区域赛版本

feat: 增加原始模型參數和任務版本

.gitignore

@@ -196,3 +196,5 @@ pyrightconfig.json
 
 # log path
 log/*
+
+temp/*

action.py

@@ -13,7 +13,7 @@ move = None
 axis = None
 cmd = None
 
-cfg = toml.load('cfg_action.toml')
+cfg = toml.load('/home/evan/Workplace/project_main/cfg_action.toml')
 
 def import_obj(_bycmd):
     global bycmd

app.py

@@ -0,0 +1,203 @@
+from flask import Flask, render_template, request
+from flask_socketio import SocketIO
+import toml
+from loguru import logger
+import logging
+from multiprocessing import Process, Queue
+import threading
+import multiprocessing
+import os
+import time
+import subprocess
+import signal
+import importlib
+from main_upper import main_func
+server_command = [
+    {"path": "/home/evan/Workplace/project_capture/build/", "script": "./capture"},
+    {"path": "/home/evan/Workplace/project_infer/lane_server/", "script": "lane_infer_server.py"},
+    # {"path": "/home/evan/Workplace/project_infer/lane_server/", "script": "lane_infer_server1.py"},
+    {"path": "/home/evan/Workplace/project_infer/yolo_server/", "script": "yolo_infer_server.py"},
+
+]
+processes = []
+
+time_record = None
+
+task_run_flag = False
+
+# 日志队列
+queue = Queue()
+# 跳过任务 干预任务调度
+skip_task_queue = Queue()
+
+app = Flask(__name__)
+app.jinja_env.variable_start_string = '[('
+app.jinja_env.variable_end_string = ')]'
+app.config['SECRET_KEY'] = 'secret!'
+socketio = SocketIO(app, allow_unsafe_werkzeug=True)
+
+server_process = None
+task_process = None
+
+class WebSocketHandler(logging.Handler):
+    def emit(self, record):
+        log_entry = self.format(record)
+        socketio.emit('log', {'level': record.levelname.lower(), 'content': log_entry})
+
+# 设置日志
+logger.remove()
+handler = WebSocketHandler()
+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():
+    return render_template('index.html')
+
+@app.route('/run')
+def run():
+    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')
+
+@socketio.on('operate')
+def operate_handle(data):
+    global server_process
+    global task_process
+    global processes
+    global time_record
+    global task_run_flag
+    if data['type'] == 'save_config':
+        f = open(os.path.join(fileOptions_path,data['file_name']), 'w')
+        ret = toml.dump(data['content'], f)
+        logger.info(f"保存成功 {data['file_name']}")
+        f.close()
+    elif data['type'] == 'operate_server':
+        logger.info(data)
+        if data['content'] == 'run':
+            log_file = "server_processes.log"
+            log = open(log_file, "w")
+            time.sleep(2)
+            # 启动所有脚本
+            for i, env_info in enumerate(server_command):
+                env_path = env_info["path"]
+                script = env_info["script"]
+                env = os.environ.copy() 
+                if i == 0:
+                    process = subprocess.Popen([script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
+                    processes.append(process)
+                    time.sleep(2)
+                
+                process = subprocess.Popen(['python', script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
+                processes.append(process)
+            logger.info("开启 server")
+        elif data['content'] == 'stop':
+            for process in processes:
+                logger.error(process.pid)
+                os.kill(process.pid, signal.SIGINT)
+            logger.info("关闭 server")
+        elif data['content'] == 'restart':
+            
+            logger.info("重启 server")
+    elif data['type'] == 'operate_task':
+        # 任务函数
+        if data['content'] == 'run':
+            task_run_flag = True
+            if task_process != None:
+                task_process.terminate()
+            time_record = time.perf_counter()
+            task_process = Process(target=main_func, args=(queue,skip_task_queue))
+            task_process.start()
+            logger.info("开启 task")
+        elif data['content'] == 'stop':
+            task_run_flag = False
+            task_process.terminate()
+            logger.info(f"任务结束 用时{time.perf_counter() - time_record}s")
+            logger.info("关闭  task")
+        elif data['content'] == 'restart':
+            if task_process != None:
+                task_process.terminate()
+            task_process = Process(target=main_func, args=(queue,skip_task_queue))
+            task_process.start()
+    elif data['type'] == 'show_server_log':
+        content = ''
+        try:
+            with open("server_processes.log", 'r') as file:
+                content = file.read()
+        except:
+            pass
+        socketio.emit('server_log', {'type': 'server_log', 'content': content})
+    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)
+
+@socketio.on('connect')
+def test_connect():
+    logger.info('Client connected')
+    socketio.emit('config_data', {'type': 'fileOptions', 'content': fileOptions_list})
+    config_data = {}
+    for item in fileOptions_list:
+        config_data[item] = toml.load(os.path.join(fileOptions_path,item))
+    socketio.emit('config_data', {'type': 'config_data', 'content': config_data})
+    socketio.emit('task_status', {'type': 'task_status', 'content': int(task_run_flag)})
+def thread_function():
+    global queue
+    while True:
+        try:
+            log = queue.get()
+            socketio.emit('log', log)
+        except multiprocessing.Queue.Empty:
+            pass
+
+    
+if __name__ == '__main__':
+
+    config_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+    config_args = toml.load(config_path)
+    config_args['lane_mode']['mode_index'] = 1
+    with open(config_path, 'w') as config_file:
+        toml.dump(config_args, config_file)
+
+    log_file = "server_processes.log"
+    log = open(log_file, "w")
+    time.sleep(2)
+    # 启动所有脚本
+    for i, env_info in enumerate(server_command):
+        env_path = env_info["path"]
+        script = env_info["script"]
+        env = os.environ.copy() 
+        if i == 0:
+            process = subprocess.Popen([script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
+            processes.append(process)
+            time.sleep(2)
+        
+        process = subprocess.Popen(['python', script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
+        processes.append(process)
+
+    thread1 = threading.Thread(target=thread_function, daemon = True)
+    thread1.start()
+    socketio.run(app, host='0.0.0.0', port=5001, allow_unsafe_werkzeug=True)
+    if server_process != None:
+        server_process.terminate()
+    if task_process != None:
+        task_process.terminate()
+    for process in processes:
+        logger.error(process.pid)
+        os.kill(process.pid, signal.SIGINT)

cfg_args.toml

@@ -0,0 +1,14 @@
+[lane_mode]
+mode_index = 1
+
+[task]
+Subtask_enable = true
+GetBlock_enable = true
+PutBlock_enable = true
+GetBBall_enable = true
+UpTower_enable = true
+GetRBall_enable = true
+PutBBall_enable = true
+PutHanoi_enable = true
+MoveArea_enable = false
+KickAss_enable = true

cfg_main.toml

@@ -2,30 +2,18 @@
 logger_filename = "log/file_{time}.log"
 logger_format = "{time} {level} {message}"
 
