unity2moveit2/unity-project/Assets/Scripts/Tests/AutoConnectionTest.cs

using System.Collections;
using UnityEngine;
using UnityMoveIt2.Communication;

namespace UnityMoveIt2.Tests
{
    /// <summary>
    /// 自动连接测试 - 用于命令行测试
    /// Automatic connection test - for command line testing
    /// </summary>
    public class AutoConnectionTest : MonoBehaviour
    {
        private ROSTCPBridge bridge;
        private float testDuration = 30f; // 测试30秒
        private float startTime;

        void Start()
        {
            Debug.Log("=================================================");
            Debug.Log("[AutoConnectionTest] 开始自动连接测试");
            Debug.Log("=================================================");

            // 查找或创建 ROSTCPBridge
            bridge = FindObjectOfType<ROSTCPBridge>();
            if (bridge == null)
            {
                GameObject bridgeObj = new GameObject("ROSTCPBridge");
                bridge = bridgeObj.AddComponent<ROSTCPBridge>();
                Debug.Log("[AutoConnectionTest] 创建新的 ROSTCPBridge 实例");
            }

            startTime = Time.time;
            StartCoroutine(MonitorConnection());
        }

        IEnumerator MonitorConnection()
        {
            float lastCheckTime = Time.time;
            int checkCount = 0;

            while (Time.time - startTime < testDuration)
            {
                checkCount++;
                float elapsed = Time.time - startTime;

                Debug.Log($"[AutoConnectionTest] 检查 #{checkCount} - 已运行: {elapsed:F1}秒");

                yield return new WaitForSeconds(5f);
            }

            Debug.Log("=================================================");
            Debug.Log($"[AutoConnectionTest] 测试完成 - 运行了 {testDuration} 秒");
            Debug.Log("=================================================");

            // 退出 Unity
            #if UNITY_EDITOR
            UnityEditor.EditorApplication.isPlaying = false;
            #else
            Application.Quit();
            #endif
        }

        void OnDestroy()
        {
            Debug.Log("[AutoConnectionTest] 测试结束，清理资源");
        }
    }
}