feat: 添加ACT双相机实时预览

xr_rm_teleop/test/test_act_episode_recorder.py

@@ -326,6 +326,22 @@ def test_sample_frame_metrics_separate_repeats_skips_and_regressions():
     assert regression == 0
 
 
+def test_camera_buffer_reports_two_second_rolling_fps():
+    buffer = CameraBuffer(maxlen=4)
+    start_ns = 10_000_000_000
+    for index in range(61):
+        buffer.push(
+            CameraFrame(
+                _image(index),
+                index,
+                float(index),
+                start_ns + index * 33_333_333,
+            )
+        )
+
+    assert buffer.stats().rolling_fps == pytest.approx(30.0, rel=0.02)
+
+
 requires_h5py = pytest.mark.skipif(
     h5py is None,
     reason="h5py is not installed",
@@ -763,6 +779,48 @@ def _recorder_for_test(tmp_path):
     return recorder
 
 
+def test_preview_failure_does_not_change_recording_state():
+    recorder = object.__new__(ActEpisodeRecorder)
+    recorder._session = _recording_session()
+    recorder._preview_stop = threading.Event()
+    recorder._preview_thread = None
+    recorder._logger = _Logger()
+    recorder.get_logger = lambda: recorder._logger
+
+    class FailingCv2:
+        WINDOW_NORMAL = 0
+
+        @staticmethod
+        def namedWindow(*_args):
+            raise RuntimeError("no display")
+
+    recorder._preview_loop(FailingCv2())
+
+    assert recorder.state is RecordingState.RECORDING
+    assert recorder._logger.warnings == [
+        "ACT双相机预览已停用：no display"
+    ]
+
+
+def test_close_stops_preview_before_cameras_and_releases_lock():
+    events = []
+    recorder = object.__new__(ActEpisodeRecorder)
+    recorder._stop_preview = lambda: events.append("preview")
+    recorder._high_camera = SimpleNamespace(
+        stop=lambda: events.append("high")
+    )
+    recorder._wrist_camera = SimpleNamespace(
+        stop=lambda: events.append("wrist")
+    )
+    recorder._directory_lock = SimpleNamespace(
+        release=lambda: events.append("lock")
+    )
+
+    recorder.close()
+
+    assert events == ["preview", "high", "wrist", "lock"]
+
+
 @requires_h5py
 def test_preflight_requires_open_gripper_fresh_inputs_and_disk_space(tmp_path):
     recorder = _recorder_for_test(tmp_path)
@@ -791,8 +849,8 @@ def _push_recording_frames(recorder, control_ns, frame_number):
     recorder._wrist_camera.buffer.push(
         CameraFrame(
             _image(3),
-            frame_number,
-            float(frame_number),
+            frame_number + 1000,
+            float(frame_number + 1000),
             control_ns - 3_000_000,
         )
     )