feat: 1.json换为pb 2.wifi、ota 优化
This commit is contained in:
@@ -1,6 +1,6 @@
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id: t11
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name: t11
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version: 3.0.5
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version: 3.1.15
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author: t11
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icon: ''
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desc: t11
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@@ -29,6 +29,7 @@ files:
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- shoot_manager.py
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- shot_id_generator.py
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- target_roi_yolo.py
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- tcp_messages_pb2.py
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- time_sync.py
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- triangle_positions.json
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- triangle_target.py
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Binary file not shown.
@@ -50,7 +50,7 @@ WIFI_CONFIG_AP_IP = "192.168.66.1" # 与 MaixPy Wifi.start_ap 默认一
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# ===== TCP over SSL(TLS) 配置 =====
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USE_TCP_SSL = True # True=按手册走 MSSLCFG/MIPCFG 绑定 SSL
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TCP_LINK_ID = 2 #
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TCP_SSL_PORT = 50006 # TLS 端口（不一定必须 443，以服务器为准）
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TCP_SSL_PORT = 50007 # TLS 端口（不一定必须 443，以服务器为准）
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# SSL profile
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SSL_ID = 1 # ssl_id=1
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@@ -362,7 +362,7 @@ PIN_MAPPINGS = {
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}
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# ==================== 电源配置 ====================
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AUTO_POWER_OFF_IN_SECONDS = 10 * 60 # 自动关机时间（秒），0表示不自动关机
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AUTO_POWER_OFF_IN_SECONDS = 100 * 60 # 自动关机时间（秒），0表示不自动关机
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# 充电时自动关机暂时禁用；需要恢复时改为 True。
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CHARGING_AUTO_POWER_OFF_ENABLED = False
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@@ -13,7 +13,9 @@ 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 sys
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import json
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import shutil
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import time as wall_time
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# 导入新模块
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@@ -126,7 +128,7 @@ def cmd_str():
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# 1. 初始化日志系统（WARNING级别，不打印/写入INFO和DEBUG日志，提高执行流畅度）
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import logging
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logger_manager.init_logging(log_level=logging.WARNING)
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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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@@ -254,6 +256,55 @@ def cmd_str():
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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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# 4.1 检查是否有 OTA 待更新文件（从临时目录移动到实际目录）
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staging_dir = f"{config.APP_DIR}/ota_staging"
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if os.path.exists(staging_dir):
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try:
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moved_count = 0
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for root, dirs, files in os.walk(staging_dir):
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for f in files:
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src = os.path.join(root, f)
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rel = os.path.relpath(src, staging_dir)
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dest = os.path.join(config.APP_DIR, rel)
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dest_dir = os.path.dirname(dest)
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if dest_dir:
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try:
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os.makedirs(dest_dir, exist_ok=True)
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except:
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pass
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try:
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shutil.copy2(src, dest)
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moved_count += 1
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except Exception as e:
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if logger:
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logger.error(f"[OTA] 移动文件失败 {rel}: {e}")
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# 删除临时目录
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try:
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shutil.rmtree(staging_dir, ignore_errors=True)
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except:
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pass
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if logger:
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logger.info(f"[OTA] 已从临时目录更新 {moved_count} 个文件，重启应用...")
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# 清理硬件资源，然后重启应用
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try:
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laser_manager.turn_off_laser()
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except:
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pass
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try:
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camera_manager.release()
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except:
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pass
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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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import sys
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os.execv(sys.executable, [sys.executable, os.path.join(config.APP_DIR, "main.py")])
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return
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except Exception as e:
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if logger:
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logger.error(f"[OTA] 处理临时目录失败: {e}")
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# 5. 创建照片存储目录（如果启用图像保存或检测失败时强制保存）
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if config.SAVE_IMAGE_ENABLED or getattr(config, "SAVE_IMAGE_ON_FAILURE", False):
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photo_dir = config.PHOTO_DIR
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@@ -290,6 +341,7 @@ def cmd_str():
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trigger_adc_val = 0 # 触发时的气压值，气压需降回此值以下才能再次触发
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# 读取一次ADC初始值，防止开机时传感器已有压力导致误触发
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enable_check = True
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_should_reboot = False
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try:
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last_adc_val = hardware_manager.adc_obj.read()
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except Exception:
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@@ -345,6 +397,14 @@ def cmd_str():
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time.sleep_ms(250)
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continue
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# OTA 完成后需要重启，从主循环退出（由启动时 staging 检测处理重启）
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if network_manager.ota_restart_pending:
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network_manager.ota_restart_pending = False
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_should_reboot = True
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if logger:
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logger.info("[MAIN] OTA重启标志已设置，退出主循环...")
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break
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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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@@ -430,10 +490,62 @@ def cmd_str():
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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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time.sleep_ms(1000) # 等待1秒后 continue
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# 主循环退出后，如果是由 OTA 触发的，移动 staging 文件并重启应用
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if _should_reboot:
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staging_dir = f"{config.APP_DIR}/ota_staging"
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if os.path.exists(staging_dir):
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try:
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moved_count = 0
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for root, dirs, files in os.walk(staging_dir):
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for f in files:
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src = os.path.join(root, f)
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rel = os.path.relpath(src, staging_dir)
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dest = os.path.join(config.APP_DIR, rel)
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dest_dir = os.path.dirname(dest)
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if dest_dir:
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try:
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os.makedirs(dest_dir, exist_ok=True)
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except:
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pass
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try:
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shutil.copy2(src, dest)
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moved_count += 1
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except Exception as e:
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if logger:
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logger.error(f"[OTA] 移动文件失败 {rel}: {e}")
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try:
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shutil.rmtree(staging_dir, ignore_errors=True)
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except:
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pass
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if logger:
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logger.info(f"[MAIN] OTA 更新完成，已应用 {moved_count} 个文件，重启应用...")
