#!/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 from laser_manager import laser_manager 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(): """后台线程：持续检测是否需要执行激光校准""" 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: # 调用校准方法，所有逻辑都在 LaserManager 中 result = laser_manager.calibrate_laser_position(timeout_ms=8000, check_sharpness=True) # 如果超时仍未成功，稍微休息一下 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_bus() hardware_manager.init_adc() hardware_manager.init_at_client() # 3. 初始化激光模块（串口 + 开机关闭激光防误触发） laser_manager.init() # 3. 初始化 INA226 电量监测芯片 init_ina226() # 4. 初始化显示和相机 camera_manager.init_camera(640, 480) # camera_manager.init_camera(1280,720) camera_manager.init_display() # ==================== 第二阶段：软件初始化 ==================== # 1. 初始化日志系统 import logging logger_manager.init_logging(log_level=logging.DEBUG) logger = logger_manager.logger # 补充：因为初始化的时候，激光会亮，先关了它 # laser_manager.turn_off_laser() # 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): 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 # 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, ()) # 7. 加载激光点配置 laser_manager.load_laser_point() # 8. 启动空闲计时 hardware_manager.start_idle_timer() if logger: logger.info("系统准备完成...") last_adc_trigger = 0 # 气压采样：减少日志频率（每 N 个点输出一条），避免 logger.debug 拖慢采样 PRESSURE_BATCH_SIZE = 100 pressure_buf = [] pressure_sum = 0 pressure_abs_sum = 0 pressure_min = 4095 pressure_max = 0 pressure_t0_ms = None last_avg_abs = 0 def _flush_pressure_buf(reason: str): if not config.AIR_PRESSURE_lOG: return nonlocal pressure_buf, pressure_sum, pressure_min, pressure_max, pressure_t0_ms, logger, pressure_abs_sum, last_avg_abs if not pressure_buf: return t1_ms = time.ticks_ms() n = len(pressure_buf) avg = (pressure_sum / n) if n else 0 avg_abs = (pressure_abs_sum / n) if n else 0 # 一行输出：方便后处理画曲线；同时带上统计信息便于快速看波峰 line = ( f"[气压批量] reason={reason} " f"t0={pressure_t0_ms} t1={t1_ms} n={n} " f"min={pressure_min} max={pressure_max} avg={avg:.1f} avg_abs={avg_abs:.3f} " f"values={','.join(map(str, pressure_buf))}" f" convert value (kpa): {(max(pressure_buf, key=lambda x: x[1])[1] - last_avg_abs) / (5 - 2.5) * config.AIR_PRESSURE_HARDWARE_MAX:.1f}" ) if logger: logger.debug(line) else: print(line) pressure_buf = [] pressure_sum = 0 pressure_abs_sum = 0 pressure_min = 4095 pressure_max = 0 pressure_t0_ms = None last_avg_abs = avg_abs # 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 # 不在 OTA 状态下，检测是否空闲足够长，自动关机 # print(f"[MAIN] 空闲时间: {hardware_manager.get_idle_time_in_sec() }秒") # print(f"配置关机时间：{config.AUTO_POWER_OFF_IN_SECONDS} 秒") if hardware_manager.get_idle_time_in_sec() > config.AUTO_POWER_OFF_IN_SECONDS: logger.info("[MAIN] 超过设定时间未检测活动，自动关机") network_manager.safe_enqueue({"poweroff": "超过设定时间未检测活动，自动关机"}, 2) time.sleep_ms(100) hardware_manager.power_off() time.sleep_ms(2000) # 让关机指令生效 break # 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 adc_abs_val = 10 if logger: logger.info("[TEST] TCP命令触发射箭") else: adc_val = hardware_manager.adc_obj.read() adc_abs_val = hardware_manager.adc_obj.read_vol() 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 # ====== 气压采样缓存（每次循环都记录，批量输出日志）====== if pressure_t0_ms is None: pressure_t0_ms = current_time pressure_buf.append((adc_val, adc_abs_val)) pressure_sum += adc_val pressure_abs_sum += adc_abs_val if adc_val < pressure_min: pressure_min = adc_val if adc_val > pressure_max: pressure_max = adc_val if len(pressure_buf) >= PRESSURE_BATCH_SIZE: _flush_pressure_buf("batch") # if adc_val >= 2000: # print(f"adc :{adc_val}") if adc_val >= config.ADC_TRIGGER_THRESHOLD: hardware_manager.start_idle_timer() # 重新计时 diff_ms = current_time - last_adc_trigger if diff_ms < 3000: logger.info(f"[MAIN] 扳机触发过于频繁, {diff_ms}ms") continue last_adc_trigger = current_time # 触发前先把缓存刷出来，避免波形被长耗时处理截断 _flush_pressure_buf("before_trigger") try: process_shot(adc_val) 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: if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING: try: camera_manager.show(camera_manager.read_frame()) except Exception as e: logger = logger_manager.logger if logger: logger.error(f"[MAIN] 显示异常: {e}") time.sleep_ms(5) 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() # 异常发生时尽量把缓存刷盘，方便定位问题 try: _flush_pressure_buf("exception") except: pass time.sleep_ms(1000) # 等待1秒后继续 # 主程序入口 if __name__ == "__main__": try: cmd_str() # 用于调用测试函数 # test() # 用于测试图片清晰度 # 方式1: 测试单张图片 # test_sharpness("/root/phot/image.bmp") # 方式2: 测试目录下所有图片 # test_sharpness("/root/phot") # 方式3: 使用默认路径（config.PHOTO_DIR） # test_sharpness("/root/phot/") # 用于测试激光点清晰度 # 方式1: 测试单张图片 # test_laser_point_sharpness("/root/phot/image.bmp") # 方式2: 测试目录下所有图片 # test_laser_point_sharpness("/root/phot") # 方式3: 使用默认路径（config.PHOTO_DIR） # test_laser_point_sharpness("/root/phot/") 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