Havoc420mac/mi-task
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Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task

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This commit is contained in:
Havoc 2025-05-24 22:35:24 +08:00
commit 09790e5921
7 changed files with 103 additions and 29 deletions
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29
base_move/move_base_hori_line.py
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@ -59,7 +59,7 @@ def align_to_horizontal_line(ctrl, msg, observe=False, max_attempts=3, detect_fu
error("未检测到横向线，无法进行校准", "失败")
# 尝试小幅度摇头寻找横线
# TODO 改成上下低头；
# TODO 或者改成上下低头?
if attempts < max_attempts - 1:
small_angle = 5 * (1 if attempts % 2 == 0 else -1)
info(f"尝试摇头 {small_angle}度 寻找横线", "校准")
@ -125,12 +125,20 @@ def align_to_horizontal_line(ctrl, msg, observe=False, max_attempts=3, detect_fu
attempts += 1
# 检查校准结果
edge_point_after, edge_info_after = detect_horizontal_track_edge(
ctrl.image_processor.get_current_image(),
observe=observe,
delay=1000 if observe else 0,
save_log=True
)
if detect_func_version == 1:
edge_point_after, edge_info_after = detect_horizontal_track_edge(
ctrl.image_processor.get_current_image(),
observe=observe,
delay=1000 if observe else 0,
save_log=True
)
elif detect_func_version == 2:
edge_point_after, edge_info_after = detect_horizontal_track_edge_v2(
ctrl.image_processor.get_current_image(),
observe=observe,
delay=1000 if observe else 0,
save_log=True
)
if edge_info_after and "slope" in edge_info_after:
current_slope = edge_info_after["slope"]
@ -437,11 +445,16 @@ def move_to_hori_line(ctrl, msg, target_distance=0.5, absolute_deg=200, observe=
def arc_turn_around_hori_line(ctrl, msg, angle_deg=90, target_distance=0.2,
pass_align=False,
# radius
radius=None,
min_radius=0.1,
max_radius=5,
# mode
detect_func_version=1,
# Qrcode
scan_qrcode=False,
qr_check_interval=0.3,
# additional
observe=False,
bad_big_angle_corret=False,
no_end_reset=False,):
@ -486,7 +499,7 @@ def arc_turn_around_hori_line(ctrl, msg, angle_deg=90, target_distance=0.2,
# 1. 对准横线
if not pass_align:
section("校准到横向线水平", "校准")
aligned = align_to_horizontal_line(ctrl, msg, observe=observe)
aligned = align_to_horizontal_line(ctrl, msg, detect_func_version=detect_func_version, observe=observe)
if not aligned:
error("无法校准到横向线水平，停止动作", "停止")
if scan_qrcode:

5
main.py
View File

@ -21,6 +21,7 @@ from utils.marker_client import MarkerRunner
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
@ -39,7 +40,9 @@ def main():
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
# time.sleep(100) # TEST
run_task_1(Ctrl, msg)
# run_task_1(Ctrl, msg)
run_task_2_5(Ctrl, msg)
# run_task_5(Ctrl, msg)

51
task_2_5/task_2_5.py Normal file
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@ -0,0 +1,51 @@
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 arc_turn_around_hori_line, align_to_horizontal_line
from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
observe = True
def run_task_2_5(Ctrl, msg):
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(
Ctrl,
msg,
angle_deg=-90,
target_distance=0.5,
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,
)

0
example_robot_log.py → test/example_robot_log.py
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2
test/ros2/rgb-camera/img-raw-get.py
View File

@ -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/arrow-right/image_{timestamp}.png"
filename = f"captured_images/path/image_{timestamp}.png"
cv2.imwrite(filename, self.cv_image)
self.get_logger().info(f"Saved image as {filename}")

0
test_log.py → test/test_log.py
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45
utils/detect_track.py
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@ -372,6 +372,12 @@ def detect_horizontal_track_edge_v2(image, observe=False, delay=1000, save_log=T
error("无法加载图像", "失败")
return None, None
if save_log:
timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S_%f")
origin_image_path = os.path.join("logs/image", f"origin_horizontal_edge_{timestamp}.jpg")
cv2.imwrite(origin_image_path, img)
info(f"保存原始图像到: {origin_image_path}", "日志")
# 获取图像尺寸
height, width = img.shape[:2]
@ -890,7 +896,7 @@ def detect_horizontal_track_edge_v2(image, observe=False, delay=1000, save_log=T
result_img = slope_img
# 保存日志图像
if save_log and result_img is not None:
if save_log:
timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S_%f")
log_dir = "logs/image"
os.makedirs(log_dir, exist_ok=True)
@ -900,24 +906,25 @@ def detect_horizontal_track_edge_v2(image, observe=False, delay=1000, save_log=T
cv2.imwrite(origin_image_path, img)
info(f"保存原始图像到: {origin_image_path}", "日志")
img_path = os.path.join(log_dir, f"horizontal_edge_{timestamp}.jpg")
cv2.imwrite(img_path, result_img)
info(f"保存横向边缘检测结果图像到: {img_path}", "日志")
# 保存文本日志信息
log_info = {
"timestamp": timestamp,
"edge_point": bottom_edge_point,
"distance_to_center": distance_to_center,
"slope": selected_slope,
"distance_to_bottom": distance_to_bottom,
"intersection_point": intersection_point,
"score": selected_score,
"valid": valid_result,
"reason": reason if not valid_result else "",
"is_upper_line": len(upper_horizontal_lines) > 0 and selected_line == upper_horizontal_lines[0][0]
}
info(f"横向边缘检测结果: {log_info}", "日志")
if result_img is not None:
img_path = os.path.join(log_dir, f"horizontal_edge_{timestamp}.jpg")
cv2.imwrite(img_path, result_img)
info(f"保存横向边缘检测结果图像到: {img_path}", "日志")
# 保存文本日志信息
log_info = {
"timestamp": timestamp,
"edge_point": bottom_edge_point,
"distance_to_center": distance_to_center,
"slope": selected_slope,
"distance_to_bottom": distance_to_bottom,
"intersection_point": intersection_point,
"score": selected_score,
"valid": valid_result,
"reason": reason if not valid_result else "",
"is_upper_line": len(upper_horizontal_lines) > 0 and selected_line == upper_horizontal_lines[0][0]
}
info(f"横向边缘检测结果: {log_info}", "日志")
# 如果结果无效，但检测到了一些线，仍然返回结果，不拒绝太靠近底部的线
if not valid_result and "边缘点y坐标超出有效范围" in reason and bottom_edge_point[1] > height * 0.8: