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How to use length_buff method in Airtest
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voice_cmd.py
Source:voice_cmd.py 
1#!/usr/bin/env python2# -*- coding:utf-8 -*-3import roslib; roslib.load_manifest('voice')4import os, sys5import playsound6import random7import rospy8import math9import copy10import re11from geometry_msgs.msg import Twist #è¿å¨é度ç»æä½ç±»å12from std_msgs.msg import String13# Python2.5 åå§ååä¼å é¤ sys.setdefaultencoding,éæ°è½½å
¥ 14reload(sys)15sys.setdefaultencoding('utf-8')16class cmd_vel:17 def __init__(self):18 rospy.on_shutdown(self.cleanup)19 # åå§åé»è®¤é度20 self.speed_Linear = 0.221 self.speed_Angular = 0.522 self.msg = Twist()23 # self.tts="好ç"24 # éè¡åæ°åmsgç¼åç±»å æ ï¼æ§å¶åå¸æ¶é´25 self.oscillation = {'oscil_Flag':0,'loop_Flag':0,'msg_Num':0,'keyWord':1,1:{'oscil_Num':0,'msg_Buff':Twist()}}26 self.oscillation_backup={}27 self.oscil_rate=1028 # åå¸ä¸è®¢é
29 # turtlesim_mode30 # self.pub_ = rospy.Publisher('/turtle1/cmd_vel', Twist,queue_size=1)31 # turtlebot3_burger32 self.pub_ = rospy.Publisher('/cmd_vel', Twist,queue_size=1)33 # self.pubtts_ = rospy.Publisher('voice_feedback',String,queue_size=10)34 rospy.Subscriber('voice_txt', String, self.cmd_Extraction)35 # é¢å è½½é¨å36 self.mp3_path=os.path.dirname(__file__)37 self.digit={"ä¸":1,"äº":2,"两":2,"ä¸":3,"å":4,"äº":5,"å
":6,"ä¸":7,"å
«":8,"ä¹":9,"å":10}38 # ç¼è¯æ£å表达å¼39 # self.pattern1=re.compile(r'(?P<router>å|æ£æ¹å½¢|é¿æ¹å½¢|ç©å½¢|åè¿|åå|å é|åé|左转|å³è½¬|åé|åæ¢|ç«å®|继ç»|æ¢å¤)')40 self.pattern1=re.compile(ur'(?P<router>\u5706|\u6B63\u65B9\u5F62|\u957F\u65B9\u5F62|\u77E9\u5F62|\u524D\u8FDB|\u5411\u524D|\u52A0\u901F|\u51CF\u901F|\u5DE6\u8F6C|\u53F3\u8F6C|\u540E\u9000|\u505C\u6B62|\u7ACB\u5B9A|\u7EE7\u7EED|\u6062\u590D)')41 # self.pattern2=re.compile(r'(?P<way>åå¾|ç´å¾|è¾¹é¿|åè¿|åå|åé)[^\d|ä¸|äº|两|ä¸|å|äº|å
|ä¸|å
«|ä¹|å](?P<length>\d+|ä¸|äº|两|ä¸|å|äº|å
|ä¸|å
«|ä¹|å).*(?P<direction>æ£|顺|é)*.*(?P<router>å|æ£æ¹å½¢)')42 self.pattern2=re.compile(ur'(?P<way>\u534A\u5F84|\u76F4\u5F84|\u8FB9\u957F|\u524D\u8FDB|\u5411\u524D|\u540E\u9000)\D*?(?P<length>\d+|\u4E00|\u4E8C|\u4E24|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341)[^\u6B63|\u987A|\u9006]*(?P<direction>\u6B63(?:.[^\u5F62])|\u987A|\u9006)?')43 # é¿-宽 ç±»åé¿æ¹å½¢å¹é
44 self.pattern3=re.compile(ur'(?P<way_length>\u957F)\D*?(?P<length>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341|\u4E24).*(?P<way_wide>\u5BBD)\D*?(?P<wide>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341|\u4E24)[^\u6B63|\u987A|\u9006]*(?P<direction>\u6B63|\u987A|\u9006)?')45 # 宽-é¿ ç±»åé¿æ¹å½¢å¹é
46 self.pattern4=re.compile(ur'(?P<way_wide>\u5BBD)\D*?(?P<wide>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341|\u4E24).*(?P<way_length>\u957F)\D*?(?P<length>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341|\u4E24)[^\u6B63|\u987A|\u9006]*(?P<direction>\u6B63|\u987A|\u9006)?')47 # 循ç¯æ令å¹é
