1078 lines
45 KiB
Python
1078 lines
45 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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网络通信模块
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提供TCP通信、数据包打包/解析、队列管理等功能
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"""
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import json
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from math import e
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import struct
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from maix import time
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import hmac
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import hashlib
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import ujson
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import os
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import threading
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import socket
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import config
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from hardware import hardware_manager
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from power import get_bus_voltage, voltage_to_percent
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# from laser import laser_manager
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# from ota import ota_manager
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from logger_manager import logger_manager
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class NetworkManager:
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"""网络通信管理器（单例）"""
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_instance = None
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def __new__(cls):
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if cls._instance is None:
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cls._instance = super(NetworkManager, cls).__new__(cls)
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cls._instance._initialized = False
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return cls._instance
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def __init__(self):
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if self._initialized:
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return
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# 私有状态
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self._tcp_connected = False
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self._high_send_queue = []
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self._normal_send_queue = []
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self._queue_lock = threading.Lock()
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self._uart4g_lock = threading.Lock()
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self._device_id = None
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self._password = None
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self._raw_line_data = []
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self._manual_trigger_flag = False
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# WiFi 相关状态
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self._network_type = None # "wifi" 或 "4g" 或 None
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self._wifi_connected = False
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self._wifi_ip = None
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self._wifi_socket = None
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self._wifi_socket_lock = threading.Lock()
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self._prefer_wifi = True # 是否优先使用WiFi
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self._wifi_recv_buffer = b"" # WiFi接收缓冲区
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self._initialized = True
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# ==================== 状态访问（只读属性）====================
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@property
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def tcp_connected(self):
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"""TCP连接状态"""
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return self._tcp_connected
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@property
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def device_id(self):
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"""设备ID"""
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return self._device_id
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@property
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def password(self):
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"""密码"""
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return self._password
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@property
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def has_pending_messages(self):
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"""是否有待发送消息"""
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with self._queue_lock:
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return len(self._high_send_queue) > 0 or len(self._normal_send_queue) > 0
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@property
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def manual_trigger_flag(self):
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"""手动触发标志"""
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return self._manual_trigger_flag
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@property
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def network_type(self):
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"""当前使用的网络类型（"wifi" 或 "4g"）"""
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return self._network_type
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@property
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def wifi_connected(self):
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"""WiFi是否已连接"""
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return self._wifi_connected
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@property
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def wifi_ip(self):
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"""WiFi IP地址"""
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return self._wifi_ip
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# ==================== 内部状态管理方法 ====================
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def set_manual_trigger(self, value=True):
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"""设置手动触发标志（公共方法）"""
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self._manual_trigger_flag = value
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def clear_manual_trigger(self):
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"""清除手动触发标志（公共方法）"""
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self._manual_trigger_flag = False
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def _set_tcp_connected(self, connected):
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"""设置TCP连接状态（内部方法）"""
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self._tcp_connected = connected
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def _set_device_info(self, device_id, password):
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"""设置设备信息（内部方法）"""
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self._device_id = device_id
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self._password = password
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def _enqueue(self, item, high=False):
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"""线程安全地加入队列（内部方法）"""
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with self._queue_lock:
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if high:
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self._high_send_queue.append(item)
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else:
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self._normal_send_queue.append(item)
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def _dequeue(self):
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"""线程安全地从队列取出（内部方法）"""
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with self._queue_lock:
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if self._high_send_queue:
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return self._high_send_queue.pop(0)
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elif self._normal_send_queue:
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return self._normal_send_queue.pop(0)
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return None
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def _set_raw_line_data(self, data):
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"""设置原始行数据（内部方法）"""
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self._raw_line_data = data
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def _get_raw_line_data(self):
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"""获取原始行数据（内部方法）"""
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return self._raw_line_data
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def get_uart_lock(self):
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"""获取UART锁（用于with语句）"""
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return self._uart4g_lock
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def get_queue_lock(self):
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"""获取队列锁（用于with语句）"""
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return self._queue_lock
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# ==================== 业务方法 ====================
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def read_device_id(self):
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"""从 /device_key 文件读取设备唯一 ID，失败则使用默认值"""
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try:
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with open("/device_key", "r") as f:
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device_id = f.read().strip()
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if device_id:
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logger = logger_manager.logger
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if logger:
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logger.debug(f"[INFO] 从 /device_key 读取到 DEVICE_ID: {device_id}")
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# 设置内部状态
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self._device_id = device_id
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self._password = device_id + "."
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return device_id
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except Exception as e:
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logger = logger_manager.logger
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if logger:
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logger.error(f"[ERROR] 无法读取 /device_key: {e}")
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# 使用默认值
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default_id = "DEFAULT_DEVICE_ID"
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self._device_id = default_id
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self._password = default_id + "."
