fix: 删除上次提交时调试注释

main.py

@@ -18,64 +18,62 @@ 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")
 
-act.move.lane(15, 5)
+# 向任务队列添加任务
+task_queue = queue.Queue()
+task_queue.put(sb.task(sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+task_queue.put(sb.task(sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+task_queue.put(sb.task(sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable'])) 
+# TODO 添加一个空任务用于提前降 z 轴
+task_queue.put(sb.task(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
+task_queue.put(sb.task(sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
+task_queue.put(sb.task(sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable'])) 
+task_queue.put(sb.task(sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], True))  # 无论是否进行任务，检测标识并转向都是必须进行的
+task_queue.put(sb.task(sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
+task_queue.put(sb.task(sb.put_hanoi3, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
+task_queue.put(sb.task(sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable'])) 
+task_queue.put(sb.task(sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable'])) 
+task_queue.put(sb.task(sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable'])) 
 
-# # 向任务队列添加任务
+# 将任务队列传入调度模块中
-# task_queue = queue.Queue()
+task_queuem_t = sb.task_queuem(task_queue)
-# task_queue.put(sb.task(sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-# task_queue.put(sb.task(sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-# task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-# task_queue.put(sb.task(sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable'])) 
-# # TODO 添加一个空任务用于提前降 z 轴
-# task_queue.put(sb.task(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
-# task_queue.put(sb.task(sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
-# task_queue.put(sb.task(sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable'])) 
-# task_queue.put(sb.task(sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], True))  # 无论是否进行任务，检测标识并转向都是必须进行的
-# task_queue.put(sb.task(sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
-# task_queue.put(sb.task(sb.put_hanoi3, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
-# task_queue.put(sb.task(sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable'])) 
-# task_queue.put(sb.task(sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable'])) 
-# task_queue.put(sb.task(sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable'])) 
 
-# # 将任务队列传入调度模块中
+# 创建任务队列的工作线程
-# task_queuem_t = sb.task_queuem(task_queue)
+def worker_thread():
+    while task_queuem_t.exec() is True:
+        pass
 
-# # 创建任务队列的工作线程
+# 启动工作线程
-# def worker_thread():
+worker = threading.Thread(target=worker_thread, daemon=True)  
-#     while task_queuem_t.exec() is True:
+worker.start()  
-#         pass
+# if (cmd_py_obj.send_angle_camera(180) == -1):
+#     cmd_py_obj.send_angle_camera(180)
+cmd_py_obj.send_position_axis_x(1, 140)
+time.sleep(0.5)
+cmd_py_obj.send_angle_storage(20)
+time.sleep(0.5)
+cmd_py_obj.send_angle_scoop(25)
+time.sleep(2)
 
-# # 启动工作线程
+# 创建主任务
-# worker = threading.Thread(target=worker_thread, daemon=True)  
+main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
-# worker.start()  
-# # if (cmd_py_obj.send_angle_camera(180) == -1):
-# #     cmd_py_obj.send_angle_camera(180)
-# cmd_py_obj.send_position_axis_x(1, 140)
-# time.sleep(0.5)
-# cmd_py_obj.send_angle_storage(20)
-# time.sleep(0.5)
-# cmd_py_obj.send_angle_scoop(25)
-# time.sleep(2)
 
-# # 创建主任务
+# 主线程仅在子线程搜索 (SEARCHING) 和 空闲 (IDLE) 状态下进行操作
-# main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
+# while task_queuem_t.busy is True:
+try:
+    while True:
+        if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
+            pass
+        else:
+            main_task_t.run()
+            pass
+except KeyboardInterrupt:
+    logger.info("Interrupt received, stopping...")
+    # 停车 
+    for _ in range(3):
+        cmd_py_obj.send_speed_x(0)
+        time.sleep(0.1)
+        cmd_py_obj.send_speed_omega(0)
+        time.sleep(0.1)
 
-# # 主线程仅在子线程搜索 (SEARCHING) 和 空闲 (IDLE) 状态下进行操作
+logger.info("Main thread exit")
-# # while task_queuem_t.busy is True:
-# try:
-#     while True:
-#         if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
-#             pass
-#         else:
-#             main_task_t.run()
-#             pass
-# except KeyboardInterrupt:
-#     logger.info("Interrupt received, stopping...")
-#     # 停车 
-#     for _ in range(3):
-#         cmd_py_obj.send_speed_x(0)
-#         time.sleep(0.1)
-#         cmd_py_obj.send_speed_omega(0)
-#         time.sleep(0.1)
-
-# logger.info("Main thread exit")