Cozmo人工智能机器人SDK使用笔记（6）-并行部分Parallel_Action
【摘要】 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 sysimport time try: from PIL import Imageexcept ImportError: sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install") imp...
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。
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import sys
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import time
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try:
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from PIL import Image
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except ImportError:
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sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
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import cozmo
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from cozmo.util import degrees, distance_mm, speed_mmps
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# load an image to display on Cozmo's face
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face_image = Image.open("../../face_images/cozmosdk.png")
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# resize to fit on Cozmo's face screen
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face_image = face_image.resize(cozmo.oled_face.dimensions(), Image.BICUBIC)
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# convert the image to the format used by the oled screen
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face_image = cozmo.oled_face.convert_image_to_screen_data(face_image,
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invert_image=True)
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def example1_lift_head(robot: cozmo.robot.Robot):
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cozmo.logger.info("----------------------------------------")
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cozmo.logger.info("Example 1: Move Lift and Head in Parallel")
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cozmo.logger.info("First, move the lift and head down, in sequence.")
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robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE).wait_for_completed()
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robot.set_lift_height(0.0).wait_for_completed()
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cozmo.logger.info("Now, move the lift and head back up, in parallel "
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"- we no longer have to wait for the 1st action to complete "
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"before starting the 2nd one because the 2nd action is in_parallel")
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action1 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE)
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action2 = robot.set_lift_height(1.0, in_parallel=True)
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action1.wait_for_completed()
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action2.wait_for_completed()
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cozmo.logger.info("action1 = %s", action1)
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cozmo.logger.info("action2 = %s", action2)
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def example2_conflicting_actions(robot: cozmo.robot.Robot):
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cozmo.logger.info("----------------------------------------")
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cozmo.logger.info("Example 2: Conflicting actions.")
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cozmo.logger.info("Try to drive straight and turn in parallel. This is not "
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"allowed, as both actions require use of the wheels, so the 2nd action "
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"will report failure due to tracks_locked.")
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action1 = robot.drive_straight(distance_mm(50), speed_mmps(25), should_play_anim=False, in_parallel=True)
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action2 = robot.turn_in_place(degrees(90), in_parallel=True)
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action2.wait_for_completed()
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cozmo.logger.info("action2 = %s", action2)
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action1.wait_for_completed()
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cozmo.logger.info("action1 = %s", action1)
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def example3_abort_one_action(robot: cozmo.robot.Robot):
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cozmo.logger.info("----------------------------------------")
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cozmo.logger.info("Example 3: Abort some parallel actions.")
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cozmo.logger.info("Start multiple parallel actions:")
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action1 = robot.set_lift_height(0.0, in_parallel=True)
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action2 = robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE, duration=6.0, in_parallel=True)
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action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True)
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action4 = robot.display_oled_face_image(face_image, 30000.0) # Note: face image is in_parallel by default
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# Lift-lowering is aborted immediately
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action1.abort(log_abort_messages=True)
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# Head-lowering is aborted shortly afterwards
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time.sleep(0.1)
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action2.abort(log_abort_messages=True)
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# Image on Cozmo's face is aborted another 2 seconds later
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time.sleep(2)
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action4.abort(log_abort_messages=True)
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# We wait for the one remaining action to complete
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action3.wait_for_completed()
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# Only action3 should succeed (as long as Cozmo had enough space to drive)
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cozmo.logger.info("action1 = %s", action1)
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cozmo.logger.info("action2 = %s", action2)
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cozmo.logger.info("action3 = %s", action3)
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cozmo.logger.info("action4 = %s", action4)
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def example4_abort_all_actions(robot: cozmo.robot.Robot):
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cozmo.logger.info("----------------------------------------")
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cozmo.logger.info("Example 4: Abort all parallel actions.")
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cozmo.logger.info("Start multiple parallel actions:")
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action1 = robot.set_lift_height(0.0, in_parallel=True, duration=6.0)
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action2 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, duration=6.0, in_parallel=True)
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action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True)
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action4 = robot.display_oled_face_image(face_image, 30000.0) # Note: face image is in_parallel by default
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# wait two seconds and abort everything
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time.sleep(2)
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robot.abort_all_actions(log_abort_messages=True)
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# wait for results to come back for all actions
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robot.wait_for_all_actions_completed()
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# All actions should have aborted
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cozmo.logger.info("action1 res = %s", action1)
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cozmo.logger.info("action2 res = %s", action2)
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cozmo.logger.info("action3 res = %s", action3)
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cozmo.logger.info("action4 res = %s", action4)
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def cozmo_program(robot: cozmo.robot.Robot):
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example1_lift_head(robot)
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example2_conflicting_actions(robot)
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example3_abort_one_action(robot)
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example4_abort_all_actions(robot)
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cozmo.logger.info("----------------------------------------")
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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
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