refine the code to different part

S99archery

@@ -0,0 +1,79 @@
+#!/bin/sh
+# /etc/init.d/S99archery
+# 系统启动时处理致命错误恢复（仅处理无法启动的情况）
+# 注意：应用的启动由系统自动启动机制处理（通过 auto_start.txt）
+# 功能：
+# 1. 处理致命错误（无法启动）- 恢复 main.py
+# 2. 如果重启次数超过阈值，恢复 main.py 并重启系统
+
+APP_DIR="/maixapp/apps/t11"
+MAIN_PY="$APP_DIR/main.py"
+PENDING_FILE="$APP_DIR/ota_pending.json"
+BACKUP_BASE="$APP_DIR/backups"
+
+# 进入应用目录
+cd "$APP_DIR" || exit 0
+
+# 检查 pending 文件，如果存在且超过重启次数，恢复 main.py（处理致命错误）
+if [ -f "$PENDING_FILE" ]; then
+    echo "[S99] 检测到 ota_pending.json，检查重启计数..."
+    
+    # 尝试从JSON中提取重启计数（使用grep简单提取）
+    RESTART_COUNT=$(cat "$PENDING_FILE" 2>/dev/null | grep -o '"restart_count":[0-9]*' | grep -o '[0-9]*' || echo "0")
+    MAX_RESTARTS=$(cat "$PENDING_FILE" 2>/dev/null | grep -o '"max_restarts":[0-9]*' | grep -o '[0-9]*' || echo "3")
+    
+    if [ -n "$RESTART_COUNT" ] && [ "$RESTART_COUNT" -ge "$MAX_RESTARTS" ]; then
+        echo "[S99] 检测到重启次数 ($RESTART_COUNT) 超过阈值 ($MAX_RESTARTS)，恢复 main.py..."
+        
+        # 尝试从JSON中提取备份目录
+        BACKUP_DIR=$(cat "$PENDING_FILE" 2>/dev/null | grep -o '"backup_dir":"[^"]*"' | grep -o '/[^"]*' || echo "")
+        
+        if [ -n "$BACKUP_DIR" ] && [ -f "$BACKUP_DIR/main.py" ]; then
+            # 使用指定的备份目录
+            echo "[S99] 从备份目录恢复: $BACKUP_DIR/main.py"
+            cp "$BACKUP_DIR/main.py" "$MAIN_PY" 2>/dev/null && echo "[S99] 已恢复 main.py"
+        else
+            # 查找最新的备份目录
+            LATEST_BACKUP=$(ls -dt "$BACKUP_BASE"/backup_* 2>/dev/null | head -1)
+            if [ -n "$LATEST_BACKUP" ] && [ -f "$LATEST_BACKUP/main.py" ]; then
+                echo "[S99] 从最新备份恢复: $LATEST_BACKUP/main.py"
+                cp "$LATEST_BACKUP/main.py" "$MAIN_PY" 2>/dev/null && echo "[S99] 已恢复 main.py"
+            else
+                # 如果没有备份目录，尝试使用 main.py.bak
+                if [ -f "$APP_DIR/main.py.bak" ]; then
+                    echo "[S99] 从 main.py.bak 恢复"
+                    cp "$APP_DIR/main.py.bak" "$MAIN_PY" 2>/dev/null && echo "[S99] 已恢复 main.py"
+                fi
+            fi
+        fi
+        
+        # 恢复后重置重启计数，避免循环恢复
+        # 注意：不在这里删除 pending 文件，让 main.py 在心跳成功后删除
+        # 但是重置重启计数，以便恢复后的版本可以重新开始计数
+        python3 -c "
+import json, os
+try:
+    pending_path = '$PENDING_FILE'
+    if os.path.exists(pending_path):
+        with open(pending_path, 'r', encoding='utf-8') as f:
+            d = json.load(f)
+        d['restart_count'] = 0  # 重置重启计数
+        with open(pending_path, 'w', encoding='utf-8') as f:
+            json.dump(d, f)
+        print('[S99] 已重置重启计数为 0')
+except Exception as e:
+    print(f'[S99] 重置重启计数失败: {e}')
+" 2>/dev/null || echo "[S99] 无法重置重启计数（可能需要Python支持）"
+        
+        echo "[S99] 已恢复 main.py，重启系统..."
+        echo "[S99] 注意：pending 文件将在心跳成功后由 main.py 删除"
+        sleep 2
+        reboot
+        exit 0
+    fi
+fi
+
+# 不启动应用，让系统自动启动机制处理
+# 这个脚本只负责处理致命错误恢复
+exit 0
+

at_client.py

@@ -0,0 +1,307 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+AT客户端模块
+负责4G模块的AT命令通信和URC解析
+"""
+import _thread
+from maix import time
+import re
+import threading
+
+class ATClient:
+    """
+    单读者 AT/URC 客户端：唯一读取 uart4g，避免 tcp_main/at()/OTA 抢读导致 EOF / 丢包。
+    - send(cmd, expect, timeout_ms) : 发送 AT 并等待 expect
+    - pop_tcp_payload()            : 获取 +MIPURC:"rtcp" 的 payload（已按长度裁剪）
+    - pop_http_event()             : 获取 +MHTTPURC 事件（header/content）
+    """
+    def __init__(self, uart_obj):
+        self.uart = uart_obj
+        self._cmd_lock = threading.Lock()
+        self._q_lock = threading.Lock()
+        self._rx = b""
+        self._tcp_payloads = []
+        self._http_events = []
+
+        # 当前命令等待状态（仅允许单命令 in-flight）
+        self._waiting = False
+        self._expect = b"OK"
+        self._resp = b""
+
+        self._running = False
+
+    def start(self):
+        if self._running:
+            return
+        self._running = True
+        _thread.start_new_thread(self._reader_loop, ())
+
+    def stop(self):
+        self._running = False
+
+    def flush(self):
+        """清空内部缓存与队列（用于 OTA/异常恢复）"""
+        with self._q_lock:
+            self._rx = b""
+            self._tcp_payloads.clear()
+            self._http_events.clear()
+            self._resp = b""
+
+    def pop_tcp_payload(self):
+        with self._q_lock:
+            if self._tcp_payloads:
+                return self._tcp_payloads.pop(0)
+        return None
+
+    def pop_http_event(self):
+        with self._q_lock:
+            if self._http_events:
+                return self._http_events.pop(0)
+        return None
+
+    def _push_tcp_payload(self, payload: bytes):
+        # 注意：在 _reader_loop 内部解析 URC 时已经持有 _q_lock，
+        # 这里不要再次 acquire（锁不可重入，会死锁）。
+        self._tcp_payloads.append(payload)
+
+    def _push_http_event(self, ev):
+        # 同上：避免在 _reader_loop 持锁期间二次 acquire
+        self._http_events.append(ev)
+
+    def send(self, cmd: str, expect: str = "OK", timeout_ms: int = 2000):
+        """
+        发送 AT 命令并等待 expect（子串匹配）。
+        注意：expect=">" 用于等待 prompt。
+        """
+        expect_b = expect.encode() if isinstance(expect, str) else expect
+        with self._cmd_lock:
+            # 初始化等待
+            self._waiting = True
+            self._expect = expect_b
+            self._resp = b""
+
+            # 发送
+            if cmd:
+                # 注意：这里不要再用 uart4g_lock（否则外层已经持锁时会死锁）。
+                # 写入由 _cmd_lock 串行化即可。
+                self.uart.write((cmd + "\r\n").encode())
+
+            t0 = time.ticks_ms()
+            while time.ticks_ms() - t0 < timeout_ms:
+                if (not self._waiting) or (self._expect in self._resp):
+                    self._waiting = False
+                    break
+                time.sleep_ms(5)
+
+            # 超时也返回已收集内容（便于诊断）
+            self._waiting = False
+            try:
+                return self._resp.decode(errors="ignore")
+            except:
+                return str(self._resp)
+
+    def _find_urc_tag(self, tag: bytes):
+        """
+        只在"真正的 URC 边界"查找 tag，避免误命中 HTTP payload 内容。
+        规则：tag 必须出现在 buffer 开头，或紧跟在 b"\\r\\n" 后面。
+        """
+        try:
+            i = 0
+            rx = self._rx
+            while True:
+                j = rx.find(tag, i)
+                if j < 0:
+                    return -1
+                if j == 0:
+                    return 0
+                if j >= 2 and rx[j - 2:j] == b"\r\n":
+                    return j
+                i = j + 1
+        except:
+            return -1
+
+    def _parse_mipurc_rtcp(self):
+        """
+        解析：+MIPURC: "rtcp",<link_id>,<len>,<payload...>
+        之前硬编码 link_id=0 会导致在多连接/重连场景下收不到数据。
+        """
+        prefix = b'+MIPURC: "rtcp",'
+        i = self._find_urc_tag(prefix)
+        if i < 0:
+            return False
+        # 丢掉前置噪声
+        if i > 0:
+            self._rx = self._rx[i:]
+            i = 0
+
+        j = len(prefix)
+        # 解析 link_id
+        k = j
+        while k < len(self._rx) and 48 <= self._rx[k] <= 57:
+            k += 1
+        if k == j or k >= len(self._rx):
+            return False
+        if self._rx[k:k+1] != b",":
+            self._rx = self._rx[1:]
+            return True
+        try:
+            link_id = int(self._rx[j:k].decode())
+        except:
+            self._rx = self._rx[1:]
+            return True
+
+        # 解析 len
+        j2 = k + 1
+        k2 = j2
+        while k2 < len(self._rx) and 48 <= self._rx[k2] <= 57:
+            k2 += 1
+        if k2 == j2 or k2 >= len(self._rx):
+            return False
+        if self._rx[k2:k2+1] != b",":
+            self._rx = self._rx[1:]
+            return True
+        try:
+            n = int(self._rx[j2:k2].decode())
+        except:
+            self._rx = self._rx[1:]
+            return True
+
+        payload_start = k2 + 1
+        payload_end = payload_start + n
+        if len(self._rx) < payload_end:
+            return False  # payload 未收齐
+
+        payload = self._rx[payload_start:payload_end]
+        # 把 link_id 一起带上，便于上层过滤（如果需要）
+        self._push_tcp_payload((link_id, payload))
+        self._rx = self._rx[payload_end:]
+        return True
+
+    def _parse_mhttpurc_header(self):
+        tag = b'+MHTTPURC: "header",'
+        i = self._find_urc_tag(tag)
+        if i < 0:
+            return False
+        if i > 0:
+            self._rx = self._rx[i:]
+            i = 0
+
+        # header: +MHTTPURC: "header",<id>,<code>,<hdr_len>,<hdr_text...>
+        j = len(tag)
+        comma_count = 0
+        k = j
+        while k < len(self._rx) and comma_count < 3:
+            if self._rx[k:k+1] == b",":
+                comma_count += 1
+            k += 1
+        if comma_count < 3:
+            return False
+
+        prefix = self._rx[:k]
+        m = re.search(rb'\+MHTTPURC: "header",\s*(\d+),\s*(\d+),\s*(\d+),', prefix)
+        if not m:
+            self._rx = self._rx[1:]
+            return True
+        urc_id = int(m.group(1))
+        code = int(m.group(2))
+        hdr_len = int(m.group(3))
+
+        text_start = k
+        text_end = text_start + hdr_len
+        if len(self._rx) < text_end:
+            return False
+
+        hdr_text = self._rx[text_start:text_end].decode("utf-8", "ignore")
+        self._push_http_event(("header", urc_id, code, hdr_text))
+        self._rx = self._rx[text_end:]
+        return True
+
+    def _parse_mhttpurc_content(self):
+        tag = b'+MHTTPURC: "content",'
+        i = self._find_urc_tag(tag)
+        if i < 0:
+            return False
+        if i > 0:
+            self._rx = self._rx[i:]
+            i = 0
+
+        # content: +MHTTPURC: "content",<id>,<total>,<sum>,<cur>,<payload...>
+        j = len(tag)
+        comma_count = 0
+        k = j
+        while k < len(self._rx) and comma_count < 4:
+            if self._rx[k:k+1] == b",":
+                comma_count += 1
+            k += 1
+        if comma_count < 4:
+            return False
+
+        prefix = self._rx[:k]
+        m = re.search(rb'\+MHTTPURC: "content",\s*(\d+),\s*(\d+),\s*(\d+),\s*(\d+),', prefix)
+        if not m:
+            self._rx = self._rx[1:]
+            return True
+        urc_id = int(m.group(1))
+        total_len = int(m.group(2))
+        sum_len = int(m.group(3))
+        cur_len = int(m.group(4))
+
+        payload_start = k
+        payload_end = payload_start + cur_len
+        if len(self._rx) < payload_end:
+            return False
+
+        payload = self._rx[payload_start:payload_end]
+        self._push_http_event(("content", urc_id, total_len, sum_len, cur_len, payload))
+        self._rx = self._rx[payload_end:]
+        return True
+
+    def _reader_loop(self):
+        while self._running:
+            # 关键：UART 驱动偶发 read failed，必须兜住，否则线程挂了 OTA/TCP 都会卡死
+            try:
+                d = self.uart.read(4096)  # 8192 在一些驱动上更容易触发 read failed
+            except Exception as e:
+                try:
+                    print("[ATClient] uart read failed:", e)
+                except:
+                    pass
+                time.sleep_ms(50)
+                continue
+
+            if not d:
+                time.sleep_ms(1)
+                continue
+
+            with self._q_lock:
+                self._rx += d
+                if self._waiting:
+                    self._resp += d
+
+                while True:
+                    progressed = (
+                        self._parse_mipurc_rtcp()
+                        or self._parse_mhttpurc_header()
+                        or self._parse_mhttpurc_content()
+                    )
+                    if not progressed:
+                        break
+
+                # 使用 ota_manager 访问 ota_in_progress
+                try:
+                    from ota_manager import ota_manager
+                    ota_flag = ota_manager.ota_in_progress
+                except:
+                    ota_flag = False
+
+                has_http_hint = (b"+MHTTP" in self._rx) or (b"+MHTTPURC" in self._rx)
+                if ota_flag or has_http_hint:
+                    if len(self._rx) > 512 * 1024:
+                        self._rx = self._rx[-256 * 1024:]
+                else:
+                    if len(self._rx) > 16384:
+                        self._rx = self._rx[-4096:]
+
+
+

config.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+系统配置常量
+这些值在程序运行期间基本不变，或只在配置时改变
+"""
+from version import VERSION
+
+# ==================== 应用配置 ====================
+APP_VERSION = VERSION
+APP_DIR = "/maixapp/apps/t11"
+LOCAL_FILENAME = "/maixapp/apps/t11/main_tmp.py"
+
+# ==================== 服务器配置 ====================
+SERVER_IP = "www.shelingxingqiu.com"
+SERVER_PORT = 50005
+HEARTBEAT_INTERVAL = 15  # 心跳间隔（秒）
+
+# ==================== HTTP配置 ====================
+HTTP_URL = "http://ws.shelingxingqiu.com"
+HTTP_API_PATH = "/home/shoot/device_fire/arrow/fire"
+
+# ==================== 文件路径配置 ====================
+CONFIG_FILE = "/root/laser_config.json"
+LOG_FILE = "/maixapp/apps/t11/app.log"
+BACKUP_BASE = "/maixapp/apps/t11/backups"
+
+# ==================== 硬件配置 ====================
+# UART配置
+UART4G_DEVICE = "/dev/ttyS2"
+UART4G_BAUDRATE = 115200
+DISTANCE_SERIAL_DEVICE = "/dev/ttyS1"
+DISTANCE_SERIAL_BAUDRATE = 9600
+
+# I2C配置
+I2C_BUS_NUM = 1
+INA226_ADDR = 0x40
+REG_CONFIGURATION = 0x00
+REG_BUS_VOLTAGE = 0x02
+REG_CURRENT = 0x04  # 电流寄存器
+REG_CALIBRATION = 0x05
+CALIBRATION_VALUE = 0x1400
+
+# ADC配置
+ADC_CHANNEL = 0
+ADC_TRIGGER_THRESHOLD = 3000
+ADC_LASER_THRESHOLD = 3000
+
+# ==================== 激光配置 ====================
+MODULE_ADDR = 0x00
+LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
+LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
+DEFAULT_LASER_POINT = (640, 480)  # 默认激光中心点
+
+# ==================== 视觉检测配置 ====================
+FOCAL_LENGTH_PIX = 2250.0    # 焦距（像素）
+REAL_RADIUS_CM = 20          # 靶心实际半径（厘米）
+
+# ==================== 显示配置 ====================
+LASER_COLOR = (255, 100, 0)  # RGB颜色
+LASER_THICKNESS = 1
+LASER_LENGTH = 2
+
+# ==================== 图像保存配置 ====================
+SAVE_IMAGE_ENABLED = True  # 是否保存图像（True=保存，False=不保存）
+PHOTO_DIR = "/root/phot"    # 照片存储目录
+
+# ==================== OTA配置 ====================
+MAX_BACKUPS = 5
+LOG_MAX_BYTES = 10 * 1024 * 1024  # 10MB
+LOG_BACKUP_COUNT = 5
+
+# ==================== 引脚映射配置 ====================
+PIN_MAPPINGS = {
+    "A18": "UART1_RX",
+    "A19": "UART1_TX",
+    "A29": "UART2_RX",
+    "A28": "UART2_TX",
+    "P18": "I2C1_SCL",
+    "P21": "I2C1_SDA",
+}

