快速开始

本指南将帮助你快速上手 Daystar API。

基本概念

状态码

所有 API 调用都返回包含状态码的响应对象：

response = some_function()
if response.state.code == StateCode.success:
    print("成功")
elif response.state.code == StateCode.timeout:
    print("超时")
else:
    print(f"失败: {response.state.describe}")

阻塞与非阻塞模式

一般的函数都支持两种模式：

  • 阻塞模式 (block=True): 等待操作完成后返回

  • 非阻塞模式 (block=False): 立即返回，操作在后台执行

# 阻塞模式 - 等待导航完成
response = navigation_to_location('point_A', block=True)

# 非阻塞模式 - 立即返回
response = navigation_to_location('point_B', block=False)
# 继续执行其他任务...

第一个程序

简单导航示例

# 导航到预设点
print("开始导航到 point_A...")
response = navigation_to_location(
    location='point_A',
    timeout=60
)

if response.state.code == StateCode.success:
    print("导航成功！")
else:
    print(f"导航失败: {response.state.describe}")

带回调的导航

def on_complete(event: NavCompleteEvent):
    print(f"✓ 到达目标: {event.target}")
    print(f"  耗时: {event.navigation_time} 秒")

def on_failed(event: NavFailedEvent):
    print(f"✗ 导航失败: {event.error_msg}")

def on_progress(event: NavProgressEvent):
    print(f"  剩余距离: {event.distance_remaining:.2f} 米")

# 带回调的导航
response = navigation_to_location(
    location='point_A',
    complete_callback=on_complete,
    failed_callback=on_failed,
    progress_callback=on_progress
)

常见模式

巡检任务

patrol_points = ['point_A', 'point_B', 'point_C', 'point_D']

for point in patrol_points:
    print(f"导航到 {point}...")
    response = navigation_to_location(point)

    if response.state.code == StateCode.success:
        print(f"✓ 到达 {point}")
        # 在此处执行巡检任务
        # capture_image(f"inspection_{point}")
    else:
        print(f"✗ 无法到达 {point}")
        break

虚拟打点

# 创建虚拟位置
waypoints = [
    ('checkpoint_1', 1.0, 0.0),
    ('checkpoint_2', 2.0, 1.0),
    ('checkpoint_3', 3.0, 2.0),
]

for name, x, y in waypoints:
    pose = Pose()
    pose.position = Point(x=x, y=y, z=0.0)
    pose.orientation = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)

    response = add_location(
        location=name,
        use_virtual_pose=True,
        virtual_pose=pose
    )

    if response.response.success:
        print(f"✓ 创建虚拟点: {name}")

下一步