fix: camera flip

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "E:/code/code/code/new/new/new/new/new/nw/archery - 副本/cpp_ext"
+}

4g.py

@@ -109,6 +109,7 @@
 from maix import app, uart, pinmap, time
 import hashlib
 import hmac
+import re
 import ujson
 
 # ========== 配置 ==========
@@ -130,53 +131,109 @@ def generate_token(device_id):
     return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
 
 def send_cmd(cmd_str, timeout_ms=3000):
-    """发送 AT 指令并等待 OK / ERROR"""
+    """发送 AT 指令并返回完整响应；超时返回已收到的内容。"""
     print("[AT] =>", cmd_str)
     http_serial.write((cmd_str + "\r\n").encode())
     buffer = b""
     start = time.ticks_ms()
-    while time.ticks_ms() - start < timeout_ms:
+    while time.ticks_diff(time.ticks_ms(), start) < timeout_ms:
         data = http_serial.read(128)
         if data:
             buffer += data
             try:
-                decoded = buffer.decode()
+                decoded = buffer.decode("utf-8", "ignore")
-                print("<= ", decoded.strip())
+                if "OK" in decoded or "+CME ERROR" in decoded or "ERROR" in decoded:
-                if "OK" in decoded:
+                    print("[AT] <=", decoded.strip())
-                    return True
+                    return decoded
-                if "+CME ERROR" in decoded or "ERROR" in decoded:
-                    return False
             except:
                 pass
         time.sleep_ms(10)
+    decoded = buffer.decode("utf-8", "ignore")
+    print("[AT] !! timeout", timeout_ms, "ms, response:", decoded.strip() or "<empty>")
+    return decoded
+
+
+def response_ok(response):
+    return "OK" in response and "ERROR" not in response
+
+
+def wait_modem_ready():
+    """等待模组响应，并确认 PDP 上下文已经获得 IP。"""
+    for attempt in range(15):
+        if response_ok(send_cmd("AT", 1000)):
+            break
+        print("[4G] 等待模组启动", attempt + 1, "/15")
+        time.sleep_ms(1000)
+    else:
+        print("[4G] UART2 无 AT 响应，请检查模组供电、A28/A29 接线和串口占用")
+        return False
+
+    send_cmd("ATE0", 1000)
+    cpin = send_cmd("AT+CPIN?", 3000)
+    if "READY" not in cpin:
+        print("[4G] SIM 卡未就绪:", cpin.strip())
+        return False
+
+    addr = send_cmd("AT+CGPADDR=1", 3000)
+    match = re.search(r'\+CGPADDR:\s*1,"([^\"]+)"', addr)
+    if match and match.group(1) != "0.0.0.0":
+        print("[4G] PDP ready, IP:", match.group(1))
+        return True
+
+    send_cmd("AT+MIPCALL=1,1", 15000)
+    for _ in range(20):
+        addr = send_cmd("AT+CGPADDR=1", 3000)
+        match = re.search(r'\+CGPADDR:\s*1,"([^\"]+)"', addr)
+        if match and match.group(1) != "0.0.0.0":
+            print("[4G] PDP ready, IP:", match.group(1))
+            return True
+        time.sleep_ms(1000)
+
+    print("[4G] PDP 未获得 IP，请检查 SIM 流量、信号和 APN")
     return False
 
+
+def clear_http_instances():
+    for instance_id in range(6):
+        send_cmd(f"AT+MHTTPDEL={instance_id}", 1200)
+
 def create_http_instance(url):
     cmd = f'AT+MHTTPCREATE="{url}"'
-    if send_cmd(cmd):
+    response = send_cmd(cmd, 8000)
-        # 尝试提取 instance ID（如果模块返回）
+    match = re.search(r"\+MHTTPCREATE:\s*(\d+)", response)
-        # 注意：部分模块不会返回 ID，可忽略，直接用 0 或 1
+    if not response_ok(response) or not match:
-        return True
+        print("❌ 创建 HTTP 实例失败，模组响应:", response.strip() or "<empty>")
-    return False
+        return None
+    return int(match.group(1))
 
 def send_http_request(url, api_path, token, device_id, json_data):
     # 1. 创建 HTTP 实例
-    if not create_http_instance(url):
+    instance_id = create_http_instance(url)
-        print("❌ 创建 HTTP 实例失败")
+    if instance_id is None:
         return False
 
-    # 2. 设置 Headers（假设实例 ID 为 0，或根据模块默认）
+    # 2. 设置 Headers
-    instance_id = 0  # 大多数模块默认实例为 0；若支持多实例，需解析返回值
+    commands = (
-    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
+        f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"',
-    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
+        f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"',
-    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"')
+        f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"',
+    )
+    for command in commands:
+        if not response_ok(send_cmd(command)):
+            print("❌ HTTP Header 配置失败")
+            send_cmd(f"AT+MHTTPDEL={instance_id}", 2000)
+            return False
 
     # 3. 发送 Body
     json_str = ujson.dumps(json_data)
-    send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"')
+    at_json = json_str.replace("\\", "\\\\").replace('"', '\\"')
+    if not response_ok(send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{at_json}"', 8000)):
+        print("❌ HTTP Body 配置失败")
+        send_cmd(f"AT+MHTTPDEL={instance_id}", 2000)
+        return False
 
     # 4. 发起 POST 请求
-    if send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"'):
+    if response_ok(send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"', 15000)):
         print("✅ HTTP 请求已发送")
         return True
     else:
@@ -199,7 +256,7 @@ def read_response(timeout_ms=5000):
 print("🚀 启动直接上传流程...")
 
 token = generate_token(device_id)
-print("🔑 Token:", token)
+print("🔑 Token 已生成:", token[:12] + "...")
 
 # 构造模拟数据
 timestamp = int(time.time() * 1000)
@@ -216,9 +273,16 @@ json_data = {
 }
 
 # 执行上传
-if send_http_request(url, api_path, token, device_id, json_data):
+upload_ok = False
+if not wait_modem_ready():
+    print("💥 4G 模组未就绪")
+else:
+    clear_http_instances()
+    upload_ok = send_http_request(url, api_path, token, device_id, json_data)
+
+if upload_ok:
     read_response()
 else:
     print("💥 上传流程失败")
 
-print("🔚 程序结束")
+print("🔚 程序结束")

app.yaml

@@ -1,6 +1,6 @@
 id: t11
 name: t11
-version: 2.15.15
+version: 3.0.0
 author: t11
 icon: ''
 desc: t11
@@ -18,8 +18,8 @@ files:
   - laser_manager.py
   - logger_manager.py
   - main.py
-  - model_270139.cvimodel
+  - model_285484.cvimodel
-  - model_270139.mud
+  - model_285484.mud
   - network.py
   - ota_curl.sh
   - ota_manager.py

at_client.py

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

camera_manager.py

@@ -8,6 +8,15 @@ import threading
 import config
 from logger_manager import logger_manager
 
+_USE_CV = False
+try:
+    import cv2
+    import numpy as np
+    from maix import image as _maix_image
+    _USE_CV = True
+except ImportError:
+    pass
+
 
 class CameraManager:
     """相机管理器（单例）"""
@@ -57,6 +66,12 @@ class CameraManager:
         with self._camera_lock:
             if self._camera is None:
                 self._camera = camera.Camera(width, height)
+                v_flip = getattr(config, 'CAMERA_V_FLIP', False)
+                h_mirror = getattr(config, 'CAMERA_H_MIRROR', False)
+                if v_flip:
+                    self._camera.vflip(1)
+                if h_mirror:
+                    self._camera.hmirror(1)
         
         return self._camera
     
@@ -101,7 +116,8 @@ class CameraManager:
         with self._camera_lock:
             if self._camera is None:
                 self.init_camera()
-            return self._camera.read()
+            frame = self._camera.read()
+            return frame
     
     def show(self, image):
         """

config.py

@@ -15,6 +15,8 @@ LOCAL_FILENAME = APP_DIR + "/main_tmp.py"
 # 相机初始化分辨率（CameraManager / main.py 使用）
 CAMERA_WIDTH = 640
 CAMERA_HEIGHT = 480
+CAMERA_V_FLIP = True   # 摄像头垂直翻转（上下颠倒时设为 True）
+CAMERA_H_MIRROR = True  # 摄像头水平镜像（左右反了时设为 True）
 
 # 三角形检测缩图比例：默认按相机最长边缩到 1/2（性能更稳；可按需调整）
 # 取值范围建议 (0.25 ~ 1.0]；1.0 表示不缩图
@@ -24,7 +26,7 @@ TRIANGLE_DETECT_SCALE = 0.4
 # SERVER_IP = "stcp.shelingxingqiu.com"
 SERVER_IP = "www.shelingxingqiu.com"
 SERVER_PORT = 50005
-HEARTBEAT_INTERVAL = 15  # 心跳间隔（秒）
+HEARTBEAT_INTERVAL = 5  # 心跳间隔（秒）
 
 # WiFi 质量评估（开机先尝试 WiFi；质量差且 4G 可用则切到 4G，本次上电直至关机锁定 4G）
 WIFI_QUALITY_RTT_SAMPLES = 3  # 到业务服务器 TCP 建连耗时采样次数，取中位数
@@ -96,6 +98,11 @@ ADC_LASER_THRESHOLD = 3000
 
 # ==================== 激光配置 ====================
 MODULE_ADDR = 0x00
+# 激光开关改由 A14 GPIO 控制：低电平开启，高电平关闭。
+LASER_CONTROL_PIN = "A14"
+LASER_CONTROL_GPIO = "GPIOA14"
+LASER_CONTROL_ON_LEVEL = 0
+LASER_CONTROL_OFF_LEVEL = 1
 LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
 LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
 DISTANCE_QUERY_CMD = bytes([0xAA, MODULE_ADDR, 0x00, 0x20, 0x00, 0x01, 0x00, 0x00, 0x21])  # 激光测距查询命令
@@ -262,6 +269,16 @@ TRIANGLE_SAMPLE_PATCH_HALF_PX = 2
 # 开机阶段预加载 YOLO detector；detect 使用 dual_buff=False，避免返回上一帧结果。
 TRIANGLE_YOLO_PRELOAD_ON_BOOT = False
 
+# YOLO target size classification: class 0=20cm, class 1=40cm.
+TARGET_CLASS_YOLO_ENABLE = True
+TARGET_CLASS_YOLO_MODEL_PATH = APP_DIR + "/model_285484.mud"
+TARGET_CLASS_YOLO_LABELS = (20, 40)
+TARGET_CLASS_YOLO_CONF_TH = 0.50
+TARGET_CLASS_YOLO_IOU_TH = 0.45
+TARGET_CLASS_YOLO_RETRY_ON_EMPTY = False
+TARGET_CLASS_YOLO_RETRY_CONF_TH = 0.25
+TARGET_CLASS_YOLO_PRELOAD_ON_BOOT = True
+
 # ── 第二段 YOLO：仅在 Stage1 裁切出的靶环图上推理（与合成 stage2 训练数据一致）→ 子框内传统算法取直角点 ──
 # Stage1 靶环裁切内如何找黑三角标记（对比耗时时可切换）：
 # "yolo" — 调 Stage2 黑三角模型得子框，再子框内传统提取（需 TRIANGLE_BLACK_YOLO_ENABLE=True）。
@@ -317,6 +334,7 @@ MAX_CMD_THREADS = 10            # 并发命令线程上限（防止服务器下
 
 # ==================== 图像保存配置 ====================
 SAVE_IMAGE_ENABLED = False  # 是否保存图像（True=保存，False=不保存）
+SAVE_IMAGE_ON_FAILURE = True  # 检测失败时是否强制保存图像（供调试测试用）
 PHOTO_DIR = "/root/phot"    # 照片存储目录
 MAX_IMAGES = 1000
 # Stage2 调试目录（默认 PHOTO_DIR/stage2_roi）内 JPEG 最多保留张数；None 表示与 MAX_IMAGES 相同
@@ -337,11 +355,29 @@ PIN_MAPPINGS = {
     "A28": "UART2_TX",
     "A15": "I2C5_SCL",
     "A27": "I2C5_SDA",
+    "A14": "GPIOA14",  # 激光开关：低开、高关
     "A24": "GPIOA24",  # 电源板关机控制
+    "A25": "GPIOA25",  # 电源状态绿灯
+    "A23": "GPIOA23",  # 电源状态红灯
 }
 
