69 lines
2.1 KiB
Python
69 lines
2.1 KiB
Python
import time
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import sys
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import os
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import math
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# 添加父目录到路径，以便能够导入utils
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from base_move.move_base_hori_line import move_to_hori_line, arc_turn_around_hori_line, align_to_horizontal_line
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from utils.detect_track import detect_horizontal_track_edge
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from base_move.move_base_hori_line import calculate_distance_to_line
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from base_move.go_straight import go_straight
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observe = False
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def run_task_1(ctrl, msg):
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print('🐶 Running task 1...')
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# v2
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print('😺 task 1 - 1')
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# 在 arc_turn_around_hori_line 中启用 QR 码扫描
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turn_success, qr_result = arc_turn_around_hori_line(
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ctrl=ctrl,
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msg=msg,
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angle_deg=85,
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left=False,
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observe=observe,
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scan_qrcode=True, # 启用 QR 码扫描
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qr_check_interval=0.3 # 每 0.3 秒检查一次扫描结果
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)
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if qr_result:
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print(f"🎯 在任务 1-1 中成功扫描到 QR 码: {qr_result}")
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else:
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print("⚠️ 任务 1-1 中未能扫描到任何 QR 码")
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print('😺 task 1 - 2')
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# 执行常规的移动操作，不需要 QR 码扫描
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move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
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print('😺 task 1 - 3')
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# direction = True if qr_result == 'A-1' else False
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# TODO
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turn_success = arc_turn_around_hori_line(
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ctrl=ctrl,
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msg=msg,
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angle_deg=170,
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target_distance=0.4, # TODO 优化这里的参数
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left=False, # direction,
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pass_align=True,
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observe=observe,
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# TODO clear
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bad_big_angle_corret=True
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)
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print('😺 task 1 - 4')
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move_distance = 0.4
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go_straight(ctrl, msg, distance=move_distance, speed=0.5, observe=observe)
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# move_to_hori_line(ctrl, msg, target_distance=0.6, observe=observe)
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print('😺 task 1 - 5 休眠，模拟装货')
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ctrl.base_msg.lie_down(wait_time=5000)
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# 站起来
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ctrl.base_msg.stand_up()
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print('😺 task 1 - 6 back')
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go_straight(ctrl, msg, distance=-move_distance + 0.1, speed=0.5, observe=observe)
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