From 5eb20141136401037584650c367a0d2637950bf8 Mon Sep 17 00:00:00 2001
From: Cx330 <1487537121@qq.com>
Date: Sun, 12 Oct 2025 13:34:17 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E7=A8=8B=E5=BA=8F=EF=BC=8C?=
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---
 src/Aee1220310013/scripts/client.py | 20 ++++++++++++++++----
 src/Aee1220310013/scripts/server.py |  4 ++--
 2 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/src/Aee1220310013/scripts/client.py b/src/Aee1220310013/scripts/client.py
index 5d66083..1f0cd40 100755
--- a/src/Aee1220310013/scripts/client.py
+++ b/src/Aee1220310013/scripts/client.py
@@ -2,14 +2,23 @@
 import rospy
 from geometry_msgs.msg import Twist
 from turtlesim.srv import TeleportAbsolute
+from turtlesim.msg import Pose
 from Aee1220310013.srv import ProcessID
 
+current_pose = None  # 全局变量保存乌龟位姿
+
+# 位姿回调函数
+def pose_callback(msg):
+    global current_pose
+    current_pose = msg
+    print(f"当前位置: x={msg.x:.2f}, y={msg.y:.2f}, 方向={msg.theta:.2f}")
+
 def main():
     rospy.init_node('turtle_controller_client')
 
     student_id = input("输入学号：").strip()
 
-    # 调用服务获取参数
+    # 处理学号
     rospy.wait_for_service('/process_id')
     try:
         process_id = rospy.ServiceProxy('/process_id', ProcessID)
@@ -19,14 +28,17 @@ def main():
         return
 
     x, y, r, direction = resp.x, resp.y, resp.radius, resp.direction
-    print(f"服务返回: x={x}, y={y}, 半径={r}, 方向={direction}")
+    print(f"x={x}, y={y}, 半径={r}, 方向={direction}")
 
-    # 移动乌龟到 (x, y) 
+    # 移动乌龟到 (x, y)
     rospy.wait_for_service('/turtle1/teleport_absolute')
     teleport = rospy.ServiceProxy('/turtle1/teleport_absolute', TeleportAbsolute)
     teleport(x, y, 0)
     print(f"乌龟已跳转到 ({x}, {y})")
 
+    # 乌龟位置
+    rospy.Subscriber('/turtle1/pose', Pose, pose_callback)
+
     # 画圆
     pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
     rate = rospy.Rate(10)
@@ -38,7 +50,7 @@ def main():
     vel_msg.linear.x = linear_speed
     vel_msg.angular.z = direction * angular_speed
 
-    print("开始画圆，按 Ctrl+Z 停止。")
+    print("开始画圆，按 Ctrl+C 停止。")
 
     while not rospy.is_shutdown():
         pub.publish(vel_msg)
diff --git a/src/Aee1220310013/scripts/server.py b/src/Aee1220310013/scripts/server.py
index dc2bb27..51dbf28 100755
--- a/src/Aee1220310013/scripts/server.py
+++ b/src/Aee1220310013/scripts/server.py
@@ -24,7 +24,7 @@ def handle_process_id(req):
     total_three = sum(int(d) for d in last_three)
     radius = total_three % 3
     if radius == 0:
-        radius = 3
+        radius = 3 / 2
 
     # 方向（奇数顺时针，偶数逆时针）
     direction = -1 if last_one % 2 else 1
@@ -35,7 +35,7 @@ def handle_process_id(req):
 def id_processor_server():
     rospy.init_node('id_processor_server')
     service = rospy.Service('/process_id', ProcessID, handle_process_id)
-    rospy.loginfo("服务端已启动：/process_id")
+    rospy.loginfo("服务端已启动。")
     rospy.spin()
 
 if __name__ == "__main__":