project_main/subtask_raw.py

from enum import Enum
from loguru import logger
from utils import label_filter
from utils import tlabel
# from utils import LLM
from utils import LLM_deepseek
from utils import CountRecord
import utils
import toml
import zmq
import time
import variable as var
import action as act
import re
import math
import json
import json5
# import threading
# import ctypes
cfg = None
cfg_args = None
cfg_move_area = None
by_cmd = None
filter = None
llm_bot = None

# 目标检测 socket 客户端
context = None
socket = None

context1 = None
ocr_socket = None

global_skip_queue = None

'''
description: main.py 里执行 引入全局变量
param {*} _by_cmd 控制器对象
return {*}
'''
def import_obj(_by_cmd, skip_queue):

    global by_cmd
    global filter
    global llm_bot

    global context
    global socket

    global context1
    global ocr_socket

    global cfg
    global cfg_args
    global cfg_move_area
    global global_skip_queue
    cfg = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml') # 加载任务配置
    cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.toml')
    try:
        with open('/home/evan/Workplace/project_main/cfg_move_area.json', 'r') as f:
            cfg_move_area = json.load(f)
    except:
        cfg_move_area = None
    by_cmd = _by_cmd
    global_skip_queue = skip_queue

    # 目标检测 socket 客户端
    context = zmq.Context()
    socket = context.socket(zmq.REQ)
    socket.connect("tcp://localhost:6667")
    logger.info("subtask yolo client init")

    # ocr socket 客户端
    context1 = zmq.Context()
    ocr_socket = context1.socket(zmq.REQ)
    ocr_socket.connect("tcp://localhost:6668")
    logger.info("subtask ocr client init")

    filter = label_filter(socket)
    if cfg['move_area']['llm_enable']:
        llm_bot = LLM_deepseek()
def car_stop():
    for _ in range(3):
        by_cmd.send_speed_x(0)
        time.sleep(0.2)
        by_cmd.send_speed_y(0)
        time.sleep(0.2)
        by_cmd.send_speed_omega(0)
# 蓝色球使用
def calibrate_right_new(label, offset, run = True, run_speed = 3.5):

    not_found_counts = 0
    ret, error = filter.aim_right(label)
    while not ret:
        not_found_counts += 1
        if not_found_counts >= 20:
            not_found_counts = 0
            error = -320 # error > 0 front run
            logger.info("calibrate_right_new:找不到次数超过 20 帧 直接前进寻找")
            break
        ret, error = filter.aim_right(label)

    error += offset
    if abs(error) > 10 and run:
        if error > 0:
            by_cmd.send_speed_x(-run_speed)
        else:
            by_cmd.send_speed_x(run_speed)
    # 停的位置已经很接近目标，可以直接使用 distance 校准
    else:
        return
    
    while True:
        ret, error = filter.aim_right(label)
        while not ret:
            ret, error = filter.aim_right(label)
        error += offset
        # if ret:
        if abs(error) <= 8:
            car_stop()
            logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
            ret, error = filter.aim_right(label)
            while not ret:
                not_found_counts += 1
                if not_found_counts >=30:
                    return
                ret, error = filter.aim_right(label)
            error += offset
            logger.info(f"calibrate_right_new:停车后的误差是{error}")
            if abs(error) > 8:
                logger.info(f"calibrate_right_new:停车后的误差大于 8 使用 distance 校准")
                error = error * 1.5
                if error > 0:
                    by_cmd.send_distance_x(-10, int(error))
                else:
                    by_cmd.send_distance_x(10, int(-error))
            
            break
'''
description: 校准新方法 找到后停止 然后根据 error 判断前后低速前进 error < 5 后直接停车
如果停车后 error > 8 则使用 distance 校准 
这个方法仅用于在视野里能找到的情况下进行校准，并不能实现边走边寻找 然后再校准
param {*} label
param {*} offset
param {*} run
param {*} run_speed
return {*}
'''     
def calibrate_new(label, offset, run = True, run_speed = 3.5):
    not_found_counts = 0
    ret, box = filter.get(label)
    while not ret:
        not_found_counts += 1
        if not_found_counts >= 20:
            not_found_counts = 0
            error = -320 # error > 0 front run
            logger.info("calibrate_new:找不到次数超过 20 帧 直接前进寻找")
            break
        ret, box = filter.get(label)
    
    # 如果超过二十帧跳出，则此时 box 为空值，需要再校验 ret
    if ret is True:
        error = (box[0][2] + box[0][0] - 320) / 2 + offset
    if abs(error) > 10 and run:
        if error > 0:
            by_cmd.send_speed_x(-run_speed)
        else:
            by_cmd.send_speed_x(run_speed)
    # 停的位置已经很接近目标，可以直接使用 distance 校准
    else:
        if abs(error) > 8:
            logger.info(f"calibrate_new:停车后误差{error}大于 8 使用 distance 校准")
            # error = error # 3
            if error > 0:
                by_cmd.send_distance_x(-10, int(error))
            else:
                by_cmd.send_distance_x(10, int(-error))
            return
        logger.info(f"calibrate_new:停车后误差{error}小于 8  不校准")
        return 
    while True:
        ret, box = filter.get(label)
        while not ret:
            ret, box = filter.get(label)
        
        error = (box[0][2] + box[0][0] - 320) / 2 + offset
        if ret:
            if abs(error) <= 10: # 5
                car_stop()
                logger.info("calibrate_new:行进时 误差小于 10 直接停车")

                ret, box = filter.get(label)
                while not ret:
                    ret, box = filter.get(label)

                error = (box[0][2] + box[0][0] - 320) / 2 + offset
                logger.info(f"calibrate_new:停车后的误差是{error}")
                if abs(error) > 8:
                    logger.info(f"calibrate_new:停车后的误差大于 8 使用 distance 校准")
                    error = error * 3
                    # logger.error(f"error * 3  {error}")
                    if error > 0:
                        by_cmd.send_distance_x(-10, int(error))
                    else:
                        by_cmd.send_distance_x(10, int(-error))
                break
# 弃用 distance 校准
def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
    # run_direc == 1 向前
    stop_error = 0
    if run_direc == 1:
        by_cmd.send_speed_x(run_speed)
    else:
        by_cmd.send_speed_x(-run_speed)
        
    if label == tlabel.TPLATFORM:
        stop_error = 8
    else:
        stop_error = 15
    while True:
        ret, box = filter.get(label)
        while not ret:
            if not global_skip_queue.empty():
                _ = global_skip_queue.get()
                logger.error("跳过 explore_calibrate_new")
                return False
            ret, box = filter.get(label)
        
        error = (box[0][2] + box[0][0] - 320) / 2 + offset
        if ret:
            # 校准速度越大 停车的条件越宽泛 20 15
            if abs(error) <= stop_error:
                car_stop()
                logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                
                ret, box = filter.get(label)
                while not ret:
                    ret, box = filter.get(label)
                error = (box[0][2] + box[0][0] - 320) / 2 + offset
                logger.info(f"停车后像素误差:{error}")
                
                # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
                # if abs(error) < 8:
                #     error = error * 3
                # else:
                # error = error * 2
                # if error > 0:
                #     by_cmd.send_distance_x(-10, int(error))
                # else:
                #     by_cmd.send_distance_x(10, int(-error))
                
                break
    return True

# 对准应知道是左还是右，右侧需在过滤器中进行翻转
# flipv 为垂直翻转标志，转右侧开启
def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.5):
    stop_error = 0
    error_record = CountRecord(10)
    if run_direc == 1:
        by_cmd.send_speed_x(run_speed)
    else:
        by_cmd.send_speed_x(-run_speed)
        
    if target_label == tlabel.TPLATFORM:
        stop_error = 8
    else:
        stop_error = 15
    while True:
        ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
        while not ret1:
            # 如果找不到目标且跳过任务队列非空 (即指令跳过)
            if not global_skip_queue.empty():
                _ = global_skip_queue.get()
                logger.error("跳过 hanoi_calibrate")
                return False
            # 如果找不到目标且发现错误目标 (上次放置任务失败)
            if ret2:
                # 如果连续计数超过阈值，则直接返回
                if error_record(ret2):
                    return False
            ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
        
        error = (box[0][2] + box[0][0] - 320) / 2 + offset
        if ret1:
            # 校准速度越大 停车的条件越宽泛 20 15
            if abs(error) <= stop_error:
                car_stop()
                logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                
                ret, box = filter.get(target_label)
                while not ret:
                    ret, box = filter.get(target_label)
                error = (box[0][2] + box[0][0] - 320) / 2 + offset
                logger.info(f"停车后像素误差:{error}")
                break
    return True
# 任务类
class task:  
    def __init__(self, name, task_template, find_counts=10, enable=True):  
        self.enable = enable
        self.task_t = task_template()