pattern5=re.compile(r'(?P<notLoop>ä¸ä¸ª|走个)')48 self.pattern5=re.compile(ur'(?P<notLoop>\u8D70\u4E2A|\u4E00\u4E2A)')49 # ä¸åè·¯å¾ç±»åTwiståå¸é¢çæ§å¶50 rate = rospy.Rate(self.oscil_rate)51 while not rospy.is_shutdown():52 self.pub_.publish(self.msg)53 if self.oscillation['oscil_Flag']==1:54 key=self.oscillation['keyWord']55 self.msg=self.oscillation[key]['msg_Buff']56 self.oscillation[key]['oscil_Num']-=157 if self.oscillation[key]['oscil_Num']==0:58 self.oscillation['msg_Num']-=159 self.oscillation['keyWord']+=160 if self.oscillation['msg_Num']==0 and self.oscillation['loop_Flag']==1:61 self.oscillation=copy.deepcopy(self.oscillation_backup)62 elif self.oscillation['msg_Num']==0 and self.oscillation['loop_Flag']==0:63 self.oscillation['oscil_Flag']=264 # random_mp3=random.choice([1,2,3,4])65 # mp3_file=self.mp3_path+'/end'+str(random_mp3)+'.mp3'66 # playsound.playsound(mp3_file)67 elif self.oscillation['oscil_Flag']==2:68 self.msg=Twist()69 self.oscillation['oscil_Flag']=070 rate.sleep()71 #æ令æåå½æ°72 def cmd_Extraction(self, msg):73 rospy.loginfo(msg.data)74 #订é
æ°æ®å符串é¢å¤ç75 command_Str=msg.data76 if 'å
³é' in command_Str:77 rospy.signal_shutdown("å
³éæºå¨äºº")78 # å°è¯å¹é
è¿å¨è·¯å¾æ§å¶å
³é®è¯79 try:80 regex1=self.pattern1.search(command_Str.decode('utf-8'))81 router=regex1.group('router')82 except:83 # éææè·¯å¾æ§å¶æ令ï¼éåºåè°å½æ°84 # print('exit')85 return86 # print(router)87 # å形路å¾88 if router==u'\u5706':89 # print("flagtype=åå½¢")90 try:91 regex2=self.pattern2.search(command_Str.decode('utf-8'))92 way=regex2.group('way')93 length=regex2.group('length')94 # print(way)95 # print(length)96 except:97 return98 length=float(self.digit.get(length.encode('utf-8'),length))99 direction=self.direc(regex2)100 # print(direction)101 if way==u'\u534A\u5F84':102 radius=length103 elif way==u'\u76F4\u5F84':104 radius=length/2105 else:106 radius=0107 # print(radius)108 if radius:109 oscil_Buff=self.msg_Twist(2*radius*math.pi,1)110 self.oscillation[1]=oscil_Buff.copy()111 self.oscillation[1]['msg_Buff'].angular.z\112 =self.oscillation[1]['msg_Buff'].linear.x/radius*direction113 self.oscillation['msg_Num']=1114 self.notLoop(command_Str)115 116 # æ£æ¹å½¢117 elif router==u'\u6B63\u65B9\u5F62':118 # print("flagtype=æ£æ¹å½¢")119 try:120 regex2=self.pattern2.search(command_Str.decode('utf-8'))121 way=regex2.group('way')122 length=regex2.group('length')123 # print(way)124 # print(length)125 except:126 return127 length=float(self.digit.get(length.encode('utf-8'),length))128 direction=self.direc(regex2)129 # print(direction)130 if way==u'\u8FB9\u957F':131 length_buff=self.msg_Twist(length,1)132 angular_buff=self.msg_Twist(0.5*math.pi,2,direction)133 self.oscillation['msg_Num']=8134 for i in range(1,9,2):135 self.oscillation[i]=length_buff.copy()136 self.oscillation[i+1]=angular_buff.copy()137 self.notLoop(command_Str)138 # é¿æ¹å½¢ ç©å½¢139 elif router in (u'\u957F\u65B9\u5F62', u'\u77E9\u5F62'):140 # print("flagtype=é¿æ¹å½¢")141 try:142 regex3=self.pattern3.search(command_Str.decode('utf-8'))143 length=regex3.group('length')144 wide=regex3.group('wide')145 # print("é¿-宽")146 # print(length)147 # print(wide)148 except:149 try:150 regex3=self.pattern4.search(command_Str.decode('utf-8'))151 length=regex3.group('length')152 wide=regex3.group('wide')153 # print('宽-é¿')154 # print(length)155 # print(wide)156 except:157 return158 length=float(self.digit.get(length.encode('utf-8'),length))159 wide=float(self.digit.get(wide.encode('utf-8'),wide))160 direction=self.direc(regex3)161 if length and wide:162 length_buff=self.msg_Twist(length,1)163 wide_Buff=self.msg_Twist(wide,1)164 angular_buff=self.msg_Twist(0.5*math.pi,2,direction)165 self.oscillation['msg_Num']=8166 for i in range(1,9,4):167 self.oscillation[i]=length_buff.copy()168 self.oscillation[i+1]=angular_buff.copy()169 self.oscillation[i+2]=wide_Buff.copy()170 self.oscillation[i+3]=angular_buff.copy()171 self.notLoop(command_Str)172 # åè¿ åå173 elif router in (u'\u524D\u8FDB',u'\u5411\u524D'):174 # print("flagtype=ç´çº¿")175 try:176 regex4=self.pattern2.search(command_Str.decode('utf-8'))177 way=regex4.group('way')178 length=regex4.group('length')179 # print(way)180 # print(length)181 length=float(self.digit.get(length.encode('utf-8'),length))182 if way in (u'\u524D\u8FDB',u'\u5411\u524D'):183 length_buff=self.msg_Twist(length,1)184 self.oscillation[1]=length_buff.copy()185 self.oscillation['msg_Num']=1186 self.oscillation['oscil_Flag']=1187 except:188 # print("åè¿3")189 self.msg.linear.x = self.speed_Linear190 self.msg.angular.z = 0191 self.oscillation['oscil_Flag']=0192 # å é193 elif router==u'\u52A0\u901F':194 # print("å é11")195 if self.oscillation['oscil_Flag']!=1 and\196 self.msg.linear.x>0 and self.msg.linear.x*2<=2.5:197 if self.msg.linear.z!=0:198 self.msg.linear.x = self.msg.linear.x*2199 self.msg.angular.z = self.msg.angular.z*2200 else:201 self.msg.linear.x +=0.2202 # åé203 elif router==u'\u51CF\u901F':204 # print("åé2")205 if self.oscillation['oscil_Flag']!=1 and self.msg.linear.x-0.2>0:206 if self.msg.linear.z!=0:207 self.msg.linear.x = self.msg.linear.x/2208 self.msg.angular.z = self.msg.angular.z/2209 else:210 self.msg.linear.x -= 0.2211 # 左转212 elif router==u'\u5DE6\u8F6C':213 # print("左转4")214 if self.msg.linear.x != 0:215 if self.msg.angular.z < self.speed_Angular:216 self.msg.angular.z += 0.1217 if self.msg.angular.z > self.speed_Angular:218 self.msg.angular.z = self.speed_Angular219 self.oscillation['oscil_Flag']=0220 else:221 self.msg.angular.z = self.speed_Angular222 self.oscillation['oscil_Flag']=0223 # å³è½¬224 elif router==u'\u53F3\u8F6C': 225 # print("å³è½¬5")226 if self.msg.linear.x != 0:227 if self.msg.angular.z > -self.speed_Angular:228 self.msg.angular.z -= 0.1229 if self.msg.angular.z < -self.speed_Angular:230 self.msg.angular.z = -self.speed_Angular231 self.oscillation['oscil_Flag']=0232 else:233 self.msg.angular.z = -self.speed_Angular234 self.oscillation['oscil_Flag']=0235 # åé236 elif router==u'\u540E\u9000':237 # print("åé6")238 try:239 regex4=self.pattern2.search(command_Str.decode('utf-8'))240 way=regex4.group('way')241 length=regex4.group('length')242 # print(way)243 # print(length)244 length=float(self.digit.get(length.encode('utf-8'),length))245 if way==u'\u540E\u9000':246 length_buff=self.msg_Twist(length,1,-1)247 self.oscillation[1]=length_buff.copy()248 self.oscillation['msg_Num']=1249 self.oscillation['oscil_Flag']=1250 