Cozmo人工智能机器人SDK使用笔记（6）-并行部分Parallel_Action

import sys
import time

try:
    from PIL import Image
except ImportError:
    sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")

import cozmo
from cozmo.util import degrees, distance_mm, speed_mmps


# load an image to display on Cozmo's face
face_image = Image.open("../../face_images/cozmosdk.png")
# resize to fit on Cozmo's face screen
face_image = face_image.resize(cozmo.oled_face.dimensions(), Image.BICUBIC)
# convert the image to the format used by the oled screen
face_image = cozmo.oled_face.convert_image_to_screen_data(face_image,
                                                          invert_image=True)


def example1_lift_head(robot: cozmo.robot.Robot):
    cozmo.logger.info("----------------------------------------")
    cozmo.logger.info("Example 1: Move Lift and Head in Parallel")
    cozmo.logger.info("First, move the lift and head down, in sequence.")
    robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE).wait_for_completed()
    robot.set_lift_height(0.0).wait_for_completed()

    cozmo.logger.info("Now, move the lift and head back up, in parallel "
                      "- we no longer have to wait for the 1st action to complete "
                      "before starting the 2nd one because the 2nd action is in_parallel")
    action1 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE)
    action2 = robot.set_lift_height(1.0, in_parallel=True)
    action1.wait_for_completed()
    action2.wait_for_completed()
    cozmo.logger.info("action1 = %s", action1)
    cozmo.logger.info("action2 = %s", action2)


def example2_conflicting_actions(robot: cozmo.robot.Robot):
    cozmo.logger.info("----------------------------------------")
    cozmo.logger.info("Example 2: Conflicting actions.")
    cozmo.logger.info("Try to drive straight and turn in parallel. This is not "
          "allowed, as both actions require use of the wheels, so the 2nd action "
          "will report failure due to tracks_locked.")
    action1 = robot.drive_straight(distance_mm(50), speed_mmps(25), should_play_anim=False, in_parallel=True)
    action2 = robot.turn_in_place(degrees(90), in_parallel=True)
    action2.wait_for_completed()
    cozmo.logger.info("action2 = %s", action2)
    action1.wait_for_completed()
    cozmo.logger.info("action1 = %s", action1)


def example3_abort_one_action(robot: cozmo.robot.Robot):
    cozmo.logger.info("----------------------------------------")
    cozmo.logger.info("Example 3: Abort some parallel actions.")
    cozmo.logger.info("Start multiple parallel actions:")
    action1 = robot.set_lift_height(0.0, in_parallel=True)
    action2 = robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE, duration=6.0, in_parallel=True)
    action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True)
    action4 = robot.display_oled_face_image(face_image, 30000.0)  # Note: face image is in_parallel by default
    # Lift-lowering is aborted immediately
    action1.abort(log_abort_messages=True)
    # Head-lowering is aborted shortly afterwards
    time.sleep(0.1)
    action2.abort(log_abort_messages=True)
    # Image on Cozmo's face is aborted another 2 seconds later
    time.sleep(2)
    action4.abort(log_abort_messages=True)
    # We wait for the one remaining action to complete
    action3.wait_for_completed()
    # Only action3 should succeed (as long as Cozmo had enough space to drive)
    cozmo.logger.info("action1 = %s", action1)
    cozmo.logger.info("action2 = %s", action2)
    cozmo.logger.info("action3 = %s", action3)
    cozmo.logger.info("action4 = %s", action4)


def example4_abort_all_actions(robot: cozmo.robot.Robot):
    cozmo.logger.info("----------------------------------------")
    cozmo.logger.info("Example 4: Abort all parallel actions.")
    cozmo.logger.info("Start multiple parallel actions:")
    action1 = robot.set_lift_height(0.0, in_parallel=True, duration=6.0)
    action2 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, duration=6.0, in_parallel=True)
    action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True)
    action4 = robot.display_oled_face_image(face_image, 30000.0)  # Note: face image is in_parallel by default
    # wait two seconds and abort everything
    time.sleep(2)
    robot.abort_all_actions(log_abort_messages=True)
    # wait for results to come back for all actions
    robot.wait_for_all_actions_completed()
    # All actions should have aborted
    cozmo.logger.info("action1 res = %s", action1)
    cozmo.logger.info("action2 res = %s", action2)
    cozmo.logger.info("action3 res = %s", action3)
    cozmo.logger.info("action4 res = %s", action4)


def cozmo_program(robot: cozmo.robot.Robot):
    example1_lift_head(robot)
    example2_conflicting_actions(robot)
    example3_abort_one_action(robot)
    example4_abort_all_actions(robot)
    cozmo.logger.info("----------------------------------------")


cozmo.run_program(cozmo_program)