#!/usr/bin/env python3 # -*- coding: utf-8 -*- """ 网络通信模块 提供TCP通信、数据包打包/解析、队列管理等功能 """ import json from math import e import struct from maix import time import hmac import hashlib import ujson import os import threading import socket import config from hardware import hardware_manager from power import get_bus_voltage, voltage_to_percent # from laser import laser_manager # from ota import ota_manager from logger_manager import logger_manager class NetworkManager: """网络通信管理器（单例）""" _instance = None def __new__(cls): if cls._instance is None: cls._instance = super(NetworkManager, cls).__new__(cls) cls._instance._initialized = False return cls._instance def __init__(self): if self._initialized: return # 私有状态 self._tcp_connected = False self._high_send_queue = [] self._normal_send_queue = [] self._queue_lock = threading.Lock() self._uart4g_lock = threading.Lock() self._device_id = None self._password = None self._raw_line_data = [] self._manual_trigger_flag = False # WiFi 相关状态 self._network_type = None # "wifi" 或 "4g" 或 None self._wifi_connected = False self._wifi_ip = None self._wifi_socket = None self._wifi_socket_lock = threading.Lock() self._prefer_wifi = True # 是否优先使用WiFi self._wifi_recv_buffer = b"" # WiFi接收缓冲区 self._initialized = True # 导入 archery_netcore 模块，并检查是否存在 parse_packet 和 make_packet 函数 try: import archery_netcore as _netcore self._netcore = _netcore if hasattr(self._netcore, "parse_packet") and hasattr(self._netcore, "make_packet") and hasattr(self._netcore, "actions_for_inner_cmd"): print("[NET] archery_netcore found") else: print("[NET] archery_netcore not found parse_packet or make_packet") exit(1) except Exception: print("[NET] import archery_netcore failed") exit(1) # 服务器相关 self._server_ip = self._netcore.get_config().get("SERVER_IP") self._server_port = self._netcore.get_config().get("SERVER_PORT") # ==================== 状态访问（只读属性）==================== @property def logger(self): """获取 logger 对象""" return logger_manager.logger @property def tcp_connected(self): """TCP连接状态""" return self._tcp_connected @property def device_id(self): """设备ID""" return self._device_id @property def password(self): """密码""" return self._password @property def has_pending_messages(self): """是否有待发送消息""" with self._queue_lock: return len(self._high_send_queue) > 0 or len(self._normal_send_queue) > 0 @property def manual_trigger_flag(self): """手动触发标志""" return self._manual_trigger_flag @property def network_type(self): """当前使用的网络类型（"wifi" 或 "4g"）""" return self._network_type @property def wifi_connected(self): """WiFi是否已连接""" return self._wifi_connected @property def wifi_ip(self): """WiFi IP地址""" return self._wifi_ip # ==================== 内部状态管理方法 ==================== def set_manual_trigger(self, value=True): """设置手动触发标志（公共方法）""" self._manual_trigger_flag = value def clear_manual_trigger(self): """清除手动触发标志（公共方法）""" self._manual_trigger_flag = False def _set_tcp_connected(self, connected): """设置TCP连接状态（内部方法）""" self._tcp_connected = connected def _set_device_info(self, device_id, password): """设置设备信息（内部方法）""" self._device_id = device_id self._password = password def _enqueue(self, item, high=False): """线程安全地加入队列（内部方法）""" with self._queue_lock: if high: self._high_send_queue.append(item) else: self._normal_send_queue.append(item) def _dequeue(self): """线程安全地从队列取出（内部方法）""" with self._queue_lock: if self._high_send_queue: return self._high_send_queue.pop(0) elif self._normal_send_queue: return self._normal_send_queue.pop(0) return None def _set_raw_line_data(self, data): """设置原始行数据（内部方法）""" self._raw_line_data = data def _get_raw_line_data(self): """获取原始行数据（内部方法）""" return self._raw_line_data def get_uart_lock(self): """获取UART锁（用于with语句）""" return self._uart4g_lock def get_queue_lock(self): """获取队列锁（用于with语句）""" return self._queue_lock # ==================== 业务方法 ==================== def read_device_id(self): """从 /device_key 文件读取设备唯一 ID，失败则使用默认值""" try: with open("/device_key", "r") as f: device_id = f.read().strip() if device_id: self.logger.debug(f"[INFO] 从 /device_key 读取到 DEVICE_ID: {device_id}") # 设置内部状态 self._device_id = device_id self._password = device_id + "." return device_id except Exception as e: self.logger.error(f"[ERROR] 无法读取 /device_key: {e}") # 使用默认值 default_id = "DEFAULT_DEVICE_ID" self._device_id = default_id self._password = default_id + "." return default_id # ==================== WiFi 管理方法 ==================== def is_wifi_connected(self): """检查WiFi是否已连接""" # 优先用 MaixPy network（如果可用） try: from maix import network wlan = network.WLAN(network.TYPE_WIFI) if wlan.isconnected(): self._wifi_connected = True return True except: pass # 兜底：看系统 wlan0 有没有 IP try: ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip() if ip: self._wifi_connected = True self._wifi_ip = ip return True except: pass self._wifi_connected = False return False def connect_wifi(self, ssid, password): """ 连接 Wi-Fi 并将凭证持久化保存到 /boot/ 目录 Returns: (ip, error): IP地址和错误信息（成功时error为None） """ # 配置文件路径定义 conf_path = "/etc/wpa_supplicant.conf" # wpa_supplicant配置文件路径 ssid_file = "/boot/wifi.ssid" # 用于保存SSID的文件路径 pass_file = "/boot/wifi.pass" # 用于保存密码的文件路径 try: # 生成 wpa_supplicant 配置 net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read() # 调用系统命令生成配置 if "network={" not in net_conf: # 检查配置是否生成成功 return None, "Failed to generate wpa config" # 写入运行时配置 with open(conf_path, "w") as f: # 打开配置文件准备写入 f.write("ctrl_interface=/var/run/wpa_supplicant\n") # 设置控制接口路径 f.write("update_config=1\n\n") # 允许更新配置 f.write(net_conf) # 写入网络配置 # 持久化保存 SSID/PASS with open(ssid_file, "w") as f: # 打开SSID文件准备写入 f.write(ssid.strip()) # 写入SSID（去除首尾空格） with open(pass_file, "w") as f: # 打开密码文件准备写入 f.write(password.strip()) # 写入密码（去除首尾空格） # 重启 Wi-Fi 服务 os.system("/etc/init.d/S30wifi restart") # 执行WiFi服务重启命令 # 等待获取 IP import time as std_time # 导入time模块并重命名为std_time for _ in range(50): # 最多等待50秒 ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip() # 获取wlan0的IP地址 if ip: # 如果获取到IP地址 self._wifi_connected = True # 设置WiFi连接状态为已连接 self._wifi_ip = ip # 保存IP地址 self.logger.info(f"[WIFI] 已连接，IP: {ip}") # 记录连接成功日志 return ip, None std_time.sleep(1) # 每次循环等待1秒 return None, "Timeout: No IP obtained" # 超时未获取到IP except Exception as e: # 捕获所有异常 self.logger.error(f"[WIFI] 连接失败: {e}") # 记录错误日志 return None, f"Exception: {str(e)}" # 返回异常信息 def is_server_reachable(self, host, port=80, timeout=5): """检查目标主机端口是否可达（用于网络检测）""" try: addr_info = socket.getaddrinfo(host, port)[0] s = socket.socket(addr_info[0], addr_info[1], addr_info[2]) s.settimeout(timeout) s.connect(addr_info[-1]) s.close() return True except Exception as e: self.logger.warning(f"[NET] 无法连接 {host}:{port} - {e}") return False # ==================== 网络选择策略 ==================== def select_network(self, prefer_wifi=None): """ 自动选择网络（WiFi优先） Args: prefer_wifi: 是否优先使用WiFi（None表示使用默认策略） Returns: "wifi" 