287 lines
12 KiB
Python
287 lines
12 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.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
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from utils.detect_dual_track_lines import detect_dual_track_lines, auto_detect_dual_track_lines
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def center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=8.0, observe=False,
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mode=11, gait_id=26, step_height=[0.06, 0.06]):
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"""
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控制机器狗仅使用Y轴移动调整到双轨道线的中间位置
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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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max_time: 最大调整时间(秒)，默认为15秒
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max_deviation: 允许的最大偏差(像素)，当偏差小于此值时认为已居中，默认为8像素
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observe: 是否输出中间状态信息和可视化结果，默认为False
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mode: 控制模式，默认为11
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gait_id: 步态ID，默认为26
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step_height: 抬腿高度，默认为[0.06, 0.06]
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返回:
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bool: 是否成功调整到中心位置
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"""
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section("开始双轨道居中", "轨道居中")
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# 设置移动命令基本参数
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msg.mode = mode
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msg.gait_id = gait_id
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msg.duration = 0 # wait next cmd
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msg.step_height = step_height
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# 记录起始时间
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start_time = time.time()
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# 记录起始位置
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start_position = list(ctrl.odo_msg.xyz)
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if observe:
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debug(f"起始位置: {start_position}", "位置")
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# 在起点放置绿色标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(start_position[0], start_position[1], start_position[2] if len(start_position) > 2 else 0.0, 'green', observe=True)
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# PID控制参数 - 增加比例系数提高响应速度
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kp = 0.005 # 比例系数增加
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# 帧间滤波参数 - 减少滤波长度以提高响应性
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filter_size = 3 # 滤波队列大小
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deviation_queue = [] # 偏差值队列
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# 统计变量
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detection_success_count = 0
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detection_total_count = 0
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# 稳定计数器 - 连续几次在中心位置才认为稳定
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stable_count = 0
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required_stable_count = 2 # 降低稳定条件，更快响应
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# 变量记录最后有效的偏差，用于处理检测失败的情况
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last_valid_deviation = 0
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# 开始调整循环
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while time.time() - start_time < max_time:
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# 获取当前图像
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image = ctrl.image_processor.get_current_image()
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# 检测双轨道线，尝试使用自动检测方法，可能更稳定
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detection_total_count += 1
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center_info, left_info, right_info = detect_dual_track_lines(image, observe=observe, save_log=True)
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if center_info is not None:
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detection_success_count += 1
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# 获取当前偏差
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current_deviation = center_info["deviation"]
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last_valid_deviation = current_deviation # 记录有效偏差
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# 添加到队列
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deviation_queue.append(current_deviation)
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if len(deviation_queue) > filter_size:
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deviation_queue.pop(0)
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# 计算滤波后的偏差值 (去除最大和最小值后的平均)
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if len(deviation_queue) >= 3:
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filtered_deviations = sorted(deviation_queue)[1:-1] if len(deviation_queue) > 2 else deviation_queue
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filtered_deviation = sum(filtered_deviations) / len(filtered_deviations)
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else:
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filtered_deviation = current_deviation
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if observe:
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debug(f"原始偏差: {current_deviation:.1f}px, 滤波后: {filtered_deviation:.1f}px", "偏差")
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# 判断是否已经居中
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if abs(filtered_deviation) <= max_deviation:
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stable_count += 1
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if observe:
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info(f"已接近中心，稳定计数: {stable_count}/{required_stable_count}", "居中")
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# 即使在稳定过程中，也要保持小幅调整以保持居中
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if stable_count < required_stable_count:
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# 使用非常小的调整速度
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lateral_velocity = kp * filtered_deviation * 0.5
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max_lateral_velocity = 0.1 # 减小稳定阶段的最大速度
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lateral_velocity = max(-max_lateral_velocity, min(max_lateral_velocity, lateral_velocity))
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msg.vel_des = [0, lateral_velocity, 0]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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if stable_count >= required_stable_count:
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# 已经稳定在中心位置
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if observe:
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success(f"成功居中，最终偏差: {filtered_deviation:.1f}px", "完成")
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break
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else:
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# 不在中心，重置稳定计数
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stable_count = 0
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# 计算横向移动速度 (只使用y轴移动)
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# 注意：偏差为正表示需要向左移动（y轴正方向），偏差为负表示需要向右移动（y轴负方向）
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# 使用动态kp：偏差越大，移动越快；偏差越小，移动越慢
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dynamic_kp = kp
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if abs(filtered_deviation) > 50:
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dynamic_kp = kp * 1.5 # 大偏差时增加响应
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elif abs(filtered_deviation) < 20:
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dynamic_kp = kp * 0.8 # 小偏差时减小响应，避免过冲
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lateral_velocity = dynamic_kp * filtered_deviation
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# 限制横向移动速度
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max_lateral_velocity = 0.35 # 增加最大横向速度 (米/秒)
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lateral_velocity = max(-max_lateral_velocity, min(max_lateral_velocity, lateral_velocity))
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if observe:
