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triangle algo

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gcw_4spBpAfv
2026-04-18 09:33:37 +08:00
parent 43e7e0ba17
commit e030f3a194
1 changed files with 35 additions and 164 deletions
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151
main.py
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@@ -21,13 +21,14 @@ from version import VERSION
# from logger import init_logging, get_logger, stop_logging
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 power import init_ina226
from laser_manager import laser_manager
from vision import detect_circle_v3, estimate_distance, enqueue_save_shot, start_save_shot_worker
from vision import start_save_shot_worker
from network import network_manager
from ota_manager import ota_manager
from hardware import hardware_manager
from camera_manager import camera_manager
from shoot_manager import process_shot, preload_triangle_calib
def laser_calibration_worker():
@@ -100,6 +101,7 @@ def cmd_str():
# 4. 初始化显示和相机
camera_manager.init_camera(640, 480)
# camera_manager.init_camera(1280,720)
camera_manager.init_display()
# ==================== 第二阶段：软件初始化 ====================
@@ -127,6 +129,12 @@ def cmd_str():
# 2.5. 启动存图 worker 线程（队列 + worker，避免主循环阻塞）
start_save_shot_worker()
# 2.6 预加载三角形标定/坐标文件（避免首次射箭卡顿）
try:
preload_triangle_calib()
except Exception:
pass
# 3. 启动时检查：是否需要恢复备份
pending_path = f"{config.APP_DIR}/ota_pending.json"
if os.path.exists(pending_path):
@@ -348,144 +356,7 @@ def cmd_str():
_flush_pressure_buf("before_trigger")
try:
frame = camera_manager.read_frame()
laser_point_method = None # 记录激光点选择方法
if config.HARDCODE_LASER_POINT:
# 硬编码模式：使用硬编码值
laser_point = laser_manager.laser_point
laser_point_method = "hardcode"
elif laser_manager.has_calibrated_point():
# 假如校准过，并且有保存值，使用校准值
laser_point = laser_manager.laser_point
laser_point_method = "calibrated"
logger_manager.logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
elif distance_m and distance_m > 0:
# 动态计算模式：根据距离计算激光点
# 先检测靶心以获取距离（用于计算激光点）
# 第一次检测不使用激光点，仅用于获取距离
result_img_temp, center_temp, radius_temp, method_temp, best_radius1_temp, ellipse_params_temp = detect_circle_v3(frame, None)
# 计算距离
distance_m = estimate_distance(best_radius1_temp) if best_radius1_temp else None
laser_point = laser_manager.calculate_laser_point_from_distance(distance_m)
laser_point_method = "dynamic"
if laser_point is None:
logger = logger_manager.logger
if logger:
logger.warning("[MAIN] 激光点未初始化，跳过本次检测")
time.sleep_ms(100)
continue
x, y = laser_point
# 检测靶心
result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING:
camera_manager.show(result_img)
# 计算偏移与距离（如果检测到靶心）
if center and radius:
dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
distance_m = estimate_distance(best_radius1)
else:
# 未检测到靶心
dx, dy = None, None
distance_m = None
if logger:
logger.warning("[MAIN] 未检测到靶心，但会保存图像")
# 快速激光测距（激光一闪而过，约500-600ms）
laser_distance_m = None
laser_signal_quality = 0
# try:
# 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, 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:
# if logger:
# logger.error(f"[MAIN] 激光测距异常: {e}")
# 读取电量
voltage = get_bus_voltage()
battery_percent = voltage_to_percent(voltage)
# 生成射箭ID
from shot_id_generator import shot_id_generator
shot_id = shot_id_generator.generate_id() # 不需要使用device_id
# 构造上报数据
inner_data = {
"shot_id": shot_id, # 射箭ID，用于关联图片和服务端日志
"x": float(dx) if dx is not None else 200.0,
"y": float(dy) if dy is not None else 200.0,
"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,
# 新增字段：激光点选择方法
"laser_method": laser_point_method, # 激光点选择方法：hardcode/calibrated/dynamic/default
# 激光点坐标（像素）
"target_x": float(x), # 激光点 X 坐标（像素）
"target_y": float(y), # 激光点 Y 坐标（像素）
}
# 添加椭圆参数（如果存在）
if ellipse_params:
(ell_center, (width, height), angle) = ellipse_params
inner_data["ellipse_major_axis"] = float(max(width, height)) # 长轴（像素）
inner_data["ellipse_minor_axis"] = float(min(width, height)) # 短轴（像素）
inner_data["ellipse_angle"] = float(angle) # 椭圆角度（度）
inner_data["ellipse_center_x"] = float(ell_center[0]) # 椭圆中心 X 坐标（像素）
inner_data["ellipse_center_y"] = float(ell_center[1]) # 椭圆中心 Y 坐标（像素）
else:
inner_data["ellipse_major_axis"] = None
inner_data["ellipse_minor_axis"] = None
inner_data["ellipse_angle"] = None
inner_data["ellipse_center_x"] = None
inner_data["ellipse_center_y"] = None
report_data = {"cmd": 1, "data": inner_data}
network_manager.safe_enqueue(report_data, msg_type=2, high=True)
# 闪一下激光（射箭反馈）
if config.FLASH_LASER_WHILE_SHOOTING:
laser_manager.flash_laser(config.FLASH_LASER_DURATION_MS)
# 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),
distance_m,
shot_id=shot_id,
photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None,
)
if center and radius:
logger.info(f"射箭事件已加入发送队列（已检测到靶心），ID: {shot_id}")
else:
logger.info(f"射箭事件已加入发送队列（未检测到靶心，已保存图像），ID: {shot_id}")
time.sleep_ms(100)
process_shot(adc_val)
except Exception as e:
logger = logger_manager.logger
if logger: