70 lines
2.7 KiB
Python
70 lines
2.7 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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测试脚本：模拟程序启动时门关闭的情况
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验证初始角度很小（门关闭）时的控制逻辑行为
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"""
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import time
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from vision.visual_callback_1203 import VisualCallback
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from datetime import datetime
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# 修改VisualCallback类，添加调试信息
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original_pulse_control = VisualCallback._pulse_control
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# 重写_pulse_control方法，添加详细调试信息
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def debug_pulse_control(self, action, duration):
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} [DEBUG] 准备执行 {action} 脉冲，持续 {duration:.2f} 秒")
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result = original_pulse_control(self, action, duration)
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} [DEBUG] {action} 脉冲执行完成")
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return result
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# 替换原始方法
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VisualCallback._pulse_control = debug_pulse_control
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def test_door_close_startup():
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"""测试程序启动时门关闭的情况"""
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print("=== 测试：程序启动时门关闭的情况 ===")
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# 创建VisualCallback实例（程序启动）
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callback = VisualCallback()
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# 打印初始属性
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 初始angle_mode: {callback.angle_mode}")
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 初始overflow: {callback.overflow}")
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 初始_last_overflow_state: {callback._last_overflow_state}")
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# 模拟初始状态：门关闭（角度0°），无堆料
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print(f"\n{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 发送状态：门关闭（角度0°），无堆料")
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callback.angle_visual_callback(0, "未堆料")
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# 等待一段时间，观察控制行为
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for i in range(3):
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time.sleep(1)
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 等待第{i+1}秒...")
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# 发送角度1°，无堆料
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print(f"\n{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 发送状态：角度1°，无堆料")
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callback.angle_visual_callback(1, "未堆料")
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# 等待一段时间
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for i in range(3):
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time.sleep(1)
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 等待第{i+1}秒...")
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# 发送角度6°，无堆料（超过MIN_ANGLE）
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print(f"\n{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 发送状态：角度6°，无堆料")
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callback.angle_visual_callback(6, "未堆料")
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# 等待一段时间
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for i in range(3):
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time.sleep(1)
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 等待第{i+1}秒...")
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# 测试关闭机制
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callback.shutdown()
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print("\n=== 测试完成 ===")
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if __name__ == "__main__":
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test_door_close_startup()
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