246 lines
8.3 KiB
Python
246 lines
8.3 KiB
Python
import logging
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import os
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from datetime import datetime
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from enum import Enum
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from dataclasses import dataclass
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from typing import List, Tuple, Optional
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import numpy as np
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import time
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@dataclass
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class HistoryRecord:
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"""历史记录的单个条目"""
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timestamp: float
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state: str # 'transport', 'middle', 'about', 'colored'
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rate: float
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volume: float
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image: np.ndarray
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class History:
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"""滑动窗口历史记录管理类"""
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def __init__(self, max_window_size: float = 5.0, base_time = 5.0):
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"""
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初始化历史记录管理器
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Args:
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max_window_size: 最大窗口时间长度（秒）
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"""
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if base_time > max_window_size:
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max_window_size = base_time+0.2
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# raise ValueError("Base time must be less than or equal to max window size.")
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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.base = None
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self._base_time = base_time
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def add_record(self, timestamp: float, state: str, rate: float, volume: float, image: np.ndarray):
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"""添加新的历史记录"""
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record = HistoryRecord(timestamp, state,rate, volume, image)
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self.records.append(record)
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self._cleanup_old_records(timestamp)
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if self.base is None and (timestamp-self._base_time)>= self.records[0].timestamp:
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base_records = self.get_recent_records(self._base_time, timestamp)
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self.base = sum([rec.rate for rec in base_records]) / len(base_records)
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get_endpoint_logger().info("Base rate calculated: %.2f", self.base)
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def _cleanup_old_records(self, current_time: float):
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"""清理过期的历史记录"""
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cutoff_time = current_time - self.max_window_size
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if not self.records and self.records[0].timestamp < cutoff_time:
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return False
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while self.records and self.records[0].timestamp < cutoff_time:
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self.records.pop(0)
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return True
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def get_records_in_timespan(self, start_time: float, end_time: Optional[float] = None) -> List[HistoryRecord]:
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"""获取指定时间段内的记录"""
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if end_time is None:
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return [record for record in self.records if record.timestamp >= start_time]
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else:
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return [record for record in self.records
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if start_time <= record.timestamp <= end_time]
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def get_recent_records(self, duration: float, current_time: float) -> List[HistoryRecord]:
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"""获取最近指定时间长度内的记录"""
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start_time = current_time - duration
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return self.get_records_in_timespan(start_time, current_time)
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def get_state_ratio(self, target_state: str, records: Optional[List[HistoryRecord]] = None) -> float:
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"""计算指定状态在记录中的比例"""
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if records is None:
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records = self.records
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if not records:
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return 0.0
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target_count = sum(1 for record in records if record.state == target_state)
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return target_count / len(records)
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def get_states_by_type(self, target_state: str) -> List[float]:
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"""获取所有指定状态的时间戳"""
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return [record.timestamp for record in self.records if record.state == target_state]
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def find_record_by_timestamp(self, target_timestamp: float) -> Optional[HistoryRecord]:
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"""根据时间戳查找记录"""
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for record in self.records:
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if record.timestamp == target_timestamp:
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return record
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return None
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def is_empty(self) -> bool:
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"""检查历史记录是否为空"""
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return len(self.records) == 0
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def __len__(self) -> int:
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"""返回历史记录的数量"""
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return len(self.records)
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def clear(self):
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"""清空所有历史记录"""
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self.records.clear()
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class State:
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"""滴定状态管理类"""
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class Mode(Enum):
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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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# END = 3 # 终点模式
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def __init__(self, bounce_time=1, end_bounce_time=5):
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self.mode = self.Mode.FAST
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self.bounce_time = bounce_time
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self.end_bounce_time = end_bounce_time
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# 状态检查标志
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self.in_middle_check = False
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self.in_end_check = False
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# 时间记录
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self.middle_detected_time = None
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self.end_detected_time = None
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def is_fast_mode(self):
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return self.mode == self.Mode.FAST
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def is_slow_mode(self):
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return self.mode == self.Mode.SLOW
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def is_about_mode(self):
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return self.mode == self.Mode.ABOUT
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# def is_end_mode(self):
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# return self.mode == self.Mode.END
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def enter_middle_state(self, current_time):
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"""进入middle状态 - 立即切换到slow模式并开始检查"""
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self.mode = self.Mode.SLOW
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self.in_middle_check = True
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self.middle_detected_time = current_time
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def enter_about_state(self, current_time):
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"""从middle状态进入about状态"""
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if self.mode == self.Mode.SLOW:
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self.mode = self.Mode.ABOUT
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def enter_end_check(self, current_time):
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"""进入end检查状态"""
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self.in_end_check = True
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self.end_detected_time = current_time
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self.mode = self.Mode.ABOUT
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def exit_middle_check(self):
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"""退出middle检查状态，返回fast模式"""
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self.in_middle_check = False
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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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if self.mode == self.Mode.ABOUT:
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self.mode = self.Mode.FAST
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def should_check_middle_exit(self, current_time):
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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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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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return (self.in_end_check and
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self.end_detected_time is not None and
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current_time - self.end_detected_time > self.end_bounce_time)
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def reset_end_check(self):
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"""重置end检查状态"""
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self.in_end_check = False
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self.end_detected_time = None
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def get_status_text(self):
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"""获取状态显示文本"""
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status = []
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if self.in_middle_check:
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status.append("MIDCHK")
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if self.in_end_check:
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status.append("ENDCHK")
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return ", " + ", ".join(status) if status else ""
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def setup_logging(log_level=logging.INFO, log_dir="logs"):
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"""
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设置logging配置，创建不同模块的logger
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Args:
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log_level: 日志级别，默认INFO
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log_dir: 日志文件存储目录，默认"logs"
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"""
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# 创建日志目录
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if not os.path.exists(log_dir):
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os.makedirs(log_dir)
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# 获取当前时间作为日志文件名
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timestamp = datetime.now().strftime('%Y%m%d_%H%M%S')
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log_file = os.path.join(log_dir, f"titration_{timestamp}.log")
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# 配置根logger
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logging.basicConfig(
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level=log_level,
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format='%(asctime)s - %(name)8s - %(levelname)7s - %(message)s',
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handlers=[
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logging.FileHandler(log_file, encoding='utf-8'),
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logging.StreamHandler() # 同时输出到控制台
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]
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)
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return log_file
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def get_system_logger():
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"""系统初始化和控制相关的logger"""
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return logging.getLogger("System")
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def get_hardware_logger():
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"""硬件控制相关的logger（CH340等）"""
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return logging.getLogger("Hardware")
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def get_vision_logger():
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"""图像处理和预测相关的logger"""
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return logging.getLogger("Vision")
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def get_control_logger():
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"""控制逻辑相关的logger"""
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return logging.getLogger("Control")
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def get_endpoint_logger():
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"""终点检测相关的logger"""
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return logging.getLogger("Endpoint")
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def get_volume_logger():
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"""体积计算相关的logger"""
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return logging.getLogger("Volume")
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