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return default_id
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# ==================== WiFi 管理方法 ====================
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def is_wifi_connected(self):
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"""检查WiFi是否已连接"""
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# 优先用 MaixPy network（如果可用）
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try:
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from maix import network
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wlan = network.WLAN(network.TYPE_WIFI)
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if wlan.isconnected():
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self._wifi_connected = True
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return True
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except:
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pass
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# 兜底：看系统 wlan0 有没有 IP
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try:
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ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
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if ip:
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self._wifi_connected = True
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self._wifi_ip = ip
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return True
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except:
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pass
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self._wifi_connected = False
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return False
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def connect_wifi(self, ssid, password):
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"""
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连接 Wi-Fi 并将凭证持久化保存到 /boot/ 目录
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Returns:
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(ip, error): IP地址和错误信息（成功时error为None）
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"""
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conf_path = "/etc/wpa_supplicant.conf"
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ssid_file = "/boot/wifi.ssid"
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pass_file = "/boot/wifi.pass"
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try:
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# 生成 wpa_supplicant 配置
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net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read()
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if "network={" not in net_conf:
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return None, "Failed to generate wpa config"
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# 写入运行时配置
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with open(conf_path, "w") as f:
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f.write("ctrl_interface=/var/run/wpa_supplicant\n")
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f.write("update_config=1\n\n")
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f.write(net_conf)
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# 持久化保存 SSID/PASS
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with open(ssid_file, "w") as f:
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f.write(ssid.strip())
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with open(pass_file, "w") as f:
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f.write(password.strip())
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# 重启 Wi-Fi 服务
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os.system("/etc/init.d/S30wifi restart")
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# 等待获取 IP
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import time as std_time
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for _ in range(20):
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ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
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if ip:
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self._wifi_connected = True
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self._wifi_ip = ip
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logger = logger_manager.logger
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if logger:
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logger.info(f"[WIFI] 已连接，IP: {ip}")
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return ip, None
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std_time.sleep(1)
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return None, "Timeout: No IP obtained"
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except Exception as e:
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logger = logger_manager.logger
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if logger:
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logger.error(f"[WIFI] 连接失败: {e}")
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return None, f"Exception: {str(e)}"
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def is_server_reachable(self, host, port=80, timeout=5):
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"""检查目标主机端口是否可达（用于网络检测）"""
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try:
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addr_info = socket.getaddrinfo(host, port)[0]
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s = socket.socket(addr_info[0], addr_info[1], addr_info[2])
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s.settimeout(timeout)
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s.connect(addr_info[-1])
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s.close()
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return True
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except Exception as e:
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logger = logger_manager.logger
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if logger:
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logger.warning(f"[NET] 无法连接 {host}:{port} - {e}")
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return False
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# ==================== 网络选择策略 ====================
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def select_network(self, prefer_wifi=None):
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"""
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自动选择网络（WiFi优先）
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Args:
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prefer_wifi: 是否优先使用WiFi（None表示使用默认策略）
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Returns:
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"wifi" 或 "4g" 或 None（无可用网络）
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"""
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if prefer_wifi is None:
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prefer_wifi = self._prefer_wifi
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logger = logger_manager.logger
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# 策略1：如果指定优先WiFi，且WiFi可用，使用WiFi
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if prefer_wifi and self.is_wifi_connected():
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# 检查WiFi是否能连接到服务器
|
|||
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if self.is_server_reachable(config.SERVER_IP, config.SERVER_PORT, timeout=3):
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self._network_type = "wifi"
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if logger:
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logger.info(f"[NET] 选择WiFi网络，IP: {self._wifi_ip}")
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return "wifi"
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else:
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if logger:
|
|||
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logger.warning("[NET] WiFi已连接但无法访问服务器，尝试4G")
|
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|
|
|
|||
|
|
# 策略2：如果WiFi可用，使用WiFi
|
|||
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if self.is_wifi_connected():
|
|||
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if self.is_server_reachable(config.SERVER_IP, config.SERVER_PORT, timeout=3):
|
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self._network_type = "wifi"
|
|||
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if logger:
|
|||
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logger.info(f"[NET] 选择WiFi网络，IP: {self._wifi_ip}")
|
|||
|
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return "wifi"
|
|||
|
|
|
|||
|
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# 策略3：回退到4G
|
|||
|
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if logger:
|
|||
|
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logger.info("[NET] WiFi不可用或无法连接服务器，使用4G网络")
|
|||
|
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self._network_type = "4g"
|
|||
|
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return "4g"
|
|||
|
|
|
|||
|
|
|
|||
|
|
def safe_enqueue(self, data_dict, msg_type=2, high=False):
|
|||
|
|
"""线程安全地将消息加入队列（公共方法）"""
|
|||
|
|
self._enqueue((msg_type, data_dict), high)
|
|||
|
|
|
|||
|
|
def make_packet(self, msg_type: int, body_dict: dict) -> bytes:
|
|||
|
|
"""打包 TCP 数据包：头部（长度+类型+校验）+ JSON 正文"""
|
|||
|
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body = json.dumps(body_dict).encode()
|
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body_len = len(body)
|
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checksum = body_len + msg_type
|
|||
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header = struct.pack(">III", body_len, msg_type, checksum)
|
|||
|
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return header + body
|
|||
|
|
|
|||
|
|
def parse_packet(self, data: bytes):
|
|||
|
|
"""解析 TCP 数据包，返回 (类型, 正文字典)"""
|
|||
|
|
if len(data) < 12:
|
|||
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return None, None
|
|||
|
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body_len, msg_type, checksum = struct.unpack(">III", data[:12])
|
|||
|
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body = data[12:12 + body_len]
|
|||
|
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try:
|
|||
|
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return msg_type, json.loads(body.decode())
|
|||
|
|
except:
|
|||
|
|
return msg_type, {"raw": body.decode(errors="ignore")}
|
|||
|
|
|
|||
|
|
def connect_server(self):
|
|||
|
|
"""
|
|||
|
|
连接到服务器（自动选择WiFi或4G）
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
bool: 是否连接成功
|
|||
|
|
"""
|
|||
|
|
if self._tcp_connected:
|
|||
|
|
# 检查当前连接是否仍然有效
|
|||
|
|
if self._network_type == "wifi":
|
|||
|
|
return self._check_wifi_connection()
|
|||
|
|
elif self._network_type == "4g":
|
|||
|
|
return True # 4G连接状态由AT命令维护
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
# 自动选择网络
|
|||
|
|
network_type = self.select_network()
|
|||
|
|
if not network_type:
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.info(f"连接到服务器（使用{network_type.upper()}）...")
|
|||
|
|
|
|||
|
|
# 根据网络类型建立TCP连接
|
|||
|
|
if network_type == "wifi":
|
|||
|
|
return self._connect_tcp_via_wifi()
|
|||
|
|
elif network_type == "4g":
|
|||
|
|
return self._connect_tcp_via_4g()
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def _connect_tcp_via_wifi(self):
|
|||
|
|
"""通过WiFi建立TCP连接"""
|
|||
|
|
try:
|
|||
|
|
# 创建TCP socket
|
|||
|
|
self._wifi_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
|||
|
|
self._wifi_socket.settimeout(5.0) # 5秒超时
|
|||
|
|
|
|||
|
|
# 连接到服务器
|
|||
|
|
addr_info = socket.getaddrinfo(config.SERVER_IP, config.SERVER_PORT,
|
|||
|
|
socket.AF_INET, socket.SOCK_STREAM)[0]
|
|||
|
|
self._wifi_socket.connect(addr_info[-1])
|
|||
|
|
|
|||
|
|
# 设置非阻塞模式（用于接收数据）
|
|||
|
|
self._wifi_socket.setblocking(False)
|
|||
|
|
|
|||
|
|
self._tcp_connected = True
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.info("[WIFI-TCP] TCP连接已建立")
|
|||
|
|
return True
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[WIFI-TCP] 连接失败: {e}")
|
|||
|
|
|
|||
|
|
if self._wifi_socket:
|
|||
|
|
try:
|
|||
|
|
self._wifi_socket.close()
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
self._wifi_socket = None
|
|||
|
|
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def _connect_tcp_via_4g(self):
|
|||
|
|
"""通过4G模块建立TCP连接"""
|
|||
|
|
with self.get_uart_lock():
|
|||
|
|
hardware_manager.at_client.send("AT+MIPCLOSE=0", "OK", 1000)
|
|||
|
|
res = hardware_manager.at_client.send(f'AT+MIPOPEN=0,"TCP","{config.SERVER_IP}",{config.SERVER_PORT}', "+MIPOPEN", 8000)
|
|||
|
|
if "+MIPOPEN: 0,0" in res:
|
|||
|
|
self._tcp_connected = True
|
|||
|
|
return True
|
|||
|
|
else:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
logger.error(f"[4G-TCP] 连接失败: {res}")
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def _check_wifi_connection(self):
|
|||
|
|
"""检查WiFi TCP连接是否仍然有效"""
|
|||
|
|
if not self._wifi_socket:
|
|||
|
|
return False
|
|||
|
|
try:
|
|||
|
|
# 尝试发送0字节来检测连接状态
|
|||
|
|
self._wifi_socket.send(b"", socket.MSG_DONTWAIT)
|
|||
|
|
return True
|
|||
|
|
except:
|
|||
|
|
# socket已断开
|
|||
|
|
try:
|
|||
|
|
self._wifi_socket.close()
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
self._wifi_socket = None
|
|||
|
|
self._tcp_connected = False
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def disconnect_server(self):
|
|||
|
|
"""断开TCP连接"""
|
|||
|
|
if self._tcp_connected:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.info("与服务器断开链接")
|
|||
|
|
|
|||
|
|
if self._network_type == "wifi":
|
|||
|
|
self._disconnect_tcp_via_wifi()
|
|||
|
|
elif self._network_type == "4g":
|
|||
|
|
self._disconnect_tcp_via_4g()
|
|||
|
|
|
|||
|
|
self._tcp_connected = False
|
|||
|
|
self._network_type = None
|
|||
|
|
|
|||
|
|
def _disconnect_tcp_via_wifi(self):
|
|||
|
|
"""断开WiFi TCP连接"""
|
|||
|
|
with self._wifi_socket_lock:
|
|||
|
|
if self._wifi_socket:
|
|||
|
|
try:
|
|||
|
|
self._wifi_socket.close()
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
self._wifi_socket = None
|
|||
|
|
|
|||
|
|
def _disconnect_tcp_via_4g(self):
|
|||
|
|
"""断开4G TCP连接"""
|
|||
|
|
with self.get_uart_lock():
|
|||
|
|
hardware_manager.at_client.send("AT+MIPCLOSE=0", "OK", 1000)
|
|||
|
|
|
|||
|
|
def tcp_send_raw(self, data: bytes, max_retries=2) -> bool:
|
|||
|
|
"""
|
|||
|
|
统一的TCP发送接口（自动选择WiFi或4G）
|
|||
|
|
|
|||
|
|
Args:
|
|||
|
|
data: 要发送的数据
|
|||
|
|
max_retries: 最大重试次数
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
bool: 是否发送成功
|
|||
|
|
"""
|
|||
|
|
if not self._tcp_connected:
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
# 根据网络类型选择发送方式
|
|||
|
|
if self._network_type == "wifi":
|
|||
|
|
return self._tcp_send_raw_via_wifi(data, max_retries)
|
|||
|
|
elif self._network_type == "4g":
|
|||
|
|
return self._tcp_send_raw_via_4g(data, max_retries)
|
|||
|
|
else:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error("[NET] 未选择网络类型，无法发送数据")
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def _tcp_send_raw_via_wifi(self, data: bytes, max_retries=2) -> bool:
|
|||
|
|
"""通过WiFi socket发送TCP数据"""
|
|||
|
|
if not self._wifi_socket:
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
with self._wifi_socket_lock:
|
|||
|
|
for attempt in range(max_retries):
|
|||
|
|
try:
|
|||
|
|
# 标准socket发送
|
|||
|
|
total_sent = 0
|
|||
|
|
while total_sent < len(data):
|
|||
|
|
sent = self._wifi_socket.send(data[total_sent:])
|
|||
|
|
if sent == 0:
|
|||
|
|
# socket连接已断开
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.warning(f"[WIFI-TCP] 发送失败，socket已断开（尝试 {attempt+1}/{max_retries}）")
|
|||
|
|
break
|
|||
|
|
total_sent += sent
|
|||
|
|
|
|||
|
|
if total_sent == len(data):
|
|||
|
|
return True
|
|||
|
|
|
|||
|
|
# 发送不完整，重试
|
|||
|
|
time.sleep_ms(50)
|
|||
|
|
|
|||
|
|
except OSError as e:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[WIFI-TCP] 发送异常: {e}（尝试 {attempt+1}/{max_retries}）")
|
|||
|
|
time.sleep_ms(50)
|
|||
|
|
except Exception as e:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[WIFI-TCP] 未知错误: {e}（尝试 {attempt+1}/{max_retries}）")
|
|||
|
|
time.sleep_ms(50)
|
|||
|
|
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def _tcp_send_raw_via_4g(self, data: bytes, max_retries=2) -> bool:
|
|||
|
|
"""通过4G模块发送TCP数据"""
|
|||
|
|
with self.get_uart_lock():
|
|||
|
|
for _ in range(max_retries):
|
|||
|
|
cmd = f'AT+MIPSEND=0,{len(data)}'
|
|||
|
|
if ">" not in hardware_manager.at_client.send(cmd, ">", 2000):
|
|||
|
|
time.sleep_ms(50)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
total = 0
|
|||
|
|
while total < len(data):
|
|||
|
|
n = hardware_manager.uart4g.write(data[total:])
|
|||
|
|
if not n or n < 0:
|
|||
|
|
time.sleep_ms(1)
|
|||
|
|
continue
|
|||
|
|
total += n
|
|||
|
|
|
|||
|
|
hardware_manager.uart4g.write(b"\x1A")
|
|||
|
|
|
|||
|
|
r = hardware_manager.at_client.send("", "OK", 8000)
|
|||
|
|
if ("SEND OK" in r) or ("OK" in r) or ("+MIPSEND" in r):
|
|||
|
|
return True
|
|||
|
|
|
|||
|
|
time.sleep_ms(50)
|
|||
|
|
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def receive_tcp_data_via_wifi(self, timeout_ms=100):
|
|||
|
|
"""
|
|||
|
|
通过WiFi接收TCP数据
|
|||
|
|
|
|||
|
|
Args:
|
|||
|
|
timeout_ms: 超时时间（毫秒）
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
bytes: 接收到的数据，如果没有数据则返回 b""
|
|||
|
|
"""
|
|||
|
|
if not self._wifi_socket:
|
|||
|
|
return b""
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 设置接收超时
|
|||
|
|
self._wifi_socket.settimeout(timeout_ms / 1000.0)
|
|||
|
|
|
|||
|
|
# 尝试接收数据
|
|||
|
|
data = self._wifi_socket.recv(4096) # 每次最多接收4KB
|
|||
|
|
return data
|
|||
|
|
|
|||
|
|
except socket.timeout:
|
|||
|
|
# 超时是正常的，表示没有数据
|
|||
|
|
return b""
|
|||
|
|
except OSError as e:
|
|||
|
|
# socket错误（连接断开等）
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.warning(f"[WIFI-TCP] 接收数据失败: {e}")
|
|||
|
|
|
|||
|
|
# 关闭socket
|
|||
|
|
try:
|
|||
|
|
self._wifi_socket.close()
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
self._wifi_socket = None
|
|||
|
|
self._tcp_connected = False
|
|||
|
|
|
|||
|
|
return b""
|
|||
|
|
except Exception as e:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[WIFI-TCP] 接收数据异常: {e}")
|
|||
|
|
return b""
|
|||
|
|
|
|||
|
|
|
|||
|
|
def generate_token(self, device_id):
|
|||
|
|
"""生成用于 HTTP 接口鉴权的 Token（HMAC-SHA256）"""
|
|||
|
|
SALT = "shootMessageFire"
|
|||
|
|
SALT2 = "shoot"
|
|||
|
|
return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
|
|||
|
|
|
|||
|
|
|
|||
|
|
def send_http_cmd(self, cmd_str, timeout_ms=3000):
|
|||
|
|
"""发送 HTTP 相关 AT 指令（调试用）"""
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.debug(f"[HTTP AT] => {cmd_str}")
|
|||
|
|
return hardware_manager.at_client.send(cmd_str, "OK", timeout_ms)
|
|||
|
|
|
|||
|
|
|
|||
|
|
def upload_shoot_event(self,json_data):
|
|||
|
|
"""通过 4G 模块上报射击事件到 HTTP 接口（备用通道）"""
|
|||
|
|
token = self.generate_token(self.device_id)
|
|||
|
|
if not self.send_http_cmd(f'AT+MHTTPCREATE="{config.HTTP_URL}"'):
|
|||
|
|
return False
|
|||
|
|
instance_id = 0
|
|||
|
|
self.send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
|
|||
|
|
self.send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
|
|||
|
|
self.send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {self.device_id}"')
|
|||
|
|
json_str = ujson.dumps(json_data)
|
|||
|
|
if not self.send_http_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"'):
|
|||
|
|
return False
|
|||
|
|
if self.send_http_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{config.HTTP_API_PATH}"'):
|
|||
|
|
time.sleep_ms(5000)
|
|||
|
|
return True
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
|
|||
|
|
def tcp_main(self):
|
|||
|
|
"""TCP 主通信循环：登录、心跳、处理指令、发送数据"""
|
|||
|
|
import _thread
|
|||
|
|
from maix import camera
|
|||
|
|
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.info("[NET] TCP主线程启动")
|
|||
|
|
|
|||
|
|
send_hartbeat_fail_count = 0
|
|||
|
|
last_charging_check = 0
|
|||
|
|
CHARGING_CHECK_INTERVAL = 5000 # 5秒检查一次充电状态
|
|||
|
|
|
|||
|
|
while True:
|
|||
|
|
try:
|
|||
|
|
# 检查充电状态（每5秒检查一次）
|
|||
|
|
current_time = time.ticks_ms()
|
|||
|
|
if current_time - last_charging_check > CHARGING_CHECK_INTERVAL:
|
|||
|
|
last_charging_check = current_time
|
|||
|
|
|
|||
|
|
# OTA 期间不要 connect/登录/心跳/发送
|
|||
|
|
try:
|
|||
|
|
from ota_manager import ota_manager
|
|||
|
|
if ota_manager.ota_in_progress:
|
|||
|
|
time.sleep_ms(200)
|
|||
|
|
continue
|
|||
|
|
except Exception as e:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[NET] OTA检查异常: {e}")
|
|||
|
|
time.sleep_ms(200)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
if not self.connect_server():
|
|||
|
|
time.sleep_ms(5000)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
# 发送登录包
|
|||
|
|
vol_val = get_bus_voltage()
|
|||
|
|
login_data = {
|
|||
|
|
"deviceId": self.device_id,
|
|||
|
|
"password": self.password,
|
|||
|
|
"version": config.APP_VERSION,
|
|||
|
|
"vol": vol_val,
|
|||
|
|
"vol_per": voltage_to_percent(vol_val)
|
|||
|
|
}
|
|||
|
|
if not self.tcp_send_raw(self.make_packet(1, login_data)):
|
|||
|
|
self._tcp_connected = False
|
|||
|
|
time.sleep_ms(2000)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
if logger:
|
|||
|
|
logger.info("➡️ 登录包已发送，等待确认...")
|
|||
|
|
logged_in = False
|
|||
|
|
pending_cleared = False
|
|||
|
|
last_heartbeat_ack_time = time.ticks_ms()
|
|||
|
|
last_heartbeat_send_time = time.ticks_ms()
|
|||
|
|
|
|||
|
|
while True:
|
|||
|
|
# OTA 期间暂停 TCP 活动
|
|||
|
|
try:
|
|||
|
|
from ota_manager import ota_manager
|
|||
|
|
if ota_manager.ota_in_progress:
|
|||
|
|
time.sleep_ms(200)
|
|||
|
|
continue
|
|||
|
|
except Exception as e:
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[NET] OTA检查异常: {e}")
|
|||
|
|
time.sleep_ms(200)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
# 接收数据（根据网络类型选择接收方式）
|
|||
|
|
item = None
|
|||
|
|
if self._network_type == "wifi":
|
|||
|
|
# WiFi接收数据
|
|||
|
|
data = self.receive_tcp_data_via_wifi(timeout_ms=50)
|
|||
|
|
if data:
|
|||
|
|
# 将数据添加到缓冲区
|
|||
|
|
self._wifi_recv_buffer += data
|
|||
|
|
|
|||
|
|
# 尝试从缓冲区解析完整的数据包
|
|||
|
|
while len(self._wifi_recv_buffer) >= 12: # 至少需要12字节的头部
|
|||
|
|
# 解析头部
|
|||
|
|
try:
|
|||
|
|
body_len, msg_type, checksum = struct.unpack(">III", self._wifi_recv_buffer[:12])
|
|||
|
|
total_len = 12 + body_len
|
|||
|
|
|
|||
|
|
if len(self._wifi_recv_buffer) >= total_len:
|
|||
|
|
# 有完整的数据包
|
|||
|
|
payload = self._wifi_recv_buffer[:total_len]
|
|||
|
|
self._wifi_recv_buffer = self._wifi_recv_buffer[total_len:]
|
|||
|
|
item = (0, payload) # link_id=0 for WiFi
|
|||
|
|
break
|
|||
|
|
else:
|
|||
|
|
# 数据包不完整，等待更多数据
|
|||
|
|
break
|
|||
|
|
except:
|
|||
|
|
# 解析失败，清空缓冲区
|
|||
|
|
self._wifi_recv_buffer = b""
|
|||
|
|
break
|
|||
|
|
elif self._network_type == "4g":
|
|||
|
|
# 4G接收数据
|
|||
|
|
item = hardware_manager.at_client.pop_tcp_payload()
|
|||
|
|
|
|||
|
|
if item:
|
|||
|
|
if isinstance(item, tuple) and len(item) == 2:
|
|||
|
|
link_id, payload = item
|
|||
|
|
else:
|
|||
|
|
link_id, payload = 0, item
|
|||
|
|
|
|||
|
|
if not logged_in:
|
|||
|
|
try:
|
|||
|
|
if logger:
|
|||
|
|
logger.debug(f"[TCP] rx link={link_id} len={len(payload)} head={payload[:12].hex()}")
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
msg_type, body = self.parse_packet(payload)
|
|||
|
|
|
|||
|
|
# 处理登录响应
|
|||
|
|
if not logged_in and msg_type == 1:
|
|||
|
|
if body and body.get("cmd") == 1 and body.get("data") == "登录成功":
|
|||
|
|
logged_in = True
|
|||
|
|
last_heartbeat_ack_time = time.ticks_ms()
|
|||
|
|
if logger:
|
|||
|
|
logger.info("登录成功")
|
|||
|
|
|
|||
|
|
# 检查 ota_pending.json
|
|||
|
|
try:
|
|||
|
|
pending_path = f"{config.APP_DIR}/ota_pending.json"
|
|||
|
|
if os.path.exists(pending_path):
|
|||
|
|
try:
|
|||
|
|
with open(pending_path, "r", encoding="utf-8") as f:
|
|||
|
|
pending_obj = json.load(f)
|
|||
|
|
except:
|
|||
|
|
pending_obj = {}
|
|||
|
|
self.safe_enqueue({"result": "ota_ok", "url": pending_obj.get("url", "")}, 2)
|
|||
|
|
if logger:
|
|||
|
|
logger.info("[OTA] 已上报 ota_ok，等待心跳确认后删除 pending")
|
|||
|
|
except Exception as e:
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[OTA] ota_ok 上报失败: {e}")
|
|||
|
|
else:
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
# 处理心跳 ACK
|
|||
|
|
elif logged_in and msg_type == 4:
|
|||
|
|
last_heartbeat_ack_time = time.ticks_ms()
|
|||
|
|
if logger:
|
|||
|
|
logger.debug("✅ 收到心跳确认")
|
|||
|
|
|
|||
|
|
# 处理命令40（分片下载）
|
|||
|
|
elif logged_in and msg_type == 40:
|
|||
|
|
if isinstance(body, dict):
|
|||
|
|
t = body.get('t', 0)
|
|||
|
|
v = body.get('v')
|
|||
|
|
# 如果是第一个分片，清空之前的缓存
|
|||
|
|
if len(self._raw_line_data) == 0 or (len(self._raw_line_data) > 0 and self._raw_line_data[0].get('v') != v):
|
|||
|
|
self._raw_line_data.clear()
|
|||
|
|
# 或者更简单：每次收到命令40时，如果版本号不同，清空缓存
|
|||
|
|
if len(self._raw_line_data) > 0:
|
|||
|
|
first_v = self._raw_line_data[0].get('v')
|
|||
|
|
if first_v and first_v != v:
|
|||
|
|
self._raw_line_data.clear()
|
|||
|
|
self._raw_line_data.append(body)
|
|||
|
|
if len(self._raw_line_data) >= int(t):
|
|||
|
|
if logger:
|
|||
|
|
logger.info(f"下载完成")
|
|||
|
|
from ota_manager import ota_manager
|
|||
|
|
stock_array = list(map(lambda x: x.get('d'), self._raw_line_data))
|
|||
|
|
local_filename = config.LOCAL_FILENAME
|
|||
|
|
with open(local_filename, 'w', encoding='utf-8') as file:
|
|||
|
|
file.write("\n".join(stock_array))
|
|||
|
|
ota_manager.apply_ota_and_reboot(None, local_filename)
|
|||
|
|
else:
|
|||
|
|
self.safe_enqueue({'data':{'l': len(self._raw_line_data), 'v': v}, 'cmd': 41})
|
|||
|
|
if logger:
|
|||
|
|
logger.info(f"已下载{len(self._raw_line_data)} 全部：{t} 版本：{v}")
|
|||
|
|
|
|||
|
|
# 处理业务指令
|
|||
|
|
elif logged_in and isinstance(body, dict):
|
|||
|
|
inner_cmd = None
|
|||
|
|
data_obj = body.get("data")
|
|||
|
|
if isinstance(data_obj, dict):
|
|||
|
|
inner_cmd = data_obj.get("cmd")
|
|||
|
|
|
|||
|
|
if inner_cmd == 2: # 开启激光并校准
|
|||
|
|
from laser_manager import laser_manager
|
|||
|
|
if not laser_manager.calibration_active:
|
|||
|
|
laser_manager.turn_on_laser()
|
|||
|
|
time.sleep_ms(100)
|
|||
|
|
laser_manager.start_calibration()
|
|||
|
|
self.safe_enqueue({"result": "calibrating"}, 2)
|
|||
|
|
elif inner_cmd == 3: # 关闭激光
|
|||
|
|
from laser_manager import laser_manager
|
|||
|
|
laser_manager.turn_off_laser()
|
|||
|
|
laser_manager.stop_calibration()
|
|||
|
|
self.safe_enqueue({"result": "laser_off"}, 2)
|
|||
|
|
elif inner_cmd == 4: # 上报电量
|
|||
|
|
voltage = get_bus_voltage()
|
|||
|
|
battery_percent = voltage_to_percent(voltage)
|
|||
|
|
battery_data = {"battery": battery_percent, "voltage": round(voltage, 3)}
|
|||
|
|
self.safe_enqueue(battery_data, 2)
|
|||
|
|
if logger:
|
|||
|
|
logger.info(f"电量上报: {battery_percent}%")
|
|||
|
|
elif inner_cmd == 5: # OTA 升级
|
|||
|
|
inner_data = data_obj.get("data", {}) if isinstance(data_obj, dict) else {}
|
|||
|
|
ssid = inner_data.get("ssid")
|
|||
|
|
password = inner_data.get("password")
|
|||
|
|
ota_url = inner_data.get("url")
|
|||
|
|
mode = (inner_data.get("mode") or "").strip().lower()
|
|||
|
|
|
|||
|
|
if not ota_url:
|
|||
|
|
if logger:
|
|||
|
|
logger.error("ota missing_url")
|
|||
|
|
self.safe_enqueue({"result": "missing_url"}, 2)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
from ota_manager import ota_manager
|
|||
|
|
if ota_manager.update_thread_started:
|
|||
|
|
self.safe_enqueue({"result": "update_already_started"}, 2)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
# 自动判断模式：如果没有明确指定，根据WiFi连接状态和凭证决定
|
|||
|
|
if mode not in ("4g", "wifi"):
|
|||
|
|
if logger:
|
|||
|
|
logger.info("ota missing mode, auto-detecting...")
|
|||
|
|
# 只有同时满足：WiFi已连接 且 提供了WiFi凭证，才使用WiFi
|
|||
|
|
if self.is_wifi_connected() and ssid and password:
|
|||
|
|
mode = "wifi"
|
|||
|
|
if logger:
|
|||
|
|
logger.info("ota auto-selected: wifi (WiFi connected and credentials provided)")
|
|||
|
|
else:
|
|||
|
|
mode = "4g"
|
|||
|
|
if logger:
|
|||
|
|
logger.info("ota auto-selected: 4g (WiFi not available or no credentials)")
|
|||
|
|
|
|||
|
|
if mode == "4g":
|
|||
|
|
ota_manager._set_ota_url(ota_url) # 记录 OTA URL，供命令7使用
|
|||
|
|
ota_manager._start_update_thread()
|
|||
|
|
_thread.start_new_thread(ota_manager.direct_ota_download_via_4g, (ota_url,))
|
|||
|
|
else: # mode == "wifi"
|
|||
|
|
if not ssid or not password:
|
|||
|
|
if logger:
|
|||
|
|
logger.error("ota wifi mode requires ssid and password")
|
|||
|
|
self.safe_enqueue({"result": "missing_ssid_or_password"}, 2)
|
|||
|
|
else:
|
|||
|
|
ota_manager._start_update_thread()
|
|||
|
|
_thread.start_new_thread(ota_manager.handle_wifi_and_update, (ssid, password, ota_url))
|
|||
|
|
elif inner_cmd == 6:
|
|||
|
|
try:
|
|||
|
|
ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
|
|||
|
|
ip = ip if ip else "no_ip"
|
|||
|
|
except:
|
|||
|
|
ip = "error_getting_ip"
|
|||
|
|
self.safe_enqueue({"result": "current_ip", "ip": ip}, 2)
|
|||
|
|
elif inner_cmd == 7:
|
|||
|
|
from ota_manager import ota_manager
|
|||
|
|
if ota_manager.update_thread_started:
|
|||
|
|
self.safe_enqueue({"result": "update_already_started"}, 2)
|
|||
|
|
continue
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
|
|||
|
|
except:
|
|||
|
|
ip = None
|
|||
|
|
|
|||
|
|
if not ip:
|
|||
|
|
self.safe_enqueue({"result": "ota_rejected", "reason": "no_wifi_ip"}, 2)
|
|||
|
|
else:
|
|||
|
|
# 注意：direct_ota_download 需要 ota_url 参数
|
|||
|
|
# 如果 ota_manager.ota_url 为 None，需要从其他地方获取
|
|||
|
|
ota_url_to_use = ota_manager.ota_url
|
|||
|
|
if not ota_url_to_use:
|
|||
|
|
if logger:
|
|||
|
|
logger.error("[OTA] cmd=7 但 OTA_URL 未设置")
|
|||
|
|
self.safe_enqueue({"result": "ota_failed", "reason": "ota_url_not_set"}, 2)
|
|||
|
|
else:
|
|||
|
|
ota_manager._start_update_thread()
|
|||
|
|
_thread.start_new_thread(ota_manager.direct_ota_download, (ota_url_to_use,))
|
|||
|
|
elif inner_cmd == 41:
|
|||
|
|
if logger:
|
|||
|
|
logger.info("[TEST] 收到TCP射箭触发命令")
|
|||
|
|
self._manual_trigger_flag = True
|
|||
|
|
self.safe_enqueue({"result": "trigger_ack"}, 2)
|
|||
|
|
elif inner_cmd == 42: # 关机命令
|
|||
|
|
if logger:
|
|||
|
|
logger.info("[SHUTDOWN] 收到TCP关机命令，准备关机...")
|
|||
|
|
self.safe_enqueue({"result": "shutdown_ack"}, 2)
|
|||
|
|
time.sleep_ms(1000)
|
|||
|
|
self.disconnect_server()
|
|||
|
|
# 尝试关闭4G模块
|
|||
|
|
try:
|
|||
|
|
with self.get_uart_lock():
|
|||
|
|
hardware_manager.at_client.send("AT+CFUN=0", "OK", 5000)
|
|||
|
|
except:
|
|||
|
|
pass
|
|||
|
|
time.sleep_ms(2000)
|
|||
|
|
os.system("poweroff")
|
|||
|
|
return
|
|||
|
|
else:
|
|||
|
|
time.sleep_ms(5)
|
|||
|
|
|
|||
|
|
# 发送队列中的业务数据
|
|||
|
|
if logged_in and (self._high_send_queue or self._normal_send_queue):
|
|||
|
|
msg_type = None
|
|||
|
|
data_dict = None
|
|||
|
|
if self.get_queue_lock().acquire(blocking=False):
|
|||
|
|
try:
|
|||
|
|
if self._high_send_queue:
|
|||
|
|
msg_type, data_dict = self._high_send_queue.pop(0)
|
|||
|
|
elif self._normal_send_queue:
|
|||
|
|
msg_type, data_dict = self._normal_send_queue.pop(0)
|
|||
|
|
finally:
|
|||
|
|
self.get_queue_lock().release()
|
|||
|
|
|
|||
|
|
if msg_type is not None and data_dict is not None:
|
|||
|
|
pkt = self.make_packet(msg_type, data_dict)
|
|||
|
|
if not self.tcp_send_raw(pkt):
|
|||
|
|
self._tcp_connected = False
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
# 发送激光校准结果
|
|||
|
|
if logged_in:
|
|||
|
|
from laser_manager import laser_manager
|
|||
|
|
result = laser_manager.get_calibration_result()
|
|||
|
|
if result:
|
|||
|
|
x, y = result
|
|||
|
|
self.safe_enqueue({"result": "ok", "x": x, "y": y}, 2)
|
|||
|
|
|
|||
|
|
# 定期发送心跳
|
|||
|
|
current_time = time.ticks_ms()
|
|||
|
|
if logged_in and current_time - last_heartbeat_send_time > config.HEARTBEAT_INTERVAL * 1000:
|
|||
|
|
vol_val = get_bus_voltage()
|
|||
|
|
if not self.tcp_send_raw(self.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})):
|
|||
|
|
if logger:
|
|||
|
|
logger.error("心跳发送失败")
|
|||
|
|
time.sleep_ms(3000)
|
|||
|
|
send_hartbeat_fail_count += 1
|
|||
|
|
if send_hartbeat_fail_count >= 3:
|
|||
|
|
send_hartbeat_fail_count = 0
|
|||
|
|
if logger:
|
|||
|
|
logger.error("连续3次发送心跳失败，重连")
|
|||
|
|
break
|
|||
|
|
else:
|
|||
|
|
continue
|
|||
|
|
else:
|
|||
|
|
send_hartbeat_fail_count = 0
|
|||
|
|
last_heartbeat_send_time = current_time
|
|||
|
|
if logger:
|
|||
|
|
logger.debug("心跳已发送")
|
|||
|
|
|
|||
|
|
# 删除 pending 文件（心跳发送成功后）
|
|||
|
|
if not pending_cleared:
|
|||
|
|
try:
|
|||
|
|
pending_path = f"{config.APP_DIR}/ota_pending.json"
|
|||
|
|
if os.path.exists(pending_path):
|
|||
|
|
try:
|
|||
|
|
os.remove(pending_path)
|
|||
|
|
pending_cleared = True
|
|||
|
|
if logger:
|
|||
|
|
logger.info("[OTA] 心跳发送成功，已删除 ota_pending.json")
|
|||
|
|
except Exception as e:
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[OTA] 删除 pending 文件失败: {e}")
|
|||
|
|
except Exception as e:
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[OTA] 检查 pending 文件时出错: {e}")
|
|||
|
|
|
|||
|
|
# 心跳超时重连
|
|||
|
|
if logged_in and current_time - last_heartbeat_ack_time > 1000*60*10:
|
|||
|
|
if logger:
|
|||
|
|
logger.error("十分钟无心跳ACK，重连")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
time.sleep_ms(50)
|
|||
|
|
|
|||
|
|
self._tcp_connected = False
|
|||
|
|
if logger:
|
|||
|
|
logger.error("连接异常，2秒后重连...")
|
|||
|
|
time.sleep_ms(2000)
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
# TCP主循环的顶层异常捕获，防止线程静默退出
|
|||
|
|
logger = logger_manager.logger
|
|||
|
|
if logger:
|
|||
|
|
logger.error(f"[NET] TCP主循环异常: {e}")
|
|||
|
|
import traceback
|
|||
|
|
logger.error(traceback.format_exc())
|
|||
|
|
else:
|
|||
|
|
print(f"[NET] TCP主循环异常: {e}")
|
|||
|
|
import traceback
|
|||
|
|
traceback.print_exc()
|
|||
|
|
self._tcp_connected = False
|
|||
|
|
time.sleep_ms(5000) # 等待5秒后重试连接
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 创建全局单例实例
|
|||
|
|
network_manager = NetworkManager()
|
|||
|
|
|
|||
|
|
# ==================== 向后兼容的函数接口 ====================
|
|||
|
|
|
|||
|
|
def tcp_main():
|
|||
|
|
"""TCP主循环（向后兼容接口）"""
|
|||
|
|
return network_manager.tcp_main()
|
|||
|
|
|
|||
|
|
def read_device_id():
|
|||
|
|
"""读取设备ID（向后兼容接口）"""
|
|||
|
|
return network_manager.read_device_id()
|
|||
|
|
|
|||
|
|
def safe_enqueue(data_dict, msg_type=2, high=False):
|
|||
|
|
"""线程安全地加入队列（向后兼容接口）"""
|
|||
|
|
return network_manager.safe_enqueue(data_dict, msg_type, high)
|
|||
|
|
|
|||
|
|
def connect_server():
|
|||
|
|
"""连接服务器（向后兼容接口）"""
|
|||
|
|
return network_manager.connect_server()
|
|||
|
|
|
|||
|
|
def disconnet_server():
|
|||
|
|
"""断开服务器连接（向后兼容接口）"""
|
|||
|
|
return network_manager.disconnect_server()
|
|||
|
|
|
|||
|
|
def is_wifi_connected():
|
|||
|
|
"""检查WiFi是否已连接（向后兼容接口）"""
|
|||
|
|
return network_manager.is_wifi_connected()
|
|||
|
|
|
|||
|
|
def connect_wifi(ssid, password):
|
|||
|
|
"""连接WiFi（向后兼容接口）"""
|
|||
|
|
return network_manager.connect_wifi(ssid, password)
|
|||
|
|
|
|||
|
|
def is_server_reachable(host, port=80, timeout=5):
|
|||
|
|
"""检查服务器是否可达（向后兼容接口）"""
|
|||
|
|
return network_manager.is_server_reachable(host, port, timeout)
|
|||
|
|
|
|||
|
|
|