136 lines
3.9 KiB
Python
136 lines
3.9 KiB
Python
'''
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This demo show the communication interface of MR813 motion control board based on Lcm.
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Dependency:
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- robot_control_cmd_lcmt.py
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- robot_control_response_lcmt.py
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'''
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import lcm
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import sys
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import os
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import time
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from threading import Thread, Lock
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import sys
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from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
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from utils.robot_control_response_lcmt import robot_control_response_lcmt
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from utils.localization_lcmt import localization_lcmt
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from utils.image_raw import ImageProcessor
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from task_1.task_1 import run_task_1
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from task_5.task_5 import run_task_5
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def main():
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Ctrl = Robot_Ctrl()
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Ctrl.run()
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msg = robot_control_cmd_lcmt()
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image_processor = ImageProcessor()
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image_processor.run()
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try:
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print("Recovery stand")
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msg.mode = 12 # Recovery stand
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msg.gait_id = 0
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(12, 0)
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# time.sleep(1)
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# run_task_1(Ctrl, msg, image_processor)
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run_task_5(Ctrl, msg)
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# time.sleep(100)
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except KeyboardInterrupt:
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print("\n程序被用户中断")
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except Exception as e:
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print(f"发生错误: {e}")
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finally:
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print("正在清理资源...")
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Ctrl.quit()
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image_processor.destroy()
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print("程序已退出")
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sys.exit()
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class Robot_Ctrl(object):
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def __init__(self):
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self.rec_thread = Thread(target=self.rec_responce)
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self.send_thread = Thread(target=self.send_publish)
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self.odo_thread = Thread(target=self.rec_responce_o)
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self.lc_r = lcm.LCM("udpm://239.255.76.67:7670?ttl=255")
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self.lc_s = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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self.lc_o = lcm.LCM("udpm://239.255.76.67:7667?ttl=255")
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self.cmd_msg = robot_control_cmd_lcmt()
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self.rec_msg = robot_control_response_lcmt()
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self.odo_msg = localization_lcmt()
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self.send_lock = Lock()
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self.delay_cnt = 0
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self.mode_ok = 0
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self.gait_ok = 0
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self.runing = 1
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def run(self):
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self.lc_r.subscribe("robot_control_response", self.msg_handler)
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self.lc_o.subscribe("global_to_robot", self.msg_handler_o)
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self.send_thread.start()
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self.rec_thread.start()
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self.odo_thread.start()
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def msg_handler(self, channel, data):
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self.rec_msg = robot_control_response_lcmt().decode(data)
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if self.rec_msg.order_process_bar >= 95:
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self.mode_ok = self.rec_msg.mode
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else:
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self.mode_ok = 0
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def msg_handler_o(self, channel, data):
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self.odo_msg = localization_lcmt().decode(data)
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if self.odo_msg.timestamp % 100 == 0:
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print(self.odo_msg.rpy)
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def rec_responce(self):
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while self.runing:
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self.lc_r.handle()
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time.sleep(0.002)
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def rec_responce_o(self):
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while self.runing:
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self.lc_o.handle()
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time.sleep(0.002)
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def Wait_finish(self, mode, gait_id):
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count = 0
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while self.runing and count < 2000: # 10s
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if self.mode_ok == mode and self.gait_ok == gait_id:
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return True
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else:
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time.sleep(0.005)
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count += 1
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print("Wait_finish timeout.")
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return False
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def send_publish(self):
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while self.runing:
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self.send_lock.acquire()
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if self.delay_cnt > 20: # Heartbeat signal 10HZ
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self.lc_s.publish("robot_control_cmd", self.cmd_msg.encode())
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self.delay_cnt = 0
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self.delay_cnt += 1
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self.send_lock.release()
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time.sleep(0.005)
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def Send_cmd(self, msg):
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self.send_lock.acquire()
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self.delay_cnt = 50
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self.cmd_msg = msg
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self.send_lock.release()
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def quit(self):
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self.runing = 0
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self.rec_thread.join()
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self.send_thread.join()
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# Main function
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if __name__ == '__main__':
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main() |