#!/usr/bin/env python3 # -*- coding: utf-8 -*- """ 激光射击系统主程序（视觉测距版） 功能：目标检测、激光校准、4G TCP 通信、OTA 升级、单目测距、INA226 电量监测 平台：MaixPy (Sipeed MAIX) 作者：ZZH 最后更新：2025-11-21 重构版本：使用模块化设计 """ from maix import camera, display, image, app, time, uart, pinmap, i2c from maix.peripheral import adc import _thread import os import json # 导入新模块 import config 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 laser_manager import laser_manager from vision import detect_circle_v3, estimate_distance, compute_laser_position, save_shot_image, save_calibration_image from network import network_manager from ota_manager import ota_manager from hardware import hardware_manager # def laser_calibration_worker(): # """后台线程：持续检测是否需要执行激光校准""" # from maix import camera # from laser_manager import laser_manager # from ota_manager import ota_manager # logger = logger_manager.logger # if logger: # logger.info("[LASER] 激光校准线程启动") # while True: # try: # try: # if ota_manager.ota_in_progress: # time.sleep_ms(200) # continue # except Exception as e: # logger = logger_manager.logger # if logger: # logger.error(f"[LASER] OTA检查异常: {e}") # time.sleep_ms(200) # continue # if laser_manager.calibration_active: # cam = None # try: # cam = camera.Camera(640, 480) # start = time.ticks_ms() # timeout_ms = 8000 # while laser_manager.calibration_active and time.ticks_diff(time.ticks_ms(), start) < timeout_ms: # frame = cam.read() # pos = laser_manager.find_red_laser(frame) # if pos: # laser_manager.set_calibration_result(pos) # laser_manager.stop_calibration() # laser_manager.save_laser_point(pos) # logger = logger_manager.logger # if logger: # logger.info(f"✅ 后台校准成功: {pos}") # break # time.sleep_ms(60) # except Exception as e: # logger = logger_manager.logger # if logger: # logger.error(f"[LASER] calibration error: {e}") # import traceback # logger.error(traceback.format_exc()) # time.sleep_ms(200) # finally: # try: # if cam is not None: # del cam # except Exception as e: # logger = logger_manager.logger # if logger: # logger.error(f"[LASER] 释放相机资源异常: {e}") # if laser_manager.calibration_active: # time.sleep_ms(300) # else: # time.sleep_ms(50) # except Exception as e: # # 线程顶层异常捕获，防止线程静默退出 # logger = logger_manager.logger # if logger: # logger.error(f"[LASER] 校准线程异常: {e}") # import traceback # logger.error(traceback.format_exc()) # else: # print(f"[LASER] 校准线程异常: {e}") # import traceback # traceback.print_exc() # time.sleep_ms(1000) # 等待1秒后继续 def laser_calibration_worker(): """后台线程：持续检测是否需要执行激光校准""" from maix import camera from laser_manager import laser_manager from ota_manager import ota_manager from vision import save_calibration_image # 添加导入 logger = logger_manager.logger if logger: logger.info("[LASER] 激光校准线程启动") while True: try: try: if ota_manager.ota_in_progress: time.sleep_ms(200) continue except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[LASER] OTA检查异常: {e}") time.sleep_ms(200) continue if laser_manager.calibration_active: cam = None try: cam = camera.Camera(640, 480) start = time.ticks_ms() timeout_ms = 8000 while laser_manager.calibration_active and time.ticks_diff(time.ticks_ms(), start) < timeout_ms: frame = cam.read() pos = laser_manager.find_red_laser(frame) if pos: # 保存校准图像（带标注） try: save_calibration_image(frame, pos) except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[LASER] 保存校准图像失败: {e}") laser_manager.set_calibration_result(pos) laser_manager.stop_calibration() laser_manager.save_laser_point(pos) logger = logger_manager.logger if logger: logger.info(f"✅ 后台校准成功: {pos}") break time.sleep_ms(60) except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[LASER] calibration error: {e}") import traceback logger.error(traceback.format_exc()) time.sleep_ms(200) finally: try: if cam is not None: del cam except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[LASER] 释放相机资源异常: {e}") if laser_manager.calibration_active: time.sleep_ms(300) else: time.sleep_ms(50) except Exception as e: # 线程顶层异常捕获，防止线程静默退出 logger = logger_manager.logger if logger: logger.error(f"[LASER] 校准线程异常: {e}") import traceback logger.error(traceback.format_exc()) else: print(f"[LASER] 校准线程异常: {e}") import traceback traceback.print_exc() time.sleep_ms(1000) # 等待1秒后继续 def cmd_str(): """主程序入口""" # ==================== 第一阶段：硬件初始化 ==================== # 按照 main104.py 的顺序，先完成所有硬件初始化 # 1. 引脚功能映射 for pin, func in config.PIN_MAPPINGS.items(): try: pinmap.set_pin_function(pin, func) except: pass # 2. 初始化硬件对象（UART、I2C、ADC） hardware_manager.init_uart4g() hardware_manager.init_distance_serial() hardware_manager.init_bus() hardware_manager.init_adc() hardware_manager.init_at_client() # 3. 初始化 INA226 电量监测芯片 init_ina226() # 4. 加载激光点配置 laser_manager.load_laser_point() # 5. 初始化显示和相机 disp = display.Display() cam = camera.Camera(640, 480) # ==================== 第二阶段：软件初始化 ==================== # 1. 初始化日志系统 import logging logger_manager.init_logging(log_level=logging.DEBUG) logger = logger_manager.logger # 2. 从4G模块同步系统时间（需要 at_client 已初始化） sync_system_time_from_4g() # 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): try: with open(pending_path, 'r', encoding='utf-8') as f: pending_obj = json.load(f) restart_count = pending_obj.get('restart_count', 0) max_restarts = pending_obj.get('max_restarts', 3) backup_dir = pending_obj.get('backup_dir') if logger: logger.info(f"检测到 ota_pending.json，重启计数: {restart_count}/{max_restarts}") if restart_count >= max_restarts: if logger: logger.error(f"[STARTUP] 重启次数 ({restart_count}) 超过阈值 ({max_restarts})，执行恢复...") if backup_dir and os.path.exists(backup_dir): if ota_manager.restore_from_backup(backup_dir): if logger: logger.info(f"[STARTUP] 已从指定备份恢复: {backup_dir}") else: if logger: logger.info(f"[STARTUP] 指定备份恢复失败，尝试恢复最新备份...") ota_manager.restore_from_backup(None) else: if ota_manager.restore_from_backup(None): if logger: logger.info(f"[STARTUP] 已从最新备份恢复") else: if logger: logger.error(f"[STARTUP] 恢复备份失败") try: os.remove(pending_path) if logger: logger.info(f"[STARTUP] 已删除 ota_pending.json") except Exception as e: if logger: logger.error(f"[STARTUP] 删除 pending 文件失败: {e}") if logger: logger.info(f"[STARTUP] 恢复完成，准备重启系统...") time.sleep_ms(2000) os.system("reboot") return else: pending_obj['restart_count'] = restart_count + 1 try: with open(pending_path, 'w', encoding='utf-8') as f: json.dump(pending_obj, f) if logger: logger.info(f"[STARTUP] 已更新重启计数: {pending_obj['restart_count']}") except Exception as e: if logger: logger.error(f"[STARTUP] 更新重启计数失败: {e}") except Exception as e: if logger: logger.error(f"[STARTUP] 检查 pending 文件时出错: {e}") try: if logger: logger.info(f"[STARTUP] pending 文件可能损坏，尝试恢复备份...") if ota_manager.restore_from_backup(None): os.remove(pending_path) if logger: logger.info(f"[STARTUP] 已恢复备份并删除损坏的 pending 文件") time.sleep_ms(2000) os.system("reboot") return except: pass # 4. 初始化设备ID（network_manager 内部会自动设置 device_id 和 password） network_manager.read_device_id() # 5. 创建照片存储目录（如果启用图像保存） if config.SAVE_IMAGE_ENABLED: photo_dir = config.PHOTO_DIR if photo_dir not in os.listdir("/root"): try: os.mkdir(photo_dir) except: pass # 6. 启动通信与校准线程 _thread.start_new_thread(network_manager.tcp_main, ()) _thread.start_new_thread(laser_calibration_worker, ()) if logger: logger.info("系统准备完成...") last_adc_trigger = 0 # 主循环：检测扳机触发 → 拍照 → 分析 → 上报 while not app.need_exit(): try: current_time = time.ticks_ms() # OTA 期间暂停相机预览 try: if ota_manager.ota_in_progress: time.sleep_ms(250) continue except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[MAIN] OTA检查异常: {e}") time.sleep_ms(250) continue # 读取ADC值（扳机检测） try: if network_manager.manual_trigger_flag: network_manager.clear_manual_trigger() adc_val = config.ADC_TRIGGER_THRESHOLD + 1 if logger: logger.info("[TEST] TCP命令触发射箭") else: adc_val = hardware_manager.adc_obj.read() except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[MAIN] ADC读取异常: {e}") time.sleep_ms(100) continue if adc_val > config.ADC_TRIGGER_THRESHOLD: diff_ms = current_time - last_adc_trigger if diff_ms < 3000: continue last_adc_trigger = current_time try: frame = cam.read() laser_point = laser_manager.laser_point 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 # 绘制激光十字线 color = image.Color(config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2]) 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) # 检测靶心 result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point) disp.show(result_img) # 计算偏移与距离（如果检测到靶心） if center and radius: dx, dy = 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) # 保存图像（无论是否检测到靶心都保存） # save_shot_image 函数会确保绘制激光十字线和检测标注（如果有） # 如果未检测到靶心，文件名会包含 "no_target" 标识 save_shot_image( result_img, center, radius, method, ellipse_params, (x, y), distance_m, photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None ) # 构造上报数据 inner_data = { "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 } report_data = {"cmd": 1, "data": inner_data} network_manager.safe_enqueue(report_data, msg_type=2, high=True) if logger: if center and radius: logger.info("射箭事件已加入发送队列（已检测到靶心）") else: logger.info("射箭事件已加入发送队列（未检测到靶心，已保存图像）") # 闪一下激光（射箭反馈） # laser_manager.flash_laser(1000) time.sleep_ms(100) except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[MAIN] 图像处理异常: {e}") import traceback logger.error(traceback.format_exc()) time.sleep_ms(100) continue else: try: disp.show(cam.read()) except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[MAIN] 显示异常: {e}") time.sleep_ms(50) except Exception as e: # 主循环的顶层异常捕获，防止程序静默退出 logger = logger_manager.logger if logger: logger.error(f"[MAIN] 主循环异常: {e}") import traceback logger.error(traceback.format_exc()) else: print(f"[MAIN] 主循环异常: {e}") import traceback traceback.print_exc() time.sleep_ms(1000) # 等待1秒后继续 # 主程序入口 if __name__ == "__main__": try: cmd_str() except KeyboardInterrupt: logger = logger_manager.logger if logger: logger.info("[MAIN] 收到中断信号，程序退出") logger_manager.stop_logging() except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[MAIN] 程序异常退出: {e}") import traceback logger.error(traceback.format_exc()) else: print(f"[MAIN] 程序异常退出: {e}") import traceback traceback.print_exc() logger_manager.stop_logging() raise # 重新抛出异常，让系统知道程序异常退出