530 lines
22 KiB
Python
530 lines
22 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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激光射击系统主程序（视觉测距版）
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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
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平台：MaixPy (Sipeed MAIX)
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作者：ZZH
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最后更新：2025-11-21
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重构版本：使用模块化设计
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"""
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from maix import camera, display, image, app, time, uart, pinmap, i2c
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from maix.peripheral import adc
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import _thread
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import os
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import json
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# 导入新模块
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import config
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from version import VERSION
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# from logger import init_logging, get_logger, stop_logging
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from logger_manager import logger_manager
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from time_sync import sync_system_time_from_4g
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from power import init_ina226, get_bus_voltage, voltage_to_percent
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from laser_manager import laser_manager
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from vision import detect_circle_v3, estimate_distance, enqueue_save_shot, start_save_shot_worker
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from network import network_manager
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from ota_manager import ota_manager
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from hardware import hardware_manager
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from camera_manager import camera_manager
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def laser_calibration_worker():
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"""后台线程：持续检测是否需要执行激光校准"""
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from laser_manager import laser_manager
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from ota_manager import ota_manager
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logger = logger_manager.logger
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if logger:
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logger.info("[LASER] 激光校准线程启动")
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while True:
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try:
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try:
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if ota_manager.ota_in_progress:
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time.sleep_ms(200)
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continue
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except Exception as e:
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logger = logger_manager.logger
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if logger:
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logger.error(f"[LASER] OTA检查异常: {e}")
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time.sleep_ms(200)
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continue
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if laser_manager.calibration_active:
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# 调用校准方法，所有逻辑都在 LaserManager 中
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result = laser_manager.calibrate_laser_position(timeout_ms=8000, check_sharpness=True)
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# 如果超时仍未成功，稍微休息一下
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if laser_manager.calibration_active:
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time.sleep_ms(300)
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else:
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time.sleep_ms(50)
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except Exception as e:
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# 线程顶层异常捕获，防止线程静默退出
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logger = logger_manager.logger
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if logger:
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logger.error(f"[LASER] 校准线程异常: {e}")
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import traceback
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logger.error(traceback.format_exc())
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else:
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print(f"[LASER] 校准线程异常: {e}")
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import traceback
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traceback.print_exc()
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time.sleep_ms(1000) # 等待1秒后继续
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def cmd_str():
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"""主程序入口"""
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# ==================== 第一阶段：硬件初始化 ====================
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# 按照 main104.py 的顺序，先完成所有硬件初始化
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# 1. 引脚功能映射
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for pin, func in config.PIN_MAPPINGS.items():
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try:
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pinmap.set_pin_function(pin, func)
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except:
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pass
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# 2. 初始化硬件对象（UART、I2C、ADC）
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hardware_manager.init_uart4g()
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hardware_manager.init_bus()
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hardware_manager.init_adc()
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hardware_manager.init_at_client()
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# 3. 初始化激光模块（串口 + 开机关闭激光防误触发）
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laser_manager.init()
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# 3. 初始化 INA226 电量监测芯片
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init_ina226()
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# 4. 初始化显示和相机
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camera_manager.init_camera(640, 480)
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camera_manager.init_display()
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# ==================== 第二阶段：软件初始化 ====================
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# 1. 初始化日志系统
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import logging
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logger_manager.init_logging(log_level=logging.DEBUG)
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logger = logger_manager.logger
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# 补充：因为初始化的时候，激光会亮，先关了它
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# laser_manager.turn_off_laser()
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# 2. 从4G模块同步系统时间（需要 at_client 已初始化）
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sync_system_time_from_4g()
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# 2.5. 启动存图 worker 线程（队列 + worker，避免主循环阻塞）
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start_save_shot_worker()
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# 3. 启动时检查：是否需要恢复备份
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pending_path = f"{config.APP_DIR}/ota_pending.json"
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if os.path.exists(pending_path):
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try:
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with open(pending_path, 'r', encoding='utf-8') as f:
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pending_obj = json.load(f)
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restart_count = pending_obj.get('restart_count', 0)
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max_restarts = pending_obj.get('max_restarts', 3)
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backup_dir = pending_obj.get('backup_dir')
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if logger:
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logger.info(f"检测到 ota_pending.json，重启计数: {restart_count}/{max_restarts}")
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if restart_count >= max_restarts:
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if logger:
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logger.error(f"[STARTUP] 重启次数 ({restart_count}) 超过阈值 ({max_restarts})，执行恢复...")
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if backup_dir and os.path.exists(backup_dir):
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if ota_manager.restore_from_backup(backup_dir):
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if logger:
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logger.info(f"[STARTUP] 已从指定备份恢复: {backup_dir}")
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else:
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if logger:
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logger.info(f"[STARTUP] 指定备份恢复失败，尝试恢复最新备份...")
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ota_manager.restore_from_backup(None)
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else:
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if ota_manager.restore_from_backup(None):
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if logger:
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logger.info(f"[STARTUP] 已从最新备份恢复")
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else:
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if logger:
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logger.error(f"[STARTUP] 恢复备份失败")
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try:
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os.remove(pending_path)
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if logger:
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logger.info(f"[STARTUP] 已删除 ota_pending.json")
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except Exception as e:
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if logger:
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logger.error(f"[STARTUP] 删除 pending 文件失败: {e}")
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if logger:
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logger.info(f"[STARTUP] 恢复完成，准备重启系统...")
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time.sleep_ms(2000)
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os.system("reboot")
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return
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else:
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pending_obj['restart_count'] = restart_count + 1
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try:
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with open(pending_path, 'w', encoding='utf-8') as f:
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json.dump(pending_obj, f)
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if logger:
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logger.info(f"[STARTUP] 已更新重启计数: {pending_obj['restart_count']}")
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except Exception as e:
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if logger:
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logger.error(f"[STARTUP] 更新重启计数失败: {e}")
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except Exception as e:
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if logger:
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logger.error(f"[STARTUP] 检查 pending 文件时出错: {e}")
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try:
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if logger:
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logger.info(f"[STARTUP] pending 文件可能损坏，尝试恢复备份...")
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if ota_manager.restore_from_backup(None):
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os.remove(pending_path)
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if logger:
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logger.info(f"[STARTUP] 已恢复备份并删除损坏的 pending 文件")
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time.sleep_ms(2000)
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os.system("reboot")
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return
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except:
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pass
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# 4. 初始化设备ID（network_manager 内部会自动设置 device_id 和 password）
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network_manager.read_device_id()
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# 5. 创建照片存储目录（如果启用图像保存）
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if config.SAVE_IMAGE_ENABLED:
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photo_dir = config.PHOTO_DIR
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if photo_dir not in os.listdir("/root"):
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try:
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os.mkdir(photo_dir)
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except:
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pass
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# 6. 启动通信与校准线程
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_thread.start_new_thread(network_manager.tcp_main, ())
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if not config.HARDCODE_LASER_POINT:
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_thread.start_new_thread(laser_calibration_worker, ())
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# 7. 加载激光点配置
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laser_manager.load_laser_point()
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if logger:
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logger.info("系统准备完成...")
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last_adc_trigger = 0
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# 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
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PRESSURE_BATCH_SIZE = 100
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pressure_buf = []
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pressure_sum = 0
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pressure_min = 4095
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pressure_max = 0
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pressure_t0_ms = None
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def _flush_pressure_buf(reason: str):
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if not config.AIR_PRESSURE_lOG:
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return
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nonlocal pressure_buf, pressure_sum, pressure_min, pressure_max, pressure_t0_ms, logger
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if not pressure_buf:
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return
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t1_ms = time.ticks_ms()
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n = len(pressure_buf)
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avg = (pressure_sum / n) if n else 0
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# 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
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line = (
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f"[气压批量] reason={reason} "
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f"t0={pressure_t0_ms} t1={t1_ms} n={n} "
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f"min={pressure_min} max={pressure_max} avg={avg:.1f} "
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f"values={','.join(map(str, pressure_buf))}"
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)
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if logger:
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logger.debug(line)
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else:
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print(line)
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pressure_buf = []
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pressure_sum = 0
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pressure_min = 4095
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pressure_max = 0
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pressure_t0_ms = None
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# 主循环：检测扳机触发 → 拍照 → 分析 → 上报
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while not app.need_exit():
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try:
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current_time = time.ticks_ms()
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# OTA 期间暂停相机预览
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try:
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if ota_manager.ota_in_progress:
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time.sleep_ms(250)
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continue
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except Exception as e:
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logger = logger_manager.logger
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if logger:
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logger.error(f"[MAIN] OTA检查异常: {e}")
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time.sleep_ms(250)
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continue
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# 读取ADC值（扳机检测）
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try:
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if network_manager.manual_trigger_flag:
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network_manager.clear_manual_trigger()
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adc_val = config.ADC_TRIGGER_THRESHOLD + 1
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if logger:
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logger.info("[TEST] TCP命令触发射箭")
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else:
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adc_val = hardware_manager.adc_obj.read()
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except Exception as e:
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logger = logger_manager.logger
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if logger:
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logger.error(f"[MAIN] ADC读取异常: {e}")
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time.sleep_ms(100)
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continue
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# ====== 气压采样缓存（每次循环都记录，批量输出日志）======
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if pressure_t0_ms is None:
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pressure_t0_ms = current_time
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pressure_buf.append(adc_val)
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pressure_sum += adc_val
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if adc_val < pressure_min:
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pressure_min = adc_val
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if adc_val > pressure_max:
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pressure_max = adc_val
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if len(pressure_buf) >= PRESSURE_BATCH_SIZE:
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_flush_pressure_buf("batch")
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# if adc_val >= 2000:
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# print(f"adc :{adc_val}")
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if adc_val >= config.ADC_TRIGGER_THRESHOLD:
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diff_ms = current_time - last_adc_trigger
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if diff_ms < 3000:
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continue
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last_adc_trigger = current_time
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# 触发前先把缓存刷出来，避免波形被长耗时处理截断
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_flush_pressure_buf("before_trigger")
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try:
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frame = camera_manager.read_frame()
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laser_point_method = None # 记录激光点选择方法
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if config.HARDCODE_LASER_POINT:
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# 硬编码模式：使用硬编码值
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laser_point = laser_manager.laser_point
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laser_point_method = "hardcode"
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elif laser_manager.has_calibrated_point():
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# 假如校准过，并且有保存值，使用校准值
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laser_point = laser_manager.laser_point
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laser_point_method = "calibrated"
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logger_manager.logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
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elif distance_m and distance_m > 0:
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# 动态计算模式：根据距离计算激光点
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# 先检测靶心以获取距离（用于计算激光点）
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# 第一次检测不使用激光点，仅用于获取距离
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result_img_temp, center_temp, radius_temp, method_temp, best_radius1_temp, ellipse_params_temp = detect_circle_v3(frame, None)
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# 计算距离
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distance_m = estimate_distance(best_radius1_temp) if best_radius1_temp else None
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laser_point = laser_manager.calculate_laser_point_from_distance(distance_m)
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laser_point_method = "dynamic"
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if laser_point is None:
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logger = logger_manager.logger
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if logger:
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logger.warning("[MAIN] 激光点未初始化，跳过本次检测")
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time.sleep_ms(100)
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continue
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x, y = laser_point
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# 检测靶心
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result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
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if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING:
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camera_manager.show(result_img)
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# 计算偏移与距离（如果检测到靶心）
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if center and radius:
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dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
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distance_m = estimate_distance(best_radius1)
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else:
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# 未检测到靶心
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dx, dy = None, None
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distance_m = None
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if logger:
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logger.warning("[MAIN] 未检测到靶心，但会保存图像")
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# 快速激光测距（激光一闪而过，约500-600ms）
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laser_distance_m = None
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laser_signal_quality = 0
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# try:
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# result = laser_manager.quick_measure_distance()
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# if isinstance(result, tuple) and len(result) == 2:
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# laser_distance_m, laser_signal_quality = result
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# else:
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# # 向后兼容：如果返回的是单个值
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# laser_distance_m = result if isinstance(result, (int, float)) else 0.0
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# laser_signal_quality = 0
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# if logger:
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# if laser_distance_m > 0:
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# logger.info(f"[MAIN] 激光测距成功: {laser_distance_m:.3f} m, 信号质量: {laser_signal_quality}")
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# else:
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# logger.warning("[MAIN] 激光测距失败或返回0")
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# except Exception as e:
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# if logger:
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# logger.error(f"[MAIN] 激光测距异常: {e}")
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# 读取电量
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voltage = get_bus_voltage()
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battery_percent = voltage_to_percent(voltage)
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# 生成射箭ID
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from shot_id_generator import shot_id_generator
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shot_id = shot_id_generator.generate_id() # 不需要使用device_id
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# 构造上报数据
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inner_data = {
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"shot_id": shot_id, # 射箭ID，用于关联图片和服务端日志
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"x": float(dx) if dx is not None else 200.0,
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"y": float(dy) if dy is not None else 200.0,
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"r": 90.0,
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"d": round((distance_m or 0.0) * 100), # 视觉测距值（厘米）
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"d_laser": round((laser_distance_m or 0.0) * 100), # 激光测距值（厘米）
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"d_laser_quality": laser_signal_quality, # 激光测距信号质量
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"m": method if method else "no_target",
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"adc": adc_val,
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# 新增字段：激光点选择方法
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"laser_method": laser_point_method, # 激光点选择方法：hardcode/calibrated/dynamic/default
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# 激光点坐标（像素）
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"target_x": float(x), # 激光点 X 坐标（像素）
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"target_y": float(y), # 激光点 Y 坐标（像素）
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}
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# 添加椭圆参数（如果存在）
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if ellipse_params:
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(ell_center, (width, height), angle) = ellipse_params
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inner_data["ellipse_major_axis"] = float(max(width, height)) # 长轴（像素）
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inner_data["ellipse_minor_axis"] = float(min(width, height)) # 短轴（像素）
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inner_data["ellipse_angle"] = float(angle) # 椭圆角度（度）
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inner_data["ellipse_center_x"] = float(ell_center[0]) # 椭圆中心 X 坐标（像素）
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inner_data["ellipse_center_y"] = float(ell_center[1]) # 椭圆中心 Y 坐标（像素）
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else:
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inner_data["ellipse_major_axis"] = None
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inner_data["ellipse_minor_axis"] = None
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inner_data["ellipse_angle"] = None
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inner_data["ellipse_center_x"] = None
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inner_data["ellipse_center_y"] = None
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report_data = {"cmd": 1, "data": inner_data}
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network_manager.safe_enqueue(report_data, msg_type=2, high=True)
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# 闪一下激光（射箭反馈）
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if config.FLASH_LASER_WHILE_SHOOTING:
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laser_manager.flash_laser(config.FLASH_LASER_DURATION_MS)
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# 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:
|
||
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(10)
|
||
|
||
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
|