精简仓库结构并增强任务链路：归档双目可选后端、新增LOS判据与自定义返航
归档 legacy/：stereo_yolo/stereo_ranger/target_tracker 三包 + 175 条测试 + demo/配置/权重/三份规格；运行链路不再依赖，默认 pytest 446 条，归档测试按需运行。 目标有效性第二判据改为 LOS 运动学一致性（pod_bridge/los_consistency.py），删除 require_vision；pod_locked() 叠加该判据，状态机随之后退重搜。 自定义返航（task_runner/return_home.py）：保持转场高度回起飞点 → 恢复初始航向 → 垂直降落，不再爬 RTL_RETURN_ALT；未起飞/无起飞点/超时/异常仍退回 PX4 原生 RTL。 任务链安全兜底：主循环异常→紧急返航、stop 幂等、landing_stop 保留遥测、in_air 流复用+超时、解锁/起飞与吊舱识别仅执行一次、rtl_timeout 上限。 入口共享件拆到 utils/sitl_support.py；pod_sitl_test.py→l1_sitl_test.py；删除旧架构 test.py；相机脚本移入 tools/。 新增 .gitignore 并剔除历史误跟踪的 59 个 .pyc；requirements 按实际依赖重写；文档全面对齐，新增 legacy/README.md 与 tools/README.md。
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keita
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"""demo_track_control.py —— 视觉跟踪控制链路集成演示（胶水层）。
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对应 C++ 参考实现 reference-c++/visual_track_control/examples/track_control_demo.cpp。
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串联三个组件（target_tracker 与 visual_track_control 互不 import，
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本脚本是唯一的转换点）：
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模拟检测序列 → TargetTracker（8 维恒速卡尔曼多目标追踪）
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→ TrackResult 转 TrackState（解耦边界）
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→ TrackingControlLaw（三通道控制律 + 限幅 + 状态机）
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→ CommandSender（mock 记录 / MAVSDK offboard 实发）
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场景时间线（20 Hz，--speedup 可加速）：
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0~ 6s 正常跟踪：目标匀速横移 + 双目距离 30→10 m 前向逼近
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6~10s 目标消失：追踪器 Coast 预测（60 帧 = 3 s 后轨道判丢，
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控制律自动切换零速刹车）
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10~13s 持续判丢：维持零速刹车
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用法：
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python utils/demo_track_control.py # mock 传输
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python utils/demo_track_control.py --transport mavsdk # MAVSDK（需飞控/SITL）
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python utils/demo_track_control.py --speedup 4 # 4 倍速
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"""
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import argparse
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import asyncio
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import logging
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from pathlib import Path
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from target_tracker.target_tracker import Detection, TargetTracker, TrackerConfig
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from visual_track_control.config import load_from_json
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from visual_track_control.mavsdk_gateway import MavsdkCommandGateway
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from visual_track_control.tracking_control_law import TrackingControlLaw
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from visual_track_control.types import (ControlMode, ControlSnapshot,
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ControlOutput, TrackState)
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logger = logging.getLogger("demo")
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_DEMO_DIR = Path(__file__).resolve().parent
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_DEFAULT_CONFIG = _DEMO_DIR / "config" / "track_control.json"
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# 模拟场景参数
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_NORMAL_SECS = 6.0 # 正常跟踪阶段
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_COAST_SECS = 4.0 # 目标消失 → Coast（含轨道判亡）
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_LOST_SECS = 3.0 # 判丢后持续刹车阶段
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_DEMO_MAX_LOST_FRAMES = 60 # 追踪器 Coast 窗口（20 Hz 下 = 3 s）
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_STATUS_EVERY_TICKS = 10 # 每 0.5 s 打印一行状态
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def track_result_to_state(result) -> TrackState:
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"""两包之间的唯一转换点：TrackResult（box 为对象）→ TrackState（plain tuple）。"""
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box = result.box
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raw = result.raw
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return TrackState(
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tracked=result.tracked,
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primary_id=result.primary_id,
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center=result.center,
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box=(box.x1, box.y1, box.x2, box.y2) if box is not None else None,
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confidence=result.confidence,
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is_predicted=result.is_predicted,
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lost_frames=result.lost_frames,
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n_active=result.n_active,
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raw=(raw.x1, raw.y1, raw.x2, raw.y2) if raw is not None else None,
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)
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def simulate_detections(tick: int, normal_ticks: int, period_s: float):
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"""场景检测源：正常阶段目标匀速横移，之后消失。"""
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if tick >= normal_ticks:
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return []
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cx = 960.0 + 3.0 * tick # 3 px/帧 匀速右移
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cy = 540.0
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w, h = 120.0, 160.0
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return [Detection(cx - w / 2.0, cy - h / 2.0, cx + w / 2.0, cy + h / 2.0, 0.9)]
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def simulate_distance(tick: int, normal_ticks: int, period_s: float):
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"""场景双目距离源：正常阶段有效、距离 30→10 m；之后无效。"""
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if tick >= normal_ticks:
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return 0.0, False
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distance = max(10.0, 30.0 - tick * period_s * 3.0)
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return distance, True
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class MockCommandSender:
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"""CommandSender 的 mock 实现：记录最近一条指令描述（无实机验证能力）。"""
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def __init__(self) -> None:
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self.last_desc = "-"
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async def start(self) -> bool:
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logger.info("[MockTransport] offboard 启动（模拟）")
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return True
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async def send_velocity_heading(self, output: ControlOutput,
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time_boot_ms=None) -> bool:
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self.last_desc = (f"vx={output.vx_mps:+.2f} vy={output.vy_mps:+.2f} "
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f"vz={output.vz_mps:+.2f} "
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f"yaw_rate={output.yaw_rate_dps:+.2f}°/s "
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f"yaw={output.yaw_deg:+.2f}°")
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return True
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async def send_brake_hover(self, time_boot_ms=None) -> bool:
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self.last_desc = "零速刹车（全零机体速度设定点）"
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return True
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async def stop(self) -> None:
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logger.info("[MockTransport] offboard 停止（模拟）")
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async def make_sender(args) -> object:
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if args.transport == "mock":
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return MockCommandSender()
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from mavsdk import System
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drone = System()
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logger.info("连接飞控 %s ...", args.conn)
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await drone.connect(system_address=args.conn)
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async for state in drone.core.connection_state():
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if state.is_connected:
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logger.info("飞控已连接")
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break
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return MavsdkCommandGateway(drone)
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async def dispatch(sender, out: ControlOutput, now_ms: int):
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"""按模式分发指令；DEGRADED_HOLD 不发送（禁止正常控制）。"""
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if out.mode is ControlMode.VELOCITY_HEADING and out.valid:
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return await sender.send_velocity_heading(out, now_ms)
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if out.mode is ControlMode.BRAKE_HOVER and out.valid:
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return await sender.send_brake_hover(now_ms)
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return None
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async def run_demo(args) -> None:
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cfg = load_from_json(args.config)
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period_s = 1.0 / cfg.control.frequency_hz
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period_ms = int(round(period_s * 1000.0))
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tracker = TargetTracker(TrackerConfig(max_lost_frames=_DEMO_MAX_LOST_FRAMES))
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law = TrackingControlLaw(cfg)
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sender = await make_sender(args)
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normal_ticks = int(round(_NORMAL_SECS / period_s))
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coast_ticks = int(round(_COAST_SECS / period_s))
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lost_ticks = int(round(_LOST_SECS / period_s))
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total_ticks = normal_ticks + coast_ticks + lost_ticks
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if not await sender.start():
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logger.error("offboard 启动失败，退出")
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return
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logger.info("开始 %d 拍（%.1f s，%.1f Hz）：正常 %.1fs → Coast %.1fs → 判丢 %.1fs",
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total_ticks, total_ticks * period_s, cfg.control.frequency_hz,
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_NORMAL_SECS, _COAST_SECS, _LOST_SECS)
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try:
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for tick in range(total_ticks):
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now_ms = 1000 + tick * period_ms
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detections = simulate_detections(tick, normal_ticks, period_s)
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distance_m, distance_valid = simulate_distance(tick, normal_ticks, period_s)
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result = tracker.update(detections)
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snap = ControlSnapshot(
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track=track_result_to_state(result),
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track_time_ms=now_ms, # 每拍取样即打戳（视觉始终新鲜）
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target_distance_m=distance_m,
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distance_valid=distance_valid,
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distance_time_ms=now_ms,
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attitude_present=True,
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attitude_time_ms=now_ms, # 模拟姿态源持续可用
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yaw_rad=0.0, # 机头朝北（NED 旋转恒等）
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)
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out = law.update(snap, now_ms)
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await dispatch(sender, out, now_ms)
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if tick % _STATUS_EVERY_TICKS == 0:
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logger.info(
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"t=%5.2fs 检测=%d 追踪[trk=%d pred=%d lost=%d] | "
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"[%s] vx=%+.2f vy=%+.2f vz=%+.2f yaw_rate=%+.2f coast=%d | 发送: %s",
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(tick * period_s), len(detections), result.tracked,
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result.is_predicted, result.lost_frames, out.mode.name,
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out.vx_mps, out.vy_mps, out.vz_mps, out.yaw_rate_dps,
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out.coast_active, sender.last_desc)
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await asyncio.sleep(period_s / args.speedup)
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finally:
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await sender.stop()
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logger.info("演示结束")
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def main() -> None:
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parser = argparse.ArgumentParser(description="视觉跟踪控制链路集成演示")
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parser.add_argument("--transport", choices=["mock", "mavsdk"], default="mock",
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help="指令发送方式：mock=本地记录，mavsdk=offboard 实发")
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parser.add_argument("--conn", default="udp://:14540",
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help="MAVSDK 连接串（仅 --transport mavsdk 生效）")
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parser.add_argument("--speedup", type=float, default=1.0,
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help="时间倍速（>1 加速演示）")
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parser.add_argument("--config", default=str(_DEFAULT_CONFIG),
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help="控制律配置文件路径")
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args = parser.parse_args()
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logging.basicConfig(level=logging.INFO,
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format="%(asctime)s.%(msecs)03d %(levelname)s %(message)s",
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datefmt="%H:%M:%S")
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asyncio.run(run_demo(args))
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if __name__ == "__main__":
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main()
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