2.15.26

power.py

@@ -5,6 +5,8 @@
 提供电压、电流监测和充电状态检测
 """
 import config
+import os
+import subprocess
 from logger_manager import logger_manager
 from maix import time as maix_time
 
@@ -85,7 +87,7 @@ def get_bus_voltage():
 def get_current():
     """
     读取电流（单位：mA）
-    正数表示充电，负数表示放电
+    当前电源板实测：正数表示放电，负数表示充电。
     
     INA226 电流计算公式：
     Current = (Current Register Value) × Current_LSB
@@ -96,13 +98,13 @@ def get_current():
             return 0.0
         raw = read_register(config.REG_CURRENT)
         # INA226 电流寄存器是16位有符号整数
-        # 最高位是符号位：0=正（充电），1=负（放电）
+        # 最高位是符号位；电流方向含义取决于电源板的采样电阻接线方向。
         # 计算 Current_LSB（根据 CALIBRATION_VALUE）
         current_lsb = 0.001 * config.CALIBRATION_VALUE / 4096  # 单位：A
         # 处理有符号数：如果最高位为1，转换为负数
-        if raw & 0x8000:  # 最高位为1，表示负数（放电）
+        if raw & 0x8000:
             signed_raw = raw - 0x10000  # 转换为有符号整数
-        else:  # 最高位为0，表示正数（充电）
+        else:
             signed_raw = raw
         # 转换为毫安
         current_ma = signed_raw * current_lsb * 1000
@@ -129,7 +131,7 @@ def is_charging(threshold_ma=10.0):
     """
     try:
         current = get_current()
-        is_charge = current > threshold_ma
+        is_charge = current < -abs(float(threshold_ma))
         return is_charge
     except Exception as e:
         logger = logger_manager.logger
@@ -140,6 +142,115 @@ def is_charging(threshold_ma=10.0):
         return False
 
 
+def charging_shutdown_monitor():
+    """独立监测 INA226；连续确认充电后通知服务器并退出应用。"""
+    logger = logger_manager.logger
+    shutdown_enabled = bool(getattr(config, "CHARGING_SHUTDOWN_ENABLED", False))
+    diagnostic_enabled = bool(getattr(config, "CHARGING_DIAGNOSTIC_LOG_ENABLED", False))
+    if not shutdown_enabled and not diagnostic_enabled:
+        if logger:
+            logger.info("[CHARGE] 充电退出监测已禁用")
+        return
+
+    interval_ms = max(100, int(getattr(config, "CHARGING_CHECK_INTERVAL_MS", 5000)))
+    threshold_ma = float(getattr(config, "CHARGING_CURRENT_THRESHOLD_MA", 10.0))
+    confirm_required = max(1, int(getattr(config, "CHARGING_CONFIRM_COUNT", 2)))
+    confirm_count = 0
+
+    if logger:
+        logger.info(
+            f"[CHARGE] 独立监测线程启动: interval={interval_ms}ms, "
+            f"threshold={threshold_ma:.1f}mA, confirm={confirm_required}, "
+            f"shutdown={'on' if shutdown_enabled else 'off'}"
+        )
+
+    while True:
+        current_ma = get_current()
+        if diagnostic_enabled and logger:
+            voltage = get_bus_voltage()
+            logger.info(
+                f"[CHARGE-DIAG] INA226 voltage={voltage:.3f}V, "
+                f"current={current_ma:.1f}mA"
+            )
+
+        if not shutdown_enabled:
+            maix_time.sleep_ms(interval_ms)
+            continue
+
+        if current_ma < -abs(threshold_ma):
+            confirm_count += 1
+            if logger:
+                logger.info(
+                    f"[CHARGE] INA226 充电电流 {current_ma:.1f}mA "
+                    f"({confirm_count}/{confirm_required})"
+                )
+        else:
+            confirm_count = 0
+
+        if confirm_count >= confirm_required:
+            script_path = getattr(
+                config,
+                "CHARGING_EXIT_SCRIPT",
+                config.APP_DIR + "/charging_exit.sh",
+            )
+            if not os.path.isfile(script_path):
+                if logger:
+                    logger.error(f"[CHARGE] 退出脚本不存在: {script_path}")
+                confirm_count = 0
+            else:
+                if logger:
+                    logger.warning(
+                        f"[CHARGE] 已连续确认充电，通知服务器后退出应用: current={current_ma:.1f}mA"
+                    )
+                try:
+                    from network import network_manager
+
+                    notify_timeout_ms = max(
+                        0,
+                        int(getattr(config, "CHARGING_NOTIFY_TIMEOUT_MS", 30000)),
+                    )
+                    notification_sent = network_manager.safe_enqueue_and_wait(
+                        {"poweroff": "充电中"},
+                        2,
+                        high=True,
+                        timeout_ms=notify_timeout_ms,
+                    )
+                    if notification_sent:
+                        if logger:
+                            logger.info("[CHARGE] 充电状态已发送到服务器")
+                    elif logger:
+                        logger.warning(
+                            f"[CHARGE] 等待服务器发送超时({notify_timeout_ms}ms)，继续执行退出"
+                        )
+                except Exception as e:
+                    if logger:
+                        logger.error(f"[CHARGE] 充电状态上报失败，继续执行退出: {e}")
+                try:
+                    from laser_manager import laser_manager
+
+                    laser_manager.turn_off_laser()
+                    if logger:
+                        logger.info("[CHARGE] 激光关闭命令已发送")
+                except Exception as e:
+                    if logger:
+                        logger.error(f"[CHARGE] Python 关闭激光失败，交由退出脚本兜底: {e}")
+                try:
+                    subprocess.Popen([
+                        "/bin/sh",
+                        script_path,
+                        str(os.getpid()),
+                        str(getattr(config, "DISTANCE_SERIAL_DEVICE", "/dev/ttyS1")),
+                        str(getattr(config, "DISTANCE_SERIAL_BAUDRATE", 9600)),
+                    ])
+                    return
+                except Exception as e:
+                    if logger:
+                        logger.error(f"[CHARGE] 调用退出脚本失败: {e}")
+                    confirm_count = 0
+
+        maix_time.sleep_ms(interval_ms)
+
+
 def voltage_to_percent(voltage):
     """
     根据电压估算电池百分比（高密度查表插值 + 滤波）。