two

laser_manager.py

@@ -31,6 +31,7 @@ class LaserManager:
         
         # 私有状态
         self._serial = None  # 激光串口，由 laser_manager 自己持有
+        self._laser_gpio = None  # A14 激光开关，低电平开启、高电平关闭
         self._calibration_active = False
         self._calibration_result = None
         self._calibration_lock = threading.Lock()
@@ -69,10 +70,21 @@ class LaserManager:
     
     # ==================== 初始化方法 ====================
 
+    def init_control_gpio(self):
+        """尽早初始化 A14，并拉高确保激光关闭。"""
+        from maix import gpio, pinmap
+
+        pinmap.set_pin_function(config.LASER_CONTROL_PIN, config.LASER_CONTROL_GPIO)
+        if self._laser_gpio is None:
+            self._laser_gpio = gpio.GPIO(config.LASER_CONTROL_GPIO, gpio.Mode.OUT)
+        self._laser_gpio.value(config.LASER_CONTROL_OFF_LEVEL)
+        self._laser_turned_on = False
+        print(f"[LASER] {config.LASER_CONTROL_PIN}=HIGH，激光已关闭")
+
     def init(self, serial_device=None, baudrate=None):
         """
-        初始化激光模块（包括串口）
-        初始化完成后主动发送关闭命令，防止 UART 初始化噪声误触发激光
+        初始化激光模块（A14 开关 + 测距串口）
+        初始化时先将 A14 拉高关闭激光，防止开机误触发
         
         Args:
             serial_device: 串口设备路径，默认使用 config.DISTANCE_SERIAL_DEVICE
@@ -82,23 +94,11 @@ class LaserManager:
         device = serial_device or config.DISTANCE_SERIAL_DEVICE
         baud = baudrate or config.DISTANCE_SERIAL_BAUDRATE
 
+        self.init_control_gpio()
+
         self._serial = uart.UART(device, baud)
         print(f"[LASER] 激光串口初始化完成: device={device}, baudrate={baud}")
 
-        # 等待串口稳定后主动关闭激光，防止初始化噪声误触发
-        time.sleep_ms(100)
-        try:
-            self._serial.read(-1)  # 清空接收缓冲区
-        except Exception:
-            pass
-        self._serial.write(config.LASER_OFF_CMD)
-        time.sleep_ms(60)
-        try:
-            self._serial.read(-1)  # 清空回包
-        except Exception:
-            pass
-        print("[LASER] 已发送关闭命令（防止开机误触发）")
-
     # ==================== 业务方法 ====================
     
     def load_laser_point(self):
@@ -147,66 +147,38 @@ class LaserManager:
             return False
     
     def turn_on_laser(self):
-        """发送指令开启激光，并读取回包（部分模块支持）"""
-        if self._serial is None:
-            self.logger.error("[LASER] 激光串口未初始化，请先调用 init()")
-            return None
-        
-        # 打印调试信息
-        self.logger.info(f"[LASER] 发送开启命令: {config.LASER_ON_CMD.hex()}")
-        
-        # 清空接收缓冲区
+        """A14 输出低电平，开启激光。"""
+        if self._laser_gpio is None:
+            if self.logger:
+                self.logger.error("[LASER] A14 GPIO 未初始化，请先调用 init()")
+            return False
         try:
-            self._serial.read(-1)  # 清空缓冲区
-        except:
-            pass
-        
-        # 发送命令
-        written = self._serial.write(config.LASER_ON_CMD)
-        self.logger.info(f"[LASER] 写入字节数: {written}")
-        
-        time.sleep_ms(60)
-
-        # 读取回包
-        resp = self._serial.read(len=20, timeout=10)
-        if resp:
-            self.logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
-            if resp == config.LASER_ON_CMD:
-                self.logger.info("✅ 激光开启指令已确认")
-        else:
-            self.logger.warning("🔇 无回包（可能正常或模块不支持回包）")
-        self._laser_turned_on = True
-        return resp
+            self._laser_gpio.value(config.LASER_CONTROL_ON_LEVEL)
+            self._laser_turned_on = True
+            if self.logger:
+                self.logger.info("[LASER] A14=LOW，激光开启")
+            return True
+        except Exception as e:
+            if self.logger:
+                self.logger.error(f"[LASER] A14 开启激光失败: {e}")
+            return False
     
     def turn_off_laser(self):
-        """发送指令关闭激光"""
-        if self._serial is None:
-            self.logger.error("[LASER] 激光串口未初始化，请先调用 init()")
-            return None
-        
-        # 打印调试信息
-        self.logger.info(f"[LASER] 发送关闭命令: {config.LASER_OFF_CMD.hex()}")
-        
-        # 清空接收缓冲区
+        """A14 输出高电平，关闭激光。"""
+        if self._laser_gpio is None:
+            if self.logger:
+                self.logger.error("[LASER] A14 GPIO 未初始化，请先调用 init()")
+            return False
         try:
-            self._serial.read(-1)
-        except:
-            pass
-        
-        # 发送命令
-        written = self._serial.write(config.LASER_OFF_CMD)
-        self.logger.info(f"[LASER] 写入字节数: {written}")
-
-        time.sleep_ms(60)
-        
-        # 读取回包
-        resp = self._serial.read(20)
-        if resp:
-            self.logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
-        else:
-            self.logger.warning("🔇 无回包")
-        self._laser_turned_on = False
-        return resp
+            self._laser_gpio.value(config.LASER_CONTROL_OFF_LEVEL)
+            self._laser_turned_on = False
+            if self.logger:
+                self.logger.info("[LASER] A14=HIGH，激光关闭")
+            return True
+        except Exception as e:
+            if self.logger:
+                self.logger.error(f"[LASER] A14 关闭激光失败: {e}")
+            return False
 
     def flash_laser(self, duration_ms=1000):
         """闪一下激光（非阻塞版本）"""