update laser estismate

laser_manager.py

@@ -108,23 +108,23 @@ class LaserManager:
         if logger:
             logger.info(f"[LASER] 写入字节数: {written}")
         
-        return None
+        # return None
 
         # TODO: 暂时去掉这个等待
         # 读取回包
-        # print("before read:", time.ticks_ms())
+        print("before read:", time.ticks_ms())
-        # resp = hardware_manager.distance_serial.read(len=20,timeout=10)
+        resp = hardware_manager.distance_serial.read(len=20,timeout=10)
-        # print("after read:", time.ticks_ms())
+        print("after read:", time.ticks_ms())
-        # if resp:
+        if resp:
-        #     if logger:
+            if logger:
-        #         logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
+                logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
-        #     if resp == config.LASER_ON_CMD:
+            if resp == config.LASER_ON_CMD:
-        #         if logger:
+                if logger:
-        #             logger.info("✅ 激光开启指令已确认")
+                    logger.info("✅ 激光开启指令已确认")
-        # else:
+        else:
-        #     if logger:
+            if logger:
-        #         logger.warning("🔇 无回包（可能正常或模块不支持回包）")
+                logger.warning("🔇 无回包（可能正常或模块不支持回包）")
-        # return resp
+        return resp
     
     def turn_off_laser(self):
         """发送指令关闭激光"""
@@ -153,16 +153,16 @@ class LaserManager:
         
         
         # 读取回包
-        # resp = hardware_manager.distance_serial.read(20)
+        resp = hardware_manager.distance_serial.read(20)
-        # if resp:
+        if resp:
-        #     if logger:
+            if logger:
-        #         logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
+                logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
-        # else:
+        else:
-        #     if logger:
+            if logger:
-        #         logger.warning("🔇 无回包")
+                logger.warning("🔇 无回包")
-        # return resp
+        return resp
         # 不用读回包
-        return None 
+        # return None 
     
     def flash_laser(self, duration_ms=1000):
         """闪一下激光（用于射箭反馈）"""
@@ -263,7 +263,7 @@ class LaserManager:
 
             self.turn_on_laser()
             self._laser_turned_on = True
-            time.sleep_ms(40) # 需要一定时间让激光稳定
+            # time.sleep_ms(500) # 需要一定时间让激光稳定
             # 发送测距查询命令
             hardware_manager.distance_serial.write(config.DISTANCE_QUERY_CMD)
             # time.sleep_ms(500) # 测试结果：这里的等待没有用！