upload img to qiniu
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gcw_4spBpAfv
@@ -194,3 +194,31 @@ m/offset_method/distance_method：标记本次用的算法路径（triangle / ye
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你现在的“环数计算”实际依赖关系
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最好路径（快+稳）：三角形 → dx,dy（单应性） + distance_m（PnP）
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兜底路径：圆/椭圆靶心 → dx,dy（基于黄心半径比例/透视校正） + distance_m（黄心半径估距）
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12. 4g模块上传文件：
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Upload images from MaixCam to Qiniu cloud via ML307R 4G module's AT commands. The HTTP body requires multipart/form-data with real CR/LF bytes (0x0D 0x0A) in boundaries.
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Methods Tried
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# Method AT Commands Result Root Cause
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1 Raw binary, no encoding MHTTPCONTENT with raw bytes + length param ERROR at first chunk CR/LF in binary data terminates AT command parser
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2 Encoding mode 2 (escape) MHTTPCFG="encoding",0,2 + \r\n escapes Server 400 Bad Request Module sends literal text \r\n to server, NOT actual 0x0D 0x0A bytes. Multipart body is garbled
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3 Encoding mode 1 (hex) MHTTPCFG="encoding",0,1 + hex-encoded data CME ERROR: 650/50 Firmware doesn't properly support hex mode for MHTTPCONTENT
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4 No chunked mode Skip MHTTPCFG="chunked" CME ERROR: 65 Module requires chunked mode to accept MHTTPCONTENT at all
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5 Single large MHTTPCONTENT All data in one command (2793 bytes) +MHTTPURC: "err",0,5 (timeout) Possible buffer limit; module hangs then times out
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6 Per-chunk HTTP instance (OTA style) CREATE→POST→DELETE per chunk Not feasible Each instance = separate HTTP request; Qiniu needs complete body in single POST
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Conclusion: AT HTTP layer (MHTTPCONTENT) is fundamentally broken for binary uploads.
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The Solution: Raw TCP Socket (MIPOPEN + MIPSEND)
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Bypass the AT HTTP layer entirely. Open a raw TCP connection and send a hand-crafted HTTP POST:
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plaintext
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AT+MIPCLOSE=3 // Clean up old socket
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AT+MIPOPEN=3,"TCP","upload.qiniup.com",80 // Raw TCP connection
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AT+MIPSEND=3,1024 → ">" → [raw bytes] → OK // Binary-safe!
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AT+MIPSEND=3,1024 → ">" → [raw bytes] → OK
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AT+MIPSEND=3,766 → ">" → [raw bytes] → OK
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// Response: +MIPURC: "rtcp",3,<len>,HTTP/1.1 200 OK...
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AT+MIPCLOSE=3
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Why it works:
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MIPSEND enters prompt mode (>) — after the >, the AT parser treats ALL bytes as data, including CR/LF
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We construct the complete HTTP request ourselves (headers + Content-Length + multipart body) with real CRLF bytes
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Key bug found during integration: _send_chunk() wrapped calls in self.at._cmd_lock, but self.at.send() also acquires the same lock internally — threading.Lock() is not reentrant, causing deadlock. Fixed by removing the outer lock (the network_manager.get_uart_lock() already provides thread safety).Trade-off: UART is locked during the entire upload, so heartbeats pause. For small JPEG files (~2-80KB), this is 5-20 seconds — acceptable if server heartbeat timeout is generous
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@@ -24,8 +24,8 @@ r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},0', "OK", 3000)
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这些在 config.py 是明文：
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SERVER_IP = "stcp.shelingxingqiu.com"SERVER_PORT = 50005HTTP_URL = "http://ws.shelingxingqiu.com"HTTP_API_PATH = "/home/shoot/device_fire/arrow/fire"
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注意：即使你把它们藏进 .so，攻击者仍可能通过抓包/观察 DNS/SNI/流量拿到域名或 IP，所以“隐藏”只能降低静态分析风险，不能替代鉴权/签名。
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2.2 WiFi 凭证落盘位置
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你会把 SSID/密码写到 /boot/wifi.ssid 和 /boot/wifi.pass（network.py/wifi.py 都有）。拿到设备存储就能读到明文密码，这属于设备侧安全问题。
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2.3 日志/调试信息泄露
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你仓库里 .cursor/debug.log* 已经记录了完整的 AT+MIPOPEN ... host:port 等信息；如果这些被打进包或被用户导出，也会泄露通信细节。
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你发布包里“真正会被带走的敏感内容”
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@@ -37,5 +37,9 @@ files: - app.yaml - at_client.py - camera_manager.py - config.py - hardware
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把“password=device_id+.” 改为真正的 per-device secret（设备出厂烧录，服务端保存；或服务端下发公钥，设备用私钥签名）
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所有上报/控制命令加签名 + nonce/timestamp + 服务端防重放（别人抓到一次包也不能复用）
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OTA 包必须做签名校验（设备端内置公钥，下载后验签通过才应用）
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TLS 必须做证书校验/最好做 pinning（至少别用 auth=0）
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如果你告诉我：你们服务端目前能不能改协议（例如新增签名字段、下发 challenge、做 OTA 签名），我可以按“最小改动但提升最大安全”的顺序，帮你规划一套从现状平滑升级的方案。
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https://wiki.sipeed.com/maixpy/doc/zh/pro/compile_os.html
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165
network.py
165
network.py
@@ -1406,6 +1406,112 @@ class NetworkManager:
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self.logger.error(f"[LOG_UPLOAD] 上传异常: {e}")
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self.safe_enqueue({"result": "log_upload_failed", "reason": str(e)[:100]}, 2)
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def _upload_image_file(self, image_path, upload_url, upload_token, key, shoot_id, outlink):
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"""上传图片文件到指定URL（自动检测网络类型，WiFi使用requests，4G使用AT HTTP命令）
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Args:
