project_main/subtask.py

from enum import Enum
from loguru import logger
from utils import label_filter
from utils import tlabel
from utils import LLM
import utils
import toml
import zmq
import time

context = zmq.Context()
socket = context.socket(zmq.REQ)
socket.connect("tcp://localhost:6667")
logger.info("subtask yolo client init")

cfg = toml.load('cfg_subtask.toml') # 加载任务配置
logger.info("load subtask config")

by_cmd = None
filter = None
llm_bot = 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):
    global by_cmd
    global filter
    global llm_bot
    by_cmd = _by_cmd
    filter = label_filter(socket)
    if cfg['move_area']['llm_enable']:
        llm_bot = LLM()
def car_stop():
    for _ in range(3):
        by_cmd.send_speed_x(0)
        time.sleep(0.2)
        by_cmd.send_speed_omega(0)
def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
    ret, error = filter.aim_right(label)
    while not ret:
        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:
        error = error * 3
        if error > 0:
            by_cmd.send_distance_x(-10, int(error))
        else:
            by_cmd.send_distance_x(10, int(-error))
        return
    while True:
        ret, error = filter.aim_right(label)
        while not ret:
            ret, error = filter.aim_right(label)
        error += offset
        if ret:
            if abs(error) <= 5:
                car_stop()
                logger.info("可以停车了")

                ret, error = filter.aim_right(label)
                while not ret:
                    ret, error = filter.aim_right(label)
                error += offset
                if abs(error) > 8:
                    error = error * 3
                    if error > 0:
                        by_cmd.send_distance_x(-10, int(error))
                    else:
                        by_cmd.send_distance_x(10, int(-error))
                
                break
'''
description: 校准新方法 找到后停止 然后根据 error 判断前后低速前进 error < 5 后直接停车
param {*} label
param {*} offset
param {*} run
param {*} run_speed
return {*}
'''     
def calibrate_new(label, offset, run = True, run_speed = 3.5):
    ret, box = filter.get(label)
    while not ret:
        ret, box = filter.get(label)
    
    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:
        error = error * 3
        if error > 0:
            by_cmd.send_distance_x(-10, int(error))
        else:
            by_cmd.send_distance_x(10, int(-error))
        return
    while True:
        ret, 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) <= 5:
                car_stop()
                logger.info("可以停车了")

                ret, box = filter.get(label)
                while not ret:
                    ret, box = filter.get(label)
                error = (box[0][2] + box[0][0] - 320) / 2 + offset
                if abs(error) > 8:
                    error = error * 3
                    if error > 0:
                        by_cmd.send_distance_x(-10, int(error))
                    else:
                        by_cmd.send_distance_x(10, int(-error))
                
                break
'''
description: 与 calibrate 一样 只不过寻找最右侧的 整装上阵时使用
param {*} label
param {*} offset
param {*} run_on
param {*} cali_speed
return {*}
'''
def calibrate_right(label, offset, run_on = True, cali_speed = 10):
    logger.info("开始校准")
    # go on
    if run_on:
        for _ in range(3):
            by_cmd.send_speed_x(7)
            by_cmd.send_speed_omega(0)
            time.sleep(0.1)
    while True:
        ret, error = filter.aim_right(label)
        while not ret:
            ret, error = filter.aim_right(label)
        error += offset
        if run_on:
            if abs(error) < 5:
                for _ in range(3):
                    by_cmd.send_speed_x(0)
                    time.sleep(0.2)
                    by_cmd.send_speed_omega(0)
                break
        else:
            break
        
    ret, error = filter.aim_right(label)
    while not ret:
        ret, error = filter.aim_right(label)
    error += offset
    time.sleep(1)
    logger.error(error)
    if abs(error) > 5:
        logger.info("校准中")
        if error > 0:
            by_cmd.send_distance_x(-cali_speed, int(error*4))
        else:
            by_cmd.send_distance_x(cali_speed, int(-error*4))
        time.sleep(1)
    # stop
    for _ in range(3):
        by_cmd.send_speed_x(0)
        time.sleep(0.2)
        by_cmd.send_speed_omega(0)
    pass
'''
description: 校准函数 传入对应的标签将车校准到最接近中心的标签的位置
param {*} label
param {*} offset 摄像头 error offset
param {*} run_on 校准前是否继续向前行进以寻找 label
param {*} cali_speed send_distance_x 校准时移动的速度
return {*}
'''
def calibrate(label, offset, run_on = True, cali_speed = 10):
    logger.info("开始校准")
    # go on
    if run_on:
        for _ in range(3):
            by_cmd.send_speed_x(7)
            by_cmd.send_speed_omega(0)
            time.sleep(0.1)
    while True:
        # 寻找距离屏幕中心最近的标签
        ret, error = filter.aim_near(label)
        while not ret:
            # 注意这里一定要保证摄像头内有该目标 否则会无限循环
            ret, error = filter.aim_near(label)
        error += offset
        if run_on:
            if abs(error) < 5:
                for _ in range(3):
                    by_cmd.send_speed_x(0)
                    time.sleep(0.2)
                    by_cmd.send_speed_omega(0)
                break
        else:
            break
    # 代码运行到这里代表摄像头内一定有物体 label，此时再获取一次 error 用于校准
    ret, error = filter.aim_near(label)
    while not ret:
        ret, error = filter.aim_near(label)
    error += offset
    time.sleep(1)
    logger.error(error)
    if abs(error) > 5:
        logger.info("校准中")
        if abs(error) < 5:
            error = error * 5
            logger.error("校准分段 error * 5")
        elif abs(error) < 20:
            error = error * 4
            logger.error("校准分段 error * 4")
        else:
            error = error * 3
            logger.error("校准分段 error * 3")
        if error > 0:
            by_cmd.send_distance_x(-cali_speed, int(error))
        else:
            by_cmd.send_distance_x(cali_speed, int(-error))
        time.sleep(2)
    # stop
    for _ in range(3):
        by_cmd.send_speed_x(0)
        time.sleep(0.2)
        by_cmd.send_speed_omega(0)
    pass

# 任务类
class task:  
    def __init__(self, task_template, find_counts=10, enable=True):  
        self.enable = enable
        self.task_t = task_template()

        self.counts = 0
        self.find_counts = find_counts
    def init(self):
        self.task_t.init()
    def find(self):
        # 检查该任执行标志
        while True:
            # if self.func_find():
            # 特殊地方可以直接跳出 find
            ret = self.task_t.find()
            self.counts += ret
            # if self.task_t.find():
            #     self.counts += 1
            if self.counts >= self.find_counts:
                break
        # while self.func_find() is False:
        #     pass

    def exec(self):  
        # 根据标志位确定是否执行该任务
        if self.enable is True:
            logger.debug(f"[Task ]# Executing task")  
            self.task_t.exec()
            logger.debug(f"[Task ]# Task completed")  
        else:
            logger.warning(f"[Task ]# Skip task")
            self.task_t.nexec()

# 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()}")
    def exec(self):
        # 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"[TaskM]# Start searching task target")
            self.task_now.find()
            self.status = task_queuem_status.EXECUTING
        # 执行任务函数
        elif self.status is task_queuem_status.EXECUTING:
            logger.info(f"[TaskM]# Start execute task function")
            self.task_now.exec()                 # 执行当前任务函数
            self.queue.task_done()                  # 弹出已执行的任务
            self.status = task_queuem_status.IDEL   #
            logger.info(f"[TaskM]# <<<<----------------------")
        return True

# 人员施救
class get_block():
    def init(self):
        logger.info("人员施救初始化")
        filter.switch_camera(1)
        if cfg['get_block']['first_block'] == "blue":
            self.target_label = tlabel.BBLOCK
            self.another_label = tlabel.RBLOCK
            cfg['get_block']['first_block'] = ''
        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(self.target_label)
        if ret > 0:
            return True
        else:
            return False
    def exec(self):
        car_stop()
        calibrate_new(self.target_label, offset = 12)
        logger.info("抓取块")
        time.sleep(3)
        # 测试新方案



        # 旧方案
        # for _ in range(3):
        #     by_cmd.send_speed_x(0)
        #     time.sleep(0.2)
        #     by_cmd.send_speed_omega(0)
        # calibrate(self.target_label, 12, False, 7)
        # logger.info("抓取块")
        # time.sleep(2)
        # by_cmd.send_distance_axis_z(20, 20*7)
        # time.sleep(3)
        # # 向内退
        # by_cmd.send_distance_axis_x(3, 20*2)
        # time.sleep(2)
        # # 旋转机械臂到最右侧
        # by_cmd.send_angle_claw_arm(36 + 184)
        # time.sleep(1.5)
        # # 开爪子
        # by_cmd.send_angle_claw(27.0 + 9 * 3)
        # # 下降
        # by_cmd.send_distance_axis_z(20, -20*4)
        # time.sleep(1.5)
        # # 关爪子
        # by_cmd.send_angle_claw(27.0 - 2)
        # time.sleep(1)
        # by_cmd.send_distance_axis_z(15, 20*2)
        # time.sleep(2)
        # while True:
        #     pass

        # by_cmd.send_distance_x(10, 500)
        # counts = 0
        # while True:
        #     counts += filter.find(self.another_label)
        #     if counts >= 35:
        #         break
        # for _ in range(3):
        #     by_cmd.send_speed_x(0)
        #     time.sleep(0.2)
        #     by_cmd.send_speed_omega(0)
        # calibrate(self.another_label, 12, False, 7)
        # logger.info("抓取块")
        # time.sleep(2)
        pass
        # 调试 临时注释掉
        # calibrate(tlabel.RBLOCK,15)
        # time.sleep(2)
        
        # by_cmd.send_position_axis_z(10, 150)
        # time.sleep(5)
        # by_cmd.send_angle_claw_arm(127)
        # time.sleep(1)
        # by_cmd.send_position_axis_x(4, 140)
        # time.sleep(4)
        # by_cmd.send_angle_claw_arm(220)
        # by_cmd.send_angle_claw(90)
        # time.sleep(1)
        # by_cmd.send_distance_axis_z(10, -70)
        # time.sleep(3)
        # by_cmd.send_angle_claw(27)
        # by_cmd.send_distance_axis_z(10, 10)
        # time.sleep(2)
        # by_cmd.send_distance_axis_x(4, -100)
        # time.sleep(1)
        # by_cmd.send_distance_axis_z(10, -40)
        # time.sleep(3)
        # by_cmd.send_angle_claw(35)
        # time.sleep(1)
        # by_cmd.send_position_axis_z(10, 150)
        # time.sleep(3)
        # by_cmd.send_position_axis_x(2, 140)
        # #  抓取第二个块后 收爪 
        # time.sleep(3)
        # by_cmd.send_position_axis_x(4, 0)
    def nexec(self):
        # TODO 完成不执行任务的空动作
        pass


# 紧急转移
class put_block():
    def init(self):
        logger.info("紧急转移初始化")
        socket.send_string("1")
        socket.recv()
    def find(self):
        # 目标检测医院
        ret1, list1 = filter.get(tlabel.HOSPITAL)
        if ret1 > 0:
            width = list1[0][2] - list1[0][0]
            if width > 120:
                return True
            return False
        else:
            return False
    def exec(self):
        logger.info("找到医院")
        car_stop()
        calibrate_new(tlabel.HOSPITAL, offset = 7, run = False)
        time.sleep(3)
        # calibrate(tlabel.HOSPITAL, 7, False, 6)
        
        # by_cmd.send_position_axis_z(10, 150)
        # time.sleep(3)
        # # TODO 切换爪子方向
        # by_cmd.send_position_axis_x(2, 140)
        # time.sleep(2)
        # by_cmd.send_position_axis_z(10, 170)
        pass
    def nexec(self):
        pass

# 整装上阵
class get_bball():
    def init(self):
        # by_cmd.send_position_axis_x(2, 140)
        # 调试 临时换源
        socket.send_string("1")
        socket.recv()
        logger.info("整装上阵初始化")
        time.sleep(0.5)
        while (by_cmd.send_angle_camera(90) == -1):
            by_cmd.send_angle_camera(90)
    def find(self):
        # 目标检测蓝球
        ret = filter.find(tlabel.BBALL)
        if ret:
            return True
        else:
            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 = 27, run = True, run_speed = 3.5)
            logger.info("抓蓝色球")
            time.sleep(5)
        # 原方案
        # time.sleep(1)
        # calibrate_right(tlabel.BBALL, 27, False, 5)
        # logger.info("抓到了蓝色球")
        # time.sleep(5)
        # for i in range(2):
        #     while True:
        #         by_cmd.send_distance_x(6, 60)
        #         ret, error = filter.aim_near(tlabel.BBALL)
        #         if ret and abs(error) < 30:
        #             break
        #         else:
        #             by_cmd.send_distance_x(6, 60)
        #     for _ in range(3):
        #         by_cmd.send_speed_x(0)
        #         time.sleep(0.1)
        #         by_cmd.send_speed_omega(0)
                
        #     calibrate_right(tlabel.BBALL, 27, False, 5)
        #     time.sleep(5)
            

        # by_cmd.send_position_axis_z(20, 160)
        # time.sleep(2)
        # by_cmd.send_position_axis_x(2, 70)
        # time.sleep(2)
        # by_cmd.send_angle_claw(90)
        # time.sleep(0.2)
        # by_cmd.send_position_axis_x(2, 0)
        # time.sleep(2)
        # by_cmd.send_angle_claw(27)
        # time.sleep(1)
        # by_cmd.send_position_axis_z(20, 180)
        # time.sleep(1)
        # by_cmd.send_position_axis_x(4, 45)
        # time.sleep(1)
        # by_cmd.send_position_axis_z(20, 140)
        # time.sleep(3)
        # by_cmd.send_position_axis_x(2, 140)
        # time.sleep(2)
        # by_cmd.send_angle_claw(90)
        pass
    def nexec(self):
        pass

# 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)
    def find(self):
        # 目标检测通信塔
        ret, error = filter.aim_near(tlabel.TOWER)
        if ret:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到塔")
        car_stop()
        calibrate_new(tlabel.TOWER, offset = 27, run = True)
        
        # calibrate(tlabel.TOWER, 27, False, 6)
        time.sleep(3)
        while True:
            pass
    def nexec(self):
        pass


# 高空排险
class get_rball():
    def init(self):
        logger.info("高空排险初始化")
        while (by_cmd.send_angle_camera(0) == -1):
            by_cmd.send_angle_camera(0)
    def find(self):
        # 目标检测红球
        ret  = filter.find(tlabel.RBALL)
        if ret > 0:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到红球")
        car_stop()
        calibrate_new(tlabel.RBALL,offset = -4, run = True)
        time.sleep(1)
        by_cmd.send_distance_y(-10, 65)
        time.sleep(1)
        by_cmd.send_distance_x(-10, 80)
        time.sleep(1)
        logger.info("抓红球")
        while True:
            pass
        pass
    def nexec(self):
        pass

# 派发物资
class put_bball():
    def init(self):
        logger.info("派发物资初始化")
        socket.send_string("1")
        socket.recv()
        while (by_cmd.send_angle_camera(90) == -1):
            by_cmd.send_angle_camera(90)
    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 = 12, run = True)
        logger.info("把球放篮筐里")
        time.sleep(2)
        pass
    def nexec(self):
        pass

direction = tlabel.RMARK
direction_left = 0
direction_right = 0
# 物资盘点
class put_hanoi1():
    def init(self):
        logger.info("物资盘点 1 初始化")
        socket.send_string("2")
        socket.recv()
    def find(self):
        global direction
        global direction_left
        global direction_right
        # 目标检测左右转向标识
        # TODO 框的大小判断距离
        # ret1, list1 = filter.get(tlabel.RMARK)
        # ret2, list2 = filter.get(tlabel.LMARK)
        ret, label, error = filter.get_mult_box([tlabel.LMARK, tlabel.RMARK])
        if label == tlabel.RMARK:
            if abs(error) < 55:
                logger.info("向右拐")
                direction_right += 1
                return True
            return False
        elif label == tlabel.LMARK:
            if abs(error) < 50:
                logger.info("向左拐")
                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)
        
        # 校准牌子
        if direction_right > direction_left:
            ret, error = filter.aim_near(tlabel.RMARK)
            while not ret:
                ret, error = filter.aim_near(tlabel.RMARK)
            direction = tlabel.RMARK
        else:
            ret, error = filter.aim_near(tlabel.LMARK)
            while not ret:
                ret, error = filter.aim_near(tlabel.LMARK)
            direction = tlabel.LMARK
        # 校准 omega
        if error > 0:
            by_cmd.send_angle_omega(-20,abs(utils.lane_error)*13)
        else:
            by_cmd.send_angle_omega(20,abs(utils.lane_error)*13)
        time.sleep(0.5)
        by_cmd.send_speed_omega(0)
        time.sleep(0.5)
        by_cmd.send_distance_x(10, 250)
        time.sleep(1)
        if direction_right > direction_left:
            direction = tlabel.RMARK
            by_cmd.send_angle_omega(-20,380)
            time.sleep(2)
            while (by_cmd.send_angle_camera(90) == -1):
                by_cmd.send_angle_camera(90)
        else:
            direction = tlabel.LMARK
            by_cmd.send_angle_omega(20,500)
            time.sleep(2)
            while (by_cmd.send_angle_camera(180) == -1):
                by_cmd.send_angle_camera(180)
        time.sleep(0.5)
        socket.send_string("1")
        socket.recv()
        pass
    def nexec(self):
        pass


def sub_put_hanoi2(label,distance_type,run_on,back_flag):
    # logger.info("找到大红色柱体")
    for _ in range(3):
        by_cmd.send_speed_x(0)
        time.sleep(0.2)
        by_cmd.send_speed_omega(0)
    time.sleep(2)

    # 对准大红色柱体
    calibrate(label,7, run_on, 10)
    # 抓取大红色柱体
    logger.info("抓取柱体")
    # 根据 direction 确定移动方向
    by_cmd.send_distance_x(-8, distance_type)
    # 移动 self.distance_lp 距离
    # 放置物块
    logger.info("开始放置柱体")
    time.sleep(1)
    if back_flag:
        pass
        # 回移相同距离
        # if direction == tlabel.RMARK:
        #     by_cmd.send_distance_x(8, distance_type)
        # else:
        #     by_cmd.send_distance_x(-8, distance_type)
class put_hanoi2():
    def __init__(self):
        self.pos_lp = cfg['put_hanoi2']['pos_lp']
        self.pos_mp = cfg['put_hanoi2']['pos_mp']
        self.pos_sp = 6 - self.pos_lp - self.pos_mp
        self.distance_lp = self.pos_lp * cfg['put_hanoi2']['pos_gap']
        self.distance_mp = self.pos_mp * cfg['put_hanoi2']['pos_gap']
        self.distance_sp = self.pos_sp * cfg['put_hanoi2']['pos_gap']
        logger.info(f"setting hanoi pos_lp[{self.pos_lp}] pos_mp[{self.pos_mp}] pos_sp[{self.pos_sp}]") 
    def init(self):
        logger.info("物资盘点 2 初始化")
    def find(self):
        time.sleep(0.001)
        return True
    def exec(self):
        # TODO 延时需要根据移动的 distance 判断
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        # 往回走一段 然后向前行进校准
        by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30)
        time.sleep(1)
        logger.info(f"方向{direction}")
        
