From 8ce88313159dc04f08081bd23043e5a88831c36d Mon Sep 17 00:00:00 2001 From: gcw_4spBpAfv Date: Sat, 24 Jan 2026 11:05:03 +0800 Subject: [PATCH] v1.2.2 --- .gitignore | 2 + app.yaml | 1 + config.py | 3 +- main.py | 23 ++--- network.py | 57 ++++++------ ota_manager.py | 5 +- set_autostart.py | 1 + version.py | 2 +- vision.py | 230 +++++++++++++++++++++++++++++------------------ 9 files changed, 197 insertions(+), 127 deletions(-) diff --git a/.gitignore b/.gitignore index 6f073b5..e3b36ac 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,3 @@ /cpp_ext/build/ +/.cursor/ +/dist/ diff --git a/app.yaml b/app.yaml index 464bf28..de68447 100644 --- a/app.yaml +++ b/app.yaml @@ -17,6 +17,7 @@ files: - network.py - ota_manager.py - power.py + - shoot_manager.py - shot_id_generator.py - time_sync.py - version.py diff --git a/config.py b/config.py index 2d3666e..ae36722 100644 --- a/config.py +++ b/config.py @@ -39,7 +39,7 @@ BACKUP_BASE = "/maixapp/apps/t11/backups" # ==================== 硬件配置 ==================== # WiFi模块开关（True=有WiFi模块，False=无WiFi模块） -HAS_WIFI_MODULE = False # 根据实际硬件情况设置 +HAS_WIFI_MODULE = True # 根据实际硬件情况设置 # UART配置 UART4G_DEVICE = "/dev/ttyS2" @@ -108,6 +108,7 @@ 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 +MAX_IMAGES = 1000 # ==================== OTA配置 ==================== MAX_BACKUPS = 5 diff --git a/main.py b/main.py index 6641693..34161e7 100644 --- a/main.py +++ b/main.py @@ -23,7 +23,7 @@ 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, save_shot_image, save_calibration_image +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 @@ -111,6 +111,9 @@ def cmd_str(): # 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" @@ -327,19 +330,17 @@ def cmd_str(): 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） - # save_shot_image 函数会确保绘制激光十字线和检测标注（如果有） - # 如果未检测到靶心，文件名会包含 "no_target" 标识 - save_shot_image( - result_img, - center, - radius, - method, + # 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), + (x, y), distance_m, shot_id=shot_id, - photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None + photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None, ) # 构造上报数据 diff --git a/network.py b/network.py index 2f886f1..2d3372c 100644 --- a/network.py +++ b/network.py @@ -232,47 +232,49 @@ class NetworkManager: Returns: (ip, error): IP地址和错误信息（成功时error为None） """ - conf_path = "/etc/wpa_supplicant.conf" - ssid_file = "/boot/wifi.ssid" - pass_file = "/boot/wifi.pass" + + # 配置文件路径定义 + conf_path = "/etc/wpa_supplicant.conf" # wpa_supplicant配置文件路径 + ssid_file = "/boot/wifi.ssid" # 用于保存SSID的文件路径 + pass_file = "/boot/wifi.pass" # 用于保存密码的文件路径 try: # 生成 wpa_supplicant 配置 - net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read() - if "network={" not in net_conf: + net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read() # 调用系统命令生成配置 + if "network={" not in net_conf: # 检查配置是否生成成功 return None, "Failed to generate wpa config" # 写入运行时配置 - with open(conf_path, "w") as f: - f.write("ctrl_interface=/var/run/wpa_supplicant\n") - f.write("update_config=1\n\n") - f.write(net_conf) + with open(conf_path, "w") as f: # 打开配置文件准备写入 + f.write("ctrl_interface=/var/run/wpa_supplicant\n") # 设置控制接口路径 + f.write("update_config=1\n\n") # 允许更新配置 + f.write(net_conf) # 写入网络配置 # 持久化保存 SSID/PASS - with