fix: 修改版本号

app.yaml

@@ -1,6 +1,6 @@
 id: t11
 name: t11
-version: 3.0.5
+version: 2.18.2
 author: t11
 icon: ''
 desc: t11
@@ -18,8 +18,8 @@ files:
   - laser_manager.py
   - logger_manager.py
   - main.py
-  - model_285484.cvimodel
-  - model_285484.mud
+  - model_317828.cvimodel
+  - model_317828.mud
   - network.py
   - ota_curl.sh
   - ota_manager.py

camera_manager.py

@@ -66,12 +66,6 @@ class CameraManager:
         with self._camera_lock:
             if self._camera is None:
                 self._camera = camera.Camera(width, height)
-                v_flip = getattr(config, 'CAMERA_V_FLIP', False)
-                h_mirror = getattr(config, 'CAMERA_H_MIRROR', False)
-                if v_flip:
-                    self._camera.vflip(1)
-                if h_mirror:
-                    self._camera.hmirror(1)
         
         return self._camera
     
@@ -117,6 +111,21 @@ class CameraManager:
             if self._camera is None:
                 self.init_camera()
             frame = self._camera.read()
+            if frame is not None and _USE_CV:
+                try:
+                    v_flip = getattr(config, 'CAMERA_V_FLIP', False)
+                    h_mirror = getattr(config, 'CAMERA_H_MIRROR', False)
+                    if v_flip or h_mirror:
+                        img_cv = _maix_image.image2cv(frame, False, False)
+                        if v_flip and h_mirror:
+                            img_cv = cv2.flip(img_cv, -1)
+                        elif v_flip:
+                            img_cv = cv2.flip(img_cv, 0)
+                        elif h_mirror:
+                            img_cv = cv2.flip(img_cv, 1)
+                        frame = _maix_image.cv2image(img_cv, False, False)
+                except Exception:
+                    pass
             return frame
     
     def show(self, image):

config.py

@@ -241,10 +241,10 @@ TRIANGLE_BLACKHAT_KERNEL_FRAC = 0.018  # 核大小 ≈ min(h,w)*frac，取奇数
 # ── YOLO(NPU) 靶环 ROI → 裁剪后再跑三角形（减小 CPU 处理面积）──────────────────
 # 日志里 net_in=W×H 来自 .mud 模型（det.input_width/height），不是这里配置的。
 TRIANGLE_YOLO_ROI_ENABLE = True
-TRIANGLE_YOLO_MODEL_PATH = APP_DIR + "/model_270139.mud"
+TRIANGLE_YOLO_MODEL_PATH = APP_DIR + "/model_317211.mud"
 # 参与 ROI 的类别：多类时只填「整靶/靶环」的 id；不要填角标类，否则 union 仍可对，但 largest 会偏小。
 TRIANGLE_YOLO_RING_CLASS_IDS = (0,)
-TRIANGLE_YOLO_CONF_TH = 0.7
+TRIANGLE_YOLO_CONF_TH = 0.9
 TRIANGLE_YOLO_IOU_TH = 0.45
 # YOLO 首次/临界帧可能在高阈值下 0 框；启用后仅在 0 候选时用较低阈值重试一次。
 # 后续仍会经过 min_box_side、ROI aspect、三角形几何校验，避免直接放大假阳性。
@@ -271,9 +271,9 @@ TRIANGLE_YOLO_PRELOAD_ON_BOOT = False
 
 # YOLO target size classification: class 0=20cm, class 1=40cm.
 TARGET_CLASS_YOLO_ENABLE = True
-TARGET_CLASS_YOLO_MODEL_PATH = APP_DIR + "/model_285484.mud"
+TARGET_CLASS_YOLO_MODEL_PATH = APP_DIR + "/model_317828.mud"
 TARGET_CLASS_YOLO_LABELS = (20, 40)
-TARGET_CLASS_YOLO_CONF_TH = 0.50
+TARGET_CLASS_YOLO_CONF_TH = 0.66
 TARGET_CLASS_YOLO_IOU_TH = 0.45
 TARGET_CLASS_YOLO_RETRY_ON_EMPTY = False
 TARGET_CLASS_YOLO_RETRY_CONF_TH = 0.25
@@ -333,14 +333,17 @@ LOG_QUEUE_MAXSIZE = 10000       # 日志队列上限
 MAX_CMD_THREADS = 10            # 并发命令线程上限（防止服务器下发命令时无限创建线程）
 
 # ==================== 图像保存配置 ====================
-SAVE_IMAGE_ENABLED = False  # 是否保存图像（True=保存，False=不保存）
-SAVE_IMAGE_ON_FAILURE = True  # 检测失败时是否强制保存图像（供调试测试用）
+SAVE_IMAGE_ENABLED = True  # 是否保存图像（True=保存，False=不保存）
+SAVE_IMAGE_ON_FAILURE = False  # 检测失败时是否强制保存图像（供调试测试用）
 PHOTO_DIR = "/root/phot"    # 照片存储目录
 MAX_IMAGES = 1000
+SAVE_RAW_IMAGE_ENABLED = False  # 原图保存功能保留，但当前关闭
+RAW_IMAGE_DIR = PHOTO_DIR + "/raw"
+RAW_IMAGE_MAX_IMAGES = MAX_IMAGES
 # Stage2 调试目录（默认 PHOTO_DIR/stage2_roi）内 JPEG 最多保留张数；None 表示与 MAX_IMAGES 相同
 TRIANGLE_BLACK_YOLO_STAGE2_ROI_MAX_IMAGES = None
 
-SHOW_CAMERA_PHOTO_WHILE_SHOOTING = False  # 是否在拍摄时显示摄像头图像（True=显示，False=不显示），建议在连着USB测试过程中打开
+SHOW_CAMERA_PHOTO_WHILE_SHOOTING = False  # 关闭拍摄实时显示
 
 # ==================== OTA配置 ====================
 MAX_BACKUPS = 5

cpp_ext/archery_netcore.cpp

@@ -57,16 +57,9 @@ PYBIND11_MODULE(archery_netcore, m) {
           "Pack TCP packet: header (len+type+checksum) + JSON body",
           py::arg("msg_type"), py::arg("body_dict"));
     
-    m.def("make_packet_pb", &netcore::make_packet_pb,
-          "Pack TCP packet: header (len+type+checksum) + raw bytes body (for protobuf)",
-          py::arg("msg_type"), py::arg("body_bytes"));
-
     m.def("parse_packet", &netcore::parse_packet,
           "Parse TCP packet, return (msg_type, body_dict)");
 
-    m.def("parse_packet_raw", &netcore::parse_packet_raw,
-          "Parse TCP packet, return (msg_type, body_bytes) without JSON parsing");
-
     m.def("get_config", &get_config, "Get system configuration");
 
     m.def(

cpp_ext/msg_handler.cpp

@@ -51,43 +51,6 @@ namespace netcore {
         return py::bytes(reinterpret_cast<const char*>(packet.data()), packet.size());
     }
 
-    // 打包 TCP 数据包 (raw bytes body, 用于 protobuf)
-    py::bytes make_packet_pb(int msg_type, py::bytes body_bytes) {
-        netcore::log_debug(std::string("make_packet_pb msg_type=") + std::to_string(msg_type));
-
-        py::buffer_info buf = py::buffer(body_bytes).request();
-        uint32_t body_len = buf.size;
-        uint32_t checksum = body_len + msg_type;
-
-        std::vector<uint8_t> packet;
-        packet.reserve(12 + body_len);
-
-        // body_len (big-endian, 4 bytes)
-        packet.push_back((body_len >> 24) & 0xFF);
-        packet.push_back((body_len >> 16) & 0xFF);
-        packet.push_back((body_len >> 8) & 0xFF);
-        packet.push_back(body_len & 0xFF);
-
-        // msg_type (big-endian, 4 bytes)
-        packet.push_back((msg_type >> 24) & 0xFF);
-        packet.push_back((msg_type >> 16) & 0xFF);
-        packet.push_back((msg_type >> 8) & 0xFF);
-        packet.push_back(msg_type & 0xFF);
-
-        // checksum (big-endian, 4 bytes)
-        packet.push_back((checksum >> 24) & 0xFF);
-        packet.push_back((checksum >> 16) & 0xFF);
-        packet.push_back((checksum >> 8) & 0xFF);
-        packet.push_back(checksum & 0xFF);
-
-        // 追加 body bytes
-        const uint8_t* body_ptr = static_cast<const uint8_t*>(buf.ptr);
-        packet.insert(packet.end(), body_ptr, body_ptr + body_len);
-
-        netcore::log_debug(std::string("make_packet_pb done bytes=") + std::to_string(packet.size()));
-        return py::bytes(reinterpret_cast<const char*>(packet.data()), packet.size());
-    }
-
     // 解析 TCP 数据包
     py::tuple parse_packet(py::bytes data) {
         // 1) 转换为 bytes view
@@ -147,26 +110,4 @@ namespace netcore {
             return py::make_tuple(py::int_(msg_type), raw_dict);
         }
     }
-
-    // 解析 TCP 数据包 -> (msg_type, body_bytes) 不做 JSON 解析
-    py::tuple parse_packet_raw(py::bytes data) {
-        py::buffer_info buf = py::buffer(data).request();
-        if (buf.size < 12) {
-            return py::make_tuple(py::none(), py::none());
-        }
-
-        const uint8_t* ptr = static_cast<const uint8_t*>(buf.ptr);
-
-        uint32_t body_len = (ptr[0] << 24) | (ptr[1] << 16) | (ptr[2] << 8) | ptr[3];
-        uint32_t msg_type = (ptr[4] << 24) | (ptr[5] << 16) | (ptr[6] << 8) | ptr[7];
-
-        uint32_t expected_len = 12 + body_len;
-        if (buf.size < expected_len) {
-            return py::make_tuple(py::none(), py::none());
-        }
-
-        // 返回原始 body bytes（不做 JSON 解析）
-        py::bytes body_bytes(reinterpret_cast<const char*>(ptr + 12), body_len);
-        return py::make_tuple(py::int_(msg_type), body_bytes);
-    }
 }

cpp_ext/msg_handler.hpp

@@ -7,15 +7,8 @@ namespace py = pybind11;
 
 namespace netcore {
 
-    // 打包 TCP 数据包 (JSON body)
+    // 打包 TCP 数据包
     py::bytes make_packet(int msg_type, py::dict body_dict);
-
-    // 打包 TCP 数据包 (raw bytes body, 用于 protobuf)
-    py::bytes make_packet_pb(int msg_type, py::bytes body_bytes);
-
-    // 解包 TCP 数据包 -> (msg_type, body_dict)
+    // 解包 TCP 数据包
     py::tuple parse_packet(py::bytes data);
-
-    // 解包 TCP 数据包 -> (msg_type, body_bytes) 不做 JSON 解析
-    py::tuple parse_packet_raw(py::bytes data);
 }

main.py

@@ -172,8 +172,10 @@ def cmd_str():
             and bool(getattr(config, "TARGET_CLASS_YOLO_PRELOAD_ON_BOOT", True))
         )
         _preload_yolo = _preload_yolo or _need_black_preload or _need_target_preload
-        if _preload_yolo:
+        if _preload_yolo and not os.path.exists(f"{config.APP_DIR}/ota_pending.json"):
             preload_yolo_detector(logger)
+        elif _preload_yolo and logger:
+            logger.warning("[YOLO] ota_pending.json found; skip model preload until rollback check")
     except Exception as e:
         if logger:
             logger.warning(f"[YOLO-ROI] 启动预加载异常（不影响后续射箭）: {e}")
@@ -255,7 +257,11 @@ def cmd_str():
     network_manager.read_device_id()
 
     # 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）
-    if config.SAVE_IMAGE_ENABLED or getattr(config, "SAVE_IMAGE_ON_FAILURE", False):
+    if (
+        config.SAVE_IMAGE_ENABLED
+        or getattr(config, "SAVE_IMAGE_ON_FAILURE", False)
+        or getattr(config, "SAVE_RAW_IMAGE_ENABLED", False)
+    ):
         photo_dir = config.PHOTO_DIR
         if photo_dir not in os.listdir("/root"):
             try:
@@ -387,7 +393,7 @@ def cmd_str():
             # 触发后需等气压降到触发值以下才重新检测增量
             if adc_val < trigger_adc_val :
                 enable_check = True
-            if (adc_val - last_adc_val) > 200 and enable_check:
+            if (adc_val - last_adc_val) > 500 and enable_check:
                 hardware_manager.start_idle_timer()  # 重新计时
                 last_adc_trigger = current_time
                 trigger_adc_val = adc_val  # 记录触发时的气压值

model_270139.mud

@@ -0,0 +1,13 @@
+
+[basic]
+type = cvimodel
+model = model_270139.cvimodel
+
+[extra]
+model_type = yolov5
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+anchors = 10, 13, 16, 30, 33, 23, 30, 61, 62, 45, 59, 119, 116, 90, 156, 198, 373, 326
+labels = 黑三角和圆环
+

model_270820.mud

@@ -0,0 +1,13 @@
+
+[basic]
+type = cvimodel
+model = model_270820.cvimodel
+
+[extra]
+model_type = yolov5
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+anchors = 10, 13, 16, 30, 33, 23, 30, 61, 62, 45, 59, 119, 116, 90, 156, 198, 373, 326
+labels = triangle
+

model_317211.mud

@@ -0,0 +1,13 @@
+
+[basic]
+type = cvimodel
+model = model_317211.cvimodel
+
+[extra]
+model_type = yolov5
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+anchors = 10, 13, 16, 30, 33, 23, 30, 61, 62, 45, 59, 119, 116, 90, 156, 198, 373, 326
+labels = circle, triangle
+

model_317828.mud

@@ -0,0 +1,13 @@
+
+[basic]
+type = cvimodel
+model = model_317828.cvimodel
+
+[extra]
+model_type = yolov5
+input_type = rgb
+mean = 0, 0, 0
+scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
+anchors = 10, 13, 16, 30, 33, 23, 30, 61, 62, 45, 59, 119, 116, 90, 156, 198, 373, 326
+labels = 20, 40
+

network.py

@@ -23,14 +23,6 @@ from logger_manager import logger_manager
 from wifi import wifi_manager
 import subprocess
 
-# protobuf 支持
-try:
-    import tcp_messages_pb2 as pb
-    _HAS_PROTO = True
-except ImportError:
-    _HAS_PROTO = False
-    print("[NET] tcp_messages_pb2 not found, protobuf disabled")
-
 
 def _wifi_tls_would_block(exc):
     """
@@ -80,9 +72,6 @@ class NetworkManager:
         self._raw_line_data = []
         self._manual_trigger_flag = False
 
-        # protobuf 协议支持
-        self._use_proto = _HAS_PROTO  # 默认启用 proto（如果可用）
-
         # 限制并发命令线程数
         self._cmd_thread_lock = threading.Lock()
         self._cmd_thread_count = 0
@@ -722,103 +711,6 @@ class NetworkManager:
         """线程安全地将消息加入队列（公共方法）"""
         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:
-            return self._make_proto_packet(msg_type, data_dict)
-        return self._netcore.make_packet(msg_type, data_dict)
-
-    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", ""),
-                    if_admin=data_dict.get("ifAdmin", False),
-                    version=data_dict.get("version", ""),
-                    vol=data_dict.get("vol", 0),
-                    vol_per=data_dict.get("vol_per", 0),
-                    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)
-            else:
-                # 其他消息类型，回退到 JSON
-                return self._netcore.make_packet(msg_type, data_dict)
-
-            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
-            try:
-                body_dict = self._parse_proto_body(msg_type, body_bytes)
-                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)
-
-    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}
-        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()}
-            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)
-            return {"uploadUrl": msg.upload_url, "token": msg.token, "shootId": msg.shoot_id, "outlink": msg.outlink}
-        elif msg_type == 101:
-            msg = pb.LogUploadCommand()
-            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):
         """
         连接到服务器（自动选择WiFi或4G）
@@ -1950,13 +1842,14 @@ 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)
                 }
                 iccid_pending_marker = self._maybe_add_iccid_to_login(login_data)
                 print(f"login_data: {login_data}")
-                if not self.tcp_send_raw(self._make_send_packet(1, login_data)):
+                # if not self.tcp_send_raw(self.make_packet(1, login_data)):
+                if not self.tcp_send_raw(self._netcore.make_packet(1, login_data)):
                     self._tcp_connected = False
                     try:
                         self.disconnect_server()
@@ -2033,7 +1926,7 @@ class NetworkManager:
                                     pass
 
                             # msg_type, body = self.parse_packet(payload)
-                            msg_type, body = self._parse_recv(payload)
+                            msg_type, body = self._netcore.parse_packet(payload)
 
                             # 处理登录响应
                             if not logged_in and msg_type == 1:
@@ -2417,7 +2310,7 @@ class NetworkManager:
 
                         if item:
                             msg_type, data_dict = item
-                            pkt = self._make_send_packet(msg_type, data_dict)
+                            pkt = self._netcore.make_packet(msg_type, data_dict)
                             if not self.tcp_send_raw(pkt):
                                 # 发送失败：将消息放回队首（队列满则丢弃）
                                 with self.get_queue_lock():
@@ -2446,8 +2339,8 @@ class NetworkManager:
                     current_time = time.ticks_ms()
                     if logged_in and current_time - last_heartbeat_send_time > config.HEARTBEAT_INTERVAL * 1000:
                         vol_val = get_bus_voltage()
-                        heartbeat_pkt = self._make_send_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})
-                        if not self.tcp_send_raw(heartbeat_pkt):
+                        if not self.tcp_send_raw(
+                                self._netcore.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})):
                             # if not self.tcp_send_raw(self.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})):
                             send_hartbeat_fail_count += 1
                             # 短暂波动可能导致一次发送失败：连续失败达到阈值才重连，避免重连风暴

shoot_manager.py

@@ -8,7 +8,7 @@ from laser_manager import laser_manager
 from logger_manager import logger_manager
 from network import network_manager
 from triangle_target import load_camera_from_xml, load_triangle_positions, try_triangle_scoring
-from vision import estimate_distance, detect_circle_v3, enqueue_save_shot
+from vision import estimate_distance, detect_circle_v3, enqueue_save_shot, enqueue_save_raw_shot
 from maix import image, time
 
 # 缓存相机标定与三角形位置，避免每次射箭重复读磁盘
@@ -322,6 +322,11 @@ def process_shot(adc_val):
     try:
         frame = camera_manager.read_frame()
 
+        # 在任何检测和绘图之前复制原始帧；默认由配置关闭，不增加量产开销。
+        from shot_id_generator import shot_id_generator
+        shot_id = shot_id_generator.generate_id()
+        enqueue_save_raw_shot(frame, shot_id)
+
         # 网络事件移到拍照之后，避免阻塞拍照
         network_manager.safe_enqueue({"shoot_event": "start"}, msg_type=2, high=True)
 
@@ -380,10 +385,6 @@ def process_shot(adc_val):
         if dx is None and dy is None and logger:
             logger.warning("[MAIN] 未检测到偏移量（三角形与圆形均失败），但会保存图像")
 
-        # 生成射箭ID
-        from shot_id_generator import shot_id_generator
-        shot_id = shot_id_generator.generate_id()
-
         if logger:
             logger.info(f"[MAIN] 射箭ID: {shot_id}")
 
@@ -441,6 +442,13 @@ def process_shot(adc_val):
             inner_data["ellipse_center_x"] = None
             inner_data["ellipse_center_y"] = None
 
+        upload_time_ms = int(time_std.time() * 1000)
+        upload_time_sec, upload_time_millis = divmod(upload_time_ms, 1000)
+        inner_data["upload_time"] = (
+            time_std.strftime("%Y-%m-%d %H:%M:%S", time_std.localtime(upload_time_sec))
+            + f".{upload_time_millis:03d}"
+        )
+
         report_data = {"cmd": 1, "data": inner_data}
         if logger:
             logger.info(

tcp_messages_pb2.py

@@ -1,295 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: tcp_messages.proto
-"""Generated protocol buffer code."""
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x12tcp_messages.proto\x12\x03tcp\"\x83\x01\n\x0cLoginRequest\x12\x11\n\tdevice_id\x18\x01 \x01(\t\x12\x10\n\x08password\x18\x02 \x01(\t\x12\x10\n\x08if_admin\x18\x03 \x01(\x08\x12\x0f\n\x07version\x18\x04 \x01(\t\x12\x0b\n\x03vol\x18\x05 \x01(\x01\x12\x0f\n\x07vol_per\x18\x06 \x01(\x01\x12\r\n\x05iccid\x18\x07 \x01(\t\"*\n\rLoginResponse\x12\x0b\n\x03\x63md\x18\x01 \x01(\r\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\t\"4\n\tHeartbeat\x12\t\n\x01t\x18\x01 \x01(\x03\x12\x0b\n\x03vol\x18\x02 \x01(\x01\x12\x0f\n\x07vol_per\x18\x03 \x01(\x01\"&\n\tLogicBody\x12\x0b\n\x03\x63md\x18\x01 \x01(\r\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\")\n\x0cResponseBody\x12\x0b\n\x03\x63md\x18\x01 \x01(\r\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"@\n\x0bMonitorBody\x12\x11\n\tdevice_id\x18\x01 \x01(\t\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\x12\x10\n\x08msg_type\x18\x03 \x01(\r\",\n\x16MonitorDevicesResponse\x12\x12\n\ndevice_ids\x18\x01 \x03(\t\"9\n\x0bOtaFragment\x12\t\n\x01l\x18\x01 \x01(\x05\x12\t\n\x01\x64\x18\x02 \x01(\t\x12\t\n\x01t\x18\x03 \x01(\x05\x12\t\n\x01v\x18\x04 \x01(\t\"\xab\x02\n\tShootData\x12\x0f\n\x07shot_id\x18\x01 \x01(\t\x12\t\n\x01x\x18\x02 \x01(\x01\x12\t\n\x01y\x18\x03 \x01(\x01\x12\t\n\x01r\x18\x04 \x01(\x01\x12\t\n\x01\x64\x18\x05 \x01(\x01\x12\x0b\n\x03\x61\x64\x63\x18\x06 \x01(\x01\x12\x14\n\x0ctarget_class\x18\x07 \x01(\t\x12\x1f\n\x17target_class_confidence\x18\x08 \x01(\x01\x12\x0f\n\x07\x64_laser\x18\t \x01(\x01\x12\x17\n\x0f\x64_laser_quality\x18\n \x01(\x01\x12\t\n\x01m\x18\x0b \x01(\t\x12\x14\n\x0claser_method\x18\x0c \x01(\t\x12\x10\n\x08target_x\x18\r \x01(\x01\x12\x10\n\x08target_y\x18\x0e \x01(\x01\x12\x15\n\roffset_method\x18\x0f \x01(\t\x12\x17\n\x0f\x64istance_method\x18\x10 \x01(\t\"!\n\nShootEvent\x12\x13\n\x0bshoot_event\x18\x01 \x01(\t\"C\n\rBatteryReport\x12\x0f\n\x07\x62\x61ttery\x18\x01 \x01(\x01\x12\x0f\n\x07voltage\x18\x02 \x01(\x01\x12\x10\n\x08net_type\x18\x03 \x01(\t\"9\n\x11\x43\x65nterPointResult\x12\x0e\n\x06result\x18\x01 \x01(\t\x12\t\n\x01x\x18\x02 \x01(\x01\x12\t\n\x01y\x18\x03 \x01(\x01\"3\n\x0e\x43\x65nterPointSet\x12\x0b\n\x03\x63md\x18\x01 \x01(\r\x12\t\n\x01x\x18\x02 \x01(\x01\x12\t\n\x01y\x18\x03 \x01(\x01\"(\n\tOtaResult\x12\x0e\n\x06result\x18\x01 \x01(\t\x12\x0b\n\x03url\x18\x02 \x01(\t\"\x1f\n\rGenericResult\x12\x0e\n\x06result\x18\x01 \x01(\t\"&\n\x08IpReport\x12\x0e\n\x06result\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\"Z\n\x12ImageUploadCommand\x12\x12\n\nupload_url\x18\x01 \x01(\t\x12\r\n\x05token\x18\x02 \x01(\t\x12\x10\n\x08shoot_id\x18\x03 \x01(\t\x12\x0f\n\x07outlink\x18\x04 \x01(\t\"d\n\x10LogUploadCommand\x12\x12\n\nupload_url\x18\x01 \x01(\t\x12\r\n\x05token\x18\x02 \x01(\t\x12\x0b\n\x03key\x18\x03 \x01(\t\x12\x0f\n\x07outlink\x18\x04 \x01(\t\x12\x0f\n\x07\x61rchive\x18\x05 \x01(\t\"K\n\x0eOtaRequestData\x12\x0c\n\x04ssid\x18\x01 \x01(\t\x12\x10\n\x08password\x18\x02 \x01(\t\x12\x0b\n\x03url\x18\x03 \x01(\t\x12\x0c\n\x04mode\x18\x04 \x01(\t\"1\n\x0fWifiConnectData\x12\x0c\n\x04ssid\x18\x01 \x01(\t\x12\x10\n\x08password\x18\x02 \x01(\t\"_\n\x11ImageUploadResult\x12\x0e\n\x06result\x18\x01 \x01(\t\x12\x10\n\x08shoot_id\x18\x02 \x01(\t\x12\x0b\n\x03key\x18\x03 \x01(\t\x12\x0e\n\x06reason\x18\x04 \x01(\t\x12\x0b\n\x03via\x18\x05 \x01(\t\"v\n\x0fLogUploadResult\x12\x0e\n\x06result\x18\x01 \x01(\t\x12\x0e\n\x06reason\x18\x02 \x01(\t\x12\x10\n\x08\x66ilename\x18\x03 \x01(\t\x12\x13\n\x0bstatus_code\x18\x04 \x01(\x05\x12\x0c\n\x04ssid\x18\x05 \x01(\t\x12\x0e\n\x06\x64\x65tail\x18\x06 \x01(\t\"J\n\x14\x42\x61tteryQueryResponse\x12\x0f\n\x07\x62\x61ttery\x18\x01 \x01(\x01\x12\x0f\n\x07voltage\x18\x02 \x01(\x01\x12\x10\n\x08net_type\x18\x03 \x01(\t\"\'\n\x0fOta4gSubCodeReq\x12\t\n\x01l\x18\x01 \x01(\x05\x12\t\n\x01v\x18\x02 \x01(\t\"5\n\x10Ota4gSubCodeResp\x12\x0b\n\x03\x63md\x18\x01 \x01(\r\x12\t\n\x01l\x18\x02 \x01(\x05\x12\t\n\x01v\x18\x03 \x01(\t\"\x1e\n\x0fShutdownCommand\x12\x0b\n\x03\x63md\x18\x01 \x01(\r\" \n\x0c\x41utoShutdown\x12\x10\n\x08poweroff\x18\x01 \x01(\tBB\n\rcom.shoot.tcpZ1git.shelingxingqiu.com/shoot-tcp-server/proto;tcpb\x06proto3')
-
-
-
-_LOGINREQUEST = DESCRIPTOR.message_types_by_name['LoginRequest']
-_LOGINRESPONSE = DESCRIPTOR.message_types_by_name['LoginResponse']
-_HEARTBEAT = DESCRIPTOR.message_types_by_name['Heartbeat']
-_LOGICBODY = DESCRIPTOR.message_types_by_name['LogicBody']
-_RESPONSEBODY = DESCRIPTOR.message_types_by_name['ResponseBody']
-_MONITORBODY = DESCRIPTOR.message_types_by_name['MonitorBody']
-_MONITORDEVICESRESPONSE = DESCRIPTOR.message_types_by_name['MonitorDevicesResponse']
-_OTAFRAGMENT = DESCRIPTOR.message_types_by_name['OtaFragment']
-_SHOOTDATA = DESCRIPTOR.message_types_by_name['ShootData']
-_SHOOTEVENT = DESCRIPTOR.message_types_by_name['ShootEvent']
-_BATTERYREPORT = DESCRIPTOR.message_types_by_name['BatteryReport']
-_CENTERPOINTRESULT = DESCRIPTOR.message_types_by_name['CenterPointResult']