        self.counts = 0
        self.find_counts = int(find_counts)
        self.name = name

    def init(self):
        if hasattr(self.task_t, 'init') and callable(getattr(self.task_t, 'init', None)):
            self.task_t.init()
        else:
            logger.warning("[Task ]# 该任务没有 init 方法")
    def find(self):
        if hasattr(self.task_t, 'find') and callable(getattr(self.task_t, 'find', None)):
            return self.task_t.find()
        else:
            logger.warning("[Task ]# 该任务没有 find 方法")
    def exec(self):  
        # 根据标志位确定是否执行该任务
        if self.enable is True:
            if hasattr(self.task_t, 'exec') and callable(getattr(self.task_t, 'exec', None)):
                logger.info(f"[Task ]# Executing task")  
                self.task_t.exec()
            else:
                logger.warning("[Task ]# 该任务没有 exec 方法")
        else:
            logger.warning(f"[Task ]# Skip task")
            if hasattr(self.task_t, 'nexec') and callable(getattr(self.task_t, 'nexec', None)):
                self.task_t.nexec()
            else:
                logger.warning("[Task ]# 该任务没有 nexec 方法")
    def after(self):
        if hasattr(self.task_t, 'after') and callable(getattr(self.task_t, 'after', None)):
            logger.info(f"[Task ]# {self.name} 正在执行 after")
            self.task_t.after()
            logger.debug(f"[Task ]# Task completed")  
        else:
            logger.warning("[Task ]# 该任务没有 after 方法")

# 任务队列状态类
class task_queuem_status(Enum):
    IDEL      = 0
    SEARCHING = 1
    EXECUTING = 2

# 任务队列类 非 EXECUTEING 时均执行 huigui，注意互斥操作
class task_queuem(task):
    # task_now = task(None, False)
    def __init__(self, queue):
        super(task_queuem, self)
        self.queue = queue
        self.status = task_queuem_status.IDEL
        self.busy = True
        logger.info(f"[TaskM]# Task num {self.queue.qsize()}")
        # exec 线程
        self.exec_thread = None
    def exec(self, skip_queue):
        # 如果空闲状态则将下一个队列任务取出
        if self.status is task_queuem_status.IDEL:
            if self.queue.qsize() == 0:
                self.busy = False
                logger.info(f"[TaskM]# Task queue empty, exit")
                return False
            self.task_now = self.queue.get()

            # 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
            if self.task_now.enable is True:
                self.status = task_queuem_status.SEARCHING
                # 如果使能该任务则执行该任务的初始化动作
                self.task_now.init()
            else:
                self.status = task_queuem_status.EXECUTING
            logger.info(f"[TaskM]# ---------------------->>>>")
        # 阻塞搜索任务标志位
        elif self.status is task_queuem_status.SEARCHING:
            logger.info(f"[{self.task_now.name}]# Start searching task target")
            while True:
                if not skip_queue.empty():
                    _ = skip_queue.get()
                    logger.error(f"{self.task_now.name} 任务在 find 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
                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
        act.cmd.camera(0)
        act.cmd.z2(20, 60, 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)
        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 > 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, 50) # 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, 50)
        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):
            calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
            logger.info("抓蓝色球")
            time.sleep(0.5)
            by_cmd.send_angle_claw_arm(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(80)
            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, 120)
        time.sleep(1)
        # 上古參數
        by_cmd.send_distance_y(-10, 50) # 80
        # 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)
        
        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(1.5)
        # 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()
        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(1)
        # 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, 30)
            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, 30)
            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, 30)
            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, 30)
            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, 140)
            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, 140)
            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, 30)
            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, 30)
            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, 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, 200) # 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, 200)
            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
                # 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
        by_cmd.send_distance_x(10, 295)
        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)
        if self.target_person == 1:
            by_cmd.send_distance_x(-10, 150)
            time.sleep(1.5)
            car_stop()
        elif self.target_person == 2:
            by_cmd.send_distance_x(-10, 50)
            time.sleep(1.5)
            car_stop()
        elif self.target_person == 3:
            by_cmd.send_distance_x(10, 50)
            time.sleep(1.5)
            car_stop()
        else:
            by_cmd.send_distance_x(10, 150)
            time.sleep(1.5)
            car_stop()

        # 先移动到第一个人的地方 假动作
        # 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) * 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"])