diff --git a/onekey.sh b/onekey.sh
index d5f4e1e..0b859d2 100755
--- a/onekey.sh
+++ b/onekey.sh
@@ -695,16 +695,25 @@ spark_dock(){
}
-spark_test(){
-
- echo -e "${Info}"
- echo -e "${Info} SPARK test"
+spark_test_mode(){
PROJECTPATH=$(cd `dirname $0`; pwd)
- source ${PROJECTPATH}/devel/setup.bash
-
- echo && stty erase ^? && read -p "按回车键（Enter）开始："
- print_command "roslaunch spark_test turn_test.launch"
- roslaunch spark_test turn_test.launch
+ source ${PROJECTPATH}/devel/setup.bash
+ echo -e "${Info}老化测试程序，请将机器人放在一个50X50CM的方格中间进行测试，请选择：
+ 1.执行5分钟的检测功能；
+ 2.执行老化检测功能，直至断电。"
+ echo -e "${Info}退出请输入：Ctrl + c "
+ echo && stty erase ^? && read -p "请选择 1 或 2 ：" chnum
+ case "$chnum" in
+ 1)
+ roslaunch spark_test all_run_test_st.launch camera_type_tel:=${CAMERATYPE}
+ ;;
+ 2)
+ roslaunch spark_test all_run_test.launch camera_type_tel:=${CAMERATYPE}
+ ;;
+ *)
+ echo -e "${Error} 退出!"
+ ;;
+ esac
}
#让SPARK使用深度摄像头绘制地图
@@ -1003,7 +1012,7 @@ case "$num" in
spark_dock
;;
98)
- spark_test
+ spark_test_mode
;;
*)
echo -e "${Error} 请输入正确的数字 "
diff --git a/src/spark/spark_test/CMakeLists.txt b/src/spark/spark_test/CMakeLists.txt
index 2c23d67..86578eb 100644
--- a/src/spark/spark_test/CMakeLists.txt
+++ b/src/spark/spark_test/CMakeLists.txt
@@ -9,8 +9,8 @@ find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
pcl_ros
- tf
spark_base
+ spark_carry_object
)
@@ -18,12 +18,10 @@ find_package(catkin REQUIRED COMPONENTS
## catkin specific configuration ##
###################################=
catkin_package(
- LIBRARIES
- CATKIN_DEPENDS roscpp rospy std_msgs tf
- DEPENDS system_lib
-)
-include_directories(include
- ${catkin_INCLUDE_DIRS}
+# INCLUDE_DIRS include
+# LIBRARIES spark_test
+# CATKIN_DEPENDS roscpp rospy std_msgs spark_base
+# DEPENDS system_lib
)
###########
@@ -52,6 +50,13 @@ add_dependencies(spark_test_topic_node
target_link_libraries(spark_test_topic_node ${catkin_LIBRARIES})
+add_executable(spark_turn_left_right_node src/spark_turn_left_right.cpp)
+add_dependencies(spark_turn_left_right_node
+ ${${PROJECT_NAME}_EXPORTED_TARGETS}
+ ${catkin_EXPORTED_TARGETS}
+ ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(spark_turn_left_right_node ${catkin_LIBRARIES})
+
add_executable(spark_test_motion_node src/spark_test_motion.cpp)
add_dependencies(spark_test_motion_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
@@ -60,6 +65,12 @@ add_dependencies(spark_test_motion_node
target_link_libraries(spark_test_motion_node ${catkin_LIBRARIES})
+add_executable(spark_turn_left_right_st_node src/spark_turn_left_right_st.cpp)
+add_dependencies(spark_turn_left_right_st_node
+ ${${PROJECT_NAME}_EXPORTED_TARGETS}
+ ${catkin_EXPORTED_TARGETS}
+ ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(spark_turn_left_right_st_node ${catkin_LIBRARIES})
#############
## Install ##
diff --git a/src/spark/spark_test/launch/all_run_test.launch b/src/spark/spark_test/launch/all_run_test.launch
new file mode 100755
index 0000000..ce35425
--- /dev/null
+++ b/src/spark/spark_test/launch/all_run_test.launch
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/spark/spark_test/launch/all_run_test_st.launch b/src/spark/spark_test/launch/all_run_test_st.launch
new file mode 100755
index 0000000..a7dd56e
--- /dev/null
+++ b/src/spark/spark_test/launch/all_run_test_st.launch
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/spark/spark_test/package.xml b/src/spark/spark_test/package.xml
