remove rtt from wifi monitoring

.gitignore

@@ -0,0 +1,3 @@
+/cpp_ext/build/
+/.cursor/
+/dist/

4g_download_manager.py

@@ -0,0 +1,399 @@
+import re
+import hashlib
+import binascii
+from maix import time
+from power import get_bus_voltage, voltage_to_percent
+from urllib.parse import urlparse
+from hardware import hardware_manager
+
+
+class DownloadManager4G:
+    """4g下载管理器（单例）"""
+    _instance = None
+
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(DownloadManager4G, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+
+    def __init__(self):
+        if self._initialized:
+            return
+
+        # 私有状态
+        self.FRAG_SIZE = 1024
+        self.FRAG_DELAY = 10
+        self._initialized = True
+
+    def _log(self, *a):
+        if debug:
+            self.logger.debug(" ".join(str(x) for x in a))
+
+    def _pwr_log(self, prefix=""):
+        """debug 用：输出电压/电量"""
+        if not debug:
+            return
+        try:
+            v = get_bus_voltage()
+            p = voltage_to_percent(v)
+            self.logger.debug(f"[PWR]{prefix} v={v:.3f}V p={p}%")
+        except Exception as e:
+            try:
+                self.logger.debug(f"[PWR]{prefix} read_failed: {e}")
+            except:
+                pass
+
+    def _clear_http_events(self):
+        if hardware_manager.at_client:
+            while hardware_manager.at_client.pop_http_event() is not None:
+                pass
+
+    def _parse_httpid(self, resp: str):
+        m = re.search(r"\+MHTTPCREATE:\s*(\d+)", resp)
+        return int(m.group(1)) if m else None
+
+    def _get_ip(self, ):
+        r = hardware_manager.at_client.send("AT+CGPADDR=1", "OK", 3000)
+        m = re.search(r'\+CGPADDR:\s*1,"([^"]+)"', r)
+        return m.group(1) if m else ""
+
+    def _ensure_pdp(self, ):
+        ip = self._get_ip()
+        if ip and ip != "0.0.0.0":
+            return True, ip
+        hardware_manager.at_client.send("AT+MIPCALL=1,1", "OK", 15000)
+        for _ in range(10):
+            ip = self._get_ip()
+            if ip and ip != "0.0.0.0":
+                return True, ip
+            time.sleep(1)
+        return False, ip
+
+    def _extract_hdr_fields(self, hdr_text: str):
+        mlen = re.search(r"Content-Length:\s*(\d+)", hdr_text, re.IGNORECASE)
+        clen = int(mlen.group(1)) if mlen else None
+        mmd5 = re.search(r"Content-Md5:\s*([A-Za-z0-9+/=]+)", hdr_text, re.IGNORECASE)
+        md5_b64 = mmd5.group(1).strip() if mmd5 else None
+        return clen, md5_b64
+
+    def _extract_content_range(self, hdr_text: str):
+        m = re.search(r"Content-Range:\s*bytes\s*(\d+)\s*-\s*(\d+)\s*/\s*(\d+)", hdr_text, re.IGNORECASE)
+        if not m:
+            return None, None, None
+        try:
+            return int(m.group(1)), int(m.group(2)), int(m.group(3))
+        except:
+            return None, None, None
+
+    def _hard_reset_http(self, ):
+        """模块进入"坏状态"时的保守清场"""
+        self._clear_http_events()
+        for i in range(0, 6):
+            try:
+                hardware_manager.at_client.send(f"AT+MHTTPDEL={i}", "OK", 1200)
+            except:
+                pass
+        self._clear_http_events()
+
+    def _create_httpid(self, full_reset=False):
+        self._clear_http_events()
+        if hardware_manager.at_client:
+            hardware_manager.at_client.flush()
+        if full_reset:
+            self._hard_reset_http()
+        resp = hardware_manager.at_client.send(f'AT+MHTTPCREATE="{base_url}"', "OK", 8000)
+        hid = self._parse_httpid(resp)
+        if self._is_https:
+            resp = hardware_manager.at_client.send(f'AT+MHTTPCFG="ssl",{hid},1,1', "OK", 2000)
+            if "ERROR" in resp or "CME ERROR" in resp:
+                self.logger.error(f"MHTTPCFG SSL failed: {resp}")
+                # 尝试https 降级到http
+                downgraded_base_url = base_url.replace("https://", "http://")
+                resp = hardware_manager.at_client.send(f'AT+MHTTPCREATE="{downgraded_base_url}"', "OK", 8000)
+                hid = self._parse_httpid(resp)
+
+        return hid, resp
+
+    def _fetch_range_into_buf(self, start, want_len, out_buf, path, full_reset=False):
+        """
+        请求 Range [start, start+want_len)，写入 out_buf（bytearray，长度=want_len）
+        返回 (ok, msg, total_len, md5_b64, got_len)
+        """
+        end_incl = start + want_len - 1
+        hid, cresp = self._create_httpid(full_reset=full_reset)
+        if hid is None:
+            return False, f"MHTTPCREATE failed: {cresp}", None, None, 0
+
+        # 降低 URC 压力（分片/延迟）
+        hardware_manager.at_client.send(f'AT+MHTTPCFG="fragment",{hid},{self.FRAG_SIZE},{self.FRAG_DELAY}', "OK", 1500)
+        # 设置 Range header（inclusive）
+        hardware_manager.at_client.send(f'AT+MHTTPCFG="header",{hid},"Range: bytes={start}-{end_incl}"', "OK", 3000)
+
+        req = hardware_manager.at_client.send(f'AT+MHTTPREQUEST={hid},1,0,"{path}"', "OK", 15000)
+        if "ERROR" in req or "CME ERROR" in req:
+            hardware_manager.at_client.send(f"AT+MHTTPDEL={hid}", "OK", 2000)
+            return False, f"MHTTPREQUEST failed: {req}", None, None, 0
+
+        # 等 header + content
+        hdr_text = None
+        hdr_accum = ""
+        code = None
+        resp_total = None
+        total_len = None
+        md5_b64 = None
+
+        got_ranges = set()
+        last_sum = 0
+        t0 = time.ticks_ms()
+        timeout_ms = 9000
+        logged_hdr = False
+
+        while time.ticks_ms() - t0 < timeout_ms:
+            ev = hardware_manager.at_client.pop_http_event() if hardware_manager.at_client else None
+            if not ev:
+                time.sleep_ms(5)
+                continue
+
+            if ev[0] == "header":
+                _, ehid, ecode, ehdr = ev
+                if ehid != hid:
+                    continue
+                code = ecode
+                hdr_text = ehdr
+                if ehdr:
+                    hdr_accum = (hdr_accum + "\n" + ehdr) if hdr_accum else ehdr
+
+                resp_total_tmp, md5_tmp = self._extract_hdr_fields(hdr_accum)
+                if md5_tmp:
+                    md5_b64 = md5_tmp
+                cr_s, cr_e, cr_total = self._extract_content_range(hdr_accum)
+                if cr_total is not None:
+                    total_len = cr_total
+                if resp_total_tmp is not None:
+                    resp_total = resp_total_tmp
+                elif resp_total is None and (cr_s is not None) and (cr_e is not None) and (cr_e >= cr_s):
+                    resp_total = (cr_e - cr_s + 1)
+                if (not logged_hdr) and (resp_total is not None or total_len is not None):
+                    self._log(f"[HDR] id={hid} code={code} clen={resp_total} cr={cr_s}-{cr_e}/{cr_total}")
+                    logged_hdr = True
+                continue
+
+            if ev[0] == "content":
+                _, ehid, _total, _sum, _cur, payload = ev
+                if ehid != hid:
+                    continue
+                if resp_total is None:
+                    resp_total = _total
+                if resp_total is None or resp_total <= 0:
+                    continue
+                start_rel = _sum - _cur
+                end_rel = _sum
+                if start_rel < 0 or start_rel >= resp_total:
+                    continue
+                if end_rel > resp_total:
+                    end_rel = resp_total
+                actual_len = min(len(payload), end_rel - start_rel)
+                if actual_len <= 0:
+                    continue
+                out_buf[start_rel:start_rel + actual_len] = payload[:actual_len]
+                got_ranges.add((start_rel, start_rel + actual_len))
+                if _sum > last_sum:
+                    last_sum = _sum
+                if debug and (last_sum >= resp_total or (last_sum % 512 == 0)):
+                    self._log(f"[CHUNK] {start}+{last_sum}/{resp_total}")
+
+                if last_sum >= resp_total:
+                    break
+
+        # 清理实例（快路径：只删当前 hid）
+        try:
+            hardware_manager.at_client.send(f"AT+MHTTPDEL={hid}", "OK", 2000)
+        except:
+            pass
+
+        if resp_total is None:
+            return False, "no_header_or_total", total_len, md5_b64, 0
+
+        # 计算实际填充长度
+        merged = sorted(got_ranges)
+        merged2 = []
+        for s, e in merged:
+            if not merged2 or s > merged2[-1][1]:
+                merged2.append((s, e))
+            else:
+                merged2[-1] = (merged2[-1][0], max(merged2[-1][1], e))
+        filled = sum(e - s for s, e in merged2)
+
+        if filled < resp_total:
+            return False, f"incomplete_chunk got={filled} expected={resp_total} code={code}", total_len, md5_b64, filled
+
+        got_len = resp_total
+        return True, "OK", total_len, md5_b64, got_len
+
+    def download_file_via_4g(self, url, filename,
+                             total_timeout_ms=600000,
+                             retries=3,
+                             debug=False):
+        """
+        ML307R HTTP 下载（更稳的"固定小块 Range 顺序下载"，基于main109.py）：
+        - 只依赖 +MHTTPURC:"header"/"content"（不依赖 MHTTPREAD/cached）
+        - 每次只请求一个小块 Range（默认 10240B），失败就重试同一块，必要时缩小块大小
+        - 每个 chunk 都重新 MHTTPCREATE/MHTTPREQUEST，避免卡在"206 header 但不吐 content"的坏状态
+        - 使用二进制模式下载，确保文件完整性
+        """
+
+
+        # 小块策略（与main109.py保持一致）
+        CHUNK_MAX = 10240
+        CHUNK_MIN = 128
+        CHUNK_RETRIES = 12
+
+
+        t_func0 = time.ticks_ms()
+
+        parsed = urlparse(url)
+        host = parsed.hostname
+        path = parsed.path or "/"
+        if not host:
+            return False, "bad_url (no host)"
+
+        if isinstance(url, str) and url.startswith("https://static.shelingxingqiu.com/"):
+            base_url = "https://static.shelingxingqiu.com"
+            # TODO：使用https，看看是否能成功
+            self._is_https = True
+        else:
+            base_url = f"http://{host}"
+            self._is_https = False
+
+
+        try:
+            self._begin_ota()
+        except:
+            pass
+
+        from network import network_manager
+        with network_manager.get_uart_lock():
+            try:
+                ok_pdp, ip = self._ensure_pdp()
+                if not ok_pdp:
+                    return False, f"PDP not ready (ip={ip})"
+
+                # 先清空旧事件，避免串台
+                self._clear_http_events()
+
+                # 为了支持随机写入，先创建空文件
+                try:
+                    with open(filename, "wb") as f:
+                        f.write(b"")
+                except Exception as e:
+                    return False, f"open_file_failed: {e}"
+
+                total_len = None
+                expect_md5_b64 = None
+
+                offset = 0
+                chunk = CHUNK_MAX
+                t_start = time.ticks_ms()
+                last_progress_ms = t_start
+                STALL_TIMEOUT_MS = 60000
+                last_pwr_ms = t_start
+                self._pwr_log(prefix=" ota_start")
+                bad_http_state = 0
+
+                while True:
+                    now = time.ticks_ms()
+                    if debug and time.ticks_diff(now, last_pwr_ms) >= 5000:
+                        last_pwr_ms = now
+                        self._pwr_log(prefix=f" off={offset}/{total_len or '?'}")
+                    if time.ticks_diff(now, t_start) > total_timeout_ms:
+                        return False, f"timeout overall after {total_timeout_ms}ms offset={offset} total={total_len}"
+
+                    if time.ticks_diff(now, last_progress_ms) > STALL_TIMEOUT_MS:
+                        return False, f"timeout stalled {STALL_TIMEOUT_MS}ms offset={offset} total={total_len}"
+
+                    if total_len is not None and offset >= total_len:
+                        break
+
+                    want = chunk
+                    if total_len is not None:
+                        remain = total_len - offset
+                        if remain <= 0:
+                            break
+                        if want > remain:
+                            want = remain
+
+                    # 本 chunk 的 buffer（长度=want）
+                    buf = bytearray(want)
+
+                    success = False
+                    last_err = "unknown"
+                    md5_seen = None
+                    got_len = 0
+                    for k in range(1, CHUNK_RETRIES + 1):
+                        do_full_reset = (bad_http_state >= 2)
+                        ok, msg, tlen, md5_b64, got = self._fetch_range_into_buf(offset, want, buf, base_url, path, full_reset=do_full_reset)
+                        last_err = msg
+                        if tlen is not None and total_len is None:
+                            total_len = tlen
+                        if md5_b64 and not expect_md5_b64:
+                            expect_md5_b64 = md5_b64
+                        if ok:
+                            success = True
+                            got_len = got
+                            bad_http_state = 0
+                            break
+
+                        try:
+                            if ("no_header_or_total" in msg) or ("MHTTPREQUEST failed" in msg) or (
+                                    "MHTTPCREATE failed" in msg):
+                                bad_http_state += 1
+                            else:
+                                bad_http_state = max(0, bad_http_state - 1)
+                        except:
+                            pass
+
+                        if chunk > CHUNK_MIN:
+                            chunk = max(CHUNK_MIN, chunk // 2)
+                            want = min(chunk, want)
+                            buf = bytearray(want)
+                        self._log(f"[RETRY] off={offset} want={want} try={k} err={msg}")
+                        self._pwr_log(prefix=f" retry{k} off={offset}")
+                        time.sleep_ms(120)
+
+                    if not success:
+                        return False, f"chunk_failed off={offset} want={want} err={last_err} total={total_len}"
+
+                    # 写入文件（二进制模式）
+                    try:
+                        with open(filename, "r+b") as f:
+                            f.seek(offset)
+                            f.write(bytes(buf))
+                    except Exception as e:
+                        return False, f"write_failed off={offset}: {e}"
+
+                    offset += len(buf)
+                    last_progress_ms = time.ticks_ms()
+                    chunk = CHUNK_MAX
+                    if debug:
+                        self._log(f"[OK] offset={offset}/{total_len or '?'}")
+
+                # MD5 校验
+                if expect_md5_b64 and hashlib is not None:
+                    try:
+                        with open(filename, "rb") as f:
+                            data = f.read()
+                        digest = hashlib.md5(data).digest()
+                        got_b64 = binascii.b2a_base64(digest).decode().strip()
+                        if got_b64 != expect_md5_b64:
+                            return False, f"md5_mismatch got={got_b64} expected={expect_md5_b64}"
+                        self.logger.debug(f"[4G-DL] MD5 verified: {got_b64}")
+                    except Exception as e:
+                        return False, f"md5_check_failed: {e}"
+
+                t_cost = time.ticks_diff(time.ticks_ms(), t_func0)
+                self.logger.info(f"[4G-DL] download complete: size={offset} ip={ip} cost_ms={t_cost}")
+                return True, f"OK size={offset} ip={ip} cost_ms={t_cost}"
+
+            finally:
+                self._end_ota()

S99archery

@@ -0,0 +1,79 @@
+#!/bin/sh
+# /etc/init.d/S99archery
+# 系统启动时处理致命错误恢复（仅处理无法启动的情况）
+# 注意：应用的启动由系统自动启动机制处理（通过 auto_start.txt）
+# 功能：
+# 1. 处理致命错误（无法启动）- 恢复 main.py
+# 2. 如果重启次数超过阈值，恢复 main.py 并重启系统
+
+APP_DIR="/maixapp/apps/t11"
+MAIN_PY="$APP_DIR/main.py"
+PENDING_FILE="$APP_DIR/ota_pending.json"
+BACKUP_BASE="$APP_DIR/backups"
+
+# 进入应用目录
+cd "$APP_DIR" || exit 0
+
+# 检查 pending 文件，如果存在且超过重启次数，恢复 main.py（处理致命错误）
+if [ -f "$PENDING_FILE" ]; then
+    echo "[S99] 检测到 ota_pending.json，检查重启计数..."
+    
+    # 尝试从JSON中提取重启计数（使用grep简单提取）
+    RESTART_COUNT=$(cat "$PENDING_FILE" 2>/dev/null | grep -o '"restart_count":[0-9]*' | grep -o '[0-9]*' || echo "0")
+    MAX_RESTARTS=$(cat "$PENDING_FILE" 2>/dev/null | grep -o '"max_restarts":[0-9]*' | grep -o '[0-9]*' || echo "3")
+    
+    if [ -n "$RESTART_COUNT" ] && [ "$RESTART_COUNT" -ge "$MAX_RESTARTS" ]; then
+        echo "[S99] 检测到重启次数 ($RESTART_COUNT) 超过阈值 ($MAX_RESTARTS)，恢复 main.py..."
+        
+        # 尝试从JSON中提取备份目录
+        BACKUP_DIR=$(cat "$PENDING_FILE" 2>/dev/null | grep -o '"backup_dir":"[^"]*"' | grep -o '/[^"]*' || echo "")
+        
+        if [ -n "$BACKUP_DIR" ] && [ -f "$BACKUP_DIR/main.py" ]; then
+            # 使用指定的备份目录
+            echo "[S99] 从备份目录恢复: $BACKUP_DIR/main.py"
+            cp "$BACKUP_DIR/main.py" "$MAIN_PY" 2>/dev/null && echo "[S99] 已恢复 main.py"
+        else
+            # 查找最新的备份目录
+            LATEST_BACKUP=$(ls -dt "$BACKUP_BASE"/backup_* 2>/dev/null | head -1)
+            if [ -n "$LATEST_BACKUP" ] && [ -f "$LATEST_BACKUP/main.py" ]; then
+                echo "[S99] 从最新备份恢复: $LATEST_BACKUP/main.py"
+                cp "$LATEST_BACKUP/main.py" "$MAIN_PY" 2>/dev/null && echo "[S99] 已恢复 main.py"
+            else
+                # 如果没有备份目录，尝试使用 main.py.bak
+                if [ -f "$APP_DIR/main.py.bak" ]; then
+                    echo "[S99] 从 main.py.bak 恢复"
+                    cp "$APP_DIR/main.py.bak" "$MAIN_PY" 2>/dev/null && echo "[S99] 已恢复 main.py"
+                fi
+            fi
+        fi
+        
+        # 恢复后重置重启计数，避免循环恢复
+        # 注意：不在这里删除 pending 文件，让 main.py 在心跳成功后删除
+        # 但是重置重启计数，以便恢复后的版本可以重新开始计数
+        python3 -c "
+import json, os
+try:
+    pending_path = '$PENDING_FILE'
+    if os.path.exists(pending_path):
+        with open(pending_path, 'r', encoding='utf-8') as f:
+            d = json.load(f)
+        d['restart_count'] = 0  # 重置重启计数
+        with open(pending_path, 'w', encoding='utf-8') as f:
+            json.dump(d, f)
+        print('[S99] 已重置重启计数为 0')
+except Exception as e:
+    print(f'[S99] 重置重启计数失败: {e}')
+" 2>/dev/null || echo "[S99] 无法重置重启计数（可能需要Python支持）"
+        
+        echo "[S99] 已恢复 main.py，重启系统..."
+        echo "[S99] 注意：pending 文件将在心跳成功后由 main.py 删除"
+        sleep 2
+        reboot
+        exit 0
+    fi
+fi
+
+# 不启动应用，让系统自动启动机制处理
+# 这个脚本只负责处理致命错误恢复
+exit 0
+

app.yaml

@@ -1,8 +1,25 @@
 id: t11
 name: t11
-version: 1.0.2
+version: 1.2.10
 author: t11
 icon: ''
 desc: t11
 files:
+  - app.yaml
+  - archery_netcore.cpython-311-riscv64-linux-gnu.so
+  - at_client.py
+  - camera_manager.py
+  - config.py
+  - hardware.py
+  - laser_manager.py
+  - logger_manager.py
   - main.py
+  - network.py
+  - ota_manager.py
+  - power.py
+  - shoot_manager.py
+  - shot_id_generator.py
+  - time_sync.py
+  - version.py
+  - vision.cpython-311-riscv64-linux-gnu.so
+  - wifi.py

aruco_detector.py

@@ -0,0 +1,420 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+ArUco标记检测模块
+提供基于ArUco标记的靶心标定和激光点定位功能
+"""
+import cv2
+import numpy as np
+import math
+import config
+from logger_manager import logger_manager
+
+
+class ArUcoDetector:
+    """ArUco标记检测器"""
+    
+    def __init__(self):
+        self.logger = logger_manager.logger
+        # 创建ArUco字典和检测器参数
+        self.aruco_dict = cv2.aruco.getPredefinedDictionary(config.ARUCO_DICT_TYPE)
+        self.detector_params = cv2.aruco.DetectorParameters()
+        
+        # 设置检测参数
+        self.detector_params.minMarkerPerimeterRate = config.ARUCO_MIN_MARKER_PERIMETER_RATE
+        self.detector_params.cornerRefinementMethod = config.ARUCO_CORNER_REFINEMENT_METHOD
+        
+        # 创建检测器
+        self.detector = cv2.aruco.ArucoDetector(self.aruco_dict, self.detector_params)
+        
+        # 预定义靶纸上的标记位置（物理坐标，毫米）
+        self.marker_positions_mm = config.ARUCO_MARKER_POSITIONS_MM
+        self.marker_ids = config.ARUCO_MARKER_IDS
+        self.marker_size_mm = config.ARUCO_MARKER_SIZE_MM
+        self.target_paper_size_mm = config.TARGET_PAPER_SIZE_MM
+        
+        # 靶心偏移（相对于靶纸中心）
+        self.target_center_offset_mm = config.TARGET_CENTER_OFFSET_MM
+        
+        if self.logger:
+            self.logger.info(f"[ARUCO] ArUco检测器初始化完成，字典类型: {config.ARUCO_DICT_TYPE}")
+    
+    def detect_markers(self, frame):
+        """
+        检测图像中的ArUco标记
+        
+        Args:
+            frame: MaixPy图像帧对象
+            
+        Returns:
+            (corners, ids, rejected) - 检测到的标记角点、ID列表、被拒绝的候选
+            如果检测失败返回 (None, None, None)
+        """
+        try:
+            # 转换为OpenCV格式
+            from maix import image
+            img_cv = image.image2cv(frame, False, False)
+            
+            # 转换为灰度图（ArUco检测需要）
+            if len(img_cv.shape) == 3:
+                gray = cv2.cvtColor(img_cv, cv2.COLOR_RGB2GRAY)
+            else:
+                gray = img_cv
+            
+            # 检测标记
+            corners, ids, rejected = self.detector.detectMarkers(gray)
+            
+            if self.logger and ids is not None:
+                self.logger.debug(f"[ARUCO] 检测到 {len(ids)} 个标记: {ids.flatten().tolist()}")
+            
+            return corners, ids, rejected
+            
+        except Exception as e:
+            if self.logger:
+                self.logger.error(f"[ARUCO] 标记检测失败: {e}")
+            return None, None, None
+    
+    def get_target_center_from_markers(self, corners, ids):
+        """
+        从检测到的ArUco标记计算靶心位置
+        
+        Args:
+            corners: 标记角点列表
+            ids: 标记ID列表
+            
+        Returns:
+            (center_x, center_y, radius, ellipse_params) 或 (None, None, None, None)
+            center_x, center_y: 靶心像素坐标
+            radius: 估计的靶心半径（像素）
+            ellipse_params: 椭圆参数用于透视校正
+        """
+        if ids is None or len(ids) < 3:
+            if self.logger:
+                self.logger.debug(f"[ARUCO] 检测到的标记数量不足: {len(ids) if ids is not None else 0} < 3")
+            return None, None, None, None
+        
+        try:
+            # 将ID转换为列表便于查找
+            detected_ids = ids.flatten().tolist()
+            
+            # 收集检测到的标记中心点和对应的物理坐标
+            image_points = []  # 图像坐标 (像素)
+            object_points = []  # 物理坐标 (毫米)
+            marker_centers = {}  # 存储每个标记的中心
+            
+            for i, marker_id in enumerate(detected_ids):
+                if marker_id not in self.marker_ids:
+                    continue
+                
+                # 计算标记中心（四个角的平均值）
+                corner = corners[i][0]  # shape: (4, 2)
+                center_x = np.mean(corner[:, 0])
+                center_y = np.mean(corner[:, 1])
+                marker_centers[marker_id] = (center_x, center_y)
+                
+                # 添加到点列表
+                image_points.append([center_x, center_y])
+                object_points.append(self.marker_positions_mm[marker_id])
+            
+            if len(image_points) < 3:
+                if self.logger:
+                    self.logger.debug(f"[ARUCO] 有效标记数量不足: {len(image_points)} < 3")
+                return None, None, None, None
+            
+            # 转换为numpy数组
+            image_points = np.array(image_points, dtype=np.float32)
+            object_points = np.array(object_points, dtype=np.float32)
+            
+            # 计算单应性矩阵（Homography）
+            # 这建立了物理坐标到图像坐标的映射
+            H, status = cv2.findHomography(object_points, image_points, cv2.RANSAC, 5.0)
+            
+            if H is None:
+                if self.logger:
+                    self.logger.warning("[ARUCO] 无法计算单应性矩阵")
+                return None, None, None, None
+            
+            # 计算靶心在图像中的位置
+            # 靶心物理坐标 = 靶纸中心 + 偏移
+            target_center_mm = np.array([[self.target_center_offset_mm[0], 
+                                          self.target_center_offset_mm[1]]], dtype=np.float32)
+            target_center_mm = target_center_mm.reshape(-1, 1, 2)
+            
+            # 使用单应性矩阵投影到图像坐标
+            target_center_img = cv2.perspectiveTransform(target_center_mm, H)
+            center_x = target_center_img[0][0][0]
+            center_y = target_center_img[0][0][1]
+            
+            # 计算靶心半径（像素）
+            # 使用已知物理距离和像素距离的比例
+            # 选择两个标记计算比例尺
+            if len(marker_centers) >= 2:
+                # 使用对角线上的标记计算比例尺
+                if 0 in marker_centers and 2 in marker_centers:
+                    p1_img = np.array(marker_centers[0])
+                    p2_img = np.array(marker_centers[2])
+                    p1_mm = np.array(self.marker_positions_mm[0])
+                    p2_mm = np.array(self.marker_positions_mm[2])
+                elif 1 in marker_centers and 3 in marker_centers:
+                    p1_img = np.array(marker_centers[1])
+                    p2_img = np.array(marker_centers[3])
+                    p1_mm = np.array(self.marker_positions_mm[1])
+                    p2_mm = np.array(self.marker_positions_mm[3])
+                else:
+                    # 使用任意两个标记
+                    keys = list(marker_centers.keys())
+                    p1_img = np.array(marker_centers[keys[0]])
+                    p2_img = np.array(marker_centers[keys[1]])
+                    p1_mm = np.array(self.marker_positions_mm[keys[0]])
+                    p2_mm = np.array(self.marker_positions_mm[keys[1]])
+                
+                pixel_distance = np.linalg.norm(p1_img - p2_img)
+                mm_distance = np.linalg.norm(p1_mm - p2_mm)
+                
+                if mm_distance > 0:
+                    pixels_per_mm = pixel_distance / mm_distance
+                    # 标准靶心半径：10环半径约1.22cm = 12.2mm
+                    # 但这里我们返回一个估计值，实际环数计算在laser_manager中
+                    radius_mm = 122.0  # 整个靶纸的半径约200mm，但靶心区域较小
+                    radius = int(radius_mm * pixels_per_mm)
+                else:
+                    radius = 100  # 默认值
+            else:
+                radius = 100  # 默认值
+            
+            # 计算椭圆参数（用于透视校正）
+            # 从单应性矩阵可以推导出透视变形
+            ellipse_params = self._compute_ellipse_params(H, center_x, center_y)
+            
+            if self.logger:
+                self.logger.info(f"[ARUCO] 靶心计算成功: 中心=({center_x:.1f}, {center_y:.1f}), "
+                               f"半径={radius}px, 检测到{len(marker_centers)}个标记")
+            
+            return (int(center_x), int(center_y)), radius, "aruco", ellipse_params
+            
+        except Exception as e:
+            if self.logger:
+                self.logger.error(f"[ARUCO] 计算靶心失败: {e}")
+                import traceback
+                self.logger.error(traceback.format_exc())
+            return None, None, None, None
+    
+    def _compute_ellipse_params(self, H, center_x, center_y):
+        """
+        从单应性矩阵计算椭圆参数，用于透视校正
+        
+        Args:
+            H: 单应性矩阵 (3x3)
+            center_x, center_y: 靶心图像坐标
+            
+        Returns:
+            ellipse_params: ((center_x, center_y), (width, height), angle)
+        """
+        try:
+            # 在物理坐标系中画一个圆，投影到图像中看变成什么形状
+            # 物理圆：半径10mm
+            r_mm = 10.0
+            angles = np.linspace(0, 2*np.pi, 16)
+            circle_mm = np.array([[self.target_center_offset_mm[0] + r_mm * np.cos(a),
+                                   self.target_center_offset_mm[1] + r_mm * np.sin(a)] 
+                                  for a in angles], dtype=np.float32)
+            circle_mm = circle_mm.reshape(-1, 1, 2)
+            
+            # 投影到图像
+            circle_img = cv2.perspectiveTransform(circle_mm, H)
+            circle_img = circle_img.reshape(-1, 2)
+            
+            # 拟合椭圆
+            if len(circle_img) >= 5:
+                ellipse = cv2.fitEllipse(circle_img.astype(np.float32))
+                return ellipse
+            else:
+                # 从单应性矩阵近似估计
+                # 提取缩放和旋转
+                # H = K * [R|t] 的近似
+                # 这里简化处理：假设没有严重变形
+                scale_x = np.linalg.norm(H[0, :2])
+                scale_y = np.linalg.norm(H[1, :2])
+                avg_scale = (scale_x + scale_y) / 2
+                
+                width = r_mm * 2 * scale_x
+                height = r_mm * 2 * scale_y
+                angle = np.degrees(np.arctan2(H[1, 0], H[0, 0]))
+                
+                return ((center_x, center_y), (width, height), angle)
+                
+        except Exception as e:
+            if self.logger:
+                self.logger.debug(f"[ARUCO] 计算椭圆参数失败: {e}")
+            return None
+    
+    def transform_laser_point(self, laser_point, corners, ids):
+        """
+        将激光点从图像坐标转换到物理坐标（毫米），再计算相对于靶心的偏移
+        
+        Args:
+            laser_point: (x, y) 激光点在图像中的坐标
+            corners: 检测到的标记角点
+            ids: 检测到的标记ID
+            
+        Returns:
+            (dx_mm, dy_mm) 激光点相对于靶心的偏移（毫米），或 (None, None)
+        """
+        if laser_point is None or ids is None or len(ids) < 3:
+            return None, None
+        
+        try:
+            # 重新计算单应性矩阵（可以优化为缓存）
+            detected_ids = ids.flatten().tolist()
+            image_points = []
+            object_points = []
+            
+            for i, marker_id in enumerate(detected_ids):
+                if marker_id not in self.marker_ids:
+                    continue
+                corner = corners[i][0]
+                center_x = np.mean(corner[:, 0])
+                center_y = np.mean(corner[:, 1])
+                image_points.append([center_x, center_y])
+                object_points.append(self.marker_positions_mm[marker_id])
+            
+            if len(image_points) < 3:
+                return None, None
+            
+            image_points = np.array(image_points, dtype=np.float32)
+            object_points = np.array(object_points, dtype=np.float32)
+            
+            H, _ = cv2.findHomography(object_points, image_points, cv2.RANSAC, 5.0)
+            if H is None:
+                return None, None
+            
+            # 求逆矩阵，将图像坐标转换到物理坐标
+            H_inv = np.linalg.inv(H)
+            
+            laser_img = np.array([[laser_point[0], laser_point[1]]], dtype=np.float32)
+            laser_img = laser_img.reshape(-1, 1, 2)
+            
+            laser_mm = cv2.perspectiveTransform(laser_img, H_inv)
+            laser_x_mm = laser_mm[0][0][0]
+            laser_y_mm = laser_mm[0][0][1]
+            
+            # 计算相对于靶心的偏移
+            # 注意：Y轴方向可能需要翻转（图像Y向下，物理Y通常向上）
+            dx_mm = laser_x_mm - self.target_center_offset_mm[0]
+            dy_mm = -(laser_y_mm - self.target_center_offset_mm[1])  # 翻转Y轴
+            
+            if self.logger:
+                self.logger.debug(f"[ARUCO] 激光点转换: 图像({laser_point[0]:.1f}, {laser_point[1]:.1f}) -> "
+                                f"物理({laser_x_mm:.1f}, {laser_y_mm:.1f}) -> "
+                                f"偏移({dx_mm:.1f}, {dy_mm:.1f})mm")
+            
+            return dx_mm, dy_mm
+            
+        except Exception as e:
+            if self.logger:
+                self.logger.error(f"[ARUCO] 激光点转换失败: {e}")
+            return None, None
+    
+    def draw_debug_info(self, frame, corners, ids, target_center=None, laser_point=None):
+        """
+        在图像上绘制调试信息
+        
+        Args:
+            frame: MaixPy图像帧
+            corners: 标记角点
+            ids: 标记ID
+            target_center: 计算的靶心位置
+            laser_point: 激光点位置
+            
+        Returns:
+            绘制后的图像
+        """
+        try:
+            from maix import image
+            img_cv = image.image2cv(frame, False, False).copy()
+            
+            # 绘制检测到的标记
+            if ids is not None:
+                cv2.aruco.drawDetectedMarkers(img_cv, corners, ids)
+                
+                # 绘制标记ID和中心
+                for i, marker_id in enumerate(ids.flatten()):
+                    corner = corners[i][0]
+                    center_x = int(np.mean(corner[:, 0]))
+                    center_y = int(np.mean(corner[:, 1]))
+                    
+                    # 绘制中心点
+                    cv2.circle(img_cv, (center_x, center_y), 5, (0, 255, 0), -1)
+                    
+                    # 绘制ID
+                    cv2.putText(img_cv, f"ID:{marker_id}", 
+                               (center_x + 10, center_y - 10),
+                               cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
+            
+            # 绘制靶心
+            if target_center:
+                cv2.circle(img_cv, target_center, 8, (255, 0, 0), -1)
+                cv2.circle(img_cv, target_center, 50, (255, 0, 0), 2)
+                cv2.putText(img_cv, "TARGET", (target_center[0] + 15, target_center[1] - 15),
+                           cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 0, 0), 2)
+            
+            # 绘制激光点
+            if laser_point:
+                cv2.circle(img_cv, (int(laser_point[0]), int(laser_point[1])), 6, (0, 0, 255), -1)
+                cv2.putText(img_cv, "LASER", (int(laser_point[0]) + 10, int(laser_point[1]) - 10),
+                           cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2)
+            
+            # 转换回MaixPy图像
+            return image.cv2image(img_cv, False, False)
+            
+        except Exception as e:
+            if self.logger:
+                self.logger.error(f"[ARUCO] 绘制调试信息失败: {e}")
+            return frame
+
+
+# 创建全局单例实例
+aruco_detector = ArUcoDetector()
+
+
+def detect_target_with_aruco(frame, laser_point=None):
+    """
+    使用ArUco标记检测靶心的便捷函数
+    
+    Args:
+        frame: MaixPy图像帧
+        laser_point: 激光点坐标（可选）
+        
+    Returns:
+        (result_img, center, radius, method, best_radius1, ellipse_params)
+        与detect_circle_v3保持相同的返回格式
+    """
+    detector = aruco_detector
+    
+    # 检测ArUco标记
+    corners, ids, rejected = detector.detect_markers(frame)
+    
+    # 计算靶心
+    center, radius, method, ellipse_params = detector.get_target_center_from_markers(corners, ids)
+    
+    # 绘制调试信息
+    result_img = detector.draw_debug_info(frame, corners, ids, center, laser_point)
+    
+    # 返回与detect_circle_v3相同的格式
+    # best_radius1用于距离估算，这里用radius代替
+    return result_img, center, radius, method, radius, ellipse_params
+
+
+def compute_laser_offset_aruco(laser_point, corners, ids):
+    """
+    使用ArUco计算激光点相对于靶心的偏移（毫米）
+    
+    Args:
+        laser_point: (x, y) 激光点图像坐标
+        corners: ArUco标记角点
+        ids: ArUco标记ID
+        
+    Returns:
+        (dx_mm, dy_mm) 偏移量（毫米），或 (None, None)
+    """
+    return aruco_detector.transform_laser_point(laser_point, corners, ids)