except:251 self.msg.linear.x = -self.speed_Linear252 self.msg.angular.z = 0253 self.oscillation['oscil_Flag']=0254 # åæ¢ ç«å®255 elif router in (u'\u505C\u6B62',u'\u7ACB\u5B9A'):256 # print("åæ¢7")257 self.oscillation['oscil_Flag']=2258 # ç»§ç» æ¢å¤259 elif router in (u'\u7EE7\u7EED',u'\u6062\u590D'):260 # print("继ç»")261 self.oscillation['oscil_Flag']=1262 # self.pubtts_.publish(self.tts)263 random_mp3=random.choice([1,2])264 mp3_file=self.mp3_path+'/ok'+str(random_mp3)+'.mp3'265 playsound.playsound(mp3_file)266 # print(mp3_file)267 # os.system("play "+mp3_file)268 print("å¤çå®æ")269 # stop the robot!270 def cleanup(self):271 twist = Twist()272 self.pub_.publish(twist)273 # å°è¯å¹é
è·¯å¾è½¨è¿¹æ¹å274 def direc(self,regex):275 try:276 direction=regex.group('direction')[0:1]277 # print(direction)278 if direction in (u'\u6B63',u'\u987A'):279 return -1280 else:281 return 1282 except:283 return 1284 # Twistæ¶æ¯ç±»å转æ¢å¤ç285 def msg_Twist(self,value,type,direction=1):286 self.oscillation = {'oscil_Flag':0,'msg_Num':0,'keyWord':1,'loop_Flag':0}287 temp={'oscil_Num':0,'msg_Buff':Twist()}288 if type==1:289 temp['oscil_Num']=(self.oscil_rate*value)//self.speed_Linear290 speed_temp=(self.oscil_rate*value)/temp['oscil_Num']291 temp['msg_Buff'].linear.x=speed_temp*direction292 elif type==2:293 temp['oscil_Num']=(self.oscil_rate* value)//self.speed_Angular294 speed_temp=(self.oscil_rate*value)/temp['oscil_Num']295 temp['msg_Buff'].angular.z=speed_temp*direction296 return temp297 # 循ç¯æ令å¹é
298 def notLoop(self,command_Str,flag=1):299 regex_notloop=self.pattern5.search(command_Str.decode('utf-8'))300 if regex_notloop:301 self.oscillation['loop_Flag']=0302 else:303 self.oscillation['loop_Flag']=1304 self.oscillation_backup=copy.deepcopy(self.oscillation)305 self.oscillation['oscil_Flag']=flag306 self.oscillation_backup['oscil_Flag']=flag307if __name__=="__main__":308 rospy.init_node('voice_cmd_node')309 try:310 cmd_vel()311 except rospy.ROSInterruptException:...
py3.py
Source:py3.py
1#!/usr/bin/env python32# -*- coding:utf-8 -*-3import roslib; roslib.load_manifest('voice')4import os, sys5import rospy6import math7import copy8import re9from geometry_msgs.msg import Twist #è¿å¨é度ç»æä½ç±»å10from std_msgs.msg import String11# Python2.5 åå§ååä¼å é¤ sys.setdefaultencoding,éæ°è½½å
¥ 12reload(sys)13sys.setdefaultencoding('utf-8')14class cmd_vel:15 def __init__(self):16 rospy.on_shutdown(self.cleanup)17 # åå§åé»è®¤é度18 self.speed_Linear = 119 self.speed_Angular = 0.520 self.msg = Twist()21 # self.tts="好ç"22 # éè¡åæ°åmsgç¼åç±»å æ ï¼æ§å¶åå¸æ¶é´23 self.oscillation = {'oscil_Flag':0,'loop_Flag':0,'msg_Num':0,'keyWord':1,1:{'oscil_Num':0,'msg_Buff':Twist()}}24 self.oscillation_backup={}25 self.oscil_rate=1026 # åå¸ä¸è®¢é
27 self.pub_ = rospy.Publisher('/turtle1/cmd_vel', Twist,queue_size=1)28 # self.pubtts_ = rospy.Publisher('voice_feedback',String,queue_size=10)29 rospy.Subscriber('voice_txt', String, self.cmd_Extraction)30 # é¢å è½½é¨å31 self.digit={"ä¸":1,"äº":2,"两":2,"ä¸":3,"å":4,"äº":5,"å
":6,"ä¸":7,"å
