新增日志调试模式，并精简代码

ZKDogApi/zkmeta.py

@@ -5,24 +5,25 @@ LastEditors: WZX 17839623189@168.com
 LastEditTime: 2023-12-05 17:01:44
 FilePath: /wzx/zkmetaapi/wukong/ZKMetaUnit/ZKMeta.py
 '''
-import os, sys
+import os
+import sys
 import time
 import math
+import logging
 from typing import List
-from .utils import MQTT, parse_robot_state, calcu_vecloty, calcu_distance
+from utils import MQTT, parse_robot_state, calcu_vecloty, calcu_distance
 sys.path.append("/home/unitree/alg/prejects/ZK-AI/zkdog/ZKDogApi/src")
 import robot_interface as sdk
 
 HIGHLEVEL = 0xee
 LOWLEVEL  = 0xff
 
-# cmake -DPYTHON_LIBRARY=/home/unitree/python3.8/lib \
+logger = logging.getLogger(__name__)
-#     -DPYTHON_INCLUDE_DIR=/home/unitree/python3.8/include/python3.8 \
+logging.basicConfig(format = '%(asctime)s - %(name)s - %(levelname)s - %(message)s', level=logging.INFO)
-#     -DPYTHON_EXECUTABLE=/home/unitree/python3.8/bin/python3.8 \
-#     ..
 
 class ZKDOG:
-    def __init__(self) -> None:
+    def __init__(self, mode=True) -> None:
+        self.mode = mode # When mode is equal to false, it is debugging mode, no action is executed, and only logs are printed.
         self.udp = sdk.UDP(HIGHLEVEL, 8080, "192.168.123.161", 8082)
         self.MQTT = MQTT()
         self.cmd = sdk.HighCmd()
@@ -248,63 +249,60 @@ class ZKDOG:
     def getcurrenrstate(self):
         return self.state.mode
 
+    def handle_exception(callback):
+        def decorator(func):
+            def wrapper(self, *args, **kwargs):
+                try:
+                    # print(args, kwargs, func)
+                    if self.mode:
+                        res = func(self, *args, **kwargs)
+                        logging.info(f"mode ==> {self.mode} && action {func} ==> {kwargs}")
+                        return callback(res)
+                    else:
+                        time.sleep(1)
+                        logging.info(f"mode ==> {self.mode} && action {func} ==> {kwargs}")
+                        return {"type": True}
+                except Exception as e:
+                    return callback({"type": False, "msg": str(e)})
+            return wrapper
+        return decorator
+    
+    @handle_exception(lambda res: {"type": res})
     def turn_left(self, tag=90):
-        try:
+        return self.rolling(tag=tag)
-            res = self.rolling(tag=tag)
-            return {"type": res}
-        except Exception as e:
-            return {"type": False, "msg": e}
 
+    @handle_exception(lambda res: {"type": res})
     def turn_right(self, tag=90):
-        try:
+        return self.rolling(tag=tag, yawSpeed=-1)
-            res = self.rolling(tag=tag, yawSpeed = -1)
-            return {"type": res}
-        except Exception as e:
-            return {"type": False, "msg": e}
 
+    @handle_exception(lambda res: {"type": res})
     def up(self, tag=1):
-        try:
+        return self.forward(distance=tag)
-            res = self.forward(distance=tag)
-            return {"type": res}
-        except Exception as e:
-            return {"type": False, "msg": e}
 
+    @handle_exception(lambda res: {"type": res})
     def down(self, tag=1):
-        try:
+        return self.forward(distance=tag, velocaity=[-1, 0])
-            res = self.forward(distance=tag, velocaity=[-1, 0])
-            return {"type": res}
-        except Exception as e:
-            return {"type": False, "msg": e}
 
+    @handle_exception(lambda res: {"type": True})
     def bark(self, tag="bark"):
-        try:
+        if not os.system(f"ssh unitree@192.168.123.13 -t \'aplay -D plughw:2,0 /home/unitree/tmp/{tag}\'.wav"):
-            tag="bark"
+            return True
-            if not os.system(f"ssh unitree@192.168.123.13 -t 'aplay -D plughw:2,0 /home/unitree/tmp/{tag}'.wav"):
-                return {"type": True}
-        except Exception as e:
-            return {"type": False, "msg": e}
 
+    @handle_exception(lambda res: {"type": res})
     def sitdown(self, tag=1):
-        try:
+        return self.__sitdown()
-            res = self.__sitdown()
-            return {"type": res}
-        except Exception as e:
-            return {"type": False, "msg": e}
 
+    @handle_exception(lambda res: {"type": res})
     def standup(self, tag=1):
-        try:
+        return self.__standup()
-            res = self.__standup()
-            return {"type": res}
-        except Exception as e:
-            return {"type": False, "msg": e}
         
 if __name__=="__main__":
-    zd = ZKDOG()
+    zd = ZKDOG(mode=False)
     
-    print(zd.down(tag=1))
+    # print(zd.down(tag=1))
-    print(zd.turn_right(tag=180))
+    # print(zd.turn_right(tag=180))
     print(zd.up(tag=1))
     print(zd.down(tag=1))
     # zd.sitdown()
     # zd.standup()
-    # zd.bark()
+    zd.bark()