Python_unitree_demos/ReturnToParkingAction.py at main · unitreerobotics/Python_unitree_demos · GitHub

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"""
ReturnToParkingAction — 自主返回待命点
功能：返回地图中 PARKING 类型的 POI 点，支持多机排队（需 Lora 模块）
依赖：需要在地图中预先配置 PARKING 类型 POI；固件版本 ≥ 4.5.5
"""

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

# 目标待命点 POI 的 ID，留空则自动选择最近的 PARKING 点
PARKING_POI_ID = ""

# 目标停车位被占用时是否等待
WAIT_FOR_PARKING = True

# 等待超时时间（毫秒）
MAX_WAIT_TIME = 60000

SPEED_RATIO     = 0.8
POLL_INTERVAL_S = 1.0
# ──────────────────────────────────────────────────────


def build_payload():
    options = {
        "wait_for_parking": WAIT_FOR_PARKING,
        "max_wait_time": MAX_WAIT_TIME,
        "move_options": {
            "mode": 0,
            "speed_ratio": SPEED_RATIO,
        },
    }
    if PARKING_POI_ID:
        options["parking_poi_id"] = PARKING_POI_ID
    return {
        "action_name": "agent.actions.ReturnToParkingAction",
        "options": options,
    }


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} 已到达待命点")
            else:
                print(f"[失败] action_id={action_id} result={result} reason={reason}")
                if "POI_NOT_FOUND" in reason:
                    print("  提示：请确认地图中已配置 PARKING 类型的 POI")
            return result == 0

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


def main():
    poi_desc = PARKING_POI_ID if PARKING_POI_ID else "自动选择最近 PARKING 点"
    print(f"[ReturnToParkingAction] 目标={poi_desc}  等待={WAIT_FOR_PARKING}")

    payload = build_payload()
    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"]
    stage = data.get("stage", "")
    print(f"[已创建] action_id={action_id}  stage={stage}")

    poll_until_done(action_id)


if __name__ == "__main__":
    main()