v1.1.5
This commit is contained in:
gcw_4spBpAfv
190
main.py
190
main.py
@@ -23,10 +23,11 @@ from logger_manager import logger_manager
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from time_sync import sync_system_time_from_4g
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from power import init_ina226, get_bus_voltage, voltage_to_percent
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from laser_manager import laser_manager
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from vision import detect_circle_v3, estimate_distance, compute_laser_position, save_shot_image, save_calibration_image
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from vision import detect_circle_v3, estimate_distance, save_shot_image, save_calibration_image
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from network import network_manager
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from ota_manager import ota_manager
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from hardware import hardware_manager
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from camera_manager import camera_manager
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# def laser_calibration_worker():
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@@ -104,10 +105,8 @@ from hardware import hardware_manager
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# time.sleep_ms(1000) # 等待1秒后继续
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def laser_calibration_worker():
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"""后台线程：持续检测是否需要执行激光校准"""
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from maix import camera
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from laser_manager import laser_manager
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from ota_manager import ota_manager
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from vision import save_calibration_image # 添加导入
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logger = logger_manager.logger
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if logger:
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@@ -127,47 +126,10 @@ def laser_calibration_worker():
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continue
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if laser_manager.calibration_active:
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cam = None
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try:
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cam = camera.Camera(640, 480)
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start = time.ticks_ms()
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timeout_ms = 8000
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while laser_manager.calibration_active and time.ticks_diff(time.ticks_ms(), start) < timeout_ms:
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frame = cam.read()
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pos = laser_manager.find_red_laser(frame)
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if pos:
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# 保存校准图像（带标注）
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try:
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save_calibration_image(frame, pos)
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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"[LASER] 保存校准图像失败: {e}")
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laser_manager.set_calibration_result(pos)
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laser_manager.stop_calibration()
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laser_manager.save_laser_point(pos)
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logger = logger_manager.logger
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if logger:
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logger.info(f"✅ 后台校准成功: {pos}")
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break
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time.sleep_ms(60)
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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"[LASER] calibration error: {e}")
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import traceback
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logger.error(traceback.format_exc())
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time.sleep_ms(200)
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finally:
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try:
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if cam is not None:
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del cam
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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"[LASER] 释放相机资源异常: {e}")
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# 调用校准方法，所有逻辑都在 LaserManager 中
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result = laser_manager.calibrate_laser_position(timeout_ms=8000, check_sharpness=True)
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# 如果超时仍未成功，稍微休息一下
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if laser_manager.calibration_active:
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time.sleep_ms(300)
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else:
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@@ -211,8 +173,8 @@ def cmd_str():
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laser_manager.load_laser_point()
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# 5. 初始化显示和相机
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disp = display.Display()
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cam = camera.Camera(640, 480)
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camera_manager.init_camera(640, 480)
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camera_manager.init_display()
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# ==================== 第二阶段：软件初始化 ====================
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@@ -358,8 +320,37 @@ def cmd_str():
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last_adc_trigger = current_time
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try:
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frame = cam.read()
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laser_point = laser_manager.laser_point
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frame = camera_manager.read_frame()
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# 先检测靶心以获取距离（用于计算激光点）
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# 第一次检测不使用激光点，仅用于获取距离
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result_img_temp, center_temp, radius_temp, method_temp, best_radius1_temp, ellipse_params_temp = detect_circle_v3(frame, None)
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# 计算距离
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distance_m = estimate_distance(best_radius1_temp) if best_radius1_temp else None
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# 根据距离动态计算激光点坐标（如果未检测到靶心，使用硬编码值或默认值）
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laser_point_method = None # 记录激光点选择方法
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if config.HARDCODE_LASER_POINT:
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# 硬编码模式：使用硬编码值
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laser_point = laser_manager.laser_point
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laser_point_method = "hardcode"
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elif laser_manager.has_calibrated_point():
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# 假如校准过，并且有保存值，使用校准值
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laser_point = laser_manager.laser_point
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laser_point_method = "calibrated"
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logger_manager.logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
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elif distance_m and distance_m > 0:
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# 动态计算模式：根据距离计算激光点
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laser_point = laser_manager.calculate_laser_point_from_distance(distance_m)
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laser_point_method = "dynamic"
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logger_manager.logger.info(f"[算法] 使用比例尺: {laser_point}")
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else:
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# 未检测到靶心且未启用硬编码：使用默认激光点或从配置文件加载
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laser_point = laser_manager.laser_point
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laser_point_method = "default"
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logger_manager.logger.info(f"[算法] 使用默认值: {laser_point}")
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if laser_point is None:
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logger = logger_manager.logger
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if logger:
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@@ -383,13 +374,13 @@ def cmd_str():
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)
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frame.draw_circle(int(x), int(y), 1, color, config.LASER_THICKNESS)
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# 检测靶心
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# 重新检测靶心（使用计算出的激光点）
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result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
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disp.show(result_img)
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camera_manager.show(result_img)
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# 计算偏移与距离（如果检测到靶心）
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if center and radius:
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dx, dy = compute_laser_position(center, (x, y), radius, method)
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dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
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distance_m = estimate_distance(best_radius1)
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else:
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# 未检测到靶心
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@@ -401,27 +392,34 @@ def cmd_str():
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# 快速激光测距（激光一闪而过，约500-600ms）
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laser_distance_m = None
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laser_signal_quality = 0
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try:
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result = laser_manager.quick_measure_distance()
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if isinstance(result, tuple) and len(result) == 2:
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laser_distance_m, laser_signal_quality = result
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else:
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# 向后兼容：如果返回的是单个值
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laser_distance_m = result if isinstance(result, (int, float)) else 0.0
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laser_signal_quality = 0
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if logger:
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if laser_distance_m > 0:
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logger.info(f"[MAIN] 激光测距成功: {laser_distance_m:.3f} m, 信号质量: {laser_signal_quality}")
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else:
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logger.warning("[MAIN] 激光测距失败或返回0")
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except Exception as e:
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if logger:
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logger.error(f"[MAIN] 激光测距异常: {e}")
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# try:
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# result = laser_manager.quick_measure_distance()
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# if isinstance(result, tuple) and len(result) == 2:
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# laser_distance_m, laser_signal_quality = result
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# else:
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# # 向后兼容：如果返回的是单个值
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# laser_distance_m = result if isinstance(result, (int, float)) else 0.0
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# laser_signal_quality = 0
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# if logger:
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# if laser_distance_m > 0:
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# logger.info(f"[MAIN] 激光测距成功: {laser_distance_m:.3f} m, 信号质量: {laser_signal_quality}")
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# else:
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# logger.warning("[MAIN] 激光测距失败或返回0")
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# except Exception as e:
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# if logger:
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# logger.error(f"[MAIN] 激光测距异常: {e}")
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# 读取电量
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voltage = get_bus_voltage()
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battery_percent = voltage_to_percent(voltage)
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# 生成射箭ID
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from shot_id_generator import shot_id_generator
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shot_id = shot_id_generator.generate_id() # 不需要使用device_id
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if logger:
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logger.info(f"[MAIN] 射箭ID: {shot_id}")
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# 保存图像（无论是否检测到靶心都保存）
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# save_shot_image 函数会确保绘制激光十字线和检测标注（如果有）
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# 如果未检测到靶心，文件名会包含 "no_target" 标识
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@@ -433,11 +431,13 @@ def cmd_str():
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ellipse_params,
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(x, y),
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distance_m,
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shot_id=shot_id,
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photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None
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)
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# 构造上报数据
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inner_data = {
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"shot_id": shot_id, # 射箭ID，用于关联图片和服务端日志
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"x": float(dx) if dx is not None else 200.0,
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"y": float(dy) if dy is not None else 200.0,
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"r": 90.0,
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@@ -445,18 +445,39 @@ def cmd_str():
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"d_laser": round((laser_distance_m or 0.0) * 100), # 激光测距值（厘米）
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"d_laser_quality": laser_signal_quality, # 激光测距信号质量
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"m": method if method else "no_target",
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"adc": adc_val
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"adc": adc_val,
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# 新增字段：激光点选择方法
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"laser_method": laser_point_method, # 激光点选择方法：hardcode/calibrated/dynamic/default
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# 激光点坐标（像素）
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"target_x": float(x), # 激光点 X 坐标（像素）
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"target_y": float(y), # 激光点 Y 坐标（像素）
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}
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# 添加椭圆参数（如果存在）
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if ellipse_params:
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(ell_center, (width, height), angle) = ellipse_params
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inner_data["ellipse_major_axis"] = float(max(width, height)) # 长轴（像素）
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inner_data["ellipse_minor_axis"] = float(min(width, height)) # 短轴（像素）
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inner_data["ellipse_angle"] = float(angle) # 椭圆角度（度）
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inner_data["ellipse_center_x"] = float(ell_center[0]) # 椭圆中心 X 坐标（像素）
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inner_data["ellipse_center_y"] = float(ell_center[1]) # 椭圆中心 Y 坐标（像素）
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else:
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inner_data["ellipse_major_axis"] = None
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inner_data["ellipse_minor_axis"] = None
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inner_data["ellipse_angle"] = None
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inner_data["ellipse_center_x"] = None
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inner_data["ellipse_center_y"] = None
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report_data = {"cmd": 1, "data": inner_data}
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network_manager.safe_enqueue(report_data, msg_type=2, high=True)
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if logger:
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if center and radius:
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logger.info("射箭事件已加入发送队列（已检测到靶心）")
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logger.info(f"射箭事件已加入发送队列（已检测到靶心），ID: {shot_id}")
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else:
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logger.info("射箭事件已加入发送队列（未检测到靶心，已保存图像）")
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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}")
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# 闪一下激光（射箭反馈）
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# laser_manager.flash_laser(1000)
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laser_manager.flash_laser(1000)
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time.sleep_ms(100)
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except Exception as e:
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@@ -469,7 +490,7 @@ def cmd_str():
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continue
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else:
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try:
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disp.show(cam.read())
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camera_manager.show(camera_manager.read_frame())
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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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@@ -490,10 +511,35 @@ def cmd_str():
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time.sleep_ms(1000) # 等待1秒后继续
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# 主程序入口
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if __name__ == "__main__":
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try:
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cmd_str()
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# 用于调用测试函数
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# test()
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# 用于测试图片清晰度
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# 方式1: 测试单张图片
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# test_sharpness("/root/phot/image.bmp")
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# 方式2: 测试目录下所有图片
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# test_sharpness("/root/phot")
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# 方式3: 使用默认路径（config.PHOTO_DIR）
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# test_sharpness("/root/phot/")
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# 用于测试激光点清晰度
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# 方式1: 测试单张图片
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# test_laser_point_sharpness("/root/phot/image.bmp")
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# 方式2: 测试目录下所有图片
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# test_laser_point_sharpness("/root/phot")
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# 方式3: 使用默认路径（config.PHOTO_DIR）
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# test_laser_point_sharpness("/root/phot/")
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except KeyboardInterrupt:
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logger = logger_manager.logger
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if logger:
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