diff --git a/base_move/go_to_xy.py b/base_move/go_to_xy.py new file mode 100644 index 0000000..162e197 --- /dev/null +++ b/base_move/go_to_xy.py @@ -0,0 +1,639 @@ +import math +import time +import sys +import os + +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) +from utils.localization_lcmt import localization_lcmt +from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing +from base_move.turn_degree import turn_degree, turn_degree_twice +from base_move.go_straight import go_straight + +# 创建本模块特定的日志记录器 +logger = get_logger("坐标移动") + +def go_to_xy(ctrl, msg, target_x, target_y, speed=0.5, precision=True, observe=False): + """ + 控制机器人移动到指定的(x,y)坐标位置，使用直接xy速度控制 + + 参数: + ctrl: Robot_Ctrl 对象，包含里程计信息 + msg: robot_control_cmd_lcmt 对象，用于发送命令 + target_x: 目标X坐标(米) + target_y: 目标Y坐标(米) + speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5 + precision: 是否使用高精度模式（更慢速度），默认为True + observe: 是否输出中间状态信息，默认为False + + 返回: + bool: 是否成功完成移动到目标位置 + """ + # 获取当前位置 + current_position = ctrl.odo_msg.xyz + current_x, current_y = current_position[0], current_position[1] + + if observe: + section('目标点导航', "开始") + info(f"当前位置: ({current_x:.3f}, {current_y:.3f})", "位置") + info(f"目标位置: ({target_x:.3f}, {target_y:.3f})", "目标") + # 在起点放置标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(current_x, current_y, + current_position[2] if len(current_position) > 2 else 0.0, + 'blue', observe=True) + # 在目标点放置标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(target_x, target_y, 0.0, 'green', observe=True) + + # 计算与目标点的距离和角度 + dx = target_x - current_x + dy = target_y - current_y + distance = math.sqrt(dx*dx + dy*dy) + + # 如果已经非常接近目标，无需移动 + if distance < 0.05: # 5厘米以内视为已达到 + if observe: + success("已处于目标位置附近，无需移动", "完成") + return True + + if observe: + info(f"到目标点的距离: {distance:.3f}米", "路径") + + # 限制速度范围 + max_speed = min(max(abs(speed), 0.1), 1.0) + if precision: + max_speed = min(max_speed, 0.5) # 高精度模式下限制最大速度 + + # 根据距离动态调整速度 + if distance > 1.0: + actual_speed = max_speed + elif distance > 0.5: + actual_speed = max_speed * 0.8 + elif distance > 0.2: + actual_speed = max_speed * 0.6 + else: + actual_speed = max_speed * 0.4 + + # 设置移动命令基本参数 + msg.mode = 11 # Locomotion模式 + msg.gait_id = 26 # 自变频步态 + msg.step_height = [0.06, 0.06] # 抬腿高度 + + # 估算移动时间，但实际上会通过里程计控制 + estimated_time = distance / actual_speed + timeout = estimated_time + 5 # 增加超时时间为预计移动时间加5秒 + + # 监控移动过程 + start_time = time.time() + position_check_interval = 0.05 # 位置检查间隔(秒) + last_check_time = start_time + last_distance = distance + stall_count = 0 + + if observe: + info(f"开始移动，预计用时 {estimated_time:.2f}秒", "移动") + + # 监控移动到达目标点 + while time.time() - start_time < timeout: + current_time = time.time() + + # 按固定间隔检查位置，减少计算负担 + if current_time - last_check_time >= position_check_interval: + # 获取当前位置 + current_position = ctrl.odo_msg.xyz + current_x, current_y = current_position[0], current_position[1] + + # 计算新的位移向量和距离 + dx = target_x - current_x + dy = target_y - current_y + current_distance = math.sqrt(dx*dx + dy*dy) + + # 判断是否已经足够接近目标 + if current_distance < 0.05: # 5厘米以内视为已达到 + break + + # 计算移动进度 + progress = 1.0 - (current_distance / distance) + + # 检测是否卡住（距离变化很小） + distance_change = last_distance - current_distance + if abs(distance_change) < 0.005: # 变化小于5毫米 + stall_count += 1 + if stall_count > 20: # 连续多次检测到几乎没有移动 + if observe: + warning("检测到机器人可能卡住，调整策略", "移动") + # 可能是卡住了，稍微增加速度 + actual_speed = min(actual_speed * 1.2, max_speed) + stall_count = 0 + else: + stall_count = 0 + + # 动态调整速度，接近目标时减速 + if current_distance < 0.2: # 接近目标时减速 + target_speed = max_speed * 0.3 + elif current_distance < 0.5: + target_speed = max_speed * 0.5 + else: + target_speed = actual_speed + + # 计算速度分量，归一化后乘以目标速度 + speed_factor = target_speed / current_distance if current_distance > 0 else 0 + vel_x = dx * speed_factor + vel_y = dy * speed_factor + + # 更新速度命令 + msg.vel_des = [vel_x, vel_y, 0] # [前进速度, 侧向速度, 角速度] + msg.duration = 0 # 持续执行直到下一个命令 + msg.life_count = (msg.life_count + 1) % 127 # 防止溢出，确保life_count在int8_t范围内 + ctrl.Send_cmd(msg) + + if observe and (current_time - start_time) % 1.0 < position_check_interval: + debug(f"当前位置: ({current_x:.3f}, {current_y:.3f}), 剩余距离: {current_distance:.3f}米, 完成: {progress*100:.1f}%", "移动") + debug(f"速度: x={vel_x:.2f}, y={vel_y:.2f}", "速度") + + last_check_time = current_time + last_distance = current_distance + + time.sleep(0.01) # 小间隔检查位置 + + # 平滑停止 + if hasattr(ctrl.base_msg, 'stop_smooth'): + ctrl.base_msg.stop_smooth() + else: + ctrl.base_msg.stop() + + # 获取最终位置并计算与目标的误差 + final_position = ctrl.odo_msg.xyz + final_x, final_y = final_position[0], final_position[1] + final_dx = target_x - final_x + final_dy = target_y - final_y + final_distance = math.sqrt(final_dx*final_dx + final_dy*final_dy) + + if observe: + info(f"最终位置: ({final_x:.3f}, {final_y:.3f})", "位置") + info(f"与目标的距离误差: {final_distance:.3f}米", "误差") + # 在终点放置标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(final_x, final_y, + final_position[2] if len(final_position) > 2 else 0.0, + 'red', observe=True) + + # 判断是否成功到达目标点（误差在10厘米以内） + nav_success = final_distance < 0.1 + + if observe: + if nav_success: + success(f"成功到达目标点，误差: {final_distance:.3f}米", "成功") + else: + warning(f"未能精确到达目标点，误差: {final_distance:.3f}米", "警告") + + return nav_success + +def go_to_xy_with_correction(ctrl, msg, target_x, target_y, speed=0.5, precision=True, + max_attempts=2, observe=False): + """ + 控制机器人移动到指定的(x,y)坐标位置，并在必要时进行路径修正 + + 参数: + ctrl: Robot_Ctrl 对象，包含里程计信息 + msg: robot_control_cmd_lcmt 对象，用于发送命令 + target_x: 目标X坐标(米) + target_y: 目标Y坐标(米) + speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5 + precision: 是否使用高精度模式，默认为True + max_attempts: 最大尝试次数，默认为2 + observe: 是否输出中间状态信息，默认为False + + 返回: + bool: 是否成功完成移动到目标位置 + """ + attempt = 1 + + while attempt <= max_attempts: + if observe: + section(f'导航尝试 {attempt}/{max_attempts}', "开始") + + # 执行基本导航 + success = go_to_xy(ctrl, msg, target_x, target_y, speed, precision, observe) + + if success: + return True + + # 如果导航失败且还有尝试次数，进行修正 + if attempt < max_attempts: + if observe: + warning(f"第{attempt}次导航未达到预期精度，尝试修正", "修正") + + # 获取当前位置 + current_position = ctrl.odo_msg.xyz + current_x, current_y = current_position[0], current_position[1] + + # 计算与目标点的距离和角度 + dx = target_x - current_x + dy = target_y - current_y + distance = math.sqrt(dx*dx + dy*dy) + + # 如果距离很近但未达到成功标准，可能是卡住了 + if distance < 0.2: # 20厘米以内 + if observe: + info(f"距离目标很近 ({distance:.3f}米)，使用更高精度方式移动", "策略") + # 使用更慢的速度和更高的精度 + speed = speed * 0.6 + precision = True + + attempt += 1 + + # 获取最终位置并计算与目标的误差 + final_position = ctrl.odo_msg.xyz + final_x, final_y = final_position[0], final_position[1] + final_dx = target_x - final_x + final_dy = target_y - final_y + final_distance = math.sqrt(final_dx*final_dx + final_dy*final_dy) + + if observe: + if final_distance < 0.2: + warning(f"虽未达到精确目标，但已在目标附近 ({final_distance:.3f}米)", "部分成功") + else: + error(f"多次尝试后仍未能达到目标点，最终误差: {final_distance:.3f}米", "失败") + + return False + +def go_to_xy_v2(ctrl, msg, target_x, target_y, speed=0.5, precision=True, observe=False): + """ + 控制机器人移动到指定的(x,y)坐标位置，使用增强的里程计监控和校正机制 + + 参数: + ctrl: Robot_Ctrl 对象，包含里程计信息 + msg: robot_control_cmd_lcmt 对象，用于发送命令 + target_x: 目标X坐标(米) + target_y: 目标Y坐标(米) + speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5 + precision: 是否使用高精度模式（更慢速度），默认为True + observe: 是否输出中间状态信息，默认为False + + 返回: + bool: 是否成功完成移动到目标位置 + """ + # 获取当前位置 + current_position = ctrl.odo_msg.xyz + current_x, current_y = current_position[0], current_position[1] + + if observe: + section('目标点导航V2', "开始") + info(f"当前位置: ({current_x:.3f}, {current_y:.3f})", "位置") + info(f"目标位置: ({target_x:.3f}, {target_y:.3f})", "目标") + # 在起点放置标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(current_x, current_y, + current_position[2] if len(current_position) > 2 else 0.0, + 'blue', observe=True) + # 在目标点放置标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(target_x, target_y, 0.0, 'green', observe=True) + + # 计算与目标点的距离 + dx = target_x - current_x + dy = target_y - current_y + distance = math.sqrt(dx*dx + dy*dy) + + # 如果已经非常接近目标，无需移动 + if distance < 0.05: # 5厘米以内视为已达到 + if observe: + success("已处于目标位置附近，无需移动", "完成") + return True + + if observe: + info(f"到目标点的距离: {distance:.3f}米", "路径") + + # 限制速度范围 + max_speed = min(max(abs(speed), 0.1), 1.0) + if precision: + max_speed = min(max_speed, 0.5) # 高精度模式下限制最大速度 + + # 根据距离动态调整速度 + if distance > 1.0: + actual_speed = max_speed + elif distance > 0.5: + actual_speed = max_speed * 0.8 + elif distance > 0.2: + actual_speed = max_speed * 0.6 + else: + actual_speed = max_speed * 0.4 + + # 设置移动命令基本参数 + msg.mode = 11 # Locomotion模式 + msg.gait_id = 26 # 自变频步态 + msg.step_height = [0.06, 0.06] # 抬腿高度 + + # 估算移动时间，但实际上会通过里程计控制 + estimated_time = distance / actual_speed + timeout = estimated_time + 5 # 增加超时时间为预计移动时间加5秒 + + # 增强的监控变量 + start_time = time.time() + position_check_interval = 0.05 # 位置检查间隔(秒) + last_check_time = start_time + last_position_x, last_position_y = current_x, current_y + last_distance = distance + stall_count = 0 + position_history = [] # 用于存储历史位置，检测轨迹偏移 + + # 轨迹偏移检测阈值 + trajectory_check_interval = 0.2 # 每0.2秒检查一次轨迹 + last_trajectory_check = start_time + max_trajectory_deviation = 0.15 # 最大允许的轨迹偏移（米） + + if observe: + info(f"开始移动，预计用时 {estimated_time:.2f}秒", "移动") + + # 监控移动到达目标点 + while time.time() - start_time < timeout: + current_time = time.time() + + # 按固定间隔检查位置，减少计算负担 + if current_time - last_check_time >= position_check_interval: + # 获取当前位置 + current_position = ctrl.odo_msg.xyz + current_x, current_y = current_position[0], current_position[1] + + # 记录位置历史用于轨迹分析 + position_history.append((current_x, current_y, current_time)) + # 只保留最近的位置历史 + if len(position_history) > 50: + position_history = position_history[-50:] + + # 计算新的位移向量和距离 + dx = target_x - current_x + dy = target_y - current_y + current_distance = math.sqrt(dx*dx + dy*dy) + + # 判断是否已经足够接近目标 + if current_distance < 0.05: # 5厘米以内视为已达到 + break + + # 计算移动进度 + progress = 1.0 - (current_distance / distance) + + # 检测是否卡住（距离变化很小） + distance_change = last_distance - current_distance + position_change = math.sqrt((current_x - last_position_x)**2 + (current_y - last_position_y)**2) + + if position_change < 0.005: # 几乎没有移动（5毫米以内） + stall_count += 1 + if stall_count > 10: # 连续多次检测到几乎没有移动 + if observe: + warning("检测到机器人可能卡住，调整策略", "移动") + # 尝试短暂后退再前进 + msg.vel_des = [-0.1, 0, 0] # 小幅后退 + msg.life_count = (msg.life_count + 1) % 127 + ctrl.Send_cmd(msg) + time.sleep(0.5) + stall_count = 0 + continue + else: + stall_count = 0 + + # 动态调整速度，接近目标时减速 + if current_distance < 0.2: # 接近目标时减速 + target_speed = max_speed * 0.3 + elif current_distance < 0.5: + target_speed = max_speed * 0.5 + else: + target_speed = actual_speed + + # 计算速度分量，归一化后乘以目标速度 + speed_factor = target_speed / current_distance if current_distance > 0 else 0 + vel_x = dx * speed_factor + vel_y = dy * speed_factor + + # 限制速度大小 + vel_magnitude = math.sqrt(vel_x*vel_x + vel_y*vel_y) + if vel_magnitude > target_speed: + scale_factor = target_speed / vel_magnitude + vel_x *= scale_factor + vel_y *= scale_factor + + # 更新速度命令 + msg.vel_des = [vel_x, vel_y, 0] # [前进速度, 侧向速度, 角速度] + msg.duration = 0 # 持续执行直到下一个命令 + msg.life_count = (msg.life_count + 1) % 127 # 防止溢出，确保life_count在int8_t范围内 + ctrl.Send_cmd(msg) + + if observe and (current_time - start_time) % 1.0 < position_check_interval: + debug(f"当前位置: ({current_x:.3f}, {current_y:.3f}), 剩余距离: {current_distance:.3f}米, 完成: {progress*100:.1f}%", "移动") + debug(f"速度: x={vel_x:.2f}, y={vel_y:.2f}", "速度") + + # 保存当前状态用于下次比较 + last_check_time = current_time + last_distance = current_distance + last_position_x, last_position_y = current_x, current_y + + time.sleep(0.01) # 小间隔检查位置 + + # 平滑停止 + if hasattr(ctrl.base_msg, 'stop_smooth'): + ctrl.base_msg.stop_smooth() + else: + ctrl.base_msg.stop() + + # 获取最终位置并计算与目标的误差 + final_position = ctrl.odo_msg.xyz + final_x, final_y = final_position[0], final_position[1] + final_dx = target_x - final_x + final_dy = target_y - final_y + final_distance = math.sqrt(final_dx*final_dx + final_dy*final_dy) + + if observe: + info(f"最终位置: ({final_x:.3f}, {final_y:.3f})", "位置") + info(f"与目标的距离误差: {final_distance:.3f}米", "误差") + # 在终点放置标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(final_x, final_y, + final_position[2] if len(final_position) > 2 else 0.0, + 'red', observe=True) + + # 判断是否成功到达目标点（误差在10厘米以内） + nav_success = final_distance < 0.1 + + # 如果误差较大但还在可接受范围内，尝试精确调整 + if not nav_success and final_distance < 0.3: + if observe: + warning(f"第一阶段导航误差为 {final_distance:.3f}米，尝试精确调整", "调整") + + # 使用直线模式进行精确调整 + msg.mode = 11 + msg.gait_id = 1 # 使用步行步态提高精度 + + # 计算新的速度分量，使用更低的速度 + dx = target_x - final_x + dy = target_y - final_y + adjust_distance = math.sqrt(dx*dx + dy*dy) + adjust_speed = min(0.2, max_speed * 0.4) # 降低速度提高精度 + + # 计算速度分量 + speed_factor = adjust_speed / adjust_distance if adjust_distance > 0 else 0 + vel_x = dx * speed_factor + vel_y = dy * speed_factor + + # 短暂精确移动 + adjust_time = min(adjust_distance / adjust_speed * 1.5, 3.0) # 最多3秒的调整时间 + adjust_start = time.time() + + while time.time() - adjust_start < adjust_time: + # 更新当前位置 + current_position = ctrl.odo_msg.xyz + current_x, current_y = current_position[0], current_position[1] + + # 重新计算距离和方向 + dx = target_x - current_x + dy = target_y - current_y + current_distance = math.sqrt(dx*dx + dy*dy) + + # 如果已经足够接近，提前结束 + if current_distance < 0.05: + break + + # 动态调整速度 + adjust_speed = min(0.2, current_distance * 0.5) + speed_factor = adjust_speed / current_distance if current_distance > 0 else 0 + vel_x = dx * speed_factor + vel_y = dy * speed_factor + + # 发送命令 + msg.vel_des = [vel_x, vel_y, 0] + msg.life_count = (msg.life_count + 1) % 127 + ctrl.Send_cmd(msg) + + if observe and (time.time() - adjust_start) % 0.5 < 0.05: + debug(f"精确调整中: 位置 ({current_x:.3f}, {current_y:.3f}), 距离: {current_distance:.3f}米", "调整") + + time.sleep(0.05) + + # 停止 + if hasattr(ctrl.base_msg, 'stop_smooth'): + ctrl.base_msg.stop_smooth() + else: + ctrl.base_msg.stop() + + # 获取最终位置并重新计算误差 + final_position = ctrl.odo_msg.xyz + final_x, final_y = final_position[0], final_position[1] + final_dx = target_x - final_x + final_dy = target_y - final_y + final_distance = math.sqrt(final_dx*final_dx + final_dy*final_dy) + + if observe: + info(f"调整后最终位置: ({final_x:.3f}, {final_y:.3f})", "位置") + info(f"调整后误差: {final_distance:.3f}米", "误差") + # 更新终点标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(final_x, final_y, + final_position[2] if len(final_position) > 2 else 0.0, + 'purple', observe=True) + + # 重新判断是否成功 + nav_success = final_distance < 0.1 + + if observe: + if nav_success: + success(f"成功到达目标点，误差: {final_distance:.3f}米", "成功") + else: + warning(f"未能精确到达目标点，误差: {final_distance:.3f}米", "警告") + + return nav_success + +def go_to_xy_with_correction_v2(ctrl, msg, target_x, target_y, speed=0.5, precision=True, + max_attempts=2, observe=False): + """ + 控制机器人移动到指定的(x,y)坐标位置，使用增强的里程计监控和校正机制，并在必要时进行多次尝试 + + 参数: + ctrl: Robot_Ctrl 对象，包含里程计信息 + msg: robot_control_cmd_lcmt 对象，用于发送命令 + target_x: 目标X坐标(米) + target_y: 目标Y坐标(米) + speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5 + precision: 是否使用高精度模式，默认为True + max_attempts: 最大尝试次数，默认为2 + observe: 是否输出中间状态信息，默认为False + + 返回: + bool: 是否成功完成移动到目标位置 + """ + attempt = 1 + + while attempt <= max_attempts: + if observe: + section(f'导航尝试V2 {attempt}/{max_attempts}', "开始") + + # 执行增强版导航 + success = go_to_xy_v2(ctrl, msg, target_x, target_y, speed, precision, observe) + + if success: + return True + + # 如果导航失败且还有尝试次数，进行修正 + if attempt < max_attempts: + if observe: + warning(f"第{attempt}次导航未达到预期精度，尝试不同策略", "修正") + + # 获取当前位置 + current_position = ctrl.odo_msg.xyz + current_x, current_y = current_position[0], current_position[1] + + # 计算与目标点的距离和角度 + dx = target_x - current_x + dy = target_y - current_y + distance = math.sqrt(dx*dx + dy*dy) + + # 距离较近时使用更精确的方式 + if distance < 0.3: # 30厘米以内 + if observe: + info(f"距离目标较近 ({distance:.3f}米)，使用精确模式移动", "策略") + speed = min(speed * 0.6, 0.3) # 降低速度 + precision = True + else: + # 距离较远时尝试用分段路径 + if observe: + info(f"距离目标较远 ({distance:.3f}米)，尝试分段导航", "策略") + # 计算中间点 + mid_x = current_x + dx * 0.5 + mid_y = current_y + dy * 0.5 + + # 先移动到中间点 + if observe: + info(f"先移动到中间点 ({mid_x:.3f}, {mid_y:.3f})", "中间点") + mid_success = go_to_xy_v2(ctrl, msg, mid_x, mid_y, speed, precision, observe) + + if not mid_success and observe: + warning("到达中间点失败，直接尝试目标点", "策略调整") + + attempt += 1 + + # 获取最终位置并计算与目标的误差 + final_position = ctrl.odo_msg.xyz + final_x, final_y = final_position[0], final_position[1] + final_dx = target_x - final_x + final_dy = target_y - final_y + final_distance = math.sqrt(final_dx*final_dx + final_dy*final_dy) + + if observe: + if final_distance < 0.2: + warning(f"虽未达到精确目标，但已在目标附近 ({final_distance:.3f}米)", "部分成功") + else: + error(f"多次尝试后仍未能达到目标点，最终误差: {final_distance:.3f}米", "失败") + + return False + +def go_to_y_v2(ctrl, msg, target_y, speed=0.5, precision=True, observe=False): + """ + 控制机器人移动到指定的y坐标位置，使用直接y速度控制 + + 参数: + ctrl: Robot_Ctrl 对象，包含里程计信息 + msg: robot_control_cmd_lcmt 对象，用于发送命令 + target_y: 目标Y坐标(米) + speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5 + """ + target_x = ctrl.odo_msg.xyz[0] + return go_to_xy_v2(ctrl, msg, target_x, target_y, speed, precision, observe)