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invole c++

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This commit is contained in:
gcw_4spBpAfv
2026-01-22 17:55:11 +08:00
parent 945077a453
commit 42bfdd033c
15 changed files with 25424 additions and 1041 deletions
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51
laser_manager.py
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@@ -136,9 +136,8 @@ class LaserManager:
written = hardware_manager.distance_serial.write(config.LASER_ON_CMD)
self.logger.info(f"[LASER] 写入字节数: {written}")
# return None
time.sleep_ms(60)
# TODO: 暂时去掉这个等待
# 读取回包
resp = hardware_manager.distance_serial.read(len=20,timeout=10)
if resp:
@@ -169,7 +168,8 @@ class LaserManager:
# 发送命令
written = hardware_manager.distance_serial.write(config.LASER_OFF_CMD)
self.logger.info(f"[LASER] 写入字节数: {written}")
time.sleep_ms(60)
# 读取回包
resp = hardware_manager.distance_serial.read(20)
@@ -189,23 +189,6 @@ class LaserManager:
self.turn_off_laser()
except Exception as e:
self.logger.error(f"闪激光失败: {e}")
# def find_red_laser(self, frame, threshold=150):
# """在图像中查找最亮的红色激光点（基于 RGB 阈值）"""
# w, h = frame.width(), frame.height()
# img_bytes = frame.to_bytes()
# max_sum = 0
# best_pos = None
# for y in range(0, h, 2):
# for x in range(0, w, 2):
# idx = (y * w + x) * 3
# r, g, b = img_bytes[idx], img_bytes[idx+1], img_bytes[idx+2]
# if r > threshold and r > g * 2 and r > b * 2:
# rgb_sum = r + g + b
# if rgb_sum > max_sum:
# max_sum = rgb_sum
# best_pos = (x, y)
# return best_pos
# def find_red_laser(self, frame, threshold=150, search_radius=50):
# """
@@ -1150,33 +1133,5 @@ class LaserManager:
# 创建全局单例实例
laser_manager = LaserManager()
# ==================== 向后兼容的函数接口 ====================
def load_laser_point():
"""加载激光点（向后兼容接口）"""
return laser_manager.load_laser_point()
def save_laser_point(point):
"""保存激光点（向后兼容接口）"""
return laser_manager.save_laser_point(point)
def turn_on_laser():
"""开启激光（向后兼容接口）"""
return laser_manager.turn_on_laser()
def turn_off_laser():
"""关闭激光（向后兼容接口）"""
return laser_manager.turn_off_laser()
def flash_laser(duration_ms=1000):
"""闪激光（向后兼容接口）"""
return laser_manager.flash_laser(duration_ms)
def find_red_laser(frame, threshold=150):
"""查找红色激光点（向后兼容接口）"""
return laser_manager.find_red_laser(frame, threshold)
def calibrate_laser_position():
"""校准激光位置（向后兼容接口）"""
return laser_manager.calibrate_laser_position()