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

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"""
MultiFloorBackHomeAction — 跨楼层自主回桩
功能：自动规划跨楼层回桩路径，单楼层时等同于 GoHomeAction
依赖：需要配置多楼层地图（slamware.agent.multi_floor 能力）
"""

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

# 上桩模式："dock"=需要完成上桩  "no_dock"=到达附近即可
FLAGS = "dock"

# 上桩失败后是否返回上桩点等待
BACK_TO_LANDING = True

# 上桩重试次数
CHARGING_RETRY_COUNT = 3

POLL_INTERVAL_S = 2.0
# ──────────────────────────────────────────────────────


def build_payload():
    return {
        "action_name": "agent.actions.MultiFloorBackHomeAction",
        "options": {
            "gohome_options": {
                "flags": FLAGS,
                "back_to_landing": BACK_TO_LANDING,
                "charging_retry_count": CHARGING_RETRY_COUNT,
                "move_options": {"mode": 0},
            }
        },
    }


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} 跨楼层回桩成功")
            else:
                print(f"[失败] action_id={action_id} result={result} reason={reason}")
            return result == 0

        status_desc = {0: "初始化中", 1: "回桩导航中"}.get(status, str(status))
        print(f"[{status_desc}] action_id={action_id} ...")
        time.sleep(POLL_INTERVAL_S)


def main():
    print(f"[MultiFloorBackHomeAction] flags={FLAGS}  retry={CHARGING_RETRY_COUNT}")

    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()