feat: enhance separation_step logic with polling thread management and error handling

unilabos/devices/separator/chinwe.py

@@ -655,6 +655,12 @@ class ChinweDevice(UniversalDriver):
 
         motor = self.motors[motor_id]
 
+        # 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
+        self.logger.info("Stopping polling thread for separation_step...")
+        self._stop_event.set()
+        if self._poll_thread and self._poll_thread.is_alive():
+            self._poll_thread.join(timeout=2.0)
+
         # 使能电机
         self.logger.info(f"Enabling motor {motor_id}...")
         motor.enable(True)
@@ -669,6 +675,7 @@ class ChinweDevice(UniversalDriver):
         start_time = time.time()
         error_count = 0
 
+        try:
             while True:
                 # 检查超时
                 if time.time() - start_time > timeout:
@@ -695,8 +702,8 @@ class ChinweDevice(UniversalDriver):
                 current_level = data['level']
                 rssi = data['rssi']
 
-            # 检测状态变化
-            if current_level != last_level and last_level is not None:
+                # 检测状态变化 (包括首次检测)
+                if current_level != last_level:
                     cycle_count += 1
 
                     if current_level:
@@ -724,6 +731,10 @@ class ChinweDevice(UniversalDriver):
 
                 # 轮询间隔
                 time.sleep(0.1)
+        finally:
+            # 恢复轮询线程
+            self.logger.info("Restarting polling thread...")
+            self._start_polling()
 
     def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
         """支持标准 JSON 指令调用"""