-_CENTERPOINTSET = DESCRIPTOR.message_types_by_name['CenterPointSet']
-_OTARESULT = DESCRIPTOR.message_types_by_name['OtaResult']
-_GENERICRESULT = DESCRIPTOR.message_types_by_name['GenericResult']
-_IPREPORT = DESCRIPTOR.message_types_by_name['IpReport']
-_IMAGEUPLOADCOMMAND = DESCRIPTOR.message_types_by_name['ImageUploadCommand']
-_LOGUPLOADCOMMAND = DESCRIPTOR.message_types_by_name['LogUploadCommand']
-_OTAREQUESTDATA = DESCRIPTOR.message_types_by_name['OtaRequestData']
-_WIFICONNECTDATA = DESCRIPTOR.message_types_by_name['WifiConnectData']
-_IMAGEUPLOADRESULT = DESCRIPTOR.message_types_by_name['ImageUploadResult']
-_LOGUPLOADRESULT = DESCRIPTOR.message_types_by_name['LogUploadResult']
-_BATTERYQUERYRESPONSE = DESCRIPTOR.message_types_by_name['BatteryQueryResponse']
-_OTA4GSUBCODEREQ = DESCRIPTOR.message_types_by_name['Ota4gSubCodeReq']
-_OTA4GSUBCODERESP = DESCRIPTOR.message_types_by_name['Ota4gSubCodeResp']
-_SHUTDOWNCOMMAND = DESCRIPTOR.message_types_by_name['ShutdownCommand']
-_AUTOSHUTDOWN = DESCRIPTOR.message_types_by_name['AutoShutdown']
-LoginRequest = _reflection.GeneratedProtocolMessageType('LoginRequest', (_message.Message,), {
-  'DESCRIPTOR' : _LOGINREQUEST,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.LoginRequest)
-  })
-_sym_db.RegisterMessage(LoginRequest)
-
-LoginResponse = _reflection.GeneratedProtocolMessageType('LoginResponse', (_message.Message,), {
-  'DESCRIPTOR' : _LOGINRESPONSE,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.LoginResponse)
-  })
-_sym_db.RegisterMessage(LoginResponse)
-
-Heartbeat = _reflection.GeneratedProtocolMessageType('Heartbeat', (_message.Message,), {
-  'DESCRIPTOR' : _HEARTBEAT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.Heartbeat)
-  })
-_sym_db.RegisterMessage(Heartbeat)
-
-LogicBody = _reflection.GeneratedProtocolMessageType('LogicBody', (_message.Message,), {
-  'DESCRIPTOR' : _LOGICBODY,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.LogicBody)
-  })
-_sym_db.RegisterMessage(LogicBody)
-
-ResponseBody = _reflection.GeneratedProtocolMessageType('ResponseBody', (_message.Message,), {
-  'DESCRIPTOR' : _RESPONSEBODY,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.ResponseBody)
-  })
-_sym_db.RegisterMessage(ResponseBody)
-
-MonitorBody = _reflection.GeneratedProtocolMessageType('MonitorBody', (_message.Message,), {
-  'DESCRIPTOR' : _MONITORBODY,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.MonitorBody)
-  })
-_sym_db.RegisterMessage(MonitorBody)
-
-MonitorDevicesResponse = _reflection.GeneratedProtocolMessageType('MonitorDevicesResponse', (_message.Message,), {
-  'DESCRIPTOR' : _MONITORDEVICESRESPONSE,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.MonitorDevicesResponse)
-  })
-_sym_db.RegisterMessage(MonitorDevicesResponse)
-
-OtaFragment = _reflection.GeneratedProtocolMessageType('OtaFragment', (_message.Message,), {
-  'DESCRIPTOR' : _OTAFRAGMENT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.OtaFragment)
-  })
-_sym_db.RegisterMessage(OtaFragment)
-
-ShootData = _reflection.GeneratedProtocolMessageType('ShootData', (_message.Message,), {
-  'DESCRIPTOR' : _SHOOTDATA,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.ShootData)
-  })
-_sym_db.RegisterMessage(ShootData)
-
-ShootEvent = _reflection.GeneratedProtocolMessageType('ShootEvent', (_message.Message,), {
-  'DESCRIPTOR' : _SHOOTEVENT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.ShootEvent)
-  })
-_sym_db.RegisterMessage(ShootEvent)
-
-BatteryReport = _reflection.GeneratedProtocolMessageType('BatteryReport', (_message.Message,), {
-  'DESCRIPTOR' : _BATTERYREPORT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.BatteryReport)
-  })
-_sym_db.RegisterMessage(BatteryReport)
-
-CenterPointResult = _reflection.GeneratedProtocolMessageType('CenterPointResult', (_message.Message,), {
-  'DESCRIPTOR' : _CENTERPOINTRESULT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.CenterPointResult)
-  })
-_sym_db.RegisterMessage(CenterPointResult)
-
-CenterPointSet = _reflection.GeneratedProtocolMessageType('CenterPointSet', (_message.Message,), {
-  'DESCRIPTOR' : _CENTERPOINTSET,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.CenterPointSet)
-  })
-_sym_db.RegisterMessage(CenterPointSet)
-
-OtaResult = _reflection.GeneratedProtocolMessageType('OtaResult', (_message.Message,), {
-  'DESCRIPTOR' : _OTARESULT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.OtaResult)
-  })
-_sym_db.RegisterMessage(OtaResult)
-
-GenericResult = _reflection.GeneratedProtocolMessageType('GenericResult', (_message.Message,), {
-  'DESCRIPTOR' : _GENERICRESULT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.GenericResult)
-  })
-_sym_db.RegisterMessage(GenericResult)
-
-IpReport = _reflection.GeneratedProtocolMessageType('IpReport', (_message.Message,), {
-  'DESCRIPTOR' : _IPREPORT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.IpReport)
-  })
-_sym_db.RegisterMessage(IpReport)
-
-ImageUploadCommand = _reflection.GeneratedProtocolMessageType('ImageUploadCommand', (_message.Message,), {
-  'DESCRIPTOR' : _IMAGEUPLOADCOMMAND,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.ImageUploadCommand)
-  })
-_sym_db.RegisterMessage(ImageUploadCommand)
-
-LogUploadCommand = _reflection.GeneratedProtocolMessageType('LogUploadCommand', (_message.Message,), {
-  'DESCRIPTOR' : _LOGUPLOADCOMMAND,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.LogUploadCommand)
-  })
-_sym_db.RegisterMessage(LogUploadCommand)
-
-OtaRequestData = _reflection.GeneratedProtocolMessageType('OtaRequestData', (_message.Message,), {
-  'DESCRIPTOR' : _OTAREQUESTDATA,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.OtaRequestData)
-  })
-_sym_db.RegisterMessage(OtaRequestData)
-
-WifiConnectData = _reflection.GeneratedProtocolMessageType('WifiConnectData', (_message.Message,), {
-  'DESCRIPTOR' : _WIFICONNECTDATA,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.WifiConnectData)
-  })
-_sym_db.RegisterMessage(WifiConnectData)
-
-ImageUploadResult = _reflection.GeneratedProtocolMessageType('ImageUploadResult', (_message.Message,), {
-  'DESCRIPTOR' : _IMAGEUPLOADRESULT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.ImageUploadResult)
-  })
-_sym_db.RegisterMessage(ImageUploadResult)
-
-LogUploadResult = _reflection.GeneratedProtocolMessageType('LogUploadResult', (_message.Message,), {
-  'DESCRIPTOR' : _LOGUPLOADRESULT,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.LogUploadResult)
-  })
-_sym_db.RegisterMessage(LogUploadResult)
-
-BatteryQueryResponse = _reflection.GeneratedProtocolMessageType('BatteryQueryResponse', (_message.Message,), {
-  'DESCRIPTOR' : _BATTERYQUERYRESPONSE,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.BatteryQueryResponse)
-  })
-_sym_db.RegisterMessage(BatteryQueryResponse)
-
-Ota4gSubCodeReq = _reflection.GeneratedProtocolMessageType('Ota4gSubCodeReq', (_message.Message,), {
-  'DESCRIPTOR' : _OTA4GSUBCODEREQ,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.Ota4gSubCodeReq)
-  })
-_sym_db.RegisterMessage(Ota4gSubCodeReq)
-
-Ota4gSubCodeResp = _reflection.GeneratedProtocolMessageType('Ota4gSubCodeResp', (_message.Message,), {
-  'DESCRIPTOR' : _OTA4GSUBCODERESP,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.Ota4gSubCodeResp)
-  })
-_sym_db.RegisterMessage(Ota4gSubCodeResp)
-
-ShutdownCommand = _reflection.GeneratedProtocolMessageType('ShutdownCommand', (_message.Message,), {
-  'DESCRIPTOR' : _SHUTDOWNCOMMAND,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.ShutdownCommand)
-  })
-_sym_db.RegisterMessage(ShutdownCommand)
-
-AutoShutdown = _reflection.GeneratedProtocolMessageType('AutoShutdown', (_message.Message,), {
-  'DESCRIPTOR' : _AUTOSHUTDOWN,
-  '__module__' : 'tcp_messages_pb2'
-  # @@protoc_insertion_point(class_scope:tcp.AutoShutdown)
-  })
-_sym_db.RegisterMessage(AutoShutdown)
-
-if _descriptor._USE_C_DESCRIPTORS == False:
-
-  DESCRIPTOR._options = None
-  DESCRIPTOR._serialized_options = b'\n\rcom.shoot.tcpZ1git.shelingxingqiu.com/shoot-tcp-server/proto;tcp'
-  _LOGINREQUEST._serialized_start=28
-  _LOGINREQUEST._serialized_end=159
-  _LOGINRESPONSE._serialized_start=161
-  _LOGINRESPONSE._serialized_end=203
-  _HEARTBEAT._serialized_start=205
-  _HEARTBEAT._serialized_end=257
-  _LOGICBODY._serialized_start=259
-  _LOGICBODY._serialized_end=297
-  _RESPONSEBODY._serialized_start=299
-  _RESPONSEBODY._serialized_end=340
-  _MONITORBODY._serialized_start=342
-  _MONITORBODY._serialized_end=406
-  _MONITORDEVICESRESPONSE._serialized_start=408
-  _MONITORDEVICESRESPONSE._serialized_end=452
-  _OTAFRAGMENT._serialized_start=454
-  _OTAFRAGMENT._serialized_end=511
-  _SHOOTDATA._serialized_start=514
-  _SHOOTDATA._serialized_end=813
-  _SHOOTEVENT._serialized_start=815
-  _SHOOTEVENT._serialized_end=848
-  _BATTERYREPORT._serialized_start=850
-  _BATTERYREPORT._serialized_end=917
-  _CENTERPOINTRESULT._serialized_start=919
-  _CENTERPOINTRESULT._serialized_end=976
-  _CENTERPOINTSET._serialized_start=978
-  _CENTERPOINTSET._serialized_end=1029
-  _OTARESULT._serialized_start=1031
-  _OTARESULT._serialized_end=1071
-  _GENERICRESULT._serialized_start=1073
-  _GENERICRESULT._serialized_end=1104
-  _IPREPORT._serialized_start=1106
-  _IPREPORT._serialized_end=1144
-  _IMAGEUPLOADCOMMAND._serialized_start=1146
-  _IMAGEUPLOADCOMMAND._serialized_end=1236
-  _LOGUPLOADCOMMAND._serialized_start=1238
-  _LOGUPLOADCOMMAND._serialized_end=1338
-  _OTAREQUESTDATA._serialized_start=1340
-  _OTAREQUESTDATA._serialized_end=1415
-  _WIFICONNECTDATA._serialized_start=1417
-  _WIFICONNECTDATA._serialized_end=1466
-  _IMAGEUPLOADRESULT._serialized_start=1468
-  _IMAGEUPLOADRESULT._serialized_end=1563
-  _LOGUPLOADRESULT._serialized_start=1565
-  _LOGUPLOADRESULT._serialized_end=1683
-  _BATTERYQUERYRESPONSE._serialized_start=1685
-  _BATTERYQUERYRESPONSE._serialized_end=1759
-  _OTA4GSUBCODEREQ._serialized_start=1761
-  _OTA4GSUBCODEREQ._serialized_end=1800
-  _OTA4GSUBCODERESP._serialized_start=1802
-  _OTA4GSUBCODERESP._serialized_end=1855
-  _SHUTDOWNCOMMAND._serialized_start=1857
-  _SHUTDOWNCOMMAND._serialized_end=1887
-  _AUTOSHUTDOWN._serialized_start=1889
-  _AUTOSHUTDOWN._serialized_end=1921
-# @@protoc_insertion_point(module_scope)

