703 lines
22 KiB
Python
703 lines
22 KiB
Python
from enum import Enum
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from loguru import logger
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from utils import label_filter
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from utils import tlabel
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import utils
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import toml
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import zmq
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import time
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context = zmq.Context()
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socket = context.socket(zmq.REQ)
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socket.connect("tcp://localhost:6667")
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logger.info("subtask yolo client init")
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cfg = toml.load('cfg_subtask.toml') # 加载任务配置
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logger.info("load subtask config")
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by_cmd = None
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filter = None
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def import_obj(_by_cmd):
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global by_cmd
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global filter
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by_cmd = _by_cmd
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filter = label_filter(socket)
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def car_stop():
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pass
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# run_on 是否继续向前行进 等待 error<5 后停止 如果不需要前进（在校准前车已经停下）
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# 则不需要等待 error < 5 可以直接 aim_near
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def calibrate(label, offset, run_on = True, cali_speed = 10):
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logger.info("开始校准")
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# go on
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if run_on:
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for _ in range(3):
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by_cmd.send_speed_x(7)
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by_cmd.send_speed_omega(0)
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time.sleep(0.1)
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while True:
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ret, error = filter.aim_near(label)
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while not ret:
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ret, error = filter.aim_near(label)
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error += offset
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if run_on:
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if abs(error) < 5:
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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break
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else:
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break
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ret, error = filter.aim_near(label)
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while not ret:
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ret, error = filter.aim_near(label)
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error += offset
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time.sleep(1)
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logger.error(error)
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if abs(error) > 5:
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logger.info("校准中")
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if error > 0:
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by_cmd.send_distance_x(-cali_speed, int(error*4))
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else:
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by_cmd.send_distance_x(cali_speed, int(-error*4))
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logger.error(error)
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time.sleep(1)
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# stop
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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pass
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# 任务类
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class task:
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def __init__(self, task_template, find_counts=10, enable=True):
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self.enable = enable
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self.task_t = task_template()
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self.counts = 0
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self.find_counts = find_counts
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def init(self):
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self.task_t.init()
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def find(self):
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# 检查该任执行标志
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while True:
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# if self.func_find():
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# 特殊地方可以直接跳出 find
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ret = self.task_t.find()
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self.counts += ret
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# if self.task_t.find():
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# self.counts += 1
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if self.counts >= self.find_counts:
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break
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# while self.func_find() is False:
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# pass
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def exec(self):
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# 根据标志位确定是否执行该任务
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if self.enable is True:
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logger.debug(f"[Task ]# Executing task")
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self.task_t.exec()
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logger.debug(f"[Task ]# Task completed")
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else:
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logger.warning(f"[Task ]# Skip task")
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self.task_t.nexec()
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# 任务队列状态类
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class task_queuem_status(Enum):
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IDEL = 0
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SEARCHING = 1
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EXECUTING = 2
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# 任务队列类 非 EXECUTEING 时均执行 huigui，注意互斥操作
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class task_queuem(task):
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# task_now = task(None, False)
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def __init__(self, queue):
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super(task_queuem, self)
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self.queue = queue
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self.status = task_queuem_status.IDEL
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self.busy = True
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logger.info(f"[TaskM]# Task num {self.queue.qsize()}")
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def exec(self):
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# 如果空闲状态则将下一个队列任务取出
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if self.status is task_queuem_status.IDEL:
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if self.queue.qsize() == 0:
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self.busy = False
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logger.info(f"[TaskM]# Task queue empty, exit")
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return False
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self.task_now = self.queue.get()
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# 如果当前任务没有使能，则直接转入执行状态，由任务执行函数打印未执行信息
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if self.task_now.enable is True:
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self.status = task_queuem_status.SEARCHING
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# 如果使能该任务则执行该任务的初始化动作
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self.task_now.init()
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else:
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self.status = task_queuem_status.EXECUTING
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logger.info(f"[TaskM]# ---------------------->>>>")
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# 阻塞搜索任务标志位
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elif self.status is task_queuem_status.SEARCHING:
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logger.info(f"[TaskM]# Start searching task target")
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self.task_now.find()
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self.status = task_queuem_status.EXECUTING
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# 执行任务函数
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elif self.status is task_queuem_status.EXECUTING:
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logger.info(f"[TaskM]# Start execute task function")
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self.task_now.exec() # 执行当前任务函数
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self.queue.task_done() # 弹出已执行的任务
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self.status = task_queuem_status.IDEL #
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logger.info(f"[TaskM]# <<<<----------------------")
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return True
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# 人员施救
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class get_block():
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def init(self):
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logger.info("人员施救初始化")
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def find(self):
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# 目标检测红/蓝方块
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ret1, list1 = filter.get(tlabel.RBLOCK)
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if ret1 > 0:
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logger.info("[抓方块]# find label")
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return True
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else:
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return False
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def exec(self):
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calibrate(tlabel.RBLOCK,15)
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# for _ in range(3):
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# by_cmd.send_speed_x(7)
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# by_cmd.send_speed_omega(0)
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# time.sleep(0.1)
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# while True:
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# # logger.info("等待进入准确区域")
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# ret, error = filter.aim_near(tlabel.RBLOCK)
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# while not ret:
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# ret, error = filter.aim_near(tlabel.RBLOCK)
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# # logger.info(error)
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# if abs(error) < 5:
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# for _ in range(3):
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# by_cmd.send_speed_x(0)
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# time.sleep(0.2)
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# by_cmd.send_speed_omega(0)
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# break
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# ret, error = filter.aim_near(tlabel.RBLOCK)
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# while not ret:
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# ret, error = filter.aim_near(tlabel.RBLOCK)
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# time.sleep(1)
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# logger.error(error)
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# if abs(error) > 5:
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# logger.info("校准中")
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# if error > 0:
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# by_cmd.send_distance_x(-10, int(error*3))
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# else:
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# by_cmd.send_distance_x(10, int(-error*3))
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# logger.error(error)
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# time.sleep(1)
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# for _ in range(3):
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# by_cmd.send_speed_x(0)
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# time.sleep(0.2)
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# by_cmd.send_speed_omega(0)
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time.sleep(2)
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by_cmd.send_position_axis_z(10, 150)
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time.sleep(5)
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by_cmd.send_angle_claw_arm(127)
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time.sleep(1)
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by_cmd.send_position_axis_x(4, 140)
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time.sleep(4)
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by_cmd.send_angle_claw_arm(220)
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by_cmd.send_angle_claw(90)
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time.sleep(1)
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by_cmd.send_distance_axis_z(10, -70)
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time.sleep(3)
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by_cmd.send_angle_claw(27)
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by_cmd.send_distance_axis_z(10, 10)
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time.sleep(2)
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by_cmd.send_distance_axis_x(4, -100)
