596 lines
24 KiB
Python
596 lines
24 KiB
Python
import math
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import time
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import sys
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import os
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from utils.localization_lcmt import localization_lcmt
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from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
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# 创建本模块特定的日志记录器
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logger = get_logger("直线移动")
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def go_straight(ctrl, msg, distance, speed=0.5, observe=False,
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mode=11,
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gait_id=26,
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step_height=[0.06, 0.06],
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):
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"""
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控制机器人沿直线行走指定距离
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参数:
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ctrl: Robot_Ctrl 对象，包含里程计信息
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msg: robot_control_cmd_lcmt 对象，用于发送命令
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distance: 要行走的距离(米)，正值为前进，负值为后退
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speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
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observe: 是否输出中间状态信息，默认为False
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返回:
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bool: 是否成功完成行走
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"""
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# 参数验证
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if abs(distance) < 0.01:
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info("距离太短，无需移动", "信息")
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return True
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# 限制速度范围
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speed = min(max(abs(speed), 0.1), 1.0)
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# 确定前进或后退方向
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forward = distance > 0
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move_speed = speed if forward else -speed
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abs_distance = abs(distance)
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# 获取起始位置
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start_position = list(ctrl.odo_msg.xyz)
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start_yaw = ctrl.odo_msg.rpy[2] # 记录起始朝向，用于保持直线
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if observe:
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debug(f"起始位置: {start_position}", "位置")
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info(f"开始{'前进' if forward else '后退'} {abs_distance:.3f}米，速度: {abs(move_speed):.2f}米/秒", "移动")
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# 在起点放置标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(start_position[0], start_position[1],
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start_position[2] if len(start_position) > 2 else 0.0,
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'green', observe=True)
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# 设置移动命令
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msg.mode = mode # Locomotion模式
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msg.gait_id = gait_id # 自变频步态
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# 根据需要移动的距离动态调整移动速度
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if abs_distance > 1.0:
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actual_speed = move_speed # 距离较远时用设定速度
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elif abs_distance > 0.5:
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actual_speed = move_speed * 0.8 # 中等距离略微降速
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elif abs_distance > 0.2:
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actual_speed = move_speed * 0.6 # 较近距离降低速度
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else:
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actual_speed = move_speed * 0.4 # 非常接近时用更慢速度
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# 设置移动速度和方向
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msg.vel_des = [actual_speed, 0, 0] # [前进速度, 侧向速度, 角速度]
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msg.duration = 0 # wait next cmd
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msg.step_height = step_height # 抬腿高度
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msg.life_count += 1
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# 发送命令
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ctrl.Send_cmd(msg)
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# 估算移动时间，但实际上会通过里程计控制
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estimated_time = abs_distance / abs(actual_speed)
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timeout = estimated_time + 3 # 增加超时时间为预计移动时间加3秒
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# 使用里程计进行实时监控移动距离
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distance_moved = 0
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start_time = time.time()
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last_position = start_position
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# 动态调整参数
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angle_correction_threshold = 0.05 # 角度偏差超过多少弧度开始修正
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slow_down_ratio = 0.85 # 当移动到目标距离的85%时开始减速
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completion_threshold = 0.95 # 当移动到目标距离的95%时停止
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position_check_interval = 0.1 # 位置检查间隔(秒)
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last_check_time = start_time
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# 监控移动距离
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while distance_moved < abs_distance * completion_threshold and time.time() - start_time < timeout:
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current_time = time.time()
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# 按固定间隔检查位置，减少计算负担
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if current_time - last_check_time >= position_check_interval:
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# 获取当前位置和朝向
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current_position = ctrl.odo_msg.xyz
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current_yaw = ctrl.odo_msg.rpy[2]
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# 计算已移动距离
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dx = current_position[0] - start_position[0]
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dy = current_position[1] - start_position[1]
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distance_moved = math.sqrt(dx*dx + dy*dy)
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# 根据前进或后退确定期望方向
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expected_direction = start_yaw if forward else (start_yaw + math.pi) % (2 * math.pi)
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# 使用IMU朝向数据计算角度偏差
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yaw_error = current_yaw - expected_direction
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# 角度归一化
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while yaw_error > math.pi:
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yaw_error -= 2 * math.pi
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while yaw_error < -math.pi:
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yaw_error += 2 * math.pi
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# 计算完成比例
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completion_ratio = distance_moved / abs_distance
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# 根据距离完成情况调整速度
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if completion_ratio > slow_down_ratio:
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# 计算减速系数
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slow_factor = 1.0 - (completion_ratio - slow_down_ratio) / (1.0 - slow_down_ratio)
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# 确保不会减速太多
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slow_factor = max(0.2, slow_factor)
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new_speed = actual_speed * slow_factor
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if observe and abs(new_speed - msg.vel_des[0]) > 0.05:
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info(f"减速: {msg.vel_des[0]:.2f} -> {new_speed:.2f} 米/秒 (完成: {completion_ratio*100:.1f}%)", "移动")
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msg.vel_des[0] = new_speed
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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# 如果偏离初始方向，进行角度修正
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# if abs(yaw_error) > angle_correction_threshold:
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# # 计算角速度修正值，偏差越大修正越强
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# angular_correction = -yaw_error * 0.5 # 比例系数可调整
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# # 限制最大角速度修正
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# angular_correction = max(min(angular_correction, 0.2), -0.2)
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# if observe and abs(angular_correction) > 0.05:
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# warning(f"方向修正: 偏差 {math.degrees(yaw_error):.1f}度，应用角速度 {angular_correction:.3f}rad/s", "角度")
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# # 应用角速度修正
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# msg.vel_des[2] = angular_correction
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# msg.life_count += 1
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# ctrl.Send_cmd(msg)
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# elif msg.vel_des[2] != 0:
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# # 如果方向已修正，重置角速度
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# msg.vel_des[2] = 0
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# msg.life_count += 1
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# ctrl.Send_cmd(msg)
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if observe and current_time - start_time > 1 and (current_time % 0.5 < position_check_interval):
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debug(f"已移动: {distance_moved:.3f}米, 目标: {abs_distance:.3f}米 (完成: {completion_ratio*100:.1f}%)", "距离")
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debug(f"当前速度: [{msg.vel_des[0]:.2f}, {msg.vel_des[1]:.2f}, {msg.vel_des[2]:.2f}]", "移动")
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# 更新最后检查时间和位置
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last_check_time = current_time
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last_position = current_position
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time.sleep(0.01) # 小间隔检查位置
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# 平滑停止
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if hasattr(ctrl.base_msg, 'stop_smooth'):
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ctrl.base_msg.stop_smooth()
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else:
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ctrl.base_msg.stop()
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# 获取最终位置和实际移动距离
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final_position = ctrl.odo_msg.xyz
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dx = final_position[0] - start_position[0]
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dy = final_position[1] - start_position[1]
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actual_distance = math.sqrt(dx*dx + dy*dy)
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if observe:
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success(f"移动完成，从里程计计算的移动距离: {actual_distance:.3f}米", "完成")
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# 在终点放置标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(final_position[0], final_position[1],
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final_position[2] if len(final_position) > 2 else 0.0,
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'red', observe=True)
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# 判断是否成功完成
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distance_error = abs(actual_distance - abs_distance)
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go_success = distance_error < 0.1 # 如果误差小于10厘米，则认为成功
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if observe:
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info(f"目标距离: {abs_distance:.3f}米, 实际距离: {actual_distance:.3f}米, 误差: {distance_error:.3f}米", "距离")
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if go_success:
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success(f"移动成功", "成功")
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else:
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warning(f"移动失败，误差过大: {distance_error:.3f}米", "失败")
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return go_success
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def go_straight_until_bar(ctrl, msg, distance, speed=0.5, observe=False):
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"""
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控制机器人沿直线行走指定距离，直到检测到栏杆
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"""
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pass
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def go_straight_with_qrcode(ctrl, msg, distance, speed=0.5, observe=False):
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"""
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控制机器人沿直线行走指定距离，同时扫描二维码
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参数:
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ctrl: Robot_Ctrl 对象，包含里程计信息
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msg: robot_control_cmd_lcmt 对象，用于发送命令
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distance: 要行走的距离(米)，正值为前进，负值为后退
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speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
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observe: 是否输出中间状态信息，默认为False
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返回:
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tuple: (bool, str) - (是否成功完成行走, 扫描到的QR码内容)
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"""
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# 返回此任务的中间状态
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res = {}
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qr_result = None
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# 启动异步QR码扫描
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if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
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try:
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ctrl.image_processor.start_async_scan(interval=0.2)
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if observe:
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info("已启动异步QR码扫描", "扫描")
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except Exception as e:
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if observe:
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error(f"启动QR码扫描失败: {e}", "失败")
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else:
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if observe:
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warning("无法启用QR码扫描，image_processor不存在", "警告")
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# 参数验证
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if abs(distance) < 0.01:
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info("距离太短，无需移动", "信息")
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# 停止异步扫描
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if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