open(ssid_file, "w") as f: - f.write(ssid.strip()) - with open(pass_file, "w") as f: - f.write(password.strip()) + with open(ssid_file, "w") as f: # 打开SSID文件准备写入 + f.write(ssid.strip()) # 写入SSID（去除首尾空格） + with open(pass_file, "w") as f: # 打开密码文件准备写入 + f.write(password.strip()) # 写入密码（去除首尾空格） # 重启 Wi-Fi 服务 - os.system("/etc/init.d/S30wifi restart") + os.system("/etc/init.d/S30wifi restart") # 执行WiFi服务重启命令 # 等待获取 IP - import time as std_time - for _ in range(20): - ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip() - if ip: - self._wifi_connected = True - self._wifi_ip = ip - self.logger.info(f"[WIFI] 已连接，IP: {ip}") + import time as std_time # 导入time模块并重命名为std_time + for _ in range(50): # 最多等待50秒 + ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip() # 获取wlan0的IP地址 + if ip: # 如果获取到IP地址 + self._wifi_connected = True # 设置WiFi连接状态为已连接 + self._wifi_ip = ip # 保存IP地址 + self.logger.info(f"[WIFI] 已连接，IP: {ip}") # 记录连接成功日志 return ip, None - std_time.sleep(1) + std_time.sleep(1) # 每次循环等待1秒 - return None, "Timeout: No IP obtained" + return None, "Timeout: No IP obtained" # 超时未获取到IP - except Exception as e: - self.logger.error(f"[WIFI] 连接失败: {e}") - return None, f"Exception: {str(e)}" + except Exception as e: # 捕获所有异常 + self.logger.error(f"[WIFI] 连接失败: {e}") # 记录错误日志 + return None, f"Exception: {str(e)}" # 返回异常信息 def is_server_reachable(self, host, port=80, timeout=5): """检查目标主机端口是否可达（用于网络检测）""" @@ -308,6 +310,9 @@ class NetworkManager: if self.is_server_reachable(self._server_ip, self._server_port, timeout=3): self._network_type = "wifi" self.logger.info(f"[NET] 选择WiFi网络，IP: {self._wifi_ip}") + import os + os.environ["TZ"] = "Asia/Shanghai" + os.system("ntpdate pool.ntp.org") return "wifi" else: self.logger.warning("[NET] WiFi已连接但无法访问服务器，尝试4G") diff --git a/ota_manager.py b/ota_manager.py index 2436983..4686585 100644 --- a/ota_manager.py +++ b/ota_manager.py @@ -1225,7 +1225,10 @@ class OTAManager: return else: safe_enqueue({"result": result}, 2) - + except Exception as e: + err_msg = f"下载失败: {str(e)}" + safe_enqueue({"result": err_msg}, 2) + self.logger.error(err_msg) finally: self._stop_update_thread() print("[UPDATE] 更新线程执行完毕，即将退出。") diff --git a/set_autostart.py b/set_autostart.py index 38de82b..0f42f18 100644 --- a/set_autostart.py +++ b/set_autostart.py @@ -47,6 +47,7 @@ def set_autostart_app(app_id): if __name__ == "__main__": new_autostart_app_id = "t11" # change to app_id you want to set # new_autostart_app_id = None # remove autostart + # new_autostart_app_id = "z1222" # change to app_id you want to set list_apps() print("Before set autostart appid:", get_curr_autostart_app()) diff --git a/version.py b/version.py index 6550c1c..26d787c 100644 --- a/version.py +++ b/version.py @@ -8,7 +8,7 @@ VERSION = '1.2.1' # 1.2.0 开始使用C++编译成.so，替换部分代码 # 1.2.1 ota使用加密包 - +# 1.2.2 支持wifi ota，并且设定时区，并使用单独线程保存图片 diff --git a/vision.py b/vision.py index 23c76ea..efce364 100644 --- a/vision.py +++ b/vision.py @@ -8,10 +8,17 @@ import cv2 import numpy as np import os import math +import threading +import queue from maix import image import config from logger_manager import logger_manager +# 存图队列 + worker +_save_queue = queue.Queue(maxsize=16) +_save_worker_started = False +_save_worker_lock = threading.Lock() + def check_laser_point_sharpness(frame, laser_point=None, roi_size=30, threshold=100.0, ellipse_params=None): """ 检测激光点本身的清晰度（不是整个靶子） @@ -529,71 +536,45 @@ def estimate_pixel(physical_distance_cm, target_distance_m): # 公式：像素偏移 = (物理距离_米) * 焦距_像素 / 目标距离_米 return (physical_distance_cm / 100.0) * config.FOCAL_LENGTH_PIX / target_distance_m -def save_shot_image(result_img, center, radius, method, ellipse_params, - laser_point, distance_m, shot_id=None, photo_dir=None): + +def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params, + laser_point, distance_m, shot_id=None, 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） - shot_id: 射箭ID，如果提供则用作文件名，否则使用旧的文件名格式 - 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 + 内部实现：在 img_cv (numpy HWC RGB) 上绘制标注并保存。 + 由 save_shot_image（同步）和存图 worker（异步）调用。 """ - # 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: + except Exception: pass - + x, y = laser_point - - # 生成文件名：优先使用 shot_id，否则使用旧格式 if shot_id: - # 使用射箭ID作为文件名 - # 如果未检测到靶心，在文件名中标注 if center is None or radius is None: filename = f"{photo_dir}/shot_{shot_id}_no_target.bmp" else: method_str = method or "unknown" filename = f"{photo_dir}/shot_{shot_id}_{method_str}.bmp" else: - # 旧的文件名格式（向后兼容） try: all_images = [f for f in os.listdir(photo_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))] img_count = len(all_images) - except: + except Exception: img_count = 0 - - # 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 shot_id: @@ -601,89 +582,82 @@ def save_shot_image(result_img, center, radius, method, ellipse_params, 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}°") + (ec, (ew, eh), ea) = ellipse_params + logger.info(f"椭圆 -> 中心: ({ec[0]:.1f}, {ec[1]:.1f}), 长轴: {max(ew, eh):.1f}, 短轴: {min(ew, eh):.1f}, 角度: {ea:.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) - # 绘制激光十字线（保存图像时统一绘制，避免影响检测） laser_color = (config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2]) cross_thickness = int(max(getattr(config, "LASER_THICKNESS", 1), 1)) cross_length = int(max(getattr(config, "LASER_LENGTH", 10), 10)) - - # 水平线 - cv2.line( - img_cv, - (int(x - cross_length), int(y)), - (int(x + cross_length), int(y)), - laser_color, - cross_thickness, - ) - # 垂直线 - cv2.line( - img_cv, - (int(x), int(y - cross_length)), - (int(x), int(y + cross_length)), - laser_color, - cross_thickness, - ) - # 小点（与原 main.py 行为一致） + cv2.line(img_cv, (int(x - cross_length), int(y)), (int(x + cross_length), int(y)), laser_color, cross_thickness) + cv2.line(img_cv, (int(x), int(y - cross_length)), (int(x), int(y + cross_length)), laser_color, cross_thickness) cv2.circle(img_cv, (int(x), int(y)), 1, laser_color, cross_thickness) - - # 额外的激光点标注（空心圆圈，便于肉眼查看） ring_thickness = 1 cv2.circle(img_cv, (int(x), int(y)), 10, laser_color, ring_thickness) cv2.circle(img_cv, (int(x), int(y)), 5, laser_color, ring_thickness) cv2.circle(img_cv, (int(x), int(y)), 2, 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.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) + pt1 = (int(cx_ell - dx_minor), int(cy_ell - dy_minor)) + pt2 = (int(cx_ell + dx_minor), int(cy_ell + dy_minor)) + cv2.line(img_cv, pt1, pt2, (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) - + + out = image.cv2image(img_cv, False, False) + out.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}") - + + # 清理旧图片：如果目录下图片超过100张，删除最老的 + try: + image_files = [] + for f in os.listdir(photo_dir): + if f.endswith(('.bmp', '.jpg', '.jpeg')): + filepath = os.path.join(photo_dir, f) + try: + mtime = os.path.getmtime(filepath) + image_files.append((mtime, filepath, f)) + except Exception: + pass + + from config import MAX_IMAGES + if len(image_files) > MAX_IMAGES: + image_files.sort(key=lambda x: x[0]) + to_delete = len(image_files) - MAX_IMAGES + deleted_count = 0 + for _, filepath, fname in image_files[:to_delete]: + try: + os.remove(filepath) + deleted_count += 1 + if logger: + logger.debug(f"[VISION] 删除旧图片: {fname}") + except Exception as e: + if logger: + logger.warning(f"[VISION] 删除旧图片失败 {fname}: {e}") + if logger and deleted_count > 0: + logger.info(f"[VISION] 已清理 {deleted_count} 张旧图片，当前剩余 {MAX_IMAGES} 张") + except Exception as e: + if logger: + logger.warning(f"[VISION] 清理旧图片时出错（可忽略）: {e}") + return filename except Exception as e: logger = logger_manager.logger @@ -693,3 +667,85 @@ def save_shot_image(result_img, center, radius, method, ellipse_params, logger.error(traceback.format_exc()) return None + +def _save_worker_loop(): + """存图 worker：从队列取任务并调用 _save_shot_image_impl。""" + while True: + try: + item = _save_queue.get() + if item is None: + break + _save_shot_image_impl(*item) + except Exception as e: + logger = logger_manager.logger + if logger: + logger.error(f"[VISION] 存图 worker 异常: {e}") + import traceback + logger.error(traceback.format_exc()) + finally: + try: + _save_queue.task_done() + except Exception: + pass + + +def start_save_shot_worker(): + """启动存图 worker 线程（应在程序初始化时调用一次）。""" + global _save_worker_started + with _save_worker_lock: + if _save_worker_started: + return + _save_worker_started = True + t = threading.Thread(target=_save_worker_loop, daemon=True) + t.start() + logger = logger_manager.logger + if logger: + logger.info("[VISION] 存图 worker 线程已启动") + + +def enqueue_save_shot(result_img, center, radius, method, ellipse_params, + laser_point, distance_m, shot_id=None, photo_dir=None): + """ + 将存图任务放入队列，由 worker 异步保存。主线程传入 result_img 的复制，不阻塞。 + """ + if not config.SAVE_IMAGE_ENABLED: + return + if photo_dir is None: + photo_dir = config.PHOTO_DIR + try: + img_cv = image.image2cv(result_img, False, False) + img_copy = np.copy(img_cv) + except Exception as e: + logger = logger_manager.logger + if logger: + logger.error(f"[VISION] enqueue_save_shot 复制图像失败: {e}") + return + task = (img_copy, center, radius, method, ellipse_params, laser_point, distance_m, shot_id, photo_dir) + try: + _save_queue.put_nowait(task) + except queue.Full: + logger = logger_manager.logger + if logger: + logger.warning("[VISION] 存图队列已满，跳过本次保存") + + +def save_shot_image(result_img, center, radius, method, ellipse_params, + laser_point, distance_m, shot_id=None, photo_dir=None): + """ + 保存射击图像（带标注）。同步调用，会阻塞。 + 主流程建议使用 enqueue_save_shot；此处保留供校准、测试等场景使用。 + """ + if not config.SAVE_IMAGE_ENABLED: + return None + if photo_dir is None: + photo_dir = config.PHOTO_DIR + try: + img_cv = image.image2cv(result_img, False, False) + return _save_shot_image_impl(img_cv, center, radius, method, ellipse_params, + laser_point, distance_m, shot_id, photo_dir) + except Exception as e: + logger = logger_manager.logger + if logger: + logger.error(f"[VISION] save_shot_image 转换图像失败: {e}") + return None +