freezeee3 1.8.5

for a competetion

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 anchor(): bot, mapid, pointlist=init("192.168.197.144","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")

def nav_to(bot, pointlist, name): bot, mapid,pointlist = init("192.168.197.144","0109")
anchor()

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 check_object_and_door(bot): bot.tts_sync("开始检测物体") while True: obj = bot.exist_object() if obj: bot.tts_sync('发现物体，正在关门') bot.door_ctrl(0) break else: bot.tts_sync('当前没有检测到物品')

def main(): bot , mapid, pointlist = init("192.168.197.144",'0109') while True: bot.tts_sync('黑子说话')

    res = bot.asr_sync(3)
    print("你说的内容：", res)
    
    if res:
        if '四五六' in res or '456' in res:
            bot.tts_sync('我将去取货点，再去递货点')
            nav_to(bot, pointlist, "03")
            bot.tts_sync('放东西')
            bot.door_ctrl(1)
            bot.light_ctrl(1)
            bot.tts_sync('三秒关门')
            time.sleep(3)
            check_object_and_door(bot)
            bot.door_ctrl(0)
            bot.light_ctrl(0)

            bot.tts_sync('我要去递货点了')
            nav_to(bot,pointlist,'01')
            bot.door_ctrl(1)
            while True:
                result = bot.exist_object()
                if result:
                    bot.tts_sync('赶紧拿走')
                    bot.light_ctrl(1)
                else:
                    bot.tts_sync('拿走不谢')
                    bot.light_ctrl(0)
                    break
            bot.tts_sync('两秒后关门')
            time.sleep(2)
            bot.door_ctrl(0)
            break
        else:
            bot.tts_sync(f'我听到你说：{res}，我不知道啥意思')

def charge(): bot,map,pointlist = init("192.168.197.144",'0109') while True: bot.tts_sync('请下达下一指令') res = bot.asr_sync(3) print('你说的内容',{res}) if res: if "充电" in res: bot.tts_sync('出发充电') charge_ctrl() break else: bot.tts_sync(f'我听到你说{res},我不理解')

def charge_ctrl(): bot,map,pointlist = init("192.168.197.144",'0109') dst =next((f for f in pointlist if f["type"] == "charge"), None) print(dst['x'],dst['y'],dst['theta']) print('开始上桩') nav_to(bot,pointlist,'06') 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()

if name == "main": main() nav_to("192.168.197.144",'0109','00') charge() #charge_ctrl()