Havoc420mac/mi-task
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重构task_3的文件路径处理，移除file_dir参数，简化文件读取逻辑。更新Gait_Params_up.toml和Gait_Def_up.toml的路径为相对路径，优化代码可读性。

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Havoc 2025-05-28 11:45:55 +08:00
parent b401ebd006
commit 92b2d40826
2 changed files with 6 additions and 12 deletions
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12
task_3/main_ori.py
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@ -27,13 +27,13 @@ robot_cmd = {
'value':0, 'duration':0 'value':0, 'duration':0
} }
def task_3_main(file_dir=""): def task_3_main():
lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
usergait_msg = file_send_lcmt() usergait_msg = file_send_lcmt()
cmd_msg = robot_control_cmd_lcmt() cmd_msg = robot_control_cmd_lcmt()
try: try:
steps = toml.load(f"{file_dir}/Gait_Params_up.toml") steps = toml.load(f"Gait_Params_up.toml")
full_steps = {'step':[robot_cmd]} full_steps = {'step':[robot_cmd]}
k =0 k =0
for i in steps['step']: for i in steps['step']:
@ -60,13 +60,13 @@ def task_3_main(file_dir=""):
else: else:
full_steps['step'].append(cmd) full_steps['step'].append(cmd)
k=k+1 k=k+1
f = open(f"{file_dir}/Gait_Params_up_full.toml", 'w') f = open(f"Gait_Params_up_full.toml", 'w')
f.write("# Gait Params\n") f.write("# Gait Params\n")
f.writelines(toml.dumps(full_steps)) f.writelines(toml.dumps(full_steps))
f.close() f.close()
file_obj_gait_def = open(f"{file_dir}/Gait_Def_up.toml",'r') file_obj_gait_def = open(f"Gait_Def_up.toml",'r')
file_obj_gait_params = open(f"{file_dir}/Gait_Params_up_full.toml",'r') file_obj_gait_params = open(f"Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_def.read() usergait_msg.data = file_obj_gait_def.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode()) lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.5) time.sleep(0.5)
@ -76,7 +76,7 @@ def task_3_main(file_dir=""):
file_obj_gait_def.close() file_obj_gait_def.close()
file_obj_gait_params.close() file_obj_gait_params.close()
user_gait_list = open(f"{file_dir}/Usergait_List.toml",'r') user_gait_list = open(f"Usergait_List.toml",'r')
steps = toml.load(user_gait_list) steps = toml.load(user_gait_list)
for step in steps['step']: for step in steps['step']:
cmd_msg.mode = step['mode'] cmd_msg.mode = step['mode']

6
task_3/task_3.py
View File

@ -87,12 +87,6 @@ def run_task_3(ctrl, msg):
file_obj_gait_def.close() file_obj_gait_def.close()
file_obj_gait_params.close() file_obj_gait_params.close()
file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_params.read()
lcm_usergait.publish("user_gait_file", usergait_msg.encode())
time.sleep(0.5)
file_obj_gait_params.close()
msg.mode = 62 msg.mode = 62
msg.value = 0 msg.value = 0
msg.contact = 15 msg.contact = 15