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except Exception as e:
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if logger:
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logger.error(f"[OTA] 处理 staging 目录失败: {e}")
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else:
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if logger:
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logger.info("[MAIN] OTA 更新完成，重启应用...")
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# 清理硬件资源，然后重启应用（不重启设备）
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try:
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laser_manager.turn_off_laser()
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except:
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pass
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try:
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camera_manager.release()
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except:
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pass
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try:
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hardware_manager.stop_idle_timer()
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except:
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pass
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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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import sys
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os.execv(sys.executable, [sys.executable, os.path.join(config.APP_DIR, "main.py")])
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# 主程序入口
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+306
-265
@@ -13,6 +13,7 @@ import hmac
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import hashlib
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import ujson
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import os
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import sys
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import threading
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import socket
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import config
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@@ -21,15 +22,13 @@ from hardware import hardware_manager
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from power import get_bus_voltage, voltage_to_percent, is_charging
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from logger_manager import logger_manager
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from wifi import wifi_manager
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import subprocess
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# protobuf 支持
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# protobuf 支持（纯 proto 协议，必须可用）
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try:
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import tcp_messages_pb2 as pb
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_HAS_PROTO = True
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except ImportError:
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_HAS_PROTO = False
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print("[NET] tcp_messages_pb2 not found, protobuf disabled")
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raise
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def _wifi_tls_would_block(exc):
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@@ -77,11 +76,17 @@ class NetworkManager:
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self._uart4g_lock = threading.Lock()
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self._device_id = None
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self._password = None
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self._raw_line_data = []
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self._manual_trigger_flag = False
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# protobuf 协议支持
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self._use_proto = _HAS_PROTO # 默认启用 proto（如果可用）
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# OTA 防重复：上次 OTA 完成时间戳，30秒内不重复 OTA
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self._last_ota_time = 0
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self._ota_cooldown_sec = 30
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# OTA 重启标志：OTA线程设置，主循环检测到后从主循环退出再重启
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self.ota_restart_pending = False
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# protobuf 协议（纯 proto，无 JSON 兼容）
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# 限制并发命令线程数
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self._cmd_thread_lock = threading.Lock()
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@@ -201,13 +206,7 @@ class NetworkManager:
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return self._normal_send_queue.pop(0)
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return None
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def _set_raw_line_data(self, data):
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"""设置原始行数据（内部方法）"""
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self._raw_line_data = data
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def _get_raw_line_data(self):
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"""获取原始行数据（内部方法）"""
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return self._raw_line_data
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def get_uart_lock(self):
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"""获取UART锁（用于with语句）"""
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@@ -626,53 +625,113 @@ class NetworkManager:
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except Exception as e:
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self.logger.error(f"[LASER] cmd200 检测异常: {e}")
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def _cmd5_ota(self, ota_url):
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"""后台线程执行 cmd5 OTA"""
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hardware_manager.start_idle_timer()
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self.logger.info(f"[Ota] cmd5 开始OTA: {ota_url}")
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self.safe_enqueue({"result": "ota start..."}, 2)
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try:
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from ota_manager import ota_manager
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ok, msg = ota_manager.perform_ota(ota_url)
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if ok:
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self.safe_enqueue({"result": "success"}, 2)
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time.sleep_ms(500)
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os.execv(sys.executable, [sys.executable, os.path.join(config.APP_DIR, "main.py")])
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else:
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self.logger.error(f"[ota] cmd5 失败: {msg}")
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self.safe_enqueue({"result": "ota fail", "reason": msg}, 2)
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except Exception as e:
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self.logger.error(f"[ota] cmd5 异常: {e}")
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self.safe_enqueue({"result": "ota fail", "reason": str(e)}, 2)
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def _cmd300_ota(self, data_obj):
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"""后台线程执行 cmd300 OTA，避免阻塞主循环"""
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"""后台线程执行 cmd300 OTA，避免阻塞主循环
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流程：检查WiFi → 下载ZIP → 解压覆盖项目 → 重启程序
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"""
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hardware_manager.start_idle_timer()
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inner_data = data_obj.get("data", {}) if isinstance(data_obj, dict) else {}
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self.logger.info(f"[New Ota] cmd300 , data: {inner_data}")
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ssid = inner_data.get("ssid")
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password = inner_data.get("password")
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ota_res_url = inner_data.get("url")
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if not ota_res_url:
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self.logger.error("[ota] cmd300 缺少 url 参数")
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self.safe_enqueue({"cmd": 300, "result": "ota fail", "reason": "missing url"}, 2)
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return
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# OTA 冷却期检查：防止服务器重复下发导致无限 OTA 循环
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now = time.time()
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if self._last_ota_time > 0:
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elapsed = int(now - self._last_ota_time)
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if elapsed < self._ota_cooldown_sec:
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remaining = self._ota_cooldown_sec - elapsed
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self.logger.warning(f"[ota] cmd300 冷却期内，跳过 (剩余 {remaining}s)")
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try:
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for _f in ("/etc/wpa_supplicant.conf", "/boot/wpa_supplicant.conf", "/boot/wifi.ssid", "/boot/wifi.pass"):
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try:
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os.remove(_f)
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except OSError:
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pkt = self._make_send_packet(2, {"cmd": 300, "result": "ota skip", "reason": f"cooldown {remaining}s"})
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self.tcp_send_raw(pkt)
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except Exception:
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pass
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w = network.wifi.Wifi()
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e = w.connect(ssid, password, wait=True, timeout=15)
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err.check_raise(e, "connect wifi failed")
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if self.logger:
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self.logger.info(f"[ota] Connect success, got ip{w.get_ip()}")
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self.safe_enqueue(
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{
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return
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if not wifi_manager.is_wifi_connected():
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self.logger.warning("[ota] cmd300 当前未连接WiFi，拒绝OTA")
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self.safe_enqueue({"cmd": 300, "result": "ota fail", "reason": "wifi not connected"}, 2)
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return
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self.logger.info(f"[ota] WiFi已连接，开始OTA: {ota_res_url}")
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self.safe_enqueue({"cmd": 300, "result": "ota start..."}, 2)
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def _ota_progress(phase, progress):
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"""OTA进度回调，通过tcp_send_raw直接发送（绕过被暂停的发送队列）"""
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try:
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if not self._tcp_connected:
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self.logger.warning(f"[ota] 进度发送跳过: tcp未连接 phase={phase} progress={progress}")
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return
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pkt = self._make_send_packet(2, {
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"cmd": 300,
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"result": "ota start...",
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"wifi": w.get_ip(),
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},
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2,
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)
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subprocess.run(
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["sh", "/maixapp/apps/t11/ota_curl.sh", ota_res_url])
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self.safe_enqueue(
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{
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"cmd": 300,
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"result": "success",
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"wifi": w.get_ip(),
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},
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2,
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)
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"result": f"ota {phase}",
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"progress": progress,
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"phase": phase,
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})
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ok = self.tcp_send_raw(pkt)
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if not ok:
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self.logger.warning(f"[ota] 进度发送失败: phase={phase} progress={progress}")
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except Exception as e:
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self.logger.error(f"[ota] cmd300 失败: {e}")
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self.safe_enqueue(
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{
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"cmd": 300,
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"result": "ota fail",
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"reason": str(e),
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},
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2,
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)
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self.logger.error(f"[ota] 发送进度异常: {e}")
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try:
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from ota_manager import ota_manager
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ok, msg = ota_manager.perform_ota(ota_res_url, progress_callback=_ota_progress)
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self._last_ota_time = time.time()
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if ok:
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self.logger.info("[ota] OTA成功，准备重启程序...")
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# 直接通过tcp发送success，不走发送队列（主循环可能未drain）
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try:
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pkt = self._make_send_packet(2, {"cmd": 300, "result": "success", "progress": 51, "phase": "rebooting"})
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ok_send = self.tcp_send_raw(pkt)
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self.logger.info(f"[ota] success包发送结果: {ok_send}, tcp_connected={self._tcp_connected}")
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except Exception as e:
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self.logger.error(f"[ota] 发送success失败: {e}")
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# 设置重启标志，由主循环检测到后从主循环退出再重启
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# （后台线程调 os.execv 会导致 ISP 线程残留，新进程摄像头初始化失败）
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self.logger.info("[ota] 设置重启标志，等待主循环退出...")
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self.ota_restart_pending = True
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else:
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self.logger.error(f"[ota] cmd300 失败: {msg}")
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self._last_ota_time = time.time()
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try:
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pkt = self._make_send_packet(2, {"cmd": 300, "result": "ota fail", "reason": msg})
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self.tcp_send_raw(pkt)
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except Exception as e:
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self.logger.error(f"[ota] 发送失败结果异常: {e}")
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except Exception as e:
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self.logger.error(f"[ota] cmd300 异常: {e}")
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self._last_ota_time = time.time()
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try:
|
||||
pkt = self._make_send_packet(2, {"cmd": 300, "result": "ota fail", "reason": str(e)})
|
||||
self.tcp_send_raw(pkt)
|
||||
except Exception as ex:
|
||||
self.logger.error(f"[ota] 发送失败结果异常: {ex}")
|
||||
|
||||
def _cmd600_conn_wifi(self, data_obj):
|
||||
hardware_manager.start_idle_timer()
|
||||
@@ -680,6 +739,7 @@ class NetworkManager:
|
||||
self.logger.info(f"[conn wifi] cmd600 , data: {inner_data}")
|
||||
ssid = inner_data.get("ssid")
|
||||
password = inner_data.get("password")
|
||||
prev_network_type = self._network_type
|
||||
# 停止旧的WiFi质量监测（无论当前是WiFi还是4G连接）
|
||||
self._stop_wifi_quality_monitor()
|
||||
try:
|
||||
@@ -689,18 +749,10 @@ class NetworkManager:
|
||||
except OSError:
|
||||
pass
|
||||
w = network.wifi.Wifi()
|
||||
e = w.connect(ssid, password, wait=True, timeout=15)
|
||||
e = w.connect(ssid, password, wait=True, timeout=5)
|
||||
err.check_raise(e, "connect wifi failed")
|
||||
if self.logger:
|
||||
self.logger.info(f"[ota] Connect success, got ip{w.get_ip()}")
|
||||
self.safe_enqueue(
|
||||
{
|
||||
"cmd": 600,
|
||||
"result": "success",
|
||||
"wifi": w.get_ip(),
|
||||
},
|
||||
2,
|
||||
)
|
||||
self._session_force_4g = False
|
||||
self.disconnect_server()
|
||||
self._tcp_connected = False
|
||||
@@ -708,6 +760,11 @@ class NetworkManager:
|
||||
self.logger.info("[conn wifi] WiFi已连接，等待主循环重新登录")
|
||||
except Exception as e:
|
||||
self.logger.error(f"cmd600 失败: {e}")
|
||||
# 同步发送失败结果（旧连接仍存活时直接发送）
|
||||
if prev_network_type == "4g":
|
||||
pkt = self._make_send_packet(2, {"cmd": 600, "result": "conn fail", "reason": str(e)})
|
||||
self.tcp_send_raw(pkt)
|
||||
else:
|
||||
self.safe_enqueue(
|
||||
{
|
||||
"cmd": 600,
|
||||
@@ -716,6 +773,8 @@ class NetworkManager:
|
||||
},
|
||||
2,
|
||||
)
|
||||
# 当前是4G在线，旧连接未断，无需切换；当前是WiFi，旧WiFi已被w.connect()断开，需回退4G
|
||||
if prev_network_type == "wifi":
|
||||
self._switch_to_4g_due_to_poor_wifi()
|
||||
|
||||
def safe_enqueue(self, data_dict, msg_type=2, high=False):
|
||||
@@ -723,16 +782,93 @@ class NetworkManager:
|
||||
self._enqueue((msg_type, data_dict), high)
|
||||
|
||||
def _make_send_packet(self, msg_type, data_dict):
|
||||
"""根据协议模式构造发送数据包"""
|
||||
if self._use_proto and _HAS_PROTO:
|
||||
"""使用 protobuf 构造发送数据包"""
|
||||
return self._make_proto_packet(msg_type, data_dict)
|
||||
return self._netcore.make_packet(msg_type, data_dict)
|
||||
|
||||
def _build_logic_body(self, cmd, data_dict):
|
||||
"""根据 cmd 构造对应的 LogicBody oneof payload"""
|
||||
d = data_dict.get("data", data_dict) if isinstance(data_dict.get("data"), dict) else data_dict
|
||||
|
||||
if cmd == 1:
|
||||
return pb.LogicBody(
|
||||
cmd=cmd,
|
||||
shoot_data=pb.ShootData(
|
||||
shot_id=d.get("shot_id", ""),
|
||||
x=d.get("x", 0.0),
|
||||
y=d.get("y", 0.0),
|
||||
r=d.get("r", 0.0),
|
||||
d=d.get("d", 0.0),
|
||||
adc=d.get("adc", 0.0),
|
||||
target_class=str(d.get("target_class", "")),
|
||||
target_class_confidence=d.get("target_class_confidence", 0.0),
|
||||
d_laser=d.get("d_laser", 0.0),
|
||||
d_laser_quality=d.get("d_laser_quality", 0.0),
|
||||
m=d.get("m", ""),
|
||||
laser_method=d.get("laser_method", ""),
|
||||
target_x=d.get("target_x", 0.0),
|
||||
target_y=d.get("target_y", 0.0),
|
||||
offset_method=d.get("offset_method", ""),
|
||||
distance_method=d.get("distance_method", ""),
|
||||
)
|
||||
)
|
||||
elif cmd == 4:
|
||||
return pb.LogicBody(
|
||||
cmd=cmd,
|
||||
battery_report=pb.BatteryReport(
|
||||
battery=d.get("battery", 0.0),
|
||||
voltage=d.get("voltage", 0.0),
|
||||
net_type=d.get("netType", ""),
|
||||
charging=d.get("charging", False),
|
||||
)
|
||||
)
|
||||
elif cmd == 200:
|
||||
return pb.LogicBody(
|
||||
cmd=cmd,
|
||||
center_point_result=pb.CenterPointResult(
|
||||
result=d.get("result", ""),
|
||||
x=d.get("x", 0.0),
|
||||
y=d.get("y", 0.0),
|
||||
)
|
||||
)
|
||||
elif cmd == 201:
|
||||
return pb.LogicBody(
|
||||
cmd=cmd,
|
||||
center_point_set=pb.CenterPointSet(
|
||||
x=d.get("x", 0.0),
|
||||
y=d.get("y", 0.0),
|
||||
)
|
||||
)
|
||||
|
||||
elif cmd == 300:
|
||||
return pb.LogicBody(
|
||||
cmd=cmd,
|
||||
ota_result=pb.OtaResult(
|
||||
result=d.get("result", ""),
|
||||
url=d.get("wifi", ""),
|
||||
progress=d.get("progress", 0),
|
||||
phase=d.get("phase", ""),
|
||||
)
|
||||
)
|
||||
elif cmd == 700:
|
||||
return pb.LogicBody(
|
||||
cmd=cmd,
|
||||
charging_report=pb.ChargingReport(),
|
||||
)
|
||||
else:
|
||||
result_str = d.get("result", "")
|
||||
if isinstance(result_str, dict):
|
||||
import ujson
|
||||
result_str = ujson.dumps(result_str)
|
||||
elif not isinstance(result_str, str):
|
||||
result_str = str(result_str)
|
||||
return pb.LogicBody(
|
||||
cmd=cmd,
|
||||
generic_result=pb.GenericResult(result=result_str),
|
||||
)
|
||||
|
||||
def _make_proto_packet(self, msg_type, data_dict):
|
||||
"""使用 protobuf 序列化构造数据包"""
|
||||
try:
|
||||
if msg_type == 1:
|
||||
# 登录消息
|
||||
msg = pb.LoginRequest(
|
||||
device_id=data_dict.get("deviceId", ""),
|
||||
password=data_dict.get("password", ""),
|
||||
@@ -743,31 +879,22 @@ class NetworkManager:
|
||||
iccid=data_dict.get("iccid", ""),
|
||||
)
|
||||
elif msg_type == 4:
|
||||
# 心跳消息
|
||||
msg = pb.Heartbeat(
|
||||
t=data_dict.get("t", 0),
|
||||
vol=data_dict.get("vol", 0),
|
||||
vol_per=data_dict.get("vol_per", 0),
|
||||
)
|
||||
elif msg_type == 2:
|
||||
# 业务逻辑消息
|
||||
cmd = data_dict.get("cmd", 0)
|
||||
inner_data = {k: v for k, v in data_dict.items() if k != "cmd"}
|
||||
data_bytes = json.dumps(inner_data).encode("utf-8") if inner_data else b""
|
||||
msg = pb.LogicBody(cmd=cmd, data=data_bytes)
|
||||
msg = self._build_logic_body(cmd, data_dict)
|
||||
else:
|
||||
# 其他消息类型，回退到 JSON
|
||||
return self._netcore.make_packet(msg_type, data_dict)
|
||||
return b""
|
||||
|
||||
body_bytes = msg.SerializeToString()
|
||||
return self._netcore.make_packet_pb(msg_type, body_bytes)
|
||||
except Exception as e:
|
||||
self.logger.error(f"[NET] protobuf 序列化失败，回退到 JSON: {e}")
|
||||
return self._netcore.make_packet(msg_type, data_dict)
|
||||
|
||||
def _parse_recv(self, payload):
|
||||
"""解析接收的数据包，返回 (msg_type, body_dict)"""
|
||||
if self._use_proto and _HAS_PROTO:
|
||||
msg_type, body_bytes = self._netcore.parse_packet_raw(payload)
|
||||
if msg_type is None:
|
||||
return None, None
|
||||
@@ -776,34 +903,32 @@ class NetworkManager:
|
||||
return msg_type, body_dict
|
||||
except Exception as e:
|
||||
self.logger.error(f"[NET] protobuf 反序列化失败: {e}")
|
||||
# 回退到 JSON 解析
|
||||
return self._netcore.parse_packet(payload)
|
||||
else:
|
||||
return self._netcore.parse_packet(payload)
|
||||
return None, None
|
||||
|
||||
def _parse_proto_body(self, msg_type, body_bytes):
|
||||
"""将 protobuf body bytes 反序列化为 dict"""
|
||||
if msg_type == 1:
|
||||
msg = pb.LoginResponse()
|
||||
msg.ParseFromString(body_bytes)
|
||||
return {"cmd": msg.cmd, "data": msg.data}
|
||||
return {"cmd": msg.code, "data": msg.msg}
|
||||
elif msg_type == 4:
|
||||
# 心跳 ACK 通常无 body
|
||||
return {}
|
||||
elif msg_type == 2:
|
||||
msg = pb.LogicBody()
|
||||
msg.ParseFromString(body_bytes)
|
||||
result = {"cmd": msg.cmd}
|
||||
if msg.data:
|
||||
try:
|
||||
result["data"] = json.loads(msg.data.decode("utf-8"))
|
||||
except:
|
||||
result["data"] = {"raw": msg.data.hex()}
|
||||
payload_name = msg.WhichOneof('payload')
|
||||
if payload_name:
|
||||
payload_msg = getattr(msg, payload_name)
|
||||
data = {}
|
||||
for field in payload_msg.DESCRIPTOR.fields:
|
||||
val = getattr(payload_msg, field.name)
|
||||
if isinstance(val, bytes):
|
||||
val = val.hex()
|
||||
data[field.name] = val
|
||||
result["data"] = data
|
||||
return result
|
||||
elif msg_type == 40:
|
||||
msg = pb.OtaFragment()
|
||||
msg.ParseFromString(body_bytes)
|
||||
return {"l": msg.l, "d": msg.d, "t": msg.t, "v": msg.v}
|
||||
|
||||
elif msg_type == 100:
|
||||
msg = pb.ImageUploadCommand()
|
||||
msg.ParseFromString(body_bytes)
|
||||
@@ -813,10 +938,6 @@ class NetworkManager:
|
||||
msg.ParseFromString(body_bytes)
|
||||
return {"uploadUrl": msg.upload_url, "token": msg.token, "key": msg.key, "outlink": msg.outlink, "archive": msg.archive}
|
||||
else:
|
||||
# 未知类型，尝试 JSON 解析
|
||||
try:
|
||||
return json.loads(body_bytes.decode("utf-8"))
|
||||
except:
|
||||
return {"raw": body_bytes.hex()}
|
||||
|
||||
def connect_server(self):
|
||||
@@ -1941,6 +2062,11 @@ class NetworkManager:
|
||||
time.sleep_ms(200)
