fix: 重连时间设置更小

app.yaml

@@ -1,6 +1,6 @@
 id: t11
 name: t11
-version: 2.15.14
+version: 2.15.18
 author: t11
 icon: ''
 desc: t11
@@ -18,8 +18,6 @@ files:
   - laser_manager.py
   - logger_manager.py
   - main.py
-  - model_270139.cvimodel
-  - model_270139.mud
   - network.py
   - ota_curl.sh
   - ota_manager.py

at_client.py

@@ -76,10 +76,11 @@ class ATClient:
         """
         expect_b = expect.encode() if isinstance(expect, str) else expect
         with self._cmd_lock:
-            # 初始化等待
-            self._waiting = True
-            self._expect = expect_b
-            self._resp = b""
+            with self._q_lock:
+                # 初始化等待
+                self._waiting = True
+                self._expect = expect_b
+                self._resp = b""
 
             # 发送
             if cmd:
@@ -300,8 +301,8 @@ class ATClient:
                     if len(self._rx) > 512 * 1024:
                         self._rx = self._rx[-256 * 1024:]
                 else:
-                    if len(self._rx) > 16384:
-                        self._rx = self._rx[-4096:]
+                    if len(self._rx) > 32768:
+                        self._rx = self._rx[-16384:]
 
 
 

config.py

@@ -24,7 +24,7 @@ TRIANGLE_DETECT_SCALE = 0.4
 # SERVER_IP = "stcp.shelingxingqiu.com"
 SERVER_IP = "www.shelingxingqiu.com"
 SERVER_PORT = 50005
-HEARTBEAT_INTERVAL = 15  # 心跳间隔（秒）
+HEARTBEAT_INTERVAL = 5  # 心跳间隔（秒）
 
 # WiFi 质量评估（开机先尝试 WiFi；质量差且 4G 可用则切到 4G，本次上电直至关机锁定 4G）
 WIFI_QUALITY_RTT_SAMPLES = 3  # 到业务服务器 TCP 建连耗时采样次数，取中位数

network.py

@@ -624,6 +624,11 @@ class NetworkManager:
         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"):
+                try:
+                    os.remove(_f)
+                except OSError:
+                    pass
             w = network.wifi.Wifi()
             e = w.connect(ssid, password, wait=True, timeout=15)
             err.check_raise(e, "connect wifi failed")
@@ -665,6 +670,11 @@ class NetworkManager:
         ssid = inner_data.get("ssid")
         password = inner_data.get("password")
         try:
+            for _f in ("/etc/wpa_supplicant.conf", "/boot/wpa_supplicant.conf", "/boot/wifi.ssid", "/boot/wifi.pass"):
+                try:
+                    os.remove(_f)
+                except OSError:
+                    pass
             w = network.wifi.Wifi()
             e = w.connect(ssid, password, wait=True, timeout=15)
             err.check_raise(e, "connect wifi failed")
@@ -678,6 +688,11 @@ class NetworkManager:
                 },
                 2,
             )
+            self._session_force_4g = False
+            self.disconnect_server()
+            self._tcp_connected = False
+            self._network_type = None
+            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(
@@ -706,7 +721,7 @@ class NetworkManager:
             if self._network_type == "wifi":
                 return self._check_wifi_connection()
             elif self._network_type == "4g":
-                return True  # 4G连接状态由AT命令维护
+                return self._check_4g_connection()
             return False
 
         # 自动选择网络
@@ -723,6 +738,37 @@ class NetworkManager:
             return self._connect_tcp_via_4g()
         return False
 
+    def _check_4g_connection(self):
+        """检查4G TCP连接是否仍然有效（通过查询PDP地址验证网络附着状态）"""
+        try:
+            atc = hardware_manager.at_client
+            if atc is None:
+                return False
+            if not self._uart4g_lock.acquire(timeout=3000):
+                # 获取锁超时说明有其他操作在进行，视为连接仍有效
+                return True
+            try:
+                r = atc.send("AT+CGPADDR=1", "OK", 3000)
+                m = re.search(r'\+CGPADDR:\s*1,"([^"]+)"', r)
+                ip = m.group(1) if m else ""
+                if ip and ip != "0.0.0.0":
+                    return True
+                # 无IP或IP无效，尝试重新激活PDP
+                self.logger.warning("[4G-TCP] PDP地址无效，尝试重新激活")
+                atc.send("AT+MIPCALL=1,1", "OK", 15000)
+                r2 = atc.send("AT+CGPADDR=1", "OK", 3000)
+                m2 = re.search(r'\+CGPADDR:\s*1,"([^"]+)"', r2)
+                ip2 = m2.group(1) if m2 else ""
+                if ip2 and ip2 != "0.0.0.0":
+                    return True
+                self.logger.error("[4G-TCP] 重新激活PDP仍无有效IP，连接已断开")
+                return False
+            finally:
+                self._uart4g_lock.release()
+        except Exception as e:
+            self.logger.warning(f"[4G-TCP] 连接检查异常: {e}")
+            return True  # 异常时不误判断线
+
     def _wrap_wifi_tls(self, plain_sock, hostname):
         """
         在已建立的 TCP socket 上做 TLS（WiFi 走主机 ssl 库；4G 仍用模组 AT+SSL）。
@@ -1070,6 +1116,8 @@ class NetworkManager:
                     total += n
 
                 hardware_manager.uart4g.write(b"\x1A")
+                with hardware_manager.at_client._q_lock:
+                    hardware_manager.at_client._rx = b""
                 r = hardware_manager.at_client.send("", "OK", 8000)
                 if ("SEND OK" in r) or ("OK" in r) or ("+MIPSEND" in r):
                     return True
@@ -1784,7 +1832,7 @@ class NetworkManager:
                     continue
 
                 if not self.connect_server():
-                    time.sleep_ms(5000)
+                    time.sleep_ms(1000)
                     continue
 
                 # 发送登录包
@@ -1805,7 +1853,7 @@ class NetworkManager:
                         self.disconnect_server()
                     except:
                         pass
-                    time.sleep_ms(2000)
+                    time.sleep_ms(500)
                     continue
 
                 self.logger.info("➡️ 登录包已发送，等待确认...")
@@ -2092,6 +2140,7 @@ class NetworkManager:
                                         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}%")
@@ -2147,7 +2196,7 @@ class NetworkManager:
                                                 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))
+                                                                       (ssid, password, ota_url))
                                     elif inner_cmd == 6:
                                         try:
                                             ip = os.popen(
@@ -2293,8 +2342,8 @@ class NetworkManager:
                                     pass
                                 break
                             else:
-                                # 不立即断开，让下一轮心跳再试；同时缩短一点等待，提升恢复速度
-                                time.sleep_ms(200)
+                                # 不立即断开，让下一轮心跳再试
+                                time.sleep_ms(50)
                                 continue
                         else:
                             send_hartbeat_fail_count = 0
@@ -2324,8 +2373,8 @@ class NetworkManager:
                     self._send_event.clear()
 
                 self._tcp_connected = False
-                self.logger.error("连接异常，2秒后重连...")
-                time.sleep_ms(200)
+                self.logger.error("连接异常，50ms后重连...")
+                time.sleep_ms(50)
 
             except Exception as e:
                 # TCP主循环的顶层异常捕获，防止线程静默退出

test/test_decect_circle_v4.py

@@ -94,29 +94,33 @@ def detect_circle_v3(frame, laser_point=None):
                 # 如果检测到黄色圆圈，再检测红色圆圈进行验证
                 if yellow_center and yellow_radius:
                     # HSV 红色掩码检测（红色在HSV中跨越0度，需要两个范围）
-                    # 红色范围1: 0-10度（接近0度的红色）
-                    lower_red1 = np.array([0, 50, 40])
-                    upper_red1 = np.array([10, 255, 255])
+                    # 红色范围1: 0-12度（接近0度的红色）
+                    # 放宽S/V阈值：S>=30, V>=20 以捕获淡红/暗红
+                    lower_red1 = np.array([0, 30, 20])
+                    upper_red1 = np.array([12, 255, 255])
                     mask_red1 = cv2.inRange(hsv, lower_red1, upper_red1)
 
-                    # 红色范围2: 170-180度（接近180度的红色）
-                    lower_red2 = np.array([170, 50, 40])
+                    # 红色范围2: 168-180度（接近180度的红色）
+                    lower_red2 = np.array([168, 30, 20])
                     upper_red2 = np.array([180, 255, 255])
                     mask_red2 = cv2.inRange(hsv, lower_red2, upper_red2)
 
                     # 合并两个红色掩码
                     mask_red = cv2.bitwise_or(mask_red1, mask_red2)
 
-                    # 形态学操作
+                    # 形态学操作：先CLOSE填充空洞，再DILATE加厚环状区域
                     kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
                     mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
+                    mask_red = cv2.dilate(mask_red, kernel_red, iterations=1)
 
                     contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
 
+                    red_pixel_count = np.sum(mask_red > 0)
+                    print(f"Debug -> 红色掩码: {red_pixel_count} 像素, {len(contours_red)} 个轮廓")
+
                     found_valid_red = False
 
                     if contours_red:
-                        # 找到所有符合条件的红色圆圈
                         for cnt_red in contours_red:
                             area_red = cv2.contourArea(cnt_red)
                             perimeter_red = cv2.arcLength(cnt_red, True)
@@ -126,9 +130,10 @@ def detect_circle_v3(frame, laser_point=None):
                             else:
                                 circularity_red = 0
 
-                            # 红色圆圈也应该有一定的圆度
-                            if area_red > 30 and circularity_red > 0.4:
-                                # 计算红色圆圈的中心和半径
+                            # 环状轮廓圆度可能偏低，放宽到0.2
+                            print(f"Debug -> 红轮廓: 面积={area_red:.1f}, 圆度={circularity_red:.2f}" +
+                                  f" (面积>15={area_red > 15}, 圆度>0.2={circularity_red > 0.2})")
+                            if area_red > 15 and circularity_red > 0.2:
                                 if len(cnt_red) >= 5:
                                     (x_red, y_red), (w_red, h_red), angle_red = cv2.fitEllipse(cnt_red)
                                     radius_red = min(w_red, h_red) / 2
@@ -139,22 +144,25 @@ def detect_circle_v3(frame, laser_point=None):
                                     red_center = (int(x_red), int(y_red))
                                     red_radius = int(radius_red)
 
-                                # 计算黄色和红色圆心的距离
                                 if red_center:
                                     dx = yellow_center[0] - red_center[0]
                                     dy = yellow_center[1] - red_center[1]
                                     distance = np.sqrt(dx * dx + dy * dy)
 
-                                    # 圆心距离阈值：应该小于黄色半径的某个倍数（比如1.5倍）
-                                    max_distance = yellow_radius * 1.5
+                                    max_distance = yellow_radius * 2.0
+                                    min_r = min(red_radius, yellow_radius)
+                                    max_r = max(red_radius, yellow_radius)
+                                    size_ratio = min_r / max_r if max_r > 0 else 0
+                                    print(f"Debug -> 圆心距={distance:.1f}(阈值={max_distance:.1f}), "
+                                          f"大小比={size_ratio:.2f}(阈值=0.5), "
+                                          f"距离OK={distance < max_distance}, 大小OK={size_ratio > 0.5}")
 
-                                    # 红色圆圈应该比黄色圆圈大（外圈）
-                                    if distance < max_distance and red_radius > yellow_radius * 0.7:
+                                    # 允许红圈在黄圈外侧或内侧，只要大小相近（较小/较大 >= 0.5）
+                                    if distance < max_distance and size_ratio > 0.5:
                                         found_valid_red = True
                                         print(
                                             f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
 