        if utils.lane_error > 0:
            by_cmd.send_angle_omega(-20,abs(utils.lane_error))
        else:
            by_cmd.send_angle_omega(20,abs(utils.lane_error))
        
        time.sleep(1)    
        sub_put_hanoi2(tlabel.LPILLER, self.distance_lp, True, True)
        time.sleep(5)
        # 对准中蓝色柱体
        sub_put_hanoi2(tlabel.MPILLER, self.distance_mp, True, True)
        time.sleep(5)
        # 根据 direction 确定移动方向
        # 移动 self.distance_mp 距离
        # 放置物块
        # 回移相同距离
        sub_put_hanoi2(tlabel.SPILLER, self.distance_sp, True, True)
        time.sleep(5)
        # 对准小红色柱体
        # 根据 direction 确定移动方向
        # 移动 self.distance_sp 距离
        # 放置物块
        pass
    def nexec(self):
        pass

# 应急避险 第一阶段 找目标牌
class move_area1():
    def init(self):
        logger.info("应急避险第一阶段初始化")
        while (by_cmd.send_angle_camera(180) == -1):
            by_cmd.send_angle_camera(180)
    def find(self):
        # 目标检测标志牌
        ret, error = filter.aim_near(tlabel.SIGN)
        if ret > 0 and abs(error) < 8:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到标示牌")
        # 停车 ocr 识别文字 调用大模型
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        time.sleep(2)
        
        pass
    def nexec(self):
        pass
# 应急避险 第二阶段 找停车区域
class move_area2():
    def init(self):
        logger.info("应急避险第二阶段初始化")
    def find(self):
        time.sleep(0.001)
        return True
    def exec(self):
        logger.info("开始寻找停车区域")
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        calibrate(tlabel.SHELTER, 15, False, 6)
        time.sleep(1)
        # 进入停车区域
        by_cmd.send_distance_y(10, 450)
        time.sleep(3)

        # TODO 调用大模型 然后执行动作
        by_cmd.send_light(1)
        time.sleep(2)
        by_cmd.send_light(0)
        # 离开停车区域
        by_cmd.send_distance_y(-10, 450)
        time.sleep(3)
        
        pass
    def nexec(self):
        pass
# 扫黑除暴
class kick_ass():
    def init(self):
        logger.info("扫黑除暴初始化")
        self.pos_gap1 = cfg['kick_ass']['pos_gap1']
        self.pos_gap2 = cfg['kick_ass']['pos_gap2']
        self.target_person = cfg['kick_ass']['target_person']
    def find(self):
        ret, error = filter.aim_near(tlabel.SIGN)
        if ret > 0 and abs(error) < 16:
            return True
        else:
            return False
    def exec(self):
        logger.info("找到标示牌")
        for _ in range(3):
            by_cmd.send_speed_x(0)
            time.sleep(0.2)
            by_cmd.send_speed_omega(0)
        time.sleep(1)
        if utils.lane_error > 0:
            by_cmd.send_angle_omega(-20,abs(utils.lane_error)*1.5)
        else:
            by_cmd.send_angle_omega(20,abs(utils.lane_error)*1.5)
        time.sleep(1)
        calibrate(tlabel.SIGN, 8, False, 6)
        time.sleep(0.5)
        

        if self.target_person == 1:
            by_cmd.send_distance_x(10, self.pos_gap1)
        else:
            by_cmd.send_distance_x(10, self.pos_gap1 + (self.target_person - 1) * self.pos_gap2)

        time.sleep(2)
        time.sleep(5)
        pass
    def nexec(self):
        pass