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