Enhance arrow detection in task 2 by adding left and right direction counters, updating detection logic, and refining output messages. Adjust movement parameters in task 2.5 for improved execution. Update task 3 to increase maximum iterations for better stability during operations.

main.py

@@ -51,7 +51,7 @@ def main():
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
 
         # time.sleep(100) # TEST,
-        run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
+        # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
 
         arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
         # arrow_direction = 'right' # TEST

task_2/task_2.py

@@ -46,6 +46,10 @@ class AsyncArrowDetector:
         self.save_dir = "logs/image"
         os.makedirs(self.save_dir, exist_ok=True)
         
+        # 添加左右方向计数器
+        self.left_count = 0
+        self.right_count = 0
+        
         info("异步箭头检测器已初始化", "初始化")
     
     def start_detection(self, interval=0.5):
@@ -94,8 +98,14 @@ class AsyncArrowDetector:
                             self.arrow_result = direction
                             self.result_time = current_time
                             
+                            # 更新方向计数
+                            if direction == "left":
+                                self.left_count += 1
+                            elif direction == "right":
+                                self.right_count += 1
+                            
                         if direction != "unknown":
-                            info(f"异步检测到{direction}箭头", "箭头检测")
+                            info(f"异步检测到{direction}箭头 (left: {self.left_count}, right: {self.right_count})", "箭头检测")
                             
                             # 保存检测结果的可视化图像
                             timestamp = time.strftime("%Y%m%d_%H%M%S")
@@ -111,9 +121,21 @@ class AsyncArrowDetector:
             time.sleep(0.05)
     
     def get_last_result(self):
-        """获取最后一次成功的箭头检测结果"""
+        """获取最后一次成功的箭头检测结果和计数情况"""
         with self.lock:
-            return self.arrow_result, self.result_time, self.last_processed_image
+            # 根据计数确定最终方向
+            final_direction = self.arrow_result
+            if self.left_count > self.right_count:
+                final_direction = "left"
+            elif self.right_count > self.left_count:
+                final_direction = "right"
+            
+            return final_direction, self.result_time, self.last_processed_image
+    
+    def get_counts(self):
+        """获取当前的左右方向计数"""
+        with self.lock:
+            return self.left_count, self.right_count
 
 def run_task_2(ctrl, msg, xy_flag=False):
     # 微调 xy 和角度
@@ -209,7 +231,8 @@ def run_task_2(ctrl, msg, xy_flag=False):
                 
                 if result is not None and result != "unknown":
                     arrow_direction = result
-                    info(f"成功检测到箭头方向: {arrow_direction}", "箭头检测")
+                    left_count, right_count = arrow_detector.get_counts()
+                    info(f"成功检测到箭头方向: {arrow_direction} (left: {left_count}, right: {right_count})", "箭头检测")
                     break
                 
                 time.sleep(0.1)
@@ -224,7 +247,21 @@ def run_task_2(ctrl, msg, xy_flag=False):
                 if image is not None:
                     # 直接在当前图像上检测
                     arrow_direction = detect_arrow_direction(image, observe=False)
-                    info(f"直接检测到箭头方向: {arrow_direction}", "箭头检测")
+                    
+                    # 更新计数
+                    if arrow_direction == "left":
+                        arrow_detector.left_count += 1
+                    elif arrow_direction == "right":
+                        arrow_detector.right_count += 1
+                    
+                    # 根据总计数确定最终方向
+                    left_count, right_count = arrow_detector.get_counts()
+                    if left_count > right_count:
+                        arrow_direction = "left"
+                    elif right_count > left_count:
+                        arrow_direction = "right"
+                    
+                    info(f"直接检测到箭头方向: {arrow_direction} (left: {left_count}, right: {right_count})", "箭头检测")
                     
                     # 保存检测结果的可视化图像
                     timestamp = time.strftime("%Y%m%d_%H%M%S")
@@ -245,6 +282,10 @@ def run_task_2(ctrl, msg, xy_flag=False):
     print('y为',ctrl.odo_msg.xyz[1])
     print('z为',ctrl.odo_msg.xyz[2])
     
+    # 输出最终计数结果
+    left_count, right_count = arrow_detector.get_counts()
+    info(f"箭头检测最终结果: left={left_count}, right={right_count}, 选择={arrow_direction}", "箭头检测结果")
+    
     # 返回检测到的箭头方向
     return arrow_direction
 

task_2_5/task_2_5.py

@@ -14,7 +14,7 @@ observe = True
 
 def run_task_2_5(Ctrl, msg, direction='left'):
     section('任务2.5：预备进入任务3', "启动")
-    go_straight(Ctrl, msg, distance=-0.1, speed=0.5, observe=observe)
+    go_straight(Ctrl, msg, distance=-0.2, speed=0.5, observe=observe)
 
     # TEST
     turn_degree_v2(Ctrl, msg, 90, absolute=observe)
@@ -24,14 +24,16 @@ def run_task_2_5(Ctrl, msg, direction='left'):
     turn_success, res = arc_turn_around_hori_line(
         Ctrl,
         msg,
-        angle_deg=90 if direction == 'left' else -90,
+        angle_deg=85 if direction == 'left' else -85,
         target_distance=0.2,
         detect_func_version=3,
+        pass_align=True,
+        radius=0.55,
         observe=observe,
         no_end_reset=True,
     )
 
-    go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)
+    go_straight(Ctrl, msg, distance=0.4, speed=0.5, observe=observe)
     section('任务2.5-2：第二次旋转', "移动")
 
 def run_task_2_5_back(Ctrl, msg, direction='left'):

task_3/task_3.py

@@ -101,7 +101,7 @@ def pass_up_down(ctrl, msg):
         stable_threshold = 8  # 连续15次检测z轴不再增加则认为已经停止
         z_speed_threshold = 0.01  # z轴速度阈值，小于这个值认为已经停止爬升
         climb_speed_threshold = 0.05  # 检测到开始爬坡的速度阈值
-        max_iterations = 180  # 最大循环次数，作为安全保障
+        max_iterations = 200  # 最大循环次数，作为安全保障
         min_iterations = 170  # 最小循环次数，作为安全保障
 
         # 姿态判断参数