SeriesMoveToAction.py

"""
SeriesMoveToAction — 多目标点自主导航移动
功能：机器人依次经过多个目标坐标点，支持避障
注意：字段名为 targets（不是 target_points）
"""

import time
import requests

# ── 配置 ──────────────────────────────────────────────
ROBOT_IP = "10.160.129.252"
PORT     = 1448
BASE_URL = f"http://{ROBOT_IP}:{PORT}/api/core/motion/v1/actions"

# 绕过系统代理（避免 127.0.0.1:7890 超时）
SESSION = __import__("requests").Session()
SESSION.trust_env = False

# 目标点列表（按顺序经过）
TARGET_POINTS = [
    {"x": 14.8, "y": -4.2, "z": 0},
    {"x": 12.8, "y": -5.6, "z": 0},
    {"x": 9.5,  "y": -4.2, "z": 0},
]

SPEED_RATIO     = 0.8
FAIL_RETRY      = 2
POLL_INTERVAL_S = 1.0
# ──────────────────────────────────────────────────────


def build_payload():
    return {
        "action_name": "agent.actions.SeriesMoveToAction",
        "options": {
            "targets": TARGET_POINTS,
            "move_options": {
                "mode": 0,
                "flags": [],
                "speed_ratio": SPEED_RATIO,
                "fail_retry_count": FAIL_RETRY,
            },
        },
    }


def poll_until_done(action_id):
    url = f"{BASE_URL}/{action_id}"
    while True:
        resp = SESSION.get(url, timeout=5)
        data = resp.json()
        status = data["state"]["status"]
        result = data["state"]["result"]
        reason = data["state"].get("reason", "")

        if status == 4:
            if result == 0:
                print(f"[完成] action_id={action_id} 已经过全部 {len(TARGET_POINTS)} 个目标点")
            else:
                print(f"[失败] action_id={action_id} result={result} reason={reason}")
            return result == 0

        status_desc = {0: "初始化", 1: "运行中"}.get(status, str(status))
        print(f"[{status_desc}] action_id={action_id} ...")
        time.sleep(POLL_INTERVAL_S)


def main():
    payload = build_payload()
    print(f"[SeriesMoveToAction] 共 {len(TARGET_POINTS)} 个目标点")
    for i, p in enumerate(TARGET_POINTS):
        print(f"  {i+1}. ({p['x']}, {p['y']})")

    resp = SESSION.post(BASE_URL, json=payload, timeout=5)
    if resp.status_code != 200:
        print(f"[错误] HTTP {resp.status_code}: {resp.text}")
        return

    data = resp.json()
    action_id = data["action_id"]
    print(f"[已创建] action_id={action_id}")

    poll_until_done(action_id)


if __name__ == "__main__":
    main()