feat: 压力传感触发判断

.gitattributes

@@ -0,0 +1 @@
+*.sh text eol=lf

.gitignore

@@ -1,3 +1,4 @@
 /cpp_ext/build/
 /.cursor/
 /dist/
+.idea

.idea/.gitignore

@@ -0,0 +1,8 @@
+# 默认忽略的文件
+/shelf/
+/workspace.xml
+# 基于编辑器的 HTTP 客户端请求
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/archery.iml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="jdk" jdkName="yolov8" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="format" value="PLAIN" />
+    <option name="myDocStringFormat" value="Plain" />
+  </component>
+</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="yolov8" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="yolov8" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/archery.iml" filepath="$PROJECT_DIR$/.idea/archery.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>

.vscode/settings.json

@@ -1,3 +1,3 @@
 {
-    "cmake.sourceDirectory": "E:/code/code/code/new/new/new/new/new/nw/archery - 副本/cpp_ext"
+    "cmake.sourceDirectory": "E:/code/code/code/new/new/new/archery/cpp_ext"
 }

4g.py

@@ -109,7 +109,6 @@
 from maix import app, uart, pinmap, time
 import hashlib
 import hmac
-import re
 import ujson
 
 # ========== 配置 ==========
@@ -131,109 +130,53 @@ def generate_token(device_id):
     return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
 
 def send_cmd(cmd_str, timeout_ms=3000):
-    """发送 AT 指令并返回完整响应；超时返回已收到的内容。"""
+    """发送 AT 指令并等待 OK / ERROR"""
     print("[AT] =>", cmd_str)
     http_serial.write((cmd_str + "\r\n").encode())
     buffer = b""
     start = time.ticks_ms()
-    while time.ticks_diff(time.ticks_ms(), start) < timeout_ms:
+    while time.ticks_ms() - start < timeout_ms:
         data = http_serial.read(128)
         if data:
             buffer += data
             try:
-                decoded = buffer.decode("utf-8", "ignore")
+                decoded = buffer.decode()
-                if "OK" in decoded or "+CME ERROR" in decoded or "ERROR" in decoded:
+                print("<= ", decoded.strip())
-                    print("[AT] <=", decoded.strip())
+                if "OK" in decoded:
-                    return decoded
+                    return True
+                if "+CME ERROR" in decoded or "ERROR" in decoded:
+                    return False
             except:
                 pass
         time.sleep_ms(10)
-    decoded = buffer.decode("utf-8", "ignore")
-    print("[AT] !! timeout", timeout_ms, "ms, response:", decoded.strip() or "<empty>")
-    return decoded
-
-
-def response_ok(response):
-    return "OK" in response and "ERROR" not in response
-
-
-def wait_modem_ready():
-    """等待模组响应，并确认 PDP 上下文已经获得 IP。"""
-    for attempt in range(15):
-        if response_ok(send_cmd("AT", 1000)):
-            break
-        print("[4G] 等待模组启动", attempt + 1, "/15")
-        time.sleep_ms(1000)
-    else:
-        print("[4G] UART2 无 AT 响应，请检查模组供电、A28/A29 接线和串口占用")
     return False
 
-    send_cmd("ATE0", 1000)
-    cpin = send_cmd("AT+CPIN?", 3000)
-    if "READY" not in cpin:
-        print("[4G] SIM 卡未就绪:", cpin.strip())
-        return False
-
-    addr = send_cmd("AT+CGPADDR=1", 3000)
-    match = re.search(r'\+CGPADDR:\s*1,"([^\"]+)"', addr)
-    if match and match.group(1) != "0.0.0.0":
-        print("[4G] PDP ready, IP:", match.group(1))
-        return True
-
-    send_cmd("AT+MIPCALL=1,1", 15000)
-    for _ in range(20):
-        addr = send_cmd("AT+CGPADDR=1", 3000)
-        match = re.search(r'\+CGPADDR:\s*1,"([^\"]+)"', addr)
-        if match and match.group(1) != "0.0.0.0":
-            print("[4G] PDP ready, IP:", match.group(1))
-            return True
-        time.sleep_ms(1000)
-
-    print("[4G] PDP 未获得 IP，请检查 SIM 流量、信号和 APN")
-    return False
-
-
-def clear_http_instances():
-    for instance_id in range(6):
-        send_cmd(f"AT+MHTTPDEL={instance_id}", 1200)
-
 def create_http_instance(url):
     cmd = f'AT+MHTTPCREATE="{url}"'
-    response = send_cmd(cmd, 8000)
+    if send_cmd(cmd):
-    match = re.search(r"\+MHTTPCREATE:\s*(\d+)", response)
+        # 尝试提取 instance ID（如果模块返回）
-    if not response_ok(response) or not match:
+        # 注意：部分模块不会返回 ID，可忽略，直接用 0 或 1
-        print("❌ 创建 HTTP 实例失败，模组响应:", response.strip() or "<empty>")
+        return True
-        return None
+    return False
-    return int(match.group(1))
 
 def send_http_request(url, api_path, token, device_id, json_data):
     # 1. 创建 HTTP 实例
-    instance_id = create_http_instance(url)
+    if not create_http_instance(url):
-    if instance_id is None:
+        print("❌ 创建 HTTP 实例失败")
         return False
 
-    # 2. 设置 Headers
+    # 2. 设置 Headers（假设实例 ID 为 0，或根据模块默认）
-    commands = (
+    instance_id = 0  # 大多数模块默认实例为 0；若支持多实例，需解析返回值
-        f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"',
+    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
-        f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"',
+    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
-        f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"',
+    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"')
-    )
-    for command in commands:
-        if not response_ok(send_cmd(command)):
-            print("❌ HTTP Header 配置失败")
-            send_cmd(f"AT+MHTTPDEL={instance_id}", 2000)
-            return False
 
     # 3. 发送 Body
     json_str = ujson.dumps(json_data)
-    at_json = json_str.replace("\\", "\\\\").replace('"', '\\"')
+    send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"')
-    if not response_ok(send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{at_json}"', 8000)):
-        print("❌ HTTP Body 配置失败")
-        send_cmd(f"AT+MHTTPDEL={instance_id}", 2000)
-        return False
 
     # 4. 发起 POST 请求
-    if response_ok(send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"', 15000)):
+    if send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"'):
         print("✅ HTTP 请求已发送")
         return True
     else:
@@ -256,7 +199,7 @@ def read_response(timeout_ms=5000):
 print("🚀 启动直接上传流程...")
 
 token = generate_token(device_id)
-print("🔑 Token 已生成:", token[:12] + "...")
+print("🔑 Token:", token)
 
 # 构造模拟数据
 timestamp = int(time.time() * 1000)
@@ -273,14 +216,7 @@ json_data = {
 }
 
 # 执行上传
-upload_ok = False
+if send_http_request(url, api_path, token, device_id, json_data):
-if not wait_modem_ready():
-    print("💥 4G 模组未就绪")
-else:
-    clear_http_instances()
-    upload_ok = send_http_request(url, api_path, token, device_id, json_data)
-
-if upload_ok:
     read_response()
 else:
     print("💥 上传流程失败")

app.yaml

@@ -1,6 +1,6 @@
 id: t11
 name: t11
-version: 2.15.35
+version: 2.16.1
 author: t11
 icon: ''
 desc: t11
@@ -12,20 +12,18 @@ files:
   - at_client.py
   - camera_manager.py
   - cameraParameters.xml
+  - charging_exit.sh
   - config.py
   - hardware.py
   - laser_detector.py
   - laser_manager.py
   - logger_manager.py
   - main.py
-  - model_285484.cvimodel
-  - model_285484.mud
   - network.py
   - ota_curl.sh
   - ota_manager.py
   - power.py
   - server.pem
-  - set_autostart.py
   - shoot_manager.py
   - shot_id_generator.py
   - target_roi_yolo.py

charging_exit.sh

@@ -0,0 +1,47 @@
+#!/bin/sh
+
+# The application supplies its own PID. Refuse broad or malformed targets.
+TARGET_PID="$1"
+LASER_DEVICE="${2:-/dev/ttyS1}"
+LASER_BAUD="${3:-9600}"
+
+turn_off_laser() {
+    if [ ! -c "$LASER_DEVICE" ]; then
+        echo "[CHARGE] laser serial device not found: $LASER_DEVICE" >&2
+        return 1
+    fi
+
+    stty -F "$LASER_DEVICE" "$LASER_BAUD" raw -echo 2>/dev/null || return 1
+    printf '\252\000\001\276\000\001\000\000\300' > "$LASER_DEVICE"
+}
+
+case "$TARGET_PID" in
+    ''|*[!0-9]*)
+        echo "[CHARGE] invalid application pid: $TARGET_PID" >&2
+        exit 2
+        ;;
+esac
+
+if [ "$TARGET_PID" -le 1 ]; then
+    echo "[CHARGE] refusing to terminate pid: $TARGET_PID" >&2
+    exit 2
+fi
+
+# First request laser-off while the application still owns the initialized UART.
+turn_off_laser || true
+
+kill -TERM "$TARGET_PID" 2>/dev/null || true
+
+# Wait up to two seconds for a graceful exit, then force termination.
+WAIT_COUNT=0
+while kill -0 "$TARGET_PID" 2>/dev/null && [ "$WAIT_COUNT" -lt 20 ]; do
+    sleep 0.1
+    WAIT_COUNT=$((WAIT_COUNT + 1))
+done
+if kill -0 "$TARGET_PID" 2>/dev/null; then
+    kill -KILL "$TARGET_PID" 2>/dev/null || true
+    sleep 0.1
+fi
+
+# Send laser-off again after the application releases the UART.
+turn_off_laser || true

config.py

@@ -96,11 +96,6 @@ ADC_LASER_THRESHOLD = 3000
 
 # ==================== 激光配置 ====================
 MODULE_ADDR = 0x00
-# 激光开关改由 A14 GPIO 控制：低电平开启，高电平关闭。
-LASER_CONTROL_PIN = "A14"
-LASER_CONTROL_GPIO = "GPIOA14"
-LASER_CONTROL_ON_LEVEL = 0
-LASER_CONTROL_OFF_LEVEL = 1
 LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
 LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
 DISTANCE_QUERY_CMD = bytes([0xAA, MODULE_ADDR, 0x00, 0x20, 0x00, 0x01, 0x00, 0x00, 0x21])  # 激光测距查询命令
@@ -267,16 +262,6 @@ TRIANGLE_SAMPLE_PATCH_HALF_PX = 2
 # 开机阶段预加载 YOLO detector；detect 使用 dual_buff=False，避免返回上一帧结果。
 TRIANGLE_YOLO_PRELOAD_ON_BOOT = False
 
-# YOLO target size classification: class 0=20cm, class 1=40cm.
-TARGET_CLASS_YOLO_ENABLE = True
-TARGET_CLASS_YOLO_MODEL_PATH = APP_DIR + "/model_285484.mud"
-TARGET_CLASS_YOLO_LABELS = (20, 40)
-TARGET_CLASS_YOLO_CONF_TH = 0.50
-TARGET_CLASS_YOLO_IOU_TH = 0.45
-TARGET_CLASS_YOLO_RETRY_ON_EMPTY = False
-TARGET_CLASS_YOLO_RETRY_CONF_TH = 0.25
-TARGET_CLASS_YOLO_PRELOAD_ON_BOOT = True
-
 # ── 第二段 YOLO：仅在 Stage1 裁切出的靶环图上推理（与合成 stage2 训练数据一致）→ 子框内传统算法取直角点 ──
 # Stage1 靶环裁切内如何找黑三角标记（对比耗时时可切换）：
 # "yolo" — 调 Stage2 黑三角模型得子框，再子框内传统提取（需 TRIANGLE_BLACK_YOLO_ENABLE=True）。
@@ -332,7 +317,6 @@ MAX_CMD_THREADS = 10            # 并发命令线程上限（防止服务器下
 
 # ==================== 图像保存配置 ====================
 SAVE_IMAGE_ENABLED = False  # 是否保存图像（True=保存，False=不保存）
-SAVE_IMAGE_ON_FAILURE = True  # 检测失败时是否强制保存图像（供调试测试用）
 PHOTO_DIR = "/root/phot"    # 照片存储目录
 MAX_IMAGES = 1000
 # Stage2 调试目录（默认 PHOTO_DIR/stage2_roi）内 JPEG 最多保留张数；None 表示与 MAX_IMAGES 相同
@@ -353,29 +337,20 @@ PIN_MAPPINGS = {
     "A28": "UART2_TX",
     "A15": "I2C5_SCL",
     "A27": "I2C5_SDA",
-    "A14": "GPIOA14",  # 激光开关：低开、高关
     "A24": "GPIOA24",  # 电源板关机控制
-    "A25": "GPIOA25",  # 电源状态绿灯
-    "A23": "GPIOA23",  # 电源状态红灯
 }
 
 # ==================== 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
-# 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
 
-# 一代电源控制：A24 由电源板负责按键/关机信号，软件关机时输出高电平。
+# 实机数据：正常放电约为正电流，插入充电线后约为负电流。
-
+CHARGING_SHUTDOWN_ENABLED = True  # True=充电时退出应用，False=关闭充电关机功能
-# 电源状态指示灯
+CHARGING_DIAGNOSTIC_LOG_ENABLED = False
-STATUS_LED_GREEN_GPIO = "GPIOA25"
+CHARGING_CHECK_INTERVAL_MS = 5000
-STATUS_LED_RED_GPIO = "GPIOA23"
+CHARGING_CURRENT_THRESHOLD_MA = 100.0
-STATUS_LED_GREEN_ENABLED = True
+CHARGING_CONFIRM_COUNT = 2
-STATUS_LED_RED_ENABLED = True
+CHARGING_NOTIFY_TIMEOUT_MS = 30000
-STATUS_LED_ACTIVE_LEVEL = 1
+CHARGING_EXIT_SCRIPT = APP_DIR + "/charging_exit.sh"
-STATUS_LED_LOW_BATTERY_PERCENT = 10
-STATUS_LED_FULL_BATTERY_PERCENT = 90
-STATUS_LED_CHARGING_BLINK_MS = 500
-STATUS_LED_POLL_MS = 1000
 
 BATTERY_SOC_LPF_ALPHA = 0.5
 BATTERY_SOC_AVG_WINDOW = 5

hardware.py

@@ -5,7 +5,6 @@
 提供硬件对象的统一管理和访问
 """
 from maix import time
-import _thread
 import config
 from at_client import ATClient
 
@@ -29,7 +28,6 @@ class HardwareManager:
         self._bus = None                 # I2C总线
         self._adc_obj = None             # ADC对象
         self._at_client = None            # AT客户端
-        self._status_led_monitor_started = False
 
         self._last_active_time = 0       # 用于记录用户的最后一次活跃的时间
         self._stop_timer = False         # 用于停止定时器的标志
@@ -106,87 +104,11 @@ class HardwareManager:
             # 物理引脚是 A24，对应 GPIO 功能是 GPIOA24
             # 注意：这里需要先在 config.PIN_MAPPINGS 中配置好 "A24": "GPIOA24"
             from maix import gpio
-            # 一代电源板关机信号为高电平
+            # 输出高电平关闭
             gpio.GPIO("GPIOA24", gpio.Mode.OUT).value(1)
         except Exception as e:
             print(f"关机失败: {e}")
 
-    def start_status_led_monitor(self):
-        """后台更新状态灯：正常/充满绿常亮、充电绿闪烁、低电量红常亮。"""
-        if self._status_led_monitor_started:
-            return
-        self._status_led_monitor_started = True
-        _thread.start_new_thread(self._status_led_loop, ())
-
-    def _status_led_loop(self):
-        from maix import gpio
-        from power import get_bus_voltage, is_charging, voltage_to_percent
-
-        try:
-            green = None
-            if getattr(config, "STATUS_LED_GREEN_ENABLED", True):
-                green = gpio.GPIO(config.STATUS_LED_GREEN_GPIO, gpio.Mode.OUT)
-            red = None
-            if getattr(config, "STATUS_LED_RED_ENABLED", True):
-                red = gpio.GPIO(config.STATUS_LED_RED_GPIO, gpio.Mode.OUT)
-            active = int(config.STATUS_LED_ACTIVE_LEVEL)
-            inactive = 0 if active else 1
-            if green is not None:
-                green.value(inactive)
-            if red is not None:
-                red.value(inactive)
-            last_state = None
-            blink_on = False
-            blink_period = max(100, int(config.STATUS_LED_CHARGING_BLINK_MS))
-            poll_ms = max(100, int(config.STATUS_LED_POLL_MS))
-            tick_ms = min(blink_period, poll_ms)
-            sensor_elapsed = poll_ms
-            blink_elapsed = blink_period
-            state = "normal"
-            percent = None
-            charging = False
-
-            while self._status_led_monitor_started:
-                if sensor_elapsed >= poll_ms:
-                    voltage = get_bus_voltage()
-                    percent = voltage_to_percent(voltage) if voltage > 0 else None
-                    charging = is_charging()
-                    low = percent is not None and percent <= int(config.STATUS_LED_LOW_BATTERY_PERCENT)
-                    full = percent is not None and percent >= int(config.STATUS_LED_FULL_BATTERY_PERCENT)
-                    if charging:
-                        state = "full" if full else "charging"
-                    else:
-                        state = "low" if low else "normal"
-                    sensor_elapsed = 0
-
-                if state == "low":
-                    if green is not None:
-                        green.value(inactive)
-                    if red is not None:
-                        red.value(active)
-                elif state == "charging":
-                    if blink_elapsed >= blink_period:
-                        blink_on = not blink_on
-                        blink_elapsed = 0
-                    if green is not None:
-                        green.value(active if blink_on else inactive)
-                    if red is not None:
-                        red.value(inactive)
-                else:  # normal or full
-                    if green is not None:
-                        green.value(active)
-                    if red is not None:
-                        red.value(inactive)
-                if state != last_state:
-                    print(f"[STATUS_LED] state={state} percent={percent} charging={charging}")
-                    last_state = state
-                time.sleep_ms(tick_ms)
-                sensor_elapsed += tick_ms
-                blink_elapsed += tick_ms
-        except Exception as e:
-            self._status_led_monitor_started = False
-            print(f"[STATUS_LED] monitor failed: {e}")
-
     def start_idle_timer(self):
         self._stop_timer = False
         self._last_active_time = time.time()

laser_manager.py

@@ -31,7 +31,6 @@ class LaserManager:
         
         # 私有状态
         self._serial = None  # 激光串口，由 laser_manager 自己持有
-        self._laser_gpio = None  # A14 激光开关，低电平开启、高电平关闭
         self._calibration_active = False
         self._calibration_result = None
         self._calibration_lock = threading.Lock()
@@ -70,21 +69,10 @@ class LaserManager:
     
     # ==================== 初始化方法 ====================
 
-    def init_control_gpio(self):
-        """尽早初始化 A14，并拉高确保激光关闭。"""
-        from maix import gpio, pinmap
-
-        pinmap.set_pin_function(config.LASER_CONTROL_PIN, config.LASER_CONTROL_GPIO)
-        if self._laser_gpio is None:
-            self._laser_gpio = gpio.GPIO(config.LASER_CONTROL_GPIO, gpio.Mode.OUT)
-        self._laser_gpio.value(config.LASER_CONTROL_OFF_LEVEL)
-        self._laser_turned_on = False
-        print(f"[LASER] {config.LASER_CONTROL_PIN}=HIGH，激光已关闭")
-
     def init(self, serial_device=None, baudrate=None):
         """
-        初始化激光模块（A14 开关 + 测距串口）
+        初始化激光模块（包括串口）
-        初始化时先将 A14 拉高关闭激光，防止开机误触发
+        初始化完成后主动发送关闭命令，防止 UART 初始化噪声误触发激光
         
         Args:
             serial_device: 串口设备路径，默认使用 config.DISTANCE_SERIAL_DEVICE
@@ -94,11 +82,23 @@ class LaserManager:
         device = serial_device or config.DISTANCE_SERIAL_DEVICE
         baud = baudrate or config.DISTANCE_SERIAL_BAUDRATE
 
-        self.init_control_gpio()
-
         self._serial = uart.UART(device, baud)
         print(f"[LASER] 激光串口初始化完成: device={device}, baudrate={baud}")
 
+        # 等待串口稳定后主动关闭激光，防止初始化噪声误触发
+        time.sleep_ms(100)
+        try:
+            self._serial.read(-1)  # 清空接收缓冲区
+        except Exception:
+            pass
+        self._serial.write(config.LASER_OFF_CMD)
+        time.sleep_ms(60)
+        try:
+            self._serial.read(-1)  # 清空回包
+        except Exception:
+            pass
+        print("[LASER] 已发送关闭命令（防止开机误触发）")
+
     # ==================== 业务方法 ====================
     
     def load_laser_point(self):
@@ -147,38 +147,66 @@ class LaserManager:
             return False
     
     def turn_on_laser(self):
-        """A14 输出低电平，开启激光。"""
+        """发送指令开启激光，并读取回包（部分模块支持）"""
-        if self._laser_gpio is None:
+        if self._serial is None:
-            if self.logger:
+            self.logger.error("[LASER] 激光串口未初始化，请先调用 init()")
-                self.logger.error("[LASER] A14 GPIO 未初始化，请先调用 init()")
+            return None
-            return False
+        
+        # 打印调试信息
+        self.logger.info(f"[LASER] 发送开启命令: {config.LASER_ON_CMD.hex()}")
+        
+        # 清空接收缓冲区
         try:
-            self._laser_gpio.value(config.LASER_CONTROL_ON_LEVEL)
+            self._serial.read(-1)  # 清空缓冲区
+        except:
+            pass
+        
+        # 发送命令
+        written = self._serial.write(config.LASER_ON_CMD)
+        self.logger.info(f"[LASER] 写入字节数: {written}")
+        
+        time.sleep_ms(60)
+
+        # 读取回包
+        resp = self._serial.read(len=20, timeout=10)
+        if resp:
+            self.logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
+            if resp == config.LASER_ON_CMD:
+                self.logger.info("✅ 激光开启指令已确认")
+        else:
+            self.logger.warning("🔇 无回包（可能正常或模块不支持回包）")
         self._laser_turned_on = True
-            if self.logger:
+        return resp
-                self.logger.info("[LASER] A14=LOW，激光开启")
-            return True
-        except Exception as e:
-            if self.logger:
-                self.logger.error(f"[LASER] A14 开启激光失败: {e}")
-            return False
     
     def turn_off_laser(self):
-        """A14 输出高电平，关闭激光。"""
+        """发送指令关闭激光"""
-        if self._laser_gpio is None:
+        if self._serial is None:
-            if self.logger:
+            self.logger.error("[LASER] 激光串口未初始化，请先调用 init()")
-                self.logger.error("[LASER] A14 GPIO 未初始化，请先调用 init()")
+            return None
-            return False
+        
+        # 打印调试信息
+        self.logger.info(f"[LASER] 发送关闭命令: {config.LASER_OFF_CMD.hex()}")
+        
+        # 清空接收缓冲区
         try:
-            self._laser_gpio.value(config.LASER_CONTROL_OFF_LEVEL)
+            self._serial.read(-1)
+        except:
+            pass
+        
+        # 发送命令
+        written = self._serial.write(config.LASER_OFF_CMD)
+        self.logger.info(f"[LASER] 写入字节数: {written}")
+
+        time.sleep_ms(60)
+        
+        # 读取回包
+        resp = self._serial.read(20)
+        if resp:
+            self.logger.info(f"[LASER] 收到回包 ({len(resp)}字节): {resp.hex()}")
+        else:
+            self.logger.warning("🔇 无回包")
         self._laser_turned_on = False
-            if self.logger:
+        return resp
-                self.logger.info("[LASER] A14=HIGH，激光关闭")
-            return True
-        except Exception as e:
-            if self.logger:
-                self.logger.error(f"[LASER] A14 关闭激光失败: {e}")
-            return False
 
     def flash_laser(self, duration_ms=1000):
         """闪一下激光（非阻塞版本）"""

main.py

@@ -22,7 +22,7 @@ from version import VERSION
 # from logger import init_logging, get_logger, stop_logging
 from logger_manager import logger_manager
 from time_sync import sync_system_time_from_4g
-from power import init_ina226
+from power import charging_shutdown_monitor, init_ina226
 from laser_manager import laser_manager
 from vision import start_save_shot_worker
 from network import network_manager
@@ -76,14 +76,12 @@ def laser_calibration_worker():
                 import traceback
                 traceback.print_exc()
             time.sleep_ms(1000)  # 等待1秒后继续
+
 def cmd_str():
     """主程序入口"""
     # ==================== 第一阶段：硬件初始化 ====================
     # 按照 main104.py 的顺序，先完成所有硬件初始化
 
-    # 开机第一步先拉高 A14 关闭激光，避免其他硬件初始化期间误亮。
-    laser_manager.init_control_gpio()
-
     # 1. 引脚功能映射
     for pin, func in config.PIN_MAPPINGS.items():
         try:
@@ -105,8 +103,6 @@ def cmd_str():
     print(f"[BOOT] init_ina226 开始 wall_s={_w_boot:.3f}")
     init_ina226()
     print(f"[BOOT] init_ina226 结束 wall +{int(round((wall_time.time() - _w_boot) * 1000))} ms")
-    # 启动 A25 绿灯和 A23 红灯状态指示。
-    hardware_manager.start_status_led_monitor()
 
     # 4. 初始化显示和相机
     _w_boot = wall_time.time()
@@ -124,11 +120,18 @@ def cmd_str():
 
     # ==================== 第二阶段：软件初始化 ====================
 
-    # 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）
+    # 1. 初始化日志系统
     import logging
     logger_manager.init_logging(log_level=logging.WARNING)
     logger = logger_manager.logger
 
+    # 充电关机独立读取 INA226，不依赖 TCP 连接或心跳流程。
+    try:
+        _thread.start_new_thread(charging_shutdown_monitor, ())
+    except Exception as e:
+        if logger:
+            logger.error(f"[CHARGE] 启动独立监测线程失败: {e}")
+
     # 补充：因为初始化的时候，激光会亮，先关了它
     # laser_manager.turn_off_laser()
 
@@ -166,11 +169,7 @@ def cmd_str():
             and _loc_black == "yolo"
             and bool(getattr(config, "TRIANGLE_BLACK_YOLO_PRELOAD_ON_BOOT", True))
         )
-        _need_target_preload = (
+        _preload_yolo = _preload_yolo or _need_black_preload
-            bool(getattr(config, "TARGET_CLASS_YOLO_ENABLE", False))
-            and bool(getattr(config, "TARGET_CLASS_YOLO_PRELOAD_ON_BOOT", True))
-        )
-        _preload_yolo = _preload_yolo or _need_black_preload or _need_target_preload
         if _preload_yolo:
             preload_yolo_detector(logger)
     except Exception as e:
@@ -253,8 +252,8 @@ 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()
 
-    # 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）
+    # 5. 创建照片存储目录（如果启用图像保存）
-    if config.SAVE_IMAGE_ENABLED or getattr(config, "SAVE_IMAGE_ON_FAILURE", False):
+    if config.SAVE_IMAGE_ENABLED:
         photo_dir = config.PHOTO_DIR
         if photo_dir not in os.listdir("/root"):
             try:
@@ -286,12 +285,6 @@ def cmd_str():
         logger.info("系统准备完成...")
 
     last_adc_trigger = 0
-    # 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
-    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
 
@@ -301,6 +294,10 @@ def cmd_str():
     pressure_max = 0
     pressure_t0_ms = None
 
+    # 压力突变检测（上升沿触发）
+    prev_adc_val = 0            # 上一次ADC值
+    ADC_JUMP_THRESHOLD = 250    # 突变阈值：相邻两次采样差值超过此值视为突变
+
     def _flush_pressure_buf(reason: str):
         nonlocal pressure_buf, pressure_sum, pressure_min, pressure_max, pressure_t0_ms, logger
         if not pressure_buf:
@@ -343,6 +340,7 @@ def cmd_str():
                 time.sleep_ms(250)
                 continue
 
+            # todo 去除或者不在这里检测
             # 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")
@@ -381,24 +379,27 @@ 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:
+            # 压力突变检测：当前值与前一次值的差值超过阈值时触发
-                peak_adc_val = adc_val  # 更新峰值
+            adc_diff = adc_val - prev_adc_val
-            if (peak_adc_val >= config.ADC_TRIGGER_THRESHOLD
+            if adc_diff >= ADC_JUMP_THRESHOLD and prev_adc_val > 0 :
-                    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
                 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
+                    logger.info(f"[MAIN] 扳机触发过于频繁, {diff_ms}ms")
-                    time.sleep_ms(5)
+                    prev_adc_val = adc_val
                     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
-                # 触发前先把缓存刷出来，避免波形被长耗时处理截断
                 _flush_pressure_buf("before_trigger")
 
+                if logger:
+                    logger.info(
+                        f"[TRIGGER] ▲ 压力突变触发! "
+                        f"adc={adc_val}, prev={prev_adc_val}, "
+                        f"diff=+{adc_diff}, t={current_time}ms"
+                    )
+
                 try:
                     process_shot(adc_val)
                 except Exception as e:
@@ -407,16 +408,19 @@ def cmd_str():
                         logger.error(f"[MAIN] 图像处理异常: {e}")
                         import traceback
                         logger.error(traceback.format_exc())
-                    time.sleep_ms(100)
+
-                    continue
+            prev_adc_val = adc_val
-            else:
+
+            # 未触发时的显示逻辑
+            # 未触发时的显示逻辑
             if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING:
                 try:
                     camera_manager.show(camera_manager.read_frame())
                 except Exception as e:
-                        pass
+                    logger = logger_manager.logger
-                time.sleep_ms(5)
+                    if logger:
-            last_adc_val = adc_val
+                        logger.error(f"[MAIN] 显示异常: {e}")
+            time.sleep_ms(1)
 
         except Exception as e:
             # 主循环的顶层异常捕获，防止程序静默退出

model_270139.mud

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

model_270820.mud

@@ -1,7 +1,7 @@
 
 [basic]
 type = cvimodel
-model = model_285484.cvimodel
+model = model_270820.cvimodel
 
 [extra]
 model_type = yolov5
@@ -9,5 +9,5 @@ input_type = rgb
 mean = 0, 0, 0
 scale = 0.00392156862745098, 0.00392156862745098, 0.00392156862745098
 anchors = 10, 13, 16, 30, 33, 23, 30, 61, 62, 45, 59, 119, 116, 90, 156, 198, 373, 326
-labels = 20, 40
+labels = triangle
 

network.py

@@ -18,7 +18,7 @@ import socket
 import config
 
 from hardware import hardware_manager
-from power import get_bus_voltage, voltage_to_percent, is_charging
+from power import get_bus_voltage, voltage_to_percent
 from logger_manager import logger_manager
 from wifi import wifi_manager
 import subprocess
@@ -669,8 +669,6 @@ class NetworkManager:
         self.logger.info(f"[conn wifi] cmd600 , data: {inner_data}")
         ssid = inner_data.get("ssid")
         password = inner_data.get("password")
-        # 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:
             for _f in ("/etc/wpa_supplicant.conf", "/boot/wpa_supplicant.conf", "/boot/wifi.ssid", "/boot/wifi.pass"):
                 try:
@@ -711,6 +709,12 @@ class NetworkManager:
         """线程安全地将消息加入队列（公共方法）"""
         self._enqueue((msg_type, data_dict), high)
 
+    def safe_enqueue_and_wait(self, data_dict, msg_type=2, high=False, timeout_ms=30000):
+        """将消息加入队列，并等待网络线程确认已写入 TCP 连接。"""
+        sent_event = threading.Event()
+        self._enqueue((msg_type, data_dict, sent_event), high)
+        return bool(sent_event.wait(max(0, int(timeout_ms)) / 1000.0))
+
     def connect_server(self):
         """
         连接到服务器（自动选择WiFi或4G）
@@ -897,6 +901,12 @@ class NetworkManager:
         """检查WiFi TCP连接是否仍然有效"""
         if not wifi_manager.wifi_socket:
             return False
+        # TLS socket 无法可靠使用 MSG_PEEK，但物理 WiFi 链路仍可通过 STA 关联状态判断。
+        if not wifi_manager.is_sta_associated():
+            self.logger.warning("[WIFI-TCP] STA 已断开，关闭 WiFi TCP 并重新选网")
+            wifi_manager.disconnect_wifi()
+            self._tcp_connected = False
+            return False
         # TLS(ssl.wrap_socket/SSLContext.wrap_socket) 后的 socket 往往不支持 MSG_PEEK/MSG_DONTWAIT。
         # 这种情况下“主动探测”反而容易误报断线；让真正的 send/recv 去判定更稳。
         try:
@@ -1212,6 +1222,14 @@ class NetworkManager:
             # 这里保持 socket 为非阻塞模式（连接时已 setblocking(False)）。
             # 不要反复 settimeout()，否则会把 socket 切回"阻塞+超时"，并导致 conncheck 误报 timed out。
             data = wifi_manager.wifi_socket.recv(4096)  # 每次最多接收4KB（无数据会抛 BlockingIOError）
+            if data == b"":
+                self.logger.warning("[WIFI-TCP] 对端已关闭连接")
+                try:
+                    wifi_manager.wifi_socket.close()
+                except Exception:
+                    pass
+                wifi_manager.wifi_socket = None
+                self._tcp_connected = False
             return data
 
         except BlockingIOError:
@@ -1812,16 +1830,9 @@ class NetworkManager:
         self.logger.info("[NET] TCP主线程启动")
 
         send_hartbeat_fail_count = 0
-        last_charging_check = 0
-        CHARGING_CHECK_INTERVAL = 5000  # 5秒检查一次充电状态
 
         while True:
             try:
-                # 检查充电状态（每5秒检查一次）
-                current_time = time.ticks_ms()
-                if current_time - last_charging_check > CHARGING_CHECK_INTERVAL:
-                    last_charging_check = current_time
-
                 # OTA 期间不要 connect/登录/心跳/发送
                 try:
                     from ota_manager import ota_manager
@@ -2145,17 +2156,7 @@ class NetworkManager:
                                             "netType": self.network_type,
                                         }
                                         self.safe_enqueue(battery_data, 2)
-                                        self.logger.info(f"电量上报: {battery_percent}% 充电: {is_charging()}")
+                                        self.logger.info(f"电量上报: {battery_percent}%")
-                                        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")
@@ -2309,7 +2310,8 @@ class NetworkManager:
                                 item_is_high = False
 
                         if item:
-                            msg_type, data_dict = item
+                            msg_type, data_dict = item[:2]
+                            sent_event = item[2] if len(item) > 2 else None
                             pkt = self._netcore.make_packet(msg_type, data_dict)
                             if not self.tcp_send_raw(pkt):
                                 # 发送失败：将消息放回队首（队列满则丢弃）
@@ -2326,6 +2328,8 @@ class NetworkManager:
                                 except:
                                     pass
                                 break
+                            if sent_event is not None:
+                                sent_event.set()
 
