feat: 1.json换为pb 2.wifi、ota 优化

- 新增 tcp_messages_pb2.py protobuf Python绑定
- msg_handler.cpp: 新增 make_packet_pb/raw bytes打包, parse_packet_raw/raw解析
- archery_netcore.cpp: 注册 make_packet_pb/parse_packet_raw
- network.py: 新增 _use_proto 标志，_make_send_packet/_parse_recv 自动选择proto/JSON
- 登录version加+proto后缀标识proto模式
- protobuf序列化/反序列化失败时自动回退JSON

app.yaml

@@ -1,6 +1,6 @@
 id: t11
 name: t11
-version: 2.15.35
+version: 3.1.15
 author: t11
 icon: ''
 desc: t11
@@ -18,10 +18,6 @@ files:
   - laser_manager.py
   - logger_manager.py
   - main.py
-  - model_270139.cvimodel
-  - model_270139.mud
-  - model_270820.cvimodel
-  - model_270820.mud
   - model_285484.cvimodel
   - model_285484.mud
   - network.py
@@ -33,6 +29,7 @@ files:
   - shoot_manager.py
   - shot_id_generator.py
   - target_roi_yolo.py
+  - tcp_messages_pb2.py
   - time_sync.py
   - triangle_positions.json
   - triangle_target.py

camera_manager.py

@@ -8,6 +8,15 @@ import threading
 import config
 from logger_manager import logger_manager
 
+_USE_CV = False
+try:
+    import cv2
+    import numpy as np
+    from maix import image as _maix_image
+    _USE_CV = True
+except ImportError:
+    pass
+
 
 class CameraManager:
     """相机管理器（单例）"""
@@ -57,6 +66,12 @@ 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
     
@@ -101,7 +116,8 @@ class CameraManager:
         with self._camera_lock:
             if self._camera is None:
                 self.init_camera()
-            return self._camera.read()
+            frame = self._camera.read()
+            return frame
     
     def show(self, image):
         """

config.py

@@ -15,6 +15,8 @@ LOCAL_FILENAME = APP_DIR + "/main_tmp.py"
 # 相机初始化分辨率（CameraManager / main.py 使用）
 CAMERA_WIDTH = 640
 CAMERA_HEIGHT = 480
+CAMERA_V_FLIP = True   # 摄像头垂直翻转（上下颠倒时设为 True）
+CAMERA_H_MIRROR = True  # 摄像头水平镜像（左右反了时设为 True）
 
 # 三角形检测缩图比例：默认按相机最长边缩到 1/2（性能更稳；可按需调整）
 # 取值范围建议 (0.25 ~ 1.0]；1.0 表示不缩图
@@ -48,7 +50,7 @@ WIFI_CONFIG_AP_IP = "192.168.66.1"         # 与 MaixPy Wifi.start_ap 默认一
 # ===== TCP over SSL(TLS) 配置 =====
 USE_TCP_SSL = True          # True=按手册走 MSSLCFG/MIPCFG 绑定 SSL
 TCP_LINK_ID = 2             # 
-TCP_SSL_PORT = 50006          # TLS 端口（不一定必须 443，以服务器为准）
+TCP_SSL_PORT = 50007          # TLS 端口（不一定必须 443，以服务器为准）
 
 # SSL profile
 SSL_ID = 1                  # ssl_id=1
@@ -360,7 +362,7 @@ PIN_MAPPINGS = {
 }
 
 # ==================== 电源配置 ====================
-AUTO_POWER_OFF_IN_SECONDS = 10 * 60  # 自动关机时间（秒），0表示不自动关机
+AUTO_POWER_OFF_IN_SECONDS = 100 * 60  # 自动关机时间（秒），0表示不自动关机
 # 充电时自动关机暂时禁用；需要恢复时改为 True。
 CHARGING_AUTO_POWER_OFF_ENABLED = False
 

cpp_ext/archery_netcore.cpp

@@ -57,9 +57,16 @@ 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

@@ -51,6 +51,43 @@ 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
@@ -110,4 +147,26 @@ 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

@@ -7,8 +7,15 @@ namespace py = pybind11;
 
 namespace netcore {
 
-    // 打包 TCP 数据包
+    // 打包 TCP 数据包 (JSON body)
     py::bytes make_packet(int msg_type, py::dict body_dict);
-    // 解包 TCP 数据包
+
+    // 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)
     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

@@ -13,7 +13,9 @@ from maix import camera, display, image, app, time, uart, pinmap, i2c
 from maix.peripheral import adc
 import _thread
 import os
+import sys
 import json
+import shutil
 import time as wall_time
 
 # 导入新模块
@@ -126,7 +128,7 @@ def cmd_str():
 
     # 1. 初始化日志系统（WARNING级别，不打印/写入INFO和DEBUG日志，提高执行流畅度）
     import logging
-    logger_manager.init_logging(log_level=logging.WARNING)
+    logger_manager.init_logging(log_level=logging.DEBUG)
     logger = logger_manager.logger
 
     # 补充：因为初始化的时候，激光会亮，先关了它
@@ -136,6 +138,7 @@ def cmd_str():
     sync_system_time_from_4g()
 
     # 2.1 WiFi 热点配网兜底：仅当 STA 与 4G 均不可用时起 AP + HTTP；提交后删 /boot/wifi.ap、建 wifi.sta 并 reboot
+    _ota_pending_path = f"{config.APP_DIR}/ota_pending.json"
     try:
         from wifi_config_httpd import maybe_start_wifi_ap_fallback
 
@@ -253,6 +256,55 @@ def cmd_str():
     # 4. 初始化设备ID（network_manager 内部会自动设置 device_id 和 password）
     network_manager.read_device_id()
 
+    # 4.1 检查是否有 OTA 待更新文件（从临时目录移动到实际目录）
+    staging_dir = f"{config.APP_DIR}/ota_staging"
+    if os.path.exists(staging_dir):
+        try:
+            moved_count = 0
+            for root, dirs, files in os.walk(staging_dir):
+                for f in files:
+                    src = os.path.join(root, f)
+                    rel = os.path.relpath(src, staging_dir)
+                    dest = os.path.join(config.APP_DIR, rel)
+                    dest_dir = os.path.dirname(dest)
+                    if dest_dir:
+                        try:
+                            os.makedirs(dest_dir, exist_ok=True)
+                        except:
+                            pass
+                    try:
+                        shutil.copy2(src, dest)
+                        moved_count += 1
+                    except Exception as e:
+                        if logger:
+                            logger.error(f"[OTA] 移动文件失败 {rel}: {e}")
+            # 删除临时目录
+            try:
+                shutil.rmtree(staging_dir, ignore_errors=True)
+            except:
+                pass
+            if logger:
+                logger.info(f"[OTA] 已从临时目录更新 {moved_count} 个文件，重启应用...")
+            # 清理硬件资源，然后重启应用
+            try:
+                laser_manager.turn_off_laser()
+            except:
+                pass
+            try:
+                camera_manager.release()
+            except:
+                pass
+            try:
+                os.sync()
+            except:
+                pass
+            import sys
+            os.execv(sys.executable, [sys.executable, os.path.join(config.APP_DIR, "main.py")])
+            return
+        except Exception as e:
+            if logger:
+                logger.error(f"[OTA] 处理临时目录失败: {e}")
+
     # 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):
         photo_dir = config.PHOTO_DIR
@@ -286,12 +338,14 @@ def cmd_str():
         logger.info("系统准备完成...")
 
     last_adc_trigger = 0
+    trigger_adc_val = 0  # 触发时的气压值，气压需降回此值以下才能再次触发
     # 读取一次ADC初始值，防止开机时传感器已有压力导致误触发
+    enable_check = True
+    _should_reboot = False
     try:
         last_adc_val = hardware_manager.adc_obj.read()
     except Exception:
         last_adc_val = 0
-    peak_adc_val = 0  # 当前周期内的压力峰值
     # 气压采样：减少日志频率（每 N 个点输出一条），避免 logger.debug 拖慢采样
     PRESSURE_BATCH_SIZE = 100
 
@@ -343,6 +397,14 @@ def cmd_str():
                 time.sleep_ms(250)
                 continue
 
+            # OTA 完成后需要重启，从主循环退出（由启动时 staging 检测处理重启）
+            if network_manager.ota_restart_pending:
+                network_manager.ota_restart_pending = False
+                _should_reboot = True
+                if logger:
+                    logger.info("[MAIN] OTA重启标志已设置，退出主循环...")
+                break
+
             # 不在 OTA 状态下，检测是否空闲足够长，自动关机
             # print(f"[MAIN] 空闲时间: {hardware_manager.get_idle_time_in_sec() }秒")
             # print(f"配置关机时间：{config.AUTO_POWER_OFF_IN_SECONDS} 秒")
@@ -381,22 +443,16 @@ def cmd_str():
                 pressure_max = adc_val
             if len(pressure_buf) >= PRESSURE_BATCH_SIZE:
                 _flush_pressure_buf("batch")
-            # 峰值检测：压力从峰值下降时触发，确保捕获到最大冲击时刻
-            if adc_val > peak_adc_val:
-                peak_adc_val = adc_val  # 更新峰值
-            if (peak_adc_val >= config.ADC_TRIGGER_THRESHOLD
-                    and adc_val < peak_adc_val
-                    and last_adc_val >= peak_adc_val):
-                # 封顶后下降沿触发：peak是最大值，当前值开始下降，且上次值还在peak位置
+            # 突变增量检测：压力增量大于300时触发
+            # 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:
                 hardware_manager.start_idle_timer()  # 重新计时
-                diff_ms = current_time - last_adc_trigger
-                if diff_ms < 3000:
-                    peak_adc_val = 0  # 去抖期间重置峰值
-                    time.sleep_ms(5)
-                    continue
                 last_adc_trigger = current_time
-                peak_adc_val = 0  # 触发后重置峰值
-                # 触发前先把缓存刷出来，避免波形被长耗时处理截断
+                trigger_adc_val = adc_val  # 记录触发时的气压值
+                last_adc_val = adc_val  # 更新基准值，防止连续增量误触发
+                enable_check = False
                 _flush_pressure_buf("before_trigger")
 
                 try:
@@ -415,7 +471,7 @@ def cmd_str():
                         camera_manager.show(camera_manager.read_frame())
                     except Exception as e:
                         pass
-                time.sleep_ms(5)
+                time.sleep_ms(1)
             last_adc_val = adc_val
 
         except Exception as e:
@@ -434,10 +490,62 @@ def cmd_str():
                 _flush_pressure_buf("exception")
             except:
                 pass
-            time.sleep_ms(1000)  # 等待1秒后继续
-
-
+            time.sleep_ms(1000)  # 等待1秒后 continue
 
+    # 主循环退出后，如果是由 OTA 触发的，移动 staging 文件并重启应用
+    if _should_reboot:
+        staging_dir = f"{config.APP_DIR}/ota_staging"
+        if os.path.exists(staging_dir):
+            try:
+                moved_count = 0
+                for root, dirs, files in os.walk(staging_dir):
+                    for f in files:
+                        src = os.path.join(root, f)
+                        rel = os.path.relpath(src, staging_dir)
+                        dest = os.path.join(config.APP_DIR, rel)
+                        dest_dir = os.path.dirname(dest)
+                        if dest_dir:
+                            try:
+                                os.makedirs(dest_dir, exist_ok=True)
+                            except:
+                                pass
+                        try:
+                            shutil.copy2(src, dest)
+                            moved_count += 1
+                        except Exception as e:
+                            if logger:
+                                logger.error(f"[OTA] 移动文件失败 {rel}: {e}")
+                try:
+                    shutil.rmtree(staging_dir, ignore_errors=True)
+                except:
+                    pass
+                if logger:
+                    logger.info(f"[MAIN] OTA 更新完成，已应用 {moved_count} 个文件，重启应用...")
+            except Exception as e:
+                if logger:
+                    logger.error(f"[OTA] 处理 staging 目录失败: {e}")
+        else:
+            if logger:
+                logger.info("[MAIN] OTA 更新完成，重启应用...")
+        # 清理硬件资源，然后重启应用（不重启设备）
+        try:
+            laser_manager.turn_off_laser()
+        except:
+            pass
+        try:
+            camera_manager.release()
+        except:
+            pass
+        try:
+            hardware_manager.stop_idle_timer()
+        except:
+            pass
+        try:
+            os.sync()
+        except:
+            pass
+        import sys
+        os.execv(sys.executable, [sys.executable, os.path.join(config.APP_DIR, "main.py")])
 
 
 # 主程序入口

model_270139.mud

@@ -1,13 +0,0 @@
-
-[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

@@ -1,13 +0,0 @@
-
-[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
-

network.py

@@ -13,6 +13,7 @@ import hmac
 import hashlib
 import ujson
 import os
+import sys
 import threading
 import socket
 import config
@@ -21,7 +22,13 @@ from hardware import hardware_manager
 from power import get_bus_voltage, voltage_to_percent, is_charging
 from logger_manager import logger_manager
 from wifi import wifi_manager
-import subprocess
+
+# protobuf 支持（纯 proto 协议，必须可用）
+try:
+    import tcp_messages_pb2 as pb
+except ImportError:
+    print("[NET] tcp_messages_pb2 not found, protobuf disabled")
+    raise
 
 
 def _wifi_tls_would_block(exc):
@@ -69,9 +76,18 @@ class NetworkManager:
         self._uart4g_lock = threading.Lock()
         self._device_id = None
         self._password = None
-        self._raw_line_data = []
+
         self._manual_trigger_flag = False
 
+        # OTA 防重复：上次 OTA 完成时间戳，30秒内不重复 OTA
+        self._last_ota_time = 0
+        self._ota_cooldown_sec = 30
+
+        # OTA 重启标志：OTA线程设置，主循环检测到后从主循环退出再重启
+        self.ota_restart_pending = False
+
+        # protobuf 协议（纯 proto，无 JSON 兼容）
+
         # 限制并发命令线程数
         self._cmd_thread_lock = threading.Lock()
         self._cmd_thread_count = 0
@@ -190,13 +206,7 @@ class NetworkManager:
                 return self._normal_send_queue.pop(0)
             return None
 
-    def _set_raw_line_data(self, data):
-        """设置原始行数据（内部方法）"""
-        self._raw_line_data = data
 
-    def _get_raw_line_data(self):
-        """获取原始行数据（内部方法）"""
-        return self._raw_line_data
 
     def get_uart_lock(self):
         """获取UART锁（用于with语句）"""
@@ -615,53 +625,113 @@ class NetworkManager:
         except Exception as e:
             self.logger.error(f"[LASER] cmd200 检测异常: {e}")
 
+    def _cmd5_ota(self, ota_url):
+        """后台线程执行 cmd5 OTA"""
+        hardware_manager.start_idle_timer()
+        self.logger.info(f"[Ota] cmd5 开始OTA: {ota_url}")
+        self.safe_enqueue({"result": "ota start..."}, 2)
+
+        try:
+            from ota_manager import ota_manager
+            ok, msg = ota_manager.perform_ota(ota_url)
+            if ok:
+                self.safe_enqueue({"result": "success"}, 2)
+                time.sleep_ms(500)
+                os.execv(sys.executable, [sys.executable, os.path.join(config.APP_DIR, "main.py")])
+            else:
+                self.logger.error(f"[ota] cmd5 失败: {msg}")
+                self.safe_enqueue({"result": "ota fail", "reason": msg}, 2)
+        except Exception as e:
+            self.logger.error(f"[ota] cmd5 异常: {e}")
+            self.safe_enqueue({"result": "ota fail", "reason": str(e)}, 2)
+
     def _cmd300_ota(self, data_obj):
-        """后台线程执行 cmd300 OTA，避免阻塞主循环"""
+        """后台线程执行 cmd300 OTA，避免阻塞主循环
+        流程：检查WiFi → 下载ZIP → 解压覆盖项目 → 重启程序
+        """
         hardware_manager.start_idle_timer()
         inner_data = data_obj.get("data", {}) if isinstance(data_obj, dict) else {}
         self.logger.info(f"[New Ota] cmd300 , data: {inner_data}")
-        ssid = inner_data.get("ssid")
-        password = inner_data.get("password")
         ota_res_url = inner_data.get("url")
-        try:
-            for _f in ("/etc/wpa_supplicant.conf", "/boot/wpa_supplicant.conf", "/boot/wifi.ssid", "/boot/wifi.pass"):
+
+        if not ota_res_url:
+            self.logger.error("[ota] cmd300 缺少 url 参数")
+            self.safe_enqueue({"cmd": 300, "result": "ota fail", "reason": "missing url"}, 2)
+            return
+
+        # OTA 冷却期检查：防止服务器重复下发导致无限 OTA 循环
+        now = time.time()
+        if self._last_ota_time > 0:
+            elapsed = int(now - self._last_ota_time)
+            if elapsed < self._ota_cooldown_sec:
+                remaining = self._ota_cooldown_sec - elapsed
+                self.logger.warning(f"[ota] cmd300 冷却期内，跳过 (剩余 {remaining}s)")
                 try:
-                    os.remove(_f)
-                except OSError:
+                    pkt = self._make_send_packet(2, {"cmd": 300, "result": "ota skip", "reason": f"cooldown {remaining}s"})
+                    self.tcp_send_raw(pkt)
+                except Exception:
                     pass
-            w = network.wifi.Wifi()
-            e = w.connect(ssid, password, wait=True, timeout=15)
-            err.check_raise(e, "connect wifi failed")
-            if self.logger:
-                self.logger.info(f"[ota] Connect success, got ip{w.get_ip()}")
-            self.safe_enqueue(
-                {
+                return
+
+        if not wifi_manager.is_wifi_connected():
+            self.logger.warning("[ota] cmd300 当前未连接WiFi，拒绝OTA")
+            self.safe_enqueue({"cmd": 300, "result": "ota fail", "reason": "wifi not connected"}, 2)
+            return
+
+        self.logger.info(f"[ota] WiFi已连接，开始OTA: {ota_res_url}")
+        self.safe_enqueue({"cmd": 300, "result": "ota start..."}, 2)
+
+        def _ota_progress(phase, progress):
+            """OTA进度回调，通过tcp_send_raw直接发送（绕过被暂停的发送队列）"""
+            try:
+                if not self._tcp_connected:
+                    self.logger.warning(f"[ota] 进度发送跳过: tcp未连接 phase={phase} progress={progress}")
+                    return
+                pkt = self._make_send_packet(2, {
                     "cmd": 300,
-                    "result": "ota start...",
-                    "wifi": w.get_ip(),
-                },
-                2,
-            )
-            subprocess.run(
-                ["sh", "/maixapp/apps/t11/ota_curl.sh", ota_res_url])
-            self.safe_enqueue(
-                {
-                    "cmd": 300,
-                    "result": "success",
-                    "wifi": w.get_ip(),
-                },
-                2,
-            )
+                    "result": f"ota {phase}",
+                    "progress": progress,
+                    "phase": phase,
+                })
+                ok = self.tcp_send_raw(pkt)
+                if not ok:
+                    self.logger.warning(f"[ota] 进度发送失败: phase={phase} progress={progress}")
+            except Exception as e:
+                self.logger.error(f"[ota] 发送进度异常: {e}")
+
+        try:
+            from ota_manager import ota_manager
+            ok, msg = ota_manager.perform_ota(ota_res_url, progress_callback=_ota_progress)
+            self._last_ota_time = time.time()
+            if ok:
+                self.logger.info("[ota] OTA成功，准备重启程序...")
+                # 直接通过tcp发送success，不走发送队列（主循环可能未drain）
+                try:
+                    pkt = self._make_send_packet(2, {"cmd": 300, "result": "success", "progress": 51, "phase": "rebooting"})
+                    ok_send = self.tcp_send_raw(pkt)
+                    self.logger.info(f"[ota] success包发送结果: {ok_send}, tcp_connected={self._tcp_connected}")
+                except Exception as e:
+                    self.logger.error(f"[ota] 发送success失败: {e}")
+                # 设置重启标志，由主循环检测到后从主循环退出再重启
+                # （后台线程调 os.execv 会导致 ISP 线程残留，新进程摄像头初始化失败）
+                self.logger.info("[ota] 设置重启标志，等待主循环退出...")
+                self.ota_restart_pending = True
+            else:
+                self.logger.error(f"[ota] cmd300 失败: {msg}")
+                self._last_ota_time = time.time()
+                try:
+                    pkt = self._make_send_packet(2, {"cmd": 300, "result": "ota fail", "reason": msg})
+                    self.tcp_send_raw(pkt)
+                except Exception as e:
+                    self.logger.error(f"[ota] 发送失败结果异常: {e}")
         except Exception as e:
-            self.logger.error(f"[ota] cmd300 失败: {e}")
-            self.safe_enqueue(
-                {
-                    "cmd": 300,
-                    "result": "ota fail",
-                    "reason": str(e),
-                },
-                2,
-            )
+            self.logger.error(f"[ota] cmd300 异常: {e}")
+            self._last_ota_time = time.time()
+            try:
+                pkt = self._make_send_packet(2, {"cmd": 300, "result": "ota fail", "reason": str(e)})
+                self.tcp_send_raw(pkt)
+            except Exception as ex:
+                self.logger.error(f"[ota] 发送失败结果异常: {ex}")
 
     def _cmd600_conn_wifi(self, data_obj):
         hardware_manager.start_idle_timer()
@@ -669,6 +739,7 @@ class NetworkManager:
         self.logger.info(f"[conn wifi] cmd600 , data: {inner_data}")
         ssid = inner_data.get("ssid")
         password = inner_data.get("password")
+        prev_network_type = self._network_type
         # 停止旧的WiFi质量监测（无论当前是WiFi还是4G连接）
         self._stop_wifi_quality_monitor()
         try:
@@ -678,18 +749,10 @@ class NetworkManager:
                 except OSError:
                     pass
             w = network.wifi.Wifi()
-            e = w.connect(ssid, password, wait=True, timeout=15)
+            e = w.connect(ssid, password, wait=True, timeout=5)
             err.check_raise(e, "connect wifi failed")
             if self.logger:
                 self.logger.info(f"[ota] Connect success, got ip{w.get_ip()}")
-            self.safe_enqueue(
-                {
-                    "cmd": 600,
-                    "result": "success",
-                    "wifi": w.get_ip(),
-                },
-                2,
-            )
             self._session_force_4g = False
             self.disconnect_server()
             self._tcp_connected = False
@@ -697,20 +760,186 @@ class NetworkManager:
             self.logger.info("[conn wifi] WiFi已连接，等待主循环重新登录")
         except Exception as e:
             self.logger.error(f"cmd600 失败: {e}")
-            self.safe_enqueue(
-                {
-                    "cmd": 600,
-                    "result": "conn fail",
-                    "reason": str(e),
-                },
-                2,
-            )
-            self._switch_to_4g_due_to_poor_wifi()
+            # 同步发送失败结果（旧连接仍存活时直接发送）
+            if prev_network_type == "4g":
+                pkt = self._make_send_packet(2, {"cmd": 600, "result": "conn fail", "reason": str(e)})
+                self.tcp_send_raw(pkt)
+            else:
+                self.safe_enqueue(
+                    {
+                        "cmd": 600,
+                        "result": "conn fail",
+                        "reason": str(e),
+                    },
+                    2,
+                )
+            # 当前是4G在线，旧连接未断，无需切换；当前是WiFi，旧WiFi已被w.connect()断开，需回退4G
+            if prev_network_type == "wifi":
+                self._switch_to_4g_due_to_poor_wifi()
 
     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)
 