-                                        # 记录这个有效目标
                                         valid_targets.append({
                                             'center': yellow_center,
                                             'radius': yellow_radius,
@@ -164,7 +172,17 @@ def detect_circle_v3(frame, laser_point=None):
                                         break
 
                     if not found_valid_red:
-                        print("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+                        # 如果黄圈非常可靠（大且圆），在没有红圈验证时仍接受
+                        if area > 30 and circularity > 0.85:
+                            print(f"[target] -> 黄圈高置信度(面积:{area:.0f}, 圆度:{circularity:.2f})，跳过红圈验证直接接受")
+                            valid_targets.append({
+                                'center': yellow_center,
+                                'radius': yellow_radius,
+                                'ellipse': yellow_ellipse,
+                                'area': area
+                            })
+                        else:
+                            print("Debug -> 未找到匹配的红色圆圈，可能是误识别")
 
     # 从所有有效目标中选择最佳目标
     if valid_targets:
@@ -596,7 +614,7 @@ if __name__ == "__main__":
                 # 检查文件扩展名
                 if any(filename.lower().endswith(ext) for ext in IMAGE_EXTENSIONS):
                     # 过滤掉 _result.jpg 后缀的文件
-                    if not filename.endswith('_result.jpg'):
+                    if filename.endswith('no_target.jpg'):
                         filepath = os.path.join(TARGET_DIR, filename)
                         if os.path.isfile(filepath):
                             image_files.append(filepath)

version.md

@@ -25,3 +25,7 @@
 # 2.15.12 优化算法
 # 2.15.13 优化算法
 # 2.15.14 优化算法
+# 2.15.15 优化wifi连接
+# 2.15.16 修复wifi连接问题
+# 2.15.17 修复wifi连接问题
+# 2.15.18 wifi连接成功重新登录

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 = '2.15.14'
+VERSION = '2.15.18'
 
 

wifi.py

@@ -239,7 +239,6 @@ class WiFiManager:
         old_conf = _read_text(conf_path)
         old_boot_ssid = _read_text(ssid_file)
         old_boot_pass = _read_text(pass_file)
-        old_boot_wpa = _read_text(boot_wpa_path) if os.path.exists(boot_wpa_path) else None
 
         try:
             try:
@@ -251,9 +250,13 @@ class WiFiManager:
                 _write_text(conf_path, full_conf)
             except Exception:
                 pass
-            _write_text(boot_wpa_path, full_conf)
+            # 删除 wpa_supplicant.conf，让 S30wifi 回退读 ssid/pass
+            try:
+                if os.path.exists(boot_wpa_path):
+                    os.remove(boot_wpa_path)
+            except Exception:
+                pass
 
-            # 仍写入 ssid/pass，便于其它脚本/人工查看；S30wifi 优先使用 wpa_supplicant.conf
             _write_text(ssid_file, ssid.strip())
             _write_text(pass_file, password.strip())
 
@@ -293,7 +296,6 @@ class WiFiManager:
                     if not persist:
                         # 不持久化：把 /boot 恢复成旧值（不重启，当前连接保持不变）
                         _restore_boot(old_boot_ssid, old_boot_pass)
-                        _restore_boot_wpa(old_boot_wpa)
                         self.logger.info("[WIFI] 网络验证通过，但按 persist=False 回滚 /boot 凭证（不重启）")
                     else:
                         self.logger.info("[WIFI] 网络验证通过，/boot 凭证已保留（持久化）")
@@ -307,7 +309,6 @@ class WiFiManager:
         except Exception as e:
             # 失败：回滚 /boot 和 /etc，重启 WiFi 恢复旧网络
             _restore_boot(old_boot_ssid, old_boot_pass)
-            _restore_boot_wpa(old_boot_wpa)
             try:
                 if old_conf is not None:
                     _write_text(conf_path, old_conf)
@@ -352,7 +353,11 @@ class WiFiManager:
             else:
                 full_conf = build_sta_conf_open(ssid)
             _write_text(conf_path, full_conf)
-            _write_text(boot_wpa_path, full_conf)
+            try:
+                if os.path.exists(boot_wpa_path):
+                    os.remove(boot_wpa_path)
+            except Exception:
+                pass
         except ValueError as e:
             return False, str(e)
         except Exception as e: