Havoc420mac/mi-task
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refactor(main, task_2): comment out MarkerRunner and adjust turn_degree call

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- Comment out MarkerRunner initialization and execution in main.py to simplify control flow.
- Modify turn_degree call in task_2.py to remove unnecessary observe parameter for cleaner function usage.
- Add a placeholder return statement in place_marker method for future implementation.
This commit is contained in:
havoc420ubuntu 2025-05-26 15:45:32 +00:00
parent a1e9121761
commit 92c6026536
2 changed files with 5 additions and 4 deletions
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7
main.py
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@ -17,7 +17,7 @@ from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
from utils.robot_control_response_lcmt import robot_control_response_lcmt from utils.robot_control_response_lcmt import robot_control_response_lcmt
from utils.localization_lcmt import localization_lcmt from utils.localization_lcmt import localization_lcmt
from utils.image_raw import ImageProcessor from utils.image_raw import ImageProcessor
from utils.marker_client import MarkerRunner # from utils.marker_client import MarkerRunner
from utils.base_msg import BaseMsg from utils.base_msg import BaseMsg
from task_1.task_1 import run_task_1 from task_1.task_1 import run_task_1
@ -80,7 +80,7 @@ class Robot_Ctrl(object):
self.odo_msg = localization_lcmt() self.odo_msg = localization_lcmt()
self.image_processor = ImageProcessor() self.image_processor = ImageProcessor()
# DEBUG # DEBUG
self.marker_runner = MarkerRunner(pass_flag=pass_marker) # self.marker_runner = MarkerRunner(pass_flag=pass_marker)
self.send_lock = Lock() self.send_lock = Lock()
self.delay_cnt = 0 self.delay_cnt = 0
self.mode_ok = 0 self.mode_ok = 0
@ -100,7 +100,7 @@ class Robot_Ctrl(object):
self.rec_thread.start() self.rec_thread.start()
self.odo_thread.start() self.odo_thread.start()
self.image_processor.run() self.image_processor.run()
self.marker_runner.run() # self.marker_runner.run()
def msg_handler(self, channel, data): def msg_handler(self, channel, data):
self.rec_msg = robot_control_response_lcmt().decode(data) self.rec_msg = robot_control_response_lcmt().decode(data)
@ -166,6 +166,7 @@ class Robot_Ctrl(object):
self.send_lock.release() self.send_lock.release()
def place_marker(self, x, y, z, color, observe=False): def place_marker(self, x, y, z, color, observe=False):
return None
"""调用 MarkerRunner 放置标志物""" """调用 MarkerRunner 放置标志物"""
if self.marker_runner is None or self.marker_runner.marker_client is None: if self.marker_runner is None or self.marker_runner.marker_client is None:
print("MarkerRunner 未初始化，无法放置标志物") print("MarkerRunner 未初始化，无法放置标志物")

2
task_2/task_2.py
View File

@ -18,7 +18,7 @@ def run_task_2(ctrl, msg):
# 微调 xy 和角度 # 微调 xy 和角度
go_to_xy(ctrl, msg, 0.9, 0.2, speed=0.5, observe=True) go_to_xy(ctrl, msg, 0.9, 0.2, speed=0.5, observe=True)
turn_degree(ctrl, msg, 0, absolute=True, observe=True) turn_degree(ctrl, msg, 0, absolute=True)
# print("Recovery stand") # print("Recovery stand")
# Ctrl.base_msg.stand_up() # Ctrl.base_msg.stand_up()