1677 lines
59 KiB
Python
1677 lines
59 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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# from utils import LLM
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from utils import LLM_deepseek
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from utils import CountRecord
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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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import variable as var
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import re
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import math
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import json
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import json5
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# import threading
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# import ctypes
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cfg = None
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cfg_args = None
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cfg_move_area = None
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by_cmd = None
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filter = None
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llm_bot = None
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# 目标检测 socket 客户端
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context = None
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socket = None
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context1 = None
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ocr_socket = None
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global_skip_queue = None
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'''
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description: main.py 里执行 引入全局变量
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param {*} _by_cmd 控制器对象
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return {*}
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'''
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def import_obj(_by_cmd, skip_queue):
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global by_cmd
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global filter
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global llm_bot
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global context
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global socket
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global context1
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global ocr_socket
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global cfg
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global cfg_args
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global cfg_move_area
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global global_skip_queue
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cfg = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml') # 加载任务配置
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cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.toml')
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try:
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with open('/home/evan/Workplace/project_main/cfg_move_area.json', 'r') as f:
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cfg_move_area = json.load(f)
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except:
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cfg_move_area = None
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by_cmd = _by_cmd
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global_skip_queue = skip_queue
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# 目标检测 socket 客户端
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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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# ocr socket 客户端
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context1 = zmq.Context()
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ocr_socket = context1.socket(zmq.REQ)
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ocr_socket.connect("tcp://localhost:6668")
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logger.info("subtask ocr client init")
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filter = label_filter(socket)
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if cfg['move_area']['llm_enable']:
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llm_bot = LLM_deepseek()
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def car_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_y(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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# 蓝色球使用
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def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
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not_found_counts = 0
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ret, error = filter.aim_right(label)
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while not ret:
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not_found_counts += 1
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if not_found_counts >= 20:
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not_found_counts = 0
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error = -320 # error > 0 front run
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logger.info("calibrate_right_new:找不到次数超过 20 帧 直接前进寻找")
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break
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ret, error = filter.aim_right(label)
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error += offset
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if abs(error) > 10 and run:
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if error > 0:
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by_cmd.send_speed_x(-run_speed)
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else:
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by_cmd.send_speed_x(run_speed)
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# 停的位置已经很接近目标，可以直接使用 distance 校准
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else:
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return
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while True:
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ret, error = filter.aim_right(label)
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while not ret:
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ret, error = filter.aim_right(label)
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error += offset
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# if ret:
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if abs(error) <= 10:
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car_stop()
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logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
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ret, error = filter.aim_right(label)
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while not ret:
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not_found_counts += 1
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if not_found_counts >=30:
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return
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ret, error = filter.aim_right(label)
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error += offset
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logger.info(f"calibrate_right_new:停车后的误差是{error}")
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if abs(error) > 8:
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logger.info(f"calibrate_right_new:停车后的误差大于 8 使用 distance 校准")
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error = error * 1.5
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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break
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'''
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description: 校准新方法 找到后停止 然后根据 error 判断前后低速前进 error < 5 后直接停车
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如果停车后 error > 8 则使用 distance 校准
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这个方法仅用于在视野里能找到的情况下进行校准，并不能实现边走边寻找 然后再校准
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param {*} label
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param {*} offset
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param {*} run
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param {*} run_speed
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return {*}
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'''
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def calibrate_new(label, offset, run = True, run_speed = 3.5):
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not_found_counts = 0
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ret, box = filter.get(label)
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while not ret:
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not_found_counts += 1
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if not_found_counts >= 20:
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not_found_counts = 0
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error = -320 # error > 0 front run
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logger.info("calibrate_new:找不到次数超过 20 帧 直接前进寻找")
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break
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ret, box = filter.get(label)
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# 如果超过二十帧跳出，则此时 box 为空值，需要再校验 ret
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if ret is True:
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if abs(error) > 10 and run:
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if error > 0:
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by_cmd.send_speed_x(-run_speed)
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else:
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by_cmd.send_speed_x(run_speed)
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# 停的位置已经很接近目标，可以直接使用 distance 校准
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else:
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if abs(error) > 8:
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logger.info(f"calibrate_new:停车后误差{error}大于 8 使用 distance 校准")
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# error = error # 3
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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return
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logger.info(f"calibrate_new:停车后误差{error}小于 8 不校准")
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return
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while True:
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if ret:
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if abs(error) <= 10: # 5
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car_stop()
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logger.info("calibrate_new:行进时 误差小于 10 直接停车")
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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logger.info(f"calibrate_new:停车后的误差是{error}")
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if abs(error) > 8:
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logger.info(f"calibrate_new:停车后的误差大于 8 使用 distance 校准")
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error = error * 3
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# logger.error(f"error * 3 {error}")
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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break
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# 弃用 distance 校准
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def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
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# run_direc == 1 向前
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stop_error = 0
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if run_direc == 1:
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by_cmd.send_speed_x(run_speed)
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else:
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by_cmd.send_speed_x(-run_speed)
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if label == tlabel.TPLATFORM:
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stop_error = 8
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else:
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stop_error = 15
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while True:
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ret, box = filter.get(label)
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while not ret:
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if not global_skip_queue.empty():
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_ = global_skip_queue.get()
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logger.error("跳过 explore_calibrate_new")
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return False
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if ret:
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# 校准速度越大 停车的条件越宽泛 20 15
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if abs(error) <= stop_error:
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car_stop()
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logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
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# ret, box = filter.get(label)
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# while not ret:
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# ret, box = filter.get(label)
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# error = (box[0][2] + box[0][0] - 320) / 2 + offset
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logger.info(f"停车后像素误差:{error}")
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# logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
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# if abs(error) < 8:
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# error = error * 3
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# else:
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# error = error * 2
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# if error > 0:
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# by_cmd.send_distance_x(-10, int(error))
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# else:
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# by_cmd.send_distance_x(10, int(-error))
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break
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return True
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# 对准应知道是左还是右，右侧需在过滤器中进行翻转
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# flipv 为垂直翻转标志，转右侧开启
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def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.5):
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stop_error = 0
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error_record = CountRecord(10)
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if run_direc == 1:
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by_cmd.send_speed_x(run_speed)
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else:
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by_cmd.send_speed_x(-run_speed)
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if target_label == tlabel.TPLATFORM:
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stop_error = 8
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else:
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stop_error = 15
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while True:
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ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
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while not ret1:
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# 如果找不到目标且跳过任务队列非空 (即指令跳过)
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if not global_skip_queue.empty():
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_ = global_skip_queue.get()
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logger.error("跳过 hanoi_calibrate")
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return False
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# 如果找不到目标且发现错误目标 (上次放置任务失败)
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if ret2:
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# 如果连续计数超过阈值，则直接返回
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if error_record(ret2):
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return False
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ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if ret1:
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# 校准速度越大 停车的条件越宽泛 20 15
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if abs(error) <= stop_error:
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car_stop()
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logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
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# ret, box = filter.get(target_label)
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# while not ret:
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# ret, box = filter.get(target_label)
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# error = (box[0][2] + box[0][0] - 320) / 2 + offset
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logger.info(f"停车后像素误差:{error}")
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break
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return True
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# 任务类
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class task:
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def __init__(self, name, 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 = int(find_counts)
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self.name = name
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def init(self):
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if hasattr(self.task_t, 'init') and callable(getattr(self.task_t, 'init', None)):
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self.task_t.init()
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else:
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logger.warning("[Task ]# 该任务没有 init 方法")
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def find(self):
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if hasattr(self.task_t, 'find') and callable(getattr(self.task_t, 'find', None)):
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return self.task_t.find()
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else:
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logger.warning("[Task ]# 该任务没有 find 方法")
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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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if hasattr(self.task_t, 'exec') and callable(getattr(self.task_t, 'exec', None)):
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logger.info(f"[Task ]# Executing task")
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self.task_t.exec()
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else:
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logger.warning("[Task ]# 该任务没有 exec 方法")
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else:
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logger.warning(f"[Task ]# Skip task")
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if hasattr(self.task_t, 'nexec') and callable(getattr(self.task_t, 'nexec', None)):
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self.task_t.nexec()
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else:
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logger.warning("[Task ]# 该任务没有 nexec 方法")
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def after(self):
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if hasattr(self.task_t, 'after') and callable(getattr(self.task_t, 'after', None)):
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logger.info(f"[Task ]# {self.name} 正在执行 after")
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self.task_t.after()
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logger.debug(f"[Task ]# Task completed")
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else:
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logger.warning("[Task ]# 该任务没有 after 方法")
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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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# exec 线程
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self.exec_thread = None
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def exec(self, skip_queue):
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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"[{self.task_now.name}]# Start searching task target")
|
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while True:
|
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if not skip_queue.empty():
|
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_ = skip_queue.get()
|
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logger.error(f"{self.task_now.name} 任务在 find 中已经被手动跳过")
|
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self.status = task_queuem_status.IDEL # 空动作不需要阻塞巡线，直接置位
|
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self.task_now.after() # 执行任务后处理
|
||
self.queue.task_done() # 弹出已执行的任务
|
||
return True
|
||
ret = self.task_now.find()
|
||
self.task_now.counts += ret
|
||
if self.task_now.counts >= self.task_now.find_counts:
|
||
self.status = task_queuem_status.EXECUTING
|
||
break
|
||
# 执行任务函数
|
||
elif self.status is task_queuem_status.EXECUTING:
|
||
if self.task_now.enable is True:
|
||
logger.info(f"[TaskM]# Start execute task function")
|
||
# self.exec_thread = threading.Thread(target=self.task_now.exec)
|
||
# # 启动线程
|
||
# self.exec_thread.start()
|
||
# while True:
|
||
# if not self.exec_thread.is_alive():
|
||
# break
|
||
# else:
|
||
# if not skip_queue.empty():
|
||
# car_stop()
|
||
# thread_id = self.exec_thread.ident
|
||
# res = ctypes.pythonapi.PyThreadState_SetAsyncExc(thread_id, ctypes.py_object(SystemExit))
|
||
# _ = skip_queue.get()
|
||
# logger.error(f"{self.task_now.name} 任务在 exec 中已经被手动跳过")
|
||
# self.status = task_queuem_status.IDEL # 空动作不需要阻塞巡线，直接置位
|
||
# self.task_now.after() # 执行任务后处理
|
||
# self.queue.task_done() # 弹出已执行的任务
|
||
# return True
|
||
self.task_now.exec() # 执行当前任务函数
|
||
self.status = task_queuem_status.IDEL # 执行完成后为退出巡线阻塞
|
||
self.task_now.after() # 执行任务后处理
|
||
self.queue.task_done() # 弹出已执行的任务
|
||
logger.info(f"[TaskM]# <<<<----------------------")
|
||
else:
|
||
logger.info(f"[TaskM]# Start execute task function (nexec)")
|
||
self.status = task_queuem_status.IDEL # 空动作不需要阻塞巡线，直接置位
|
||
self.task_now.exec() # 执行当前任务函数
|
||
self.task_now.after() # 执行任务后处理
|
||
self.queue.task_done() # 弹出已执行的任务
|
||
logger.info(f"[TaskM]# <<<<----------------------")
|
||
return True
|
||
|
||
# 人员施救
|
||
class get_block1():
|
||
def init(self):
|
||
var.task_speed = 15
|
||
by_cmd.send_angle_camera(0)
|
||
filter.switch_camera(1)
|
||
# if cfg['get_block']['first_block'] == "blue":
|
||
# self.target_label = tlabel.BBLOCK
|
||
# self.another_label = tlabel.RBLOCK
|
||
# else:
|
||
# self.target_label = tlabel.RBLOCK
|
||
# self.another_label = tlabel.BBLOCK
|
||
# cfg['get_block']['first_block'] = "red"
|
||
self.target_label = [tlabel.RBLOCK, tlabel.BBLOCK]
|
||
self.target_counts = [0, 0]
|
||
def find(self):
|
||
# 目标检测红/蓝方块
|
||
# ret = filter.find(self.target_label)
|
||
# if ret > 0:
|
||
# return True
|
||
# return False
|
||
ret = filter.find_mult(self.target_label)
|
||
self.target_counts[0] += ret[0]
|
||
self.target_counts[1] += ret[1]
|
||
if any(ret):
|
||
return True
|
||
return False
|
||
|
||
|
||
def exec(self):
|
||
car_stop()
|
||
if self.target_counts[0] > self.target_counts[1]:
|
||
var.first_block = tlabel.RBLOCK
|
||
var.second_block = tlabel.BBLOCK
|
||
else:
|
||
var.first_block = tlabel.BBLOCK
|
||
var.second_block = tlabel.RBLOCK
|
||
calibrate_new(var.first_block, offset = 16, run = True, run_speed = 5)
|
||
logger.info("抓取块")
|
||
|
||
by_cmd.send_position_axis_z(30, 80)
|
||
time.sleep(1.5)
|
||
by_cmd.send_angle_claw(63)
|
||
by_cmd.send_position_axis_x(1, 20)
|
||
time.sleep(1)
|
||
by_cmd.send_angle_claw(25)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_z(30, 110)
|
||
time.sleep(0.5)
|
||
|
||
by_cmd.send_angle_claw_arm(175)
|
||
time.sleep(0.1)
|
||
by_cmd.send_position_axis_x(1, 100)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_z(30, 100)
|
||
time.sleep(0.5)
|
||
by_cmd.send_angle_claw(63)
|
||
time.sleep(0.5)
|
||
|
||
by_cmd.send_position_axis_z(30, 150)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_x(1, 140)
|
||
by_cmd.send_angle_claw_arm(225)
|
||
time.sleep(0.5)
|
||
# by_cmd.send_angle_storage(55)
|
||
# time.sleep(1)
|
||
by_cmd.send_position_axis_z(30, 60)
|
||
|
||
pass
|
||
def nexec(self):
|
||
# TODO 完成不执行任务的空动作
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["get_block"]["pid_kp"], cfg["get_block"]["pid_ki"], cfg["get_block"]["pid_kd"])
|
||
pass
|
||
|
||
class get_block2():
|
||
def init(self):
|
||
while (by_cmd.send_angle_camera(0) == -1):
|
||
by_cmd.send_angle_camera(0)
|
||
filter.switch_camera(1)
|
||
# if cfg['get_block']['first_block'] == "red":
|
||
# self.target_label = tlabel.BBLOCK
|
||
# self.another_label = tlabel.RBLOCK
|
||
# else:
|
||
# self.target_label = tlabel.RBLOCK
|
||
# self.another_label = tlabel.BBLOCK
|
||
def find(self):
|
||
# 目标检测红/蓝方块
|
||
ret = filter.find(var.second_block)
|
||
if ret > 0:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
car_stop()
|
||
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(225)
|
||
by_cmd.send_angle_claw(63)
|
||
time.sleep(0.1)
|
||
by_cmd.send_position_axis_x(1, 20)
|
||
time.sleep(1)
|
||
by_cmd.send_angle_claw(25)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 100)
|
||
|
||
# by_cmd.send_distance_x(15, 100)
|
||
time.sleep(2)
|
||
|
||
pass
|
||
def nexec(self):
|
||
# TODO 完成不执行任务的空动作
|
||
pass
|
||
def after(self):
|
||
var.task_speed = 0
|
||
var.pid_turning.set(cfg["get_block"]["pid_kp"], cfg["get_block"]["pid_ki"], cfg["get_block"]["pid_kd"])
|
||
# 任务检查间隔
|
||
time.sleep(7)
|
||
|
||
|
||
# 紧急转移
|
||
class put_block():
|
||
def init(self):
|
||
var.task_speed = 0
|
||
while (by_cmd.send_angle_camera(0) == -1):
|
||
by_cmd.send_angle_camera(0)
|
||
logger.info("紧急转移初始化")
|
||
filter.switch_camera(1)
|
||
def find(self):
|
||
# 目标检测医院
|
||
ret, box = filter.get(tlabel.HOSPITAL)
|
||
if ret > 0:
|
||
width = box[0][2] - box[0][0]
|
||
if width > 125: #135
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到医院")
|
||
car_stop()
|
||
calibrate_new(tlabel.HOSPITAL, offset = 7, run = False)
|
||
|
||
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, 30) # 20
|
||
time.sleep(1)
|
||
by_cmd.send_angle_claw(63)
|
||
time.sleep(1)
|
||
|
||
# 放置第二個塊
|
||
by_cmd.send_angle_storage(20)
|
||
by_cmd.send_position_axis_x(1, 110)
|
||
by_cmd.send_position_axis_z(30, 140)
|
||
time.sleep(1.5)
|
||
by_cmd.send_angle_claw_arm(180)
|
||
by_cmd.send_angle_claw(85)
|
||
# by_cmd.send_angle_storage(0)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_z(30,100)
|
||
time.sleep(1)
|
||
by_cmd.send_angle_claw(25)
|
||
by_cmd.send_distance_x(-10, 110)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_z(30, 130)
|
||
time.sleep(1)
|
||
by_cmd.send_angle_claw_arm(225)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_z(30, 0)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 30)
|
||
time.sleep(1.5)
|
||
by_cmd.send_angle_claw(45)
|
||
time.sleep(1)
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["put_block"]["pid_kp"], cfg["put_block"]["pid_ki"], cfg["put_block"]["pid_kd"])
|
||
# 下一动作预备位置
|
||
while by_cmd.send_position_axis_z(30, 150) == -1:
|
||
pass
|
||
time.sleep(1)
|
||
while by_cmd.send_position_axis_x(1, 0) == -1:
|
||
pass
|
||
while by_cmd.send_angle_claw_arm(45) == -1:
|
||
pass
|
||
# 任务检查间隔
|
||
# time.sleep(2)
|
||
|
||
|
||
# 整装上阵
|
||
class get_bball():
|
||
def init(self):
|
||
while (by_cmd.send_angle_camera(90) == -1):
|
||
by_cmd.send_angle_camera(90)
|
||
# by_cmd.send_position_axis_z(30, 135)
|
||
# time.sleep(0.5)
|
||
# by_cmd.send_position_axis_x(1, 0)
|
||
# time.sleep(2)
|
||
# by_cmd.send_angle_claw_arm(45)
|
||
|
||
while (by_cmd.send_angle_storage(0) == -1):
|
||
by_cmd.send_angle_storage(0)
|
||
|
||
# 调试 临时换源
|
||
filter.switch_camera(1)
|
||
logger.info("整装上阵初始化")
|
||
# time.sleep(0.5)
|
||
|
||
self.record = CountRecord(5)
|
||
def find(self):
|
||
# 目标检测蓝球
|
||
# 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[0] or ret[1]:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到蓝色球")
|
||
car_stop()
|
||
time.sleep(0.5)
|
||
for _ in range(3):
|
||
by_cmd.send_position_axis_z(30, 155)
|
||
calibrate_right_new(tlabel.BBALL, offset = 10, run = True, run_speed = 5)
|
||
logger.info("抓蓝色球")
|
||
time.sleep(0.5)
|
||
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)
|
||
by_cmd.send_angle_claw(25)
|
||
time.sleep(1)
|
||
by_cmd.send_distance_axis_z(30, 20)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_x(1, 60)
|
||
time.sleep(0.5)
|
||
by_cmd.send_distance_axis_z(30, -40)
|
||
time.sleep(0.5)
|
||
by_cmd.send_angle_claw_arm(90)
|
||
time.sleep(0.5)
|
||
by_cmd.send_angle_claw(54)
|
||
time.sleep(0.5)
|
||
by_cmd.send_angle_claw_arm(45)
|
||
time.sleep(1)
|
||
# by_cmd.send_position_axis_z(30, 155)
|
||
# 继续向前走
|
||
# by_cmd.send_speed_x(4)
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["get_bball"]["pid_kp"], cfg["get_bball"]["pid_ki"], cfg["get_bball"]["pid_kd"])
|
||
# 下一动作预备位置
|
||
by_cmd.send_angle_claw(30)
|
||
# time.sleep(0.5)
|
||
while by_cmd.send_position_axis_z(30, 0) == -1:
|
||
pass
|
||
time.sleep(0.5)
|
||
# # 任务检查间隔
|
||
# time.sleep(1)
|
||
|
||
|
||
# 通信抢修
|
||
class up_tower():
|
||
def init(self):
|
||
logger.info("通信抢修初始化")
|
||
while (by_cmd.send_angle_camera(90) == -1):
|
||
by_cmd.send_angle_camera(90)
|
||
filter.switch_camera(1)
|
||
def find(self):
|
||
# 目标检测通信塔
|
||
ret = filter.find(tlabel.TOWER)
|
||
if ret:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到塔")
|
||
car_stop()
|
||
time.sleep(1)
|
||
calibrate_new(tlabel.TOWER, offset = 20, run = True)
|
||
time.sleep(1)
|
||
# calibrate(tlabel.TOWER, 27, False, 6)
|
||
by_cmd.send_distance_x(-10, 100)
|
||
time.sleep(1)
|
||
# 上古參數
|
||
by_cmd.send_distance_y(-10, 50) # 80
|
||
time.sleep(0.5)
|
||
# 6_9 模型參數
|
||
# by_cmd.send_distance_y(-10, 40)
|
||
# 7_12_3 模型參數
|
||
# by_cmd.send_distance_y(-10, 50)
|
||
# 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)
|
||
# by_cmd.send_speed_y(-10)
|
||
# time.sleep(0.15)
|
||
# 8822
|
||
# by_cmd.send_distance_y(-10, 50)
|
||
# 891
|
||
# by_cmd.send_distance_y(-10, 35)
|
||
# time.sleep(0.3)
|
||
|
||
by_cmd.send_angle_zhuan(10)
|
||
time.sleep(12)
|
||
by_cmd.send_speed_y(10)
|
||
time.sleep(0.3)
|
||
car_stop()
|
||
by_cmd.send_angle_zhuan(0)
|
||
# while True:
|
||
# pass
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["up_tower"]["pid_kp"], cfg["up_tower"]["pid_ki"], cfg["up_tower"]["pid_kd"])
|
||
# 下一动作预备位置
|
||
by_cmd.send_position_axis_z(30, 0)
|
||
# 任务检查间隔
|
||
time.sleep(4)
|
||
|
||
|
||
# 高空排险
|
||
class get_rball():
|
||
def init(self):
|
||
filter.switch_camera(1)
|
||
logger.info("高空排险初始化")
|
||
while (by_cmd.send_angle_camera(180) == -1):
|
||
by_cmd.send_angle_camera(180)
|
||
self.record = CountRecord(3)
|
||
def find(self):
|
||
# 目标检测红球
|
||
ret = filter.find(tlabel.RBALL)
|
||
if ret > 0:
|
||
# TODO 连续两帧才开始减速
|
||
if self.record(tlabel.RBALL):
|
||
var.task_speed = 5
|
||
return True
|
||
else:
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到红球")
|
||
var.task_speed = 0
|
||
car_stop()
|
||
time.sleep(0.5)
|
||
# 靠近塔
|
||
by_cmd.send_angle_scoop(20)
|
||
# 上古參數
|
||
# by_cmd.send_distance_y(-15, 50) # 50 # 70
|
||
by_cmd.send_distance_y(-15, 40) # 50 # 70
|
||
time.sleep(0.5)
|
||
# 6_9 參數
|
||
# by_cmd.send_distance_y(-15, 35)
|
||
# time.sleep(2)
|
||
# 7_12_3 參數
|
||
# by_cmd.send_distance_y(-15, 45)
|
||
# time.sleep(2)
|
||
# car_stop()
|
||
# 8822 参数
|
||
# by_cmd.send_distance_y(-15, 40)
|
||
# time.sleep(1.5)
|
||
# 891 参数
|
||
# by_cmd.send_distance_y(-15, 40)
|
||
# time.sleep(0.3)
|
||
calibrate_new(tlabel.RBALL,offset = 44, run = True)
|
||
time.sleep(1)
|
||
logger.info("抓红球")
|
||
# by_cmd.send_angle_scoop(12)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_z(30, 200)
|
||
time.sleep(3)
|
||
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)
|
||
time.sleep(0.2)
|
||
car_stop()
|
||
# by_cmd.send_angle_omega(-55,30)
|
||
# while True:
|
||
# pass
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["get_rball"]["pid_kp"], cfg["get_rball"]["pid_ki"], cfg["get_rball"]["pid_kd"])
|
||
# 任务检查间隔
|
||
time.sleep(2)
|
||
|
||
|
||
# 派发物资
|
||
class put_bball():
|
||
def init(self):
|
||
logger.info("派发物资初始化")
|
||
filter.switch_camera(1)
|
||
while by_cmd.send_position_axis_z(30, 0) == -1:
|
||
pass
|
||
while by_cmd.send_angle_camera(90) == -1:
|
||
pass
|
||
def find(self):
