havoc420ubuntu
c9686a84e1
- Integrate QReader for QR code detection and decoding - Implement decode_qrcode method in ImageProcessor class - Uncomment run_task_1 function call in main.py
112 lines
3.0 KiB
Python
112 lines
3.0 KiB
Python
'''
|
|
This demo show the communication interface of MR813 motion control board based on Lcm.
|
|
Dependency:
|
|
- robot_control_cmd_lcmt.py
|
|
- robot_control_response_lcmt.py
|
|
'''
|
|
import lcm
|
|
import sys
|
|
import os
|
|
import time
|
|
from threading import Thread, Lock
|
|
import sys
|
|
|
|
from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
|
|
from utils.robot_control_response_lcmt import robot_control_response_lcmt
|
|
from utils.image_raw import ImageProcessor
|
|
|
|
from task_1.task_1 import run_task_1
|
|
|
|
def main():
|
|
Ctrl = Robot_Ctrl()
|
|
Ctrl.run()
|
|
msg = robot_control_cmd_lcmt()
|
|
image_processor = ImageProcessor()
|
|
image_processor.run()
|
|
|
|
try:
|
|
print("Recovery stand")
|
|
msg.mode = 12 # Recovery stand
|
|
msg.gait_id = 0
|
|
msg.life_count += 1
|
|
Ctrl.Send_cmd(msg)
|
|
Ctrl.Wait_finish(12, 0)
|
|
|
|
run_task_1(Ctrl, msg)
|
|
|
|
time.sleep(100)
|
|
|
|
except KeyboardInterrupt:
|
|
pass
|
|
|
|
Ctrl.quit()
|
|
image_processor.destroy()
|
|
sys.exit()
|
|
|
|
|
|
class Robot_Ctrl(object):
|
|
def __init__(self):
|
|
self.rec_thread = Thread(target=self.rec_responce)
|
|
self.send_thread = Thread(target=self.send_publish)
|
|
self.lc_r = lcm.LCM("udpm://239.255.76.67:7670?ttl=255")
|
|
self.lc_s = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
|
|
self.cmd_msg = robot_control_cmd_lcmt()
|
|
self.rec_msg = robot_control_response_lcmt()
|
|
self.send_lock = Lock()
|
|
self.delay_cnt = 0
|
|
self.mode_ok = 0
|
|
self.gait_ok = 0
|
|
self.runing = 1
|
|
|
|
def run(self):
|
|
self.lc_r.subscribe("robot_control_response", self.msg_handler)
|
|
self.send_thread.start()
|
|
self.rec_thread.start()
|
|
|
|
def msg_handler(self, channel, data):
|
|
self.rec_msg = robot_control_response_lcmt().decode(data)
|
|
if self.rec_msg.order_process_bar >= 95:
|
|
self.mode_ok = self.rec_msg.mode
|
|
else:
|
|
self.mode_ok = 0
|
|
|
|
def rec_responce(self):
|
|
while self.runing:
|
|
self.lc_r.handle()
|
|
time.sleep(0.002)
|
|
|
|
def Wait_finish(self, mode, gait_id):
|
|
count = 0
|
|
while self.runing and count < 2000: # 10s
|
|
if self.mode_ok == mode and self.gait_ok == gait_id:
|
|
return True
|
|
else:
|
|
time.sleep(0.005)
|
|
count += 1
|
|
print("Wait_finish timeout.")
|
|
return False
|
|
|
|
def send_publish(self):
|
|
while self.runing:
|
|
self.send_lock.acquire()
|
|
if self.delay_cnt > 20: # Heartbeat signal 10HZ
|
|
self.lc_s.publish("robot_control_cmd", self.cmd_msg.encode())
|
|
self.delay_cnt = 0
|
|
self.delay_cnt += 1
|
|
self.send_lock.release()
|
|
time.sleep(0.005)
|
|
|
|
def Send_cmd(self, msg):
|
|
self.send_lock.acquire()
|
|
self.delay_cnt = 50
|
|
self.cmd_msg = msg
|
|
self.send_lock.release()
|
|
|
|
def quit(self):
|
|
self.runing = 0
|
|
self.rec_thread.join()
|
|
self.send_thread.join()
|
|
|
|
# Main function
|
|
if __name__ == '__main__':
|
|
main() |