fix 1
Former-commit-id: 717973133faeb79fa6ed667f3fcf7e614a3f310d
This commit is contained in:
65
main.py
65
main.py
@ -9,7 +9,7 @@ from utils import State, History
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class MAT:
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def __init__(self, videoSourceIndex=0, bounce_time=1, end_bounce_time=5):
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def __init__(self, videoSourceIndex=0, bounce_time=2, end_bounce_time=5):
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# 初始化logging
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utils.setup_logging()
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self.system_logger = utils.get_system_logger()
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@ -27,6 +27,7 @@ class MAT:
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atexit.register(self.ch340.stop)
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self.history = History(max(bounce_time, end_bounce_time))
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self.first_about = 0
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self.colored_volume = None
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self.colored_time = None
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self.colored_im = None
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@ -46,6 +47,8 @@ class MAT:
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self.ch340.push_async(speed=speed, t=1)
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def process_left(self, now: float, value_only=False):
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if self.state.mode == State.Mode.CRAZY:
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value_only = True
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st = self.ch340.start
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if not value_only:
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self.ch340.stop()
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@ -80,12 +83,12 @@ class MAT:
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return ret
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# 更新滑动窗口历史记录 - 维护最近end_bounce_time内的状态
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self.history.add_record(now, ret,rate, val, im)
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self.history.add_record(now, ret, rate, val, im)
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if self.history.is_empty():
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self.control_logger.error("未预期的没有可用的历史记录")
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return ret
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if self.crazy < 3:
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if self.state.mode == State.Mode.CRAZY:
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self._display_status(im, ret, rate, val)
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return ret
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@ -127,12 +130,26 @@ class MAT:
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if recent_records:
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trans_ratio = self.history.get_state_ratio("transport", recent_records)
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if trans_ratio > 0.3:
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if trans_ratio > 0.4:
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self.process_left(now)
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self.state.exit_middle_check()
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# about状态随middle一起退出
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self.state.exit_about_with_middle()
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self.control_logger.info(f"middle比例{trans_ratio:.2%}<70%，退出middle检查，返回fast模式")
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# self.state.exit_about_with_middle()
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self.control_logger.info(f"middle比例{trans_ratio:.2%}<60%，退出middle检查，返回fast模式")
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if self.state.mode == State.Mode.ABOUT and self.state.about_check:
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h = self.history.get_recent_records(self.about_time,now)
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ratio = self.history.get_state_ratio("about", h)
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self.history.about_history.append(ratio<0.3)
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while len(self.history.about_history) > 10:
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self.history.about_history.pop(0)
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if len(self.history.about_history) == 10:
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rate = sum(self.history.about_history) / len(self.history.about_history)
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if rate > 0.8:
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self.state.exit_about()
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self.control_logger.info(f"about比例{ratio:.2%}<80%，退出about检查，返回middle模式")
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self.state.about_check = False
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# end检查: 进入end之后的end_bounce_time，如果end比例<80%，则重置；否则终止实验
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if self.state.should_check_end_result(now):
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@ -182,6 +199,7 @@ class MAT:
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State.Mode.FAST: (255, 255, 255),
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State.Mode.SLOW: (10, 215, 255),
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State.Mode.ABOUT: (228,116,167),
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State.Mode.CRAZY: (0, 255, 0),
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# State.Mode.END: (0, 0, 255)
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}
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@ -203,7 +221,7 @@ class MAT:
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rate = val/tot
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if self.history.base is not None:
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base = self.history.base
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thr = (base*5, base*9, 0.75)
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thr = (min(0.05,base*5), min(0.4,base*9), 0.75)
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if rate < thr[0]:
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return "transport",rate
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elif rate <thr[1]:
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@ -223,10 +241,11 @@ class MAT:
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cv2.destroyAllWindows()
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def run(self, quick_speed=0.2, slow_speed=0.05, end_speed=0.02, mid_time=0.5, end_time=1, cap_dir="Videos"):
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def run(self, quick_speed=0.2, slow_speed=0.05, end_speed=0.02, mid_time=0.5, about_time=1, cap_dir="Videos"):
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self.running = True
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self.start_time = time.time()
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self.speeds = (quick_speed, slow_speed, end_speed,end_speed)
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self.speeds = (quick_speed, slow_speed, end_speed, 1.0)
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self.need_check = False
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if cap_dir is not None:
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vid_name = f"{cap_dir}/{datetime.now().strftime('%Y%m%d_%H%M%S')}.mkv"
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@ -261,11 +280,14 @@ class MAT:
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self.ch340_init()
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cnt = 0
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self._start_time = time.time()
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self.crazy = 4
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self.about_time=about_time
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self.crazy = 0
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self.state.mode = State.Mode.CRAZY
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while self.running:
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if not self.ch340.running:
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if self.crazy < 3:
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if self.state.mode == State.Mode.CRAZY:
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match self.crazy:
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case 0:
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self.control_logger.info("crazy 0")
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@ -275,14 +297,12 @@ class MAT:
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self.crazy = 1
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case 1:
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self.control_logger.info("crazy 1")
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self.ch340.pull_async(vol=12)
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self.crazy = 2
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case 2:
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self.control_logger.info("crazy 2")
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self.ch340_pull()
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self.ch340.push_async(vol=8)
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self.total_volume = 20
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cnt = 2
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self.crazy = 3
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self.crazy = 2
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self.state.mode = State.Mode.FAST
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else:
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if 12 * cnt - self.total_volume < 0.5:
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self.ch340_pull()
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@ -295,7 +315,11 @@ class MAT:
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should_push = True
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elif self.state.is_slow_mode() and time.time() - self.ch340.start > mid_time:
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should_push = True
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elif self.state.is_about_mode() and time.time() - self.ch340.start > end_time:
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elif self.state.is_about_mode() and time.time() - self.ch340.start > about_time:
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if not self.state.about_first_flag:
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self.state.about_check = True
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else:
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self.state.about_first_flag = False
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should_push = True
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if should_push:
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@ -304,6 +328,7 @@ class MAT:
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self.ch340_push(speed)
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self.total_volume += speed
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# if (self.state.is_about_mode() and time.time() - self.ch340.start > end_time) or not self.state.is_about_mode():
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if self._pred() is None:
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self.control_logger.error("预测失败，跳过当前帧")
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continue
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@ -329,15 +354,15 @@ if __name__ == "__main__":
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# 创建MAT类的实例并运行
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mat = MAT(
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videoSourceIndex = 1,
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bounce_time=3,
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bounce_time=4,
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end_bounce_time=0.01
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)
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mat.run(
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slow_speed = 0.05,
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quick_speed = 0.15,
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end_time= 2,
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cap_dir=None
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about_time=3,
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# cap_dir=None
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)
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12
utils.py
12
utils.py
@ -9,6 +9,7 @@ import time
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import matplotlib.pyplot as plt
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from matplotlib.animation import FuncAnimation
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import threading
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from collections import deque
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@dataclass
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class HistoryRecord:
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@ -38,6 +39,7 @@ class History:
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self.records: List[HistoryRecord] = []
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self.max_window_size = max_window_size
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self.fulled = False
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self.about_history = [] # 用于存储最近的about状态记录
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self.base = None
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self._base_time = base_time # 可视化相关属性
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self.display = display
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@ -280,6 +282,7 @@ class State:
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FAST = 0 # 快速模式
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SLOW = 1 # 慢速模式 (middle)
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ABOUT = 2 # 接近终点模式
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CRAZY = 2 # CRAZY模式
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# END = 3 # 终点模式
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def __init__(self, bounce_time=1, end_bounce_time=5):
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@ -332,8 +335,10 @@ class State:
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self.middle_detected_time = None
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self.mode = self.Mode.FAST
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def exit_about_with_middle(self):
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"""about状态随middle一起退出"""
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def exit_about(self):
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"""about状态退出"""
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self.about_check = False
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self.about_first_flag = True
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if self.mode == self.Mode.ABOUT:
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self.mode = self.Mode.SLOW
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@ -341,7 +346,8 @@ class State:
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"""检查是否应该进行middle退出检查"""
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return (self.in_middle_check and
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self.middle_detected_time is not None and
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current_time - self.middle_detected_time > self.bounce_time)
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current_time - self.middle_detected_time > self.bounce_time and
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(self.mode == self.Mode.SLOW))
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def should_check_end_result(self, current_time):
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"""检查是否应该进行end结果检查"""
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