feat: 日常更新，更新对准方法，完成hanoi2对准，get/put_bball动作
This commit is contained in:
482
subtask.py
482
subtask.py
@@ -80,6 +80,8 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
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break
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'''
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description: 校准新方法 找到后停止 然后根据 error 判断前后低速前进 error < 5 后直接停车
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如果停车后 error > 8 则使用 distance 校准
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这个方法仅用于在视野里能找到的情况下进行校准，并不能实现边走边寻找 然后再校准
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param {*} label
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param {*} offset
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param {*} run
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@@ -128,118 +130,37 @@ def calibrate_new(label, offset, run = True, run_speed = 3.5):
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by_cmd.send_distance_x(10, int(-error))
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break
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'''
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description: 与 calibrate 一样 只不过寻找最右侧的 整装上阵时使用
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param {*} label
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param {*} offset
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param {*} run_on
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param {*} cali_speed
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return {*}
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'''
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def calibrate_right(label, offset, run_on = True, cali_speed = 10):
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logger.info("开始校准")
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# go on
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if run_on:
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for _ in range(3):
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by_cmd.send_speed_x(7)
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by_cmd.send_speed_omega(0)
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time.sleep(0.1)
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while True:
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ret, error = filter.aim_right(label)
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while not ret:
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ret, error = filter.aim_right(label)
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error += offset
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if run_on:
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if abs(error) < 5:
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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break
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else:
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break
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ret, error = filter.aim_right(label)
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while not ret:
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ret, error = filter.aim_right(label)
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error += offset
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time.sleep(1)
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logger.error(error)
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if abs(error) > 5:
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logger.info("校准中")
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if error > 0:
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by_cmd.send_distance_x(-cali_speed, int(error*4))
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else:
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by_cmd.send_distance_x(cali_speed, int(-error*4))
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time.sleep(1)
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# stop
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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pass
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'''
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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
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param {*} label
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param {*} offset 摄像头 error offset
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param {*} run_on 校准前是否继续向前行进以寻找 label
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param {*} cali_speed send_distance_x 校准时移动的速度
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return {*}
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'''
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def calibrate(label, offset, run_on = True, cali_speed = 10):
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logger.info("开始校准")
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# go on
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if run_on:
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for _ in range(3):
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by_cmd.send_speed_x(7)
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by_cmd.send_speed_omega(0)
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time.sleep(0.1)
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while True:
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# 寻找距离屏幕中心最近的标签
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ret, error = filter.aim_near(label)
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while not ret:
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# 注意这里一定要保证摄像头内有该目标 否则会无限循环
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ret, error = filter.aim_near(label)
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error += offset
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if run_on:
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if abs(error) < 5:
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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break
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else:
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break
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# 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
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ret, error = filter.aim_near(label)
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while not ret:
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ret, error = filter.aim_near(label)
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error += offset
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time.sleep(1)
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logger.error(error)
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if abs(error) > 5:
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logger.info("校准中")
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if abs(error) < 5:
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error = error * 5
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logger.error("校准分段 error * 5")
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elif abs(error) < 20:
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error = error * 4
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logger.error("校准分段 error * 4")
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else:
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error = error * 3
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logger.error("校准分段 error * 3")
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if error > 0:
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by_cmd.send_distance_x(-cali_speed, int(error))
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else:
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by_cmd.send_distance_x(cali_speed, int(-error))
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time.sleep(2)
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# stop
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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pass
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def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
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# run_direc == 1 向前
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if run_direc == 1:
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by_cmd.send_speed_x(run_speed)
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else:
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by_cmd.send_speed_x(-run_speed)
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while True:
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if ret:
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# 校准速度越大 停车的条件越宽泛
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if abs(error) <= 15:
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car_stop()
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logger.info("可以停车了")
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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logger.info(f"停车后像素误差:{error}")
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if abs(error) > 8:
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error = error * 3
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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break
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# 任务类
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class task:
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def __init__(self, task_template, find_counts=10, enable=True):
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@@ -253,16 +174,10 @@ class task:
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def find(self):
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# 检查该任执行标志
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while True:
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# if self.func_find():
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# 特殊地方可以直接跳出 find
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ret = self.task_t.find()
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self.counts += ret
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# if self.task_t.find():
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# self.counts += 1
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if self.counts >= self.find_counts:
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break
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# while self.func_find() is False:
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# pass
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def exec(self):
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# 根据标志位确定是否执行该任务
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@@ -337,59 +252,13 @@ class get_block():
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ret = filter.find(self.target_label)
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if ret > 0:
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return True
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else:
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return False
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return False
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def exec(self):
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car_stop()
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calibrate_new(self.target_label, offset = 12)
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logger.info("抓取块")
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time.sleep(3)
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# 测试新方案
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# 旧方案
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# for _ in range(3):
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# by_cmd.send_speed_x(0)
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# time.sleep(0.2)
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# by_cmd.send_speed_omega(0)
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# calibrate(self.target_label, 12, False, 7)
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# logger.info("抓取块")
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# time.sleep(2)
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# by_cmd.send_distance_axis_z(20, 20*7)
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# time.sleep(3)
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# # 向内退
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# by_cmd.send_distance_axis_x(3, 20*2)
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# time.sleep(2)
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# # 旋转机械臂到最右侧
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# by_cmd.send_angle_claw_arm(36 + 184)
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# time.sleep(1.5)
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# # 开爪子
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# by_cmd.send_angle_claw(27.0 + 9 * 3)
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# # 下降
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# by_cmd.send_distance_axis_z(20, -20*4)
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# time.sleep(1.5)
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# # 关爪子
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# by_cmd.send_angle_claw(27.0 - 2)
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# time.sleep(1)
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# by_cmd.send_distance_axis_z(15, 20*2)
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# time.sleep(2)
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# while True:
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# pass
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# by_cmd.send_distance_x(10, 500)
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# counts = 0
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# while True:
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# counts += filter.find(self.another_label)
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# if counts >= 35:
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# break
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# for _ in range(3):
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# by_cmd.send_speed_x(0)
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# time.sleep(0.2)
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# by_cmd.send_speed_omega(0)
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# calibrate(self.another_label, 12, False, 7)
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# logger.info("抓取块")
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# time.sleep(2)
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pass
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# 调试 临时注释掉
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# calibrate(tlabel.RBLOCK,15)
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@@ -434,20 +303,18 @@ class put_block():
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socket.recv()
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def find(self):
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# 目标检测医院
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ret1, list1 = filter.get(tlabel.HOSPITAL)
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if ret1 > 0:
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width = list1[0][2] - list1[0][0]
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ret, box = filter.get(tlabel.HOSPITAL)
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if ret > 0:
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width = box[0][2] - box[0][0]
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if width > 120:
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return True
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return False
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else:
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return False
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return False
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def exec(self):
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logger.info("找到医院")
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car_stop()
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calibrate_new(tlabel.HOSPITAL, offset = 7, run = False)
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time.sleep(3)
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# calibrate(tlabel.HOSPITAL, 7, False, 6)
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# by_cmd.send_position_axis_z(10, 150)
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# time.sleep(3)
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@@ -462,49 +329,56 @@ class put_block():
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# 整装上阵
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class get_bball():
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def init(self):
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# by_cmd.send_position_axis_x(2, 140)
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while (by_cmd.send_angle_camera(90) == -1):
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by_cmd.send_angle_camera(90)
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by_cmd.send_position_axis_z(10, 130)
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time.sleep(0.5)
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by_cmd.send_position_axis_x(1, 0)
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time.sleep(0.5)
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by_cmd.send_angle_storage(0)
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# 调试 临时换源
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socket.send_string("1")
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socket.recv()
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logger.info("整装上阵初始化")
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time.sleep(0.5)
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while (by_cmd.send_angle_camera(90) == -1):
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by_cmd.send_angle_camera(90)
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def find(self):
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# 目标检测蓝球
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ret = filter.find(tlabel.BBALL)
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if ret:
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return True
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else:
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return False
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return False
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def exec(self):
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logger.info("找到蓝色球")
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car_stop()
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time.sleep(0.5)
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for _ in range(3):
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calibrate_right_new(tlabel.BBALL, offset = 27, run = True, run_speed = 3.5)
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calibrate_right_new(tlabel.BBALL, offset = 27, run = True, run_speed = 4)
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logger.info("抓蓝色球")
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time.sleep(5)
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# 原方案
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# time.sleep(1)
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# calibrate_right(tlabel.BBALL, 27, False, 5)
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# logger.info("抓到了蓝色球")
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# time.sleep(5)
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# for i in range(2):
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# while True:
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# by_cmd.send_distance_x(6, 60)
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# ret, error = filter.aim_near(tlabel.BBALL)
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# if ret and abs(error) < 30:
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# break
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# else:
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# by_cmd.send_distance_x(6, 60)
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# for _ in range(3):
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# by_cmd.send_speed_x(0)
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# time.sleep(0.1)
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# by_cmd.send_speed_omega(0)
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# calibrate_right(tlabel.BBALL, 27, False, 5)
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# time.sleep(5)
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by_cmd.send_angle_claw_arm(36)
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by_cmd.send_angle_claw(54)
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by_cmd.send_position_axis_x(1, 140)
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time.sleep(1)
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by_cmd.send_angle_claw(70)
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time.sleep(1)
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by_cmd.send_angle_claw(30)
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time.sleep(1)
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by_cmd.send_distance_axis_z(10, 20)
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time.sleep(2)
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by_cmd.send_position_axis_x(1, 0)
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time.sleep(1)
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by_cmd.send_angle_claw_arm(82)
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time.sleep(1)
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by_cmd.send_angle_claw(54)
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time.sleep(1)
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by_cmd.send_angle_claw_arm(36)
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time.sleep(1)
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by_cmd.send_distance_axis_z(10, -20)
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time.sleep(1)
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# by_cmd.send_position_axis_z(20, 160)
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@@ -538,15 +412,15 @@ class up_tower():
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by_cmd.send_angle_camera(90)
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def find(self):
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# 目标检测通信塔
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ret, error = filter.aim_near(tlabel.TOWER)
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ret = filter.find(tlabel.TOWER)
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if ret:
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return True
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else:
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return False
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return False
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def exec(self):
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logger.info("找到塔")
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car_stop()
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calibrate_new(tlabel.TOWER, offset = 27, run = True)
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time.sleep(0.5)
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# calibrate(tlabel.TOWER, 27, False, 6)
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time.sleep(3)
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@@ -602,16 +476,22 @@ class put_bball():
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def exec(self):
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logger.info("找到篮筐")
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car_stop()
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calibrate_new(tlabel.BASKET,offset = 12, run = True)
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calibrate_new(tlabel.BASKET,offset = -15, run = True, run_speed = 5.5)
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by_cmd.send_distance_y(-10, 65)
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time.sleep(1)
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by_cmd.send_angle_storage(55)
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logger.info("把球放篮筐里")
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time.sleep(2)
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time.sleep(1)
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by_cmd.send_distance_y(10, 65)
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time.sleep(1)
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pass
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def nexec(self):
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pass
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direction = tlabel.RMARK
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direction_left = 0
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direction_right = 0
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# 物资盘点
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class put_hanoi1():
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def init(self):
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@@ -619,24 +499,17 @@ class put_hanoi1():
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socket.send_string("2")
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socket.recv()
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def find(self):
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global direction
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global direction_left
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global direction_right
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# 目标检测左右转向标识
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# TODO 框的大小判断距离
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# ret1, list1 = filter.get(tlabel.RMARK)
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# ret2, list2 = filter.get(tlabel.LMARK)
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ret, label, error = filter.get_mult_box([tlabel.LMARK, tlabel.RMARK])
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if label == tlabel.RMARK:
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if abs(error) < 55:
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logger.info("向右拐")
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direction_right += 1
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utils.direction_right += 1
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return True
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return False
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elif label == tlabel.LMARK:
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if abs(error) < 50:
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logger.info("向左拐")
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direction_left += 1
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utils.direction_left += 1
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return True
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return False
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else:
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@@ -650,35 +523,44 @@ class put_hanoi1():
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time.sleep(0.2)
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# 校准牌子
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if direction_right > direction_left:
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if utils.direction_right > utils.direction_left:
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ret, error = filter.aim_near(tlabel.RMARK)
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while not ret:
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ret, error = filter.aim_near(tlabel.RMARK)
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direction = tlabel.RMARK
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utils.direction = tlabel.RMARK
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logger.info("应该向右转")
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else:
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ret, error = filter.aim_near(tlabel.LMARK)
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while not ret:
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ret, error = filter.aim_near(tlabel.LMARK)
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direction = tlabel.LMARK
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utils.direction = tlabel.LMARK
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logger.info("应该向左转")
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# 校准 omega
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if error > 0:
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by_cmd.send_angle_omega(-20,abs(utils.lane_error)*13)
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by_cmd.send_angle_omega(-20,abs(utils.lane_error))
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else:
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by_cmd.send_angle_omega(20,abs(utils.lane_error)*13)
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by_cmd.send_angle_omega(20,abs(utils.lane_error))
|
||||
time.sleep(0.5)
|
||||
by_cmd.send_speed_omega(0)
|
||||
car_stop()
|
||||
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)
|
||||
by_cmd.send_distance_x(10, 200)
|
||||
time.sleep(0.5)
|
||||
# 根据岔路口切换爪子的方向
|
||||
if utils.direction_right > utils.direction_left:
|
||||
pass
|
||||
else:
|
||||
|
||||
pass
|
||||
time.sleep(1.5)
|
||||
if utils.direction_right > utils.direction_left:
|
||||
utils.direction = tlabel.RMARK
|
||||
by_cmd.send_angle_omega(-25,430)
|
||||
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)
|
||||
utils.direction = tlabel.LMARK
|
||||
by_cmd.send_angle_omega(25,430)
|
||||
time.sleep(2)
|
||||
while (by_cmd.send_angle_camera(180) == -1):
|
||||
by_cmd.send_angle_camera(180)
|
||||
@@ -689,37 +571,22 @@ class put_hanoi1():
|
||||
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):
|
||||
|
||||
if utils.direction_right > utils.direction_left:
|
||||
self.offset = 25
|
||||
else:
|
||||
self.offset = 15
|
||||
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
|
||||
if self.pos_lp == 1:
|
||||
self.target_label = tlabel.LPILLER
|
||||
elif self.pos_mp == 1:
|
||||
self.target_label = tlabel.MPILLER
|
||||
else:
|
||||
self.target_label = tlabel.SPILLER
|
||||
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']
|
||||
@@ -727,16 +594,46 @@ class put_hanoi2():
|
||||
def init(self):
|
||||
logger.info("物资盘点 2 初始化")
|
||||
def find(self):
|
||||
time.sleep(0.001)
|
||||
return True
|
||||
ret, box = filter.get(self.target_label)
|
||||
if ret:
|
||||
utils.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):
|
||||
# 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)
|
||||
logger.info(f"offset:{self.offset}")
|
||||
utils.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 = 6)
|
||||
logger.info("抓大平台")
|
||||
time.sleep(5)
|
||||
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 6)
|
||||
logger.info("放大平台")
|
||||
time.sleep(5)
|
||||
|
||||
explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed = 6)
|
||||
logger.info("抓中平台")
|
||||
time.sleep(5)
|
||||
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 6)
|
||||
logger.info("放中平台")
|
||||
time.sleep(5)
|
||||
|
||||
|
||||
explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 6)
|
||||
logger.info("抓小平台")
|
||||
time.sleep(5)
|
||||
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 6)
|
||||
logger.info("放小平台")
|
||||
time.sleep(5)
|
||||
while True:
|
||||
pass
|
||||
# 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}")
|
||||
|
||||
@@ -772,21 +669,16 @@ class move_area1():
|
||||
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:
|
||||
ret = filter.find(tlabel.SIGN)
|
||||
if ret:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
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)
|
||||
car_stop()
|
||||
time.sleep(2)
|
||||
|
||||
utils.task_speed = 8
|
||||
pass
|
||||
def nexec(self):
|
||||
pass
|
||||
@@ -794,16 +686,20 @@ class move_area1():
|
||||
class move_area2():
|
||||
def init(self):
|
||||
logger.info("应急避险第二阶段初始化")
|
||||
self.offset = 15
|
||||
def find(self):
|
||||
time.sleep(0.001)
|
||||
return True
|
||||
# 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) < 10:
|
||||
return 5000
|
||||
return False
|
||||
def exec(self):
|
||||
utils.task_speed = 0
|
||||
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)
|
||||
car_stop()
|
||||
calibrate_new(tlabel.SHELTER, offset = 15, run = True)
|
||||
time.sleep(1)
|
||||
# 进入停车区域
|
||||
by_cmd.send_distance_y(10, 450)
|
||||
@@ -828,32 +724,24 @@ class kick_ass():
|
||||
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:
|
||||
ret = filter.find(tlabel.SIGN)
|
||||
if ret:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
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)
|
||||
# 停的晚无需校准 omage
|
||||
car_stop()
|
||||
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)
|
||||
calibrate_new(tlabel.SIGN, offset = 8, run = True)
|
||||
time.sleep(0.5)
|
||||
|
||||
|
||||
if self.target_person == 1:
|
||||
by_cmd.send_distance_x(10, self.pos_gap1)
|
||||
target_distance = self.pos_gap1
|
||||
else:
|
||||
by_cmd.send_distance_x(10, self.pos_gap1 + (self.target_person - 1) * self.pos_gap2)
|
||||
|
||||
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(2)
|
||||
time.sleep(5)
|
||||
pass
|
||||
|
||||
Reference in New Issue
Block a user