recharge/src/log.txt

[INFO] [1770376017.191192364] [wheelchair_state_machine]: 事件输入处理器已初始化
[INFO] [1770376017.193594822] [wheelchair_state_machine]: 电池管理器已初始化
[INFO] [1770376017.193682614] [wheelchair_state_machine]: 电池阈值 - 低电量: 20.0%, 严重低电量: 10.0%
[INFO] [1770376017.196325698] [wheelchair_state_machine]: 激光扫描控制器已初始化
[INFO] [1770376017.196447614] [wheelchair_state_machine]: [IpadManager] iPad管理器初始化完成
[INFO] [1770376017.196629323] [wheelchair_state_machine]: 状态转移表已初始化完成
[INFO] [1770376017.196822698] [wheelchair_state_machine]: [RotationManager] 旋转管理器初始化完成
[INFO] [1770376017.196850406] [wheelchair_state_machine]: 旋转管理器已初始化
[INFO] [1770376017.197190198] [wheelchair_state_machine]: 基站检测订阅者已初始化
[INFO] [1770376017.197589781] [wheelchair_state_machine]: 工作流管理器已初始化
[INFO] [1770376017.197899531] [wheelchair_state_machine]: 报告管理器已初始化
[INFO] [1770376017.197938031] [wheelchair_state_machine]: [IpadManager] 已设置回充启动回调
[INFO] [1770376017.197954948] [wheelchair_state_machine]: [IpadManager] 已设置回充取消回调
[INFO] [1770376017.197968073] [wheelchair_state_machine]: 已设置状态更新回调
[INFO] [1770376017.197985281] [wheelchair_state_machine]: 已设置回充状态回调
[INFO] [1770376017.198010073] [wheelchair_state_machine]: 已注册事件: ipad_phone_interface_start
[INFO] [1770376017.198025531] [wheelchair_state_machine]: 已注册事件: ipad_phone_interface_cancel
[INFO] [1770376017.198079489] [wheelchair_state_machine]: 已注册事件: low_battery_warning
[INFO] [1770376017.198095823] [wheelchair_state_machine]: 已注册事件: battery_start_charging
[INFO] [1770376017.198109823] [wheelchair_state_machine]: 已注册事件: battery_stop_charging
[INFO] [1770376017.198122364] [wheelchair_state_machine]: 已注册事件: battery_full
[INFO] [1770376017.198141323] [wheelchair_state_machine]: 已注册事件: bluetooth_disconnected
[INFO] [1770376017.198155323] [wheelchair_state_machine]: 已注册事件: bluetooth_connected
[INFO] [1770376017.198171656] [wheelchair_state_machine]: 已注册事件: base_station_power_off
[INFO] [1770376017.198186239] [wheelchair_state_machine]: 已注册事件: lock_vehicle
[INFO] [1770376017.198201406] [wheelchair_state_machine]: 已注册事件: unlock_vehicle
[INFO] [1770376017.198233489] [wheelchair_state_machine]: 已注册事件: joystick_pull_back
[INFO] [1770376017.198247781] [wheelchair_state_machine]: 已注册事件: joystick_stop
[INFO] [1770376017.198263239] [wheelchair_state_machine]: 已注册事件: push_start
[INFO] [1770376017.198278406] [wheelchair_state_machine]: 已注册事件: push_stop
[INFO] [1770376017.198291823] [wheelchair_state_machine]: 已注册事件: base_station_lost
[INFO] [1770376017.198305823] [wheelchair_state_machine]: 已注册事件: search_30s_timeout
[INFO] [1770376017.198317198] [wheelchair_state_machine]: 模块回调设置完成
[INFO] [1770376017.198649114] [wheelchair_state_machine]: 订阅器设置完成
[INFO] [1770376017.198675656] [wheelchair_state_machine]: 所有模块初始化完成
[INFO] [1770376017.198786198] [wheelchair_state_machine]: [SYSTEM_STATUS] 系统状态报告已生成
[INFO] [1770376017.198802823] [wheelchair_state_machine]: 智能轮椅状态机已启动
[INFO] [1770376024.373299210] [wheelchair_state_machine]: [IpadManager] 启动回充功能
[INFO] [1770376024.373496669] [wheelchair_state_machine]: iPad启动回充
[INFO] [1770376024.373639877] [wheelchair_state_machine]: 基站检测状态已重置: false
[INFO] [1770376024.373703460] [wheelchair_state_machine]: 已重置基站检测状态为false
[INFO] [1770376024.373761502] [wheelchair_state_machine]: 触发事件: ipad_phone_interface_start
[INFO] [1770376024.373831794] [wheelchair_state_machine]: 处理iPad启动事件
[INFO] [1770376024.373938252] [wheelchair_state_machine]: 执行事件: ipad_phone_interface_start
[INFO] [1770376024.373997460] [wheelchair_state_machine]: 处理iPad启动事件
[INFO] [1770376024.374315085] [wheelchair_state_machine]: [INFO] IPAD_RECHARGE_STARTED: iPad启动自主回充
[INFO] [1770376024.374410460] [wheelchair_state_machine]: 状态转移: 就绪中 -> 搜索中
[INFO] [1770376024.374559502] [wheelchair_state_machine]: [INFO] 搜索中: 状态已更新
[INFO] [1770376024.374623669] [wheelchair_state_machine]: 导航功能已启动
[INFO] [1770376024.374675585] [wheelchair_state_machine]: 启动导航控制
[INFO] [1770376024.374729835] [wheelchair_state_machine]: 开始搜索充电站
[INFO] [1770376024.374836585] [wheelchair_state_machine]: [INFO] SEARCH_CHARGING_STATION_START:
[INFO] [1770376024.375047752] [wheelchair_state_machine]: 搜索超时定时器已启动 (30秒)
[INFO] [1770376024.375160044] [wheelchair_state_machine]: 旋转检查定时器已启动 (10秒后检查)
[INFO] [1770376024.375237627] [wheelchair_state_machine]: [回充状态] RECHARGE_STARTED: 回充功能已启动，正在搜索充电站
[INFO] [1770376024.375327460] [wheelchair_state_machine]: [回充状态] RECHARGE_STARTED: 回充功能已启动，正在搜索充电站
[INFO] [1770376024.375447627] [wheelchair_state_machine]: [INFO] ipad_phone_interface_start: 事件已处理
[INFO] [1770376034.375274674] [wheelchair_state_machine]: 搜索已持续 10.0 秒，进入旋转状态
[INFO] [1770376034.375456382] [wheelchair_state_machine]: 状态转移: 搜索中 -> 旋转中
[INFO] [1770376034.375563715] [wheelchair_state_machine]: [INFO] 旋转中: 状态已更新
[INFO] [1770376034.375594049] [wheelchair_state_machine]: 进入旋转搜索状态
[INFO] [1770376034.375694090] [wheelchair_state_machine]: [RotationManager] 开始旋转 - 角速度: 0.150000 rad/s, 持续时间: 40.000000秒
[INFO] [1770376034.375722382] [wheelchair_state_machine]: 轮椅开始旋转搜索
[INFO] [1770376034.375755049] [wheelchair_state_machine]: [INFO] WHEELCHAIR_ROTATING: 旋转搜索充电站
[INFO] [1770376034.375772840] [wheelchair_state_machine]: 进入旋转搜索状态
[INFO] [1770376034.375795882] [wheelchair_state_machine]: [回充状态] ROTATING_SEARCH: 搜索10秒未找到基站，开始旋转搜索
[INFO] [1770376034.375813090] [wheelchair_state_machine]: [回充状态] ROTATING_SEARCH: 搜索10秒未找到基站，开始旋转搜索
[INFO] [1770376034.375839632] [wheelchair_state_machine]: 旋转检查定时器已停止
[INFO] [1770376034.375959799] [wheelchair_state_machine]: 搜索超时定时器已停止
[INFO] [1770376034.375977590] [wheelchair_state_machine]: 已停止搜索超时定时器，进入旋转搜索模式
[INFO] [1770376034.476112184] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 0.100378秒, 角速度: 0.150000 rad/s
[WARN] [1770376035.412585944] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376035.612554256] [wheelchair_state_machine]: 没有获取到分段
[INFO] [1770376036.476096510] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 2.100403秒, 角速度: 0.150000 rad/s
[INFO] [1770376038.475977336] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 4.100319秒, 角速度: 0.150000 rad/s
[INFO] [1770376040.475954995] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 6.100310秒, 角速度: 0.150000 rad/s
[INFO] [1770376041.170878440] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.171026023] [wheelchair_state_machine]: 左直线: y = 0.3718x + -1.0714
[INFO] [1770376041.171065398] [wheelchair_state_machine]: 右直线: y = 7.3621x + -9.6470
[INFO] [1770376041.171096023] [wheelchair_state_machine]: 角平分线: y = 1.2496x + -2.1482
[INFO] [1770376041.171125481] [wheelchair_state_machine]: 交点: (1.2268, -0.6152)
[INFO] [1770376041.171154648] [wheelchair_state_machine]: 左直线角度: 20.40°
[INFO] [1770376041.171184690] [wheelchair_state_machine]: 右直线角度: 82.26°
[INFO] [1770376041.171211815] [wheelchair_state_machine]: 角平分线角度: 51.33°
[INFO] [1770376041.171240981] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差51.3°)
[INFO] [1770376041.171350065] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.171785231] [wheelchair_state_machine]: 旋转中检测到基站，记录检测时间并设置延迟切换
[INFO] [1770376041.172231190] [wheelchair_state_machine]: 旋转延迟定时器已启动 (2.5秒后切换状态)
[INFO] [1770376041.172477065] [wheelchair_state_machine]: [INFO] STATION_DETECTED_WHILE_ROTATING: 旋转中检测到基站，继续旋转2.5秒后对接
[INFO] [1770376041.172535982] [wheelchair_state_machine]: 进入旋转搜索状态
[INFO] [1770376041.269666491] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.269859575] [wheelchair_state_machine]: 左直线: y = 0.3841x + -1.0826
[INFO] [1770376041.269947075] [wheelchair_state_machine]: 右直线: y = 10.1618x + -13.1514
[INFO] [1770376041.270032241] [wheelchair_state_machine]: 角平分线: y = 1.3125x + -2.2285
[INFO] [1770376041.270111866] [wheelchair_state_machine]: 交点: (1.2343, -0.6084)
[INFO] [1770376041.270191200] [wheelchair_state_machine]: 左直线角度: 21.01°
[INFO] [1770376041.270268783] [wheelchair_state_machine]: 右直线角度: 84.38°
[INFO] [1770376041.270342866] [wheelchair_state_machine]: 角平分线角度: 52.70°
[INFO] [1770376041.270410241] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差52.7°)
[INFO] [1770376041.270488991] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.270593991] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376041.370874460] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.371064335] [wheelchair_state_machine]: 左直线: y = 0.4212x + -1.1100
[INFO] [1770376041.371155168] [wheelchair_state_machine]: 右直线: y = 11.0109x + -14.2819
[INFO] [1770376041.371240335] [wheelchair_state_machine]: 角平分线: y = 1.3676x + -2.2872
[INFO] [1770376041.371316752] [wheelchair_state_machine]: 交点: (1.2438, -0.5860)
[INFO] [1770376041.371392002] [wheelchair_state_machine]: 左直线角度: 22.84°
[INFO] [1770376041.371465502] [wheelchair_state_machine]: 右直线角度: 84.81°
[INFO] [1770376041.371522668] [wheelchair_state_machine]: 角平分线角度: 53.83°
[INFO] [1770376041.371622710] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差53.8°)
[INFO] [1770376041.371700002] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.371802960] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376041.469572178] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.469766720] [wheelchair_state_machine]: 左直线: y = 0.4064x + -1.0833
[INFO] [1770376041.469828845] [wheelchair_state_machine]: 右直线: y = 14.0679x + -18.0724
[INFO] [1770376041.469886011] [wheelchair_state_machine]: 角平分线: y = 1.3777x + -2.2911
[INFO] [1770376041.469948136] [wheelchair_state_machine]: 交点: (1.2436, -0.5779)
[INFO] [1770376041.470001803] [wheelchair_state_machine]: 左直线角度: 22.12°
[INFO] [1770376041.470051678] [wheelchair_state_machine]: 右直线角度: 85.93°
[INFO] [1770376041.470113220] [wheelchair_state_machine]: 角平分线角度: 54.03°
[INFO] [1770376041.470176220] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差54.0°)
[INFO] [1770376041.470229303] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.470355595] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376041.566887105] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.567001730] [wheelchair_state_machine]: 左直线: y = 0.4337x + -1.0939
[INFO] [1770376041.567024480] [wheelchair_state_machine]: 右直线: y = 19.0944x + -24.4184
[INFO] [1770376041.567044896] [wheelchair_state_machine]: 角平分线: y = 1.4400x + -2.3518
[INFO] [1770376041.567130355] [wheelchair_state_machine]: 交点: (1.2499, -0.5519)
[INFO] [1770376041.567149605] [wheelchair_state_machine]: 左直线角度: 23.44°
[INFO] [1770376041.567165063] [wheelchair_state_machine]: 右直线角度: 87.00°
[INFO] [1770376041.567180230] [wheelchair_state_machine]: 角平分线角度: 55.22°
[INFO] [1770376041.567195980] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差55.2°)
[INFO] [1770376041.567212313] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.567244688] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376041.668303531] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.668563406] [wheelchair_state_machine]: 左直线: y = 0.4292x + -1.0862
[INFO] [1770376041.668638365] [wheelchair_state_machine]: 右直线: y = 18.9297x + -24.2404
[INFO] [1770376041.668698156] [wheelchair_state_machine]: 角平分线: y = 1.4336x + -2.3432
[INFO] [1770376041.668761740] [wheelchair_state_machine]: 交点: (1.2515, -0.5490)
[INFO] [1770376041.668816281] [wheelchair_state_machine]: 左直线角度: 23.23°
[INFO] [1770376041.668911073] [wheelchair_state_machine]: 右直线角度: 86.98°
[INFO] [1770376041.668962698] [wheelchair_state_machine]: 角平分线角度: 55.10°
[INFO] [1770376041.669012865] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差55.1°)
[INFO] [1770376041.669074698] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.669187573] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376041.767454000] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.767692583] [wheelchair_state_machine]: 左直线: y = 0.4546x + -1.1040
[INFO] [1770376041.767765500] [wheelchair_state_machine]: 右直线: y = -5.6779x + 6.7558
[INFO] [1770376041.767829375] [wheelchair_state_machine]: 角平分线: y = -0.5268x + 0.1539
[INFO] [1770376041.767894708] [wheelchair_state_machine]: 交点: (1.2817, -0.5213)
[INFO] [1770376041.767959166] [wheelchair_state_machine]: 左直线角度: 24.45°
[INFO] [1770376041.768020708] [wheelchair_state_machine]: 右直线角度: -80.01°
[INFO] [1770376041.768105583] [wheelchair_state_machine]: 角平分线角度: -27.78°
[INFO] [1770376041.768168000] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-27.8°)
[INFO] [1770376041.768250250] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.768348250] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376041.966147520] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376041.966267395] [wheelchair_state_machine]: 左直线: y = 0.5015x + -1.1446
[INFO] [1770376041.966298895] [wheelchair_state_machine]: 右直线: y = -5.1742x + 6.2007
[INFO] [1770376041.966322811] [wheelchair_state_machine]: 角平分线: y = -0.4924x + 0.1416
[INFO] [1770376041.966347020] [wheelchair_state_machine]: 交点: (1.2942, -0.4956)
[INFO] [1770376041.966370353] [wheelchair_state_machine]: 左直线角度: 26.63°
[INFO] [1770376041.966393103] [wheelchair_state_machine]: 右直线角度: -79.06°
[INFO] [1770376041.966415270] [wheelchair_state_machine]: 角平分线角度: -26.21°
[INFO] [1770376041.966439770] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-26.2°)
[INFO] [1770376041.966458436] [wheelchair_state_machine]: ==================================
[INFO] [1770376041.966491103] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.064577780] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.064784863] [wheelchair_state_machine]: 左直线: y = 0.6214x + -1.2804
[INFO] [1770376042.064851363] [wheelchair_state_machine]: 右直线: y = -15.5944x + 19.6476
[INFO] [1770376042.064932738] [wheelchair_state_machine]: 角平分线: y = -0.5148x + 0.1859
[INFO] [1770376042.065073321] [wheelchair_state_machine]: 交点: (1.2906, -0.4784)
[INFO] [1770376042.065132530] [wheelchair_state_machine]: 左直线角度: 31.86°
[INFO] [1770376042.065183571] [wheelchair_state_machine]: 右直线角度: -86.33°
[INFO] [1770376042.065233155] [wheelchair_state_machine]: 角平分线角度: -27.24°
[INFO] [1770376042.065285071] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-27.2°)
[INFO] [1770376042.065342530] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.065411655] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.165104040] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.165328915] [wheelchair_state_machine]: 左直线: y = 0.5007x + -1.1315
[INFO] [1770376042.165402706] [wheelchair_state_machine]: 右直线: y = 3.6297x + -5.0467
[INFO] [1770376042.165465998] [wheelchair_state_machine]: 角平分线: y = 1.2173x + -2.0281
[INFO] [1770376042.165591706] [wheelchair_state_machine]: 交点: (1.2513, -0.5049)
[INFO] [1770376042.165646248] [wheelchair_state_machine]: 左直线角度: 26.60°
[INFO] [1770376042.165712456] [wheelchair_state_machine]: 右直线角度: 74.60°
[INFO] [1770376042.165770790] [wheelchair_state_machine]: 角平分线角度: 50.60°
[INFO] [1770376042.166051373] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差50.6°)
[INFO] [1770376042.166118748] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.166208873] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.263798300] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.263983508] [wheelchair_state_machine]: 左直线: y = 0.4680x + -1.0736
[INFO] [1770376042.264058758] [wheelchair_state_machine]: 右直线: y = -6.7148x + 8.3198
[INFO] [1770376042.264125550] [wheelchair_state_machine]: 角平分线: y = -0.5367x + 0.2404
[INFO] [1770376042.264191758] [wheelchair_state_machine]: 交点: (1.3077, -0.4615)
[INFO] [1770376042.264260883] [wheelchair_state_machine]: 左直线角度: 25.08°
[INFO] [1770376042.264327966] [wheelchair_state_machine]: 右直线角度: -81.53°
[INFO] [1770376042.264402925] [wheelchair_state_machine]: 角平分线角度: -28.22°
[INFO] [1770376042.264469133] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-28.2°)
[INFO] [1770376042.264534466] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.264629550] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.362626726] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.362819518] [wheelchair_state_machine]: 左直线: y = 0.5844x + -1.2082
[INFO] [1770376042.362905851] [wheelchair_state_machine]: 右直线: y = -13.3967x + 17.0441
[INFO] [1770376042.362993935] [wheelchair_state_machine]: 角平分线: y = -0.5253x + 0.2406
[INFO] [1770376042.363070935] [wheelchair_state_machine]: 交点: (1.3055, -0.4452)
[INFO] [1770376042.363147060] [wheelchair_state_machine]: 左直线角度: 30.30°
[INFO] [1770376042.363221143] [wheelchair_state_machine]: 右直线角度: -85.73°
[INFO] [1770376042.363295518] [wheelchair_state_machine]: 角平分线角度: -27.71°
[INFO] [1770376042.363355601] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-27.7°)
[INFO] [1770376042.363428810] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.363532351] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.460788319] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.460979069] [wheelchair_state_machine]: 左直线: y = 0.5711x + -1.1807
[INFO] [1770376042.461054319] [wheelchair_state_machine]: 右直线: y = 3.3039x + -4.6247
[INFO] [1770376042.461250028] [wheelchair_state_machine]: 角平分线: y = 1.2547x + -2.0422
[INFO] [1770376042.461342194] [wheelchair_state_machine]: 交点: (1.2602, -0.4610)
[INFO] [1770376042.461397319] [wheelchair_state_machine]: 左直线角度: 29.73°
[INFO] [1770376042.461446903] [wheelchair_state_machine]: 右直线角度: 73.16°
