feat: 增加雙lane服務端，修改hanoi動作以應對放置在圍擋上的問題

majtask.py

@@ -8,9 +8,14 @@ import variable as var
     
 class main_task():
     def __init__(self,by_cmd):
+        # lane infer server
         self.context = zmq.Context()
         self.socket = self.context.socket(zmq.REQ)
         self.socket.connect("tcp://localhost:6666")
+        # lane infer server1
+        self.context1 = zmq.Context()
+        self.socket1 = self.context.socket(zmq.REQ)
+        self.socket1.connect("tcp://localhost:6669")
 
         # 赛道回归相关
         self.x = 0
@@ -97,10 +102,9 @@ class main_task():
             # logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
             self.by_cmd.send_speed_omega(pid_out)
         if var.switch_lane_model:
-            self.socket.send_string("1")
+            self.socket1.send_string("")
+            resp = self.socket1.recv_pyobj()
+        else:
+            self.socket.send_string("")
             resp = self.socket.recv_pyobj()
-            var.switch_lane_model = False
-            return
-        self.socket.send_string("")
-        resp = self.socket.recv_pyobj()
         self.parse_data(resp)