at_client.py

@@ -0,0 +1,307 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+AT客户端模块
+负责4G模块的AT命令通信和URC解析
+"""
+import _thread
+from maix import time
+import re
+import threading
+
+class ATClient:
+    """
+    单读者 AT/URC 客户端：唯一读取 uart4g，避免 tcp_main/at()/OTA 抢读导致 EOF / 丢包。
+    - send(cmd, expect, timeout_ms) : 发送 AT 并等待 expect
+    - pop_tcp_payload()            : 获取 +MIPURC:"rtcp" 的 payload（已按长度裁剪）
+    - pop_http_event()             : 获取 +MHTTPURC 事件（header/content）
+    """
+    def __init__(self, uart_obj):
+        self.uart = uart_obj
+        self._cmd_lock = threading.Lock()
+        self._q_lock = threading.Lock()
+        self._rx = b""
+        self._tcp_payloads = []
+        self._http_events = []
+
+        # 当前命令等待状态（仅允许单命令 in-flight）
+        self._waiting = False
+        self._expect = b"OK"
+        self._resp = b""
+
+        self._running = False
+
+    def start(self):
+        if self._running:
+            return
+        self._running = True
+        _thread.start_new_thread(self._reader_loop, ())
+
+    def stop(self):
+        self._running = False
+
+    def flush(self):
+        """清空内部缓存与队列（用于 OTA/异常恢复）"""
+        with self._q_lock:
+            self._rx = b""
+            self._tcp_payloads.clear()
+            self._http_events.clear()
+            self._resp = b""
+
+    def pop_tcp_payload(self):
+        with self._q_lock:
+            if self._tcp_payloads:
+                return self._tcp_payloads.pop(0)
+        return None
+
+    def pop_http_event(self):
+        with self._q_lock:
+            if self._http_events:
+                return self._http_events.pop(0)
+        return None
+
+    def _push_tcp_payload(self, payload: bytes):
+        # 注意：在 _reader_loop 内部解析 URC 时已经持有 _q_lock，
+        # 这里不要再次 acquire（锁不可重入，会死锁）。
+        self._tcp_payloads.append(payload)
+
+    def _push_http_event(self, ev):
+        # 同上：避免在 _reader_loop 持锁期间二次 acquire
+        self._http_events.append(ev)
+
+    def send(self, cmd: str, expect: str = "OK", timeout_ms: int = 2000):
+        """
+        发送 AT 命令并等待 expect（子串匹配）。
+        注意：expect=">" 用于等待 prompt。
+        """
+        expect_b = expect.encode() if isinstance(expect, str) else expect
+        with self._cmd_lock:
+            # 初始化等待
+            self._waiting = True
+            self._expect = expect_b
+            self._resp = b""
+
+            # 发送
+            if cmd:
+                # 注意：这里不要再用 uart4g_lock（否则外层已经持锁时会死锁）。
+                # 写入由 _cmd_lock 串行化即可。
+                self.uart.write((cmd + "\r\n").encode())
+
+            t0 = time.ticks_ms()
+            while abs(time.ticks_diff(time.ticks_ms(), t0)) < timeout_ms:
+                if (not self._waiting) or (self._expect in self._resp):
+                    self._waiting = False
+                    break
+                time.sleep_ms(5)
+
+            # 超时也返回已收集内容（便于诊断）
+            self._waiting = False
+            try:
+                return self._resp.decode(errors="ignore")
+            except:
+                return str(self._resp)
+
+    def _find_urc_tag(self, tag: bytes):
+        """
+        只在"真正的 URC 边界"查找 tag，避免误命中 HTTP payload 内容。
+        规则：tag 必须出现在 buffer 开头，或紧跟在 b"\\r\\n" 后面。
+        """
+        try:
+            i = 0
+            rx = self._rx
+            while True:
+                j = rx.find(tag, i)
+                if j < 0:
+                    return -1
+                if j == 0:
+                    return 0
+                if j >= 2 and rx[j - 2:j] == b"\r\n":
+                    return j
+                i = j + 1
+        except:
+            return -1
+
+    def _parse_mipurc_rtcp(self):
+        """
+        解析：+MIPURC: "rtcp",<link_id>,<len>,<payload...>
+        之前硬编码 link_id=0 会导致在多连接/重连场景下收不到数据。
+        """
+        prefix = b'+MIPURC: "rtcp",'
+        i = self._find_urc_tag(prefix)
+        if i < 0:
+            return False
+        # 丢掉前置噪声
+        if i > 0:
+            self._rx = self._rx[i:]
+            i = 0
+
+        j = len(prefix)
+        # 解析 link_id
+        k = j
+        while k < len(self._rx) and 48 <= self._rx[k] <= 57:
+            k += 1
+        if k == j or k >= len(self._rx):
+            return False
+        if self._rx[k:k+1] != b",":
+            self._rx = self._rx[1:]
+            return True
+        try:
+            link_id = int(self._rx[j:k].decode())
+        except:
+            self._rx = self._rx[1:]
+            return True
+
+        # 解析 len
+        j2 = k + 1
+        k2 = j2
+        while k2 < len(self._rx) and 48 <= self._rx[k2] <= 57:
+            k2 += 1
+        if k2 == j2 or k2 >= len(self._rx):
+            return False
+        if self._rx[k2:k2+1] != b",":
+            self._rx = self._rx[1:]
+            return True
+        try:
+            n = int(self._rx[j2:k2].decode())
+        except:
+            self._rx = self._rx[1:]
+            return True
+
+        payload_start = k2 + 1
+        payload_end = payload_start + n
+        if len(self._rx) < payload_end:
+            return False  # payload 未收齐
+
+        payload = self._rx[payload_start:payload_end]
+        # 把 link_id 一起带上，便于上层过滤（如果需要）
+        self._push_tcp_payload((link_id, payload))
+        self._rx = self._rx[payload_end:]
+        return True
+
+    def _parse_mhttpurc_header(self):
+        tag = b'+MHTTPURC: "header",'
+        i = self._find_urc_tag(tag)
+        if i < 0:
+            return False
+        if i > 0:
+            self._rx = self._rx[i:]
+            i = 0
+
+        # header: +MHTTPURC: "header",<id>,<code>,<hdr_len>,<hdr_text...>
+        j = len(tag)
+        comma_count = 0
+        k = j
+        while k < len(self._rx) and comma_count < 3:
+            if self._rx[k:k+1] == b",":
+                comma_count += 1
+            k += 1
+        if comma_count < 3:
+            return False
+
+        prefix = self._rx[:k]
+        m = re.search(rb'\+MHTTPURC: "header",\s*(\d+),\s*(\d+),\s*(\d+),', prefix)
+        if not m:
+            self._rx = self._rx[1:]
+            return True
+        urc_id = int(m.group(1))
+        code = int(m.group(2))
+        hdr_len = int(m.group(3))
+
+        text_start = k
+        text_end = text_start + hdr_len
+        if len(self._rx) < text_end:
+            return False
+
+        hdr_text = self._rx[text_start:text_end].decode("utf-8", "ignore")
+        self._push_http_event(("header", urc_id, code, hdr_text))
+        self._rx = self._rx[text_end:]
+        return True
+
+    def _parse_mhttpurc_content(self):
+        tag = b'+MHTTPURC: "content",'
+        i = self._find_urc_tag(tag)
+        if i < 0:
+            return False
+        if i > 0:
+            self._rx = self._rx[i:]
+            i = 0
+
+        # content: +MHTTPURC: "content",<id>,<total>,<sum>,<cur>,<payload...>
+        j = len(tag)
+        comma_count = 0
+        k = j
+        while k < len(self._rx) and comma_count < 4:
+            if self._rx[k:k+1] == b",":
+                comma_count += 1
+            k += 1
+        if comma_count < 4:
+            return False
+
+        prefix = self._rx[:k]
+        m = re.search(rb'\+MHTTPURC: "content",\s*(\d+),\s*(\d+),\s*(\d+),\s*(\d+),', prefix)
+        if not m:
+            self._rx = self._rx[1:]
+            return True
+        urc_id = int(m.group(1))
+        total_len = int(m.group(2))
+        sum_len = int(m.group(3))
+        cur_len = int(m.group(4))
+
+        payload_start = k
+        payload_end = payload_start + cur_len
+        if len(self._rx) < payload_end:
+            return False
+
+        payload = self._rx[payload_start:payload_end]
+        self._push_http_event(("content", urc_id, total_len, sum_len, cur_len, payload))
+        self._rx = self._rx[payload_end:]
+        return True
+
+    def _reader_loop(self):
+        while self._running:
+            # 关键：UART 驱动偶发 read failed，必须兜住，否则线程挂了 OTA/TCP 都会卡死
+            try:
+                d = self.uart.read(4096)  # 8192 在一些驱动上更容易触发 read failed
+            except Exception as e:
+                try:
+                    print("[ATClient] uart read failed:", e)
+                except:
+                    pass
+                time.sleep_ms(50)
+                continue
+
+            if not d:
+                time.sleep_ms(1)
+                continue
+
+            with self._q_lock:
+                self._rx += d
+                if self._waiting:
+                    self._resp += d
+
+                while True:
+                    progressed = (
+                        self._parse_mipurc_rtcp()
+                        or self._parse_mhttpurc_header()
+                        or self._parse_mhttpurc_content()
+                    )
+                    if not progressed:
+                        break
+
+                # 使用 ota_manager 访问 ota_in_progress
+                try:
+                    from ota_manager import ota_manager
+                    ota_flag = ota_manager.ota_in_progress
+                except:
+                    ota_flag = False
+
+                has_http_hint = (b"+MHTTP" in self._rx) or (b"+MHTTPURC" in self._rx)
+                if ota_flag or has_http_hint:
+                    if len(self._rx) > 512 * 1024:
+                        self._rx = self._rx[-256 * 1024:]
+                else:
+                    if len(self._rx) > 16384:
+                        self._rx = self._rx[-4096:]
+
+
+

camera_manager.py

@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+相机管理器模块
+提供相机和显示的统一管理和线程安全访问
+"""
+import threading
+import config
+from logger_manager import logger_manager
+
+
+class CameraManager:
+    """相机管理器（单例）"""
+    _instance = None
+    
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(CameraManager, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+    
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        # 私有对象
+        self._camera = None
+        self._display = None
+        
+        # 线程安全锁
+        self._camera_lock = threading.Lock()
+        self._display_lock = threading.Lock()
+        
+        # 相机配置
+        self._camera_width = 640
+        self._camera_height = 480
+        
+        self._initialized = True
+    
+    # ==================== 初始化方法 ====================
+    
+    @property
+    def logger(self):
+        """获取 logger 对象"""
+        return logger_manager.logger
+    
+    def init_camera(self, width=640, height=480):
+        """初始化相机"""
+        if self._camera is not None:
+            return self._camera
+        
+        from maix import camera
+        
+        self._camera_width = width
+        self._camera_height = height
+        
+        with self._camera_lock:
+            if self._camera is None:
+                self._camera = camera.Camera(width, height)
+        
+        return self._camera
+    
+    def init_display(self):
+        """初始化显示"""
+        if self._display is not None:
+            return self._display
+        
+        from maix import display
+        
+        with self._display_lock:
+            if self._display is None:
+                self._display = display.Display()
+        
+        return self._display
+    
+    # ==================== 访问方法 ====================
+    
+    @property
+    def camera(self):
+        """获取相机实例（懒加载）"""
+        if self._camera is None:
+            self.init_camera()
+        return self._camera
+    
+    @property
+    def display(self):
+        """获取显示实例（懒加载）"""
+        if self._display is None:
+            self.init_display()
+        return self._display
+    
+    # ==================== 业务方法 ====================
+    
+    def read_frame(self):
+        """
+        线程安全地读取一帧图像
+        
+        Returns:
+            frame: 图像帧对象
+        """
+        with self._camera_lock:
+            if self._camera is None:
+                self.init_camera()
+            return self._camera.read()
+    
+    def show(self, image):
+        """
+        线程安全地显示图像
+        
+        Args:
+            image: 要显示的图像对象
+        """
+        with self._display_lock:
+            if self._display is None:
+                self.init_display()
+            self._display.show(image)
+    
+    def release(self):
+        """释放相机和显示资源（如果需要）"""
+        with self._camera_lock:
+            if self._camera is not None:
+                # MaixPy 的 Camera 可能不需要显式释放，但可以在这里清理
+                self._camera = None
+        
+        with self._display_lock:
+            if self._display is not None:
+                # MaixPy 的 Display 可能不需要显式释放
+                self._display = None
+
+
+# 创建全局单例实例
+camera_manager = CameraManager()
+
+
+
+
+

config.py

@@ -0,0 +1,197 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+系统配置常量
+这些值在程序运行期间基本不变，或只在配置时改变
+"""
+from version import VERSION
+
+# ==================== 应用配置 ====================
+APP_VERSION = VERSION
+APP_DIR = "/maixapp/apps/t11"
+LOCAL_FILENAME = "/maixapp/apps/t11/main_tmp.py"
+
+# ==================== 服务器配置 ====================
+# SERVER_IP = "stcp.shelingxingqiu.com"
+SERVER_IP = "www.shelingxingqiu.com"
+SERVER_PORT = 50005
+HEARTBEAT_INTERVAL = 15  # 心跳间隔（秒）
+
+# WiFi 质量评估（开机先尝试 WiFi；质量差且 4G 可用则切到 4G，本次上电直至关机锁定 4G）
+WIFI_QUALITY_RTT_SAMPLES = 3  # 到业务服务器 TCP 建连耗时采样次数，取中位数
+WIFI_QUALITY_RTT_BAD_MS = 600.0  # 中位数超过此值认为延迟过高
+WIFI_QUALITY_RTT_WARN_MS = 350.0  # 与 RSSI 联合：超过此值且信号弱也判为差
+WIFI_QUALITY_RSSI_BAD_DBM = -80.0  # 低于此 dBm（更负更差）视为信号弱
+WIFI_QUALITY_USE_RSSI = True  # 是否把 RSSI 纳入综合判定（False 则仅看 RTT）
+
+# ===== TCP over SSL(TLS) 配置 =====
+USE_TCP_SSL = False          # True=按手册走 MSSLCFG/MIPCFG 绑定 SSL
+TCP_LINK_ID = 2             # 
+TCP_SSL_PORT = 443          # TLS 端口（不一定必须 443，以服务器为准）
+
+# SSL profile
+SSL_ID = 1                  # ssl_id=1
+SSL_AUTH_MODE = 0           # 1=单向认证（验证服务器），2=双向
+SSL_VERIFY_MODE = 1         # 0=不验（仅测试用）；1=写入并使用 CA 证书
+
+SSL_CERT_FILENAME = "www.shelingxingqiu.com.crt"      # 模组里证书名（MSSLCERTWR / MSSLCFG="cert" 用）
+SSL_CERT_PATH = "/root/www.shelingxingqiu.com.crt"    # 设备文件系统里 CA 证书路径（你自己放进去）
+# MIPOPEN 末尾的参数在不同固件里含义可能不同；按你手册例子保留
+MIPOPEN_TAIL = ",,0"
+
+# ==================== 文件路径配置 ====================
+CONFIG_FILE = "/root/laser_config.json"
+LOG_FILE = "/maixapp/apps/t11/app.log"
+BACKUP_BASE = "/maixapp/apps/t11/backups"
+
+# ==================== 硬件配置 ====================
+# WiFi模块开关（True=有WiFi模块，False=无WiFi模块）
+HAS_WIFI_MODULE = True  # 根据实际硬件情况设置
+
+# UART配置
+UART4G_DEVICE = "/dev/ttyS2"
+UART4G_BAUDRATE = 115200
+DISTANCE_SERIAL_DEVICE = "/dev/ttyS1"
+DISTANCE_SERIAL_BAUDRATE = 9600
+
+# I2C配置（根据WiFi模块开关自动选择）
+# 无WiFi模块：I2C_BUS_NUM = 1，引脚：P18(I2C1_SCL), P21(I2C1_SDA)
+# 有WiFi模块：I2C_BUS_NUM = 5，引脚：A15(I2C5_SCL), A27(I2C5_SDA)
+I2C_BUS_NUM = 5 if HAS_WIFI_MODULE else 1
+
+INA226_ADDR = 0x40
+REG_CONFIGURATION = 0x00
+REG_BUS_VOLTAGE = 0x02
+REG_CURRENT = 0x04  # 电流寄存器
+REG_CALIBRATION = 0x05
+CALIBRATION_VALUE = 0x1400
+
+# ==================== 空气传感器配置 ====================
+ADC_TRIGGER_THRESHOLD = 2700 # TODO:4096只是用于测试，因为最大值是4095，这个值是永远不会触发的，最终需要改为正常值
+AIR_PRESSURE_lOG = False # TODO: 在正式环境中关闭
+AIR_PRESSURE_HARDWARE_MAX = 10
+# ADC配置
+ADC_CHANNEL = 0
+ADC_LASER_THRESHOLD = 3000
+
+# ==================== 激光配置 ====================
+MODULE_ADDR = 0x00
+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
+DISTANCE_RESPONSE_LEN = 13  # 激光测距响应数据长度（字节）
+DEFAULT_LASER_POINT =  (320, 245)   # 默认激光中心点
+
+# 硬编码激光点配置
+HARDCODE_LASER_POINT = True  # 是否使用硬编码的激光点（True=使用硬编码值，False=使用校准值）
+HARDCODE_LASER_POINT_VALUE = (320, 245) # 硬编码的激光点坐标(315, 245) #   # 硬编码的激光点坐标 (x, y)
+
+# 激光点检测配置
+LASER_DETECTION_THRESHOLD = 140  # 红色通道阈值（默认120，可调整，范围建议：100-150）
+LASER_RED_RATIO = 1.5  # 红色相对于绿色/蓝色的倍数要求（默认1.5，可调整，范围建议：1.3-2.0）
+LASER_SEARCH_RADIUS = 50  # 搜索半径（像素），从图像中心开始搜索（默认20，限制激光点不能偏离中心太远）
+LASER_MAX_DISTANCE_FROM_CENTER = 50  # 激光点距离中心的最大允许距离（像素），超过此距离则拒绝（默认20）
+LASER_OVEREXPOSED_THRESHOLD = 200  # 过曝红色判断阈值（默认200，接近白色时的阈值）
+LASER_OVEREXPOSED_DIFF = 10  # 过曝红色时，r 与 g/b 的最小差值（默认10）
+LASER_REQUIRE_IN_ELLIPSE = False  # 是否要求激光点必须在黄心椭圆内（True=必须，False=不要求）
+LASER_USE_ELLIPSE_FITTING = True  # 是否使用椭圆拟合方法查找激光点（True=椭圆拟合更准确，False=最亮点方法）
+LASER_MIN_AREA = 5  # 激光点区域的最小面积（像素），小于此值认为是噪声（默认5）
+LASER_DRAW_ELLIPSE = True  # 是否在图像上绘制激光点的拟合椭圆（True=绘制，False=不绘制）
+
+# ==================== 视觉检测配置 ====================
+FOCAL_LENGTH_PIX = 2250.0    # 焦距（像素）
+REAL_RADIUS_CM = 20          # 靶心实际半径（厘米）
+
+# 图像清晰度检测配置
+IMAGE_SHARPNESS_THRESHOLD = 100.0  # 清晰度阈值，低于此值认为图像模糊
+                                    # 清晰图像通常 > 200，模糊图像通常 < 100
+
+# 激光与摄像头物理位置配置
+LASER_CAMERA_OFFSET_CM = 1.4  # 激光在摄像头下方的物理距离（厘米），正值表示激光在摄像头下方
+IMAGE_CENTER_X = 320  # 图像中心 X 坐标
+IMAGE_CENTER_Y = 240  # 图像中心 Y 坐标
+
+FLASH_LASER_WHILE_SHOOTING = True  # 是否在拍摄时闪一下激光（True=闪，False=不闪）
+FLASH_LASER_DURATION_MS = 1000  # 闪一下激光的持续时间（毫秒）
+
+# ==================== 显示配置 ====================
+LASER_COLOR = (0, 255, 0)  # RGB颜色
+LASER_THICKNESS = 1
+LASER_LENGTH = 2
+
+# ==================== 图像保存配置 ====================
+SAVE_IMAGE_ENABLED = True  # 是否保存图像（True=保存，False=不保存）
+PHOTO_DIR = "/root/phot"    # 照片存储目录
+MAX_IMAGES = 1000
+
+SHOW_CAMERA_PHOTO_WHILE_SHOOTING = True  # 是否在拍摄时显示摄像头图像（True=显示，False=不显示），建议在连着USB测试过程中打开
+
+# ==================== OTA配置 ====================
+MAX_BACKUPS = 5
+LOG_MAX_BYTES = 10 * 1024 * 1024  # 10MB
+LOG_BACKUP_COUNT = 5
+
+# ==================== 引脚映射配置 ====================
+# 无WiFi模块的引脚映射（I2C1）
+PIN_MAPPINGS_NO_WIFI = {
+    "A18": "UART1_RX",
+    "A19": "UART1_TX",
+    "A29": "UART2_RX",
+    "A28": "UART2_TX",
+    "P18": "I2C1_SCL",
+    "P21": "I2C1_SDA",
+}
+
+# 有WiFi模块的引脚映射（I2C5）
+PIN_MAPPINGS_WITH_WIFI = {
+    "A18": "UART1_RX",
+    "A19": "UART1_TX",
+    "A29": "UART2_RX",
+    "A28": "UART2_TX",
+    "A15": "I2C5_SCL",
+    "A27": "I2C5_SDA",
+    "A24": "GPIOA24", # 电源板的引脚
+}
+
+# 根据WiFi模块开关选择引脚映射
+PIN_MAPPINGS = PIN_MAPPINGS_WITH_WIFI if HAS_WIFI_MODULE else PIN_MAPPINGS_NO_WIFI
+
+# ==================== ArUco标定配置 ====================
+USE_ARUCO = False  # 是否使用ArUco标定（True=使用ArUco，False=使用传统黄色靶心检测）
+
+# ArUco标记配置
+if USE_ARUCO:
+    import cv2
+    ARUCO_DICT_TYPE = cv2.aruco.DICT_4X4_50  # ArUco字典类型
+    ARUCO_MARKER_SIZE_MM = 40  # ArUco标记边长（毫米）
+    ARUCO_MARKER_IDS = [0, 1, 2, 3]  # 四个角的ArUco标记ID
+
+    # 靶纸物理尺寸（毫米）
+    TARGET_PAPER_SIZE_MM = 400  # 靶纸边长 400mm x 400mm
+
+    # ArUco标记在靶纸上的中心坐标（毫米，以靶纸中心为原点）
+    # 靶纸坐标系：中心(0,0)，X向右，Y向下（图像坐标系）
+    # 四个角位置：(20,20), (20,380), (380,380), (380,20)
+    # 转换为以中心为原点的坐标：
+    # 左上角(0): (-180, -180) -> 实际(20,20)相对于中心(200,200) = (-180,-180)
+    # 右上角(1): (180, -180)  -> 实际(380,20)相对于中心 = (180,-180)
+    # 右下角(2): (180, 180)   -> 实际(380,380)相对于中心 = (180,180)
+    # 左下角(3): (-180, 180)  -> 实际(20,380)相对于中心 = (-180,180)
+    ARUCO_MARKER_POSITIONS_MM = {
+        0: (-180, -180),  # 左上角
+        1: (180, -180),   # 右上角
+        2: (180, 180),    # 右下角
+        3: (-180, 180),   # 左下角
+    }
+
+    # 靶心（黄心）在靶纸上的位置（毫米，相对于靶纸中心）
+    # 标准靶纸靶心就在正中心
+    TARGET_CENTER_OFFSET_MM = (0, 0)
+
+    # ArUco检测参数
+    ARUCO_MIN_MARKER_PERIMETER_RATE = 0.03  # 最小标记周长比例（相对于图像）
+    ARUCO_CORNER_REFINEMENT_METHOD = cv2.aruco.CORNER_REFINE_SUBPIX  # 角点精修方法
+
+# ==================== 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
+

cpp_ext/CMakeLists.txt

@@ -0,0 +1,71 @@
+cmake_minimum_required(VERSION 3.16)
+project(archery_netcore CXX)
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR riscv64)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+if(NOT DEFINED PY_INCLUDE_DIR)
+  message(FATAL_ERROR "PY_INCLUDE_DIR not set")
+endif()
+if(NOT DEFINED PY_LIB)
+  message(FATAL_ERROR "PY_LIB not set")
+endif()
+if(NOT DEFINED PY_EXT_SUFFIX)
+  message(FATAL_ERROR "PY_EXT_SUFFIX not set")
+endif()
+if(NOT DEFINED MAIXCDK_PATH)
+  message(FATAL_ERROR "MAIXCDK_PATH not set (need components/3rd_party/pybind11)")
+endif()
+
+add_library(archery_netcore MODULE 
+  archery_netcore.cpp
+  native_logger.cpp
+  utils.cpp
+  decrypt_ota_file.cpp
+  msg_handler.cpp
+)
+
+target_include_directories(archery_netcore PRIVATE
+  "${PY_INCLUDE_DIR}"
+  "${MAIXCDK_PATH}/components/3rd_party/pybind11/pybind11/include"
+  "${MAIXCDK_PATH}/components/3rd_party/openssl/include"
+  "${CMAKE_CURRENT_SOURCE_DIR}/third_party"  # 添加 nlohmann/json 路径
+)
+
+# 尽量减少 .so 体积并增加逆向成本
+target_compile_options(archery_netcore PRIVATE
+  -Os
+  -ffunction-sections
+  -fdata-sections
+  -fvisibility=hidden
+  -fvisibility-inlines-hidden
+)
+target_link_options(archery_netcore PRIVATE
+  -Wl,--gc-sections
+  -Wl,-s
+)
+
+set_target_properties(archery_netcore PROPERTIES
+  PREFIX ""
+  SUFFIX "${PY_EXT_SUFFIX}"
+)
+
+# OpenSSL (for AES-256-GCM decrypt)
+# 使用 MaixCDK 提供的 OpenSSL 库（在 so/maixcam 目录下）
+set(OPENSSL_LIB_DIR "${MAIXCDK_PATH}/components/3rd_party/openssl/so/maixcam")
+if(EXISTS "${OPENSSL_LIB_DIR}/libcrypto.so")
+    target_link_directories(archery_netcore PRIVATE "${OPENSSL_LIB_DIR}")
+    target_link_libraries(archery_netcore PRIVATE "${PY_LIB}" crypto ssl)
+    message(STATUS "Using OpenSSL from MaixCDK: ${OPENSSL_LIB_DIR}")
+else()
+    # Fallback: 尝试 find_package 或系统库
+    find_package(OpenSSL QUIET)
+    if(OpenSSL_FOUND)
+        target_link_libraries(archery_netcore PRIVATE "${PY_LIB}" OpenSSL::Crypto OpenSSL::SSL)
+    else()
+        message(WARNING "OpenSSL not found in MaixCDK, trying system libraries (may fail)")
+        target_link_libraries(archery_netcore PRIVATE "${PY_LIB}" crypto ssl)
+    endif()
+endif()

cpp_ext/archery_netcore.cpp

@@ -0,0 +1,108 @@
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>  // 支持 std::vector, std::map 等
+#include <nlohmann/json.hpp>
+#include <cstring>
+#include <cstdint>
+#include <vector>
+#include <string>
+#include <fstream>
+#include <array>
+
+#include "msg_handler.hpp"
+#include "native_logger.hpp"
+#include "decrypt_ota_file.hpp"
+#include "utils.hpp"
+
+namespace py = pybind11;
+using json = nlohmann::json;
+
+namespace {
+    // 配置项
+    const std::string _cfg_server_ip = "www.shelingxingqiu.com";
+    const int _cfg_server_port = 50005;
+    const std::string _cfg_device_id_file = "/device_key";
+
+
+}
+
+// 定义获取配置的函数
+py::dict get_config() {
+    py::dict config;
+    config["SERVER_IP"] = _cfg_server_ip;
+    config["SERVER_PORT"] = _cfg_server_port;
+    return config;
+}
+
+
+
+
+
+PYBIND11_MODULE(archery_netcore, m) {
+    m.doc() = "Archery net core (native, pybind11).";
+
+    // Optional: configure native logger from Python.
+    // Default log file: /maixapp/apps/t11/netcore.log
+    m.def("set_log_file", [](const std::string& path) { netcore::set_log_file(path); }, py::arg("path"));
+    m.def("set_log_level", [](int level) {
+        if (level < 0) level = 0;
+        if (level > 3) level = 3;
+        netcore::set_log_level(static_cast<netcore::LogLevel>(level));
+    }, py::arg("level"));
+    m.def("log_test", [](const std::string& msg) {
+        netcore::log_info(std::string("log_test: ") + msg);
+    }, py::arg("msg"));
+
+    m.def("make_packet", &netcore::make_packet,
+          "Pack TCP packet: header (len+type+checksum) + JSON body",
+          py::arg("msg_type"), py::arg("body_dict"));
+    
+    m.def("parse_packet", &netcore::parse_packet,
+          "Parse TCP packet, return (msg_type, body_dict)");
+
+    m.def("get_config", &get_config, "Get system configuration");
+
+    m.def(
+        "decrypt_ota_file",
+        [](const std::string& input_path, const std::string& output_zip_path) {
+            netcore::log_info(std::string("decrypt_ota_file in=") + input_path + " out=" + output_zip_path);
+            return netcore::decrypt_ota_file_impl(input_path, output_zip_path);
+        },
+        py::arg("input_path"),
+        py::arg("output_zip_path"),
+        "Decrypt OTA encrypted file (MAGIC|nonce|ciphertext|tag) to plaintext zip."
+    );
+
+    // Minimal demo: return actions for inner_cmd=41 (manual trigger + ack)
+    m.def("actions_for_inner_cmd", [](int inner_cmd) {
+        py::list actions;
+
+        if (inner_cmd == 41) {
+            // 1) set manual trigger flag
+            {
+                py::dict a;
+                a["type"] = "SET_FLAG";
+                py::dict args;
+                args["name"] = "manual_trigger_flag";
+                args["value"] = true;
+                a["args"] = args;
+                actions.append(a);
+            }
+
+            // 2) enqueue trigger_ack
+            {
+                py::dict a;
+                a["type"] = "ENQUEUE";
+                py::dict args;
+                args["msg_type"] = 2;
+                args["high"] = false;
+                py::dict body;
+                body["result"] = "trigger_ack";
+                args["body"] = body;
+                a["args"] = args;
+                actions.append(a);
+            }
+        }
+
+        return actions;
+    });
+}

cpp_ext/decrypt_ota_file.cpp

@@ -0,0 +1,135 @@
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>  // 支持 std::vector, std::map 等
+#include <nlohmann/json.hpp>
+#include <cstring>
+#include <cstdint>
+#include <vector>
+#include <string>
+#include <fstream>
+#include <array>
+#include <openssl/evp.h>
+#include <algorithm>
+#include "native_logger.hpp"
+
+namespace netcore{
+
+    // OTA AEAD format: MAGIC(7) | nonce(12) | ciphertext(N) | tag(16)
+    constexpr const char* kOtaMagic = "AROTAE1";
+    constexpr size_t kOtaMagicLen = 7;
+    constexpr size_t kGcmNonceLen = 12;
+    constexpr size_t kGcmTagLen = 16;
+
+    // 固定 32-byte AES-256-GCM key（提高被直接查看的成本；不是绝对安全）
+    // 注意：需要与打包端传入的 --aead-key-hex 保持一致。
+    static std::array<uint8_t, 32> ota_key_bytes() {
+        // 简单拆分混淆：key = a XOR b
+        static const std::array<uint8_t, 32> a = {
+            0x92,0x99,0x4d,0x06,0x6f,0xb6,0xa6,0x3d,0x85,0x08,0xbe,0x73,0x5e,0x73,0x4d,0x8a,
+            0x53,0x88,0xe6,0x99,0xfc,0x10,0x29,0xb9,0x16,0x9b,0xe7,0x0c,0x65,0x21,0x1c,0xce
+        };
+        static const std::array<uint8_t, 32> b = {
+            0xcf,0x60,0xa2,0xc2,0x32,0x7a,0x61,0xb0,0x4c,0x8e,0x8a,0x62,0x31,0xc7,0x82,0xff,
+            0xec,0xac,0xa1,0x04,0x2a,0x4d,0xaa,0xf2,0xb0,0x5b,0x39,0x2b,0xf4,0xb3,0xad,0xad
+        };
+        std::array<uint8_t, 32> k{};
+        for (size_t i = 0; i < k.size(); i++) k[i] = static_cast<uint8_t>(a[i] ^ b[i]);
+        return k;
+    }
+
+    static bool read_file_all(const std::string& path, std::vector<uint8_t>& out) {
+        std::ifstream ifs(path, std::ios::binary);
+        if (!ifs) return false;
+        ifs.seekg(0, std::ios::end);
+        std::streampos size = ifs.tellg();
+        if (size <= 0) return false;
+        ifs.seekg(0, std::ios::beg);
+        out.resize(static_cast<size_t>(size));
+        if (!ifs.read(reinterpret_cast<char*>(out.data()), size)) return false;
+        return true;
+    }
+
+    static bool write_file_all(const std::string& path, const uint8_t* data, size_t len) {
+        std::ofstream ofs(path, std::ios::binary | std::ios::trunc);
+        if (!ofs) return false;
+        ofs.write(reinterpret_cast<const char*>(data), static_cast<std::streamsize>(len));
+        return static_cast<bool>(ofs);
+    }
+
+    bool decrypt_ota_file_impl(const std::string& input_path, const std::string& output_zip_path) {
+        std::vector<uint8_t> in;
+        if (!netcore::read_file_all(input_path, in)) {
+            netcore::log_error(std::string("decrypt_ota_file: read failed: ") + input_path);
+            return false;
+        }
+
+        const size_t min_len = kOtaMagicLen + kGcmNonceLen + kGcmTagLen + 1;
+        if (in.size() < min_len) {
+            netcore::log_error("decrypt_ota_file: too short");
+            return false;
+        }
+        if (!std::equal(in.begin(), in.begin() + kOtaMagicLen, reinterpret_cast<const uint8_t*>(kOtaMagic))) {
+            netcore::log_error("decrypt_ota_file: bad magic");
+            return false;
+        }
+
+        const uint8_t* nonce = in.data() + kOtaMagicLen;
+        const uint8_t* ct_and_tag = in.data() + kOtaMagicLen + kGcmNonceLen;
+        const size_t ct_and_tag_len = in.size() - (kOtaMagicLen + kGcmNonceLen);
+        if (ct_and_tag_len <= kGcmTagLen) {
+            netcore::log_error("decrypt_ota_file: no ciphertext");
+            return false;
+        }
+        const size_t ciphertext_len = ct_and_tag_len - kGcmTagLen;
+        const uint8_t* ciphertext = ct_and_tag;
+        const uint8_t* tag = ct_and_tag + ciphertext_len;
+
+        std::vector<uint8_t> plain(ciphertext_len);
+        int out_len1 = 0;
+        int out_len2 = 0;
+
+        EVP_CIPHER_CTX* ctx = EVP_CIPHER_CTX_new();
+        if (!ctx) {
+            netcore::log_error("decrypt_ota_file: EVP_CIPHER_CTX_new failed");
+            return false;
+        }
+
+        bool ok = false;
+        auto key = ota_key_bytes();
+
+        do {
+            if (1 != EVP_DecryptInit_ex(ctx, EVP_aes_256_gcm(), nullptr, nullptr, nullptr)) {
+                netcore::log_error("decrypt_ota_file: DecryptInit failed");
+                break;
+            }
+            if (1 != EVP_CIPHER_CTX_ctrl(ctx, EVP_CTRL_GCM_SET_IVLEN, static_cast<int>(kGcmNonceLen), nullptr)) {
+                netcore::log_error("decrypt_ota_file: set ivlen failed");
+                break;
+            }
+            if (1 != EVP_DecryptInit_ex(ctx, nullptr, nullptr, key.data(), nonce)) {
+                netcore::log_error("decrypt_ota_file: set key/iv failed");
+                break;
+            }
+            if (1 != EVP_DecryptUpdate(ctx, plain.data(), &out_len1, ciphertext, static_cast<int>(ciphertext_len))) {
+                netcore::log_error("decrypt_ota_file: update failed");
+                break;
+            }
+            if (1 != EVP_CIPHER_CTX_ctrl(ctx, EVP_CTRL_GCM_SET_TAG, static_cast<int>(kGcmTagLen), const_cast<uint8_t*>(tag))) {
+                netcore::log_error("decrypt_ota_file: set tag failed");
+                break;
+            }
+            if (1 != EVP_DecryptFinal_ex(ctx, plain.data() + out_len1, &out_len2)) {
+                netcore::log_error("decrypt_ota_file: final failed (auth tag mismatch?)");
+                break;
+            }
+            const size_t plain_len = static_cast<size_t>(out_len1 + out_len2);
+            if (!netcore::write_file_all(output_zip_path, plain.data(), plain_len)) {
+                netcore::log_error(std::string("decrypt_ota_file: write failed: ") + output_zip_path);
+                break;
+            }
+            ok = true;
+        } while (false);
+
+        EVP_CIPHER_CTX_free(ctx);
+        return ok;
+    }
+}

cpp_ext/decrypt_ota_file.hpp

@@ -0,0 +1,7 @@
+#pragma once
+
+#include <string>
+
+namespace netcore{
+    bool decrypt_ota_file_impl(const std::string& input_path, const std::string& output_zip_path);
+}

cpp_ext/msg_handler.cpp

@@ -0,0 +1,113 @@
+#include <nlohmann/json.hpp>
+#include <string>
+#include <cstring>
+#include <cstdint>
+#include <vector>
+#include "native_logger.hpp"
+#include "msg_handler.hpp"
+#include "utils.hpp"
+
+namespace py = pybind11;
+using json = nlohmann::json;
+
+namespace netcore {
+    // 打包 TCP 数据包
+    py::bytes make_packet(int msg_type, py::dict body_dict) {
+        netcore::log_debug(std::string("make_packet msg_type=") + std::to_string(msg_type));
+        // 1) 将 py::dict 转为 JSON 字符串
+        json j = netcore::py_dict_to_json(body_dict);
+        std::string body_str = j.dump();
+
+        // 2) 计算 body_len 和 checksum
+        uint32_t body_len = body_str.size();
+        uint32_t checksum = body_len + msg_type;
+
+        // 3) 打包头部（大端序）
+        std::vector<uint8_t> packet;
+        packet.reserve(12 + body_len);
+
+        // body_len (big-endian, 4 bytes)
+        packet.push_back((body_len >> 24) & 0xFF);
+        packet.push_back((body_len >> 16) & 0xFF);
+        packet.push_back((body_len >> 8) & 0xFF);
+        packet.push_back(body_len & 0xFF);
+
+        // msg_type (big-endian, 4 bytes)
+        packet.push_back((msg_type >> 24) & 0xFF);
+        packet.push_back((msg_type >> 16) & 0xFF);
+        packet.push_back((msg_type >> 8) & 0xFF);
+        packet.push_back(msg_type & 0xFF);
+
+        // checksum (big-endian, 4 bytes)
+        packet.push_back((checksum >> 24) & 0xFF);
+        packet.push_back((checksum >> 16) & 0xFF);
+        packet.push_back((checksum >> 8) & 0xFF);
+        packet.push_back(checksum & 0xFF);
+
+        // 4) 追加 body
+        packet.insert(packet.end(), body_str.begin(), body_str.end());
+
+        netcore::log_debug(std::string("make_packet done bytes=") + std::to_string(packet.size()));
+        return py::bytes(reinterpret_cast<const char*>(packet.data()), packet.size());
+    }
+
+    // 解析 TCP 数据包
+    py::tuple parse_packet(py::bytes data) {
+        // 1) 转换为 bytes view
+        py::buffer_info buf = py::buffer(data).request();
+        if (buf.size < 12) {
+            netcore::log_error(std::string("parse_packet too_short len=") + std::to_string(buf.size));
+            return py::make_tuple(py::none(), py::none());
+        }
+
+        const uint8_t* ptr = static_cast<const uint8_t*>(buf.ptr);
+
+        // 2) 解析头部（大端序）
+        uint32_t body_len = (ptr[0] << 24) | (ptr[1] << 16) | (ptr[2] << 8) | ptr[3];
+        uint32_t msg_type = (ptr[4] << 24) | (ptr[5] << 16) | (ptr[6] << 8) | ptr[7];
+        uint32_t checksum = (ptr[8] << 24) | (ptr[9] << 16) | (ptr[10] << 8) | ptr[11];
+
+        // 3) 校验 checksum（可选，你现有代码不强制校验）
+        // if (checksum != (body_len + msg_type)) {
+        //     return py::make_tuple(py::none(), py::none());
+        // }
+
+        // 4) 检查长度
+        uint32_t expected_len = 12 + body_len;
+        if (buf.size < expected_len) {
+            // 半包
+            netcore::log_warn(std::string("parse_packet incomplete got=") + std::to_string(buf.size) +
+                              " expected=" + std::to_string(expected_len));
+            return py::make_tuple(py::none(), py::none());
+        }
+
+        // 5) 防御性检查：如果 data 比预期长，说明可能有粘包
+        // （只解析第一个包，忽略多余数据）
+        if (buf.size > expected_len) {
+            netcore::log_warn(std::string("parse_packet concat got=") + std::to_string(buf.size) +
+                              " expected=" + std::to_string(expected_len) +
+                              " body_len=" + std::to_string(body_len) +
+                              " msg_type=" + std::to_string(msg_type));
+        }
+
+        // 6) 提取 body 并解析 JSON
+        std::string body_str(reinterpret_cast<const char*>(ptr + 12), body_len);
+
+        try {
+            json j = json::parse(body_str);
+            py::dict body_dict = netcore::json_to_py_dict(j);
+            return py::make_tuple(py::int_(msg_type), body_dict);
+        } catch (const json::parse_error& e) {
+            // JSON 解析失败，返回 raw（兼容你现有的逻辑）
+            netcore::log_error(std::string("parse_packet json_parse_error: ") + e.what());
+            py::dict raw_dict;
+            raw_dict["raw"] = body_str;
+            return py::make_tuple(py::int_(msg_type), raw_dict);
+        } catch (const std::exception& e) {
+            netcore::log_error(std::string("parse_packet json_parse_error: ") + e.what());
+            py::dict raw_dict;
+            raw_dict["raw"] = body_str;
+            return py::make_tuple(py::int_(msg_type), raw_dict);
+        }
+    }
+}

cpp_ext/msg_handler.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>  // 支持 std::vector, std::map 等
+
+namespace py = pybind11;
+
+namespace netcore {
+
+    // 打包 TCP 数据包
+    py::bytes make_packet(int msg_type, py::dict body_dict);
+    // 解包 TCP 数据包
+    py::tuple parse_packet(py::bytes data);
+}

cpp_ext/native_logger.cpp

@@ -0,0 +1,100 @@
+#include "native_logger.hpp"
+
+#include <cerrno>
+#include <cstring>
+#include <mutex>
+#include <string>
+
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <time.h>
+#include <unistd.h>
+
+namespace netcore {
+
+static std::mutex g_mu;
+static int g_fd = -1;
+static std::string g_path = "netcore.log";
+static LogLevel g_level = LogLevel::kDebug; //LogLevel::kInfo;
+
+static const char* level_name(LogLevel lvl) {
+    switch (lvl) {
+        case LogLevel::kError: return "E";
+        case LogLevel::kWarn:  return "W";
+        case LogLevel::kInfo:  return "I";
+        case LogLevel::kDebug: return "D";
+        default: return "?";
+    }
+}
+
+static void ensure_open_locked() {
+    if (g_path.empty()) return;
+    if (g_fd >= 0) return;
+    g_fd = ::open(g_path.c_str(), O_CREAT | O_WRONLY | O_APPEND, 0644);
+}
+
+void set_log_file(const std::string& path) {
+    std::lock_guard<std::mutex> lk(g_mu);
+    g_path = path;
+    if (g_fd >= 0) {
+        ::close(g_fd);
+        g_fd = -1;
+    }
+    ensure_open_locked();
+}
+
+void set_log_level(LogLevel level) {
+    std::lock_guard<std::mutex> lk(g_mu);
+    g_level = level;
+}
+
+void log(LogLevel level, const std::string& msg) {
+    std::lock_guard<std::mutex> lk(g_mu);
+    if (static_cast<int>(level) > static_cast<int>(g_level)) return;
+    if (g_path.empty()) return;
+
+    ensure_open_locked();
+    if (g_fd < 0) {
+        // Last resort: stderr (avoid any Python APIs)
+        ::write(STDERR_FILENO, msg.c_str(), msg.size());
+        ::write(STDERR_FILENO, "\n", 1);
+        return;
+    }
+
+    // Timestamp: epoch milliseconds (simple and cheap)
+    struct timespec ts;
+    clock_gettime(CLOCK_REALTIME, &ts);
+//    long long ms = (long long)ts.tv_sec * 1000LL + ts.tv_nsec / 1000000LL;
+    // 1. 将秒数转换为本地时间结构体 struct tm
+    struct tm *tm_info = localtime(&ts.tv_sec);
+
+    // 2. 准备一个缓冲区来存储时间字符串
+    char buffer[30];
+
+    // 3. 格式化秒的部分
+    // 格式: 年-月-日 时:分:秒
+    strftime(buffer, sizeof(buffer), "%Y-%m-%d %H:%M:%S", tm_info);
+
+    // 4. 计算毫秒部分并追加到字符串中
+    // ts.tv_nsec 是纳秒，除以 1,000,000 得到毫秒
+    char ms_buffer[8];
+    snprintf(ms_buffer, sizeof(ms_buffer), ".%03ld", ts.tv_nsec / 1000000);
+
+    // Build one line to keep writes atomic-ish
+    char head[256];
+    int n = ::snprintf(head, sizeof(head), "[%s%s] [%s] ", buffer, ms_buffer, level_name(level));
+    if (n < 0) n = 0;
+
+    ::write(g_fd, head, (size_t)n);
+    ::write(g_fd, msg.c_str(), msg.size());
+    ::write(g_fd, "\n", 1);
+}
+
+void log_debug(const std::string& msg) { log(LogLevel::kDebug, msg); }
+void log_info (const std::string& msg) { log(LogLevel::kInfo,  msg); }
+void log_warn (const std::string& msg) { log(LogLevel::kWarn,  msg); }
+void log_error(const std::string& msg) { log(LogLevel::kError, msg); }
+
+} // namespace netcore
+

cpp_ext/native_logger.hpp

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <string>
+
+namespace netcore {
+
+enum class LogLevel : int {
+    kError = 0,
+    kWarn  = 1,
+    kInfo  = 2,
+    kDebug = 3,
+};
+
+// Set log file path. If empty, logging is disabled.
+void set_log_file(const std::string& path);
+
+// Set minimum log level to write (default: kInfo).
+void set_log_level(LogLevel level);
+
+// Log helpers (thread-safe, never calls into Python).
+void log(LogLevel level, const std::string& msg);
+void log_debug(const std::string& msg);
+void log_info(const std::string& msg);
+void log_warn(const std::string& msg);
+void log_error(const std::string& msg);
+
+} // namespace netcore
+

cpp_ext/utils.cpp

@@ -0,0 +1,95 @@
+#include <fstream>
+#include <cstring>
+#include <cstdint>
+#include <string>
+#include <fstream>
+#include "utils.hpp"
+
+namespace netcore {
+// 辅助函数：将 py::dict 转为 nlohmann::json
+json py_dict_to_json(py::dict d) {
+    json j;
+    for (auto item : d) {
+        std::string key = py::str(item.first);
+        py::object val = py::reinterpret_borrow<py::object>(item.second);
+
+        if (py::isinstance<py::dict>(val)) {
+            j[key] = py_dict_to_json(py::cast<py::dict>(val));
+        } else if (py::isinstance<py::list>(val)) {
+            py::list py_list = py::cast<py::list>(val);
+            json arr = json::array();
+            for (auto elem : py_list) {
+                py::object elem_obj = py::reinterpret_borrow<py::object>(elem);
+                if (py::isinstance<py::dict>(elem_obj)) {
+                    arr.push_back(py_dict_to_json(py::cast<py::dict>(elem_obj)));
+                } else if (py::isinstance<py::int_>(elem_obj)) {
+                    arr.push_back(py::cast<int64_t>(elem_obj));
+                } else if (py::isinstance<py::float_>(elem_obj)) {
+                    arr.push_back(py::cast<double>(elem_obj));
+                } else {
+                    arr.push_back(py::str(elem_obj));
+                }
+            }
+            j[key] = arr;
+        } else if (py::isinstance<py::int_>(val)) {
+            j[key] = py::cast<int64_t>(val);
+        } else if (py::isinstance<py::float_>(val)) {
+            j[key] = py::cast<double>(val);
+        } else if (py::isinstance<py::bool_>(val)) {
+            j[key] = py::cast<bool>(val);
+        } else if (val.is_none()) {
+            j[key] = nullptr;
+        } else {
+            j[key] = py::str(val);
+        }
+    }
+    return j;
+}
+
+// 辅助函数：将 nlohmann::json 转为 py::dict
+py::dict json_to_py_dict(const json& j) {
+    py::dict d;
+    if (j.is_object()) {
+        for (auto& item : j.items()) {
+            std::string key = item.key();
+            json val = item.value();
+
+            if (val.is_object()) {
+                d[py::str(key)] = json_to_py_dict(val);
+            } else if (val.is_array()) {
+                py::list py_list;
+                for (auto& elem : val) {
+                    if (elem.is_object()) {
+                        py_list.append(json_to_py_dict(elem));
+                    } else if (elem.is_number_integer()) {
+                        py_list.append(py::int_(elem.get<int64_t>()));
+                    } else if (elem.is_number_float()) {
+                        py_list.append(py::float_(elem.get<double>()));
+                    } else if (elem.is_boolean()) {
+                        py_list.append(py::bool_(elem.get<bool>()));
+                    } else if (elem.is_null()) {
+                        py_list.append(py::none());
+                    } else {
+                        py_list.append(py::str(elem.get<std::string>()));
+                    }
+                }
+                d[py::str(key)] = py_list;
+            } else if (val.is_number_integer()) {
+                d[py::str(key)] = py::int_(val.get<int64_t>());
+            } else if (val.is_number_float()) {
+                d[py::str(key)] = py::float_(val.get<double>());
+            } else if (val.is_boolean()) {
+                d[py::str(key)] = py::bool_(val.get<bool>());
+            } else if (val.is_null()) {
+                d[py::str(key)] = py::none();
+            } else {
+                d[py::str(key)] = py::str(val.get<std::string>());
+            }
+        }
+    }
+    return d;
+}
+
+
+
+}

cpp_ext/utils.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>  // 支持 std::vector, std::map 等
+#include <nlohmann/json.hpp>
+#include <string>
+
+namespace py = pybind11;
+using json = nlohmann::json;
+
+namespace netcore {
+
+json py_dict_to_json(py::dict d);
+py::dict json_to_py_dict(const json& j);
+}

design_doc/command_record.md

@@ -0,0 +1,35 @@
+
+1. CPP构建命令：
+
+cd /mnt/d/code/archery/cpp_ext
+rm -rf build && mkdir build && cd build
+
+TOOLCHAIN_BIN=/mnt/d/code/MaixCDK/dl/extracted/toolchains/maixcam/host-tools/gcc/riscv64-linux-musl-x86_64/bin
+PYDEV=/mnt/d/code/shooting/python3_lib_maixcam_musl_3.11.6
+MAIXCDK=/mnt/d/code/MaixCDK
+
+cmake .. -G Ninja \
+  -DCMAKE_C_COMPILER="${TOOLCHAIN_BIN}/riscv64-unknown-linux-musl-gcc" \
+  -DCMAKE_CXX_COMPILER="${TOOLCHAIN_BIN}/riscv64-unknown-linux-musl-g++" \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_C_FLAGS="-mcpu=c906fdv -march=rv64imafdcv0p7xthead -mcmodel=medany -mabi=lp64d" \
+  -DCMAKE_CXX_FLAGS="-mcpu=c906fdv -march=rv64imafdcv0p7xthead -mcmodel=medany -mabi=lp64d" \
+  -DPY_INCLUDE_DIR="${PYDEV}/include/python3.11" \
+  -DPY_LIB="${PYDEV}/lib/libpython3.11.so" \
+  -DPY_EXT_SUFFIX=".cpython-311-riscv64-linux-gnu.so" \
+  -DMAIXCDK_PATH="${MAIXCDK}"
+
+ninja
+
+
+2. Maixvision 直接跑项目的时候，是复制到板子上的这个目录：/tmp/maixpy_run
+
+3. 4g 模块的终端测试方法：
+    3.1 一个窗口 ssh 到maixcam的板子上之后，通过 printf 输入命令到 /dev/ttyS2, 然后另外一个窗口通过 cat /dev/ttyS2 输出
+# 1. 确保 PDP 激活
+printf 'AT+CGPADDR=1\r\n' > /dev/ttyS2
+# 2. 开启日志监听（另一个 SSH 窗口）
+cat /dev/ttyS2
+# 3. 发送下载命令（原窗口）
+printf 'AT+MHTTPDLFILE="http://static.shelingxingqiu.com/shoot/v1/main.py","downloaded.py",5120\r\n' > /dev/ttyS2
+

design_doc/debug.md

@@ -0,0 +1,36 @@
+1. 问题描述：开机失败，一直遇到Traceback (most recent call last):
+      File "/tmp/maixpy_run/main.py", line 525, in <module>
+        cmd_str()
+      File "/tmp/maixpy_run/main.py", line 102, in cmd_str
+        camera_manager.init_camera(640, 480)
+      File "/tmp/maixpy_run/camera_manager.py", line 59, in init_camera
+        self._camera = camera.Camera(width, height)
+                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+        RuntimeError: : Runtime error: mmf vi init failed
+    解决方案：
+    根据过往经验，极有可能是摄像头的接线有问题。因为在测试环境，摄像头是通过一个24针转22针的线出来的，然后再通过一个接线中继，连接到一个22针
+    的fpc线到Maixcam。接线中继如果是24针的，多了两针，需要选好一边然后对连。但这里很容易出错或者松动。可以先用摄像头本身的金色接线直接接到
+    Maixcam，然后跑test目录下的test_cammera.py，看看能不能正常启动，如果正常，就确定是中继接线的问题。
+    
+2. 问题描述：202609 批次的拓展版，在连接 202601 批次的电源板，或者不链接电源板的时候，开机后不久，出错，程序退出，日志是：
+ [v1.2.10] [INFO] network.py:1078 - [NET] TCP主线程启动
+ [v1.2.10] [INFO] network.py:406 - [NET] WiFi不可用或无法连接服务器，使用4G网络
+ [v1.2.10] [INFO] network.py:475 - 连接到服务器,使用4G...
+ [v1.2.10] [INFO] network.py:527 - [4G-TCP] AT+MIPCLOSE=2 response:
+ OK
+ +MIPCLOSE: 2
+ -- [E] read failed
+ Trigger signal, code:SIGSEGV(11)!
+ maix multi-media driver released.
+ ISP Vipipe(0) Free pa(0x8a52c000) va(0x0x3fbeb5e000)
+ program exit failed. exit code: 1. 
+
+    解决方案：
+    从日志看，就是开始发送登录信息之后就崩溃了。出发了底层的read failed。经过排查，是一定要插上电源板的数据连线，以及电源板要插上电池。这个应该是
+    登录时需要读电源电压数据，
+
+3. 问题描述：202609 批次的拓展版，有一块maixcam的蓝灯常亮，询问maixcam的人，他们觉得应该是卡没有插好。但是拓展版上的激光口挡住了数据卡的出口，
+    没法拔出检查，
+    解决方案：需要做拓展版的公司（深链鑫创）在做好板子之后，确定系统能正常启动
+4. 
+    

design_doc/solution_record.md

@@ -0,0 +1,105 @@
+1.  4G OTA 下载的时候，为什么使用十六进制下载，读取 URC 事件？
+    因为使用二进制下载的时候，经常会出现错误，并且会失败？然后最稳定传输的办法，是每次传输的时候，是分块，而且每次分块都要“删/建”http实例。推测原因是因为我们现在是直接传输文件的源代码，代码中含有了一些字符串可能和 AT指令重复，导致了 AT 模块在解释的时候出错。而使用 16 进制的方式，可以避免这个问题。因为十六进制直接把数据先转成了字符串，然后在设备端再把字符串转成数据，这样就不可能出现 AT的指令，从而减少了麻烦。
+2.  4G OTA 下载的时候，为什么不用 AT 模块里 HTTPDLFILE 的指令？
+    因为在测试中发现，使用 HTTPDLFILE，其实是下载到了 4G 模块内部，需要重新从模块内部转到存储卡，而且 4G 模块的存储较小，大概只有 40k，所以还需要分块来下载和转存，比较麻烦，于是最终使用了使用读取串口事件的模式。
+3.  4G OTA 下载的时候，为什么不用 AT 模块里 HTTPREAD 的指令？
+    因为之前测试发现，READ模式其实是需要多步：
+    3.1. AT+MHTTPCREATE
+    3.2. AT+MHTTPCFG
+    3.3. AT+MHTTPREQUEST
+    3.4. AT+MHTTPREAD
+    它其实也是把数据下载到 4g 模块的缓存里，然后再从缓存里读取出来。所以也是比较繁琐的，还不如 HTTPDLFILE 简单。
+4.  WiFi OTA 流程（ota_manager.handle_wifi_and_update()）
+    * 解析 ota_url 得到 host:port
+    * 调用 network_manager.connect_wifi(ssid, password, verify_host=host, verify_port=port, persist=True)
+    * 只有“能连上 WiFi 且能访问 OTA host:port”才会把新凭证保留在 /boot
+    * 连接成功后开始下载 OTA 文件（download_file()）
+    * 下载成功则 apply_ota_and_reboot()
+5.  TCP 通信
+    1) 平时 TCP 通信主流程（network_manager.tcp_main()）
+        外层无限循环：一直尝试保持与服务器的 TCP 会话。
+        每轮开始：
+            如果 OTA 正在进行：暂停（避免抢占资源/串口）。
+            connect_server()：建立 TCP 连接（自动选 WiFi 或 4G）。
+            发送“登录包”（msg_type=1），等待服务器返回“登录成功”。
+        登录成功后进入内层循环：
+            接收数据：
+                WiFi：非阻塞 recv()；没数据返回 b""；有数据进入缓冲区拼包解析。
+                4G：从 ATClient 的队列 pop_tcp_payload() 取数据。
+            处理命令/ACK：
+                登录响应、心跳 ACK、OTA 命令、关机命令、日志上传命令等。
+            发送业务队列：
+                从高优/普通队列取 1 条，发送失败会放回队首，并断线重连（不再丢消息）。
+            发送心跳：
+                按 HEARTBEAT_INTERVAL 发心跳包。
+                心跳失败会计数（当前为连续失败到阈值才重连）。
+        任何发送/接收致命失败：
+    关闭 socket/断开连接 → 跳出内层循环 → 外层等待一会儿后重新 connect_server() → 重新登录。
+6. “WiFi 连接/验证”
+    TCP 连接建立与网络选择（connect_server() / select_network()）
+    * select_network()：WiFi 优先，但要求：
+        is_wifi_connected() 为 True（系统层面有 WiFi IP 或 Maix WLAN connected）
+        且能连到 TCP 服务器 SERVER_IP:SERVER_PORT
+        否则回退到 4G
+    * connect_server()：
+        若已有连接：WiFi 会做 _check_wifi_connection() 轻量检查；4G 直接认为 OK（由 AT 层维护）。
+        否则按网络类型走：
+            WiFi：创建 socket → connect → setblocking(False)（接收用非阻塞）
+            4G：AT+MIPOPEN 建链
+    WiFi 链接（connect_wifi()）
+    当前 connect_wifi() 的关键特点是：必须让 /etc/init.d/S30wifi restart 真正用新 SSID 去连，所以会临时写 /boot/wifi.ssid 和 /boot/wifi.pass，失败自动回滚。
+    流程是：
+        (1) 备份旧配置
+            * /boot/wifi.ssid、/boot/wifi.pass
+            * /etc/wpa_supplicant.conf（尽量备份）
+        (2) 写入新凭证
+            * 把新 ssid/pass 写到 /boot/*
+            -（同时尽量写 /etc/wpa_supplicant.conf，但不强依赖）
+        (3) 重启 WiFi 服务：/etc/init.d/S30wifi restart
+        (4) 等待获取 IP（默认 20 秒，可调）
+        (5) 验证可用性，连到 verify_host:verify_port
+        (6) 成功
+            * persist=True：保留 /boot/*（持久化）
+            * persist=False：回滚 /boot/* 到旧值（不重启，当前连接仍可继续）
+        (7) 失败
+            * 回滚 /boot/* + 回滚 /etc/wpa_supplicant.conf（如果有备份）
+            * 再 S30wifi restart 恢复旧网络
+            * 返回错误
+
+7. 日志上传（inner_cmd == 43），当前只支持 wifi 上传日志
+    命令带 ssid/password/url 时：
+        * 若 WiFi 未连接：先 connect_wifi(..., verify_host=upload_host, verify_port=upload_port, persist=True)
+    上传内容：
+        * sync # 把日志从内存同步到文件
+        * 快照 app.log* 到 /tmp staging
+        * 打包成 tar.gz（默认）或 zip
+        * 以 multipart/form-data 的 file 字段 POST 到 url
+
+8. 自动关机：
+    hardware中设定了开停表，然后再增加了获取idle的时间。
+    自动关机的时机： 超过配置的idle时长，
+    禁止自动关机的情况：1.校准中，2.OTA中
+    重启计时的时机：1.校准完成，2.命令触发射箭，3.真实触发射箭，4.初始化完成
+9. Wifi网络监控：
+有两次发现wifi网络下，有些消息发送很慢，但具体是什么缘故还不清楚，现在增加了wifi网络下的检测，并一旦发现wifi的网络质量差，就会切换到4G。
+WiFi 连接成功
+    ↓
+启动后台监测线程
+    ↓
+每 5 秒循环：
+    测量 RTT (1 样本，600ms timeout)
+    获取 RSSI
+    更新缓存
+    判断是否差：
+        - RTT >= 600ms → 差
+        - RTT >= 350ms 且 RSSI <= -80dBm → 差
+    ↓
+如果质量差：
+    快速重试2次，如果其中任意一次网络恢复了，继续使用wifi。否则，
+    调用 _switch_to_4g_due_to_poor_wifi()
+    关闭 WiFi socket
+    重置连接状态
+    尝试切换到 4G
+    ↓
+上层检测到连接断开：
+    重新 connect_server() → 自动选择 4G

