freezeee3 1.8.7

import time import creabot

def init(id, name): bot = creabot.Creabot(id) maplist = bot.list_map() targetmap = next((f for f in maplist if f["name"] == name), None) if targetmap: mapid = targetmap["id"] bot.set_map(mapid) pointlist = bot.list_map_point(mapid) print(pointlist) return bot, mapid, pointlist else: print("目标地图未找到") exit()

def nav_to(bot, pointlist, name): bot, mapid, pointlist = init("192.168.192.11", "0109") dss = next((f for f in pointlist if f["type"] == "anchor_point"), None) if dss: print("正在重定位") bot.tts_sync("开始重定位，请稍候") bot.relocate_sync(dss["x"], dss["y"], dss["theta"]) bot.tts_sync("重定位完成") else: print("没有找到定位点") bot.tts_sync("没有找到定位点")

dst = next((f for f in pointlist if f["name"] == name), None)
if dst:
    print(f"正在导航去{name}点")
    bot.tts_sync(f"正在导航去{name}点，请稍候")
    bot.start_navigation_sync(dst["x"], dst["y"], dst["theta"], 0.5)
    bot.tts_sync(f"已到达{name}点")
else:
    print("点位名称不存在")
    bot.tts_sync("点位名称不存在，请确认指令")

def main(): bot, mapid, pointlist = init("192.168.192.11", '0109') print('我将去取货点，再去递货点') nav_to(bot,pointlist,'2')

bot.tts_sync('请将需要递送的物品放入仓内')
bot.door_ctrl(1)
bot.light_ctrl(1)
while True:
    result = bot.exist_object()
    if result:
        bot.tts_sync('已取得物品')
        bot.light_ctrl(0)
        bot.door_ctrl(0)
        break
    else:
        print('没有物体')


nav_to(bot,pointlist,'四')
bot.tts_sync('您的物品已送达，请取走')
bot.door_ctrl(1)
bot.light_ctrl(1)
while True:
    result = bot.exist_object()
    if result:
        print('没拿出来')
        time.sleep(0.5)
    else:
        bot.tts_sync('物品已取出')
        bot.light_ctrl(0)
        bot.door_ctrl(0)
        nav_to(bot,pointlist,'起点')
        break

arrray = {'零','一','二','三','四','五','六'}
while True:
    m,n=None,None
    index = 0
    bot.tts_sync('黑子说话')
    res = bot.asr_sync(8)
    print("你说的内容：", res)
    for char in res:
        if char in arrray:
            index += 1
            if index ==1:
                m = char
            elif index == 2:
                n = char
                bot.tts_sync(f'我要到{m}号点取货，到{n}号点送货')
                break
    if m and n:
        break
    print(res)
    print('重新说')
nav_to(bot,pointlist,f'{m}')
bot.tts_sync('请将需要递送的物品放入仓内')
bot.door_ctrl(1)
bot.light_ctrl(1)
wed = bot.exist_object()
while True:
    if wed:
        bot.tts_sync('已取得物品')
        bot.light_ctrl(0)
        bot.door_ctrl(0)
        break
    else:
        bot.tts_sync('没有物品')
nav_to(bot,pointlist,f'{n}')
bot.tts_sync('您的物品已送达，请取走')
bot.door_ctrl(1)
bot.light_ctrl(1)
while True:
    result = bot.exist_object()
    if result:
        print('没拿出来')
    else:
        bot.tts_sync('物品已取出')
        bot.light_ctrl(0)
        bot.door_ctrl(0)
        nav_to(bot,pointlist,'起点')

def charge(): bot, map, pointlist = init("192.168.192.11", '0109') while True: bot.tts_sync('请给我下达下一步指令') res = bot.asr_sync(3) print('你说的内容', {res}) if res: if "充电" in res: bot.tts_sync('好的我要去充电了，请不要拦住我') print('开始上桩') nav_to(bot, pointlist, '六') dst = next((f for f in pointlist if f["type"] == "charge"), None) print(dst['x'], dst['y'], dst['theta']) step = bot.dock_charge_on_sync('0109', dst['x'], dst['y'], dst['theta']) if step: time.sleep(10) bot.tts_sync('充电下桩') bot.dock_charge_off_sync() break else: bot.tts_sync(f'我听到你说{res}，再说一遍')

if name == "main": main()
charge()