+    def _make_send_packet(self, msg_type, data_dict):
+        """使用 protobuf 构造发送数据包"""
+        return self._make_proto_packet(msg_type, data_dict)
+
+    def _build_logic_body(self, cmd, data_dict):
+        """根据 cmd 构造对应的 LogicBody oneof payload"""
+        d = data_dict.get("data", data_dict) if isinstance(data_dict.get("data"), dict) else data_dict
+
+        if cmd == 1:
+            return pb.LogicBody(
+                cmd=cmd,
+                shoot_data=pb.ShootData(
+                    shot_id=d.get("shot_id", ""),
+                    x=d.get("x", 0.0),
+                    y=d.get("y", 0.0),
+                    r=d.get("r", 0.0),
+                    d=d.get("d", 0.0),
+                    adc=d.get("adc", 0.0),
+                    target_class=str(d.get("target_class", "")),
+                    target_class_confidence=d.get("target_class_confidence", 0.0),
+                    d_laser=d.get("d_laser", 0.0),
+                    d_laser_quality=d.get("d_laser_quality", 0.0),
+                    m=d.get("m", ""),
+                    laser_method=d.get("laser_method", ""),
+                    target_x=d.get("target_x", 0.0),
+                    target_y=d.get("target_y", 0.0),
+                    offset_method=d.get("offset_method", ""),
+                    distance_method=d.get("distance_method", ""),
+                )
+            )
+        elif cmd == 4:
+            return pb.LogicBody(
+                cmd=cmd,
+                battery_report=pb.BatteryReport(
+                    battery=d.get("battery", 0.0),
+                    voltage=d.get("voltage", 0.0),
+                    net_type=d.get("netType", ""),
+                    charging=d.get("charging", False),
+                )
+            )
+        elif cmd == 200:
+            return pb.LogicBody(
+                cmd=cmd,
+                center_point_result=pb.CenterPointResult(
+                    result=d.get("result", ""),
+                    x=d.get("x", 0.0),
+                    y=d.get("y", 0.0),
+                )
+            )
+        elif cmd == 201:
+            return pb.LogicBody(
+                cmd=cmd,
+                center_point_set=pb.CenterPointSet(
+                    x=d.get("x", 0.0),
+                    y=d.get("y", 0.0),
+                )
+            )
+
+        elif cmd == 300:
+            return pb.LogicBody(
+                cmd=cmd,
+                ota_result=pb.OtaResult(
+                    result=d.get("result", ""),
+                    url=d.get("wifi", ""),
+                    progress=d.get("progress", 0),
+                    phase=d.get("phase", ""),
+                )
+            )
+        elif cmd == 700:
+            return pb.LogicBody(
+                cmd=cmd,
+                charging_report=pb.ChargingReport(),
+            )
+        else:
+            result_str = d.get("result", "")
+            if isinstance(result_str, dict):
+                import ujson
+                result_str = ujson.dumps(result_str)
+            elif not isinstance(result_str, str):
+                result_str = str(result_str)
+            return pb.LogicBody(
+                cmd=cmd,
+                generic_result=pb.GenericResult(result=result_str),
+            )
+
+    def _make_proto_packet(self, msg_type, data_dict):
+        """使用 protobuf 序列化构造数据包"""
+        if msg_type == 1:
+            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:
+            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:
+            cmd = data_dict.get("cmd", 0)
+            msg = self._build_logic_body(cmd, data_dict)
+        else:
+            return b""
+
+        body_bytes = msg.SerializeToString()
+        return self._netcore.make_packet_pb(msg_type, body_bytes)
+
+    def _parse_recv(self, payload):
+        """解析接收的数据包，返回 (msg_type, body_dict)"""
+        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}")
+            return None, None
+
+    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.code, "data": msg.msg}
+        elif msg_type == 4:
+            return {}
+        elif msg_type == 2:
+            msg = pb.LogicBody()
+            msg.ParseFromString(body_bytes)
+            result = {"cmd": msg.cmd}
+            payload_name = msg.WhichOneof('payload')
+            if payload_name:
+                payload_msg = getattr(msg, payload_name)
+                data = {}
+                for field in payload_msg.DESCRIPTOR.fields:
+                    val = getattr(payload_msg, field.name)
+                    if isinstance(val, bytes):
+                        val = val.hex()
+                    data[field.name] = val
+                result["data"] = data
+            return result
+
+        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:
+            return {"raw": body_bytes.hex()}
+
     def connect_server(self):
         """
         连接到服务器（自动选择WiFi或4G）
@@ -1833,6 +2062,11 @@ class NetworkManager:
                     time.sleep_ms(200)
                     continue
 
+                # OTA 完成后需要重启，从主循环退出（由 main.py 执行重启）
+                if self.ota_restart_pending:
+                    self.logger.info("[ota] 主循环退出，准备重启...")
+                    break
+
                 if not self.connect_server():
                     time.sleep_ms(1000)
                     continue
@@ -1848,8 +2082,7 @@ class NetworkManager:
                 }
                 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_packet(1, login_data)):
-                if not self.tcp_send_raw(self._netcore.make_packet(1, login_data)):
+                if not self.tcp_send_raw(self._make_send_packet(1, login_data)):
                     self._tcp_connected = False
                     try:
                         self.disconnect_server()
@@ -1880,6 +2113,10 @@ class NetworkManager:
                         time.sleep_ms(200)
                         continue
 
+                    # OTA 完成后需要重启，跳出内层循环
+                    if self.ota_restart_pending:
+                        break
+
                     # 接收数据（根据网络类型选择接收方式）
                     # WiFi 粘包：一次 recv 可能含多条完整包；也可能缓冲里已有完整包但本轮 recv 超时为空
                     rx_items = []
@@ -1926,11 +2163,11 @@ class NetworkManager:
                                     pass
 
                             # msg_type, body = self.parse_packet(payload)
-                            msg_type, body = self._netcore.parse_packet(payload)
+                            msg_type, body = self._parse_recv(payload)
 
                             # 处理登录响应
                             if not logged_in and msg_type == 1:
-                                if body and body.get("cmd") == 1 and body.get("data") == "登录成功":
+                                if body and body.get("cmd") == 0 and body.get("data") == "登录成功":
                                     logged_in = True
                                     last_heartbeat_ack_time = time.ticks_ms()
                                     self.logger.info("登录成功")
@@ -1961,32 +2198,7 @@ class NetworkManager:
                                 last_heartbeat_ack_time = time.ticks_ms()
                                 self.logger.debug("✅ 收到心跳确认")
 
