# Example Package
This is a simple example package. You can use
[GitHub-flavored Markdown](https://guides.github.com/features/mastering-markdown/)
to write your content.
'
import sys
import time
sys.path.append("/home/lemon/catkin_ws/src/aelos_smart_ros")
from leju import *
def handle_errors(func):
def wrapper(*args, **kwargs):
try:
nodes.node_initial()
return func(*args, **kwargs)
except Exception as e:
print(f"Error in {func.__name__}: {e}")
nodes.serror(e)
sys.exit(2)
return wrapper
tag_action_threshold = {
'normal': {
'x': (0.245, -1000, '前进2-8', '下蹲'),
'y': (0.03, -0.03, '左平移2-8', '右平移2-8'),
'yaw': (112, 78, '向左转动2-8', '向右转动2-8')
},
'stufen': {
'x': (0.2, -1000, '前进2-8', '下蹲'),
'y': (0.03, -0.03, '左平移2-8', '右平移2-8'),
'yaw': (295, 255, '向左转动2-8', '向右转动2-8')
},
'test':{
'x': (0.25, -1000, '前进2-8', '下蹲'),
'y': (0.1, -0.1, '左平移2-8', '右平移2-8'),
}
}
color_params_threshold = {
1: (43, 115, 109, 53, 255, 162), # 绿色
2: (12, 140, 118, 17, 255, 199), # 橙色
}
color_xy_threshold = {
'x': (370, 270, '右平移1-8', '左平移1-8'),
'y': (1000, 370, '下蹲', '前进1-8'),
}
tag_actions = {
1: ('前进2-8', False, True),
2: ('右平移3-2', False, True),
3: ('前进2-8', False, True),
4: ('左平移3-2', False, True),
5: ('前进2-8', False, False),
6: ('前进2-8', False, True),
7: ('右平移3-2', False, True),
8: ('前进2-8', True, False)
}
head_color_threshold = 14
shest_color_threshold = 35
positive_geomag_threshold = (198, 180)
reverse_geomag_threshold = (26, 11)
"""描述该功能...
向目标位移
"""
@handle_errors
def move_to_target(current, max_offset, min_offset, negative_action="", positive_action=''):
if current <= max_offset and current >= min_offset:
print("--已完成位移--")
return True
action = negative_action if current > max_offset else positive_action
print(action)
base_action.action(action)
time.sleep(0.7)
return False
"""描述该功能...
找tag码
"""
@handle_errors
def find_tag(tag_id, geomag_max, geomag_min, max_action='', min_action='',search_action='', step=True):
print("--------开始调整地磁---------")
while not move_to_target(sensor_port.get_magnet(), geomag_max, geomag_min, max_action, min_action):
print(f"'地磁值：'{sensor_port.get_magnet()}")
pass
x=0
if step:
print(f"--------开始搜索{tag_id}号tag码--------")
while artag_port.get_specifies_tag(tag_id, 'chest')[0] == 1000:
print(f"Tag{tag_id}未识别到")
base_action.action(search_action)
print(search_action)
if x>3:
base_action.action('前进2-8')
x+=1
time.sleep(0.5)
if artag_port.get_specifies_tag(tag_id, 'chest')[0] != 1000:
adjusted_xy = {'x': False, 'y': False}
while True:
tag_xy = artag_port.get_specifies_tag(tag_id, 'chest')
if all(adjusted_xy.values()):
break
adjusted_xy['y'] = move_to_target(tag_xy[1], *tag_action_threshold['test']['y'])
adjusted_xy['x'] = move_to_target(tag_xy[0], *tag_action_threshold['test']['x'])
print(f"Tag{tag_id}'号识别成功'")
return True
"""描述该功能....
抱起颜色方块
"""
@handle_errors
def pickup_block(color_params):
while True:
print('-----开始调整位置-----')
while colour_port.get_color_percent('chest', *color_params) < shest_color_threshold:
color = colour_port.get_central_coordinate('chest', *color_params)
print(f"'颜色坐标x:'{color[0]},'y:'{color[1]}")
color_x = move_to_target(color[0], *color_xy_threshold['x'])
color_y = move_to_target(color[1], *color_xy_threshold['y'])
print(colour_port.get_color_percent('chest', *color_params))
print('-----进入抱起颜色方块循环-----')
if colour_port.get_color_percent('chest', *color_params) > shest_color_threshold:
print('--到达位置--')
base_action.action('抱起方块1-1')
print('抱起颜色')
time.sleep(1)
if colour_port.get_color_percent('head', *color_params) >= head_color_threshold:
print("已抱起方块")
break
return True
"""描述该功能...
对齐tag码
"""
@handle_errors
def align_to_tag(tag_id=0, action="", stufen=False, stufen_2=True):
print('--------进入通道循环--------')
print(f"'开始向'{tag_id}'号tag靠近'")
thresholds = tag_action_threshold['stufen' if stufen else 'normal']
adjusted = {'x': False, 'y': False, 'yaw': False}
while True:
tag = artag_port.get_specifies_tag(tag_id, 'chest')
print('胸部：', tag_id, "x: ", tag[0], "y: ", tag[1], "yaw: ", tag[2] + 180)
if tag[0] == 1000:
print('----id丢失----')
base_action.action(tag_actions[tag_id - 1][0])
print(tag_actions[tag_id - 1][0])
time.sleep(0.2)
continue
print('-----开始调整位置-----')
if not adjusted['yaw']:
adjusted['yaw'] = move_to_target(tag[2] + 180, *thresholds['yaw'])
if all(adjusted.values()):
break
if adjusted['yaw']:
adjusted['y'] = move_to_target(tag[1], *thresholds['y'])
adjusted['x'] = move_to_target(tag[0], *thresholds['x'])
if adjusted['x'] and adjusted['yaw']: # 再次调整yaw
adjusted['yaw'] = False
print('--------进入横向移动调整-------')
if tag_id in (3, 6): # 横向移动调整拐弯处
steps = 2 if tag_id == 3 else 4 # 步数看实际步伐
action = '右平移3-2' if tag_id == 3 else '左平移3-2'
for _ in range(steps):
base_action.action(action)
next_id = tag_id + 1
if stufen_2 and artag_port.get_specifies_tag(next_id, 'chest')[0] == 1000: # 判断是否横移找tag码
print(f" 开始识别{next_id}号tag码")
base_action.action(action)
print(action)
find_tag(1, *positive_geomag_threshold, '向左转动2-8', '向右转动2-8', '左平移2-8', step=False)
time.sleep(0.7)
print(f"Tag {next_id} 识别成功")
"""描述该功能...
进入通道
"""
@handle_errors
def tag_foeward():
find_tag(1, *positive_geomag_threshold, '向左转动2-8', '向右转动2-8', '左平移3-2', step=True)
print('------进入通道------')
for id, (next_action, next_back, go_flag) in tag_actions.items():
if id == 8:
id = 1
print(id, next_action)
align_to_tag(id, next_action, next_back, go_flag)
go_back = False
if id == 5:
print('----开始进入大本营----')
go_back = place_block_at_base()
find_tag(5, *reverse_geomag_threshold, '向左转动1步', '向右转动1步', '前进2-8',step=True)
align_to_tag(5, '前进2-8', False, True)
if go_back and id == 1: # 回到起点
for _ in range(2): # 步速看实际步伐
base_action.action('前进2-8')
"""描述该功能...
放下方块
"""
@handle_errors
def place_block_at_base():
for _ in range(4): # 步速看实际步伐
base_action.action('前进2-8')
else:
print('---到达位置---')
base_action.action('向右转动1步')
return True
@handle_errors
def main():
print("--------开始运行--------")
while True:
# 检查是否已捡起方块
head_color_1 = colour_port.get_color_percent('head', *color_params_threshold[1])
head_color_2 = colour_port.get_color_percent('head', *color_params_threshold[2])
if head_color_1 >= head_color_threshold or head_color_2 >= head_color_threshold:
print("----已抱起方块，开始导航----")
tag_foeward()
continue
# 选择最近的方块
chest_color_1 = colour_port.get_color_percent('chest', *color_params_threshold[1])
chest_color_2 = -1
# colour_port.get_color_percent('chest', *color_params_threshold[2])
target_params = color_params_threshold[1] if chest_color_1 >= chest_color_2 else color_params_threshold[2]
if pickup_block(target_params):
tag_foeward()
continue
if __name__ == "__main__":
print("Run custom project")
main()
import sys
import time
sys.path.append("/home/lemon/catkin_ws/src/aelos_smart_ros")
from leju import *
leju_variable_tag_x = None
leju_variable_tag_y = None
leju_variable_tag_yaw = None
def main():
nodes.node_initial()
try:
while True:
a=sensor_port.get_magnet()
print(a)
print("==============")
except Exception as e:
nodes.serror(e)
exit(2)
finally:
nodes.finishsend()
def detect_coordinate_color():
nodes.node_initial()
try:
while True:
color_params_3 = (155, 98,100,174,175 ,159)
color_params_1 = (36, 108, 94, 53, 255, 162)
color_params_2 = (10, 233, 132, 16, 255, 203)
color=colour_port.get_central_coordinate('chest',*color_params)
print(f"'颜色1颜色坐标x:'{color_params_1[0]},'y:'{color_params_1[1]}")
print(f"'颜色2颜色坐标x:'{color_params_2[0]},'y:'{color_params_2[1]}")
print(f"'颜色3颜色坐标x:'{color_params_3[0]},'y:'{color_params_3[1]}")
except Exception as e:
print(e)
nodes.serror(e)
exit(2)
def detect_area_color():
nodes.node_initial()
try:
while True:
color_params_3 = (155, 98,100,174,175 ,159)
color_params_1 = (36, 108, 94, 53, 255, 162)
color_params_2 = (10, 233, 132, 16, 255, 203)
shest_color = colour_port.get_color_percent('chest',*color_params_1)
head_color = colour_port.get_color_percent('head',*color_params_1)
color = colour_port.get_color_percent('chest',*color_params_3)
print('胸部：'+str(shest_color),'头部'+str(head_color),'大本营'+str(color))
# print('颜色坐标x:',color[0],'y:',color[1])
except Exception as e:
print(e)
nodes.serror(e)
exit(2)
def detect_all_tags():
nodes.node_initial()
try:
print("开始检测")
while True:
print("开始")
marker = artag_port.get_specifies_marker('chest')
marker_1 = artag_port.get_specifies_marker('head')
print("============")
for ke in marker_1:
print('头部：',ke, "x: ", marker_1[ke][0], "y: ", marker_1[ke][1], "yaw: ", marker_1[ke][2] + 180)
for key in marker:
print('胸部：',key, "x: ", marker[key][0], "y: ", marker[key][1], "yaw: ", marker[key][2] + 180)
print("============")
time.sleep(1)
except Exception as e:
print(e)
nodes.serror(e)
exit(2)
if __name__ == "__main__":
print ("Run custom project")
detect_all_tags()
'
Raw data
{
"_id": null,
"home_page": "https://github.com/Hello-Mr-Crab/pywechat",
"name": "at.hefang",
"maintainer": null,
"docs_url": null,
"requires_python": null,
