) in config" :key="sectionName">
                         <h3>{{ sectionName }}</h3>
                         <el-row :gutter="20">
                             <el-col v-for="(value, key) in section" :key="key" :xs="24" :sm="12" :md="8" :lg="6">
                                 <el-form-item :label="key">
-                                    <el-select v-if="sectionName === 'kick_ass'" v-model="config[sectionName][key]">
+                                    <el-select v-if="sectionName === 'lane_mode'" v-model="config[sectionName][key]">
                                         <el-option
                                           v-for="item in target_person_options"
                                           :key="item.value"
@@ -162,10 +166,7 @@
                             </el-col>
                         </el-row>
                     </div>
-                    <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>
 
                 <h2 class="section-title">Log Display</h2>
@@ -197,16 +198,16 @@
                 timer: null,
                 target_person_options: [{
                   value: 1,
-                  label: '模式 1'
+                  label: '6_9'
                 }, {
                   value: 2,
-                  label: '模式 2'
+                  label: '7_10_2'
                 }, {
                   value: 3,
-                  label: '模式 3'
+                  label: '7_14_2'
                 }, {
                   value: 4,
-                  label: '模式 4'
+                  label: '7_15_4'
                 }],
             },
             methods: {

templates/index1.html

@@ -0,0 +1,139 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>btl143</title>
+    <link rel="stylesheet" href="static/index.css">
+    <script src="static/vue.js"></script>
+    <script src="static/index.js"></script>
+    <script src="static/socket.io.js"></script>
+    
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            background-color: #f5f7fa;
+        }
+        .app-container {
+            padding: 20px;
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+       
+        .button-group {
+            margin-bottom: 20px;
+        }
+        .full-screen-background {
+          background-color: #f0f0f0;
+          position: fixed;
+          top: 60px; /* Adjust based on button height and margin */
+          left: 0;
+          right: 0;
+          bottom: 0;
+          z-index: -1;
+        }
+
+        .counter-display {
+          padding: 20px;
+          text-align: center;
+          position: fixed;
+          top: 80px; /* Adjust based on your requirements */
+          left: 50%;
+          transform: translateX(-50%);
+          z-index: 1;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <el-container class="app-container">
+            <el-main>
+                <h1 class="section-title">btl143 upper</h1>
+                
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button 
+                        @click="toggleTask" 
+                        :type="taskActive ? 'success' : 'danger'" 
+                        style="width: 100%">
+                        {{ taskActive ? `开启 task ${counter}` : `关闭 task ${counter}` }}
+                      </el-button>
+                    </el-col>
+                </el-row>
+                <div class="full-screen-background" @click="incrementCounter">
+                  <div class="counter-display">
+                  </div>
+                </div>
+
+            </el-main>
+        </el-container>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                taskActive: true,
+                counter: 1
+            },
+            methods: {
+                toggleTask() {
+                    if (this.taskActive) {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                    }
+                    else {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                    }
+                    this.taskActive = !this.taskActive;
+                },
+                incrementCounter() {
+                  this.counter += 1;
+                  if (this.counter == 5) {
+                    this.counter = 1;
+                  }
+                  this.socket.emit('operate', {type: 'save_target_person', content: this.counter});
+                },
+                startServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'run'});
+                },
+                stopServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'stop'});
+                },
+                restartServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'restart'});
+                },
+                startTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                },
+                stopTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                },
+                restartTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'restart'});
+                },
+                skipTask() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                }
+            },
+            mounted() {
+                this.socket = io('http://' + document.domain + ':5001');
+                this.socket.on('connect', () => {
+                    console.log('Connected to server');
+                });
+                this.socket.on('task_status', (data) => {
+                    if (data.content == 0) {
+                      this.taskActive = true
+                    } else {
+                      this.taskActive = false
+                    }
+
+                });
+                
+            }
+        });
+    </script>
+</body>
+</html>