[INFO] [1770376042.461496194] [wheelchair_state_machine]: 角平分线角度: 51.45°
[INFO] [1770376042.461578444] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差51.4°)
[INFO] [1770376042.461635611] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.461718153] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.476547988] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 8.100883秒, 角速度: 0.150000 rad/s
[INFO] [1770376042.562213955] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.562408788] [wheelchair_state_machine]: 左直线: y = 0.5852x + -1.1905
[INFO] [1770376042.562496580] [wheelchair_state_machine]: 右直线: y = 3.6765x + -5.1115
[INFO] [1770376042.562573871] [wheelchair_state_machine]: 角平分线: y = 1.3060x + -2.1048
[INFO] [1770376042.562649996] [wheelchair_state_machine]: 交点: (1.2683, -0.4483)
[INFO] [1770376042.562727871] [wheelchair_state_machine]: 左直线角度: 30.33°
[INFO] [1770376042.562804288] [wheelchair_state_machine]: 右直线角度: 74.78°
[INFO] [1770376042.562878663] [wheelchair_state_machine]: 角平分线角度: 52.56°
[INFO] [1770376042.562954205] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差52.6°)
[INFO] [1770376042.563029746] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.563131830] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.660801714] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.661026006] [wheelchair_state_machine]: 左直线: y = 0.6232x + -1.2281
[INFO] [1770376042.661115548] [wheelchair_state_machine]: 右直线: y = -10.5839x + 13.5674
[INFO] [1770376042.661212381] [wheelchair_state_machine]: 角平分线: y = -0.4950x + 0.2481
[INFO] [1770376042.661299006] [wheelchair_state_machine]: 交点: (1.3202, -0.4055)
[INFO] [1770376042.661380381] [wheelchair_state_machine]: 左直线角度: 31.93°
[INFO] [1770376042.661457381] [wheelchair_state_machine]: 右直线角度: -84.60°
[INFO] [1770376042.661534381] [wheelchair_state_machine]: 角平分线角度: -26.34°
[INFO] [1770376042.661644923] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-26.3°)
[INFO] [1770376042.661727465] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.661837715] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.757833224] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.757929766] [wheelchair_state_machine]: 左直线: y = 0.5954x + -1.1896
[INFO] [1770376042.757951349] [wheelchair_state_machine]: 右直线: y = -8.8319x + 11.3011
[INFO] [1770376042.757969724] [wheelchair_state_machine]: 角平分线: y = -0.4961x + 0.2565
[INFO] [1770376042.757985766] [wheelchair_state_machine]: 交点: (1.3250, -0.4008)
[INFO] [1770376042.758005599] [wheelchair_state_machine]: 左直线角度: 30.77°
[INFO] [1770376042.758021058] [wheelchair_state_machine]: 右直线角度: -83.54°
[INFO] [1770376042.758035933] [wheelchair_state_machine]: 角平分线角度: -26.39°
[INFO] [1770376042.758051391] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-26.4°)
[INFO] [1770376042.758065974] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.758093391] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.859882109] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.860204984] [wheelchair_state_machine]: 左直线: y = 0.6305x + -1.2180
[INFO] [1770376042.860297734] [wheelchair_state_machine]: 右直线: y = -8.2456x + 10.5964
[INFO] [1770376042.860375901] [wheelchair_state_machine]: 角平分线: y = -0.4754x + 0.2540
[INFO] [1770376042.860449984] [wheelchair_state_machine]: 交点: (1.3310, -0.3788)
[INFO] [1770376042.860522318] [wheelchair_state_machine]: 左直线角度: 32.23°
[INFO] [1770376042.860597568] [wheelchair_state_machine]: 右直线角度: -83.09°
[INFO] [1770376042.860669318] [wheelchair_state_machine]: 角平分线角度: -25.43°
[INFO] [1770376042.860734651] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-25.4°)
[INFO] [1770376042.860804068] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.860915485] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376042.957457494] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376042.957562494] [wheelchair_state_machine]: 左直线: y = 0.6393x + -1.2197
[INFO] [1770376042.957591953] [wheelchair_state_machine]: 右直线: y = -8.0650x + 10.4008
[INFO] [1770376042.957616453] [wheelchair_state_machine]: 角平分线: y = -0.4699x + 0.2612
[INFO] [1770376042.957636578] [wheelchair_state_machine]: 交点: (1.3350, -0.3662)
[INFO] [1770376042.957656411] [wheelchair_state_machine]: 左直线角度: 32.59°
[INFO] [1770376042.957675369] [wheelchair_state_machine]: 右直线角度: -82.93°
[INFO] [1770376042.957694036] [wheelchair_state_machine]: 角平分线角度: -25.17°
[INFO] [1770376042.957714744] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-25.2°)
[INFO] [1770376042.957734578] [wheelchair_state_machine]: ==================================
[INFO] [1770376042.957768119] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.059633505] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.059930130] [wheelchair_state_machine]: 左直线: y = 0.6988x + -1.2793
[INFO] [1770376043.060014713] [wheelchair_state_machine]: 右直线: y = -6.4489x + 8.3159
[INFO] [1770376043.060096088] [wheelchair_state_machine]: 角平分线: y = -0.4269x + 0.2319
[INFO] [1770376043.060174255] [wheelchair_state_machine]: 交点: (1.3424, -0.3412)
[INFO] [1770376043.060250380] [wheelchair_state_machine]: 左直线角度: 34.95°
[INFO] [1770376043.060323588] [wheelchair_state_machine]: 右直线角度: -81.19°
[INFO] [1770376043.060467380] [wheelchair_state_machine]: 角平分线角度: -23.12°
[INFO] [1770376043.060547880] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-23.1°)
[INFO] [1770376043.060610296] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.060699255] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.157603806] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.157803598] [wheelchair_state_machine]: 左直线: y = 0.7291x + -1.3083
[INFO] [1770376043.157901014] [wheelchair_state_machine]: 右直线: y = -5.6821x + 7.3335
[INFO] [1770376043.157978889] [wheelchair_state_machine]: 角平分线: y = -0.4033x + 0.2180
[INFO] [1770376043.158045098] [wheelchair_state_machine]: 交点: (1.3479, -0.3256)
[INFO] [1770376043.158111889] [wheelchair_state_machine]: 左直线角度: 36.09°
[INFO] [1770376043.158174306] [wheelchair_state_machine]: 右直线角度: -80.02°
[INFO] [1770376043.158297389] [wheelchair_state_machine]: 角平分线角度: -21.96°
[INFO] [1770376043.158363889] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-22.0°)
[INFO] [1770376043.158428056] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.158521389] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.256349524] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.256841274] [wheelchair_state_machine]: 左直线: y = 0.7504x + -1.3306
[INFO] [1770376043.256941316] [wheelchair_state_machine]: 右直线: y = -6.0514x + 7.8450
[INFO] [1770376043.257014233] [wheelchair_state_machine]: 角平分线: y = -0.4013x + 0.2230
[INFO] [1770376043.257076358] [wheelchair_state_machine]: 交点: (1.3490, -0.3184)
[INFO] [1770376043.257138191] [wheelchair_state_machine]: 左直线角度: 36.88°
[INFO] [1770376043.257198274] [wheelchair_state_machine]: 右直线角度: -80.62°
[INFO] [1770376043.257256024] [wheelchair_state_machine]: 角平分线角度: -21.87°
[INFO] [1770376043.257316399] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-21.9°)
[INFO] [1770376043.257374441] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.257467774] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.357410493] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.357761368] [wheelchair_state_machine]: 左直线: y = 0.7320x + -1.2985
[INFO] [1770376043.358241743] [wheelchair_state_machine]: 右直线: y = -6.6997x + 8.7426
[INFO] [1770376043.358461951] [wheelchair_state_machine]: 角平分线: y = -0.4173x + 0.2545
[INFO] [1770376043.358617118] [wheelchair_state_machine]: 交点: (1.3511, -0.3094)
[INFO] [1770376043.358685076] [wheelchair_state_machine]: 左直线角度: 36.21°
[INFO] [1770376043.358888660] [wheelchair_state_machine]: 右直线角度: -81.51°
[INFO] [1770376043.359004743] [wheelchair_state_machine]: 角平分线角度: -22.65°
[INFO] [1770376043.359129285] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-22.7°)
[INFO] [1770376043.359194910] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.359334910] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.455917753] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.456149919] [wheelchair_state_machine]: 左直线: y = 0.7543x + -1.3047
[INFO] [1770376043.456235378] [wheelchair_state_machine]: 右直线: y = -5.8690x + 7.6979
[INFO] [1770376043.456290503] [wheelchair_state_machine]: 角平分线: y = -0.3970x + 0.2602
[INFO] [1770376043.456344753] [wheelchair_state_machine]: 交点: (1.3592, -0.2794)
[INFO] [1770376043.456398128] [wheelchair_state_machine]: 左直线角度: 37.03°
[INFO] [1770376043.456451794] [wheelchair_state_machine]: 右直线角度: -80.33°