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image_path: 本地图片文件路径
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upload_url: 上传目标URL，例如 "https://upload.qiniup.com"
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upload_token: 上传token
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key: 文件key，例如 "shootPic/123456.bmp"
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shoot_id: 射击ID
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outlink: 外链域名（可选，用于构建访问URL）
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"""
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# 自动检测网络类型，选择上传路径
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if self._network_type == "wifi" and self.is_wifi_connected():
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mode = "wifi"
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else:
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mode = "4g"
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self.logger.info(f"[IMAGE_UPLOAD] Using {mode} path, image: {image_path}")
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try:
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if mode == "wifi":
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# ---- WiFi path: 使用 requests 库上传 ----
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import requests
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import urllib3
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urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
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with open(image_path, 'rb') as f:
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files = {'file': (os.path.basename(image_path), f, 'application/octet-stream')}
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data = {'token': upload_token, 'key': key}
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# 测试：将HTTPS转为HTTP
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wifi_upload_url = upload_url.replace('https://', 'http://', 1)
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self.logger.info(f"[IMAGE_UPLOAD] WiFi upload URL: {wifi_upload_url}")
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response = requests.post(wifi_upload_url, files=files, data=data, timeout=120, verify=False)
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response.raise_for_status()
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result_json = response.json()
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uploaded_key = result_json.get('key', key)
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self.logger.info(f"[IMAGE_UPLOAD] WiFi upload ok: key={uploaded_key}")
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access_url = None
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if outlink:
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access_url = f"https://{outlink}/{uploaded_key}"
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response_data = {
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"result": "image_upload_ok",
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"shootId": shoot_id,
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"key": uploaded_key,
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"via": "wifi",
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}
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if access_url:
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response_data["url"] = access_url
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self.safe_enqueue(response_data, 2)
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else:
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# ---- 4G path: 使用 FourGUploadManager AT命令上传 ----
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import importlib.util
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spec = importlib.util.spec_from_file_location(
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"four_g_upload_manager",
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os.path.join(os.path.dirname(__file__), "4g_upload_manager.py")
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)
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upload_module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(upload_module)
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FourGUploadManager = upload_module.FourGUploadManager
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# 实例化4G上传管理器
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uploader = FourGUploadManager(hardware_manager.at_client)
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# 执行上传
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result = uploader.upload_image(image_path, upload_url, upload_token, key)
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if result.get("success"):
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uploaded_key = result.get("key", key)
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self.logger.info(f"[IMAGE_UPLOAD] 4G upload ok: key={uploaded_key}")
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access_url = None
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if outlink:
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access_url = f"https://{outlink}/{uploaded_key}"
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response_data = {
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"result": "image_upload_ok",
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"shootId": shoot_id,
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"key": uploaded_key,
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"via": "4g",
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}
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if access_url:
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response_data["url"] = access_url
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self.safe_enqueue(response_data, 2)
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else:
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error_msg = result.get("error", "unknown_error")
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self.logger.error(f"[IMAGE_UPLOAD] 4G upload failed: {error_msg}")
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self.safe_enqueue({
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"result": "image_upload_failed",
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"shootId": shoot_id,
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"reason": error_msg[:100]
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}, 2)
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except Exception as e:
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self.logger.error(f"[IMAGE_UPLOAD] upload exception ({mode}): {e}")
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self.safe_enqueue({
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"result": "image_upload_failed",
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"shootId": shoot_id,
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"reason": str(e)[:100]
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}, 2)
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def generate_token(self, device_id):
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"""生成用于 HTTP 接口鉴权的 Token（HMAC-SHA256）"""
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SALT = "shootMessageFire"
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@@ -1592,6 +1698,64 @@ class NetworkManager:
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self.safe_enqueue({'data':{'l': len(self._raw_line_data), 'v': v}, 'cmd': 41})
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self.logger.info(f"已下载{len(self._raw_line_data)} 全部：{t} 版本：{v}")
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elif logged_in and msg_type == 100:
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self.logger.info(f"[IMAGE_UPLOAD] 收到图片上传命令 {body}")
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if isinstance(body, dict):
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upload_url = body.get("uploadUrl")
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upload_token = body.get("token")
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shoot_id = body.get("shootId")
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outlink = body.get("outlink", "")
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hardware_manager.start_idle_timer() # 重新计时
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# 验证必需字段
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if not upload_url or not upload_token or not shoot_id:
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self.logger.error("[IMAGE_UPLOAD] 缺少必需参数: uploadUrl, token 或 shootId")
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self.safe_enqueue({"result": "image_upload_failed", "reason": "missing_params"}, 2)
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else:
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self.logger.info(f"[IMAGE_UPLOAD] 收到图片上传命令，shootId: {shoot_id}")
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# 查找文件名中包含 shoot_id 的图片文件（文件名格式：shot_{shoot_id}_*.bmp）
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image_extensions = ('.bmp', '.jpg', '.jpeg', '.png')
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photo_dir = config.PHOTO_DIR
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target_image = None
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try:
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if os.path.isdir(photo_dir):
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# 优先查找文件名中包含 shoot_id 的图片
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matched_images = [
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f for f in os.listdir(photo_dir)
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if f.lower().endswith(image_extensions) and shoot_id in f
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]
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if matched_images:
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# 按修改时间排序，取最新的匹配文件
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matched_images.sort(
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key=lambda f: os.path.getmtime(os.path.join(photo_dir, f)),
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reverse=True
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)
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target_image = os.path.join(photo_dir, matched_images[0])
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self.logger.info(f"[IMAGE_UPLOAD] 找到匹配shootId的图片: {matched_images[0]}")
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else:
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self.logger.warning(f"[IMAGE_UPLOAD] 未找到包含shootId={shoot_id}的图片文件")
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except Exception as e:
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self.logger.error(f"[IMAGE_UPLOAD] 查找图片失败: {e}")
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if not target_image:
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self.logger.error(f"[IMAGE_UPLOAD] 未找到shootId={shoot_id}对应的图片文件")
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self.safe_enqueue({"result": "image_upload_failed", "reason": "no_image_found", "shootId": shoot_id}, 2)
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else:
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# 构建上传key
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ext = os.path.splitext(target_image)[1].lower()
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key = f"shootPic/{self.device_id}/{shoot_id}{ext}"
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self.logger.info(f"[IMAGE_UPLOAD] 准备上传: {target_image} -> {key}")
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# 在新线程中执行上传，避免阻塞主循环
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import _thread
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_thread.start_new_thread(
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self._upload_image_file,
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(target_image, upload_url, upload_token, key, shoot_id, outlink)
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)
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# 立即返回已入队确认
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self.safe_enqueue({"result": "image_upload_queued", "shootId": shoot_id}, 2)
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# 处理业务指令
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elif logged_in and isinstance(body, dict):
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inner_cmd = None
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@@ -1753,6 +1917,7 @@ class NetworkManager:
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self._upload_log_file,
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(upload_url, wifi_ssid, wifi_password, include_rotated, max_files, archive_format)
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)
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else: # data的结构不是 dict
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self.logger.info(f"[NET] body={body}, {time.time()}")
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else:
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