443 lines
16 KiB
Python
443 lines
16 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
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from laser_manager import laser_manager
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from vision import 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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from shoot_manager import process_shot, preload_triangle_calib
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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_camera(1280,720)
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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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# 2.1 WiFi 热点配网兜底：仅当 STA 与 4G 均不可用时起 AP + HTTP；提交后删 /boot/wifi.ap、建 wifi.sta 并 reboot
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try:
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from wifi_config_httpd import maybe_start_wifi_ap_fallback
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maybe_start_wifi_ap_fallback(logger)
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except Exception as e:
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if logger:
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logger.error(f"[WIFI-AP] 兜底配网检测/启动失败: {e}")
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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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# 2.6 预加载三角形标定/坐标文件（避免首次射箭卡顿）
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try:
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preload_triangle_calib()
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except Exception:
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pass
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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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# 若已进入 AP 配网兜底（/boot/wifi.ap），则不启动 TCP 主循环；等待用户配网后 reboot。
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try:
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if os.path.exists("/boot/wifi.ap"):
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if logger:
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logger.warning("[NET] 当前处于 AP 配网模式（/boot/wifi.ap 存在），跳过 TCP 主线程启动")
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else:
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_thread.start_new_thread(network_manager.tcp_main, ())
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except Exception as e:
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if logger:
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logger.error(f"[NET] 启动 TCP 主线程失败: {e}")
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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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# 8. 启动空闲计时
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hardware_manager.start_idle_timer()
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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_abs_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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last_avg_abs = 0
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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, pressure_abs_sum, last_avg_abs
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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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avg_abs = (pressure_abs_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} avg_abs={avg_abs:.3f} "
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f"values={','.join(map(str, pressure_buf))}"
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f" convert value (kpa): {(max(pressure_buf, key=lambda x: x[1])[1] - last_avg_abs) / (5 - 2.5) * config.AIR_PRESSURE_HARDWARE_MAX:.1f}"
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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_abs_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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last_avg_abs = avg_abs
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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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# 不在 OTA 状态下，检测是否空闲足够长，自动关机
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# print(f"[MAIN] 空闲时间: {hardware_manager.get_idle_time_in_sec() }秒")
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# print(f"配置关机时间：{config.AUTO_POWER_OFF_IN_SECONDS} 秒")
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if hardware_manager.get_idle_time_in_sec() > config.AUTO_POWER_OFF_IN_SECONDS:
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logger.info("[MAIN] 超过设定时间未检测活动，自动关机")
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network_manager.safe_enqueue({"poweroff": "超过设定时间未检测活动，自动关机"}, 2)
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time.sleep_ms(100)
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hardware_manager.power_off()
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time.sleep_ms(2000) # 让关机指令生效
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break
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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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adc_abs_val = 10
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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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adc_abs_val = hardware_manager.adc_obj.read_vol()
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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, adc_abs_val))
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pressure_sum += adc_val
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pressure_abs_sum += adc_abs_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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hardware_manager.start_idle_timer() # 重新计时
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diff_ms = current_time - last_adc_trigger
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if diff_ms < 3000:
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logger.info(f"[MAIN] 扳机触发过于频繁, {diff_ms}ms")
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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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process_shot(adc_val)
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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] 图像处理异常: {e}")
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import traceback
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logger.error(traceback.format_exc())
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time.sleep_ms(100)
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continue
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else:
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if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING:
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try:
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camera_manager.show(camera_manager.read_frame())
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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] 显示异常: {e}")
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time.sleep_ms(5)
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except Exception as e:
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# 主循环的顶层异常捕获，防止程序静默退出
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logger = logger_manager.logger
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if logger:
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logger.error(f"[MAIN] 主循环异常: {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"[MAIN] 主循环异常: {e}")
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import traceback
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traceback.print_exc()
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# 异常发生时尽量把缓存刷盘，方便定位问题
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try:
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_flush_pressure_buf("exception")
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except:
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pass
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time.sleep_ms(1000) # 等待1秒后继续
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# 主程序入口
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if __name__ == "__main__":
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try:
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cmd_str()
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# 用于调用测试函数
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# test()
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# 用于测试图片清晰度
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# 方式1: 测试单张图片
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# test_sharpness("/root/phot/image.bmp")
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# 方式2: 测试目录下所有图片
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# test_sharpness("/root/phot")
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# 方式3: 使用默认路径（config.PHOTO_DIR）
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# test_sharpness("/root/phot/")
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# 用于测试激光点清晰度
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# 方式1: 测试单张图片
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# test_laser_point_sharpness("/root/phot/image.bmp")
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# 方式2: 测试目录下所有图片
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# test_laser_point_sharpness("/root/phot")
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# 方式3: 使用默认路径（config.PHOTO_DIR）
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# test_laser_point_sharpness("/root/phot/")
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except KeyboardInterrupt:
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logger = logger_manager.logger
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if logger:
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logger.info("[MAIN] 收到中断信号，程序退出")
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logger_manager.stop_logging()
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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] 程序异常退出: {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"[MAIN] 程序异常退出: {e}")
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import traceback
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traceback.print_exc()
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logger_manager.stop_logging()
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raise # 重新抛出异常，让系统知道程序异常退出
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