fix the laser point x,y

laser_manager.py

@@ -243,15 +243,17 @@ class LaserManager:
                 logger.error(f"[LASER] BCD 解析失败: {e}")
             return 0.0
     
-    def read_distance_from_laser_sensor(self) -> float:
+    def read_distance_from_laser_sensor(self):
-        """发送测距指令并返回距离（米）"""
+        """发送测距指令并返回距离（米）和信号质量
+        返回: (distance_m, signal_quality) 元组，失败返回 (0.0, 0)
+        """
         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 0.0
+            return (0.0, 0)
         
         try:
             # 清空缓冲区
@@ -278,19 +280,19 @@ class LaserManager:
             
             while True:
                 # 检查是否超时
-                elapsed_ms = time.ticks_diff(start_time,time.ticks_ms())
+                # 注意：使用 time.ticks_diff(start_time, time.ticks_ms()) 避免负数问题
-                print("elapsed_ms:", elapsed_ms)
+                elapsed_ms = abs(time.ticks_diff(start_time, time.ticks_ms()))
                 if elapsed_ms >= max_wait_ms:
                     if logger:
                         logger.warning(f"[LASER] 读取超时 ({elapsed_ms}ms)，未收到完整响应")
-                    return 0.0
+                    return (0.0, 0)
                 
                 # 尝试读取数据
                 response = hardware_manager.distance_serial.read(config.DISTANCE_RESPONSE_LEN)
                 
                 # 如果读到完整数据，立即返回
                 if response and len(response) == config.DISTANCE_RESPONSE_LEN:
-                    elapsed_ms = time.ticks_diff(start_time,time.ticks_ms())
+                    elapsed_ms = abs(time.ticks_diff(start_time, time.ticks_ms()))
                     if logger:
                         logger.debug(f"[LASER] 收到响应 ({elapsed_ms}ms)")
                     break
@@ -305,7 +307,7 @@ class LaserManager:
                         err_code = (response[7] << 8) | response[8]
                         if logger:
                             logger.warning(f"[LASER] 模块错误代码: {hex(err_code)}")
-                    return 0.0
+                    return (0.0, 0)
                 
                 # 解析BCD码距离
                 bcd_bytes = response[6:10]
@@ -314,22 +316,22 @@ class LaserManager:
                 
                 if logger:
                     logger.debug(f"[LASER] 测距成功: {distance_value_m:.3f} m, 信号质量: {signal_quality}")
-                return distance_value_m
+                return (distance_value_m, signal_quality)
             
             if logger:
                 logger.warning(f"[LASER] 无效响应: {response.hex() if response else 'None'}")
-            return 0.0
+            return (0.0, 0)
         except Exception as e:
             logger = logger_manager.logger
             if logger:
                 logger.error(f"[LASER] 读取激光测距失败: {e}")
-            return 0.0
+            return (0.0, 0)
         
-    def quick_measure_distance(self) -> float:
+    def quick_measure_distance(self):
         """
         快速激光测距：打开激光 → 测距 → 关闭激光
         激光开启时间最小化（约500-600ms），尽量不让用户觉察到
-        返回距离（米），失败返回0.0
+        返回: (distance_m, signal_quality) 元组，失败返回 (0.0, 0)
         """
         logger = logger_manager.logger
         self._laser_turned_on = False
@@ -340,14 +342,13 @@ class LaserManager:
             # 等待激光稳定（最小延迟）
             # time.sleep_ms(50)
             
-            # 读取距离
+            # 读取距离和信号质量
-            distance_m = self.read_distance_from_laser_sensor()
+            result = self.read_distance_from_laser_sensor()
-            
+            return result
-            return distance_m
         except Exception as e:
             if logger:
                 logger.error(f"[LASER] 快速测距异常: {e}")
-            return 0.0
+            return (0.0, 0)
         finally:
             # 确保激光关闭
             if self._laser_turned_on:

main.py

@@ -319,11 +319,18 @@ def cmd_str():
 
                     # 快速激光测距（激光一闪而过，约500-600ms）
                     laser_distance_m = None
+                    laser_signal_quality = 0
                     try:
-                        laser_distance_m = laser_manager.quick_measure_distance()
+                        result = laser_manager.quick_measure_distance()
+                        if isinstance(result, tuple) and len(result) == 2:
+                            laser_distance_m, laser_signal_quality = result
+                        else:
+                            # 向后兼容：如果返回的是单个值
+                            laser_distance_m = result if isinstance(result, (int, float)) else 0.0
+                            laser_signal_quality = 0
                         if logger:
                             if laser_distance_m > 0:
-                                logger.info(f"[MAIN] 激光测距成功: {laser_distance_m:.3f} m")
+                                logger.info(f"[MAIN] 激光测距成功: {laser_distance_m:.3f} m, 信号质量: {laser_signal_quality}")
                             else:
                                 logger.warning("[MAIN] 激光测距失败或返回0")
                     except Exception as e:
@@ -355,6 +362,7 @@ def cmd_str():
                         "r": 90.0,
                         "d": round((distance_m or 0.0) * 100),  # 视觉测距值（厘米）
                         "d_laser": round((laser_distance_m or 0.0) * 100),  # 激光测距值（厘米）
+                        "d_laser_quality": laser_signal_quality,  # 激光测距信号质量
                         "m": method if method else "no_target",
                         "adc": adc_val
                     }

vision.py

@@ -209,7 +209,7 @@ def compute_laser_position(circle_center, laser_point, radius, method):
     if not all([circle_center, radius, method]):
         return None, None
     cx, cy = circle_center
-    lx, ly = laser_point
+    lx, ly = 320, 230
     # 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