version.md

@@ -31,3 +31,7 @@
 # 2.15.18 wifi连接成功重新登录
 # 2.16.4  优化射箭延迟
 # 2.17.0  yolo标靶类别识别
+# 2.17.1  26-08-19 17：39 压力传感修改 增量方式
+# 2.17.2 26-08-24 17：56 靶纸识别模型更替
+# 2.17.3 26-08-25 9：57 原图拍摄开关
+# 2.17.4 26-08-25 14：57 模型修改

version.py

@@ -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 = '2.18.2'
 
 

vision.py

@@ -902,12 +902,15 @@ def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
 
 
 def _save_worker_loop():
-    """存图 worker：从队列取任务并调用 _save_shot_image_impl。"""
+    """存图 worker：处理标注图和可选的纯原图任务。"""
     while True:
         try:
             item = _save_queue.get()
             if item is None:
                 break
+            if isinstance(item, dict) and item.get("kind") == "raw":
+                _save_raw_image_impl(item["img_cv"], item["shot_id"], item["photo_dir"])
+            else:
                 _save_shot_image_impl(*item)
         except Exception as e:
             logger = logger_manager.logger
@@ -936,6 +939,52 @@ def start_save_shot_worker():
         logger.info("[VISION] 存图 worker 线程已启动")
 
 
+def _save_raw_image_impl(img_cv, shot_id, photo_dir):
+    """保存未标注、未裁剪的完整原始帧。"""
+    logger = logger_manager.logger
+    try:
+        os.makedirs(photo_dir, exist_ok=True)
+        filename = os.path.join(photo_dir, f"shot_{shot_id}_raw.jpg")
+        image.cv2image(img_cv, False, False).save(filename)
+        prune_old_images_in_dir(
+            photo_dir,
+            getattr(config, "RAW_IMAGE_MAX_IMAGES", config.MAX_IMAGES),
+            logger,
+            "[VISION-RAW]",
+        )
+        if logger:
+            logger.info(f"[VISION-RAW] 已保存纯原图: {filename}")
+        return filename
+    except Exception as e:
+        if logger:
+            logger.error(f"[VISION-RAW] 保存纯原图失败: {e}")
+        return None
+
+
+def enqueue_save_raw_shot(frame, shot_id, photo_dir=None):
+    """复制并异步保存原始帧；由 SAVE_RAW_IMAGE_ENABLED 控制是否启用。"""
+    if not getattr(config, "SAVE_RAW_IMAGE_ENABLED", False):
+        return
+    if photo_dir is None:
+        photo_dir = getattr(config, "RAW_IMAGE_DIR", os.path.join(config.PHOTO_DIR, "raw"))
+    try:
+        img_copy = np.copy(image.image2cv(frame, False, False))
+        _save_queue.put_nowait({
+            "kind": "raw",
+            "img_cv": img_copy,
+            "shot_id": shot_id,
+            "photo_dir": photo_dir,
+        })
+    except queue.Full:
+        logger = logger_manager.logger
+        if logger:
+            logger.warning("[VISION-RAW] 存图队列已满，跳过本次纯原图保存")
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION-RAW] 复制纯原图失败: {e}")
+
+
 def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
                       laser_point, distance_m, shot_id=None, photo_dir=None,
                       yolo_roi_xyxy=None, force_save=False):