From 268d52155d95ce8f350ef033f8831b4781e6107f Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Sun, 25 May 2025 08:34:13 +0000 Subject: [PATCH 1/4] refactor(task_2_5): simplify and restructure task execution - Remove unused imports and simplify code structure - Add direction parameter to run_task_2_5 function for flexibility - Adjust turn_degree parameters for better accuracy - Comment out unused alternative execution paths --- base_move/turn_degree.py | 4 ++-- task_2_5/task_2_5.py | 37 ++++++++++++++++--------------------- utils/detect_track.py | 4 ++-- 3 files changed, 20 insertions(+), 25 deletions(-) diff --git a/base_move/turn_degree.py b/base_move/turn_degree.py index 19e9ca2..6d14cd3 100644 --- a/base_move/turn_degree.py +++ b/base_move/turn_degree.py @@ -43,7 +43,7 @@ def turn_degree(ctrl, msg, degree=90, absolute=False, precision=False): # 定义允许的误差范围（弧度） # 如果是精确模式，使用更小的误差阈值 - limit = 0.03 if precision else 0.04 # 约1.7度或2.3度 + limit = 0.05 # 计算最短旋转方向和距离 def circle_dist(target, location): @@ -94,7 +94,7 @@ def turn_degree(ctrl, msg, degree=90, absolute=False, precision=False): debug(f"等待旋转完成: {wait_time:.2f}秒", "时间") # 精确模式下使用实时监控而不是固定等待时间 - if precision and abs(dist) > 0.1: # 对于较大角度 + if abs(dist) > 0.1: # 对于较大角度 start_time = time.time() last_yaw = current_yaw stable_count = 0 diff --git a/task_2_5/task_2_5.py b/task_2_5/task_2_5.py index bd28369..61dc58c 100644 --- a/task_2_5/task_2_5.py +++ b/task_2_5/task_2_5.py @@ -11,41 +11,36 @@ from utils.log_helper import LogHelper, get_logger, section, info, debug, warnin observe = True -def run_task_2_5(Ctrl, msg): +def run_task_2_5(Ctrl, msg, direction='left'): section('任务2.5：预备进入任务3', "启动") # TEST turn_degree(Ctrl, msg, 90, absolute=observe) - align_to_horizontal_line( - Ctrl, - msg, - detect_func_version=2, - observe=observe, - ) - - return - section('任务2.5-1：第一次旋转', "移动") - arc_turn_around_hori_line( + turn_success, res = arc_turn_around_hori_line( Ctrl, msg, - angle_deg=-90, - target_distance=0.5, + angle_deg=90 if direction == 'left' else -90, + target_distance=0.3, detect_func_version=2, observe=observe, ) section('任务2.5-2：第二次旋转', "移动") - arc_turn_around_hori_line( - Ctrl, - msg, - angle_deg=90, - target_distance=0.5, - detect_func_version=2, - observe=observe, - ) + turn_degree(Ctrl, msg, degree=90, absolute=True) + + # arc_turn_around_hori_line( + # Ctrl, + # msg, + # angle_deg=70, + # # target_distance=0.5, + # pass_align=True, + # radius=res['radius'], + # detect_func_version=2, + # observe=observe, + # ) \ No newline at end of file diff --git a/utils/detect_track.py b/utils/detect_track.py index b9f715e..88163b0 100644 --- a/utils/detect_track.py +++ b/utils/detect_track.py @@ -19,7 +19,7 @@ def detect_horizontal_track_edge(image, observe=False, delay=1000, save_log=True edge_point: 赛道前方边缘点的坐标 (x, y) edge_info: 边缘信息字典 """ - # observe = False # TEST + observe = False # TEST # 如果输入是字符串（文件路径），则加载图像 if isinstance(image, str): img = cv2.imread(image) @@ -361,7 +361,7 @@ def detect_horizontal_track_edge_v2(image, observe=False, delay=1000, save_log=T edge_point: 赛道前方边缘点的坐标 (x, y) edge_info: 边缘信息字典 """ - # observe = False # TEST + observe = False # TEST # 如果输入是字符串（文件路径），则加载图像 if isinstance(image, str): img = cv2.imread(image) From ea2e5d132a6db831354379cc17e6d72e6b602997 Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Sun, 25 May 2025 08:45:49 +0000 Subject: [PATCH 2/4] refactor(main): update task execution order and remove unused imports - Remove imports for task_5 and task_test - Add import for task_4 - Comment out task_2_5 execution - Uncomment and execute task_4 --- main.py | 10 +++---- task_4/task_4.py | 26 +++++++++++++++++++ .../detect_arrow_direction.py | 0 {task_5 => task_arrow_test}/task_5.py | 2 +- task_test/task_test.py | 15 ----------- 5 files changed, 30 insertions(+), 23 deletions(-) create mode 100644 task_4/task_4.py rename {task_5 => task_arrow_test}/detect_arrow_direction.py (100%) rename {task_5 => task_arrow_test}/task_5.py (96%) delete mode 100644 task_test/task_test.py diff --git a/main.py b/main.py index 595143a..71f58cf 100644 --- a/main.py +++ b/main.py @@ -22,9 +22,7 @@ from utils.base_msg import BaseMsg from task_1.task_1 import run_task_1 from task_2_5.task_2_5 import run_task_2_5 -from task_5.task_5 import run_task_5 - -from task_test.task_test import run_task_test +from task_4.task_4 import run_task_4 pass_marker = True @@ -42,11 +40,9 @@ def main(): # time.sleep(100) # TEST # run_task_1(Ctrl, msg) - run_task_2_5(Ctrl, msg) + # run_task_2_5(Ctrl, msg) - # run_task_5(Ctrl, msg) - - # run_task_test(Ctrl, msg) + run_task_4(Ctrl, msg) # time.sleep(100) diff --git a/task_4/task_4.py b/task_4/task_4.py new file mode 100644 index 0000000..c79d362 --- /dev/null +++ b/task_4/task_4.py @@ -0,0 +1,26 @@ +import time +import sys +import os + +# 添加父目录到路径，以便能够导入utils +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + +from base_move.turn_degree import turn_degree +from base_move.go_straight import go_straight +from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing + +# 创建本模块特定的日志记录器 +logger = get_logger("任务5") + +def run_task_4(ctrl, msg): + """ + 参数: + ctrl: Robot_Ctrl对象 + msg: 控制消息对象 + image_processor: 可选的图像处理器实例 + """ + + turn_degree(ctrl, msg, 90, absolute=90) + + go_straight(ctrl, msg, distance=10) + diff --git a/task_5/detect_arrow_direction.py b/task_arrow_test/detect_arrow_direction.py similarity index 100% rename from task_5/detect_arrow_direction.py rename to task_arrow_test/detect_arrow_direction.py diff --git a/task_5/task_5.py b/task_arrow_test/task_5.py similarity index 96% rename from task_5/task_5.py rename to task_arrow_test/task_5.py index 01aad70..c0c6f82 100644 --- a/task_5/task_5.py +++ b/task_arrow_test/task_5.py @@ -5,7 +5,7 @@ import os # 添加父目录到路径，以便能够导入utils sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -from task_5.detect_arrow_direction import ArrowDetector +from task_arrow_test.detect_arrow_direction import ArrowDetector from base_move.turn_degree import turn_degree from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing diff --git a/task_test/task_test.py b/task_test/task_test.py deleted file mode 100644 index eec073a..0000000 --- a/task_test/task_test.py +++ /dev/null @@ -1,15 +0,0 @@ -import time -import sys -import os - -# 添加父目录到路径，以便能够导入utils -sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) - -from task_5.detect_arrow_direction import ArrowDetector -from base_move.turn_degree import turn_degree - -def run_task_test(ctrl, msg): - ctrl.base_msg.stop() - turn_degree(ctrl, msg, 90) - turn_degree(ctrl, msg, 90) - From 30c63ce2e560c014297b0676125db036f073d262 Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Sun, 25 May 2025 08:53:13 +0000 Subject: [PATCH 3/4] refactor(task_4): adjust movement parameters and image save path - Modify go_straight distance from 10 to 6 in task 4 - Update image save path in rgb-camera test --- task_4/task_4.py | 2 +- test/ros2/rgb-camera/img-raw-get.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/task_4/task_4.py b/task_4/task_4.py index c79d362..923f77f 100644 --- a/task_4/task_4.py +++ b/task_4/task_4.py @@ -22,5 +22,5 @@ def run_task_4(ctrl, msg): turn_degree(ctrl, msg, 90, absolute=90) - go_straight(ctrl, msg, distance=10) + go_straight(ctrl, msg, distance=6) diff --git a/test/ros2/rgb-camera/img-raw-get.py b/test/ros2/rgb-camera/img-raw-get.py index ddf8230..5ae85d6 100644 --- a/test/ros2/rgb-camera/img-raw-get.py +++ b/test/ros2/rgb-camera/img-raw-get.py @@ -51,7 +51,7 @@ class ImageSubscriber(Node): if self.cv_image is not None: # Generate a timestamped filename timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - filename = f"captured_images/path/image_{timestamp}.png" + filename = f"../captured_images/test/image_{timestamp}.png" cv2.imwrite(filename, self.cv_image) self.get_logger().info(f"Saved image as {filename}") From cb002c5b9fffd0dee135afc176818308268dc364 Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Sun, 25 May 2025 11:37:24 +0000 Subject: [PATCH 4/4] test(left_line): update image saving path and remove unused tasks - Update image saving path in ImageSubscriber class - Remove unused imports and code related to task_4 and arrow detection - Add import for run_task_test - Comment out run_task_4 and uncomment run_task_test in main function --- main.py | 5 ++++- task_4/task_4.py | 4 +++- .../detect_arrow_direction.py | 0 .../task_5.py => task_test/task_arrow.py | 2 +- task_test/task_left_line.py | 17 +++++++++++++++++ test/ros2/rgb-camera/img-raw-get.py | 2 +- 6 files changed, 26 insertions(+), 4 deletions(-) rename {task_arrow_test => task_test}/detect_arrow_direction.py (100%) rename task_arrow_test/task_5.py => task_test/task_arrow.py (96%) create mode 100644 task_test/task_left_line.py diff --git a/main.py b/main.py index 71f58cf..190472b 100644 --- a/main.py +++ b/main.py @@ -23,6 +23,7 @@ from utils.base_msg import BaseMsg from task_1.task_1 import run_task_1 from task_2_5.task_2_5 import run_task_2_5 from task_4.task_4 import run_task_4 +from task_test.task_left_line import run_task_test pass_marker = True @@ -42,7 +43,9 @@ def main(): # run_task_2_5(Ctrl, msg) - run_task_4(Ctrl, msg) + # run_task_4(Ctrl, msg) + + run_task_test(Ctrl, msg) # time.sleep(100) diff --git a/task_4/task_4.py b/task_4/task_4.py index 923f77f..4efd29c 100644 --- a/task_4/task_4.py +++ b/task_4/task_4.py @@ -22,5 +22,7 @@ def run_task_4(ctrl, msg): turn_degree(ctrl, msg, 90, absolute=90) - go_straight(ctrl, msg, distance=6) + time.sleep(100) + + # go_straight(ctrl, msg, distance=6) diff --git a/task_arrow_test/detect_arrow_direction.py b/task_test/detect_arrow_direction.py similarity index 100% rename from task_arrow_test/detect_arrow_direction.py rename to task_test/detect_arrow_direction.py diff --git a/task_arrow_test/task_5.py b/task_test/task_arrow.py similarity index 96% rename from task_arrow_test/task_5.py rename to task_test/task_arrow.py index c0c6f82..aec7da8 100644 --- a/task_arrow_test/task_5.py +++ b/task_test/task_arrow.py @@ -5,7 +5,7 @@ import os # 添加父目录到路径，以便能够导入utils sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -from task_arrow_test.detect_arrow_direction import ArrowDetector +from task_test.detect_arrow_direction import ArrowDetector from base_move.turn_degree import turn_degree from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing diff --git a/task_test/task_left_line.py b/task_test/task_left_line.py new file mode 100644 index 0000000..8183850 --- /dev/null +++ b/task_test/task_left_line.py @@ -0,0 +1,17 @@ +import time +import sys +import os + +# 添加父目录到路径，以便能够导入utils +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + +from base_move.turn_degree import turn_degree +from base_move.move_base_hori_line import follow_left_side_track +from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing + +# 创建本模块特定的日志记录器 +logger = get_logger("任务-test") + +def run_task_test(ctrl, msg): + # follow_left_side_track(ctrl, msg) + time.sleep(100) \ No newline at end of file diff --git a/test/ros2/rgb-camera/img-raw-get.py b/test/ros2/rgb-camera/img-raw-get.py index 5ae85d6..edadf21 100644 --- a/test/ros2/rgb-camera/img-raw-get.py +++ b/test/ros2/rgb-camera/img-raw-get.py @@ -51,7 +51,7 @@ class ImageSubscriber(Node): if self.cv_image is not None: # Generate a timestamped filename timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - filename = f"../captured_images/test/image_{timestamp}.png" + filename = f"./captured_images/left_path/image_{timestamp}.png" cv2.imwrite(filename, self.cv_image) self.get_logger().info(f"Saved image as {filename}")