-                            # 处理命令40（分片下载）
-                            elif logged_in and msg_type == 40:
-                                if isinstance(body, dict):
-                                    t = body.get('t', 0)
-                                    v = body.get('v')
-                                    # 如果是第一个分片，清空之前的缓存
-                                    if len(self._raw_line_data) == 0 or (
-                                            len(self._raw_line_data) > 0 and self._raw_line_data[0].get('v') != v):
-                                        self._raw_line_data.clear()
-                                    # 或者更简单：每次收到命令40时，如果版本号不同，清空缓存
-                                    if len(self._raw_line_data) > 0:
-                                        first_v = self._raw_line_data[0].get('v')
-                                        if first_v and first_v != v:
-                                            self._raw_line_data.clear()
-                                    self._raw_line_data.append(body)
-                                    if len(self._raw_line_data) >= int(t):
-                                        self.logger.info(f"下载完成")
-                                        from ota_manager import ota_manager
-                                        stock_array = list(map(lambda x: x.get('d'), self._raw_line_data))
-                                        local_filename = config.LOCAL_FILENAME
-                                        with open(local_filename, 'w', encoding='utf-8') as file:
-                                            file.write("\n".join(stock_array))
-                                        ota_manager.apply_ota_and_reboot(None, local_filename)
-                                    else:
-                                        self.safe_enqueue({'data': {'l': len(self._raw_line_data), 'v': v}, 'cmd': 41})
-                                    self.logger.info(f"已下载{len(self._raw_line_data)} 全部：{t} 版本：{v}")
+
 