|
||
ret = filter.find(tlabel.BASKET)
|
||
if ret > 0:
|
||
return True
|
||
else:
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到篮筐")
|
||
car_stop()
|
||
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_angle_storage(10)
|
||
# time.sleep(1)
|
||
|
||
by_cmd.send_angle_storage(50)
|
||
logger.info("把球放篮筐里")
|
||
|
||
time.sleep(2)
|
||
# by_cmd.send_distance_y(10, 55)
|
||
by_cmd.send_angle_storage(20)
|
||
# time.sleep(1)
|
||
# car_stop()
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["put_bball"]["pid_kp"], cfg["put_bball"]["pid_ki"], cfg["put_bball"]["pid_kd"])
|
||
# 任务检查间隔
|
||
time.sleep(2)
|
||
|
||
|
||
# 物资盘点
|
||
class put_hanoi1():
|
||
def init(self):
|
||
logger.info("物资盘点 1 初始化")
|
||
filter.switch_camera(2)
|
||
def find(self):
|
||
ret, label, error = filter.get_mult_box([tlabel.LMARK, tlabel.RMARK])
|
||
if label == tlabel.RMARK:
|
||
if abs(error) < 55:
|
||
logger.info("向右拐")
|
||
utils.direction_right += 1
|
||
return True
|
||
return False
|
||
elif label == tlabel.LMARK:
|
||
if abs(error) < 50:
|
||
logger.info("向左拐")
|
||
utils.direction_left += 1
|
||
return True
|
||
return False
|
||
else:
|
||
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)
|
||
|
||
by_cmd.send_position_axis_z(30, 150)
|
||
|
||
# 校准牌子
|
||
if utils.direction_right > utils.direction_left:
|
||
ret, error = filter.aim_near(tlabel.RMARK)
|
||
while not ret:
|
||
ret, error = filter.aim_near(tlabel.RMARK)
|
||
utils.direction = tlabel.RMARK
|
||
logger.info("应该向右转")
|
||
else:
|
||
ret, error = filter.aim_near(tlabel.LMARK)
|
||
while not ret:
|
||
ret, error = filter.aim_near(tlabel.LMARK)
|
||
utils.direction = tlabel.LMARK
|
||
logger.info("应该向左转")
|
||
|
||
|
||
# 校准 omega
|
||
for _ in range(10):
|
||
ret, box = filter.get(utils.direction)
|
||
if ret:
|
||
error = (box[0][2] + box[0][0] - 320) / 2
|
||
by_cmd.send_speed_omega(-error * 0.8)
|
||
time.sleep(0.2)
|
||
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(45)
|
||
by_cmd.send_angle_storage(0)
|
||
else:
|
||
by_cmd.send_position_axis_x(1, 150)
|
||
by_cmd.send_angle_claw_arm(225)
|
||
by_cmd.send_angle_storage(55)
|
||
time.sleep(1)
|
||
|
||
by_cmd.send_position_axis_z(30, 10)
|
||
|
||
if utils.direction_right > utils.direction_left:
|
||
utils.direction = tlabel.RMARK
|
||
# by_cmd.send_angle_omega(-25,430)
|
||
# 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(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)
|
||
time.sleep(0.5)
|
||
filter.switch_camera(1)
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
# var.switch_lane_model = True
|
||
if utils.direction == tlabel.RMARK:
|
||
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
|
||
# 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":
|
||
self.target_label = tlabel.MPILLER
|
||
elif cfg['put_hanoi2']['first_target'] == "sp":
|
||
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 = 14
|
||
# self.platform_offset = -25
|
||
# self.platform_offset = -19
|
||
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:
|
||
error = (box[0][2] + box[0][0] - 320) / 2 + self.platform_offset
|
||
if error > 0:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info(f"direction:{utils.direction.name}")
|
||
var.task_speed = 0
|
||
car_stop()
|
||
|
||
# if utils.direction is tlabel.RMARK:
|
||
# by_cmd.send_distance_y(10, 50)
|
||
# time.sleep(1)
|
||
|
||
# time.sleep(0.5)
|
||
# by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30)
|
||
# time.sleep(1)
|
||
ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
|
||
if not ret:
|
||
logger.error("跳过物资盘点 2 exec")
|
||
return
|
||
time.sleep(0.5)
|
||
logger.info("抓大平台")
|
||
if utils.direction is tlabel.RMARK:
|
||
by_cmd.send_position_axis_z(30, 40)
|
||
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, 30)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 10)
|
||
time.sleep(1)
|
||
pass
|
||
else:
|
||
by_cmd.send_position_axis_z(30, 40)
|
||
by_cmd.send_position_axis_x(1, 40)
|
||
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, 30)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 160)
|
||
time.sleep(1)
|
||
pass
|
||
ret = explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
|
||
if not ret:
|
||
logger.error("跳过物资盘点 2 exec")
|
||
return
|
||
time.sleep(0.5)
|
||
logger.info("放大平台")
|
||
if utils.direction is tlabel.RMARK:
|
||
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_position_axis_x(1, 10)
|
||
time.sleep(0.5)
|
||
by_cmd.send_angle_claw(63)
|
||
time.sleep(1)
|
||
pass
|
||
else:
|
||
by_cmd.send_position_axis_x(1, 40)
|
||
time.sleep(1.5)
|
||
by_cmd.send_distance_axis_z(30, -20)
|
||
time.sleep(1)
|
||
by_cmd.send_angle_claw(81)
|
||
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)
|
||
if not ret:
|
||
logger.error("跳过物资盘点 2 exec")
|
||
return
|
||
time.sleep(0.5)
|
||
logger.info("抓中平台")
|
||
if utils.direction is tlabel.RMARK:
|
||
by_cmd.send_position_axis_z(30, 40)
|
||
by_cmd.send_position_axis_x(1, 150)
|
||
by_cmd.send_angle_claw(55)
|
||
time.sleep(2)
|
||
by_cmd.send_angle_claw(35)
|
||
time.sleep(0.5)
|
||
by_cmd.send_distance_axis_z(30, 20)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 10)
|
||
time.sleep(1)
|
||
pass
|
||
else:
|
||
by_cmd.send_position_axis_z(30, 40)
|
||
by_cmd.send_position_axis_x(1, 40)
|
||
by_cmd.send_angle_claw(55)
|
||
time.sleep(2)
|
||
by_cmd.send_angle_claw(35)
|
||
time.sleep(0.5)
|
||
by_cmd.send_distance_axis_z(30, 20)
|
||
time.sleep(0.5)
|
||
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 = hanoi_calibrate(tlabel.LPILLER, [tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
|
||
if not ret:
|
||
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, 150)
|
||
time.sleep(2)
|
||
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(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, 150)
|
||
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(55)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 160)
|
||
time.sleep(1)
|
||
|
||
ret = explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
|
||
if not ret:
|
||
logger.error("跳过物资盘点 2 exec")
|
||
return
|
||
time.sleep(0.5)
|
||
logger.info("抓小平台")
|
||
if utils.direction is tlabel.RMARK:
|
||
by_cmd.send_position_axis_z(30, 40)
|
||
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, 0)
|
||
time.sleep(2)
|
||
pass
|
||
else:
|
||
by_cmd.send_position_axis_z(30, 40)
|
||
by_cmd.send_position_axis_x(1, 40)
|
||
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, 170)
|
||
time.sleep(2)
|
||
pass
|
||
# ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
|
||
ret = hanoi_calibrate(tlabel.MPILLER, [tlabel.LPILLER, tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
|
||
if not ret:
|
||
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, 210) # 170 #190(new)
|
||
time.sleep(1.5)
|
||
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(80)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 10)
|
||
time.sleep(1)
|
||
|
||
# by_cmd.send_speed_y(10)
|
||
# time.sleep(0.12)
|
||
# car_stop()
|
||
pass
|
||
else:
|
||
by_cmd.send_position_axis_z(30, 210)
|
||
time.sleep(1.5)
|
||
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(80)
|
||
time.sleep(0.5)
|
||
by_cmd.send_position_axis_x(1, 160)
|
||
time.sleep(1.5)
|
||
# while True:
|
||
# pass
|
||
by_cmd.send_speed_x(12)
|
||
time.sleep(1.2)
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
# 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)
|
||
var.task_speed = 13
|
||
pass
|
||
|
||
class put_hanoi3():
|
||
def init(self):
|
||
while by_cmd.send_position_axis_z(30, 150) == -1:
|
||
pass
|
||
time.sleep(3)
|
||
logger.info("完成任务，爪回左侧")
|
||
while by_cmd.send_angle_claw_arm(128) == -1:
|
||
pass
|
||
time.sleep(0.5)
|
||
while by_cmd.send_position_axis_x(1, 0) == -1:
|
||
pass
|
||
time.sleep(1)
|
||
# while by_cmd.send_angle_claw_arm(225) == -1:
|
||
# pass
|
||
while by_cmd.send_angle_claw(85) == -1:
|
||
pass
|
||
def find(self):
|
||
time.sleep(1)
|
||
return True
|
||
def exec(self):
|
||
while by_cmd.send_position_axis_z(30, 120) == -1:
|
||
pass
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
by_cmd.send_angle_storage(20)
|
||
by_cmd.send_position_axis_x(1, 150)
|
||
var.pid_turning.set(cfg["put_hanoi3"]["pid_kp"] - 0.2, cfg["put_hanoi3"]["pid_ki"], cfg["put_hanoi3"]["pid_kd"])
|
||
# FIXME 此处 -0.2 在 `2e6ce3e1f7d326d6ce8110855e2339ebc03ab2da` 前没有
|
||
|
||
# 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(0) == -1):
|
||
by_cmd.send_angle_camera(0)
|
||
filter.switch_camera(1)
|
||
def find(self):
|
||
ret = filter.find(tlabel.SIGN)
|
||
if ret:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到标示牌")
|
||
# 停车 ocr 识别文字 调用大模型
|
||
car_stop()
|
||
time.sleep(1)
|
||
# calibrate_new(tlabel.SIGN, offset = 8, run = True)
|
||
calibrate_new(tlabel.SIGN, offset = -1, run = True, run_speed = 5)
|
||
time.sleep(1)
|
||
|
||
by_cmd.send_position_axis_x(1, 50)
|
||
time.sleep(1)
|
||
|
||
# filter_w = (148, 560)
|
||
# filter_h = (165, 390)
|
||
if cfg_move_area == None:
|
||
counts = 0
|
||
while True:
|
||
ocr_socket.send_string("")
|
||
resp = ocr_socket.recv_pyobj()
|
||
var.llm_text = ''
|
||
counts += 1
|
||
if resp.get('code') == 0:
|
||
for item in resp.get('content'):
|
||
|
||
if item['probability']['average'] < 0.80:
|
||
continue
|
||
# box = item['location']
|
||
# center_x = box['left'] + box['width'] / 2
|
||
# center_y = box['top'] + box['height'] / 2
|
||
# if center_x < filter_w[0] or center_x > filter_w[1] \
|
||
# or center_y < filter_h[0] or center_y > filter_h[1]:
|
||
# continue
|
||
var.llm_text += item['words']
|
||
break
|
||
if counts >= 2:
|
||
var.skip_llm_task_flag = True
|
||
return
|
||
logger.error(f"OCR 检出字符：\"{var.llm_text}\"")
|
||
|
||
|
||
|
||
if len(var.llm_text) < 5:
|
||
var.skip_llm_task_flag = True
|
||
return
|
||
else:
|
||
# 当有效字符大于 5 个文字时 才请求大模型
|
||
llm_bot.request(var.llm_text)
|
||
else:
|
||
# 不需要文字识别 直接使用传入的参数执行 action
|
||
pass
|
||
|
||
var.task_speed = 9 # 12
|
||
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
# 任务检查间隔
|
||
by_cmd.send_position_axis_x(1, 150)
|
||
# time.sleep(1)
|
||
# by_cmd.send_angle_claw_arm(225)
|
||
|
||
pass
|
||
|
||
# 应急避险 第二阶段 找停车区域
|
||
class move_area2():
|
||
def __init__(self):
|
||
self.action_dict = {
|
||
'beep_seconds': self.beep_seconds,
|
||
'beep_counts': self.beep_counts,
|
||
'light_seconds': self.light_seconds,
|
||
'light_counts': self.light_counts,
|
||
'beep_light_counts': self.beep_light_counts,
|
||
'beep_light_seconds': self.beep_light_seconds,
|
||
'go_front': self.go_front,
|
||
'go_back': self.go_back,
|
||
'go_left': self.go_left,
|
||
'go_right': self.go_right,
|
||
'go_left_rotate': self.go_left_rotate,
|
||
'go_right_rotate': self.go_right_rotate,
|
||
'go_sleep': self.go_sleep
|
||
}
|
||
self.front_time = 0
|
||
self.back_time = 0
|
||
self.left_time = 0
|
||
self.right_time = 0
|
||
self.sum_rotate_angle = 0
|
||
self.abs_x = 0 # 为了和程序指令适配，其中 x y 方向互换
|
||
self.abs_y = 0
|
||
self.abs_w = 0
|
||
pass
|
||
def init(self):
|
||
logger.info("应急避险第二阶段初始化")
|
||
self.offset = 60
|
||
self.delta_x = 0
|
||
self.delta_y = 0
|
||
self.delta_omage = 0
|
||
def find(self):
|
||
if var.skip_llm_task_flag and cfg_move_area == None:
|
||
return 5000
|
||
ret, box = filter.get(tlabel.SHELTER)
|
||
if ret:
|
||
error = (box[0][2] + box[0][0] - 320) / 2 + self.offset
|
||
# 增加了一个宽度过滤
|
||
if abs(error) < 30 and abs(box[0][2] - box[0][0]) > 180:
|
||
return 5000
|
||
return False
|
||
def add_item(self, item):
|
||
# FIXME 没有对传入参数的范围进行校验，如果出现单位错误，可能会导致无法回位的问题
|
||
try:
|
||
return self.action_dict[item.get('action')](item.get('time'))
|
||
except:
|
||
pass
|
||
return False
|
||
def beep_seconds(self, _time):
|
||
by_cmd.send_beep(1)
|
||
time.sleep(_time * 0.7)
|
||
by_cmd.send_beep(0)
|
||
return True
|
||
def beep_counts(self, _time):
|
||
for _ in range(_time):
|
||
by_cmd.send_beep(1)
|
||
time.sleep(0.3)
|
||
by_cmd.send_beep(0)
|
||
time.sleep(0.2)
|
||
return True
|
||
def light_seconds(self, _time):
|
||
by_cmd.send_light(1)
|
||
time.sleep(_time * 0.7)
|
||
by_cmd.send_light(0)
|
||
return True
|
||
def light_counts(self, _time):
|
||
for _ in range(_time):
|
||
by_cmd.send_light(1)
|
||
time.sleep(0.3)
|
||
by_cmd.send_light(0)
|
||
time.sleep(0.2)
|
||
return True
|
||
def beep_light_counts(self, _time):
|
||
for _ in range(_time):
|
||
by_cmd.send_beep(1)
|
||
by_cmd.send_light(1)
|
||
time.sleep(0.3)
|
||
by_cmd.send_beep(0)
|
||
by_cmd.send_light(0)
|
||
time.sleep(0.2)
|
||
return True
|
||
def beep_light_seconds(self, _time):
|
||
by_cmd.send_beep(1)
|
||
by_cmd.send_light(1)
|
||
time.sleep(_time * 0.3)
|
||
by_cmd.send_beep(0)
|
||
by_cmd.send_light(0)
|
||
return True
|
||
def go_front(self, _time):
|
||
self.abs_y -= math.sin(self.abs_w) * _time
|
||
self.abs_x += math.cos(self.abs_w) * _time
|
||
logger.info(f"向前移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
|
||
speed_time = int(abs(_time) * 750)
|
||
by_cmd.send_distance_x(10, speed_time)
|
||
time.sleep(speed_time / 100)
|
||
self.front_time += speed_time
|
||
return True
|
||
def go_back(self, _time):
|
||
self.abs_y += math.sin(self.abs_w) * _time
|
||
self.abs_x -= math.cos(self.abs_w) * _time
|
||
logger.info(f"向后移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
|
||
speed_time = int(abs(_time) * 750)
|
||
by_cmd.send_distance_x(-10, speed_time)
|
||
time.sleep(speed_time / 100)
|
||
self.back_time += speed_time
|
||
return True
|
||
def go_left(self, _time):
|
||
