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update hearbeat

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This commit is contained in:
huangzhenwei2
2025-12-26 11:47:33 +08:00
parent 0b18ec353c
commit f11b31c09c
1 changed files with 90 additions and 79 deletions
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169
main.py
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@@ -22,6 +22,8 @@ import hashlib
import requests
import socket
# import config
# ==================== 全局配置 ====================
# OTA 升级地址与本地路径
@@ -35,7 +37,7 @@ PASSWORD = None
# 服务器连接参数
SERVER_IP = "www.shelingxingqiu.com"
SERVER_PORT = 50005
HEARTBEAT_INTERVAL = 2 # 心跳间隔（秒）
HEARTBEAT_INTERVAL = 5 # 心跳间隔（秒）
# 激光校准配置
CONFIG_FILE = "/root/laser_config.json"
@@ -60,7 +62,7 @@ pinmap.set_pin_function("P21", "I2C1_SDA")
# pinmap.set_pin_function("A15", "I2C5_SCL")
# pinmap.set_pin_function("A27", "I2C5_SDA")#ota升级要修改的
# ADC 触发阈值（用于检测扳机/激光触发）
ADC_TRIGGER_THRESHOLD = 2450
ADC_TRIGGER_THRESHOLD = 3000
ADC_LASER_THRESHOLD = 3000
# 显示参数：激光十字线样式
@@ -97,8 +99,10 @@ REAL_RADIUS_CM = 15 # 靶心实际半径（厘米）
# TCP 连接状态
tcp_connected = False
send_queue = []
queue_lock = False
high_send_queue = [] # 高优先级发送队列：射箭事件等
normal_send_queue = [] # 普通发送队列：电量/校准结果/状态等
queue_lock = False # 简易互斥锁，保护队列
uart4g_lock = False # 简易互斥锁，保护 4G 串口 AT 发送流程（防并发）
update_thread_started = False # 防止 OTA 更新线程重复启动
@@ -250,16 +254,32 @@ def read_device_id():
return "DEFAULT_DEVICE_ID"
def safe_enqueue(data_dict, msg_type=2):
"""线程安全地将消息加入 TCP 发送队列"""
global queue_lock, send_queue
def safe_enqueue(data_dict, msg_type=2, high=False):
"""线程安全地将消息加入 TCP 发送队列（支持优先级）"""
global queue_lock, high_send_queue, normal_send_queue
while queue_lock:
time.sleep_ms(1)
queue_lock = True
send_queue.append((msg_type, data_dict))
item = (msg_type, data_dict)
if high:
high_send_queue.append(item)
else:
normal_send_queue.append(item)
queue_lock = False
def _uart4g_lock_acquire():
global uart4g_lock
while uart4g_lock:
time.sleep_ms(1)
uart4g_lock = True
def _uart4g_lock_release():
global uart4g_lock
uart4g_lock = False
def at(cmd, wait="OK", timeout=2000):
"""向 4G 模块发送 AT 指令并等待响应"""
if cmd:
@@ -301,27 +321,30 @@ def tcp_send_raw(data: bytes, max_retries=2) -> bool:
global tcp_connected
if not tcp_connected:
return False
for attempt in range(max_retries):
cmd = f'AT+MIPSEND=0,{len(data)}'
if ">" not in at(cmd, ">", 1500):
time.sleep_ms(100)
continue
time.sleep_ms(10)
full = data + b"\x1A" # AT 指令结束符
try:
sent = uart4g.write(full)
if sent != len(full):
_uart4g_lock_acquire()
try:
for attempt in range(max_retries):
cmd = f'AT+MIPSEND=0,{len(data)}'
if ">" not in at(cmd, ">", 1500):
time.sleep_ms(100)
continue
except:
continue
if "OK" in at("", "OK", 1000):
return True
time.sleep_ms(100)
time.sleep_ms(10)
full = data + b"\x1A" # AT 指令结束符
try:
sent = uart4g.write(full)
if sent != len(full):
continue
except:
continue
return False
if "OK" in at("", "OK", 1000):
return True
time.sleep_ms(100)
return False
finally:
_uart4g_lock_release()
def generate_token(device_id):
@@ -565,18 +588,6 @@ def compute_laser_position(circle_center, laser_point, radius, method):
dy = ly - cy
return dx / (circle_r / 100.0), -dy / (circle_r / 100.0)
def compute_laser_position_v2(circle_center, laser_point):
print(f"circle_center : {circle_center}")
cx, cy = circle_center
lx, ly = 320,230
# lx, ly = laser_point
dx = lx - cx
dy = ly - cy
r = 22.16 * 5
target_x = dx/r*100
target_y = dy/r*100
print(f"lx：{lx} ly: {ly} cx: {cx} cy: {cy} dx: {dx} dy: {dy} result_x: {target_x} result_y: {-target_y}")
return (target_x, -target_y)
# ==================== TCP 通信线程 ====================
@@ -586,8 +597,12 @@ def connect_server():
if tcp_connected:
return True
print("连接到服务器...")
at("AT+MIPCLOSE=0", "OK", 1000)
res = at(f'AT+MIPOPEN=0,"TCP","{SERVER_IP}",{SERVER_PORT}', "+MIPOPEN", 8000)
_uart4g_lock_acquire()
try:
at("AT+MIPCLOSE=0", "OK", 1000)
res = at(f'AT+MIPOPEN=0,"TCP","{SERVER_IP}",{SERVER_PORT}', "+MIPOPEN", 8000)
finally:
_uart4g_lock_release()
if "+MIPOPEN: 0,0" in res:
tcp_connected = True
return True
@@ -596,7 +611,8 @@ def connect_server():
def tcp_main():
"""TCP 主通信循环：登录、心跳、处理指令、发送数据"""
global tcp_connected, send_queue, queue_lock, laser_calibration_active, laser_calibration_result, laser_calibration_lock,update_thread_started
global tcp_connected, high_send_queue, normal_send_queue, queue_lock, laser_calibration_active, laser_calibration_result, laser_calibration_lock, update_thread_started
send_hartbeat_fail_count = 0
while not app.need_exit():
if not connect_server():
time.sleep_ms(5000)
@@ -641,7 +657,7 @@ def tcp_main():
# 处理心跳 ACK
elif logged_in and msg_type == 4:
last_heartbeat_ack_time = time.ticks_ms()
# print("✅ 收到心跳确认")
print("✅ 收到心跳确认")
# 处理业务指令
elif logged_in and isinstance(body, dict):
@@ -709,17 +725,22 @@ def tcp_main():
break
# 发送队列中的业务数据
if logged_in and not queue_lock and send_queue:
if logged_in and (high_send_queue or normal_send_queue) and (not queue_lock):
# 只在锁内取出一个待发包，发送放到锁外，避免长时间占用队列锁
while queue_lock:
time.sleep_ms(1)
queue_lock = True
if send_queue:
msg_type, data_dict = send_queue.pop(0)
pkt = make_packet(msg_type, data_dict)
if not tcp_send_raw(pkt):
tcp_connected = False
queue_lock = False
break
if high_send_queue:
msg_type, data_dict = high_send_queue.pop(0)
else:
msg_type, data_dict = normal_send_queue.pop(0)
queue_lock = False
pkt = make_packet(msg_type, data_dict)
if not tcp_send_raw(pkt):
tcp_connected = False
break
# 发送激光校准结果
if logged_in and not laser_calibration_lock and laser_calibration_result is not None:
laser_calibration_lock = True
@@ -733,13 +754,21 @@ def tcp_main():
if logged_in and current_time - last_heartbeat_send_time > HEARTBEAT_INTERVAL * 1000:
if not tcp_send_raw(make_packet(4, {"t": int(time.time())})):
print("💔 心跳发送失败")
break
last_heartbeat_send_time = current_time
# print("💓 心跳已发送")
send_hartbeat_fail_count += 1
if send_hartbeat_fail_count >= 3:
send_hartbeat_fail_count = 0
print("连续3次发送心跳失败，重连")
break
else:
continue
else:
send_hartbeat_fail_count = 0
last_heartbeat_send_time = current_time
print("💓 心跳已发送")
# 心跳超时重连
if logged_in and current_time - last_heartbeat_ack_time > 6000:
print("⏰ 6秒无心跳ACK，重连")
if logged_in and current_time - last_heartbeat_ack_time > 1000*60*10: # 十分钟
print("⏰ 十分钟无心跳ACK，重连")
break
time.sleep_ms(50)
@@ -773,6 +802,7 @@ def laser_calibration_worker():
def cmd_str():
global DEVICE_ID, PASSWORD
# print("env: ", config.get_env())
DEVICE_ID = read_device_id()
PASSWORD = DEVICE_ID + "."
@@ -802,10 +832,7 @@ def cmd_str():
while not app.need_exit():
current_time = time.ticks_ms()
# print("压力传感器数值： ", adc_obj.read())
adc_val = adc_obj.read()
if adc_val > 2450:
print(f"adc_val: {adc_val}")
if adc_val > ADC_TRIGGER_THRESHOLD:
if adc_obj.read() > ADC_TRIGGER_THRESHOLD:
diff_ms = current_time-last_adc_trigger
if diff_ms<3000:
continue
@@ -824,22 +851,7 @@ def cmd_str():
disp.show(result_img)
# 计算偏移与距离
# dx, dy = compute_laser_position(center, (x, y), radius, method)
if center is None:
print(f"程序异常或者离谱脱靶")
# 构造上报数据
inner_data = {
"x": 200.0,
"y": 200.0,
"r": 90.0,
"d": 0.0, # 距离（厘米）
"m": 'error',
'adc': adc_val,
}
report_data = {"cmd": 1, "data": inner_data}
tcp_send_raw(make_packet(2, report_data))
continue
dx, dy = compute_laser_position_v2(center, (x, y))
dx, dy = compute_laser_position(center, (x, y), radius, method)
distance_m = estimate_distance(best_radius1)
# 读取电量
@@ -860,12 +872,11 @@ def cmd_str():
"y": float(dy) if dy is not None else 200.0,
"r": 90.0,
"d": round((distance_m or 0.0) * 100), # 距离（厘米）
"m": method,
'adc': adc_val,
"m": method
}
report_data = {"cmd": 1, "data": inner_data}
# safe_enqueue(report_data)
tcp_send_raw(make_packet(2, report_data))
# 射箭事件高优先级入队，由 tcp_main 统一发送
safe_enqueue(report_data, msg_type=2, high=True)
print("📤 射箭事件已加入发送队列")
time.sleep_ms(100)