                     # 发送激光校准结果
                     if logged_in:

official_pack_fip.py

@@ -1,603 +0,0 @@
-#!/usr/bin/env python3
-# PYTHON_ARGCOMPLETE_OK
-
-import sys
-import logging
-import os
-import re
-import os.path
-import collections
-import uuid
-import argparse
-import tarfile
-import io
-from struct import pack, unpack
-
-
-PYTHON_MIN_VERSION = (3, 5, 2)  # Ubuntu 16.04 LTS contains Python v3.5.2 by default
-
-
-if sys.version_info < PYTHON_MIN_VERSION:
-    print("Python >= %r is required" % (PYTHON_MIN_VERSION,))
-    sys.exit(-1)
-
-
-try:
-    import coloredlogs
-except ImportError:
-    coloredlogs = None
-
-try:
-    import argcomplete
-except ImportError:
-    argcomplete = None
-
-TOC_HEADER_NAME = 0xAA640001
-FIP_MAX_SIZE = 0xA0000
-FIP_ALIGN_SIZE = 2 * 1024
-ENTRY_SIZE = 0x28
-
-IV_ZERO = b"\0" * 16
-
-
-class FIP_HEADER_FLAG:
-    BitRange = collections.namedtuple("BitRange", "shift, bits")
-
-    REE_SCS = BitRange(0, 2)
-    REE_ENCRYPTION = BitRange(2, 2)
-
-    @classmethod
-    def test(cls, value, flag):
-        v = value >> flag.shift
-        v &= (1 << flag.bits) - 1
-        return v
-
-    @classmethod
-    def value(cls, flag):
-        v = (1 << flag.bits) - 1
-        v <<= flag.shift
-        return v
-
-
-class FIP_UUID:
-    # from arm-trusted-firmware/include/tools_share/firmware_image_package.h
-    uuid_c_define = """
-/* ToC Entry UUIDs */
-#define UUID_LICENSE_FILE \
-    {0x25360c62, 0x5151, 0x48ad, 0xb5, 0x91, {0x2d, 0x35, 0x67, 0x26, 0x85, 0xa5} }
-#define UUID_TRUSTED_UPDATE_FIRMWARE_SCP_BL2U \
-    {0x03279265, 0x742f, 0x44e6, 0x8d, 0xff, {0x57, 0x9a, 0xc1, 0xff, 0x06, 0x10} }
-#define UUID_TRUSTED_UPDATE_FIRMWARE_BL2U \
-    {0x37ebb360, 0xe5c1, 0x41ea, 0x9d, 0xf3, {0x19, 0xed, 0xa1, 0x1f, 0x68, 0x01} }
-#define UUID_TRUSTED_UPDATE_FIRMWARE_NS_BL2U \
-    {0x111d514f, 0xe52b, 0x494e, 0xb4, 0xc5, {0x83, 0xc2, 0xf7, 0x15, 0x84, 0x0a} }
-#define UUID_TRUSTED_FWU_CERT \
-    {0xb28a4071, 0xd618, 0x4c87, 0x8b, 0x2e, {0xc6, 0xdc, 0xcd, 0x50, 0xf0, 0x96} }
-#define UUID_TRUSTED_BOOT_FIRMWARE_BL2 \
-    {0x0becf95f, 0x224d, 0x4d3e, 0xa5, 0x44, {0xc3, 0x9d, 0x81, 0xc7, 0x3f, 0x0a} }
-#define UUID_BLD \
-    {0x3dfd6697, 0xbe89, 0x49e8, 0xae, 0x5d, {0x78, 0xa1, 0x40, 0x60, 0x82, 0x13} }
-#define UUID_EL3_RUNTIME_FIRMWARE_BL31 \
-    {0x6d08d447, 0xfe4c, 0x4698, 0x9b, 0x95, {0x29, 0x50, 0xcb, 0xbd, 0x5a, 0x00} }
-#define UUID_SECURE_PAYLOAD_BL32 \
-    {0x89e1d005, 0xdc53, 0x4713, 0x8d, 0x2b, {0x50, 0x0a, 0x4b, 0x7a, 0x3e, 0x38} }
-#define UUID_NON_TRUSTED_FIRMWARE_BL33 \
-    {0xa7eed0d6, 0xeafc, 0x4bd5, 0x97, 0x82, {0x99, 0x34, 0xf2, 0x34, 0xb6, 0xe4} }
-/* Key certificates */
-#define UUID_ROT_KEY_CERT \
-    {0x721d2d86, 0x60f8, 0x11e4, 0x92, 0x0b, {0x8b, 0xe7, 0x62, 0x16, 0x0f, 0x24} }
-#define UUID_BLD1_KEY_CERT \
-    {0x90e87e82, 0x60f8, 0x11e4, 0xa1, 0xb4, {0x77, 0x7a, 0x21, 0xb4, 0xf9, 0x4c} }
-#define UUID_BLD2_KEY_CERT \
-    {0xa1214202, 0x60f8, 0x11e4, 0x8d, 0x9b, {0xf3, 0x3c, 0x0e, 0x15, 0xa0, 0x14} }
-#define UUID_SOC_FW_KEY_CERT \
-    {0xccbeb88a, 0x60f9, 0x11e4, 0x9a, 0xd0, {0xeb, 0x48, 0x22, 0xd8, 0xdc, 0xf8} }
-#define UUID_TRUSTED_OS_FW_KEY_CERT \
-    {0x03d67794, 0x60fb, 0x11e4, 0x85, 0xdd, {0xb7, 0x10, 0x5b, 0x8c, 0xee, 0x04} }
-#define UUID_BL33_KEY_CERT \
-    {0x2a83d58a, 0x60fb, 0x11e4, 0x8a, 0xaf, {0xdf, 0x30, 0xbb, 0xc4, 0x98, 0x59} }
-/* Content certificates */
-#define UUID_TRUSTED_BOOT_FW_CERT \
-    {0xea69e2d6, 0x635d, 0x11e4, 0x8d, 0x8c, {0x9f, 0xba, 0xbe, 0x99, 0x56, 0xa5} }
-#define UUID_BLD_CONTENT_CERT \
-    {0x046fbe44, 0x635e, 0x11e4, 0xb2, 0x8b, {0x73, 0xd8, 0xea, 0xae, 0x96, 0x56} }
-#define UUID_SOC_FW_CONTENT_CERT \
-    {0x200cb2e2, 0x635e, 0x11e4, 0x9c, 0xe8, {0xab, 0xcc, 0xf9, 0x2b, 0xb6, 0x66} }
-#define UUID_TRUSTED_OS_FW_CONTENT_CERT \
-    {0x11449fa4, 0x635e, 0x11e4, 0x87, 0x28, {0x3f, 0x05, 0x72, 0x2a, 0xf3, 0x3d} }
-#define UUID_BL33_CONTENT_CERT \
-    {0xf3c1c48e, 0x635d, 0x11e4, 0xa7, 0xa9, {0x87, 0xee, 0x40, 0xb2, 0x3f, 0xa7} }
-/* CV keys */
-#define UUID_CV_TRUSTED_KEY_CERT \
-    {0x64fbfc49, 0x4b8c, 0x4ad3, 0xb9, 0x92, {0x93, 0x55, 0x89, 0xee, 0xf0, 0x12} }
-#define UUID_CV_NON_TRUSTED_KEY_CERT \
-    {0xcb48bf0d, 0x7012, 0x4201, 0xbc, 0x35, {0x8a, 0x51, 0xc4, 0x90, 0x90, 0x94} }
-
-/* DDR init*/
-#define UUID_CV_DDRINIT_KEY_CERT \
-    {0xa61c53c9, 0x886c, 0x484f, 0x96, 0x5d, {0xd2, 0xda, 0xd7, 0xc3, 0xeb, 0x13} }
-#define UUID_CV_DDRINIT_CONTENT_CERT \
-    {0x9dfaabd2, 0x7f1b, 0x47e6, 0xa8, 0xa6, {0x6a, 0xc3, 0x10, 0xcc, 0xac, 0x91} }
-#define UUID_CV_DDRINIT \
-    {0x5888a5cd, 0x38fc, 0x4f66, 0xae, 0x3d, {0x2e, 0x18, 0x6d, 0x69, 0x41, 0xfb} }
-
-/* Fast boot */
-#define UUID_CV_FASTBOOT_KEY_CERT \
-    {0x285df54e, 0x7b50, 0x4309, 0x9b, 0x52, {0x4b, 0xc4, 0x92, 0x82, 0x60, 0xdd} }
-#define UUID_CV_FASTBOOT_CONTENT_CERT \
-    {0x61f7595b, 0x8d77, 0x4e13, 0x91, 0x2a, {0x63, 0x6e, 0x58, 0xda, 0x5b, 0x69} }
-#define UUID_CV_FASTBOOT \
-    {0x43766198, 0xc363, 0x48db, 0xa9, 0x97, {0xf1, 0x0e, 0x93, 0x80, 0x4f, 0xea} }
-"""
-
-    @classmethod
-    def cls_init(cls):
-        txt = cls.uuid_c_define
-        txt = txt.replace("\r\n", "\n")
-        txt = txt.replace("\\\n", "\n")
-        rx = r"""
-            \#define\s+
-            (?P<name>\S+)\s+
-            {
-                \s*(?P<u0>0x\S+)\s*,\s*
-                \s*(?P<u1>0x\S+)\s*,\s*
-                \s*(?P<u2>0x\S+)\s*,\s*
-                \s*(?P<u3>0x\S+)\s*,\s*
-                \s*(?P<u4>0x\S+)\s*,\s*
-                {
-                    \s*(?P<u5>0x\S+)\s*,\s*
-                    \s*(?P<u6>0x\S+)\s*,\s*
-                    \s*(?P<u7>0x\S+)\s*,\s*
-                    \s*(?P<u8>0x\S+)\s*,\s*
-                    \s*(?P<u9>0x\S+)\s*,\s*
-                    \s*(?P<u10>0x\S+)\s*
-                }\s*,?\s*
-            }
-        """
-        for m in re.finditer(rx, txt, flags=re.X):
-            name = m.group("name")
-            u = m.group(*["u%d" % i for i in range(11)])
-            u = [int(i, 0) for i in u]
-            u = pack("<IHHBBBBBBBB", *u)
-            u = uuid.UUID(bytes=u)
-            setattr(cls, name, u)
-
-
-class Entry:
-    __slots__ = ["name", "loc", "uuid", "address", "flag", "content"]
-
-    def __init__(self):
-        self.loc = 0
-        self.uuid = uuid.UUID(int=0)
-        self.address = 0
-        self.flag = 0
-        self.content = b""
-
-    @classmethod
-    def make(cls, uuid, content):
-        entry = cls()
-        entry.uuid = uuid
-        entry.content = content
-        return entry
-
-    @classmethod
-    def from_fip(cls, name, loc, fip_bin):
-        data = fip_bin[loc : loc + ENTRY_SIZE]
-        uuid_bytes, address, size, flag = unpack("<16sQQQ", data)
-        content = fip_bin[address : address + size]
-
-        entry = cls()
-        entry.name = name
-        entry.loc = loc
-        entry.uuid = uuid.UUID(bytes=uuid_bytes)
-        entry.address = address
-        entry.flag = flag
-        entry.content = content
-        return entry
-
-    def to_bytes(self):
-        return pack("<16sQQQ", self.uuid.bytes, self.address, self.size, self.flag)
-
-    @property
-    def size(self):
-        return len(self.content)
-
-    @property
-    def end(self):
-        return self.address + self.size
-
-    def __str__(self):
-        return "<%-31s loc=0x%03x U=%s a=0x%05x,0x%05x,0x%05x f=0x%x>" % (
-            self.name,
-            self.loc,
-            self.uuid.hex[:8],
-            self.address,
-            self.end,
-            self.size,
-            self.flag,
-        )
-
-
-class FIP:
-    ENTRY_NAMES = collections.OrderedDict(
-        [
-            ("LICENSE_FILE", "UUID_LICENSE_FILE"),
-            ("BL2", "UUID_TRUSTED_BOOT_FIRMWARE_BL2"),
-            ("BLD", "UUID_BLD"),
-            ("BL31", "UUID_EL3_RUNTIME_FIRMWARE_BL31"),
-            ("BL32", "UUID_SECURE_PAYLOAD_BL32"),
-            ("BL33", "UUID_NON_TRUSTED_FIRMWARE_BL33"),
-            ("BLD1_KEY_CERT", "UUID_BLD1_KEY_CERT"),
-            ("BLD2_KEY_CERT", "UUID_BLD2_KEY_CERT"),
-            ("CV_TRUSTED_KEY_CERT", "UUID_CV_TRUSTED_KEY_CERT"),
-            ("SOC_FW_KEY_CERT", "UUID_SOC_FW_KEY_CERT"),
-            ("TRUSTED_OS_FW_KEY_CERT", "UUID_TRUSTED_OS_FW_KEY_CERT"),
-            ("CV_NON_TRUSTED_KEY_CERT", "UUID_CV_NON_TRUSTED_KEY_CERT"),
-            ("BL33_KEY_CERT", "UUID_BL33_KEY_CERT"),
-            ("TRUSTED_BOOT_FW_CERT", "UUID_TRUSTED_BOOT_FW_CERT"),
-            ("BLD_CONTENT_CERT", "UUID_BLD_CONTENT_CERT"),
-            ("SOC_FW_CONTENT_CERT", "UUID_SOC_FW_CONTENT_CERT"),
-            ("TRUSTED_OS_FW_CONTENT_CERT", "UUID_TRUSTED_OS_FW_CONTENT_CERT"),
-            ("BL33_CONTENT_CERT", "UUID_BL33_CONTENT_CERT"),
-            ("CV_DDRINIT", "UUID_CV_DDRINIT"),
-            ("CV_FASTBOOT", "UUID_CV_FASTBOOT"),
-        ]
-    )
-
-    TOC_Header = collections.namedtuple(
-        "TOC_Header", "name, serial, flag_res, flag_plat, flag_res2"
-    )
-
-    def __init__(self, path):
-        logging.info("FIP_BIN: %s", path)
-        self.path = path
-
-    def load(self):
-        with open(self.path, "rb") as fp:
-            self.binary = fp.read(FIP_MAX_SIZE)
-        logging.info("%s is %d bytes", self.path, len(self.binary))
-
-        self.header = self.TOC_Header(*unpack("<IIIHH", self.binary[0x00:0x10]))
-        if self.header.name != TOC_HEADER_NAME:
-            raise ValueError(
-                "FIP header is 0x%08x but should be 0x%08x"
-                % (self.header[0], TOC_HEADER_NAME)
-            )
-
-        logging.info("TOC header: flag_plat=0x%04x", self.header.flag_plat)
-        logging.info(
-            "  REE_SCS: %r",
-            FIP_HEADER_FLAG.test(self.header.flag_plat, FIP_HEADER_FLAG.REE_SCS),
-        )
-        logging.info(
-            "  REE_ENCRYPTION: %r",
-            FIP_HEADER_FLAG.test(self.header.flag_plat, FIP_HEADER_FLAG.REE_ENCRYPTION),
-        )
-
-        ents = []
-        for k, v in self.ENTRY_NAMES.items():
-            try:
-                ents.append((k, self.find_entry(v)))
-            except ValueError as err:
-                logging.warning("%s", err)
-
-        ents.sort(key=lambda x: x[1].address)
-        for n, (k, v) in enumerate(ents):
-            logging.debug("%s", v)
-            if n > 0:
-                pk, pv = ents[n - 1]
-                if v.loc != pv.loc + ENTRY_SIZE or v.address != pv.address + pv.size:
-                    raise Exception("Invalid FIP")
-
-        rest = self.binary[ents[-1][1].end :]
-        loc = rest.find(b"APLB")
-        if loc < 0:
-            raise Exception("No BLD/DDRC")
-        self.blp_ddrc_binary = rest[loc:]
-        logging.debug("blp_ddrc: 0x%04x at 0x%08x", len(self.blp_ddrc_binary), loc)
-
-        self.ents = collections.OrderedDict(ents)
-
-    def make_fip(self, output_path=None):
-        logging.info("New TOC header: flag_plat=0x%04x", self.header.flag_plat)
-        header_bin = pack("<IIIHH", *self.header)
-        fip_bin = header_bin
-
-        # Sort self.ents by the order of FIP.ENTRY_NAMES
-        sorted_ents = collections.OrderedDict()
-        for name in self.ENTRY_NAMES:
-            try:
-                sorted_ents[name] = self.ents[name]
-            except KeyError:
-                pass
-        self.ents = sorted_ents
-
-        offset = (len(self.ents) + 1) * ENTRY_SIZE + 0x10
-
-        for k, v in self.ents.items():
-            v.address = offset
-            fip_bin += v.to_bytes()
-            offset += v.size
-
-        null_entry = Entry()
-        null_entry.address = offset
-        fip_bin += null_entry.to_bytes()
-
-        for k, v in self.ents.items():
-            fip_bin += v.content
-
-        if (len(fip_bin) % FIP_ALIGN_SIZE) > 0:
-            fip_bin += b"\x00" * (FIP_ALIGN_SIZE - len(fip_bin) % FIP_ALIGN_SIZE)
-        fip_bin += self.blp_ddrc_binary
-
-        if output_path:
-            path = output_path
-        else:
-            path = os.path.splitext(self.path)
-            path = path[0] + "_signed_encrypted" + path[1]
-        logging.info("Save new FIP image to %s", path)
-        with open(path, "wb") as fp:
-            fp.write(fip_bin)
-
-    def dump_uuids(self):
-        for k, v in vars(FIP_UUID).items():
-            if k.startswith("UUID_"):
-                print("%-38s" % k, v.hex)
-
-    def find_entry(self, name):
-        # UUID=0, offset=any, size=0, flags=0
-        nullm = re.search(rb"\0{16}.{8}\0{16}", self.binary, flags=re.DOTALL)
-        if nullm is None:
-            raise Exception("NULL TOC entry is not found")
-
-        max_toc_size = nullm.start(0)
-        uuid = getattr(FIP_UUID, name)
-        loc = self.binary.find(uuid.bytes, 0, max_toc_size)
-        if loc < 0:
-            raise ValueError("%s is not found" % name)
-        return Entry.from_fip(name, loc, self.binary)
-
-
-def entry(args):
-    logging.debug("cmd_fip")
-
-
-def init_logging(log_file=None, file_level="DEBUG", stdout_level="WARNING"):
-
-    root_logger = logging.getLogger()
-    root_logger.setLevel(logging.NOTSET)
-
-    fmt = "%(asctime)s %(levelname)8s:%(name)s:%(message)s"
-
-    if log_file is not None:
-        file_handler = logging.FileHandler(log_file, encoding="utf-8")
-        file_handler.setFormatter(logging.Formatter(fmt))
-        file_handler.setLevel(file_level)
-        root_logger.addHandler(file_handler)
-
-    if coloredlogs:
-        os.environ["COLOREDLOGS_DATE_FORMAT"] = "%H:%M:%S"
-
-        field_styles = {
-            "asctime": {"color": "green"},
-            "hostname": {"color": "magenta"},
-            "levelname": {"color": "black", "bold": True},
-            "name": {"color": "blue"},
-            "programname": {"color": "cyan"},
-        }
-
-        level_styles = coloredlogs.DEFAULT_LEVEL_STYLES
-        level_styles["debug"]["color"] = "cyan"
-
-        coloredlogs.install(
-            level=stdout_level,
-            fmt=fmt,
-            field_styles=field_styles,
-            level_styles=level_styles,
-            milliseconds=True,
-        )
-
-
-def parse_fip(fip_path):
-    logging.debug("parse_fip: %s", fip_path)
-    fip = FIP(fip_path)
-    fip.load()
-
-
-def unpack_fip(fip_path):
-    logging.debug("unpack_fip: %s", fip_path)
-    fip = FIP(fip_path)
-    fip.load()
-
-    def save(name, content):
-        fn = os.path.splitext(fip_path)
-        fn = "%s_%s%s" % (fn[0], name, fn[1])
-        logging.info("Save %s", fn)
-        with open(fn, "wb") as fp:
-            fp.write(content)
-
-    for k, v in fip.ents.items():
-        save(k, v.content)
-
-    save("BLP_DDRC", fip.blp_ddrc_binary)
-
-
-def tar_bld(fip_path, output_path, multibin):
-    logging.debug("tar_bld: %s multibin=%r", fip_path, multibin)
-    fip = FIP(fip_path)
-    fip.load()
-
-    members = [
-        "BLD_CONTENT_CERT",
-        "BLD2_KEY_CERT",
-        "BLD1_KEY_CERT",
-        "CV_DDRINIT" if multibin else "BLD",
-    ]
-
-    if not output_path:
-        output_path = os.path.join(os.path.dirname(fip_path), "bld.tar")
-
-    logging.info("bld_tar_path=%s", output_path)
-
-    with tarfile.open(output_path, "w") as tf:
-        for m in members:
-            logging.debug("Tar %s", m)
-            try:
-                fp = io.BytesIO(fip.ents[m].content)
-            except KeyError:
-                logging.warning("%s doesn't exist", m)
-                continue
-            info = tarfile.TarInfo(name=m + ".bin")
-            info.size = len(fp.getbuffer())
-            tf.addfile(tarinfo=info, fileobj=fp)
-
-
-def merge_fip(fip_path, inputs, output_path):
-    logging.debug("merge_fip: %s", fip_path)
-    fip = FIP(fip_path)
-    fip.load()
-
-    for name in FIP.ENTRY_NAMES:
-        binary = inputs.get(name)
-        if not binary:
-            continue
-
-        logging.debug("merge %s", name)
-        ent = fip.ents.get(name)
-        if ent:
-            ent.content = binary
-        else:
-            ent = Entry.make(getattr(FIP_UUID, "UUID_" + name), binary)
-            fip.ents[name] = ent
-
-    binary = inputs.get("BLP_DDRC")
-    if binary:
-        fip.blp_ddrc_binary = binary
-
-    if not output_path:
-        fn = os.path.splitext(fip_path)
-        fn = "%s_%s%s" % (fn[0], "merged", fn[1])
-        output_path = fn
-
-    fip.make_fip(output_path)
-
-
-def round_up(n, k):
-    return (n + k - 1) // k * k
-
-
-def read_blp_and_ddrc(inputs, blp_path, ddrc_path):
-    logging.info("Open %s and %s", blp_path, ddrc_path)
-    with open(blp_path, "rb") as fp:
-        blp_bin = fp.read()
-
-    logging.info("Open %s", ddrc_path)
-    with open(ddrc_path, "rb") as fp:
-        ddrc_bin = fp.read()
-
-    blp_bin += b"\0" * (round_up(len(blp_bin), FIP_ALIGN_SIZE) - len(blp_bin))
-    ddrc_bin += b"\0" * (round_up(len(ddrc_bin), FIP_ALIGN_SIZE) - len(ddrc_bin))
-
-    inputs["BLP_DDRC"] = blp_bin + ddrc_bin
-
-
-def read_bld_tar(inputs, bld_tar_path, multibin):
-    logging.info("Open %s multibin=%r", bld_tar_path, multibin)
-    members = [
-        "BLD_CONTENT_CERT.bin",
-        "BLD2_KEY_CERT.bin",
-        "BLD1_KEY_CERT.bin",
-        "CV_DDRINIT.bin" if multibin else "BLD.bin",
-    ]
-
-    with tarfile.open(bld_tar_path, "r") as tf:
-        for member in members:
-            try:
-                fp = tf.extractfile(member)
-                inputs[os.path.splitext(member)[0]] = fp.read()
-            except KeyError:
-                logging.warning("%s does not exist", member)
-
-
-def main():
-    parser = argparse.ArgumentParser(description="FIP packer")
-
-    for name in FIP.ENTRY_NAMES:
-        parser.add_argument(
-            "--add-%s" % name.lower(),
-            dest=name,
-            type=str,
-            help="Merge %s into FIP" % name,
-        )
-    parser.add_argument(
-        "--add-blp-ddrc", dest="BLP_DDRC", type=str, help="Merge BLP+DDRC into FIP"
-    )
-    parser.add_argument("--add-blp", dest="BLP", type=str, help="Merge BLP into FIP")
-    parser.add_argument("--add-ddrc", dest="DDRC", type=str, help="Merge DDRC into FIP")
-    parser.add_argument(
-        "--add-bld-tar", dest="BLD_TAR", type=str, help="Merge BLD.tar into FIP"
-    )
-
-    parser.add_argument("--multibin", action="store_true", help="Use multibin")
-
-    parser.add_argument("FIP_BIN", type=str, nargs=1, help="Input FIP binary")
-    parser.add_argument("--output", type=str, help="Output filename")
-
-    parser.add_argument(
-        "--version", action="store_true", help="Output version information and exit"
-    )
-    parser.add_argument(
-        "--verbose",
-        help="Increase output verbosity",
-        action="store_const",
-        const=logging.DEBUG,
-        default=logging.DEBUG,
-    )
-
-    parser.add_argument("--unpack", action="store_true", help="Unpack FIP.bin")
-    parser.add_argument("--parse", action="store_true", help="Parse FIP.bin")
-    parser.add_argument(
-        "--tar-bld", action="store_true", help="Extrace BLD.bin and tar"
-    )
-
-    if argcomplete:
-        argcomplete.autocomplete(parser)
-
-    args = parser.parse_args()
-
-    init_logging(stdout_level=args.verbose)
-
-    logging.debug("args=%r", args)
-
-    FIP_UUID.cls_init()
-
-    if args.parse:
-        parse_fip(args.FIP_BIN[0])
-
-    if args.unpack:
-        unpack_fip(args.FIP_BIN[0])
-
-    if args.tar_bld:
-        tar_bld(args.FIP_BIN[0], args.output, args.multibin)
-
-    inputs = collections.OrderedDict()
-    for name in list(FIP.ENTRY_NAMES) + ["BLP_DDRC"]:
-        fn = getattr(args, name)
-        if not fn:
-            continue
-        logging.info("Open %s", fn)
-        with open(fn, "rb") as fp:
-            inputs[name] = fp.read()
-
-    if args.BLP or args.DDRC:
-        read_blp_and_ddrc(inputs, args.BLP, args.DDRC)
-
-    if args.BLD_TAR:
-        read_bld_tar(inputs, args.BLD_TAR, args.multibin)
-
-    if len(inputs):
-        merge_fip(args.FIP_BIN[0], inputs, args.output)
-
-
-if __name__ == "__main__":
-    main()

power.py

@@ -7,12 +7,11 @@
 import config
 import os
 import subprocess
-import _thread
 from logger_manager import logger_manager
 from maix import time as maix_time
 
+
 _INA226_PRESENT = None
-_INA226_LOCK = _thread.allocate_lock()
 
 
 def _ina226_ready() -> bool:
@@ -34,11 +33,7 @@ def write_register(reg, value):
     data = [(value >> 8) & 0xFF, value & 0xFF]
     # 某些底层驱动在失败时只打印 “write failed” 并返回 -1，而不是抛异常；
     # 为避免误判“初始化成功”导致后续 readfrom_mem SIGSEGV，这里把失败显式转成异常。
-    _INA226_LOCK.acquire()
-    try:
     ret = hardware_manager.bus.writeto_mem(config.INA226_ADDR, reg, bytes(data))
-    finally:
-        _INA226_LOCK.release()
     if isinstance(ret, int) and ret < 0:
         if logger:
             logger.error(f"[INA226] writeto_mem 失败: addr=0x{config.INA226_ADDR:02X} reg=0x{reg:02X} ret={ret}")
@@ -48,11 +43,7 @@ def write_register(reg, value):
 def read_register(reg):
     """读取INA226寄存器"""
     from hardware import hardware_manager
-    _INA226_LOCK.acquire()
-    try:
     data = hardware_manager.bus.readfrom_mem(config.INA226_ADDR, reg, 2)
-    finally:
-        _INA226_LOCK.release()
     return (data[0] << 8) | data[1]
 
 
@@ -151,6 +142,115 @@ def is_charging(threshold_ma=10.0):
         return False
 
 
+def charging_shutdown_monitor():
+    """独立监测 INA226；连续确认充电后通知服务器并退出应用。"""
+    logger = logger_manager.logger
+    shutdown_enabled = bool(getattr(config, "CHARGING_SHUTDOWN_ENABLED", False))
+    diagnostic_enabled = bool(getattr(config, "CHARGING_DIAGNOSTIC_LOG_ENABLED", False))
+    if not shutdown_enabled and not diagnostic_enabled:
+        if logger:
+            logger.info("[CHARGE] 充电退出监测已禁用")
+        return
+
+    interval_ms = max(100, int(getattr(config, "CHARGING_CHECK_INTERVAL_MS", 5000)))
+    threshold_ma = float(getattr(config, "CHARGING_CURRENT_THRESHOLD_MA", 10.0))
+    confirm_required = max(1, int(getattr(config, "CHARGING_CONFIRM_COUNT", 2)))
+    confirm_count = 0
+
+    if logger:
+        logger.info(
+            f"[CHARGE] 独立监测线程启动: interval={interval_ms}ms, "
+            f"threshold={threshold_ma:.1f}mA, confirm={confirm_required}, "
+            f"shutdown={'on' if shutdown_enabled else 'off'}"
+        )
+
+    while True:
+        current_ma = get_current()
+        if diagnostic_enabled and logger:
+            voltage = get_bus_voltage()
+            logger.info(
+                f"[CHARGE-DIAG] INA226 voltage={voltage:.3f}V, "
+                f"current={current_ma:.1f}mA"
+            )
+
+        if not shutdown_enabled:
+            maix_time.sleep_ms(interval_ms)
+            continue
+
+        if current_ma < -abs(threshold_ma):
+            confirm_count += 1
+            if logger:
+                logger.info(
+                    f"[CHARGE] INA226 充电电流 {current_ma:.1f}mA "
+                    f"({confirm_count}/{confirm_required})"
+                )
+        else:
+            confirm_count = 0
+
+        if confirm_count >= confirm_required:
+            script_path = getattr(
+                config,
+                "CHARGING_EXIT_SCRIPT",
+                config.APP_DIR + "/charging_exit.sh",
+            )
+            if not os.path.isfile(script_path):
+                if logger:
+                    logger.error(f"[CHARGE] 退出脚本不存在: {script_path}")
+                confirm_count = 0
+            else:
+                if logger:
+                    logger.warning(
+                        f"[CHARGE] 已连续确认充电，通知服务器后退出应用: current={current_ma:.1f}mA"
+                    )
+                try:
+                    from network import network_manager
+
+                    notify_timeout_ms = max(
+                        0,
+                        int(getattr(config, "CHARGING_NOTIFY_TIMEOUT_MS", 30000)),
+                    )
+                    notification_sent = network_manager.safe_enqueue_and_wait(
+                        {"poweroff": "充电中"},
+                        2,
+                        high=True,
+                        timeout_ms=notify_timeout_ms,
+                    )
+                    if notification_sent:
+                        if logger:
+                            logger.info("[CHARGE] 充电状态已发送到服务器")
+                    elif logger:
+                        logger.warning(
+                            f"[CHARGE] 等待服务器发送超时({notify_timeout_ms}ms)，继续执行退出"
+                        )
+                except Exception as e:
+                    if logger:
+                        logger.error(f"[CHARGE] 充电状态上报失败，继续执行退出: {e}")
+                try:
+                    from laser_manager import laser_manager
+
+                    laser_manager.turn_off_laser()
+                    if logger:
+                        logger.info("[CHARGE] 激光关闭命令已发送")
+                except Exception as e:
+                    if logger:
+                        logger.error(f"[CHARGE] Python 关闭激光失败，交由退出脚本兜底: {e}")
+                try:
+                    subprocess.Popen([
+                        "/bin/sh",
+                        script_path,
+                        str(os.getpid()),
+                        str(getattr(config, "DISTANCE_SERIAL_DEVICE", "/dev/ttyS1")),
+                        str(getattr(config, "DISTANCE_SERIAL_BAUDRATE", 9600)),
+                    ])
+                    return
+                except Exception as e:
+                    if logger:
+                        logger.error(f"[CHARGE] 调用退出脚本失败: {e}")
+                    confirm_count = 0
+
+        maix_time.sleep_ms(interval_ms)
+
+
 def voltage_to_percent(voltage):
     """
     根据电压估算电池百分比（高密度查表插值 + 滤波）。

shoot_manager.py

@@ -321,22 +321,8 @@ def process_shot(adc_val):
 
     try:
         frame = camera_manager.read_frame()
-
-        # 网络事件移到拍照之后，避免阻塞拍照
         network_manager.safe_enqueue({"shoot_event": "start"}, msg_type=2, high=True)
 
-        # Classify only the current shot frame; never reuse a previous result.
-        target_class_result = None
-        try:
-            from target_roi_yolo import try_get_target_class_from_yolo
-
-            target_class_result = try_get_target_class_from_yolo(frame, logger=logger)
-            if logger:
-                logger.info(f"[YOLO-TARGET] 当前箭业务结果: {target_class_result}")
-        except Exception as exc:
-            if logger:
-                logger.warning(f"[YOLO-TARGET] 当前箭分类失败，按未知处理: {exc}")
-
         # 调用算法分析
         analysis_result = analyze_shot(frame)
 
@@ -396,25 +382,11 @@ def process_shot(adc_val):
         srv_y = round(float(dy), 4) if dy is not None else 200.0
 
         # 构造上报数据
-        target_label = (
-            target_class_result.get("label")
-            if isinstance(target_class_result, dict)
-            else None
-        )
-        target_confidence = (
-            target_class_result.get("confidence")
-            if isinstance(target_class_result, dict)
-            else None
-        )
         inner_data = {
             "shot_id": shot_id,
             "x": srv_x,
             "y": srv_y,
             "r": 20.0,  # 保留字段（服务端当前忽略，物理外环半径 cm）
-            "target_class": target_label,
-            "target_class_confidence": (
-                float(target_confidence) if target_confidence is not None else None
-            ),
             "d": round((distance_m or 0.0) * 100),
             "d_laser": round((laser_distance_m or 0.0) * 100),
             "d_laser_quality": laser_signal_quality,
@@ -442,11 +414,6 @@ def process_shot(adc_val):
             inner_data["ellipse_center_y"] = None
 
         report_data = {"cmd": 1, "data": inner_data}
-        if logger:
-            logger.info(
-                f"[REPORT-TARGET] enqueue shot_id={shot_id}, "
-                f"target_class={target_label}, confidence={target_confidence}"
-            )
         network_manager.safe_enqueue(report_data, msg_type=2, high=True)
 
         # 数据上报后再画标注，不干扰检测阶段的原始画面
@@ -551,7 +518,6 @@ def process_shot(adc_val):
             laser_manager.flash_laser(config.FLASH_LASER_DURATION_MS)
 
         # 保存图像（异步队列，与 main.py 一致）
-        _force_save = (dx is None and dy is None) and getattr(config, "SAVE_IMAGE_ON_FAILURE", False)
         enqueue_save_shot(
             result_img,
             center,
@@ -561,9 +527,8 @@ def process_shot(adc_val):
             (x, y),
             distance_m,
             shot_id=shot_id,
-            photo_dir=config.PHOTO_DIR if (config.SAVE_IMAGE_ENABLED or _force_save) else None,
+            photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None,
             yolo_roi_xyxy=yolo_roi_xyxy if draw_yolo_roi else None,
-            force_save=_force_save,
         )
 
         if logger:

target_roi_yolo.py

@@ -89,29 +89,6 @@ def _stage2_roi_crop_save_worker(
 _detector_by_path = {}
 
 
-def _resolve_model_path(model_path: str):
-    """Resolve a model in either the installed app or MaixVision run directory."""
-    model_path = (model_path or "").strip()
-    if model_path and os.path.isfile(model_path):
-        return model_path
-    if not model_path:
-        return ""
-    name = os.path.basename(model_path)
-    module_dir = os.path.dirname(os.path.abspath(__file__))
-    candidates = (
-        os.path.join(module_dir, name),
-        os.path.join(module_dir, "test", name),
-        os.path.join("/tmp/maixpy_run", name),
-        os.path.join("/tmp/maixpy_run", "test", name),
-        os.path.join(os.getcwd(), name),
-        os.path.join(os.getcwd(), "test", name),
-    )
-    for candidate in candidates:
-        if os.path.isfile(candidate):
-            return candidate
-    return model_path
-
-
 def reset_yolo_detector_cache():
     """切换模型路径时可调用（通常不必）。"""
     global _detector_by_path
@@ -198,23 +175,6 @@ def preload_yolo_detector(logger=None):
                 % (_loc_black,)
             )
 
-    if bool(getattr(cfg, "TARGET_CLASS_YOLO_ENABLE", False)) and bool(
-        getattr(cfg, "TARGET_CLASS_YOLO_PRELOAD_ON_BOOT", True)
-    ):
-        class_model_path = _resolve_model_path(
-            getattr(cfg, "TARGET_CLASS_YOLO_MODEL_PATH", "") or ""
-        )
-        class_detector = _get_detector(class_model_path)
-        if class_detector is None:
-            if logger:
-                logger.warning(
-                    f"[YOLO-TARGET] 预加载失败：无法加载模型 {class_model_path}"
-                )
-        else:
-            ok = True
-            if logger:
-                logger.info(f"[YOLO-TARGET] 靶规格模型已预加载: {class_model_path}")
-
     return ok
 
 
@@ -246,10 +206,8 @@ def _det_obj_class_id(o):
             if v is None:
                 continue
             try:
-                if callable(v):
-                    v = v()
                 return int(float(v))
-            except (TypeError, ValueError, AttributeError):
+            except (TypeError, ValueError):
                 continue
     return None
 
@@ -284,106 +242,6 @@ def _normalize_objs(objs):
     return out
 
 
-def _det_obj_score(o):
-    """Return confidence across supported Maix YOLO result formats."""
-    for key in ("score", "confidence", "conf", "prob"):
-        if hasattr(o, key):
-            try:
-                value = getattr(o, key)
-                if callable(value):
-                    value = value()
-                value = float(value)
-                if value == value:
-                    return value
-            except (TypeError, ValueError, AttributeError):
-                pass
-    return 0.0
-
-
-def try_get_target_class_from_yolo(maix_frame, logger=None):
-    """Classify the current target as 20cm or 40cm; return None if unknown."""
-    try:
-        import config as cfg
-    except Exception:
-        return None
-
-    if not bool(getattr(cfg, "TARGET_CLASS_YOLO_ENABLE", False)):
-        return None
-    model_path = _resolve_model_path(
-        getattr(cfg, "TARGET_CLASS_YOLO_MODEL_PATH", "") or ""
-    )
-    if not os.path.isfile(model_path):
-        if logger:
-            logger.warning(f"[YOLO-TARGET] 模型文件不存在: {model_path}")
-        return None
-    detector = _get_detector(model_path)
-    if detector is None:
-        if logger:
-            logger.warning("[YOLO-TARGET] 无法加载 nn.YOLOv5")
-        return None
-
-    conf_th = float(getattr(cfg, "TARGET_CLASS_YOLO_CONF_TH", 0.5))
-    iou_th = float(getattr(cfg, "TARGET_CLASS_YOLO_IOU_TH", 0.45))
-    labels = getattr(cfg, "TARGET_CLASS_YOLO_LABELS", (20, 40))
-    if isinstance(labels, str):
-        labels = tuple(x.strip() for x in labels.split(",") if x.strip())
-    labels = tuple(labels)
-
-    def _detect(threshold):
-        try:
-            raw = detector.detect(maix_frame, conf_th=threshold, iou_th=iou_th)
-        except Exception as exc:
-            if logger:
-                logger.warning(f"[YOLO-TARGET] detect 异常: {exc}")
-            return []
-        return _normalize_objs(raw if raw is not None else [])
-
-    def _candidates(objs):
-        found = []
-        for obj in objs:
-            class_id = _det_obj_class_id(obj)
-            if class_id is None or class_id < 0 or class_id >= len(labels):
-                continue
-            try:
-                label = int(float(labels[class_id]))
-            except (TypeError, ValueError):
-                continue
-            if label in (20, 40):
-                found.append((label, class_id, _det_obj_score(obj)))
-        return found
-
-    objects = _detect(conf_th)
-    candidates = _candidates(objects)
-    if logger and objects:
-        logger.info(
-            "[YOLO-TARGET] 原始框=%d, 解析类别=%s"
-            % (
-                len(objects),
-                [(_det_obj_class_id(o), _det_obj_score(o)) for o in objects[:8]],
-            )
-        )
-    if not candidates and bool(
-        getattr(cfg, "TARGET_CLASS_YOLO_RETRY_ON_EMPTY", False)
-    ):
-        retry_th = float(getattr(cfg, "TARGET_CLASS_YOLO_RETRY_CONF_TH", conf_th))
-        if 0 < retry_th < conf_th:
-            candidates = _candidates(_detect(retry_th))
-
-    if not candidates:
-        if logger:
-            logger.warning("[YOLO-TARGET] 当前帧未识别到 20/40，按未知处理")
-        return None
-
-    label, class_id, confidence = max(candidates, key=lambda item: item[2])
-    result = {"label": label, "class_id": class_id, "confidence": confidence}
-    if logger:
-        logger.info(
-            f"[YOLO-TARGET] 当前帧分类={label}, class_id={class_id}, "
-            f"conf={confidence:.3f}"
-        )
-    return result
-
-
 def _det_to_src_xyxy(o, coord_mode: str, src_w: int, src_h: int, net_w: int, net_h: int):
     """把单个检测框转为全图坐标系下的 xyxy（半开区间语义与后续 clip 一致）。"""
     x, y, w, h = float(o.x), float(o.y), float(o.w), float(o.h)

test/gpio_high.py

@@ -1,27 +0,0 @@
-"""Run independently and keep A24 at a high logic level."""
-
-from maix import app, gpio, pinmap, time
-
-
-PIN = "A17"
-GPIO_NAME = "GPIOA17"
-
-
-def main():
-    pinmap.set_pin_function(PIN, GPIO_NAME)
-    output = gpio.GPIO(GPIO_NAME, gpio.Mode.OUT)
-    output.value(1)
-    print(f"{PIN} is HIGH. Stop the script to set it LOW.")
-
-    try:
-        while not app.need_exit():
-            # Refresh the output in case another component changes its state.
-            output.value(1)
-            time.sleep_ms(100)
-    finally:
-        output.value(0)
-        print(f"{PIN} is LOW.")
-
-
-if __name__ == "__main__":
-    main()

test/test_charging_shutdown.py

@@ -0,0 +1,144 @@
+import importlib.util
+from pathlib import Path
+import sys
+import types
+import unittest
+from unittest import mock
+
+
+class _StopMonitor(Exception):
+    pass
+
+
+class _FakeTime:
+    now_ms = 0
+    stop_at_ms = None
+
+    @classmethod
+    def reset(cls, stop_at_ms=None):
+        cls.now_ms = 0
+        cls.stop_at_ms = stop_at_ms
+
+    @classmethod
+    def ticks_ms(cls):
+        return cls.now_ms
+
+    @classmethod
+    def sleep_ms(cls, milliseconds):
+        cls.now_ms += milliseconds
+        if cls.stop_at_ms is not None and cls.now_ms >= cls.stop_at_ms:
+            raise _StopMonitor()
+
+
+def _load_power_module():
+    module_path = Path(__file__).resolve().parents[1] / "power.py"
+    module_name = "power_charging_shutdown_test"
+    maix_module = types.ModuleType("maix")
+    maix_module.time = _FakeTime
+
+    previous_maix = sys.modules.get("maix")
+    sys.modules["maix"] = maix_module
+    try:
+        spec = importlib.util.spec_from_file_location(module_name, module_path)
+        module = importlib.util.module_from_spec(spec)
+        spec.loader.exec_module(module)
+        return module
+    finally:
+        if previous_maix is None:
+            sys.modules.pop("maix", None)
+        else:
+            sys.modules["maix"] = previous_maix
+
+
+power = _load_power_module()
+
+
+class ChargingShutdownTests(unittest.TestCase):
+    def setUp(self):
+        self.config_patch = mock.patch.multiple(
+            power.config,
+            CHARGING_SHUTDOWN_ENABLED=True,
+            CHARGING_DIAGNOSTIC_LOG_ENABLED=False,
+            CHARGING_CHECK_INTERVAL_MS=5000,
+            CHARGING_CURRENT_THRESHOLD_MA=100.0,
+            CHARGING_CONFIRM_COUNT=2,
+            CHARGING_NOTIFY_TIMEOUT_MS=30000,
+            CHARGING_EXIT_SCRIPT="/tmp/charging_exit.sh",
+        )
+        self.config_patch.start()
+        self.network_manager = mock.Mock()
+        self.network_manager.safe_enqueue_and_wait.return_value = True
+        network_module = types.ModuleType("network")
+        network_module.network_manager = self.network_manager
+        self.network_module_patch = mock.patch.dict(
+            sys.modules,
+            {"network": network_module},
+        )
+        self.network_module_patch.start()
+        _FakeTime.reset()
+
+    def tearDown(self):
+        self.network_module_patch.stop()
+        self.config_patch.stop()
+
+    def test_two_charging_samples_notify_server_and_exit(self):
+        popen_calls = []
+        with (
+            mock.patch.object(power, "get_current", return_value=-200.0),
+            mock.patch.object(power.os.path, "isfile", return_value=True),
+            mock.patch.object(
+                power.subprocess,
+                "Popen",
+                side_effect=lambda args: popen_calls.append(args),
+            ),
+        ):
+            power.charging_shutdown_monitor()
+
+        self.assertEqual(_FakeTime.now_ms, 5000)
+        self.assertEqual(len(popen_calls), 1)
+        self.network_manager.safe_enqueue_and_wait.assert_called_once_with(
+            {"poweroff": "充电中"}, 2, high=True, timeout_ms=30000
+        )
+
+    def test_discharging_does_not_notify_or_exit(self):
+        _FakeTime.reset(stop_at_ms=10000)
+        popen_calls = []
+
+        with (
+            mock.patch.object(power, "get_current", return_value=200.0),
+            mock.patch.object(power.os.path, "isfile", return_value=True),
+            mock.patch.object(
+                power.subprocess,
+                "Popen",
+                side_effect=lambda args: popen_calls.append(args),
+            ),
+            self.assertRaises(_StopMonitor),
+        ):
+            power.charging_shutdown_monitor()
+
+        self.assertEqual(popen_calls, [])
+        self.network_manager.safe_enqueue_and_wait.assert_not_called()
+
+    def test_failed_sample_resets_confirmation_count(self):
+        popen_calls = []
+        currents = iter((-200.0, 0.0, -200.0, -200.0))
+        with (
+            mock.patch.object(power, "get_current", side_effect=lambda: next(currents)),
+            mock.patch.object(power.os.path, "isfile", return_value=True),
+            mock.patch.object(
+                power.subprocess,
+                "Popen",
+                side_effect=lambda args: popen_calls.append(args),
+            ),
+        ):
+            power.charging_shutdown_monitor()
+
+        self.assertEqual(_FakeTime.now_ms, 15000)
+        self.assertEqual(len(popen_calls), 1)
+        self.network_manager.safe_enqueue_and_wait.assert_called_once_with(
+            {"poweroff": "充电中"}, 2, high=True, timeout_ms=30000
+        )
+
+
+if __name__ == "__main__":
+    unittest.main()

test/test_decect_circle_v4.py

@@ -154,11 +154,11 @@ def detect_circle_v3(frame, laser_point=None):
                                     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=0.4), "
+                                          f"大小比={size_ratio:.2f}(阈值=0.5), "
-                                          f"距离OK={distance < max_distance}, 大小OK={size_ratio >= 0.4}")
+                                          f"距离OK={distance < max_distance}, 大小OK={size_ratio > 0.5}")
 
                                     # 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 >= 0.4:
+                                    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}")
@@ -598,7 +598,7 @@ if __name__ == "__main__":
 
     # 1. 设置要测试的图片路径
     # 建议将图片放在与脚本同级目录，或者使用绝对路径
-    TARGET_IMAGE = "/root/phot/shot_1830921_0_no_target.jpg"
+    TARGET_IMAGE = "/root/phot/None_314_258_0_0041.bmp"
 
     TARGET_DIR = "/root/phot"  # 修改为你想要读取的目录路径
 

test/test_gpio_a14.py

@@ -1,62 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""Interactive GPIO test for physical pin A14."""
-
-import sys
-
-from maix import gpio, pinmap
-
-
-PIN = "A14"
-GPIO_NAME = "GPIOA14"
-
-
-def set_level(output, command):
-    if command == "1":
-        output.value(1)
-        print("A14 = HIGH, laser OFF")
-        return True
-    if command == "0":
-        output.value(0)
-        print("A14 = LOW, laser ON")
-        return True
-    return False
-
-
-def main():
-    pinmap.set_pin_function(PIN, GPIO_NAME)
-    output = gpio.GPIO(GPIO_NAME, gpio.Mode.OUT)
-
-    # One-shot mode for SSH/serial shells: python3 test_gpio_a14.py 1|0
-    if len(sys.argv) > 1:
-        command = sys.argv[1].strip()
-        if not set_level(output, command):
-            print("Invalid argument. Use 1 or 0.")
-            return
-        return
-
-    output.value(1)
-    print("A14 laser test: input 0 for ON, 1 for OFF, q to quit.")
-
-    try:
-        while True:
-            try:
-                command = input("A14> ").strip().lower()
-            except EOFError:
-                print("This runner has no stdin. Run from an SSH/serial shell with argument 1 or 0.")
-                return
-            if set_level(output, command):
-                continue
-            elif command in ("q", "quit", "exit"):
-                break
-            elif command:
-                print("Invalid input. Use 1, 0, or q.")
-    except KeyboardInterrupt:
-        print()
-    finally:
-        output.value(1)
-        print("A14 = HIGH, laser OFF, test stopped.")
-
-
-if __name__ == "__main__":
-    main()

test/test_p21_voltage.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""Read the digital voltage level on the MaixCAM P21 pin.
+
+P21 is a digital GPIO pin, not the MaixCAM analog ADC input. Therefore this
+script can only distinguish LOW and HIGH. For a continuous voltage value,
+connect the signal to the board's B3/ADC pin and use ADC channel 0 instead.
+
+Do not apply more than 3.3 V to P21. Always connect the signal ground to the
+MaixCAM ground.
+"""
+
+from maix import app, gpio, pinmap, time
+
+
+PIN = "P21"
+IO_HIGH_VOLTAGE = 3.3
+SAMPLE_INTERVAL_MS = 200
+
+
+def find_gpio_function(pin):
+    """Return the GPIO function supported by the requested physical pin."""
+    functions = pinmap.get_pin_functions(pin)
+    gpio_functions = [name for name in functions if name.startswith("GPIO")]
+
+    print(f"{pin} supported functions: {', '.join(functions)}")
+    if not gpio_functions:
+        raise RuntimeError(f"{pin} does not provide a GPIO input function")
+
+    return gpio_functions[0]
+
+
+def main():
+    gpio_function = find_gpio_function(PIN)
+    pinmap.set_pin_function(PIN, gpio_function)
+    voltage_input = gpio.GPIO(gpio_function, gpio.Mode.IN)
+
+    print(f"Reading {PIN} through {gpio_function}")
+    print("P21 only reports LOW/HIGH; displayed voltage is an estimate.")
+    print("Press the MaixCAM exit key to stop.")
+
+    while not app.need_exit():
+        level = voltage_input.value()
+        estimated_voltage = IO_HIGH_VOLTAGE if level else 0.0
+        state = "HIGH" if level else "LOW"
+        print(
+            f"{PIN}: level={level}, state={state}, "
+            f"estimated_voltage={estimated_voltage:.1f} V"
+        )
+        time.sleep_ms(SAMPLE_INTERVAL_MS)
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except Exception as error:
+        print(f"P21 voltage detection failed: {error}")
+        print("Check that this MaixCAM model exposes P21 as a GPIO pin.")
+        raise

test/test_wifi_failover.py

@@ -0,0 +1,139 @@
+import json
+import sys
+import types
+import unittest
+
+
+class _FakeTime:
+    @staticmethod
+    def sleep(_seconds):
+        pass
+
+    @staticmethod
+    def sleep_ms(_milliseconds):
+        pass
+
+    @staticmethod
+    def ticks_ms():
+        return 0
+
+    @staticmethod
+    def ticks_diff(left, right):
+        return left - right
+
+
+class _FakeLogger:
+    def debug(self, *_args, **_kwargs):
+        pass
+
+    def info(self, *_args, **_kwargs):
+        pass
+
+    def warning(self, *_args, **_kwargs):
+        pass
+
+    def error(self, *_args, **_kwargs):
+        pass
+
+
+class _FakeSocket:
+    def __init__(self, recv_data=b""):
+        self.recv_data = recv_data
+        self.closed = False
+
+    def close(self):
+        self.closed = True
+
+    def recv(self, _size, *_flags):
+        return self.recv_data
+
+
+class _StopAfterCallback:
+    def __init__(self):
+        self.stopped = False
+
+    def is_set(self):
+        return self.stopped
+
+
+maix_module = types.ModuleType("maix")
+maix_module.time = _FakeTime
+maix_module.network = types.SimpleNamespace()
+maix_module.err = types.SimpleNamespace()
+sys.modules.setdefault("maix", maix_module)
+sys.modules.setdefault("ujson", json)
+
+netcore_module = types.ModuleType("archery_netcore")
+netcore_module.get_config = lambda: {"SERVER_IP": "127.0.0.1", "SERVER_PORT": 1234}
+netcore_module.parse_packet = lambda _packet: (0, {})
+netcore_module.make_packet = lambda *_args, **_kwargs: b""
+netcore_module.actions_for_inner_cmd = lambda *_args, **_kwargs: []
+sys.modules["archery_netcore"] = netcore_module
+
+hardware_module = types.ModuleType("hardware")
+hardware_module.hardware_manager = types.SimpleNamespace()
+sys.modules["hardware"] = hardware_module
+
+power_module = types.ModuleType("power")
+power_module.get_bus_voltage = lambda: 0
+power_module.voltage_to_percent = lambda _voltage: 0
+sys.modules["power"] = power_module
+
+import logger_manager
+import wifi
+import network
+
+
+class WiFiFailoverTests(unittest.TestCase):
+    def setUp(self):
+        logger_manager.logger_manager._logger = _FakeLogger()
+
+    def test_monitor_switches_when_sta_association_is_lost(self):
+        manager = wifi.wifi_manager
+        stop_event = _StopAfterCallback()
+        callbacks = []
+
+        manager._wifi_socket = _FakeSocket()
+        manager._wifi_quality_stop_event = stop_event
+        manager._network_type_callback = lambda: "wifi"
+        manager.is_sta_associated = lambda: False
+        manager._get_wifi_rssi_dbm = lambda: None
+
+        def on_poor_quality():
+            callbacks.append(True)
+            stop_event.stopped = True
+
+        manager._on_poor_quality_callback = on_poor_quality
+        manager._quality_monitor_loop()
+
+        self.assertEqual(callbacks, [True])
+        self.assertIsNone(manager.last_wifi_rtt_ms)
+
+    def test_tls_connection_check_rejects_lost_sta_association(self):
+        manager = network.network_manager
+        sock = _FakeSocket()
+        wifi.wifi_manager._wifi_socket = sock
+        wifi.wifi_manager._wifi_connected = True
+        wifi.wifi_manager._wifi_ip = "192.168.1.2"
+        wifi.wifi_manager.is_sta_associated = lambda: False
+        manager._tcp_connected = True
+
+        self.assertFalse(manager._check_wifi_connection())
+        self.assertTrue(sock.closed)
+        self.assertIsNone(wifi.wifi_manager.wifi_socket)
+        self.assertFalse(manager.tcp_connected)
+
+    def test_receive_eof_marks_wifi_tcp_disconnected(self):
+        manager = network.network_manager
+        sock = _FakeSocket(recv_data=b"")
+        wifi.wifi_manager._wifi_socket = sock
+        manager._tcp_connected = True
+
+        self.assertEqual(manager.receive_tcp_data_via_wifi(), b"")
+        self.assertTrue(sock.closed)
+        self.assertIsNone(wifi.wifi_manager.wifi_socket)
+        self.assertFalse(manager.tcp_connected)
+
+
+if __name__ == "__main__":
+    unittest.main()

