Cozmo人工智能机器人SDK使用笔记（6）-并行部分Parallel_Action

Cozmo并行动作示例。

此示例演示如何并行（而不是按顺序）执行动作。

      import sys
      import time
      try:
      from PIL import Image
      except ImportError:
       sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
      import cozmo
      from cozmo.util import degrees, distance_mm, speed_mmps
      # load an image to display on Cozmo's face
      face_image = Image.open("../../face_images/cozmosdk.png")
      # resize to fit on Cozmo's face screen
      face_image = face_image.resize(cozmo.oled_face.dimensions(), Image.BICUBIC)
      # convert the image to the format used by the oled screen
      face_image = cozmo.oled_face.convert_image_to_screen_data(face_image,
       invert_image=True)
      def example1_lift_head(robot: cozmo.robot.Robot):
       cozmo.logger.info("----------------------------------------")
       cozmo.logger.info("Example 1: Move Lift and Head in Parallel")
       cozmo.logger.info("First, move the lift and head down, in sequence.")
       robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE).wait_for_completed()
       robot.set_lift_height(0.0).wait_for_completed()
       cozmo.logger.info("Now, move the lift and head back up, in parallel "
      "- we no longer have to wait for the 1st action to complete "
      "before starting the 2nd one because the 2nd action is in_parallel")
       action1 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE)
       action2 = robot.set_lift_height(1.0, in_parallel=True)
       action1.wait_for_completed()
       action2.wait_for_completed()
       cozmo.logger.info("action1 = %s", action1)
       cozmo.logger.info("action2 = %s", action2)
      def example2_conflicting_actions(robot: cozmo.robot.Robot):
       cozmo.logger.info("----------------------------------------")
       cozmo.logger.info("Example 2: Conflicting actions.")
       cozmo.logger.info("Try to drive straight and turn in parallel. This is not "
      "allowed, as both actions require use of the wheels, so the 2nd action "
      "will report failure due to tracks_locked.")
       action1 = robot.drive_straight(distance_mm(50), speed_mmps(25), should_play_anim=False, in_parallel=True)
       action2 = robot.turn_in_place(degrees(90), in_parallel=True)
       action2.wait_for_completed()
       cozmo.logger.info("action2 = %s", action2)
       action1.wait_for_completed()
       cozmo.logger.info("action1 = %s", action1)
      def example3_abort_one_action(robot: cozmo.robot.Robot):
       cozmo.logger.info("----------------------------------------")
       cozmo.logger.info("Example 3: Abort some parallel actions.")
       cozmo.logger.info("Start multiple parallel actions:")
       action1 = robot.set_lift_height(0.0, in_parallel=True)
       action2 = robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE, duration=6.0, in_parallel=True)
       action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True)
       action4 = robot.display_oled_face_image(face_image, 30000.0)  # Note: face image is in_parallel by default
      # Lift-lowering is aborted immediately
       action1.abort(log_abort_messages=True)
      # Head-lowering is aborted shortly afterwards
       time.sleep(0.1)
       action2.abort(log_abort_messages=True)
      # Image on Cozmo's face is aborted another 2 seconds later
       time.sleep(2)
       action4.abort(log_abort_messages=True)
      # We wait for the one remaining action to complete
       action3.wait_for_completed()
      # Only action3 should succeed (as long as Cozmo had enough space to drive)
       cozmo.logger.info("action1 = %s", action1)
       cozmo.logger.info("action2 = %s", action2)
       cozmo.logger.info("action3 = %s", action3)
       cozmo.logger.info("action4 = %s", action4)
      def example4_abort_all_actions(robot: cozmo.robot.Robot):
       cozmo.logger.info("----------------------------------------")
       cozmo.logger.info("Example 4: Abort all parallel actions.")
       cozmo.logger.info("Start multiple parallel actions:")
       action1 = robot.set_lift_height(0.0, in_parallel=True, duration=6.0)
       action2 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, duration=6.0, in_parallel=True)
       action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True)
       action4 = robot.display_oled_face_image(face_image, 30000.0)  # Note: face image is in_parallel by default
      # wait two seconds and abort everything
       time.sleep(2)
       robot.abort_all_actions(log_abort_messages=True)
      # wait for results to come back for all actions
       robot.wait_for_all_actions_completed()
      # All actions should have aborted
       cozmo.logger.info("action1 res = %s", action1)
       cozmo.logger.info("action2 res = %s", action2)
       cozmo.logger.info("action3 res = %s", action3)
       cozmo.logger.info("action4 res = %s", action4)
      def cozmo_program(robot: cozmo.robot.Robot):
       example1_lift_head(robot)
       example2_conflicting_actions(robot)
       example3_abort_one_action(robot)
       example4_abort_all_actions(robot)
       cozmo.logger.info("----------------------------------------")
      cozmo.run_program(cozmo_program)
  
 

Fin

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/86672157