                             elif logged_in and msg_type == 100:
                                 self.logger.info(f"[IMAGE_UPLOAD] 收到图片上传命令 {body}")
@@ -2079,215 +2291,151 @@ class NetworkManager:
                                         )
                                         # 立即返回已入队确认
                                         self.safe_enqueue({"result": "log_upload_queued"}, 2)
-                            elif logged_in and msg_type == 201:
-                                if self.logger:
-                                    self.logger.info(f"[LASER] cmd201:{body}")
-                                raw_x = body.get("x")
-                                raw_y = body.get("y")
-                                try:
-                                    from laser_manager import laser_manager
-                                    ix, iy = laser_manager.set_hardcoded_laser_point(
-                                        raw_x, raw_y
-                                    )
-                                    self.safe_enqueue(
-                                        {
-                                            "cmd": 201,
-                                            "result": "laser_point_set",
-                                            "x": ix,
-                                            "y": iy,
-                                        },
-                                        2,
-                                    )
-                                    self.logger.info(
-                                        f"[LASER] cmd201 硬编码激光点=({ix}, {iy})"
-                                    )
-                                except Exception as e:
-                                    self.logger.error(f"[LASER] cmd201 失败: {e}")
-                                    self.safe_enqueue(
-                                        {
-                                            "cmd": 201,
-                                            "result": "laser_point_set_failed",
-                                            "reason": str(e),
-                                        },
-                                        2,
-                                    )
-                                hardware_manager.start_idle_timer()
-                            # 处理业务指令
+                            # 处理业务指令（纯 proto: cmd 在 body 顶层）
                             elif logged_in and isinstance(body, dict):
-                                inner_cmd = None
-                                data_obj = body.get("data")
-                                if isinstance(data_obj, dict):
-                                    inner_cmd = data_obj.get("cmd")
-                                    if inner_cmd == 2:  # 开启激光并校准
-                                        from laser_manager import laser_manager
-                                        if not laser_manager.calibration_active:
-                                            laser_manager.turn_on_laser()
-                                            time.sleep_ms(100)
-                                            hardware_manager.stop_idle_timer()  # 停表
-                                            if not config.HARDCODE_LASER_POINT:
-                                                laser_manager.start_calibration()
-                                                self.safe_enqueue({"result": "calibrating"}, 2)
-                                            else:
-                                                # 写死的逻辑，不需要校准激光点
-                                                self.safe_enqueue({"result": "laser pos set by hard code"}, 2)
-                                    elif inner_cmd == 3:  # 关闭激光
-                                        from laser_manager import laser_manager
-                                        laser_manager.turn_off_laser()
-                                        laser_manager.stop_calibration()
-                                        hardware_manager.start_idle_timer()  # 开表
-                                        self.safe_enqueue({"result": "laser_off"}, 2)
-                                    elif inner_cmd == 4:  # 上报电量
-                                        voltage = get_bus_voltage()
-                                        battery_percent = voltage_to_percent(voltage)
-                                        battery_data = {
-                                            "battery": battery_percent,
-                                            "voltage": round(float(voltage), 3),
-                                            "netType": self.network_type,
-                                        }
-                                        self.safe_enqueue(battery_data, 2)
-                                        self.logger.info(f"电量上报: {battery_percent}% 充电: {is_charging()}")
-                                        if getattr(config, "CHARGING_AUTO_POWER_OFF_ENABLED", False) and 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")
-                                        password = inner_data.get("password")
-                                        ota_url = inner_data.get("url")
-                                        mode = (inner_data.get("mode") or "").strip().lower()
-
-                                        if not ota_url:
-                                            self.logger.error("ota missing_url")
-                                            self.safe_enqueue({"result": "missing_url"}, 2)
-                                            _rx_skip_tcp_iteration = True
-                                            break
-
-                                        from ota_manager import ota_manager
-                                        if ota_manager.update_thread_started:
-                                            self.safe_enqueue({"result": "update_already_started"}, 2)
-                                            _rx_skip_tcp_iteration = True
-                                            break
-
-                                        # 自动判断模式：如果没有明确指定，根据WiFi连接状态和凭证决定
-                                        if mode not in ("4g", "wifi"):
-                                            self.logger.info("ota missing mode, auto-detecting...")
-                                            # 若本次会话已锁定 4G，则 OTA 自动也走 4G，避免后续回切导致体验不一致
-                                            if self._session_force_4g:
-                                                mode = "4g"
-                                                self.logger.info("ota auto-selected: 4g (session locked on 4g)")
-                                            else:
-                                                # 只有同时满足：WiFi已连接 且 提供了WiFi凭证，才使用WiFi
-                                                if self.is_wifi_connected() and ssid and password:
-                                                    mode = "wifi"
-                                                    self.logger.info(
-                                                        "ota auto-selected: wifi (WiFi connected and credentials provided)")
-                                                else:
-                                                    mode = "4g"
-                                                    self.logger.info(
-                                                        "ota auto-selected: 4g (WiFi not available or no credentials)")
-
-                                        hardware_manager.stop_idle_timer()  # 停表，注意OTA停表之后，就没有再开表，因为OTA后面会重启，会重新开表
-
-                                        if mode == "4g":
-                                            ota_manager._set_ota_url(ota_url)  # 记录 OTA URL，供命令7使用
-                                            ota_manager._start_update_thread()
-                                            self._spawn_cmd_thread(ota_manager.direct_ota_download_via_4g, (ota_url,))
-                                        else:  # mode == "wifi"
-                                            if not ssid or not password:
-                                                self.logger.error("ota wifi mode requires ssid and password")
-                                                self.safe_enqueue({"result": "missing_ssid_or_password"}, 2)
-                                            else:
-                                                self.logger.info(f"ssid: {ssid}")
-                                                self.logger.info(f"password: {password}")
-                                                ota_manager._start_update_thread()
-                                                self._spawn_cmd_thread(ota_manager.handle_wifi_and_update,
-                                                                       (ssid, password, ota_url))
-                                    elif inner_cmd == 6:
-                                        try:
-                                            ip = os.popen(
-                                                "ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
-                                            ip = ip if ip else "no_ip"
-                                        except:
-                                            ip = "error_getting_ip"
-                                        self.safe_enqueue({"result": "current_ip", "ip": ip}, 2)
-                                    elif inner_cmd == 44:  # 读 4G 本机号码（AT+CNUM）
-                                        cnum = self.get_4g_phone_number()
-                                        self.logger.info(f"4G 本机号码: {cnum}")
-                                        self.safe_enqueue(
-                                            {"result": "cnum", "number": cnum if cnum is not None else ""}, 2)
-                                    elif inner_cmd == 45:  # 读 MCCID（AT+MCCID）
-                                        mccid = self.get_4g_mccid()
-                                        self.logger.info(f"4G MCCID: {mccid}")
-                                        self.safe_enqueue(
-                                            {"result": "mccid", "mccid": mccid if mccid is not None else ""}, 2)
-                                    elif inner_cmd == 41:
-                                        self.logger.info(f"[TEST] 收到TCP射箭触发命令, {time.time()}")
-                                        self._manual_trigger_flag = True
-                                        self.safe_enqueue({"result": "trigger_ack"}, 2)
-                                        hardware_manager.start_idle_timer()  # 重新计时
-                                    elif inner_cmd == 42:  # 关机命令
-                                        self.logger.info("[SHUTDOWN] 收到TCP关机命令，准备关机...")
-                                        self.safe_enqueue({"result": "shutdown_ack"}, 2)
-                                        time.sleep_ms(1000)
-                                        self.disconnect_server()
-                                        # 尝试关闭4G模块
-                                        try:
-                                            with self.get_uart_lock():
-                                                hardware_manager.at_client.send("AT+CFUN=0", "OK", 5000)
-                                        except:
-                                            pass
-                                        time.sleep_ms(2000)
-                                        os.system("sync")  # 刷新文件系统缓存到磁盘，防止数据丢失
-                                        time.sleep_ms(500)
-                                        # os.system("poweroff")
-                                        hardware_manager.power_off()
-                                        return
-                                    elif inner_cmd == 43:  # 上传日志命令
-                                        # 格式: {"cmd":43, "data":{"ssid":"xxx","password":"xxx","url":"xxx", ...}}
-                                        inner_data = data_obj.get("data", {})
-                                        upload_url = inner_data.get("url")
-                                        wifi_ssid = inner_data.get("ssid")
-                                        wifi_password = inner_data.get("password")
-                                        include_rotated = inner_data.get("include_rotated", True)
-                                        max_files = inner_data.get("max_files")
-                                        archive_format = inner_data.get("archive", "tgz")  # tgz 或 zip
-
-                                        hardware_manager.start_idle_timer()  # 重新计时
-
-                                        if not upload_url:
-                                            self.logger.error("[LOG_UPLOAD] 缺少 url 参数")
-                                            self.safe_enqueue({"result": "log_upload_failed", "reason": "missing_url"},
-                                                              2)
+                                cmd = body.get("cmd")
+                                data_obj = body.get("data") or {}
+                                if cmd == 2:  # AimRequest 开启激光并校准
+                                    from laser_manager import laser_manager
+                                    if not laser_manager.calibration_active:
+                                        laser_manager.turn_on_laser()
+                                        time.sleep_ms(100)
+                                        hardware_manager.stop_idle_timer()
+                                        if not config.HARDCODE_LASER_POINT:
+                                            laser_manager.start_calibration()
+                                            self.safe_enqueue({"result": "calibrating"}, 2)
                                         else:
-                                            self.logger.info(f"[LOG_UPLOAD] 收到日志上传命令，目标URL: {upload_url}")
-                                        # 在新线程中执行上传，避免阻塞主循环
+                                            self.safe_enqueue({"result": "laser pos set by hard code"}, 2)
+                                elif cmd == 3:  # CloseAimRequest 关闭激光
+                                    from laser_manager import laser_manager
+                                    laser_manager.turn_off_laser()
+                                    laser_manager.stop_calibration()
+                                    hardware_manager.start_idle_timer()
+                                    self.safe_enqueue({"result": "laser_off"}, 2)
+                                elif cmd == 4:  # GetBatteryRequest 上报电量
+                                    voltage = get_bus_voltage()
+                                    battery_percent = voltage_to_percent(voltage)
+                                    charging = is_charging()
+                                    self.safe_enqueue({
+                                        "cmd": 4,
+                                        "battery": battery_percent,
+                                        "voltage": round(float(voltage), 3),
+                                        "netType": self.network_type,
+                                        "charging": charging,
+                                    }, 2)
+                                    self.logger.info(f"电量上报: {battery_percent}% 充电: {charging}")
+                                elif cmd == 700:
+                                    self.logger.warning("服务器下发关机！！！")
+                                    exit(-1)
+                                elif cmd == 5:  # OtaRequest OTA 升级
+                                    ota_url = data_obj.get("url", "")
+
+                                    if not ota_url:
+                                        self.logger.error("ota missing_url")
+                                        self.safe_enqueue({"result": "missing_url"}, 2)
+                                        _rx_skip_tcp_iteration = True
+                                        break
+
+                                    from ota_manager import ota_manager
+                                    if ota_manager.update_thread_started:
+                                        self.safe_enqueue({"result": "update_already_started"}, 2)
+                                        _rx_skip_tcp_iteration = True
+                                        break
+
+                                    if not wifi_manager.is_wifi_connected():
+                                        self.logger.warning("[ota] cmd5 当前未连接WiFi，拒绝OTA")
+                                        self.safe_enqueue({"result": "ota fail", "reason": "wifi not connected"}, 2)
+                                        _rx_skip_tcp_iteration = True
+                                        break
+
+                                    hardware_manager.stop_idle_timer()
+                                    self._spawn_cmd_thread(self._cmd5_ota, (ota_url,))
+                                elif cmd == 41:  # Ota4gSubCodeRequest 射箭触发
+                                    self.logger.info(f"[TEST] 收到TCP射箭触发命令, {time.time()}")
+                                    self._manual_trigger_flag = True
+                                    self.safe_enqueue({"result": "trigger_ack"}, 2)
+                                    hardware_manager.start_idle_timer()
+                                elif cmd == 42:  # ShutdownCommand 关机命令
+                                    self.logger.info("[SHUTDOWN] 收到TCP关机命令，准备关机...")
+                                    self.safe_enqueue({"result": "shutdown_ack"}, 2)
+                                    time.sleep_ms(1000)
+                                    self.disconnect_server()
+                                    try:
+                                        with self.get_uart_lock():
+                                            hardware_manager.at_client.send("AT+CFUN=0", "OK", 5000)
+                                    except:
+                                        pass
+                                    time.sleep_ms(2000)
+                                    os.system("sync")
+                                    time.sleep_ms(500)
+                                    hardware_manager.power_off()
+                                    return
+                                elif cmd == 44:  # 读 4G 本机号码
+                                    cnum = self.get_4g_phone_number()
+                                    self.logger.info(f"4G 本机号码: {cnum}")
+                                    self.safe_enqueue(
+                                        {"result": "cnum", "number": cnum if cnum is not None else ""}, 2)
+                                elif cmd == 45:  # 读 MCCID
+                                    mccid = self.get_4g_mccid()
+                                    self.logger.info(f"4G MCCID: {mccid}")
+                                    self.safe_enqueue(
+                                        {"result": "mccid", "mccid": mccid if mccid is not None else ""}, 2)
+                                elif cmd == 43:  # 上传日志命令
+                                    upload_url = data_obj.get("url")
+                                    wifi_ssid = data_obj.get("ssid")
+                                    wifi_password = data_obj.get("password")
+                                    include_rotated = data_obj.get("include_rotated", True)
+                                    max_files = data_obj.get("max_files")
+                                    archive_format = data_obj.get("archive", "tgz")
+
+                                    hardware_manager.start_idle_timer()
+
+                                    if not upload_url:
+                                        self.logger.error("[LOG_UPLOAD] 缺少 url 参数")
+                                        self.safe_enqueue({"result": "log_upload_failed", "reason": "missing_url"}, 2)
+                                    else:
+                                        self.logger.info(f"[LOG_UPLOAD] 收到日志上传命令，目标URL: {upload_url}")
                                         self._spawn_cmd_thread(
                                             self._upload_log_file,
                                             (upload_url, wifi_ssid, wifi_password, include_rotated, max_files,
                                              archive_format)
                                         )
-                                    elif inner_cmd == 200:
-                                        self.logger.info("[LASER] cmd200 在后台线程执行检测")
-                                        self._spawn_cmd_thread(self._cmd200_detect_laser, ())
-                                    elif inner_cmd == 300:
-                                        self.logger.info("[New Ota] cmd300 在后台线程执行OTA")
-                                        self._spawn_cmd_thread(self._cmd300_ota, (data_obj,))
-                                    elif inner_cmd == 600:
-                                        self.logger.info("[conn wifi] cmd600 在后台线程执行连接wifi: {data_obj}")
-                                        self._spawn_cmd_thread(self._cmd600_conn_wifi, (data_obj,))
-                                    elif inner_cmd == 601:
-                                        pass
-                                else:  # data的结构不是 dict
+                                elif cmd == 200:  # GenericResult "init_center_point" 触发激光检测
+                                    self.logger.info("[LASER] cmd200 在后台线程执行检测")
+                                    self._spawn_cmd_thread(self._cmd200_detect_laser, ())
+                                elif cmd == 201:  # SetCenterPointRequest 设置中心点
+                                    if self.logger:
+                                        self.logger.info(f"[LASER] cmd201:{body}")
+                                    raw_x = data_obj.get("x")
+                                    raw_y = data_obj.get("y")
+                                    try:
+                                        from laser_manager import laser_manager
+                                        ix, iy = laser_manager.set_hardcoded_laser_point(raw_x, raw_y)
+                                        self.safe_enqueue({
+                                            "cmd": 201,
+                                            "result": "laser_point_set",
+                                            "x": ix,
+                                            "y": iy,
+                                        }, 2)
+                                        self.logger.info(f"[LASER] cmd201 硬编码激光点=({ix}, {iy})")
+                                    except Exception as e:
+                                        self.logger.error(f"[LASER] cmd201 失败: {e}")
+                                        self.safe_enqueue({
+                                            "cmd": 201,
+                                            "result": "laser_point_set_failed",
+                                            "reason": str(e),
+                                        }, 2)
+                                    hardware_manager.start_idle_timer()
+                                elif cmd == 300:  # OtaRequest 新版OTA
+                                    self.logger.info("[New Ota] cmd300 在后台线程执行OTA")
+                                    self._spawn_cmd_thread(self._cmd300_ota, ({"data": data_obj},))
+                                elif cmd == 600:  # WifiConnectRequest 连接wifi
+                                    self.logger.info(f"[conn wifi] cmd600 在后台线程执行连接wifi: {data_obj}")
+                                    self._spawn_cmd_thread(self._cmd600_conn_wifi, ({"data": data_obj},))
+                                elif cmd == 601:
+                                    pass
+                                else:
                                     self.logger.info(f"[NET] body={body}, {time.time()}")
-                            else:
-                                self.logger.info(f"[NET] 未知数据 {body}, {time.time()}")
                         if _rx_login_fail:
                             break
                         if _rx_skip_tcp_iteration:
@@ -2310,7 +2458,7 @@ class NetworkManager:
 
                         if item:
                             msg_type, data_dict = item
-                            pkt = self._netcore.make_packet(msg_type, data_dict)
+                            pkt = self._make_send_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():
@@ -2339,8 +2487,8 @@ 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()
-                        if not self.tcp_send_raw(
-                                self._netcore.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})):
+                        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.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

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 = '2.18.0'
+VERSION = '3.1.15'