archery/main.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
激光射击系统主程序（视觉测距版）
功能：目标检测、激光校准、4G TCP 通信、OTA 升级、单目测距、INA226 电量监测
平台：MaixPy (Sipeed MAIX)
作者：ZZH
最后更新：2025-11-21

重构版本：使用模块化设计
"""
from maix import camera, display, image, app, time, uart, pinmap, i2c
from maix.peripheral import adc
import _thread
import os
import json

# 导入新模块
import config
from version import VERSION
# from logger import init_logging, get_logger, stop_logging
from logger_manager import logger_manager
from time_sync import sync_system_time_from_4g
from power import init_ina226, get_bus_voltage, voltage_to_percent
from laser_manager import laser_manager
from vision import detect_circle_v3, estimate_distance, enqueue_save_shot, start_save_shot_worker
from network import network_manager
from ota_manager import ota_manager
from hardware import hardware_manager
from camera_manager import camera_manager


def laser_calibration_worker():
    """后台线程：持续检测是否需要执行激光校准"""
    from laser_manager import laser_manager
    from ota_manager import ota_manager
    
    logger = logger_manager.logger
    if logger:
        logger.info("[LASER] 激光校准线程启动")
    
    while True:
        try:
            try:
                if ota_manager.ota_in_progress:
                    time.sleep_ms(200)
                    continue
            except Exception as e:
                logger = logger_manager.logger
                if logger:
                    logger.error(f"[LASER] OTA检查异常: {e}")
                time.sleep_ms(200)
                continue

            if laser_manager.calibration_active:
                # 调用校准方法，所有逻辑都在 LaserManager 中
                result = laser_manager.calibrate_laser_position(timeout_ms=8000, check_sharpness=True)
                
                # 如果超时仍未成功，稍微休息一下
                if laser_manager.calibration_active:
                    time.sleep_ms(300)
            else:
                time.sleep_ms(50)
        except Exception as e:
            # 线程顶层异常捕获，防止线程静默退出
            logger = logger_manager.logger
            if logger:
                logger.error(f"[LASER] 校准线程异常: {e}")
                import traceback
                logger.error(traceback.format_exc())
            else:
                print(f"[LASER] 校准线程异常: {e}")
                import traceback
                traceback.print_exc()
            time.sleep_ms(1000)  # 等待1秒后继续

def cmd_str():
    """主程序入口"""
    # ==================== 第一阶段：硬件初始化 ====================
    # 按照 main104.py 的顺序，先完成所有硬件初始化
    
    # 1. 引脚功能映射
    for pin, func in config.PIN_MAPPINGS.items():
        try:
            pinmap.set_pin_function(pin, func)
        except:
            pass
    
    # 2. 初始化硬件对象（UART、I2C、ADC）
    hardware_manager.init_uart4g()
    hardware_manager.init_distance_serial()
    hardware_manager.init_bus()
    hardware_manager.init_adc()
    hardware_manager.init_at_client()
    
    # 3. 初始化 INA226 电量监测芯片
    init_ina226()
    

    
    # 4. 初始化显示和相机
    camera_manager.init_camera(640, 480)
    camera_manager.init_display()
    
    # ==================== 第二阶段：软件初始化 ====================
    
    # 1. 初始化日志系统
    import logging
    logger_manager.init_logging(log_level=logging.DEBUG)
    logger = logger_manager.logger
    
    # 2. 从4G模块同步系统时间（需要 at_client 已初始化）
    sync_system_time_from_4g()

    # 2.5. 启动存图 worker 线程（队列 + worker，避免主循环阻塞）
    start_save_shot_worker()
    
    # 3. 启动时检查：是否需要恢复备份
    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)
            
            restart_count = pending_obj.get('restart_count', 0)
            max_restarts = pending_obj.get('max_restarts', 3)
            backup_dir = pending_obj.get('backup_dir')
            
            if logger:
                logger.info(f"检测到 ota_pending.json，重启计数: {restart_count}/{max_restarts}")
            
            if restart_count >= max_restarts:
                if logger:
                    logger.error(f"[STARTUP] 重启次数 ({restart_count}) 超过阈值 ({max_restarts})，执行恢复...")
                
