From b53fff11e6f0d560594834de32886239cbba90a3 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 16 十二月 2025 15:48:58 +0800
Subject: [PATCH] 外部调完，可以解析下发的MQTT数据了，但是路径文件太大准备换成http模式
---
python/realtime_control.py | 32 ++++++++++++++++----------------
1 files changed, 16 insertions(+), 16 deletions(-)
diff --git a/python/realtime_control.py b/python/realtime_control.py
index df6c840..17ab062 100644
--- a/python/realtime_control.py
+++ b/python/realtime_control.py
@@ -865,7 +865,7 @@
def disconnect(self):
"""鏂紑杩炴帴"""
if self.receiver:
- self.receiver.disconnect()
+ self.receiver.disconnect()
self.receiver = None
self.cmd_sender = None
@@ -1099,7 +1099,7 @@
if self._stop_event.is_set():
return
-
+
print("[INFO] 寮�濮嬫帶鍒跺惊鐜�")
while not self._stop_event.is_set():
@@ -1158,7 +1158,7 @@
# 鏁板瑙掑害杞湴鐞嗚搴︼細heading_err_deg
# 娉ㄦ剰 control_output['info']['heading_err'] 鏄姬搴�
heading_err_deg = math.degrees(control_info.get('heading_err', 0))
-
+
print(f"[LOG] POS_ENU: {x:.3f}, {y:.3f}, {z:.3f} | "
f"ATT(H/P/R): {gps_heading:.2f}掳, {gps_pitch:.2f}掳, {gps_roll:.2f}掳 | "
f"CTRL: S={status}, F={forward_signal}, T={turn_signal}, Err={xte:.2f}m")
@@ -1211,10 +1211,10 @@
self._stop_event.clear()
# 鍙戦�佸仠姝㈠懡浠� (涓綅鍊�)
if self.cmd_sender:
- print("[INFO] 鍙戦�佸仠姝㈠懡浠�...")
- for _ in range(5):
- self.cmd_sender.send_control_command(1500, 1500)
- time.sleep(0.02)
+ print("[INFO] 鍙戦�佸仠姝㈠懡浠�...")
+ for _ in range(5):
+ self.cmd_sender.send_control_command(1500, 1500)
+ time.sleep(0.02)
# 鎵撳嵃鏈�缁堢粺璁�
print("\n========== 鏈�缁堢粺璁� ==========")
@@ -1223,7 +1223,7 @@
print(f"GPS鏁版嵁鍖�: {receiver.gps_count}")
print(f"IMU鏁版嵁鍖�: {receiver.imu_count}")
if self.cmd_sender:
- print(f"鍛戒护鍙戦��: {self.cmd_sender.get_stats()}")
+ print(f"鍛戒护鍙戦��: {self.cmd_sender.get_stats()}")
if receiver:
print(f"閿欒璁℃暟: {receiver.error_count}")
print("==============================\n")
@@ -1252,7 +1252,7 @@
origin_alt_m=None,
gui_bridge=gui_bridge,
)
-
+
# 棰勫姞杞借矾寰勬枃浠讹紙鑻ュ瓨鍦級
candidate_path = path_file or DEFAULT_PATH_FILE
if candidate_path and Path(candidate_path).exists():
@@ -1275,13 +1275,13 @@
# 鏃燪t鐜鏃讹紝娌跨敤鏃х殑鍛戒护琛屽伐浣滄祦
if not controller.path_points and Path(DEFAULT_PATH_FILE).exists():
controller.load_path(DEFAULT_PATH_FILE)
- if not controller.connect():
- print("[ERROR] 涓插彛杩炴帴澶辫触锛岄��鍑�")
- return
- try:
- controller.run()
- finally:
- controller.disconnect()
+ if not controller.connect():
+ print("[ERROR] 涓插彛杩炴帴澶辫触锛岄��鍑�")
+ return
+ try:
+ controller.run()
+ finally:
+ controller.disconnect()
if __name__ == "__main__":
--
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