test/wifi_gpio_ina_isolation.py

@@ -1,122 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""Standalone WiFi/GPIO/INA226 isolation test for the official MaixPy tool.
-
-This file intentionally does not import project modules or start project
-threads. Select TEST_MODE below, then run the file directly.
-"""
-
-import time
-
-from maix import gpio, i2c, network, pinmap
-
-
-# Change only this value before each run.
-# wifi       WiFi only
-# a25        A25 only
-# a23        A23 only
-# gpio       A23/A26 only
-# ina        INA226 only
-# gpio_ina   GPIOs, then INA226
-# a25_wifi   A25, then WiFi
-# a23_wifi   A23, then WiFi
-# all        GPIOs, INA226, then WiFi
-TEST_MODE = "a25_wifi"
-
-WIFI_SSID = "sheling4b02-5G"
-WIFI_PASSWORD = "Aa12345678"
-WIFI_TIMEOUT_S = 20
-I2C_BUS_NUM = 5
-INA226_ADDR = 0x40
-
-
-def init_leds():
-    return init_selected_leds(True, True)
-
-
-def init_selected_leds(use_a26, use_a23):
-    outputs = []
-    if use_a26:
-        print("Initializing A25 -> GPIOA25")
-        pinmap.set_pin_function("A25", "GPIOA25")
-        green = gpio.GPIO("GPIOA25", gpio.Mode.OUT)
-        green.value(0)
-        outputs.append(("GPIOA25", green))
-        print("GPIOA25 initialized LOW")
-    if use_a23:
-        print("Initializing A23 -> GPIOA23")
-        pinmap.set_pin_function("A23", "GPIOA23")
-        red = gpio.GPIO("GPIOA23", gpio.Mode.OUT)
-        red.value(0)
-        outputs.append(("GPIOA23", red))
-        print("GPIOA23 initialized LOW")
-    return outputs
-
-
-def test_ina226():
-    # Match the board mapping used by the application before opening I2C5.
-    pinmap.set_pin_function("A15", "I2C5_SCL")
-    pinmap.set_pin_function("A27", "I2C5_SDA")
-    print("A15/A27 configured for I2C5")
-    print("Initializing I2C bus", I2C_BUS_NUM)
-    bus = i2c.I2C(I2C_BUS_NUM, i2c.Mode.MASTER)
-    print("Reading INA226 at 0x%02X" % INA226_ADDR)
-    config = bus.readfrom_mem(INA226_ADDR, 0x00, 2)
-    voltage_raw = bus.readfrom_mem(INA226_ADDR, 0x02, 2)
-    voltage = ((voltage_raw[0] << 8) | voltage_raw[1]) * 1.25 / 1000
-    print("INA226 config=0x%02X%02X voltage=%.3fV" % (config[0], config[1], voltage))
-    return bus
-
-
-def test_wifi():
-    print("Starting MaixPy WiFi connection...")
-    wifi = network.wifi.Wifi()
-    result = wifi.connect(WIFI_SSID, WIFI_PASSWORD, wait=True, timeout=WIFI_TIMEOUT_S)
-    print("WiFi connect result:", result)
-    print("WiFi connected:", wifi.is_connected())
-    try:
-        print("WiFi IP:", wifi.get_ip())
-    except Exception as exc:
-        print("WiFi status query failed:", exc)
-
-
-def main():
-    valid = ("wifi", "a25", "a23", "gpio", "ina", "gpio_ina", "a25_wifi", "a23_wifi", "all")
-    mode = TEST_MODE.lower()
-    if mode not in valid:
-        print("TEST_MODE must be one of:", ", ".join(valid))
-        return 1
-
-    leds = []
-    try:
-        print("=== Standalone WiFi/GPIO/INA226 isolation ===")
-        print("mode:", mode)
-        if mode in ("a25", "a25_wifi"):
-            leds = init_selected_leds(True, False)
-            time.sleep(1)
-        elif mode in ("a23", "a23_wifi"):
-            leds = init_selected_leds(False, True)
-            time.sleep(1)
-        elif mode in ("gpio", "gpio_ina", "all"):
-            leds = init_leds()
-            time.sleep(1)
-        if mode in ("ina", "gpio_ina", "all"):
-            test_ina226()
-            time.sleep(1)
-        if mode in ("wifi", "a25_wifi", "a23_wifi", "all"):
-            test_wifi()
-        print("TEST COMPLETE")
-        return 0
-    except Exception as exc:
-        print("TEST FAILED:", repr(exc))
-        return 1
-    finally:
-        for name, led in leds:
-            try:
-                led.value(0)
-                print(name, "LOW")
-            except Exception as exc:
-                print(name, "cleanup failed:", exc)
-
-
-main()

test/wifi_gpio_isolation.py

@@ -1,88 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""Standalone WiFi/GPIO isolation test.
-
-This script intentionally does not import any project module. It only tests
-MaixPy WiFi startup with optional A23/A26 GPIO initialization.
-"""
-
-import time
-
-from maix import gpio, network, pinmap
-
-
-GREEN_PIN = "A26"
-GREEN_GPIO = "GPIOA26"
-RED_PIN = "A23"
-RED_GPIO = "GPIOA23"
-
-# Run this file directly from the official MaixPy tool.
-# Change only TEST_MODE between runs: none -> a26 -> a23 -> both.
-TEST_MODE = "none"
-WIFI_SSID = "sheling4b02-5G"
-WIFI_PASSWORD = "Aa12345678"
-WIFI_TIMEOUT_S = 20
-
-
-def init_gpio(mode):
-    outputs = []
-    if mode in ("a26", "both"):
-        pinmap.set_pin_function(GREEN_PIN, GREEN_GPIO)
-        green = gpio.GPIO(GREEN_GPIO, gpio.Mode.OUT)
-        green.value(1)
-        outputs.append((GREEN_GPIO, green))
-        print("GPIOA26 initialized HIGH")
-    if mode in ("a23", "both"):
-        pinmap.set_pin_function(RED_PIN, RED_GPIO)
-        red = gpio.GPIO(RED_GPIO, gpio.Mode.OUT)
-        red.value(1)
-        outputs.append((RED_GPIO, red))
-        print("GPIOA23 initialized HIGH")
-    return outputs
-
-
-def connect_wifi(ssid, password, timeout_s):
-    print("Starting MaixPy WiFi connection...")
-    wifi = network.wifi.Wifi()
-    result = wifi.connect(ssid, password, wait=True, timeout=timeout_s)
-    print("WiFi connect result:", result)
-    try:
-        print("WiFi connected:", wifi.is_connected())
-        print("WiFi IP:", wifi.get_ip())
-    except Exception as exc:
-        print("WiFi status query failed:", exc)
-    return result
-
-
-def main():
-    mode = TEST_MODE.lower()
-    if mode not in ("none", "a26", "a23", "both"):
-        print("TEST_MODE must be none, a26, a23, or both")
-        return 1
-    ssid = WIFI_SSID
-    password = WIFI_PASSWORD
-    timeout_s = WIFI_TIMEOUT_S
-
-    print("=== Standalone WiFi/GPIO isolation ===")
-    print("mode:", mode)
-    print("ssid:", ssid)
-    outputs = []
-    try:
-        outputs = init_gpio(mode)
-        time.sleep(1)
-        connect_wifi(ssid, password, timeout_s)
-        return 0
-    except Exception as exc:
-        print("TEST FAILED:", repr(exc))
-        return 1
-    finally:
-        for gpio_name, output in outputs:
-            try:
-                output.value(0)
-                print(gpio_name, "LOW")
-            except Exception as exc:
-                print(gpio_name, "cleanup failed:", exc)
-
-
-if __name__ == "__main__":
-    raise SystemExit(main())

version.md

@@ -29,5 +29,11 @@
 # 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
-# 2.16.4  优化射箭延迟
+# 2.15.20 加了充电关机，激光也同时关闭
-# 2.17.0  yolo标靶类别识别
+# 2.15.21 测试4g 扩大了缓存池和改了心跳时间
+# 2.15.22 修复了4g网络和wifi切换问题
+# 2.15.23 合并充电关机与稳定版网络修复
+# 2.15.24 空改测试
+# 2.15.25 修复整合后关机失败和ota格式更新问题
+# 2.15.26 
+# 2.16.1  修复压力传感触发判断按照增量

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 = '2.16.1'
 
 

vision.py

@@ -631,7 +631,7 @@ def detect_circle_v3(frame, laser_point=None, img_cv=None):
             min_r = min(rc["radius"], yellow_radius)
             max_r = max(rc["radius"], yellow_radius)
             size_ratio = min_r / max_r if max_r > 0 else 0
-            if dist_centers < max_dist and size_ratio >= 0.4:
+            if dist_centers < max_dist and size_ratio >= 0.3:
                 if logger:
                     logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), "
                                 f"红心({rc['center']}), 距离:{dist_centers:.1f}, "
@@ -797,12 +797,12 @@ def estimate_pixel(physical_distance_cm, target_distance_m):
 
 def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
                           laser_point, distance_m, shot_id=None, photo_dir=None,
-                          yolo_roi_xyxy=None, force_save=False):
+                          yolo_roi_xyxy=None):
     """
     内部实现：在 img_cv (numpy HWC RGB) 上绘制标注并保存。
     由 save_shot_image（同步）和存图 worker（异步）调用。
     """
-    if not config.SAVE_IMAGE_ENABLED and not force_save:
+    if not config.SAVE_IMAGE_ENABLED:
         return None
     if photo_dir is None:
         photo_dir = config.PHOTO_DIR
@@ -938,12 +938,11 @@ def start_save_shot_worker():
 
 def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
                       laser_point, distance_m, shot_id=None, photo_dir=None,
-                      yolo_roi_xyxy=None, force_save=False):
+                      yolo_roi_xyxy=None):
     """
     将存图任务放入队列，由 worker 异步保存。主线程传入 result_img 的复制，不阻塞。
-    force_save=True 时，忽略 SAVE_IMAGE_ENABLED 配置强制保存（用于检测失败时的调试图像）。
     """
-    if not config.SAVE_IMAGE_ENABLED and not force_save:
+    if not config.SAVE_IMAGE_ENABLED:
         return
     if photo_dir is None:
         photo_dir = config.PHOTO_DIR
@@ -966,7 +965,6 @@ def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
         shot_id,
         photo_dir,
         yolo_roi_xyxy,
-        force_save,
     )
     try:
         _save_queue.put_nowait(task)
@@ -978,12 +976,12 @@ def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
 
 def save_shot_image(result_img, center, radius, method, ellipse_params,
                     laser_point, distance_m, shot_id=None, photo_dir=None,
-                    yolo_roi_xyxy=None, force_save=False):
+                    yolo_roi_xyxy=None):
     """
     保存射击图像（带标注）。同步调用，会阻塞。
     主流程建议使用 enqueue_save_shot；此处保留供校准、测试等场景使用。
     """
-    if not config.SAVE_IMAGE_ENABLED and not force_save:
+    if not config.SAVE_IMAGE_ENABLED:
         return None
     if photo_dir is None:
         photo_dir = config.PHOTO_DIR
@@ -1000,7 +998,6 @@ def save_shot_image(result_img, center, radius, method, ellipse_params,
             shot_id,
             photo_dir,
             yolo_roi_xyxy,
-            force_save,
         )
     except Exception as e:
         logger = logger_manager.logger

wifi.py

@@ -541,7 +541,7 @@ class WiFiManager:
     
     def start_quality_monitor(self, network_type_callback, on_poor_quality_callback):
         """
-        启动 WiFi 质量后台监测线程（每 5 秒测量一次 RTT 和 RSSI）
+        启动 WiFi 质量后台监测线程（每 5 秒检查 STA 关联状态和 RSSI）
         只在 WiFi 连接时运行，不影响业务发送性能
         
         Args:
@@ -591,34 +591,38 @@ class WiFiManager:
     def _quality_monitor_loop(self):
         """
         WiFi 质量监测循环（后台线程）
-        每 5 秒测量一次 RTT 和 RSSI，发现质量差则触发切换
+        每 5 秒检查 STA 关联状态和 RSSI，发现断链或质量差则触发切换
         """
         while not self._wifi_quality_stop_event.is_set():
             try:
                 # 只在 WiFi 连接时才测量
                 network_type = self._network_type_callback()
                 if network_type == "wifi" and self._wifi_socket:
-                    # # 测量 RTT（1 个样本，快速测量）
+                    # RTT 测量当前禁用；STA 关联状态用于判断物理 WiFi 链路是否仍存在。
-                    # rtt_ms, reachable = self._measure_wifi_tcp_rtt_ms(
+                    # 不能把禁用的 RTT 伪装成 0ms，否则关闭热点后会一直被判为正常。
-                    #     self._server_ip, self._server_port,
+                    reachable = self.is_sta_associated()
-                    #     samples=1, per_sample_timeout_ms=600
+                    rtt_ms = None
-                    # )
 
                     # 获取 RSSI
                     rssi_dbm = self._get_wifi_rssi_dbm()
 
                     # 更新缓存
-                    # 不使用 RTT 测量
+                    self._last_wifi_rtt_ms = rtt_ms
-                    rtt_ms = 0
-                    reachable = True
-                    self._last_wifi_rtt_ms = rtt_ms if reachable else None
                     self._last_wifi_rssi_dbm = rssi_dbm
+                    _rtt_s = f"{rtt_ms:.0f}ms" if rtt_ms is not None else "n/a"
                     _rssi_s = f"{rssi_dbm:.0f}" if rssi_dbm is not None else "n/a"
-                    self.logger.debug(f"[WiFi Monitor] - RTT={rtt_ms:.0f}ms, RSSI={_rssi_s}dBm")
+                    self.logger.debug(
+                        f"[WiFi Monitor] - associated={reachable}, RTT={_rtt_s}, RSSI={_rssi_s}dBm"
+                    )
                     
                     # 判断质量是否差（切换前做 2 次快速复测，防止瞬时抖动）
                     def _is_bad_now(_reachable, _rtt, _rssi):
-                        if (not _reachable) or (_rtt is None) or (_rtt == float("inf")):
+                        if not _reachable:
+                            return True
+                        # RTT 未启用时不参与质量判断；链路状态仍由 STA 关联保证。
+                        if _rtt is None:
+                            return False
+                        if _rtt == float("inf"):
                             return True
                         return self._is_wifi_quality_bad(_rtt, _rssi)
 
@@ -628,13 +632,8 @@ class WiFiManager:
 
                         for retry_idx in range(2):
                             time.sleep_ms(1000)
-                            # 不使用 RTT 测量
+                            reachable2 = self.is_sta_associated()
-                            rtt2 = 0
+                            rtt2 = None
-                            reachable2 = True
-                            # rtt2, reachable2 = self._measure_wifi_tcp_rtt_ms(
-                            #     self._server_ip, self._server_port,
-                            #     samples=1, per_sample_timeout_ms=600
-                            # )
                             rssi2 = self._get_wifi_rssi_dbm()
 
                             # 更新缓存，便于外部查看最新状态
@@ -643,14 +642,10 @@ class WiFiManager:
 
                             bad2 = _is_bad_now(reachable2, rtt2, rssi2)
                             try:
-                                _rtt_disp = (
+                                _rtt_disp = f"{rtt2:.0f}ms" if rtt2 is not None else "n/a"
-                                    rtt2
-                                    if rtt2 is not None and rtt2 != float("inf")
-                                    else -1
-                                )
                                 self.logger.info(
                                     f"[WiFi Monitor] 复测{retry_idx+1}/2: reachable={reachable2}, "
-                                    f"rtt={_rtt_disp:.0f}ms, rssi={rssi2}, bad={bad2}"
+                                    f"rtt={_rtt_disp}, rssi={rssi2}, bad={bad2}"
                                 )
                             except Exception:
                                 pass