diff --git a/laser_detector.py b/laser_detector.py index f4bd1d6..1a392f2 100644 --- a/laser_detector.py +++ b/laser_detector.py @@ -1,5 +1,5 @@ from maix import image, time - +from logger_manager import logger_manager from camera_manager import camera_manager _USE_CV = False @@ -132,7 +132,8 @@ def get_stable_laser_point(timeout_ms=15000, stable_count=STABLE_COUNT): continue pos_bright = find_brightest_bytes(frame, cx, cy, SEARCH_RADIUS, THRESHOLD, RED_RATIO) pos = pos_bright - print(f"pos:{pos},stable:{stable}") + if logger_manager.logger: + logger_manager.logger.info(f"pos:{pos},stable:{stable}") if _USE_CV: img_cv = image.image2cv(frame, False, False) pos_ellipse = find_ellipse(img_cv, cx, cy, SEARCH_RADIUS, THRESHOLD, RED_RATIO) diff --git a/network.py b/network.py index 7968359..15332e7 100644 --- a/network.py +++ b/network.py @@ -299,7 +299,10 @@ class NetworkManager: if atc is None: return False - with self.get_uart_lock(): + if not self._uart4g_lock.acquire(timeout=3000): + self.logger.warning("[4G] 获取 uart4g_lock 超时，跳过 4G 可用性检查") + return False + try: # 1) SIM 就绪 r = atc.send("AT+CPIN?", "READY", 3000) if "READY" not in r: @@ -340,6 +343,8 @@ class NetworkManager: if ip2: return True return False + finally: + self._uart4g_lock.release() except Exception: return False @@ -355,8 +360,13 @@ class NetworkManager: atc = hardware_manager.at_client if atc is None: return None - with self.get_uart_lock(): + if not self._uart4g_lock.acquire(timeout=3000): + self.logger.warning("[4G] get_4g_phone_number 获取锁超时") + return None + try: resp = atc.send("AT+CNUM", "OK", 3000) + finally: + self._uart4g_lock.release() if not resp: return None # 可能多行 +CNUM，取第一个非空号码 @@ -379,8 +389,13 @@ class NetworkManager: atc = hardware_manager.at_client if atc is None: return None - with self.get_uart_lock(): + if not self._uart4g_lock.acquire(timeout=3000): + self.logger.warning("[4G] get_4g_mccid 获取锁超时") + return None + try: resp = atc.send("AT+MCCID", "OK", 3000) + finally: + self._uart4g_lock.release() if not resp or "ERROR" in resp.upper(): return None m = re.search(r"\+MCCID:\s*(.+)", resp, re.IGNORECASE) @@ -538,6 +553,37 @@ class NetworkManager: return False + def _cmd200_detect_laser(self): + """后台线程执行 cmd200 激光检测，避免阻塞主循环""" + from laser_manager import laser_manager + try: + laser_manager.turn_on_laser() + self.logger.info("[LASER] cmd200 已发送开激光指令") + except Exception as e: + self.logger.warning(f"[LASER] cmd200 开激光异常: {e}") + + try: + from laser_detector import get_stable_laser_point + time.sleep_ms(500) + result = get_stable_laser_point(timeout_ms=60000) + if result: + x, y = result + self.safe_enqueue({ + "cmd": 200, + "result": "laser_detect_ok", + "x": x, + "y": y, + }, 2) + self.logger.info(f"[LASER] cmd200 检测结果: ({x}, {y})") + else: + self.safe_enqueue({ + "cmd": 200, + "result": "laser_detect_failed", + }, 2) + self.logger.warning("[LASER] cmd200 检测失败") + except Exception as e: + self.logger.error(f"[LASER] cmd200 检测异常: {e}") + def safe_enqueue(self, data_dict, msg_type=2, high=False): """线程安全地将消息加入队列（公共方法）""" self._enqueue((msg_type, data_dict), high) @@ -672,7 +718,10 @@ class