stage_one

test_visual_callback.py

@@ -0,0 +1,56 @@
+import time
+import threading
+from vision.visual_callback import VisualCallback, angle_visual_callback
+
+# 创建VisualCallback实例
+visual_callback = VisualCallback()
+
+# 模拟safe_control_lower_close执行
+def simulate_safe_close():
+
+
+    while True:
+        time.sleep(1)
+    """模拟safe_control_lower_close执行"""
+    print("\n=== 开始模拟safe_control_lower_close执行 ===")
+    
+    # 1. 首先，发送一些视觉回调数据，观察正常情况下的行为
+    print("\n1. 正常运行阶段:")
+
+    for i in range(5):
+        angle_visual_callback(50.0, "无堆料")
+        time.sleep(1)
+    
+    # 2. 模拟safe_control_lower_close开始执行
+    print("\n2. 模拟safe_control_lower_close开始执行:")
+    visual_callback._is_safe_closing = True
+    
+    # 3. 再次发送视觉回调数据，观察是否会跳过relay操作
+    print("\n3. safe_control_lower_close执行中:")
+    for i in range(5):
+        angle_visual_callback(50.0, "无堆料")
+        time.sleep(1)
+    
+    # 4. 模拟safe_control_lower_close执行完毕
+    print("\n4. 模拟safe_control_lower_close执行完毕:")
+    visual_callback._is_safe_closing = False
+    
+    # 5. 再次发送视觉回调数据，观察是否恢复正常
+    print("\n5. 恢复正常运行:")
+    for i in range(5):
+        angle_visual_callback(50.0, "无堆料")
+        time.sleep(1)
+    
+    print("\n=== 测试结束 ===")
+    visual_callback.shutdown()
+
+# 启动测试
+try:
+    simulate_safe_close()
+except KeyboardInterrupt:
+    print("\n\n接收到Ctrl+C，正在停止服务...")
+finally:
+    # 确保服务正确停止
+    visual_callback.shutdown()
+    visual_callback.relay_controller.close_all()
+    print("服务已安全停止")