 # ==================== 电源配置 ====================
-AUTO_POWER_OFF_IN_SECONDS = 0  # 自动关机时间（秒），0表示不自动关机
+AUTO_POWER_OFF_IN_SECONDS = 10 * 60  # 自动关机时间（秒），0表示不自动关机
+# 充电时自动关机暂时禁用；需要恢复时改为 True。
+CHARGING_AUTO_POWER_OFF_ENABLED = False
+
+# 一代电源控制：A24 由电源板负责按键/关机信号，软件关机时输出高电平。
+
+# 电源状态指示灯
+STATUS_LED_GREEN_GPIO = "GPIOA25"
+STATUS_LED_RED_GPIO = "GPIOA23"
+STATUS_LED_GREEN_ENABLED = True
+STATUS_LED_RED_ENABLED = True
+STATUS_LED_ACTIVE_LEVEL = 1
+STATUS_LED_LOW_BATTERY_PERCENT = 10
+STATUS_LED_FULL_BATTERY_PERCENT = 90
+STATUS_LED_CHARGING_BLINK_MS = 500
+STATUS_LED_POLL_MS = 1000
 
 BATTERY_SOC_LPF_ALPHA = 0.5
 BATTERY_SOC_AVG_WINDOW = 5

hardware.py

@@ -5,6 +5,7 @@
 提供硬件对象的统一管理和访问
 """
 from maix import time
+import _thread
 import config
 from at_client import ATClient
 
@@ -28,8 +29,9 @@ class HardwareManager:
         self._bus = None                 # I2C总线
         self._adc_obj = None             # ADC对象
         self._at_client = None            # AT客户端
+        self._status_led_monitor_started = False
 
-        self._last_active_ticks = None   # 上次活跃时刻（ticks_ms，单调递增，不受校时影响）
+        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
@@ -104,14 +106,90 @@ class HardwareManager:
             # 物理引脚是 A24，对应 GPIO 功能是 GPIOA24
             # 注意：这里需要先在 config.PIN_MAPPINGS 中配置好 "A24": "GPIOA24"
             from maix import gpio
-            # 输出高电平关闭
+            # 一代电源板关机信号为高电平
             gpio.GPIO("GPIOA24", gpio.Mode.OUT).value(1)
         except Exception as e:
             print(f"关机失败: {e}")
 
+    def start_status_led_monitor(self):
+        """后台更新状态灯：正常/充满绿常亮、充电绿闪烁、低电量红常亮。"""
+        if self._status_led_monitor_started:
+            return
+        self._status_led_monitor_started = True
+        _thread.start_new_thread(self._status_led_loop, ())
+
+    def _status_led_loop(self):
+        from maix import gpio
+        from power import get_bus_voltage, is_charging, voltage_to_percent
+
+        try:
+            green = None
+            if getattr(config, "STATUS_LED_GREEN_ENABLED", True):
+                green = gpio.GPIO(config.STATUS_LED_GREEN_GPIO, gpio.Mode.OUT)
+            red = None
+            if getattr(config, "STATUS_LED_RED_ENABLED", True):
+                red = gpio.GPIO(config.STATUS_LED_RED_GPIO, gpio.Mode.OUT)
+            active = int(config.STATUS_LED_ACTIVE_LEVEL)
+            inactive = 0 if active else 1
+            if green is not None:
+                green.value(inactive)
+            if red is not None:
+                red.value(inactive)
+            last_state = None
+            blink_on = False
+            blink_period = max(100, int(config.STATUS_LED_CHARGING_BLINK_MS))
+            poll_ms = max(100, int(config.STATUS_LED_POLL_MS))
+            tick_ms = min(blink_period, poll_ms)
+            sensor_elapsed = poll_ms
+            blink_elapsed = blink_period
+            state = "normal"
+            percent = None
+            charging = False
+
+            while self._status_led_monitor_started:
+                if sensor_elapsed >= poll_ms:
+                    voltage = get_bus_voltage()
+                    percent = voltage_to_percent(voltage) if voltage > 0 else None
+                    charging = is_charging()
+                    low = percent is not None and percent <= int(config.STATUS_LED_LOW_BATTERY_PERCENT)
+                    full = percent is not None and percent >= int(config.STATUS_LED_FULL_BATTERY_PERCENT)
+                    if charging:
+                        state = "full" if full else "charging"
+                    else:
+                        state = "low" if low else "normal"
+                    sensor_elapsed = 0
+
+                if state == "low":
+                    if green is not None:
+                        green.value(inactive)
+                    if red is not None:
+                        red.value(active)
+                elif state == "charging":
+                    if blink_elapsed >= blink_period:
+                        blink_on = not blink_on
+                        blink_elapsed = 0
+                    if green is not None:
+                        green.value(active if blink_on else inactive)
+                    if red is not None:
+                        red.value(inactive)
+                else:  # normal or full
+                    if green is not None:
+                        green.value(active)
+                    if red is not None:
+                        red.value(inactive)
+                if state != last_state:
+                    print(f"[STATUS_LED] state={state} percent={percent} charging={charging}")
+                    last_state = state
+                time.sleep_ms(tick_ms)
+                sensor_elapsed += tick_ms
+                blink_elapsed += tick_ms
+        except Exception as e:
+            self._status_led_monitor_started = False
+            print(f"[STATUS_LED] monitor failed: {e}")
+
     def start_idle_timer(self):
         self._stop_timer = False
-        self._last_active_ticks = time.ticks_ms()
+        self._last_active_time = time.time()
 
     def stop_idle_timer(self):
         self._stop_timer = True
@@ -119,13 +197,12 @@ class HardwareManager:
     def get_idle_time_in_sec(self):
         if self._stop_timer:
             return 0
-        if self._last_active_ticks is None:
+        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
-        diff_ms = time.ticks_diff(time.ticks_ms(), self._last_active_ticks)
+        return diff
-        if diff_ms < 0:
-            self._last_active_ticks = time.ticks_ms()
-            return 0
-        return diff_ms / 1000.0
 
 
 # 创建全局单例实例

laser_manager.py

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

main.py

@@ -76,12 +76,14 @@ def laser_calibration_worker():
                 import traceback
                 traceback.print_exc()
             time.sleep_ms(1000)  # 等待1秒后继续
-
 def cmd_str():
     """主程序入口"""
     # ==================== 第一阶段：硬件初始化 ====================
     # 按照 main104.py 的顺序，先完成所有硬件初始化
 
+    # 开机第一步先拉高 A14 关闭激光，避免其他硬件初始化期间误亮。
+    laser_manager.init_control_gpio()
+
     # 1. 引脚功能映射
     for pin, func in config.PIN_MAPPINGS.items():
         try:
@@ -103,6 +105,8 @@ def cmd_str():
     print(f"[BOOT] init_ina226 开始 wall_s={_w_boot:.3f}")
     init_ina226()
     print(f"[BOOT] init_ina226 结束 wall +{int(round((wall_time.time() - _w_boot) * 1000))} ms")
+    # 启动 A25 绿灯和 A23 红灯状态指示。
+    hardware_manager.start_status_led_monitor()
 
     # 4. 初始化显示和相机
     _w_boot = wall_time.time()
@@ -120,9 +124,9 @@ def cmd_str():
 
     # ==================== 第二阶段：软件初始化 ====================
 
-    # 1. 初始化日志系统
+    # 1. 初始化日志系统（WARNING级别，不打印/写入INFO和DEBUG日志，提高执行流畅度）
     import logging
-    logger_manager.init_logging(log_level=logging.DEBUG)
+    logger_manager.init_logging(log_level=logging.WARNING)
     logger = logger_manager.logger
 
     # 补充：因为初始化的时候，激光会亮，先关了它
@@ -162,7 +166,11 @@ def cmd_str():
             and _loc_black == "yolo"
             and bool(getattr(config, "TRIANGLE_BLACK_YOLO_PRELOAD_ON_BOOT", True))
         )
-        _preload_yolo = _preload_yolo or _need_black_preload
+        _need_target_preload = (
+            bool(getattr(config, "TARGET_CLASS_YOLO_ENABLE", False))
+            and bool(getattr(config, "TARGET_CLASS_YOLO_PRELOAD_ON_BOOT", True))
+        )
+        _preload_yolo = _preload_yolo or _need_black_preload or _need_target_preload
         if _preload_yolo:
             preload_yolo_detector(logger)
     except Exception as e:
@@ -245,8 +253,8 @@ def cmd_str():
     # 4. 初始化设备ID（network_manager 内部会自动设置 device_id 和 password）
     network_manager.read_device_id()
 
-    # 5. 创建照片存储目录（如果启用图像保存）
+    # 5. 创建照片存储目录（如果启用图像保存或检测失败时强制保存）
-    if config.SAVE_IMAGE_ENABLED:
+    if config.SAVE_IMAGE_ENABLED or getattr(config, "SAVE_IMAGE_ON_FAILURE", False):
         photo_dir = config.PHOTO_DIR
         if photo_dir not in os.listdir("/root"):
             try:
@@ -275,50 +283,45 @@ def cmd_str():
     hardware_manager.start_idle_timer()
 
     if logger:
-        _auto_power_off = int(getattr(config, "AUTO_POWER_OFF_IN_SECONDS", 0) or 0)
-        if _auto_power_off <= 0:
-            logger.info("[MAIN] 自动关机已禁用 (AUTO_POWER_OFF_IN_SECONDS=0)")
-        else:
-            logger.info(f"[MAIN] 自动关机: {_auto_power_off} 秒无活动")
         logger.info("系统准备完成...")
 
     last_adc_trigger = 0
+    # 读取一次ADC初始值，防止开机时传感器已有压力导致误触发
+    try:
+        last_adc_val = hardware_manager.adc_obj.read()
+    except Exception:
+        last_adc_val = 0
+    peak_adc_val = 0  # 当前周期内的压力峰值
     # 气压采样：减少日志频率（每 N 个点输出一条），避免 logger.debug 拖慢采样
     PRESSURE_BATCH_SIZE = 100
 
     pressure_buf = []
     pressure_sum = 0
-    pressure_abs_sum = 0
     pressure_min = 4095
     pressure_max = 0
     pressure_t0_ms = None
-    last_avg_abs = 0
 
     def _flush_pressure_buf(reason: str):
-        nonlocal pressure_buf, pressure_sum, pressure_min, pressure_max, pressure_t0_ms, logger, pressure_abs_sum, last_avg_abs
+        nonlocal pressure_buf, pressure_sum, pressure_min, pressure_max, pressure_t0_ms, logger
         if not pressure_buf:
             return
         if config.AIR_PRESSURE_lOG:
             t1_ms = time.ticks_ms()
             n = len(pressure_buf)
             avg = (pressure_sum / n) if n else 0
-            avg_abs = (pressure_abs_sum / n) if n else 0
             line = (
                 f"[气压批量] reason={reason} "
                 f"t0={pressure_t0_ms} t1={t1_ms} n={n} "
-                f"min={pressure_min} max={pressure_max} avg={avg:.1f} avg_abs={avg_abs:.3f} "
+                f"min={pressure_min} max={pressure_max} avg={avg:.1f} "
                 f"values={','.join(map(str, pressure_buf))}"
-                f" convert value (kpa): {(max(pressure_buf, key=lambda x: x[1])[1] - last_avg_abs) / (5 - 2.5) * config.AIR_PRESSURE_HARDWARE_MAX:.1f}"
             )
             if logger:
                 logger.debug(line)
             else:
                 print(line)
-            last_avg_abs = avg_abs
         # 无论是否记录日志，都必须清空 buffer，否则内存泄漏
         pressure_buf = []
         pressure_sum = 0
-        pressure_abs_sum = 0
         pressure_min = 4095
         pressure_max = 0
         pressure_t0_ms = None
@@ -343,10 +346,7 @@ def cmd_str():
             # 不在 OTA 状态下，检测是否空闲足够长，自动关机
             # print(f"[MAIN] 空闲时间: {hardware_manager.get_idle_time_in_sec() }秒")
             # print(f"配置关机时间：{config.AUTO_POWER_OFF_IN_SECONDS} 秒")
-            if (
+            if hardware_manager.get_idle_time_in_sec() > config.AUTO_POWER_OFF_IN_SECONDS:
-                config.AUTO_POWER_OFF_IN_SECONDS > 0
-                and hardware_manager.get_idle_time_in_sec() > config.AUTO_POWER_OFF_IN_SECONDS
-            ):
                 logger.info("[MAIN] 超过设定时间未检测活动，自动关机")
                 network_manager.safe_enqueue({"poweroff": "超过设定时间未检测活动，自动关机"}, 2)
                 time.sleep_ms(100)
@@ -359,12 +359,10 @@ def cmd_str():
                 if network_manager.manual_trigger_flag:
                     network_manager.clear_manual_trigger()
                     adc_val = config.ADC_TRIGGER_THRESHOLD + 1
-                    adc_abs_val = 10
                     if logger:
                         logger.info("[TEST] TCP命令触发射箭")
                 else:
                     adc_val = hardware_manager.adc_obj.read()
-                    adc_abs_val = hardware_manager.adc_obj.read_vol()
             except Exception as e:
                 logger = logger_manager.logger
                 if logger:
@@ -375,24 +373,29 @@ def cmd_str():
             # ====== 气压采样缓存（每次循环都记录，批量输出日志）======
             if pressure_t0_ms is None:
                 pressure_t0_ms = current_time
-            pressure_buf.append((adc_val, adc_abs_val))
+            pressure_buf.append(adc_val)
             pressure_sum += adc_val
-            pressure_abs_sum += adc_abs_val
             if adc_val < pressure_min:
                 pressure_min = adc_val
             if adc_val > pressure_max:
                 pressure_max = adc_val
             if len(pressure_buf) >= PRESSURE_BATCH_SIZE:
                 _flush_pressure_buf("batch")
-            # if adc_val >= 2000:
+            # 峰值检测：压力从峰值下降时触发，确保捕获到最大冲击时刻
-            # print(f"adc :{adc_val}")
+            if adc_val > peak_adc_val:
-            if adc_val >= config.ADC_TRIGGER_THRESHOLD:
+                peak_adc_val = adc_val  # 更新峰值
+            if (peak_adc_val >= config.ADC_TRIGGER_THRESHOLD
+                    and adc_val < peak_adc_val
+                    and last_adc_val >= peak_adc_val):
+                # 封顶后下降沿触发：peak是最大值，当前值开始下降，且上次值还在peak位置
                 hardware_manager.start_idle_timer()  # 重新计时
                 diff_ms = current_time - last_adc_trigger
                 if diff_ms < 3000:
-                    logger.info(f"[MAIN] 扳机触发过于频繁, {diff_ms}ms")
+                    peak_adc_val = 0  # 去抖期间重置峰值
+                    time.sleep_ms(5)
                     continue
                 last_adc_trigger = current_time
+                peak_adc_val = 0  # 触发后重置峰值
                 # 触发前先把缓存刷出来，避免波形被长耗时处理截断
                 _flush_pressure_buf("before_trigger")
 
@@ -411,10 +414,9 @@ def cmd_str():
                     try:
                         camera_manager.show(camera_manager.read_frame())
                     except Exception as e:
-                        logger = logger_manager.logger
+                        pass
-                        if logger:
-                            logger.error(f"[MAIN] 显示异常: {e}")
                 time.sleep_ms(5)
+            last_adc_val = adc_val
 
         except Exception as e:
             # 主循环的顶层异常捕获，防止程序静默退出

model_270139.mud

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

model_285484.mud

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

network.py

@@ -18,7 +18,7 @@ import socket
 import config
 
 from hardware import hardware_manager
-from power import get_bus_voltage, voltage_to_percent
+from power import get_bus_voltage, voltage_to_percent, is_charging
 from logger_manager import logger_manager
 from wifi import wifi_manager
 import subprocess
@@ -474,10 +474,10 @@ class NetworkManager:
     def select_network(self, prefer_wifi=None):
         """
         自动选择网络（WiFi优先）
-        
+
         Args:
             prefer_wifi: 是否优先使用WiFi（None表示使用默认策略）
-        
+
         Returns:
             "wifi" 或 "4g" 或 None（无可用网络）
         """
@@ -624,6 +624,11 @@ class NetworkManager:
         password = inner_data.get("password")
         ota_res_url = inner_data.get("url")
         try:
+            for _f in ("/etc/wpa_supplicant.conf", "/boot/wpa_supplicant.conf", "/boot/wifi.ssid", "/boot/wifi.pass"):
+                try:
+                    os.remove(_f)
+                except OSError:
+                    pass
             w = network.wifi.Wifi()
             e = w.connect(ssid, password, wait=True, timeout=15)
             err.check_raise(e, "connect wifi failed")
@@ -664,7 +669,14 @@ class NetworkManager:
         self.logger.info(f"[conn wifi] cmd600 , data: {inner_data}")
         ssid = inner_data.get("ssid")
         password = inner_data.get("password")
+        # 停止旧的WiFi质量监测（无论当前是WiFi还是4G连接）
+        self._stop_wifi_quality_monitor()
         try:
+            for _f in ("/etc/wpa_supplicant.conf", "/boot/wpa_supplicant.conf", "/boot/wifi.ssid", "/boot/wifi.pass"):
+                try:
+                    os.remove(_f)
+                except OSError:
+                    pass
             w = network.wifi.Wifi()
             e = w.connect(ssid, password, wait=True, timeout=15)
             err.check_raise(e, "connect wifi failed")
@@ -678,6 +690,11 @@ class NetworkManager:
                 },
                 2,
             )
+            self._session_force_4g = False
+            self.disconnect_server()
+            self._tcp_connected = False
+            self._network_type = None
+            self.logger.info("[conn wifi] WiFi已连接，等待主循环重新登录")
         except Exception as e:
             self.logger.error(f"cmd600 失败: {e}")
             self.safe_enqueue(
@@ -697,7 +714,7 @@ class NetworkManager:
     def connect_server(self):
         """
         连接到服务器（自动选择WiFi或4G）
-        
+
         Returns:
             bool: 是否连接成功
         """
@@ -706,7 +723,7 @@ class NetworkManager:
             if self._network_type == "wifi":
                 return self._check_wifi_connection()
             elif self._network_type == "4g":
-                return True  # 4G连接状态由AT命令维护
+                return self._check_4g_connection()
             return False
 
         # 自动选择网络
@@ -723,6 +740,37 @@ class NetworkManager:
             return self._connect_tcp_via_4g()
         return False
 
+    def _check_4g_connection(self):
+        """检查4G TCP连接是否仍然有效（通过查询PDP地址验证网络附着状态）"""
+        try:
+            atc = hardware_manager.at_client
+            if atc is None:
+                return False
+            if not self._uart4g_lock.acquire(timeout=3000):
+                # 获取锁超时说明有其他操作在进行，视为连接仍有效
+                return True
+            try:
+                r = atc.send("AT+CGPADDR=1", "OK", 3000)
+                m = re.search(r'\+CGPADDR:\s*1,"([^"]+)"', r)
+                ip = m.group(1) if m else ""
+                if ip and ip != "0.0.0.0":
+                    return True
+                # 无IP或IP无效，尝试重新激活PDP
+                self.logger.warning("[4G-TCP] PDP地址无效，尝试重新激活")
+                atc.send("AT+MIPCALL=1,1", "OK", 15000)
+                r2 = atc.send("AT+CGPADDR=1", "OK", 3000)
+                m2 = re.search(r'\+CGPADDR:\s*1,"([^"]+)"', r2)
+                ip2 = m2.group(1) if m2 else ""
+                if ip2 and ip2 != "0.0.0.0":
+                    return True
+                self.logger.error("[4G-TCP] 重新激活PDP仍无有效IP，连接已断开")
+                return False
+            finally:
+                self._uart4g_lock.release()
+        except Exception as e:
+            self.logger.warning(f"[4G-TCP] 连接检查异常: {e}")
+            return True  # 异常时不误判断线
+
     def _wrap_wifi_tls(self, plain_sock, hostname):
         """
         在已建立的 TCP socket 上做 TLS（WiFi 走主机 ssl 库；4G 仍用模组 AT+SSL）。
@@ -973,11 +1021,11 @@ class NetworkManager:
     def tcp_send_raw(self, data: bytes, max_retries=2) -> bool:
         """
         统一的TCP发送接口（自动选择WiFi或4G）
-        
+
         Args:
             data: 要发送的数据
             max_retries: 最大重试次数
-        
+
         Returns:
             bool: 是否发送成功
         """
@@ -1070,6 +1118,8 @@ class NetworkManager:
                     total += n
 
                 hardware_manager.uart4g.write(b"\x1A")
+                with hardware_manager.at_client._q_lock:
+                    hardware_manager.at_client._rx = b""
                 r = hardware_manager.at_client.send("", "OK", 8000)
                 if ("SEND OK" in r) or ("OK" in r) or ("+MIPSEND" in r):
                     return True
@@ -1148,10 +1198,10 @@ class NetworkManager:
     def receive_tcp_data_via_wifi(self, timeout_ms=100):
         """
         通过WiFi接收TCP数据
-            
+
         Args:
             timeout_ms: 超时时间（毫秒）
-            
+
         Returns:
             bytes: 接收到的数据，如果没有数据则返回 b""
         """
@@ -1189,7 +1239,7 @@ class NetworkManager:
     def _upload_log_file(self, upload_url, wifi_ssid=None, wifi_password=None, include_rotated=True, max_files=None,
                          archive_format="tgz"):
         """上传日志文件到指定URL
-        
+
         Args:
             upload_url: 上传目标URL，例如 "https://example.com/upload/"
             wifi_ssid: WiFi SSID（可选，如果未连接WiFi则尝试连接）
@@ -1197,7 +1247,7 @@ class NetworkManager:
             include_rotated: 是否包含轮转日志（app.log.1 等）
             max_files: 最多打包多少个日志文件（包含 app.log 本身），None=按 backupCount 自动推断
             archive_format: 打包格式：tgz 或 zip
-        
+
         Note:
             该功能仅在 WiFi 连接时可用，4G 网络暂不支持文件上传
         """
@@ -1784,7 +1834,7 @@ class NetworkManager:
                     continue
 
                 if not self.connect_server():
-                    time.sleep_ms(5000)
+                    time.sleep_ms(1000)
                     continue
 
                 # 发送登录包
@@ -1805,7 +1855,7 @@ class NetworkManager:
                         self.disconnect_server()
                     except:
                         pass
-                    time.sleep_ms(2000)
+                    time.sleep_ms(500)
                     continue
 
                 self.logger.info("➡️ 登录包已发送，等待确认...")
@@ -2095,7 +2145,17 @@ class NetworkManager:
                                             "netType": self.network_type,
                                         }
                                         self.safe_enqueue(battery_data, 2)
-                                        self.logger.info(f"电量上报: {battery_percent}%")
+                                        self.logger.info(f"电量上报: {battery_percent}% 充电: {is_charging()}")
+                                        if getattr(config, "CHARGING_AUTO_POWER_OFF_ENABLED", False) and is_charging():
+                                            self.safe_enqueue(
+                                                {
+                                                    "cmd": 700,
+                                                },
+                                                2,
+                                            )
+                                    elif inner_cmd == 700:
+                                        self.logger.warning("服务器下发关机！！！")
+                                        exit(-1)
                                     elif inner_cmd == 5:  # OTA 升级
                                         inner_data = data_obj.get("data", {}) if isinstance(data_obj, dict) else {}
                                         ssid = inner_data.get("ssid")
@@ -2148,7 +2208,7 @@ class NetworkManager:
                                                 self.logger.info(f"password: {password}")
                                                 ota_manager._start_update_thread()
                                                 self._spawn_cmd_thread(ota_manager.handle_wifi_and_update,
-                                                                         (ssid, password, ota_url))
+                                                                       (ssid, password, ota_url))
                                     elif inner_cmd == 6:
                                         try:
                                             ip = os.popen(
@@ -2294,8 +2354,8 @@ class NetworkManager:
                                     pass
                                 break
                             else:
-                                # 不立即断开，让下一轮心跳再试；同时缩短一点等待，提升恢复速度
+                                # 不立即断开，让下一轮心跳再试
-                                time.sleep_ms(200)
+                                time.sleep_ms(50)
                                 continue
                         else:
                             send_hartbeat_fail_count = 0
@@ -2325,8 +2385,8 @@ class NetworkManager:
                     self._send_event.clear()
 
                 self._tcp_connected = False
-                self.logger.error("连接异常，2秒后重连...")
+                self.logger.error("连接异常，50ms后重连...")
-                time.sleep_ms(200)
+                time.sleep_ms(50)
 
             except Exception as e:
                 # TCP主循环的顶层异常捕获，防止线程静默退出

official_pack_fip.py

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

power.py

@@ -5,11 +5,14 @@
 提供电压、电流监测和充电状态检测
 """
 import config
+import os
+import subprocess
+import _thread
 from logger_manager import logger_manager
 from maix import time as maix_time
 
-
 _INA226_PRESENT = None
+_INA226_LOCK = _thread.allocate_lock()
 
 
 def _ina226_ready() -> bool:
@@ -31,7 +34,11 @@ def write_register(reg, value):
     data = [(value >> 8) & 0xFF, value & 0xFF]
     # 某些底层驱动在失败时只打印 “write failed” 并返回 -1，而不是抛异常；
     # 为避免误判“初始化成功”导致后续 readfrom_mem SIGSEGV，这里把失败显式转成异常。
-    ret = hardware_manager.bus.writeto_mem(config.INA226_ADDR, reg, bytes(data))
+    _INA226_LOCK.acquire()
+    try:
+        ret = hardware_manager.bus.writeto_mem(config.INA226_ADDR, reg, bytes(data))
+    finally:
+        _INA226_LOCK.release()
     if isinstance(ret, int) and ret < 0:
         if logger:
             logger.error(f"[INA226] writeto_mem 失败: addr=0x{config.INA226_ADDR:02X} reg=0x{reg:02X} ret={ret}")
@@ -41,7 +48,11 @@ def write_register(reg, value):
 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)
+    _INA226_LOCK.acquire()
+    try:
+        data = hardware_manager.bus.readfrom_mem(config.INA226_ADDR, reg, 2)
+    finally:
+        _INA226_LOCK.release()
     return (data[0] << 8) | data[1]
 
 
@@ -85,8 +96,8 @@ def get_bus_voltage():
 def get_current():
     """
     读取电流（单位：mA）
-    正数表示充电，负数表示放电
+    当前电源板实测：正数表示放电，负数表示充电。
-    
+
     INA226 电流计算公式：
     Current = (Current Register Value) × Current_LSB
     Current_LSB = 0.001 × CALIBRATION_VALUE / 4096
@@ -96,13 +107,13 @@ def get_current():
             return 0.0
         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）
+        # 最高位是符号位；电流方向含义取决于电源板的采样电阻接线方向。
         # 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）
+        if raw & 0x8000:
             signed_raw = raw - 0x10000  # 转换为有符号整数
-        else:  # 最高位为0，表示正数（充电）
+        else:
             signed_raw = raw
         # 转换为毫安
         current_ma = signed_raw * current_lsb * 1000
@@ -119,17 +130,17 @@ def get_current():
 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
+        is_charge = current < -abs(float(threshold_ma))
         return is_charge
     except Exception as e:
         logger = logger_manager.logger
@@ -159,7 +170,7 @@ def voltage_to_percent(voltage):
         return 0
     if v <= 0:
         return 0
-    return int(int(_BATTERY_MONITOR.get_soc(v) * 10) / 10) # 截断而不是四舍五入
+    return int(int(_BATTERY_MONITOR.get_soc(v) * 10) / 10)  # 截断而不是四舍五入
 
 
 class BatteryMonitor:

shoot_manager.py

@@ -320,9 +320,23 @@ def process_shot(adc_val):
     logger = logger_manager.logger
 
     try:
-        network_manager.safe_enqueue({"shoot_event": "start"}, msg_type=2, high=True)
         frame = camera_manager.read_frame()
 
+        # 网络事件移到拍照之后，避免阻塞拍照
+        network_manager.safe_enqueue({"shoot_event": "start"}, msg_type=2, high=True)
+
+        # Classify only the current shot frame; never reuse a previous result.
+        target_class_result = None
+        try:
+            from target_roi_yolo import try_get_target_class_from_yolo
+
+            target_class_result = try_get_target_class_from_yolo(frame, logger=logger)
+            if logger:
+                logger.info(f"[YOLO-TARGET] 当前箭业务结果: {target_class_result}")
+        except Exception as exc:
+            if logger:
+                logger.warning(f"[YOLO-TARGET] 当前箭分类失败，按未知处理: {exc}")
+
         # 调用算法分析
         analysis_result = analyze_shot(frame)
 
@@ -382,11 +396,25 @@ def process_shot(adc_val):
         srv_y = round(float(dy), 4) if dy is not None else 200.0
 
         # 构造上报数据
+        target_label = (
+            target_class_result.get("label")
+            if isinstance(target_class_result, dict)
+            else None
+        )
+        target_confidence = (
+            target_class_result.get("confidence")
+            if isinstance(target_class_result, dict)
+            else None
+        )
         inner_data = {
             "shot_id": shot_id,
             "x": srv_x,
             "y": srv_y,
             "r": 20.0,  # 保留字段（服务端当前忽略，物理外环半径 cm）
+            "target_class": target_label,
+            "target_class_confidence": (
+                float(target_confidence) if target_confidence is not None else None
+            ),
             "d": round((distance_m or 0.0) * 100),
             "d_laser": round((laser_distance_m or 0.0) * 100),
             "d_laser_quality": laser_signal_quality,
@@ -414,6 +442,11 @@ def process_shot(adc_val):
             inner_data["ellipse_center_y"] = None
 
         report_data = {"cmd": 1, "data": inner_data}
+        if logger:
+            logger.info(
+                f"[REPORT-TARGET] enqueue shot_id={shot_id}, "
+                f"target_class={target_label}, confidence={target_confidence}"
+            )
         network_manager.safe_enqueue(report_data, msg_type=2, high=True)
 
         # 数据上报后再画标注，不干扰检测阶段的原始画面
@@ -518,6 +551,7 @@ def process_shot(adc_val):
             laser_manager.flash_laser(config.FLASH_LASER_DURATION_MS)
 
         # 保存图像（异步队列，与 main.py 一致）
+        _force_save = (dx is None and dy is None) and getattr(config, "SAVE_IMAGE_ON_FAILURE", False)
         enqueue_save_shot(
             result_img,
             center,
@@ -527,8 +561,9 @@ def process_shot(adc_val):
             (x, y),
             distance_m,
             shot_id=shot_id,
-            photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None,
+            photo_dir=config.PHOTO_DIR if (config.SAVE_IMAGE_ENABLED or _force_save) else None,
             yolo_roi_xyxy=yolo_roi_xyxy if draw_yolo_roi else None,
+            force_save=_force_save,
         )
 
         if logger:

target_roi_yolo.py

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

test/gpio_high.py

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

test/test_decect_circle_v4.py

@@ -154,11 +154,11 @@ def detect_circle_v3(frame, laser_point=None):
                                     max_r = max(red_radius, yellow_radius)
                                     size_ratio = min_r / max_r if max_r > 0 else 0
                                     print(f"Debug -> 圆心距={distance:.1f}(阈值={max_distance:.1f}), "
-                                          f"大小比={size_ratio:.2f}(阈值=0.5), "
+                                          f"大小比={size_ratio:.2f}(阈值=0.4), "
-                                          f"距离OK={distance < max_distance}, 大小OK={size_ratio > 0.5}")
+                                          f"距离OK={distance < max_distance}, 大小OK={size_ratio >= 0.4}")
 
                                     # 允许红圈在黄圈外侧或内侧，只要大小相近（较小/较大 >= 0.5）
-                                    if distance < max_distance and size_ratio > 0.5:
+                                    if distance < max_distance and size_ratio >= 0.4:
                                         found_valid_red = True
                                         print(
                                             f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
@@ -598,7 +598,7 @@ if __name__ == "__main__":
 
     # 1. 设置要测试的图片路径
     # 建议将图片放在与脚本同级目录，或者使用绝对路径
-    TARGET_IMAGE = "/root/phot/None_314_258_0_0041.bmp"
+    TARGET_IMAGE = "/root/phot/shot_1830921_0_no_target.jpg"
 
     TARGET_DIR = "/root/phot"  # 修改为你想要读取的目录路径
 

test/test_gpio_a14.py

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

test/wifi_gpio_ina_isolation.py

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

test/wifi_gpio_isolation.py

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

version.md

@@ -26,4 +26,8 @@
 # 2.15.13 优化算法
 # 2.15.14 优化算法
 # 2.15.15 优化wifi连接
-# 2.15.16 修复不关机，空闲计时改用 ticks_ms（不受校时影响），启动时打印自动关机配置
+# 2.15.16 修复wifi连接问题
+# 2.15.17 修复wifi连接问题
+# 2.15.18 wifi连接成功重新登录
+# 2.16.4  优化射箭延迟
+# 2.17.0  yolo标靶类别识别

version.py

@@ -4,6 +4,6 @@
 应用版本号
 每次 OTA 更新时，只需要更新这个文件中的版本号
 """
-VERSION = '2.15.16'
+VERSION = '3.0.0'
 
 

vision.py

@@ -631,7 +631,7 @@ def detect_circle_v3(frame, laser_point=None, img_cv=None):
             min_r = min(rc["radius"], yellow_radius)
             max_r = max(rc["radius"], yellow_radius)
             size_ratio = min_r / max_r if max_r > 0 else 0
-            if dist_centers < max_dist and size_ratio > 0.5:
+            if dist_centers < max_dist and size_ratio >= 0.4:
                 if logger:
                     logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), "
                                 f"红心({rc['center']}), 距离:{dist_centers:.1f}, "
@@ -797,12 +797,12 @@ def estimate_pixel(physical_distance_cm, target_distance_m):
 
 def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
                           laser_point, distance_m, shot_id=None, photo_dir=None,
-                          yolo_roi_xyxy=None):
+                          yolo_roi_xyxy=None, force_save=False):
     """
     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:
+    if not config.SAVE_IMAGE_ENABLED and not force_save:
         return None
     if photo_dir is None:
         photo_dir = config.PHOTO_DIR
@@ -938,11 +938,12 @@ def start_save_shot_worker():
 
 def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
                       laser_point, distance_m, shot_id=None, photo_dir=None,
-                      yolo_roi_xyxy=None):
+                      yolo_roi_xyxy=None, force_save=False):
     """
     将存图任务放入队列，由 worker 异步保存。主线程传入 result_img 的复制，不阻塞。
+    force_save=True 时，忽略 SAVE_IMAGE_ENABLED 配置强制保存（用于检测失败时的调试图像）。
     """
-    if not config.SAVE_IMAGE_ENABLED:
+    if not config.SAVE_IMAGE_ENABLED and not force_save:
         return
     if photo_dir is None:
         photo_dir = config.PHOTO_DIR
@@ -965,6 +966,7 @@ def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
         shot_id,
         photo_dir,
         yolo_roi_xyxy,
+        force_save,
     )
     try:
         _save_queue.put_nowait(task)
@@ -976,12 +978,12 @@ def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
 
 def save_shot_image(result_img, center, radius, method, ellipse_params,
                     laser_point, distance_m, shot_id=None, photo_dir=None,
-                    yolo_roi_xyxy=None):
+                    yolo_roi_xyxy=None, force_save=False):
     """
     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:
+    if not config.SAVE_IMAGE_ENABLED and not force_save:
         return None
     if photo_dir is None:
         photo_dir = config.PHOTO_DIR
@@ -998,6 +1000,7 @@ def save_shot_image(result_img, center, radius, method, ellipse_params,
             shot_id,
             photo_dir,
             yolo_roi_xyxy,
+            force_save,
         )
     except Exception as e:
         logger = logger_manager.logger