暂存

fix: 修复task多次开启问题
feat: 新增 891 参数（医院停早，红球靠外）
pref: 弃用 action 类

main_upper.py

@@ -6,12 +6,12 @@ import subtask as sb
 import majtask as mj
 from by_cmd_py import by_cmd_py
 import time
-import action as act
+# import action as act
 import logging
 import signal
 
-running = True
-def main_func(_queue, _skip_queue):
+# running = True
+def main_func(_run_flag,_queue, _skip_queue):
     if _queue != None:
         # 日志重定向
         class Handler(logging.Handler):
@@ -23,14 +23,13 @@ def main_func(_queue, _skip_queue):
         logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
         
     def signal_handler(sig, frame):
-        global running
-        running = False
+        _run_flag.clear()
     signal.signal(signal.SIGTERM, signal_handler)
 
 
     cmd_py_obj = by_cmd_py(_queue)
     sb.import_obj(cmd_py_obj, _skip_queue)
-    act.import_obj(cmd_py_obj)
+    # act.import_obj(_run_flag, cmd_py_obj)
 
     # 读取配置
     cfg_main = toml.load('/home/evan/Workplace/project_main/cfg_main.toml')
@@ -42,12 +41,20 @@ def main_func(_queue, _skip_queue):
     logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
     logger.info(cfg_args)
 
-    act.axis.camera(0)
-    act.axis.x2(140)
-    act.axis.storage(20)
-    act.axis.scoop(25)
-    act.axis.claw_arm(225)
-    act.axis.exec()
+    cmd_py_obj.send_angle_camera(0)
+    cmd_py_obj.send_position_axis_x(1, 140)
+    cmd_py_obj.send_angle_storage(20)
+    cmd_py_obj.send_angle_scoop(25)
+    # cmd_py_obj.send_angle_claw_arm(225)
+    time.sleep(1)
+    
+    # 弃用 action
+    # act.axis.camera(0)
+    # act.axis.x2(140)
+    # act.axis.storage(20)
+    # act.axis.scoop(25)
+    # act.axis.claw_arm(225)
+    # act.axis.exec()
 
     logger.info(cfg_main)
     
@@ -72,7 +79,7 @@ def main_func(_queue, _skip_queue):
     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(_skip_queue) is True:
+        while task_queuem_t.exec(_skip_queue) and _run_flag.isSet():
             pass
 
     # 启动工作线程
@@ -83,7 +90,7 @@ def main_func(_queue, _skip_queue):
     # 创建主任务
     main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
     try:
-        while running:
+        while _run_flag.isSet():
             if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
                 pass
             else: