505 lines
20 KiB
Python
505 lines
20 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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主测试脚本
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整合所有测试模块，提供统一的测试入口和菜单选择
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"""
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import time
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import sys
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import os
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# 添加父目录到路径，以便能够导入utils
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
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# 导入所有测试模块
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from test_basic_movements import run_basic_movement_tests
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from test_arc_movements import run_arc_movement_tests
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from test_custom_gait import run_custom_gait_tests
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from test_vision_functions import run_vision_function_tests
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from test_complex_movements import run_complex_movement_tests
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# 创建日志记录器
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logger = get_logger("主测试")
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def print_menu():
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"""打印测试菜单"""
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print("\n" + "="*60)
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print(" 机器狗子运动函数测试套件")
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print("="*60)
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print("1. 基础运动测试")
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print(" - 原地旋转90度/180度")
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print(" - 直线前进/后退")
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print(" - 侧向移动")
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print(" - 正方形移动路径")
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print()
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print("2. 弧形运动测试")
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print(" - 90度/180度弧形转弯")
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print(" - 左转/右转弧形转弯")
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print(" - S形弯道运动")
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print(" - 不同半径弧形转弯")
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print()
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print("3. 自定义步态测试")
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print(" - 正常行走步态")
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print(" - 石板路步态（快步跑）")
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print(" - 俯身步态")
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print(" - 爬坡步态")
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print(" - 躺下和站起动作")
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print()
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print("4. 视觉功能测试")
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print(" - QR码扫描功能")
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print(" - 箭头检测功能")
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print(" - 横线检测功能")
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print(" - 天空/黄色区域分析")
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print(" - 移动过程中的QR码扫描")
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print()
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print("5. 复杂运动测试")
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print(" - 连续弯道运动")
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print(" - 8字形运动")
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print(" - 螺旋运动")
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print(" - 精确定位")
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print(" - 双轨道跟随")
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print(" - 组合运动")
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print()
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print("6. 运行所有测试")
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print("7. 单个测试选择")
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print("8. 交互式测试模式")
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print("0. 退出")
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print("="*60)
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print("💡 提示: 建议先从基础运动测试开始，确保机器狗处于安全位置")
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def run_single_test_menu(ctrl, msg):
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"""运行单个测试的子菜单"""
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while True:
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print("\n" + "="*60)
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print(" 单个测试选择菜单")
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print("="*60)
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print("📍 基础运动测试:")
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print(" 11. 原地旋转90度 12. 原地旋转180度")
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print(" 13. 直线前进1米 14. 直线后退1米")
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print(" 15. 侧向移动 16. 正方形移动路径")
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print()
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print("🔄 弧形运动测试:")
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print(" 21. 90度弧形转弯 22. 180度弧形转弯")
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print(" 23. 右转90度弧形转弯 24. S形弯道运动")
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print(" 25. 不同半径弧形转弯")
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print()
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print("🚶 自定义步态测试:")
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print(" 31. 正常行走步态 32. 石板路步态")
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print(" 33. 躺下和站起动作 34. 俯身步态")
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print(" 35. 爬坡步态")
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print()
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print("👁️ 视觉功能测试:")
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print(" 41. QR码扫描功能 42. 箭头检测功能")
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print(" 43. 横线检测功能 44. 天空分析功能")
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print(" 45. 黄色区域分析 46. 移动中QR扫描")
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print()
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print("🎯 复杂运动测试:")
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print(" 51. 连续弯道运动 52. 8字形运动")
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print(" 53. 螺旋运动 54. 精确定位")
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print(" 55. 双轨道跟随 56. 组合运动")
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print()
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print("🔧 快捷操作:")
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print(" h. 帮助信息 s. 显示当前状态")
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print(" c. 清屏 0. 返回主菜单")
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print("="*60)
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try:
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choice = input("请选择要执行的测试 (输入编号或命令): ").strip().lower()
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if choice == '0':
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break
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elif choice == 'h' or choice == 'help':
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show_help_info()
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continue
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elif choice == 's' or choice == 'status':
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show_current_status(ctrl)
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continue
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elif choice == 'c' or choice == 'clear':
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clear_screen()
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continue
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# 导入测试函数
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from test_basic_movements import (
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test_turn_90_degrees, test_turn_180_degrees, test_go_straight_1m,
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test_go_straight_backward_1m, test_lateral_movement, test_square_movement
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)
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from test_arc_movements import (
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test_arc_turn_90_degrees, test_arc_turn_180_degrees,
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test_arc_turn_right_90_degrees, test_s_curve_movement
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)
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from test_custom_gait import (
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test_normal_walking_gait, test_stone_road_gait, test_lie_down_stand_up,
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test_stoop_gait, test_climbing_gait
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)
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from test_vision_functions import (
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test_qr_code_scanning, test_arrow_detection, test_horizontal_line_detection,
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test_sky_analysis, test_yellow_area_analysis
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)
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from test_complex_movements import (
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test_continuous_curves, test_figure_eight_movement, test_spiral_movement,
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test_precision_positioning, test_dual_track_following, test_combined_movements
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)
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from test_arc_movements import test_different_radius_turns
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from test_vision_functions import test_movement_with_qr_scanning
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# 执行对应的测试
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test_map = {
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'11': ("原地旋转90度", test_turn_90_degrees),
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'12': ("原地旋转180度", test_turn_180_degrees),
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'13': ("直线前进1米", test_go_straight_1m),
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'14': ("直线后退1米", test_go_straight_backward_1m),
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'15': ("侧向移动", test_lateral_movement),
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'16': ("正方形移动路径", test_square_movement),
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'21': ("90度弧形转弯", test_arc_turn_90_degrees),
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'22': ("180度弧形转弯", test_arc_turn_180_degrees),
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'23': ("右转90度弧形转弯", test_arc_turn_right_90_degrees),
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'24': ("S形弯道运动", test_s_curve_movement),
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'25': ("不同半径弧形转弯", test_different_radius_turns),
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'31': ("正常行走步态", test_normal_walking_gait),
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'32': ("石板路步态", test_stone_road_gait),
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'33': ("躺下和站起动作", test_lie_down_stand_up),
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'34': ("俯身步态", test_stoop_gait),
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'35': ("爬坡步态", test_climbing_gait),
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'41': ("QR码扫描功能", test_qr_code_scanning),
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'42': ("箭头检测功能", test_arrow_detection),
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'43': ("横线检测功能", test_horizontal_line_detection),
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'44': ("天空分析功能", test_sky_analysis),
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'45': ("黄色区域分析功能", test_yellow_area_analysis),
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'46': ("移动中QR扫描", test_movement_with_qr_scanning),
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'51': ("连续弯道运动", test_continuous_curves),
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'52': ("8字形运动", test_figure_eight_movement),
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'53': ("螺旋运动", test_spiral_movement),
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'54': ("精确定位", test_precision_positioning),
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'55': ("双轨道跟随", test_dual_track_following),
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'56': ("组合运动", test_combined_movements),
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}
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if choice in test_map:
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test_name, test_func = test_map[choice]
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print(f"\n开始执行测试: {test_name}")
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try:
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test_func(ctrl, msg)
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success(f"测试 {test_name} 成功完成", "成功")
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except Exception as e:
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error(f"测试 {test_name} 失败: {str(e)}", "失败")
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input("\n按回车键继续...")
