fix up
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hav
parent
f04dc3cf8f
commit
172d348c73
160
main.py
160
main.py
@ -39,7 +39,7 @@ from Circle1.circle1 import circle1
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from Circle2.circle2 import circle2
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pass_marker = True
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TIME_SLEEP = 5000 # TODO 比赛时改成 5000
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# TIME_SLEEP = 5000 # TODO 比赛时改成 5000
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from enum import Enum, auto
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@ -66,99 +66,99 @@ def main():
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Ctrl.voice.play_audio('ok')
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demo.play_audio(text)
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# try:
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# # INFO Real Task
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# # TAG task - 0
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# info("Recovery stand", "info")
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# Ctrl.base_msg.stand_up()
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# Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
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try:
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# INFO Real Task
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# TAG task - 0
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info("Recovery stand", "info")
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Ctrl.base_msg.stand_up()
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Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
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# if TASK == TaskType.PASS_BAR:
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# from task_4.pass_bar import pass_bar
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# # TEST #1: pass-bar
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# pass_bar(Ctrl, msg)
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# elif TASK == TaskType.YELLOW_LIGHT: # TODO image
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# from task_3.task_3 import go_until_yellow_area
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# # turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
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# go_until_yellow_area(Ctrl, msg, yellow_ratio_threshold=0.012, speed=0.3, max_time=30, observe=True)
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# elif TASK == TaskType.RED_BAR:
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# from task_4.task_4 import go_straight_until_red_bar
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# go_straight_until_red_bar(Ctrl, msg, red_ratio_threshold=0.18, step_distance=0.3)
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# elif TASK == TaskType.UP_AND_DOWN:
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# from task_3.task_3 import go_straight_with_enhanced_calibration
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# go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
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# elif TASK == TaskType.STONE_ROAD:
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# from task_3.task_3 import pass_stone
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# pass_stone(Ctrl, msg, distance = 4.5, observe=False)
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# elif TASK == TaskType.MOVE_TO_LINE:
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# from base_move.move_base_hori_line import move_to_hori_line
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# move_to_hori_line(Ctrl, msg, target_distance = 1.1, observe=False)
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# elif TASK == TaskType.CENTER_ON_DUAL_TRACKS:
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# from base_move.center_on_dual_tracks import center_on_dual_tracks
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# center_on_dual_tracks(Ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3)
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# else:
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# pass
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if TASK == TaskType.PASS_BAR:
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from task_4.pass_bar import pass_bar
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# TEST #1: pass-bar
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pass_bar(Ctrl, msg)
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elif TASK == TaskType.YELLOW_LIGHT: # TODO image
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from task_3.task_3 import go_until_yellow_area
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# turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
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go_until_yellow_area(Ctrl, msg, yellow_ratio_threshold=0.012, speed=0.3, max_time=30, observe=True)
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elif TASK == TaskType.RED_BAR:
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from task_4.task_4 import go_straight_until_red_bar
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go_straight_until_red_bar(Ctrl, msg, red_ratio_threshold=0.18, step_distance=0.3)
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elif TASK == TaskType.UP_AND_DOWN:
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from task_3.task_3 import go_straight_with_enhanced_calibration
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go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
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elif TASK == TaskType.STONE_ROAD:
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from task_3.task_3 import pass_stone
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pass_stone(Ctrl, msg, distance = 4.5, observe=False)
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elif TASK == TaskType.MOVE_TO_LINE:
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from base_move.move_base_hori_line import move_to_hori_line
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move_to_hori_line(Ctrl, msg, target_distance = 1.1, observe=False)
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elif TASK == TaskType.CENTER_ON_DUAL_TRACKS:
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from base_move.center_on_dual_tracks import center_on_dual_tracks
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center_on_dual_tracks(Ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3)
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else:
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pass
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# if TASK != TaskType.TASK:
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# # 如果不是 task 类型，直接返回
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# pass
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if TASK != TaskType.TASK:
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# 如果不是 task 类型，直接返回
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pass
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# # TAG task - 1
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# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
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# TAG task - 1
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# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
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# # TAG task - 2
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# arrow_direction = xiesi2(Ctrl, msg)
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# TAG task - 2
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arrow_direction = xiesi2(Ctrl, msg)
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# # TAG task - 3 / 4 - part I
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# # arrow_direction = 'left'
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# if arrow_direction == 'left':
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# circle1(Ctrl, msg)
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# else:
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# circle2(Ctrl, msg)
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# TAG task - 3 / 4 - part I
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# arrow_direction = 'left'
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if arrow_direction == 'left':
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circle1(Ctrl, msg)
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else:
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circle2(Ctrl, msg)
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# # TAG task - 5
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# # Ctrl.base_msg.stand_up()
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# # turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
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# # run_task_5(Ctrl, msg, direction=arrow_direction, observe=True, time_sleep=TIME_SLEEP) # B区任务
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# # Ctrl.base_msg.lie_down(wait_time=10000)
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# # print('wait 30s')
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# TAG task - 5
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# Ctrl.base_msg.stand_up()
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# turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
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# run_task_5(Ctrl, msg, direction=arrow_direction, observe=True, time_sleep=TIME_SLEEP) # B区任务
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# Ctrl.base_msg.lie_down(wait_time=10000)
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# print('wait 30s')
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# # TAG task - 3 / 4 - part II
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# # Ctrl.base_msg.stand_up()
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# # if arrow_direction == 'left':
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# # from task_3.task_3 import go_straight_with_enhanced_calibration
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# # go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
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# # else:
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# # from task_3.task_3 import pass_stone
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# # pass_stone(Ctrl, msg, distance = 4.5, observe=False)
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# TAG task - 3 / 4 - part II
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# Ctrl.base_msg.stand_up()
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# if arrow_direction == 'left':
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# from task_3.task_3 import go_straight_with_enhanced_calibration
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# go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
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# else:
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# from task_3.task_3 import pass_stone
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# pass_stone(Ctrl, msg, distance = 4.5, observe=False)
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# # TAG task - 2.5 - back
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# #nrun_task_2_5_back(Ctrl, msg, direction=arrow_direction)
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# # Ctrl.base_msg.lie_down(wait_time=10000)
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# # print('wait 30s')
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# TAG task - 2.5 - back
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#nrun_task_2_5_back(Ctrl, msg, direction=arrow_direction)
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# Ctrl.base_msg.lie_down(wait_time=10000)
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# print('wait 30s')
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# # Ctrl.base_msg.stand_up()
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# # TAG task - 2 - back
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# # run_task_2_back(Ctrl, msg)
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# xiesi2_back(Ctrl, msg)
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# # Ctrl.base_msg.lie_down(wait_time=10000)
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# # print('wait 30s')
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# Ctrl.base_msg.stand_up()
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# TAG task - 2 - back
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# run_task_2_back(Ctrl, msg)
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xiesi2_back(Ctrl, msg)
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# Ctrl.base_msg.lie_down(wait_time=10000)
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# print('wait 30s')
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# # Ctrl.base_msg.stand_up()
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# # TAG task - 1 - back
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# # run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
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# Ctrl.base_msg.stand_up()
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# TAG task - 1 - back
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# run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
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# print('🏁 Task finished.')
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# try:
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# while rclpy.ok():
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# executor.spin_once(timeout_sec=0.1)
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# if getattr(node, '_shutdown_flag', False):
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# break
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# except KeyboardInterrupt:
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# pass
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print('🏁 Task finished.')
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try:
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while rclpy.ok():
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executor.spin_once(timeout_sec=0.1)
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if getattr(node, '_shutdown_flag', False):
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break
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except KeyboardInterrupt:
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pass
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except KeyboardInterrupt:
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print("\n程序被用户中断")
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