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ctrl.image_processor.stop_async_scan()
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return True, None
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# 限制速度范围
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speed = min(max(abs(speed), 0.1), 1.0)
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# 确定前进或后退方向
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forward = distance > 0
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move_speed = speed if forward else -speed
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abs_distance = abs(distance)
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# 获取起始位置
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start_position = list(ctrl.odo_msg.xyz)
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start_yaw = ctrl.odo_msg.rpy[2] # 记录起始朝向，用于保持直线
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if observe:
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debug(f"起始位置: {start_position}", "位置")
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info(f"开始{'前进' if forward else '后退'} {abs_distance:.3f}米，速度: {abs(move_speed):.2f}米/秒", "移动")
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# 在起点放置标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(start_position[0], start_position[1],
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start_position[2] if len(start_position) > 2 else 0.0,
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'green', observe=True)
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# 设置移动命令
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msg.mode = 11 # Locomotion模式
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msg.gait_id = 26 # 自变频步态
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# 根据需要移动的距离动态调整移动速度
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if abs_distance > 1.0:
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actual_speed = move_speed # 距离较远时用设定速度
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elif abs_distance > 0.5:
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actual_speed = move_speed * 0.8 # 中等距离略微降速
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elif abs_distance > 0.2:
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actual_speed = move_speed * 0.6 # 较近距离降低速度
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else:
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actual_speed = move_speed * 0.4 # 非常接近时用更慢速度
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# 设置移动速度和方向
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msg.vel_des = [actual_speed, 0, 0] # [前进速度, 侧向速度, 角速度]
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msg.duration = 0 # wait next cmd
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msg.step_height = [0.06, 0.06] # 抬腿高度
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msg.life_count += 1
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# 发送命令
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ctrl.Send_cmd(msg)
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# 估算移动时间，但实际上会通过里程计控制
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estimated_time = abs_distance / abs(actual_speed)
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timeout = estimated_time + 3 # 增加超时时间为预计移动时间加3秒
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# 使用里程计进行实时监控移动距离
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distance_moved = 0
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start_time = time.time()
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last_position = start_position
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last_qr_check_time = start_time
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qr_check_interval = 0.3 # QR码检查间隔时间(秒)
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# 动态调整参数
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angle_correction_threshold = 0.05 # 角度偏差超过多少弧度开始修正
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slow_down_ratio = 0.85 # 当移动到目标距离的85%时开始减速
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completion_threshold = 0.95 # 当移动到目标距离的95%时停止
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position_check_interval = 0.1 # 位置检查间隔(秒)
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last_check_time = start_time
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# 监控移动距离
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while distance_moved < abs_distance * completion_threshold and time.time() - start_time < timeout:
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current_time = time.time()
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# 按固定间隔检查位置，减少计算负担
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if current_time - last_check_time >= position_check_interval:
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# 获取当前位置和朝向
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current_position = ctrl.odo_msg.xyz
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current_yaw = ctrl.odo_msg.rpy[2]
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# 计算已移动距离
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dx = current_position[0] - start_position[0]
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dy = current_position[1] - start_position[1]
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distance_moved = math.sqrt(dx*dx + dy*dy)