"maintainer_email": null,
"keywords": "rpa, windows, wechat, automation",
"author": null,
"author_email": null,
"download_url": "https://files.pythonhosted.org/packages/f1/d3/edc404b9e300e2eaeed4bad310636c6d327d5c0b314772a95bc0d113929b/at_hefang-1.5.tar.gz",
"platform": null,
"description": "# Example Package\r\n\r\nThis is a simple example package. You can use\r\n[GitHub-flavored Markdown](https://guides.github.com/features/mastering-markdown/)\r\nto write your content.\r\n\r\n\r\n\r\n'\r\n\r\nimport sys\r\nimport time\r\n\r\nsys.path.append(\"/home/lemon/catkin_ws/src/aelos_smart_ros\")\r\n\r\nfrom leju import *\r\n\r\n\r\ndef handle_errors(func):\r\n def wrapper(*args, **kwargs):\r\n try:\r\n nodes.node_initial()\r\n return func(*args, **kwargs)\r\n except Exception as e:\r\n print(f\"Error in {func.__name__}: {e}\")\r\n nodes.serror(e)\r\n sys.exit(2)\r\n\r\n return wrapper\r\n\r\n\r\ntag_action_threshold = {\r\n 'normal': {\r\n 'x': (0.245, -1000, '\u524d\u8fdb2-8', '\u4e0b\u8e72'),\r\n 'y': (0.03, -0.03, '\u5de6\u5e73\u79fb2-8', '\u53f3\u5e73\u79fb2-8'),\r\n 'yaw': (112, 78, '\u5411\u5de6\u8f6c\u52a82-8', '\u5411\u53f3\u8f6c\u52a82-8')\r\n },\r\n 'stufen': {\r\n 'x': (0.2, -1000, '\u524d\u8fdb2-8', '\u4e0b\u8e72'),\r\n 'y': (0.03, -0.03, '\u5de6\u5e73\u79fb2-8', '\u53f3\u5e73\u79fb2-8'),\r\n 'yaw': (295, 255, '\u5411\u5de6\u8f6c\u52a82-8', '\u5411\u53f3\u8f6c\u52a82-8')\r\n },\r\n 'test':{\r\n 'x': (0.25, -1000, '\u524d\u8fdb2-8', '\u4e0b\u8e72'),\r\n 'y': (0.1, -0.1, '\u5de6\u5e73\u79fb2-8', '\u53f3\u5e73\u79fb2-8'),\r\n }\r\n}\r\n\r\ncolor_params_threshold = {\r\n 1: (43, 115, 109, 53, 255, 162), # \u7eff\u8272\r\n 2: (12, 140, 118, 17, 255, 199), # \u6a59\u8272\r\n}\r\n\r\ncolor_xy_threshold = {\r\n 'x': (370, 270, '\u53f3\u5e73\u79fb1-8', '\u5de6\u5e73\u79fb1-8'),\r\n 'y': (1000, 370, '\u4e0b\u8e72', '\u524d\u8fdb1-8'),\r\n}\r\n\r\ntag_actions = {\r\n 1: ('\u524d\u8fdb2-8', False, True),\r\n 2: ('\u53f3\u5e73\u79fb3-2', False, True),\r\n 3: ('\u524d\u8fdb2-8', False, True),\r\n 4: ('\u5de6\u5e73\u79fb3-2', False, True),\r\n 5: ('\u524d\u8fdb2-8', False, False),\r\n 6: ('\u524d\u8fdb2-8', False, True),\r\n 7: ('\u53f3\u5e73\u79fb3-2', False, True),\r\n 8: ('\u524d\u8fdb2-8', True, False)\r\n}\r\n\r\nhead_color_threshold = 14\r\nshest_color_threshold = 35\r\npositive_geomag_threshold = (198, 180)\r\nreverse_geomag_threshold = (26, 11)\r\n\r\n\"\"\"\u63cf\u8ff0\u8be5\u529f\u80fd...\r\n \u5411\u76ee\u6807\u4f4d\u79fb\r\n\"\"\"\r\n\r\n\r\n@handle_errors\r\ndef move_to_target(current, max_offset, min_offset, negative_action=\"\", positive_action=''):\r\n if current <= max_offset and current >= min_offset:\r\n print(\"--\u5df2\u5b8c\u6210\u4f4d\u79fb--\")\r\n return True\r\n action = negative_action if current > max_offset else positive_action\r\n print(action)\r\n base_action.action(action)\r\n time.sleep(0.7)\r\n return False\r\n\r\n\r\n\"\"\"\u63cf\u8ff0\u8be5\u529f\u80fd...\r\n \u627etag\u7801\r\n\"\"\"\r\n\r\n\r\n@handle_errors\r\ndef find_tag(tag_id, geomag_max, geomag_min, max_action='', min_action='',search_action='', step=True):\r\n print(\"--------\u5f00\u59cb\u8c03\u6574\u5730\u78c1---------\")\r\n while not move_to_target(sensor_port.get_magnet(), geomag_max, geomag_min, max_action, min_action):\r\n print(f\"'\u5730\u78c1\u503c\uff1a'{sensor_port.get_magnet()}\")\r\n pass\r\n\r\n x=0\r\n if step:\r\n print(f\"--------\u5f00\u59cb\u641c\u7d22{tag_id}\u53f7tag\u7801--------\")\r\n while artag_port.get_specifies_tag(tag_id, 'chest')[0] == 1000:\r\n print(f\"Tag{tag_id}\u672a\u8bc6\u522b\u5230\")\r\n base_action.action(search_action)\r\n print(search_action)\r\n if x>3:\r\n base_action.action('\u524d\u8fdb2-8')\r\n x+=1\r\n time.sleep(0.5)\r\n if artag_port.get_specifies_tag(tag_id, 'chest')[0] != 1000:\r\n adjusted_xy = {'x': False, 'y': False}\r\n while True:\r\n tag_xy = artag_port.get_specifies_tag(tag_id, 'chest')\r\n if all(adjusted_xy.values()):\r\n break\r\n adjusted_xy['y'] = move_to_target(tag_xy[1], *tag_action_threshold['test']['y'])\r\n adjusted_xy['x'] = move_to_target(tag_xy[0], *tag_action_threshold['test']['x'])\r\n\r\n print(f\"Tag{tag_id}'\u53f7\u8bc6\u522b\u6210\u529f'\")\r\n return True\r\n\r\n\r\n\"\"\"\u63cf\u8ff0\u8be5\u529f\u80fd....\r\n \u62b1\u8d77\u989c\u8272\u65b9\u5757\r\n\"\"\"\r\n\r\n\r\n@handle_errors\r\ndef pickup_block(color_params):\r\n while True:\r\n print('-----\u5f00\u59cb\u8c03\u6574\u4f4d\u7f6e-----')\r\n while colour_port.get_color_percent('chest', *color_params) < shest_color_threshold:\r\n color = colour_port.get_central_coordinate('chest', *color_params)\r\n print(f\"'\u989c\u8272\u5750\u6807x:'{color[0]},'y:'{color[1]}\")\r\n color_x = move_to_target(color[0], *color_xy_threshold['x'])\r\n color_y = move_to_target(color[1], *color_xy_threshold['y'])\r\n print(colour_port.get_color_percent('chest', *color_params))\r\n\r\n print('-----\u8fdb\u5165\u62b1\u8d77\u989c\u8272\u65b9\u5757\u5faa\u73af-----')\r\n if colour_port.get_color_percent('chest', *color_params) > shest_color_threshold:\r\n print('--\u5230\u8fbe\u4f4d\u7f6e--')\r\n base_action.action('\u62b1\u8d77\u65b9\u57571-1')\r\n print('\u62b1\u8d77\u989c\u8272')\r\n time.sleep(1)\r\n\r\n if colour_port.get_color_percent('head', *color_params) >= head_color_threshold:\r\n print(\"\u5df2\u62b1\u8d77\u65b9\u5757\")\r\n break\r\n return True\r\n\r\n\r\n\"\"\"\u63cf\u8ff0\u8be5\u529f\u80fd...\r\n \u5bf9\u9f50tag\u7801\r\n\"\"\"\r\n\r\n\r\n@handle_errors\r\ndef align_to_tag(tag_id=0, action=\"\", stufen=False, stufen_2=True):\r\n print('--------\u8fdb\u5165\u901a\u9053\u5faa\u73af--------')\r\n print(f\"'\u5f00\u59cb\u5411'{tag_id}'\u53f7tag\u9760\u8fd1'\")\r\n thresholds = tag_action_threshold['stufen' if stufen else 'normal']\r\n adjusted = {'x': False, 'y': False, 'yaw': False}\r\n while True:\r\n tag = artag_port.get_specifies_tag(tag_id, 'chest')\r\n print('\u80f8\u90e8\uff1a', tag_id, \"x: \", tag[0], \"y: \", tag[1], \"yaw: \", tag[2] + 180)\r\n if tag[0] == 1000:\r\n print('----id\u4e22\u5931----')\r\n base_action.action(tag_actions[tag_id - 1][0])\r\n print(tag_actions[tag_id - 1][0])\r\n time.sleep(0.2)\r\n continue\r\n print('-----\u5f00\u59cb\u8c03\u6574\u4f4d\u7f6e-----')\r\n\r\n if not adjusted['yaw']:\r\n adjusted['yaw'] = move_to_target(tag[2] + 180, *thresholds['yaw'])\r\n if all(adjusted.values()):\r\n break\r\n if adjusted['yaw']:\r\n adjusted['y'] = move_to_target(tag[1], *thresholds['y'])\r\n adjusted['x'] = move_to_target(tag[0], *thresholds['x'])\r\n if adjusted['x'] and adjusted['yaw']: # \u518d\u6b21\u8c03\u6574yaw\r\n adjusted['yaw'] = False\r\n\r\n print('--------\u8fdb\u5165\u6a2a\u5411\u79fb\u52a8\u8c03\u6574-------')\r\n if tag_id in (3, 6): # \u6a2a\u5411\u79fb\u52a8\u8c03\u6574\u62d0\u5f2f\u5904\r\n steps = 2 if tag_id == 3 else 4 # \u6b65\u6570\u770b\u5b9e\u9645\u6b65\u4f10\r\n action = '\u53f3\u5e73\u79fb3-2' if tag_id == 3 else '\u5de6\u5e73\u79fb3-2'\r\n for _ in range(steps):\r\n base_action.action(action)\r\n\r\n next_id = tag_id + 1\r\n if stufen_2 and artag_port.get_specifies_tag(next_id, 'chest')[0] == 1000: # \u5224\u65ad\u662f\u5426\u6a2a\u79fb\u627etag\u7801\r\n print(f\" \u5f00\u59cb\u8bc6\u522b{next_id}\u53f7tag\u7801\")\r\n base_action.action(action)\r\n print(action)\r\n find_tag(1, *positive_geomag_threshold, '\u5411\u5de6\u8f6c\u52a82-8', '\u5411\u53f3\u8f6c\u52a82-8', '\u5de6\u5e73\u79fb2-8', step=False)\r\n time.sleep(0.7)\r\n print(f\"Tag {next_id} \u8bc6\u522b\u6210\u529f\")\r\n\r\n\r\n\"\"\"\u63cf\u8ff0\u8be5\u529f\u80fd...\r\n \u8fdb\u5165\u901a\u9053\r\n\"\"\"\r\n\r\n\r\n@handle_errors\r\ndef tag_foeward():\r\n find_tag(1, *positive_geomag_threshold, '\u5411\u5de6\u8f6c\u52a82-8', '\u5411\u53f3\u8f6c\u52a82-8', '\u5de6\u5e73\u79fb3-2', step=True)\r\n print('------\u8fdb\u5165\u901a\u9053------')\r\n for id, (next_action, next_back, go_flag) in tag_actions.items():\r\n if id == 8:\r\n id = 1\r\n print(id, next_action)\r\n align_to_tag(id, next_action, next_back, go_flag)\r\n go_back = False\r\n if id == 5:\r\n print('----\u5f00\u59cb\u8fdb\u5165\u5927\u672c\u8425----')\r\n go_back = place_block_at_base()\r\n find_tag(5, *reverse_geomag_threshold, '\u5411\u5de6\u8f6c\u52a81\u6b65', '\u5411\u53f3\u8f6c\u52a81\u6b65', '\u524d\u8fdb2-8',step=True)\r\n align_to_tag(5, '\u524d\u8fdb2-8', False, True)\r\n if go_back and id == 1: # \u56de\u5230\u8d77\u70b9\r\n for _ in range(2): # \u6b65\u901f\u770b\u5b9e\u9645\u6b65\u4f10\r\n base_action.action('\u524d\u8fdb2-8')\r\n\r\n\r\n\"\"\"\u63cf\u8ff0\u8be5\u529f\u80fd...\r\n \u653e\u4e0b\u65b9\u5757\r\n\"\"\"\r\n\r\n\r\n@handle_errors\r\ndef place_block_at_base():\r\n for _ in range(4): # \u6b65\u901f\u770b\u5b9e\u9645\u6b65\u4f10\r\n base_action.action('\u524d\u8fdb2-8')\r\n else:\r\n print('---\u5230\u8fbe\u4f4d\u7f6e---')\r\n base_action.action('\u5411\u53f3\u8f6c\u52a81\u6b65')\r\n return True \r\n\r\n\r\n@handle_errors\r\ndef main():\r\n print(\"--------\u5f00\u59cb\u8fd0\u884c--------\")\r\n while True:\r\n # \u68c0\u67e5\u662f\u5426\u5df2\u6361\u8d77\u65b9\u5757\r\n head_color_1 = colour_port.get_color_percent('head', *color_params_threshold[1])\r\n head_color_2 = colour_port.get_color_percent('head', *color_params_threshold[2])\r\n if head_color_1 >= head_color_threshold or head_color_2 >= head_color_threshold:\r\n print(\"----\u5df2\u62b1\u8d77\u65b9\u5757\uff0c\u5f00\u59cb\u5bfc\u822a----\")\r\n tag_foeward()\r\n continue\r\n \r\n # \u9009\u62e9\u6700\u8fd1\u7684\u65b9\u5757\r\n chest_color_1 = colour_port.get_color_percent('chest', *color_params_threshold[1])\r\n chest_color_2 = -1\r\n # colour_port.get_color_percent('chest', *color_params_threshold[2])\r\n target_params = color_params_threshold[1] if chest_color_1 >= chest_color_2 else color_params_threshold[2]\r\n\r\n if pickup_block(target_params):\r\n tag_foeward()\r\n continue\r\n\r\n\r\nif __name__ == \"__main__\":\r\n print(\"Run custom project\")\r\n main()\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n import sys\r\nimport time\r\nsys.path.append(\"/home/lemon/catkin_ws/src/aelos_smart_ros\")\r\n\r\nfrom leju import *\r\n\r\nleju_variable_tag_x = None\r\nleju_variable_tag_y = None\r\nleju_variable_tag_yaw = None\r\n\r\n\r\n\r\ndef main():\r\n nodes.node_initial()\r\n try:\r\n\r\n\r\n while True:\r\n a=sensor_port.get_magnet()\r\n print(a)\r\n print(\"==============\")\r\n except Exception as e:\r\n nodes.serror(e)\r\n exit(2)\r\n finally:\r\n nodes.finishsend()\r\n\r\n\r\n\r\ndef detect_coordinate_color():\r\n nodes.node_initial()\r\n try:\r\n while True:\r\n color_params_3 = (155, 98,100,174,175 ,159)\r\n color_params_1 = (36, 108, 94, 53, 255, 162)\r\n color_params_2 = (10, 233, 132, 16, 255, 203)\r\n color=colour_port.get_central_coordinate('chest',*color_params)\r\n print(f\"'\u989c\u82721\u989c\u8272\u5750\u6807x:'{color_params_1[0]},'y:'{color_params_1[1]}\")\r\n print(f\"'\u989c\u82722\u989c\u8272\u5750\u6807x:'{color_params_2[0]},'y:'{color_params_2[1]}\")\r\n print(f\"'\u989c\u82723\u989c\u8272\u5750\u6807x:'{color_params_3[0]},'y:'{color_params_3[1]}\")\r\n except Exception as e:\r\n print(e)\r\n nodes.serror(e)\r\n exit(2)\r\n\r\n\r\n\r\ndef detect_area_color():\r\n nodes.node_initial()\r\n try:\r\n while True:\r\n color_params_3 = (155, 98,100,174,175 ,159)\r\n color_params_1 = (36, 108, 94, 53, 255, 162)\r\n color_params_2 = (10, 233, 132, 16, 255, 203)\r\n shest_color = colour_port.get_color_percent('chest',*color_params_1) \r\n head_color = colour_port.get_color_percent('head',*color_params_1)\r\n color = colour_port.get_color_percent('chest',*color_params_3) \r\n print('\u80f8\u90e8\uff1a'+str(shest_color),'\u5934\u90e8'+str(head_color),'\u5927\u672c\u8425'+str(color))\r\n # print('\u989c\u8272\u5750\u6807x:',color[0],'y:',color[1])\r\n\r\n except Exception as e:\r\n print(e)\r\n nodes.serror(e)\r\n exit(2)\r\n\r\n\r\ndef detect_all_tags():\r\n nodes.node_initial()\r\n try:\r\n print(\"\u5f00\u59cb\u68c0\u6d4b\")\r\n while True:\r\n print(\"\u5f00\u59cb\")\r\n marker = artag_port.get_specifies_marker('chest')\r\n marker_1 = artag_port.get_specifies_marker('head')\r\n print(\"============\")\r\n for ke in marker_1:\r\n print('\u5934\u90e8\uff1a',ke, \"x: \", marker_1[ke][0], \"y: \", marker_1[ke][1], \"yaw: \", marker_1[ke][2] + 180)\r\n for key in marker:\r\n print('\u80f8\u90e8\uff1a',key, \"x: \", marker[key][0], \"y: \", marker[key][1], \"yaw: \", marker[key][2] + 180)\r\n print(\"============\")\r\n time.sleep(1)\r\n except Exception as e:\r\n print(e)\r\n nodes.serror(e)\r\n exit(2)\r\n\r\nif __name__ == \"__main__\":\r\n print (\"Run custom project\")\r\n detect_all_tags()\r\n'\r\n",
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