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else:
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print("无效的选择，请重新输入")
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except KeyboardInterrupt:
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print("\n用户中断操作")
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break
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except Exception as e:
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error(f"执行测试时出错: {str(e)}", "错误")
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def run_all_tests(ctrl, msg):
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"""运行所有测试"""
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section('运行所有测试', "开始")
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test_suites = [
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("基础运动测试", run_basic_movement_tests),
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("弧形运动测试", run_arc_movement_tests),
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("自定义步态测试", run_custom_gait_tests),
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("视觉功能测试", run_vision_function_tests),
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("复杂运动测试", run_complex_movement_tests),
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]
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total_start_time = time.time()
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passed_tests = 0
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failed_tests = 0
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for suite_name, test_func in test_suites:
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try:
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info(f"开始执行测试套件: {suite_name}", "测试套件")
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suite_start_time = time.time()
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test_func(ctrl, msg)
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suite_duration = time.time() - suite_start_time
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success(f"测试套件 {suite_name} 成功完成，耗时: {suite_duration:.2f}秒", "成功")
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passed_tests += 1
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except Exception as e:
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suite_duration = time.time() - suite_start_time
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error(f"测试套件 {suite_name} 失败: {str(e)}，耗时: {suite_duration:.2f}秒", "失败")
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failed_tests += 1
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# 测试套件之间暂停
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time.sleep(3)
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# 总结报告
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total_duration = time.time() - total_start_time
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section('所有测试完成', "总结")
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info(f"总测试时间: {total_duration:.2f}秒", "统计")
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info(f"成功的测试套件: {passed_tests}", "统计")
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info(f"失败的测试套件: {failed_tests}", "统计")
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info(f"总测试套件数: {passed_tests + failed_tests}", "统计")
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if failed_tests == 0:
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success("所有测试套件都成功完成！", "完成")
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else:
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warning(f"有 {failed_tests} 个测试套件失败", "警告")
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def main_menu(ctrl, msg):
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"""主菜单"""
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while True:
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print_menu()
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try:
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choice = input("请选择要执行的测试 (输入编号): ").strip()
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if choice == '0':
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print("退出测试程序")
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break
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elif choice == '1':
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print("执行基础运动测试...")
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run_basic_movement_tests(ctrl, msg)
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elif choice == '2':
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print("执行弧形运动测试...")
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run_arc_movement_tests(ctrl, msg)
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elif choice == '3':
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print("执行自定义步态测试...")
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run_custom_gait_tests(ctrl, msg)
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elif choice == '4':
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print("执行视觉功能测试...")
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run_vision_function_tests(ctrl, msg)
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elif choice == '5':
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print("执行复杂运动测试...")
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run_complex_movement_tests(ctrl, msg)
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elif choice == '6':
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print("运行所有测试...")
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run_all_tests(ctrl, msg)
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elif choice == '7':
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print("进入单个测试选择...")
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run_single_test_menu(ctrl, msg)
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elif choice == '8':
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print("进入交互式测试模式...")
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run_interactive_test_selection(ctrl, msg)
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else:
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print("无效的选择，请重新输入")
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continue
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input("\n按回车键继续...")
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except KeyboardInterrupt:
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print("\n用户中断操作")
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break
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except Exception as e:
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error(f"执行测试时出错: {str(e)}", "错误")
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input("\n按回车键继续...")
|
|||
|
|
|
|||
|
|
def print_usage():
|
|||
|
|
"""打印使用说明"""
|
|||
|
|
print("="*60)
|
|||
|
|
print(" 机器狗子运动函数测试套件")
|
|||
|
|
print("="*60)
|
|||
|
|
print("使用方法：")
|
|||
|
|
print("1. 在Python脚本中导入并使用:")
|
|||
|
|
print(" from single_test.test_main import main_menu")
|
|||
|
|
print(" main_menu(ctrl, msg)")
|
|||
|
|
print()
|
|||
|
|
print("2. 导入单个测试模块:")
|
|||
|
|
print(" from single_test.test_basic_movements import run_basic_movement_tests")
|
|||
|
|
print(" run_basic_movement_tests(ctrl, msg)")
|
|||
|
|
print()
|
|||
|
|
print("3. 导入单个测试函数:")
|
|||
|
|
print(" from single_test.test_basic_movements import test_turn_90_degrees")
|
|||
|
|
print(" test_turn_90_degrees(ctrl, msg)")
|
|||
|
|
print()
|
|||
|
|
print("测试模块说明：")
|
|||
|
|
print("- test_basic_movements.py: 基础运动测试（旋转、直线移动等）")
|
|||
|
|
print("- test_arc_movements.py: 弧形运动测试（弧形转弯、绕行等）")
|
|||
|
|
print("- test_custom_gait.py: 自定义步态测试（俯身、爬坡等）")
|
|||
|
|
print("- test_vision_functions.py: 视觉功能测试（QR码、箭头检测等）")
|
|||
|
|
print("- test_complex_movements.py: 复杂运动测试（连续弯道、组合运动等）")
|
|||
|
|
print("- test_main.py: 主测试脚本（提供菜单选择）")
|
|||
|
|
print("="*60)
|
|||
|
|
|
|||
|
|
def clear_screen():
|
|||
|
|
"""清屏函数"""
|
|||
|
|
import os
|
|||
|
|
os.system('clear' if os.name == 'posix' else 'cls')
|
|||
|
|
|
|||
|
|
def show_help_info():
|
|||
|
|
"""显示帮助信息"""
|
|||
|
|
print("\n" + "="*60)
|
|||
|
|
print(" 帮助信息")
|
|||
|
|
print("="*60)
|
|||
|
|
print("🎯 测试编号说明:")
|
|||
|
|
print(" 1x: 基础运动测试 (11-16)")
|
|||
|
|
print(" 2x: 弧形运动测试 (21-25)")
|
|||
|
|
print(" 3x: 自定义步态测试 (31-35)")
|
|||
|
|
print(" 4x: 视觉功能测试 (41-46)")
|
|||
|
|
print(" 5x: 复杂运动测试 (51-56)")
|
|||
|
|
print()
|
|||
|
|
print("🔧 快捷命令:")
|
|||
|
|
print(" h/help: 显示此帮助信息")
|
|||
|
|
print(" s/status: 显示机器狗当前状态")
|
|||
|
|
print(" c/clear: 清屏")
|
|||
|
|
print(" 0: 返回主菜单")
|
|||
|
|
print()
|
|||
|
|
print("💡 使用提示:")
|
|||
|
|
print(" - 测试前确保机器狗处于安全位置")
|
|||
|
|
print(" - 每个测试都会显示详细的执行信息")
|
|||
|
|
print(" - 可以随时按 Ctrl+C 中断测试")
|
|||
|
|
print(" - 建议先从基础运动测试开始")
|
|||
|
|
print("="*60)
|
|||
|
|
input("\n按回车键继续...")
|
|||
|
|
|
|||
|
|
def show_current_status(ctrl):
|
|||
|
|
"""显示机器狗当前状态"""
|
|||
|
|
try:
|
|||
|
|
print("\n" + "="*60)
|
|||
|
|
print(" 机器狗当前状态")
|
|||
|
|
print("="*60)
|
|||
|
|
|
|||
|
|
# 位置信息
|
|||
|
|
pos = ctrl.odo_msg.xyz
|
|||
|
|
print(f"📍 位置信息:")
|
|||
|
|
print(f" X坐标: {pos[0]:.3f} 米")
|
|||
|
|
print(f" Y坐标: {pos[1]:.3f} 米")
|
|||
|
|
print(f" Z坐标: {pos[2]:.3f} 米")
|
|||
|
|
|
|||
|
|
# 姿态信息
|
|||
|
|
rpy = ctrl.odo_msg.rpy
|
|||
|
|
print(f"\n🧭 姿态信息:")
|
|||
|
|
print(f" Roll (横滚): {rpy[0]:.2f}°")
|
|||
|
|
print(f" Pitch (俯仰): {rpy[1]:.2f}°")
|
|||
|
|
print(f" Yaw (偏航): {rpy[2]:.2f}°")
|
|||
|
|
|
|||
|
|
# 速度信息
|
|||
|
|
vel = ctrl.odo_msg.vxyz
|
|||
|
|
print(f"\n🏃 速度信息:")
|
|||
|
|
print(f" X轴速度: {vel[0]:.3f} 米/秒")
|
|||
|
|
print(f" Y轴速度: {vel[1]:.3f} 米/秒")
|
|||
|
|
print(f" Z轴速度: {vel[2]:.3f} 米/秒")
|
|||
|
|
|
|||
|
|
# 系统状态
|
|||
|
|
print(f"\n⚙️ 系统状态:")
|
|||
|
|
print(f" 连接状态: ✅ 正常")
|
|||
|
|
print(f" 控制模式: 运动控制")
|
|||
|
|
|
|||
|
|
# 视觉系统状态
|
|||
|
|
try:
|
|||
|
|
current_image = ctrl.image_processor.get_current_image()
|
|||
|
|
if current_image is not None:
|
|||
|
|
print(f" 相机状态: ✅ 正常 (图像尺寸: {current_image.shape})")
|
|||
|
|
else:
|
|||
|
|
print(f" 相机状态: ❌ 无图像")
|
|||
|
|
except:
|
|||
|
|
print(f" 相机状态: ❓ 未知")
|
|||
|
|
|
|||
|
|
print("="*60)
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f"\n❌ 获取状态信息失败: {str(e)}")
|
|||
|
|
print("请检查机器狗连接状态")
|
|||
|
|
|
|||
|
|
input("\n按回车键继续...")
|
|||
|
|
|
|||
|
|
def run_interactive_test_selection(ctrl, msg):
|
|||
|
|
"""运行交互式测试选择"""
|
|||
|
|
print("\n🎯 进入交互式测试模式")
|
|||
|
|
print("您可以通过输入测试编号快速选择测试项目")
|
|||
|
|
print("输入 'h' 获取帮助，输入 'q' 退出")
|
|||
|
|
|
|||
|
|
while True:
|
|||
|
|
try:
|
|||
|
|
choice = input("\n请输入测试编号或命令 > ").strip().lower()
|
|||
|
|
|
|||
|
|
if choice in ['q', 'quit', 'exit']:
|
|||
|
|
print("退出交互式测试模式")
|
|||
|
|
break
|
|||
|
|
elif choice in ['h', 'help']:
|
|||
|
|
show_help_info()
|
|||
|
|
elif choice in ['s', 'status']:
|
|||
|
|
show_current_status(ctrl)
|
|||
|
|
elif choice in ['c', 'clear']:
|
|||
|
|
clear_screen()
|
|||
|
|
elif choice.isdigit() and len(choice) == 2:
|
|||
|
|
# 运行对应的测试
|
|||
|
|
run_test_by_number(choice, ctrl, msg)
|
|||
|
|
else:
|
|||
|
|
print("❌ 无效输入，请输入两位数字测试编号或命令")
|
|||
|
|
print(" 例如: 11 (原地旋转90度), h (帮助), q (退出)")
|
|||
|
|
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
print("\n用户中断操作")
|
|||
|
|
break
|
|||
|
|
except Exception as e:
|
|||
|
|
error(f"执行过程中出错: {str(e)}", "错误")
|
|||
|
|
|
|||
|
|
def run_test_by_number(test_number, ctrl, msg):
|
|||
|
|
"""根据编号运行测试"""
|
|||
|
|
# 导入所有测试函数
|
|||
|
|
from test_basic_movements import (
|
|||
|
|
test_turn_90_degrees, test_turn_180_degrees, test_go_straight_1m,
|
|||
|
|
test_go_straight_backward_1m, test_lateral_movement, test_square_movement
|
|||
|
|
)
|
|||
|
|
from test_arc_movements import (
|
|||
|
|
test_arc_turn_90_degrees, test_arc_turn_180_degrees,
|
|||
|
|
test_arc_turn_right_90_degrees, test_s_curve_movement, test_different_radius_turns
|
|||
|
|
)
|
|||
|
|
from test_custom_gait import (
|
|||
|
|
test_normal_walking_gait, test_stone_road_gait, test_lie_down_stand_up,
|
|||
|
|
test_stoop_gait, test_climbing_gait
|
|||
|
|
)
|
|||
|
|
from test_vision_functions import (
|
|||
|
|
test_qr_code_scanning, test_arrow_detection, test_horizontal_line_detection,
|
|||
|
|
test_sky_analysis, test_yellow_area_analysis, test_movement_with_qr_scanning
|
|||
|
|
)
|
|||
|
|
from test_complex_movements import (
|
|||
|
|
test_continuous_curves, test_figure_eight_movement, test_spiral_movement,
|
|||
|
|
test_precision_positioning, test_dual_track_following, test_combined_movements
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
test_map = {
|
|||
|
|
'11': ("原地旋转90度", test_turn_90_degrees),
|
|||
|
|
'12': ("原地旋转180度", test_turn_180_degrees),
|
|||
|
|
'13': ("直线前进1米", test_go_straight_1m),
|
|||
|
|
'14': ("直线后退1米", test_go_straight_backward_1m),
|
|||
|
|
'15': ("侧向移动", test_lateral_movement),
|
|||
|
|
'16': ("正方形移动路径", test_square_movement),
|
|||
|
|
'21': ("90度弧形转弯", test_arc_turn_90_degrees),
|
|||
|
|
'22': ("180度弧形转弯", test_arc_turn_180_degrees),
|
|||
|
|
'23': ("右转90度弧形转弯", test_arc_turn_right_90_degrees),
|
|||
|
|
'24': ("S形弯道运动", test_s_curve_movement),
|
|||
|
|
'25': ("不同半径弧形转弯", test_different_radius_turns),
|
|||
|
|
'31': ("正常行走步态", test_normal_walking_gait),
|
|||
|
|
'32': ("石板路步态", test_stone_road_gait),
|
|||
|
|
'33': ("躺下和站起动作", test_lie_down_stand_up),
|
|||
|
|
'34': ("俯身步态", test_stoop_gait),
|
|||
|
|
'35': ("爬坡步态", test_climbing_gait),
|
|||
|
|
'41': ("QR码扫描功能", test_qr_code_scanning),
|
|||
|
|
'42': ("箭头检测功能", test_arrow_detection),
|
|||
|
|
'43': ("横线检测功能", test_horizontal_line_detection),
|
|||
|
|
'44': ("天空分析功能", test_sky_analysis),
|
|||
|
|
'45': ("黄色区域分析功能", test_yellow_area_analysis),
|
|||
|
|
'46': ("移动中QR扫描", test_movement_with_qr_scanning),
|
|||
|
|
'51': ("连续弯道运动", test_continuous_curves),
|
|||
|
|
'52': ("8字形运动", test_figure_eight_movement),
|
|||
|
|
'53': ("螺旋运动", test_spiral_movement),
|
|||
|
|
'54': ("精确定位", test_precision_positioning),
|
|||
|
|
'55': ("双轨道跟随", test_dual_track_following),
|
|||
|
|
'56': ("组合运动", test_combined_movements),
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if test_number in test_map:
|
|||
|
|
test_name, test_func = test_map[test_number]
|
|||
|
|
print(f"\n🚀 开始执行测试: {test_name}")
|
|||
|
|
try:
|
|||
|
|
test_func(ctrl, msg)
|
|||
|
|
success(f"✅ 测试 {test_name} 成功完成", "成功")
|
|||
|
|
except Exception as e:
|
|||
|
|
error(f"❌ 测试 {test_name} 失败: {str(e)}", "失败")
|
|||
|
|
else:
|
|||
|
|
print(f"❌ 未找到测试编号 {test_number}")
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
print_usage()
|
|||
|
|
print("\n注意：此脚本需要在机器狗控制环境中运行")
|
|||
|
|
print("请确保已正确初始化 ctrl 和 msg 对象")
|