File size: 8,965 Bytes
a783ac1 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 | import os
import time
import cv2
import numpy as np
import requests
import subprocess
import platform
from reachy_mini import ReachyMini
from reachy_mini.utils import create_head_pose
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
RECORD_DIR = os.path.join(SCRIPT_DIR, "record")
os.makedirs(RECORD_DIR, exist_ok=True)
# ----------------- 加入 Monkey Patch 解決遠端連線問題 -----------------
from reachy_mini.media.media_manager import MediaManager
if not hasattr(MediaManager, "_is_patched"):
original_media_manager_init = MediaManager.__init__
def mocked_media_manager_init(self, *args, **kwargs):
# 如果傳入的信令伺服器不是 localhost，強制改為 localhost 以便走 SSH Tunnel
if kwargs.get("signalling_host") not in (None, "localhost", "127.0.0.1"):
kwargs["signalling_host"] = "localhost"
original_media_manager_init(self, *args, **kwargs)
# 替換原有的初始化函數
MediaManager.__init__ = mocked_media_manager_init
MediaManager._is_patched = True
# ---------------------------------------------------------------------
def capture_and_check(mini, image_path, prompt):
frame = mini.media.get_frame()
while frame is None:
print("Waiting for camera frame...")
time.sleep(0.1)
frame = mini.media.get_frame()
frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
cv2.imwrite(image_path, frame_bgr)
print(f"Image saved as {image_path}")
try:
from image_check import check_image
return check_image(image_path, prompt)
except Exception as e:
print(f"Error executing image check: {e}")
return None
def warning_action(mini, count=10):
for _ in range(count):
mini.goto_target(
head=create_head_pose(y=0.0, yaw=0, mm=True),
antennas=np.deg2rad([30, -30]),
body_yaw=np.deg2rad(0),
duration=0.3,
method="cartoon"
)
time.sleep(0.1)
mini.goto_target(
head=create_head_pose(y=0.0, yaw=0, mm=True),
antennas=np.deg2rad([-30, 30]),
body_yaw=np.deg2rad(0),
duration=0.3,
method="cartoon"
)
time.sleep(0.1)
def run_guard_workflow(mini):
print("Connected successfully!")
# Enable motors (Torque ON) so the robot can move
print("Enabling motors (Torque ON)...")
mini.enable_motors()
time.sleep(0.5)
print("Moving robot up (goto_target)...")
mini.goto_target(
head=create_head_pose(z=10, mm=True), # Up 5mm
antennas=np.deg2rad([0, 0]), # Antennas out
body_yaw=np.deg2rad(0), # Turn body 30 degrees
duration=2.0, # Slow movement
method="minjerk" # Smooth movement
)
time.sleep(0.5)
def process_check_result(result_text):
if not result_text:
print("No text result returned from check_image.")
return False
try:
import ast
result_json = ast.literal_eval(result_text)
print(result_json)
if isinstance(result_json, dict) and result_json.get('danger') == 1:
mini.media.play_sound(os.path.join(os.path.dirname(os.path.abspath(__file__)), "asset", "warning_song.mp3"))
warning_action(mini)
mini.media.stop_playing()
return True
except Exception as e:
print(f"Failed to parse result JSON: {result_text}, error: {e}")
return False
for _ in range(1):
mini.goto_target(
head=create_head_pose(y=0.0, yaw=0, mm=True), # Up 5mm
antennas=np.deg2rad([0, 0]), # Antennas out
body_yaw=np.deg2rad(0), # Turn body 30 degrees
duration=3, # Slow movement
method="minjerk" # Smooth movement
)
time.sleep(0.1)
result_text = capture_and_check(mini, os.path.join(RECORD_DIR, "image.jpg"), "What is in the photo? Please output the result in the following format: {'danger': 0, 'reason': 'text_reason'}. If it is a dangerous creature, like a snake, output 1 for 'danger'; otherwise, output 0, and explain the reason in 'reason'. Remember to enclose JSON values in quotes.")
if process_check_result(result_text):
continue
mini.goto_target(
head=create_head_pose(y=0.0, yaw=60, mm=True), # Up 5mm
antennas=np.deg2rad([0, 0]), # Antennas out
body_yaw=np.deg2rad(60), # Turn body 30 degrees
duration=3, # Slow movement
method="minjerk" # Smooth movement
)
time.sleep(0.1)
result_text = capture_and_check(mini, os.path.join(RECORD_DIR, "image.jpg"), "What is in the photo? Please output the result in the following format: {'danger': 0, 'reason': 'text_reason'}. If it is a dangerous creature, like a snake, output 1 for 'danger'; otherwise, output 0, and explain the reason in 'reason'. Remember to enclose JSON values in quotes.")
if process_check_result(result_text):
continue
mini.goto_target(
head=create_head_pose(y=0.0, yaw=0, mm=True), # Up 5mm
antennas=np.deg2rad([0, 0]), # Antennas out
body_yaw=np.deg2rad(0), # Turn body 30 degrees
duration=3, # Slow movement
method="minjerk" # Smooth movement
)
time.sleep(0.1)
result_text = capture_and_check(mini, os.path.join(RECORD_DIR, "image.jpg"), "What is in the photo? Please output the result in the following format: {'danger': 0, 'reason': 'text_reason'}. If it is a dangerous creature, like a snake, output 1 for 'danger'; otherwise, output 0, and explain the reason in 'reason'. Remember to enclose JSON values in quotes.")
if process_check_result(result_text):
continue
mini.goto_target(
head=create_head_pose(y=0.0, yaw=-60, mm=True), # Up 5mm
antennas=np.deg2rad([0, 0]), # Antennas out
body_yaw=np.deg2rad(-60), # Turn body 30 degrees
duration=3, # Slow movement
method="minjerk" # Smooth movement
)
time.sleep(0.1)
result_text = capture_and_check(mini, os.path.join(RECORD_DIR, "image.jpg"), "What is in the photo? Please output the result in the following format: {'danger': 0, 'reason': 'text_reason'}. If it is a dangerous creature, like a snake, output 1 for 'danger'; otherwise, output 0, and explain the reason in 'reason'. Remember to enclose JSON values in quotes.")
process_check_result(result_text)
print("Moving robot down (goto_target)...")
mini.goto_target(
head=create_head_pose(z=-15, mm=True), # Back down to 0mm
antennas=np.deg2rad([0, 0]), # Antennas back to 0
body_yaw=np.deg2rad(0), # Turn body back to 0
duration=2.0, # Slow movement
method="minjerk" # Smooth movement
)
print("Down movement completed!")
time.sleep(0.5)
# Disable motors (Torque OFF) to protect motors and make it compliant
print("Disabling motors (Torque OFF - making robot limp)...")
mini.disable_motors()
print("Done!")
def apply_safe_goto(mini):
original_goto = mini.goto_target
if not hasattr(original_goto, "_is_safe"):
def safe_goto(*args, **kwargs):
try:
return original_goto(*args, **kwargs)
except Exception as e:
if "timeout" in str(e).lower() or "TimeoutError" in type(e).__name__:
print(f"⚠️ [網路延遲] 動作發送超時但可能已在執行中，繼續下一個工作... ({e})")
else:
raise e
safe_goto._is_safe = True
mini.goto_target = safe_goto
def main():
print("Connecting to Reachy Mini...")
shared_mini = None
try:
from app import robot_manager
if robot_manager and robot_manager.mini is not None:
shared_mini = robot_manager.mini
except Exception:
pass
if shared_mini is not None:
print("Reusing existing ReachyMini connection from RobotManager.")
apply_safe_goto(shared_mini)
run_guard_workflow(shared_mini)
else:
# Standard standalone execution
with ReachyMini(connection_mode="network", host="localhost") as mini:
apply_safe_goto(mini)
run_guard_workflow(mini)
if __name__ == "__main__":
main()
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