#!/usr/bin/env python3 # -*- encoding: utf-8 -*- # enconding = utf8 import sys import time import grpc import matplotlib.pyplot as plt import numpy as np from mpl_toolkits.axes_grid1 import make_axes_locatable from proto import GrabSim_pb2 from proto import GrabSim_pb2_grpc channel = grpc.insecure_channel('localhost:30001', options=[ ('grpc.max_send_message_length', 1024 * 1024 * 1024), ('grpc.max_receive_message_length', 1024 * 1024 * 1024) ]) sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) def map_test(map_id=0, scene_num=1): initworld = sim_client.Init(GrabSim_pb2.NUL()) print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) def control_robot_action(scene_id=0, type=0, action=0, message="你好"): scene = sim_client.ControlRobot(GrabSim_pb2.ControlInfo(scene=scene_id, type=type, action=action, content=message)) if (scene.info == "action success"): return True else: return False if __name__ == '__main__': map_id = 3 # 地图编号: 0:空房间 1:室内 2:咖啡厅1.0 3: 咖啡厅2.0 4:餐厅 5:养老院 6:会议室 scene_num = 1 # 场景数量 map_test(map_id, scene_num) # 场景加载测试 time.sleep(5) # 文字冒泡 control_robot_action(0, 0, 1, "你好,欢迎光临")