pref: 修改模块名称

main.py

@@ -3,6 +3,7 @@ import queue
 import threading
 from loguru import logger
 import subtask as sb
+import majtask as mj
 
 # 读取配置
 cfg_main = toml.load('cfg_main.toml')
@@ -10,8 +11,8 @@ cfg_main = toml.load('cfg_main.toml')
 # 配置日志输出
 logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
 
+# 向任务队列添加任务
 task_queue = queue.Queue()
-
 task_queue.put(sb.task(sb.get_block.exec, sb.get_block.find, cfg_main['task']['GetBlock_enable'])) 
 task_queue.put(sb.task(sb.put_block.exec, sb.put_block.find, cfg_main['task']['PutBlock_enable'])) 
 task_queue.put(sb.task(sb.get_bball.exec, sb.get_bball.find, cfg_main['task']['GetBBall_enable'])) 
@@ -22,15 +23,21 @@ task_queue.put(sb.task(sb.put_hanoi.exec, sb.put_hanoi.find, cfg_main['task']['P
 task_queue.put(sb.task(sb.move_area.exec, sb.move_area.find, cfg_main['task']['MoveArea_enable'])) 
 task_queue.put(sb.task(sb.kick_ass.exec, sb.kick_ass.find, cfg_main['task']['KickAss_enable'])) 
 
+# 将任务队列传入调度模块中
 task_queuem_t = sb.task_queuem(task_queue)
 
+# 创建任务队列的工作线程
 def worker_thread():
     while task_queuem_t.exec() is True:
         pass
 
+# 启动工作线程
 worker = threading.Thread(target=worker_thread, daemon=True)  
 worker.start()  
 
+# 创建主任务
+main_task_t = mj.main_task(None) # TODO 初始化时传入 zmq socket 对象
+
 # 主线程仅在子线程搜索 (SEARCHING) 和 空闲 (IDLE) 状态下进行操作
 while task_queuem_t.busy is True:
     if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
@@ -38,6 +45,7 @@ while task_queuem_t.busy is True:
     else:
         # 模拟执行回归任务
         # logger.info("***** sim huigui task *****")
+        main_task_t.run()
         pass
 
 logger.info("Main thread exit")

majtask.py

@@ -1,4 +1,5 @@
 from simple_pid import PID
+# import queue
 
 class PidWrap:
     def __init__(self, kp, ki, kd, setpoint=0, output_limits=1):
@@ -39,9 +40,11 @@ class main_task():
         else:
             pass
     def run(self):
+        # TODO 请求和解析回归值待完成
         try:
-            data = self.queen.get_nowait()
-            self.parse_data(data)
+            # data = self.queue.get_nowait()
+            # self.parse_data(data)
+            pass
         except:
             pass
         # 运行巡线任务
@@ -60,6 +63,7 @@ class main_task():
                 self.pid1.set(0.7, 0, 0)
             else:
                 self.pid1.set(0.5, 0, 0)
+            # TODO 待引入控制接口
             # self.by_cmd.send_speed_x(7)
             pid_out = self.pid1.get(self.lane_error)
             # self.by_cmd.send_speed_omega(pid_out)