update laser cabration

main.py

@@ -23,17 +23,91 @@ 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, compute_laser_position, save_shot_image
+from vision import detect_circle_v3, estimate_distance, compute_laser_position, save_shot_image, save_calibration_image
 from network import network_manager
 from ota_manager import ota_manager
 from hardware import hardware_manager
 
 
+# def laser_calibration_worker():
+#     """后台线程：持续检测是否需要执行激光校准"""
+#     from maix import camera
+#     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:
+#                 cam = None
+#                 try:
+#                     cam = camera.Camera(640, 480)
+#                     start = time.ticks_ms()
+#                     timeout_ms = 8000
+#                     while laser_manager.calibration_active and time.ticks_diff(time.ticks_ms(), start) < timeout_ms:
+#                         frame = cam.read()
+#                         pos = laser_manager.find_red_laser(frame)
+#                         if pos:
+#                             laser_manager.set_calibration_result(pos)
+#                             laser_manager.stop_calibration()
+#                             laser_manager.save_laser_point(pos)
+#                             logger = logger_manager.logger
+#                             if logger:
+#                                 logger.info(f"✅ 后台校准成功: {pos}")
+#                             break
+#                         time.sleep_ms(60)
+#                 except Exception as e:
+#                     logger = logger_manager.logger
+#                     if logger:
+#                         logger.error(f"[LASER] calibration error: {e}")
+#                         import traceback
+#                         logger.error(traceback.format_exc())
+#                     time.sleep_ms(200)
+#                 finally:
+#                     try:
+#                         if cam is not None:
+#                             del cam
+#                     except Exception as e:
+#                         logger = logger_manager.logger
+#                         if logger:
+#                             logger.error(f"[LASER] 释放相机资源异常: {e}")
+
+#                 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 laser_calibration_worker():
     """后台线程：持续检测是否需要执行激光校准"""
     from maix import camera
     from laser_manager import laser_manager
     from ota_manager import ota_manager
+    from vision import save_calibration_image  # 添加导入
     
     logger = logger_manager.logger
     if logger:
@@ -62,6 +136,14 @@ def laser_calibration_worker():
                         frame = cam.read()
                         pos = laser_manager.find_red_laser(frame)
                         if pos:
+                            # 保存校准图像（带标注）
+                            try:
+                                save_calibration_image(frame, pos)
+                            except Exception as e:
+                                logger = logger_manager.logger
+                                if logger:
+                                    logger.error(f"[LASER] 保存校准图像失败: {e}")
+                            
                             laser_manager.set_calibration_result(pos)
                             laser_manager.stop_calibration()
                             laser_manager.save_laser_point(pos)
@@ -103,7 +185,6 @@ def laser_calibration_worker():
                 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 ====================