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# 根据前进或后退确定期望方向
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expected_direction = start_yaw if forward else (start_yaw + math.pi) % (2 * math.pi)
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# 使用IMU朝向数据计算角度偏差
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yaw_error = current_yaw - expected_direction
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# 角度归一化
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while yaw_error > math.pi:
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yaw_error -= 2 * math.pi
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while yaw_error < -math.pi:
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yaw_error += 2 * math.pi
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# 计算完成比例
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completion_ratio = distance_moved / abs_distance
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# 根据距离完成情况调整速度
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if completion_ratio > slow_down_ratio:
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# 计算减速系数
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slow_factor = 1.0 - (completion_ratio - slow_down_ratio) / (1.0 - slow_down_ratio)
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# 确保不会减速太多
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slow_factor = max(0.2, slow_factor)
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new_speed = actual_speed * slow_factor
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if observe and abs(new_speed - msg.vel_des[0]) > 0.05:
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info(f"减速: {msg.vel_des[0]:.2f} -> {new_speed:.2f} 米/秒 (完成: {completion_ratio*100:.1f}%)", "移动")
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msg.vel_des[0] = new_speed
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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if observe and current_time - start_time > 1 and (current_time % 0.5 < position_check_interval):
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debug(f"已移动: {distance_moved:.3f}米, 目标: {abs_distance:.3f}米 (完成: {completion_ratio*100:.1f}%)", "距离")
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debug(f"当前速度: [{msg.vel_des[0]:.2f}, {msg.vel_des[1]:.2f}, {msg.vel_des[2]:.2f}]", "移动")
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# 更新最后检查时间和位置
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last_check_time = current_time
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last_position = current_position
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# 检查QR码扫描结果
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if current_time - last_qr_check_time >= qr_check_interval:
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if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
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qr_data, scan_time = ctrl.image_processor.get_last_qr_result()
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if qr_data and scan_time > start_time:
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qr_result = qr_data
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if observe:
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success(f"在移动过程中扫描到QR码: {qr_data}", "扫描")
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last_qr_check_time = current_time
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time.sleep(0.01) # 小间隔检查位置
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# 平滑停止
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if hasattr(ctrl.base_msg, 'stop_smooth'):
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ctrl.base_msg.stop_smooth()
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else:
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ctrl.base_msg.stop()
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# 获取最终位置和实际移动距离
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final_position = ctrl.odo_msg.xyz
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dx = final_position[0] - start_position[0]
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dy = final_position[1] - start_position[1]
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actual_distance = math.sqrt(dx*dx + dy*dy)
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# 停止异步扫描
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if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
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ctrl.image_processor.stop_async_scan()
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# 移动完成后再检查一次QR码扫描结果
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last_qr_data, last_scan_time = ctrl.image_processor.get_last_qr_result()
|
||
if last_qr_data and (qr_result is None or last_scan_time > last_qr_check_time):
|
||
qr_result = last_qr_data
|
||
if observe:
|
||
success(f"移动完成后最终扫描到QR码: {last_qr_data}", "扫描")
|
||
|
||
if observe:
|
||
success(f"移动完成，从里程计计算的移动距离: {actual_distance:.3f}米", "完成")
|
||
# 在终点放置标记
|
||
if hasattr(ctrl, 'place_marker'):
|
||
ctrl.place_marker(final_position[0], final_position[1],
|
||
final_position[2] if len(final_position) > 2 else 0.0,
|
||
'red', observe=True)
|
||
|
||
# 判断是否成功完成
|
||
distance_error = abs(actual_distance - abs_distance)
|
||
go_success = distance_error < 0.1 # 如果误差小于10厘米，则认为成功
|
||
|
||
if observe:
|
||
info(f"目标距离: {abs_distance:.3f}米, 实际距离: {actual_distance:.3f}米, 误差: {distance_error:.3f}米", "距离")
|
||
if go_success:
|
||
success(f"移动成功", "成功")
|
||
else:
|
||
warning(f"移动失败，误差过大: {distance_error:.3f}米", "失败")
|
||
|
||
if qr_result:
|
||
success(f"成功扫描到QR码: {qr_result}", "扫描结果")
|
||
else:
|
||
warning("未扫描到任何QR码", "扫描结果")
|
||
|
||
# 将QR码结果添加到res字典中
|
||
res['qr_result'] = qr_result
|
||
|
||
return go_success, res
|
||
|
||
def go_lateral(ctrl, msg, distance, speed=0.5, observe=False,
|
||
mode=11,
|
||
gait_id=26,
|
||
step_height=[0.06, 0.06],
|
||
):
|
||
"""
|
||
控制机器人沿y轴方向(侧向)行走指定距离
|
||
|
||
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
|
||
distance: 要行走的距离(米)，正值为向左，负值为向右
|
||
speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
|
||
observe: 是否输出中间状态信息，默认为False
|
||
|
||
返回:
|
||
bool: 是否成功完成行走
|
||
"""
|
||
# 参数验证
|
||
if abs(distance) < 0.01:
|
||
info("距离太短，无需移动", "信息")
|
||
return True
|
||
|
||
# 限制速度范围
|
||
speed = min(max(abs(speed), 0.1), 1.0)
|
||
|
||
# 确定左移或右移方向
|
||
leftward = distance > 0
|
||
move_speed = speed if leftward else -speed
|
||
abs_distance = abs(distance)
|
||
|
||
# 获取起始位置
|
||
start_position = list(ctrl.odo_msg.xyz)
|
||
start_yaw = ctrl.odo_msg.rpy[2] # 记录起始朝向，用于保持直线
|
||
|
||
if observe:
|
||
debug(f"起始位置: {start_position}", "位置")
|
||
info(f"开始{'向左' if leftward else '向右'}移动 {abs_distance:.3f}米，速度: {abs(move_speed):.2f}米/秒", "移动")
|
||
# 在起点放置标记
|
||
if hasattr(ctrl, 'place_marker'):
|
||
ctrl.place_marker(start_position[0], start_position[1],
|
||
start_position[2] if len(start_position) > 2 else 0.0,
|
||
'green', observe=True)
|
||
|
||
# 设置移动命令
|
||
msg.mode = mode # Locomotion模式
|
||
msg.gait_id = gait_id # 自变频步态
|
||
|
||
# 根据需要移动的距离动态调整移动速度
|
||
if abs_distance > 1.0:
|
||
actual_speed = move_speed # 距离较远时用设定速度
|
||
elif abs_distance > 0.5:
|
||
actual_speed = move_speed * 0.8 # 中等距离略微降速
|
||
elif abs_distance > 0.2:
|
||
actual_speed = move_speed * 0.6 # 较近距离降低速度
|
||
else:
|
||
actual_speed = move_speed * 0.4 # 非常接近时用更慢速度
|
||
|
||
# 设置移动速度和方向 - 在y轴方向移动
|
||
msg.vel_des = [0, actual_speed, 0] # [前进速度, 侧向速度, 角速度]
|
||
msg.duration = 0 # wait next cmd
|
||
msg.step_height = step_height # 抬腿高度
|
||
msg.life_count += 1
|
||
|
||
# 发送命令
|
||
ctrl.Send_cmd(msg)
|
||
|
||
# 估算移动时间，但实际上会通过里程计控制
|
||
estimated_time = abs_distance / abs(actual_speed)
|
||
timeout = estimated_time + 3 # 增加超时时间为预计移动时间加3秒
|
||
|
||
# 使用里程计进行实时监控移动距离
|
||
distance_moved = 0
|
||
start_time = time.time()
|
||
last_position = start_position
|
||
|
||
# 动态调整参数
|
||
angle_correction_threshold = 0.05 # 角度偏差超过多少弧度开始修正
|
||
slow_down_ratio = 0.85 # 当移动到目标距离的85%时开始减速
|
||
completion_threshold = 0.95 # 当移动到目标距离的95%时停止
|
||
position_check_interval = 0.1 # 位置检查间隔(秒)
|
||
last_check_time = start_time
|
||
|
||
# 监控移动距离
|
||
while distance_moved < abs_distance * completion_threshold and 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:
|
||
# 获取当前位置和朝向
|
||
current_position = ctrl.odo_msg.xyz
|
||
current_yaw = ctrl.odo_msg.rpy[2]
|
||
|
||
# 计算已移动距离
|
||
dx = current_position[0] - start_position[0]
|
||
dy = current_position[1] - start_position[1]
|
||
distance_moved = math.sqrt(dx*dx + dy*dy)
|
||
|
||
# 计算完成比例
|
||
completion_ratio = distance_moved / abs_distance
|
||
|
||
# 根据距离完成情况调整速度
|
||
if completion_ratio > slow_down_ratio:
|
||
# 计算减速系数
|
||
slow_factor = 1.0 - (completion_ratio - slow_down_ratio) / (1.0 - slow_down_ratio)
|
||
# 确保不会减速太多
|
||
slow_factor = max(0.2, slow_factor)
|
||
new_speed = actual_speed * slow_factor
|
||
|
||
if observe and abs(new_speed - msg.vel_des[1]) > 0.05:
|
||
info(f"减速: {msg.vel_des[1]:.2f} -> {new_speed:.2f} 米/秒 (完成: {completion_ratio*100:.1f}%)", "移动")
|
||
|
||
msg.vel_des[1] = new_speed
|
||
msg.life_count += 1
|
||
ctrl.Send_cmd(msg)
|
||
|
||
if observe and current_time - start_time > 1 and (current_time % 0.5 < position_check_interval):
|
||
debug(f"已移动: {distance_moved:.3f}米, 目标: {abs_distance:.3f}米 (完成: {completion_ratio*100:.1f}%)", "距离")
|
||
debug(f"当前速度: [{msg.vel_des[0]:.2f}, {msg.vel_des[1]:.2f}, {msg.vel_des[2]:.2f}]", "移动")
|
||
|
||
# 更新最后检查时间和位置
|
||
last_check_time = current_time
|
||
last_position = current_position
|
||
|
||
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()
|
||
|
||
# 获取最终位置和实际移动距离
|
||
final_position = ctrl.odo_msg.xyz
|
||
dx = final_position[0] - start_position[0]
|
||
dy = final_position[1] - start_position[1]
|
||
actual_distance = math.sqrt(dx*dx + dy*dy)
|
||
|
||
if observe:
|
||
success(f"移动完成，从里程计计算的移动距离: {actual_distance:.3f}米", "完成")
|
||
# 在终点放置标记
|
||
if hasattr(ctrl, 'place_marker'):
|
||
ctrl.place_marker(final_position[0], final_position[1],
|
||
final_position[2] if len(final_position) > 2 else 0.0,
|
||
'red', observe=True)
|
||
|
||
# 判断是否成功完成
|
||
distance_error = abs(actual_distance - abs_distance)
|
||
go_success = distance_error < 0.1 # 如果误差小于10厘米，则认为成功
|
||
|
||
if observe:
|
||
info(f"目标距离: {abs_distance:.3f}米, 实际距离: {actual_distance:.3f}米, 误差: {distance_error:.3f}米", "距离")
|
||
if go_success:
|
||
success(f"移动成功", "成功")
|
||
else:
|
||
warning(f"移动失败，误差过大: {distance_error:.3f}米", "失败")
|
||
|
||
return go_success
|
||
|
||
# 用法示例
|
||
if __name__ == "__main__":
|
||
# 这里是示例代码，实际使用时需要提供合适的ctrl和msg对象
|
||
# 前进1米
|
||
# go_straight(ctrl, msg, 1.0, speed=0.5, observe=True)
|
||
# 后退0.5米
|
||
# go_straight(ctrl, msg, -0.5, speed=0.3, observe=True)
|
||
# 向左移动0.5米
|
||
# go_lateral(ctrl, msg, 0.5, speed=0.3, observe=True)
|
||
# 向右移动0.8米
|
||
# go_lateral(ctrl, msg, -0.8, speed=0.3, observe=True)
|
||
pass
|