修复不关机补充

app.yaml

@@ -1,6 +1,6 @@
 id: t11
 name: t11
-version: 2.15.14
+version: 2.15.15
 author: t11
 icon: ''
 desc: t11
@@ -25,6 +25,7 @@ files:
   - ota_manager.py
   - power.py
   - server.pem
+  - set_autostart.py
   - shoot_manager.py
   - shot_id_generator.py
   - target_roi_yolo.py

config.py

@@ -341,7 +341,7 @@ 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 = 0  # 自动关机时间（秒），0表示不自动关机
 
 BATTERY_SOC_LPF_ALPHA = 0.5
 BATTERY_SOC_AVG_WINDOW = 5

hardware.py

@@ -29,7 +29,7 @@ class HardwareManager:
         self._adc_obj = None             # ADC对象
         self._at_client = None            # AT客户端
 
-        self._last_active_time = 0       # 用于记录用户的最后一次活跃的时间
+        self._last_active_ticks = None   # 上次活跃时刻（ticks_ms，单调递增，不受校时影响）
         self._stop_timer = False         # 用于停止定时器的标志
 
         self._initialized = True
@@ -111,7 +111,7 @@ class HardwareManager:
 
     def start_idle_timer(self):
         self._stop_timer = False
-        self._last_active_time = time.time()
+        self._last_active_ticks = time.ticks_ms()
 
     def stop_idle_timer(self):
         self._stop_timer = True
@@ -119,12 +119,13 @@ class HardwareManager:
     def get_idle_time_in_sec(self):
         if self._stop_timer:
             return 0
-        diff = time.time() - self._last_active_time
-        if diff < 0:
-            # 时间可能被重置了，重新计时
-            self._last_active_time = time.time()
+        if self._last_active_ticks is None:
             return 0
-        return diff
+        diff_ms = time.ticks_diff(time.ticks_ms(), self._last_active_ticks)
+        if diff_ms < 0:
+            self._last_active_ticks = time.ticks_ms()
+            return 0
+        return diff_ms / 1000.0
 
 
 # 创建全局单例实例

main.py

@@ -275,6 +275,11 @@ def cmd_str():
     hardware_manager.start_idle_timer()
 
     if logger:
+        _auto_power_off = int(getattr(config, "AUTO_POWER_OFF_IN_SECONDS", 0) or 0)
+        if _auto_power_off <= 0:
+            logger.info("[MAIN] 自动关机已禁用 (AUTO_POWER_OFF_IN_SECONDS=0)")
+        else:
+            logger.info(f"[MAIN] 自动关机: {_auto_power_off} 秒无活动")
         logger.info("系统准备完成...")
 
     last_adc_trigger = 0
@@ -338,7 +343,10 @@ def cmd_str():
             # 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")
-            if hardware_manager.get_idle_time_in_sec() > config.AUTO_POWER_OFF_IN_SECONDS:
+            if (
+                config.AUTO_POWER_OFF_IN_SECONDS > 0
+                and hardware_manager.get_idle_time_in_sec() > config.AUTO_POWER_OFF_IN_SECONDS
+            ):
                 logger.info("[MAIN] 超过设定时间未检测活动，自动关机")
                 network_manager.safe_enqueue({"poweroff": "超过设定时间未检测活动，自动关机"}, 2)
                 time.sleep_ms(100)

network.py

@@ -2092,6 +2092,7 @@ 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}%")

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,
@@ -164,6 +172,16 @@ def detect_circle_v3(frame, laser_point=None):
                                         break
 
                     if not found_valid_red:
+                        # 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
@@ -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 +25,5 @@
 # 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 修复不关机，空闲计时改用 ticks_ms（不受校时影响），启动时打印自动关机配置

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 = '2.15.16'
 
 

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: