triangle algo refind

app.yaml

@@ -1,14 +1,17 @@
 id: t11
 name: t11
-version: 1.2.10
+version: 1.2.11
 author: t11
 icon: ''
 desc: t11
 files:
+  - 4g_download_manager.py
   - app.yaml
   - archery_netcore.cpython-311-riscv64-linux-gnu.so
+  - aruco_detector.py
   - at_client.py
   - camera_manager.py
+  - cameraParameters.xml
   - config.py
   - hardware.py
   - laser_manager.py
@@ -17,9 +20,13 @@ files:
   - network.py
   - ota_manager.py
   - power.py
+  - server.pem
   - shoot_manager.py
   - shot_id_generator.py
   - time_sync.py
+  - triangle_positions.json
+  - triangle_target.py
   - version.py
-  - vision.cpython-311-riscv64-linux-gnu.so
+  - vision.py
+  - wifi_config_httpd.py
   - wifi.py

cameraParameters.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<opencv_storage>
+<calibrationDate>"Sat Apr 11 12:05:27 2026"</calibrationDate>
+<framesCount>29</framesCount>
+<cameraResolution>
+  640 480</cameraResolution>
+<camera_matrix type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    2207.9058323074869 0. 328.90661220953149 0. 2207.9058323074869
+    205.49515894111076 0. 0. 1.</data></camera_matrix>
+<camera_matrix_std_dev type_id="opencv-matrix">
+  <rows>4</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    0. 11.687428265309892 3.6908895632668468 3.597571733110271</data></camera_matrix_std_dev>
+<distortion_coefficients type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    -0.63036604771649651 3.3832710000807449 0. 0. -0.45113389267675552</data></distortion_coefficients>
+<distortion_coefficients_std_dev type_id="opencv-matrix">
+  <rows>5</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    0.025002349846111244 1.0651877135605927 0. 0. 0.04021252864120229</data></distortion_coefficients_std_dev>
+<avg_reprojection_error>0.28992233810828955</avg_reprojection_error>
+</opencv_storage>

config.py

@@ -9,7 +9,16 @@ from version import VERSION
 # ==================== 应用配置 ====================
 APP_VERSION = VERSION
 APP_DIR = "/maixapp/apps/t11"
-LOCAL_FILENAME = "/maixapp/apps/t11/main_tmp.py"
+LOCAL_FILENAME = APP_DIR + "/main_tmp.py"
+
+# ==================== 相机配置 ====================
+# 相机初始化分辨率（CameraManager / main.py 使用）
+CAMERA_WIDTH = 640
+CAMERA_HEIGHT = 480
+
+# 三角形检测缩图比例：默认按相机最长边缩到 1/2（性能更稳；可按需调整）
+# 取值范围建议 (0.25 ~ 1.0]；1.0 表示不缩图
+TRIANGLE_DETECT_SCALE = 0.5
 
 # ==================== 服务器配置 ====================
 # SERVER_IP = "stcp.shelingxingqiu.com"
@@ -22,27 +31,38 @@ WIFI_QUALITY_RTT_SAMPLES = 3  # 到业务服务器 TCP 建连耗时采样次数
 WIFI_QUALITY_RTT_BAD_MS = 600.0  # 中位数超过此值认为延迟过高
 WIFI_QUALITY_RTT_WARN_MS = 350.0  # 与 RSSI 联合：超过此值且信号弱也判为差
 WIFI_QUALITY_RSSI_BAD_DBM = -80.0  # 低于此 dBm（更负更差）视为信号弱
-WIFI_QUALITY_USE_RSSI = True  # 是否把 RSSI 纳入综合判定（False 则仅看 RTT）
+WIFI_QUALITY_USE_RSSI = True  # 是否把 RSSI 纳入综合判定
+
+# WiFi 热点配网（手机连设备 AP，浏览器提交路由器 SSID/密码；仅 GET/POST，标准库 socket）
+WIFI_CONFIG_AP_FALLBACK = True # # WiFi 配网失败时，是否退回热点模式，并等待重新配网
+WIFI_AP_FALLBACK_WAIT_SEC = 5 # 等待5秒后再检测STA/4G
+WIFI_CONFIG_AP_TIMEOUT = 5  # 热点模式超时时间（秒）
+WIFI_CONFIG_AP_ENABLED = True  # True=启动时开热点并起迷你 HTTP 配网服务
+WIFI_CONFIG_AP_SSID = "ArcherySetup"       # 设备发出的热点名称
+WIFI_CONFIG_AP_PASSWORD = "12345678"       # 热点密码（WPA2 通常至少 8 位）
+WIFI_CONFIG_HTTP_HOST = "0.0.0.0"          # HTTP 监听地址
+WIFI_CONFIG_HTTP_PORT = 8080               # 默认 8080，避免占用 80 需 root
+WIFI_CONFIG_AP_IP = "192.168.66.1"         # 与 MaixPy Wifi.start_ap 默认一致，手机访问 http://192.168.66.1:8080/
 
 # ===== TCP over SSL(TLS) 配置 =====
-USE_TCP_SSL = False          # True=按手册走 MSSLCFG/MIPCFG 绑定 SSL
+USE_TCP_SSL = True          # True=按手册走 MSSLCFG/MIPCFG 绑定 SSL
 TCP_LINK_ID = 2             # 
-TCP_SSL_PORT = 443          # TLS 端口（不一定必须 443，以服务器为准）
+TCP_SSL_PORT = 50006          # TLS 端口（不一定必须 443，以服务器为准）
 
 # SSL profile
 SSL_ID = 1                  # ssl_id=1
-SSL_AUTH_MODE = 0           # 1=单向认证（验证服务器），2=双向
+SSL_AUTH_MODE = 1           # 1=单向认证（验证服务器），2=双向
 SSL_VERIFY_MODE = 1         # 0=不验（仅测试用）；1=写入并使用 CA 证书
 
-SSL_CERT_FILENAME = "www.shelingxingqiu.com.crt"      # 模组里证书名（MSSLCERTWR / MSSLCFG="cert" 用）
+SSL_CERT_FILENAME = "server.pem"      # 模组里证书名（MSSLCERTWR / MSSLCFG="cert" 用）
-SSL_CERT_PATH = "/root/www.shelingxingqiu.com.crt"    # 设备文件系统里 CA 证书路径（你自己放进去）
+SSL_CERT_PATH = APP_DIR + "/server.pem"    # 设备文件系统里 CA 证书路径（你自己放进去）
 # MIPOPEN 末尾的参数在不同固件里含义可能不同；按你手册例子保留
 MIPOPEN_TAIL = ",,0"
 
 # ==================== 文件路径配置 ====================
 CONFIG_FILE = "/root/laser_config.json"
-LOG_FILE = "/maixapp/apps/t11/app.log"
+LOG_FILE = APP_DIR + "/app.log"
-BACKUP_BASE = "/maixapp/apps/t11/backups"
+BACKUP_BASE = APP_DIR + "/backups"
 
 # ==================== 硬件配置 ====================
 # WiFi模块开关（True=有WiFi模块，False=无WiFi模块）
@@ -84,7 +104,7 @@ DEFAULT_LASER_POINT =  (320, 245)   # 默认激光中心点
 
 # 硬编码激光点配置
 HARDCODE_LASER_POINT = True  # 是否使用硬编码的激光点（True=使用硬编码值，False=使用校准值）
-HARDCODE_LASER_POINT_VALUE = (320, 245) # 硬编码的激光点坐标(315, 245) #   # 硬编码的激光点坐标 (x, y)
+HARDCODE_LASER_POINT_VALUE = (320, 296) # 硬编码的激光点坐标(315, 245) #   # 硬编码的激光点坐标 (x, y)
 
 # 激光点检测配置
 LASER_DETECTION_THRESHOLD = 140  # 红色通道阈值（默认120，可调整，范围建议：100-150）
@@ -111,6 +131,40 @@ LASER_CAMERA_OFFSET_CM = 1.4  # 激光在摄像头下方的物理距离（厘米
 IMAGE_CENTER_X = 320  # 图像中心 X 坐标
 IMAGE_CENTER_Y = 240  # 图像中心 Y 坐标
 
+# ==================== 三角形四角标记：单应性偏移 + PnP 估距 ====================
+# 依赖 cameraParameters.xml（相机内参）与 triangle_positions.json（四角物方坐标，厘米或毫米见 JSON 约定）。
+# 部署时请把这两个文件放到 APP_DIR（与 main 同应用目录），或改下面路径为设备上的实际绝对路径。
+USE_TRIANGLE_OFFSET = True  # False 时仅走黄心圆/椭圆 + 半径估距，不使用三角形路径
+CAMERA_CALIB_XML = APP_DIR + "/cameraParameters.xml"
+TRIANGLE_POSITIONS_JSON = APP_DIR + "/triangle_positions.json"
+# 检测到的三角形边长在图像中的像素范围，分辨率或靶纸占比变化时可微调
+TRIANGLE_SIZE_RANGE = (8, 500)
+# 三角形检测兜底增强：CLAHE（更鲁棒但更慢）。颜色阈值修复后通常不需要，保持关闭以优先速度。
+TRIANGLE_ENABLE_CLAHE_FALLBACK = False
+# 三角形检测调试：保存 Otsu 二值化图像（临时调试用，定位后关闭）
+TRIANGLE_SAVE_DEBUG_IMAGE = False
+# 三角形颜色过滤阈值（三角形内部灰度判定）
+# 如果三角形标记印刷较浅/环境较亮，可放宽：
+#   max_interior_gray: 三角形内部平均灰度上限（越大越宽松，90→130 适应浅色印刷）
+#   dark_pixel_gray: "暗像素"灰度判定阈值（越大越宽松，80→130）
+#   min_dark_ratio: 暗像素占比下限（越小越宽松，0.70→0.30）
+TRIANGLE_MAX_INTERIOR_GRAY = 130
+TRIANGLE_DARK_PIXEL_GRAY = 130
+TRIANGLE_MIN_DARK_RATIO = 0.30
+# 三角形相对对比度阈值：内部比周围暗多少灰度值才认为有效（0=禁用相对对比度）
+TRIANGLE_MIN_CONTRAST_DIFF = 15
+# 三角形检测超时（毫秒）。超过该时间直接判失败，回退圆心算法（并行时不再等待）。
+# CLAHE 启用或颜色阈值放宽后检测耗时增加，需相应提高（1000→2500）
+TRIANGLE_TIMEOUT_MS = 2500
+
+# 三角形检测性能/鲁棒性参数（偏向速度的默认值）
+# 说明：
+# - Otsu 是最快的全局阈值；adaptiveThreshold 更鲁棒但更慢
+# - filtered 候选过多时，枚举 C(n,4) 会变慢，需限幅
+TRIANGLE_EARLY_EXIT_CANDIDATES = 4          # 找到多少个候选就提前停止二值化尝试
+TRIANGLE_ADAPTIVE_BLOCK_SIZES = (11, 21)    # 自适应阈值 blockSize 尝试列表；置空 () 可完全关闭 adaptiveThreshold
+TRIANGLE_MAX_FILTERED_FOR_COMBO = 10        # 参与四点组合评分的最大候选数（超过则截断到最可能的一部分）
+
 FLASH_LASER_WHILE_SHOOTING = True  # 是否在拍摄时闪一下激光（True=闪，False=不闪）
 FLASH_LASER_DURATION_MS = 1000  # 闪一下激光的持续时间（毫秒）
 
@@ -124,7 +178,7 @@ 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
 
-SHOW_CAMERA_PHOTO_WHILE_SHOOTING = True  # 是否在拍摄时显示摄像头图像（True=显示，False=不显示），建议在连着USB测试过程中打开
+SHOW_CAMERA_PHOTO_WHILE_SHOOTING = False  # 是否在拍摄时显示摄像头图像（True=显示，False=不显示），建议在连着USB测试过程中打开
 
 # ==================== OTA配置 ====================
 MAX_BACKUPS = 5

cpp_ext/CMakeLists.txt

@@ -25,6 +25,7 @@ add_library(archery_netcore MODULE
   utils.cpp
   decrypt_ota_file.cpp
   msg_handler.cpp
+  tcp_ssl_password.cpp
 )
 
 target_include_directories(archery_netcore PRIVATE

cpp_ext/archery_netcore.cpp

@@ -12,6 +12,7 @@
 #include "native_logger.hpp"
 #include "decrypt_ota_file.hpp"
 #include "utils.hpp"
+#include "tcp_ssl_password.hpp"
 
 namespace py = pybind11;
 using json = nlohmann::json;
@@ -61,6 +62,14 @@ PYBIND11_MODULE(archery_netcore, m) {
 
     m.def("get_config", &get_config, "Get system configuration");
 
+    m.def(
+        "calculate_tcp_ssl_password",
+        &netcore::calculate_tcp_ssl_password,
+        "Calculate TCP SSL password: hex(md5(hex(md5(device_id)) + iccid))",
+        py::arg("device_id"),
+        py::arg("iccid")
+    );
+
     m.def(
         "decrypt_ota_file",
         [](const std::string& input_path, const std::string& output_zip_path) {

design_doc/command_record.md

@@ -33,3 +33,54 @@ cat /dev/ttyS2
 # 3. 发送下载命令（原窗口）
 printf 'AT+MHTTPDLFILE="http://static.shelingxingqiu.com/shoot/v1/main.py","downloaded.py",5120\r\n' > /dev/ttyS2
 
+4. wifi的启动条件，在 /boot 目录下，看看是否有 wifi.sta 和 wifi.ssid， wifi.pass 这些文件。其中 wifi.sta 是开关文件。
+   如果没有了它就不会启动wifi流程。具体的wifi流程 由 /etc/init.d/S30wifi 控制。它会判断 wifi.sta 是否存在，然后是否启动wifi，还是启动热点。
+
+5. 给自己的程序打包到基础镜像中，参考：https://wiki.sipeed.com/maixpy/doc/zh/pro/compile_os.html
+    5.1. 按照链接中的步骤，去github上获取了基础镜像，这次使用的是 v4.12.4，把Assets中的下面几样东西下载下来，我是在windows的wsl中执行的，注意，
+         假如是在windows中下载的文件，在wsl中编译会很慢，所以我采用的是直接在wsl中下载，放到wsl的自己的文件系统中。
+         1）maixcam-2025-12-31-maixpy-v4.12.4.img.xz
+         2）maixcam_builtin_files.tar.xz 
+         3）MaixPy-4.12.4-py3-none-any.whl
+         4）Source code(zip)
+    5.2. 把自己的文件放到 buildtin_files中：
+         1）我把项目文件目录 t11 放到了 maixcam_builtin_files\maixapp\apps 这个目录下。
+         2）为了能让它自启动，我把 auto_start.txt 放到了 maixcam_builtin_files\maixapp 这个目录下。
+         
+    5.3. 然后在解压后的源码中找到tools/os目录下 /home/saga/maixcam/MaixPy-4.12.4/tools/os/maixcam
+        执行
+        export MAIXCDK_PATH=/home/saga/maixcam/MaixCDK
+        编译：
+        ./gen_os.sh ../../../../../maixcam/maixcam-2025-12-31-maixpy-v4.12.4.img ../../../../../maixcam/MaixPy-4.12.4-py3-none-any.whl ../../../../../maixcam/maixcam_builtin_files 0 maixcam
+        注意，在编译过程中，也会去 github 下载内容，所以需要打开梯子。
+    5.4. 等待编译完成，会编译成镜像文件，然后根据 https://wiki.sipeed.com/hardware/zh/maixcam/os.html 这个指引来烧录系统。
+    5.5. 烧录完系统后，需要安装 runtime， 可以按照  https://wiki.sipeed.com/maixpy/doc/zh/README_no_screen.html 这个来升级运行库，或者直接在 Maixvision 中链接的时候安装 runtime。
+    5.6. 安装 runtime 之后，重启，我们的系统就会自己启动起来了。
+
+   遇到问题：
+   /mnt/d/code/shooting/compile_maixcam/MaixPy-4.12.4/MaixPy-4.12.4/tools/os/maixcam/fuse2fs: error while loading shared libraries: libfuse.so.2: cannot open shared object file: No such file or directory
+   解决办法：
+    安装 libfuse2
+    sudo apt update
+     sudo apt install libfuse2
+
+   遇到问题：
+    python 缺少  yaml
+    解决办法：
+    pip install pyyaml
+
+   遇到问题：
+   ./build_all.sh: line 56: maixtool: command not found
+   解决办法：
+   pip install maixtool
+
+    遇到问题：
+    ./update_img.sh: line 80: mcopy: command not found
+    解决办法：
+    sudo apt update
+    sudo apt install mtools
+
+6. 相机标定：
+然后在板子上跑 test 目录下的 test_camera_rtsp.py ，让相机启动了一个服务，然后在电脑上接收这个视频流，并且跑opencv 内置的标定程序：
+set OPENCV_FFMPEG_CAPTURE_OPTIONS="rtsp_transport;tcp"
+opencv_interactive-calibration -t=chessboard -w=9 -h=6 -sz=0.025 -v="http://192.168.1.81:8000/stream" 2>nul

design_doc/debug.md

@@ -29,8 +29,14 @@
     从日志看，就是开始发送登录信息之后就崩溃了。出发了底层的read failed。经过排查，是一定要插上电源板的数据连线，以及电源板要插上电池。这个应该是
     登录时需要读电源电压数据，
 
-3. 问题描述：202609 批次的拓展版，有一块maixcam的蓝灯常亮，询问maixcam的人，他们觉得应该是卡没有插好。但是拓展版上的激光口挡住了数据卡的出口，
+3. a）问题描述：202609 批次的拓展版，有一块maixcam的蓝灯常亮，询问maixcam的人，他们觉得应该是卡没有插好。但是拓展版上的激光口挡住了数据卡的出口，
     没法拔出检查，
     解决方案：需要做拓展版的公司（深链鑫创）在做好板子之后，确定系统能正常启动
-4. 
+
+    b）问题描述：2022609 批次的拓展板，有一次maixcam的蓝灯亮的时候很长，不会闪烁，后面把sd卡插进去一点，又恢复正常了，初步怀疑是射箭时没有缓冲，
+        导致了sd 卡被撞松了
+
+4. 问题描述：4G模块不可用，模块的绿灯没有闪亮
+    解决方案：有这样的一种情况，就是4G模块的天线，触碰到了旁边的电容，导致短路，所以模块启动失败。需要保证电容和天线的金属头不会触碰
+5. 
     

design_doc/solution_record.md

@@ -103,3 +103,174 @@ WiFi 连接成功
     ↓
 上层检测到连接断开：
     重新 connect_server() → 自动选择 4G
+
+10. 现在使用的相机，其实是支持更大的分辨率的，比如说1920*1280，但是由于我们的图像处理，拍照处理之后很容易触发OOM。
+
+11. 环数计算流程：
+现在设备侧的目标是：算出箭点相对靶心的偏移(dx,dy)，单位是物理厘米（cm），然后把它作为 x,y 上报给后端；后端再去算环。
+设备侧本身不直接算环数，它算的是偏移与距离，并上报。
+
+算法流程（一次射箭从触发到上报）
+1) 触发后取一帧图
+    在 process_shot() 里读取相机帧并调用 analyze_shot(frame)
+2) 确定激光点（laser_point） 
+
+    analyze_shot() 第一步先确定激光点 (x,y)（像素坐标）：
+
+   硬编码：config.HARDCODE_LASER_POINT=True → 用 laser_manager.laser_point
+   已校准：laser_manager.has_calibrated_point() → 用校准值
+   动态模式：先 detect_circle_v3(frame, None) 粗估距离，再根据距离反推激光点
+   代码在：
+
+   if config.HARDCODE_LASER_POINT:
+       ...
+   elif laser_manager.has_calibrated_point():
+       ...
+   else:
+       _, _, _, _, best_radius1_temp, _ = detect_circle_v3(frame, None)
+       distance_m_first = estimate_distance(best_radius1_temp) ...
+       laser_point = laser_manager.calculate_laser_point_from_distance(distance_m_first)
+3) 优先走三角形路径（成功就直接用于上报 x/y）
+如果 config.USE_TRIANGLE_OFFSET=True，先尝试识别靶面四角三角形标记：
+
+if getattr(config, "USE_TRIANGLE_OFFSET", False):
+    K, dist_coef, pos = _get_triangle_calib()
+    img_rgb = image.image2cv(frame, False, False)
+    tri = try_triangle_scoring(img_rgb, (x, y), pos, K, dist_coef, ...)
+    if tri.get("ok"):
+        return {... "dx": tri["dx_cm"], "dy": tri["dy_cm"], "distance_m": tri.get("distance_m"), ...}
+这一步里 try_triangle_scoring() 做了两件事（都在 triangle_target.py）：
+
+单应性（homography）：把激光点从图像坐标映射到靶面坐标系，得到(dx,dy)（cm）
+PnP：用识别到的角点与相机标定，估算 相机到靶的距离 distance_m
+关键代码：
+
+ok_h, tx, ty, _H = homography_calibration(...)
+out["dx_cm"] = tx
+out["dy_cm"] = -ty
+out["distance_m"] = dist_m
+out["distance_method"] = "pnp_triangle"
+注意：这里 dy_cm 取了负号，是为了和现网约定一致（laser_manager.compute_laser_position 的坐标方向）。
+
+4) 三角形失败 → 回退圆形/椭圆靶心检测（兜底）
+如果三角形不可用或识别失败，就走传统靶心检测：
+
+detect_circle_v3(frame, laser_point) 找黄心/红心、半径、椭圆参数
+用 laser_manager.compute_laser_position() 把像素偏移换算成厘米偏移(dx,dy)
+在 shoot_manager.py：
+
+result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
+if center and radius:
+    dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
+    distance_m = estimate_distance(best_radius1) ...
+在 laser_manager.compute_laser_position()（核心换算逻辑）：
+
+r = radius * 5
+target_x = (lx-cx)/r*100
+target_y = (ly-cy)/r*100
+return (target_x, -target_y)
+这里 (像素差)/(radius*5)*100 是你们旧约定下的“像素→厘米”比例模型（并且 y 方向同样取负号）。
+
+5) 上报数据：把(dx,dy) 作为 x/y 发给后端
+最终上报发生在 process_shot()，直接把 dx,dy 填到 inner_data["x"],["y"]：
+
+srv_x = round(float(dx), 4) if dx is not None else 200.0
+srv_y = round(float(dy), 4) if dy is not None else 200.0
+inner_data = {
+    "x": srv_x,
+    "y": srv_y,
+    "d": round((distance_m or 0.0) * 100),
+    "m": method if method else "no_target",
+    "offset_method": offset_method,
+    "distance_method": distance_method,
+    ...
+}
+network_manager.safe_enqueue(...)
+x,y：物理厘米（cm）
+d：相机到靶距离（m→cm，乘 100；三角形成功时来自 PnP）
+m/offset_method/distance_method：标记本次用的算法路径（triangle / yellow / pnp 等）
+后端收到 x,y 后，再用你之前给的 Go 公式 CalculateRingNumber(x,y,tenRingRadius) 计算环数。
+
+你现在的“环数计算”实际依赖关系
+最好路径（快+稳）：三角形 → dx,dy（单应性） + distance_m（PnP）
+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）
+
+12. 4g模块上传文件：
+
+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.
+Methods Tried
+#	Method	AT Commands	Result	Root Cause
+1	Raw binary, no encoding	MHTTPCONTENT with raw bytes + length param	ERROR at first chunk	CR/LF in binary data terminates AT command parser
+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
+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
+4	No chunked mode	Skip MHTTPCFG="chunked"	CME ERROR: 65	Module requires chunked mode to accept MHTTPCONTENT at all
+5	Single large MHTTPCONTENT	All data in one command (2793 bytes)	+MHTTPURC: "err",0,5 (timeout)	Possible buffer limit; module hangs then times out
+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
+Conclusion: AT HTTP layer (MHTTPCONTENT) is fundamentally broken for binary uploads.
+The Solution: Raw TCP Socket (MIPOPEN + MIPSEND)
+Bypass the AT HTTP layer entirely. Open a raw TCP connection and send a hand-crafted HTTP POST:
+plaintext
+AT+MIPCLOSE=3                                    // Clean up old socket
+AT+MIPOPEN=3,"TCP","upload.qiniup.com",80        // Raw TCP connection
+AT+MIPSEND=3,1024  →  ">"  →  [raw bytes]  →  OK  // Binary-safe!
+AT+MIPSEND=3,1024  →  ">"  →  [raw bytes]  →  OK
+AT+MIPSEND=3,766   →  ">"  →  [raw bytes]  →  OK
+// Response: +MIPURC: "rtcp",3,<len>,HTTP/1.1 200 OK...
+AT+MIPCLOSE=3
+Why it works:
+MIPSEND enters prompt mode (>) — after the >, the AT parser treats ALL bytes as data, including CR/LF
+We construct the complete HTTP request ourselves (headers + Content-Length + multipart body) with real CRLF bytes
+
+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
+
+
+13. 算环数算法1：「黄心 + 红心」椭圆/圆：主要在 vision.py 的 detect_circle_v3() 里完成：颜色先用 HSV 做掩码，再在轮廓上做面积、圆度筛选，黄圈用椭圆拟合，红圈预先筛成候选，最后用几何关系配对。
+
+    1. 黄色怎么判、范围是什么？
+    图像先转 HSV（cv2.COLOR_RGB2HSV，注意输入是 RGB）。
+    饱和度 S 整体乘 1.1 并限制在 0–255（让黄色更「显」一点）。
+    黄色 inRange（OpenCV HSV，H 多为 0–179）：
+    通道	下限	上限
+    H       7       32
+    S       80      255
+    V       0       255
+    在黄掩码上找轮廓后，还要满足：面积 > 50，圆度 > 0.7（circularity = 4π·面积/周长²），且点数 ≥5 才 fitEllipse 当黄心椭圆。
+
+    2. 红色怎么判、范围是什么？
+    红色在 HSV 里跨 0°，所以用 两段 H 做并集：
+    两段分别是：
+    H 0–10，S 80–255，V 0–255
+    H 170–180，S 80–255，V 0–255
+    红轮廓候选：面积 > 50，圆度 > 0.6（比黄略松），再拟合椭圆或最小外接圆得到圆心和半径。
+
+    3. 「黄心」和「红心」怎样算一对？（几何范围）
+    对每个黄圈，在红色候选里找第一个满足：
+
+    两圆心距离 dist_centers < yellow_radius * 1.5
+    红半径 red_radius > yellow_radius * 0.8（红在外圈、略大）
+                dist_centers = math.hypot(ddx, ddy)
+                if dist_centers < yellow_radius * 1.5 and rc["radius"] > yellow_radius * 0.8:
+    小结：黄色 = HSV H∈[7,32]、S≥80（且 S 放大 1.1）+ 形态学闭运算 + 面积/圆度；红色 = 两段 H（0–10 与 170–180）、S≥80 + 闭运算 + 面积/圆度；配对用 同心/包含 的距离与半径比例阈值。若你还关心 laser_manager.py 里「激光红点」的另一套阈值（LASER_*），那是另一条链路，和靶心黄/红 HSV 可以分开看。
+
+14. 算环数算法2：
+    使用单应性矩阵计算：镜头中心点（照片中心像素）到虚拟平面的转换。它不需要知道相机在 3D 空间中的具体位置，直接通过单应性矩阵 H的逆运算，将 2D 像素“翻译”成虚拟平面上的 2D 坐标。
+
+    一、转换的本质：2D 到 2D 的“查字典”
+    单应性变换（Homography）是平面到平面的映射。它不处理 3D 空间中的“投影线”，而是直接建立图像像素 (u,v)​ 与虚拟平面坐标 (x,y)​ 的一一对应关系。
+    你可以把单应性矩阵 H想象成一本“翻译字典”：
+    正变换 H：已知靶纸上的真实位置 (x,y)，查字典得到它在照片上哪个像素 (u,v)。
+    逆变换 H−1：已知照片上的像素 (u,v)（如镜头中心点），查字典反推它在靶纸上的真实位置 (x,y)。
+    这个“虚拟平面”就是你的靶纸平面（Z=0 的世界坐标系）。算法没有在物理上移动任何点，只是在做坐标系的换算。
+
+    二、详细步骤：镜头中心点如何“落地”
+
+    相机分辨率是 640x480，镜头中心点（光轴与图像的交点）通常是 (u0,v0)=(320,240)。
+    1. 输入：镜头中心点（像素）
+    2. 核心运算：乘以逆矩阵
+    通过 4 个黑色三角形的角点（已知真实坐标）计算出了单应性矩阵 H。现在使用它的逆矩阵 H−1
+    3. 输出：虚拟平面上的落点（物理坐标）
+    计算后，你会得到：(xhit,yhit)
+    这就是镜头中心点对应的靶纸上的真实位置（单位：毫米）。
+    4. 计算环数
+    由于虚拟平面原点 (0,0)就是靶纸圆心，直接计算欧氏距离。​
+    这个 d就是箭着点偏离圆心的真实物理距离，直接用于环数判定。

design_doc/todo.md

@@ -1,17 +1,6 @@
 你现在要防的是“别人拿到设备/拿到代码包后，能伪造请求、刷接口、下发恶意 OTA、甚至劫持通信”。单靠隐藏 Python 源码只能提高门槛，真正的安全要靠协议和密钥设计。结合你仓库里实际内容，建议你重点隐藏/整改这些点（按风险排序）。
-1. 必须隐藏/必须整改（高风险）
+
-1.1 登录口令规则太弱（几乎等于明文）
+
-你现在的登录是 password = device_id + "."（见 network.py 读取设备 ID 后直接拼出来），这意味着只要攻击者知道/猜到 device_id，就能直接登录伪装设备。
-相关位置：
-with open("/device_key", "r") as f:    device_id = f.read().strip()    ...    self._device_id = device_id    self._password = device_id + "."
-1.2 HTTP 鉴权 token 的盐值是硬编码常量（泄露后可离线伪造）
-你 token 是 HMAC-SHA256((SALT+device_id), SALT2)，而 SALT/SALT2 是固定字符串："shootMessageFire" / "shoot"。这类“硬编码盐值 + 可猜/可读的 device_id”意味着：攻击者只要拿到代码包/逆向 .so，就能在自己电脑上批量算 token，伪造 HTTP 请求。
-相关位置：
-SALT = "shootMessageFire"SALT2 = "shoot"return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
-1.3 TLS 配置目前看起来没有做证书校验（容易被中间人攻击）
-config.py 虽然 USE_TCP_SSL=True，但你在 network.py 里实际把 MSSLCFG="auth" 固定成 0（不验），且写证书分支被 if False 禁用了。这样“看起来是 TLS”，但仍可能被抓包/篡改/假服务器接入。
-相关位置：
-r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},0', "OK", 3000)...if False:  # 写证书/校验被禁用    ...r = hardware_manager.at_client.send(f'AT+MIPCFG="ssl",{link_id},{ssl_id},1', "OK", 3000)
 1.4 OTA 下发“url”如果缺少强校验，就是远程代码执行入口
 你 OTA 逻辑里从服务器指令拿到 url 就去下载并替换文件/重启（这是正常 OTA），但安全性取决于：
 是否只允许白名单域名/路径
@@ -24,18 +13,13 @@ r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},0', "OK", 3000)
 这些在 config.py 是明文：
 SERVER_IP = "stcp.shelingxingqiu.com"SERVER_PORT = 50005HTTP_URL = "http://ws.shelingxingqiu.com"HTTP_API_PATH = "/home/shoot/device_fire/arrow/fire"
 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。
-2.2 WiFi 凭证落盘位置
+
-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。
+
-2.3 日志/调试信息泄露
-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。
-你发布包里“真正会被带走的敏感内容”
-你现在 app.yaml 的打包清单只包含核心运行文件（不包含 test/、backup_code/、.cursor/ 等），这一点很好：
-files:  - app.yaml  - at_client.py  - camera_manager.py  - config.py  - hardware.py  - laser_manager.py  - logger_manager.py  - main.py  - network.py  - ota_manager.py  - power.py  - shot_id_generator.py  - time_sync.py  - version.py  - vision.py
-但要注意：你当前最敏感的“盐值/口令规则/HTTP header 逻辑/OTA 策略”都在这些会打包的文件里（尤其是 network.py、ota_manager.py、config.py）。
 
 3. 最有效的“防黑”措施（比隐藏更关键）
-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）
+
 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）
 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）
-TLS 必须做证书校验/最好做 pinning（至少别用 auth=0）
+
 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。
+

main.py

@@ -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():
@@ -99,7 +100,7 @@ def cmd_str():
     init_ina226()
 