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time.sleep(1)
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by_cmd.send_distance_axis_z(10, -40)
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time.sleep(3)
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by_cmd.send_angle_claw(35)
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time.sleep(1)
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by_cmd.send_position_axis_z(10, 150)
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time.sleep(3)
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by_cmd.send_position_axis_x(2, 140)
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# 抓取第二个块后 收爪
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time.sleep(3)
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by_cmd.send_position_axis_x(4, 0)
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def nexec(self):
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# TODO 完成不执行任务的空动作
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pass
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# 紧急转移
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class put_block():
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def init(self):
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logger.info("紧急转移初始化")
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def find(self):
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# 目标检测医院
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ret1, list1 = filter.get(tlabel.HOSPITAL)
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if ret1 > 0:
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return True
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else:
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return False
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def exec(self):
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# TODO 测试对准效果
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logger.info("找到医院")
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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time.sleep(0.1)
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while True:
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# logger.info("等待进入准确区域")
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ret, error = filter.aim_near(tlabel.HOSPITAL)
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while not ret:
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ret, error = filter.aim_near(tlabel.HOSPITAL)
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# logger.info(error)
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if abs(error) < 5:
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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break
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ret, error = filter.aim_near(tlabel.HOSPITAL)
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while not ret:
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ret, error = filter.aim_near(tlabel.HOSPITAL)
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time.sleep(1)
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logger.error(error)
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if abs(error) > 5:
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logger.info("校准中")
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if error > 0:
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by_cmd.send_distance_x(-10, int(error*3))
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else:
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by_cmd.send_distance_x(10, int(-error*3))
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logger.error(error)
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time.sleep(1)
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by_cmd.send_position_axis_z(10, 150)
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time.sleep(3)
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# TODO 切换爪子方向
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by_cmd.send_position_axis_x(2, 140)
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time.sleep(2)
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by_cmd.send_position_axis_z(10, 170)
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pass
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def nexec(self):
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pass
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# 整装上阵
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class get_bball():
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def init(self):
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by_cmd.send_position_axis_x(2, 140)
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logger.info("整装上阵初始化")
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time.sleep(0.5)
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while (by_cmd.send_angle_camera(90) == -1):
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by_cmd.send_angle_camera(90)
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def find(self):
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# 目标检测黄球
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ret1, list1 = filter.get(tlabel.YBALL)
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if ret1 > 0:
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return True
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else:
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return False
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def exec(self):
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logger.info("找到黄色球")
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for _ in range(3):
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by_cmd.send_speed_x(7)
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by_cmd.send_speed_omega(0)
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time.sleep(0.1)
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while True:
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# logger.info("等待进入准确区域")
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ret, error = filter.aim_near(tlabel.YBALL)
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while not ret:
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ret, error = filter.aim_near(tlabel.YBALL)
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# logger.info(error)
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if abs(error) < 5:
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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break
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ret, error = filter.aim_near(tlabel.YBALL)
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while not ret:
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ret, error = filter.aim_near(tlabel.YBALL)
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time.sleep(1)
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logger.error(error)
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if abs(error) > 5:
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logger.info("校准中")
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if error > 0:
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by_cmd.send_distance_x(-10, int(error*3))
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else:
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by_cmd.send_distance_x(10, int(-error*3))
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logger.error(error)
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time.sleep(1)
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while (by_cmd.send_angle_camera(0) == -1):
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by_cmd.send_angle_camera(0)
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by_cmd.send_position_axis_z(20, 160)
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time.sleep(2)
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by_cmd.send_position_axis_x(2, 70)
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time.sleep(2)
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by_cmd.send_angle_claw(90)
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time.sleep(0.2)
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by_cmd.send_position_axis_x(2, 0)
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time.sleep(2)
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by_cmd.send_angle_claw(27)
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time.sleep(1)
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by_cmd.send_position_axis_z(20, 180)
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time.sleep(1)
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by_cmd.send_position_axis_x(4, 45)
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time.sleep(1)
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by_cmd.send_position_axis_z(20, 140)
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time.sleep(3)
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by_cmd.send_position_axis_x(2, 140)
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time.sleep(2)
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by_cmd.send_angle_claw(90)
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pass
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def nexec(self):
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pass
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# 通信抢修
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class up_tower():
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def init(self):
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logger.info("通信抢修初始化")
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def find(self):
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# 目标检测通信塔
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ret1, list1 = filter.get(tlabel.TOWER)
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if ret1 > 0:
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return True
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else:
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return False
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def exec(self):
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logger.info("找到塔")
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for _ in range(3):
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by_cmd.send_speed_x(7)
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by_cmd.send_speed_omega(0)
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time.sleep(0.1)
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while True:
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# logger.info("等待进入准确区域")
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ret, error = filter.aim_near(tlabel.TOWER)
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while not ret:
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ret, error = filter.aim_near(tlabel.TOWER)
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# logger.info(error)
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if abs(error) < 5:
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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break
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ret, error = filter.aim_near(tlabel.TOWER)
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while not ret:
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ret, error = filter.aim_near(tlabel.TOWER)
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time.sleep(1)
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logger.error(error)
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if abs(error) > 5:
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logger.info("校准中")
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if error > 0:
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by_cmd.send_distance_x(-10, int(error*3))
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else:
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by_cmd.send_distance_x(10, int(-error*3))
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logger.error(error)
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time.sleep(1)
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def nexec(self):
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pass
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# 高空排险
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class get_rball():
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def init(self):
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logger.info("高空排险初始化")
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while (by_cmd.send_angle_camera(0) == -1):
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by_cmd.send_angle_camera(0)
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def find(self):
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# 目标检测红球
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ret1, list1 = filter.get(tlabel.RBALL)
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if ret1 > 0:
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return True
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else:
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return False
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def exec(self):
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logger.info("找到红球")
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# TODO 高空排险 offset 需要调整
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calibrate(tlabel.RBALL,15, True, 6)
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pass
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def nexec(self):
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pass
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# 派发物资
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class put_bball():
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def init(self):
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logger.info("派发物资初始化")
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while (by_cmd.send_angle_camera(90) == -1):
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by_cmd.send_angle_camera(90)
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def find(self):
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# 目标检测通信塔
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ret1, list1 = filter.get(tlabel.BASKET)
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if ret1 > 0:
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return True
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else:
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return False
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def exec(self):
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logger.info("找到篮筐")
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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time.sleep(1)
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pass
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def nexec(self):
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pass
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direction = tlabel.RMARK
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direction_left = 0
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direction_right = 0
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# 物资盘点
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class put_hanoi1():
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def init(self):
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logger.info("物资盘点 1 初始化")
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socket.send_string("2")
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socket.recv()
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def find(self):
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global direction
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global direction_left
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global direction_right
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# 目标检测左右转向标识
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# TODO 框的大小判断距离
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ret1, list1 = filter.get(tlabel.RMARK)
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ret2, list2 = filter.get(tlabel.LMARK)
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if ret1:
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logger.info("向右拐")
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list1 = list1[0]
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area = (list1[2] - list1[0]) * (list1[3] - list1[1])
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logger.info(area)
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if area > 2500:
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direction_right += 1
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return True
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return False
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elif ret2:
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logger.info("向左拐")
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list2 = list2[0]
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area = (list2[2] - list2[0]) * (list2[3] - list2[1])
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logger.info(area)
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if area > 2500:
|
||
direction_left += 1
|
||
return True
|
||
return False
|
||
return False
|
||
def exec(self):
|
||
global direction
|
||
for _ in range(3):
|
||
by_cmd.send_speed_x(0)
|
||
time.sleep(0.2)
|
||
by_cmd.send_speed_omega(0)
|
||
time.sleep(0.2)
|
||
# if direction == tlabel.RMARK:
|
||
if direction_right > direction_left:
|
||
direction = tlabel.RMARK
|
||
# by_cmd.send_distance_x(6, 200)
|
||
by_cmd.send_angle_omega(-20,380)
|
||
time.sleep(2)
|
||
while (by_cmd.send_angle_camera(90) == -1):
|
||
by_cmd.send_angle_camera(90)
|
||
else:
|
||
direction = tlabel.LMARK
|
||
# by_cmd.send_distance_x(6, 200)
|
||
by_cmd.send_angle_omega(20,500)
|
||
time.sleep(2)
|
||
while (by_cmd.send_angle_camera(180) == -1):
|
||
by_cmd.send_angle_camera(180)
|
||
time.sleep(0.5)
|
||
socket.send_string("1")
|
||
socket.recv()
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
|
||
|
||
def sub_put_hanoi2(label,distance_type,run_on,back_flag):
|
||
# logger.info("找到大红色柱体")
|
||
for _ in range(3):
|
||
by_cmd.send_speed_x(0)
|
||
time.sleep(0.2)
|
||
by_cmd.send_speed_omega(0)
|
||
time.sleep(2)
|
||
|
||
# 对准大红色柱体
|
||
calibrate(label,15, run_on, 6)
|
||
# 抓取大红色柱体
|
||
logger.info("抓取柱体")
|
||
# 根据 direction 确定移动方向
|
||
by_cmd.send_distance_x(-8, distance_type)
|
||
# 移动 self.distance_lp 距离
|
||
# 放置物块
|
||
logger.info("开始放置柱体")
|
||
time.sleep(1)
|
||
if back_flag:
|
||
pass
|
||
# 回移相同距离
|
||
# if direction == tlabel.RMARK:
|
||
# by_cmd.send_distance_x(8, distance_type)
|
||
# else:
|
||
# by_cmd.send_distance_x(-8, distance_type)
|
||
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
|
||
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")
|
||
def find(self):
|
||
time.sleep(0.001)
|
||
return True
|
||
# # 目标检测左右转向标识
|
||
# ret1, list1 = filter.get(tlabel.LPILLER)
|
||
# ret, _ = filter.get_mult([tlabel.LPILLER])
|
||
# if ret:
|
||
# logger.info("看到了三个 直接停车")
|
||
# return 100
|
||
# if ret1 > 0:
|
||
# list1 = list1[0]
|
||
# area = (list1[2] - list1[0]) * (list1[3] - list1[1])
|
||
# logger.info(area)
|
||
# if area > 3300:
|
||
# return True
|
||
# return False
|
||
# else:
|
||
# return False
|
||
def exec(self):
|
||
# TODO 延时需要根据移动的 distance 判断
|
||
for _ in range(3):
|
||
by_cmd.send_speed_x(0)
|
||
time.sleep(0.2)
|
||
by_cmd.send_speed_omega(0)
|
||
# 往回走一段 然后向前行进校准
|
||
by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30)
|
||
time.sleep(1)
|
||
logger.info(f"方向{direction}")
|
||
|
||
if utils.lane_error > 0:
|
||
by_cmd.send_angle_omega(-20,abs(utils.lane_error))
|
||
else:
|
||
by_cmd.send_angle_omega(20,abs(utils.lane_error))
|
||
|
||
time.sleep(1)
|
||
sub_put_hanoi2(tlabel.LPILLER, self.distance_lp, True, True)
|
||
time.sleep(5)
|
||
# 对准中蓝色柱体
|
||
sub_put_hanoi2(tlabel.MPILLER, self.distance_mp, True, True)
|
||
time.sleep(5)
|
||
# 根据 direction 确定移动方向
|
||
# 移动 self.distance_mp 距离
|
||
# 放置物块
|
||
# 回移相同距离
|
||
sub_put_hanoi2(tlabel.SPILLER, self.distance_sp, True, True)
|
||
time.sleep(5)
|
||
# 对准小红色柱体
|
||
# 根据 direction 确定移动方向
|
||
# 移动 self.distance_sp 距离
|
||
# 放置物块
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
|
||
# 应急避险 第一阶段 找目标牌
|
||
class move_area1():
|
||
def init(self):
|
||
logger.info("应急避险第一阶段初始化")
|
||
while (by_cmd.send_angle_camera(180) == -1):
|
||
by_cmd.send_angle_camera(180)
|
||
def find(self):
|
||
# 目标检测标志牌
|
||
ret, error = filter.aim_near(tlabel.SIGN)
|
||
if ret > 0 and abs(error) < 8:
|
||
return True
|
||
else:
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到标示牌")
|
||
# for _ in range(3):
|
||
# by_cmd.send_speed_x(0)
|
||
# time.sleep(0.2)
|
||
# by_cmd.send_speed_omega(0)
|
||
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
# 应急避险 第二阶段 找停车区域
|
||
class move_area2():
|
||
def init(self):
|
||
logger.info("应急避险第二阶段初始化")
|
||
def find(self):
|
||
time.sleep(0.001)
|
||
return True
|
||
def exec(self):
|
||
logger.info("开始寻找停车区域")
|
||
for _ in range(3):
|
||
by_cmd.send_speed_x(0)
|
||
time.sleep(0.2)
|
||
by_cmd.send_speed_omega(0)
|
||
calibrate(tlabel.SHELTER, 15, False, 6)
|
||
time.sleep(1)
|
||
# 进入停车区域
|
||
by_cmd.send_distance_y(10, 450)
|
||
time.sleep(3)
|
||
# 离开停车区域
|
||
by_cmd.send_distance_y(-10, 450)
|
||
time.sleep(3)
|
||
while True:
|
||
pass
|
||
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
# 扫黑除暴
|
||
class kick_ass():
|
||
def init(self):
|
||
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['kick_ass']['target_person']
|
||
def find(self):
|
||
ret, error = filter.aim_near(tlabel.SIGN)
|
||
if ret > 0 and abs(error) < 8:
|
||
return True
|
||
else:
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到标示牌")
|
||
for _ in range(3):
|
||
by_cmd.send_speed_x(0)
|
||
time.sleep(0.2)
|
||
by_cmd.send_speed_omega(0)
|
||
time.sleep(1)
|
||
if utils.lane_error > 0:
|
||
by_cmd.send_angle_omega(-20,abs(utils.lane_error)*1.5)
|
||
else:
|
||
by_cmd.send_angle_omega(20,abs(utils.lane_error)*1.5)
|
||
time.sleep(1)
|
||
calibrate(tlabel.SIGN, 8, False, 6)
|
||
time.sleep(0.5)
|
||
|
||
|
||
if self.target_person == 1:
|
||
by_cmd.send_distance_x(10, self.pos_gap1)
|
||
else:
|
||
by_cmd.send_distance_x(10, self.pos_gap1 + (self.target_person - 1) * self.pos_gap2)
|
||
|
||
time.sleep(2)
|
||
time.sleep(5)
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
|