templates/index2.html

@@ -0,0 +1,128 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>btl143</title>
+    <link rel="stylesheet" href="static/index.css">
+    <script src="static/vue.js"></script>
+    <script src="static/index.js"></script>
+    <script src="static/socket.io.js"></script>
+    
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            background-color: #f5f7fa;
+        }
+        .app-container {
+            padding: 20px;
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+       
+        .button-group {
+            margin-bottom: 20px;
+        }
+        .full-screen-background {
+          background-color: #f0f0f0;
+          position: fixed;
+          top: 60px; /* Adjust based on button height and margin */
+          left: 0;
+          right: 0;
+          bottom: 0;
+          z-index: -1;
+        }
+
+        .counter-display {
+          padding: 20px;
+          text-align: center;
+          position: fixed;
+          top: 80px; /* Adjust based on your requirements */
+          left: 50%;
+          transform: translateX(-50%);
+          z-index: 1;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <el-container class="app-container">
+            <el-main>
+                <h1 class="section-title">btl143 upper</h1>
+                
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button 
+                        @click="toggleTask" 
+                        :type="taskActive ? 'success' : 'danger'" 
+                        style="width: 100%">
+                        {{ taskActive ? `开启 task` : `关闭 task` }}
+                      </el-button>
+                    </el-col>
+                </el-row>
+
+            </el-main>
+        </el-container>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                taskActive: true,
+                counter: 1
+            },
+            methods: {
+                toggleTask() {
+                    if (this.taskActive) {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                    }
+                    else {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                    }
+                    this.taskActive = !this.taskActive;
+                },
+                startServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'run'});
+                },
+                stopServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'stop'});
+                },
+                restartServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'restart'});
+                },
+                startTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                },
+                stopTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                },
+                restartTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'restart'});
+                },
+                skipTask() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                }
+            },
+            mounted() {
+                this.socket = io('http://' + document.domain + ':5001');
+                this.socket.on('connect', () => {
+                    console.log('Connected to server');
+                });
+                this.socket.on('task_status', (data) => {
+                    if (data.content == 0) {
+                      this.taskActive = true
+                    } else {
+                      this.taskActive = false
+                    }
+
+                });
+                
+            }
+        });
+    </script>
+</body>
+</html>

test/test_cali.py

@@ -34,15 +34,16 @@ def signal_handler(sig, frame):
 
 offset = 0
 signal.signal(signal.SIGTERM, signal_handler)
+cmd_py_obj.send_speed_x(15)
 while True:
-    time.sleep(0.2)
-    ret, box = filter.get(tlabel.LMARK)
-    if ret:
-        # 宽度大于 41 停车
-        print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
-    # if ret:
-    #     error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    #     print(error)
 
-    #     cmd_py_obj.send_speed_omega(-error * 0.8)
+    time.sleep(0.02)
+    ret, box = filter.get(tlabel.BASE)
+    # if ret:
+        # 宽度大于 41 停车
+        # print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
+    if ret:
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        print(error)
+        cmd_py_obj.send_speed_omega(-error * 0.8)
 car_stop()

test/test_filter.py

@@ -16,18 +16,18 @@ socket.connect("tcp://localhost:6667")
 logger.info("subtask yolo client init")
 
 filter = label_filter(socket)
-filter.switch_camera(1)
+filter.switch_camera(2)
 
 
-find_counts = 0
+# find_counts = 0
-offset = 19
+# offset = 19
-label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
+# label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
-label = tlabel.TPLATFORM
+# label = tlabel.TPLATFORM
 while True:
     time.sleep(0.2)
-    ret, box = filter.get(tlabel.TPLATFORM)
+    ret, box = filter.get(tlabel.BASE)
     if ret:
-        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        error = (box[0][2] + box[0][0] - 320) / 2
         logger.error(error)
 
     # label = tlabel.HOSPITAL

variable.py

@@ -9,7 +9,8 @@ task_speed = 0
 pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0} # 1.2
 
 # 转向 pid 对象
-pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=60) # FIXME 6_9 模型为 50
+# pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=70) # FIXME 6_9 模型为 60
+pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=60) # FIXME 6_9 模型为 60
 
 llm_text = ''