     # 4. 初始化显示和相机
-    camera_manager.init_camera(640, 480)
+    camera_manager.init_camera(getattr(config, "CAMERA_WIDTH", 640), getattr(config, "CAMERA_HEIGHT", 480))
     camera_manager.init_display()
 
     # ==================== 第二阶段：软件初始化 ====================
@@ -115,9 +116,24 @@ 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()
 
+    # 2.1 WiFi 热点配网兜底：仅当 STA 与 4G 均不可用时起 AP + HTTP；提交后删 /boot/wifi.ap、建 wifi.sta 并 reboot
+    try:
+        from wifi_config_httpd import maybe_start_wifi_ap_fallback
+
+        maybe_start_wifi_ap_fallback(logger)
+    except Exception as e:
+        if logger:
+            logger.error(f"[WIFI-AP] 兜底配网检测/启动失败: {e}")
+
     # 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):
@@ -204,7 +220,16 @@ def cmd_str():
                 pass
 
     # 6. 启动通信与校准线程
-    _thread.start_new_thread(network_manager.tcp_main, ())
+    # 若已进入 AP 配网兜底（/boot/wifi.ap），则不启动 TCP 主循环；等待用户配网后 reboot。
+    try:
+        if os.path.exists("/boot/wifi.ap"):
+            if logger:
+                logger.warning("[NET] 当前处于 AP 配网模式（/boot/wifi.ap 存在），跳过 TCP 主线程启动")
+        else:
+            _thread.start_new_thread(network_manager.tcp_main, ())
+    except Exception as e:
+        if logger:
+            logger.error(f"[NET] 启动 TCP 主线程失败: {e}")
     if not config.HARDCODE_LASER_POINT:
         _thread.start_new_thread(laser_calibration_worker, ())
 
@@ -330,144 +355,7 @@ def cmd_str():
                 _flush_pressure_buf("before_trigger")
 
                 try:
-                    frame = camera_manager.read_frame()
+                    process_shot(adc_val)
-                    
-                    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)
                 except Exception as e:
                     logger = logger_manager.logger
                     if logger:

server.pem

@@ -0,0 +1,33 @@
+-----BEGIN CERTIFICATE-----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+-----END CERTIFICATE-----

shoot_manager.py

@@ -1,11 +1,44 @@
+import os
+import threading
+
 import config
 from camera_manager import camera_manager
 from laser_manager import laser_manager
 from logger_manager import logger_manager
 from network import network_manager
-from power import get_bus_voltage, voltage_to_percent
+from triangle_target import load_camera_from_xml, load_triangle_positions, try_triangle_scoring
-from vision import estimate_distance, detect_circle_v3, save_shot_image
+from vision import estimate_distance, detect_circle_v3, enqueue_save_shot
-from maix import camera, display, image, app, time, uart, pinmap, i2c
+from maix import image, time
+
+# 缓存相机标定与三角形位置，避免每次射箭重复读磁盘
+_tri_calib_cache = None
+
+def _get_triangle_calib():
+    """返回 (K, dist, marker_positions)；首次调用时从磁盘加载并缓存。"""
+    global _tri_calib_cache
+    if _tri_calib_cache is not None:
+        return _tri_calib_cache
+    calib_path = getattr(config, "CAMERA_CALIB_XML", "")
+    tri_json = getattr(config, "TRIANGLE_POSITIONS_JSON", "")
+    if not (os.path.isfile(calib_path) and os.path.isfile(tri_json)):
+        _tri_calib_cache = (None, None, None)
+        return _tri_calib_cache
+    K, dist = load_camera_from_xml(calib_path)
+    pos = load_triangle_positions(tri_json)
+    _tri_calib_cache = (K, dist, pos)
+    return _tri_calib_cache
+
+
+def preload_triangle_calib():
+    """
+    启动阶段预加载三角形标定与坐标文件，避免首次射箭触发时的读盘/解析开销。
+    """
+    try:
+        _get_triangle_calib()
+    except Exception:
+        # 预加载失败不影响主流程；射箭时会再次按需尝试
+        pass
+
 
 def analyze_shot(frame, laser_point=None):
     """
@@ -13,18 +46,18 @@ def analyze_shot(frame, laser_point=None):
     :param frame: 图像帧
     :param laser_point: 激光点坐标 (x, y)
     :return: 包含分析结果的字典
+
+    优先级：
+      1. 三角形单应性（USE_TRIANGLE_OFFSET=True 时）— 成功则直接返回，跳过圆形检测
+      2. 圆形检测（三角形不可用或识别失败时兜底）
     """
     logger = logger_manager.logger
+    from datetime import datetime
 
-    # 先检测靶心以获取距离（用于计算激光点）
+    # ── Step 1: 确定激光点 ────────────────────────────────────────────────────
-    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
-
-    # 根据距离动态计算激光点坐标
     laser_point_method = None
+    distance_m_first = None
+
     if config.HARDCODE_LASER_POINT:
         laser_point = laser_manager.laser_point
         laser_point_method = "hardcode"
@@ -33,65 +66,143 @@ def analyze_shot(frame, laser_point=None):
         laser_point_method = "calibrated"
         if logger:
             logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
-    elif distance_m and distance_m > 0:
-        laser_point = laser_manager.calculate_laser_point_from_distance(distance_m)
-        laser_point_method = "dynamic"
-        if logger:
-            logger.info(f"[算法] 使用比例尺: {laser_point}")
     else:
-        laser_point = laser_manager.laser_point
+        # 动态模式：先做一次无激光点检测以估算距离，再推算激光点
-        laser_point_method = "default"
+        _, _, _, _, best_radius1_temp, _ = detect_circle_v3(frame, None)
-        if logger:
+        distance_m_first = estimate_distance(best_radius1_temp) if best_radius1_temp else None
-            logger.info(f"[算法] 使用默认值: {laser_point}")
+        if distance_m_first and distance_m_first > 0:
+            laser_point = laser_manager.calculate_laser_point_from_distance(distance_m_first)
+            laser_point_method = "dynamic"
+            if logger:
+                logger.info(f"[算法] 使用比例尺: {laser_point}")
+        else:
+            laser_point = laser_manager.laser_point
+            laser_point_method = "default"
+            if logger:
+                logger.info(f"[算法] 使用默认值: {laser_point}")
 
     if laser_point is None:
-        return {
+        return {"success": False, "reason": "laser_point_not_initialized"}
-            "success": False,
-            "reason": "laser_point_not_initialized"
-        }
 
     x, y = laser_point
 
-    # 绘制激光十字线
+    # ── Step 2: 提前转换一次图像，两个检测线程共享（只读）────────────────────────
-    color = image.Color(config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+    img_cv = image.image2cv(frame, False, False)
-    frame.draw_line(
-        int(x - config.LASER_LENGTH), int(y),
-        int(x + config.LASER_LENGTH), int(y),
-        color, config.LASER_THICKNESS
-    )
-    frame.draw_line(
-        int(x), int(y - config.LASER_LENGTH),
-        int(x), int(y + config.LASER_LENGTH),
-        color, config.LASER_THICKNESS
-    )
-    frame.draw_circle(int(x), int(y), 1, color, config.LASER_THICKNESS)
 
-    # 重新检测靶心（使用计算出的激光点）
+    # ── Step 3: 检查三角形是否可用 ────────────────────────────────────────────────
-    result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
+    use_tri = getattr(config, "USE_TRIANGLE_OFFSET", False)
+    K = dist_coef = pos = None
+    if use_tri:
+        K, dist_coef, pos = _get_triangle_calib()
+        use_tri = K is not None and dist_coef is not None and pos
 
-    # 计算偏移与距离
+    def _build_circle_result(cdata):
-    if center and radius:
+        """从圆形检测结果构建 analyze_shot 返回值。"""
-        dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
+        r_img, center, radius, method, best_radius1, ellipse_params = cdata
-        distance_m = estimate_distance(best_radius1)
-    else:
         dx, dy = None, None
-        distance_m = None
+        d_m = distance_m_first
+        if center and radius:
+            dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
+            d_m = estimate_distance(best_radius1) if best_radius1 else distance_m_first
+        return {
+            "success": True,
+            "result_img": r_img,
+            "center": center, "radius": radius, "method": method,
+            "best_radius1": best_radius1, "ellipse_params": ellipse_params,
+            "dx": dx, "dy": dy, "distance_m": d_m,
+            "laser_point": laser_point, "laser_point_method": laser_point_method,
+            "offset_method": "yellow_ellipse" if ellipse_params else "yellow_circle",
+            "distance_method": "yellow_radius",
+        }
 
-    # 返回分析结果
+    if not use_tri:
-    return {
+        # 三角形未配置，直接跑圆形检测
-        "success": True,
+        return _build_circle_result(
-        "result_img": result_img,
+            detect_circle_v3(frame, laser_point, img_cv=img_cv)
-        "center": center,
+        )
-        "radius": radius,
+
-        "method": method,
+    # ── Step 4: 三角形 + 圆形并行检测 ─────────────────────────────────────────────
-        "best_radius1": best_radius1,
+    # 两个线程共享只读的 img_cv，互不干扰
-        "ellipse_params": ellipse_params,
+    tri_result = {}
-        "dx": dx,
+    circle_result = {}
-        "dy": dy,
+
-        "distance_m": distance_m,
+    def _run_triangle():
-        "laser_point": laser_point,
+        try:
-        "laser_point_method": laser_point_method
+            logger.info(f"[TRI] begin {datetime.now()}")
-    }
+            logger.info(f"[TRI] K: {K}, dist: {dist_coef}, pos: {pos},  {datetime.now()}")
+            tri = try_triangle_scoring(
+                img_cv, (x, y), pos, K, dist_coef,
+                size_range=getattr(config, "TRIANGLE_SIZE_RANGE", (8, 500)),
+            )
+            logger.info(f"[TRI] tri: {tri},  {datetime.now()}")
+            tri_result['data'] = tri
+        except Exception as e:
+            logger.error(f"[TRI] 三角形路径异常: {e}")
+            tri_result['data'] = {'ok': False}
+
+    def _run_circle():
+        try:
+            circle_result['data'] = detect_circle_v3(frame, laser_point, img_cv=img_cv)
+        except Exception as e:
+            logger.error(f"[CIRCLE] 圆形检测异常: {e}")
+            circle_result['data'] = (frame, None, None, None, None, None)
+
+    t_tri = threading.Thread(target=_run_triangle, daemon=True)
+    t_cir = threading.Thread(target=_run_circle, daemon=True)
+    t_tri.start()
+    t_cir.start()
+
+    # 最多等待三角形 TRIANGLE_TIMEOUT_MS（默认 1000ms）
+    tri_timeout_s = float(getattr(config, "TRIANGLE_TIMEOUT_MS", 1000)) / 1000.0
+    t_tri.join(timeout=tri_timeout_s)
+    if t_tri.is_alive():
+        # 超时：直接放弃三角形结果，回退圆心（圆心线程通常已跑完）
+        logger.warning(f"[TRI] timeout>{tri_timeout_s:.2f}s，回退圆心算法")
+        t_cir.join()
+        return _build_circle_result(
+            circle_result.get('data') or (frame, None, None, None, None, None)
+        )
+
+    tri = tri_result.get('data', {})
+
+    # 保险校验：避免三角形返回 nan/inf 或退化点仍被上报
+    try:
+        import numpy as _np
+        tri_ok = bool(tri.get('ok'))
+        if tri_ok:
+            dxv = tri.get("dx_cm")
+            dyv = tri.get("dy_cm")
+            H = tri.get("homography")
+            if not _np.isfinite(dxv) or not _np.isfinite(dyv):
+                tri_ok = False
+            elif H is not None and not _np.all(_np.isfinite(H)):
+                tri_ok = False
+    except Exception:
+        tri_ok = bool(tri.get('ok'))
+
+    if tri_ok:
+        logger.info(f"[TRI] end {datetime.now()} — 使用三角形结果(dx={tri['dx_cm']:.2f},dy={tri['dy_cm']:.2f}cm)")
+        return {
+            "success": True,
+            "result_img": frame,
+            "center": None, "radius": None,
+            "method": "triangle_homography",
+            "best_radius1": None, "ellipse_params": None,
+            "dx": tri["dx_cm"], "dy": tri["dy_cm"],
+            "distance_m": tri.get("distance_m") or distance_m_first,
+            "laser_point": laser_point, "laser_point_method": laser_point_method,
+            "offset_method": tri.get("offset_method") or "triangle_homography",
+            "distance_method": tri.get("distance_method") or "pnp_triangle",
+            "tri_markers": tri.get("markers", []),
+            "tri_homography": tri.get("homography"),
+        }
+
+    # 三角形失败，等圆形结果（已并行跑完，几乎无额外等待）
+    t_cir.join()
+    logger.info(f"[TRI] end(fallback) {datetime.now()}")
+    return _build_circle_result(
+        circle_result.get('data') or (frame, None, None, None, None, None)
+    )
 
 
 def process_shot(adc_val):
@@ -103,6 +214,7 @@ def process_shot(adc_val):
     logger = logger_manager.logger
 
     try:
+        network_manager.safe_enqueue({"shoot_event": "start"}, msg_type=2, high=True)
         frame = camera_manager.read_frame()
 
         # 调用算法分析
@@ -126,16 +238,21 @@ def process_shot(adc_val):
         distance_m = analysis_result["distance_m"]
         laser_point = analysis_result["laser_point"]
         laser_point_method = analysis_result["laser_point_method"]
+        offset_method = analysis_result.get("offset_method", "yellow_circle")
+        distance_method = analysis_result.get("distance_method", "yellow_radius")
+        tri_markers = analysis_result.get("tri_markers", [])
+        tri_homography = analysis_result.get("tri_homography")
         x, y = laser_point
 
-        camera_manager.show(result_img)
+        # 三角形路径成功时 center/radius 为空是正常的；此时用 triangle 方法名用于保存文件名与上报字段 m
+        if (not method) and tri_markers:
+            method = "triangle_homography"
 
-        if not (center and radius) and logger:
+        if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING:
-            logger.warning("[MAIN] 未检测到靶心，但会保存图像")
+            camera_manager.show(result_img)
 
-        # 读取电量
+        if dx is None and dy is None and logger:
-        voltage = get_bus_voltage()
+            logger.warning("[MAIN] 未检测到偏移量（三角形与圆形均失败），但会保存图像")
-        battery_percent = voltage_to_percent(voltage)
 
         # 生成射箭ID
         from shot_id_generator import shot_id_generator
@@ -144,33 +261,30 @@ def process_shot(adc_val):
         if logger:
             logger.info(f"[MAIN] 射箭ID: {shot_id}")
 
-        # 保存图像
+        laser_distance_m = None
-        save_shot_image(
+        laser_signal_quality = 0
-            result_img,
+
-            center,
+        # x,y 单位：物理厘米（compute_laser_position 与三角形单应性均输出物理 cm）
-            radius,
+        # 未检测到靶心时 x/y 用 200.0（脱靶标志）
-            method,
+        srv_x = round(float(dx), 4) if dx is not None else 200.0
-            ellipse_params,
+        srv_y = round(float(dy), 4) if dy is not None else 200.0
-            (x, y),
-            distance_m,
-            shot_id=shot_id,
-            photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None
-        )
 
         # 构造上报数据
         inner_data = {
             "shot_id": shot_id,
-            "x": float(dx) if dx is not None else 200.0,
+            "x": srv_x,
-            "y": float(dy) if dy is not None else 200.0,
+            "y": srv_y,
-            "r": 90.0,
+            "r": 20.0,  # 保留字段（服务端当前忽略，物理外环半径 cm）
             "d": round((distance_m or 0.0) * 100),
-            "d_laser": 0.0,
+            "d_laser": round((laser_distance_m or 0.0) * 100),
-            "d_laser_quality": 0,
+            "d_laser_quality": laser_signal_quality,
             "m": method if method else "no_target",
             "adc": adc_val,
             "laser_method": laser_point_method,
             "target_x": float(x),
             "target_y": float(y),
+            "offset_method": offset_method,
+            "distance_method": distance_method,
         }
 
         if ellipse_params:
@@ -190,14 +304,99 @@ def process_shot(adc_val):
         report_data = {"cmd": 1, "data": inner_data}
         network_manager.safe_enqueue(report_data, msg_type=2, high=True)
 
-        if logger:
+        # 数据上报后再画标注，不干扰检测阶段的原始画面
-            if center and radius:
+        if result_img is not None:
-                logger.info(f"射箭事件已加入发送队列（已检测到靶心），ID: {shot_id}")
+            # 1. 若有三角形标记，先用 cv2 画轮廓 / 顶点 / ID，再反推靶心位置
-            else:
+            if tri_markers:
-                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}")
+                import cv2 as _cv2
+                import numpy as _np
+                _img_cv = image.image2cv(result_img, False, False)
+
+                # 三角形轮廓 + 直角顶点 + ID
+                for _m in tri_markers:
+                    _corners = _np.array(_m["corners"], dtype=_np.int32)
+                    _cv2.polylines(_img_cv, [_corners], True, (0, 255, 0), 2)
+                    _cx, _cy = int(_m["center"][0]), int(_m["center"][1])
+                    _cv2.circle(_img_cv, (_cx, _cy), 4, (0, 0, 255), -1)
+                    _cv2.putText(_img_cv, f"T{_m['id']}",
+                                 (_cx - 18, _cy - 12),
+                                 _cv2.FONT_HERSHEY_SIMPLEX, 0.55, (0, 255, 0), 1)
+
+                # 靶心（H_inv @ [0,0]）：小红圆
+                _center_px = None
+                if tri_homography is not None:
+                    try:
+                        _H_inv = _np.linalg.inv(tri_homography)
+                        _c_img = _cv2.perspectiveTransform(
+                            _np.array([[[0.0, 0.0]]], dtype=_np.float32), _H_inv)[0][0]
+                        _ocx, _ocy = int(_c_img[0]), int(_c_img[1])
+                        _cv2.circle(_img_cv, (_ocx, _ocy), 5, (0, 0, 255), -1)   # 实心
+                        _cv2.circle(_img_cv, (_ocx, _ocy), 9, (0, 0, 255), 1)    # 外框
+                        _center_px = (_ocx, _ocy)
+                        logger.info(f"[算法] 靶心: {_center_px}")
+                    except Exception:
+                        pass
+
+                # 叠加信息：落点-圆心距离 / 相机-靶距离等
+                try:
+                    import math as _math
+                    _lines = []
+                    if dx is not None and dy is not None:
+                        _r_cm = _math.hypot(float(dx), float(dy))
+                        _lines.append(f"offset=({float(dx):.2f},{float(dy):.2f})cm  |r|={_r_cm:.2f}cm")
+                    if distance_m is not None:
+                        _lines.append(f"cam_dist={float(distance_m):.2f}m  ({distance_method})")
+                    if method:
+                        _lines.append(f"method={method}")
+                    if _lines:
+                        _y0 = 22
+                        for i, _t in enumerate(_lines):
+                            _cv2.putText(
+                                _img_cv,
+                                _t,
+                                (10, _y0 + i * 18),
+                                _cv2.FONT_HERSHEY_SIMPLEX,
+                                0.5,
+                                (0, 255, 0),
+                                1,
+                            )
+                except Exception:
+                    pass
+
+                result_img = image.cv2image(_img_cv, False, False)
+
+            # 2. 激光十字线
+            _lc = image.Color(config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+            result_img.draw_line(int(x - config.LASER_LENGTH), int(y),
+                                 int(x + config.LASER_LENGTH), int(y),
+                                 _lc, config.LASER_THICKNESS)
+            result_img.draw_line(int(x), int(y - config.LASER_LENGTH),
+                                 int(x), int(y + config.LASER_LENGTH),
+                                 _lc, config.LASER_THICKNESS)
+            result_img.draw_circle(int(x), int(y), 1, _lc, config.LASER_THICKNESS)
 
         # 闪一下激光（射箭反馈）
-        laser_manager.flash_laser(1000)
+        if config.FLASH_LASER_WHILE_SHOOTING:
+            laser_manager.flash_laser(config.FLASH_LASER_DURATION_MS)
+
+        # 保存图像（异步队列，与 main.py 一致）
+        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 logger:
+            if dx is not None and dy is not None:
+                logger.info(f"射箭事件已加入发送队列（偏移=({dx:.2f},{dy:.2f})cm），ID: {shot_id}")
+            else:
+                logger.info(f"射箭事件已加入发送队列（未检测到偏移，已保存图像），ID: {shot_id}")
 
         time.sleep_ms(100)
     except Exception as e:

test/test_camera_rtsp.py

@@ -0,0 +1,36 @@
+# from maix import time, rtsp, camera, image
+
+# # 1. 初始化摄像头（注意：RTSP需要NV21格式）
+# # 分辨率可以根据需要调整，如 640x480 或 1280x720
+# cam = camera.Camera(640, 480, image.Format.FMT_YVU420SP)
+
+# # 2. 创建并启动RTSP服务器
+# server = rtsp.Rtsp()
+# server.bind_camera(cam)
+# server.start()
+
+# # 3. 打印出访问地址，例如： rtsp://192.168.xxx.xxx:8554/live
+# print("RTSP 流地址:", server.get_url())
+
+# # 4. 保持服务运行
+# while True:
+#     time.sleep(1)
+
+
+
+from maix import camera, time, app, http, image
+
+# 初始化相机，注意格式要用 FMT_RGB888（JPEG 编码需要 RGB 输入）
+cam = camera.Camera(640, 480, image.Format.FMT_RGB888)
+
+# 创建 JPEG 流服务器
+stream = http.JpegStreamer()
+stream.start()
+
+print("RTSP 替代方案 - HTTP JPEG 流地址: http://{}:{}".format(stream.host(), stream.port()))
+print("请在浏览器或 OpenCV 中访问: http://<MaixCAM_IP>:8000/stream")
+
+while not app.need_exit():
+    img = cam.read()
+    jpg = img.to_jpeg()      # 将 RGB 图像编码为 JPEG
+    stream.write(jpg)        # 推送到 HTTP 客户端

triangle_positions.json

@@ -0,0 +1,6 @@
+{
+    "0": [-20.0, -20.0, 0.0],
+    "1": [-20.0,  20.0, 0.0],
+    "2": [ 20.0,  20.0, 0.0],
+    "3": [ 20.0, -20.0, 0.0]
+}