self.abs_y -= math.cos(self.abs_w) * _time
|
||
self.abs_x -= math.sin(self.abs_w) * _time
|
||
logger.info(f"向左移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
|
||
speed_time = int(abs(_time) * 750)
|
||
by_cmd.send_distance_y(-10, speed_time)
|
||
time.sleep(speed_time / 100)
|
||
self.left_time += speed_time
|
||
return True
|
||
def go_right(self, _time):
|
||
self.abs_y += math.cos(self.abs_w) * _time
|
||
self.abs_x += math.sin(self.abs_w) * _time
|
||
logger.info(f"向右移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
|
||
speed_time = int(abs(_time) * 750)
|
||
by_cmd.send_distance_y(10, speed_time)
|
||
time.sleep(speed_time / 100)
|
||
self.right_time += speed_time
|
||
return True
|
||
def go_shift(self, _dis_x, _dis_y):
|
||
direct_x = 1.0 if (_dis_x > 0) else -1.0
|
||
direct_y = 1.0 if (_dis_y > 0) else -1.0
|
||
self.abs_y -= math.sin(self.abs_w) * _dis_x
|
||
self.abs_x += math.cos(self.abs_w) * _dis_x
|
||
self.abs_y += math.cos(self.abs_w) * _dis_y
|
||
self.abs_x += math.sin(self.abs_w) * _dis_y
|
||
logger.info(f"水平移动：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
|
||
speed_time_x = int(abs(_dis_x) * 750)
|
||
speed_time_y = int(abs(_dis_y) * 750)
|
||
by_cmd.send_distance_x(10 * direct_x, speed_time_x)
|
||
by_cmd.send_distance_y(10 * direct_y, speed_time_y)
|
||
time.sleep(max(speed_time_x, speed_time_y) / 150) #FIXME 除以 100 是否正确
|
||
return True
|
||
def go_left_rotate(self, _time):
|
||
self.abs_w += math.radians(_time) # 弧度制
|
||
logger.info(f"向左旋转：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
|
||
self.sum_rotate_angle -= _time
|
||
speed_time = int(abs(_time) * 3.8)
|
||
by_cmd.send_angle_omega(50, speed_time)
|
||
time.sleep(speed_time / 200 + 0.5)
|
||
return True
|
||
def go_right_rotate(self, _time):
|
||
self.abs_w -= math.radians(_time) # 弧度制
|
||
logger.info(f"向右旋转：[目标位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)} ]")
|
||
self.sum_rotate_angle += _time
|
||
speed_time = int(abs(_time) * 3.8)
|
||
by_cmd.send_angle_omega(-50, speed_time)
|
||
time.sleep(speed_time / 200 + 0.5)
|
||
return True
|
||
def go_sleep(self, _time):
|
||
time.sleep(_time*0.7)
|
||
return True
|
||
def reset(self):
|
||
logger.info(f"开始复位：[当前位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)}]")
|
||
# 归一化角度到 0-2pi
|
||
left_dregee = math.degrees(self.abs_w % (2 * math.pi))
|
||
# 确定旋转方向 (寻找回正角度最小旋转方向)
|
||
if math.sin(self.abs_w) < 0:
|
||
logger.info(f"需要左旋 {360.0 - left_dregee} 回正")
|
||
self.go_left_rotate(360.0 - left_dregee)
|
||
else:
|
||
logger.info(f"需要右旋 {left_dregee} 回正")
|
||
self.go_right_rotate(left_dregee)
|
||
time.sleep(0.1)
|
||
|
||
# 在框中原点添加向左 0.6m 的偏移值，以便直接回到赛道
|
||
self.go_shift(self.abs_x * -1.0, self.abs_y * -1.0 - 0.6)
|
||
|
||
logger.info(f"回正后最终位置： ({self.abs_y:.2f}, {self.abs_x:.2f}), 角度： {math.degrees(self.abs_w % (2 * math.pi))}")
|
||
def exec(self):
|
||
var.task_speed = 0
|
||
if var.skip_llm_task_flag and cfg_move_area == None:
|
||
logger.error("ocr 识别出错 直接跳过该任务")
|
||
return
|
||
logger.info("开始寻找停车区域")
|
||
car_stop()
|
||
calibrate_new(tlabel.SHELTER, offset = 30, run = True)
|
||
time.sleep(0.5)
|
||
if cfg_move_area == None:
|
||
resp = None
|
||
# 调用大模型 然后执行动作
|
||
try:
|
||
logger.info("llm 阻塞等待服务器返回中")
|
||
start_wait_time = time.perf_counter()
|
||
while True:
|
||
if llm_bot.success_status.isSet():
|
||
resp = llm_bot.response.choices[0].message.content
|
||
logger.info(f"llm 返回原数据 {resp}")
|
||
break
|
||
now_time = time.perf_counter()
|
||
if llm_bot.error_status.isSet() or (now_time - start_wait_time) > 6.5 :
|
||
logger.error("大模型 llm_bot 超时，跳过任务")
|
||
return
|
||
|
||
except:
|
||
logger.error("大模型 llm_bot 未知错误，跳过任务")
|
||
return
|
||
|
||
try:
|
||
json_text = re.findall("```json(.*?)```", resp, re.S)
|
||
if len(json_text) == 0:
|
||
# 返回的内容不带'''json
|
||
resp_commands = eval(resp)
|
||
else:
|
||
resp_commands = json5.loads(json_text[0])
|
||
|
||
|
||
logger.info(f"解析后的动作序列 {resp_commands}")
|
||
if len(resp_commands) == 0:
|
||
return
|
||
action_list = resp_commands
|
||
|
||
# 先检查一下 action 是否生成正确，如果不正确直接跳过
|
||
actions_keys = self.action_dict.keys()
|
||
try:
|
||
for action in action_list:
|
||
if not (action.get('action') in actions_keys):
|
||
return
|
||
except:
|
||
return
|
||
|
||
# 进入停车区域
|
||
by_cmd.send_distance_y(10, 450)
|
||
time.sleep((450 * 5 / 1000) + 0.5)
|
||
for action in action_list:
|
||
self.add_item(action)
|
||
time.sleep(0.1)
|
||
time.sleep(0.5)
|
||
self.reset()
|
||
except:
|
||
logger.warning("任务解析失败并退出，文心一言真是废物 (毋庸置疑)")
|
||
pass
|
||
|
||
else:
|
||
# 无需调用大模型 直接开始执行传入的参数
|
||
try:
|
||
by_cmd.send_distance_y(10, 450)
|
||
time.sleep((450 * 5 / 1000) + 0.5)
|
||
for action in cfg_move_area:
|
||
self.add_item(action)
|
||
time.sleep(0.1)
|
||
time.sleep(0.5)
|
||
self.reset()
|
||
except:
|
||
pass
|
||
pass
|
||
def nexec(self):
|
||
logger.warning("正在跳過大模型任務")
|
||
time.sleep(2)
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["move_area"]["pid_kp"], cfg["move_area"]["pid_ki"], cfg["move_area"]["pid_kd"])
|
||
# by_cmd.send_position_axis_z(30, 0)
|
||
by_cmd.send_position_axis_z(30, 120)
|
||
while by_cmd.send_angle_claw(90) == -1:
|
||
pass
|
||
time.sleep(2)
|
||
|
||
# 扫黑除暴
|
||
class kick_ass():
|
||
def init(self):
|
||
while (by_cmd.send_angle_camera(0) == -1):
|
||
by_cmd.send_angle_camera(0)
|
||
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['lane_mode']['mode_index']
|
||
|
||
# by_cmd.send_angle_claw(15)
|
||
# by_cmd.send_position_axis_x(1, 160)
|
||
|
||
def find(self):
|
||
ret = filter.find(tlabel.SIGN)
|
||
if ret:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到标示牌")
|
||
# 停的晚无需校准 omage
|
||
car_stop()
|
||
time.sleep(1)
|
||
calibrate_new(tlabel.SIGN, offset = 8, run = True)
|
||
by_cmd.send_angle_claw(15)
|
||
time.sleep(0.5)
|
||
# by_cmd.send_position_axis_z(30, 80)
|
||
# OCR 摄像头向前移动
|
||
by_cmd.send_position_axis_x(1, 50)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_x(1, 150)
|
||
|
||
# 移动到中间
|
||
time.sleep(1)
|
||
by_cmd.send_angle_claw(15)
|
||
by_cmd.send_angle_claw_arm(225)
|
||
time.sleep(1)
|
||
by_cmd.send_position_axis_z(30, 80)
|
||
time.sleep(1)
|
||
|
||
# 先移动到第一个人的地方
|
||
by_cmd.send_distance_x(10, self.pos_gap1)
|
||
time.sleep(1.5)
|
||
if self.target_person == 1:
|
||
# target_distance = self.pos_gap1
|
||
pass
|
||
else:
|
||
# target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
|
||
target_distance = (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1 - 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(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
|
||
|
||
|
||
def nexec(self):
|
||
pass
|
||
def after(self):
|
||
var.pid_turning.set(cfg["kick_ass"]["pid_kp"], cfg["kick_ass"]["pid_ki"], cfg["kick_ass"]["pid_kd"]) |