design_doc/todo.md

@@ -0,0 +1,41 @@
+你现在要防的是“别人拿到设备/拿到代码包后，能伪造请求、刷接口、下发恶意 OTA、甚至劫持通信”。单靠隐藏 Python 源码只能提高门槛，真正的安全要靠协议和密钥设计。结合你仓库里实际内容，建议你重点隐藏/整改这些点（按风险排序）。
+1. 必须隐藏/必须整改（高风险）
+1.1 登录口令规则太弱（几乎等于明文）
+你现在的登录是 password = device_id + "."（见 network.py 读取设备 ID 后直接拼出来），这意味着只要攻击者知道/猜到 device_id，就能直接登录伪装设备。
+相关位置：
+with open("/device_key", "r") as f:    device_id = f.read().strip()    ...    self._device_id = device_id    self._password = device_id + "."
+1.2 HTTP 鉴权 token 的盐值是硬编码常量（泄露后可离线伪造）
+你 token 是 HMAC-SHA256((SALT+device_id), SALT2)，而 SALT/SALT2 是固定字符串："shootMessageFire" / "shoot"。这类“硬编码盐值 + 可猜/可读的 device_id”意味着：攻击者只要拿到代码包/逆向 .so，就能在自己电脑上批量算 token，伪造 HTTP 请求。
+相关位置：
+SALT = "shootMessageFire"SALT2 = "shoot"return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
+1.3 TLS 配置目前看起来没有做证书校验（容易被中间人攻击）
+config.py 虽然 USE_TCP_SSL=True，但你在 network.py 里实际把 MSSLCFG="auth" 固定成 0（不验），且写证书分支被 if False 禁用了。这样“看起来是 TLS”，但仍可能被抓包/篡改/假服务器接入。
+相关位置：
+r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},0', "OK", 3000)...if False:  # 写证书/校验被禁用    ...r = hardware_manager.at_client.send(f'AT+MIPCFG="ssl",{link_id},{ssl_id},1', "OK", 3000)
+1.4 OTA 下发“url”如果缺少强校验，就是远程代码执行入口
+你 OTA 逻辑里从服务器指令拿到 url 就去下载并替换文件/重启（这是正常 OTA），但安全性取决于：
+是否只允许白名单域名/路径
+是否强制 https 并校验服务器证书
+是否对 OTA 包做签名校验（最关键）
+你这里能看到固定域名 static.shelingxingqiu.com 的特殊处理（ota_manager.py 里还在纠结 http/https），这块一定要“服务端签名 + 设备端验签”，否则隐藏源码也没用。
+
+2. 建议隐藏（中风险，但很容易被人利用）
+2.1 所有服务器地址/端口/API 路径（可被用于扫描、压测、撞库、协议逆向）
+这些在 config.py 是明文：
+SERVER_IP = "stcp.shelingxingqiu.com"SERVER_PORT = 50005HTTP_URL = "http://ws.shelingxingqiu.com"HTTP_API_PATH = "/home/shoot/device_fire/arrow/fire"
+注意：即使你把它们藏进 .so，攻击者仍可能通过抓包/观察 DNS/SNI/流量拿到域名或 IP，所以“隐藏”只能降低静态分析风险，不能替代鉴权/签名。
+2.2 WiFi 凭证落盘位置
+你会把 SSID/密码写到 /boot/wifi.ssid 和 /boot/wifi.pass（network.py/wifi.py 都有）。拿到设备存储就能读到明文密码，这属于设备侧安全问题。
+2.3 日志/调试信息泄露
+你仓库里 .cursor/debug.log* 已经记录了完整的 AT+MIPOPEN ... host:port 等信息；如果这些被打进包或被用户导出，也会泄露通信细节。
+你发布包里“真正会被带走的敏感内容”
+你现在 app.yaml 的打包清单只包含核心运行文件（不包含 test/、backup_code/、.cursor/ 等），这一点很好：
+files:  - app.yaml  - at_client.py  - camera_manager.py  - config.py  - hardware.py  - laser_manager.py  - logger_manager.py  - main.py  - network.py  - ota_manager.py  - power.py  - shot_id_generator.py  - time_sync.py  - version.py  - vision.py
+但要注意：你当前最敏感的“盐值/口令规则/HTTP header 逻辑/OTA 策略”都在这些会打包的文件里（尤其是 network.py、ota_manager.py、config.py）。
+
+3. 最有效的“防黑”措施（比隐藏更关键）
+把“password=device_id+.” 改为真正的 per-device secret（设备出厂烧录，服务端保存；或服务端下发公钥，设备用私钥签名）
+所有上报/控制命令加签名 + nonce/timestamp + 服务端防重放（别人抓到一次包也不能复用）
+OTA 包必须做签名校验（设备端内置公钥，下载后验签通过才应用）
+TLS 必须做证书校验/最好做 pinning（至少别用 auth=0）
+如果你告诉我：你们服务端目前能不能改协议（例如新增签名字段、下发 challenge、做 OTA 签名），我可以按“最小改动但提升最大安全”的顺序，帮你规划一套从现状平滑升级的方案。

hardware.py

@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+硬件管理器模块
+提供硬件对象的统一管理和访问
+"""
+from maix import time
+import config
+from at_client import ATClient
+
+
+class HardwareManager:
+    """硬件管理器（单例）"""
+    _instance = None
+    
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(HardwareManager, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+    
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        # 私有硬件对象
+        self._uart4g = None              # 4G模块UART
+        self._bus = None                 # I2C总线
+        self._adc_obj = None             # ADC对象
+        self._at_client = None            # AT客户端
+
+        self._last_active_time = 0       # 用于记录用户的最后一次活跃的时间
+        self._stop_timer = False         # 用于停止定时器的标志
+
+        self._initialized = True
+
+
+    
+    # ==================== 硬件访问（只读属性）====================
+    
+    @property
+    def uart4g(self):
+        """4G模块UART（只读）"""
+        return self._uart4g
+    
+    @property
+    def bus(self):
+        """I2C总线（只读）"""
+        return self._bus
+    
+    @property
+    def adc_obj(self):
+        """ADC对象（只读）"""
+        return self._adc_obj
+    
+    @property
+    def at_client(self):
+        """AT客户端（只读）"""
+        return self._at_client
+    
+    # ==================== 初始化方法 ====================
+    
+    def init_uart4g(self, device=None, baudrate=None):
+        """初始化4G模块UART"""
+        from maix import uart
+        if device is None:
+            device = config.UART4G_DEVICE
+        if baudrate is None:
+            baudrate = config.UART4G_BAUDRATE
+        self._uart4g = uart.UART(device, baudrate)
+        return self._uart4g
+    
+    def init_bus(self, bus_num=None):
+        """初始化I2C总线"""
+        from maix import i2c
+        if bus_num is None:
+            bus_num = config.I2C_BUS_NUM
+        self._bus = i2c.I2C(bus_num, i2c.Mode.MASTER)
+        return self._bus
+    
+    def init_adc(self, channel=None, res_bit=None):
+        """初始化ADC"""
+        from maix.peripheral import adc
+        if channel is None:
+            channel = config.ADC_CHANNEL
+        if res_bit is None:
+            res_bit = adc.RES_BIT_12
+        self._adc_obj = adc.ADC(channel, res_bit)
+        return self._adc_obj
+    
+    def init_at_client(self, uart_obj=None):
+        """初始化AT客户端"""
+        if uart_obj is None:
+            if self._uart4g is None:
+                raise ValueError("uart4g must be initialized before at_client")
+            uart_obj = self._uart4g
+        self._at_client = ATClient(uart_obj)
+        self._at_client.start()
+        return self._at_client
+
+    def power_off(self):
+        """关闭电源板"""
+        try:
+            # 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
+            # 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_idle_timer(self):
+        self._stop_timer = False
+        self._last_active_time = time.time()
+
+    def stop_idle_timer(self):
+        self._stop_timer = True
+
+    def get_idle_time_in_sec(self):
+        if self._stop_timer:
+            return 0
+        diff = time.time() - self._last_active_time
+        if diff < 0:
+            # 时间可能被重置了，重新计时
+            self._last_active_time = time.time()
+            return 0
+        return diff
+
+
+# 创建全局单例实例
+hardware_manager = HardwareManager()
+
+

keygen.py

@@ -0,0 +1,52 @@
+import os
+
+
+def generate_key_pair():
+    """
+    生成一对新的密钥a和b，使得a XOR b等于原始key
+    :return: (a, b, key) 元组，每个元素都是32字节的字节数组
+    """
+    # 原始key值
+    key = bytes([
+        0x5d, 0xf9, 0xef, 0xc4, 0x5d, 0xcc, 0xc7, 0x8d, 0xc9, 0x86, 0x34, 0x11, 0x6f, 0xb4, 0xcf, 0x75,
+        0xbf, 0x24, 0x47, 0x9d, 0xd6, 0x5d, 0x83, 0x4b, 0xa6, 0xc0, 0xde, 0x27, 0x91, 0x92, 0xb1, 0x63
+    ])
+
+    # 随机生成a
+    a = os.urandom(32)
+
+    # 计算b = key XOR a
+    b = bytes([key[i] ^ a[i] for i in range(32)])
+
+    return a, b, key
+
+
+def format_hex_array(data):
+    """
+    将字节数组格式化为C++风格的十六进制数组
+    :param data: 字节数组
+    :return: 格式化后的字符串
+    """
+    return "{" + ",".join([f"0x{b:02x}" for b in data]) + "}"
+
+
+def generate_new_key_pair():
+    """
+    生成新的密钥对并打印出来
+    """
+    a, b, key = generate_key_pair()
+
+    print("原始key:")
+    print(format_hex_array(key))
+    print("\n新的密钥对:")
+    print("a =", format_hex_array(a))
+    print("b =", format_hex_array(b))
+
+    # 验证a XOR b是否等于key
+    verify_key = bytes([a[i] ^ b[i] for i in range(32)])
+    assert verify_key == key, "验证失败：a XOR b 不等于 key"
+    print("\n验证成功：a XOR b 等于 key")
+
+
+if __name__ == "__main__":
+    generate_new_key_pair()

laser.py

@@ -1,826 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-激光射击系统主程序（激光测距版）
-功能：目标检测、激光校准、4G TCP 通信、OTA 升级、M01 激光测距、INA226 电量监测
-平台：MaixPy (Sipeed MAIX)
-作者：ZZH
-最后更新：2025-11-21
-"""
-
-from maix import camera, display, image, app, time, key, uart, pinmap, i2c, network, err
-import cv2
-import numpy as np
-import json
-import struct
-import re
-from maix.peripheral import adc
-import _thread
-import os
-import requests
-import socket
-import binascii
-
-# ==============================
-# 全局配置
-# ==============================
-# OTA 升级地址（建议后续改为动态下发）
-url = "https://static.shelingxingqiu.com/shoot/202511031031/main.py"
-local_filename = "/maixapp/apps/t11/main.py"
-
-DEVICE_ID = None
-PASSWORD = None
-SERVER_IP = "www.shelingxingqiu.com"
-SERVER_PORT = 50005
-HEARTBEAT_INTERVAL = 2  # 心跳间隔（秒）
-
-CONFIG_FILE = "/root/laser_config.json"
-DEFAULT_POINT = (640, 480)  # 图像中心点
-laser_point = DEFAULT_POINT
-
-# HTTP API（当前未使用，保留备用）
-URL = "http://ws.shelingxingqiu.com"
-API_PATH = "/home/shoot/device_fire/arrow/fire"
-
-# UART 设备初始化
-uart4g = uart.UART("/dev/ttyS2", 115200)        # 4G 模块（TCP 透传）
-distance_serial = uart.UART("/dev/ttyS1", 9600)  # M01 激光测距模块
-
-# 消息类型常量
-MSG_TYPE_LOGIN_REQ = 1   # 登录请求
-MSG_TYPE_STATUS = 2      # 状态上报
-MSG_TYPE_HEARTBEAT = 4   # 心跳包
-# 引脚功能映射
-pinmap.set_pin_function("A18", "UART1_RX")
-pinmap.set_pin_function("A19", "UART1_TX")
-pinmap.set_pin_function("A29", "UART2_RX")
-pinmap.set_pin_function("A28", "UART2_TX")
-pinmap.set_pin_function("P18", "I2C1_SCL")
-pinmap.set_pin_function("P21", "I2C1_SDA")
-# pinmap.set_pin_function("A15", "I2C5_SCL")
-# pinmap.set_pin_function("A27", "I2C5_SDA")#ota升级要修改的
-# ADC 触发阈值（用于检测扳机/激光触发）
-ADC_TRIGGER_THRESHOLD = 3000
-ADC_LASER_THRESHOLD = 3000
-# 显示参数
-color = image.Color(255, 100, 0)  # 橙色十字线
-thickness = 1
-length = 2
-
-# ADC 扳机触发阈值（0~4095）
-ADC_TRIGGER_THRESHOLD = 3000
-
-# I2C 电源监测（INA226）
-adc_obj = adc.ADC(0, adc.RES_BIT_12)
-bus = i2c.I2C(1, i2c.Mode.MASTER)
-# bus = i2c.I2C(5, i2c.Mode.MASTER)#ota升级总线
-INA226_ADDR = 0x40
-REG_CONFIGURATION = 0x00
-REG_BUS_VOLTAGE = 0x02
-REG_CALIBRATION = 0x05
-CALIBRATION_VALUE = 0x1400
-
-# M01 激光模块指令
-MODULE_ADDR = 0x00 
-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])
-DISTANCE_RESPONSE_LEN = 13
-
-# TCP / 线程状态
-tcp_connected = False
-send_queue = []
-update_thread_started = False  # 防止重复 OTA
-send_queue_lock = _thread.allocate_lock()
-laser_calibration_data_lock = _thread.allocate_lock()
-laser_calibration_active = False
-laser_calibration_result = None
-
-
-# ==============================
-# 网络工具函数
-# ==============================
-
-def is_server_reachable(host, port=80, timeout=5):
-    """检查能否连接到指定主机和端口（用于 OTA 前网络检测）"""
-    try:
-        addr_info = socket.getaddrinfo(host, port)[0]
-        s = socket.socket(addr_info[0], addr_info[1], addr_info[2])
-        s.settimeout(timeout)
-        s.connect(addr_info[-1])
-        s.close()
-        return True
-    except Exception as e:
-        print(f"[NET] 无法连接 {host}:{port} - {e}")
-        return False
-
-
-def download_file(url, filename):
-    """
-    从指定 URL 下载文件并保存为 UTF-8 文本。
-    注意：此操作会覆盖本地 main.py！
-    """
-    try:
-        print(f"[OTA] 正在从 {url} 下载文件...")
-        response = requests.get(url, timeout=10)  # ⏱️ 防止卡死
-        response.raise_for_status()
-        response.encoding = 'utf-8'
-        with open(filename, 'w', encoding='utf-8') as file:
-            file.write(response.text)
-        return f"下载成功！文件已保存为: {filename}"
-    except requests.exceptions.RequestException as e:
-        return f"下载失败！网络请求错误: {e}"
-    except OSError as e:
-        return f"下载失败！文件写入错误: {e}"
-    except Exception as e:
-        return f"下载失败！发生未知错误: {e}"
-
-
-def connect_wifi(ssid, password):
-    """
-    连接 Wi-Fi 并持久化凭证到 /boot/ 目录，使设备重启后自动连接。
-    返回 (ip, error) 元组。
-    """
-    conf_path = "/etc/wpa_supplicant.conf"
-    ssid_file = "/boot/wifi.ssid"
-    pass_file = "/boot/wifi.pass"
-
-    try:
-        # 生成 wpa_supplicant 配置
-        net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read()
-        if "network={" not in net_conf:
-            return None, "Failed to generate wpa config"
-
-        # 写入运行时配置
-        with open(conf_path, "w") as f:
-            f.write("ctrl_interface=/var/run/wpa_supplicant\n")
-            f.write("update_config=1\n\n")
-            f.write(net_conf)
-
-        # 持久化保存（供开机脚本读取）
-        with open(ssid_file, "w") as f:
-            f.write(ssid.strip())
-        with open(pass_file, "w") as f:
-            f.write(password.strip())
-
-        # 重启 Wi-Fi 服务
-        os.system("/etc/init.d/S30wifi restart")
-
-        # 等待获取 IP（最多 20 秒）
-        for _ in range(20):
-            ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
-            if ip:
-                return ip, None
-            time.sleep(1)
-
-        return None, "Timeout: No IP obtained"
-
-    except Exception as e:
-        return None, f"Exception: {str(e)}"
-
-def direct_ota_download():
-    """
-    直接执行 OTA 下载（假设已有网络）
-    用于 cmd=7 触发
-    """
-    global update_thread_started
-    try:
-        # 再次确认网络可达（可选但推荐）
-        from urllib.parse import urlparse
-        parsed_url = urlparse(url)
-        host = parsed_url.hostname
-        port = parsed_url.port or (443 if parsed_url.scheme == 'https' else 80)
-
-        if not is_server_reachable(host, port, timeout=8):
-            safe_enqueue({"result": "ota_failed", "reason": f"无法连接 {host}:{port}"}, MSG_TYPE_STATUS)
-            return
-
-        print(f"[OTA] 开始直接下载固件...")
-        result_msg = download_file(url, local_filename)
-        print(f"[OTA] {result_msg}")
-        safe_enqueue({"result": result_msg}, MSG_TYPE_STATUS)
-
-    except Exception as e:
-        error_msg = f"OTA 异常: {str(e)}"
-        print(error_msg)
-        safe_enqueue({"result": "ota_failed", "reason": error_msg}, MSG_TYPE_STATUS)
-    finally:
-        update_thread_started = False  # 允许下次 OTA
-
-
-def handle_wifi_and_update(ssid, password):
-    """
-    OTA 更新线程入口。
-    注意：必须在 finally 中重置 update_thread_started！
-    """
-    global update_thread_started
-    try:
-        ip, error = connect_wifi(ssid, password)
-        if error:
-            safe_enqueue({"result": "wifi_failed", "error": error}, MSG_TYPE_STATUS)
-            return
-
-        safe_enqueue({"result": "wifi_connected", "ip": ip}, MSG_TYPE_STATUS)
-
-        from urllib.parse import urlparse
-        parsed_url = urlparse(url)
-        host = parsed_url.hostname
-        port = parsed_url.port or (443 if parsed_url.scheme == 'https' else 80)
-
-        if not is_server_reachable(host, port, timeout=8):
-            err_msg = f"网络不通：无法连接 {host}:{port}"
-            safe_enqueue({"result": err_msg}, MSG_TYPE_STATUS)
-            return
-
-        print(f"[OTA] 已确认可访问 {host}:{port}，开始下载...")
-        try:
-            cs = download_file(url, local_filename)
-        except Exception as e:
-            cs = f"下载失败: {str(e)}"
-        print(cs)
-        safe_enqueue({"result": cs}, MSG_TYPE_STATUS)
-
-    finally:
-        # ✅ 关键修复：允许下次 OTA
-        update_thread_started = False
-        print("[UPDATE] OTA 线程执行完毕，标志已重置。")
-
-
-# ==============================
-# 工具函数
-# ==============================
-
-def read_device_id():
-    """从 /device_key 读取设备唯一 ID"""
-    try:
-        with open("/device_key", "r") as f:
-            device_id = f.read().strip()
-            if device_id:
-                print(f"[INFO] 从 /device_key 读取到 DEVICE_ID: {device_id}")
-                return device_id
-            else:
-                raise ValueError("文件为空")
-    except Exception as e:
-        print(f"[ERROR] 无法读取 /device_key: {e}")
-        return "DEFAULT_DEVICE_ID"
-
-
-def safe_enqueue(data_dict, msg_type=MSG_TYPE_STATUS):
-    """线程安全地将消息加入发送队列"""
-    global send_queue, send_queue_lock
-    with send_queue_lock:
-        send_queue.append((msg_type, data_dict))
-
-
-def at(cmd, wait="OK", timeout=2000):
-    """向 4G 模块发送 AT 指令并等待响应"""
-    if cmd:
-        uart4g.write((cmd + "\r\n").encode())
-    t0 = time.ticks_ms()
-    buf = b""
-    while time.ticks_ms() - t0 < timeout:
-        data = uart4g.read()
-        if data:
-            buf += data
-            if wait.encode() in buf:
-                return buf.decode(errors="ignore")
-    return buf.decode(errors="ignore")
-
-
-def make_packet(msg_type: int, body_dict: dict) -> bytes:
-    """构造二进制数据包：[body_len][msg_type][checksum][body]"""
-    body = json.dumps(body_dict, ensure_ascii=False).encode('utf-8')
-    body_len = len(body)
-    checksum = body_len + msg_type
-    header = struct.pack(">III", body_len, msg_type, checksum)
-    return header + body
-
-
-def parse_packet(data: bytes):
-    """解析二进制数据包"""
-    if len(data) < 12:
-        return None, None
-    body_len, msg_type, checksum = struct.unpack(">III", data[:12])
-    body = data[12:12 + body_len]
-    try:
-        # ✅ 显式指定 UTF-8 编码
-        return msg_type, json.loads(body.decode('utf-8'))
-    except Exception as e:
-        print(f"[ERROR] 解析包体失败: {e}")
-        return msg_type, {"raw": body.decode('utf-8', errors='ignore')}
-
-
-def tcp_send_raw(data: bytes, max_retries=2) -> bool:
-    """通过 4G 模块发送原始 TCP 数据（仅在 tcp_main 线程调用）"""
-    global tcp_connected
-    if not tcp_connected:
-        return False
-
-    for attempt in range(max_retries):
-        cmd = f'AT+MIPSEND=0,{len(data)}'
-        if ">" not in at(cmd, ">", 1500):
-            time.sleep_ms(100)
-            continue
-
-        time.sleep_ms(10)
-        full = data + b"\x1A"
-        try:
-            sent = uart4g.write(full)
-            if sent != len(full):
-                time.sleep_ms(100)
-                continue
-        except:
-            time.sleep_ms(100)
-            continue
-
-        if "OK" in at("", "OK", 1000):
-            return True
-        time.sleep_ms(100)
-
-    return False
-
-
-def load_laser_point():
-    """从配置文件加载激光点坐标"""
-    global laser_point
-    try:
-        if "laser_config.json" in os.listdir("/root"):
-            with open(CONFIG_FILE, "r") as f:
-                data = json.load(f)
-                if isinstance(data, list) and len(data) == 2:
-                    laser_point = (int(data[0]), int(data[1]))
-                    print(f"[INFO] 加载激光点: {laser_point}")
-                else:
-                    raise ValueError
-        else:
-            laser_point = DEFAULT_POINT
-    except:
-        laser_point = DEFAULT_POINT
-
-
-def save_laser_point(point):
-    """保存激光点坐标到文件"""
-    global laser_point
-    try:
-        with open(CONFIG_FILE, "w") as f:
-            json.dump([point[0], point[1]], f)
-        laser_point = point
-    except:
-        pass
-
-
-def turn_on_laser():
-    """发送激光开启指令"""
-    distance_serial.write(LASER_ON_CMD)
-    time.sleep_ms(10)
-    resp = distance_serial.read(20)
-    if resp:
-        if resp == LASER_ON_CMD:
-            print("✅ 激光指令已确认")
-    else:
-        print("🔇 无回包（正常或模块不支持）")
-    return resp
-
-
-# ==============================
-# M01 激光测距模块
-# ==============================
-
-def parse_bcd_distance(bcd_bytes: bytes) -> float:
-    """将 4 字节 BCD 码转换为距离（米）"""
-    if len(bcd_bytes) != 4:
-        return 0.0
-    try:
-        hex_string = binascii.hexlify(bcd_bytes).decode()
-        distance_int = int(hex_string)
-        return distance_int / 1000.0
-    except Exception as e:
-        print(f"[ERROR] BCD 解析失败: {e}")
-        return 0.0
-
-
-def read_distance_from_laser_sensor():
-    """发送测距指令并返回距离（米）"""
-    global distance_serial
-    try:
-        distance_serial.read()  # 清空缓冲区
-        distance_serial.write(DISTANCE_QUERY_CMD)
-        time.sleep_ms(500)
-        response = distance_serial.read(DISTANCE_RESPONSE_LEN)
-
-        if response and len(response) == DISTANCE_RESPONSE_LEN:
-            if response[3] != 0x20:
-                if response[0] == 0xEE:
-                    err_code = (response[7] << 8) | response[8]
-                    print(f"[LASER] 模块错误代码: {hex(err_code)}")
-                return 0.0
-
-            bcd_bytes = response[6:10]
-            distance_value_m = parse_bcd_distance(bcd_bytes)
-            signal_quality = (response[10] << 8) | response[11]
-            print(f"[LASER] 测距成功: {distance_value_m:.3f} m, 信号质量: {signal_quality}")
-            return distance_value_m
-
-        print(f"[LASER] 无效响应: {response.hex() if response else 'None'}")
-        return 0.0
-    except Exception as e:
-        print(f"[ERROR] 读取激光测距失败: {e}")
-        return 0.0
-
-
-# ==============================
-# 激光点校准
-# ==============================
-
-def find_red_laser(frame, threshold=150):
-    """在图像中查找最亮的红色点（简单 RGB 判定）"""
-    w, h = frame.width(), frame.height()
-    img_bytes = frame.to_bytes()
-    max_sum = 0
-    best_pos = None
-    for y in range(0, h, 2):
-        for x in range(0, w, 2):
-            idx = (y * w + x) * 3
-            r, g, b = img_bytes[idx], img_bytes[idx+1], img_bytes[idx+2]
-            if r > threshold and r > g * 2 and r > b * 2:
-                rgb_sum = r + g + b
-                if rgb_sum > max_sum:
-                    max_sum = rgb_sum
-                    best_pos = (x, y)
-    return best_pos
-
-
-def calibrate_laser_position():
-    """拍摄一帧并识别激光点位置"""
-    time.sleep_ms(80)
-    cam = camera.Camera(640, 480)
-    frame = cam.read()
-    pos = find_red_laser(frame)
-    if pos:
-        save_laser_point(pos)
-        return pos
-    return None
-
-
-# ==============================
-# 电量监测（INA226）
-# ==============================
-
-def write_register(reg, value):
-    data = [(value >> 8) & 0xFF, value & 0xFF]
-    bus.writeto_mem(INA226_ADDR, reg, bytes(data))
-
-
-def read_register(reg):
-    data = bus.readfrom_mem(INA226_ADDR, reg, 2)
-    return (data[0] << 8) | data[1]
-
-
-def init_ina226():
-    write_register(REG_CONFIGURATION, 0x4527)
-    write_register(REG_CALIBRATION, CALIBRATION_VALUE)
-
-
-def get_bus_voltage():
-    raw = read_register(REG_BUS_VOLTAGE)
-    return raw * 1.25 / 1000
-
-
-def voltage_to_percent(voltage):
-    points = [
-        (4.20, 100), (4.10, 95), (4.05, 85), (4.00, 75), (3.95, 65),
-        (3.90, 55), (3.85, 45), (3.80, 35), (3.75, 25), (3.70, 15),
-        (3.65, 5), (3.60, 0)
-    ]
-    if voltage >= points[0][0]: return 100
-    if voltage <= points[-1][0]: return 0
-    for i in range(len(points) - 1):
-        v1, p1 = points[i]; v2, p2 = points[i + 1]
-        if v2 <= voltage <= v1:
-            ratio = (voltage - v1) / (v2 - v1)
-            percent = p1 + (p2 - p1) * ratio
-            return max(0, min(100, int(round(percent))))
-    return 0
-
-
-# ==============================
-# 目标检测
-# ==============================
-
-def detect_circle(frame):
-    """检测靶心圆（清晰/模糊两种模式）"""
-    img_cv = image.image2cv(frame, False, False)
-    gray = cv2.cvtColor(img_cv, cv2.COLOR_BGR2GRAY)
-    blurred = cv2.GaussianBlur(gray, (5, 5), 0)
-    edged = cv2.Canny(blurred, 50, 150)
-    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
-    ceroded = cv2.erode(cv2.dilate(edged, kernel), kernel)
-
-    contours, _ = cv2.findContours(ceroded, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
-    best_center = best_radius = method = None
-
-    for cnt in contours:
-        area = cv2.contourArea(cnt)
-        perimeter = cv2.arcLength(cnt, True)
-        if perimeter < 100 or area < 100: continue
-        circularity = 4 * np.pi * area / (perimeter ** 2)
-        if circularity > 0.75 and len(cnt) >= 5:
-            center, axes, angle = cv2.fitEllipse(cnt)
-            radius = (axes[0] + axes[1]) / 4
-            best_center = (int(center[0]), int(center[1]))
-            best_radius = int(radius)
-            method = "清晰"
-            break
-
-    if not best_center:
-        hsv = cv2.cvtColor(img_cv, cv2.COLOR_BGR2HSV)
-        h, s, v = cv2.split(hsv)
-        s = np.clip(s * 2, 0, 255).astype(np.uint8)
-        hsv = cv2.merge((h, s, v))
-        lower_yellow = np.array([7, 80, 0])
-        upper_yellow = np.array([32, 255, 182])
-        mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
-        kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
-        mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
-        mask = cv2.morphologyEx(mask, cv2.MORPH_DILATE, kernel)
-        contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-        if contours:
-            largest = max(contours, key=cv2.contourArea)
-            if cv2.contourArea(largest) > 50:
-                (x, y), radius = cv2.minEnclosingCircle(largest)
-                best_center = (int(x), int(y))
-                best_radius = int(radius)
-                method = "模糊"
-
-    result_img = image.cv2image(img_cv, False, False)
-    return result_img, best_center, best_radius, method, best_radius
-
-
-def compute_laser_position(circle_center, laser_point, radius, method):
-    """计算激光相对于靶心的偏差（单位：厘米）"""
-    if not all([circle_center, radius, method]):
-        return None, None
-    cx, cy = circle_center
-    lx, ly = laser_point
-    # 根据检测模式估算实际半径（单位：像素 → 厘米）
-    circle_r_cm = (radius / 4.0) * 20.0 if method == "模糊" else (68 / 16.0) * 20.0
-    dx = lx - cx
-    dy = ly - cy
-    scale = circle_r_cm / radius if radius != 0 else 1.0
-    return dx * scale, -dy * scale
-
-
-# ==============================
-# TCP 通信主线程
-# ==============================
-
-def connect_server():
-    """连接服务器（通过 4G 模块 AT 指令）"""
-    global tcp_connected
-    if tcp_connected:
-        return True
-    print("正在连接服务器...")
-    at("AT+MIPCLOSE=0", "OK", 1000)
-    res = at(f'AT+MIPOPEN=0,"TCP","{SERVER_IP}",{SERVER_PORT}', "+MIPOPEN", 8000)
-    if "+MIPOPEN: 0,0" in res:
-        tcp_connected = True
-        return True
-    return False
-
-
-def tcp_main():
-    """TCP 通信主循环（独立线程）"""
-    global tcp_connected, send_queue, laser_calibration_active, laser_calibration_result,update_thread_started
-
-    while not app.need_exit():
-        if not connect_server():
-            time.sleep_ms(5000)
-            continue
-
-        login_data = {"deviceId": DEVICE_ID, "password": PASSWORD}
-        if not tcp_send_raw(make_packet(MSG_TYPE_LOGIN_REQ, login_data)):
-            tcp_connected = False
-            time.sleep_ms(2000)
-            continue
-
-        print("➡️ 登录包已发送，等待确认...")
-        logged_in = False
-        last_heartbeat_ack_time = time.ticks_ms()
-        last_heartbeat_send_time = time.ticks_ms()
-        rx_buf = b""
-
-        while True:
-            data = uart4g.read()
-            if data:
-                rx_buf += data
-                while b'+MIPURC: "rtcp"' in rx_buf:
-                    try:
-                        match = re.search(b'\+MIPURC: "rtcp",0,(\d+),(.+)', rx_buf, re.DOTALL)
-                        if match:
-                            payload_len = int(match.group(1))
-                            payload = match.group(2)[:payload_len]
-                            msg_type, body = parse_packet(payload)
-
-                            if not logged_in and msg_type == MSG_TYPE_LOGIN_REQ:
-                                if body and body.get("cmd") == 1 and body.get("data") == "登录成功":
-                                    logged_in = True
-                                    last_heartbeat_ack_time = time.ticks_ms()
-                                    print("✅ 登录成功")
-                                else:
-                                    break
-
-                            elif logged_in and msg_type == MSG_TYPE_HEARTBEAT:
-                                last_heartbeat_ack_time = time.ticks_ms()
-                                print("✅ 收到心跳确认")
-
-                            elif logged_in and isinstance(body, dict):
-                                inner_data = body.get("data", {})
-                                if isinstance(inner_data, dict) and "cmd" in inner_data:
-                                    inner_cmd = inner_data["cmd"]
-                                    if inner_cmd == 2:
-                                        turn_on_laser()
-                                        time.sleep_ms(100)
-                                        laser_calibration_active = True
-                                        safe_enqueue({"result": "calibrating"}, MSG_TYPE_STATUS)
-                                    elif inner_cmd == 3:
-                                        distance_serial.write(LASER_OFF_CMD)
-                                        laser_calibration_active = False
-                                        safe_enqueue({"result": "laser_off"}, MSG_TYPE_STATUS)
-                                    elif inner_cmd == 4:
-                                        voltage = get_bus_voltage()
-                                        battery_percent = voltage_to_percent(voltage)
-                                        battery_data = {"battery": battery_percent, "voltage": round(voltage, 3)}
-                                        safe_enqueue(battery_data, MSG_TYPE_STATUS)
-                                    elif inner_cmd == 5:
-                                        ssid = inner_data.get("ssid")
-                                        password = inner_data.get("password")
-                                        if not ssid or not password:
-                                            safe_enqueue({"result": "missing_ssid_or_password"}, MSG_TYPE_STATUS)
-                                        else:
-                                            # global update_thread_started
-                                            if not update_thread_started:
-                                                update_thread_started = True
-                                                _thread.start_new_thread(handle_wifi_and_update, (ssid, password))
-                                            else:
-                                                safe_enqueue({"result": "update_already_started"}, MSG_TYPE_STATUS)
-                                    elif inner_cmd == 6:
-                                        try:
-                                            ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
-                                            ip = ip if ip else "no_ip"
-                                        except:
-                                            ip = "error_getting_ip"
-                                        safe_enqueue({"result": "current_ip", "ip": ip}, MSG_TYPE_STATUS)
-
-                                    elif inner_cmd == 7:
-                                        # global update_thread_started
-                                        if update_thread_started:
-                                            safe_enqueue({"result": "update_already_started"}, MSG_TYPE_STATUS)
-                                            continue
-
-                                        # 实时检查是否有 IP
-                                        try:
-                                            ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
-                                        except:
-                                            ip = None
-
-                                        if not ip:
-                                            safe_enqueue({"result": "ota_rejected", "reason": "no_wifi_ip"}, MSG_TYPE_STATUS)
-                                        else:
-                                            # 启动纯下载线程
-                                            update_thread_started = True
-                                            _thread.start_new_thread(direct_ota_download, ())
-                            rx_buf = rx_buf[match.end():]
-                        else:
-                            break
-                    except Exception as e:
-                        print(f"[ERROR] 解析/处理数据包失败: {e}")
-                        rx_buf = b""
-                        break
-
-            # 发送队列处理
-            msg_type = None
-            if logged_in:
-                with send_queue_lock:
-                    if send_queue:
-                        msg_type, data_dict = send_queue.pop(0)
-                if msg_type is not None:
-                    pkt = make_packet(msg_type, data_dict)
-                    if not tcp_send_raw(pkt):
-                        print("💔 发送失败，断开重连")
-                        break
-
-            # 校准结果上报
-            if logged_in:
-                x = y = None
-                with laser_calibration_data_lock:
-                    if laser_calibration_result is not None:
-                        x, y = laser_calibration_result
-                        laser_calibration_result = None
-                if x is not None:
-                    safe_enqueue({"result": "ok", "x": x, "y": y}, MSG_TYPE_STATUS)
-
-            # 心跳机制
-            current_time = time.ticks_ms()
-            if logged_in and current_time - last_heartbeat_send_time > HEARTBEAT_INTERVAL * 1000:
-                if not tcp_send_raw(make_packet(MSG_TYPE_HEARTBEAT, {"t": int(time.time())})):
-                    print("💔 心跳发送失败")
-                    break
-                last_heartbeat_send_time = current_time
-
-            if logged_in and current_time - last_heartbeat_ack_time > 6000:
-                print("⏰ 6秒无心跳ACK，重连")
-                break
-
-            time.sleep_ms(50)
-
-        tcp_connected = False
-        time.sleep_ms(2000)
-
-
-def laser_calibration_worker():
-    """后台激光校准线程"""
-    global laser_calibration_active, laser_calibration_result
-    while True:
-        if laser_calibration_active:
-            result = calibrate_laser_position()
-            if result and len(result) == 2:
-                with laser_calibration_data_lock:
-                    laser_calibration_result = result
-                    laser_calibration_active = False
-                print(f"✅ 后台校准成功: {result}")
-            else:
-                time.sleep_ms(80)
-        else:
-            time.sleep_ms(50)
-
-
-# ==============================
-# 主程序入口
-# ==============================
-
-def cmd_str():
-    global DEVICE_ID, PASSWORD
-    DEVICE_ID = read_device_id()
-    PASSWORD = DEVICE_ID + "."
-
-    photo_dir = "/root/phot"
-    if photo_dir not in os.listdir("/root"):
-        try:
-            os.mkdir(photo_dir)
-        except:
-            pass
-
-    init_ina226()
-    load_laser_point()
-
-    disp = display.Display()
-    cam = camera.Camera(640, 480)
-
-    _thread.start_new_thread(tcp_main, ())
-    _thread.start_new_thread(laser_calibration_worker, ())
-
-    print("系统准备完成...")
-
-    while not app.need_exit():
-        if adc_obj.read() > ADC_TRIGGER_THRESHOLD:
-            time.sleep_ms(60)
-            frame = cam.read()
-
-            x, y = laser_point
-            frame.draw_line(int(x - length), int(y), int(x + length), int(y), color, thickness)
-            frame.draw_line(int(x), int(y - length), int(x), int(y + length), color, thickness)
-            frame.draw_circle(int(x), int(y), 1, color, thickness)
-
-            result_img, center, radius, method, _ = detect_circle(frame)
-            disp.show(result_img)
-
-            dx, dy = compute_laser_position(center, (x, y), radius, method)
-            distance_m = read_distance_from_laser_sensor()
-            voltage = get_bus_voltage()
-            battery_percent = voltage_to_percent(voltage)
-
-            try:
-                jpg_count = len([f for f in os.listdir(photo_dir) if f.endswith('.jpg')])
-                filename = f"{photo_dir}/{int(x)}_{int(y)}_{round((distance_m or 0.0) * 100)}_{method}_{jpg_count:04d}.jpg"
-                result_img.save(filename, quality=70)
-            except Exception as e:
-                print(f"❌ 保存照片失败: {e}")
-
-            inner_data = {
-                "x": float(dx) if dx is not None else 200.0,
-                "y": float(dy) if dy is not None else 200.0,
-                "r": 90.0,
-                "d": round((distance_m or 0.0) * 100),
-                "m": method
-            }
-            report_data = {"cmd": 1, "data": inner_data}
-            safe_enqueue(report_data, MSG_TYPE_STATUS)
-
-            time.sleep_ms(100)
-        else:
-            disp.show(cam.read())
-            time.sleep_ms(50)
-
-
-if __name__ == "__main__":
-    cmd_str()

logger_manager.py

@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+日志管理器模块
+提供异步日志功能（使用 QueueHandler + QueueListener）
+"""
+import logging
+from logging.handlers import QueueHandler, QueueListener, RotatingFileHandler
+import queue
+import os
+import config
+from version import VERSION
+
+
+class LoggerManager:
+    """日志管理器（单例）"""
+    _instance = None
+    
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(LoggerManager, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+    
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        # 私有状态
+        self._log_queue = None
+        self._queue_listener = None
+        self._logger = None
+        
+        self._initialized = True
+    
+    # ==================== 状态访问（只读属性）====================
+    
+    @property
+    def logger(self):
+        """获取logger对象（只读）"""
+        return self._logger
+    
+    @property
+    def log_queue(self):
+        """获取日志队列（只读）"""
+        return self._log_queue
+    
+    # ==================== 业务方法 ====================
+    
+    def init_logging(self, log_level=logging.INFO, log_file=None, max_bytes=None, backup_count=None):
+        """
+        初始化异步日志系统（使用 QueueHandler + QueueListener）
+        
+        Args:
+            log_level: 日志级别，默认 INFO
+            log_file: 日志文件路径，默认使用 config.LOG_FILE
+            max_bytes: 单个日志文件最大大小（字节），默认使用 config.LOG_MAX_BYTES
+            backup_count: 保留的备份文件数量，默认使用 config.LOG_BACKUP_COUNT
+        """
+        if log_file is None:
+            log_file = config.LOG_FILE
+        if max_bytes is None:
+            max_bytes = config.LOG_MAX_BYTES
+        if backup_count is None:
+            backup_count = config.LOG_BACKUP_COUNT
+        
+        try:
+            # 创建日志队列（无界队列）
+            self._log_queue = queue.Queue(-1)
+            
+            # 确保日志文件所在的目录存在
+            log_dir = os.path.dirname(log_file)
+            if log_dir:  # 如果日志路径包含目录
+                try:
+                    os.makedirs(log_dir, exist_ok=True)
+                except Exception as e:
+                    print(f"[WARN] 无法创建日志目录 {log_dir}: {e}")
+            
+            # 尝试创建文件Handler（带日志轮转）
+            try:
+                file_handler = RotatingFileHandler(
+                    log_file,
+                    maxBytes=max_bytes,
+                    backupCount=backup_count,
+                    encoding='utf-8',
+                    mode='a'  # 追加模式，确保不覆盖
+                )
+            except Exception as e:
+                # 如果RotatingFileHandler不可用，降级为普通FileHandler
+                print(f"[WARN] RotatingFileHandler不可用，使用普通FileHandler: {e}")
+                try:
+                    file_handler = logging.FileHandler(log_file, encoding='utf-8', mode='a')
+                except Exception as e2:
+                    # 如果文件Handler创建失败，只使用控制台Handler
+                    print(f"[WARN] 无法创建文件Handler，仅使用控制台输出: {e2}")
+                    file_handler = None
+            
+            # 自定义Formatter，包含版本信息
+            class CustomFormatter(logging.Formatter):
+                """自定义日志格式，包含版本信息和行号"""
+                def format(self, record):
+                    record.version = VERSION
+                    return super().format(record)
+            
+            # 如果file_handler存在，设置格式和级别
+            if file_handler is not None:
+                file_handler.setFormatter(CustomFormatter(
+                    '%(asctime)s [v%(version)s] [%(levelname)s] %(filename)s:%(lineno)d - %(message)s',
+                    datefmt='%Y-%m-%d %H:%M:%S'
+                ))
+                file_handler.setLevel(log_level)
+            
+            # 创建控制台Handler（保留原有的print输出）
+            console_handler = logging.StreamHandler()
+            console_handler.setFormatter(CustomFormatter(
+                '[v%(version)s] [%(levelname)s] %(filename)s:%(lineno)d - %(message)s'
+            ))
+            console_handler.setLevel(log_level)
+            
+            # 创建QueueListener（后台线程处理日志写入）
+            # 如果file_handler为None，只使用console_handler
+            handlers = [console_handler]
+            if file_handler is not None:
+                handlers.append(file_handler)
+            
+            self._queue_listener = QueueListener(
+                self._log_queue, 
+                *handlers,
+                respect_handler_level=True
+            )
+            self._queue_listener.start()
+            
+            # 创建QueueHandler（用于记录日志）
+            queue_handler = QueueHandler(self._log_queue)
+            
+            # 配置根logger
+            self._logger = logging.getLogger()
+            self._logger.addHandler(queue_handler)
+            self._logger.setLevel(log_level)
+            
+            # 避免日志向上传播到其他logger
+            self._logger.propagate = False
+            
+            # 添加启动标记
+            self._logger.info("=" * 60)
+            self._logger.info("程序启动 - 日志系统初始化")
+            self._logger.info(f"版本: {VERSION}")
+            self._logger.info(f"日志文件: {log_file}")
+            self._logger.info("=" * 60)
+            
+            return True
+        except Exception as e:
+            # 如果日志初始化失败，至少保证程序能运行
+            print(f"[ERROR] 日志系统初始化失败: {e}")
+            import traceback
+            try:
+                traceback.print_exc()
+            except:
+                pass
+            return False
+    
+    def stop_logging(self):
+        """停止日志系统（程序退出时调用）"""
+        try:
+            if self._logger:
+                # 确保所有日志都写入
+                self._logger.info("程序退出，正在保存日志...")
+                import time as std_time
+                std_time.sleep(0.5)  # 给一点时间让日志写入
+            
+            if self._queue_listener:
+                self._queue_listener.stop()
+            
+            if self._logger:
+                # 等待队列中的日志处理完成
+                if self._log_queue:
+                    import time as std_time
+                    timeout = 5
+                    start = std_time.time()
+                    while not self._log_queue.empty() and (std_time.time() - start) < timeout:
+                        std_time.sleep(0.1)
+            print("[LOG] 日志系统已停止")
+        except Exception as e:
+            print(f"[ERROR] 停止日志系统失败: {e}")
+
+
+# 创建全局单例实例
+logger_manager = LoggerManager()
+
+# ==================== 向后兼容的函数接口 ====================
+
+def init_logging(log_level=logging.INFO, log_file=None, max_bytes=None, backup_count=None):
+    """初始化日志系统（向后兼容接口）"""
+    return logger_manager.init_logging(log_level, log_file, max_bytes, backup_count)
+
+def stop_logging():
+    """停止日志系统（向后兼容接口）"""
+    return logger_manager.stop_logging()
+
+def get_logger():
+    """
+    获取全局logger对象（向后兼容接口）
+    如果日志系统未初始化，返回None（此时可以使用print作为fallback）
+    """
+    return logger_manager.logger
+
+
+
+
+
+
+

package.py

@@ -0,0 +1,230 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+应用打包脚本
+根据 app.yaml 中列出的文件，打包成 zip 文件
+版本号从 version.py 中读取
+"""
+import argparse
+import os
+import yaml
+import zipfile
+from datetime import datetime
+import sys
+import secrets
+
+MAGIC = b"AROTAE1"  # 7 bytes: Archery OTA Encrypted v1
+GCM_NONCE_LEN = 12
+GCM_TAG_LEN = 16
+
+# 添加当前目录到路径，以便导入 version 模块
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+
+def load_app_yaml(yaml_path='app.yaml'):
+    """加载 app.yaml 文件"""
+    try:
+        with open(yaml_path, 'r', encoding='utf-8') as f:
+            return yaml.safe_load(f)
+    except Exception as e:
+        print(f"[ERROR] 读取 {yaml_path} 失败: {e}")
+        return None
+
+
+def check_files_exist(files, base_dir='.'):
+    """检查文件是否存在"""
+    missing_files = []
+    existing_files = []
+
+    for file_path in files:
+        full_path = os.path.join(base_dir, file_path)
+        if os.path.exists(full_path):
+            existing_files.append(file_path)
+        else:
+            missing_files.append(file_path)
+
+    return existing_files, missing_files
+
+
+def get_version_from_version_py():
+    """从 version.py 读取版本号"""
+    try:
+        from version import VERSION
+        return VERSION
+    except ImportError:
+        print("[WARNING] 无法导入 version.py，使用默认版本号 1.0.0")
+        return '1.0.0'
+    except Exception as e:
+        print(f"[WARNING] 读取 version.py 失败: {e}，使用默认版本号 1.0.0")
+        return '1.0.0'
+
+
+def create_zip_package(app_info, files, output_dir='.', base_dir='.'):
+    """创建 zip 打包文件"""
+    # 生成输出文件名：{name}_v{version}_{timestamp}.zip
+    # 版本号从 version.py 读取，而不是从 app.yaml
+    app_name = app_info.get('name', 'app')
+    version = get_version_from_version_py()  # 从 version.py 读取版本号
+    timestamp = datetime.now().strftime('%Y%m%d_%H%M%S')
+    zip_filename = f"{app_name}_v{version}_{timestamp}.zip"
+    zip_path = os.path.join(output_dir, zip_filename)
+
+    print(f"[INFO] 开始打包: {zip_filename}")
+    print(f"[INFO] 包含文件数: {len(files)}")
+
+    try:
+        with zipfile.ZipFile(zip_path, 'w', zipfile.ZIP_DEFLATED) as zipf:
+            for file_path in files:
+                full_path = os.path.join(base_dir, file_path)
+                # 使用相对路径作为 zip 内的路径
+                zipf.write(full_path, file_path)
+                print(f"  ✓ {file_path}")
+
+        # 获取文件大小
+        file_size = os.path.getsize(zip_path)
+        file_size_mb = file_size / (1024 * 1024)
+
+        print(f"\n[SUCCESS] 打包完成!")
+        print(f"  文件名: {zip_filename}")
+        print(f"  文件大小: {file_size_mb:.2f} MB ({file_size:,} 字节)")
+        print(f"  文件路径: {os.path.abspath(zip_path)}")
+
+        return zip_path
+    except Exception as e:
+        print(f"[ERROR] 打包失败: {e}")
+        import traceback
+        traceback.print_exc()
+        return None
+
+
+def _validate_key_hex(key_hex: str) -> bytes:
+    if not isinstance(key_hex, str):
+        raise ValueError("aead key must be hex string")
+    key_hex = key_hex.strip().lower()
+    if key_hex.startswith("0x"):
+        key_hex = key_hex[2:]
+    if len(key_hex) != 64:
+        raise ValueError("aead key must be 64 hex chars (32 bytes)")
+    try:
+        key = bytes.fromhex(key_hex)
+    except Exception as e:
+        raise ValueError(f"invalid hex key: {e}")
+    if len(key) != 32:
+        raise ValueError("aead key must be 32 bytes")
+    return key
+
+
+def encrypt_zip_aead(zip_path: str, key_hex: str, out_ext: str = ".enc") -> str:
+    """
+    Encrypt the whole zip file as one blob:
+    output format: MAGIC(7) | nonce(12) | ciphertext(N) | tag(16)
+    using AES-256-GCM (AEAD).
+    """
+    # Lazy import: packaging-only dependency
+    try:
+        from cryptography.hazmat.primitives.ciphers.aead import AESGCM
+    except Exception as e:
+        raise RuntimeError(
+            "Missing dependency: cryptography. Install with: pip install cryptography. "
+            f"Import error: {e}"
+        )
+
+    key = _validate_key_hex(key_hex)
+    with open(zip_path, "rb") as f:
+        plain = f.read()
+
+    nonce = secrets.token_bytes(GCM_NONCE_LEN)
+    aesgcm = AESGCM(key)
+    ct_and_tag = aesgcm.encrypt(nonce, plain, None)  # ciphertext || tag (16 bytes)
+
+    enc_path = zip_path + out_ext if out_ext else (zip_path + ".enc")
+    with open(enc_path, "wb") as f:
+        f.write(MAGIC)
+        f.write(nonce)
+        f.write(ct_and_tag)
+
+    return enc_path
+
+
+def main():
+    """主函数"""
+    parser = argparse.ArgumentParser(description="打包 app.yaml 文件列表到 zip，并可选进行 AES-256-GCM 加密输出 .enc")
+    parser.add_argument("--aead-key-hex", default=None, help="AES-256-GCM key (64 hex chars = 32 bytes). If set, output encrypted file.")
+    parser.add_argument("--keep-zip", action="store_true", help="Keep the plaintext zip when encryption is enabled.")
+    parser.add_argument("--out-ext", default=".enc", help="Encrypted output extension appended to zip path. Default: .enc (produces *.zip.enc)")
+    args = parser.parse_args()
+
+    print("=" * 60)
+    print("应用打包脚本")
+    print("=" * 60)
+
+    # 1. 加载 app.yaml
+    app_info = load_app_yaml('app.yaml')
+    if app_info is None:
+        return
+
+    # 从 version.py 读取版本号
+    version = get_version_from_version_py()
+    
+    print(f"\n[INFO] 应用信息:")
+    print(f"  ID: {app_info.get('id', 'N/A')}")
+    print(f"  名称: {app_info.get('name', 'N/A')}")
+    print(f"  版本: {version} (来自 version.py)")
+    print(f"  作者: {app_info.get('author', 'N/A')}")
+    if app_info.get('version') != version:
+        print(f"  [注意] app.yaml 中的版本 ({app_info.get('version', 'N/A')}) 与 version.py 不一致")
+
+    # 2. 获取文件列表
+    files = app_info.get('files', [])
+    if not files:
+        print("[ERROR] app.yaml 中没有找到 files 列表")
+        return
+
+    print(f"\n[INFO] 文件列表 ({len(files)} 个文件):")
+
+    # 3. 检查文件是否存在
+    existing_files, missing_files = check_files_exist(files)
+
+    if missing_files:
+        print(f"\n[WARNING] 以下文件不存在，将被跳过:")
+        for f in missing_files:
+            print(f"  ✗ {f}")
+
+    if not existing_files:
+        print("\n[ERROR] 没有找到任何有效文件，无法打包")
+        return
+
+    print(f"\n[INFO] 找到 {len(existing_files)} 个有效文件")
+
+    # 4. 创建 zip 包
+    zip_path = create_zip_package(app_info, existing_files)
+
+    if zip_path:
+        enc_path = None
+        if args.aead_key_hex:
+            try:
+                enc_path = encrypt_zip_aead(zip_path, args.aead_key_hex, out_ext=args.out_ext)
+                enc_size = os.path.getsize(enc_path)
+                print(f"\n[SUCCESS] AEAD加密完成: {os.path.basename(enc_path)} ({enc_size:,} bytes)")
+                print(f"  文件路径: {os.path.abspath(enc_path)}")
+                if not args.keep_zip:
+                    try:
+                        os.remove(zip_path)
+                        print(f"[INFO] 已删除明文zip: {os.path.basename(zip_path)}")
+                    except Exception as e:
+                        print(f"[WARNING] 删除明文zip失败（可忽略）: {e}")
+            except Exception as e:
+                print(f"\n[ERROR] AEAD加密失败: {e}")
+                print("[ERROR] 保留明文zip用于排查。")
+
+        print("\n" + "=" * 60)
+        print("打包成功完成!")
+        print("=" * 60)
+    else:
+        print("\n" + "=" * 60)
+        print("打包失败!")
+        print("=" * 60)
+
+
+if __name__ == "__main__":
+    main()

power.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+电源管理模块（INA226）
+提供电压、电流监测和充电状态检测
+"""
+import config
+from logger_manager import logger_manager
+
+
+def write_register(reg, value):
+    """写入INA226寄存器"""
+    from hardware import hardware_manager
+    data = [(value >> 8) & 0xFF, value & 0xFF]
+    hardware_manager.bus.writeto_mem(config.INA226_ADDR, reg, bytes(data))
+
+
+def read_register(reg):
+    """读取INA226寄存器"""
+    from hardware import hardware_manager
+    data = hardware_manager.bus.readfrom_mem(config.INA226_ADDR, reg, 2)
+    return (data[0] << 8) | data[1]
+
+
+def init_ina226():
+    """初始化 INA226 芯片：配置模式 + 校准值"""
+    write_register(config.REG_CONFIGURATION, 0x4527)
+    write_register(config.REG_CALIBRATION, config.CALIBRATION_VALUE)
+
+
+def get_bus_voltage():
+    """读取总线电压（单位：V）"""
+    raw = read_register(config.REG_BUS_VOLTAGE)
+    return raw * 1.25 / 1000
+
+
+def get_current():
+    """
+    读取电流（单位：mA）
+    正数表示充电，负数表示放电
+    
+    INA226 电流计算公式：
+    Current = (Current Register Value) × Current_LSB
+    Current_LSB = 0.001 × CALIBRATION_VALUE / 4096
+    """
+    try:
+        raw = read_register(config.REG_CURRENT)
+        # INA226 电流寄存器是16位有符号整数
+        # 最高位是符号位：0=正（充电），1=负（放电）
+        # 计算 Current_LSB（根据 CALIBRATION_VALUE）
+        current_lsb = 0.001 * config.CALIBRATION_VALUE / 4096  # 单位：A
+        # 处理有符号数：如果最高位为1，转换为负数
+        if raw & 0x8000:  # 最高位为1，表示负数（放电）
+            signed_raw = raw - 0x10000  # 转换为有符号整数
+        else:  # 最高位为0，表示正数（充电）
+            signed_raw = raw
+        # 转换为毫安
+        current_ma = signed_raw * current_lsb * 1000
+        return current_ma
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[INA226] 读取电流失败: {e}")
+        else:
+            print(f"[INA226] 读取电流失败: {e}")
+        return 0.0
+
+
+def is_charging(threshold_ma=10.0):
+    """
+    检测是否在充电（通过电流方向判断）
+    
+    Args:
+        threshold_ma: 电流阈值（毫安），超过此值认为在充电，默认10mA
+    
+    Returns:
+        True: 正在充电
+        False: 未充电或读取失败
+    """
+    try:
+        current = get_current()
+        is_charge = current > threshold_ma
+        return is_charge
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[CHARGE] 检测充电状态失败: {e}")
+        else:
+            print(f"[CHARGE] 检测充电状态失败: {e}")
+        return False
+
+
+def voltage_to_percent(voltage):
+    """根据电压估算电池百分比（查表插值）"""
+    points = [
+        (4.20, 100), (4.10, 95), (4.05, 85), (4.00, 75), (3.95, 65),
+        (3.90, 55), (3.85, 45), (3.80, 35), (3.75, 25), (3.70, 15),
+        (3.65, 5), (3.60, 0)
+    ]
+    if voltage >= points[0][0]:
+        return 100
+    if voltage <= points[-1][0]:
+        return 0
+    for i in range(len(points) - 1):
+        v1, p1 = points[i]
+        v2, p2 = points[i + 1]
+        if voltage >= v2:
+            ratio = (voltage - v1) / (v2 - v1)
+            percent = p1 + (p2 - p1) * ratio
+            return max(0, min(100, int(round(percent))))
+    return 0
+

set_autostart.py

@@ -47,6 +47,7 @@ def set_autostart_app(app_id):
 if __name__ == "__main__":
     new_autostart_app_id = "t11"   # change to app_id you want to set
     # new_autostart_app_id = None           # remove autostart
+    # new_autostart_app_id = "z1222"   # change to app_id you want to set
 
     list_apps()
     print("Before set autostart appid:", get_curr_autostart_app())

shoot_manager.py

@@ -0,0 +1,208 @@
+import config
+from camera_manager import camera_manager
+from laser_manager import laser_manager
+from logger_manager import logger_manager
+from network import network_manager
+from power import get_bus_voltage, voltage_to_percent
+from vision import estimate_distance, detect_circle_v3, save_shot_image
+from maix import camera, display, image, app, time, uart, pinmap, i2c
+
+def analyze_shot(frame, laser_point=None):
+    """
+    分析射箭结果（算法部分，可迁移到C++）
+    :param frame: 图像帧
+    :param laser_point: 激光点坐标 (x, y)
+    :return: 包含分析结果的字典
+    """
+    logger = logger_manager.logger
+
+    # 先检测靶心以获取距离（用于计算激光点）
+    result_img_temp, center_temp, radius_temp, method_temp, best_radius1_temp, ellipse_params_temp = detect_circle_v3(
+        frame, None)
+
+    # 计算距离
+    distance_m = estimate_distance(best_radius1_temp) if best_radius1_temp else None
+
+    # 根据距离动态计算激光点坐标
+    laser_point_method = None
+    if config.HARDCODE_LASER_POINT:
+        laser_point = laser_manager.laser_point
+        laser_point_method = "hardcode"
+    elif laser_manager.has_calibrated_point():
+        laser_point = laser_manager.laser_point
+        laser_point_method = "calibrated"
+        if logger:
+            logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
+    elif distance_m and distance_m > 0:
+        laser_point = laser_manager.calculate_laser_point_from_distance(distance_m)
+        laser_point_method = "dynamic"
+        if logger:
+            logger.info(f"[算法] 使用比例尺: {laser_point}")
+    else:
+        laser_point = laser_manager.laser_point
+        laser_point_method = "default"
+        if logger:
+            logger.info(f"[算法] 使用默认值: {laser_point}")
+
+    if laser_point is None:
+        return {
+            "success": False,
+            "reason": "laser_point_not_initialized"
+        }
+
+    x, y = laser_point
+
+    # 绘制激光十字线
+    color = image.Color(config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+    frame.draw_line(
+        int(x - config.LASER_LENGTH), int(y),
+        int(x + config.LASER_LENGTH), int(y),
+        color, config.LASER_THICKNESS
+    )
+    frame.draw_line(
+        int(x), int(y - config.LASER_LENGTH),
+        int(x), int(y + config.LASER_LENGTH),
+        color, config.LASER_THICKNESS
+    )
+    frame.draw_circle(int(x), int(y), 1, color, config.LASER_THICKNESS)
+
+    # 重新检测靶心（使用计算出的激光点）
+    result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
+
+    # 计算偏移与距离
+    if center and radius:
+        dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
+        distance_m = estimate_distance(best_radius1)
+    else:
+        dx, dy = None, None
+        distance_m = None
+
+    # 返回分析结果
+    return {
+        "success": True,
+        "result_img": result_img,
+        "center": center,
+        "radius": radius,
+        "method": method,
+        "best_radius1": best_radius1,
+        "ellipse_params": ellipse_params,
+        "dx": dx,
+        "dy": dy,
+        "distance_m": distance_m,
+        "laser_point": laser_point,
+        "laser_point_method": laser_point_method
+    }
+
+
+def process_shot(adc_val):
+    """
+    处理射箭事件（逻辑控制部分）
+    :param adc_val: ADC触发值
+    :return: None
+    """
+    logger = logger_manager.logger
+
+    try:
+        frame = camera_manager.read_frame()
+
+        # 调用算法分析
+        analysis_result = analyze_shot(frame)
+
+        if not analysis_result.get("success"):
+            reason = analysis_result.get("reason", "unknown")
+            if logger:
+                logger.warning(f"[MAIN] 射箭分析失败: {reason}")
+            time.sleep_ms(100)
+            return
+
+        # 提取分析结果
+        result_img = analysis_result["result_img"]
+        center = analysis_result["center"]
+        radius = analysis_result["radius"]
+        method = analysis_result["method"]
+        ellipse_params = analysis_result["ellipse_params"]
+        dx = analysis_result["dx"]
+        dy = analysis_result["dy"]
+        distance_m = analysis_result["distance_m"]
+        laser_point = analysis_result["laser_point"]
+        laser_point_method = analysis_result["laser_point_method"]
+        x, y = laser_point
+
+        camera_manager.show(result_img)
+
+        if not (center and radius) and logger:
+            logger.warning("[MAIN] 未检测到靶心，但会保存图像")
+
+        # 读取电量
+        voltage = get_bus_voltage()
+        battery_percent = voltage_to_percent(voltage)
+
+        # 生成射箭ID
+        from shot_id_generator import shot_id_generator
+        shot_id = shot_id_generator.generate_id()
+
+        if logger:
+            logger.info(f"[MAIN] 射箭ID: {shot_id}")
+
+        # 保存图像
+        save_shot_image(
+            result_img,
+            center,
+            radius,
+            method,
+            ellipse_params,
+            (x, y),
+            distance_m,
+            shot_id=shot_id,
+            photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None
+        )
+
+        # 构造上报数据
+        inner_data = {
+            "shot_id": shot_id,
+            "x": float(dx) if dx is not None else 200.0,
+            "y": float(dy) if dy is not None else 200.0,
+            "r": 90.0,
+            "d": round((distance_m or 0.0) * 100),
+            "d_laser": 0.0,
+            "d_laser_quality": 0,
+            "m": method if method else "no_target",
+            "adc": adc_val,
+            "laser_method": laser_point_method,
+            "target_x": float(x),
+            "target_y": float(y),
+        }
+
+        if ellipse_params:
+            (ell_center, (width, height), angle) = ellipse_params
+            inner_data["ellipse_major_axis"] = float(max(width, height))
+            inner_data["ellipse_minor_axis"] = float(min(width, height))
+            inner_data["ellipse_angle"] = float(angle)
+            inner_data["ellipse_center_x"] = float(ell_center[0])
+            inner_data["ellipse_center_y"] = float(ell_center[1])
+        else:
+            inner_data["ellipse_major_axis"] = None
+            inner_data["ellipse_minor_axis"] = None
+            inner_data["ellipse_angle"] = None
+            inner_data["ellipse_center_x"] = None
+            inner_data["ellipse_center_y"] = None
+
+        report_data = {"cmd": 1, "data": inner_data}
+        network_manager.safe_enqueue(report_data, msg_type=2, high=True)
+
+        if logger:
+            if center and radius:
+                logger.info(f"射箭事件已加入发送队列（已检测到靶心），ID: {shot_id}")
+            else:
+                logger.info(f"射箭事件已加入发送队列（未检测到靶心，已保存图像），ID: {shot_id}")
+
+        # 闪一下激光（射箭反馈）
+        laser_manager.flash_laser(1000)
+
+        time.sleep_ms(100)
+    except Exception as e:
+        if logger:
+            logger.error(f"[MAIN] 图像处理异常: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        time.sleep_ms(100)

shot_id_generator.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+射箭ID生成器
+为每次射箭生成唯一ID，格式：{timestamp_ms}_{counter}
+"""
+from maix import time
+import threading
+
+
+class ShotIDGenerator:
+    """射箭ID生成器（单例）"""
+    _instance = None
+    _lock = threading.Lock()
+    
+    def __new__(cls):
+        if cls._instance is None:
+            with cls._lock:
+                if cls._instance is None:
+                    cls._instance = super(ShotIDGenerator, cls).__new__(cls)
+                    cls._instance._initialized = False
+        return cls._instance
+    
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        self._counter = 0
+        self._last_timestamp_ms = 0
+        self._lock = threading.Lock()
+        
+        self._initialized = True
+    
+    def generate_id(self, device_id=None):
+        """
+        生成唯一的射箭ID
+        
+        Args:
+            device_id: 可选的设备ID，如果提供则包含在ID中（格式：{device_id}_{timestamp_ms}_{counter}）
+                       如果不提供，则使用简单格式（格式：{timestamp_ms}_{counter}）
+        
+        Returns:
+            str: 唯一的射箭ID
+        """
+        with self._lock:
+            current_timestamp_ms = time.ticks_ms()
+            
+            # 如果时间戳相同，增加计数器；否则重置计数器
+            if current_timestamp_ms == self._last_timestamp_ms:
+                self._counter += 1
+            else:
+                self._counter = 0
+                self._last_timestamp_ms = current_timestamp_ms
+            
+            # 生成ID
+            if device_id:
+                shot_id = f"{device_id}_{current_timestamp_ms}_{self._counter}"
+            else:
+                shot_id = f"{current_timestamp_ms}_{self._counter}"
+            
+            return shot_id
+    
+    def reset(self):
+        """重置计数器（通常不需要调用）"""
+        with self._lock:
+            self._counter = 0
+            self._last_timestamp_ms = 0
+
+
+# 创建全局单例实例
+shot_id_generator = ShotIDGenerator()
+
+
+
+
+

test/test_cammera.py

@@ -0,0 +1,17 @@
+# test_camera.py
+from maix import camera, display, time
+
+try:
+    print("Initializing camera...")
+    cam = camera.Camera(640, 480)
+    print("Camera initialized successfully!")
+    
+    disp = display.Display()
+    
+    while True:
+        frame = cam.read()
+        disp.show(frame)
+        time.sleep_ms(50)
+        
+except Exception as e:
+    print(f"Error: {e}")

test/test_decect_circle.py

@@ -0,0 +1,620 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+离线测试脚本：直接复用 detect_circle 逻辑进行测试
+运行环境：MaixPy (Sipeed MAIX)
+"""
+import sys
+import os
+# import time
+from maix import image,time
+import cv2
+import numpy as np
+
+# ==================== 全局配置 (与 test_main.py 保持一致) ====================
+REAL_RADIUS_CM = 20  # 靶心实际半径（厘米）
+
+# ==================== 复制的核心算法 ====================
+# 注意：这里直接复制了 detect_circle 的逻辑，避免 import main 导致的冲突
+
+
+def detect_circle_v3(frame, laser_point=None):
+    """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本
+    增加红色圆圈检测，验证黄色圆圈是否为真正的靶心
+    如果提供 laser_point，会选择最接近激光点的目标
+    
+    Args:
+        frame: 图像帧
+        laser_point: 激光点坐标 (x, y)，用于多目标场景下的目标选择
+    
+    Returns:
+        (result_img, best_center, best_radius, method, best_radius1, ellipse_params)
+    """
+    img_cv = image.image2cv(frame, False, False)
+    
+    best_center = best_radius = best_radius1 = method = None
+    ellipse_params = None
+    
+    # HSV 黄色掩码检测（模糊靶心）
+    hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    h, s, v = cv2.split(hsv)
+
+    # 调整饱和度策略：稍微增强，不要过度
+    s = np.clip(s * 1.1, 0, 255).astype(np.uint8) 
+
+    hsv = cv2.merge((h, s, v))
+
+    # 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+    lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
+    upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
+
+    mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+    # 调整形态学操作
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel) 
+
+    contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    # 存储所有有效的黄色-红色组合
+    valid_targets = []
+    
+    if contours_yellow:
+        for cnt_yellow in contours_yellow:
+            area = cv2.contourArea(cnt_yellow)
+            perimeter = cv2.arcLength(cnt_yellow, True)
+
+            # 计算圆度
+            if perimeter > 0:
+                circularity = (4 * np.pi * area) / (perimeter * perimeter)
+            else:
+                circularity = 0
+
+            logger = get_logger()
+            if area > 50 and circularity > 0.7:
+                if logger:
+                    logger.info(f"[target] -> 面积:{area}, 圆度:{circularity:.2f}")
+                # 尝试拟合椭圆
+                yellow_center = None
+                yellow_radius = None
+                yellow_ellipse = None
+                
+                if len(cnt_yellow) >= 5:
+                    (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
+                    yellow_ellipse = ((x, y), (width, height), angle)
+                    axes_minor = min(width, height)
+                    radius = axes_minor / 2
+                    yellow_center = (int(x), int(y))
+                    yellow_radius = int(radius)
+                else:
+                    (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
+                    yellow_center = (int(x), int(y))
+                    yellow_radius = int(radius)
+                    yellow_ellipse = None
+
+                # 如果检测到黄色圆圈，再检测红色圆圈进行验证
+                if yellow_center and yellow_radius:
+                    # HSV 红色掩码检测（红色在HSV中跨越0度，需要两个范围）
+                    # 红色范围1: 0-10度（接近0度的红色）
+                    lower_red1 = np.array([0, 80, 0])
+                    upper_red1 = np.array([10, 255, 255])
+                    mask_red1 = cv2.inRange(hsv, lower_red1, upper_red1)
+                    
+                    # 红色范围2: 170-180度（接近180度的红色）
+                    lower_red2 = np.array([170, 80, 0])
+                    upper_red2 = np.array([180, 255, 255])
+                    mask_red2 = cv2.inRange(hsv, lower_red2, upper_red2)
+                    
+                    # 合并两个红色掩码
+                    mask_red = cv2.bitwise_or(mask_red1, mask_red2)
+                    
+                    # 形态学操作
+                    kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+                    mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
+                    
+                    contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+                    
+                    found_valid_red = False
+                    
+                    if contours_red:
+                        # 找到所有符合条件的红色圆圈
+                        for cnt_red in contours_red:
+                            area_red = cv2.contourArea(cnt_red)
+                            perimeter_red = cv2.arcLength(cnt_red, True)
+                            
+                            if perimeter_red > 0:
+                                circularity_red = (4 * np.pi * area_red) / (perimeter_red * perimeter_red)
+                            else:
+                                circularity_red = 0
+                            
+                            # 红色圆圈也应该有一定的圆度
+                            if area_red > 50 and circularity_red > 0.6:
+                                # 计算红色圆圈的中心和半径
+                                if len(cnt_red) >= 5:
+                                    (x_red, y_red), (w_red, h_red), angle_red = cv2.fitEllipse(cnt_red)
+                                    radius_red = min(w_red, h_red) / 2
+                                    red_center = (int(x_red), int(y_red))
+                                    red_radius = int(radius_red)
+                                else:
+                                    (x_red, y_red), radius_red = cv2.minEnclosingCircle(cnt_red)
+                                    red_center = (int(x_red), int(y_red))
+                                    red_radius = int(radius_red)
+                                
+                                # 计算黄色和红色圆心的距离
+                                if red_center:
+                                    dx = yellow_center[0] - red_center[0]
+                                    dy = yellow_center[1] - red_center[1]
+                                    distance = np.sqrt(dx*dx + dy*dy)
+                                    
+                                    # 圆心距离阈值：应该小于黄色半径的某个倍数（比如1.5倍）
+                                    max_distance = yellow_radius * 1.5
+                                    
+                                    # 红色圆圈应该比黄色圆圈大（外圈）
+                                    if distance < max_distance and red_radius > yellow_radius * 0.8:
+                                        found_valid_red = True
+                                        logger = get_logger()
+                                        if logger:
+                                            logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
+                                        
+                                        # 记录这个有效目标
+                                        valid_targets.append({
+                                            'center': yellow_center,
+                                            'radius': yellow_radius,
+                                            'ellipse': yellow_ellipse,
+                                            'area': area
+                                        })
+                                        break
+                    
+                    if not found_valid_red:
+                        logger = get_logger()
+                        if logger:
+                            logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+    
+    # 从所有有效目标中选择最佳目标
+    if valid_targets:
+        if laser_point:
+            # 如果有激光点，选择最接近激光点的目标
+            best_target = None
+            min_distance = float('inf')
+            for target in valid_targets:
+                dx = target['center'][0] - laser_point[0]
+                dy = target['center'][1] - laser_point[1]
+                distance = np.sqrt(dx*dx + dy*dy)
+                if distance < min_distance:
+                    min_distance = distance
+                    best_target = target
+            if best_target:
+                best_center = best_target['center']
+                best_radius = best_target['radius']
+                ellipse_params = best_target['ellipse']
+                method = "v3_ellipse_red_validated_laser_selected"
+                best_radius1 = best_radius * 5
+        else:
+            # 如果没有激光点，选择面积最大的目标
+            best_target = max(valid_targets, key=lambda t: t['area'])
+            best_center = best_target['center']
+            best_radius = best_target['radius']
+            ellipse_params = best_target['ellipse']
+            method = "v3_ellipse_red_validated"
+            best_radius1 = best_radius * 5
+
+    result_img = image.cv2image(img_cv, False, False)
+    return result_img, best_center, best_radius, method, best_radius1, ellipse_params
+
+def detect_circle(frame):
+    """检测图像中的靶心（优先清晰轮廓，其次黄色区域）"""
+    img_cv = image.image2cv(frame, False, False)
+    # gray = cv2.cvtColor(img_cv, cv2.COLOR_RGB2GRAY)
+    # blurred = cv2.GaussianBlur(gray, (5, 5), 0)
+    # edged = cv2.Canny(blurred, 50, 150)
+    # kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    # ceroded = cv2.erode(cv2.dilate(edged, kernel), kernel)
+
+    # contours, _ = cv2.findContours(ceroded, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+    # best_center = best_radius = best_radius1 = method = None
+
+    # hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    # h, s, v = cv2.split(hsv)
+    # s = np.clip(s * 2, 0, 255).astype(np.uint8)
+    # hsv = cv2.merge((h, s, v))
+    # lower_yellow = np.array([7, 80, 0])
+    # upper_yellow = np.array([32, 255, 182])
+    # mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
+    # kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    # mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
+    # mask = cv2.morphologyEx(mask, cv2.MORPH_DILATE, kernel)
+    # contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    # if contours:
+    #     largest = max(contours, key=cv2.contourArea)
+    #     if cv2.contourArea(largest) > 50:
+    #         (x, y), radius = cv2.minEnclosingCircle(largest)
+    #         best_center = (int(x), int(y))
+    #         best_radius = int(radius)
+    #         best_radius1 = radius * 5
+    #         method = "v2"
+
+    # auto
+    # R:31 M:v2 D:2.410110127692767
+    # hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    # h, s, v = cv2.split(hsv)
+
+    # # 1. 增强饱和度（模糊照片需要更强的增强）
+    # s = np.clip(s * 2.5, 0, 255).astype(np.uint8)  # 从2.0改为2.5
+
+    # # 2. 增强亮度（模糊照片可能偏暗）
+    # v = np.clip(v * 1.2, 0, 255).astype(np.uint8)  # 新增：提升亮度
+
+    # hsv = cv2.merge((h, s, v))
+
+    # # 3. 放宽HSV颜色范围（特别是模糊照片）
+    # # 降低饱和度下限，提高亮度上限
+    # lower_yellow = np.array([5, 50, 30])   # H:5-35, S:50-255, V:30-255
+    # upper_yellow = np.array([35, 255, 255])
+
+    # mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+    # # 4. 增强形态学操作（连接被分割的区域）
+    # kernel_small = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    # kernel_large = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (9, 9))  # 更大的核
+
+    # # 先开运算去除噪声
+    # mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel_small)
+    # # 多次膨胀连接区域（模糊照片需要更多膨胀）
+    # mask = cv2.dilate(mask, kernel_large, iterations=2)  # 增加迭代次数
+    # mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel_large)  # 闭运算填充空洞
+
+    # contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    # if contours:
+    #     largest = max(contours, key=cv2.contourArea)
+    #     area = cv2.contourArea(largest)
+    #     if area > 50:
+    #         # 5. 使用面积计算等效半径（更准确）
+    #         equivalent_radius = np.sqrt(area / np.pi)
+            
+    #         # 6. 同时使用minEnclosingCircle作为备选（取较大值）
+    #         (x, y), enclosing_radius = cv2.minEnclosingCircle(largest)
+            
+    #         # 取两者中的较大值，确保不遗漏
+    #         radius = max(equivalent_radius, enclosing_radius)
+            
+    #         best_center = (int(x), int(y))
+    #         best_radius = int(radius)
+    #         best_radius1 = radius * 5
+    #         method = "v2"
+
+    # codegee
+    # R:24 M:v2 D:3.061493895819174
+    # R:22 M:v2 D:3.3644971681267077  np.clip(s * 1.1, 0, 255)
+    hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    h, s, v = cv2.split(hsv)
+
+    # 2. 调整饱和度策略：
+    # 不要暴力翻倍，可以尝试稍微增强，或者使用 CLAHE 增强亮度/对比度
+    # 这里我们稍微增加一点饱和度，并确保不溢出
+    s = np.clip(s * 1.1, 0, 255).astype(np.uint8) 
+    # 对亮度通道 v 也可以做一点 CLAHE 处理来增强对比度（可选）
+    # clahe = cv2.createCLAHE(clipLimit=2.0, tileGridSize=(8,8))
+    # v = clahe.apply(v)
+
+    hsv = cv2.merge((h, s, v))
+
+    # 3. 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+    # 降低 S 的下限 (80 -> 35)，提高 V 的上限 (182 -> 255)
+    lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
+    upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
+
+    mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+    # 4. 调整形态学操作
+    # 去掉 MORPH_OPEN，因为它会减小面积。
+    # 使用 MORPH_CLOSE (先膨胀后腐蚀) 来填充内部小黑洞，连接近邻区域
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel) 
+    # 再进行一次膨胀，确保边缘被包含进来
+    # mask = cv2.dilate(mask, kernel, iterations=1) 
+
+    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    if contours:
+        largest = max(contours, key=cv2.contourArea)
+        
+        # 这里可以适当降低面积阈值，或者保持不变
+        if cv2.contourArea(largest) > 50:
+            # (x, y), radius = cv2.minEnclosingCircle(largest)
+            # best_center = (int(x), int(y))
+            # best_radius = int(radius)
+            
+            # --- 核心修改开始 ---
+            # 1. 尝试拟合椭圆 (需要轮廓点至少为5个)
+            if len(largest) >= 5:
+                # 返回值: ((中心x, 中心y), (长轴, 短轴), 旋转角度)
+                (x, y), (axes_major, axes_minor), angle = cv2.fitEllipse(largest)
+
+                # 2. 计算半径
+                # 选项A：取长短轴的平均值 (比较稳健)
+                # radius = (axes_major + axes_minor) / 4
+
+                # 选项B：直接取短轴的一半 (抗模糊最强，推荐)
+                radius = axes_minor / 2
+
+                best_center = (int(x), int(y))
+                best_radius = int(radius)
+                method = "v2_ellipse"
+            else:
+                # 如果点太少无法拟合椭圆，降级回 minEnclosingCircle
+                (x, y), radius = cv2.minEnclosingCircle(largest)
+                best_center = (int(x), int(y))
+                best_radius = int(radius)
+                method = "v2"
+            # --- 核心修改结束 ---
+
+            # 你的后续逻辑
+            best_radius1 = radius * 5
+            
+
+    # operas 4.5
+    # R:25 M:v2 D:2.9554872521538527
+    # hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    # h, s, v = cv2.split(hsv)
+    
+    # # 1. 适度增强饱和度（不要过度，否则噪声也会增强）
+    # s = np.clip(s * 1.5, 0, 255).astype(np.uint8)
+    # hsv = cv2.merge((h, s, v))
+    
+    # # 2. 放宽 HSV 阈值范围（关键改动）
+    # # - 饱和度下限从 80 降到 40（捕捉淡黄色）
+    # # - 亮度上限从 182 提高到 255（允许更亮的黄色）
+    # lower_yellow = np.array([7, 40, 30])
+    # upper_yellow = np.array([35, 255, 255])
+    
+    # mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
+    
+    # # 3. 调整形态学操作：用 CLOSE 替代 OPEN
+    # # CLOSE（先膨胀后腐蚀）：填充内部空洞，连接相邻区域
+    # # OPEN（先腐蚀后膨胀）：会缩小区域，不适合模糊图像
+    # kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (7, 7))  # 稍大的核
+    # mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)
+    # mask = cv2.dilate(mask, kernel, iterations=1)  # 额外膨胀，确保边缘被包含
+    
+    # contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    # if contours:
+    #     largest = max(contours, key=cv2.contourArea)
+    #     if cv2.contourArea(largest) > 50:
+    #         (x, y), radius = cv2.minEnclosingCircle(largest)
+    #         best_center = (int(x), int(y))
+    #         best_radius = int(radius)
+    #         best_radius1 = radius * 5
+    #         method = "v2"
+
+            # # --- 新增：将 Mask 叠加到原图上用于调试 ---
+            # # 创建一个彩色掩码（红色通道为255，其他为0）
+            # mask_overlay = np.zeros_like(img_cv)
+            # mask_overlay[:, :, 2] = mask  # 将掩码放在红色通道 (BGR中的R)
+            #
+            # cv2.addWeighted(img_cv, 0.6, mask_overlay, 0.4, 0, img_cv)
+
+    result_img = image.cv2image(img_cv, False, False)
+    return result_img, best_center, best_radius, method, best_radius1
+
+
+def detect_circle_v2(frame):
+    """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本"""
+    global REAL_RADIUS_CM
+    img_cv = image.image2cv(frame, False, False)
+    
+    best_center = best_radius = best_radius1 = method = None
+    ellipse_params = None  # 存储椭圆参数 ((x, y), (axes_major, axes_minor), angle)
+    
+    # HSV 黄色掩码检测（模糊靶心）
+    hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    h, s, v = cv2.split(hsv)
+
+    # 调整饱和度策略：稍微增强，不要过度
+    s = np.clip(s * 1.1, 0, 255).astype(np.uint8) 
+
+    hsv = cv2.merge((h, s, v))
+
+    # 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+    lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
+    upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
+
+    mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+    # 调整形态学操作
+    # 使用 MORPH_CLOSE (先膨胀后腐蚀) 来填充内部小黑洞，连接近邻区域
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel) 
+
+    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    if contours:
+        largest = max(contours, key=cv2.contourArea)
+        
+        if cv2.contourArea(largest) > 50:
+            # 尝试拟合椭圆 (需要轮廓点至少为5个)
+            if len(largest) >= 5:
+                # 返回值: ((中心x, 中心y), (width, height), 旋转角度)
+                # 注意：width 和 height 是外接矩形的尺寸，不是长轴和短轴
+                (x, y), (width, height), angle = cv2.fitEllipse(largest)
+                
+                # 保存椭圆参数（保持原始顺序，用于绘制）
+                ellipse_params = ((x, y), (width, height), angle)
+                
+                # 计算半径：使用较小的尺寸作为短轴
+                axes_minor = min(width, height)
+                radius = axes_minor / 2
+
+                best_center = (int(x), int(y))
+                best_radius = int(radius)
+                method = "v2_ellipse"
+            else:
+                # 如果点太少无法拟合椭圆，降级回 minEnclosingCircle
+                (x, y), radius = cv2.minEnclosingCircle(largest)
+                best_center = (int(x), int(y))
+                best_radius = int(radius)
+                method = "v2"
+                ellipse_params = None  # 圆形，没有椭圆参数
+
+            best_radius1 = radius * 5
+
+    result_img = image.cv2image(img_cv, False, False)
+    return result_img, best_center, best_radius, method, best_radius1, ellipse_params
+
+# ==================== 测试逻辑 ====================
+
+def run_offline_test(image_path):
+    """读取图片，检测圆，绘制结果，保存图片"""
+    
+    # 1. 检查文件是否存在
+    if not os.path.exists(image_path):
+        print(f"[ERROR] 找不到图片文件: {image_path}")
+        return
+
+    # 2. 使用 maix.image 读取图片 (适配 MaixPy v4)
+    try:
+        # 使用 image.load 读取文件，返回 Image 对象
+        img = image.load(image_path)
+        print(f"[INFO] 成功读取图片: {image_path} (尺寸: {img.width()}x{img.height()})")
+    except Exception as e:
+        print(f"[ERROR] 读取图片失败: {e}")
+        print("提示：请确认 MaixPy 版本是否为 v4，且图片路径正确。")
+        return
+
+
+    # 3. 调用 detect_circle_v2 函数
+    print("[INFO] 正在调用 detect_circle_v2 进行检测...")
+    start_time = time.ticks_ms()
+    
+    result_img, center, radius, method, radius1, ellipse_params = detect_circle_v3(img)
+    
+    cost_time = time.ticks_ms() - start_time
+    print(f"[INFO] 检测完成，耗时: {cost_time}ms")
+    print(f"       结果 -> 圆心: {center}, 半径: {radius}, 方法: {method}")
+    if ellipse_params:
+        (ell_center, (width, height), angle) = ellipse_params
+        print(f"       椭圆 -> 中心: ({ell_center[0]:.1f}, {ell_center[1]:.1f}), 长轴: {max(width, height):.1f}, 短轴: {min(width, height):.1f}, 角度: {angle:.1f}°")
+
+    # 4. 绘制辅助线（可选，用于调试）
+    if center and radius:
+        # 为了绘制椭圆，需要转换回 cv2 图像
+        img_cv = image.image2cv(result_img, False, False)
+        
+        cx, cy = center
+        
+        # 如果有椭圆参数，绘制椭圆
+        if ellipse_params:
+            (ell_center, (width, height), angle) = ellipse_params
+            cx_ell, cy_ell = int(ell_center[0]), int(ell_center[1])
+            
+            # 确定长轴和短轴
+            if width >= height:
+                # width 是长轴，height 是短轴
+                axes_major = width
+                axes_minor = height
+                major_angle = angle  # 长轴角度就是 angle
+                minor_angle = angle + 90  # 短轴角度 = 长轴角度 + 90度
+            else:
+                # height 是长轴，width 是短轴
+                axes_major = height
+                axes_minor = width
+                major_angle = angle + 90  # 长轴角度 = width角度 + 90度
+                minor_angle = angle  # 短轴角度就是 angle
+            
+            # 使用 OpenCV 绘制椭圆（绿色，线宽2）
+            cv2.ellipse(img_cv, 
+                    (cx_ell, cy_ell),              # 中心点
+                    (int(width/2), int(height/2)), # 半宽、半高
+                    angle,                          # 旋转角度（OpenCV需要原始angle）
+                    0, 360,                         # 起始和结束角度
+                    (0, 255, 0),                    # 绿色 (RGB格式)
+                    2)                              # 线宽
+            
+            # 绘制椭圆中心点（红色）
+            cv2.circle(img_cv, (cx_ell, cy_ell), 3, (255, 0, 0), -1)
+            
+            import math            
+            # 绘制短轴（蓝色线条）
+            minor_length = axes_minor / 2
+            minor_angle_rad = math.radians(minor_angle)
+            dx_minor = minor_length * math.cos(minor_angle_rad)
+            dy_minor = minor_length * math.sin(minor_angle_rad)
+            pt1_minor = (int(cx_ell - dx_minor), int(cy_ell - dy_minor))
+            pt2_minor = (int(cx_ell + dx_minor), int(cy_ell + dy_minor))
+            cv2.line(img_cv, pt1_minor, pt2_minor, (0, 0, 255), 2)  # 蓝色 (RGB格式)
+        else:
+            # 如果没有椭圆参数，绘制圆形（红色）
+            cv2.circle(img_cv, (cx, cy), radius, (0, 0, 255), 2)
+            cv2.circle(img_cv, (cx, cy), 2, (0, 0, 255), -1)
+        
+        # 转换回 maix image
+        result_img = image.cv2image(img_cv, False, False)
+        
+        # 定义颜色对象用于文字
+        try:
+            color_black = image.Color.from_rgb(0,0,0)
+        except AttributeError:
+            color_black = image.Color(0,0,0)
+
+        # D. 添加文字信息
+        FOCAL_LENGTH_PIX = 1900
+        d = (REAL_RADIUS_CM * FOCAL_LENGTH_PIX) / radius1 / 100.0
+        info_str = f"R:{radius} M:{method} D:{d:.2f}" 
+        print(info_str)
+        
+        # 计算文字位置，防止超出图片边界
+        r_outer = int(radius * 11.0) if radius else 100
+        text_y = cy - r_outer - 20 if cy > r_outer + 20 else cy + r_outer + 20
+        
+        # 调用 draw_string
+        result_img.draw_string(0, 0, info_str, color=color_black, scale=1.0)
+
+
+    # 5. 保存结果图片
+    output_path = image_path.replace(".bmp", "_result.bmp")
+    output_path = image_path.replace(".jpg", "_result.jpg")
+    try:
+        result_img.save(output_path, quality=100)
+        print(f"[SUCCESS] 结果已保存至: {output_path}")
+    except Exception as e:
+        print(f"[ERROR] 保存图片失败: {e}")
+
+if __name__ == "__main__":
+    # ================= 配置区域 =================
+    
+    # 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/None_314_258_0_0041.bmp" 
+    
+    # TARGET_DIR = "/root/phot_test2"  # 修改为你想要读取的目录路径
+    
+    # 支持的图片格式
+    IMAGE_EXTENSIONS = ['.jpg', '.jpeg', '.png', '.bmp']
+    
+    # ================= 执行区域 =================
+    if 'TARGET_DIR' in locals():
+        # 读取目录下所有图片文件，过滤掉 _result.jpg 后缀的文件
+        image_files = []
+        if os.path.exists(TARGET_DIR) and os.path.isdir(TARGET_DIR):
+            for filename in os.listdir(TARGET_DIR):
+                # 检查文件扩展名
+                if any(filename.lower().endswith(ext) for ext in IMAGE_EXTENSIONS):
+                    # 过滤掉 _result.jpg 后缀的文件
+                    if not filename.endswith('_result.jpg'):
+                        filepath = os.path.join(TARGET_DIR, filename)
+                        if os.path.isfile(filepath):
+                            image_files.append(filepath)
+            
+            # 按文件名排序（可选）
+            image_files.sort()
+            
+            print(f"[INFO] 在目录 {TARGET_DIR} 中找到 {len(image_files)} 张图片")
+            
+            # 处理每张图片
+            for img_path in image_files:
+                print(f"\n{'='*10} 开始处理: {img_path} {'='*10}")
+                run_offline_test(img_path)
+        else:
+            print(f"[ERROR] 目录不存在或不是有效目录: {TARGET_DIR}")
+        
+    else:
+        run_offline_test(TARGET_IMAGE)

test/test_i2c.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+# test_i2c_devices.py
+
+import os
+from maix import i2c
+
+def list_i2c_devices():
+    """List available I2C device nodes"""
+    print("Available I2C devices:")
+    
+    # Check /dev directory
+    try:
+        dev_files = os.listdir("/dev")
+        i2c_devices = [f for f in dev_files if "i2c" in f]
+        if i2c_devices:
+            for dev in sorted(i2c_devices):
+                print(f"  /dev/{dev}")
+        else:
+            print("  No /dev/i2c-* devices found!")
+    except Exception as e:
+        print(f"  Error listing /dev: {e}")
+
+def try_i2c_bus(bus_num):
+    """Try to initialize an I2C bus"""
+    try:
+        bus = i2c.I2C(bus_num, i2c.Mode.MASTER)
+        print(f"  I2C bus {bus_num}: OK")
+        return True
+    except RuntimeError as e:
+        print(f"  I2C bus {bus_num}: {e}")
+        return False
+    except Exception as e:
+        print(f"  I2C bus {bus_num}: Unexpected error: {e}")
+        return False
+
+def main():
+    print("=" * 60)
+    print("I2C Device Diagnostic")
+    print("=" * 60)
+    
+    # List kernel devices
+    list_i2c_devices()
+    
+    # Try common bus numbers
+    print("\nTesting I2C buses:")
+    working_buses = []
+    for bus_num in range(10):
+        if try_i2c_bus(bus_num):
+            working_buses.append(bus_num)
+    
+    print(f"\nWorking buses: {working_buses}")
+    
+    if not working_buses:
+        print("\nERROR: No I2C buses available!")
+        print("Possible causes:")
+        print("  1. I2C kernel driver not loaded")
+        print("  2. Device tree doesn't enable I2C")
+        print("  3. Different kernel version with different device naming")
+
+if __name__ == "__main__":
+    main()

test/test_laser.py

@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+激光模块测试脚本
+用于诊断激光开关问题
+
+使用方法：
+python test_laser.py
+
+功能：
+1. 初始化串口
+2. 循环测试激光开/关
+3. 打印详细调试信息
+"""
+
+from maix import uart, pinmap, time
+
+# ==================== 配置 ====================
+UART_PORT = "/dev/ttyS1"   # 激光模块连接的串口（UART1）
+BAUDRATE = 9600            # 波特率
+
+# 引脚映射（确保与硬件连接一致）
+print("=" * 50)
+print("🔧 步骤1: 配置引脚映射")
+print("=" * 50)
+
+try:
+    pinmap.set_pin_function("A18", "UART1_RX")
+    print("✅ A18 -> UART1_RX")
+except Exception as e:
+    print(f"❌ A18 配置失败: {e}")
+
+try:
+    pinmap.set_pin_function("A19", "UART1_TX")
+    print("✅ A19 -> UART1_TX")
+except Exception as e:
+    print(f"❌ A19 配置失败: {e}")
+
+# ==================== 激光控制指令 ====================
+MODULE_ADDR = 0x00
+
+# 原始命令
+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])
+
+# 备用命令格式（如果原始命令不工作，可以尝试这些）
+# 格式1: 简化命令
+LASER_ON_CMD_ALT1 = bytes([0xAA, 0x01, 0x01])
+LASER_OFF_CMD_ALT1 = bytes([0xAA, 0x01, 0x00])
+
+# 格式2: 不同的协议头
+LASER_ON_CMD_ALT2 = bytes([0x55, 0xAA, 0x01])
+LASER_OFF_CMD_ALT2 = bytes([0x55, 0xAA, 0x00])
+
+print("\n" + "=" * 50)
+print("🔧 步骤2: 初始化串口")
+print("=" * 50)
+print(f"设备: {UART_PORT}")
+print(f"波特率: {BAUDRATE}")
+
+try:
+    laser_uart = uart.UART(UART_PORT, BAUDRATE)
+    print(f"✅ 串口初始化成功: {laser_uart}")
+except Exception as e:
+    print(f"❌ 串口初始化失败: {e}")
+    exit(1)
+
+# ==================== 测试函数 ====================
+def send_and_check(cmd, name):
+    """发送命令并检查回包"""
+    print(f"\n📤 发送: {name}")
+    print(f"   命令字节: {cmd.hex()}")
+    print(f"   命令长度: {len(cmd)} 字节")
+    
+    # 清空接收缓冲区
+    try:
+        old_data = laser_uart.read(-1)
+        if old_data:
+            print(f"   清空缓冲区: {len(old_data)} 字节")
+    except:
+        pass
+    
+    # 发送命令
+    try:
+        written = laser_uart.write(cmd)
+        print(f"   写入字节数: {written}")
+    except Exception as e:
+        print(f"   ❌ 写入失败: {e}")
+        return None
+    
+    # 等待响应
+    time.sleep_ms(100)
+    
+    # 读取回包
+    try:
+        resp = laser_uart.read(50)
+        if resp:
+            print(f"   📥 收到回包: {resp.hex()} ({len(resp)} 字节)")
+            return resp
+        else:
+            print(f"   ⚠️ 无回包")
+            return None
+    except Exception as e:
+        print(f"   ❌ 读取失败: {e}")
+        return None
+
+def test_laser_cycle(on_cmd, off_cmd, cmd_name="标准命令"):
+    """测试一个开关周期"""
+    print(f"\n{'='*50}")
+    print(f"🧪 测试 {cmd_name}")
+    print(f"{'='*50}")
+    
+    print("\n>>> 测试开启激光")
+    send_and_check(on_cmd, f"{cmd_name} - 开启")
+    print("   ⏱️ 等待 2 秒观察激光是否亮起...")
+    time.sleep(2)
+    
+    print("\n>>> 测试关闭激光")
+    send_and_check(off_cmd, f"{cmd_name} - 关闭")
+    print("   ⏱️ 等待 2 秒观察激光是否熄灭...")
+    time.sleep(2)
+
+# ==================== 主测试 ====================
+print("\n" + "=" * 50)
+print("🚀 开始激光测试")
+print("=" * 50)
+print("\n请观察激光模块的状态变化...")
+print("测试将依次尝试不同的命令格式\n")
+
+try:
+    # 测试1: 标准命令
+    test_laser_cycle(LASER_ON_CMD, LASER_OFF_CMD, "标准命令")
+    
+    input("\n按回车继续测试备用命令1...")
+    
+    # 测试2: 备用命令格式1
+    test_laser_cycle(LASER_ON_CMD_ALT1, LASER_OFF_CMD_ALT1, "备用命令1 (简化)")
+    
+    input("\n按回车继续测试备用命令2...")
+    
+    # 测试3: 备用命令格式2
+    test_laser_cycle(LASER_ON_CMD_ALT2, LASER_OFF_CMD_ALT2, "备用命令2 (0x55AA头)")
+    
+    print("\n" + "=" * 50)
+    print("🏁 测试完成")
+    print("=" * 50)
+    print("\n诊断建议：")
+    print("1. 如果激光始终不亮/始终亮：")
+    print("   - 检查激光模块的电源连接")
+    print("   - 检查串口TX/RX是否接反")
+    print("   - 尝试不同的波特率 (4800/19200)")
+    print("")
+    print("2. 如果有回包但激光无反应：")
+    print("   - 命令格式可能正确但激光硬件问题")
+    print("")
+    print("3. 如果某个备用命令有效：")
+    print("   - 需要更新 config.py 中的命令格式")
+
+except KeyboardInterrupt:
+    print("\n\n🛑 测试被中断")
+    # 确保激光关闭
+    laser_uart.write(LASER_OFF_CMD)
+    print("✅ 已发送关闭指令")
+except Exception as e:
+    print(f"\n❌ 测试出错: {e}")
+    import traceback
+    traceback.print_exc()
+
+
+
+
+

test/test_power.py

@@ -0,0 +1,130 @@
+#!/usr/bin/env python3
+# test_power_with_init.py
+
+from maix import i2c, time
+import sys
+
+# INA226 register addresses
+INA226_ADDR = 0x40
+REG_CONFIGURATION = 0x00
+REG_BUS_VOLTAGE = 0x02
+REG_CURRENT = 0x04
+REG_CALIBRATION = 0x05
+
+# Configuration values
+CONFIG_VALUE = 0x4527      # Configuration: 16 averages, 1.1ms conversion time, continuous mode
+CALIBRATION_VALUE = 0x1400  # Calibration value
+
+def write_register(bus, reg, value):
+    """Write to INA226 register"""
+    data = [(value >> 8) & 0xFF, value & 0xFF]
+    bus.writeto_mem(INA226_ADDR, reg, bytes(data))
+
+def read_register(bus, reg):
+    """Read from INA226 register"""
+    data = bus.readfrom_mem(INA226_ADDR, reg, 2)
+    return (data[0] << 8) | data[1]
+
+def init_ina226(bus):
+    """Initialize INA226 chip"""
+    try:
+        # Write configuration register
+        write_register(bus, REG_CONFIGURATION, CONFIG_VALUE)
+        time.sleep_ms(10)
+        
+        # Write calibration register
+        write_register(bus, REG_CALIBRATION, CALIBRATION_VALUE)
+        time.sleep_ms(10)
+        
+        # Verify configuration by reading it back
+        config_read = read_register(bus, REG_CONFIGURATION)
+        if config_read != CONFIG_VALUE:
+            print(f"  Warning: Config readback mismatch: 0x{config_read:04X} != 0x{CONFIG_VALUE:04X}")
+        
+        return True
+    except Exception as e:
+        print(f"  Init failed: {e}")
+        return False
+
+def read_voltage(bus):
+    """Read bus voltage"""
+    raw = read_register(bus, REG_BUS_VOLTAGE)
+    voltage = raw * 1.25 / 1000
+    return voltage
+
+def read_current(bus):
+    """Read current"""
+    raw = read_register(bus, REG_CURRENT)
+    # Handle signed value
+    if raw & 0x8000:
+        raw = raw - 0x10000
+    current_lsb = 0.001 * CALIBRATION_VALUE / 4096
+    current = raw * current_lsb * 1000  # mA
+    return current
+
+def test_i2c_bus(bus_num):
+    """Test a single I2C bus with full initialization"""
+    print(f"\n{'='*60}")
+    print(f"Testing I2C Bus {bus_num}")
+    print(f"{'='*60}")
+    
+    try:
+        # Step 1: Initialize I2C bus
+        print(f"  1. Initializing I2C bus...")
+        bus = i2c.I2C(bus_num, i2c.Mode.MASTER)
+        print(f"     OK")
+        
+        # Step 2: Initialize INA226
+        print(f"  2. Initializing INA226...")
+        if not init_ina226(bus):
+            print(f"     FAILED")
+            return False
+        print(f"     OK")
+        
+        # Step 3: Read voltage multiple times
+        print(f"  3. Reading voltage...")
+        for i in range(5):
+            try:
+                voltage = read_voltage(bus)
+                current = read_current(bus)
+                print(f"     Read {i+1}: {voltage:.3f}V, {current:.1f}mA")
+                time.sleep_ms(100)
+            except Exception as e:
+                print(f"     Read {i+1} failed: {e}")
+        
+        print(f"  SUCCESS")
+        return True
+        
+    except Exception as e:
+        print(f"  FAILED: {e}")
+        import traceback
+        traceback.print_exc()
+        return False
+
+def main():
+    """Test all I2C buses"""
+    print("INA226 Test with Proper Initialization")
+    print("=" * 60)
+    
+    # Test buses in order of likelihood
+    test_order = [5, 1, 3, 4, 0, 2]
+    
+    success_buses = []
+    
+    for bus_num in test_order:
+        if test_i2c_bus(bus_num):
+            success_buses.append(bus_num)
+            # If we found a working bus, stop testing others
+            break
+    
+    print(f"\n{'='*60}")
+    print(f"Summary:")
+    print(f"  Working buses: {success_buses}")
+    if not success_buses:
+        print(f"  ERROR: No working I2C bus found!")
+        return 1
+    
+    return 0
+
+if __name__ == "__main__":
+    sys.exit(main())

time_sync.py

@@ -0,0 +1,186 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+时间同步模块
+从4G模块获取时间并同步到系统
+"""
+import re
+import os
+from datetime import datetime, timedelta
+import config
+# from logger_bak import get_logger
+from logger_manager import logger_manager
+
+
+def parse_4g_time(cclk_response, timezone_offset=8):
+    """
+    解析 AT+CCLK? 返回的时间字符串，并转换为本地时间
+    
+    Args:
+        cclk_response: AT+CCLK? 的响应字符串
+        timezone_offset: 时区偏移（小时），默认8（中国时区 UTC+8）
+    
+    Returns:
+        datetime 对象（已转换为本地时间），如果解析失败返回 None
+    """
+    try:
+        # 匹配格式: +CCLK: "YY/MM/DD,HH:MM:SS+TZ"
+        # 时区单位是四分之一小时（quarters of an hour）
+        match = re.search(r'\+CCLK:\s*"(\d{2})/(\d{2})/(\d{2}),(\d{2}):(\d{2}):(\d{2})([+-]\d{1,3})?"', cclk_response)
+        if not match:
+            return None
+        
+        yy, mm, dd, hh, MM, ss, tz_str = match.groups()
+        
+        # 年份处理：26 -> 2026
+        year = 2000 + int(yy)
+        month = int(mm)
+        day = int(dd)
+        hour = int(hh)
+        minute = int(MM)
+        second = int(ss)
+        
+        # 创建 UTC 时间的 datetime 对象
+        dt_utc = datetime(year, month, day, hour, minute, second)
+        
+        # 解析时区偏移（单位：四分之一小时）
+        if tz_str:
+            try:
+                # 时区偏移值（四分之一小时）
+                tz_quarters = int(tz_str)
+                
+                # 转换为小时（除以4）
+                tz_hours = tz_quarters / 4.0
+                
+                logger = logger_manager.logger
+                if logger:
+                    logger.info(f"[TIME] 时区偏移: {tz_str} (四分之一小时) = {tz_hours} 小时")
+                
+                # 转换为本地时间
+                dt_local = dt_utc + timedelta(hours=tz_hours)
+            except ValueError:
+                # 如果时区解析失败，使用默认值
+                logger = logger_manager.logger
+                if logger:
+                    logger.warning(f"[TIME] 时区解析失败: {tz_str}，使用默认 UTC+{timezone_offset}")
+                dt_local = dt_utc + timedelta(hours=timezone_offset)
+        else:
+            # 没有时区信息，使用默认值
+            logger = logger_manager.logger
+            if logger:
+                logger.info(f"[TIME] 未找到时区信息，使用默认 UTC+{timezone_offset}")
+            dt_local = dt_utc + timedelta(hours=timezone_offset)
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.info(f"[TIME] UTC时间: {dt_utc.strftime('%Y-%m-%d %H:%M:%S')}")
+            logger.info(f"[TIME] 本地时间: {dt_local.strftime('%Y-%m-%d %H:%M:%S')}")
+        
+        return dt_local
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[TIME] 解析时间失败: {e}, 响应: {cclk_response}")
+        else:
+            print(f"[TIME] 解析时间失败: {e}, 响应: {cclk_response}")
+        return None
+
+
+def get_time_from_4g(timezone_offset=8):
+    """
+    通过4G模块获取当前时间（已转换为本地时间）
+    
+    Args:
+        timezone_offset: 时区偏移（小时），默认8（中国时区）
+    
+    Returns:
+        datetime 对象（本地时间），如果获取失败返回 None
+    """
+    try:
+        # 发送 AT+CCLK? 命令（延迟导入避免循环依赖）
+        from hardware import hardware_manager
+        # 检查 at_client 是否已初始化
+        if hardware_manager.at_client is None:
+            logger = logger_manager.logger
+            if logger:
+                logger.warning("[TIME] ATClient 尚未初始化，无法获取4G时间")
+            else:
+                print("[TIME] ATClient 尚未初始化，无法获取4G时间")
+            return None
+        resp = hardware_manager.at_client.send("AT+CCLK?", "OK", 3000)
+        
+        if not resp or "+CCLK:" not in resp:
+            logger = logger_manager.logger
+            if logger:
+                logger.warning(f"[TIME] 未获取到时间响应: {resp}")
+            else:
+                print(f"[TIME] 未获取到时间响应: {resp}")
+            return None
+        
+        # 解析并转换时区
+        dt = parse_4g_time(resp, timezone_offset)
+        return dt
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[TIME] 获取4G时间异常: {e}")
+        else:
+            print(f"[TIME] 获取4G时间异常: {e}")
+        return None
+
+
+def sync_system_time_from_4g(timezone_offset=8):
+    """
+    从4G模块同步时间到系统
+    
+    Args:
+        timezone_offset: 时区偏移（小时），默认8（中国时区）
+    
+    Returns:
+        bool: 是否成功
+    """
+    dt = get_time_from_4g(timezone_offset)
+    if not dt:
+        return False
+    
+    try:
+        # 转换为系统 date 命令需要的格式
+        time_str = dt.strftime('%Y-%m-%d %H:%M:%S')
+        
+        # 设置系统时间
+        cmd = f'date -s "{time_str}" 2>&1'
+        result = os.system(cmd)
+        
+        if result == 0:
+            logger = logger_manager.logger
+            if logger:
+                logger.info(f"[TIME] 系统时间已设置为: {time_str}")
+            else:
+                print(f"[TIME] 系统时间已设置为: {time_str}")
+            
+            # 可选：同步到硬件时钟
+            try:
+                os.system('hwclock -w 2>/dev/null')
+                logger = logger_manager.logger
+                if logger:
+                    logger.info("[TIME] 已同步到硬件时钟")
+            except:
+                pass
+            
+            return True
+        else:
+            logger = logger_manager.logger
+            if logger:
+                logger.error(f"[TIME] 设置系统时间失败，退出码: {result}")
+            else:
+                print(f"[TIME] 设置系统时间失败，退出码: {result}")
+            return False
+            
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[TIME] 同步系统时间异常: {e}")
+        else:
+            print(f"[TIME] 同步系统时间异常: {e}")
+        return False
+

version.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+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 = '1.2.10'
+
+# 1.2.0 开始使用C++编译成.so，替换部分代码
+# 1.2.1 ota使用加密包
+# 1.2.2 支持wifi ota，并且设定时区，并使用单独线程保存图片
+# 1.2.3 修改ADC_TRIGGER_THRESHOLD 为2300，支持上传日志到服务器
+# 1.2.4 修改ADC_TRIGGER_THRESHOLD 为3000，并默认关闭摄像头的显示，并把ADC的采样间隔从50ms降低到10ms
+# 1.2.5 支持空气传感器采样，并默认关闭日志。优化断网时的发送队列丢消息问题，解决 WiFi 断线检测不可靠问题。
+# 1.2.6 在链接 wifi 前先判断 wifi 的可用性，假如不可用，则不落盘。增加日志批量压缩上传功能
+# 1.2.7 修复OTA失败的bug, 空气压力传感器的阈值是2500
+# 1.2.8 （1） 加快 wifi 下数据传输的速度。（2） 调整射箭时处理的逻辑，优先上报数据，再存照片之类的操作。（3）假如是用户打开激光的，射箭触发后不再关闭激光，因为是调瞄阶段
+# 1.2.9 增加电源板的控制和自动关机的功能
+# 1.2.10 config formal
+
+
+
+
+
+
+
+
+

vision.py.bak

@@ -0,0 +1,784 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+视觉检测模块
+提供靶心检测、距离估算、图像保存等功能
+"""
+import cv2
+import numpy as np
+import os
+import math
+import threading
+import queue
+from maix import image
+import config
+from logger_manager import logger_manager
+
+# 导入ArUco检测器（如果启用）
+if config.USE_ARUCO:
+    from aruco_detector import detect_target_with_aruco, aruco_detector
+
+# 存图队列 + worker
+_save_queue = queue.Queue(maxsize=16)
+_save_worker_started = False
+_save_worker_lock = threading.Lock()
+
+def check_laser_point_sharpness(frame, laser_point=None, roi_size=30, threshold=100.0, ellipse_params=None):
+    """
+    检测激光点本身的清晰度（不是整个靶子）
+    
+    Args:
+        frame: 图像帧对象
+        laser_point: 激光点坐标 (x, y)，如果为None则自动查找
+        roi_size: ROI区域大小（像素），默认30x30
+        threshold: 清晰度阈值
+        ellipse_params: 椭圆参数 ((center_x, center_y), (width, height), angle)，用于限制激光点必须在椭圆内
+    
+    Returns:
+        (is_sharp, sharpness_score, laser_pos): (是否清晰, 清晰度分数, 激光点坐标)
+    """
+    try:
+        # 1. 如果没有提供激光点，先查找
+        if laser_point is None:
+            from laser_manager import laser_manager
+            laser_point = laser_manager.find_red_laser(frame, ellipse_params=ellipse_params)
+            if laser_point is None:
+                logger_manager.logger.debug(f"未找到激光点")
+                return False, 0.0, None
+        
+        x, y = laser_point
+        
+        # 2. 转换为 OpenCV 格式
+        img_cv = image.image2cv(frame, False, False)
+        h, w = img_cv.shape[:2]
+        
+        # 3. 提取 ROI 区域（激光点周围）
+        roi_half = roi_size // 2
+        x_min = max(0, int(x) - roi_half)
+        x_max = min(w, int(x) + roi_half)
+        y_min = max(0, int(y) - roi_half)
+        y_max = min(h, int(y) + roi_half)
+        
+        roi = img_cv[y_min:y_max, x_min:x_max]
+        
+        if roi.size == 0:
+            return False, 0.0, laser_point
+        
+        # 4. 转换为灰度图（用于清晰度检测）
+        gray_roi = cv2.cvtColor(roi, cv2.COLOR_RGB2GRAY)
+        
+        # 5. 方法1：检测点的扩散程度（能量集中度）
+        # 计算中心区域的能量集中度
+        center_x, center_y = roi.shape[1] // 2, roi.shape[0] // 2
+        center_radius = min(5, roi.shape[0] // 4)  # 中心区域半径
+        
+        # 创建中心区域的掩码
+        y_coords, x_coords = np.ogrid[:roi.shape[0], :roi.shape[1]]
+        center_mask = (x_coords - center_x)**2 + (y_coords - center_y)**2 <= center_radius**2
+        
+        # 计算中心区域和周围区域的亮度
+        center_brightness = gray_roi[center_mask].mean()
+        outer_mask = ~center_mask
+        outer_brightness = gray_roi[outer_mask].mean() if np.any(outer_mask) else 0
+        
+        # 对比度（清晰的点对比度高）
+        contrast = abs(center_brightness - outer_brightness)
+        
+        # 6. 方法2：检测点的边缘锐度（使用拉普拉斯）
+        laplacian = cv2.Laplacian(gray_roi, cv2.CV_64F)
+        edge_sharpness = abs(laplacian).var()
+        
+        # 7. 方法3：检测点的能量集中度（方差）
+        # 清晰的点：能量集中在中心，方差小
+        # 模糊的点：能量分散，方差大
+        # 但我们需要的是：清晰的点中心亮度高，周围低，所以梯度大
+        sobel_x = cv2.Sobel(gray_roi, cv2.CV_64F, 1, 0, ksize=3)
+        sobel_y = cv2.Sobel(gray_roi, cv2.CV_64F, 0, 1, ksize=3)
+        gradient = np.sqrt(sobel_x**2 + sobel_y**2)
+        gradient_sharpness = gradient.var()
+        
+        # 8. 组合多个指标
+        # 对比度权重0.3，边缘锐度权重0.4，梯度权重0.3
+        sharpness_score = (contrast * 0.3 + edge_sharpness * 0.4 + gradient_sharpness * 0.3)
+        
+        is_sharp = sharpness_score >= threshold
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.debug(f"[VISION] 激光点清晰度: 位置=({x}, {y}), 对比度={contrast:.2f}, 边缘={edge_sharpness:.2f}, 梯度={gradient_sharpness:.2f}, 综合={sharpness_score:.2f}, 是否清晰={is_sharp}")
+        
+        return is_sharp, sharpness_score, laser_point
+        
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION] 激光点清晰度检测失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        return False, 0.0, laser_point
+
+def check_image_sharpness(frame, threshold=100.0, save_debug_images=False):
+    """
+    检查图像清晰度（针对圆形靶子优化，基于圆形边缘检测）
+    检测靶心的圆形边缘，计算边缘区域的梯度清晰度
+    
+    Args:
+        frame: 图像帧对象
+        threshold: 清晰度阈值，低于此值认为图像模糊（默认100.0）
+                  可以根据实际情况调整：
+                  - 清晰图像通常 > 200
+                  - 模糊图像通常 < 100
+                  - 中等清晰度 100-200
+        save_debug_images: 是否保存调试图像（原始图和边缘图），默认False
+    
+    Returns:
+        (is_sharp, sharpness_score): (是否清晰, 清晰度分数)
+    """
+    try:
+        logger_manager.logger.debug(f"begin")
+        # 转换为 OpenCV 格式
+        img_cv = image.image2cv(frame, False, False)
+        logger_manager.logger.debug(f"after image2cv")
+        
+        # 转换为 HSV 颜色空间
+        hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+        h, s, v = cv2.split(hsv)
+        logger_manager.logger.debug(f"after HSV conversion")
+        
+        # 检测黄色区域（靶心）
+        # 调整饱和度策略：稍微增强，不要过度
+        s_enhanced = np.clip(s * 1.1, 0, 255).astype(np.uint8)
+        hsv_enhanced = cv2.merge((h, s_enhanced, v))
+        
+        # HSV 阈值范围（与 detect_circle_v3 保持一致）
+        lower_yellow = np.array([7, 80, 0])
+        upper_yellow = np.array([32, 255, 255])
+        mask_yellow = cv2.inRange(hsv_enhanced, lower_yellow, upper_yellow)
+        
+        # 形态学操作，填充小孔洞
+        kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+        mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel)
+        logger_manager.logger.debug(f"after yellow mask detection")
+        
+        # 计算边缘区域：扩展黄色区域，然后减去原始区域，得到边缘区域
+        mask_dilated = cv2.dilate(mask_yellow, kernel, iterations=2)
+        mask_edge = cv2.subtract(mask_dilated, mask_yellow)  # 边缘区域
+        
+        # 计算边缘区域的像素数量
+        edge_pixel_count = np.sum(mask_edge > 0)
+        logger_manager.logger.debug(f"edge pixel count: {edge_pixel_count}")
+        
+        # 如果检测不到边缘区域，使用全局梯度作为后备方案
+        if edge_pixel_count < 100:
+            logger_manager.logger.debug(f"edge region too small, using global gradient")
+            # 使用 V 通道计算全局梯度
+            sobel_v_x = cv2.Sobel(v, cv2.CV_64F, 1, 0, ksize=3)
+            sobel_v_y = cv2.Sobel(v, cv2.CV_64F, 0, 1, ksize=3)
+            gradient = np.sqrt(sobel_v_x**2 + sobel_v_y**2)
+            sharpness_score = gradient.var()
+            logger_manager.logger.debug(f"global gradient variance: {sharpness_score:.2f}")
+        else:
+            # 在边缘区域计算梯度清晰度
+            # 使用 V（亮度）通道计算梯度，因为边缘在亮度上通常很明显
+            sobel_v_x = cv2.Sobel(v, cv2.CV_64F, 1, 0, ksize=3)
+            sobel_v_y = cv2.Sobel(v, cv2.CV_64F, 0, 1, ksize=3)
+            gradient = np.sqrt(sobel_v_x**2 + sobel_v_y**2)
+            
+            # 只在边缘区域计算清晰度
+            edge_gradient = gradient[mask_edge > 0]
+            
+            if len(edge_gradient) > 0:
+                # 计算边缘梯度的方差（清晰图像的边缘梯度变化大）
+                sharpness_score = edge_gradient.var()
+                # 也可以使用均值作为补充指标（清晰图像的边缘梯度均值也较大）
+                gradient_mean = edge_gradient.mean()
+                logger_manager.logger.debug(f"edge gradient: mean={gradient_mean:.2f}, var={sharpness_score:.2f}, pixels={len(edge_gradient)}")
+            else:
+                # 如果边缘区域没有有效梯度，使用全局梯度
+                sharpness_score = gradient.var()
+                logger_manager.logger.debug(f"no edge gradient, using global: {sharpness_score:.2f}")
+        
+        # 保存调试图像（如果启用）
+        if save_debug_images:
+            try:
+                debug_dir = config.PHOTO_DIR
+                if debug_dir not in os.listdir("/root"):
+                    try:
+                        os.mkdir(debug_dir)
+                    except:
+                        pass
+                
+                # 生成文件名
+                try:
+                    all_images = [f for f in os.listdir(debug_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
+                    img_count = len(all_images)
+                except:
+                    img_count = 0
+                
+                # 保存原始图像
+                img_orig = image.cv2image(img_cv, False, False)
+                orig_filename = f"{debug_dir}/sharpness_debug_orig_{img_count:04d}.bmp"
+                img_orig.save(orig_filename)
+                
+                # # 保存边缘检测结果（可视化）
+                # # 创建可视化图像：原始图像 + 黄色区域 + 边缘区域
+                # debug_img = img_cv.copy()
+                # # 在黄色区域绘制绿色
+                # debug_img[mask_yellow > 0] = [0, 255, 0]  # RGB格式，绿色
+                # # 在边缘区域绘制红色
+                # debug_img[mask_edge > 0] = [255, 0, 0]  # RGB格式，红色
+                
+                # debug_img_maix = image.cv2image(debug_img, False, False)
+                # debug_filename = f"{debug_dir}/sharpness_debug_edge_{img_count:04d}.bmp"
+                # debug_img_maix.save(debug_filename)
+                
+                # logger = logger_manager.logger
+                # if logger:
+                #     logger.info(f"[VISION] 保存调试图像: {orig_filename}, {debug_filename}")
+            except Exception as e:
+                logger = logger_manager.logger
+                if logger:
+                    logger.warning(f"[VISION] 保存调试图像失败: {e}")
+                    import traceback
+                    logger.error(traceback.format_exc())
+        
+        is_sharp = sharpness_score >= threshold
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.debug(f"[VISION] 清晰度检测: 分数={sharpness_score:.2f}, 边缘像素数={edge_pixel_count}, 是否清晰={is_sharp}, 阈值={threshold}")
+        
+        return is_sharp, sharpness_score
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION] 清晰度检测失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        # 出错时返回 False，避免使用模糊图像
+        return False, 0.0
+
+def save_calibration_image(frame, laser_pos, photo_dir=None):
+    """
+    保存激光校准图像（带标注）
+    在找到的激光点位置绘制圆圈，便于检查算法是否正确
+    
+    Args:
+        frame: 原始图像帧
+        laser_pos: 找到的激光点坐标 (x, y)
+        photo_dir: 照片存储目录，如果为None则使用 config.PHOTO_DIR
+    
+    Returns:
+        str: 保存的文件路径，如果保存失败则返回 None
+    """
+    # 检查是否启用图像保存
+    if not config.SAVE_IMAGE_ENABLED:
+        return None
+    
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    
+    try:
+        # 确保照片目录存在
+        try:
+            if photo_dir not in os.listdir("/root"):
+                os.mkdir(photo_dir)
+        except:
+            pass
+        
+        # 生成文件名
+        try:
+            all_images = [f for f in os.listdir(photo_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
+            img_count = len(all_images)
+        except:
+            img_count = 0
+        
+        x, y = laser_pos
+        filename = f"{photo_dir}/calibration_{int(x)}_{int(y)}_{img_count:04d}.bmp"
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.info(f"保存校准图像: {filename}, 激光点: ({x}, {y})")
+        
+        # 转换图像为 OpenCV 格式以便绘制
+        img_cv = image.image2cv(frame, False, False)
+        
+        # 绘制激光点圆圈（用绿色圆圈标出找到的激光点）
+        cv2.circle(img_cv, (int(x), int(y)), 10, (0, 255, 0), 2)  # 外圈：绿色，半径10
+        cv2.circle(img_cv, (int(x), int(y)), 5, (0, 255, 0), 2)  # 中圈：绿色，半径5
+        cv2.circle(img_cv, (int(x), int(y)), 2, (0, 255, 0), -1)  # 中心点：绿色实心
+        
+        # 可选：绘制十字线帮助定位
+        cv2.line(img_cv, 
+                (int(x - 20), int(y)), 
+                (int(x + 20), int(y)), 
+                (0, 255, 0), 1)  # 水平线
+        cv2.line(img_cv, 
+                (int(x), int(y - 20)), 
+                (int(x), int(y + 20)), 
+                (0, 255, 0), 1)  # 垂直线
+        
+        # 转换回 MaixPy 图像格式并保存
+        result_img = image.cv2image(img_cv, False, False)
+        result_img.save(filename)
+        
+        if logger:
+            logger.debug(f"校准图像已保存: {filename}")
+        
+        return filename
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"保存校准图像失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        return None
+
+def detect_circle_v3(frame, laser_point=None):
+    """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本
+    增加红色圆圈检测，验证黄色圆圈是否为真正的靶心
+    如果提供 laser_point，会选择最接近激光点的目标
+    
+    Args:
+        frame: 图像帧
+        laser_point: 激光点坐标 (x, y)，用于多目标场景下的目标选择
+    
+    Returns:
+        (result_img, best_center, best_radius, method, best_radius1, ellipse_params)
+    """
+    img_cv = image.image2cv(frame, False, False)
+    
+    best_center = best_radius = best_radius1 = method = None
+    ellipse_params = None
+    
+    # HSV 黄色掩码检测（模糊靶心）
+    hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+    h, s, v = cv2.split(hsv)
+
+    # 调整饱和度策略：稍微增强，不要过度
+    s = np.clip(s * 1.1, 0, 255).astype(np.uint8) 
+
+    hsv = cv2.merge((h, s, v))
+
+    # 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+    lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
+    upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
+
+    mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+    # 调整形态学操作
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel) 
+
+    contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    # 存储所有有效的黄色-红色组合
+    valid_targets = []
+    
+    if contours_yellow:
+        for cnt_yellow in contours_yellow:
+            area = cv2.contourArea(cnt_yellow)
+            perimeter = cv2.arcLength(cnt_yellow, True)
+
+            # 计算圆度
+            if perimeter > 0:
+                circularity = (4 * np.pi * area) / (perimeter * perimeter)
+            else:
+                circularity = 0
+
+            logger = logger_manager.logger
+            if area > 50 and circularity > 0.7:
+                if logger:
+                    logger.info(f"[target] -> 面积:{area}, 圆度:{circularity:.2f}")
+                # 尝试拟合椭圆
+                yellow_center = None
+                yellow_radius = None
+                yellow_ellipse = None
+                
+                if len(cnt_yellow) >= 5:
+                    (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
+                    yellow_ellipse = ((x, y), (width, height), angle)
+                    axes_minor = min(width, height)
+                    radius = axes_minor / 2
+                    yellow_center = (int(x), int(y))
+                    yellow_radius = int(radius)
+                else:
+                    (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
+                    yellow_center = (int(x), int(y))
+                    yellow_radius = int(radius)
+                    yellow_ellipse = None
+
+                # 如果检测到黄色圆圈，再检测红色圆圈进行验证
+                if yellow_center and yellow_radius:
+                    # HSV 红色掩码检测（红色在HSV中跨越0度，需要两个范围）
+                    # 红色范围1: 0-10度（接近0度的红色）
+                    lower_red1 = np.array([0, 80, 0])
+                    upper_red1 = np.array([10, 255, 255])
+                    mask_red1 = cv2.inRange(hsv, lower_red1, upper_red1)
+                    
+                    # 红色范围2: 170-180度（接近180度的红色）
+                    lower_red2 = np.array([170, 80, 0])
+                    upper_red2 = np.array([180, 255, 255])
+                    mask_red2 = cv2.inRange(hsv, lower_red2, upper_red2)
+                    
+                    # 合并两个红色掩码
+                    mask_red = cv2.bitwise_or(mask_red1, mask_red2)
+                    
+                    # 形态学操作
+                    kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+                    mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
+                    
+                    contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+                    
+                    found_valid_red = False
+                    
+                    if contours_red:
+                        # 找到所有符合条件的红色圆圈
+                        for cnt_red in contours_red:
+                            area_red = cv2.contourArea(cnt_red)
+                            perimeter_red = cv2.arcLength(cnt_red, True)
+                            
+                            if perimeter_red > 0:
+                                circularity_red = (4 * np.pi * area_red) / (perimeter_red * perimeter_red)
+                            else:
+                                circularity_red = 0
+                            
+                            # 红色圆圈也应该有一定的圆度
+                            if area_red > 50 and circularity_red > 0.6:
+                                # 计算红色圆圈的中心和半径
+                                if len(cnt_red) >= 5:
+                                    (x_red, y_red), (w_red, h_red), angle_red = cv2.fitEllipse(cnt_red)
+                                    radius_red = min(w_red, h_red) / 2
+                                    red_center = (int(x_red), int(y_red))
+                                    red_radius = int(radius_red)
+                                else:
+                                    (x_red, y_red), radius_red = cv2.minEnclosingCircle(cnt_red)
+                                    red_center = (int(x_red), int(y_red))
+                                    red_radius = int(radius_red)
+                                
+                                # 计算黄色和红色圆心的距离
+                                if red_center:
+                                    dx = yellow_center[0] - red_center[0]
+                                    dy = yellow_center[1] - red_center[1]
+                                    distance = np.sqrt(dx*dx + dy*dy)
+                                    
+                                    # 圆心距离阈值：应该小于黄色半径的某个倍数（比如1.5倍）
+                                    max_distance = yellow_radius * 1.5
+                                    
+                                    # 红色圆圈应该比黄色圆圈大（外圈）
+                                    if distance < max_distance and red_radius > yellow_radius * 0.8:
+                                        found_valid_red = True
+                                        logger = logger_manager.logger
+                                        if logger:
+                                            logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
+                                        
+                                        # 记录这个有效目标
+                                        valid_targets.append({
+                                            'center': yellow_center,
+                                            'radius': yellow_radius,
+                                            'ellipse': yellow_ellipse,
+                                            'area': area
+                                        })
+                                        break
+                    
+                    if not found_valid_red:
+                        logger = logger_manager.logger
+                        if logger:
+                            logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+    
+    # 从所有有效目标中选择最佳目标
+    if valid_targets:
+        if laser_point:
+            # 如果有激光点，选择最接近激光点的目标
+            best_target = None
+            min_distance = float('inf')
+            for target in valid_targets:
+                dx = target['center'][0] - laser_point[0]
+                dy = target['center'][1] - laser_point[1]
+                distance = np.sqrt(dx*dx + dy*dy)
+                if distance < min_distance:
+                    min_distance = distance
+                    best_target = target
+            if best_target:
+                best_center = best_target['center']
+                best_radius = best_target['radius']
+                ellipse_params = best_target['ellipse']
+                method = "v3_ellipse_red_validated_laser_selected"
+                best_radius1 = best_radius * 5
+        else:
+            # 如果没有激光点，选择面积最大的目标
+            best_target = max(valid_targets, key=lambda t: t['area'])
+            best_center = best_target['center']
+            best_radius = best_target['radius']
+            ellipse_params = best_target['ellipse']
+            method = "v3_ellipse_red_validated"
+            best_radius1 = best_radius * 5
+
+    result_img = image.cv2image(img_cv, False, False)
+    return result_img, best_center, best_radius, method, best_radius1, ellipse_params
+
+
+def estimate_distance(pixel_radius):
+    """根据像素半径估算实际距离（单位：米）"""
+    if not pixel_radius:
+        return 0.0
+    return (config.REAL_RADIUS_CM * config.FOCAL_LENGTH_PIX) / pixel_radius / 100.0
+
+def estimate_pixel(physical_distance_cm, target_distance_m):
+    """
+    根据物理距离和目标距离计算对应的像素偏移
+    
+    Args:
+        physical_distance_cm: 物理世界中的距离（厘米），例如激光与摄像头的距离
+        target_distance_m: 目标距离（米），例如到靶心的距离
+    
+    Returns:
+        float: 对应的像素偏移
+    """
+    if not target_distance_m or target_distance_m <= 0:
+        return 0.0
+    # 公式：像素偏移 = (物理距离_米) * 焦距_像素 / 目标距离_米
+    return (physical_distance_cm / 100.0) * config.FOCAL_LENGTH_PIX / 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):
+    """
+    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:
+        return None
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    try:
+        try:
+            if photo_dir not in os.listdir("/root"):
+                os.mkdir(photo_dir)
+        except Exception:
+            pass
+
+        x, y = laser_point
+        if shot_id:
+            if center is None or radius is None:
+                filename = f"{photo_dir}/shot_{shot_id}_no_target.bmp"
+            else:
+                method_str = method or "unknown"
+                filename = f"{photo_dir}/shot_{shot_id}_{method_str}.bmp"
+        else:
+            try:
+                all_images = [f for f in os.listdir(photo_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
+                img_count = len(all_images)
+            except Exception:
+                img_count = 0
+            if center is None or radius is None:
+                method_str = "no_target"
+                distance_str = "000"
+            else:
+                method_str = method or "unknown"
+                distance_str = str(round((distance_m or 0.0) * 100))
+            filename = f"{photo_dir}/{method_str}_{int(x)}_{int(y)}_{distance_str}_{img_count:04d}.bmp"
+
+        logger = logger_manager.logger
+        if logger:
+            if shot_id:
+                logger.info(f"[VISION] 保存射箭图像，ID: {shot_id}, 文件名: {filename}")
+            if center and radius:
+                logger.info(f"结果 -> 圆心: {center}, 半径: {radius}, 方法: {method}")
+                if ellipse_params:
+                    (ec, (ew, eh), ea) = ellipse_params
+                    logger.info(f"椭圆 -> 中心: ({ec[0]:.1f}, {ec[1]:.1f}), 长轴: {max(ew, eh):.1f}, 短轴: {min(ew, eh):.1f}, 角度: {ea:.1f}°")
+            else:
+                logger.info(f"结果 -> 未检测到靶心，保存原始图像（激光点: ({x}, {y})）")
+
+        laser_color = (config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+        cross_thickness = int(max(getattr(config, "LASER_THICKNESS", 1), 1))
+        cross_length = int(max(getattr(config, "LASER_LENGTH", 10), 10))
+        cv2.line(img_cv, (int(x - cross_length), int(y)), (int(x + cross_length), int(y)), laser_color, cross_thickness)
+        cv2.line(img_cv, (int(x), int(y - cross_length)), (int(x), int(y + cross_length)), laser_color, cross_thickness)
+        cv2.circle(img_cv, (int(x), int(y)), 1, laser_color, cross_thickness)
+        ring_thickness = 1
+        cv2.circle(img_cv, (int(x), int(y)), 10, laser_color, ring_thickness)
+        cv2.circle(img_cv, (int(x), int(y)), 5, laser_color, ring_thickness)
+        cv2.circle(img_cv, (int(x), int(y)), 2, laser_color, -1)
+
+        if center and radius:
+            cx, cy = center
+            if ellipse_params:
+                (ell_center, (width, height), angle) = ellipse_params
+                cx_ell, cy_ell = int(ell_center[0]), int(ell_center[1])
+                cv2.ellipse(img_cv, (cx_ell, cy_ell), (int(width / 2), int(height / 2)), angle, 0, 360, (0, 255, 0), 2)
+                cv2.circle(img_cv, (cx_ell, cy_ell), 3, (255, 0, 0), -1)
+                minor_length = min(width, height) / 2
+                minor_angle = angle + 90 if width >= height else angle
+                minor_angle_rad = math.radians(minor_angle)
+                dx_minor = minor_length * math.cos(minor_angle_rad)
+                dy_minor = minor_length * math.sin(minor_angle_rad)
+                pt1 = (int(cx_ell - dx_minor), int(cy_ell - dy_minor))
+                pt2 = (int(cx_ell + dx_minor), int(cy_ell + dy_minor))
+                cv2.line(img_cv, pt1, pt2, (0, 0, 255), 2)
+            else:
+                cv2.circle(img_cv, (cx, cy), radius, (0, 0, 255), 2)
+                cv2.circle(img_cv, (cx, cy), 2, (0, 0, 255), -1)
+            cv2.line(img_cv, (int(x), int(y)), (cx, cy), (255, 255, 0), 1)
+
+        out = image.cv2image(img_cv, False, False)
+        out.save(filename)
+        if logger:
+            if center and radius:
+                logger.debug(f"图像已保存（含靶心标注）: {filename}")
+            else:
+                logger.debug(f"图像已保存（无靶心，含激光十字线）: {filename}")
+
+        # 清理旧图片：如果目录下图片超过100张，删除最老的
+        try:
+            image_files = []
+            for f in os.listdir(photo_dir):
+                if f.endswith(('.bmp', '.jpg', '.jpeg')):
+                    filepath = os.path.join(photo_dir, f)
+                    try:
+                        mtime = os.path.getmtime(filepath)
+                        image_files.append((mtime, filepath, f))
+                    except Exception:
+                        pass
+
+            from config import MAX_IMAGES
+            if len(image_files) > MAX_IMAGES:
+                image_files.sort(key=lambda x: x[0])
+                to_delete = len(image_files) - MAX_IMAGES
+                deleted_count = 0
+                for _, filepath, fname in image_files[:to_delete]:
+                    try:
+                        os.remove(filepath)
+                        deleted_count += 1
+                        if logger:
+                            logger.debug(f"[VISION] 删除旧图片: {fname}")
+                    except Exception as e:
+                        if logger:
+                            logger.warning(f"[VISION] 删除旧图片失败 {fname}: {e}")
+                if logger and deleted_count > 0:
+                    logger.info(f"[VISION] 已清理 {deleted_count} 张旧图片，当前剩余 {MAX_IMAGES} 张")
+        except Exception as e:
+            if logger:
+                logger.warning(f"[VISION] 清理旧图片时出错（可忽略）: {e}")
+
+        return filename
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"保存图像失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        return None
+
+
+def _save_worker_loop():
+    """存图 worker：从队列取任务并调用 _save_shot_image_impl。"""
+    while True:
+        try:
+            item = _save_queue.get()
+            if item is None:
+                break
+            _save_shot_image_impl(*item)
+        except Exception as e:
+            logger = logger_manager.logger
+            if logger:
+                logger.error(f"[VISION] 存图 worker 异常: {e}")
+                import traceback
+                logger.error(traceback.format_exc())
+        finally:
+            try:
+                _save_queue.task_done()
+            except Exception:
+                pass
+
+
+def start_save_shot_worker():
+    """启动存图 worker 线程（应在程序初始化时调用一次）。"""
+    global _save_worker_started
+    with _save_worker_lock:
+        if _save_worker_started:
+            return
+        _save_worker_started = True
+    t = threading.Thread(target=_save_worker_loop, daemon=True)
+    t.start()
+    logger = logger_manager.logger
+    if logger:
+        logger.info("[VISION] 存图 worker 线程已启动")
+
+
+def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
+                      laser_point, distance_m, shot_id=None, photo_dir=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。
+    """
+    if not config.SAVE_IMAGE_ENABLED:
+        return
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    try:
+        img_cv = image.image2cv(result_img, False, False)
+        img_copy = np.copy(img_cv)
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION] enqueue_save_shot 复制图像失败: {e}")
+        return
+    task = (img_copy, center, radius, method, ellipse_params, laser_point, distance_m, shot_id, photo_dir)
+    try:
+        _save_queue.put_nowait(task)
+    except queue.Full:
+        logger = logger_manager.logger
+        if logger:
+            logger.warning("[VISION] 存图队列已满，跳过本次保存")
+
+
+def save_shot_image(result_img, center, radius, method, ellipse_params,
+                    laser_point, distance_m, shot_id=None, photo_dir=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:
+        return None
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    try:
+        img_cv = image.image2cv(result_img, False, False)
+        return _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
+                                     laser_point, distance_m, shot_id, photo_dir)
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION] save_shot_image 转换图像失败: {e}")
+        return None
+
+
+def detect_target(frame, laser_point=None):
+    """
+    统一的靶心检测接口，根据配置自动选择检测方法
+    
+    Args:
+        frame: MaixPy图像帧
+        laser_point: 激光点坐标（可选）
+        
+    Returns:
+        (result_img, center, radius, method, best_radius1, ellipse_params)
+        与detect_circle_v3保持相同的返回格式
+    """
+    logger = logger_manager.logger
+    
+    if config.USE_ARUCO:
+        # 使用ArUco检测
+        if logger:
+            logger.debug("[VISION] 使用ArUco标记检测靶心")
+        
+        # 延迟导入以避免循环依赖
+        from aruco_detector import detect_target_with_aruco
+        return detect_target_with_aruco(frame, laser_point)
+    else:
+        # 使用传统黄色靶心检测
+        if logger:
+            logger.debug("[VISION] 使用传统黄色靶心检测")
+        return detect_circle_v3(frame, laser_point)
+

wifi.py

@@ -0,0 +1,578 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+WiFi管理模块
+提供WiFi连接、网络检测、质量监测等功能
+"""
+import os
+import re
+import socket
+import threading
+import time as std_time
+from maix import time
+
+import config
+from logger_manager import logger_manager
+
+
+class WiFiManager:
+    """WiFi管理器（单例）"""
+    _instance = None
+    
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(WiFiManager, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+    
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        # WiFi 相关状态
+        self._wifi_connected = False
+        self._wifi_ip = None
+        self._wifi_socket = None
+        self._wifi_socket_lock = threading.Lock()
+        self._prefer_wifi = True  # 是否优先使用 WiFi
+        self._recv_buffer = b""  # TCP 接收缓冲区
+        
+        # WiFi 质量监测（后台线程）
+        self._wifi_quality_monitor_thread = None
+        self._wifi_quality_stop_event = threading.Event()
+        self._last_wifi_rtt_ms = None  # 最近一次测量的 RTT
+        self._last_wifi_rssi_dbm = None  # 最近一次测量的 RSSI
+        
+        # 服务器相关（用于网络检测）
+        try:
+            import archery_netcore as _netcore
+            self._server_ip = _netcore.get_config().get("SERVER_IP")
+            self._server_port = _netcore.get_config().get("SERVER_PORT")
+        except Exception:
+            self._server_ip = getattr(config, "SERVER_IP", None)
+            self._server_port = getattr(config, "SERVER_PORT", None)
+        
+        self._initialized = True
+    
+    @property
+    def logger(self):
+        """获取 logger 对象"""
+        return logger_manager.logger
+    
+    @property
+    def wifi_connected(self):
+        """WiFi是否已连接"""
+        return self._wifi_connected
+    
+    @property
+    def wifi_ip(self):
+        """WiFi IP地址"""
+        return self._wifi_ip
+    
+    @property
+    def wifi_socket(self):
+        """WiFi socket对象"""
+        return self._wifi_socket
+    
+    @wifi_socket.setter
+    def wifi_socket(self, value):
+        """设置WiFi socket对象"""
+        self._wifi_socket = value
+    
+    @property
+    def wifi_socket_lock(self):
+        """获取WiFi socket锁"""
+        return self._wifi_socket_lock
+    
+    @property
+    def prefer_wifi(self):
+        """是否优先使用WiFi"""
+        return self._prefer_wifi
+    
+    @prefer_wifi.setter
+    def prefer_wifi(self, value):
+        """设置是否优先使用WiFi"""
+        self._prefer_wifi = value
+    
+    @property
+    def last_wifi_rtt_ms(self):
+        """最近一次测量的RTT"""
+        return self._last_wifi_rtt_ms
+    
+    @property
+    def last_wifi_rssi_dbm(self):
+        """最近一次测量的RSSI"""
+        return self._last_wifi_rssi_dbm
+    
+    @property
+    def recv_buffer(self):
+        """TCP接收缓冲区"""
+        return self._recv_buffer
+    
+    @recv_buffer.setter
+    def recv_buffer(self, value):
+        """设置TCP接收缓冲区"""
+        self._recv_buffer = value
+    
+    # ==================== WiFi 连接方法 ====================
+    
+    def is_wifi_connected(self):
+        """检查WiFi是否已连接"""
+        # 优先用 MaixPy network（如果可用）
+        try:
+            from maix import network
+            wifi = network.wifi.Wifi()
+            if wifi.is_connected():
+                self._wifi_connected = True
+                return True
+        except:
+            self.logger.warning("Failed to check WiFi connection using MaixPy network", exc_info=True)
+        
+        # 兜底：看系统 wlan0 有没有 IP
+        try:
+            ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
+            if ip:
+                self._wifi_connected = True
+                self._wifi_ip = ip
+                return True
+        except:
+            self.logger.warning("Failed to check WiFi connection using system command", exc_info=True)
+        
+        self._wifi_connected = False
+        return False
+    
+    def connect_wifi(self, ssid, password, verify_callback=None, persist=True, timeout_s=20):
+        """
+        连接 Wi-Fi（先用新凭证尝试连接并验证可用性；失败自动回滚；成功后再决定是否落盘）
+        
+        重要：系统的 /etc/init.d/S30wifi 通常会读取 /boot/wifi.ssid 与 /boot/wifi.pass 来连接 WiFi。
+        因此要"真正尝试连接新 WiFi"，必须临时写入 /boot/ 触发重启；若失败则把旧值写回去（回滚）。
+        
+        Args:
+            ssid: WiFi SSID
+            password: WiFi密码
+            verify_callback: 验证回调函数，接收 (ip) 参数，返回 (success: bool, error: str)
+            persist: 是否持久化保存凭证
+            timeout_s: 连接超时时间（秒）
+        
+        Returns:
+            (ip, error): IP地址和错误信息（成功时error为None）
+        """
+        # 配置文件路径定义
+        conf_path = "/etc/wpa_supplicant.conf"
+        ssid_file = "/boot/wifi.ssid"
+        pass_file = "/boot/wifi.pass"
+
+        def _read_text(path: str):
+            try:
+                if os.path.exists(path):
+                    with open(path, "r", encoding="utf-8") as f:
+                        return f.read()
+            except Exception:
+                return None
+            return None
+
+        def _write_text(path: str, content: str):
+            with open(path, "w", encoding="utf-8") as f:
+                f.write(content)
+
+        def _restore_boot(old_ssid: str | None, old_pass: str | None):
+            # 还原 /boot 凭证：原来没有就删除，原来有就写回
+            try:
+                if old_ssid is None:
+                    if os.path.exists(ssid_file):
+                        os.remove(ssid_file)
+                else:
+                    _write_text(ssid_file, old_ssid)
+            except Exception:
+                pass
+            try:
+                if old_pass is None:
+                    if os.path.exists(pass_file):
+                        os.remove(pass_file)
+                else:
+                    _write_text(pass_file, old_pass)
+            except Exception:
+                pass
+
+        old_conf = _read_text(conf_path)
+        old_boot_ssid = _read_text(ssid_file)
+        old_boot_pass = _read_text(pass_file)
+
+        try:
+            # 生成 wpa_supplicant 配置（写 /etc 作为辅助，具体是否生效取决于 S30wifi 脚本）
+            net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read()
+            if "network={" not in net_conf:
+                raise RuntimeError("Failed to generate wpa config")
+
+            try:
+                _write_text(
+                    conf_path,
+                    "ctrl_interface=/var/run/wpa_supplicant\n"
+                    "update_config=1\n\n"
+                    + net_conf,
+                )
+            except Exception:
+                # 不强制要求写 /etc 成功（某些系统只用 /boot）
+                pass
+
+            # ====== 临时写入 /boot 凭证，触发 WiFi 服务真正尝试连接新 SSID ======
+            _write_text(ssid_file, ssid.strip())
+            _write_text(pass_file, password.strip())
+
+            # 重启 Wi-Fi 服务
+            os.system("/etc/init.d/S30wifi restart")
+
+            # 等待获取 IP
+            wait_s = int(timeout_s) if timeout_s and timeout_s > 0 else 20
+            wait_s = min(max(wait_s, 5), 60)
+            for _ in range(wait_s):
+                ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
+                if ip:
+                    # 拿到 IP 不代表可上网/可访问目标；继续做可达性验证
+                    self._wifi_connected = True
+                    self._wifi_ip = ip
+                    self.logger.info(f"[WIFI] 已连接，IP: {ip}，开始验证网络可用性...")
+
+                    # 验证能访问指定目标（通过回调函数）
+                    if verify_callback:
+                        success, error = verify_callback(ip)
+                        if not success:
+                            raise RuntimeError(error or "Verification failed")
+
+                    # ====== 验证通过 ======
+                    if not persist:
+                        # 不持久化：把 /boot 恢复成旧值（不重启，当前连接保持不变）
+                        _restore_boot(old_boot_ssid, old_boot_pass)
+                        self.logger.info("[WIFI] 网络验证通过，但按 persist=False 回滚 /boot 凭证（不重启）")
+                    else:
+                        self.logger.info("[WIFI] 网络验证通过，/boot 凭证已保留（持久化）")
+
+                    return ip, None
+
+                std_time.sleep(1)
+
+            raise RuntimeError("Timeout: No IP obtained")
+
+        except Exception as e:
+            # 失败：回滚 /boot 和 /etc，重启 WiFi 恢复旧网络
+            _restore_boot(old_boot_ssid, old_boot_pass)
+            try:
+                if old_conf is not None:
+                    _write_text(conf_path, old_conf)
+            except Exception:
+                pass
+            try:
+                os.system("/etc/init.d/S30wifi restart")
+            except Exception:
+                pass
+
+            self._wifi_connected = False
+            self._wifi_ip = None
+            self.logger.error(f"[WIFI] 连接/验证失败，已回滚: {e}")
+            return None, str(e)
+    
+    def disconnect_wifi(self):
+        """断开WiFi连接并清理资源"""
+        if self._wifi_socket:
+            try:
+                self._wifi_socket.close()
+            except Exception:
+                pass
+            finally:
+                self._wifi_socket = None
+        self._wifi_connected = False
+        self._wifi_ip = None
+    
+    # ==================== WiFi 质量监测 ====================
+    
+    def _get_wifi_rssi_dbm(self):
+        """
+        获取 WiFi 信号强度（dBm，越大越好；比如 -40 比 -80 好）
+        由于不同固件实现差异，这里做多策略兜底，失败返回 None
+        """
+        # 1) 优先使用：iw dev wlan0 link
+        #    你提供的输出示例包含：signal: -58 dBm
+        try:
+            out = os.popen("iw dev wlan0 link 2>/dev/null").read()
+            if out:
+                m = re.search(r"signal:\s*(-?\d+(?:\.\d+)?)\s*dBm", out, re.IGNORECASE)
+                if m:
+                    v = float(m.group(1))
+                    # 合理范围兜底
+                    if -120.0 <= v <= 0.0:
+                        return v
+                m2 = re.search(r"signal:\s*(-?\d+(?:\.\d+)?)", out, re.IGNORECASE)
+                if m2:
+                    v = float(m2.group(1))
+                    if -120.0 <= v <= 0.0:
+                        return v
+        except Exception:
+            pass
+
+        # 2) 兜底：iwconfig
+        try:
+            out = os.popen("iwconfig wlan0 2>/dev/null").read()
+            m = re.search(r"Signal level[=:]\s*(-?\d+(?:\.\d+)?)\s*dBm", out, re.IGNORECASE)
+            if m:
+                v = float(m.group(1))
+                if -120.0 <= v <= 0.0:
+                    return v
+            m2 = re.search(r"Signal level[=:]\s*(-?\d+(?:\.\d+)?)", out, re.IGNORECASE)
+            if m2:
+                v = float(m2.group(1))
+                if -120.0 <= v <= 0.0:
+                    return v
+        except Exception:
+            pass
+
+        return None
+    
+    def _measure_wifi_tcp_rtt_ms(self, host, port, samples=3, per_sample_timeout_ms=900):
+        """
+        测量：在当前 WiFi 下，TCP 建连耗时（RTT 的近似）
+        
+        Args:
+            host: 目标主机
+            port: 目标端口
+            samples: 采样次数
+            per_sample_timeout_ms: 每次采样超时时间（毫秒）
+        
+        Returns:
+            (median_rtt_ms, reachable_bool)
+        """
+        rtts = []
+        reachable = False
+        addr = None
+
+        # 先解析一次地址，避免每次样本都做 DNS
+        try:
+            addr_info = socket.getaddrinfo(host, port)[0]
+            addr = (addr_info[0], addr_info[1], addr_info[2], addr_info[-1])
+        except Exception:
+            return float("inf"), False
+
+        for _ in range(max(1, int(samples or 1))):
+            s = None
+            try:
+                s = socket.socket(addr[0], addr[1], addr[2])
+                s.settimeout(max(0.1, float(per_sample_timeout_ms) / 1000.0))
+                t0 = time.ticks_ms()
+                s.connect(addr[-1])
+                elapsed_ms = abs(time.ticks_diff(time.ticks_ms(), t0))
+                rtts.append(float(elapsed_ms))
+                reachable = True
+            except Exception:
+                # 单个样本失败不影响整体，只要有成功样本就继续
+                pass
+            finally:
+                try:
+                    if s:
+                        s.close()
+                except Exception:
+                    pass
+
+            # 小间隔，避免过度占用
+            try:
+                time.sleep_ms(100)
+            except Exception:
+                pass
+
+        if not rtts:
+            return float("inf"), False
+
+        rtts_sorted = sorted(rtts)
+        mid = len(rtts_sorted) // 2
+        if len(rtts_sorted) % 2 == 1:
+            median = rtts_sorted[mid]
+        else:
+            median = (rtts_sorted[mid - 1] + rtts_sorted[mid]) / 2.0
+        return median, reachable
+    
+    def _is_wifi_quality_bad(self, wifi_rtt_ms, wifi_rssi_dbm):
+        """
+        综合判断 WiFi 质量是否差：
+        - RTT中位数超过阈值 -> bad
+        - 若启用 RSSI：信号弱(RSSI更差于阈值) 且 RTT 也偏高 -> bad
+        """
+        if wifi_rtt_ms >= config.WIFI_QUALITY_RTT_BAD_MS:
+            return True
+
+        if not getattr(config, "WIFI_QUALITY_USE_RSSI", False):
+            return False
+
+        if wifi_rssi_dbm is None:
+            return False
+
+        # "rtt_warn + rssi_bad" 联合条件
+        if wifi_rtt_ms >= config.WIFI_QUALITY_RTT_WARN_MS and wifi_rssi_dbm <= config.WIFI_QUALITY_RSSI_BAD_DBM:
+            return True
+
+        return False
+    
+    def get_wifi_quality_status(self):
+        """
+        获取当前 WiFi 质量状态（用于调试或显示）
+        
+        Returns:
+            dict: {"rtt_ms": float, "rssi_dbm": float, "is_bad": bool}
+        """
+        rtt = self._last_wifi_rtt_ms
+        rssi = self._last_wifi_rssi_dbm
+        is_bad = False
+        
+        if rtt is not None and rtt != float("inf"):
+            is_bad = self._is_wifi_quality_bad(rtt, rssi)
+        
+        return {
+            "rtt_ms": rtt if rtt is not None and rtt != float("inf") else None,
+            "rssi_dbm": rssi,
+            "is_bad": is_bad
+        }
+    
+    # ==================== 后台质量监测线程 ====================
+    
+    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）
+        只在 WiFi 连接时运行，不影响业务发送性能
+        
+        Args:
+            network_type_callback: 获取当前网络类型的回调函数
+            on_poor_quality_callback: WiFi质量差时的回调函数
+        """
+        if self._wifi_quality_monitor_thread is not None:
+            self.logger.warning("[WiFi Monitor] 监测线程已在运行")
+            return
+        
+        self._network_type_callback = network_type_callback
+        self._on_poor_quality_callback = on_poor_quality_callback
+        self._wifi_quality_stop_event.clear()
+        self._wifi_quality_monitor_thread = threading.Thread(
+            target=self._quality_monitor_loop,
+            daemon=True,
+            name="wifi_quality_monitor"
+        )
+        self._wifi_quality_monitor_thread.start()
+        self.logger.info("[WiFi Monitor] 已启动后台监测线程")
+    
+    def stop_quality_monitor(self):
+        """停止 WiFi 质量监测线程"""
+        if self._wifi_quality_monitor_thread is None:
+            return
+        
+        self._wifi_quality_stop_event.set()
+        try:
+            self._wifi_quality_monitor_thread.join(timeout=2.0)
+        except Exception as e:
+            self.logger.error(f"[WiFi Monitor] 停止线程失败：{e}")
+        finally:
+            self._wifi_quality_monitor_thread = None
+            self.logger.info("[WiFi Monitor] 已停止后台监测线程")
+    
+    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
+        """
+        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_ms, reachable = self._measure_wifi_tcp_rtt_ms(
+                    #     self._server_ip, self._server_port,
+                    #     samples=1, per_sample_timeout_ms=600
+                    # )
+                    
+                    # 获取 RSSI
+                    rssi_dbm = self._get_wifi_rssi_dbm()
+                    
+                    # 更新缓存
+                    # 不使用 RTT 测量
+                    rtt_ms = 0
+                    reachable = True
+                    self._last_wifi_rtt_ms = rtt_ms if reachable else None
+                    self._last_wifi_rssi_dbm = rssi_dbm
+                    self.logger.debug(f"[WiFi Monitor] - RTT={rtt_ms:.0f}ms, RSSI={rssi_dbm:.0f}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")):
+                            return True
+                        return self._is_wifi_quality_bad(_rtt, _rssi)
+
+                    bad = _is_bad_now(reachable, rtt_ms, rssi_dbm)
+                    if bad:
+                        self.logger.warning("[WiFi Monitor] 质量差,切换前快速重试 2 次（每次间隔1秒）")
+
+                        for retry_idx in range(2):
+                            time.sleep_ms(1000)
+                            # 不使用 RTT 测量
+                            rtt2 = 0
+                            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
+                            self._last_wifi_rtt_ms = rtt2 if reachable2 else None
+                            self._last_wifi_rssi_dbm = rssi2
+
+                            bad2 = _is_bad_now(reachable2, rtt2, rssi2)
+                            try:
+                                self.logger.info(
+                                    f"[WiFi Monitor] 复测{retry_idx+1}/2: reachable={reachable2}, "
+                                    f"rtt={rtt2 if rtt2 != float('inf') else -1:.0f}ms, rssi={rssi2}, bad={bad2}"
+                                )
+                            except Exception:
+                                pass
+
+                            if not bad2:
+                                self.logger.info("[WiFi Monitor] 复测恢复正常，继续保留 WiFi（不切换）")
+                                bad = False
+                                break
+
+                        if bad:
+                            self.logger.warning("[WiFi Monitor] 复测仍差/不通，尝试切换到 4G")
+                            self._on_poor_quality_callback()
+                
+                # 休眠 5 秒
+                time.sleep(5)
+                
+            except Exception as e:
+                self.logger.error(f"[WiFi Monitor] 监测异常：{e}")
+                # 异常后继续循环，避免线程退出
+                continue
+
+
+# 全局 WiFi 管理器实例
+wifi_manager = WiFiManager()
+
+
+# ==================== 兼容旧接口的函数 ====================
+
+def is_wifi_connected():
+    """尽量判断当前是否有 Wi-Fi（有则走 Wi-Fi OTA，否则走 4G OTA）"""
+    return wifi_manager.is_wifi_connected()
+
+
+def connect_wifi(ssid, password, verify_callback=None, persist=True, timeout_s=20):
+    """
+    连接 Wi-Fi 并将凭证持久化保存到 /boot/ 目录，
+    以便设备重启后自动连接。
+    
+    Args:
+        ssid: WiFi SSID
+        password: WiFi密码
+        verify_callback: 验证回调函数，接收 (ip) 参数，返回 (success: bool, error: str)
+        persist: 是否持久化保存
+        timeout_s: 超时时间（秒）
+    
+    Returns:
+        (ip, error): IP地址和错误信息（成功时error为None）
+    """
+    return wifi_manager.connect_wifi(ssid, password, verify_callback, persist, timeout_s)