|
||||
continue
|
||||
|
||||
# OTA 完成后需要重启，从主循环退出（由 main.py 执行重启）
|
||||
if self.ota_restart_pending:
|
||||
self.logger.info("[ota] 主循环退出，准备重启...")
|
||||
break
|
||||
|
||||
if not self.connect_server():
|
||||
time.sleep_ms(1000)
|
||||
continue
|
||||
@@ -1950,7 +2076,7 @@ class NetworkManager:
|
||||
login_data = {
|
||||
"deviceId": self.device_id,
|
||||
"password": self.password,
|
||||
"version": config.APP_VERSION + ("+proto" if self._use_proto else ""),
|
||||
"version": config.APP_VERSION,
|
||||
"vol": vol_val,
|
||||
"vol_per": voltage_to_percent(vol_val)
|
||||
}
|
||||
@@ -1987,6 +2113,10 @@ class NetworkManager:
|
||||
time.sleep_ms(200)
|
||||
continue
|
||||
|
||||
# OTA 完成后需要重启，跳出内层循环
|
||||
if self.ota_restart_pending:
|
||||
break
|
||||
|
||||
# 接收数据（根据网络类型选择接收方式）
|
||||
# WiFi 粘包：一次 recv 可能含多条完整包；也可能缓冲里已有完整包但本轮 recv 超时为空
|
||||
rx_items = []
|
||||
@@ -2037,7 +2167,7 @@ class NetworkManager:
|
||||
|
||||
# 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":
|
||||
if body and body.get("cmd") == 0 and body.get("data") == "登录成功":
|
||||
logged_in = True
|
||||
last_heartbeat_ack_time = time.ticks_ms()
|
||||
self.logger.info("登录成功")
|
||||
@@ -2068,32 +2198,7 @@ class NetworkManager:
|
||||
last_heartbeat_ack_time = time.ticks_ms()
|
||||
self.logger.debug("✅ 收到心跳确认")
|
||||
|
||||
# 处理命令40（分片下载）
|
||||
elif logged_in and msg_type == 40:
|
||||
if isinstance(body, dict):
|
||||
t = body.get('t', 0)
|
||||
v = body.get('v')
|
||||
# 如果是第一个分片，清空之前的缓存
|
||||
if len(self._raw_line_data) == 0 or (
|
||||
len(self._raw_line_data) > 0 and self._raw_line_data[0].get('v') != v):
|
||||
self._raw_line_data.clear()
|
||||
# 或者更简单：每次收到命令40时，如果版本号不同，清空缓存
|
||||
if len(self._raw_line_data) > 0:
|
||||
first_v = self._raw_line_data[0].get('v')
|
||||
if first_v and first_v != v:
|
||||
self._raw_line_data.clear()
|
||||
self._raw_line_data.append(body)
|
||||
if len(self._raw_line_data) >= int(t):
|
||||
self.logger.info(f"下载完成")
|
||||
from ota_manager import ota_manager
|
||||
stock_array = list(map(lambda x: x.get('d'), self._raw_line_data))
|
||||
local_filename = config.LOCAL_FILENAME
|
||||
with open(local_filename, 'w', encoding='utf-8') as file:
|
||||
file.write("\n".join(stock_array))
|
||||
ota_manager.apply_ota_and_reboot(None, local_filename)
|
||||
else:
|
||||
self.safe_enqueue({'data': {'l': len(self._raw_line_data), 'v': v}, 'cmd': 41})
|
||||
self.logger.info(f"已下载{len(self._raw_line_data)} 全部：{t} 版本：{v}")
|
||||
|
||||
|
||||
elif logged_in and msg_type == 100:
|
||||
self.logger.info(f"[IMAGE_UPLOAD] 收到图片上传命令 {body}")
|
||||
@@ -2186,89 +2291,44 @@ class NetworkManager:
|
||||
)
|
||||
# 立即返回已入队确认
|
||||
self.safe_enqueue({"result": "log_upload_queued"}, 2)
|
||||
elif logged_in and msg_type == 201:
|
||||
if self.logger:
|
||||
self.logger.info(f"[LASER] cmd201:{body}")
|
||||
raw_x = body.get("x")
|
||||
raw_y = body.get("y")
|
||||
try:
|
||||
from laser_manager import laser_manager
|
||||
ix, iy = laser_manager.set_hardcoded_laser_point(
|
||||
raw_x, raw_y
|
||||
)
|
||||
self.safe_enqueue(
|
||||
{
|
||||
"cmd": 201,
|
||||
"result": "laser_point_set",
|
||||
"x": ix,
|
||||
"y": iy,
|
||||
},
|
||||
2,
|
||||
)
|
||||
self.logger.info(
|
||||
f"[LASER] cmd201 硬编码激光点=({ix}, {iy})"
|
||||
)
|
||||
except Exception as e:
|
||||
self.logger.error(f"[LASER] cmd201 失败: {e}")
|
||||
self.safe_enqueue(
|
||||
{
|
||||
"cmd": 201,
|
||||
"result": "laser_point_set_failed",
|
||||
"reason": str(e),
|
||||
},
|
||||
2,
|
||||
)
|
||||
hardware_manager.start_idle_timer()
|
||||
# 处理业务指令
|
||||
# 处理业务指令（纯 proto: cmd 在 body 顶层）
|
||||
elif logged_in and isinstance(body, dict):
|
||||
inner_cmd = None
|
||||
data_obj = body.get("data")
|
||||
if isinstance(data_obj, dict):
|
||||
inner_cmd = data_obj.get("cmd")
|
||||
if inner_cmd == 2: # 开启激光并校准
|
||||
cmd = body.get("cmd")
|
||||
data_obj = body.get("data") or {}
|
||||
if cmd == 2: # AimRequest 开启激光并校准
|
||||
from laser_manager import laser_manager
|
||||
if not laser_manager.calibration_active:
|
||||
laser_manager.turn_on_laser()
|
||||
time.sleep_ms(100)
|
||||
hardware_manager.stop_idle_timer() # 停表
|
||||
hardware_manager.stop_idle_timer()
|
||||
if not config.HARDCODE_LASER_POINT:
|
||||
laser_manager.start_calibration()
|
||||
self.safe_enqueue({"result": "calibrating"}, 2)
|
||||
else:
|
||||
# 写死的逻辑，不需要校准激光点
|
||||
self.safe_enqueue({"result": "laser pos set by hard code"}, 2)
|
||||
elif inner_cmd == 3: # 关闭激光
|
||||
elif cmd == 3: # CloseAimRequest 关闭激光
|
||||
from laser_manager import laser_manager
|
||||
laser_manager.turn_off_laser()
|
||||
laser_manager.stop_calibration()
|
||||
hardware_manager.start_idle_timer() # 开表
|
||||
hardware_manager.start_idle_timer()
|
||||
self.safe_enqueue({"result": "laser_off"}, 2)
|
||||
elif inner_cmd == 4: # 上报电量
|
||||
elif cmd == 4: # GetBatteryRequest 上报电量
|
||||
voltage = get_bus_voltage()
|
||||
battery_percent = voltage_to_percent(voltage)
|
||||
battery_data = {
|
||||
charging = is_charging()
|
||||
self.safe_enqueue({
|
||||
"cmd": 4,
|
||||
"battery": battery_percent,
|
||||
"voltage": round(float(voltage), 3),
|
||||
"netType": self.network_type,
|
||||
}
|
||||
self.safe_enqueue(battery_data, 2)
|
||||
self.logger.info(f"电量上报: {battery_percent}% 充电: {is_charging()}")
|
||||
if getattr(config, "CHARGING_AUTO_POWER_OFF_ENABLED", False) and is_charging():
|
||||
self.safe_enqueue(
|
||||
{
|
||||
"cmd": 700,
|
||||
},
|
||||
2,
|
||||
)
|
||||
elif inner_cmd == 700:
|
||||
"charging": charging,
|
||||
}, 2)
|
||||
self.logger.info(f"电量上报: {battery_percent}% 充电: {charging}")
|
||||
elif cmd == 700:
|
||||
self.logger.warning("服务器下发关机！！！")
|
||||
exit(-1)
|
||||
elif inner_cmd == 5: # OTA 升级
|
||||
inner_data = data_obj.get("data", {}) if isinstance(data_obj, dict) else {}
|
||||
ssid = inner_data.get("ssid")
|
||||
password = inner_data.get("password")
|
||||
ota_url = inner_data.get("url")
|
||||
mode = (inner_data.get("mode") or "").strip().lower()
|
||||
elif cmd == 5: # OtaRequest OTA 升级
|
||||
ota_url = data_obj.get("url", "")
|
||||
|
||||
if not ota_url:
|
||||
self.logger.error("ota missing_url")
|
||||
@@ -2282,119 +2342,100 @@ class NetworkManager:
|
||||
_rx_skip_tcp_iteration = True
|
||||
break
|
||||
|
||||
# 自动判断模式：如果没有明确指定，根据WiFi连接状态和凭证决定
|
||||
if mode not in ("4g", "wifi"):
|
||||
self.logger.info("ota missing mode, auto-detecting...")
|
||||
# 若本次会话已锁定 4G，则 OTA 自动也走 4G，避免后续回切导致体验不一致
|
||||
if self._session_force_4g:
|
||||
mode = "4g"
|
||||
self.logger.info("ota auto-selected: 4g (session locked on 4g)")
|
||||
else:
|
||||
# 只有同时满足：WiFi已连接 且 提供了WiFi凭证，才使用WiFi
|
||||
if self.is_wifi_connected() and ssid and password:
|
||||
mode = "wifi"
|
||||
self.logger.info(
|
||||
"ota auto-selected: wifi (WiFi connected and credentials provided)")
|
||||
else:
|
||||
mode = "4g"
|
||||
self.logger.info(
|
||||
"ota auto-selected: 4g (WiFi not available or no credentials)")
|
||||
if not wifi_manager.is_wifi_connected():
|
||||
self.logger.warning("[ota] cmd5 当前未连接WiFi，拒绝OTA")
|
||||
self.safe_enqueue({"result": "ota fail", "reason": "wifi not connected"}, 2)
|
||||
_rx_skip_tcp_iteration = True
|
||||
break
|
||||
|
||||
hardware_manager.stop_idle_timer() # 停表，注意OTA停表之后，就没有再开表，因为OTA后面会重启，会重新开表
|
||||
|
||||
if mode == "4g":
|
||||
ota_manager._set_ota_url(ota_url) # 记录 OTA URL，供命令7使用
|
||||
ota_manager._start_update_thread()
|
||||
self._spawn_cmd_thread(ota_manager.direct_ota_download_via_4g, (ota_url,))
|
||||
else: # mode == "wifi"
|
||||
if not ssid or not password:
|
||||
self.logger.error("ota wifi mode requires ssid and password")
|
||||
self.safe_enqueue({"result": "missing_ssid_or_password"}, 2)
|
||||
else:
|
||||
self.logger.info(f"ssid: {ssid}")
|
||||
self.logger.info(f"password: {password}")
|
||||
ota_manager._start_update_thread()
|
||||
self._spawn_cmd_thread(ota_manager.handle_wifi_and_update,
|
||||
(ssid, password, ota_url))
|
||||
elif inner_cmd == 6:
|
||||
try:
|
||||
ip = os.popen(
|
||||
"ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
|
||||
ip = ip if ip else "no_ip"
|
||||
except:
|
||||
ip = "error_getting_ip"
|
||||
self.safe_enqueue({"result": "current_ip", "ip": ip}, 2)
|
||||
elif inner_cmd == 44: # 读 4G 本机号码（AT+CNUM）
|
||||
cnum = self.get_4g_phone_number()
|
||||
self.logger.info(f"4G 本机号码: {cnum}")
|
||||
self.safe_enqueue(
|
||||
{"result": "cnum", "number": cnum if cnum is not None else ""}, 2)
|
||||
elif inner_cmd == 45: # 读 MCCID（AT+MCCID）
|
||||
mccid = self.get_4g_mccid()
|
||||
self.logger.info(f"4G MCCID: {mccid}")
|
||||
self.safe_enqueue(
|
||||
{"result": "mccid", "mccid": mccid if mccid is not None else ""}, 2)
|
||||
elif inner_cmd == 41:
|
||||
hardware_manager.stop_idle_timer()
|
||||
self._spawn_cmd_thread(self._cmd5_ota, (ota_url,))
|
||||
elif cmd == 41: # Ota4gSubCodeRequest 射箭触发
|
||||
self.logger.info(f"[TEST] 收到TCP射箭触发命令, {time.time()}")
|
||||
self._manual_trigger_flag = True
|
||||
self.safe_enqueue({"result": "trigger_ack"}, 2)
|
||||
hardware_manager.start_idle_timer() # 重新计时
|
||||
elif inner_cmd == 42: # 关机命令
|
||||
hardware_manager.start_idle_timer()
|
||||
elif cmd == 42: # ShutdownCommand 关机命令
|
||||
self.logger.info("[SHUTDOWN] 收到TCP关机命令，准备关机...")
|
||||
self.safe_enqueue({"result": "shutdown_ack"}, 2)
|
||||
time.sleep_ms(1000)
|
||||
self.disconnect_server()
|
||||
# 尝试关闭4G模块
|
||||
try:
|
||||
with self.get_uart_lock():
|
||||
hardware_manager.at_client.send("AT+CFUN=0", "OK", 5000)
|
||||
except:
|
||||
pass
|
||||
time.sleep_ms(2000)
|
||||
os.system("sync") # 刷新文件系统缓存到磁盘，防止数据丢失
|
||||
os.system("sync")
|
||||
time.sleep_ms(500)
|
||||
# os.system("poweroff")
|
||||
hardware_manager.power_off()
|
||||
return
|
||||
elif inner_cmd == 43: # 上传日志命令
|
||||
# 格式: {"cmd":43, "data":{"ssid":"xxx","password":"xxx","url":"xxx", ...}}
|
||||
inner_data = data_obj.get("data", {})
|
||||
upload_url = inner_data.get("url")
|
||||
wifi_ssid = inner_data.get("ssid")
|
||||
wifi_password = inner_data.get("password")
|
||||
include_rotated = inner_data.get("include_rotated", True)
|
||||
max_files = inner_data.get("max_files")
|
||||
archive_format = inner_data.get("archive", "tgz") # tgz 或 zip
|
||||
elif cmd == 44: # 读 4G 本机号码
|
||||
cnum = self.get_4g_phone_number()
|
||||
self.logger.info(f"4G 本机号码: {cnum}")
|
||||
self.safe_enqueue(
|
||||
{"result": "cnum", "number": cnum if cnum is not None else ""}, 2)
|
||||
elif cmd == 45: # 读 MCCID
|
||||
mccid = self.get_4g_mccid()
|
||||
self.logger.info(f"4G MCCID: {mccid}")
|
||||
self.safe_enqueue(
|
||||
{"result": "mccid", "mccid": mccid if mccid is not None else ""}, 2)
|
||||
elif cmd == 43: # 上传日志命令
|
||||
upload_url = data_obj.get("url")
|
||||
wifi_ssid = data_obj.get("ssid")
|
||||
wifi_password = data_obj.get("password")
|
||||
include_rotated = data_obj.get("include_rotated", True)
|
||||
max_files = data_obj.get("max_files")
|
||||
archive_format = data_obj.get("archive", "tgz")
|
||||
|
||||
hardware_manager.start_idle_timer() # 重新计时
|
||||
hardware_manager.start_idle_timer()
|
||||
|
||||
if not upload_url:
|
||||
self.logger.error("[LOG_UPLOAD] 缺少 url 参数")
|
||||
self.safe_enqueue({"result": "log_upload_failed", "reason": "missing_url"},
|
||||
2)
|
||||
self.safe_enqueue({"result": "log_upload_failed", "reason": "missing_url"}, 2)
|
||||
else:
|
||||
self.logger.info(f"[LOG_UPLOAD] 收到日志上传命令，目标URL: {upload_url}")
|
||||
# 在新线程中执行上传，避免阻塞主循环
|
||||
self._spawn_cmd_thread(
|
||||
self._upload_log_file,
|
||||
(upload_url, wifi_ssid, wifi_password, include_rotated, max_files,
|
||||
archive_format)
|
||||
)
|
||||
elif inner_cmd == 200:
|
||||
elif cmd == 200: # GenericResult "init_center_point" 触发激光检测
|
||||
self.logger.info("[LASER] cmd200 在后台线程执行检测")
|
||||
self._spawn_cmd_thread(self._cmd200_detect_laser, ())
|
||||
elif inner_cmd == 300:
|
||||
elif cmd == 201: # SetCenterPointRequest 设置中心点
|
||||
if self.logger:
|
||||
self.logger.info(f"[LASER] cmd201:{body}")
|
||||
raw_x = data_obj.get("x")
|
||||
raw_y = data_obj.get("y")
|
||||
try:
|
||||
from laser_manager import laser_manager
|
||||
ix, iy = laser_manager.set_hardcoded_laser_point(raw_x, raw_y)
|
||||
self.safe_enqueue({
|
||||
"cmd": 201,
|
||||
"result": "laser_point_set",
|
||||
"x": ix,
|
||||
"y": iy,
|
||||
}, 2)
|
||||
self.logger.info(f"[LASER] cmd201 硬编码激光点=({ix}, {iy})")
|
||||
except Exception as e:
|
||||
self.logger.error(f"[LASER] cmd201 失败: {e}")
|
||||
self.safe_enqueue({
|
||||
"cmd": 201,
|
||||
"result": "laser_point_set_failed",
|
||||
"reason": str(e),
|
||||
}, 2)
|
||||
hardware_manager.start_idle_timer()
|
||||
elif cmd == 300: # OtaRequest 新版OTA
|
||||
self.logger.info("[New Ota] cmd300 在后台线程执行OTA")
|
||||
self._spawn_cmd_thread(self._cmd300_ota, (data_obj,))
|
||||
elif inner_cmd == 600:
|
||||
self.logger.info("[conn wifi] cmd600 在后台线程执行连接wifi: {data_obj}")
|
||||
self._spawn_cmd_thread(self._cmd600_conn_wifi, (data_obj,))
|
||||
elif inner_cmd == 601:
|
||||
self._spawn_cmd_thread(self._cmd300_ota, ({"data": data_obj},))
|
||||
elif cmd == 600: # WifiConnectRequest 连接wifi
|
||||
self.logger.info(f"[conn wifi] cmd600 在后台线程执行连接wifi: {data_obj}")
|
||||
self._spawn_cmd_thread(self._cmd600_conn_wifi, ({"data": data_obj},))
|
||||
elif cmd == 601:
|
||||
pass
|
||||
else: # data的结构不是 dict
|
||||
self.logger.info(f"[NET] body={body}, {time.time()}")
|
||||
else:
|
||||
self.logger.info(f"[NET] 未知数据 {body}, {time.time()}")
|
||||
self.logger.info(f"[NET] body={body}, {time.time()}")
|
||||
if _rx_login_fail:
|
||||
break
|
||||
if _rx_skip_tcp_iteration:
|
||||
|
||||
+157
-1183
File diff suppressed because it is too large
Load Diff
+196
-136
File diff suppressed because one or more lines are too long
+1
-1
@@ -4,6 +4,6 @@
|
||||
应用版本号
|
||||
每次 OTA 更新时，只需要更新这个文件中的版本号
|
||||
"""
|
||||
VERSION = '3.0.5'
|
||||
VERSION = '3.1.15'
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user