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debug(f"横向移动速度: {lateral_velocity:.3f}m/s", "控制")
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# 设置速度命令 - 只使用y轴移动，不前进和转向
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msg.vel_des = [0, lateral_velocity, 0] # [前进速度, 侧向速度, 角速度]
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# 发送命令
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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else:
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warning("未检测到双轨道线", "警告")
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# 如果已经有了一些有效的检测，使用最后一次有效的偏差继续移动
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if len(deviation_queue) > 0:
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# 使用衰减的最后偏差值继续移动
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lateral_velocity = kp * last_valid_deviation * 0.7 # 衰减系数，降低未检测到时的移动速度
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max_lateral_velocity = 0.2 # 降低未检测情况下的移动速度
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lateral_velocity = max(-max_lateral_velocity, min(max_lateral_velocity, lateral_velocity))
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msg.vel_des = [0, lateral_velocity, 0]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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if observe:
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warning(f"使用最后偏差值继续移动: {lateral_velocity:.3f}m/s", "暂停")
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else:
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# 如果一开始就没有检测到，可以尝试小范围搜索
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if detection_total_count < 10:
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if detection_total_count % 2 == 0:
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# 向右搜索，增加搜索速度
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msg.vel_des = [0, -0.15, 0]
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else:
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# 向左搜索，增加搜索速度
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msg.vel_des = [0, 0.15, 0]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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if observe:
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debug("搜索轨道线...", "搜索")
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else:
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# 超过一定次数仍未检测到，停止搜索
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msg.vel_des = [0, 0, 0]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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if observe:
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error("无法检测到轨道线，放弃调整", "失败")
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break
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# 短暂延时
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time.sleep(0.05)
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# 停止移动
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ctrl.base_msg.stop()
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# 计算最终位置与起始位置的变化
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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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if observe:
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# 在终点放置红色标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(final_position[0], final_position[1], final_position[2] if len(final_position) > 2 else 0.0, 'red', observe=True)
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info(f"横向移动距离: {abs(dy):.3f}米", "统计")
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# 显示检测成功率
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if detection_total_count > 0:
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detection_rate = (detection_success_count / detection_total_count) * 100
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info(f"轨迹检测成功率: {detection_rate:.1f}% ({detection_success_count}/{detection_total_count})", "统计")
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# 判断是否成功
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success = False
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if time.time() - start_time >= max_time:
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if observe:
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warning("超过最大调整时间", "超时")
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else:
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# 如果因为已稳定在中心而退出循环，则认为成功
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if stable_count >= required_stable_count:
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success = True
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return success
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def center_and_follow_dual_tracks(ctrl, msg, distance, speed=0.5, max_centering_time=15, observe=False,
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mode=11, gait_id=26, step_height=[0.06, 0.06]):
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"""
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先居中到双轨道线中间，然后沿轨道线行走指定距离
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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: 目标前进距离(米)
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speed: 前进速度(米/秒)，默认为0.5米/秒
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max_centering_time: 最大居中调整时间(秒)，默认为15秒
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observe: 是否输出中间状态信息和可视化结果，默认为False
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mode: 控制模式，默认为11
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gait_id: 步态ID，默认为26
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step_height: 抬腿高度，默认为[0.06, 0.06]
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返回:
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bool: 是否成功完成居中和轨道跟随
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"""
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section("开始双轨道居中和跟随", "轨道任务")
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# 第一步：居中到轨道中间
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if observe:
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info("步骤1: 调整到轨道中间", "居中")
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centering_success = center_on_dual_tracks(
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ctrl, msg,
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max_time=max_centering_time,
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observe=observe,
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mode=mode,
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gait_id=gait_id,
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step_height=step_height,
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)
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if not centering_success:
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if observe:
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error("居中调整失败，无法继续跟随轨道", "失败")
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return False
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# 第二步：沿轨道跟随指定距离
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if observe:
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info(f"步骤2: 沿轨道前进 {distance:.2f}米", "跟随")
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# 导入轨道跟随函数
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from base_move.follow_dual_tracks import follow_dual_tracks
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following_success = follow_dual_tracks(
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ctrl, msg,
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speed=speed,
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target_distance=distance,
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observe=observe,
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mode=mode,
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gait_id=gait_id,
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step_height=step_height
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)
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if observe:
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if following_success:
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success("成功完成轨道居中和跟随任务", "完成")
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else:
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warning("轨道跟随未完全成功", "警告")
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return following_success
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