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@ -0,0 +1,749 @@
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import time
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from loguru import logger
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import numpy as np
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import math
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# import matplotlib.pyplot as plt
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import tcp4
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import sqlite3
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import threading
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import test5
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import sped
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k = 0 # 前视距离系数
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Lfc = 5 # 前视距离
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Kp = 1.0 # 速度P控制器系数
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dt = 0.1 # 时间间隔，单位：s
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L = 2.7 # 车辆轴距，单位：m
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fangxp = 0
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class VehicleState:
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# state = VehicleState(x = tcp4.x_car, y =tcp4.y_car, yaw = tcp4.yaw, v = 0)
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def __init__(self, x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.car_yaw, v=sped.speed):
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self.x = x
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self.y = y
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self.yaw = yaw
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self.v = v
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def update(state, a, delta):
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state.x = tcp4.x_car + sped.speed * math.cos(tcp4.car_yaw) * dt
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# print("state",state.x)
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state.y = tcp4.y_car + sped.speed * math.sin(tcp4.car_yaw) * dt
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state.yaw = tcp4.car_yaw + sped.speed / L * math.tan(delta) * dt
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state.v = sped.speed + a * dt
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return state
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def PControl(target, current):
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a = Kp * (target - current)
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return a
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def pure_pursuit_control(state, cx, cy, pind):
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global fangxp
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ind = calc_target_index(state, cx, cy)
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# if pind >= ind:
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# ind = pind
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if ind < len(cx):
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tx = cx[ind]
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print('tx', tx)
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ty = cy[ind]
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print('ty', ty)
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else:
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tx = cx[-1]
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# print('tx1',tx)
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ty = cy[-1]
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# print('ty1',ty)
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ind = len(cx) - 1
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alpha = math.atan2(ty - state.y, tx - state.x) - state.yaw
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# print('alpha',alpha)
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if state.v < 0: # back
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alpha = math.pi - alpha
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Lf = k * state.v + Lfc
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delta = math.atan2(2.0 * L * math.sin(alpha) / Lf, 1.0)
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if delta > np.pi / 6.0:
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delta = np.pi / 6.0
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# print('delta1', delta)
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elif delta < - np.pi / 6.0:
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delta = - np.pi / 6.0
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# print('delta2', delta)
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angle = delta * 57.3
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fangxp = int(angle * 18)
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print('fxp', fangxp)
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db_file = "turndb.db"
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conn = sqlite3.connect(db_file)
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cur = conn.cursor()
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# sql='INSERT INTO turndb(id) VALUES(1);'
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sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
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cur.execute(sql)
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conn.commit()
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cur.close()
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conn.close()
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time.sleep(0.04)
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# print(delta)
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return delta, ind
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def calc_target_index(state, cx, cy):
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# 搜索最临近的路点
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dx = [state.x - icx for icx in cx]
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dy = [state.y - icy for icy in cy]
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d = [abs(math.sqrt(idx ** 2 + idy ** 2)) for (idx, idy) in zip(dx, dy)]
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ind = d.index(min(d))
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# print('ind',ind)
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L = 0.0
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Lf = k * state.v + Lfc
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while Lf > L and (ind + 1) < len(cx):
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dx = cx[ind + 1] - cx[ind]
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dy = cx[ind + 1] - cx[ind]
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L += math.sqrt(dx ** 2 + dy ** 2)
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ind += 1
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# print('ind1', ind)
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return ind
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def main():
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# 设置目标路点
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cx = [84.61, 84.639, 84.667, 84.7, 84.722, 84.743, 84.775, 84.806, 84.837, 84.869, 84.9, 84.928, 84.949, 84.972,
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85.004, 85.028, 85.06, 85.096, 85.123, 85.149, 85.177, 85.208, 85.24, 85.269, 85.298, 85.331, 85.361, 85.391,
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85.423,
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85.457, 85.488, 85.526, 85.547, 85.572, 85.602, 85.622, 85.648, 85.673, 85.694, 85.721, 85.741, 85.762,
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85.786, 85.81, 85.832, 85.856, 85.88, 85.899, 85.923, 85.948, 85.973, 85.996, 86.017, 86.042, 86.068, 86.089,
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86.113,
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86.131,
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86.154, 86.175, 86.195, 86.217, 86.245, 86.262, 86.288, 86.307, 86.33, 86.35, 86.376, 86.398, 86.423,
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86.448, 86.474, 86.499, 86.52, 86.548, 86.575, 86.602, 86.624, 86.65, 86.676, 86.7, 86.72, 86.743, 86.77,
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86.793, 86.821, 86.836, 86.861, 86.887, 86.916, 86.943, 86.964, 86.988, 87.01, 87.039, 87.066, 87.092, 87.12,
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87.145,
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87.169, 87.192, 87.221, 87.243, 87.271, 87.295, 87.324, 87.348, 87.369, 87.391, 87.417, 87.445, 87.475,
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87.501, 87.525, 87.546, 87.575, 87.6, 87.629, 87.656, 87.685, 87.712, 87.736, 87.77, 87.794, 87.823, 87.852,
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87.885,
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87.916, 87.939, 87.963, 87.994, 88.019, 88.053, 88.084, 88.114, 88.138, 88.17, 88.196, 88.228, 88.257, 88.288,
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88.318, 88.343, 88.373, 88.4, 88.427, 88.461, 88.489, 88.518, 88.548, 88.58, 88.606, 88.633, 88.66, 88.693,
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88.712, 88.738, 88.765, 88.791, 88.826, 88.861, 88.888, 88.914, 88.943, 88.969, 88.996, 89.022, 89.052,
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89.082,
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89.113, 89.135, 89.158, 89.184, 89.218, 89.248, 89.272, 89.297, 89.334, 89.362, 89.39, 89.412, 89.445, 89.475,
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89.504,
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89.529, 89.561, 89.589, 89.617, 89.65, 89.673, 89.713, 89.736, 89.764, 89.792, 89.825, 89.853, 89.88, 89.913,
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89.939, 89.968, 89.997, 90.026, 90.057, 90.086, 90.119, 90.144, 90.165, 90.194, 90.226, 90.251, 90.279,
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90.306, 90.336, 90.365, 90.393, 90.424, 90.447, 90.477, 90.508, 90.533, 90.568, 90.601, 90.627, 90.654,
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90.685,
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90.713, 90.745, 90.776, 90.806, 90.835, 90.862, 90.894, 90.922, 90.949, 90.982, 91.009, 91.043, 91.069,
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91.102,
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91.138, 91.168, 91.199, 91.228, 91.26, 91.288, 91.316, 91.345, 91.372, 91.407, 91.436, 91.464, 91.494, 91.522,
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91.552,
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91.578, 91.603, 91.629, 91.66, 91.69, 91.713, 91.742, 91.774, 91.803, 91.823, 91.851, 91.877, 91.908, 91.935,
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91.963, 91.993, 92.019, 92.045, 92.071, 92.096, 92.127, 92.154, 92.184, 92.207, 92.233, 92.264, 92.297,
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92.324, 92.347, 92.374, 92.403, 92.43, 92.459, 92.487, 92.513, 92.544, 92.568, 92.596, 92.623, 92.652, 92.681,
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92.706,
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92.732, 92.762, 92.79, 92.826, 92.856, 92.881, 92.91, 92.936, 92.967, 92.991, 93.023, 93.047, 93.075, 93.105,
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93.127, 93.155, 93.184, 93.214, 93.24, 93.263, 93.29, 93.32, 93.348, 93.376, 93.407, 93.433, 93.465, 93.498,
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93.524, 93.559, 93.588, 93.621, 93.647, 93.675, 93.703, 93.735, 93.763, 93.797, 93.83, 93.858, 93.888, 93.914,
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93.944, 93.975, 94.001, 94.026, 94.052, 94.083, 94.11, 94.141, 94.164, 94.188, 94.213, 94.24, 94.27, 94.296,
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94.328, 94.355, 94.389, 94.418, 94.451, 94.48, 94.509, 94.535, 94.577, 94.607, 94.639, 94.672, 94.702, 94.724,
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94.756, 94.786, 94.816, 94.847, 94.879, 94.907, 94.941, 94.97, 94.999, 95.028, 95.055, 95.089, 95.12, 95.149,
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95.177, 95.215, 95.244, 95.275, 95.29, 95.32, 95.351, 95.379, 95.406, 95.435, 95.466, 95.493, 95.522, 95.546,
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95.576, 95.612, 95.642, 95.674, 95.706, 95.732, 95.782, 95.812, 95.844, 95.872, 95.9, 95.925, 95.95, 95.985,
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96.014, 96.048, 96.078, 96.109, 96.139, 96.17, 96.203, 96.234, 96.266, 96.299, 96.33, 96.364, 96.395, 96.424,
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96.456, 96.487, 96.514, 96.546, 96.576, 96.609, 96.638, 96.667, 96.701, 96.735, 96.765, 96.795, 96.825,
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96.855, 96.888, 96.918, 96.953, 96.982, 97.013, 97.045, 97.095, 97.123, 97.157, 97.179, 97.208, 97.243,
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97.277,
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97.308, 97.342, 97.376, 97.407, 97.435, 97.47, 97.501, 97.534, 97.565, 97.595, 97.624, 97.649, 97.684, 97.716,
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97.749,
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97.776, 97.811, 97.84, 97.869, 97.901, 97.931, 97.96, 97.984, 98.016, 98.042, 98.07, 98.1, 98.128, 98.155,
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98.188, 98.218, 98.244, 98.273, 98.304, 98.339, 98.366, 98.397, 98.42, 98.465, 98.495, 98.523, 98.549, 98.578,
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98.61,
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98.637, 98.667, 98.7, 98.729, 98.757, 98.789, 98.819, 98.843, 98.872, 98.892, 98.921, 98.955, 98.984, 99.01,
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99.04, 99.06, 99.09, 99.121, 99.152, 99.178, 99.208, 99.233, 99.26, 99.29, 99.32, 99.349, 99.376, 99.4,
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99.428,
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99.456, 99.486, 99.514, 99.544, 99.571, 99.598, 99.627, 99.654, 99.682, 99.714, 99.741, 99.769, 99.799,
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99.831,
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99.859, 99.888, 99.932, 99.957, 99.987, 100.012, 100.043, 100.076, 100.108, 100.135, 100.167, 100.191,
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100.221,
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100.252, 100.281, 100.311, 100.342, 100.371, 100.394, 100.427, 100.455, 100.49, 100.522, 100.553, 100.58,
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100.614,
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100.641, 100.672, 100.702, 100.728, 100.761, 100.792, 100.824, 100.849, 100.876, 100.909, 100.942, 100.967,
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100.999,
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101.031, 101.059, 101.09, 101.121, 101.15, 101.175, 101.204, 101.235, 101.264, 101.288, 101.32, 101.348,
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101.38, 101.404, 101.433, 101.468, 101.495, 101.521, 101.551, 101.575, 101.604, 101.632, 101.66, 101.683,
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101.716,
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101.744, 101.776, 101.808, 101.83, 101.854, 101.889, 101.918, 101.945, 101.967, 101.99, 102.013, 102.033,
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102.057,
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|
|
|
102.082, 102.102, 102.116, 102.134, 102.149, 102.164, 102.176, 102.184, 102.187, 102.185, 102.183, 102.176,
|
|
|
|
|
|
|
|
102.165,
|
|
|
|
|
|
|
|
102.141, 102.112, 102.086, 102.058, 102.031, 101.989, 101.955, 101.912, 101.861, 101.805, 101.748, 101.68,
|
|
|
|
|
|
|
|
101.606, 101.522, 101.44, 101.353, 101.272, 101.185, 101.09, 100.999, 100.9, 100.804, 100.706, 100.611,
|
|
|
|
|
|
|
|
100.505,
|
|
|
|
|
|
|
|
100.406, 100.299, 100.195, 100.085, 99.979, 99.867, 99.739, 99.62, 99.493, 99.363, 99.231, 99.102, 98.965,
|
|
|
|
|
|
|
|
98.83,
|
|
|
|
|
|
|
|
98.623, 98.48, 98.339, 98.198, 98.06, 97.927, 97.794, 97.659, 97.534, 97.402, 97.268, 97.143, 97.023, 96.896,
|
|
|
|
|
|
|
|
96.773,
|
|
|
|
|
|
|
|
96.645, 96.518, 96.393, 96.26, 96.127, 95.988, 95.845, 95.706, 95.558, 95.409, 95.258, 95.102, 94.945, 94.788,
|
|
|
|
|
|
|
|
94.633, 94.475, 94.315, 94.16, 94.002, 93.903, 93.75, 93.589, 93.434, 93.274, 93.118, 92.963, 92.807, 92.648,
|
|
|
|
|
|
|
|
92.487, 92.333, 92.18, 92.022, 91.864, 91.711, 91.553, 91.407, 91.252, 91.102, 90.954, 90.806, 90.652, 90.511,
|
|
|
|
|
|
|
|
90.354, 90.203, 90.049, 89.89, 89.737, 89.581, 89.422, 89.26, 89.108, 88.949, 88.793, 88.636, 88.48, 88.326,
|
|
|
|
|
|
|
|
88.168, 88.01, 87.855, 87.7, 87.548, 87.395, 87.243, 87.088, 86.939, 86.785, 86.635, 86.482, 86.334, 86.185,
|
|
|
|
|
|
|
|
86.038, 85.886, 85.666, 85.516, 85.367, 85.217, 85.067, 84.913, 84.766, 84.62, 84.473, 84.322, 84.171, 84.022,
|
|
|
|
|
|
|
|
83.871, 83.722, 83.576, 83.429, 83.282, 83.132, 82.981, 82.834, 82.687, 82.524, 82.375, 82.225, 82.072,
|
|
|
|
|
|
|
|
81.918, 81.772, 81.618, 81.457, 81.309, 81.154, 80.998, 80.843, 80.694, 80.543, 80.385, 80.237, 80.086,
|
|
|
|
|
|
|
|
79.937,
|
|
|
|
|
|
|
|
79.785, 79.639, 79.493, 79.355, 79.205, 79.063, 78.922, 78.784, 78.647, 78.517, 78.384, 78.25, 78.119, 77.986,
|
|
|
|
|
|
|
|
77.856,
|
|
|
|
|
|
|
|
77.741, 77.625, 77.511, 77.403, 77.298, 77.199, 77.065, 76.938, 76.826, 76.707]
|
|
|
|
|
|
|
|
cy = [66.014, 65.909, 65.805, 65.693, 65.595, 65.496, 65.384, 65.267, 65.144, 65.021, 64.894, 64.796, 64.695,
|
|
|
|
|
|
|
|
64.595, 64.484, 64.373, 64.26, 64.141, 64.023, 63.9, 63.776, 63.65, 63.521, 63.395, 63.261, 63.128, 62.997,
|
|
|
|
|
|
|
|
62.864, 62.734, 62.595, 62.453, 62.312, 62.214, 62.114, 61.97, 61.87, 61.769, 61.667, 61.565, 61.464, 61.362,
|
|
|
|
|
|
|
|
61.257, 61.157, 61.05, 60.944, 60.842, 60.735, 60.63, 60.523, 60.414, 60.306, 60.198, 60.091, 59.98, 59.867,
|
|
|
|
|
|
|
|
59.755, 59.645, 59.535, 59.419, 59.308, 59.196, 59.088, 58.971, 58.855, 58.736, 58.616, 58.494, 58.373,
|
|
|
|
|
|
|
|
58.253, 58.133, 58.012, 57.892, 57.767, 57.645, 57.525, 57.404, 57.282, 57.163, 57.041, 56.922, 56.801,
|
|
|
|
|
|
|
|
56.682, 56.562, 56.442, 56.323, 56.207, 56.081, 55.967, 55.835, 55.715, 55.585, 55.454, 55.327, 55.196, 55.07,
|
|
|
|
|
|
|
|
54.942, 54.814, 54.69, 54.572, 54.443, 54.317, 54.191, 54.067, 53.949, 53.83, 53.713, 53.603, 53.483, 53.364,
|
|
|
|
|
|
|
|
53.244, 53.126, 53.007, 52.882, 52.76, 52.634, 52.507, 52.386, 52.26, 52.133, 52.002, 51.873, 51.741, 51.607,
|
|
|
|
|
|
|
|
51.472, 51.34, 51.205, 51.072, 50.934, 50.794, 50.655, 50.512, 50.376, 50.235, 50.095, 49.951, 49.808, 49.666,
|
|
|
|
|
|
|
|
49.522, 49.381, 49.237, 49.094, 48.955, 48.814, 48.678, 48.541, 48.403, 48.254, 48.045, 47.903, 47.762,
|
|
|
|
|
|
|
|
47.626, 47.483, 47.337, 47.193, 47.049, 46.903, 46.759, 46.613, 46.465, 46.313, 46.168, 46.027, 45.881, 45.74,
|
|
|
|
|
|
|
|
45.599, 45.457, 45.309, 45.166, 45.021, 44.875, 44.729, 44.582, 44.439, 44.292, 44.143, 43.997, 43.851,
|
|
|
|
|
|
|
|
43.709, 43.568, 43.426, 43.279, 43.136, 42.994, 42.849, 42.704, 42.561, 42.418, 42.273, 42.127, 41.986,
|
|
|
|
|
|
|
|
41.844, 41.7, 41.552, 41.404, 41.257, 41.112, 40.964, 40.818, 40.672, 40.526, 40.381, 40.236, 40.09, 39.941,
|
|
|
|
|
|
|
|
39.797, 39.653, 39.512, 39.362, 39.223, 39.08, 38.94, 38.795, 38.653, 38.508, 38.368, 38.226, 38.078, 37.931,
|
|
|
|
|
|
|
|
37.788, 37.639, 37.496, 37.351, 37.206, 37.059, 36.908, 36.763, 36.613, 36.463, 36.319, 36.172, 36.024,
|
|
|
|
|
|
|
|
35.877, 35.729, 35.58, 35.434, 35.286, 35.139, 34.995, 34.844, 34.695, 34.552, 34.402, 34.256, 34.107, 33.958,
|
|
|
|
|
|
|
|
33.813, 33.663, 33.512, 33.363, 33.211, 33.067, 32.922, 32.773, 32.627, 32.484, 32.336, 32.19, 32.047, 31.903,
|
|
|
|
|
|
|
|
31.76, 31.61, 31.469, 31.325, 31.183, 31.039, 30.901, 30.762, 30.625, 30.488, 30.349, 30.213, 30.074, 29.935,
|
|
|
|
|
|
|
|
29.797, 29.661, 29.522, 29.393, 29.254, 29.102, 28.959, 28.815, 28.671, 28.524, 28.383, 28.241, 28.104,
|
|
|
|
|
|
|
|
27.968, 27.823, 27.69, 27.55, 27.409, 27.267, 27.128, 26.985, 26.842, 26.698, 26.554, 26.406, 26.258, 26.107,
|
|
|
|
|
|
|
|
25.96, 25.808, 25.664, 25.513, 25.366, 25.215, 25.069, 24.927, 24.791, 24.654, 24.513, 24.374, 24.234, 24.098,
|
|
|
|
|
|
|
|
23.954, 23.812, 23.664, 23.521, 23.375, 23.228, 23.083, 22.934, 22.789, 22.645, 22.499, 22.351, 22.205,
|
|
|
|
|
|
|
|
22.057, 21.913, 21.767, 21.628, 21.484, 21.337, 21.191, 21.046, 20.9, 20.758, 20.618, 20.476, 20.33, 20.191,
|
|
|
|
|
|
|
|
20.049, 19.908, 19.766, 19.632, 19.489, 19.353, 19.217, 19.076, 18.935, 18.797, 18.659, 18.516, 18.374,
|
|
|
|
|
|
|
|
18.227, 18.085, 17.935, 17.789, 17.64, 17.495, 17.344, 17.119, 16.969, 16.823, 16.669, 16.521, 16.371, 16.219,
|
|
|
|
|
|
|
|
16.072, 15.926, 15.775, 15.629, 15.483, 15.341, 15.195, 15.05, 14.901, 14.757, 14.61, 14.463, 14.315, 14.167,
|
|
|
|
|
|
|
|
14.023, 13.871, 13.726, 13.582, 13.436, 13.291, 13.147, 13.007, 12.863, 12.725, 12.586, 12.446, 12.31, 12.175,
|
|
|
|
|
|
|
|
12.043, 11.898, 11.76, 11.621, 11.473, 11.259, 11.114, 10.97, 10.823, 10.671, 10.523, 10.375, 10.233, 10.082,
|
|
|
|
|
|
|
|
9.935, 9.788, 9.642, 9.494, 9.342, 9.194, 9.046, 8.896, 8.747, 8.598, 8.451, 8.302, 8.158, 8.012, 7.864,
|
|
|
|
|
|
|
|
7.718, 7.569, 7.425, 7.28, 7.132, 6.986, 6.841, 6.693, 6.543, 6.396, 6.246, 6.099, 5.95, 5.801, 5.653, 5.5,
|
|
|
|
|
|
|
|
5.351, 5.2, 4.974, 4.821, 4.669, 4.522, 4.373, 4.222, 4.068, 3.918, 3.77, 3.623, 3.472, 3.322, 3.173, 3.025,
|
|
|
|
|
|
|
|
2.882, 2.733, 2.583, 2.436, 2.289, 2.144, 1.994, 1.845, 1.695, 1.546, 1.397, 1.245, 1.091, 0.939, 0.791,
|
|
|
|
|
|
|
|
0.641, 0.493, 0.346, 0.197, 0.051, -0.102, -0.254, -0.404, -0.553, -0.708, -0.859, -1.012, -1.166, -1.321,
|
|
|
|
|
|
|
|
-1.474, -1.628, -1.858, -2.012, -2.164, -2.32, -2.473, -2.626, -2.776, -2.927, -3.078, -3.231, -3.384, -3.535,
|
|
|
|
|
|
|
|
-3.686, -3.836, -3.987, -4.136, -4.287, -4.43, -4.58, -4.728, -4.872, -5.013, -5.158, -5.302, -5.442, -5.585,
|
|
|
|
|
|
|
|
-5.728, -5.873, -6.015, -6.158, -6.305, -6.447, -6.59, -6.733, -6.877, -7.022, -7.165, -7.307, -7.449, -7.59,
|
|
|
|
|
|
|
|
-7.732, -7.871, -8.012, -8.151, -8.29, -8.429, -8.576, -8.718, -8.863, -9.006, -9.153, -9.371, -9.514, -9.657,
|
|
|
|
|
|
|
|
-9.789, -9.937, -10.083, -10.229, -10.378, -10.523, -10.668, -10.812, -10.958, -11.103, -11.247, -11.395,
|
|
|
|
|
|
|
|
-11.54, -11.689, -11.832, -11.978, -12.121, -12.267, -12.412, -12.559, -12.705, -12.85, -13.006, -13.15,
|
|
|
|
|
|
|
|
-13.3, -13.447, -13.593, -13.741, -13.889, -14.033, -14.182, -14.326, -14.474, -14.607, -14.754, -14.903,
|
|
|
|
|
|
|
|
-15.051, -15.195, -15.346, -15.491, -15.642, -15.794, -15.945, -16.091, -16.249, -16.401, -16.546, -16.696,
|
|
|
|
|
|
|
|
-16.843, -16.986, -17.132, -17.272, -17.413, -17.553, -17.694, -17.839, -17.984, -18.128, -18.271, -18.413,
|
|
|
|
|
|
|
|
-18.558, -18.705, -18.857, -19.008, -19.149, -19.293, -19.441, -19.586, -19.73, -19.876, -20.023, -20.169,
|
|
|
|
|
|
|
|
-20.317, -20.462, -20.61, -20.763, -20.912, -21.067, -21.225, -21.373, -21.528, -21.675, -21.818, -21.953,
|
|
|
|
|
|
|
|
-22.076, -22.203, -22.372, -22.481, -22.601, -22.718, -22.832, -22.95, -23.07, -23.192, -23.315, -23.439,
|
|
|
|
|
|
|
|
-23.56, -23.68, -23.799, -23.912, -24.022, -24.132, -24.242, -24.34, -24.435, -24.518, -24.605, -24.686,
|
|
|
|
|
|
|
|
-24.761, -24.838, -24.911, -24.978, -25.039, -25.1, -25.154, -25.213, -25.253, -25.307, -25.361, -25.408,
|
|
|
|
|
|
|
|
-25.451, -25.493, -25.53, -25.573, -25.62, -25.642, -25.665, -25.683, -25.703, -25.718, -25.732, -25.747,
|
|
|
|
|
|
|
|
-25.758, -25.759, -25.769, -25.778, -25.789, -25.799, -25.799, -25.8, -25.8, -25.8, -25.8, -25.807, -25.816,
|
|
|
|
|
|
|
|
-25.823, -25.836, -25.841, -25.861, -25.884, -25.908, -25.936, -25.961, -25.99, -26.017, -26.048, -26.084,
|
|
|
|
|
|
|
|
-26.118, -26.141, -26.176, -26.213, -26.247, -26.274, -26.299, -26.34, -26.373, -26.403, -26.435, -26.467,
|
|
|
|
|
|
|
|
-26.5, -26.532, -26.563, -26.599, -26.624, -26.661, -26.683, -26.715, -26.748, -26.78, -26.813, -26.842,
|
|
|
|
|
|
|
|
-26.873, -26.908, -26.943, -26.977, -27.008, -27.043, -27.068, -27.095, -27.133, -27.164, -27.193, -27.224,
|
|
|
|
|
|
|
|
-27.255, -27.287, -27.319, -27.348, -27.381, -27.407, -27.448, -27.483, -27.518, -27.55, -27.587, -27.615,
|
|
|
|
|
|
|
|
-27.643, -27.673, -27.697, -27.725, -27.753, -27.782, -27.823, -27.849, -27.876, -27.901, -27.931, -27.955,
|
|
|
|
|
|
|
|
-27.982, -28.009, -28.036, -28.065, -28.088, -28.117, -28.142, -28.172, -28.201, -28.232, -28.251, -28.278,
|
|
|
|
|
|
|
|
-28.304, -28.333, -28.361, -28.38, -28.403, -28.436, -28.464, -28.495, -28.531, -28.558, -28.581, -28.618,
|
|
|
|
|
|
|
|
-28.649, -28.679, -28.711, -28.74, -28.769, -28.792, -28.825, -28.851, -28.877, -28.901, -28.931, -28.955,
|
|
|
|
|
|
|
|
-28.984, -29.007, -29.039, -29.063, -29.097, -29.129, -29.158, -29.18, -29.206, -29.227, -29.251, -29.28,
|
|
|
|
|
|
|
|
-29.304, -29.328, -29.346, -29.369, -29.384, -29.409, -29.426, -29.458, -29.479, -29.499]
|
|
|
|
|
|
|
|
target_speed = 5 / 3.6 # [m/s]
|
|
|
|
|
|
|
|
T = 500.0 # 最大模拟时间
|
|
|
|
|
|
|
|
# 设置车辆的出事状态
|
|
|
|
|
|
|
|
state = VehicleState(x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.yaw, v=sped.speed)
|
|
|
|
|
|
|
|
# state = VehicleState(x=89, y=20, yaw=0.0, v=0.0)
|
|
|
|
|
|
|
|
lastIndex = len(cx) - 1
|
|
|
|
|
|
|
|
time = 0.0
|
|
|
|
|
|
|
|
x = [state.x]
|
|
|
|
|
|
|
|
# print('x',x)
|
|
|
|
|
|
|
|
y = [state.y]
|
|
|
|
|
|
|
|
# print('y',y)
|
|
|
|
|
|
|
|
yaw = [state.yaw]
|
|
|
|
|
|
|
|
v = [state.v]
|
|
|
|
|
|
|
|
t = [0.0]
|
|
|
|
|
|
|
|
target_ind = calc_target_index(state, cx, cy)
|
|
|
|
|
|
|
|
while True:
|
|
|
|
|
|
|
|
# print('heading',tcp4.heading)
|
|
|
|
|
|
|
|
ai = PControl(target_speed, state.v)
|
|
|
|
|
|
|
|
di, target_ind = pure_pursuit_control(state, cx, cy, target_ind)
|
|
|
|
|
|
|
|
state = update(state, ai, di)
|
|
|
|
|
|
|
|
time = time + dt
|
|
|
|
|
|
|
|
x.append(state.x)
|
|
|
|
|
|
|
|
x1 = x[-1]
|
|
|
|
|
|
|
|
print('x1', x[-1])
|
|
|
|
|
|
|
|
y.append(state.y)
|
|
|
|
|
|
|
|
y1 = y[-1]
|
|
|
|
|
|
|
|
print('y1', y[-1])
|
|
|
|
|
|
|
|
yaw.append(state.yaw)
|
|
|
|
|
|
|
|
yaw1 = y[-1] * 57.3
|
|
|
|
|
|
|
|
print('yaw', yaw[-1])
|
|
|
|
|
|
|
|
t.append(time)
|
|
|
|
|
|
|
|
# logger.add('file.log')
|
|
|
|
|
|
|
|
# logger.debug('角度 {},y {},x {},北斗角度 {}，北斗x {}，北斗y {}', str(yaw1), str(y1), str(x1),str(tcp4.heading),str(tcp4.east),str(tcp4.north))
|
|
|
|
|
|
|
|
v.append(state.v)
|
|
|
|
|
|
|
|
# print('v', v[-1])
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
t.append(time)
|
|
|
|
|
|
|
|
# plt.cla()
|
|
|
|
|
|
|
|
# plt.plot(cx, cy, ".r", label="course")
|
|
|
|
|
|
|
|
# plt.plot(x, y, "-b", label="trajectory")
|
|
|
|
|
|
|
|
# plt.plot(cx[target_ind], cy[target_ind], "go", label="target")
|
|
|
|
|
|
|
|
# plt.axis("equal")
|
|
|
|
|
|
|
|
# plt.grid(True)
|
|
|
|
|
|
|
|
# plt.title("Speed[km/h]:" + str(state.v * 3.6)[:4])
|
|
|
|
|
|
|
|
# plt.pause(0.001)
|
|
|
|
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|
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|
|
def car_back_right(direction):
|
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|
|
print('进入右倒库')
|
|
|
|
|
|
|
|
a = 0
|
|
|
|
|
|
|
|
g1_trace = abs(math.sqrt((float(tcp4.east) - 67.97) ** 2 + (float(tcp4.north) - 45.75) ** 2))
|
|
|
|
|
|
|
|
g2_trace = abs(math.sqrt((float(tcp4.east) - 68.35) ** 2 + (float(tcp4.north) - 43.96) ** 2))
|
|
|
|
|
|
|
|
if g1_trace< a <g2_trace:
|
|
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|
|
direction == "line"
|
|
|
|
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|
|
else:
|
|
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|
|
direction == "rightback"
|
|
|
|
|
|
|
|
if direction == "line":
|
|
|
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|
|
def pure_pursuit_control(state, cx, cy, pind):
|
|
|
|
|
|
|
|
global fangxp
|
|
|
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|
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|
|
ind = calc_target_index(state, cx, cy)
|
|
|
|
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|
|
# if pind >= ind:
|
|
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|
|
|
|
|
# ind = pind
|
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|
|
if ind < len(cx):
|
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|
|
tx = cx[ind]
|
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|
|
print('tx', tx)
|
|
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|
|
ty = cy[ind]
|
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|
|
print('ty', ty)
|
|
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|
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|
|
else:
|
|
|
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|
|
tx = cx[-1]
|
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|
|
|
|
|
|
# print('tx1',tx)
|
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|
|
ty = cy[-1]
|
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|
|
# print('ty1',ty)
|
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|
|
ind = len(cx) - 1
|
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|
|
alpha = math.atan2(ty - state.y, tx - state.x) - state.yaw
|
|
|
|
|
|
|
|
# print('alpha',alpha)
|
|
|
|
|
|
|
|
if state.v < 0: # back
|
|
|
|
|
|
|
|
alpha = math.pi - alpha
|
|
|
|
|
|
|
|
Lf = k * state.v + Lfc
|
|
|
|
|
|
|
|
delta = math.atan2(2.0 * L * math.sin(alpha) / Lf, 1.0)
|
|
|
|
|
|
|
|
if delta > np.pi / 6.0:
|
|
|
|
|
|
|
|
delta = np.pi / 6.0
|
|
|
|
|
|
|
|
# print('delta1', delta)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif delta < - np.pi / 6.0:
|
|
|
|
|
|
|
|
delta = - np.pi / 6.0
|
|
|
|
|
|
|
|
# print('delta2', delta)
|
|
|
|
|
|
|
|
angle = delta * 57.3
|
|
|
|
|
|
|
|
fangxp = int(angle * 18)
|
|
|
|
|
|
|
|
print('fxp', fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
db_file = "turndb.db"
|
|
|
|
|
|
|
|
conn = sqlite3.connect(db_file)
|
|
|
|
|
|
|
|
cur = conn.cursor()
|
|
|
|
|
|
|
|
# sql='INSERT INTO turndb(id) VALUES(1);'
|
|
|
|
|
|
|
|
sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
|
|
|
|
|
|
|
|
cur.execute(sql)
|
|
|
|
|
|
|
|
conn.commit()
|
|
|
|
|
|
|
|
cur.close()
|
|
|
|
|
|
|
|
conn.close()
|
|
|
|
|
|
|
|
time.sleep(0.04)
|
|
|
|
|
|
|
|
# print(delta)
|
|
|
|
|
|
|
|
return delta, ind
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def calc_target_index(state, cx, cy):
|
|
|
|
|
|
|
|
# 搜索最临近的路点
|
|
|
|
|
|
|
|
dx = [state.x - icx for icx in cx]
|
|
|
|
|
|
|
|
dy = [state.y - icy for icy in cy]
|
|
|
|
|
|
|
|
d = [abs(math.sqrt(idx ** 2 + idy ** 2)) for (idx, idy) in zip(dx, dy)]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
ind = d.index(min(d))
|
|
|
|
|
|
|
|
# print('ind',ind)
|
|
|
|
|
|
|
|
L = 0.0
|
|
|
|
|
|
|
|
Lf = k * state.v + Lfc
|
|
|
|
|
|
|
|
while Lf > L and (ind + 1) < len(cx):
|
|
|
|
|
|
|
|
dx = cx[ind + 1] - cx[ind]
|
|
|
|
|
|
|
|
dy = cx[ind + 1] - cx[ind]
|
|
|
|
|
|
|
|
L += math.sqrt(dx ** 2 + dy ** 2)
|
|
|
|
|
|
|
|
ind += 1
|
|
|
|
|
|
|
|
# print('ind1', ind)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
return ind
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def main():
|
|
|
|
|
|
|
|
# 设置目标路点
|
|
|
|
|
|
|
|
cx = []
|
|
|
|
|
|
|
|
cy = []
|
|
|
|
|
|
|
|
target_speed = 5 / 3.6 # [m/s]
|
|
|
|
|
|
|
|
T = 500.0 # 最大模拟时间
|
|
|
|
|
|
|
|
# 设置车辆的出事状态
|
|
|
|
|
|
|
|
state = VehicleState(x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.yaw, v=sped.speed)
|
|
|
|
|
|
|
|
# state = VehicleState(x=89, y=20, yaw=0.0, v=0.0)
|
|
|
|
|
|
|
|
lastIndex = len(cx) - 1
|
|
|
|
|
|
|
|
time = 0.0
|
|
|
|
|
|
|
|
x = [state.x]
|
|
|
|
|
|
|
|
# print('x',x)
|
|
|
|
|
|
|
|
y = [state.y]
|
|
|
|
|
|
|
|
# print('y',y)
|
|
|
|
|
|
|
|
yaw = [state.yaw]
|
|
|
|
|
|
|
|
v = [state.v]
|
|
|
|
|
|
|
|
t = [0.0]
|
|
|
|
|
|
|
|
target_ind = calc_target_index(state, cx, cy)
|
|
|
|
|
|
|
|
while True:
|
|
|
|
|
|
|
|
# print('heading',tcp4.heading)
|
|
|
|
|
|
|
|
ai = PControl(target_speed, state.v)
|
|
|
|
|
|
|
|
di, target_ind = pure_pursuit_control(state, cx, cy, target_ind)
|
|
|
|
|
|
|
|
state = update(state, ai, di)
|
|
|
|
|
|
|
|
time = time + dt
|
|
|
|
|
|
|
|
x.append(state.x)
|
|
|
|
|
|
|
|
x1 = x[-1]
|
|
|
|
|
|
|
|
print('x1', x[-1])
|
|
|
|
|
|
|
|
y.append(state.y)
|
|
|
|
|
|
|
|
y1 = y[-1]
|
|
|
|
|
|
|
|
print('y1', y[-1])
|
|
|
|
|
|
|
|
yaw.append(state.yaw)
|
|
|
|
|
|
|
|
yaw1 = y[-1] * 57.3
|
|
|
|
|
|
|
|
print('yaw', yaw[-1])
|
|
|
|
|
|
|
|
t.append(time)
|
|
|
|
|
|
|
|
# logger.add('file.log')
|
|
|
|
|
|
|
|
# logger.debug('角度 {},y {},x {},北斗角度 {}，北斗x {}，北斗y {}', str(yaw1), str(y1), str(x1),str(tcp4.heading),str(tcp4.east),str(tcp4.north))
|
|
|
|
|
|
|
|
v.append(state.v)
|
|
|
|
|
|
|
|
# print('v', v[-1])
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
t.append(time)
|
|
|
|
|
|
|
|
# plt.cla()
|
|
|
|
|
|
|
|
# plt.plot(cx, cy, ".r", label="course")
|
|
|
|
|
|
|
|
# plt.plot(x, y, "-b", label="trajectory")
|
|
|
|
|
|
|
|
# plt.plot(cx[target_ind], cy[target_ind], "go", label="target")
|
|
|
|
|
|
|
|
# plt.axis("equal")
|
|
|
|
|
|
|
|
# plt.grid(True)
|
|
|
|
|
|
|
|
# plt.title("Speed[km/h]:" + str(state.v * 3.6)[:4])
|
|
|
|
|
|
|
|
# plt.pause(0.001)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def pure_pursuit_control(state, cx, cy, pind):
|
|
|
|
|
|
|
|
global fangxp
|
|
|
|
|
|
|
|
ind = calc_target_index(state, cx, cy)
|
|
|
|
|
|
|
|
# if pind >= ind:
|
|
|
|
|
|
|
|
# ind = pind
|
|
|
|
|
|
|
|
if ind < len(cx):
|
|
|
|
|
|
|
|
tx = cx[ind]
|
|
|
|
|
|
|
|
print('tx', tx)
|
|
|
|
|
|
|
|
ty = cy[ind]
|
|
|
|
|
|
|
|
print('ty', ty)
|
|
|
|
|
|
|
|
else:
|
|
|
|
|
|
|
|
tx = cx[-1]
|
|
|
|
|
|
|
|
# print('tx1',tx)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
ty = cy[-1]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# print('ty1',ty)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
ind = len(cx) - 1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
alpha = math.atan2(ty - state.y, tx - state.x) - state.yaw
|
|
|
|
|
|
|
|
# print('alpha',alpha)
|
|
|
|
|
|
|
|
if state.v < 0: # back
|
|
|
|
|
|
|
|
alpha = math.pi - alpha
|
|
|
|
|
|
|
|
Lf = k * state.v + Lfc
|
|
|
|
|
|
|
|
delta = math.atan2(2.0 * L * math.sin(alpha) / Lf, 1.0)
|
|
|
|
|
|
|
|
if delta > np.pi / 6.0:
|
|
|
|
|
|
|
|
delta = np.pi / 6.0
|
|
|
|
|
|
|
|
# print('delta1', delta)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif delta < - np.pi / 6.0:
|
|
|
|
|
|
|
|
delta = - np.pi / 6.0
|
|
|
|
|
|
|
|
# print('delta2', delta)
|
|
|
|
|
|
|
|
angle = delta * 57.3
|
|
|
|
|
|
|
|
fangxp = int(angle * 18)
|
|
|
|
|
|
|
|
print('fxp', fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
db_file = "turndb.db"
|
|
|
|
|
|
|
|
