diff --git a/app.py b/app.py
index abd6182..2c0d61d 100644
--- a/app.py
+++ b/app.py
@@ -1,4 +1,4 @@
-from flask import Flask, render_template
+from flask import Flask, render_template, request
from flask_socketio import SocketIO
import toml
from loguru import logger
@@ -51,6 +51,8 @@ logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
fileOptions_path = '/home/evan/Workplace/project_main'
fileOptions_list = ['cfg_args.toml','cfg_main.toml', 'cfg_subtask.toml']
+cfg_args_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+
@app.route('/')
def index():
@@ -58,11 +60,16 @@ def index():
@app.route('/run')
def run():
- return render_template('index1.html')
+ mode_index = request.args.get('mode')
+ config_args = toml.load(cfg_args_path)
+ config_args['lane_mode']['mode_index'] = int(mode_index)
+ with open(cfg_args_path, 'w') as config_file:
+ toml.dump(config_args, config_file)
+ return render_template('index2.html')
-@app.route('/csdn')
-def csdn():
- return render_template('csdn.html')
+# @app.route('/csdn')
+# def csdn():
+# return render_template('csdn.html')
@socketio.on('operate')
def operate_handle(data):
@@ -134,12 +141,12 @@ def operate_handle(data):
elif data['type'] == 'skip_task':
logger.info(data)
skip_task_queue.put(1)
- elif data['type'] == 'save_target_person':
- config_path = os.path.join(fileOptions_path, 'cfg_args.toml')
- config_args = toml.load(config_path)
- config_args['lane_mode']['mode_index'] = int(data['content'])
- with open(config_path, 'w') as config_file:
- toml.dump(config_args, config_file)
+ # elif data['type'] == 'save_target_person':
+ # config_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+ # config_args = toml.load(config_path)
+ # config_args['lane_mode']['mode_index'] = int(data['content'])
+ # with open(config_path, 'w') as config_file:
+ # toml.dump(config_args, config_file)
@socketio.on('connect')
def test_connect():
diff --git a/cfg_args.toml b/cfg_args.toml
index 5529f20..9e91ec4 100644
--- a/cfg_args.toml
+++ b/cfg_args.toml
@@ -1,5 +1,5 @@
[lane_mode]
-mode_index = 3
+mode_index = 1
[task]
Subtask_enable = true
diff --git a/cfg_main.toml b/cfg_main.toml
index 71e1194..fd06df5 100644
--- a/cfg_main.toml
+++ b/cfg_main.toml
@@ -6,14 +6,14 @@ logger_format = "{time} {level} {message}"
[find_counts]
GetBlock_counts = 5
-PutBlock_counts = 8
+PutBlock_counts = 12
GetBBall_counts = 5
UpTower_counts = 3
GetRBall_counts = 10
PutBBall_counts = 15
PutHanoi1_counts = 7
PutHanoi2_counts = 2
-PutHanoi3_counts = 1
+PutHanoi3_counts = 5
MoveArea1_counts = 6
MoveArea2_counts = 1700
KickAss_counts = 10
diff --git a/cfg_subtask.toml b/cfg_subtask.toml
index 064f76c..df54f17 100644
--- a/cfg_subtask.toml
+++ b/cfg_subtask.toml
@@ -1,5 +1,5 @@
[get_block]
-pid_kp = 1.2
+pid_kp = 1.0
pid_ki = 0
pid_kd = 0
first_block = "blue"
@@ -15,17 +15,17 @@ pid_ki = 0
pid_kd = 0
[up_tower]
-pid_kp = 1.1
+pid_kp = 1.0
pid_ki = 0
pid_kd = 0
[get_rball]
-pid_kp = 0.8
+pid_kp = 1.5
pid_ki = 0
pid_kd = 0
[put_bball]
-pid_kp = 1.6
+pid_kp = 2.0
pid_ki = 0
pid_kd = 0
@@ -42,7 +42,7 @@ pos_gap = 160
first_target = "mp"
[put_hanoi3]
-pid_kp = 1.3
+pid_kp = 1.7
pid_ki = 0
pid_kd = 0
diff --git a/cfg_subtask.toml.6_9.bak b/cfg_subtask.toml.6_9.bak
index 064f76c..d938550 100644
--- a/cfg_subtask.toml.6_9.bak
+++ b/cfg_subtask.toml.6_9.bak
@@ -35,7 +35,7 @@ pid_ki = 0
pid_kd = 0
[put_hanoi2]
-pid_kp = 1.0
+pid_kp = 2.0
pid_ki = 0
pid_kd = 0
pos_gap = 160
diff --git a/main.py b/main.py
index e31bab0..11f191f 100644
--- a/main.py
+++ b/main.py
@@ -27,21 +27,21 @@ act.axis.exec()
# 向任务队列添加任务
task_queue = queue.Queue()
-if cfg_main['task']['Subtask_enable'] is True:
- task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
- task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
- task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable']))
- task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable']))
- # TODO 添加一个空任务用于提前降 z 轴
- task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))
- task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable']))
- task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable']))
- task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True)) # 无论是否进行任务，检测标识并转向都是必须进行的
- task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
- task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
- task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable']))
- task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable']))
- task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable']))
+# if cfg_main['task']['Subtask_enable'] is True:
+# task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
+# task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
+# task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable']))
+# task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable']))
+# # TODO 添加一个空任务用于提前降 z 轴
+# task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))
+# task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable']))
+# task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable']))
+# task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True)) # 无论是否进行任务，检测标识并转向都是必须进行的
+# task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
+# task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
+# task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable']))
+# task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable']))
+# task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable']))
# 将任务队列传入调度模块中
task_queuem_t = sb.task_queuem(task_queue)
diff --git a/main_upper.py b/main_upper.py
index 7b6a295..ba5b7ba 100644
--- a/main_upper.py
+++ b/main_upper.py
@@ -60,7 +60,7 @@ def main_func(_queue, _skip_queue):
task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_args['task']['GetBBall_enable']))
# # TODO 添加一个空任务用于提前降 z 轴
task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_args['task']['UpTower_enable']))
- task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_args['task']['GetRBall_enable']))
+ task_queue.put(sb.task("高空排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_args['task']['GetRBall_enable']))
task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_args['task']['GetBBall_enable'] and cfg_args['task']['PutBBall_enable']))
task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True)) # 无论是否进行任务，检测标识并转向都是必须进行的
task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_args['task']['PutHanoi_enable']))
diff --git a/subtask.py b/subtask.py
index 4c44c60..48372c0 100644
--- a/subtask.py
+++ b/subtask.py
@@ -546,7 +546,7 @@ class put_block():
ret, box = filter.get(tlabel.HOSPITAL)
if ret > 0:
width = box[0][2] - box[0][0]
- if width > 130:
+ if width > 135:
return True
return False
def exec(self):
@@ -557,7 +557,7 @@ class put_block():
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, 20)
+ by_cmd.send_position_axis_x(1, 50) # 20
time.sleep(1)
by_cmd.send_angle_claw(63)
time.sleep(1)
@@ -582,7 +582,7 @@ class put_block():
time.sleep(1)
by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5)
- by_cmd.send_position_axis_x(1, 20)
+ by_cmd.send_position_axis_x(1, 50)
time.sleep(1.5)
by_cmd.send_angle_claw(45)
time.sleep(1)
@@ -702,12 +702,12 @@ class up_tower():
by_cmd.send_distance_x(-10, 120)
time.sleep(1)
# 上古參數
- # by_cmd.send_distance_y(-10, 50)
+ by_cmd.send_distance_y(-10, 80)
# 6_9 模型參數
- by_cmd.send_distance_y(-10, 40)
+ # by_cmd.send_distance_y(-10, 40)
# 7_12_3 模型參數
# by_cmd.send_distance_y(-10, 50)
- # time.sleep(1)
+ 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)
@@ -758,21 +758,23 @@ class get_rball():
# 靠近塔
by_cmd.send_angle_scoop(20)
# 上古參數
- # by_cmd.send_distance_y(-15, 45) # 50
+ by_cmd.send_distance_y(-15, 70) # 50
# 6_9 參數
- by_cmd.send_distance_y(-15, 35)
- time.sleep(2)
+ # 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)
+ 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(15)
+ # by_cmd.send_angle_scoop(12)
time.sleep(0.5)
by_cmd.send_position_axis_z(30, 170)
time.sleep(2.5)
+ 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)
@@ -811,7 +813,7 @@ class put_bball():
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_distance_y(-10, 35)
# by_cmd.send_angle_storage(10)
# time.sleep(1)
@@ -944,7 +946,7 @@ class put_hanoi1():
def after(self):
# var.switch_lane_model = True
if utils.direction == tlabel.RMARK:
- var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+ 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
@@ -1184,7 +1186,7 @@ class put_hanoi2():
# while True:
# pass
by_cmd.send_speed_x(12)
- time.sleep(1.5)
+ time.sleep(1.2)
def nexec(self):
pass
def after(self):
@@ -1194,6 +1196,7 @@ class put_hanoi2():
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():
@@ -1485,7 +1488,7 @@ class kick_ass():
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)
+ by_cmd.send_speed_omega(-error * 0.8)
time.sleep(0.02)
# by_cmd.send_speed_x(25)
# time.sleep(4)
diff --git a/subtask_69.py b/subtask_69.py
index 4c44c60..81a93b7 100644
--- a/subtask_69.py
+++ b/subtask_69.py
@@ -415,8 +415,8 @@ class task_queuem(task):
class get_block1():
def init(self):
var.task_speed = 15
- act.cmd.camera(0)
- act.cmd.z2(20, 60, 0)
+ while (by_cmd.send_angle_camera(0) == -1):
+ pass
filter.switch_camera(1)
# if cfg['get_block']['first_block'] == "blue":
# self.target_label = tlabel.BBLOCK
@@ -439,8 +439,7 @@ class get_block1():
if any(ret):
return True
return False
-
-
+
def exec(self):
car_stop()
if self.target_counts[0] > self.target_counts[1]:
@@ -771,8 +770,8 @@ class get_rball():
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(2.5)
+ by_cmd.send_position_axis_z(30, 190) #170
+ time.sleep(3.5)
by_cmd.send_angle_scoop(7)
time.sleep(0.5)
by_cmd.send_speed_y(15)
@@ -944,7 +943,7 @@ class put_hanoi1():
def after(self):
# var.switch_lane_model = True
if utils.direction == tlabel.RMARK:
- var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+ var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.4, 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
@@ -1185,6 +1184,7 @@ class put_hanoi2():
# pass
by_cmd.send_speed_x(12)
time.sleep(1.5)
+ var.task_speed = 10
def nexec(self):
pass
def after(self):
@@ -1222,6 +1222,7 @@ class put_hanoi3():
def nexec(self):
pass
def after(self):
+ var.task_speed = 0
by_cmd.send_position_axis_x(1, 150)
var.pid_turning.set(cfg["put_hanoi3"]["pid_kp"], cfg["put_hanoi3"]["pid_ki"], cfg["put_hanoi3"]["pid_kd"])
diff --git a/subtask_raw.py b/subtask_raw.py
index 095f114..c7ae2fb 100644
--- a/subtask_raw.py
+++ b/subtask_raw.py
@@ -557,7 +557,7 @@ class put_block():
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, 20)
+ by_cmd.send_position_axis_x(1, 50) # 20
time.sleep(1)
by_cmd.send_angle_claw(63)
time.sleep(1)
@@ -582,7 +582,7 @@ class put_block():
time.sleep(1)
by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5)
- by_cmd.send_position_axis_x(1, 20)
+ by_cmd.send_position_axis_x(1, 50)
time.sleep(1.5)
by_cmd.send_angle_claw(45)
time.sleep(1)
@@ -702,12 +702,12 @@ class up_tower():
by_cmd.send_distance_x(-10, 120)
time.sleep(1)
# 上古參數
- # by_cmd.send_distance_y(-10, 50)
+ by_cmd.send_distance_y(-10, 60)
# 6_9 模型參數
- by_cmd.send_distance_y(-10, 40)
+ # by_cmd.send_distance_y(-10, 40)
# 7_12_3 模型參數
# by_cmd.send_distance_y(-10, 50)
- # time.sleep(1)
+ time.sleep(1)
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)
@@ -758,13 +758,13 @@ class get_rball():
# 靠近塔
by_cmd.send_angle_scoop(20)
# 上古參數
- # by_cmd.send_distance_y(-15, 45) # 50
+ by_cmd.send_distance_y(-15, 50) # 50
# 6_9 參數
- by_cmd.send_distance_y(-15, 35)
- time.sleep(2)
+ # 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)
+ time.sleep(2)
car_stop()
calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1)
@@ -811,7 +811,7 @@ class put_bball():
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_distance_y(-10, 35)
# by_cmd.send_angle_storage(10)
# time.sleep(1)
@@ -944,7 +944,7 @@ class put_hanoi1():
def after(self):
# var.switch_lane_model = True
if utils.direction == tlabel.RMARK:
- var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.1, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+ 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
@@ -1194,6 +1194,7 @@ class put_hanoi2():
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 = 10
pass
class put_hanoi3():
@@ -1485,7 +1486,7 @@ class kick_ass():
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)
+ by_cmd.send_speed_omega(-error * 0.8)
time.sleep(0.02)
# by_cmd.send_speed_x(25)
# time.sleep(4)
diff --git a/templates/index2.html b/templates/index2.html
new file mode 100644
index 0000000..af18952
--- /dev/null
+++ b/templates/index2.html
@@ -0,0 +1,128 @@
+
+
+
+
+
+ btl143
+
+
+
+
+
+
+
+
+
+
+
+ btl143 upper
+
+
+
+
+
+ {{ taskActive ? `开启 task` : `关闭 task` }}
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file