                if backup_dir and os.path.exists(backup_dir):
                    if ota_manager.restore_from_backup(backup_dir):
                        if logger:
                            logger.info(f"[STARTUP] 已从指定备份恢复: {backup_dir}")
                    else:
                        if logger:
                            logger.info(f"[STARTUP] 指定备份恢复失败，尝试恢复最新备份...")
                        ota_manager.restore_from_backup(None)
                else:
                    if ota_manager.restore_from_backup(None):
                        if logger:
                            logger.info(f"[STARTUP] 已从最新备份恢复")
                    else:
                        if logger:
                            logger.error(f"[STARTUP] 恢复备份失败")
                
                try:
                    os.remove(pending_path)
                    if logger:
                        logger.info(f"[STARTUP] 已删除 ota_pending.json")
                except Exception as e:
                    if logger:
                        logger.error(f"[STARTUP] 删除 pending 文件失败: {e}")
                
                if logger:
                    logger.info(f"[STARTUP] 恢复完成，准备重启系统...")
                time.sleep_ms(2000)
                os.system("reboot")
                return
            else:
                pending_obj['restart_count'] = restart_count + 1
                try:
                    with open(pending_path, 'w', encoding='utf-8') as f:
                        json.dump(pending_obj, f)
                    if logger:
                        logger.info(f"[STARTUP] 已更新重启计数: {pending_obj['restart_count']}")
                except Exception as e:
                    if logger:
                        logger.error(f"[STARTUP] 更新重启计数失败: {e}")
        except Exception as e:
            if logger:
                logger.error(f"[STARTUP] 检查 pending 文件时出错: {e}")
            try:
                if logger:
                    logger.info(f"[STARTUP] pending 文件可能损坏，尝试恢复备份...")
                if ota_manager.restore_from_backup(None):
                    os.remove(pending_path)
                    if logger:
                        logger.info(f"[STARTUP] 已恢复备份并删除损坏的 pending 文件")
                    time.sleep_ms(2000)
                    os.system("reboot")
                    return
            except:
                pass
    
    # 4. 初始化设备ID（network_manager 内部会自动设置 device_id 和 password）
    network_manager.read_device_id()
    
    # 5. 创建照片存储目录（如果启用图像保存）
    if config.SAVE_IMAGE_ENABLED:
        photo_dir = config.PHOTO_DIR
        if photo_dir not in os.listdir("/root"):
            try:
                os.mkdir(photo_dir)
            except:
                pass

    # 6. 启动通信与校准线程
    _thread.start_new_thread(network_manager.tcp_main, ())
    if not config.HARDCODE_LASER_POINT:
        _thread.start_new_thread(laser_calibration_worker, ())

    # 7. 加载激光点配置
    laser_manager.load_laser_point()

    if logger:
        logger.info("系统准备完成...")

    last_adc_trigger = 0
    # 气压采样：减少日志频率（每 N 个点输出一条），避免 logger.debug 拖慢采样
    PRESSURE_BATCH_SIZE = 100
    pressure_buf = []
    pressure_sum = 0
    pressure_min = 4095
    pressure_max = 0
    pressure_t0_ms = None

    def _flush_pressure_buf(reason: str):
        if not config.AIR_PRESSURE_lOG:
            return
        nonlocal pressure_buf, pressure_sum, pressure_min, pressure_max, pressure_t0_ms, logger
        if not pressure_buf:
            return
        t1_ms = time.ticks_ms()
        n = len(pressure_buf)
        avg = (pressure_sum / n) if n else 0
        # 一行输出：方便后处理画曲线；同时带上统计信息便于快速看波峰
        line = (
            f"[气压批量] reason={reason} "
            f"t0={pressure_t0_ms} t1={t1_ms} n={n} "
            f"min={pressure_min} max={pressure_max} avg={avg:.1f} "
            f"values={','.join(map(str, pressure_buf))}"
        )
        if logger:
            logger.debug(line)
        else:
            print(line)
        pressure_buf = []
        pressure_sum = 0
        pressure_min = 4095
        pressure_max = 0
        pressure_t0_ms = None

    # 主循环：检测扳机触发 → 拍照 → 分析 → 上报
    while not app.need_exit():
        try:
            current_time = time.ticks_ms()
            
            # OTA 期间暂停相机预览
            try:
                if ota_manager.ota_in_progress:
                    time.sleep_ms(250)
                    continue
            except Exception as e:
                logger = logger_manager.logger
                if logger:
                    logger.error(f"[MAIN] OTA检查异常: {e}")
                time.sleep_ms(250)
                continue
            
            # 读取ADC值（扳机检测）
            try:
                if network_manager.manual_trigger_flag:
                    network_manager.clear_manual_trigger()
                    adc_val = config.ADC_TRIGGER_THRESHOLD + 1
                    if logger:
                        logger.info("[TEST] TCP命令触发射箭")
                else:
                    adc_val = hardware_manager.adc_obj.read()
            except Exception as e:
                logger = logger_manager.logger
                if logger:
                    logger.error(f"[MAIN] ADC读取异常: {e}")
                time.sleep_ms(100)
                continue

            # ====== 气压采样缓存（每次循环都记录，批量输出日志）======
            if pressure_t0_ms is None:
                pressure_t0_ms = current_time
            pressure_buf.append(adc_val)
            pressure_sum += adc_val
            if adc_val < pressure_min:
                pressure_min = adc_val
            if adc_val > pressure_max:
                pressure_max = adc_val
            if len(pressure_buf) >= PRESSURE_BATCH_SIZE:
                _flush_pressure_buf("batch")
            # if adc_val >= 2000:
            # print(f"adc :{adc_val}")
            if adc_val >= config.ADC_TRIGGER_THRESHOLD:
                diff_ms = current_time - last_adc_trigger
                if diff_ms < 3000:
                    continue
                last_adc_trigger = current_time
                # 触发前先把缓存刷出来，避免波形被长耗时处理截断
                _flush_pressure_buf("before_trigger")
                
                try:
                    frame = camera_manager.read_frame()
                    
                    laser_point_method = None  # 记录激光点选择方法
                    if config.HARDCODE_LASER_POINT:
                        # 硬编码模式：使用硬编码值
                        laser_point = laser_manager.laser_point
                        laser_point_method = "hardcode"
                    elif laser_manager.has_calibrated_point():
                        # 假如校准过，并且有保存值，使用校准值
                        laser_point = laser_manager.laser_point
                        laser_point_method = "calibrated"
                        logger_manager.logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
                    elif distance_m and distance_m > 0:
                        # 动态计算模式：根据距离计算激光点
                        # 先检测靶心以获取距离（用于计算激光点）
                        # 第一次检测不使用激光点，仅用于获取距离
                        result_img_temp, center_temp, radius_temp, method_temp, best_radius1_temp, ellipse_params_temp = detect_circle_v3(frame, None)
                        # 计算距离
                        distance_m = estimate_distance(best_radius1_temp) if best_radius1_temp else None
                        laser_point = laser_manager.calculate_laser_point_from_distance(distance_m)
                        laser_point_method = "dynamic"
                    if laser_point is None:
                        logger = logger_manager.logger
                        if logger:
                            logger.warning("[MAIN] 激光点未初始化，跳过本次检测")
                        time.sleep_ms(100)
                        continue
                    
                    x, y = laser_point

                    # 检测靶心
                    result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)

                    camera_manager.show(result_img)

                    # 计算偏移与距离（如果检测到靶心）
                    if center and radius:
                        dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
                        distance_m = estimate_distance(best_radius1)
                    else:
                        # 未检测到靶心
                        dx, dy = None, None
                        distance_m = None
                        if logger:
                            logger.warning("[MAIN] 未检测到靶心，但会保存图像")

                    # 快速激光测距（激光一闪而过，约500-600ms）
                    laser_distance_m = None
                    laser_signal_quality = 0
                    # try:
                    #     result = laser_manager.quick_measure_distance()
                    #     if isinstance(result, tuple) and len(result) == 2:
                    #         laser_distance_m, laser_signal_quality = result
                    #     else:
                    #         # 向后兼容：如果返回的是单个值
                    #         laser_distance_m = result if isinstance(result, (int, float)) else 0.0
                    #         laser_signal_quality = 0
                    #     if logger:
                    #         if laser_distance_m > 0:
                    #             logger.info(f"[MAIN] 激光测距成功: {laser_distance_m:.3f} m, 信号质量: {laser_signal_quality}")
                    #         else:
                    #             logger.warning("[MAIN] 激光测距失败或返回0")
                    # except Exception as e:
                    #     if logger:
                    #         logger.error(f"[MAIN] 激光测距异常: {e}")

                    # 读取电量
                    voltage = get_bus_voltage()
                    battery_percent = voltage_to_percent(voltage)

                    # 生成射箭ID
                    from shot_id_generator import shot_id_generator
                    shot_id = shot_id_generator.generate_id() # 不需要使用device_id
                    
                    if logger:
                        logger.info(f"[MAIN] 射箭ID: {shot_id}")

                    # 保存图像（无论是否检测到靶心都保存）：放入队列由 worker 异步保存，不阻塞主循环
                    enqueue_save_shot(
                        result_img,
                        center,
                        radius,
                        method,
                        ellipse_params,
                        (x, y),
                        distance_m,
                        shot_id=shot_id,
                        photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None,
                    )

                    # 构造上报数据
                    inner_data = {
                        "shot_id": shot_id,  # 射箭ID，用于关联图片和服务端日志
                        "x": float(dx) if dx is not None else 200.0,
                        "y": float(dy) if dy is not None else 200.0,
                        "r": 90.0,
                        "d": round((distance_m or 0.0) * 100),  # 视觉测距值（厘米）
                        "d_laser": round((laser_distance_m or 0.0) * 100),  # 激光测距值（厘米）
                        "d_laser_quality": laser_signal_quality,  # 激光测距信号质量
                        "m": method if method else "no_target",
                        "adc": adc_val,
                        # 新增字段：激光点选择方法
                        "laser_method": laser_point_method,  # 激光点选择方法：hardcode/calibrated/dynamic/default
                        # 激光点坐标（像素）
                        "target_x": float(x),  # 激光点 X 坐标（像素）
                        "target_y": float(y),  # 激光点 Y 坐标（像素）
                    }
                    
                    # 添加椭圆参数（如果存在）
                    if ellipse_params:
                        (ell_center, (width, height), angle) = ellipse_params
                        inner_data["ellipse_major_axis"] = float(max(width, height))  # 长轴（像素）
                        inner_data["ellipse_minor_axis"] = float(min(width, height))  # 短轴（像素）
                        inner_data["ellipse_angle"] = float(angle)  # 椭圆角度（度）
                        inner_data["ellipse_center_x"] = float(ell_center[0])  # 椭圆中心 X 坐标（像素）
                        inner_data["ellipse_center_y"] = float(ell_center[1])  # 椭圆中心 Y 坐标（像素）
                    else:
                        inner_data["ellipse_major_axis"] = None
                        inner_data["ellipse_minor_axis"] = None
                        inner_data["ellipse_angle"] = None
                        inner_data["ellipse_center_x"] = None
                        inner_data["ellipse_center_y"] = None
                    
                    report_data = {"cmd": 1, "data": inner_data}
                    network_manager.safe_enqueue(report_data, msg_type=2, high=True)
                    if logger:
                        if center and radius:
                            logger.info(f"射箭事件已加入发送队列（已检测到靶心），ID: {shot_id}")
                        else:
                            logger.info(f"射箭事件已加入发送队列（未检测到靶心，已保存图像），ID: {shot_id}")

                    # 闪一下激光（射箭反馈）
                    laser_manager.flash_laser(1000)

                    time.sleep_ms(100)
                except Exception as e:
                    logger = logger_manager.logger
                    if logger:
                        logger.error(f"[MAIN] 图像处理异常: {e}")
                        import traceback
                        logger.error(traceback.format_exc())
                    time.sleep_ms(100)
                    continue
            else:
                if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING:
                    try:
                        camera_manager.show(camera_manager.read_frame())
                    except Exception as e:
                        logger = logger_manager.logger
                        if logger:
                            logger.error(f"[MAIN] 显示异常: {e}")
                time.sleep_ms(10)

        except Exception as e:
            # 主循环的顶层异常捕获，防止程序静默退出
            logger = logger_manager.logger
            if logger:
                logger.error(f"[MAIN] 主循环异常: {e}")
                import traceback
                logger.error(traceback.format_exc())
            else:
                print(f"[MAIN] 主循环异常: {e}")
                import traceback
                traceback.print_exc()
            # 异常发生时尽量把缓存刷盘，方便定位问题
            try:
                _flush_pressure_buf("exception")
            except:
                pass
            time.sleep_ms(1000)  # 等待1秒后继续





# 主程序入口
if __name__ == "__main__":
    try:
        cmd_str()

        # 用于调用测试函数
        # test()

        # 用于测试图片清晰度
        # 方式1: 测试单张图片
        # test_sharpness("/root/phot/image.bmp")
        
        # 方式2: 测试目录下所有图片
        # test_sharpness("/root/phot")
        
        # 方式3: 使用默认路径（config.PHOTO_DIR）
        # test_sharpness("/root/phot/")
        
        # 用于测试激光点清晰度
        # 方式1: 测试单张图片
        # test_laser_point_sharpness("/root/phot/image.bmp")
        # 方式2: 测试目录下所有图片
        # test_laser_point_sharpness("/root/phot")
        # 方式3: 使用默认路径（config.PHOTO_DIR）
        # test_laser_point_sharpness("/root/phot/")

    except KeyboardInterrupt:
        logger = logger_manager.logger
        if logger:
            logger.info("[MAIN] 收到中断信号，程序退出")
        logger_manager.stop_logging()
    except Exception as e:
        logger = logger_manager.logger
        if logger:
            logger.error(f"[MAIN] 程序异常退出: {e}")
            import traceback
            logger.error(traceback.format_exc())
        else:
            print(f"[MAIN] 程序异常退出: {e}")
            import traceback
            traceback.print_exc()
        logger_manager.stop_logging()
        raise  # 重新抛出异常，让系统知道程序异常退出