«":8,"ä¹":9,"å":10}32 # ç¼è¯æ£å表达å¼33 # self.pattern1=re.compile(r'(?P<router>å|æ£æ¹å½¢|é¿æ¹å½¢|ç©å½¢|åè¿|åå|å é|åé|左转|å³è½¬|åé|åæ¢|ç«å®|继ç»|æ¢å¤)')34 self.pattern1=re.compile(r'(?P<router>\u5706|\u6B63\u65B9\u5F62|\u957F\u65B9\u5F62|\u77E9\u5F62|\u524D\u8FDB|\u5411\u524D|\u52A0\u901F|\u51CF\u901F|\u5DE6\u8F6C|\u53F3\u8F6C|\u540E\u9000|\u505C\u6B62|\u7ACB\u5B9A|\u7EE7\u7EED|\u6062\u590D)')35 # self.pattern2=re.compile(r'(?P<way>åå¾|ç´å¾|è¾¹é¿|åè¿|åå)[^\d|ä¸|äº|ä¸|å|äº|å
|ä¸|å
«|ä¹|å](?P<length>\d+|ä¸|äº|ä¸|å|äº|å
|ä¸|å
«|ä¹|å).*(?P<direction>æ£|顺|é)*.*(?P<router>å|æ£æ¹å½¢)')36 self.pattern2=re.compile(r'(?P<way>\u534A\u5F84|\u76F4\u5F84|\u8FB9\u957F|\u524D\u8FDB|\u5411\u524D)\D*(?P<length>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341)[^\u6B63|\u987A|\u9006]*(?P<direction>\u6B63(?:.[^\u5F62])|\u987A|\u9006)?')37 # é¿-宽 ç±»åé¿æ¹å½¢å¹é
38 self.pattern3=re.compile(r'(?P<way_length>\u957F)\D*(?P<length>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341).*(?P<way_wide>\u5BBD)\D*(?P<wide>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341)[^\u6B63|\u987A|\u9006]*(?P<direction>\u6B63|\u987A|\u9006)?')39 # 宽-é¿ ç±»åé¿æ¹å½¢å¹é
40 self.pattern4=re.compile(r'(?P<way_wide>\u5BBD)\D*(?P<wide>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341).*(?P<way_length>\u957F)\D*(?P<length>\d+|\u4E00|\u4E8C|\u4E09|\u56DB|\u4E94|\u516D|\u4E03|\u516B|\u4E5D|\u5341)[^\u6B63|\u987A|\u9006]*(?P<direction>\u6B63|\u987A|\u9006)?')41 # 循ç¯æ令å¹é
pattern5=re.compile(r'(?P<notLoop>ä¸ä¸ª|走个)')42 self.pattern5=re.compile(r'(?P<notLoop>\u8D70\u4E2A|\u4E00\u4E2A)')43 # ä¸åè·¯å¾ç±»åTwiståå¸é¢çæ§å¶44 rate = rospy.Rate(self.oscil_rate)45 while not rospy.is_shutdown():46 self.pub_.publish(self.msg)47 if self.oscillation['oscil_Flag']==1:48 key=self.oscillation['keyWord']49 self.msg=self.oscillation[key]['msg_Buff']50 self.oscillation[key]['oscil_Num']-=151 if self.oscillation[key]['oscil_Num']==0:52 self.oscillation['msg_Num']-=153 self.oscillation['keyWord']+=154 if self.oscillation['msg_Num']==0 and self.oscillation['loop_Flag']==1:55 self.oscillation=copy.deepcopy(self.oscillation_backup)56 elif self.oscillation['msg_Num']==0 and self.oscillation['loop_Flag']==0:57 self.oscillation['oscil_Flag']=258 elif self.oscillation['oscil_Flag']==2:59 self.msg=Twist()60 self.oscillation['oscil_Flag']=061 rate.sleep()62 #æ令æåå½æ°63 def cmd_Extraction(self, msg):64 rospy.loginfo(msg.data)65 #订é
æ°æ®å符串é¢å¤ç66 commond_Str=msg.data67 # å°è¯å¹é
è¿å¨è·¯å¾æ§å¶å
³é®è¯68 try:69 regex1=self.pattern1.search(commond_Str.decode('utf-8'))70 router=regex1.group('router')71 except:72 # éææè·¯å¾æ§å¶æ令ï¼éåºåè°å½æ°73 return74 print(router)75 # å形路å¾76 if router==u'\u5706':77 print("flagtype=åå½¢")78 try:79 regex2=self.pattern2.search(commond_Str.decode('utf-8'))80 way=regex2.group('way')81 length=regex2.group('length')82 print(way)83 print(length)84 except:85 return86 length=float(self.digit.get(length.encode('utf-8'),length))87 direction=self.direc(regex2)88 print(direction)89 if way==u'\u534A\u5F84':90 radius=length91 elif way==u'\u76F4\u5F84':92 radius=length/293 else:94 radius=095 print(radius)96 if radius:97 oscil_Buff=self.msg_Twist(2*radius*math.pi,1)98 self.oscillation[1]=oscil_Buff.copy()99 self.oscillation[1]['msg_Buff'].angular.z\100 =self.oscillation[1]['msg_Buff'].linear.x/radius*direction101 self.oscillation['msg_Num']=1102 self.notLoop(commond_Str)103 104 # æ£æ¹å½¢105 elif router==u'\u6B63\u65B9\u5F62':106 print("flagtype=æ£æ¹å½¢")107 try:108 regex2=self.pattern2.search(commond_Str.decode('utf-8'))109 way=regex2.group('way')110 length=regex2.group('length')111 print(way)112 print(length)113 except:114 return115 length=float(self.digit.get(length.encode('utf-8'),length))116 direction=self.direc(regex2)117 print(direction)118 if way==u'\u8FB9\u957F':119 length_buff=self.msg_Twist(length,1)120 angular_buff=self.msg_Twist(0.5*math.pi,2,direction)121 self.oscillation['msg_Num']=8122 for i in range(1,9,2):123 self.oscillation[i]=length_buff.copy()124 self.oscillation[i+1]=angular_buff.copy()125 self.notLoop(commond_Str)126 # é¿æ¹å½¢ ç©å½¢127 elif router in (u'\u957F\u65B9\u5F62', u'\u77E9\u5F62'):128 print("flagtype=é¿æ¹å½¢")129 try:130 regex3=self.pattern3.search(commond_Str.decode('utf-8'))131 length=regex3.group('length')132 wide=regex3.group('wide')133 print(length)134 print(wide)135 except:136 try:137 regex3=self.pattern4.search(commond_Str.decode('utf-8'))138 length=regex3.group('length')139 wide=regex3.group('wide')140 print(length)141 print(wide)142 except:143 return144 length=float(self.digit.get(length.encode('utf-8'),length))145 wide=float(self.digit.get(wide.encode('utf-8'),wide))146 direction=self.direc(regex3)147 if length and wide:148 length_buff=self.msg_Twist(length,1)149 wide_Buff=self.msg_Twist(wide,1)150 angular_buff=self.msg_Twist(0.5*math.pi,2,direction)151 self.oscillation['msg_Num']=8152 for i in range(1,9,4):153 self.oscillation[i]=length_buff.copy()154 self.oscillation[i+1]=angular_buff.copy()155 self.oscillation[i+2]=wide_Buff.copy()156 self.oscillation[i+3]=angular_buff.copy()157 self.notLoop(commond_Str)158 # åè¿ åå159 elif router in (u'\u524D\u8FDB',u'\u5411\u524D'):160 print("flagtype=ç´çº¿")161 try:162 regex4=self.pattern2.search(commond_Str.decode('utf-8'))163 way=regex4.group('way')164 length=regex4.group('length')165 print(way)166 print(length)167 length=float(self.digit.get(length.encode('utf-8'),length))168 if way in (u'\u524D\u8FDB',u'\u5411\u524D'):169 length_buff=self.msg_Twist(length,1)170 self.oscillation[1]=length_buff.copy()171 self.oscillation['msg_Num']=1172 self.oscillation['oscil_Flag']=1173 except:174 print("åè¿3")175 self.msg.linear.x = self.speed_Linear176 self.msg.angular.z = 0177 self.oscillation['oscil_Flag']=0178 # å é179 elif router==u'\u52A0\u901F':180 print("å é11")181 if self.oscillation['oscil_Flag']!=1 and\182 self.msg.linear.x>0 and self.msg.linear.x*2<=2.5:183 if self.msg.linear.z!=0:184 self.msg.linear.x = self.msg.linear.x*2185 self.msg.angular.z = self.msg.angular.z*2186 else:187 self.msg.linear.x +=0.2188 # åé189 elif router==u'\u51CF\u901F':190 print("åé2")191 if self.oscillation['oscil_Flag']!=1 and self.msg.linear.x-0.2>0:192 if self.msg.linear.z!=0:193 self.msg.linear.x = self.msg.linear.x/2194 self.msg.angular.z = self.msg.angular.z/2195 else:196 self.msg.linear.x -= 0.2197 # 左转198 elif router==u'\u5DE6\u8F6C':199 print("左转4")200 if self.msg.linear.x != 0:201 if self.msg.angular.z < self.msg.linear.x:202 self.msg.angular.z += 0.1203 self.oscillation['oscil_Flag']=0204 else:205 self.msg.angular.z = self.speed_Angular206 self.oscillation['oscil_Flag']=0207 # å³è½¬208 elif router==u'\u53F3\u8F6C': 209 print("å³è½¬5")210 if self.msg.linear.x != 0:211 if self.msg.angular.z > 0:212 self.msg.angular.z = -0.1213 self.oscillation['oscil_Flag']=0214 elif self.msg.angular.z>-self.msg.linear.x and self.msg.angular.z < 0:215 self.msg.angular.z-=0.1216 self.oscillation['oscil_Flag']=0217 else:218 self.msg.angular.z = -self.speed_Angular219 self.oscillation['oscil_Flag']=0220 # åé221 elif router==u'\u540E\u9000':222 print("åé6")223 self.msg.linear.x = -self.speed_Linear224 self.msg.angular.z = 0225 self.oscillation['oscil_Flag']=0226 # åæ¢ ç«å®227 elif router in (u'\u505C\u6B62',u'\u7ACB\u5B9A'):228 print("åæ¢7")229 self.oscillation['oscil_Flag']=2230 # ç»§ç» æ¢å¤231 elif router in (u'\u7EE7\u7EED',u'\u6062\u590D'):232 print("继ç»")233 self.oscillation['oscil_Flag']=1234 # self.pubtts_.publish(self.tts)235 print("å¤çå®æ")236 # stop the robot!237 def cleanup(self):238 twist = Twist()239 self.pub_.publish(twist)240 # å°è¯å¹é
è·¯å¾è½¨è¿¹æ¹å241 def direc(self,regex):242 try:243 direction=regex.group('direction')[0:1]244 print(direction)245 if direction in (u'\u6B63',u'\u987A'):246 return -1247 else:248 return 1249 except:250 return 1251 # Twistæ¶æ¯ç±»å转æ¢å¤ç252 def msg_Twist(self,value,type,direction=1):253 self.oscillation = {'oscil_Flag':0,'msg_Num':0,'keyWord':1,'loop_Flag':0}254 temp={'oscil_Num':0,'msg_Buff':Twist()}255 if type==1:256 temp['oscil_Num']=(self.oscil_rate*value)//self.speed_Linear257 speed_temp=(self.oscil_rate*value)/temp['oscil_Num']258 temp['msg_Buff'].linear.x=speed_temp259 elif type==2:260 temp['oscil_Num']=(self.oscil_rate* value)//self.speed_Angular261 speed_temp=(self.oscil_rate*value)/temp['oscil_Num']262 temp['msg_Buff'].angular.z=speed_temp*direction263 return temp264 # 循ç¯æ令å¹é
265 def notLoop(self,commond_Str,flag=1):266 regex_notloop=self.pattern5.search(commond_Str.decode('utf-8'))267 if regex_notloop:268 self.oscillation['loop_Flag']=0269 else:270 self.oscillation['loop_Flag']=1271 self.oscillation_backup=copy.deepcopy(self.oscillation)272 self.oscillation['oscil_Flag']=flag273 self.oscillation_backup['oscil_Flag']=flag274if __name__=="__main__":275 rospy.init_node('voice_cmd_node')276 try:277 cmd_vel()278 except rospy.ROSInterruptException:...
client.py
Source:client.py
1import socket2import struct3host = "127.0.0.1"4port = 90015# å建ä¸ä¸ªå®¢æ·ç«¯çsocket对象6client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)7# è¿æ¥æå¡ç«¯8client.connect((host, port))9sendmsg = "hello"10info_length = len(sendmsg)11total_length = 4 + info_length + 212length_buff = struct.pack("!I", total_length)13buff = length_buff + "{}\r\n".format(sendmsg).encode("utf-8")14client.send(buff)15msg = client.recv(1024)16print(msg.decode("utf-8"))...
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