[INFO] [1770376043.456500503] [wheelchair_state_machine]: 角平分线角度: -21.65°
[INFO] [1770376043.456552128] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-21.7°)
[INFO] [1770376043.456602003] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.456696794] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.553761137] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.553954513] [wheelchair_state_machine]: 左直线: y = 0.7889x + -1.3508
[INFO] [1770376043.554029179] [wheelchair_state_machine]: 右直线: y = -5.2161x + 6.8186
[INFO] [1770376043.554082554] [wheelchair_state_machine]: 角平分线: y = -0.3727x + 0.2295
[INFO] [1770376043.554137388] [wheelchair_state_machine]: 交点: (1.3605, -0.2776)
[INFO] [1770376043.554214679] [wheelchair_state_machine]: 左直线角度: 38.27°
[INFO] [1770376043.554284096] [wheelchair_state_machine]: 右直线角度: -79.15°
[INFO] [1770376043.554348554] [wheelchair_state_machine]: 角平分线角度: -20.44°
[INFO] [1770376043.554413888] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-20.4°)
[INFO] [1770376043.554480096] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.554569638] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.654838148] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.655060689] [wheelchair_state_machine]: 左直线: y = 0.7904x + -1.3341
[INFO] [1770376043.655166856] [wheelchair_state_machine]: 右直线: y = -5.2335x + 6.8881
[INFO] [1770376043.655270398] [wheelchair_state_machine]: 角平分线: y = -0.3725x + 0.2532
[INFO] [1770376043.655359064] [wheelchair_state_machine]: 交点: (1.3649, -0.2553)
[INFO] [1770376043.655444814] [wheelchair_state_machine]: 左直线角度: 38.32°
[INFO] [1770376043.655526481] [wheelchair_state_machine]: 右直线角度: -79.18°
[INFO] [1770376043.655605231] [wheelchair_state_machine]: 角平分线角度: -20.43°
[INFO] [1770376043.655686898] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-20.4°)
[INFO] [1770376043.655763898] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.655855773] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.753236699] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.753448741] [wheelchair_state_machine]: 左直线: y = 0.8549x + -1.4022
[INFO] [1770376043.753543824] [wheelchair_state_machine]: 右直线: y = -4.9961x + 6.6266
[INFO] [1770376043.753631324] [wheelchair_state_machine]: 角平分线: y = -0.3458x + 0.2455
[INFO] [1770376043.753715908] [wheelchair_state_machine]: 交点: (1.3722, -0.2291)
[INFO] [1770376043.753799908] [wheelchair_state_machine]: 左直线角度: 40.53°
[INFO] [1770376043.753879241] [wheelchair_state_machine]: 右直线角度: -78.68°
[INFO] [1770376043.753956533] [wheelchair_state_machine]: 角平分线角度: -19.08°
[INFO] [1770376043.754053074] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-19.1°)
[INFO] [1770376043.754135908] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.754240908] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.852236209] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.852410042] [wheelchair_state_machine]: 左直线: y = 0.8726x + -1.4184
[INFO] [1770376043.852471584] [wheelchair_state_machine]: 右直线: y = -4.1765x + 5.5140
[INFO] [1770376043.852513001] [wheelchair_state_machine]: 角平分线: y = -0.3194x + 0.2182
[INFO] [1770376043.852556751] [wheelchair_state_machine]: 交点: (1.3730, -0.2204)
[INFO] [1770376043.852598751] [wheelchair_state_machine]: 左直线角度: 41.11°
[INFO] [1770376043.852640168] [wheelchair_state_machine]: 右直线角度: -76.53°
[INFO] [1770376043.852679834] [wheelchair_state_machine]: 角平分线角度: -17.71°
[INFO] [1770376043.852720084] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-17.7°)
[INFO] [1770376043.852760626] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.852821584] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376043.953033344] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376043.953240719] [wheelchair_state_machine]: 左直线: y = 0.8650x + -1.3909
[INFO] [1770376043.953322386] [wheelchair_state_machine]: 右直线: y = -3.7166x + 4.9199
[INFO] [1770376043.953383636] [wheelchair_state_machine]: 角平分线: y = -0.3065x + 0.2227
[INFO] [1770376043.953489803] [wheelchair_state_machine]: 交点: (1.3774, -0.1995)
[INFO] [1770376043.953567386] [wheelchair_state_machine]: 左直线角度: 40.86°
[INFO] [1770376043.953650803] [wheelchair_state_machine]: 右直线角度: -74.94°
[INFO] [1770376043.953724011] [wheelchair_state_machine]: 角平分线角度: -17.04°
[INFO] [1770376043.954088303] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-17.0°)
[INFO] [1770376043.954163261] [wheelchair_state_machine]: ==================================
[INFO] [1770376043.954266511] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.051756396] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.051997313] [wheelchair_state_machine]: 左直线: y = 0.8765x + -1.3958
[INFO] [1770376044.052090646] [wheelchair_state_machine]: 右直线: y = -3.7033x + 4.9221
[INFO] [1770376044.052169688] [wheelchair_state_machine]: 角平分线: y = -0.3024x + 0.2306
[INFO] [1770376044.052233854] [wheelchair_state_machine]: 交点: (1.3795, -0.1866)
[INFO] [1770376044.052307646] [wheelchair_state_machine]: 左直线角度: 41.23°
[INFO] [1770376044.052380271] [wheelchair_state_machine]: 右直线角度: -74.89°
[INFO] [1770376044.052437729] [wheelchair_state_machine]: 角平分线角度: -16.83°
[INFO] [1770376044.052496354] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-16.8°)
[INFO] [1770376044.052572479] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.052684479] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.148636989] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.148748114] [wheelchair_state_machine]: 左直线: y = 0.9138x + -1.4391
[INFO] [1770376044.148784864] [wheelchair_state_machine]: 右直线: y = -3.5130x + 4.6796
[INFO] [1770376044.148812864] [wheelchair_state_machine]: 角平分线: y = -0.2838x + 0.2163
[INFO] [1770376044.148841739] [wheelchair_state_machine]: 交点: (1.3822, -0.1760)
[INFO] [1770376044.148869739] [wheelchair_state_machine]: 左直线角度: 42.42°
[INFO] [1770376044.148897447] [wheelchair_state_machine]: 右直线角度: -74.11°
[INFO] [1770376044.148924572] [wheelchair_state_machine]: 角平分线角度: -15.84°
[INFO] [1770376044.148951406] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-15.8°)
[INFO] [1770376044.148977656] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.149017614] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.250232416] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.250434832] [wheelchair_state_machine]: 左直线: y = 0.9446x + -1.4551
[INFO] [1770376044.250530499] [wheelchair_state_machine]: 右直线: y = -3.0799x + 4.1252
[INFO] [1770376044.250617999] [wheelchair_state_machine]: 角平分线: y = -0.2553x + 0.2087
[INFO] [1770376044.250704333] [wheelchair_state_machine]: 交点: (1.3866, -0.1453)
[INFO] [1770376044.250788916] [wheelchair_state_machine]: 左直线角度: 43.37°
[INFO] [1770376044.250874374] [wheelchair_state_machine]: 右直线角度: -72.01°
[INFO] [1770376044.250953124] [wheelchair_state_machine]: 角平分线角度: -14.32°
[INFO] [1770376044.251035083] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-14.3°)
[INFO] [1770376044.251114999] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.251228458] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.349997551] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.350215718] [wheelchair_state_machine]: 左直线: y = 0.9578x + -1.4579
[INFO] [1770376044.350305551] [wheelchair_state_machine]: 右直线: y = -2.8827x + 3.8805
[INFO] [1770376044.350370009] [wheelchair_state_machine]: 角平分线: y = -0.2410x + 0.2085
[INFO] [1770376044.350435343] [wheelchair_state_machine]: 交点: (1.3901, -0.1266)
[INFO] [1770376044.350500093] [wheelchair_state_machine]: 左直线角度: 43.76°
[INFO] [1770376044.350561343] [wheelchair_state_machine]: 右直线角度: -70.87°
[INFO] [1770376044.350622884] [wheelchair_state_machine]: 角平分线角度: -13.55°
[INFO] [1770376044.350685593] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-13.6°)
[INFO] [1770376044.350746259] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.350833468] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.449393186] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.449522102] [wheelchair_state_machine]: 左直线: y = 1.0443x + -1.5594
[INFO] [1770376044.449569644] [wheelchair_state_machine]: 右直线: y = -2.6934x + 3.6392
[INFO] [1770376044.449606394] [wheelchair_state_machine]: 角平分线: y = -0.2070x + 0.1809
[INFO] [1770376044.449644311] [wheelchair_state_machine]: 交点: (1.3909, -0.1070)
[INFO] [1770376044.449681061] [wheelchair_state_machine]: 左直线角度: 46.24°
[INFO] [1770376044.449715769] [wheelchair_state_machine]: 右直线角度: -69.63°
[INFO] [1770376044.449747853] [wheelchair_state_machine]: 角平分线角度: -11.70°
[INFO] [1770376044.449782561] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-11.7°)
[INFO] [1770376044.449815811] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.449873269] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.476104772] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 10.100417秒, 角速度: 0.150000 rad/s
[INFO] [1770376044.548856821] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.549090154] [wheelchair_state_machine]: 左直线: y = 1.0692x + -1.5895
[INFO] [1770376044.549199821] [wheelchair_state_machine]: 右直线: y = -2.7276x + 3.6893
[INFO] [1770376044.549296363] [wheelchair_state_machine]: 角平分线: y = -0.2030x + 0.1792
[INFO] [1770376044.549389696] [wheelchair_state_machine]: 交点: (1.3903, -0.1030)
[INFO] [1770376044.549483904] [wheelchair_state_machine]: 左直线角度: 46.92°
[INFO] [1770376044.549577238] [wheelchair_state_machine]: 右直线角度: -69.87°
[INFO] [1770376044.549665029] [wheelchair_state_machine]: 角平分线角度: -11.48°
[INFO] [1770376044.549754279] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-11.5°)
[INFO] [1770376044.549846154] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.549963404] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.645410081] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.645509831] [wheelchair_state_machine]: 左直线: y = 1.0508x + -1.5430
[INFO] [1770376044.645533747] [wheelchair_state_machine]: 右直线: y = -2.7245x + 3.7140
[INFO] [1770376044.645550081] [wheelchair_state_machine]: 角平分线: y = -0.2073x + 0.2089
[INFO] [1770376044.645569331] [wheelchair_state_machine]: 交点: (1.3925, -0.0798)
[INFO] [1770376044.645585664] [wheelchair_state_machine]: 左直线角度: 46.42°
[INFO] [1770376044.645603456] [wheelchair_state_machine]: 右直线角度: -69.84°
[INFO] [1770376044.645618914] [wheelchair_state_machine]: 角平分线角度: -11.71°
[INFO] [1770376044.645635831] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-11.7°)
[INFO] [1770376044.645651581] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.645682497] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.746807924] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.746919049] [wheelchair_state_machine]: 左直线: y = 1.0714x + -1.5603
[INFO] [1770376044.746951132] [wheelchair_state_machine]: 右直线: y = -2.5499x + 3.4871
[INFO] [1770376044.746975341] [wheelchair_state_machine]: 角平分线: y = -0.1909x + 0.1991
[INFO] [1770376044.746999549] [wheelchair_state_machine]: 交点: (1.3938, -0.0669)
[INFO] [1770376044.747023174] [wheelchair_state_machine]: 左直线角度: 46.98°
[INFO] [1770376044.747047382] [wheelchair_state_machine]: 右直线角度: -68.59°
[INFO] [1770376044.747069257] [wheelchair_state_machine]: 角平分线角度: -10.81°
[INFO] [1770376044.747092882] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-10.8°)
[INFO] [1770376044.747186799] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.747225007] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.845248726] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.845365684] [wheelchair_state_machine]: 左直线: y = 1.1359x + -1.6386
[INFO] [1770376044.845396601] [wheelchair_state_machine]: 右直线: y = -2.4040x + 3.2989
[INFO] [1770376044.845421392] [wheelchair_state_machine]: 角平分线: y = -0.1653x + 0.1764
[INFO] [1770376044.845453476] [wheelchair_state_machine]: 交点: (1.3948, -0.0542)
[INFO] [1770376044.845477101] [wheelchair_state_machine]: 左直线角度: 48.64°
[INFO] [1770376044.845501309] [wheelchair_state_machine]: 右直线角度: -67.41°
[INFO] [1770376044.845522892] [wheelchair_state_machine]: 角平分线角度: -9.39°
[INFO] [1770376044.845544767] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-9.4°)
[INFO] [1770376044.845567517] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.845605726] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376044.944926527] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376044.945194569] [wheelchair_state_machine]: 左直线: y = 1.1924x + -1.6978
[INFO] [1770376044.945280319] [wheelchair_state_machine]: 右直线: y = -2.3162x + 3.1953
[INFO] [1770376044.945409819] [wheelchair_state_machine]: 角平分线: y = -0.1462x + 0.1690
[INFO] [1770376044.945489736] [wheelchair_state_machine]: 交点: (1.3946, -0.0349)
[INFO] [1770376044.945566736] [wheelchair_state_machine]: 左直线角度: 50.02°
[INFO] [1770376044.945641694] [wheelchair_state_machine]: 右直线角度: -66.65°
[INFO] [1770376044.945713444] [wheelchair_state_machine]: 角平分线角度: -8.32°
[INFO] [1770376044.945782861] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-8.3°)
[INFO] [1770376044.946086777] [wheelchair_state_machine]: ==================================
[INFO] [1770376044.946200819] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.045446537] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.045704371] [wheelchair_state_machine]: 左直线: y = 1.2628x + -1.7717
[INFO] [1770376045.045791579] [wheelchair_state_machine]: 右直线: y = -2.2215x + 3.0878
[INFO] [1770376045.045865954] [wheelchair_state_machine]: 角平分线: y = -0.1240x + 0.1625
[INFO] [1770376045.045938579] [wheelchair_state_machine]: 交点: (1.3947, -0.0105)
[INFO] [1770376045.046007412] [wheelchair_state_machine]: 左直线角度: 51.62°
[INFO] [1770376045.046075079] [wheelchair_state_machine]: 右直线角度: -65.77°
[INFO] [1770376045.046136621] [wheelchair_state_machine]: 角平分线角度: -7.07°
[INFO] [1770376045.046199329] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-7.1°)
[INFO] [1770376045.046268162] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.046371412] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.143359339] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.143559131] [wheelchair_state_machine]: 左直线: y = 1.2747x + -1.7724
[INFO] [1770376045.143648089] [wheelchair_state_machine]: 右直线: y = -2.1367x + 2.9879
[INFO] [1770376045.143727714] [wheelchair_state_machine]: 角平分线: y = -0.1142x + 0.1657
[INFO] [1770376045.143810839] [wheelchair_state_machine]: 交点: (1.3954, 0.0063)
[INFO] [1770376045.143889589] [wheelchair_state_machine]: 左直线角度: 51.89°
[INFO] [1770376045.143970381] [wheelchair_state_machine]: 右直线角度: -64.92°
[INFO] [1770376045.144047089] [wheelchair_state_machine]: 角平分线角度: -6.52°
[INFO] [1770376045.144267881] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-6.5°)
[INFO] [1770376045.144356256] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.144472047] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.242368974] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.242564974] [wheelchair_state_machine]: 左直线: y = 1.2931x + -1.7939
[INFO] [1770376045.242636141] [wheelchair_state_machine]: 右直线: y = -2.1069x + 2.9522
[INFO] [1770376045.242703224] [wheelchair_state_machine]: 角平分线: y = -0.1080x + 0.1619
[INFO] [1770376045.242774682] [wheelchair_state_machine]: 交点: (1.3959, 0.0112)
[INFO] [1770376045.242845266] [wheelchair_state_machine]: 左直线角度: 52.28°
[INFO] [1770376045.242913516] [wheelchair_state_machine]: 右直线角度: -64.61°
[INFO] [1770376045.242977391] [wheelchair_state_machine]: 角平分线角度: -6.16°
[INFO] [1770376045.243040682] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差-6.2°)
[INFO] [1770376045.243105141] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.243199349] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.441678911] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.441877244] [wheelchair_state_machine]: 左直线: y = 1.4379x + -1.9570
[INFO] [1770376045.441968244] [wheelchair_state_machine]: 右直线: y = -2.0042x + 2.8374
[INFO] [1770376045.442050202] [wheelchair_state_machine]: 角平分线: y = -0.0726x + 0.1469
[INFO] [1770376045.442133911] [wheelchair_state_machine]: 交点: (1.3929, 0.0458)
[INFO] [1770376045.442214411] [wheelchair_state_machine]: 左直线角度: 55.18°
[INFO] [1770376045.442298411] [wheelchair_state_machine]: 右直线角度: -63.48°
[INFO] [1770376045.442380369] [wheelchair_state_machine]: 角平分线角度: -4.15°
[INFO] [1770376045.442458536] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差-4.2°)
[INFO] [1770376045.442535827] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.442642869] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.542525004] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.542713421] [wheelchair_state_machine]: 左直线: y = 1.4407x + -1.9425
[INFO] [1770376045.542795962] [wheelchair_state_machine]: 右直线: y = -1.8675x + 2.6680
[INFO] [1770376045.542870921] [wheelchair_state_machine]: 角平分线: y = -0.0576x + 0.1457
[INFO] [1770376045.542949379] [wheelchair_state_machine]: 交点: (1.3936, 0.0654)
[INFO] [1770376045.543024337] [wheelchair_state_machine]: 左直线角度: 55.24°
[INFO] [1770376045.543098712] [wheelchair_state_machine]: 右直线角度: -61.83°
[INFO] [1770376045.543167546] [wheelchair_state_machine]: 角平分线角度: -3.30°
[INFO] [1770376045.543241337] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差-3.3°)
[INFO] [1770376045.543310171] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.543411671] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.643702556] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.643848389] [wheelchair_state_machine]: 左直线: y = 1.4689x + -1.9677
[INFO] [1770376045.643879014] [wheelchair_state_machine]: 右直线: y = -1.7913x + 2.5755
[INFO] [1770376045.643901181] [wheelchair_state_machine]: 角平分线: y = -0.0443x + 0.1410
[INFO] [1770376045.643923931] [wheelchair_state_machine]: 交点: (1.3935, 0.0793)
[INFO] [1770376045.643944347] [wheelchair_state_machine]: 左直线角度: 55.75°
[INFO] [1770376045.643965931] [wheelchair_state_machine]: 右直线角度: -60.83°
[INFO] [1770376045.643985181] [wheelchair_state_machine]: 角平分线角度: -2.54°
[INFO] [1770376045.644082306] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差-2.5°)
[INFO] [1770376045.644104764] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.644140639] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.839811159] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.839952034] [wheelchair_state_machine]: 左直线: y = 1.6556x + -2.1769
[INFO] [1770376045.840014451] [wheelchair_state_machine]: 右直线: y = -1.7282x + 2.5185
[INFO] [1770376045.840066367] [wheelchair_state_machine]: 角平分线: y = -0.0094x + 0.1334
[INFO] [1770376045.840120617] [wheelchair_state_machine]: 交点: (1.3877, 0.1204)
[INFO] [1770376045.840171659] [wheelchair_state_machine]: 左直线角度: 58.87°
[INFO] [1770376045.840222117] [wheelchair_state_machine]: 右直线角度: -59.94°
[INFO] [1770376045.840269367] [wheelchair_state_machine]: 角平分线角度: -0.54°
[INFO] [1770376045.840315742] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差-0.5°)
[INFO] [1770376045.840364159] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.840429784] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376045.939589294] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376045.940083377] [wheelchair_state_machine]: 左直线: y = 1.6327x + -2.1458
[INFO] [1770376045.940193336] [wheelchair_state_machine]: 右直线: y = -1.6505x + 2.4173
[INFO] [1770376045.940276461] [wheelchair_state_machine]: 角平分线: y = -0.0024x + 0.1267
[INFO] [1770376045.940361336] [wheelchair_state_machine]: 交点: (1.3898, 0.1234)
[INFO] [1770376045.940446502] [wheelchair_state_machine]: 左直线角度: 58.51°
[INFO] [1770376045.940529919] [wheelchair_state_machine]: 右直线角度: -58.79°
[INFO] [1770376045.940610127] [wheelchair_state_machine]: 角平分线角度: -0.14°
[INFO] [1770376045.940688002] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差-0.1°)
[INFO] [1770376045.940767627] [wheelchair_state_machine]: ==================================
[INFO] [1770376045.941009127] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.039515262] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.039751512] [wheelchair_state_machine]: 左直线: y = 1.6531x + -2.1559
[INFO] [1770376046.039858846] [wheelchair_state_machine]: 右直线: y = -1.6410x + 2.4107
[INFO] [1770376046.039946054] [wheelchair_state_machine]: 角平分线: y = 0.0016x + 0.1336
[INFO] [1770376046.040033262] [wheelchair_state_machine]: 交点: (1.3863, 0.1358)
[INFO] [1770376046.040116387] [wheelchair_state_machine]: 左直线角度: 58.83°
[INFO] [1770376046.040198054] [wheelchair_state_machine]: 右直线角度: -58.64°
[INFO] [1770376046.040276804] [wheelchair_state_machine]: 角平分线角度: 0.09°
[INFO] [1770376046.040354971] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差0.1°)
[INFO] [1770376046.040432262] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.040543971] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.136817480] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.136939980] [wheelchair_state_machine]: 左直线: y = 1.6736x + -2.1682
[INFO] [1770376046.136971772] [wheelchair_state_machine]: 右直线: y = -2.0387x + 2.9603
[INFO] [1770376046.136991022] [wheelchair_state_machine]: 角平分线: y = -0.0413x + 0.2009
[INFO] [1770376046.137012314] [wheelchair_state_machine]: 交点: (1.3815, 0.1439)
[INFO] [1770376046.137030980] [wheelchair_state_machine]: 左直线角度: 59.14°
[INFO] [1770376046.137049064] [wheelchair_state_machine]: 右直线角度: -63.87°
[INFO] [1770376046.137132772] [wheelchair_state_machine]: 角平分线角度: -2.37°
[INFO] [1770376046.137154064] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差-2.4°)
[INFO] [1770376046.137172439] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.137215022] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.236210865] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.236373032] [wheelchair_state_machine]: 左直线: y = 1.7896x + -2.3047
[INFO] [1770376046.236436907] [wheelchair_state_machine]: 右直线: y = -2.0814x + 3.0247
[INFO] [1770376046.236492324] [wheelchair_state_machine]: 角平分线: y = -0.0308x + 0.2016
[INFO] [1770376046.236549199] [wheelchair_state_machine]: 交点: (1.3768, 0.1591)
[INFO] [1770376046.236601407] [wheelchair_state_machine]: 左直线角度: 60.80°
[INFO] [1770376046.236654782] [wheelchair_state_machine]: 右直线角度: -64.34°
[INFO] [1770376046.236704074] [wheelchair_state_machine]: 角平分线角度: -1.77°
[INFO] [1770376046.236742865] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差-1.8°)
[INFO] [1770376046.236784574] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.236851365] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.339301667] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.339497376] [wheelchair_state_machine]: 左直线: y = 1.8215x + -2.3231
[INFO] [1770376046.339613167] [wheelchair_state_machine]: 右直线: y = -1.5363x + 2.3082
[INFO] [1770376046.339755792] [wheelchair_state_machine]: 角平分线: y = 0.0375x + 0.1375
[INFO] [1770376046.339833959] [wheelchair_state_machine]: 交点: (1.3792, 0.1892)
[INFO] [1770376046.339911251] [wheelchair_state_machine]: 左直线角度: 61.23°
[INFO] [1770376046.340027042] [wheelchair_state_machine]: 右直线角度: -56.94°
[INFO] [1770376046.340101126] [wheelchair_state_machine]: 角平分线角度: 2.15°
[INFO] [1770376046.340213709] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差2.1°)
[INFO] [1770376046.340283709] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.340380251] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.435047760] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.435177260] [wheelchair_state_machine]: 左直线: y = 1.9848x + -2.5273
[INFO] [1770376046.435214885] [wheelchair_state_machine]: 右直线: y = -1.3927x + 2.1257
[INFO] [1770376046.435245510] [wheelchair_state_machine]: 角平分线: y = 0.0782x + 0.0994
[INFO] [1770376046.435278469] [wheelchair_state_machine]: 交点: (1.3777, 0.2071)
[INFO] [1770376046.435310260] [wheelchair_state_machine]: 左直线角度: 63.26°
[INFO] [1770376046.435340885] [wheelchair_state_machine]: 右直线角度: -54.32°
[INFO] [1770376046.435369469] [wheelchair_state_machine]: 角平分线角度: 4.47°
[INFO] [1770376046.435396885] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差4.5°)
[INFO] [1770376046.435428969] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.435475344] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.476017889] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 12.100364秒, 角速度: 0.150000 rad/s
[INFO] [1770376046.534345520] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.534542979] [wheelchair_state_machine]: 左直线: y = 1.8957x + -2.3801
[INFO] [1770376046.534643312] [wheelchair_state_machine]: 右直线: y = -1.3568x + 2.0898
[INFO] [1770376046.534847770] [wheelchair_state_machine]: 角平分线: y = 0.0750x + 0.1220
[INFO] [1770376046.535006145] [wheelchair_state_machine]: 交点: (1.3743, 0.2251)
[INFO] [1770376046.535214104] [wheelchair_state_machine]: 左直线角度: 62.19°
[INFO] [1770376046.535301020] [wheelchair_state_machine]: 右直线角度: -53.61°
[INFO] [1770376046.535422645] [wheelchair_state_machine]: 角平分线角度: 4.29°
[INFO] [1770376046.535523562] [wheelchair_state_machine]: 对准状态: ✓ 已对准基站 (误差4.3°)
[INFO] [1770376046.535676395] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.535773520] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.834271425] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.834496884] [wheelchair_state_machine]: 左直线: y = 2.2211x + -2.7442
[INFO] [1770376046.834570675] [wheelchair_state_machine]: 右直线: y = -1.2116x + 1.9319
[INFO] [1770376046.834637175] [wheelchair_state_machine]: 角平分线: y = 0.1343x + 0.0985
[INFO] [1770376046.834704550] [wheelchair_state_machine]: 交点: (1.3622, 0.2814)
[INFO] [1770376046.834774842] [wheelchair_state_machine]: 左直线角度: 65.76°
[INFO] [1770376046.834839592] [wheelchair_state_machine]: 右直线角度: -50.47°
[INFO] [1770376046.834930592] [wheelchair_state_machine]: 角平分线角度: 7.65°
[INFO] [1770376046.834994759] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差7.6°)
[INFO] [1770376046.835063592] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.835159551] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376046.932652852] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376046.932859060] [wheelchair_state_machine]: 左直线: y = 2.1867x + -2.6876
[INFO] [1770376046.932947144] [wheelchair_state_machine]: 右直线: y = -1.1710x + 1.8833
[INFO] [1770376046.933013352] [wheelchair_state_machine]: 角平分线: y = 0.1398x + 0.0988
[INFO] [1770376046.933079269] [wheelchair_state_machine]: 交点: (1.3613, 0.2892)
[INFO] [1770376046.933143435] [wheelchair_state_machine]: 左直线角度: 65.43°
[INFO] [1770376046.933206144] [wheelchair_state_machine]: 右直线角度: -49.50°
[INFO] [1770376046.933267102] [wheelchair_state_machine]: 角平分线角度: 7.96°
[INFO] [1770376046.933326602] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差8.0°)
[INFO] [1770376046.933387269] [wheelchair_state_machine]: ==================================
[INFO] [1770376046.933475060] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.030702320] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.030886070] [wheelchair_state_machine]: 左直线: y = 2.3579x + -2.8776
[INFO] [1770376047.030941779] [wheelchair_state_machine]: 右直线: y = -1.1191x + 1.8309
[INFO] [1770376047.030985529] [wheelchair_state_machine]: 角平分线: y = 0.1656x + 0.0912
[INFO] [1770376047.031033654] [wheelchair_state_machine]: 交点: (1.3542, 0.3154)
[INFO] [1770376047.031078279] [wheelchair_state_machine]: 左直线角度: 67.02°
[INFO] [1770376047.031121737] [wheelchair_state_machine]: 右直线角度: -48.22°
[INFO] [1770376047.031164904] [wheelchair_state_machine]: 角平分线角度: 9.40°
[INFO] [1770376047.031203112] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差9.4°)
[INFO] [1770376047.031242779] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.031300529] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.132182955] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.132371372] [wheelchair_state_machine]: 左直线: y = 2.4295x + -2.9492
[INFO] [1770376047.132451580] [wheelchair_state_machine]: 右直线: y = -1.1595x + 1.8941
[INFO] [1770376047.132522164] [wheelchair_state_machine]: 角平分线: y = 0.1620x + 0.1107
[INFO] [1770376047.132703580] [wheelchair_state_machine]: 交点: (1.3495, 0.3293)
[INFO] [1770376047.132903372] [wheelchair_state_machine]: 左直线角度: 67.63°
[INFO] [1770376047.133017705] [wheelchair_state_machine]: 右直线角度: -49.22°
[INFO] [1770376047.133101997] [wheelchair_state_machine]: 角平分线角度: 9.20°
[INFO] [1770376047.133180747] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差9.2°)
[INFO] [1770376047.133260372] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.133366830] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.230934007] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.231165007] [wheelchair_state_machine]: 左直线: y = 2.4574x + -2.9760
[INFO] [1770376047.231261840] [wheelchair_state_machine]: 右直线: y = -1.1201x + 1.8460
[INFO] [1770376047.231345840] [wheelchair_state_machine]: 角平分线: y = 0.1729x + 0.1033
[INFO] [1770376047.231435965] [wheelchair_state_machine]: 交点: (1.3478, 0.3362)
[INFO] [1770376047.231516757] [wheelchair_state_machine]: 左直线角度: 67.86°
[INFO] [1770376047.231656757] [wheelchair_state_machine]: 右直线角度: -48.24°
[INFO] [1770376047.231735507] [wheelchair_state_machine]: 角平分线角度: 9.81°
[INFO] [1770376047.231816882] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差9.8°)
[INFO] [1770376047.231897674] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.232064215] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.329318392] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.329524600] [wheelchair_state_machine]: 左直线: y = 2.6583x + -3.2096
[INFO] [1770376047.329591392] [wheelchair_state_machine]: 右直线: y = -1.3080x + 2.0960
[INFO] [1770376047.329649725] [wheelchair_state_machine]: 角平分线: y = 0.1475x + 0.1490
[INFO] [1770376047.329708642] [wheelchair_state_machine]: 交点: (1.3377, 0.3463)
[INFO] [1770376047.329768142] [wheelchair_state_machine]: 左直线角度: 69.38°
[INFO] [1770376047.330093642] [wheelchair_state_machine]: 右直线角度: -52.60°
[INFO] [1770376047.330198350] [wheelchair_state_machine]: 角平分线角度: 8.39°
[INFO] [1770376047.330267475] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差8.4°)
[INFO] [1770376047.330341850] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.330447725] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.429493860] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.429595944] [wheelchair_state_machine]: 左直线: y = 2.6934x + -3.2356
[INFO] [1770376047.429618694] [wheelchair_state_machine]: 右直线: y = -1.0603x + 1.7861
[INFO] [1770376047.429636777] [wheelchair_state_machine]: 角平分线: y = 0.2031x + 0.0961
[INFO] [1770376047.429656319] [wheelchair_state_machine]: 交点: (1.3378, 0.3677)
[INFO] [1770376047.429673527] [wheelchair_state_machine]: 左直线角度: 69.63°
[INFO] [1770376047.429691902] [wheelchair_state_machine]: 右直线角度: -46.68°
[INFO] [1770376047.429707069] [wheelchair_state_machine]: 角平分线角度: 11.48°
[INFO] [1770376047.429722819] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差11.5°)
[INFO] [1770376047.429738860] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.429769485] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.530002370] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.530147620] [wheelchair_state_machine]: 左直线: y = 2.9087x + -3.4814
[INFO] [1770376047.530202162] [wheelchair_state_machine]: 右直线: y = -1.0078x + 1.7286
[INFO] [1770376047.530257579] [wheelchair_state_machine]: 角平分线: y = 0.2291x + 0.0832
[INFO] [1770376047.530401370] [wheelchair_state_machine]: 交点: (1.3302, 0.3879)
[INFO] [1770376047.530459704] [wheelchair_state_machine]: 左直线角度: 71.03°
[INFO] [1770376047.530511329] [wheelchair_state_machine]: 右直线角度: -45.22°
[INFO] [1770376047.530551287] [wheelchair_state_machine]: 角平分线角度: 12.90°
[INFO] [1770376047.530591245] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差12.9°)
[INFO] [1770376047.530632079] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.530690120] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.629804255] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.630244089] [wheelchair_state_machine]: 左直线: y = 2.9301x + -3.5039
[INFO] [1770376047.630328380] [wheelchair_state_machine]: 右直线: y = -1.3651x + 2.1859
[INFO] [1770376047.630483547] [wheelchair_state_machine]: 角平分线: y = 0.1528x + 0.1751
[INFO] [1770376047.630565797] [wheelchair_state_machine]: 交点: (1.3247, 0.3776)
[INFO] [1770376047.630641047] [wheelchair_state_machine]: 左直线角度: 71.16°
[INFO] [1770376047.630736714] [wheelchair_state_machine]: 右直线角度: -53.78°
[INFO] [1770376047.630794172] [wheelchair_state_machine]: 角平分线角度: 8.69°
[INFO] [1770376047.630849589] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差8.7°)
[INFO] [1770376047.630906172] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.630992214] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.728032890] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.728265932] [wheelchair_state_machine]: 左直线: y = 2.9158x + -3.4592
[INFO] [1770376047.728344974] [wheelchair_state_machine]: 右直线: y = -1.0860x + 1.8401
[INFO] [1770376047.728410015] [wheelchair_state_machine]: 角平分线: y = 0.2099x + 0.1241
[INFO] [1770376047.728476515] [wheelchair_state_machine]: 交点: (1.3242, 0.4020)
[INFO] [1770376047.728540682] [wheelchair_state_machine]: 左直线角度: 71.07°
[INFO] [1770376047.728602515] [wheelchair_state_machine]: 右直线角度: -47.36°
[INFO] [1770376047.728665515] [wheelchair_state_machine]: 角平分线角度: 11.85°
[INFO] [1770376047.728778390] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差11.9°)
[INFO] [1770376047.728841557] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.728926140] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.826005400] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.826137525] [wheelchair_state_machine]: 左直线: y = 3.2132x + -3.7970
[INFO] [1770376047.826187983] [wheelchair_state_machine]: 右直线: y = -0.9424x + 1.6697
[INFO] [1770376047.826230858] [wheelchair_state_machine]: 角平分线: y = 0.2624x + 0.0847
[INFO] [1770376047.826273733] [wheelchair_state_machine]: 交点: (1.3155, 0.4299)
[INFO] [1770376047.826316025] [wheelchair_state_machine]: 左直线角度: 72.71°
[INFO] [1770376047.826358608] [wheelchair_state_machine]: 右直线角度: -43.30°
[INFO] [1770376047.826397400] [wheelchair_state_machine]: 角平分线角度: 14.71°
[INFO] [1770376047.826436775] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差14.7°)
[INFO] [1770376047.826477608] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.826535358] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376047.928548994] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376047.928742077] [wheelchair_state_machine]: 左直线: y = 3.6417x + -4.3242
[INFO] [1770376047.928835119] [wheelchair_state_machine]: 右直线: y = -0.9380x + 1.6686
[INFO] [1770376047.928913577] [wheelchair_state_machine]: 角平分线: y = 0.2818x + 0.0724
[INFO] [1770376047.929852661] [wheelchair_state_machine]: 交点: (1.3086, 0.4411)
[INFO] [1770376047.929965536] [wheelchair_state_machine]: 左直线角度: 74.65°
[INFO] [1770376047.930012494] [wheelchair_state_machine]: 右直线角度: -43.17°
[INFO] [1770376047.930053036] [wheelchair_state_machine]: 角平分线角度: 15.74°
[INFO] [1770376047.930092994] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差15.7°)
[INFO] [1770376047.930134119] [wheelchair_state_machine]: ==================================
[INFO] [1770376047.930199744] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376048.025243045] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376048.025510503] [wheelchair_state_machine]: 左直线: y = 3.5762x + -4.1958
[INFO] [1770376048.025585170] [wheelchair_state_machine]: 右直线: y = -0.8446x + 1.5633
[INFO] [1770376048.025652837] [wheelchair_state_machine]: 角平分线: y = 0.3076x + 0.0623
[INFO] [1770376048.025717587] [wheelchair_state_machine]: 交点: (1.3027, 0.4630)
[INFO] [1770376048.025773003] [wheelchair_state_machine]: 左直线角度: 74.38°
[INFO] [1770376048.025825212] [wheelchair_state_machine]: 右直线角度: -40.18°
[INFO] [1770376048.025872462] [wheelchair_state_machine]: 角平分线角度: 17.10°
[INFO] [1770376048.025922628] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差17.1°)
[INFO] [1770376048.025972504] [wheelchair_state_machine]: ==================================
[INFO] [1770376048.026057087] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376048.123423513] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376048.123529388] [wheelchair_state_machine]: 左直线: y = 3.8066x + -4.4658
[INFO] [1770376048.123551847] [wheelchair_state_machine]: 右直线: y = -0.8368x + 1.5568
[INFO] [1770376048.123569638] [wheelchair_state_machine]: 角平分线: y = 0.3187x + 0.0580
[INFO] [1770376048.123587430] [wheelchair_state_machine]: 交点: (1.2970, 0.4714)
[INFO] [1770376048.123603180] [wheelchair_state_machine]: 左直线角度: 75.28°
[INFO] [1770376048.123620388] [wheelchair_state_machine]: 右直线角度: -39.92°
[INFO] [1770376048.123636138] [wheelchair_state_machine]: 角平分线角度: 17.68°
[INFO] [1770376048.123652180] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差17.7°)
[INFO] [1770376048.123667930] [wheelchair_state_machine]: ==================================
[INFO] [1770376048.123699430] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376048.225167065] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376048.225363065] [wheelchair_state_machine]: 左直线: y = 4.1503x + -4.8602
[INFO] [1770376048.225451149] [wheelchair_state_machine]: 右直线: y = -0.7891x + 1.5076
[INFO] [1770376048.225525815] [wheelchair_state_machine]: 角平分线: y = 0.3460x + 0.0442
[INFO] [1770376048.225601065] [wheelchair_state_machine]: 交点: (1.2892, 0.4903)
[INFO] [1770376048.225677190] [wheelchair_state_machine]: 左直线角度: 76.45°
[INFO] [1770376048.225750982] [wheelchair_state_machine]: 右直线角度: -38.28°
[INFO] [1770376048.225811649] [wheelchair_state_machine]: 角平分线角度: 19.09°
[INFO] [1770376048.225882815] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差19.1°)
[INFO] [1770376048.225955732] [wheelchair_state_machine]: ==================================
[INFO] [1770376048.226064232] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376048.422721502] [wheelchair_state_machine]: ========== 基站检测信息 ==========
[INFO] [1770376048.422939377] [wheelchair_state_machine]: 左直线: y = 4.9240x + -5.7524
[INFO] [1770376048.423018418] [wheelchair_state_machine]: 右直线: y = -0.8679x + 1.6205
[INFO] [1770376048.423084627] [wheelchair_state_machine]: 角平分线: y = 0.3401x + 0.0827
[INFO] [1770376048.423275085] [wheelchair_state_machine]: 交点: (1.2730, 0.5156)
[INFO] [1770376048.423346835] [wheelchair_state_machine]: 左直线角度: 78.52°
[INFO] [1770376048.423411293] [wheelchair_state_machine]: 右直线角度: -40.96°
[INFO] [1770376048.423472252] [wheelchair_state_machine]: 角平分线角度: 18.78°
[INFO] [1770376048.423534085] [wheelchair_state_machine]: 对准状态: ✗ 需要调整 (误差18.8°)
[INFO] [1770376048.423596502] [wheelchair_state_machine]: ==================================
[INFO] [1770376048.423688377] [wheelchair_state_machine]: 旋转延迟期间，仅发布检测信号，不执行运动控制
[INFO] [1770376048.476100382] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 14.100405秒, 角速度: 0.150000 rad/s
[INFO] [1770376050.476063000] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 16.100379秒, 角速度: 0.150000 rad/s
[INFO] [1770376052.476157326] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 18.100469秒, 角速度: 0.150000 rad/s
[WARN] [1770376053.783251749] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376054.078672528] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376054.278764465] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376054.376235183] [wheelchair_state_machine]: 没有获取到分段
[INFO] [1770376054.476059943] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 20.100377秒, 角速度: 0.150000 rad/s
[WARN] [1770376054.478832235] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376054.575831245] [wheelchair_state_machine]: 没有获取到分段
[INFO] [1770376056.476004644] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 22.100342秒, 角速度: 0.150000 rad/s
[WARN] [1770376056.860453975] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376056.957486818] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376057.059116911] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376057.159144755] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376057.255384306] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376057.354252899] [wheelchair_state_machine]: 没有获取到分段
[WARN] [1770376057.455016743] [wheelchair_state_machine]: 没有获取到分段
[INFO] [1770376058.475966345] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 24.100313秒, 角速度: 0.150000 rad/s
[INFO] [1770376060.476067421] [wheelchair_state_machine]: [RotationManager] 旋转中 - 已旋转: 26.100387秒, 角速度: 0.150000 rad/s
[INFO] [1770376061.173647825] [wheelchair_state_machine]: [RotationManager] 停止旋转 - 持续时间: 0.000000秒
[INFO] [1770376061.173898950] [wheelchair_state_machine]: 状态转移: 旋转中 -> 行走中
[INFO] [1770376061.174115366] [wheelchair_state_machine]: [INFO] 行走中: 状态已更新
[INFO] [1770376061.174185950] [wheelchair_state_machine]: 进入行走对接状态
[INFO] [1770376061.174247491] [wheelchair_state_machine]: 轮椅开始行走
[INFO] [1770376061.174348116] [wheelchair_state_machine]: [INFO] WHEELCHAIR_WALKING:
[INFO] [1770376061.174406741] [wheelchair_state_machine]: 进入行走对接状态
[INFO] [1770376061.174500950] [wheelchair_state_machine]: [INFO] ROTATION_DELAY_COMPLETED: 旋转延迟完成，开始对接
[INFO] [1770376061.174559283] [wheelchair_state_machine]: 进入行走对接状态
[INFO] [1770376061.174643575] [wheelchair_state_machine]: [回充状态] STATION_DETECTED_AFTER_ROTATION: 旋转检测到基站，延迟2.5秒后开始对接
[INFO] [1770376061.174703075] [wheelchair_state_machine]: [回充状态] STATION_DETECTED_AFTER_ROTATION: 旋转检测到基站，延迟2.5秒后开始对接
[WARN] [1770376062.219139846] [wheelchair_state_machine]: 没有获取到分段
[INFO] [1770376062.665018141] [wheelchair_state_machine]: [IpadManager] 取消回充功能
[INFO] [1770376062.665121683] [wheelchair_state_machine]: iPad取消回充
[INFO] [1770376062.665218808] [wheelchair_state_machine]: 触发事件: ipad_phone_interface_cancel
[INFO] [1770376062.665254391] [wheelchair_state_machine]: 处理iPad取消事件
[INFO] [1770376062.665300183] [wheelchair_state_machine]: 执行事件: ipad_phone_interface_cancel
[INFO] [1770376062.665323808] [wheelchair_state_machine]: 处理iPad取消事件
[INFO] [1770376062.665411016] [wheelchair_state_machine]: [INFO] IPAD_RECHARGE_CANCELLED: iPad取消自主回充
[INFO] [1770376062.665437558] [wheelchair_state_machine]: 进入行走对接状态
[INFO] [1770376062.665458849] [wheelchair_state_machine]: 状态转移: 行走中 -> 就绪中
[INFO] [1770376062.665491808] [wheelchair_state_machine]: [INFO] 就绪中: 状态已更新
[INFO] [1770376062.665571141] [wheelchair_state_machine]: 停止运动
[INFO] [1770376062.665678183] [wheelchair_state_machine]: 导航功能已停止
[INFO] [1770376062.665727183] [wheelchair_state_machine]: 停止运动
[INFO] [1770376062.665749933] [wheelchair_state_machine]: 停止导航控制
[INFO] [1770376062.665775308] [wheelchair_state_machine]: 返回到就绪状态 (前状态: 行走中)
[INFO] [1770376062.665825766] [wheelchair_state_machine]: [INFO] WHEELCHAIR_READY:
[INFO] [1770376062.665846766] [wheelchair_state_machine]: iPad自主回充已取消，返回到就绪状态
[INFO] [1770376062.665872433] [wheelchair_state_machine]: [回充状态] RECHARGE_CANCELLED: 用户取消回充
[INFO] [1770376062.665890516] [wheelchair_state_machine]: [回充状态] RECHARGE_CANCELLED: 用户取消回充
[INFO] [1770376062.665922891] [wheelchair_state_machine]: [INFO] ipad_phone_interface_cancel: 事件已处理