hardware.py

@@ -0,0 +1,119 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+硬件管理器模块
+提供硬件对象的统一管理和访问
+"""
+import threading
+import config
+from at_client import ATClient
+
+
+class HardwareManager:
+    """硬件管理器（单例）"""
+    _instance = None
+    
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(HardwareManager, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+    
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        # 私有硬件对象
+        self._uart4g = None              # 4G模块UART
+        self._distance_serial = None     # 激光测距串口
+        self._bus = None                 # I2C总线
+        self._adc_obj = None             # ADC对象
+        self._at_client = None            # AT客户端
+        
+        self._initialized = True
+    
+    # ==================== 硬件访问（只读属性）====================
+    
+    @property
+    def uart4g(self):
+        """4G模块UART（只读）"""
+        return self._uart4g
+    
+    @property
+    def distance_serial(self):
+        """激光测距串口（只读）"""
+        return self._distance_serial
+    
+    @property
+    def bus(self):
+        """I2C总线（只读）"""
+        return self._bus
+    
+    @property
+    def adc_obj(self):
+        """ADC对象（只读）"""
+        return self._adc_obj
+    
+    @property
+    def at_client(self):
+        """AT客户端（只读）"""
+        return self._at_client
+    
+    # ==================== 初始化方法 ====================
+    
+    def init_uart4g(self, device=None, baudrate=None):
+        """初始化4G模块UART"""
+        from maix import uart
+        if device is None:
+            device = config.UART4G_DEVICE
+        if baudrate is None:
+            baudrate = config.UART4G_BAUDRATE
+        self._uart4g = uart.UART(device, baudrate)
+        return self._uart4g
+    
+    def init_distance_serial(self, device=None, baudrate=None):
+        """初始化激光测距串口（激光控制）"""
+        from maix import uart
+        if device is None:
+            device = config.DISTANCE_SERIAL_DEVICE
+        if baudrate is None:
+            baudrate = config.DISTANCE_SERIAL_BAUDRATE
+        
+        print(f"[HW] 初始化激光串口: device={device}, baudrate={baudrate}")
+        self._distance_serial = uart.UART(device, baudrate)
+        print(f"[HW] 激光串口初始化完成: {self._distance_serial}")
+        return self._distance_serial
+    
+    def init_bus(self, bus_num=None):
+        """初始化I2C总线"""
+        from maix import i2c
+        if bus_num is None:
+            bus_num = config.I2C_BUS_NUM
+        self._bus = i2c.I2C(bus_num, i2c.Mode.MASTER)
+        return self._bus
+    
+    def init_adc(self, channel=None, res_bit=None):
+        """初始化ADC"""
+        from maix.peripheral import adc
+        if channel is None:
+            channel = config.ADC_CHANNEL
+        if res_bit is None:
+            res_bit = adc.RES_BIT_12
+        self._adc_obj = adc.ADC(channel, res_bit)
+        return self._adc_obj
+    
+    def init_at_client(self, uart_obj=None):
+        """初始化AT客户端"""
+        if uart_obj is None:
+            if self._uart4g is None:
+                raise ValueError("uart4g must be initialized before at_client")
+            uart_obj = self._uart4g
+        self._at_client = ATClient(uart_obj)
+        self._at_client.start()
+        return self._at_client
+
+
+# 创建全局单例实例
+hardware_manager = HardwareManager()
+
+

laser_manager.py

@@ -0,0 +1,260 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+激光管理器模块
+提供激光控制、校准等功能
+"""
+import json
+import os
+from maix import time, camera
+import threading
+import config
+from logger_manager import logger_manager
+
+
+class LaserManager:
+    """激光控制管理器（单例）"""
+    _instance = None
+    
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(LaserManager, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+    
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        # 私有状态
+        self._calibration_active = False
+        self._calibration_result = None
+        self._calibration_lock = threading.Lock()
+        self._laser_point = None
+        
+        self._initialized = True
+    
+    # ==================== 状态访问（只读属性）====================
+    
+    @property
+    def calibration_active(self):
+        """是否正在校准"""
+        return self._calibration_active
+    
+    @property
+    def laser_point(self):
+        """当前激光点"""
+        return self._laser_point
+    
+    # ==================== 业务方法 ====================
+    
+    def load_laser_point(self):
+        """从配置文件加载激光中心点，失败则使用默认值"""
+        try:
+            if "laser_config.json" in os.listdir("/root"):
+                with open(config.CONFIG_FILE, "r") as f:
+                    data = json.load(f)
+                    if isinstance(data, list) and len(data) == 2:
+                        self._laser_point = (int(data[0]), int(data[1]))
+                        logger = logger_manager.logger
+                        if logger:
+                            logger.debug(f"[INFO] 加载激光点: {self._laser_point}")
+                        return self._laser_point
+                    else:
+                        raise ValueError
+            else:
+                self._laser_point = config.DEFAULT_LASER_POINT
+        except:
+            self._laser_point = config.DEFAULT_LASER_POINT
+        
+        return self._laser_point
+    
+    def save_laser_point(self, point):
+        """保存激光中心点到配置文件"""
+        try:
+            with open(config.CONFIG_FILE, "w") as f:
+                json.dump([point[0], point[1]], f)
+            self._laser_point = point
+            return True
+        except Exception as e:
+            logger = logger_manager.logger
+            if logger:
+                logger.error(f"[LASER] 保存激光点失败: {e}")
+            return False
+    
+    def turn_on_laser(self):
+        """发送指令开启激光，并读取回包（部分模块支持）"""
+        from hardware import hardware_manager
+        logger = logger_manager.logger
+        
+        if hardware_manager.distance_serial is None:
+            if logger:
+                logger.error("[LASER] distance_serial 未初始化")
+            return None
+        
+        # 打印调试信息
+        if logger:
+            logger.info(f"[LASER] 发送开启命令: {config.LASER_ON_CMD.hex()}")
+        
+        # 清空接收缓冲区
+        try:
+            hardware_manager.distance_serial.read(-1)  # 清空缓冲区
+        except:
+            pass
+        
+        # 发送命令
+        written = hardware_manager.distance_serial.write(config.LASER_ON_CMD)
+        if logger:
+            logger.info(f"[LASER] 写入字节数: {written}")
+        
+        time.sleep_ms(50)  # 增加等待时间，让模块有时间响应
+        
+        # 读取回包
+        resp = hardware_manager.distance_serial.read(20)
+        if resp:
+            if logger:
+                logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
+            if resp == config.LASER_ON_CMD:
+                if logger:
+                    logger.info("✅ 激光开启指令已确认")
+        else:
+            if logger:
+                logger.warning("🔇 无回包（可能正常或模块不支持回包）")
+        return resp
+    
+    def turn_off_laser(self):
+        """发送指令关闭激光"""
+        from hardware import hardware_manager
+        logger = logger_manager.logger
+        
+        if hardware_manager.distance_serial is None:
+            if logger:
+                logger.error("[LASER] distance_serial 未初始化")
+            return None
+        
+        # 打印调试信息
+        if logger:
+            logger.info(f"[LASER] 发送关闭命令: {config.LASER_OFF_CMD.hex()}")
+        
+        # 清空接收缓冲区
+        try:
+            hardware_manager.distance_serial.read(-1)
+        except:
+            pass
+        
+        # 发送命令
+        written = hardware_manager.distance_serial.write(config.LASER_OFF_CMD)
+        if logger:
+            logger.info(f"[LASER] 写入字节数: {written}")
+        
+        time.sleep_ms(50)  # 增加等待时间
+        
+        # 读取回包
+        resp = hardware_manager.distance_serial.read(20)
+        if resp:
+            if logger:
+                logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
+        else:
+            if logger:
+                logger.warning("🔇 无回包")
+        return resp
+    
+    def flash_laser(self, duration_ms=1000):
+        """闪一下激光（用于射箭反馈）"""
+        try:
+            self.turn_on_laser()
+            time.sleep_ms(duration_ms)
+            self.turn_off_laser()
+        except Exception as e:
+            logger = logger_manager.logger
+            if logger:
+                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 calibrate_laser_position(self):
+        """执行一次激光校准：拍照 → 找红点 → 保存坐标"""
+        time.sleep_ms(80)
+        cam = camera.Camera(640, 480)
+        frame = cam.read()
+        pos = self.find_red_laser(frame)
+        if pos:
+            self.save_laser_point(pos)
+            return pos
+        return None
+    
+    def start_calibration(self):
+        """开始校准（公共方法）"""
+        with self._calibration_lock:
+            if self._calibration_active:
+                return False
+            self._calibration_active = True
+            self._calibration_result = None
+            return True
+    
+    def stop_calibration(self):
+        """停止校准（公共方法）"""
+        with self._calibration_lock:
+            self._calibration_active = False
+    
+    def set_calibration_result(self, result):
+        """设置校准结果（内部方法）"""
+        with self._calibration_lock:
+            self._calibration_result = result
+    
+    def get_calibration_result(self):
+        """获取并清除校准结果（内部方法）"""
+        with self._calibration_lock:
+            result = self._calibration_result
+            self._calibration_result = None
+            return result
+
+
+# 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()
+

power.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+电源管理模块（INA226）
+提供电压、电流监测和充电状态检测
+"""
+import config
+from logger_manager import logger_manager
+
+
+def write_register(reg, value):
+    """写入INA226寄存器"""
+    from hardware import hardware_manager
+    data = [(value >> 8) & 0xFF, value & 0xFF]
+    hardware_manager.bus.writeto_mem(config.INA226_ADDR, reg, bytes(data))
+
+
+def read_register(reg):
+    """读取INA226寄存器"""
+    from hardware import hardware_manager
+    data = hardware_manager.bus.readfrom_mem(config.INA226_ADDR, reg, 2)
+    return (data[0] << 8) | data[1]
+
+
+def init_ina226():
+    """初始化 INA226 芯片：配置模式 + 校准值"""
+    write_register(config.REG_CONFIGURATION, 0x4527)
+    write_register(config.REG_CALIBRATION, config.CALIBRATION_VALUE)
+
+
+def get_bus_voltage():
+    """读取总线电压（单位：V）"""
+    raw = read_register(config.REG_BUS_VOLTAGE)
+    return raw * 1.25 / 1000
+
+
+def get_current():
+    """
+    读取电流（单位：mA）
+    正数表示充电，负数表示放电
+    
+    INA226 电流计算公式：
+    Current = (Current Register Value) × Current_LSB
+    Current_LSB = 0.001 × CALIBRATION_VALUE / 4096
+    """
+    try:
+        raw = read_register(config.REG_CURRENT)
+        # INA226 电流寄存器是16位有符号整数
+        # 最高位是符号位：0=正（充电），1=负（放电）
+        # 计算 Current_LSB（根据 CALIBRATION_VALUE）
+        current_lsb = 0.001 * config.CALIBRATION_VALUE / 4096  # 单位：A
+        # 处理有符号数：如果最高位为1，转换为负数
+        if raw & 0x8000:  # 最高位为1，表示负数（放电）
+            signed_raw = raw - 0x10000  # 转换为有符号整数
+        else:  # 最高位为0，表示正数（充电）
+            signed_raw = raw
+        # 转换为毫安
+        current_ma = signed_raw * current_lsb * 1000
+        return current_ma
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[INA226] 读取电流失败: {e}")
+        else:
+            print(f"[INA226] 读取电流失败: {e}")
+        return 0.0
+
+
+def is_charging(threshold_ma=10.0):
+    """
+    检测是否在充电（通过电流方向判断）
+    
+    Args:
+        threshold_ma: 电流阈值（毫安），超过此值认为在充电，默认10mA
+    
+    Returns:
+        True: 正在充电
+        False: 未充电或读取失败
+    """
+    try:
+        current = get_current()
+        is_charge = current > threshold_ma
+        return is_charge
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[CHARGE] 检测充电状态失败: {e}")
+        else:
+            print(f"[CHARGE] 检测充电状态失败: {e}")
+        return False
+
+
+def voltage_to_percent(voltage):
+    """根据电压估算电池百分比（查表插值）"""
+    points = [
+        (4.20, 100), (4.10, 95), (4.05, 85), (4.00, 75), (3.95, 65),
+        (3.90, 55), (3.85, 45), (3.80, 35), (3.75, 25), (3.70, 15),
+        (3.65, 5), (3.60, 0)
+    ]
+    if voltage >= points[0][0]:
+        return 100
+    if voltage <= points[-1][0]:
+        return 0
+    for i in range(len(points) - 1):
+        v1, p1 = points[i]
+        v2, p2 = points[i + 1]
+        if voltage >= v2:
+            ratio = (voltage - v1) / (v2 - v1)
+            percent = p1 + (p2 - p1) * ratio
+            return max(0, min(100, int(round(percent))))
+    return 0
+

