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fix: 检测充电关机

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This commit is contained in:
linyimin
2026-08-12 17:10:29 +08:00
parent eae7da7291
commit d3c8a26854
4 changed files with 14 additions and 143 deletions
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main.py
+1 -8
View File
@@ -22,7 +22,7 @@ from version import VERSION
# from logger import init_logging, get_logger, stop_logging
from logger_manager import logger_manager
from time_sync import sync_system_time_from_4g
from power import charging_shutdown_monitor, init_ina226
from power import init_ina226
from laser_manager import laser_manager
from vision import start_save_shot_worker
from network import network_manager
@@ -125,13 +125,6 @@ def cmd_str():
logger_manager.init_logging(log_level=logging.WARNING)
logger = logger_manager.logger
# 充电关机独立读取 INA226，不依赖 TCP 连接或心跳流程。
try:
_thread.start_new_thread(charging_shutdown_monitor, ())
except Exception as e:
if logger:
logger.error(f"[CHARGE] 启动独立监测线程失败: {e}")
# 补充：因为初始化的时候，激光会亮，先关了它
# laser_manager.turn_off_laser()
network.py
+12 -2
View File
@@ -18,7 +18,7 @@ import socket
import config
from hardware import hardware_manager
from power import get_bus_voltage, voltage_to_percent
from power import get_bus_voltage, voltage_to_percent, is_charging
from logger_manager import logger_manager
from wifi import wifi_manager
import subprocess
@@ -2256,7 +2256,17 @@ class NetworkManager:
"netType": self.network_type,
}
self.safe_enqueue(battery_data, 2)
self.logger.info(f"电量上报: {battery_percent}%")
self.logger.info(f"电量上报: {battery_percent}% 充电: {is_charging()}")
if is_charging():
self.safe_enqueue(
{
"cmd": 700,
},
2,
)
elif inner_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")
power.py
-132
View File
@@ -142,138 +142,6 @@ 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.warning(
f"[CHARGE-TIMING] sample tick_ms={maix_time.ticks_ms()} "
f"current={current_ma:.1f}mA confirm={confirm_count}/{confirm_required}"
)
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)),
)
notify_start_ms = maix_time.ticks_ms()
if logger:
logger.warning(
f"[CHARGE-TIMING] enqueue_start tick_ms={notify_start_ms} "
f"network={network_manager.network_type} "
f"tcp_connected={network_manager.tcp_connected} "
f"timeout_ms={notify_timeout_ms}"
)
notification_sent = network_manager.safe_terminal_send_and_wait(
{"poweroff": "充电中"},
2,
timeout_ms=notify_timeout_ms,
)
notify_end_ms = maix_time.ticks_ms()
notify_elapsed_ms = abs(
maix_time.ticks_diff(notify_end_ms, notify_start_ms)
)
if logger:
logger.warning(
f"[CHARGE-TIMING] enqueue_done tick_ms={notify_end_ms} "
f"elapsed_ms={notify_elapsed_ms} sent={bool(notification_sent)} "
f"network={network_manager.network_type} "
f"tcp_connected={network_manager.tcp_connected}"
)
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）。
version.py
+1 -1
View File
@@ -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 = '2.15.33'
VERSION = '2.15.34'