index 073cee0..24ff5d4 100644
--- a/src/spark/spark_test/package.xml
+++ b/src/spark/spark_test/package.xml
@@ -48,9 +48,7 @@
rospy
std_msgs
spark_base
- tf
- tf
-
+
diff --git a/src/spark/spark_test/src/spark_test_motion.cpp b/src/spark/spark_test/src/spark_test_motion.cpp
index 7e20018..6c080a1 100644
--- a/src/spark/spark_test/src/spark_test_motion.cpp
+++ b/src/spark/spark_test/src/spark_test_motion.cpp
@@ -1,11 +1,11 @@
#include "ros/ros.h"
-
+#include
+#include
#include
#include
#include
#include
-#include
-#include
+
typedef pcl::PointCloud PointCloud;
class MotionTest
@@ -33,11 +33,9 @@ public:
bool testMotion()
{
ros::Rate rate(10);
- while(ros::ok)
- {
double prev_sec = ros::Time().now().toSec();
int sec = 10;
- while (ros::ok)
+ while (1)
{
//逆时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
@@ -47,7 +45,7 @@ public:
rate.sleep();
}
prev_sec = ros::Time().now().toSec();
- while (ros::ok)
+ while (1)
{
//顺时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
@@ -57,7 +55,7 @@ public:
rate.sleep();
}
prev_sec = ros::Time().now().toSec();
-/* while (1)
+ while (1)
{
//逆时针同心圆旋转
if (ros::Time().now().toSec() - prev_sec > sec)
@@ -76,7 +74,6 @@ public:
ROS_INFO("shunshizhen tongxinyuan");
testTurnBody(0.2, -1, 10);
rate.sleep();
- }*/
}
}
diff --git a/src/spark/spark_test/src/spark_turn_left_right.cpp b/src/spark/spark_test/src/spark_turn_left_right.cpp
new file mode 100644
index 0000000..1d5b914
--- /dev/null
+++ b/src/spark/spark_test/src/spark_turn_left_right.cpp
@@ -0,0 +1,106 @@
+#include "ros/ros.h"
+#include
+#include
+#include
+#include
+#include
+#include
+#include "spark_carry_object/status.h"
+#include "spark_carry_object/position.h"
+typedef pcl::PointCloud PointCloud;
+
+class MotionTest
+{
+public:
+ ros::NodeHandle nhandle;
+ boost::thread* test_motion_thread_;
+ ros::Publisher cmd_pub;
+ ros::Publisher pump_pub;
+ ros::Publisher pos_pub;
+ MotionTest(ros::NodeHandle in_nh)
+ {
+ nhandle = in_nh;
+
+ cmd_pub = nhandle.advertise("/cmd_vel", 1);
+ pump_pub = nhandle.advertise("pump_topic", 1);
+ pos_pub = nhandle.advertise("position_write_topic", 1);
+ test_motion_thread_ = new boost::thread(boost::bind(&MotionTest::testMotion, this));
+ }
+
+ ~MotionTest()
+ {
+ spark_carry_object::status onoff;
+ onoff.status = 0;
+ pump_pub.publish(onoff);
+ if (test_motion_thread_ != NULL)
+ {
+ delete test_motion_thread_;
+ }
+ }
+
+ bool testMotion()
+ {
+ spark_carry_object::status onoff;
+ spark_carry_object::position pos;
+ ros::Rate rate(10);
+ onoff.status = 1;
+ pump_pub.publish(onoff);
+ pos.x = 120;
+ pos.y = 0;
+ pos.z = 35;
+ sleep(5);
+ pos_pub.publish(pos);
+ while(ros::ok)
+ {
+ pump_pub.publish(onoff);
+ double prev_sec = ros::Time().now().toSec();
+ int sec = 10;
+ ROS_INFO("ni shi zhen");
+ while (ros::ok)
+ {
+ //逆时针旋转
+ if (ros::Time().now().toSec() - prev_sec > sec)
+ break;
+
+ testTurnBody(0, 2, 10);
+ rate.sleep();
+ }
+ ROS_INFO("shen shi zhen");
+ prev_sec = ros::Time().now().toSec();
+ while (ros::ok)
+ {
+ //顺时针旋转
+ if (ros::Time().now().toSec() - prev_sec > sec)
+ break;
+
+ testTurnBody(0, -2, 10);
+ rate.sleep();
+ }
+ }
+ onoff.status = 0;
+ pump_pub.publish(onoff);
+ }
+
+ void testTurnBody(float linearx, float angularz, float sec)
+ {
+ geometry_msgs::Twist vel;
+ vel.linear.x = linearx;
+ vel.angular.z = angularz;
+ cmd_pub.publish(vel);
+ }
+};
+
+int main(int argc, char** argv)
+{
+ ros::init(argc, argv, "spark_test_node");
+ ROS_INFO("Spark test bring up");
+
+ ros::NodeHandle n;
+ MotionTest test(n);
+
+ // start to test the spark
+ // test.testTopicStatus();
+ ROS_INFO("Spark test stop");
+ ros::spin();
+ return 0;
+}
diff --git a/src/spark/spark_test/src/spark_turn_left_right_st.cpp b/src/spark/spark_test/src/spark_turn_left_right_st.cpp
new file mode 100644
index 0000000..1cdb059
--- /dev/null
+++ b/src/spark/spark_test/src/spark_turn_left_right_st.cpp
@@ -0,0 +1,116 @@
+#include "ros/ros.h"
+#include
+#include
+#include
+#include
+#include
+#include
+#include "spark_carry_object/status.h"
+#include "spark_carry_object/position.h"
+typedef pcl::PointCloud PointCloud;
+
+class MotionTest
+{
+public:
+ ros::NodeHandle nhandle;
+ boost::thread* test_motion_thread_;
+ ros::Publisher cmd_pub;
+ ros::Publisher pump_pub;
+ ros::Publisher pos_pub;
+ MotionTest(ros::NodeHandle in_nh)
+ {
+ nhandle = in_nh;
+
+ cmd_pub = nhandle.advertise("/cmd_vel", 1);
+ pump_pub = nhandle.advertise("pump_topic", 1);
+ pos_pub = nhandle.advertise("position_write_topic", 1);
+ test_motion_thread_ = new boost::thread(boost::bind(&MotionTest::testMotion, this));
+ }
+
+ ~MotionTest()
+ {
+ spark_carry_object::status onoff;
+ onoff.status = 0;
+ pump_pub.publish(onoff);
+ if (test_motion_thread_ != NULL)
+ {
+ delete test_motion_thread_;
+ }
+ }
+
+ bool testMotion()
+ {
+ spark_carry_object::status onoff;
+ spark_carry_object::position pos;
+ ros::Rate rate(10);
+ onoff.status = 1;
+ pump_pub.publish(onoff);
+ pos.x = 120;
+ pos.y = 0;
+ pos.z = 35;
+ sleep(5);
+ pos_pub.publish(pos);
+ double start_sec = ros::Time().now().toSec();
+ int keep_sec = 300;
+ ROS_INFO("time is start! start turning.");
+ while(ros::ok)
+ {
+ pump_pub.publish(onoff);
+ double prev_sec = ros::Time().now().toSec();
+ int sec = 10;
+ ROS_INFO("ni shi zhen");
+ while (ros::ok)
+ {
+ //逆时针旋转
+ if (ros::Time().now().toSec() - prev_sec > sec)
+ break;
+
+ testTurnBody(0, 2, 10);
+ rate.sleep();
+ }
+ ROS_INFO("shen shi zhen");
+ prev_sec = ros::Time().now().toSec();
+ while (ros::ok)
+ {
+
+ //顺时针旋转
+ if (ros::Time().now().toSec() - prev_sec > sec)
+ break;
+
+ testTurnBody(0, -2, 10);
+ rate.sleep();
+ }
+ if (ros::Time().now().toSec() - start_sec > keep_sec)
+ {
+ onoff.status = 0;
+ pump_pub.publish(onoff);
+ ROS_WARN("time is over! stop turning.");
+ break;
+ }
+ }
+
+ }
+
+ void testTurnBody(float linearx, float angularz, float sec)
+ {
+ geometry_msgs::Twist vel;
+ vel.linear.x = linearx;
+ vel.angular.z = angularz;
+ cmd_pub.publish(vel);
+ }
+};
+
+int main(int argc, char** argv)
+{
+ ros::init(argc, argv, "spark_test_node");
+ ROS_INFO("Spark test bring up");
+
+ ros::NodeHandle n;
+ MotionTest test(n);
+
+ // start to test the spark
+ // test.testTopicStatus();
+ //ROS_INFO("Spark test stop");
+ ros::spin();
+ return 0;
+}
diff --git a/src/spark_app/spark_voice/scripts/baidu_asr.py b/src/spark_app/spark_voice/scripts/baidu_asr.py
index 39ca131..b777189 100755
--- a/src/spark_app/spark_voice/scripts/baidu_asr.py
+++ b/src/spark_app/spark_voice/scripts/baidu_asr.py
@@ -8,9 +8,9 @@ from threading import Thread, Event
from lib import Microphone,AipSpeech
""" 你的 APPID AK SK """
-APP_ID = '10475584'
-API_KEY = 'm2zeD2S8ft8z6Y0oUblsIZhy'
-SECRET_KEY = 'Y226Y4YCRzpYXy3E3MTG0xxyqRGZYG50'
+APP_ID = '23797700'
+API_KEY = 'dK8rz5DG9pPi90cgQVtx1ddn'
+SECRET_KEY = 'X1lzayj5RQwfkoLHXHd5DALRvFZpjhBP'
def main():
#logging.basicConfig(level=logging.DEBUG)