project_main/subtask.py

'''
待办事项：
- nexec 中添加延时，保证重试时不会立即跳入下个任务
- 确认 nexec 还是直接添加一个任务结束后执行的方法更好，或者两者都保留
- 医院第二个方块自由落体
'''
from enum import Enum
from loguru import logger
from utils import label_filter
from utils import tlabel
from utils import LLM
from utils import CountRecord
import utils
import toml
import zmq
import time
import variable as var
import action as act

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)
# 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 * 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
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

def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
    # run_direc == 1 向前
    if run_direc == 1:
        by_cmd.send_speed_x(run_speed)
    else:
        by_cmd.send_speed_x(-run_speed)

    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:
            # 校准速度越大 停车的条件越宽泛
            if abs(error) <= 20:
                car_stop()
                logger.info("explore_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"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

# 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):
        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)):
            # 检查该任务执行标志
            while True:
                ret = self.task_t.find()
                self.counts += ret
                if self.counts >= self.find_counts:
                    break
        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)):
            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()}")
    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:
            if self.task_now.enable is True:
                logger.info(f"[TaskM]# Start execute task function")
                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 = 0
        logger.info(f"人员施救 1 初始化，第一抓取块为 {cfg['get_block']['first_block']}")
        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"
    def find(self):
        # 目标检测红/蓝方块
        ret = filter.find(self.target_label)
        if ret > 0:
            return True
        return False
    def exec(self):
        car_stop()
        calibrate_new(self.target_label, offset = 15, run = True, run_speed = 5)
        logger.info("抓取块")
        # act.axis.wait(0.5)
        # act.axis.z2(60)
        # act.axis.x2(100)
        # act.axis.claw_arm(220)
        # act.axis.claw(63)
        # act.axis.x2(20)
        # act.axis.wait(2)
        # act.axis.claw(30)
        # act.axis.x2(80)
        # act.axis.z2(130)
        # act.axis.claw_arm(36)
        # act.axis.z2(20)
        # act.axis.x2(40)
        # act.axis.claw(45)
        # act.axis.z2(80)
        # act.axis.claw_arm(220)
        # act.axis.x2(100)
        # act.axis.exec()

        by_cmd.send_position_axis_z(30, 60)
        time.sleep(1)
        by_cmd.send_angle_claw(63)
        by_cmd.send_position_axis_x(1, 20)
        time.sleep(2)
        by_cmd.send_angle_claw(25)
        by_cmd.send_beep(1)
        time.sleep(0.5)
        by_cmd.send_beep(0)
        time.sleep(0.5)
        by_cmd.send_position_axis_x(1, 80)
        by_cmd.send_position_axis_z(30, 130)
        time.sleep(2)
        by_cmd.send_angle_claw_arm(36)
        time.sleep(1)
        by_cmd.send_position_axis_z(30, 20)
        time.sleep(0.5)
        by_cmd.send_position_axis_x(1, 40)
        time.sleep(1)
        by_cmd.send_angle_claw(45)
        time.sleep(0.5)
        by_cmd.send_position_axis_z(30, 80)
        time.sleep(2)
        by_cmd.send_angle_claw_arm(220)
        time.sleep(0.5)
        by_cmd.send_position_axis_x(1, 100)
        time.sleep(1)
        pass
    def nexec(self):
        # TODO 完成不执行任务的空动作
        pass
    def after(self):
        pass

class get_block2():
    def init(self):
        logger.info(f"人员施救 2 初始化，第一抓取块为 {cfg['get_block']['first_block']}")
        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(self.target_label)
        if ret > 0:
            return True
        return False
    def exec(self):
        car_stop()
        calibrate_new(self.target_label, offset = 15, run = True, run_speed = 5)
        logger.info("抓取块")
        time.sleep(0.5)
        by_cmd.send_angle_claw_arm(220)
        by_cmd.send_angle_claw(53)
        by_cmd.send_position_axis_z(30, 60)
        time.sleep(1)
        by_cmd.send_position_axis_x(1, 20)
        time.sleep(1)
        by_cmd.send_angle_claw(25)
        by_cmd.send_beep(1)
        time.sleep(0.5)
        by_cmd.send_beep(0)
        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.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(9)