NetworkManager: host = self._server_ip port = getattr(config, "TCP_SSL_PORT", 443) if use_ssl else config.SERVER_PORT tail = getattr(config, "MIPOPEN_TAIL", "") - with self.get_uart_lock(): + if not self._uart4g_lock.acquire(timeout=15000): + self.logger.warning("[4G-TCP] 连接：获取 uart4g_lock 超时") + return False + try: resp = hardware_manager.at_client.send(f"AT+MIPCLOSE={link_id}", "OK", 1000) self.logger.info(f"[4G-TCP] AT+MIPCLOSE={link_id} response: {resp}") @@ -686,6 +735,8 @@ class NetworkManager: cmd = f'AT+MIPOPEN={link_id},"TCP","{host}",{port}' res = hardware_manager.at_client.send(cmd, "+MIPOPEN", 8000) self.logger.info(f"[4G-TCP] {cmd} response: {res}") + finally: + self._uart4g_lock.release() if f"+MIPOPEN: {link_id},0" in res: self._tcp_connected = True return True @@ -808,8 +859,13 @@ class NetworkManager: def _disconnect_tcp_via_4g(self): link_id = getattr(config, "TCP_LINK_ID", 0) - with self.get_uart_lock(): + if not self._uart4g_lock.acquire(timeout=2000): + self.logger.warning("[4G-TCP] 断开连接：获取 uart4g_lock 超时") + return + try: hardware_manager.at_client.send(f"AT+MIPCLOSE={link_id}", "OK", 1000) + finally: + self._uart4g_lock.release() def tcp_send_raw(self, data: bytes, max_retries=2) -> bool: @@ -893,7 +949,10 @@ class NetworkManager: def _tcp_send_raw_via_4g(self, data: bytes, max_retries=2) -> bool: link_id = getattr(config, "TCP_LINK_ID", 0) - with self.get_uart_lock(): + if not self._uart4g_lock.acquire(timeout=2000): + self.logger.warning("[4G-TCP] 获取 uart4g_lock 超时（其他线程持有），跳过本次发送") + return False + try: for _ in range(max_retries): cmd = f'AT+MIPSEND={link_id},{len(data)}' if ">" not in hardware_manager.at_client.send(cmd, ">", 2000): @@ -914,6 +973,8 @@ class NetworkManager: return True time.sleep_ms(50) return False + finally: + self._uart4g_lock.release() def _configure_ssl_before_connect(self, link_id: int) -> bool: """按手册：MSSLCFG(auth) -> (可选) MSSLCERTWR -> MSSLCFG(cert) -> MIPCFG(ssl)""" @@ -2033,39 +2094,9 @@ class NetworkManager: (upload_url, wifi_ssid, wifi_password, include_rotated, max_files, archive_format) ) elif inner_cmd == 200: - from laser_manager import laser_manager - try: - laser_manager.turn_on_laser() - if self.logger: - self.logger.info("[LASER] cmd200 已发送开激光指令") - except Exception as e: - if self.logger: - self.logger.warning(f"[LASER] cmd200 开激光异常: {e}") - try: - from laser_detector import get_stable_laser_point - time.sleep_ms(500) - result = get_stable_laser_point(timeout_ms=60000) - if result: - x, y = result - self.safe_enqueue({ - "cmd": 200, - "result": "laser_detect_ok", - "x": x, - "y": y, - }, 2) - if self.logger: - self.logger.info(f"[LASER] cmd200 检测结果: ({x}, {y})") - else: - self.safe_enqueue({ - "cmd": 200, - "result": "laser_detect_failed", - }, 2) - if self.logger: - self.logger.warning("[LASER] cmd200 检测失败") - except Exception as e: - if self.logger: - self.logger.error(f"[LASER] cmd200 检测异常: {e}") - time.sleep_ms(500) + self.logger.info("[LASER] cmd200 在后台线程执行检测") + import _thread + _thread.start_new_thread(self._cmd200_detect_laser, ()) else: # data的结构不是 dict self.logger.info(f"[NET] body={body}, {time.time()}")