-[task]
-Subtask_enable = true # 子任务总使能 调试用！
-GetBlock_enable = true # 人员施救使能
-PutBlock_enable = true # 紧急转移使能
-GetBBall_enable = true # 整装上阵使能
-UpTower_enable = true  # 通信抢修使能
-GetRBall_enable = true # 高空排险使能
-PutBBall_enable = true # 派发物资使能
-PutHanoi_enable = true # 物资盘点使能
-MoveArea_enable = true # 应急避险使能
-KickAss_enable = true  # 扫黑除暴使能
+
 
 [find_counts]
-GetBlock_counts = 5 # 人员施救计数
-PutBlock_counts = 5  # 紧急转移计数
-GetBBall_counts = 1  # 整装上阵计数
-UpTower_counts = 3   # 通信抢修计数
-GetRBall_counts = 10 # 高空排险计数
-
-
-PutBBall_counts = 5     # 派发物资计数
-PutHanoi1_counts = 10   # 物资盘点计数
-PutHanoi2_counts = 2    # 物资盘点计数
-PutHanoi3_counts = 2    # 物资盘点计数
-MoveArea1_counts = 6    # 应急避险计数
-MoveArea2_counts = 1700 # 应急避险第二阶段计数
-KickAss_counts = 10     # 扫黑除暴计数
+GetBlock_counts = 5
+PutBlock_counts = 12
+GetBBall_counts = 5
+UpTower_counts = 3
+GetRBall_counts = 10
+PutBBall_counts = 15
+PutHanoi1_counts = 7
+PutHanoi2_counts = 2
+PutHanoi3_counts = 5
+MoveArea1_counts = 6
+MoveArea2_counts = 1700
+KickAss_counts = 10

cfg_main.toml.bak

@@ -0,0 +1,29 @@
+[debug]
+logger_filename = "log/file_{time}.log"
+logger_format = "{time} {level} {message}"
+
+[task]
+Subtask_enable = false
+GetBlock_enable = false
+PutBlock_enable = false
+GetBBall_enable = false
+UpTower_enable = false
+GetRBall_enable = false
+PutBBall_enable = false
+PutHanoi_enable = false
+MoveArea_enable = true
+KickAss_enable = true
+
+[find_counts]
+GetBlock_counts = 8
+PutBlock_counts = 5
+GetBBall_counts = 3
+UpTower_counts = 3
+GetRBall_counts = 10
+PutBBall_counts = 10
+PutHanoi1_counts = 10
+PutHanoi2_counts = 2
+PutHanoi3_counts = 2
+MoveArea1_counts = 6
+MoveArea2_counts = 1700
+KickAss_counts = 10

cfg_subtask.toml

@@ -1,92 +1,61 @@
-################################################
 [get_block]
-# pid 参数值
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
 pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 
-# *第一个抓取的方块
-first_block = "red"
-# first_block = "blue"
-
-################################################
-[put_block]
-# pid 参数值
-pid_kp = 1.2
-pid_ki = 0
-pid_kd = 0
-
-################################################
-[get_bball]
-# pid 参数值
-pid_kp = 1.2
-pid_ki = 0
-pid_kd = 0
-
-################################################
-[up_tower]
-# pid 参数值
-pid_kp = 1.2
-pid_ki = 0
-pid_kd = 0
-
-################################################
 [get_rball]
-# pid 参数值
+pid_kp = 1.5
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.7
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
 pid_kp = 0.8
 pid_ki = 0
 pid_kd = 0
-
-################################################
-[put_bball]
-# pid 参数值
-pid_kp = 0.6
-pid_ki = 0
-pid_kd = 0
-
-################################################
-[put_hanoi1]
-# pid 参数值
-pid_kp = 1.0
-pid_ki = 0
-pid_kd = 0
-
-################################################
-[put_hanoi2]
-# pid 参数值
-pid_kp = 1.0
-pid_ki = 0
-pid_kd = 0
-
-# 距离标定值
-pos_gap = 160 # 标定值，两个放置位置的标定距离 
-# first_target = "lp"
-first_target = "mp"
-# first_target = "sp"
-################################################
-[put_hanoi3]
-# pid 参数值
-pid_kp = 1.2
-pid_ki = 0
-pid_kd = 0
-
-################################################
-[move_area]
-# pid 参数值
-pid_kp = 1.4
-pid_ki = 0
-pid_kd = 0
-
-llm_enable = true # 大模型机器人
-
-################################################
-[kick_ass]
-# pid 参数值
-pid_kp = 1.2
-pid_ki = 0
-pid_kd = 0
-
-pos_gap1 = 150    # 目标牌和第一个 person 之间的距离
-pos_gap2 = 80     # person 之间的距离
-target_person = 3 # 击打的人 - 最靠近标识牌的为 1
-################################################
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.6_9.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.1
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.6
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.7126.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.4
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.7131.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.6
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 2.5
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.7154.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 2
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 2.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.bak.7102

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0.1
+
+[get_bball]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 2.8
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 2.4
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 2.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.raw.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.8
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

main.py

@@ -1,23 +1,24 @@
 import toml
-import queue
 import threading
+import queue
 from loguru import logger
 import subtask as sb
 import majtask as mj
 from by_cmd_py import by_cmd_py
 import time
 import action as act
+# 读取配置
+cfg_main = toml.load('cfg_main.toml')
+cfg_subtask = toml.load('cfg_subtask.toml')
+
+# logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
+running = True
 
 cmd_py_obj = by_cmd_py()
 sb.import_obj(cmd_py_obj)
 act.import_obj(cmd_py_obj)
 
-# 读取配置
-cfg_main = toml.load('cfg_main.toml')
-
 # 配置日志输出
-logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
-
 act.axis.camera(0)
 act.axis.x2(140)
 act.axis.storage(20)
@@ -26,22 +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(sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-    task_queue.put(sb.task(sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-    task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-    task_queue.put(sb.task(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(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
-    task_queue.put(sb.task(sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
-    task_queue.put(sb.task(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(sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], 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(sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
-    task_queue.put(sb.task(sb.put_hanoi3, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
-    task_queue.put(sb.task(sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable'])) 
-    task_queue.put(sb.task(sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable'])) 
-    task_queue.put(sb.task(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)
 
@@ -54,13 +54,11 @@ def worker_thread():
 worker = threading.Thread(target=worker_thread, daemon=True)  
 worker.start()  
 
+
 # 创建主任务
 main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
-
-# 主线程仅在子线程搜索 (SEARCHING) 和 空闲 (IDLE) 状态下进行操作
-# while task_queuem_t.busy is True:
 try:
-    while True:
+    while running:
         if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
             pass
         else:
@@ -74,5 +72,9 @@ except KeyboardInterrupt:
         time.sleep(0.1)
         cmd_py_obj.send_speed_omega(0)
         time.sleep(0.1)
-
+for _ in range(3):
+    cmd_py_obj.send_speed_x(0)
+    time.sleep(0.1)
+    cmd_py_obj.send_speed_omega(0)
+    time.sleep(0.1)
 logger.info("Main thread exit")

main_upper.py

@@ -0,0 +1,109 @@
+import toml
+import threading
+import queue
+from loguru import logger
+import subtask as sb
+import majtask as mj
+from by_cmd_py import by_cmd_py
+import time
+import action as act
+import logging
+import signal
+
+running = True
+def main_func(_queue, _skip_queue):
+    if _queue != None:
+        # 日志重定向
+        class Handler(logging.Handler):
+            def emit(self, record):
+                log_entry = self.format(record)
+                _queue.put({'level': record.levelname.lower(), 'content': log_entry})
+        logger.remove()
+        handler = Handler()
+        logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
+        
+    def signal_handler(sig, frame):
+        global running
+        running = False
+    signal.signal(signal.SIGTERM, signal_handler)
+
+
+    cmd_py_obj = by_cmd_py(_queue)
+    sb.import_obj(cmd_py_obj, _skip_queue)
+    act.import_obj(cmd_py_obj)
+
+    # 读取配置
+    cfg_main = toml.load('/home/evan/Workplace/project_main/cfg_main.toml')
+    cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.toml')
+    # logger.info(cfg_main)
+    cfg_subtask = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml')
+
+    # 配置日志输出
+    logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
+    logger.info(cfg_args)
+
+    act.axis.camera(0)
+    act.axis.x2(140)
+    act.axis.storage(20)
+    act.axis.scoop(25)
+    act.axis.claw_arm(225)
+    act.axis.exec()
+
+    logger.info(cfg_main)
+    
+    # 向任务队列添加任务
+    task_queue = queue.Queue()
+    if cfg_args['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_args['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_args['task']['GetBlock_enable'])) 
+        task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_args['task']['GetBlock_enable'])) 
+        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'])) 
+        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_args['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_args['task']['MoveArea_enable'])) 
+        task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_args['task']['KickAss_enable'])) 
+    # 将任务队列传入调度模块中
+    task_queuem_t = sb.task_queuem(task_queue)
+    # 创建任务队列的工作线程
+    def worker_thread():
+        while task_queuem_t.exec(_skip_queue) is True:
+            pass
+
+    # 启动工作线程
+    worker = threading.Thread(target=worker_thread, daemon=True)  
+    worker.start()  
+
+
+    # 创建主任务
+    main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
+    try:
+        while running:
+            if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
+                pass
+            else:
+                main_task_t.run()
+                pass
+    except KeyboardInterrupt:
+        logger.info("Interrupt received, stopping...")
+        # 停车 
+        for _ in range(3):
+            cmd_py_obj.send_speed_x(0)
+            time.sleep(0.1)
+            cmd_py_obj.send_speed_omega(0)
+            time.sleep(0.1)
+    for _ in range(3):
+        cmd_py_obj.send_speed_x(0)
+        time.sleep(0.1)
+        cmd_py_obj.send_speed_omega(0)
+        time.sleep(0.1)
+    logger.info("Main thread exit")
+if __name__ == '__main__':
+    from multiprocessing import Queue
+    temp = Queue()
+    main_func(None, temp)

majtask.py

@@ -8,9 +8,14 @@ import variable as var
     
 class main_task():
     def __init__(self,by_cmd):
+        # lane infer server
         self.context = zmq.Context()
         self.socket = self.context.socket(zmq.REQ)
         self.socket.connect("tcp://localhost:6666")
+        # lane infer server1
+        # self.context1 = zmq.Context()
+        # self.socket1 = self.context.socket(zmq.REQ)
+        # self.socket1.connect("tcp://localhost:6669")
 
         # 赛道回归相关
         self.x = 0
@@ -62,17 +67,18 @@ class main_task():
             error_abs = abs(self.lane_error)
 
             if error_abs > 50:
-                speed = 11
-            elif error_abs > 45:
+                # speed = 11
                 speed = 13
+            elif error_abs > 45:
+                speed = 15
             elif error_abs > 35:
-                speed = 15
+                speed = 17
             elif error_abs > 25:
-                speed = 15
-            elif error_abs > 15:
-                speed = 15
-            else:
                 speed = 18
+            elif error_abs > 15:
+                speed = 19
+            else:
+                speed = 21
 
             # lane_model initial
             # if error_abs > 50:
@@ -96,7 +102,12 @@ class main_task():
             # pid_out = -pid_out
             # logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
             self.by_cmd.send_speed_omega(pid_out)
-            
+        # if var.switch_lane_model:
+        #     self.socket1.send_string("")
+        #     resp = self.socket1.recv_pyobj()
+        # else:
+        #     self.socket.send_string("")
+        #     resp = self.socket.recv_pyobj()
         self.socket.send_string("")
         resp = self.socket.recv_pyobj()
         self.parse_data(resp)

templates/csdn.html

@@ -0,0 +1,112 @@
+
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>第十九届全国大学生智能汽车竞赛 百度智慧交通创意组 “风雨同舟”比赛规则_全国大学生智能汽车竞赛 智慧交通创意-CSDN博客</title>
+    <script src="/static/vue.js"></script>
+    <script src="static/socket.io.js"></script>
+    <style>
+        body, html {
+            margin: 0;
+            padding: 0;
+            height: 100%;
+            overflow: hidden;
+        }
+        #app {
+            width: 100vw;
+            height: 100vh;
+            overflow: hidden;
+            position: relative;
+        }
+        .background-container {
+            width: 100%;
+            height: 100%;
+            background-size: cover;
+            background-position: center;
+            transition: background-position 0.1s ease-out;
+        }
+        .floating-buttons {
+            position: fixed;
+            bottom: 20px;
+            left: 0;
+            right: 0;
+            display: flex;
+            justify-content: center;
+            gap: 20px;
+            z-index: 10;
+        }
+        .floating-button {
+            width: 160px;
+            height: 40px;
+            border-radius: 20px;
+            background-color: #fc5531;
+            border: none;
+            color: white;
+            font-size: 16px;
+            cursor: pointer;
+            transition: background-color 0.3s;
+        }
+        .floating-button:hover {
+            background-color: #fc5531;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <div class="background-container" 
+             :style="backgroundStyle" 
+             @mousemove="handleMouseMove" 
+             ref="container">
+        </div>
+        <div class="floating-buttons">
+            <button class="floating-button" @click="handleButton1Click">打开 CSDN APP</button>
+            <button class="floating-button" @click="handleButton2Click">小程序看全文</button>
+        </div>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                imageSrc: '/static/csdn.png',  // 使用大尺寸占位图片
+                backgroundPosition: '0%'
+            },
+            computed: {
+                backgroundStyle() {
+                    return {
+                        backgroundImage: `url(${this.imageSrc})`,
+                        backgroundPosition: `center ${this.backgroundPosition}`
+                    };
+                }
+            },
+            methods: {
+                handleMouseMove(event) {
+                    const containerRect = this.$refs.container.getBoundingClientRect();
+                    const mouseY = event.clientY - containerRect.top;
+                    const scrollPercent = (mouseY / containerRect.height) * 100;
+                    this.backgroundPosition = `${scrollPercent}%`;
+                },
+                handleButton1Click() {
+                    // alert('按钮 1 被点击了');
+                },
+                handleButton2Click() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                },
+                onImageLoad() {
+                    console.log('背景图片加载完成');
+                    // 这里可以添加图片加载完成后的额外操作
+                }
+            },
+            mounted() {
+                const img = new Image();
+                img.onload = this.onImageLoad;
+                img.src = this.imageSrc;
+                this.socket = io('http://' + document.domain + ':5001');
+
+            }
+        });
+    </script>
+</body>
+</html>