# 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 > 145:
                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(3)
        by_cmd.send_position_axis_x(1, 40)
        time.sleep(1)
        by_cmd.send_angle_claw(63)
        time.sleep(1)
        by_cmd.send_position_axis_x(1, 80)
        by_cmd.send_position_axis_z(30, 130)
        time.sleep(2)
        by_cmd.send_angle_claw_arm(36)
        time.sleep(1)
        by_cmd.send_angle_claw(45)
        time.sleep(1)
        by_cmd.send_position_axis_z(30, 20)
        time.sleep(0.5)
        by_cmd.send_position_axis_x(1, 40)
        time.sleep(2)
        by_cmd.send_angle_claw(25)
        time.sleep(0.5)
        by_cmd.send_position_axis_z(30, 140)
        time.sleep(2)
        by_cmd.send_angle_claw_arm(220)
        time.sleep(1)
        by_cmd.send_distance_x(-10, 110)
        by_cmd.send_position_axis_z(30, 0)
        time.sleep(2)
        by_cmd.send_position_axis_x(1, 40)
        time.sleep(2)
        by_cmd.send_angle_claw(45)
        time.sleep(1)
        by_cmd.send_position_axis_x(1, 80)
        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, 130) == -1:
            pass
        time.sleep(1)
        while by_cmd.send_position_axis_x(1, 0) == -1:
            pass
        while by_cmd.send_angle_claw_arm(36) == -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(36)
        
        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(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:
            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 = 16, run = True, run_speed = 5)
            logger.info("抓蓝色球")
            time.sleep(0.5)
            by_cmd.send_angle_claw_arm(36)
            by_cmd.send_angle_claw(54)
            by_cmd.send_position_axis_x(1, 160)
            time.sleep(1)
            by_cmd.send_angle_claw(60)
            time.sleep(1)
            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, 40)
            time.sleep(0.5)
            by_cmd.send_distance_axis_z(30, -40)
            time.sleep(0.5)
            by_cmd.send_angle_claw_arm(70)
            time.sleep(0.5)
            by_cmd.send_angle_claw(54)
            time.sleep(1)
            by_cmd.send_angle_claw_arm(36)
            time.sleep(1)
            by_cmd.send_position_axis_z(30, 135)
            # 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(1)
        # # 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)
        by_cmd.send_distance_y(-10, 50)
        time.sleep(3)
        by_cmd.send_angle_zhuan(10)
        time.sleep(9)
        by_cmd.send_distance_y(10, 60)
        time.sleep(1)
        by_cmd.send_angle_zhuan(0)
        time.sleep(0.5)
        # 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)
        by_cmd.send_distance_y(-15, 50) # 50
        time.sleep(2)
        calibrate_new(tlabel.RBALL,offset = 44, run = True)
        time.sleep(1)
        logger.info("抓红球")
        # by_cmd.send_angle_scoop(15)
        time.sleep(0.5)
        by_cmd.send_position_axis_z(30, 170)
        time.sleep(3.5)
        by_cmd.send_angle_scoop(7)
        by_cmd.send_distance_y(15, 70)
        time.sleep(1)
        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 = -21, run = True, run_speed = 6)
        by_cmd.send_distance_x(10, 20)
        # 向左运动
        by_cmd.send_distance_y(-10, 35)
        time.sleep(1)

        by_cmd.send_angle_storage(55)
        logger.info("把球放篮筐里")

        time.sleep(2)
        by_cmd.send_distance_y(10, 55)
        time.sleep(1)

        by_cmd.send_angle_storage(20)
        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):
        var.pid_turning.set(cfg["put_bball"]["pid_kp"], cfg["put_bball"]["pid_ki"], cfg["put_bball"]["pid_kd"])
        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, 130)

        # 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
        if error > 0:
            by_cmd.send_angle_omega(-20,abs(var.lane_error))
        else:
            by_cmd.send_angle_omega(20,abs(var.lane_error))
        time.sleep(0.5)
        car_stop()
        time.sleep(0.5)
        # by_cmd.send_distance_x(10, 200)
        by_cmd.send_distance_x(10, 180)
        time.sleep(0.5)
        
        # 根据方向初始化执行器位置
        if utils.direction is tlabel.RMARK:
            # FIXME 右侧的爪子会被 storage 挡住
            by_cmd.send_position_axis_x(1, 0)
            by_cmd.send_angle_claw_arm(36)
            by_cmd.send_angle_storage(0)
        else:
            by_cmd.send_position_axis_x(1, 150)
            by_cmd.send_angle_claw_arm(217)
            by_cmd.send_angle_storage(55)
        time.sleep(1.5)

        by_cmd.send_position_axis_z(30, 0)

        if utils.direction_right > utils.direction_left:
            utils.direction = tlabel.RMARK
            # by_cmd.send_angle_omega(-25,430)
            # by_cmd.send_angle_omega(-45,238)
            by_cmd.send_angle_omega(-55,194)
            time.sleep(2)
            while (by_cmd.send_angle_camera(90) == -1):
                by_cmd.send_angle_camera(90)
        else:
            utils.direction = tlabel.LMARK
            # by_cmd.send_angle_omega(25,430)
            # by_cmd.send_angle_omega(45,238)
            by_cmd.send_angle_omega(55,194)
            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.pid_turning.set(0.8, 0, 0)
        pass

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")
        if utils.direction == tlabel.RMARK:
            self.offset = 22
        else:
            self.offset = 10
    def find(self):
        ret, box = filter.get(self.target_label)
        if ret:
            var.task_speed = 8.5
            error = (box[0][2] + box[0][0] - 320) / 2 + self.offset
            if abs(error) < 40:
                return True
        return False
    def exec(self): 
        logger.info(f"direction:{utils.direction.name}")
        var.task_speed = 0
        car_stop()
        time.sleep(0.5)
        # by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30)
        time.sleep(1)
        explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
        time.sleep(1)
        logger.info("抓大平台")
        if utils.direction is tlabel.RMARK:
            by_cmd.send_position_axis_z(30, 10)
            by_cmd.send_position_axis_x(1, 130)
            by_cmd.send_angle_claw(63)
            time.sleep(1)
            by_cmd.send_angle_claw(81)
            time.sleep(1.5)
            by_cmd.send_angle_claw(40)
            time.sleep(1)
            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, 10)
            by_cmd.send_position_axis_x(1, 40)
            by_cmd.send_angle_claw(63)
            time.sleep(1)
            by_cmd.send_angle_claw(81)
            time.sleep(1.5)
            by_cmd.send_angle_claw(40)
            time.sleep(1)
            by_cmd.send_distance_axis_z(30, 20)
            time.sleep(0.5)
            by_cmd.send_position_axis_x(1, 160)
            time.sleep(1)
            pass
        explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
        time.sleep(1)
        logger.info("放大平台")
        if utils.direction is tlabel.RMARK:
            by_cmd.send_position_axis_x(1, 130)
            time.sleep(1.5)
            by_cmd.send_distance_axis_z(30, -20)
            time.sleep(1)
            by_cmd.send_angle_claw(81)
            time.sleep(0.5)
            by_cmd.send_angle_claw(63)
            time.sleep(0.5)
            by_cmd.send_position_axis_x(1, 10)
            time.sleep(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_angle_claw(63)
            time.sleep(0.5)
            by_cmd.send_position_axis_x(1, 160)
            time.sleep(1)

        explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed =  5)
        time.sleep(1)
        logger.info("抓中平台")
        if utils.direction is tlabel.RMARK:
            by_cmd.send_position_axis_z(30, 10)
            by_cmd.send_position_axis_x(1, 130)
            by_cmd.send_angle_claw(63)
            time.sleep(1)
            by_cmd.send_angle_claw(75)
            time.sleep(1)
            by_cmd.send_angle_claw(35)
            time.sleep(1)
            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, 10)
            by_cmd.send_position_axis_x(1, 40)
            by_cmd.send_angle_claw(63)
            time.sleep(1)
            by_cmd.send_angle_claw(75)
            time.sleep(1)
            by_cmd.send_angle_claw(35)
            time.sleep(1)
            by_cmd.send_distance_axis_z(30, 20)
            time.sleep(0.5)
            by_cmd.send_position_axis_x(1, 160)
            time.sleep(1)
            pass
        explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
        time.sleep(1)
        logger.info("放中平台")
        if utils.direction is tlabel.RMARK:
            by_cmd.send_position_axis_z(30, 100)
            time.sleep(2)
            by_cmd.send_position_axis_x(1, 130)
            time.sleep(2)
            by_cmd.send_distance_axis_z(30, -20)
            time.sleep(0.5)
            by_cmd.send_angle_claw(65)
            time.sleep(0.5)
            by_cmd.send_position_axis_x(1, 10)
            time.sleep(1)
            pass
        else:
            by_cmd.send_position_axis_z(30, 100)
            time.sleep(2)
            by_cmd.send_position_axis_x(1, 40)
            time.sleep(2)
            by_cmd.send_distance_axis_z(30, -20)
            time.sleep(0.5)
            by_cmd.send_angle_claw(65)
            time.sleep(0.5)
            by_cmd.send_position_axis_x(1, 160)
            time.sleep(1)

        explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
        time.sleep(1)
        logger.info("抓小平台")
        if utils.direction is tlabel.RMARK:
            by_cmd.send_position_axis_z(30, 10)
            by_cmd.send_position_axis_x(1, 130)
            by_cmd.send_angle_claw(63)
            time.sleep(1)
            by_cmd.send_angle_claw(70)
            time.sleep(1)
            by_cmd.send_angle_claw(27)
            time.sleep(1)
            by_cmd.send_distance_axis_z(30, 10)
            time.sleep(0.5)
            by_cmd.send_position_axis_x(1, 10)
            time.sleep(1)
            pass
        else:
            by_cmd.send_position_axis_z(30, 10)
            by_cmd.send_position_axis_x(1, 40)
            by_cmd.send_angle_claw(63)
            time.sleep(1)
            by_cmd.send_angle_claw(70)
            time.sleep(1)
            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, 160)
            time.sleep(1)
            pass
        explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
        time.sleep(1)
        logger.info("放小平台")
        if utils.direction is tlabel.RMARK:
            by_cmd.send_position_axis_z(30, 170)
            time.sleep(1.5)
            by_cmd.send_position_axis_x(1, 130)
            time.sleep(2)
            by_cmd.send_distance_axis_z(30, -20)
            time.sleep(0.5)
            by_cmd.send_angle_claw(90)
            time.sleep(1)
            by_cmd.send_position_axis_x(1, 10)
            time.sleep(1.5)
            pass
        else:
            by_cmd.send_position_axis_z(30, 170)
            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(90)
            time.sleep(1)
            by_cmd.send_position_axis_x(1, 160)
            time.sleep(1.5)
        # while True:
        #     pass
        
    def nexec(self):
        pass
    def after(self):
        pass

class put_hanoi3():
    def init(self):
        while by_cmd.send_position_axis_z(30, 130) == -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, 150) == -1:
            pass
        time.sleep(1)
        while by_cmd.send_angle_claw_arm(220) == -1:
            pass
    def find(self):
        time.sleep(1)
        return True
    def exec(self):
        while by_cmd.send_position_axis_z(30, 100) == -1:
            pass
        pass
    def nexec(self):
        pass
    def after(self):
        var.pid_turning.set(cfg["put_hanoi3"]["pid_kp"], cfg["put_hanoi3"]["pid_ki"], cfg["put_hanoi3"]["pid_kd"])

# 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)
    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(2)
        var.task_speed = 12
        pass
    def nexec(self):
        pass
    def after(self):
        # 任务检查间隔
        time.sleep(2)
        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")
        self.offset = 15
        self.delta_x = 0
        self.delta_y = 0
        self.delta_omage = 0
    def find(self):
        # time.sleep(0.001)
        ret, box = filter.get(tlabel.SHELTER)
        if ret:
            error = (box[0][2] + box[0][0] - 320) / 2 + self.offset
            if abs(error) < 20:
                return 5000
        return False
    def sub_light(self, delay_time):
        by_cmd.send_light(1)
        time.sleep(delay_time)
        by_cmd.send_light(0)
    def sub_beep(self,delay_time):
        by_cmd.send_beep(1)
        time.sleep(delay_time)
        by_cmd.send_beep(0)
    def sub_move(self, x, y):
        self.delta_x += x
        self.delta_y += y
        
        if x != 0:
            delay_time = int(abs(x) * 500)
            if x > 0:
                by_cmd.send_distance_x(15, delay_time)
            else:
                by_cmd.send_distance_x(-15, delay_time)
        elif y != 0:
            delay_time = int(abs(y) * 500)
            if y > 0: # 向左
                by_cmd.send_distance_y(-15, delay_time)
            else:
                by_cmd.send_distance_y(15, delay_time)
        time.sleep(delay_time / 400 * 1.5)
        pass
    def sub_turn(self, angle):
        self.delta_omage += angle
        delay_time = int(abs(angle) * 400 / 90)
        if angle < 0:
            # 左转
            by_cmd.send_angle_omega(+55, delay_time)
        else:
            # 右转
            by_cmd.send_angle_omega(-55, delay_time)
        time.sleep(delay_time / 300 * 1.5)
    def exec(self):
        var.task_speed = 0
        logger.info("开始寻找停车区域")
        car_stop()
        calibrate_new(tlabel.SHELTER, offset = 15, run = True)
        time.sleep(0.5)
        # 进入停车区域
        by_cmd.send_distance_y(15, 300)


        # time.sleep(1)

        # 调用大模型 然后执行动作
        resp_commands = eval(llm_bot.get_command_json("旋转 90 度，发声 1 秒，照亮 1 秒").replace("'''json","").replace("'''",''))
        for command in resp_commands:
            logger.info(command)
            if command['func'] == 'move':
                self.sub_move(float(command['x']), float(command['y']))
            elif command['func'] == 'light':
                self.sub_light(int(command['time']))
            elif command['func'] == 'beep':
                self.sub_beep(int(command['time']))
            elif command['func'] == 'turn':
                self.sub_turn(int(command['angle']))
                pass
            time.sleep(0.5)
        time.sleep(1)
        # 回到原位
        delay_time = int(abs(self.delta_omage) * 400 / 90)
        if self.delta_omage < 0:
            # 左转
            by_cmd.send_angle_omega(-55, delay_time)
        else:
            # 右转
            by_cmd.send_angle_omega(55, delay_time)
        time.sleep(delay_time / 300 * 1.5)
        if self.delta_y > 0:
            # 向左移动的距离就要比进入的时候少一些 因为 action 已经向左运动了
            delay_time = 300 - (self.delta_y * 500)
        else:
            delay_time = 300 + (abs(self.delta_y) * 500)
        # 离开停车区域
        by_cmd.send_distance_y(-15, delay_time)

        time.sleep(delay_time / 400 * 1.5)
        
        for _ in range(3):
            by_cmd.send_speed_x(0)
            by_cmd.send_speed_y(0)
            by_cmd.send_speed_omega(0)

        # FIXME 移动距离指令下发后未完成，再发送速度指令，将不会清除未完成的速度值
        # by_cmd.send_distance_y(-15, 300)
        pass
    def nexec(self):
        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)
        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['kick_ass']['target_person']

        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)
        time.sleep(0.5)
        by_cmd.send_position_axis_z(30, 60)

        if self.target_person == 1:
            target_distance = self.pos_gap1
        else:
            target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
        by_cmd.send_distance_x(10, target_distance)
        time.sleep(5)
        by_cmd.send_angle_claw_arm(220)
        by_cmd.send_angle_claw(15)
        by_cmd.send_position_axis_x(1, 160)
        time.sleep(2)
        by_cmd.send_position_axis_x(1, 0)
        time.sleep(3)
        by_cmd.send_position_axis_x(1, 160)
        time.sleep(2)
        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"])