test: 添加 PTZ 控制测试脚本

添加用于验证球机 PTZ 控制功能的测试脚本，包括基本移动控制、精确定位和快速定位测试

dual_camera_system/test_ptz.py

@@ -0,0 +1,262 @@
+#!/usr/bin/env python3
+"""
+PTZ 控制测试脚本
+用于验证球机 PTZ 控制是否正常工作
+"""
+
+import os
+import sys
+import time
+
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+from config import PTZ_CAMERA, SDK_PATH, PTZ_CONFIG
+from dahua_sdk import DahuaSDK, PTZCommand
+from ptz_camera import PTZCamera
+
+
+def test_ptz_basic_control(ptz: PTZCamera):
+    """测试基本 PTZ 控制"""
+    print("\n" + "=" * 50)
+    print("测试基本 PTZ 控制")
+    print("=" * 50)
+    
+    # 测试向左移动
+    print("\n[测试1] 向左移动 2 秒...")
+    ptz.move_left(speed=4)
+    time.sleep(2)
+    ptz.stop_move()
+    print("停止移动")
+    time.sleep(1)
+    
+    # 测试向右移动
+    print("\n[测试2] 向右移动 2 秒...")
+    ptz.move_right(speed=4)
+    time.sleep(2)
+    ptz.stop_move()
+    print("停止移动")
+    time.sleep(1)
+    
+    # 测试放大
+    print("\n[测试3] 放大 2 秒...")
+    ptz.zoom_in(speed=4)
+    time.sleep(2)
+    ptz.stop_move()
+    print("停止变倍")
+    time.sleep(1)
+    
+    # 测试缩小
+    print("\n[测试4] 缩小 2 秒...")
+    ptz.zoom_out(speed=4)
+    time.sleep(2)
+    ptz.stop_move()
+    print("停止变倍")
+
+
+def test_ptz_exact_goto(ptz: PTZCamera):
+    """测试精确定位"""
+    print("\n" + "=" * 50)
+    print("测试精确定位 (EXACTGOTO)")
+    print("=" * 50)
+    
+    # 测试不同的 pan 角度
+    test_points = [
+        (0, 0, 1),      # pan=0°
+        (45, 0, 1),     # pan=45°
+        (90, 0, 1),     # pan=90°
+        (135, 0, 1),    # pan=135°
+        (180, 0, 1),    # pan=180°
+        (270, 0, 1),    # pan=270°
+        (0, 0, 1),      # 返回 pan=0°
+    ]
+    
+    for i, (pan, tilt, zoom) in enumerate(test_points):
+        print(f"\n[测试点 {i+1}/{len(test_points)}] 移动到 pan={pan}°, tilt={tilt}°, zoom={zoom}")
+        result = ptz.goto_exact_position(pan, tilt, zoom)
+        if result:
+            print("  ✓ 命令成功")
+        else:
+            print("  ✗ 命令失败")
+        time.sleep(3)  # 等待球机移动
+
+
+def test_ptz_fast_goto(ptz: PTZCamera, sdk: DahuaSDK):
+    """测试快速定位 (FASTGOTO)"""
+    print("\n" + "=" * 50)
+    print("测试快速定位 (FASTGOTO)")
+    print("=" * 50)
+    print("FASTGOTO 参数格式: 水平(-8191~8191), 垂直(-8191~8191), 变倍(-16~16)")
+    
+    # FASTGOTO 使用不同的参数格式
+    # 参数范围: 水平/垂直 -8191~8191, 变倍 -16~16
+    test_points = [
+        (0, 0, 0),       # 中心
+        (-4000, 0, 0),   # 向左
+        (4000, 0, 0),    # 向右
+        (0, -2000, 0),   # 向上
+        (0, 2000, 0),    # 向下
+        (0, 0, 0),       # 返回中心
+    ]
+    
+    for i, (p1, p2, p3) in enumerate(test_points):
+        print(f"\n[测试点 {i+1}/{len(test_points)}] FASTGOTO: p1={p1}, p2={p2}, p3={p3}")
+        result = sdk.ptz_control(
+            ptz.login_handle,
+            ptz.config['channel'],
+            PTZCommand.FASTGOTO,
+            p1, p2, p3, False
+        )
+        if result:
+            print("  ✓ 命令成功")
+        else:
+            print("  ✗ 命令失败")
+        time.sleep(3)
+
+
+def interactive_test(ptz: PTZCamera, sdk: DahuaSDK):
+    """交互式测试"""
+    print("\n" + "=" * 50)
+    print("交互式测试模式")
+    print("=" * 50)
+    print("命令:")
+    print("  left/right/up/down - 基本移动")
+    print("  zoomin/zoomout - 变倍")
+    print("  stop - 停止")
+    print("  goto <pan> <tilt> [zoom] - 精确定位 (角度)")
+    print("  fast <p1> <p2> <p3> - 快速定位")
+    print("  q - 退出")
+    print("=" * 50)
+    
+    while True:
+        try:
+            cmd = input("\n> ").strip().lower()
+            if not cmd:
+                continue
+            
+            if cmd == 'q':
+                break
+            
+            elif cmd == 'left':
+                ptz.move_left(speed=4)
+                print("向左移动中... (输入 'stop' 停止)")
+            
+            elif cmd == 'right':
+                ptz.move_right(speed=4)
+                print("向右移动中... (输入 'stop' 停止)")
+            
+            elif cmd == 'up':
+                ptz.move_up(speed=4)
+                print("向上移动中... (输入 'stop' 停止)")
+            
+            elif cmd == 'down':
+                ptz.move_down(speed=4)
+                print("向下移动中... (输入 'stop' 停止)")
+            
+            elif cmd == 'zoomin':
+                ptz.zoom_in(speed=4)
+                print("放大中... (输入 'stop' 停止)")
+            
+            elif cmd == 'zoomout':
+                ptz.zoom_out(speed=4)
+                print("缩小中... (输入 'stop' 停止)")
+            
+            elif cmd == 'stop':
+                ptz.stop_move()
+                print("已停止")
+            
+            elif cmd.startswith('goto'):
+                parts = cmd.split()
+                if len(parts) >= 3:
+                    pan = float(parts[1])
+                    tilt = float(parts[2])
+                    zoom = int(parts[3]) if len(parts) > 3 else 1
+                    print(f"移动到 pan={pan}°, tilt={tilt}°, zoom={zoom}")
+                    ptz.goto_exact_position(pan, tilt, zoom)
+                else:
+                    print("用法: goto <pan> <tilt> [zoom]")
+            
+            elif cmd.startswith('fast'):
+                parts = cmd.split()
+                if len(parts) >= 4:
+                    p1 = int(parts[1])
+                    p2 = int(parts[2])
+                    p3 = int(parts[3])
+                    print(f"FASTGOTO: p1={p1}, p2={p2}, p3={p3}")
+                    sdk.ptz_control(
+                        ptz.login_handle,
+                        ptz.config['channel'],
+                        PTZCommand.FASTGOTO,
+                        p1, p2, p3, False
+                    )
+                else:
+                    print("用法: fast <p1> <p2> <p3>")
+            
+            else:
+                print("未知命令")
+                
+        except KeyboardInterrupt:
+            break
+        except Exception as e:
+            print(f"错误: {e}")
+
+
+def main():
+    print("PTZ 控制测试脚本")
+    print("=" * 50)
+    
+    # 初始化 SDK
+    sdk_path = os.path.join(SDK_PATH['lib_path'], SDK_PATH['netsdk'])
+    print(f"加载 SDK: {sdk_path}")
+    
+    sdk = DahuaSDK(sdk_path)
+    if not sdk.init():
+        print("SDK 初始化失败!")
+        return 1
+    
+    print("SDK 初始化成功")
+    
+    # 连接球机
+    ptz = PTZCamera(sdk, PTZ_CAMERA)
+    if not ptz.connect():
+        print("连接球机失败!")
+        sdk.cleanup()
+        return 1
+    
+    print("连接球机成功")
+    
+    try:
+        # 运行测试
+        print("\n选择测试模式:")
+        print("  1 - 基本控制测试 (左/右/上/下/变倍)")
+        print("  2 - 精确定位测试 (EXACTGOTO)")
+        print("  3 - 快速定位测试 (FASTGOTO)")
+        print("  4 - 交互式测试")
+        print("  5 - 全部测试")
+        
+        choice = input("\n请选择 (1-5): ").strip()
+        
+        if choice == '1':
+            test_ptz_basic_control(ptz)
+        elif choice == '2':
+            test_ptz_exact_goto(ptz)
+        elif choice == '3':
+            test_ptz_fast_goto(ptz, sdk)
+        elif choice == '4':
+            interactive_test(ptz, sdk)
+        elif choice == '5':
+            test_ptz_basic_control(ptz)
+            test_ptz_exact_goto(ptz)
+            test_ptz_fast_goto(ptz, sdk)
+        else:
+            print("无效选择")
+        
+    finally:
+        print("\n断开连接...")
+        ptz.disconnect()
+        sdk.cleanup()
+    
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main() or 0)