conn = sqlite3.connect(db_file)
|
|
|
|
|
|
|
|
cur = conn.cursor()
|
|
|
|
|
|
|
|
# sql='INSERT INTO turndb(id) VALUES(1);'
|
|
|
|
|
|
|
|
sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
|
|
|
|
|
|
|
|
cur.execute(sql)
|
|
|
|
|
|
|
|
conn.commit()
|
|
|
|
|
|
|
|
cur.close()
|
|
|
|
|
|
|
|
conn.close()
|
|
|
|
|
|
|
|
time.sleep(0.04)
|
|
|
|
|
|
|
|
# print(delta)
|
|
|
|
|
|
|
|
return delta, ind
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def calc_target_index(state, cx, cy):
|
|
|
|
|
|
|
|
# 搜索最临近的路点
|
|
|
|
|
|
|
|
dx = [state.x - icx for icx in cx]
|
|
|
|
|
|
|
|
dy = [state.y - icy for icy in cy]
|
|
|
|
|
|
|
|
d = [abs(math.sqrt(idx ** 2 + idy ** 2)) for (idx, idy) in zip(dx, dy)]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
ind = d.index(min(d))
|
|
|
|
|
|
|
|
# print('ind',ind)
|
|
|
|
|
|
|
|
L = 0.0
|
|
|
|
|
|
|
|
Lf = k * state.v + Lfc
|
|
|
|
|
|
|
|
while Lf > L and (ind + 1) < len(cx):
|
|
|
|
|
|
|
|
dx = cx[ind + 1] - cx[ind]
|
|
|
|
|
|
|
|
dy = cx[ind + 1] - cx[ind]
|
|
|
|
|
|
|
|
L += math.sqrt(dx ** 2 + dy ** 2)
|
|
|
|
|
|
|
|
ind += 1
|
|
|
|
|
|
|
|
# print('ind1', ind)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
return ind
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def main():
|
|
|
|
|
|
|
|
# 设置目标路点
|
|
|
|
|
|
|
|
cx = [67.982, 68.007, 68.028, 68.055, 68.077, 68.089, 68.114, 68.138, 68.158, 68.189, 68.208, 68.223, 68.24, 68.265, 68.29, 68.312, 68.338, 68.365]
|
|
|
|
|
|
|
|
cy = [45.775, 45.671, 45.569, 45.466, 45.368, 45.256, 45.156, 45.056, 44.945, 44.838, 44.739, 44.638, 44.533, 44.419, 44.314, 44.214, 44.101, 43.99]
|
|
|
|
|
|
|
|
target_speed = 5 / 3.6 # [m/s]
|
|
|
|
|
|
|
|
T = 500.0 # 最大模拟时间
|
|
|
|
|
|
|
|
# 设置车辆的出事状态
|
|
|
|
|
|
|
|
state = VehicleState(x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.yaw, v=sped.speed)
|
|
|
|
|
|
|
|
# state = VehicleState(x=89, y=20, yaw=0.0, v=0.0)
|
|
|
|
|
|
|
|
lastIndex = len(cx) - 1
|
|
|
|
|
|
|
|
time = 0.0
|
|
|
|
|
|
|
|
x = [state.x]
|
|
|
|
|
|
|
|
# print('x',x)
|
|
|
|
|
|
|
|
y = [state.y]
|
|
|
|
|
|
|
|
# print('y',y)
|
|
|
|
|
|
|
|
yaw = [state.yaw]
|
|
|
|
|
|
|
|
v = [state.v]
|
|
|
|
|
|
|
|
t = [0.0]
|
|
|
|
|
|
|
|
target_ind = calc_target_index(state, cx, cy)
|
|
|
|
|
|
|
|
while True:
|
|
|
|
|
|
|
|
# print('heading',tcp4.heading)
|
|
|
|
|
|
|
|
ai = PControl(target_speed, state.v)
|
|
|
|
|
|
|
|
di, target_ind = pure_pursuit_control(state, cx, cy, target_ind)
|
|
|
|
|
|
|
|
state = update(state, ai, di)
|
|
|
|
|
|
|
|
time = time + dt
|
|
|
|
|
|
|
|
x.append(state.x)
|
|
|
|
|
|
|
|
x1 = x[-1]
|
|
|
|
|
|
|
|
print('x1', x[-1])
|
|
|
|
|
|
|
|
y.append(state.y)
|
|
|
|
|
|
|
|
y1 = y[-1]
|
|
|
|
|
|
|
|
print('y1', y[-1])
|
|
|
|
|
|
|
|
yaw.append(state.yaw)
|
|
|
|
|
|
|
|
yaw1 = y[-1] * 57.3
|
|
|
|
|
|
|
|
print('yaw', yaw[-1])
|
|
|
|
|
|
|
|
t.append(time)
|
|
|
|
|
|
|
|
# logger.add('file.log')
|
|
|
|
|
|
|
|
# logger.debug('角度 {},y {},x {},北斗角度 {}，北斗x {}，北斗y {}', str(yaw1), str(y1), str(x1),str(tcp4.heading),str(tcp4.east),str(tcp4.north))
|
|
|
|
|
|
|
|
v.append(state.v)
|
|
|
|
|
|
|
|
# print('v', v[-1])
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
t.append(time)
|
|
|
|
|
|
|
|
if direction == "rightback":
|
|
|
|
|
|
|
|
while True:
|
|
|
|
|
|
|
|
global fangxp
|
|
|
|
|
|
|
|
db_file = "turndb.db"
|
|
|
|
|
|
|
|
conn = sqlite3.connect(db_file)
|
|
|
|
|
|
|
|
cur = conn.cursor()
|
|
|
|
|
|
|
|
# sql='INSERT INTO turndb(id) VALUES(1);'
|
|
|
|
|
|
|
|
sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
|
|
|
|
|
|
|
|
cur.execute(sql)
|
|
|
|
|
|
|
|
conn.commit()
|
|
|
|
|
|
|
|
cur.close()
|
|
|
|
|
|
|
|
conn.close()
|
|
|
|
|
|
|
|
# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
ra_trace = abs(math.sqrt(pow((float(tcp4.east)-68.35),2) + pow((float(tcp4.north)-43.85),2)))
|
|
|
|
|
|
|
|
print('a_trace',ra_trace)
|
|
|
|
|
|
|
|
rb_trace = abs(math.sqrt((float(tcp4.east)-70.15) ** 2 + (float(tcp4.north)-38.6)** 2))
|
|
|
|
|
|
|
|
print('b_trace',rb_trace)
|
|
|
|
|
|
|
|
rc_trace = abs(math.sqrt((float(tcp4.east)-70.7) ** 2 + (float(tcp4.north)-38.4) ** 2))
|
|
|
|
|
|
|
|
print('c_trace',rc_trace)
|
|
|
|
|
|
|
|
rd_trace = abs(math.sqrt((float(tcp4.east)-72) ** 2 + (float(tcp4.north)-37.8) ** 2))
|
|
|
|
|
|
|
|
print('d_trace',rd_trace)
|
|
|
|
|
|
|
|
# print("tcp4.east",tcp4.east)
|
|
|
|
|
|
|
|
print('tcp_fangxiang',tcp4.fang_xiang)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if 140.0 < (float(tcp4.fang_xiang)) < 180.0 and ra_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = -540
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('右打死',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 70< float(tcp4.fang_xiang)< 110 and rb_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = 0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('回正',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 70 < float(tcp4.fang_xiang) < 110 and rc_trace<1.25:
|
|
|
|
|
|
|
|
fangxp = -540
|
|
|
|
|
|
|
|
print('右打死',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 70< float(tcp4.fang_xiang) < 90 and rd_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = 0
|
|
|
|
|
|
|
|
print('回正',fangxp)
|
|
|
|
|
|
|
|
else:
|
|
|
|
|
|
|
|
print('lose')
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('\n')
|
|
|
|
|
|
|
|
time.sleep(0.5)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def car_back_right_fly():
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('进入右出库')
|
|
|
|
|
|
|
|
while True:
|
|
|
|
|
|
|
|
global fangxp
|
|
|
|
|
|
|
|
db_file = "turndb.db"
|
|
|
|
|
|
|
|
conn = sqlite3.connect(db_file)
|
|
|
|
|
|
|
|
cur = conn.cursor()
|
|
|
|
|
|
|
|
# sql='INSERT INTO turndb(id) VALUES(1);'
|
|
|
|
|
|
|
|
sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
|
|
|
|
|
|
|
|
cur.execute(sql)
|
|
|
|
|
|
|
|
conn.commit()
|
|
|
|
|
|
|
|
cur.close()
|
|
|
|
|
|
|
|
conn.close()
|
|
|
|
|
|
|
|
# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
rfa_trace = abs(math.sqrt(pow((float(tcp4.east)-72.02),2) + pow((float(tcp4.north)-37.65),2)))
|
|
|
|
|
|
|
|
print('a_trace',rfa_trace)
|
|
|
|
|
|
|
|
rfb_trace = abs(math.sqrt((float(tcp4.east)-68.84) ** 2 + (float(tcp4.north)-43.36)** 2))
|
|
|
|
|
|
|
|
print('b_trace',rfb_trace)
|
|
|
|
|
|
|
|
print('tcp_fangxiang',tcp4.fang_xiang)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if 60.0 < (float(tcp4.fang_xiang)) < 100.0 and rfa_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = -540
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('右打死',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 145.0< float(tcp4.fang_xiang) < 185.0 and rfb_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = 0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('回正',fangxp)
|
|
|
|
|
|
|
|
else:
|
|
|
|
|
|
|
|
print('lose')
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('\n')
|
|
|
|
|
|
|
|
time.sleep(0.5)
|
|
|
|
|
|
|
|
def car_back_lelf():
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('进入左倒库')
|
|
|
|
|
|
|
|
while True:
|
|
|
|
|
|
|
|
global fangxp
|
|
|
|
|
|
|
|
db_file = "turndb.db"
|
|
|
|
|
|
|
|
conn = sqlite3.connect(db_file)
|
|
|
|
|
|
|
|
cur = conn.cursor()
|
|
|
|
|
|
|
|
# sql='INSERT INTO turndb(id) VALUES(1);'
|
|
|
|
|
|
|
|
sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
|
|
|
|
|
|
|
|
cur.execute(sql)
|
|
|
|
|
|
|
|
conn.commit()
|
|
|
|
|
|
|
|
cur.close()
|
|
|
|
|
|
|
|
conn.close()
|
|
|
|
|
|
|
|
# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
la_trace = abs(math.sqrt(pow((float(tcp4.east)-71.75),2) + pow((float(tcp4.north)-30.73),2)))
|
|
|
|
|
|
|
|
print('a_trace',la_trace)
|
|
|
|
|
|
|
|
lb_trace = abs(math.sqrt((float(tcp4.east)-71.06) ** 2 + (float(tcp4.north)-36)** 2))
|
|
|
|
|
|
|
|
print('b_trace',lb_trace)
|
|
|
|
|
|
|
|
lc_trace = abs(math.sqrt((float(tcp4.east)-71.88) ** 2 + (float(tcp4.north)-36.50) ** 2))
|
|
|
|
|
|
|
|
print('c_trace',lc_trace)
|
|
|
|
|
|
|
|
ld_trace = abs(math.sqrt((float(tcp4.east)-73.68) ** 2 + (float(tcp4.north)-38.10) ** 2))
|
|
|
|
|
|
|
|
print('d_trace',ld_trace)
|
|
|
|
|
|
|
|
# print("tcp4.east",tcp4.east)
|
|
|
|
|
|
|
|
print('tcp_fangxiang',tcp4.fang_xiang)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if 330.0 < (float(tcp4.fang_xiang)) < 370.0 and la_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = 540
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('左打死',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 40.0< float(tcp4.fang_xiang)< 80.0 and lb_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = 0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('回正',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 60.0 < float(tcp4.fang_xiang) < 100.0 and lc_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = -540
|
|
|
|
|
|
|
|
print('左打死',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 70 < float(tcp4.fang_xiang) < 90 and ld_trace < 1.2:
|
|
|
|
|
|
|
|
fangxp = 0
|
|
|
|
|
|
|
|
print('回正',fangxp)
|
|
|
|
|
|
|
|
else:
|
|
|
|
|
|
|
|
print('lose')
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('\n')
|
|
|
|
|
|
|
|
time.sleep(0.5)
|
|
|
|
|
|
|
|
def car_back_lelf_fly():
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('进入左出库')
|
|
|
|
|
|
|
|
while True:
|
|
|
|
|
|
|
|
global fangxp
|
|
|
|
|
|
|
|
db_file = "turndb.db"
|
|
|
|
|
|
|
|
conn = sqlite3.connect(db_file)
|
|
|
|
|
|
|
|
cur = conn.cursor()
|
|
|
|
|
|
|
|
# sql='INSERT INTO turndb(id) VALUES(1);'
|
|
|
|
|
|
|
|
sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
|
|
|
|
|
|
|
|
cur.execute(sql)
|
|
|
|
|
|
|
|
conn.commit()
|
|
|
|
|
|
|
|
cur.close()
|
|
|
|
|
|
|
|
conn.close()
|
|
|
|
|
|
|
|
# d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
lfa_trace = abs(math.sqrt(pow((float(tcp4.east)-72.02),2) + pow((float(tcp4.north)-37.51),2)))
|
|
|
|
|
|
|
|
# print('a_trace',a_trace)
|
|
|
|
|
|
|
|
lfb_trace = abs(math.sqrt((float(tcp4.east)-71.66) ** 2 + (float(tcp4.north)-31.27)** 2))
|
|
|
|
|
|
|
|
# print('b_trace',b_trace)
|
|
|
|
|
|
|
|
# print("tcp4.east",tcp4.east)
|
|
|
|
|
|
|
|
print('tcp_fangxiang',tcp4.fang_xiang)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if 60.0 < (float(tcp4.fang_xiang)) < 100.0 and lfa_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = 540
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('左打死',fangxp)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
elif 330.0< float(tcp4.fang_xiang)< 370.0 and lfb_trace<1.2:
|
|
|
|
|
|
|
|
fangxp = 0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('回正',fangxp)
|
|
|
|
|
|
|
|
else:
|
|
|
|
|
|
|
|
print('lose')
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
print('\n')
|
|
|
|
|
|
|
|
time.sleep(0.5)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
|
|
|
|
# main()
|
|
|
|
|
|
|
|
t1 = threading.Thread(target=test5.can165) # 读取eps状态
|
|
|
|
|
|
|
|
t2 = threading.Thread(target=test5.can0a5) # 读取目前方向盘角度
|
|
|
|
|
|
|
|
t3 = threading.Thread(target=test5.main)
|
|
|
|
|
|
|
|
t4 = threading.Thread(target=test5.update)
|
|
|
|
|
|
|
|
t5 = threading.Thread(target=car_back_right)
|
|
|
|
|
|
|
|
t6 = threading.Thread(target=tcp4.zuo_biao)
|
|
|
|
|
|
|
|
t7 = threading.Thread(target=sped.sped)
|
|
|
|
|
|
|
|
t8 = threading.Thread(target=car_back_right_fly)
|
|
|
|
|
|
|
|
t9 = threading.Thread(target=car_back_lelf)
|
|
|
|
|
|
|
|
t10 = threading.Thread(target=car_back_lelf_fly)
|
|
|
|
|
|
|
|
# 启动线程
|
|
|
|
|
|
|
|
t5.start()
|
|
|
|
|
|
|
|
# t8.start()
|
|
|
|
|
|
|
|
# t9.start()
|
|
|
|
|
|
|
|
# t10.start()
|
|
|
|
|
|
|
|
t6.start()
|
|
|
|
|
|
|
|
t7.start()
|
|
|
|
|
|
|
|
t1.start()
|
|
|
|
|
|
|
|
t2.start()
|
|
|
|
|
|
|
|
t3.start()
|
|
|
|
|
|
|
|
t4.start()
|
|
|
|
|
|
|
|
|