templates/index.html

@@ -0,0 +1,302 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>btl143</title>
+    <!-- <link rel="stylesheet" href="https://unpkg.com/element-ui/lib/theme-chalk/index.css">
+    <script src="https://cdn.jsdelivr.net/npm/vue@2.6.14/dist/vue.js"></script>
+    <script src="https://unpkg.com/element-ui/lib/index.js"></script>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/socket.io/4.0.1/socket.io.js"></script> -->
+
+    <link rel="stylesheet" href="static/index.css">
+    <script src="static/vue.js"></script>
+    <script src="static/index.js"></script>
+    <script src="static/socket.io.js"></script>
+    
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            background-color: #f5f7fa;
+        }
+        .app-container {
+            padding: 20px;
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+        .section-title {
+            margin-top: 30px;
+            margin-bottom: 20px;
+            color: #303133;
+            border-bottom: 1px solid #dcdfe6;
+            padding-bottom: 10px;
+        }
+        .button-group {
+            margin-bottom: 20px;
+        }
+        .config-form {
+            background-color: white;
+            padding: 20px;
+            border-radius: 4px;
+            box-shadow: 0 2px 12px 0 rgba(0,0,0,.1);
+        }
+        .log-container {
+            height: 400px;
+            overflow-y: auto;
+            background-color: white;
+            border-radius: 4px;
+            padding: 10px;
+            box-shadow: 0 2px 12px 0 rgba(0,0,0,.1);
+        }
+        .log-container1 {
+            height: 400px;
+            overflow-y: auto;
+            background-color: white;
+            border-radius: 4px;
+            padding: 10px;
+            box-shadow: 0 2px 12px 0 rgba(0,0,0,.1);
+        }
+        .log-entry {
+            margin-bottom: 5px;
+            font-family: monospace;
+        }
+        .log-info { color: #409EFF; }
+        .log-error { color: #F56C6C; }
+        .log-warning { color: #E6A23C; }
+        .log-debug { color: #909399; }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <el-container class="app-container">
+            <el-main>
+                <h1 class="section-title">btl143 upper</h1>
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="startServer" type="success" style="width: 100%">开启 server</el-button>
+                    </el-col>
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="stopServer" type="danger" style="width: 100%">关闭 server</el-button>
+                    </el-col>
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="restartServer" type="warning" style="width: 100%">重启 server</el-button>
+                    </el-col>
+                </el-row>
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="startTask" type="success" style="width: 100%">开启 task</el-button>
+                    </el-col>
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="stopTask" type="danger" style="width: 100%">关闭 task</el-button>
+                    </el-col>
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="restartTask" type="warning" style="width: 100%">重启 task</el-button>
+                    </el-col>
+                </el-row>
+
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="showServerLog" type="success" style="width: 100%">
+                            {{ showServerLogFlag ? '关闭' : '打开' }}  server 日志
+                        </el-button>
+                    </el-col>
+                    <el-col :xs="24" :sm="8">
+                        
+                    </el-col>
+                    <el-col :xs="24" :sm="8">
+                        <el-button @click="skipTask" type="success" style="width: 100%">
+                            关闭
+                        </el-button>
+                    </el-col>
+                </el-row>
+                
+                <el-select v-model="selectedFile" placeholder="" @change="loadConfig" style="width: 100%; margin-bottom: 20px;">
+                    <el-option
+                        v-for="item in fileOptions"
+                        :key="item"
+                        :label="item"
+                        :value="item">
+                    </el-option>
+                </el-select>
+                
+                <!-- <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
+                    {{ showConfigForm ? '关闭' : '打开' }} 配置
+                </el-button> -->
+                
+                <el-form v-if="showConfigForm && config" class="config-form">
+                    <el-button @click="saveConfig" type="primary" style="margin-top: 20px;">保存配置</el-button>
+                    <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
+                        {{ showConfigForm ? '关闭' : '打开' }} 配置
+                    </el-button>
+                    <div v-for="(section, sectionName) in config" :key="sectionName">
+                        <h3>{{ sectionName }}</h3>
+                        <el-row :gutter="20">
+                            <el-col v-for="(value, key) in section" :key="key" :xs="24" :sm="12" :md="8" :lg="6">
+                                <el-form-item :label="key">
+                                    <el-select v-if="sectionName === 'lane_mode'" v-model="config[sectionName][key]">
+                                        <el-option
+                                          v-for="item in target_person_options"
+                                          :key="item.value"
+                                          :label="item.label"
+                                          :value="item.value">
+                                        </el-option>
+                                    </el-select>
+                                    <el-switch
+                                        v-if="typeof value === 'boolean'"
+                                        v-model="config[sectionName][key]">
+                                    </el-switch>
+                                    <el-input-number
+                                        v-else-if="typeof value === 'number'"
+                                        v-model="config[sectionName][key]"
+                                        :controls="true"
+                                        :min="Number.MIN_SAFE_INTEGER"
+                                        :max="Number.MAX_SAFE_INTEGER"
+                                        :step="1"
+                                        style="width: 100%;">
+                                    </el-input-number>
+                                    <el-input
+                                        v-else
+                                        v-model="config[sectionName][key]">
+                                    </el-input>
+                                </el-form-item>
+                            </el-col>
+                        </el-row>
+                    </div>
+                    
+                </el-form>
+
+                <h2 class="section-title">Log Display</h2>
+
+                <div v-if="showServerLogFlag" class="log-container1" v-html="formatServerLog(ServerLog)"></div>
+
+
+                <div class="log-container">
+                    <div v-for="logEntry in logs" :key="logEntry.id" :class="['log-entry', `log-${logEntry.level}`]">
+                        [{{ logEntry.level.toUpperCase() }}] {{ logEntry.content }}
+                    </div>
+                </div>
+            </el-main>
+        </el-container>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                logs: [],
+                selectedFile: null,
+                showConfigForm: false,
+                fileOptions: [],
+                config: null,
+                files: {},
+                ServerLog: "",
+                showServerLogFlag: false,
+                timer: null,
+                target_person_options: [{
+                  value: 1,
+                  label: '6_9'
+                }, {
+                  value: 2,
+                  label: '7_10_2'
+                }, {
+                  value: 3,
+                  label: '7_14_2'
+                }, {
+                  value: 4,
+                  label: '7_15_4'
+                }],
+            },
+            methods: {
+                loadConfig() {
+                    this.config = this.files[this.selectedFile];
+                    this.showConfigForm = true;
+                },
+                toggleConfigForm() {
+                    this.showConfigForm = !this.showConfigForm;
+                },
+                startServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'run'});
+                },
+                stopServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'stop'});
+                },
+                restartServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'restart'});
+                },
+                startTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                },
+                stopTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                },
+                restartTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'restart'});
+                },
+                saveConfig() {
+                    console.log(this.config);
+                    this.socket.emit('operate', {type: 'save_config', file_name: this.selectedFile, content: this.config});
+                },
+                addLog(log) {
+                    this.logs.push({
+                        level: log.level,
+                        content: log.content
+                    });
+                    this.$nextTick(() => {
+                        const container = document.querySelector('.log-container');
+                        container.scrollTop = container.scrollHeight;
+                        if (this.logs.length > 100) {
+                            this.logs = this.logs.slice(-100);
+                        }
+                    });
+                },
+                showServerLog() {
+                    if (this.showServerLogFlag == false)
+                    {
+                        this.timer = setInterval(() => {
+                            this.socket.emit('operate', { type: 'show_server_log', content: '' });
+                        }, 2000);
+                    }
+                    else
+                    {
+                        clearInterval(this.timer);
+                        this.timer = null;
+                    }
+                    this.showServerLogFlag = !this.showServerLogFlag;
+                },
+                formatServerLog(log) {
+                    // 将换行符转换为 <br> 标签
+                    return log.replace(/\n/g, '<br>');
+                },
+                skipTask() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                }
+            },
+            mounted() {
+                this.socket = io('http://' + document.domain + ':5001');
+                this.socket.on('connect', () => {
+                    console.log('Connected to server');
+                });
+                this.socket.on('log', (data) => {
+                    this.addLog(data);
+                });
+                this.socket.on('config_data', (data) => {
+                    if (data.type == 'config_data') {
+                        this.files = data.content;
+                    } else if (data.type == 'fileOptions') {
+                        this.fileOptions = data.content;
+                    }
+                });
+                this.socket.on('server_log', (data) => {
+                    this.ServerLog = "";
+                    this.ServerLog = data.content;
+                });
+                
+            }
+        });
+    </script>
+</body>
+</html>

templates/index1.html

@@ -0,0 +1,139 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>btl143</title>
+    <link rel="stylesheet" href="static/index.css">
+    <script src="static/vue.js"></script>
+    <script src="static/index.js"></script>
+    <script src="static/socket.io.js"></script>
+    
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            background-color: #f5f7fa;
+        }
+        .app-container {
+            padding: 20px;
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+       
+        .button-group {
+            margin-bottom: 20px;
+        }
+        .full-screen-background {
+          background-color: #f0f0f0;
+          position: fixed;
+          top: 60px; /* Adjust based on button height and margin */
+          left: 0;
+          right: 0;
+          bottom: 0;
+          z-index: -1;
+        }
+
+        .counter-display {
+          padding: 20px;
+          text-align: center;
+          position: fixed;
+          top: 80px; /* Adjust based on your requirements */
+          left: 50%;
+          transform: translateX(-50%);
+          z-index: 1;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <el-container class="app-container">
+            <el-main>
+                <h1 class="section-title">btl143 upper</h1>
+                
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button 
+                        @click="toggleTask" 
+                        :type="taskActive ? 'success' : 'danger'" 
+                        style="width: 100%">
+                        {{ taskActive ? `开启 task ${counter}` : `关闭 task ${counter}` }}
+                      </el-button>
+                    </el-col>
+                </el-row>
+                <div class="full-screen-background" @click="incrementCounter">
+                  <div class="counter-display">
+                  </div>
+                </div>
+
+            </el-main>
+        </el-container>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                taskActive: true,
+                counter: 1
+            },
+            methods: {
+                toggleTask() {
+                    if (this.taskActive) {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                    }
+                    else {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                    }
+                    this.taskActive = !this.taskActive;
+                },
+                incrementCounter() {
+                  this.counter += 1;
+                  if (this.counter == 5) {
+                    this.counter = 1;
+                  }
+                  this.socket.emit('operate', {type: 'save_target_person', content: this.counter});
+                },
+                startServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'run'});
+                },
+                stopServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'stop'});
+                },
+                restartServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'restart'});
+                },
+                startTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                },
+                stopTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                },
+                restartTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'restart'});
+                },
+                skipTask() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                }
+            },
+            mounted() {
+                this.socket = io('http://' + document.domain + ':5001');
+                this.socket.on('connect', () => {
+                    console.log('Connected to server');
+                });
+                this.socket.on('task_status', (data) => {
+                    if (data.content == 0) {
+                      this.taskActive = true
+                    } else {
+                      this.taskActive = false
+                    }
+
+                });
+                
+            }
+        });
+    </script>
+</body>
+</html>

templates/index2.html

@@ -0,0 +1,128 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>btl143</title>
+    <link rel="stylesheet" href="static/index.css">
+    <script src="static/vue.js"></script>
+    <script src="static/index.js"></script>
+    <script src="static/socket.io.js"></script>
+    
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            background-color: #f5f7fa;
+        }
+        .app-container {
+            padding: 20px;
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+       
+        .button-group {
+            margin-bottom: 20px;
+        }
+        .full-screen-background {
+          background-color: #f0f0f0;
+          position: fixed;
+          top: 60px; /* Adjust based on button height and margin */
+          left: 0;
+          right: 0;
+          bottom: 0;
+          z-index: -1;
+        }
+
+        .counter-display {
+          padding: 20px;
+          text-align: center;
+          position: fixed;
+          top: 80px; /* Adjust based on your requirements */
+          left: 50%;
+          transform: translateX(-50%);
+          z-index: 1;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <el-container class="app-container">
+            <el-main>
+                <h1 class="section-title">btl143 upper</h1>
+                
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button 
+                        @click="toggleTask" 
+                        :type="taskActive ? 'success' : 'danger'" 
+                        style="width: 100%">
+                        {{ taskActive ? `开启 task` : `关闭 task` }}
+                      </el-button>
+                    </el-col>
+                </el-row>
+
+            </el-main>
+        </el-container>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                taskActive: true,
+                counter: 1
+            },
+            methods: {
+                toggleTask() {
+                    if (this.taskActive) {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                    }
+                    else {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                    }
+                    this.taskActive = !this.taskActive;
+                },
+                startServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'run'});
+                },
+                stopServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'stop'});
+                },
+                restartServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'restart'});
+                },
+                startTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                },
+                stopTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                },
+                restartTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'restart'});
+                },
+                skipTask() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                }
+            },
+            mounted() {
+                this.socket = io('http://' + document.domain + ':5001');
+                this.socket.on('connect', () => {
+                    console.log('Connected to server');
+                });
+                this.socket.on('task_status', (data) => {
+                    if (data.content == 0) {
+                      this.taskActive = true
+                    } else {
+                      this.taskActive = false
+                    }
+
+                });
+                
+            }
+        });
+    </script>
+</body>
+</html>

test/test_cali.py

@@ -0,0 +1,49 @@
+import os
+import sys
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(parent_dir)
+from utils import label_filter
+from loguru import logger
+from utils import tlabel
+import zmq
+import time
+from by_cmd_py import by_cmd_py
+import time
+import signal
+
+context = zmq.Context()
+socket = context.socket(zmq.REQ)
+socket.connect("tcp://localhost:6667")
+logger.info("subtask yolo client init")
+
+filter = label_filter(socket)
+filter.switch_camera(2)
+
+
+
+cmd_py_obj = by_cmd_py()
+def car_stop():
+    for _ in range(3):
+        cmd_py_obj.send_speed_x(0)
+        time.sleep(0.2)
+        cmd_py_obj.send_speed_y(0)
+        time.sleep(0.2)
+        cmd_py_obj.send_speed_omega(0)
+def signal_handler(sig, frame):
+    car_stop()
+
+offset = 0
+signal.signal(signal.SIGTERM, signal_handler)
+cmd_py_obj.send_speed_x(15)
+while True:
+
+    time.sleep(0.02)
+    ret, box = filter.get(tlabel.BASE)
+    # if ret:
+        # 宽度大于 41 停车
+        # print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
+    if ret:
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        print(error)
+        cmd_py_obj.send_speed_omega(-error * 0.8)
+car_stop()

test/test_capture.py

@@ -0,0 +1,14 @@
+import cv2
+
+
+cap = cv2.VideoCapture(20)
+cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc('M','J','P','G'))
+cap.set(cv2.CAP_PROP_FRAME_WIDTH, 960)
+cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 540)
+
+while True:
+    ret, frame = cap.read()
+    if ret:
+        cv2.imshow("frame",frame)
+    cv2.waitKey(1)
+cv2.destroyAllWindows()

test/test_filter.py

@@ -1,18 +1,14 @@
-
-import sys
 import os
+import sys
 parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(parent_dir)
-
 from utils import label_filter
 from loguru import logger
 from utils import tlabel
 import zmq
 import time
-from by_cmd_py import by_cmd_py
-import time
-from utils import CountRecord
-by_cmd = by_cmd_py()
+
+
 
 context = zmq.Context()
 socket = context.socket(zmq.REQ)
@@ -20,211 +16,25 @@ socket.connect("tcp://localhost:6667")
 logger.info("subtask yolo client init")
 
 filter = label_filter(socket)
-filter.switch_camera(1)
+filter.switch_camera(2)
 
-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)
-        pass
-    # 停的位置已经很接近目标，可以直接使用 distance 校准
-    else:
-        # logger.info("停车时误差就小于")
-        # error = error * 3
-        # if error > 0:
-        #     by_cmd.send_distance_x(-10, int(error))
-        # else:
-        #     by_cmd.send_distance_x(10, int(-error))
-        return
-    while True:
-        ret, error = filter.aim_right(label)
-        while not ret:
-            ret, error = filter.aim_right(label)
-        error += offset
-        if ret:
-            if abs(error) <= 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:
-                    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")
-        ret, box = filter.get(label)
-    
-    error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    if abs(error) > 10 and run:
-        if error > 0:
-            by_cmd.send_speed_x(-run_speed)
-        else:
-            by_cmd.send_speed_x(run_speed)
-    # 停的位置已经很接近目标，可以直接使用 distance 校准
-    else:
-        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:
-            logger.info(f"当前误差:{error}, box[{box[0][2]},{box[0][0]}]")
-            # 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")
-                
-                error_sum = 0
-                for _ in range(3):
-                    ret, box = filter.get(label)
-                    while not ret:
-                        ret, box = filter.get(label)
-                    error = (box[0][2] + box[0][0] - 320) / 2 + offset
-                    error_sum += error
-                error_sum /= 3
-                # logger.info(f"停车后像素误差:{error}")
-                logger.info(f"停车后像素误差:{error_sum}")
-                # if abs(error) > 8:
-                logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
-                error_sum = error_sum * 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
-
-offset = 10
-# by_cmd.send_angle_claw_arm(217)
-# while True:
-#     pass
-# while (by_cmd.send_angle_camera(180) == -1):
-#     by_cmd.send_angle_camera(180)
-while (by_cmd.send_angle_camera(180) == -1):
-    by_cmd.send_angle_camera(180)
-# by_cmd.send_speed_x(15)
-
-find_counts = 0
-label = tlabel.HOSPITAL
-record = CountRecord(5)
+# find_counts = 0
+# offset = 19
+# label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
+# label = tlabel.TPLATFORM
 while True:
     time.sleep(0.2)
+    ret, box = filter.get(tlabel.BASE)
+    if ret:
+        error = (box[0][2] + box[0][0] - 320) / 2
+        logger.error(error)
+
+    # label = tlabel.HOSPITAL
+    # ret, box = filter.get(label)
+    # while not ret:
+    #     ret, box = filter.get(label)
+    # width = box[0][2] - box[0][0]
+    # logger.info(width)
     
 
-    # ret = filter.find(label)
-    # ret = filter.find(label)
-    # if ret > 0:
-    #     find_counts += 1
-    #     if record(label):
-    #         car_stop()
-    # if find_counts >= 5:
-    #     car_stop()
-    ret, box = filter.get(label)
-    while not ret:
-        ret, box = filter.get(label)
-    width = box[0][2] - box[0][0]
-    logger.info(width)
-    # error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    # explore_calibrate_new(tlabel.LPILLER, offset = 10, run_direc = 1, run_speed = 5)
-    # calibrate_new(label, offset = 15, run = True)
-    # car_stop()
-    # time.sleep(0.5)
-    # for _ in range(3):
-    #     calibrate_right_new(tlabel.BBALL, offset = 27, run = True, run_speed = 4)
-    #     logger.info("抓蓝色球")
-    #     time.sleep(5)
-    # logger.info("抓取块")
-    # time.sleep(0.1)
-

test/test_ocr.py

@@ -0,0 +1,32 @@
+import zmq
+
+
+context = zmq.Context()
+socket = context.socket(zmq.REQ)
+socket.connect("tcp://localhost:6668")
+
+filter_w = (213, 540)
+filter_h = (120, 360)
+
+
+while True:
+    a = input("")
+    socket.send_string("")
+    resp = socket.recv_pyobj()
+    print(resp)
+    if resp.get('code') == 0:
+        text = ''
+        for item in resp.get('content'):
+            if item['probability']['average'] < 0.90:
+                continue
+            box = item['location']
+            center_x = box['left'] + box['width'] / 2
+            center_y = box['top'] + box['height'] / 2
+            if center_x < filter_w[0] or center_x > filter_w[1] \
+                    or center_y < filter_h[0] or center_y > filter_h[1]:
+                continue
+            text += item['words']
+        print(text)
+
+
+    

utils.py

@@ -106,6 +106,53 @@ class label_filter:
             if len(results) > 0:
                 return True, np.array(results)
         return False, None
+    # '''
+    # description: 对模型推理推理结果使用 threshold 和其他条件过滤 默认阈值为 0.5
+    # param {*} self
+    # param {*} data get_resp 返回的数据
+    # return {bool,array}
+    # '''    
+    # def filter_box_custom(self, data, ymax_range):  
+    #     if len(data) > 0:  
+    #         expect_boxes = (data[:, 1] > self.threshold) & (data[:, 0] > -1)  
+    #         np_boxes = data[expect_boxes, :]  
+    #         results = [  
+    #             [  
+    #                 item[0],  # 'label':  
+    #                 item[1],  # 'score':  
+    #                 item[2],  # 'xmin':  
+    #                 item[3],  # 'ymin':  
+    #                 item[4],  # 'xmax':  
+    #                 item[5],  # 'ymax':  
+    #                 not (ymax_range[0] < item[3] < ymax_range[1]), # 如果 ymin 处在范围内则返回 False，认为该目标不符合要求
+    #                 not (ymax_range[0] < item[5] < ymax_range[1]) # 如果 ymax 处在范围内则返回 False，认为该目标不符合要求
+    #             ]  
+    #             for item in np_boxes  
+    #         ]  
+    #         if len(results) > 0:  
+    #             return True, np.array(results)  
+    #     return False, None
+    
+    #原来的函数
+    def filter_box_custom(self,data):
+        if len(data) > 0:
+            expect_boxes = (data[:, 1] > self.threshold) & (data[:, 0] > -1)
+            np_boxes = data[expect_boxes, :]
+            results = [
+                [
+                    item[0], # 'label': 
+                    item[1], # 'score': 
+                    item[2], # 'xmin':
+                    item[3], # 'ymin':
+                    item[4], # 'xmax':
+                    item[5]  # 'ymax':
+                ]
+                for item in np_boxes
+                if item[5] < 180
+            ]
+            if len(results) > 0:
+                return True, np.array(results)
+        return False, None
     '''
     description: 根据传入的标签过滤，返回该标签的个数、box
     param {*} self
@@ -190,6 +237,91 @@ class label_filter:
                     return True 
         return False
     '''
+    description: 查询两个目标 只有 target_label 返回 box
+    param {*} self
+    param {*} tlabel
+    return {[bool]}
+    ''' 
+    def get_two(self, target_label, label):
+        response = self.get_resp()
+        if response['code'] == 0:
+            ret, results = self.filter_box_custom(response['data'])
+            if ret:
+                expect_boxes = (results[:, 0] == target_label.value)
+                boxes = results[expect_boxes, :]
+                if len(boxes) != 0:
+                    target_bool = True
+                    target_box = boxes[:, 2:]
+                else:
+                    target_bool = False
+                    target_box = None
+                expect_boxes = (results[:, 0] == label.value)
+                boxes = results[expect_boxes, :]
+                if len(boxes) != 0:
+                    label_bool = True
+                else:
+                    label_bool = False
+                return (target_bool, label_bool, target_box)
+        return (False, False, None)
+    
+    '''
+    description: 查询两个目标 只有 target_label 返回 box
+    param {*} self
+    param {*} tlabel
+    return {[bool]}
+    ''' 
+    def get_two_hanoi(self, target_label, label, flipv):
+        response = self.get_resp()
+        if response['code'] == 0:
+            # FIXME 直接在外部过滤，不在 fliter 内过滤
+            ret, results = self.filter_box(response['data'])
+            if ret:
+                expect_boxes = (results[:, 0] == target_label.value)
+                boxes = results[expect_boxes, :]
+                if len(boxes) != 0:
+                    target_bool = True
+                    target_box = boxes[:, 2:]
+                else:
+                    target_bool = False
+                    target_box = None
+                expect_boxes = (results[:, 0] == label.value)
+                boxes = results[expect_boxes, :]
+                # 在此处过滤
+                if len(boxes) != 0:
+                    # 如果垂直翻转 (走右侧) 且 *ymin* 小于 60（走右侧）
+                    if flipv:
+                        label_bool = all(box[3] > 60  for box in boxes)
+                    # 如果不垂直翻转 (走左侧) 且 *ymax* 大于 180（走左侧）
+                    else:
+                        label_bool = all(box[5] < 180  for box in boxes)
+                    # label_bool = True
+                else:
+                    label_bool = False
+                return (target_bool, label_bool, target_box)
+        return (False, False, None)
+
+    '''
+    description: 判断传入的多目标标签是否存在，存在返回 True
+    param {*} self
+    param {*} tlabel
+    return {[bool]}
+    '''    
+    def find_mult(self, tlabel):
+        response = self.get_resp()
+        find_result = []
+        if response['code'] == 0:
+            ret, results = self.filter_box(response['data'])
+            if ret:
+                for label in tlabel:
+                    expect_boxes = (results[:, 0] == label.value)
+                    boxes = results[expect_boxes, :]
+                    if len(boxes) != 0:
+                        find_result.append(True)
+                    else:
+                        find_result.append(False)
+                return find_result
+        return [False for _ in range(len(tlabel))]
+    '''
     description: 根据传入的标签，寻找画面中最左侧的并返回 error
     param {*} self
     param {*} tlabel
@@ -260,11 +392,14 @@ class LLM:
                         发光或者照亮 5 秒 [{'func': 'light', 'time': 5}]
                         向右走 30cm，照亮 2s [{'func': 'move', 'x': 0, 'y': -0.3}, {'func': 'light', 'time': 2}],
                         向左移 0.2m, 向后 0.1m [{'func': 'move', 'x': 0, 'y': 0.2},{'func': 'move', 'x': -0.1, 'y': 0}],
+                        鸣叫 3 声 [{'func': 'beep', 'time': 3}]
+                        前行零点五米 [{'func': 'move', 'x': 0.5, 'y': 0}]
                     '''
-        self.prompt += '''你无需回复我'''
+        self.prompt += '''你只需要根据我的示例解析出指令即可，不要给我其他多余的回复;再次强调 你无需给我其他多余的回复 这对我很重要'''
         self.messages = []
         self.resp = None
-        self.reset()
+        worker = threading.Thread(target=self.reset, daemon=True)  
+        worker.start()
     def reset(self):
         self.messages = [self.make_message(self.prompt)]
         self.resp = erniebot.ChatCompletion.create(
@@ -272,6 +407,8 @@ class LLM:
                         messages=self.messages,
                     )
         self.messages.append(self.resp.to_message())
+        self.init_done_flag = True
+        logger.info("LLM init done")
     def make_message(self,content):
         return {'role': 'user', 'content': content}
     def get_command_json(self,chat):
@@ -284,7 +421,7 @@ class LLM:
         )
         self.messages.append(self.resp.to_message())
         resp = self.resp.get_result().replace(' ', '').replace('\n', '').replace('\t', '')
-        return resp[7:-3]
+        return resp
 
 class CountRecord:
     def __init__(self, stop_count=2) -> None:

variable.py

@@ -6,7 +6,17 @@ lane_error = 0
 task_speed = 0
 
 # pid 参数
-pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0}
+pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0} # 1.2
 
 # 转向 pid 对象
-pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=50)
+# pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=70) # FIXME 6_9 模型为 60
+pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=60) # FIXME 6_9 模型为 60
+
+llm_text = ''
+
+skip_llm_task_flag = False
+
+first_block = None
+second_block = None
+
+switch_lane_model = False