fix up 820

main.py

@@ -125,18 +125,18 @@ def main():
         # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
         # print('🏹 arrow_direction: ', arrow_direction)
 
-        arrow_direction='right'
+        arrow_direction='left'
 
 
         #TAG task - 2.5
-        run_task_2_5(Ctrl, msg, direction=arrow_direction)
+        # run_task_2_5(Ctrl, msg, direction=arrow_direction)
 
 
-        #TAG task - 3 / 4 - part I
-        if arrow_direction == 'left':
-            run_task_4(Ctrl, msg)
-        else:
-            run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)  # 直接上下坡，然后走到 黄灯前原地踏步的部分
+        # #TAG task - 3 / 4 - part I
+        # if arrow_direction == 'left':
+        #     run_task_4(Ctrl, msg)
+        # else:
+        #     run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)  # 直接上下坡，然后走到 黄灯前原地踏步的部分
 
 
         # TAG task - 5
@@ -145,15 +145,15 @@ def main():
         # print(success)
         # print(qr)
 
-        # # TAG task - 3 / 4 - part II
-        # if arrow_direction == 'left':
-        #     run_task_4_back(Ctrl, msg)
-        # else:
-        #     run_task_3_back(Ctrl, msg)
+        # TAG task - 3 / 4 - part II
+        if arrow_direction == 'left':
+            run_task_4_back(Ctrl, msg)
+        else:
+            run_task_3_back(Ctrl, msg)
 
 
         #TAG task - 2.5 - back
-        # run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
+        run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
 
 
         # TAG task - 2 - back
@@ -176,7 +176,6 @@ def main():
         print("\n程序被用户中断")
     except Exception as e:
         import traceback
-        import sys
         exc_type, exc_value, exc_tb = sys.exc_info()
         tb = traceback.extract_tb(exc_tb)
         if tb:
@@ -311,7 +310,7 @@ class Robot_Ctrl(object):
         self.runing = 0
         self.rec_thread.join()
         self.send_thread.join()
-        self.image_processor.destroy()
+        # self.image_processor.destroy()
         # 销毁 MarkerRunner
         if hasattr(self, 'marker_runner') and self.marker_runner is not None:
             try:

task_2/task_2.py

@@ -163,7 +163,7 @@ def run_task_2(ctrl, msg, xy_flag=False):
         #第一个圆弧
         (0.45, 0, 0.72,0,0,0,6),
         #微调路径
-        # (0.3,0,0,0,0,0,0.8),
+        (0.3,0,0,0,0,0,0.8),
         # #第二个圆弧
         (0.4,0,-0.65,0,0,0,7.9),
         # #微调路径
@@ -171,13 +171,13 @@ def run_task_2(ctrl, msg, xy_flag=False):
         # # 第三个圆弧
         (0.4,0,0.73,0,0,0,6),
         # #微调路径
-        # (0.3,0,0,0,0,0,1.3),
+        (0.3,0,0,0,0,0,1.3),
         # #第四个圆弧
         (0.4,0,-0.72,0,0,0,3.6),
         # #绕出来
-        # (0.3,0,0.6,0,0,0,1),
+        (0.3,0,0.6,0,0,0,1),
         # #前走一点
-        # (0.3,0,0,0,0,0,0.5)
+        (0.3,0,0,0,0,0,0.5)
     ]  # [vel_x, vel_z] 对应 [左转, 右转, 左转]
     
     gotoxy=[

task_3/task_3.py

@@ -21,6 +21,7 @@ from base_move.go_to_xy import go_to_x_v2
 from base_move.center_on_dual_tracks import center_on_dual_tracks
 from file_send_lcmt import file_send_lcmt
 from utils.yellow_area_analyzer import analyze_yellow_area_ratio
+from utils.detect_dual_track_lines import detect_dual_track_lines
 
 # 创建本模块特定的日志记录器
 logger = get_logger("任务3")

task_4/task_4.py

@@ -28,6 +28,9 @@ STONE_DISTANCE = 4.0  # TODO 距离参数需要微调
 RED_RATIO_THRESHOLD = 0.35  # TODO 红色区域比例阈值需要微调
 
 def run_task_4(ctrl, msg):
+    info('开始执行任务4...', "启动")
+    turn_degree_v2(ctrl, msg, 90, absolute=True)#wzl:8.20新增，右转90度
+
     section('任务4-1：直线移动', "移动")
     pass_stone(ctrl, msg, distance=STONE_DISTANCE)                    
 

utils/image_raw.py

@@ -15,6 +15,9 @@
 # ros2 lifecycle set /stereo_camera configure
 # ros2 lifecycle set /stereo_camera activate
 
+# 启动AI相机
+# ros2 run camera_test camera_server
+
 #/image_left
 #/image_right
 #/image_rgb