triangle_target.py

@@ -0,0 +1,645 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+靶纸四角等腰直角三角形：检测、单应性落点、PnP 估距。
+从 test/aruco_deteck.py 抽出，供主流程 shoot_manager 使用。
+"""
+import json
+import os
+from itertools import combinations
+
+import cv2
+import numpy as np
+
+
+def _log(msg):
+    try:
+        from logger_manager import logger_manager
+        if logger_manager.logger:
+            logger_manager.logger.info(msg)
+    except Exception:
+        pass
+
+
+def load_camera_from_xml(path):
+    """读取 OpenCV FileStorage XML，返回 (camera_matrix, dist_coeffs) 或 (None, None)。"""
+    if not path or not os.path.isfile(path):
+        _log(f"[TRI] 标定文件不存在: {path}")
+        return None, None
+    try:
+        fs = cv2.FileStorage(path, cv2.FILE_STORAGE_READ)
+        K = fs.getNode("camera_matrix").mat()
+        dist = fs.getNode("distortion_coefficients").mat()
+        fs.release()
+        if K is None or K.size == 0:
+            return None, None
+        if dist is None or dist.size == 0:
+            dist = np.zeros((5, 1), dtype=np.float64)
+        return K, dist
+    except Exception as e:
+        _log(f"[TRI] 读取标定失败: {e}")
+        return None, None
+
+
+def load_triangle_positions(path):
+    """加载 triangle_positions.json，返回 dict[int, [x,y,z]]。"""
+    if not path or not os.path.isfile(path):
+        _log(f"[TRI] 三角形位置文件不存在: {path}")
+        return None
+    with open(path, "r", encoding="utf-8") as f:
+        raw = json.load(f)
+    return {int(k): v for k, v in raw.items()}
+
+
+def homography_calibration(marker_centers, marker_ids, marker_positions, impact_point_pixel):
+    target_points = []
+    for mid in marker_ids:
+        pos = marker_positions.get(mid)
+        if pos is None:
+            return False, None, None, None
+        target_points.append([pos[0], pos[1]])
+
+    src_pts = np.array(marker_centers, dtype=np.float32)
+    dst_pts = np.array(target_points, dtype=np.float32)
+    H, _ = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, ransacReprojThreshold=1.0)
+    if H is None:
+        return False, None, None, None
+
+    pt = np.array([[impact_point_pixel]], dtype=np.float32)
+    transformed = cv2.perspectiveTransform(pt, H)
+    target_x = float(transformed[0][0][0])
+    target_y = float(transformed[0][0][1])
+    return True, target_x, target_y, H
+
+
+def complete_fourth_point(detected_ids, detected_centers, marker_positions):
+    target_order = [0, 1, 2, 3]
+    target_coords = {mid: marker_positions[mid][:2] for mid in target_order}
+    all_ids = set(target_coords.keys())
+    missing_id = (all_ids - set(detected_ids)).pop()
+
+    known_src = []
+    known_dst = []
+    for mid, pt in zip(detected_ids, detected_centers):
+        known_src.append(pt)
+        known_dst.append(target_coords[mid])
+
+    M_inv, _ = cv2.estimateAffine2D(
+        np.array(known_dst, dtype=np.float32),
+        np.array(known_src, dtype=np.float32),
+    )
+    if M_inv is None:
+        return None
+
+    missing_target = target_coords[missing_id]
+    missing_src_h = M_inv @ np.array([missing_target[0], missing_target[1], 1.0])
+    missing_src = missing_src_h[:2]
+
+    complete_centers = []
+    for mid in target_order:
+        if mid == missing_id:
+            complete_centers.append(missing_src)
+        else:
+            idx = detected_ids.index(mid)
+            complete_centers.append(detected_centers[idx])
+
+    return complete_centers, target_order
+
+
+def pnp_distance_meters(marker_ids, marker_centers_px, marker_positions, K, dist):
+    """
+    靶面原点 (0,0,0) 到相机光心的距离：||tvec||，object 单位为 cm 时 tvec 为 cm，返回米。
+    """
+    obj = []
+    for mid in marker_ids:
+        p = marker_positions[mid]
+        obj.append([float(p[0]), float(p[1]), float(p[2])])
+    obj_pts = np.array(obj, dtype=np.float64)
+    img_pts = np.array(marker_centers_px, dtype=np.float64)
+
+    ok, rvec, tvec = cv2.solvePnP(
+        obj_pts, img_pts, K, dist, flags=cv2.SOLVEPNP_ITERATIVE
+    )
+    if not ok:
+        return None
+    tvec = tvec.reshape(-1)
+    dist_cm = float(np.linalg.norm(tvec))
+    return dist_cm / 100.0
+
+
+def detect_triangle_markers(
+    gray_image,
+    orig_gray=None,
+    size_range=(8, 500),
+    max_interior_gray=None,
+    dark_pixel_gray=None,
+    min_dark_ratio=None,
+    verbose=True,
+):
+    # 读取可调参数（缺省值与 config.py 保持一致）
+    try:
+        import config as _cfg
+        early_exit = int(getattr(_cfg, "TRIANGLE_EARLY_EXIT_CANDIDATES", 4))
+        block_sizes = tuple(getattr(_cfg, "TRIANGLE_ADAPTIVE_BLOCK_SIZES", (11, 21, 35)))
+        max_combo_n = int(getattr(_cfg, "TRIANGLE_MAX_FILTERED_FOR_COMBO", 10))
+        if max_interior_gray is None:
+            max_interior_gray = int(getattr(_cfg, "TRIANGLE_MAX_INTERIOR_GRAY", 130))
+        if dark_pixel_gray is None:
+            dark_pixel_gray = int(getattr(_cfg, "TRIANGLE_DARK_PIXEL_GRAY", 130))
+        if min_dark_ratio is None:
+            min_dark_ratio = float(getattr(_cfg, "TRIANGLE_MIN_DARK_RATIO", 0.30))
+        min_contrast_diff = int(getattr(_cfg, "TRIANGLE_MIN_CONTRAST_DIFF", 15))
+    except Exception:
+        early_exit = 4
+        block_sizes = (11, 21, 35)
+        max_combo_n = 10
+        if max_interior_gray is None:
+            max_interior_gray = 130
+        if dark_pixel_gray is None:
+            dark_pixel_gray = 130
+        if min_dark_ratio is None:
+            min_dark_ratio = 0.30
+        min_contrast_diff = 15
+
+    min_leg, max_leg = size_range
+    min_area = 0.5 * (min_leg ** 2) * 0.1
+    kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (3, 3))
+
+    def _check_shape(approx):
+        pts = approx.reshape(3, 2).astype(np.float32)
+        sides = [
+            np.linalg.norm(pts[1] - pts[0]),
+            np.linalg.norm(pts[2] - pts[1]),
+            np.linalg.norm(pts[0] - pts[2]),
+        ]
+        order = sorted(range(3), key=lambda i: sides[i])
+        leg1, leg2, hyp = sides[order[0]], sides[order[1]], sides[order[2]]
+        avg_leg = (leg1 + leg2) / 2
+
+        if not (min_leg <= avg_leg <= max_leg):
+            return None
+        if abs(leg1 - leg2) / (avg_leg + 1e-6) > 0.20:
+            return None
+        if abs(hyp - avg_leg * np.sqrt(2)) / (avg_leg * np.sqrt(2) + 1e-6) > 0.20:
+            return None
+
+        edge_verts = [(0, 1), (1, 2), (2, 0)]
+        hv0, hv1 = edge_verts[order[2]]
+        right_v = 3 - hv0 - hv1
+        right_pt = pts[right_v]
+
+        v0 = pts[hv0] - right_pt
+        v1_vec = pts[hv1] - right_pt
+        cos_a = np.dot(v0, v1_vec) / (
+            np.linalg.norm(v0) * np.linalg.norm(v1_vec) + 1e-6
+        )
+        if abs(cos_a) > 0.20:
+            return None
+
+        return right_pt, avg_leg, pts
+
+    def _color_ok(approx):
+        if orig_gray is None:
+            return True
+        mask = np.zeros(orig_gray.shape[:2], dtype=np.uint8)
+        cv2.fillPoly(mask, [approx], 255)
+        erode_k = max(1, int(min(orig_gray.shape[:2]) * 0.002))
+        erode_k = min(erode_k, 5)
+        k = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2 * erode_k + 1, 2 * erode_k + 1))
+        mask_in = cv2.erode(mask, k, iterations=1)
+        if cv2.countNonZero(mask_in) < 20:
+            mask_in = mask
+
+        mean_val = cv2.mean(orig_gray, mask=mask_in)[0]
+        ys, xs = np.where(mask_in > 0)
+        if len(xs) == 0:
+            return False
+        interior = orig_gray[ys, xs]
+        dark_ratio = float(np.mean(interior <= dark_pixel_gray))
+
+        # 条件1：绝对阈值（三角形内部足够暗）
+        abs_ok = (mean_val <= max_interior_gray) and (dark_ratio >= min_dark_ratio)
+
+        # 条件2：相对对比度 — 三角形内部比周围背景明显更暗
+        contrast_ok = False
+        if min_contrast_diff > 0:
+            try:
+                dilate_k = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2 * erode_k + 3, 2 * erode_k + 3))
+                mask_dilated = cv2.dilate(mask, dilate_k, iterations=2)
+                mask_border = cv2.subtract(mask_dilated, mask)
+                border_nz = cv2.countNonZero(mask_border)
+                if border_nz > 20:
+                    mean_surround = cv2.mean(orig_gray, mask=mask_border)[0]
+                    contrast_ok = (mean_surround - mean_val) >= min_contrast_diff
+            except Exception:
+                pass
+
+        return abs_ok or contrast_ok
+
+    def _extract_candidates(binary_img):
+        contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+        found = []
+        # ---- 诊断计数 ----
+        _n_area_skip = 0
+        _n_3vert = 0
+        _n_shape_ok = 0
+        _n_color_ok = 0
+        _dbg_fail_shape = []   # 记录前几个失败原因
+        _dbg_fail_color = []   # 记录前几个颜色失败详情
+        for cnt in contours:
+            area = cv2.contourArea(cnt)
+            if area < min_area:
+                _n_area_skip += 1
+                continue
+            peri = cv2.arcLength(cnt, True)
+            eps = 0.05 * peri if peri > 60 else 0.03 * peri
+            approx = cv2.approxPolyDP(cnt, eps, True)
+            if len(approx) != 3:
+                continue
+            _n_3vert += 1
+            shape = _check_shape(approx)
+            if shape is None:
+                if len(_dbg_fail_shape) < 3:
+                    pts3 = approx.reshape(3, 2).astype(np.float32)
+                    sides = sorted([np.linalg.norm(pts3[1]-pts3[0]),
+                                    np.linalg.norm(pts3[2]-pts3[1]),
+                                    np.linalg.norm(pts3[0]-pts3[2])])
+                    avg_l = (sides[0]+sides[1])/2
+                    reason = f"avg_leg={avg_l:.1f} range=[{min_leg},{max_leg}] legs={sides[0]:.1f},{sides[1]:.1f} hyp={sides[2]:.1f} exp_hyp={avg_l*1.414:.1f}"
+                    _dbg_fail_shape.append(reason)
+                continue
+            _n_shape_ok += 1
+            if not _color_ok(approx):
+                if len(_dbg_fail_color) < 3 and orig_gray is not None:
+                    mask = np.zeros(orig_gray.shape[:2], dtype=np.uint8)
+                    cv2.fillPoly(mask, [approx], 255)
+                    mean_v = cv2.mean(orig_gray, mask=mask)[0]
+                    ys, xs = np.where(mask > 0)
+                    if len(xs) > 0:
+                        dr = float(np.mean(orig_gray[ys, xs] <= dark_pixel_gray))
+                    else:
+                        dr = 0
+                    _dbg_fail_color.append(f"mean={mean_v:.1f}(<={max_interior_gray}?) dark_r={dr:.2f}(>={min_dark_ratio}?)")
+                continue
+            _n_color_ok += 1
+            right_pt, avg_leg, pts = shape
+            center_px = np.mean(pts, axis=0).tolist()
+            dedup_key = f"{int(center_px[0] // 10)},{int(center_px[1] // 10)}"
+            found.append({
+                "center_px": center_px,
+                "right_pt": right_pt.tolist(),
+                "corners": pts.tolist(),
+                "avg_leg": avg_leg,
+                "dedup_key": dedup_key,
+            })
+        if verbose:
+            _log(f"[TRI] _extract: total={len(contours)} area_skip={_n_area_skip} "
+                 f"3vert={_n_3vert} shape_ok={_n_shape_ok} color_ok={_n_color_ok}")
+            if _dbg_fail_shape:
+                _log(f"[TRI] shape失败原因(前3): {'; '.join(_dbg_fail_shape)}")
+            if _dbg_fail_color:
+                _log(f"[TRI] color失败原因(前3): {'; '.join(_dbg_fail_color)}")
+        return found
+
+    all_candidates = []
+    seen_keys = set()
+    # 早退条件：不仅要数量够，还要候选分布足够分散（覆盖多个象限），避免误检集中导致提前退出
+    h0, w0 = gray_image.shape[:2]
+    cx0, cy0 = w0 / 2.0, h0 / 2.0
+    seen_quadrants = set()
+    # 4 个候选就够 4 角检测；3 个够 3 点补全，加 1 裕量
+    _EARLY_EXIT = max(3, early_exit)
+
+    def _add_from_binary(b):
+        b = cv2.morphologyEx(b, cv2.MORPH_CLOSE, kernel)
+        for c in _extract_candidates(b):
+            if c["dedup_key"] not in seen_keys:
+                seen_keys.add(c["dedup_key"])
+                all_candidates.append(c)
+                # 象限统计：按图像中心划分
+                tx, ty = c["center_px"]
+                if tx < cx0 and ty < cy0:
+                    q = 0
+                elif tx < cx0:
+                    q = 1
+                elif ty >= cy0:
+                    q = 2
+                else:
+                    q = 3
+                seen_quadrants.add(q)
+
+    def _should_early_exit():
+        # 至少覆盖 3 个象限 + 数量达到阈值，才认为“足够像四角”可停止更多尝试
+        return (len(all_candidates) >= _EARLY_EXIT) and (len(seen_quadrants) >= 3)
+
+    # 1. 最快：全局 Otsu（无需逐像素邻域计算，~10ms）
+    _, b_otsu = cv2.threshold(gray_image, 0, 255, cv2.THRESH_BINARY_INV + cv2.THRESH_OTSU)
+    # ---- 临时调试：保存 Otsu 二值图供人工检查 ----
+    try:
+        import config as _dbg_cfg
+        if getattr(_dbg_cfg, 'TRIANGLE_SAVE_DEBUG_IMAGE', False):
+            _dbg_path = getattr(_dbg_cfg, 'PHOTO_DIR', '/root/phot') + '/tri_otsu_debug.jpg'
+            cv2.imwrite(_dbg_path, b_otsu)
+            _log(f"[TRI] DEBUG: Otsu 二值图已保存到 {_dbg_path}")
+    except Exception:
+        pass
+    _add_from_binary(b_otsu)
+
+    # 2. 只在 Otsu 不够时才跑自适应阈值（每次 ~100ms，尽早退出）
+    for block_size in block_sizes:
+        if _should_early_exit():
+            break
+        if block_size is None:
+            continue
+        b = cv2.adaptiveThreshold(
+            gray_image, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY_INV, block_size, 4
+        )
+        _add_from_binary(b)
+
+    if verbose:
+        _log(f"[TRI] 候选三角形共 {len(all_candidates)} 个(预过滤前)")
+
+    if len(all_candidates) < 2:
+        return []
+
+    all_legs = [c["avg_leg"] for c in all_candidates]
+    med_leg = float(np.median(all_legs))
+    filtered = []
+    for c in all_candidates:
+        leg = c["avg_leg"]
+        if med_leg > 1e-6 and not (0.40 * med_leg <= leg <= 2.0 * med_leg):
+            continue
+        filtered.append(c)
+
+    if len(filtered) < 2:
+        return []
+
+    # 候选过多时，四点组合枚举会变慢：截断到更可能的 max_combo_n 个候选
+    if max_combo_n > 0 and len(filtered) > max_combo_n:
+        # 以 avg_leg 接近中位数优先（更符合四角同尺度）
+        med_leg = float(np.median([c["avg_leg"] for c in filtered]))
+        filtered = sorted(filtered, key=lambda c: abs(c["avg_leg"] - med_leg))[:max_combo_n]
+
+    def _order_quad(pts_4):
+        by_y = sorted(range(4), key=lambda i: pts_4[i][1])
+        top_pair = sorted(by_y[:2], key=lambda i: pts_4[i][0])
+        bot_pair = sorted(by_y[2:], key=lambda i: pts_4[i][0])
+        return top_pair[0], bot_pair[0], bot_pair[1], top_pair[1]
+
+    def _score_quad(cands_4):
+        pts = [np.array(c["center_px"]) for c in cands_4]
+        legs = [c["avg_leg"] for c in cands_4]
+        tl, bl, br, tr = _order_quad(pts)
+
+        diag1 = np.linalg.norm(pts[tl] - pts[br])
+        diag2 = np.linalg.norm(pts[bl] - pts[tr])
+        diag_ratio = max(diag1, diag2) / (min(diag1, diag2) + 1e-6)
+
+        s_top = np.linalg.norm(pts[tl] - pts[tr])
+        s_bot = np.linalg.norm(pts[bl] - pts[br])
+        s_left = np.linalg.norm(pts[tl] - pts[bl])
+        s_right = np.linalg.norm(pts[tr] - pts[br])
+        h_ratio = max(s_top, s_bot) / (min(s_top, s_bot) + 1e-6)
+        v_ratio = max(s_left, s_right) / (min(s_left, s_right) + 1e-6)
+
+        med_l = float(np.median(legs))
+        leg_dev = max(abs(l - med_l) / (med_l + 1e-6) for l in legs)
+
+        score = (diag_ratio - 1.0) * 3.0 + (h_ratio - 1.0) + (v_ratio - 1.0) + leg_dev * 2.0
+        return score, (tl, bl, br, tr)
+
+    assigned = None
+    if len(filtered) >= 4:
+        best_score = float("inf")
+        best_combo = None
+        best_order = None
+
+        for combo in combinations(range(len(filtered)), 4):
+            cands = [filtered[i] for i in combo]
+            score, order = _score_quad(cands)
+            if score < best_score:
+                best_score = score
+                best_combo = combo
+                best_order = order
+
+        if verbose:
+            _log(f"[TRI] 最优四边形: score={best_score:.3f}")
+
+        if best_score < 3.0:
+            cands = [filtered[i] for i in best_combo]
+            tl, bl, br, tr = best_order
+            assigned = {
+                0: cands[tl],
+                1: cands[bl],
+                2: cands[br],
+                3: cands[tr],
+            }
+
+    if assigned is None:
+        cx = np.mean([c["center_px"][0] for c in filtered])
+        cy = np.mean([c["center_px"][1] for c in filtered])
+        quadrant_map = {}
+        for c in filtered:
+            tx, ty = c["center_px"]
+            if tx < cx and ty < cy:
+                q = 0
+            elif tx < cx:
+                q = 1
+            elif ty >= cy:
+                q = 2
+            else:
+                q = 3
+            if q not in quadrant_map or c["avg_leg"] > quadrant_map[q]["avg_leg"]:
+                quadrant_map[q] = c
+        assigned = quadrant_map
+
+    result = []
+    for tid in sorted(assigned.keys()):
+        c = assigned[tid]
+        result.append({
+            "id": tid,
+            "center": c["right_pt"],
+            "corners": c["corners"],
+        })
+    return result
+
+
+def try_triangle_scoring(
+    img_rgb,
+    laser_xy,
+    marker_positions,
+    camera_matrix,
+    dist_coeffs,
+    size_range=(8, 500),
+):
+    """
+    尝试三角形单应性 + PnP 估距。
+    img_rgb: RGB，与 laser_xy 同一像素坐标系。
+    返回 dict:
+      ok, dx_cm, dy_cm, distance_m, offset_method, distance_method
+    """
+    out = {
+        "ok": False,
+        "dx_cm": None,
+        "dy_cm": None,
+        "distance_m": None,
+        "offset_method": None,
+        "distance_method": None,
+    }
+    if marker_positions is None or camera_matrix is None or dist_coeffs is None:
+        return out
+
+    h_orig, w_orig = img_rgb.shape[:2]
+
+    # 缩图加速：嵌入式 CPU 上图像处理耗时与面积成正比。
+    # 不再写死 320/640：默认按相机最长边缩到 1/2（由 config.TRIANGLE_DETECT_SCALE 控制）。
+    # 检测完后把像素坐标乘以 inv_scale 还原到原始分辨率，再送入单应性/PnP（与 K 标定分辨率一致）
+    try:
+        import config as _cfg
+        scale = float(getattr(_cfg, "TRIANGLE_DETECT_SCALE", 0.5))
+    except Exception:
+        scale = 0.5
+    if not (0.05 <= scale <= 1.0):
+        scale = 0.5
+    MAX_DETECT_DIM = max(64, int(max(h_orig, w_orig) * scale))
+    long_side = max(h_orig, w_orig)
+    if long_side > MAX_DETECT_DIM:
+        det_scale = MAX_DETECT_DIM / long_side
+        det_w = int(w_orig * det_scale)
+        det_h = int(h_orig * det_scale)
+        img_det = cv2.resize(img_rgb, (det_w, det_h), interpolation=cv2.INTER_LINEAR)
+        inv_scale = 1.0 / det_scale
+        size_range_det = (max(4, int(size_range[0] * det_scale)),
+                          max(8, int(size_range[1] * det_scale)))
+    else:
+        img_det = img_rgb
+        inv_scale = 1.0
+        size_range_det = size_range
+
+    gray = cv2.cvtColor(img_det, cv2.COLOR_RGB2GRAY)
+
+    # 快速路径：直接在原始灰度图上跑（内部先走 Otsu，几乎不耗时）
+    # 光照均匀时通常在这一步就找到 ≥3 个三角形，完全跳过 CLAHE
+    tri_markers = detect_triangle_markers(
+        gray, orig_gray=gray, size_range=size_range_det, verbose=True
+    )
+
+    if len(tri_markers) < 3:
+        # 慢速兜底：CLAHE 增强对比度后再试（光线不均 / 局部过暗时有效）
+        # 默认关闭以优先速度；由 config.TRIANGLE_ENABLE_CLAHE_FALLBACK 控制。
+        try:
+            import config as _cfg
+            enable_clahe = bool(getattr(_cfg, "TRIANGLE_ENABLE_CLAHE_FALLBACK", False))
+        except Exception:
+            enable_clahe = False
+
+        if enable_clahe:
+            _log(f"[TRI] 快速路径不足{len(tri_markers)}个，启用CLAHE增强")
+            clahe = cv2.createCLAHE(clipLimit=2.0, tileGridSize=(8, 8))
+            gray_clahe = clahe.apply(gray)
+            tri_markers = detect_triangle_markers(
+                gray_clahe, orig_gray=gray, size_range=size_range_det, verbose=True
+            )
+        else:
+            _log(f"[TRI] 快速路径不足{len(tri_markers)}个，跳过CLAHE兜底（已关闭）")
+
+    if len(tri_markers) < 3:
+        _log(f"[TRI] 三角形不足3个: {len(tri_markers)}")
+        return out
+
+    # 将缩图坐标还原为原始分辨率（K 矩阵在原始分辨率下标定）
+    if inv_scale != 1.0:
+        for m in tri_markers:
+            m["center"] = [m["center"][0] * inv_scale, m["center"][1] * inv_scale]
+            m["corners"] = [[c[0] * inv_scale, c[1] * inv_scale] for c in m["corners"]]
+
+    lx = float(np.clip(laser_xy[0], 0, w_orig - 1))
+    ly = float(np.clip(laser_xy[1], 0, h_orig - 1))
+
+    if len(tri_markers) == 4:
+        tri_sorted = sorted(tri_markers, key=lambda m: m["id"])
+        marker_ids = [m["id"] for m in tri_sorted]
+        marker_centers = [[float(m["center"][0]), float(m["center"][1])] for m in tri_sorted]
+        offset_tag = "triangle_homography"
+    else:
+        marker_ids_list = [m["id"] for m in tri_markers]
+        marker_centers_orig = [[float(m["center"][0]), float(m["center"][1])] for m in tri_markers]
+        comp = complete_fourth_point(marker_ids_list, marker_centers_orig, marker_positions)
+        if comp is None:
+            _log("[TRI] 3点补全第4点失败")
+            return out
+        marker_centers, marker_ids = comp
+        marker_centers = [[float(c[0]), float(c[1])] for c in marker_centers]
+        offset_tag = "triangle_homography_3pt"
+
+    # ---------- 结果有效性校验（防 nan/inf 与退化角点） ----------
+    try:
+        import config as _cfg
+        min_center_dist_px = float(getattr(_cfg, "TRIANGLE_MIN_CENTER_DIST_PX", 3.0))
+        max_dist_m = float(getattr(_cfg, "TRIANGLE_MAX_DISTANCE_M", 20.0))
+    except Exception:
+        min_center_dist_px = 3.0
+        max_dist_m = 20.0
+
+    def _all_finite(v) -> bool:
+        try:
+            return bool(np.all(np.isfinite(v)))
+        except Exception:
+            return False
+
+    # 1) 4 个角点中心不能退化/重复（两两距离要大于阈值）
+    try:
+        pts = np.array(marker_centers, dtype=np.float64).reshape(-1, 2)
+        ok_centers = True
+        for i in range(len(pts)):
+            for j in range(i + 1, len(pts)):
+                if float(np.linalg.norm(pts[i] - pts[j])) <= min_center_dist_px:
+                    ok_centers = False
+                    break
+            if not ok_centers:
+                break
+        if not ok_centers:
+            _log(f"[TRI] 角点退化/重复：center_dist <= {min_center_dist_px:.1f}px，判定三角形失败")
+            return out
+    except Exception:
+        # 校验异常时不信任结果，直接回退
+        _log("[TRI] 角点校验异常，判定三角形失败")
+        return out
+
+    ok_h, tx, ty, _H = homography_calibration(
+        marker_centers, marker_ids, marker_positions, [lx, ly]
+    )
+    if not ok_h:
+        _log("[TRI] 单应性失败")
+        return out
+
+    # 2) 单应性矩阵必须是有限数
+    if (not _all_finite(_H)):
+        _log("[TRI] 单应性出现 nan/inf，判定三角形失败")
+        return out
+
+    # 3) dx/dy 必须是有限数
+    if (not _all_finite([tx, ty])):
+        _log("[TRI] 偏移出现 nan/inf，判定三角形失败")
+        return out
+
+    # 与 laser_manager.compute_laser_position 现网约定一致：(x_cm, -y_cm_target)
+    out["dx_cm"] = tx
+    out["dy_cm"] = -ty
+    out["ok"] = True
+    out["offset_method"] = offset_tag
+    out["markers"] = tri_markers   # 供上层绘制标注用
+    out["homography"] = _H         # 供上层反推靶心像素位置用
+
+    dist_m = pnp_distance_meters(marker_ids, marker_centers, marker_positions, camera_matrix, dist_coeffs)
+    # 4) distance_m 若存在也必须是有限数且在合理范围（默认 <20m）
+    if dist_m is not None and _all_finite([dist_m]) and 0.3 < dist_m < max_dist_m:
+        out["distance_m"] = dist_m
+        out["distance_method"] = "pnp_triangle"
+        _log(f"[TRI] PnP 距离={dist_m:.2f}m, 偏移=({out['dx_cm']:.2f},{out['dy_cm']:.2f})cm")
+    else:
+        out["distance_m"] = None
+        out["distance_method"] = None
+        _log(f"[TRI] PnP 距离无效，回退黄心估距; 偏移=({out['dx_cm']:.2f},{out['dy_cm']:.2f})cm")
+
+    return out

version.py

@@ -4,7 +4,7 @@
 应用版本号
 每次 OTA 更新时，只需要更新这个文件中的版本号
 """
-VERSION = '1.2.10'
+VERSION = '1.2.11'
 
 # 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
@@ -17,6 +17,7 @@ VERSION = '1.2.10'
 # 1.2.8 （1） 加快 wifi 下数据传输的速度。（2） 调整射箭时处理的逻辑，优先上报数据，再存照片之类的操作。（3）假如是用户打开激光的，射箭触发后不再关闭激光，因为是调瞄阶段
 # 1.2.9 增加电源板的控制和自动关机的功能
 # 1.2.10 config formal
+# 1.2.11 增加三角形的单应性算法，适配对应的靶纸
 
 
 

vision.py

@@ -217,7 +217,7 @@ def check_image_sharpness(frame, threshold=100.0, save_debug_images=False):
                 
                 # 保存原始图像
                 img_orig = image.cv2image(img_cv, False, False)
-                orig_filename = f"{debug_dir}/sharpness_debug_orig_{img_count:04d}.bmp"
+                orig_filename = f"{debug_dir}/sharpness_debug_orig_{img_count:04d}.jpg"
                 img_orig.save(orig_filename)
                 
                 # # 保存边缘检测结果（可视化）
@@ -294,7 +294,7 @@ def save_calibration_image(frame, laser_pos, photo_dir=None):
             img_count = 0
         
         x, y = laser_pos
-        filename = f"{photo_dir}/calibration_{int(x)}_{int(y)}_{img_count:04d}.bmp"
+        filename = f"{photo_dir}/calibration_{int(x)}_{int(y)}_{img_count:04d}.jpg"
         
         logger = logger_manager.logger
         if logger:
@@ -334,190 +334,348 @@ def save_calibration_image(frame, laser_pos, photo_dir=None):
             logger.error(traceback.format_exc())
         return None
 
-def detect_circle_v3(frame, laser_point=None):
+# def detect_circle_v3(frame, laser_point=None):
+#     """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本
+#     增加红色圆圈检测，验证黄色圆圈是否为真正的靶心
+#     如果提供 laser_point，会选择最接近激光点的目标
+    
+#     Args:
+#         frame: 图像帧
+#         laser_point: 激光点坐标 (x, y)，用于多目标场景下的目标选择
+    
+#     Returns:
+#         (result_img, best_center, best_radius, method, best_radius1, ellipse_params)
+#     """
+#     img_cv = image.image2cv(frame, False, False)
+    
+#     best_center = best_radius = best_radius1 = method = None
+#     ellipse_params = None
+    
+#     # HSV 黄色掩码检测（模糊靶心）
+#     hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+#     h, s, v = cv2.split(hsv)
+
+#     # 调整饱和度策略：稍微增强，不要过度
+#     s = np.clip(s * 1.1, 0, 255).astype(np.uint8) 
+
+#     hsv = cv2.merge((h, s, v))
+
+#     # 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+#     lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
+#     upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
+
+#     mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+#     # 调整形态学操作
+#     kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+#     mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel) 
+
+#     contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+#     # 存储所有有效的黄色-红色组合
+#     valid_targets = []
+    
+#     if contours_yellow:
+#         for cnt_yellow in contours_yellow:
+#             area = cv2.contourArea(cnt_yellow)
+#             perimeter = cv2.arcLength(cnt_yellow, True)
+
+#             # 计算圆度
+#             if perimeter > 0:
+#                 circularity = (4 * np.pi * area) / (perimeter * perimeter)
+#             else:
+#                 circularity = 0
+
+#             logger = logger_manager.logger
+#             if area > 50 and circularity > 0.7:
+#                 if logger:
+#                     logger.info(f"[target] -> 面积:{area}, 圆度:{circularity:.2f}")
+#                 # 尝试拟合椭圆
+#                 yellow_center = None
+#                 yellow_radius = None
+#                 yellow_ellipse = None
+                
+#                 if len(cnt_yellow) >= 5:
+#                     (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
+#                     yellow_ellipse = ((x, y), (width, height), angle)
+#                     axes_minor = min(width, height)
+#                     radius = axes_minor / 2
+#                     yellow_center = (int(x), int(y))
+#                     yellow_radius = int(radius)
+#                 else:
+#                     (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
+#                     yellow_center = (int(x), int(y))
+#                     yellow_radius = int(radius)
+#                     yellow_ellipse = None
+
+#                 # 如果检测到黄色圆圈，再检测红色圆圈进行验证
+#                 if yellow_center and yellow_radius:
+#                     # HSV 红色掩码检测（红色在HSV中跨越0度，需要两个范围）
+#                     # 红色范围1: 0-10度（接近0度的红色）
+#                     lower_red1 = np.array([0, 80, 0])
+#                     upper_red1 = np.array([10, 255, 255])
+#                     mask_red1 = cv2.inRange(hsv, lower_red1, upper_red1)
+                    
+#                     # 红色范围2: 170-180度（接近180度的红色）
+#                     lower_red2 = np.array([170, 80, 0])
+#                     upper_red2 = np.array([180, 255, 255])
+#                     mask_red2 = cv2.inRange(hsv, lower_red2, upper_red2)
+                    
+#                     # 合并两个红色掩码
+#                     mask_red = cv2.bitwise_or(mask_red1, mask_red2)
+                    
+#                     # 形态学操作
+#                     kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+#                     mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
+                    
+#                     contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+                    
+#                     found_valid_red = False
+                    
+#                     if contours_red:
+#                         # 找到所有符合条件的红色圆圈
+#                         for cnt_red in contours_red:
+#                             area_red = cv2.contourArea(cnt_red)
+#                             perimeter_red = cv2.arcLength(cnt_red, True)
+                            
+#                             if perimeter_red > 0:
+#                                 circularity_red = (4 * np.pi * area_red) / (perimeter_red * perimeter_red)
+#                             else:
+#                                 circularity_red = 0
+                            
+#                             # 红色圆圈也应该有一定的圆度
+#                             if area_red > 50 and circularity_red > 0.6:
+#                                 # 计算红色圆圈的中心和半径
+#                                 if len(cnt_red) >= 5:
+#                                     (x_red, y_red), (w_red, h_red), angle_red = cv2.fitEllipse(cnt_red)
+#                                     radius_red = min(w_red, h_red) / 2
+#                                     red_center = (int(x_red), int(y_red))
+#                                     red_radius = int(radius_red)
+#                                 else:
+#                                     (x_red, y_red), radius_red = cv2.minEnclosingCircle(cnt_red)
+#                                     red_center = (int(x_red), int(y_red))
+#                                     red_radius = int(radius_red)
+                                
+#                                 # 计算黄色和红色圆心的距离
+#                                 if red_center:
+#                                     dx = yellow_center[0] - red_center[0]
+#                                     dy = yellow_center[1] - red_center[1]
+#                                     distance = np.sqrt(dx*dx + dy*dy)
+                                    
+#                                     # 圆心距离阈值：应该小于黄色半径的某个倍数（比如1.5倍）
+#                                     max_distance = yellow_radius * 1.5
+                                    
+#                                     # 红色圆圈应该比黄色圆圈大（外圈）
+#                                     if distance < max_distance and red_radius > yellow_radius * 0.8:
+#                                         found_valid_red = True
+#                                         logger = logger_manager.logger
+#                                         if logger:
+#                                             logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
+                                        
+#                                         # 记录这个有效目标
+#                                         valid_targets.append({
+#                                             'center': yellow_center,
+#                                             'radius': yellow_radius,
+#                                             'ellipse': yellow_ellipse,
+#                                             'area': area
+#                                         })
+#                                         break
+                    
+#                     if not found_valid_red:
+#                         logger = logger_manager.logger
+#                         if logger:
+#                             logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+    
+#     # 从所有有效目标中选择最佳目标
+#     if valid_targets:
+#         if laser_point:
+#             # 如果有激光点，选择最接近激光点的目标
+#             best_target = None
+#             min_distance = float('inf')
+#             for target in valid_targets:
+#                 dx = target['center'][0] - laser_point[0]
+#                 dy = target['center'][1] - laser_point[1]
+#                 distance = np.sqrt(dx*dx + dy*dy)
+#                 if distance < min_distance:
+#                     min_distance = distance
+#                     best_target = target
+#             if best_target:
+#                 best_center = best_target['center']
+#                 best_radius = best_target['radius']
+#                 ellipse_params = best_target['ellipse']
+#                 method = "v3_ellipse_red_validated_laser_selected"
+#                 best_radius1 = best_radius * 5
+#         else:
+#             # 如果没有激光点，选择面积最大的目标
+#             best_target = max(valid_targets, key=lambda t: t['area'])
+#             best_center = best_target['center']
+#             best_radius = best_target['radius']
+#             ellipse_params = best_target['ellipse']
+#             method = "v3_ellipse_red_validated"
+#             best_radius1 = best_radius * 5
+
+#     result_img = image.cv2image(img_cv, False, False)
+#     return result_img, best_center, best_radius, method, best_radius1, ellipse_params
+
+def detect_circle_v3(frame, laser_point=None, img_cv=None):
     """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本
     增加红色圆圈检测，验证黄色圆圈是否为真正的靶心
     如果提供 laser_point，会选择最接近激光点的目标
-    
+    优化：
+      1. 缩图到 MAX_DET_DIM 后再做 HSV/形态学，最长边 640->320 可获得 ~4x 加速
+      2. 红色掩码在黄色轮廓循环外只计算一次，避免 N 次重复计算
+      3. img_cv 可由外部传入（与其他线程共享转换结果），为 None 时自动转换
     Args:
-        frame: 图像帧
+        frame: 图像帧（img_cv 为 None 时使用）
         laser_point: 激光点坐标 (x, y)，用于多目标场景下的目标选择
-    
+        img_cv: 已转换的 numpy BGR/RGB 图像；不为 None 时跳过 image2cv 转换
     Returns:
         (result_img, best_center, best_radius, method, best_radius1, ellipse_params)
     """
-    img_cv = image.image2cv(frame, False, False)
+    if img_cv is None:
+        img_cv = image.image2cv(frame, False, False)
+    logger = logger_manager.logger
+    from datetime import datetime
+    logger.debug(f"[detect_circle_v3] begin {datetime.now()}")
+    # -- 1. 缩图加速（与三角形路径保持一致）
+    h_orig, w_orig = img_cv.shape[:2]
+    MAX_DET_DIM = 320
+    long_side = max(h_orig, w_orig)
+    if long_side > MAX_DET_DIM:
+        det_scale = MAX_DET_DIM / long_side
+        img_det = cv2.resize(img_cv, (int(w_orig * det_scale), int(h_orig * det_scale)),
+                             interpolation=cv2.INTER_LINEAR)
+        inv_scale = 1.0 / det_scale   # 检测坐标 -> 原始坐标的倍率
+    else:
+        img_det = img_cv
+        inv_scale = 1.0
 
+    # 激光点映射到检测分辨率
+    lp_det = None
+    if laser_point is not None:
+        lp_det = (laser_point[0] / inv_scale, laser_point[1] / inv_scale)
     best_center = best_radius = best_radius1 = method = None
     ellipse_params = None
     
-    # HSV 黄色掩码检测（模糊靶心）
+    logger.debug(f"[detect_circle_v3] step 1 fin {datetime.now()}")
-    hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+
+    # -- 2. HSV + 黄色掩码
+    hsv = cv2.cvtColor(img_det, cv2.COLOR_RGB2HSV)
     h, s, v = cv2.split(hsv)
-
-    # 调整饱和度策略：稍微增强，不要过度
     s = np.clip(s * 1.1, 0, 255).astype(np.uint8)
-
     hsv = cv2.merge((h, s, v))
-
+    lower_yellow = np.array([7, 80, 0])
-    # 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+    upper_yellow = np.array([32, 255, 255])
-    lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
-    upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
-
     mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
-
-    # 调整形态学操作
     kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
     mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel)
 
-    contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    logger.debug(f"[detect_circle_v3] step 2 fin {datetime.now()}")
 
-    # 存储所有有效的黄色-红色组合
+    # -- 3. 红色掩码：在循环外只算一次
-    valid_targets = []
+    mask_red = cv2.bitwise_or(
-    
+        cv2.inRange(hsv, np.array([0, 80, 0]),   np.array([10,  255, 255])),
-    if contours_yellow:
+        cv2.inRange(hsv, np.array([170, 80, 0]), np.array([180, 255, 255])),
-        for cnt_yellow in contours_yellow:
+    )
-            area = cv2.contourArea(cnt_yellow)
+    kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
-            perimeter = cv2.arcLength(cnt_yellow, True)
+    mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
-
+    contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-            # 计算圆度
+    # 预先把红色轮廓筛选成 (center, radius) 列表，后续直接查表
-            if perimeter > 0:
+    red_candidates = []
-                circularity = (4 * np.pi * area) / (perimeter * perimeter)
+    for cnt_r in contours_red:
-            else:
+        ar = cv2.contourArea(cnt_r)
-                circularity = 0
+        if ar <= 50:
-
+            continue
-            logger = logger_manager.logger
+        pr = cv2.arcLength(cnt_r, True)
-            if area > 50 and circularity > 0.7:
+        if pr <= 0 or (4 * np.pi * ar) / (pr * pr) <= 0.6:
-                if logger:
+            continue
-                    logger.info(f"[target] -> 面积:{area}, 圆度:{circularity:.2f}")
+        if len(cnt_r) >= 5:
-                # 尝试拟合椭圆
+            (xr, yr), (wr, hr), _ = cv2.fitEllipse(cnt_r)
-                yellow_center = None
+            red_candidates.append({"center": (int(xr), int(yr)), "radius": int(min(wr, hr) / 2)})
-                yellow_radius = None
-                yellow_ellipse = None
-                
-                if len(cnt_yellow) >= 5:
-                    (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
-                    yellow_ellipse = ((x, y), (width, height), angle)
-                    axes_minor = min(width, height)
-                    radius = axes_minor / 2
-                    yellow_center = (int(x), int(y))
-                    yellow_radius = int(radius)
-                else:
-                    (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
-                    yellow_center = (int(x), int(y))
-                    yellow_radius = int(radius)
-                    yellow_ellipse = None
-
-                # 如果检测到黄色圆圈，再检测红色圆圈进行验证
-                if yellow_center and yellow_radius:
-                    # HSV 红色掩码检测（红色在HSV中跨越0度，需要两个范围）
-                    # 红色范围1: 0-10度（接近0度的红色）
-                    lower_red1 = np.array([0, 80, 0])
-                    upper_red1 = np.array([10, 255, 255])
-                    mask_red1 = cv2.inRange(hsv, lower_red1, upper_red1)
-                    
-                    # 红色范围2: 170-180度（接近180度的红色）
-                    lower_red2 = np.array([170, 80, 0])
-                    upper_red2 = np.array([180, 255, 255])
-                    mask_red2 = cv2.inRange(hsv, lower_red2, upper_red2)
-                    
-                    # 合并两个红色掩码
-                    mask_red = cv2.bitwise_or(mask_red1, mask_red2)
-                    
-                    # 形态学操作
-                    kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
-                    mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
-                    
-                    contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-                    
-                    found_valid_red = False
-                    
-                    if contours_red:
-                        # 找到所有符合条件的红色圆圈
-                        for cnt_red in contours_red:
-                            area_red = cv2.contourArea(cnt_red)
-                            perimeter_red = cv2.arcLength(cnt_red, True)
-                            
-                            if perimeter_red > 0:
-                                circularity_red = (4 * np.pi * area_red) / (perimeter_red * perimeter_red)
-                            else:
-                                circularity_red = 0
-                            
-                            # 红色圆圈也应该有一定的圆度
-                            if area_red > 50 and circularity_red > 0.6:
-                                # 计算红色圆圈的中心和半径
-                                if len(cnt_red) >= 5:
-                                    (x_red, y_red), (w_red, h_red), angle_red = cv2.fitEllipse(cnt_red)
-                                    radius_red = min(w_red, h_red) / 2
-                                    red_center = (int(x_red), int(y_red))
-                                    red_radius = int(radius_red)
-                                else:
-                                    (x_red, y_red), radius_red = cv2.minEnclosingCircle(cnt_red)
-                                    red_center = (int(x_red), int(y_red))
-                                    red_radius = int(radius_red)
-                                
-                                # 计算黄色和红色圆心的距离
-                                if red_center:
-                                    dx = yellow_center[0] - red_center[0]
-                                    dy = yellow_center[1] - red_center[1]
-                                    distance = np.sqrt(dx*dx + dy*dy)
-                                    
-                                    # 圆心距离阈值：应该小于黄色半径的某个倍数（比如1.5倍）
-                                    max_distance = yellow_radius * 1.5
-                                    
-                                    # 红色圆圈应该比黄色圆圈大（外圈）
-                                    if distance < max_distance and red_radius > yellow_radius * 0.8:
-                                        found_valid_red = True
-                                        logger = logger_manager.logger
-                                        if logger:
-                                            logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
-                                        
-                                        # 记录这个有效目标
-                                        valid_targets.append({
-                                            'center': yellow_center,
-                                            'radius': yellow_radius,
-                                            'ellipse': yellow_ellipse,
-                                            'area': area
-                                        })
-                                        break
-                    
-                    if not found_valid_red:
-                        logger = logger_manager.logger
-                        if logger:
-                            logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
-    
-    # 从所有有效目标中选择最佳目标
-    if valid_targets:
-        if laser_point:
-            # 如果有激光点，选择最接近激光点的目标
-            best_target = None
-            min_distance = float('inf')
-            for target in valid_targets:
-                dx = target['center'][0] - laser_point[0]
-                dy = target['center'][1] - laser_point[1]
-                distance = np.sqrt(dx*dx + dy*dy)
-                if distance < min_distance:
-                    min_distance = distance
-                    best_target = target
-            if best_target:
-                best_center = best_target['center']
-                best_radius = best_target['radius']
-                ellipse_params = best_target['ellipse']
-                method = "v3_ellipse_red_validated_laser_selected"
-                best_radius1 = best_radius * 5
         else:
-            # 如果没有激光点，选择面积最大的目标
+            (xr, yr), rr = cv2.minEnclosingCircle(cnt_r)
-            best_target = max(valid_targets, key=lambda t: t['area'])
+            red_candidates.append({"center": (int(xr), int(yr)), "radius": int(rr)})
-            best_center = best_target['center']
+
-            best_radius = best_target['radius']
+    logger.debug(f"[detect_circle_v3] step 3 fin {datetime.now()}")
-            ellipse_params = best_target['ellipse']
+
+    # -- 4. 黄色轮廓循环（复用上面的红色候选列表）
+    contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    valid_targets = []
+    for cnt_yellow in contours_yellow:
+        area = cv2.contourArea(cnt_yellow)
+        if area <= 50:
+            continue
+        perimeter = cv2.arcLength(cnt_yellow, True)
+        if perimeter <= 0:
+            continue
+        circularity = (4 * np.pi * area) / (perimeter * perimeter)
+        if circularity <= 0.7:
+            continue
+        if logger:
+            logger.info(f"[target] -> 面积:{area:.1f}, 圆度:{circularity:.2f}")
+        if len(cnt_yellow) >= 5:
+            (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
+            yellow_ellipse = ((x, y), (width, height), angle)
+            yellow_center = (int(x), int(y))
+            yellow_radius = int(min(width, height) / 2)
+        else:
+            (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
+            yellow_center = (int(x), int(y))
+            yellow_radius = int(radius)
+            yellow_ellipse = None
+        # 在预筛好的红色候选中匹配
+        matched = False
+        for rc in red_candidates:
+            ddx = yellow_center[0] - rc["center"][0]
+            ddy = yellow_center[1] - rc["center"][1]
+            dist_centers = math.hypot(ddx, ddy)
+            if dist_centers < yellow_radius * 1.5 and rc["radius"] > yellow_radius * 0.8:
+                if logger:
+                    logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), "
+                                f"红心({rc['center']}), 距离:{dist_centers:.1f}, "
+                                f"黄半径:{yellow_radius}, 红半径:{rc['radius']}")
+                valid_targets.append({
+                    "center": yellow_center,
+                    "radius": yellow_radius,
+                    "ellipse": yellow_ellipse,
+                    "area": area,
+                })
+                matched = True
+                break
+        if not matched and logger:
+            logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+
+    logger.debug(f"[detect_circle_v3] step 4 fin {datetime.now()}")
+
+    # -- 5. 选最佳目标，坐标还原到原始分辨率
+    if valid_targets:
+        if lp_det:
+            best_target = min(valid_targets,
+                              key=lambda t: (t["center"][0] - lp_det[0]) ** 2
+                                            + (t["center"][1] - lp_det[1]) ** 2)
+            method = "v3_ellipse_red_validated_laser_selected"
+        else:
+            best_target = max(valid_targets, key=lambda t: t["area"])
             method = "v3_ellipse_red_validated"
-            best_radius1 = best_radius * 5
+        bc = best_target["center"]
-
+        br = best_target["radius"]
+        be = best_target["ellipse"]
+        if inv_scale != 1.0:
+            best_center = (int(bc[0] * inv_scale), int(bc[1] * inv_scale))
+            best_radius = int(br * inv_scale)
+            if be is not None:
+                (ex, ey), (ew, eh), ea = be
+                be = ((ex * inv_scale, ey * inv_scale),
+                      (ew * inv_scale, eh * inv_scale), ea)
+        else:
+            best_center = bc
+            best_radius = br
+        ellipse_params = be
+        best_radius1 = best_radius * 5
     result_img = image.cv2image(img_cv, False, False)
+    logger.debug(f"[detect_circle_v3] step 5 fin {datetime.now()}")
     return result_img, best_center, best_radius, method, best_radius1, ellipse_params
 
-
 def estimate_distance(pixel_radius):
     """根据像素半径估算实际距离（单位：米）"""
     if not pixel_radius:
@@ -560,11 +718,13 @@ def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
 
         x, y = laser_point
         if shot_id:
-            if center is None or radius is None:
+            # 之前是用 center/radius 判定 no_target；但三角形路径会返回 center=None（正常）
-                filename = f"{photo_dir}/shot_{shot_id}_no_target.bmp"
+            # 这里改为：只要 method 有值，就按 method 命名；否则才回退 no_target
+            method_str = (method or "").strip()
+            if method_str:
+                filename = f"{photo_dir}/shot_{shot_id}_{method_str}.jpg"
             else:
-                method_str = method or "unknown"
+                filename = f"{photo_dir}/shot_{shot_id}_no_target.jpg"
-                filename = f"{photo_dir}/shot_{shot_id}_{method_str}.bmp"
         else:
             try:
                 all_images = [f for f in os.listdir(photo_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
@@ -577,7 +737,7 @@ def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
             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"
+            filename = f"{photo_dir}/{method_str}_{int(x)}_{int(y)}_{distance_str}_{img_count:04d}.jpg"
 
         logger = logger_manager.logger
         if logger:
@@ -591,16 +751,16 @@ def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
             else:
                 logger.info(f"结果 -> 未检测到靶心，保存原始图像（激光点: ({x}, {y})）")
 
-        laser_color = (config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+        # 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_thickness = int(max(getattr(config, "LASER_THICKNESS", 1), 1))
-        cross_length = int(max(getattr(config, "LASER_LENGTH", 10), 10))
+        # cross_length = int(max(getattr(config, "LASER_LENGTH", 10), 10))
-        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 - 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.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)
+        # cv2.circle(img_cv, (int(x), int(y)), 1, laser_color, cross_thickness)
-        ring_thickness = 1
+        # ring_thickness = 1
-        cv2.circle(img_cv, (int(x), int(y)), 10, laser_color, ring_thickness)
+        # 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)), 5, laser_color, ring_thickness)
-        cv2.circle(img_cv, (int(x), int(y)), 2, laser_color, -1)
+        # cv2.circle(img_cv, (int(x), int(y)), 2, laser_color, -1)
 
         if center and radius:
             cx, cy = center

wifi.py

@@ -116,8 +116,28 @@ class WiFiManager:
     
     # ==================== WiFi 连接方法 ====================
     
+    def is_sta_associated(self):
+        """
+        是否作为 STA 已关联到上游 AP（用于与 AP 模式区分：AP 模式下 wlan0 可能有 IP 但 iw link 为 Not connected）。
+        """
+        try:
+            out = os.popen("iw dev wlan0 link 2>/dev/null").read()
+            if not out.strip():
+                return False
+            if "Not connected" in out:
+                return False
+            return "Connected to" in out
+        except Exception:
+            return False
+
     def is_wifi_connected(self):
         """检查WiFi是否已连接"""
+        # AP 模式下 wlan0 也可能有 IP（如 192.168.66.1），但这不代表已作为 STA 连上路由器。
+        # 业务侧（选网/TCP）只应在 STA 已关联到上游 AP 时认为 WiFi 可用。
+        if not self.is_sta_associated():
+            self._wifi_connected = False
+            return False
+
         # 优先用 MaixPy network（如果可用）
         try:
             from maix import network
@@ -272,6 +292,66 @@ class WiFiManager:
             self.logger.error(f"[WIFI] 连接/验证失败，已回滚: {e}")
             return None, str(e)
 
+    def persist_sta_credentials(self, ssid: str, password: str, restart_service: bool = True):
+        """
+        仅写入 STA 凭证（/etc/wpa_supplicant.conf + /boot/wifi.ssid|pass），
+        可选是否立即 /etc/init.d/S30wifi restart。
+        不做可达性验证。用于热点配网页提交后切换到连接指定路由器。
+        password 为空时按开放网络（key_mgmt=NONE）写入。
+        Returns:
+            (ok: bool, err_msg: str)
+        """
+        ssid = (ssid or "").strip()
+        password = (password or "").strip()
+        if not ssid:
+            return False, "SSID 为空"
+
+        conf_path = "/etc/wpa_supplicant.conf"
+        ssid_file = "/boot/wifi.ssid"
+        pass_file = "/boot/wifi.pass"
+
+        def _write_text(path: str, content: str):
+            with open(path, "w", encoding="utf-8") as f:
+                f.write(content)
+
+        try:
+            if password:
+                net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read()
+                if "network={" not in net_conf:
+                    return False, "wpa_passphrase 失败"
+            else:
+                esc = ssid.replace("\\", "\\\\").replace('"', '\\"')
+                net_conf = (
+                    "network={\n"
+                    f'    ssid="{esc}"\n'
+                    "    key_mgmt=NONE\n"
+                    "}\n"
+                )
+            _write_text(
+                conf_path,
+                "ctrl_interface=/var/run/wpa_supplicant\n"
+                "update_config=1\n\n"
+                + net_conf,
+            )
+        except Exception as e:
+            return False, str(e)
+
+        try:
+            _write_text(ssid_file, ssid)
+            _write_text(pass_file, password)
+        except Exception as e:
+            return False, str(e)
+
+        if restart_service:
+            try:
+                os.system("/etc/init.d/S30wifi restart")
+            except Exception as e:
+                return False, str(e)
+            self.logger.info(f"[WIFI] persist_sta_credentials: 已写入并重启 S30wifi, ssid={ssid!r}")
+        else:
+            self.logger.info(f"[WIFI] persist_sta_credentials: 已写入凭证（未重启 S30wifi）, ssid={ssid!r}")
+        return True, ""
+
     def disconnect_wifi(self):
         """断开WiFi连接并清理资源"""
         if self._wifi_socket:

wifi_config_httpd.py

@@ -0,0 +1,521 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+WiFi 热点配网：迷你 HTTP 服务器（仅 GET/POST，标准库 socket），独立线程运行。
+
+策略（与 /etc/init.d/S30wifi 一致）：
+- 仅当 STA 未连上 WiFi 且 4G 也不可用时，写入 /boot/wifi.ap、去掉 /boot/wifi.sta，
+  并重启 S30wifi 由系统起热点；再在本进程起 HTTP。
+- 用户 POST 提交路由器 SSID/密码后：仅写凭证、stop S30wifi、删 /boot/wifi.ap、建 /boot/wifi.sta、sync、reboot。
+"""
+import html
+import os
+import socket
+import threading
+import time as std_time
+from urllib.parse import parse_qs
+
+import config
+from logger_manager import logger_manager
+from wifi import wifi_manager
+
+
+_http_thread = None
+_http_stop = threading.Event()
+
+
+def _http_response(status, body_bytes, content_type="text/html; charset=utf-8"):
+    head = (
+        f"HTTP/1.1 {status}\r\n"
+        f"Content-Type: {content_type}\r\n"
+        f"Content-Length: {len(body_bytes)}\r\n"
+        f"Connection: close\r\n"
+        f"\r\n"
+    ).encode("utf-8")
+    return head + body_bytes
+
+
+def _read_http_request(conn, max_total=65536):
+    """返回 (method, path, headers_str, body_bytes) 或 None。"""
+    buf = b""
+    while b"\r\n\r\n" not in buf and len(buf) < max_total:
+        chunk = conn.recv(4096)
+        if not chunk:
+            break
+        buf += chunk
+    if b"\r\n\r\n" not in buf:
+        return None
+    idx = buf.index(b"\r\n\r\n")
+    header_bytes = buf[:idx]
+    rest = buf[idx + 4 :]
+    try:
+        headers_str = header_bytes.decode("utf-8", errors="replace")
+    except Exception:
+        headers_str = ""
+    lines = headers_str.split("\r\n")
+    if not lines:
+        return None
+    parts = lines[0].split()
+    method = parts[0] if parts else "GET"
+    path = parts[1] if len(parts) > 1 else "/"
+
+    content_length = 0
+    for line in lines[1:]:
+        if line.lower().startswith("content-length:"):
+            try:
+                content_length = int(line.split(":", 1)[1].strip())
+            except Exception:
+                content_length = 0
+            break
+
+    body = rest
+    while content_length > 0 and len(body) < content_length and len(body) < max_total:
+        chunk = conn.recv(4096)
+        if not chunk:
+            break
+        body += chunk
+    body = body[:content_length]
+    return method, path, headers_str, body
+
+
+def _page_form(msg_html=""):
+    # 页面展示的热点名：以 /boot/wifi.ssid 为准（与实际 AP 保持一致）
+    try:
+        if os.path.exists("/boot/wifi.ssid"):
+            with open("/boot/wifi.ssid", "r", encoding="utf-8") as f:
+                _ssid = f.read().strip()
+        else:
+            _ssid = ""
+    except Exception:
+        _ssid = ""
+    ap_ssid = html.escape(_ssid or getattr(config, "WIFI_CONFIG_AP_SSID", "ArcherySetup"))
+    port = int(getattr(config, "WIFI_CONFIG_HTTP_PORT", 8080))
+    ap_ip = html.escape(getattr(config, "WIFI_CONFIG_AP_IP", "192.168.66.1"))
+    body = f"""<!DOCTYPE html>
+<html><head><meta charset="utf-8"/><meta name="viewport" content="width=device-width,initial-scale=1"/>
+<title>WiFi 配网</title></head><body>
+<h1>WiFi 配网</h1>
+<p>热点：<b>{ap_ssid}</b> · 端口 <b>{port}</b></p>
+<p>请填写要连接的<b>路由器</b> SSID 与密码（用于 STA 上网，不是热点密码）。提交后将关闭热点、保存并<b>重启设备</b>。</p>
+{msg_html}
+<form method="POST" action="/" accept-charset="utf-8">
+<p>SSID<br/><input name="ssid" type="text" style="width:100%;max-width:320px" required/></p>
+<p>密码（开放网络可留空）<br/><input name="password" type="password" style="width:100%;max-width:320px"/></p>
+<p><button type="submit">保存并重启</button></p>
+</form>
+<p style="color:#666;font-size:12px">提示：提交后设备会重启；请手机改连路由器 WiFi。</p>
+</body></html>"""
+    return body.encode("utf-8")
+
+
+def _apply_sta_and_reboot(router_ssid: str, router_password: str):
+    """
+    写路由器 STA 凭证 -> 停 WiFi 服务 -> 删 /boot/wifi.ap -> 建 /boot/wifi.sta -> sync -> reboot
+    """
+    logger = logger_manager.logger
+    ok, err = wifi_manager.persist_sta_credentials(router_ssid, router_password, restart_service=False)
+    if not ok:
+        return False, err
+
+    try:
+        os.system("/etc/init.d/S30wifi stop")
+    except Exception as e:
+        logger.warning(f"[WIFI-AP] S30wifi stop: {e}")
+
+    ap_flag = "/boot/wifi.ap"
+    sta_flag = "/boot/wifi.sta"
+    try:
+        if os.path.exists(ap_flag):
+            os.remove(ap_flag)
+    except Exception as e:
+        return False, f"删除 {ap_flag} 失败: {e}"
+
+    try:
+        with open(sta_flag, "w", encoding="utf-8") as f:
+            f.write("")
+    except Exception as e:
+        return False, f"创建 {sta_flag} 失败: {e}"
+
+    try:
+        os.system("sync")
+    except Exception:
+        pass
+
+    logger.info("[WIFI-AP] 已切换为 STA 标志并准备 reboot")
+    try:
+        os.system("reboot")
+    except Exception as e:
+        return False, f"reboot 调用失败: {e}"
+    return True, ""
+
+
+def _handle_client(conn, addr):
+    logger = logger_manager.logger
+    try:
+        conn.settimeout(30.0)
+        req = _read_http_request(conn)
+        if not req:
+            conn.sendall(_http_response("400 Bad Request", b"Bad Request"))
+            return
+        method, path, _headers, body = req
+        path = path.split("?", 1)[0]
+
+        if method == "GET" and path in ("/", "/index.html"):
+            conn.sendall(_http_response("200 OK", _page_form()))
+            return
+
+        if method == "POST" and path in ("/", "/index.html"):
+            try:
+                qs = body.decode("utf-8", errors="replace")
+            except Exception:
+                qs = ""
+            fields = parse_qs(qs, keep_blank_values=True)
+            ssid = (fields.get("ssid") or [""])[0].strip()
+            password = (fields.get("password") or [""])[0]
+            ok, err = _apply_sta_and_reboot(ssid, password)
+            if ok:
+                msg = '<p style="color:green"><b>已保存，设备正在重启…</b></p>'
+            else:
+                msg = f'<p style="color:red"><b>失败：</b>{html.escape(err)}</p>'
+            conn.sendall(_http_response("200 OK", _page_form(msg)))
+            return
+
+        if method == "GET" and path == "/favicon.ico":
+            conn.sendall(_http_response("204 No Content", b""))
+            return
+
+        conn.sendall(_http_response("404 Not Found", b"Not Found"))
+    except Exception as e:
+        try:
+            logger.error(f"[WIFI-HTTP] 处理请求异常 {addr}: {e}")
+        except Exception:
+            pass
+    finally:
+        try:
+            conn.close()
+        except Exception:
+            pass
+
+
+def _serve_loop(host, port):
+    logger = logger_manager.logger
+    srv = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    try:
+        srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        srv.bind((host, port))
+        srv.listen(5)
+        srv.settimeout(1.0)
+        logger.info(f"[WIFI-HTTP] 监听 {host}:{port}")
+    except Exception as e:
+        logger.error(f"[WIFI-HTTP] bind 失败: {e}")
+        try:
+            srv.close()
+        except Exception:
+            pass
+        return
+
+    while not _http_stop.is_set():
+        try:
+            conn, addr = srv.accept()
+        except socket.timeout:
+            continue
+        except Exception as e:
+            if _http_stop.is_set():
+                break
+            logger.warning(f"[WIFI-HTTP] accept: {e}")
+            continue
+        t = threading.Thread(target=_handle_client, args=(conn, addr), daemon=True)
+        t.start()
+
+    try:
+        srv.close()
+    except Exception:
+        pass
+    logger.info("[WIFI-HTTP] 服务已停止")
+
+
+def _ensure_hostapd_ssid(ssid: str, logger=None) -> bool:
+    """
+    某些固件会把 SSID 写到 /etc/hostapd.conf 或 /boot/hostapd.conf。
+    为避免只改 /boot/wifi.ssid 不生效，这里同步更新已存在的 hostapd.conf。
+    Returns:
+        bool: 任一文件被修改则 True
+    """
+    if logger is None:
+        logger = logger_manager.logger
+    if not ssid:
+        return False
+
+    changed_any = False
+    for conf_path in ("/etc/hostapd.conf", "/boot/hostapd.conf"):
+        try:
+            if not os.path.exists(conf_path):
+                continue
+            with open(conf_path, "r", encoding="utf-8") as f:
+                lines = f.read().splitlines()
+        except Exception:
+            continue
+
+        changed = False
+        out = []
+        seen = False
+        for ln in lines:
+            s = ln.strip()
+            if s.lower().startswith("ssid="):
+                seen = True
+                cur = s.split("=", 1)[1].strip()
+                if cur != ssid:
+                    out.append(f"ssid={ssid}")
+                    changed = True
+                else:
+                    out.append(ln)
+            else:
+                out.append(ln)
+        if not seen:
+            out.append(f"ssid={ssid}")
+            changed = True
+
+        if changed:
+            try:
+                with open(conf_path, "w", encoding="utf-8") as f:
+                    f.write("\n".join(out).rstrip() + "\n")
+                changed_any = True
+            except Exception as e:
+                if logger:
+                    logger.warning(f"[WIFI-AP] 写入 {conf_path} 失败: {e}")
+
+    if changed_any and logger:
+        logger.info(f"[WIFI-AP] 已同步热点 SSID 到 hostapd.conf: {ssid}")
+    return changed_any
+
+
+def _write_boot_ap_credentials_for_s30wifi():
+    """供 S30wifi AP 分支 gen_hostapd 使用的热点 SSID/密码。"""
+    base = (getattr(config, "WIFI_CONFIG_AP_SSID", "ArcherySetup") or "ArcherySetup").strip()
+    # 追加设备码，便于区分多台设备（读取 /device_key，失败则不加后缀）
+    suffix = ""
+    try:
+        with open("/device_key", "r", encoding="utf-8") as f:
+            dev = (f.read() or "").strip()
+        if dev:
+            s = dev
+            # 只保留字母数字，避免 SSID 出现不可见字符
+            s = "".join([c for c in s if c.isalnum()])
+            if s:
+                suffix = s
+    except Exception:
+        suffix = ""
+    ssid = f"{base}_{suffix}" if suffix else base
+    pwd = getattr(config, "WIFI_CONFIG_AP_PASSWORD", "12345678")
+    with open("/boot/wifi.ssid", "w", encoding="utf-8") as f:
+        f.write(ssid.strip())
+    with open("/boot/wifi.pass", "w", encoding="utf-8") as f:
+        f.write(pwd.strip())
+    try:
+        _ensure_hostapd_ssid(ssid.strip())
+    except Exception:
+        pass
+
+def _ensure_hostapd_modern_security(logger=None) -> bool:
+    """
+    确保 AP 使用较新的安全标准（至少 WPA2-PSK + CCMP）。
+    你现场验证需要的两行：
+      - wpa_key_mgmt=WPA-PSK
+      - rsn_pairwise=CCMP
+    Returns:
+        bool: 若文件被修改返回 True，否则 False
+    """
+    if logger is None:
+        logger = logger_manager.logger
+
+    conf_path = "/etc/hostapd.conf"
+    try:
+        if not os.path.exists(conf_path):
+            return False
+        with open(conf_path, "r", encoding="utf-8") as f:
+            lines = f.read().splitlines()
+    except Exception as e:
+        logger.warning(f"[WIFI-AP] 读取 hostapd.conf 失败: {e}")
+        return False
+
+    wanted = {
+        "wpa_key_mgmt": "WPA-PSK",
+        "rsn_pairwise": "CCMP",
+    }
+
+    changed = False
+    seen = set()
+    new_lines = []
+    for ln in lines:
+        s = ln.strip()
+        if not s or s.startswith("#") or "=" not in s:
+            new_lines.append(ln)
+            continue
+        k, v = s.split("=", 1)
+        k = k.strip()
+        if k in wanted:
+            seen.add(k)
+            new_v = wanted[k]
+            if v.strip() != new_v:
+                new_lines.append(f"{k}={new_v}")
+                changed = True
+            else:
+                new_lines.append(ln)
+            continue
+        new_lines.append(ln)
+
+    # 缺的补到末尾
+    for k, v in wanted.items():
+        if k not in seen:
+            new_lines.append(f"{k}={v}")
+            changed = True
+
+    if not changed:
+        return False
+
+    try:
+        with open(conf_path, "w", encoding="utf-8") as f:
+            f.write("\n".join(new_lines).rstrip() + "\n")
+        logger.info("[WIFI-AP] 已更新 /etc/hostapd.conf 安全参数（WPA-PSK + CCMP）")
+        return True
+    except Exception as e:
+        logger.warning(f"[WIFI-AP] 写入 hostapd.conf 失败: {e}")
+        return False
+
+
+def _cleanup_ap_flag_if_needed(logger):
+    """若 /boot/wifi.ap 残留，删除它并恢复 /boot/wifi.sta，避免 main.py 误判为 AP 配网模式。"""
+    ap_flag = "/boot/wifi.ap"
+    sta_flag = "/boot/wifi.sta"
+    if not os.path.exists(ap_flag):
+        return
+    try:
+        os.remove(ap_flag)
+        logger.info(f"[WIFI-AP] 已清理残留标记 {ap_flag}")
+    except Exception as e:
+        logger.warning(f"[WIFI-AP] 清理 {ap_flag} 失败: {e}")
+        return
+    if not os.path.exists(sta_flag):
+        try:
+            with open(sta_flag, "w", encoding="utf-8") as f:
+                f.write("")
+            logger.info(f"[WIFI-AP] 已恢复 {sta_flag}")
+        except Exception as e:
+            logger.warning(f"[WIFI-AP] 恢复 {sta_flag} 失败: {e}")
+
+
+def _switch_boot_to_ap_mode(logger):
+    """
+    去掉 STA 标志、建立 AP 标志，由 S30wifi 起 hostapd（与 Maix start_ap 二选一，以系统脚本为准）。
+    """
+    try:
+        sta = "/boot/wifi.sta"
+        ap = "/boot/wifi.ap"
+        if os.path.exists(sta):
+            os.remove(sta)
+        with open(ap, "w", encoding="utf-8") as f:
+            f.write("")
+        os.system("/etc/init.d/S30wifi restart")
+        # 某些固件生成的 hostapd.conf 缺少新安全参数，导致 Windows 提示“较旧的安全标准”。
+        # 若本次修改了 hostapd.conf，则再重启一次让 hostapd 重新加载配置。
+        try:
+            if _ensure_hostapd_modern_security(logger):
+                os.system("/etc/init.d/S30wifi restart")
+        except Exception:
+            pass
+        return True
+    except Exception as e:
+        logger.error(f"[WIFI-AP] 切换 /boot 为 AP 模式失败: {e}")
+        return False
+
+
+def start_http_server_thread():
+    """仅启动 HTTP 线程（假定 AP 已由 S30wifi 拉起）。"""
+    global _http_thread
+    logger = logger_manager.logger
+
+    if _http_thread is not None and _http_thread.is_alive():
+        logger.warning("[WIFI-HTTP] 配网线程已在运行")
+        return
+
+    _http_stop.clear()
+    host = getattr(config, "WIFI_CONFIG_HTTP_HOST", "0.0.0.0")
+    port = int(getattr(config, "WIFI_CONFIG_HTTP_PORT", 8080))
+
+    _http_thread = threading.Thread(
+        target=_serve_loop,
+        args=(host, port),
+        daemon=True,
+        name="wifi_config_httpd",
+    )
+    _http_thread.start()
+
+
+def maybe_start_wifi_ap_fallback(logger=None):
+    """
+    若启用 WIFI_CONFIG_AP_FALLBACK：等待若干秒后检测 STA WiFi 与 4G，
+    仅当二者均不可用时，写热点用的 /boot/wifi.ssid|pass、切到 /boot/wifi.ap 并 restart S30wifi，再启动 HTTP。
+    """
+    if logger is None:
+        logger = logger_manager.logger
+
+    if not getattr(config, "WIFI_CONFIG_AP_FALLBACK", False):
+        return
+
+    from network import network_manager
+
+    # 先快速检测一次：若 STA 或 4G 已可用，直接返回，避免不必要的等待
+    wifi_ok = wifi_manager.is_sta_associated()
+    g4_ok = network_manager.is_4g_available()
+    logger.info(f"[WIFI-AP] 兜底检测(quick)：sta关联={wifi_ok}, 4g={g4_ok}")
+    if wifi_ok or g4_ok:
+        logger.info("[WIFI-AP] STA 或 4G 可用，不启动热点配网")
+        # 清理上次开机可能残留的 /boot/wifi.ap 标记，避免 main.py 误判为 AP 配网模式
+        _cleanup_ap_flag_if_needed(logger)
+        return
+
+    # 两者均不可用：再按配置等待一段时间后复检，避免开机瞬态误判
+    wait_sec = int(getattr(config, "WIFI_AP_FALLBACK_WAIT_SEC", 10))
+    wait_sec = max(0, min(wait_sec, 120))
+    if wait_sec > 0:
+        logger.info(f"[WIFI-AP] 兜底配网：等待 {wait_sec}s 后再检测 STA/4G…")
+        std_time.sleep(wait_sec)
+
+    # 必须用 STA 关联判断；is_wifi_connected() 在 AP 模式会因 192.168.66.1 误判为已连接
+    wifi_ok = wifi_manager.is_sta_associated()
+    g4_ok = network_manager.is_4g_available()
+
+    logger.info(f"[WIFI-AP] 兜底检测：sta关联={wifi_ok}, 4g={g4_ok}")
+
+    if wifi_ok or g4_ok:
+        logger.info("[WIFI-AP] STA 或 4G 可用，不启动热点配网")
+        _cleanup_ap_flag_if_needed(logger)
+        return
+
+    logger.warning("[WIFI-AP] STA 与 4G 均不可用，启动热点配网（/boot/wifi.ap + HTTP）")
+
+    try:
+        _write_boot_ap_credentials_for_s30wifi()
+    except Exception as e:
+        logger.error(f"[WIFI-AP] 写热点 /boot 凭证失败: {e}")
+        return
+
+    if not _switch_boot_to_ap_mode(logger):
+        return
+
+    std_time.sleep(3)
+    start_http_server_thread()
+
+    p = int(getattr(config, "WIFI_CONFIG_HTTP_PORT", 8080))
+    ip = getattr(config, "WIFI_CONFIG_AP_IP", "192.168.66.1")
+    logger.info(f"[WIFI-AP] 请连接热点后访问 http://{ip}:{p}/ （若 IP 以 S30wifi 为准）")
+
+
+def stop_wifi_config_http():
+    """请求停止 HTTP 线程（下次 accept 超时后退出）。"""
+    _http_stop.set()
+
+
+# 兼容旧名：不再使用「强制开 AP」逻辑，统一走 maybe_start_wifi_ap_fallback
+def start_wifi_config_ap_thread():
+    maybe_start_wifi_ap_fallback()