或 "4g" 或 None（无可用网络） """ if prefer_wifi is None: prefer_wifi = self._prefer_wifi # 策略1：如果指定优先WiFi，且WiFi可用，使用WiFi if prefer_wifi and self.is_wifi_connected(): # 检查WiFi是否能连接到服务器 if self.is_server_reachable(self._server_ip, self._server_port, timeout=3): self._network_type = "wifi" self.logger.info(f"[NET] 选择WiFi网络，IP: {self._wifi_ip}") import os os.environ["TZ"] = "Asia/Shanghai" os.system("ntpdate pool.ntp.org") return "wifi" else: self.logger.warning("[NET] WiFi已连接但无法访问服务器，尝试4G") # 策略2：如果WiFi可用，使用WiFi if self.is_wifi_connected(): if self.is_server_reachable(self._server_ip, self._server_port, timeout=3): self._network_type = "wifi" self.logger.info(f"[NET] 选择WiFi网络，IP: {self._wifi_ip}") return "wifi" # 策略3：回退到4G self.logger.info("[NET] WiFi不可用或无法连接服务器，使用4G网络") self._network_type = "4g" return "4g" def safe_enqueue(self, data_dict, msg_type=2, high=False): """线程安全地将消息加入队列（公共方法）""" self._enqueue((msg_type, data_dict), high) def make_packet(self, msg_type: int, body_dict: dict) -> bytes: """打包 TCP 数据包：头部（长度+类型+校验）+ JSON 正文""" body = json.dumps(body_dict).encode() body_len = len(body) checksum = body_len + msg_type header = struct.pack(">III", body_len, msg_type, checksum) return header + body def parse_packet(self, data: bytes): """解析 TCP 数据包，返回 (类型, 正文字典)""" if len(data) < 12: return None, None body_len, msg_type, checksum = struct.unpack(">III", data[:12]) expected_len = 12 + body_len # 防御性检查：如果 data 比预期长，说明可能有粘包 if len(data) > expected_len: self.logger.warning( f"[TCP] parse_packet: data length ({len(data)}) > expected ({expected_len}), " f"possible packet concatenation. body_len={body_len}, msg_type={msg_type}" ) # 只解析第一个包，忽略多余数据（或者可以返回剩余部分） # data = data[:expected_len] # TODO： 是否需要解析剩余部分？ # 如果 data 比预期短，说明包不完整（半包） if len(data) < expected_len: self.logger.warning( f"[TCP] parse_packet: data length ({len(data)}) < expected ({expected_len}), " f"incomplete packet. body_len={body_len}, msg_type={msg_type}" ) return None, None body = data[12:12 + body_len] try: return msg_type, json.loads(body.decode()) except: return msg_type, {"raw": body.decode(errors="ignore")} def connect_server(self): """ 连接到服务器（自动选择WiFi或4G） Returns: bool: 是否连接成功 """ if self._tcp_connected: # 检查当前连接是否仍然有效 if self._network_type == "wifi": return self._check_wifi_connection() elif self._network_type == "4g": return True # 4G连接状态由AT命令维护 return False # 自动选择网络 network_type = self.select_network() if not network_type: return False self.logger.info(f"连接到服务器,使用{network_type.upper()}...") # 根据网络类型建立TCP连接 if network_type == "wifi": return self._connect_tcp_via_wifi() elif network_type == "4g": return self._connect_tcp_via_4g() return False def _connect_tcp_via_wifi(self): """通过WiFi建立TCP连接""" try: # 创建TCP socket self._wifi_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self._wifi_socket.settimeout(5.0) # 5秒超时 # 连接到服务器 addr_info = socket.getaddrinfo(config.SERVER_IP, config.SERVER_PORT, socket.AF_INET, socket.SOCK_STREAM)[0] self._wifi_socket.connect(addr_info[-1]) # 设置非阻塞模式（用于接收数据） self._wifi_socket.setblocking(False) self._tcp_connected = True self.logger.info("[WIFI-TCP] TCP连接已建立") return True except Exception as e: self.logger.error(f"[WIFI-TCP] 连接失败: {e}") if self._wifi_socket: try: self._wifi_socket.close() except: pass self._wifi_socket = None return False def _connect_tcp_via_4g(self): """通过4G模块建立TCP连接（支持按手册绑定 SSL）""" link_id = getattr(config, "TCP_LINK_ID", 0) use_ssl = getattr(config, "USE_TCP_SSL", False) host = self._server_ip port = getattr(config, "TCP_SSL_PORT", 443) if use_ssl else config.SERVER_PORT tail = getattr(config, "MIPOPEN_TAIL", "") with self.get_uart_lock(): resp = hardware_manager.at_client.send(f"AT+MIPCLOSE={link_id}", "OK", 1000) self.logger.info(f"[4G-TCP] AT+MIPCLOSE={link_id} response: {resp}") if use_ssl: ok = self._configure_ssl_before_connect(link_id) if not ok: return False # 按手册：AT+MIPOPEN=1,"TCP","host",443,,0 # cmd = f'AT+MIPOPEN={link_id},"TCP","{host}",{port}{tail}' cmd = f'AT+MIPOPEN={link_id},"TCP","{host}",{port}' res = hardware_manager.at_client.send(cmd, "+MIPOPEN", 8000) self.logger.info(f"[4G-TCP] {cmd} response: {res}") if f"+MIPOPEN: {link_id},0" in res: self._tcp_connected = True return True return False def _check_wifi_connection(self): """检查WiFi TCP连接是否仍然有效""" if not self._wifi_socket: return False try: # 尝试发送0字节来检测连接状态 self._wifi_socket.send(b"", socket.MSG_DONTWAIT) return True except: # socket已断开 try: self._wifi_socket.close() except: pass self._wifi_socket = None self._tcp_connected = False return False def disconnect_server(self): """断开TCP连接""" if self._tcp_connected: self.logger.info("与服务器断开链接") if self._network_type == "wifi": self._disconnect_tcp_via_wifi() elif self._network_type == "4g": self._disconnect_tcp_via_4g() self._tcp_connected = False self._network_type = None def _disconnect_tcp_via_wifi(self): """断开WiFi TCP连接""" with self._wifi_socket_lock: if self._wifi_socket: try: self._wifi_socket.close() except: pass self._wifi_socket = None def _disconnect_tcp_via_4g(self): link_id = getattr(config, "TCP_LINK_ID", 0) with self.get_uart_lock(): hardware_manager.at_client.send(f"AT+MIPCLOSE={link_id}", "OK", 1000) def tcp_send_raw(self, data: bytes, max_retries=2) -> bool: """ 统一的TCP发送接口（自动选择WiFi或4G） Args: data: 要发送的数据 max_retries: 最大重试次数 Returns: bool: 是否发送成功 """ if not self._tcp_connected: return False # 根据网络类型选择发送方式 if self._network_type == "wifi": return self._tcp_send_raw_via_wifi(data, max_retries) elif self._network_type == "4g": return self._tcp_send_raw_via_4g(data, max_retries) else: self.logger.error("[NET] 未选择网络类型，无法发送数据") return False def _tcp_send_raw_via_wifi(self, data: bytes, max_retries=2) -> bool: """通过WiFi socket发送TCP数据""" if not self._wifi_socket: return False with self._wifi_socket_lock: for attempt in range(max_retries): try: # 标准socket发送 total_sent = 0 while total_sent < len(data): sent = self._wifi_socket.send(data[total_sent:]) if sent == 0: # socket连接已断开 self.logger.warning(f"[WIFI-TCP] 发送失败，socket已断开（尝试 {attempt+1}/{max_retries}）") break total_sent += sent if total_sent == len(data): return True # 发送不完整，重试 time.sleep_ms(50) except OSError as e: self.logger.error(f"[WIFI-TCP] 发送异常: {e}（尝试 {attempt+1}/{max_retries}）") time.sleep_ms(50) except Exception as e: self.logger.error(f"[WIFI-TCP] 未知错误: {e}（尝试 {attempt+1}/{max_retries}）") time.sleep_ms(50) return False def _tcp_send_raw_via_4g(self, data: bytes, max_retries=2) -> bool: link_id = getattr(config, "TCP_LINK_ID", 0) with self.get_uart_lock(): for _ in range(max_retries): cmd = f'AT+MIPSEND={link_id},{len(data)}' if ">" not in hardware_manager.at_client.send(cmd, ">", 2000): time.sleep_ms(50) continue total = 0 while total < len(data): n = hardware_manager.uart4g.write(data[total:]) if not n or n < 0: time.sleep_ms(1) continue total += n hardware_manager.uart4g.write(b"\x1A") r = hardware_manager.at_client.send("", "OK", 8000) if ("SEND OK" in r) or ("OK" in r) or ("+MIPSEND" in r): return True time.sleep_ms(50) return False def _configure_ssl_before_connect(self, link_id: int) -> bool: """按手册：MSSLCFG(auth) -> (可选) MSSLCERTWR -> MSSLCFG(cert) -> MIPCFG(ssl)""" ssl_id = getattr(config, "SSL_ID", 1) auth_mode = getattr(config, "SSL_AUTH_MODE", 1) verify_mode = getattr(config, "SSL_VERIFY_MODE", 0) # 1) 配置认证方式 # r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},{auth_mode}', "OK", 3000) r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},0', "OK", 3000) self.logger.info(f"[4G-TCP] AT+MSSLCFG=\"auth\",{ssl_id},0 response: {r}") if "OK" not in r: return False # 2) 写入根证书（只有 verify_mode=1 才需要） # if verify_mode == 1: if False: cert_filename = getattr(config, "SSL_CERT_FILENAME", None) cert_path = getattr(config, "SSL_CERT_PATH", None) if not cert_filename or not cert_path: return False # 读取证书文件（设备侧路径） with open(cert_path, "rb") as f: cert_data = f.read() # 按手册：AT+MSSLCERTWR="file",0,size -> 等待 ">" -> 写入证书内容 -> 等 OK r = hardware_manager.at_client.send(f'AT+MSSLCERTWR="{cert_filename}",0,{len(cert_data)}', ">", 5000) if ">" not in r: return False # 直接写原始字节，不要额外拼 \r\n hardware_manager.uart4g.write(cert_data) r = hardware_manager.at_client.send("", "OK", 8000) if "OK" not in r: return False # 3) 引用根证书 r = hardware_manager.at_client.send(f'AT+MSSLCFG="cert",{ssl_id},"{cert_filename}"', "OK", 3000) if "OK" not in r: return False # 4) 绑定 TCP 通道到 ssl_id，并启用 r = hardware_manager.at_client.send(f'AT+MIPCFG="ssl",{link_id},{ssl_id},1', "OK", 3000) self.logger.info(f"[4G-TCP] AT+MIPCFG=\"ssl\",{link_id},{ssl_id},1 response: {r}") if "OK" not in r: return False return True def receive_tcp_data_via_wifi(self, timeout_ms=100): """ 通过WiFi接收TCP数据 Args: timeout_ms: 超时时间（毫秒） Returns: bytes: 接收到的数据，如果没有数据则返回 b"" """ if not self._wifi_socket: return b"" try: # 设置接收超时 self._wifi_socket.settimeout(timeout_ms / 1000.0) # 尝试接收数据 data = self._wifi_socket.recv(4096) # 每次最多接收4KB return data except socket.timeout: # 超时是正常的，表示没有数据 return b"" except OSError as e: # socket错误（连接断开等） self.logger.warning(f"[WIFI-TCP] 接收数据失败: {e}") # 关闭socket try: self._wifi_socket.close() except: pass self._wifi_socket = None self._tcp_connected = False return b"" except Exception as e: self.logger.error(f"[WIFI-TCP] 接收数据异常: {e}") return b"" def generate_token(self, device_id): """生成用于 HTTP 接口鉴权的 Token（HMAC-SHA256）""" SALT = "shootMessageFire" SALT2 = "shoot" return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest() def tcp_main(self): """TCP 主通信循环：登录、心跳、处理指令、发送数据""" import _thread from maix import camera self.logger.info("[NET] TCP主线程启动") send_hartbeat_fail_count = 0 last_charging_check = 0 CHARGING_CHECK_INTERVAL = 5000 # 5秒检查一次充电状态 while True: try: # 检查充电状态（每5秒检查一次） current_time = time.ticks_ms() if current_time - last_charging_check > CHARGING_CHECK_INTERVAL: last_charging_check = current_time # OTA 期间不要 connect/登录/心跳/发送 try: from ota_manager import ota_manager if ota_manager.ota_in_progress: time.sleep_ms(200) continue except Exception as e: self.logger.error(f"[NET] OTA检查异常: {e}") time.sleep_ms(200) continue if not self.connect_server(): time.sleep_ms(5000) continue # 发送登录包 vol_val = get_bus_voltage() login_data = { "deviceId": self.device_id, "password": self.password, "version": config.APP_VERSION, "vol": vol_val, "vol_per": voltage_to_percent(vol_val) } # if not self.tcp_send_raw(self.make_packet(1, login_data)): if not self.tcp_send_raw(self._netcore.make_packet(1, login_data)): self._tcp_connected = False time.sleep_ms(2000) continue self.logger.info("➡️ 登录包已发送，等待确认...") logged_in = False pending_cleared = False last_heartbeat_ack_time = time.ticks_ms() last_heartbeat_send_time = time.ticks_ms() while True: # OTA 期间暂停 TCP 活动 try: from ota_manager import ota_manager if ota_manager.ota_in_progress: time.sleep_ms(200) continue except Exception as e: self.logger.error(f"[NET] OTA检查异常: {e}") time.sleep_ms(200) continue # 接收数据（根据网络类型选择接收方式） item = None if self._network_type == "wifi": # WiFi接收数据 data = self.receive_tcp_data_via_wifi(timeout_ms=50) if data: # 将数据添加到缓冲区 self._wifi_recv_buffer += data # 尝试从缓冲区解析完整的数据包 while len(self._wifi_recv_buffer) >= 12: # 至少需要12字节的头部 # 解析头部 try: body_len, msg_type, checksum = struct.unpack(">III", self._wifi_recv_buffer[:12]) total_len = 12 + body_len if len(self._wifi_recv_buffer) >= total_len: # 有完整的数据包 payload = self._wifi_recv_buffer[:total_len] self._wifi_recv_buffer = self._wifi_recv_buffer[total_len:] item = (0, payload) # link_id=0 for WiFi break else: # 数据包不完整，等待更多数据 break except: # 解析失败，清空缓冲区 self._wifi_recv_buffer = b"" break elif self._network_type == "4g": # 4G接收数据 item = hardware_manager.at_client.pop_tcp_payload() if item: if isinstance(item, tuple) and len(item) == 2: link_id, payload = item else: link_id, payload = 0, item if not logged_in: try: self.logger.debug(f"[TCP] rx link={link_id} len={len(payload)} head={payload[:12].hex()}") except: pass # msg_type, body = self.parse_packet(payload) msg_type, body = self._netcore.parse_packet(payload) # 处理登录响应 if not logged_in and msg_type == 1: if body and body.get("cmd") == 1 and body.get("data") == "登录成功": logged_in = True last_heartbeat_ack_time = time.ticks_ms() self.logger.info("登录成功") # 检查 ota_pending.json try: 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) except: pending_obj = {} self.safe_enqueue({"result": "ota_ok", "url": pending_obj.get("url", "")}, 2) self.logger.info("[OTA] 已上报 ota_ok，等待心跳确认后删除 pending") except Exception as e: self.logger.error(f"[OTA] ota_ok 上报失败: {e}") else: break # 处理心跳 ACK elif logged_in and msg_type == 4: last_heartbeat_ack_time = time.ticks_ms() self.logger.debug("✅ 收到心跳确认") # 处理命令40（分片下载） elif logged_in and msg_type == 40: if isinstance(body, dict): t = body.get('t', 0) v = body.get('v') # 如果是第一个分片，清空之前的缓存 if len(self._raw_line_data) == 0 or (len(self._raw_line_data) > 0 and self._raw_line_data[0].get('v') != v): self._raw_line_data.clear() # 或者更简单：每次收到命令40时，如果版本号不同，清空缓存 if len(self._raw_line_data) > 0: first_v = self._raw_line_data[0].get('v') if first_v and first_v != v: self._raw_line_data.clear() self._raw_line_data.append(body) if len(self._raw_line_data) >= int(t): self.logger.info(f"下载完成") from ota_manager import ota_manager stock_array = list(map(lambda x: x.get('d'), self._raw_line_data)) local_filename = config.LOCAL_FILENAME with open(local_filename, 'w', encoding='utf-8') as file: file.write("\n".join(stock_array)) ota_manager.apply_ota_and_reboot(None, local_filename) else: self.safe_enqueue({'data':{'l': len(self._raw_line_data), 'v': v}, 'cmd': 41}) self.logger.info(f"已下载{len(self._raw_line_data)} 全部：{t} 版本：{v}") # 处理业务指令 elif logged_in and isinstance(body, dict): inner_cmd = None data_obj = body.get("data") if isinstance(data_obj, dict): inner_cmd = data_obj.get("cmd") if inner_cmd == 2: # 开启激光并校准 from laser_manager import laser_manager if not laser_manager.calibration_active: laser_manager.turn_on_laser() time.sleep_ms(100) if not config.HARDCODE_LASER_POINT: laser_manager.start_calibration() self.safe_enqueue({"result": "calibrating"}, 2) else: # 写死的逻辑，不需要校准激光点 self.safe_enqueue({"result": "laser pos set by hard code"}, 2) elif inner_cmd == 3: # 关闭激光 from laser_manager import laser_manager laser_manager.turn_off_laser() laser_manager.stop_calibration() self.safe_enqueue({"result": "laser_off"}, 2) elif inner_cmd == 4: # 上报电量 voltage = get_bus_voltage() battery_percent = voltage_to_percent(voltage) battery_data = {"battery": battery_percent, "voltage": round(voltage, 3)} self.safe_enqueue(battery_data, 2) self.logger.info(f"电量上报: {battery_percent}%") elif inner_cmd == 5: # OTA 升级 inner_data = data_obj.get("data", {}) if isinstance(data_obj, dict) else {} ssid = inner_data.get("ssid") password = inner_data.get("password") ota_url = inner_data.get("url") mode = (inner_data.get("mode") or "").strip().lower() if not ota_url: self.logger.error("ota missing_url") self.safe_enqueue({"result": "missing_url"}, 2) continue from ota_manager import ota_manager if ota_manager.update_thread_started: self.safe_enqueue({"result": "update_already_started"}, 2) continue # 自动判断模式：如果没有明确指定，根据WiFi连接状态和凭证决定 if mode not in ("4g", "wifi"): self.logger.info("ota missing mode, auto-detecting...") # 只有同时满足：WiFi已连接 且 提供了WiFi凭证，才使用WiFi if self.is_wifi_connected() and ssid and password: mode = "wifi" self.logger.info("ota auto-selected: wifi (WiFi connected and credentials provided)") else: mode = "4g" self.logger.info("ota auto-selected: 4g (WiFi not available or no credentials)") if mode == "4g": ota_manager._set_ota_url(ota_url) # 记录 OTA URL，供命令7使用 ota_manager._start_update_thread() _thread.start_new_thread(ota_manager.direct_ota_download_via_4g, (ota_url,)) else: # mode == "wifi" if not ssid or not password: self.logger.error("ota wifi mode requires ssid and password") self.safe_enqueue({"result": "missing_ssid_or_password"}, 2) else: ota_manager._start_update_thread() _thread.start_new_thread(ota_manager.handle_wifi_and_update, (ssid, password, ota_url)) elif inner_cmd == 6: try: ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip() ip = ip if ip else "no_ip" except: ip = "error_getting_ip" self.safe_enqueue({"result": "current_ip", "ip": ip}, 2) elif inner_cmd == 7: from ota_manager import ota_manager if ota_manager.update_thread_started: self.safe_enqueue({"result": "update_already_started"}, 2) continue try: ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip() except: ip = None if not ip: self.safe_enqueue({"result": "ota_rejected", "reason": "no_wifi_ip"}, 2) else: # 注意：direct_ota_download 需要 ota_url 参数 # 如果 ota_manager.ota_url 为 None，需要从其他地方获取 ota_url_to_use = ota_manager.ota_url if not ota_url_to_use: self.logger.error("[OTA] cmd=7 但 OTA_URL 未设置") self.safe_enqueue({"result": "ota_failed", "reason": "ota_url_not_set"}, 2) else: ota_manager._start_update_thread() _thread.start_new_thread(ota_manager.direct_ota_download, (ota_url_to_use,)) elif inner_cmd == 41: self.logger.info("[TEST] 收到TCP射箭触发命令") self._manual_trigger_flag = True self.safe_enqueue({"result": "trigger_ack"}, 2) elif inner_cmd == 42: # 关机命令 self.logger.info("[SHUTDOWN] 收到TCP关机命令，准备关机...") self.safe_enqueue({"result": "shutdown_ack"}, 2) time.sleep_ms(1000) self.disconnect_server() # 尝试关闭4G模块 try: with self.get_uart_lock(): hardware_manager.at_client.send("AT+CFUN=0", "OK", 5000) except: pass time.sleep_ms(2000) os.system("poweroff") return else: time.sleep_ms(5) # 发送队列中的业务数据 if logged_in and (self._high_send_queue or self._normal_send_queue): msg_type = None data_dict = None if self.get_queue_lock().acquire(blocking=False): try: if self._high_send_queue: msg_type, data_dict = self._high_send_queue.pop(0) elif self._normal_send_queue: msg_type, data_dict = self._normal_send_queue.pop(0) finally: self.get_queue_lock().release() if msg_type is not None and data_dict is not None: pkt = self._netcore.make_packet(msg_type, data_dict) # pkt = self.make_packet(msg_type, data_dict) if not self.tcp_send_raw(pkt): self._tcp_connected = False break # 发送激光校准结果 if logged_in: from laser_manager import laser_manager result = laser_manager.get_calibration_result() if result: x, y = result self.safe_enqueue({"result": "ok", "x": x, "y": y}, 2) # 定期发送心跳 current_time = time.ticks_ms() if logged_in and current_time - last_heartbeat_send_time > config.HEARTBEAT_INTERVAL * 1000: vol_val = get_bus_voltage() if not self.tcp_send_raw(self._netcore.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})): # if not self.tcp_send_raw(self.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})): self.logger.error("心跳发送失败") time.sleep_ms(3000) send_hartbeat_fail_count += 1 if send_hartbeat_fail_count >= 3: send_hartbeat_fail_count = 0 self.logger.error("连续3次发送心跳失败，重连") break else: continue else: send_hartbeat_fail_count = 0 last_heartbeat_send_time = current_time self.logger.debug("心跳已发送") # 删除 pending 文件（心跳发送成功后） if not pending_cleared: try: pending_path = f"{config.APP_DIR}/ota_pending.json" if os.path.exists(pending_path): try: os.remove(pending_path) pending_cleared = True self.logger.info("[OTA] 心跳发送成功，已删除 ota_pending.json") except Exception as e: self.logger.error(f"[OTA] 删除 pending 文件失败: {e}") except Exception as e: self.logger.error(f"[OTA] 检查 pending 文件时出错: {e}") # 心跳超时重连 if logged_in and current_time - last_heartbeat_ack_time > 1000*60*10: self.logger.error("十分钟无心跳ACK，重连") break time.sleep_ms(50) self._tcp_connected = False self.logger.error("连接异常，2秒后重连...") time.sleep_ms(2000) except Exception as e: # TCP主循环的顶层异常捕获，防止线程静默退出 self.logger.error(f"[NET] TCP主循环异常: {e}") import traceback self.logger.error(traceback.format_exc()) self._tcp_connected = False time.sleep_ms(5000) # 等待5秒后重试连接 # 创建全局单例实例 network_manager = NetworkManager() # ==================== 向后兼容的函数接口 ==================== def tcp_main(): """TCP主循环（向后兼容接口）""" return network_manager.tcp_main() def read_device_id(): """读取设备ID（向后兼容接口）""" return network_manager.read_device_id() def safe_enqueue(data_dict, msg_type=2, high=False): """线程安全地加入队列（向后兼容接口）""" return network_manager.safe_enqueue(data_dict, msg_type, high) def connect_server(): """连接服务器（向后兼容接口）""" return network_manager.connect_server() def disconnet_server(): """断开服务器连接（向后兼容接口）""" return network_manager.disconnect_server() def is_wifi_connected(): """检查WiFi是否已连接（向后兼容接口）""" return network_manager.is_wifi_connected() def connect_wifi(ssid, password): """连接WiFi（向后兼容接口）""" return network_manager.connect_wifi(ssid, password) def is_server_reachable(host, port=80, timeout=5): """检查服务器是否可达（向后兼容接口）""" return network_manager.is_server_reachable(host, port, timeout)