1454 lines
52 KiB
Python
1454 lines
52 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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"""
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from maix import camera, display, image, app, time, key, uart, pinmap, i2c, network, err
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import cv2
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import numpy as np
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import json
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import struct
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import re
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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 hmac
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import ujson
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import hashlib
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import requests
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import socket
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import re
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import binascii
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try:
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import hashlib
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except:
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hashlib = None
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# import config
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# ==================== Locks ====================
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class _Mutex:
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"""
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基于 _thread.allocate_lock() 的互斥锁封装：
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- 支持 with
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- 支持 try_acquire（若固件不支持非阻塞 acquire 参数，则退化为阻塞 acquire）
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"""
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def __init__(self):
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self._lk = _thread.allocate_lock()
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def acquire(self, blocking=True):
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try:
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return self._lk.acquire(blocking)
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except TypeError:
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self._lk.acquire()
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return True
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def try_acquire(self):
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return self.acquire(False)
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def release(self):
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self._lk.release()
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def __enter__(self):
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self.acquire(True)
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return self
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def __exit__(self, exc_type, exc, tb):
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self.release()
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return False
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# ==================== 全局配置 ====================
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# OTA 升级地址与本地路径
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# url = "https://static.shelingxingqiu.com/shoot/202511031031/main.py"
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local_filename = "/maixapp/apps/t11/main_tmp.py"
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app_version = '1.0.0'
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# OTA 下发参数（由后端指令写入）
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OTA_URL = None
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OTA_MODE = None # "4g" / "wifi" / None
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def is_wifi_connected():
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"""尽量判断当前是否有 Wi-Fi（有则走 Wi-Fi OTA，否则走 4G OTA）"""
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# 优先用 MaixPy network（如果可用）
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try:
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wlan = network.WLAN(network.TYPE_WIFI)
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if wlan.isconnected():
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return True
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except:
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pass
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# 兜底：看系统 wlan0 有没有 IP（你系统可能没有 wlan0，则返回 False）
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try:
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ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
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return bool(ip)
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except:
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return False
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# 设备认证信息（运行时动态加载）
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DEVICE_ID = None
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PASSWORD = None
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# 服务器连接参数
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SERVER_IP = "www.shelingxingqiu.com"
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SERVER_PORT = 50005
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HEARTBEAT_INTERVAL = 60 # 心跳间隔（秒）
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# 激光校准配置
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CONFIG_FILE = "/root/laser_config.json"
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DEFAULT_POINT = (640, 480) # 默认激光中心点（图像中心）
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laser_point = DEFAULT_POINT
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# HTTP 上报接口
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URL = "http://ws.shelingxingqiu.com"
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API_PATH = "/home/shoot/device_fire/arrow/fire"
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# UART 设备初始化
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uart4g = uart.UART("/dev/ttyS2", 115200) # 4G 模块通信
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distance_serial = uart.UART("/dev/ttyS1", 9600) # 激光测距模块
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# 引脚功能映射
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pinmap.set_pin_function("A18", "UART1_RX")
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pinmap.set_pin_function("A19", "UART1_TX")
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pinmap.set_pin_function("A29", "UART2_RX")
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pinmap.set_pin_function("A28", "UART2_TX")
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pinmap.set_pin_function("P18", "I2C1_SCL")
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pinmap.set_pin_function("P21", "I2C1_SDA")
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# pinmap.set_pin_function("A15", "I2C5_SCL")
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# pinmap.set_pin_function("A27", "I2C5_SDA")#ota升级要修改的
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# ADC 触发阈值（用于检测扳机/激光触发）
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ADC_TRIGGER_THRESHOLD = 3000
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ADC_LASER_THRESHOLD = 3000
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# 显示参数：激光十字线样式
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color = image.Color(255, 100, 0)
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thickness = 1
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length = 2
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# 全局状态变量
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laser_calibration_active = False # 是否正在后台校准激光
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laser_calibration_result = None # 校准结果坐标 (x, y)
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laser_calibration_lock = _Mutex() # 互斥锁，防止多线程冲突
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# 硬件对象初始化
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laser_x, laser_y = laser_point
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adc_obj = adc.ADC(0, adc.RES_BIT_12)
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bus = i2c.I2C(1, i2c.Mode.MASTER) # 使用 I2C1 总线
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# bus = i2c.I2C(5, i2c.Mode.MASTER) #ota升级的
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# INA226 电流/电压监测芯片寄存器地址
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INA226_ADDR = 0x40
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REG_CONFIGURATION = 0x00
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REG_BUS_VOLTAGE = 0x02
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REG_CALIBRATION = 0x05
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CALIBRATION_VALUE = 0x1400
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# 激光控制指令（自定义协议）
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MODULE_ADDR = 0x00
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LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
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LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
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# 相机标定参数（用于距离估算）
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# FOCAL_LENGTH_PIX = 3800.0 # 焦距（像素）
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FOCAL_LENGTH_PIX = 2200.0 # 焦距（像素）
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REAL_RADIUS_CM = 15 # 靶心实际半径（厘米）
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# TCP 连接状态
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tcp_connected = False
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high_send_queue = [] # 高优先级发送队列：射箭事件等
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normal_send_queue = [] # 普通发送队列：电量/校准结果/状态等
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queue_lock = _Mutex() # 互斥锁，保护队列
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uart4g_lock = _Mutex() # 互斥锁，保护 4G 串口 AT 发送流程（防并发）
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update_thread_started = False # 防止 OTA 更新线程重复启动
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ota_in_progress = False # OTA(4G HTTP URC) 期间暂停 tcp_main 读取 uart4g，避免吞掉 +MHTTPURC
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# ==================== 工具函数 ====================
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def download_file(url, filename):
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"""从指定 URL 下载文件并保存为 UTF-8 编码文本"""
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try:
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print(f"正在从 {url} 下载文件...")
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response = requests.get(url)
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response.raise_for_status()
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response.encoding = 'utf-8'
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with open(filename, 'w', encoding='utf-8') as file:
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file.write(response.text)
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return f"下载成功！文件已保存为: {filename}"
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except requests.exceptions.RequestException as e:
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return f"下载失败！网络请求错误: {e}"
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except OSError as e:
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return f"下载失败！文件写入错误: {e}"
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except Exception as e:
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return f"下载失败！发生未知错误: {e}"
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def is_server_reachable(host, port=80, timeout=5):
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"""检查目标主机端口是否可达（用于 OTA 前网络检测）"""
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try:
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addr_info = socket.getaddrinfo(host, port)[0]
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s = socket.socket(addr_info[0], addr_info[1], addr_info[2])
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s.settimeout(timeout)
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s.connect(addr_info[-1])
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s.close()
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return True
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except Exception as e:
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print(f"[NET] 无法连接 {host}:{port} - {e}")
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return False
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def apply_ota_and_reboot(ota_url=None):
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"""
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OTA 文件下载成功后：备份原 main.py -> 替换 main_tmp.py -> 重启设备
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"""
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import shutil
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main_py = "/maixapp/apps/t11/main.py"
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main_tmp = "/maixapp/apps/t11/main_tmp.py"
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main_bak = "/maixapp/apps/t11/main.py.bak"
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ota_pending = "/maixapp/apps/t11/ota_pending.json"
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try:
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# 1. 检查下载的文件是否存在
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if not os.path.exists(main_tmp):
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print(f"[OTA] 错误：{main_tmp} 不存在")
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return False
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# 2. 备份原 main.py（如果存在）
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if os.path.exists(main_py):
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try:
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shutil.copy2(main_py, main_bak)
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print(f"[OTA] 已备份 {main_py} -> {main_bak}")
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except Exception as e:
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print(f"[OTA] 备份失败: {e}")
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# 备份失败也继续（可能没有原文件）
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# 3. 替换：main_tmp.py -> main.py
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try:
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shutil.copy2(main_tmp, main_py)
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print(f"[OTA] 已替换 {main_tmp} -> {main_py}")
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# 确保写入磁盘
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try:
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os.sync() # 如果系统支持
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except:
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pass
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time.sleep_ms(500) # 额外等待确保写入完成
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except Exception as e:
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print(f"[OTA] 替换失败: {e}")
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return False
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# 3.5 写入 pending（用于重启后确认成功并上报）
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try:
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pending_obj = {
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"ts": int(time.time()) if hasattr(time, "time") else 0,
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"url": ota_url or "",
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"tmp": main_tmp,
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"main": main_py,
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"bak": main_bak,
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}
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with open(ota_pending, "w", encoding="utf-8") as f:
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json.dump(pending_obj, f)
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try:
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os.sync()
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except:
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pass
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except Exception as e:
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print(f"[OTA] 写入 ota_pending 失败: {e}")
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# 4. 通知服务器（可选，但重启前发一次）
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safe_enqueue({"result": "ota_applied_rebooting"}, 2)
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time.sleep_ms(1000) # 给一点时间让消息发出
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# 5. 重启设备
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print("[OTA] 准备重启设备...")
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os.system("reboot") # MaixPy 通常是这个命令
|
||
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return True
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||
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except Exception as e:
|
||
print(f"[OTA] apply_ota_and_reboot 异常: {e}")
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return False
|
||
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def direct_ota_download(ota_url):
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"""
|
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直接执行 OTA 下载（假设已有网络）
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用于 cmd=7 / 或 wifi 模式
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"""
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global update_thread_started
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try:
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if not ota_url:
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safe_enqueue({"result": "ota_failed", "reason": "missing_url"}, 2)
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return
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from urllib.parse import urlparse
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parsed_url = urlparse(ota_url)
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host = parsed_url.hostname
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port = parsed_url.port or (443 if parsed_url.scheme == 'https' else 80)
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|
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if not is_server_reachable(host, port, timeout=8):
|
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safe_enqueue({"result": "ota_failed", "reason": f"无法连接 {host}:{port}"}, 2)
|
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return
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print(f"[OTA] 开始下载: {ota_url}")
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result_msg = download_file(ota_url, local_filename)
|
||
print(f"[OTA] {result_msg}")
|
||
|
||
# 检查是否下载成功（包含"成功"或"下载成功"关键字）
|
||
if "成功" in result_msg or "下载成功" in result_msg:
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||
# 下载成功：备份+替换+重启
|
||
if apply_ota_and_reboot(ota_url):
|
||
return # 会重启，不会执行到 finally
|
||
else:
|
||
safe_enqueue({"result": result_msg}, 2)
|
||
|
||
except Exception as e:
|
||
error_msg = f"OTA 异常: {str(e)}"
|
||
print(error_msg)
|
||
safe_enqueue({"result": "ota_failed", "reason": error_msg}, 2)
|
||
finally:
|
||
update_thread_started = False
|
||
|
||
def handle_wifi_and_update(ssid, password, ota_url):
|
||
"""在子线程中执行 Wi-Fi 连接 + OTA 更新流程"""
|
||
global update_thread_started
|
||
try:
|
||
ip, error = connect_wifi(ssid, password)
|
||
if error:
|
||
safe_enqueue({"result": "wifi_failed", "error": error}, 2)
|
||
return
|
||
safe_enqueue({"result": "wifi_connected", "ip": ip}, 2)
|
||
|
||
# 下载
|
||
if not ota_url:
|
||
safe_enqueue({"result": "ota_failed", "reason": "missing_url"}, 2)
|
||
return
|
||
|
||
from urllib.parse import urlparse
|
||
parsed_url = urlparse(ota_url)
|
||
host = parsed_url.hostname
|
||
port = parsed_url.port or (443 if parsed_url.scheme == 'https' else 80)
|
||
|
||
if not is_server_reachable(host, port, timeout=8):
|
||
err_msg = f"网络不通：无法连接 {host}:{port}"
|
||
safe_enqueue({"result": err_msg}, 2)
|
||
return
|
||
|
||
print(f"[NET] 已确认可访问 {host}:{port}，开始下载...")
|
||
result = download_file(ota_url, local_filename)
|
||
print(result)
|
||
|
||
# 检查是否下载成功（包含"成功"或"下载成功"关键字）
|
||
if "成功" in result or "下载成功" in result:
|
||
# 下载成功：备份+替换+重启
|
||
if apply_ota_and_reboot(ota_url):
|
||
return # 会重启，不会执行到 finally
|
||
else:
|
||
safe_enqueue({"result": result}, 2)
|
||
|
||
finally:
|
||
update_thread_started = False
|
||
print("[UPDATE] 更新线程执行完毕，即将退出。")
|
||
|
||
|
||
def connect_wifi(ssid, password):
|
||
"""
|
||
连接 Wi-Fi 并将凭证持久化保存到 /boot/ 目录，
|
||
以便设备重启后自动连接。
|
||
"""
|
||
conf_path = "/etc/wpa_supplicant.conf"
|
||
ssid_file = "/boot/wifi.ssid"
|
||
pass_file = "/boot/wifi.pass"
|
||
|
||
try:
|
||
# 生成 wpa_supplicant 配置
|
||
net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read()
|
||
if "network={" not in net_conf:
|
||
return None, "Failed to generate wpa config"
|
||
|
||
# 写入运行时配置
|
||
with open(conf_path, "w") as f:
|
||
f.write("ctrl_interface=/var/run/wpa_supplicant\n")
|
||
f.write("update_config=1\n\n")
|
||
f.write(net_conf)
|
||
|
||
# 持久化保存 SSID/PASS（关键！）
|
||
with open(ssid_file, "w") as f:
|
||
f.write(ssid.strip())
|
||
with open(pass_file, "w") as f:
|
||
f.write(password.strip())
|
||
|
||
# 重启 Wi-Fi 服务
|
||
os.system("/etc/init.d/S30wifi restart")
|
||
|
||
# 等待获取 IP
|
||
for _ in range(20):
|
||
ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
|
||
if ip:
|
||
return ip, None
|
||
time.sleep(1)
|
||
|
||
return None, "Timeout: No IP obtained"
|
||
|
||
except Exception as e:
|
||
return None, f"Exception: {str(e)}"
|
||
|
||
|
||
def read_device_id():
|
||
"""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:
|
||
print(f"[INFO] 从 /device_key 读取到 DEVICE_ID: {device_id}")
|
||
return device_id
|
||
except Exception as e:
|
||
print(f"[ERROR] 无法读取 /device_key: {e}")
|
||
return "DEFAULT_DEVICE_ID"
|
||
|
||
|
||
def safe_enqueue(data_dict, msg_type=2, high=False):
|
||
"""线程安全地将消息加入 TCP 发送队列（支持优先级）"""
|
||
global queue_lock, high_send_queue, normal_send_queue
|
||
item = (msg_type, data_dict)
|
||
with queue_lock:
|
||
if high:
|
||
high_send_queue.append(item)
|
||
else:
|
||
normal_send_queue.append(item)
|
||
|
||
|
||
def _uart4g_lock_acquire():
|
||
# 兼容旧调用：建议改为 `with uart4g_lock:`
|
||
uart4g_lock.acquire(True)
|
||
|
||
|
||
def _uart4g_lock_release():
|
||
# 兼容旧调用：建议改为 `with uart4g_lock:`
|
||
uart4g_lock.release()
|
||
|
||
|
||
def at(cmd, wait="OK", timeout=2000):
|
||
"""向 4G 模块发送 AT 指令并等待响应"""
|
||
if cmd:
|
||
uart4g.write((cmd + "\r\n").encode())
|
||
t0 = time.ticks_ms()
|
||
buf = b""
|
||
while time.ticks_ms() - t0 < timeout:
|
||
data = uart4g.read()
|
||
if data:
|
||
buf += data
|
||
if wait.encode() in buf:
|
||
return buf.decode(errors="ignore")
|
||
return buf.decode(errors="ignore")
|
||
|
||
|
||
def make_packet(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(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])
|
||
body = data[12:12 + body_len]
|
||
try:
|
||
return msg_type, json.loads(body.decode())
|
||
except:
|
||
return msg_type, {"raw": body.decode(errors="ignore")}
|
||
|
||
|
||
def tcp_send_raw(data: bytes, max_retries=2) -> bool:
|
||
"""通过 4G 模块的 AT 指令发送原始 TCP 数据包"""
|
||
global tcp_connected
|
||
if not tcp_connected:
|
||
return False
|
||
with uart4g_lock:
|
||
for attempt in range(max_retries):
|
||
cmd = f'AT+MIPSEND=0,{len(data)}'
|
||
if ">" not in at(cmd, ">", 1500):
|
||
time.sleep_ms(100)
|
||
continue
|
||
|
||
time.sleep_ms(10)
|
||
full = data + b"\x1A" # AT 指令结束符
|
||
try:
|
||
sent = uart4g.write(full)
|
||
if sent != len(full):
|
||
continue
|
||
except:
|
||
continue
|
||
|
||
if "OK" in at("", "OK", 1000):
|
||
return True
|
||
time.sleep_ms(100)
|
||
|
||
return False
|
||
|
||
|
||
def generate_token(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 send_http_cmd(cmd_str, timeout_ms=3000):
|
||
"""发送 HTTP 相关 AT 指令（调试用）"""
|
||
print("[HTTP AT] =>", cmd_str)
|
||
return at(cmd_str, "OK", timeout_ms)
|
||
|
||
|
||
def read_http_response(timeout_ms=5000):
|
||
"""读取并打印 HTTP 响应（用于调试）"""
|
||
start = time.ticks_ms()
|
||
while time.ticks_ms() - start < timeout_ms:
|
||
data = uart4g.read(128)
|
||
if data:
|
||
try:
|
||
print("📡 HTTP 响应:", data.decode("utf-8", "ignore").strip())
|
||
except:
|
||
print("📡 响应(raw):", data)
|
||
time.sleep_ms(100)
|
||
|
||
|
||
def upload_shoot_event(json_data):
|
||
"""通过 4G 模块上报射击事件到 HTTP 接口（备用通道）"""
|
||
token = generate_token(DEVICE_ID)
|
||
if not send_http_cmd(f'AT+MHTTPCREATE="{URL}"'):
|
||
return False
|
||
instance_id = 0
|
||
send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
|
||
send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
|
||
send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {DEVICE_ID}"')
|
||
json_str = ujson.dumps(json_data)
|
||
if not send_http_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"'):
|
||
return False
|
||
if send_http_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{API_PATH}"'):
|
||
read_http_response()
|
||
return True
|
||
return False
|
||
|
||
|
||
def load_laser_point():
|
||
"""从配置文件加载激光中心点，失败则使用默认值"""
|
||
global laser_point
|
||
try:
|
||
if "laser_config.json" in os.listdir("/root"):
|
||
with open(CONFIG_FILE, "r") as f:
|
||
data = json.load(f)
|
||
if isinstance(data, list) and len(data) == 2:
|
||
laser_point = (int(data[0]), int(data[1]))
|
||
print(f"[INFO] 加载激光点: {laser_point}")
|
||
else:
|
||
raise ValueError
|
||
else:
|
||
laser_point = DEFAULT_POINT
|
||
except:
|
||
laser_point = DEFAULT_POINT
|
||
|
||
|
||
def save_laser_point(point):
|
||
"""保存激光中心点到配置文件"""
|
||
global laser_point
|
||
try:
|
||
with open(CONFIG_FILE, "w") as f:
|
||
json.dump([point[0], point[1]], f)
|
||
laser_point = point
|
||
except:
|
||
pass
|
||
|
||
|
||
def turn_on_laser():
|
||
"""发送指令开启激光，并读取回包（部分模块支持）"""
|
||
distance_serial.write(LASER_ON_CMD)
|
||
time.sleep_ms(10)
|
||
resp = distance_serial.read(20)
|
||
if resp:
|
||
if resp == LASER_ON_CMD:
|
||
print("✅ 激光指令已确认")
|
||
else:
|
||
print("🔇 无回包（正常或模块不支持）")
|
||
return resp
|
||
|
||
|
||
def find_red_laser(frame, threshold=150):
|
||
"""在图像中查找最亮的红色激光点（基于 RGB 阈值）"""
|
||
w, h = frame.width(), frame.height()
|
||
img_bytes = frame.to_bytes()
|
||
max_sum = 0
|
||
best_pos = None
|
||
for y in range(0, h, 2):
|
||
for x in range(0, w, 2):
|
||
idx = (y * w + x) * 3
|
||
r, g, b = img_bytes[idx], img_bytes[idx+1], img_bytes[idx+2]
|
||
if r > threshold and r > g * 2 and r > b * 2:
|
||
rgb_sum = r + g + b
|
||
if rgb_sum > max_sum:
|
||
max_sum = rgb_sum
|
||
best_pos = (x, y)
|
||
return best_pos
|
||
|
||
|
||
def calibrate_laser_position():
|
||
"""执行一次激光校准：拍照 → 找红点 → 保存坐标"""
|
||
global laser_x, laser_y
|
||
time.sleep_ms(80)
|
||
cam = camera.Camera(640, 480)
|
||
frame = cam.read()
|
||
pos = find_red_laser(frame)
|
||
if pos:
|
||
laser_x, laser_y = pos
|
||
save_laser_point(pos)
|
||
return pos
|
||
return None
|
||
|
||
|
||
# ==================== 电源管理（INA226） ====================
|
||
|
||
def write_register(reg, value):
|
||
data = [(value >> 8) & 0xFF, value & 0xFF]
|
||
bus.writeto_mem(INA226_ADDR, reg, bytes(data))
|
||
|
||
|
||
def read_register(reg):
|
||
data = bus.readfrom_mem(INA226_ADDR, reg, 2)
|
||
return (data[0] << 8) | data[1]
|
||
|
||
|
||
def init_ina226():
|
||
"""初始化 INA226 芯片：配置模式 + 校准值"""
|
||
write_register(REG_CONFIGURATION, 0x4527)
|
||
write_register(REG_CALIBRATION, CALIBRATION_VALUE)
|
||
|
||
|
||
def get_bus_voltage():
|
||
"""读取总线电压（单位：V）"""
|
||
raw = read_register(REG_BUS_VOLTAGE)
|
||
return raw * 1.25 / 1000
|
||
|
||
|
||
def voltage_to_percent(voltage):
|
||
"""根据电压估算电池百分比（查表插值）"""
|
||
points = [
|
||
(4.20, 100), (4.10, 95), (4.05, 85), (4.00, 75), (3.95, 65),
|
||
(3.90, 55), (3.85, 45), (3.80, 35), (3.75, 25), (3.70, 15),
|
||
(3.65, 5), (3.60, 0)
|
||
]
|
||
if voltage >= points[0][0]:
|
||
return 100
|
||
if voltage <= points[-1][0]:
|
||
return 0
|
||
for i in range(len(points) - 1):
|
||
v1, p1 = points[i]
|
||
v2, p2 = points[i + 1]
|
||
if voltage >= v2:
|
||
ratio = (voltage - v1) / (v2 - v1)
|
||
percent = p1 + (p2 - p1) * ratio
|
||
return max(0, min(100, int(round(percent))))
|
||
return 0
|
||
|
||
|
||
# ==================== 靶心检测与距离计算 ====================
|
||
|
||
def detect_circle(frame):
|
||
"""检测图像中的靶心（优先清晰轮廓，其次黄色区域）"""
|
||
global REAL_RADIUS_CM
|
||
img_cv = image.image2cv(frame, False, False)
|
||
gray = cv2.cvtColor(img_cv, cv2.COLOR_BGR2GRAY)
|
||
blurred = cv2.GaussianBlur(gray, (5, 5), 0)
|
||
edged = cv2.Canny(blurred, 50, 150)
|
||
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
|
||
ceroded = cv2.erode(cv2.dilate(edged, kernel), kernel)
|
||
|
||
contours, _ = cv2.findContours(ceroded, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
|
||
best_center = best_radius = best_radius1 = method = None
|
||
|
||
# 方法1：基于轮廓拟合椭圆（清晰靶心）
|
||
for cnt in contours:
|
||
area = cv2.contourArea(cnt)
|
||
perimeter = cv2.arcLength(cnt, True)
|
||
if perimeter < 100 or area < 100:
|
||
continue
|
||
circularity = 4 * np.pi * area / (perimeter ** 2)
|
||
if circularity > 0.75 and len(cnt) >= 5:
|
||
center, axes, angle = cv2.fitEllipse(cnt)
|
||
radius = axes[0]
|
||
if axes[1] < radius:
|
||
radius = axes[1]
|
||
radius /= 2
|
||
best_center = (int(center[0]), int(center[1]))
|
||
best_radius = int(radius)
|
||
best_radius1 = best_radius
|
||
REAL_RADIUS_CM = 15
|
||
method = "清晰"
|
||
break
|
||
|
||
# 方法2：基于 HSV 黄色掩码（模糊靶心）
|
||
if not best_center:
|
||
hsv = cv2.cvtColor(img_cv, cv2.COLOR_BGR2HSV)
|
||
h, s, v = cv2.split(hsv)
|
||
s = np.clip(s * 2, 0, 255).astype(np.uint8)
|
||
hsv = cv2.merge((h, s, v))
|
||
lower_yellow = np.array([7, 80, 0])
|
||
upper_yellow = np.array([32, 255, 182])
|
||
mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
|
||
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
|
||
mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
|
||
mask = cv2.morphologyEx(mask, cv2.MORPH_DILATE, kernel)
|
||
contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
|
||
if contours:
|
||
largest = max(contours, key=cv2.contourArea)
|
||
if cv2.contourArea(largest) > 50:
|
||
(x, y), radius = cv2.minEnclosingCircle(largest)
|
||
best_center = (int(x), int(y))
|
||
best_radius = int(radius)
|
||
best_radius1 = best_radius
|
||
REAL_RADIUS_CM = 15
|
||
method = "模糊"
|
||
|
||
result_img = image.cv2image(img_cv, False, False)
|
||
return result_img, best_center, best_radius, method, best_radius1
|
||
|
||
|
||
def estimate_distance(pixel_radius):
|
||
"""根据像素半径估算实际距离（单位：米）"""
|
||
if not pixel_radius:
|
||
return 0.0
|
||
return (REAL_RADIUS_CM * FOCAL_LENGTH_PIX) / pixel_radius / 100.0
|
||
|
||
|
||
def compute_laser_position(circle_center, laser_point, radius, method):
|
||
"""计算激光相对于靶心的偏移量（单位：厘米）"""
|
||
if not all([circle_center, radius, method]):
|
||
return None, None
|
||
cx, cy = circle_center
|
||
lx, ly = laser_point
|
||
# 根据检测方法动态调整靶心物理半径（简化模型）
|
||
circle_r = (radius / 4.0) * 20.0 if method == "模糊" else (68 / 16.0) * 20.0
|
||
dx = lx - cx
|
||
dy = ly - cy
|
||
return dx / (circle_r / 100.0), -dy / (circle_r / 100.0)
|
||
|
||
|
||
# ==================== TCP 通信线程 ====================
|
||
|
||
def connect_server():
|
||
"""通过 4G 模块建立 TCP 连接"""
|
||
global tcp_connected
|
||
if tcp_connected:
|
||
return True
|
||
print("连接到服务器...")
|
||
with uart4g_lock:
|
||
at("AT+MIPCLOSE=0", "OK", 1000)
|
||
res = at(f'AT+MIPOPEN=0,"TCP","{SERVER_IP}",{SERVER_PORT}', "+MIPOPEN", 8000)
|
||
if "+MIPOPEN: 0,0" in res:
|
||
tcp_connected = True
|
||
return True
|
||
return False
|
||
|
||
|
||
def tcp_main():
|
||
"""TCP 主通信循环：登录、心跳、处理指令、发送数据"""
|
||
global tcp_connected, high_send_queue, normal_send_queue, queue_lock, laser_calibration_active, laser_calibration_result, laser_calibration_lock, update_thread_started
|
||
send_hartbeat_fail_count = 0
|
||
while not app.need_exit():
|
||
if not connect_server():
|
||
time.sleep_ms(5000)
|
||
continue
|
||
|
||
# 发送登录包
|
||
login_data = {"deviceId": DEVICE_ID, "password": PASSWORD}
|
||
if not tcp_send_raw(make_packet(1, login_data)):
|
||
tcp_connected = False
|
||
time.sleep_ms(2000)
|
||
continue
|
||
|
||
print("➡️ 登录包已发送，等待确认...")
|
||
logged_in = False
|
||
last_heartbeat_ack_time = time.ticks_ms()
|
||
last_heartbeat_send_time = time.ticks_ms()
|
||
rx_buf = b""
|
||
|
||
while True:
|
||
# 接收数据
|
||
# OTA(4G HTTP) 会从 uart4g 吐出大量 +MHTTPURC 数据；
|
||
# tcp_main 若在此 read，会把 URC 吃掉，导致 OTA empty_body/incomplete_body。
|
||
# 同时 uart4g_lock 置 True 时也不要抢读。
|
||
if ota_in_progress:
|
||
time.sleep_ms(20)
|
||
continue
|
||
|
||
data = uart4g.read()
|
||
if data:
|
||
rx_buf += data
|
||
# 解析 +MIPURC 消息
|
||
while b'+MIPURC: "rtcp"' in rx_buf:
|
||
try:
|
||
match = re.search(b'\+MIPURC: "rtcp",0,(\d+),(.+)', rx_buf, re.DOTALL)
|
||
if match:
|
||
payload_len = int(match.group(1))
|
||
payload = match.group(2)[:payload_len]
|
||
msg_type, body = 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()
|
||
print("✅ 登录成功")
|
||
# 若存在 ota_pending.json，说明上次 OTA 已应用并重启；
|
||
# 这里以“能成功登录服务器”为 OTA 成功判据：上报 ota_ok 并删除 pending，确保只上报一次。
|
||
try:
|
||
pending_path = "/maixapp/apps/t11/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 = {}
|
||
safe_enqueue({"result": "ota_ok", "url": pending_obj.get("url", "")}, 2)
|
||
try:
|
||
os.remove(pending_path)
|
||
except:
|
||
pass
|
||
except Exception as e:
|
||
print(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()
|
||
print("✅ 收到心跳确认")
|
||
|
||
# 处理业务指令
|
||
elif logged_in and isinstance(body, dict):
|
||
if isinstance(body.get("data"), dict) and "cmd" in body["data"]:
|
||
inner_cmd = body["data"]["cmd"]
|
||
if inner_cmd == 2: # 开启激光并校准
|
||
turn_on_laser()
|
||
time.sleep_ms(100)
|
||
laser_calibration_active = True
|
||
safe_enqueue({"result": "calibrating"}, 2)
|
||
elif inner_cmd == 3: # 关闭激光
|
||
distance_serial.write(LASER_OFF_CMD)
|
||
laser_calibration_active = False
|
||
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)}
|
||
safe_enqueue(battery_data, 2)
|
||
print(f"🔋 电量上报: {battery_percent}%")
|
||
elif inner_cmd == 5: # OTA 升级（含 Wi-Fi 配置，及4g）
|
||
inner_data = body["data"].get("data", {})
|
||
|
||
ssid = inner_data.get("ssid")
|
||
password = inner_data.get("password")
|
||
ota_url = inner_data.get("url")
|
||
mode = (inner_data.get("mode") or "").strip().lower() # "4g"/"wifi"/""
|
||
|
||
if not ota_url:
|
||
print("ota missing_url")
|
||
safe_enqueue({"result": "missing_url"}, 2)
|
||
rx_buf = rx_buf[match.end():] # 关键：先消费掉这个包
|
||
continue
|
||
|
||
# 自动判断：mode 非法/为空时，优先 Wi-Fi（如果已连），否则 4G
|
||
if mode not in ("4g", "wifi"):
|
||
print("ota missing mode")
|
||
mode = "wifi" if is_wifi_connected() else "4g"
|
||
|
||
if update_thread_started:
|
||
safe_enqueue({"result": "update_already_started"}, 2)
|
||
rx_buf = rx_buf[match.end():] # 关键：先消费掉这个包
|
||
continue
|
||
|
||
update_thread_started = True
|
||
|
||
if mode == "4g":
|
||
_thread.start_new_thread(direct_ota_download_via_4g, (ota_url,))
|
||
else:
|
||
# wifi 模式：需要 ssid/password
|
||
if not ssid or not password:
|
||
update_thread_started = False
|
||
safe_enqueue({"result": "missing_ssid_or_password"}, 2)
|
||
else:
|
||
_thread.start_new_thread(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"
|
||
safe_enqueue({"result": "current_ip", "ip": ip}, 2)
|
||
elif inner_cmd == 7:
|
||
# global update_thread_started
|
||
if update_thread_started:
|
||
safe_enqueue({"result": "update_already_started"}, 2)
|
||
rx_buf = rx_buf[match.end():] # 关键：先消费掉这个包
|
||
continue
|
||
|
||
# 实时检查是否有 IP
|
||
try:
|
||
ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
|
||
except:
|
||
ip = None
|
||
|
||
if not ip:
|
||
safe_enqueue({"result": "ota_rejected", "reason": "no_wifi_ip"}, MSG_TYPE_STATUS)
|
||
else:
|
||
# 启动纯下载线程
|
||
update_thread_started = True
|
||
_thread.start_new_thread(direct_ota_download, ())
|
||
|
||
rx_buf = rx_buf[match.end():]
|
||
else:
|
||
break
|
||
except:
|
||
rx_buf = b""
|
||
break
|
||
|
||
# 发送队列中的业务数据
|
||
if logged_in and (high_send_queue or normal_send_queue):
|
||
# 只在锁内取出一个待发包，发送放到锁外，避免长时间占用队列锁
|
||
msg_type = None
|
||
data_dict = None
|
||
if queue_lock.try_acquire():
|
||
try:
|
||
if high_send_queue:
|
||
msg_type, data_dict = high_send_queue.pop(0)
|
||
elif normal_send_queue:
|
||
msg_type, data_dict = normal_send_queue.pop(0)
|
||
finally:
|
||
queue_lock.release()
|
||
|
||
if msg_type is not None and data_dict is not None:
|
||
pkt = make_packet(msg_type, data_dict)
|
||
if not tcp_send_raw(pkt):
|
||
tcp_connected = False
|
||
break
|
||
|
||
# 发送激光校准结果
|
||
if logged_in and laser_calibration_result is not None:
|
||
x = y = None
|
||
with laser_calibration_lock:
|
||
if laser_calibration_result is not None:
|
||
x, y = laser_calibration_result
|
||
laser_calibration_result = None
|
||
if x is not None and y is not None:
|
||
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 > HEARTBEAT_INTERVAL * 1000:
|
||
if not tcp_send_raw(make_packet(4, {"t": int(time.time())})):
|
||
print("💔 心跳发送失败")
|
||
send_hartbeat_fail_count += 1
|
||
if send_hartbeat_fail_count >= 3:
|
||
send_hartbeat_fail_count = 0
|
||
print("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
|
||
print("💓 心跳已发送")
|
||
|
||
# 心跳超时重连
|
||
if logged_in and current_time - last_heartbeat_ack_time > 1000*60*10: # 十分钟
|
||
print("⏰ 十分钟无心跳ACK，重连")
|
||
break
|
||
|
||
time.sleep_ms(50)
|
||
|
||
tcp_connected = False
|
||
print("🔌 连接异常，2秒后重连...")
|
||
time.sleep_ms(2000)
|
||
|
||
|
||
def laser_calibration_worker():
|
||
"""后台线程：持续检测是否需要执行激光校准"""
|
||
global laser_calibration_active, laser_calibration_result, laser_calibration_lock
|
||
while True:
|
||
if laser_calibration_active:
|
||
result = calibrate_laser_position()
|
||
if result and len(result) == 2:
|
||
with laser_calibration_lock:
|
||
laser_calibration_result = result
|
||
laser_calibration_active = False
|
||
print(f"✅ 后台校准成功: {result}")
|
||
else:
|
||
time.sleep_ms(80)
|
||
else:
|
||
time.sleep_ms(50)
|
||
|
||
|
||
|
||
|
||
def download_file_via_4g(url, filename,
|
||
total_timeout_ms=30000,
|
||
retries=3,
|
||
debug=False):
|
||
"""
|
||
ML307R HTTP 下载（URC content 分片模式）
|
||
- 重试：empty/incomplete/AT错误都会重试
|
||
- 超时：total_timeout_ms
|
||
- 校验：Content-Length 必须填满；如有 Content-Md5 且 hashlib 可用则校验 MD5
|
||
- 日志：默认干净；debug=True 才打印 URC 进度
|
||
"""
|
||
from urllib.parse import urlparse
|
||
parsed = urlparse(url)
|
||
host = parsed.hostname
|
||
path = parsed.path or "/"
|
||
base_url = f"http://{host}" # 你已验证 HTTP 可 200；如需 https 需另配 SSL
|
||
|
||
def _log(*args):
|
||
if debug:
|
||
print(*args)
|
||
|
||
def _get_ip():
|
||
r = at("AT+CGPADDR=1", "OK", 3000)
|
||
m = re.search(r'\+CGPADDR:\s*1,"([^"]+)"', r)
|
||
return m.group(1) if m else ""
|
||
|
||
def _drain_uart(max_ms=300):
|
||
"""清空串口残留，防止旧 URC 干扰"""
|
||
t0 = time.ticks_ms()
|
||
while time.ticks_ms() - t0 < max_ms:
|
||
d = uart4g.read(4096)
|
||
if not d:
|
||
time.sleep_ms(10)
|
||
continue
|
||
|
||
def _read_more(buf: bytes, ms=50) -> bytes:
|
||
t0 = time.ticks_ms()
|
||
while time.ticks_ms() - t0 < ms:
|
||
d = uart4g.read(4096)
|
||
if d:
|
||
buf += d
|
||
time.sleep_ms(1)
|
||
return buf
|
||
|
||
def _parse_httpid(raw: bytes):
|
||
m = re.search(rb"\+MHTTPCREATE:\s*(\d+)", raw)
|
||
return int(m.group(1)) if m else None
|
||
|
||
def _try_parse_header(buf: bytes):
|
||
"""
|
||
+MHTTPURC: "header",<id>,<code>,<hdr_len>,<hdr_text...>
|
||
返回 (urc_id, status_code, header_text, rest_buf) 或 None
|
||
"""
|
||
tag = b'+MHTTPURC: "header",'
|
||
i = buf.find(tag)
|
||
if i < 0:
|
||
return None
|
||
if i > 0:
|
||
buf = buf[i:]
|
||
i = 0
|
||
|
||
# header 在 hdr_text 里包含 \r\n；我们用 hdr_len 精确截取
|
||
j = i + len(tag)
|
||
comma_count = 0
|
||
k = j
|
||
while k < len(buf) and comma_count < 3: # 3 个逗号到 hdr_len 后的逗号
|
||
if buf[k:k+1] == b",":
|
||
comma_count += 1
|
||
k += 1
|
||
if comma_count < 3:
|
||
return None
|
||
|
||
header_prefix = buf[i:k]
|
||
m = re.search(rb'\+MHTTPURC: "header",\s*(\d+),\s*(\d+),\s*(\d+),', header_prefix)
|
||
if not m:
|
||
return ("drop", buf[1:])
|
||
|
||
urc_id = int(m.group(1))
|
||
code = int(m.group(2))
|
||
hdr_len = int(m.group(3))
|
||
|
||
text_start = k
|
||
text_end = text_start + hdr_len
|
||
if len(buf) < text_end:
|
||
return None
|
||
|
||
hdr_text = buf[text_start:text_end].decode("utf-8", "ignore")
|
||
rest = buf[text_end:]
|
||
return ("ok", urc_id, code, hdr_text, rest)
|
||
|
||
def _try_parse_one_content(buf: bytes):
|
||
"""
|
||
+MHTTPURC: "content",<id>,<total_len>,<sum_len>,<cur_len>,<payload...>
|
||
返回 ("ok", urc_id, total_len, sum_len, cur_len, payload_bytes, rest_buf) 或 None
|
||
"""
|
||
tag = b'+MHTTPURC: "content",'
|
||
i = buf.find(tag)
|
||
if i < 0:
|
||
return None
|
||
if i > 0:
|
||
buf = buf[i:]
|
||
i = 0
|
||
|
||
j = i + len(tag)
|
||
comma_count = 0
|
||
k = j
|
||
while k < len(buf) and comma_count < 4: # payload 前只有 4 个逗号
|
||
if buf[k:k+1] == b",":
|
||
comma_count += 1
|
||
k += 1
|
||
if comma_count < 4:
|
||
return None
|
||
|
||
prefix = buf[i:k]
|
||
m = re.search(rb'\+MHTTPURC: "content",\s*(\d+),\s*(\d+),\s*(\d+),\s*(\d+),', prefix)
|
||
if not m:
|
||
return ("drop", buf[1:])
|
||
|
||
urc_id = int(m.group(1))
|
||
total_len = int(m.group(2))
|
||
sum_len = int(m.group(3))
|
||
cur_len = int(m.group(4))
|
||
|
||
payload_start = k
|
||
payload_end = payload_start + cur_len
|
||
if len(buf) < payload_end:
|
||
return None
|
||
|
||
payload = buf[payload_start:payload_end]
|
||
rest = buf[payload_end:]
|
||
return ("ok", urc_id, total_len, sum_len, cur_len, payload, rest)
|
||
|
||
def _extract_hdr_fields(hdr_text: str):
|
||
# Content-Length
|
||
mlen = re.search(r"Content-Length:\s*(\d+)", hdr_text, re.IGNORECASE)
|
||
clen = int(mlen.group(1)) if mlen else None
|
||
|
||
# Content-Md5 (base64)
|
||
mmd5 = re.search(r"Content-Md5:\s*([A-Za-z0-9+/=]+)", hdr_text, re.IGNORECASE)
|
||
md5_b64 = mmd5.group(1).strip() if mmd5 else None
|
||
|
||
return clen, md5_b64
|
||
|
||
def _md5_base64(data: bytes) -> str:
|
||
if hashlib is None:
|
||
return ""
|
||
digest = hashlib.md5(data).digest()
|
||
# base64: 24 chars with ==
|
||
return binascii.b2a_base64(digest).decode().strip()
|
||
|
||
def _one_attempt():
|
||
# 0) PDP：确保有 IP（避免把 OK 当成功）
|
||
ip = _get_ip()
|
||
if not ip or ip == "0.0.0.0":
|
||
at("AT+MIPCALL=1,1", "OK", 15000)
|
||
for _ in range(10):
|
||
ip = _get_ip()
|
||
if ip and ip != "0.0.0.0":
|
||
break
|
||
time.sleep(1)
|
||
if not ip or ip == "0.0.0.0":
|
||
return False, "PDP not ready (no_ip)"
|
||
|
||
# 1) 清理旧实例 + 清空串口残留
|
||
for i in range(0, 6):
|
||
at(f"AT+MHTTPDEL={i}", "OK", 1500)
|
||
_drain_uart(300)
|
||
|
||
# 2) 创建实例（httpid 可能延迟吐出来）
|
||
uart4g.write((f'AT+MHTTPCREATE="{base_url}"\r\n').encode())
|
||
raw = b""
|
||
raw = _read_more(raw, 300)
|
||
raw = _read_more(raw, 2000)
|
||
httpid = _parse_httpid(raw)
|
||
if httpid is None:
|
||
return False, "MHTTPCREATE failed (no httpid)"
|
||
|
||
# 3) 发 GET：不用 at()（避免 at 吃掉 URC）
|
||
_drain_uart(100)
|
||
uart4g.write((f'AT+MHTTPREQUEST={httpid},1,0,"{path}"\r\n').encode())
|
||
|
||
# 4) 收 URC：先拿 header（code/length/md5），再收 content 分片
|
||
buf = b""
|
||
urc_id = None
|
||
status_code = None
|
||
total_len = None
|
||
expect_len = None
|
||
expect_md5_b64 = None
|
||
|
||
body_buf = None
|
||
got_ranges = set()
|
||
filled_bytes = 0
|
||
|
||
t0 = time.ticks_ms()
|
||
last_sum = 0
|
||
|
||
while time.ticks_ms() - t0 < total_timeout_ms:
|
||
buf = _read_more(buf, 50)
|
||
|
||
# 4.1 尝试解析 header（可能先来）
|
||
while True:
|
||
ph = _try_parse_header(buf)
|
||
if ph is None:
|
||
break
|
||
if ph[0] == "drop":
|
||
buf = ph[1]
|
||
continue
|
||
_, hid, code, hdr_text, rest = ph
|
||
buf = rest
|
||
if urc_id is None:
|
||
urc_id = hid
|
||
status_code = code
|
||
expect_len, expect_md5_b64 = _extract_hdr_fields(hdr_text)
|
||
_log(f"[HDR] id={hid} code={code} len={expect_len} md5={expect_md5_b64}")
|
||
|
||
# 4.2 解析尽可能多的 content
|
||
while True:
|
||
pc = _try_parse_one_content(buf)
|
||
if pc is None:
|
||
break
|
||
if pc[0] == "drop":
|
||
buf = pc[1]
|
||
continue
|
||
_, cid, _total, _sum, _cur, payload, rest = pc
|
||
buf = rest
|
||
|
||
if urc_id is None:
|
||
urc_id = cid
|
||
if cid != urc_id:
|
||
continue
|
||
|
||
if total_len is None:
|
||
total_len = _total
|
||
body_buf = bytearray(total_len)
|
||
|
||
# 定位写入
|
||
start = _sum - _cur
|
||
end = _sum
|
||
if start < 0 or end > total_len:
|
||
continue
|
||
|
||
key = (start, end)
|
||
if key not in got_ranges:
|
||
got_ranges.add(key)
|
||
body_buf[start:end] = payload
|
||
filled_bytes += (end - start)
|
||
|
||
if _sum > last_sum:
|
||
last_sum = _sum
|
||
|
||
if debug:
|
||
_log(f"[URC] {start}:{end} sum={_sum}/{total_len} filled={filled_bytes}")
|
||
|
||
# 完整条件：填满 total_len
|
||
if filled_bytes == total_len:
|
||
break
|
||
|
||
if total_len is not None and filled_bytes == total_len:
|
||
break
|
||
|
||
# 5) 清理实例
|
||
at(f"AT+MHTTPDEL={httpid}", "OK", 3000)
|
||
|
||
if body_buf is None:
|
||
return False, "empty_body"
|
||
if total_len is None:
|
||
return False, "no_total_len"
|
||
if filled_bytes != total_len:
|
||
return False, f"incomplete_body got={filled_bytes} expected={total_len}"
|
||
|
||
data = bytes(body_buf)
|
||
|
||
# 6) 校验：Content-Length
|
||
if expect_len is not None and len(data) != expect_len:
|
||
return False, f"length_mismatch got={len(data)} expected={expect_len}"
|
||
|
||
# 7) 校验：Content-Md5（base64）
|
||
if expect_md5_b64 and hashlib is not None:
|
||
md5_b64 = _md5_base64(data)
|
||
if md5_b64 != expect_md5_b64:
|
||
return False, f"md5_mismatch got={md5_b64} expected={expect_md5_b64}"
|
||
|
||
# 8) 写文件（原样 bytes）
|
||
with open(filename, "wb") as f:
|
||
f.write(data)
|
||
|
||
return True, f"OK size={len(data)} ip={ip} code={status_code}"
|
||
|
||
global ota_in_progress
|
||
ota_in_progress = True
|
||
with uart4g_lock:
|
||
try:
|
||
last_err = "unknown"
|
||
for attempt in range(1, retries + 1):
|
||
ok, msg = _one_attempt()
|
||
if ok:
|
||
return True, msg
|
||
last_err = msg
|
||
# 重试前等待 + 清 UART
|
||
_log(f"[RETRY] attempt={attempt} failed={msg}")
|
||
_drain_uart(500)
|
||
time.sleep_ms(300)
|
||
return False, f"FAILED after {retries} retries: {last_err}"
|
||
finally:
|
||
ota_in_progress = False
|
||
|
||
|
||
def direct_ota_download_via_4g(ota_url):
|
||
"""通过 4G 模块下载 OTA（不需要 Wi-Fi）"""
|
||
global update_thread_started
|
||
try:
|
||
if not ota_url:
|
||
safe_enqueue({"result": "ota_failed", "reason": "missing_url"}, 2)
|
||
return
|
||
|
||
print(f"[OTA-4G] 开始通过 4G 下载: {ota_url}")
|
||
success, msg = download_file_via_4g(ota_url, local_filename)
|
||
print(f"[OTA-4G] {msg}")
|
||
|
||
if success and "OK" in msg:
|
||
# 下载成功：备份+替换+重启
|
||
if apply_ota_and_reboot(ota_url):
|
||
return # 会重启，不会执行到 finally
|
||
else:
|
||
safe_enqueue({"result": msg}, 2)
|
||
|
||
except Exception as e:
|
||
error_msg = f"OTA-4G 异常: {str(e)}"
|
||
print(error_msg)
|
||
safe_enqueue({"result": "ota_failed", "reason": error_msg}, 2)
|
||
finally:
|
||
update_thread_started = False
|
||
|
||
|
||
# ==================== 主程序入口 ====================
|
||
|
||
def cmd_str():
|
||
global DEVICE_ID, PASSWORD
|
||
# print("env: ", config.get_env())
|
||
DEVICE_ID = read_device_id()
|
||
PASSWORD = DEVICE_ID + "."
|
||
|
||
# 创建照片存储目录
|
||
photo_dir = "/root/phot"
|
||
if photo_dir not in os.listdir("/root"):
|
||
try:
|
||
os.mkdir(photo_dir)
|
||
except:
|
||
pass
|
||
|
||
# 初始化硬件
|
||
init_ina226()
|
||
# load_laser_point()
|
||
disp = display.Display()
|
||
cam = camera.Camera(640, 480)
|
||
|
||
# 启动通信与校准线程
|
||
_thread.start_new_thread(tcp_main, ())
|
||
_thread.start_new_thread(laser_calibration_worker, ())
|
||
|
||
print("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():
|
||
current_time = time.ticks_ms()
|
||
# print("压力传感器数值： ", adc_obj.read())
|
||
if adc_obj.read() > ADC_TRIGGER_THRESHOLD:
|
||
diff_ms = current_time-last_adc_trigger
|
||
if diff_ms<3000:
|
||
continue
|
||
last_adc_trigger = current_time
|
||
time.sleep_ms(60) # 防抖
|
||
frame = cam.read()
|
||
x, y = laser_point
|
||
|
||
# 绘制激光十字线
|
||
frame.draw_line(int(x - length), int(y), int(x + length), int(y), color, thickness)
|
||
frame.draw_line(int(x), int(y - length), int(x), int(y + length), color, thickness)
|
||
frame.draw_circle(int(x), int(y), 1, color, thickness)
|
||
|
||
# 检测靶心
|
||
result_img, center, radius, method, best_radius1 = detect_circle(frame)
|
||
disp.show(result_img)
|
||
|
||
# 计算偏移与距离
|
||
dx, dy = compute_laser_position(center, (x, y), radius, method)
|
||
distance_m = estimate_distance(best_radius1)
|
||
|
||
# 读取电量
|
||
voltage = get_bus_voltage()
|
||
battery_percent = voltage_to_percent(voltage)
|
||
|
||
# 保存图像（带标注）
|
||
try:
|
||
jpg_count = len([f for f in os.listdir(photo_dir) if f.endswith('.jpg')])
|
||
filename = f"{photo_dir}/{int(x)}_{int(y)}_{round((distance_m or 0.0) * 100)}_{method}_{jpg_count:04d}.jpg"
|
||
result_img.save(filename, quality=70)
|
||
except Exception as e:
|
||
print(f"❌ 保存失败: {e}")
|
||
|
||
# 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), # 距离（厘米）
|
||
"m": method
|
||
}
|
||
report_data = {"cmd": 1, "data": inner_data}
|
||
# 射箭事件高优先级入队，由 tcp_main 统一发送
|
||
safe_enqueue(report_data, msg_type=2, high=True)
|
||
print("📤 射箭事件已加入发送队列")
|
||
|
||
time.sleep_ms(100)
|
||
else:
|
||
disp.show(cam.read())
|
||
time.sleep_ms(50)
|
||
|
||
def dump_system_info():
|
||
cmds = [
|
||
"uname -a",
|
||
"cat /etc/os-release 2>/dev/null",
|
||
"cat /proc/version 2>/dev/null",
|
||
"cat /proc/1/comm 2>/dev/null",
|
||
"ps 2>/dev/null | head -n 5",
|
||
"ls -l /sbin/init 2>/dev/null",
|
||
"ls -l /etc/init.d 2>/dev/null | head -n 10",
|
||
"which systemctl 2>/dev/null",
|
||
"which rc-service 2>/dev/null",
|
||
"which busybox 2>/dev/null && busybox | head -n 1",
|
||
"ls /dev/watchdog* 2>/dev/null",
|
||
]
|
||
for c in cmds:
|
||
try:
|
||
out = os.popen(c).read()
|
||
print("\n$ " + c + "\n" + (out.strip() or "<empty>"))
|
||
except Exception as e:
|
||
print("\n$ " + c + "\n<error> " + str(e))
|
||
|
||
if __name__ == "__main__":
|
||
# dump_system_info()
|
||
try:
|
||
import threading
|
||
print("threading module:", threading)
|
||
print("has Lock:", hasattr(threading, "Lock"))
|
||
if hasattr(threading, "Lock"):
|
||
print("has lock")
|
||
finally:
|
||
pass
|
||
|
||
cmd_str() |