更新任务函数，统一时间参数为可配置的 time_sleep 变量，以提高代码灵活性和可维护性。调整主程序中的任务调用，确保一致性和可读性。

main.py

@@ -35,6 +35,7 @@ from base_move.turn_degree import turn_degree, turn_degree_v2
 from utils.log_helper import info
 
 pass_marker = True
+TIME_SLEEP = 3000
 
 def main():
     rclpy.init()  # 新增：在主程序中统一初始化 ROS 2 上下文
@@ -48,7 +49,7 @@ 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, time_sleep=TIME_SLEEP)
 
         # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
         # arrow_direction = 'right' # TEST
@@ -59,10 +60,10 @@ def main():
         # if arrow_direction == 'left':
         #     run_task_4(Ctrl, msg)
         # else:
-        #     run_task_3(Ctrl, msg)
+            # run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
 
         # turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
-        # run_task_5(Ctrl, msg, direction=arrow_direction)
+        # run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
 
         # if arrow_direction == 'left': 
         #     run_task_3_back(Ctrl, msg)
@@ -73,7 +74,7 @@ def main():
 
         run_task_2_back(Ctrl, msg)
 
-        run_task_1_back(Ctrl, msg)
+        run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
         
     except KeyboardInterrupt:
         print("\n程序被用户中断")

task_1/task_1.py

@@ -22,7 +22,7 @@ logger = get_logger("任务1")
 
 observe = True
 
-def run_task_1(ctrl, msg):
+def run_task_1(ctrl, msg, time_sleep=5000):
     section('任务1：寻找横线并绕行', "启动")
     info('开始执行任务1...', "启动")
  
@@ -90,7 +90,7 @@ def run_task_1(ctrl, msg):
     section('任务1-5：模拟装货', "停止")
     info('机器人躺下，模拟装货过程', "信息")
     start_time = time.time()
-    ctrl.base_msg.lie_down(wait_time=3000)  # TODO 比赛时改成 5s
+    ctrl.base_msg.lie_down(wait_time=time_sleep)  # TODO 比赛时改成 5s
     elapsed = time.time() - start_time
     timing("装货过程", elapsed)
 
@@ -134,7 +134,7 @@ def run_task_1(ctrl, msg):
     success("任务1完成", "完成")
 
 
-def run_task_1_back(ctrl, msg):
+def run_task_1_back(ctrl, msg, time_sleep=5000):
     section('任务1-11: 返回', "移动")
     go_straight(ctrl, msg, distance=0.2, observe=observe)
     turn_degree_v2(ctrl, msg, -90, absolute=True)
@@ -164,7 +164,7 @@ def run_task_1_back(ctrl, msg):
     section('任务1-14: 模拟装货', "停止")
     info('机器人躺下，模拟装货过程', "信息")
     start_time = time.time()
-    ctrl.base_msg.lie_down(wait_time=3000)  # TODO 比赛时改成 5s
+    ctrl.base_msg.lie_down(wait_time=time_sleep)
     elapsed = time.time() - start_time
     timing("装货过程", elapsed)
 

task_3/task_3.py

@@ -490,7 +490,7 @@ def go_until_yellow_area(ctrl, msg, yellow_ratio_threshold=0.15, speed=0.3, max_
         return False
 
 
-def run_task_3(ctrl, msg):
+def run_task_3(ctrl, msg, time_sleep=5000):
     section('任务3：上下坡', "启动")
     info('开始执行任务3...', "启动")
 
@@ -517,7 +517,7 @@ def run_task_3(ctrl, msg):
     ctrl.Send_cmd(msg)
     
     info("开始原地站立3秒", "站立")
-    time.sleep(3)
+    time.sleep(time_sleep / 1000)
     info("完成原地站立", "站立")
     
 

task_5/task_5.py

@@ -206,7 +206,7 @@ def go_straight_to_horizontal_line_with_qr(ctrl, msg, target_distance=0.5, speed
     return res['success'], qr_result, res
 
 
-def run_task_5(ctrl, msg, direction='left', observe=False):
+def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000):
     """
     走向卸货
     """
@@ -239,7 +239,7 @@ def run_task_5(ctrl, msg, direction='left', observe=False):
         move_to_hori_line(ctrl, msg, target_distance=2, observe=observe, detect_func_version=4)
 
     section('任务5-3：卸货', "卸货")
-    ctrl.base_msg.lie_down(wait_time=3000)
+    ctrl.base_msg.lie_down(wait_time=time_sleep)
     ctrl.base_msg.stand_up()
 
     # section('任务5-4：返回', "移动")