time_sync.py

@@ -0,0 +1,186 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+时间同步模块
+从4G模块获取时间并同步到系统
+"""
+import re
+import os
+from datetime import datetime, timedelta
+import config
+# from logger_bak import get_logger
+from logger_manager import logger_manager
+
+
+def parse_4g_time(cclk_response, timezone_offset=8):
+    """
+    解析 AT+CCLK? 返回的时间字符串，并转换为本地时间
+    
+    Args:
+        cclk_response: AT+CCLK? 的响应字符串
+        timezone_offset: 时区偏移（小时），默认8（中国时区 UTC+8）
+    
+    Returns:
+        datetime 对象（已转换为本地时间），如果解析失败返回 None
+    """
+    try:
+        # 匹配格式: +CCLK: "YY/MM/DD,HH:MM:SS+TZ"
+        # 时区单位是四分之一小时（quarters of an hour）
+        match = re.search(r'\+CCLK:\s*"(\d{2})/(\d{2})/(\d{2}),(\d{2}):(\d{2}):(\d{2})([+-]\d{1,3})?"', cclk_response)
+        if not match:
+            return None
+        
+        yy, mm, dd, hh, MM, ss, tz_str = match.groups()
+        
+        # 年份处理：26 -> 2026
+        year = 2000 + int(yy)
+        month = int(mm)
+        day = int(dd)
+        hour = int(hh)
+        minute = int(MM)
+        second = int(ss)
+        
+        # 创建 UTC 时间的 datetime 对象
+        dt_utc = datetime(year, month, day, hour, minute, second)
+        
+        # 解析时区偏移（单位：四分之一小时）
+        if tz_str:
+            try:
+                # 时区偏移值（四分之一小时）
+                tz_quarters = int(tz_str)
+                
+                # 转换为小时（除以4）
+                tz_hours = tz_quarters / 4.0
+                
+                logger = logger_manager.logger
+                if logger:
+                    logger.info(f"[TIME] 时区偏移: {tz_str} (四分之一小时) = {tz_hours} 小时")
+                
+                # 转换为本地时间
+                dt_local = dt_utc + timedelta(hours=tz_hours)
+            except ValueError:
+                # 如果时区解析失败，使用默认值
+                logger = logger_manager.logger
+                if logger:
+                    logger.warning(f"[TIME] 时区解析失败: {tz_str}，使用默认 UTC+{timezone_offset}")
+                dt_local = dt_utc + timedelta(hours=timezone_offset)
+        else:
+            # 没有时区信息，使用默认值
+            logger = logger_manager.logger
+            if logger:
+                logger.info(f"[TIME] 未找到时区信息，使用默认 UTC+{timezone_offset}")
+            dt_local = dt_utc + timedelta(hours=timezone_offset)
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.info(f"[TIME] UTC时间: {dt_utc.strftime('%Y-%m-%d %H:%M:%S')}")
+            logger.info(f"[TIME] 本地时间: {dt_local.strftime('%Y-%m-%d %H:%M:%S')}")
+        
+        return dt_local
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[TIME] 解析时间失败: {e}, 响应: {cclk_response}")
+        else:
+            print(f"[TIME] 解析时间失败: {e}, 响应: {cclk_response}")
+        return None
+
+
+def get_time_from_4g(timezone_offset=8):
+    """
+    通过4G模块获取当前时间（已转换为本地时间）
+    
+    Args:
+        timezone_offset: 时区偏移（小时），默认8（中国时区）
+    
+    Returns:
+        datetime 对象（本地时间），如果获取失败返回 None
+    """
+    try:
+        # 发送 AT+CCLK? 命令（延迟导入避免循环依赖）
+        from hardware import hardware_manager
+        # 检查 at_client 是否已初始化
+        if hardware_manager.at_client is None:
+            logger = logger_manager.logger
+            if logger:
+                logger.warning("[TIME] ATClient 尚未初始化，无法获取4G时间")
+            else:
+                print("[TIME] ATClient 尚未初始化，无法获取4G时间")
+            return None
+        resp = hardware_manager.at_client.send("AT+CCLK?", "OK", 3000)
+        
+        if not resp or "+CCLK:" not in resp:
+            logger = logger_manager.logger
+            if logger:
+                logger.warning(f"[TIME] 未获取到时间响应: {resp}")
+            else:
+                print(f"[TIME] 未获取到时间响应: {resp}")
+            return None
+        
+        # 解析并转换时区
+        dt = parse_4g_time(resp, timezone_offset)
+        return dt
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[TIME] 获取4G时间异常: {e}")
+        else:
+            print(f"[TIME] 获取4G时间异常: {e}")
+        return None
+
+
+def sync_system_time_from_4g(timezone_offset=8):
+    """
+    从4G模块同步时间到系统
+    
+    Args:
+        timezone_offset: 时区偏移（小时），默认8（中国时区）
+    
+    Returns:
+        bool: 是否成功
+    """
+    dt = get_time_from_4g(timezone_offset)
+    if not dt:
+        return False
+    
+    try:
+        # 转换为系统 date 命令需要的格式
+        time_str = dt.strftime('%Y-%m-%d %H:%M:%S')
+        
+        # 设置系统时间
+        cmd = f'date -s "{time_str}" 2>&1'
+        result = os.system(cmd)
+        
+        if result == 0:
+            logger = logger_manager.logger
+            if logger:
+                logger.info(f"[TIME] 系统时间已设置为: {time_str}")
+            else:
+                print(f"[TIME] 系统时间已设置为: {time_str}")
+            
+            # 可选：同步到硬件时钟
+            try:
+                os.system('hwclock -w 2>/dev/null')
+                logger = logger_manager.logger
+                if logger:
+                    logger.info("[TIME] 已同步到硬件时钟")
+            except:
+                pass
+            
+            return True
+        else:
+            logger = logger_manager.logger
+            if logger:
+                logger.error(f"[TIME] 设置系统时间失败，退出码: {result}")
+            else:
+                print(f"[TIME] 设置系统时间失败，退出码: {result}")
+            return False
+            
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[TIME] 同步系统时间异常: {e}")
+        else:
+            print(f"[TIME] 同步系统时间异常: {e}")
+        return False
+

version.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+应用版本号
+每次 OTA 更新时，只需要更新这个文件中的版本号
+"""
+VERSION = '1.1.1'
+
+
+
+
+
+

vision.py

@@ -0,0 +1,360 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+视觉检测模块
+提供靶心检测、距离估算、图像保存等功能
+"""
+import cv2
+import numpy as np
+import os
+import math
+from maix import image
+import globals
+import config
+from logger_manager import logger_manager
+
+
+def detect_circle_v3(frame, laser_point=None):
+    """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本
+    增加红色圆圈检测，验证黄色圆圈是否为真正的靶心
+    如果提供 laser_point，会选择最接近激光点的目标
+    
+    Args:
+        frame: 图像帧
+        laser_point: 激光点坐标 (x, y)，用于多目标场景下的目标选择
+    
+    Returns:
+        (result_img, best_center, best_radius, method, best_radius1, ellipse_params)
+    """
+    img_cv = image.image2cv(frame, False, False)
+    
+    best_center = best_radius = best_radius1 = method = None
+    ellipse_params = None
+    
+    # HSV 黄色掩码检测（模糊靶心）
+    hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    h, s, v = cv2.split(hsv)
+
+    # 调整饱和度策略：稍微增强，不要过度
+    s = np.clip(s * 1.1, 0, 255).astype(np.uint8) 
+
+    hsv = cv2.merge((h, s, v))
+
+    # 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+    lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
+    upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
+
+    mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+    # 调整形态学操作
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel) 
+
+    contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    # 存储所有有效的黄色-红色组合
+    valid_targets = []
+    
+    if contours_yellow:
+        for cnt_yellow in contours_yellow:
+            area = cv2.contourArea(cnt_yellow)
+            perimeter = cv2.arcLength(cnt_yellow, True)
+
+            # 计算圆度
+            if perimeter > 0:
+                circularity = (4 * np.pi * area) / (perimeter * perimeter)
+            else:
+                circularity = 0
+
+            logger = logger_manager.logger
+            if area > 50 and circularity > 0.7:
+                if logger:
+                    logger.info(f"[target] -> 面积:{area}, 圆度:{circularity:.2f}")
+                # 尝试拟合椭圆
+                yellow_center = None
+                yellow_radius = None
+                yellow_ellipse = None
+                
+                if len(cnt_yellow) >= 5:
+                    (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
+                    yellow_ellipse = ((x, y), (width, height), angle)
+                    axes_minor = min(width, height)
+                    radius = axes_minor / 2
+                    yellow_center = (int(x), int(y))
+                    yellow_radius = int(radius)
+                else:
+                    (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
+                    yellow_center = (int(x), int(y))
+                    yellow_radius = int(radius)
+                    yellow_ellipse = None
+
+                # 如果检测到黄色圆圈，再检测红色圆圈进行验证
+                if yellow_center and yellow_radius:
+                    # HSV 红色掩码检测（红色在HSV中跨越0度，需要两个范围）
+                    # 红色范围1: 0-10度（接近0度的红色）
+                    lower_red1 = np.array([0, 80, 0])
+                    upper_red1 = np.array([10, 255, 255])
+                    mask_red1 = cv2.inRange(hsv, lower_red1, upper_red1)
+                    
+                    # 红色范围2: 170-180度（接近180度的红色）
+                    lower_red2 = np.array([170, 80, 0])
+                    upper_red2 = np.array([180, 255, 255])
+                    mask_red2 = cv2.inRange(hsv, lower_red2, upper_red2)
+                    
+                    # 合并两个红色掩码
+                    mask_red = cv2.bitwise_or(mask_red1, mask_red2)
+                    
+                    # 形态学操作
+                    kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+                    mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
+                    
+                    contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+                    
+                    found_valid_red = False
+                    
+                    if contours_red:
+                        # 找到所有符合条件的红色圆圈
+                        for cnt_red in contours_red:
+                            area_red = cv2.contourArea(cnt_red)
+                            perimeter_red = cv2.arcLength(cnt_red, True)
+                            
+                            if perimeter_red > 0:
+                                circularity_red = (4 * np.pi * area_red) / (perimeter_red * perimeter_red)
+                            else:
+                                circularity_red = 0
+                            
+                            # 红色圆圈也应该有一定的圆度
+                            if area_red > 50 and circularity_red > 0.6:
+                                # 计算红色圆圈的中心和半径
+                                if len(cnt_red) >= 5:
+                                    (x_red, y_red), (w_red, h_red), angle_red = cv2.fitEllipse(cnt_red)
+                                    radius_red = min(w_red, h_red) / 2
+                                    red_center = (int(x_red), int(y_red))
+                                    red_radius = int(radius_red)
+                                else:
+                                    (x_red, y_red), radius_red = cv2.minEnclosingCircle(cnt_red)
+                                    red_center = (int(x_red), int(y_red))
+                                    red_radius = int(radius_red)
+                                
+                                # 计算黄色和红色圆心的距离
+                                if red_center:
+                                    dx = yellow_center[0] - red_center[0]
+                                    dy = yellow_center[1] - red_center[1]
+                                    distance = np.sqrt(dx*dx + dy*dy)
+                                    
+                                    # 圆心距离阈值：应该小于黄色半径的某个倍数（比如1.5倍）
+                                    max_distance = yellow_radius * 1.5
+                                    
+                                    # 红色圆圈应该比黄色圆圈大（外圈）
+                                    if distance < max_distance and red_radius > yellow_radius * 0.8:
+                                        found_valid_red = True
+                                        logger = logger_manager.logger
+                                        if logger:
+                                            logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
+                                        
+                                        # 记录这个有效目标
+                                        valid_targets.append({
+                                            'center': yellow_center,
+                                            'radius': yellow_radius,
+                                            'ellipse': yellow_ellipse,
+                                            'area': area
+                                        })
+                                        break
+                    
+                    if not found_valid_red:
+                        logger = logger_manager.logger
+                        if logger:
+                            logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+    
+    # 从所有有效目标中选择最佳目标
+    if valid_targets:
+        if laser_point:
+            # 如果有激光点，选择最接近激光点的目标
+            best_target = None
+            min_distance = float('inf')
+            for target in valid_targets:
+                dx = target['center'][0] - laser_point[0]
+                dy = target['center'][1] - laser_point[1]
+                distance = np.sqrt(dx*dx + dy*dy)
+                if distance < min_distance:
+                    min_distance = distance
+                    best_target = target
+            if best_target:
+                best_center = best_target['center']
+                best_radius = best_target['radius']
+                ellipse_params = best_target['ellipse']
+                method = "v3_ellipse_red_validated_laser_selected"
+                best_radius1 = best_radius * 5
+        else:
+            # 如果没有激光点，选择面积最大的目标
+            best_target = max(valid_targets, key=lambda t: t['area'])
+            best_center = best_target['center']
+            best_radius = best_target['radius']
+            ellipse_params = best_target['ellipse']
+            method = "v3_ellipse_red_validated"
+            best_radius1 = best_radius * 5
+
+    result_img = image.cv2image(img_cv, False, False)
+    return result_img, best_center, best_radius, method, best_radius1, ellipse_params
+
+
+def estimate_distance(pixel_radius):
+    """根据像素半径估算实际距离（单位：米）"""
+    if not pixel_radius:
+        return 0.0
+    return (config.REAL_RADIUS_CM * config.FOCAL_LENGTH_PIX) / pixel_radius / 100.0
+
+
+def compute_laser_position(circle_center, laser_point, radius, method):
+    """计算激光相对于靶心的偏移量（单位：厘米）"""
+    if not all([circle_center, radius, method]):
+        return None, None
+    cx, cy = circle_center
+    lx, ly = laser_point
+    # 根据检测方法动态调整靶心物理半径（简化模型）
+    circle_r = (radius / 4.0) * 20.0 if method == "模糊" else (68 / 16.0) * 20.0
+    dx = lx - cx
+    dy = ly - cy
+    return dx / (circle_r / 100.0), -dy / (circle_r / 100.0)
+
+
+def save_shot_image(result_img, center, radius, method, ellipse_params, 
+                   laser_point, distance_m, photo_dir=None):
+    """
+    保存射击图像（带标注）
+    即使没有检测到靶心也会保存图像，文件名会标注 "no_target"
+    确保保存的图像总是包含激光十字线
+    
+    Args:
+        result_img: 处理后的图像对象（可能已经包含激光十字线或检测标注）
+        center: 靶心中心坐标 (x, y)，可能为 None（未检测到靶心）
+        radius: 靶心半径，可能为 None（未检测到靶心）
+        method: 检测方法，可能为 None（未检测到靶心）
+        ellipse_params: 椭圆参数 ((center, (width, height), angle)) 或 None
+        laser_point: 激光点坐标 (x, y)
+        distance_m: 距离（米），可能为 None（未检测到靶心）
+        photo_dir: 照片存储目录，如果为None则使用 config.PHOTO_DIR
+    
+    Returns:
+        str: 保存的文件路径，如果保存失败或未启用则返回 None
+    """
+    # 检查是否启用图像保存
+    if not config.SAVE_IMAGE_ENABLED:
+        return None
+    
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    
+    try:
+        # 确保照片目录存在
+        try:
+            if photo_dir not in os.listdir("/root"):
+                os.mkdir(photo_dir)
+        except:
+            pass
+        
+        # 生成文件名
+        # 统计所有图片文件（包括 .bmp 和 .jpg）
+        try:
+            all_images = [f for f in os.listdir(photo_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
+            img_count = len(all_images)
+        except:
+            img_count = 0
+        
+        x, y = laser_point
+        
+        # 如果未检测到靶心，在文件名中标注
+        if center is None or radius is None:
+            method_str = "no_target"
+            distance_str = "000"
+        else:
+            method_str = method or "unknown"
+            distance_str = str(round((distance_m or 0.0) * 100))
+        
+        filename = f"{photo_dir}/{method_str}_{int(x)}_{int(y)}_{distance_str}_{img_count:04d}.bmp"
+        
+        logger = logger_manager.logger
+        if logger:
+            if center and radius:
+                logger.info(f"结果 -> 圆心: {center}, 半径: {radius}, 方法: {method}")
+                if ellipse_params:
+                    (ell_center, (width, height), angle) = ellipse_params
+                    logger.info(f"椭圆 -> 中心: ({ell_center[0]:.1f}, {ell_center[1]:.1f}), 长轴: {max(width, height):.1f}, 短轴: {min(width, height):.1f}, 角度: {angle:.1f}°")
+            else:
+                logger.info(f"结果 -> 未检测到靶心，保存原始图像（激光点: ({x}, {y})）")
+        
+        # 转换图像为 OpenCV 格式以便绘制
+        img_cv = image.image2cv(result_img, False, False)
+        
+        # 确保激光十字线被绘制（使用OpenCV在图像上绘制，确保可见性）
+        laser_color = (config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+        thickness = max(config.LASER_THICKNESS, 2)  # 至少2像素宽，确保可见
+        length = max(config.LASER_LENGTH, 10)  # 至少10像素长
+        
+        # 绘制激光十字线（水平线）
+        cv2.line(img_cv, 
+                (int(x - length), int(y)), 
+                (int(x + length), int(y)), 
+                laser_color, thickness)
+        # 绘制激光十字线（垂直线）
+        cv2.line(img_cv, 
+                (int(x), int(y - length)), 
+                (int(x), int(y + length)), 
+                laser_color, thickness)
+        # 绘制激光点
+        cv2.circle(img_cv, (int(x), int(y)), max(thickness, 3), laser_color, -1)
+        
+        # 如果检测到靶心，绘制靶心标注
+        if center and radius:
+            cx, cy = center
+            
+            if ellipse_params:
+                (ell_center, (width, height), angle) = ellipse_params
+                cx_ell, cy_ell = int(ell_center[0]), int(ell_center[1])
+                
+                # 绘制椭圆
+                cv2.ellipse(img_cv, 
+                        (cx_ell, cy_ell),
+                        (int(width/2), int(height/2)),
+                        angle,
+                        0, 360,
+                        (0, 255, 0),
+                        2)
+                cv2.circle(img_cv, (cx_ell, cy_ell), 3, (255, 0, 0), -1)
+                
+                # 绘制短轴
+                minor_length = min(width, height) / 2
+                minor_angle = angle + 90 if width >= height else angle
+                minor_angle_rad = math.radians(minor_angle)
+                dx_minor = minor_length * math.cos(minor_angle_rad)
+                dy_minor = minor_length * math.sin(minor_angle_rad)
+                pt1_minor = (int(cx_ell - dx_minor), int(cy_ell - dy_minor))
+                pt2_minor = (int(cx_ell + dx_minor), int(cy_ell + dy_minor))
+                cv2.line(img_cv, pt1_minor, pt2_minor, (0, 0, 255), 2)
+            else:
+                # 绘制圆形靶心
+                cv2.circle(img_cv, (cx, cy), radius, (0, 0, 255), 2)
+                cv2.circle(img_cv, (cx, cy), 2, (0, 0, 255), -1)
+            
+            # 如果检测到靶心，绘制从激光点到靶心的连线（可选，用于可视化偏移）
+            cv2.line(img_cv, (int(x), int(y)), (cx, cy), (255, 255, 0), 1)
+        
+        # 转换回 MaixPy 图像格式并保存
+        result_img = image.cv2image(img_cv, False, False)
+        result_img.save(filename)
+        
+        if logger:
+            if center and radius:
+                logger.debug(f"图像已保存（含靶心标注）: {filename}")
+            else:
+                logger.debug(f"图像已保存（无靶心，含激光十字线）: {filename}")
+        
+        return filename
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"保存图像失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        return None
+