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