837 lines
30 KiB
Python
837 lines
30 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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激光射击系统主程序（视觉测距版）
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功能：目标检测、激光校准、4G TCP 通信、OTA 升级、单目测距、INA226 电量监测
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平台：MaixPy (Sipeed MAIX)
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作者：ZZH
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最后更新：2025-11-21
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"""
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from maix import camera, display, image, app, time, key, uart, pinmap, i2c, network, err
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import cv2
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import numpy as np
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import json
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import struct
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import re
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from maix.peripheral import adc
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import _thread
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import os
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import hmac
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import ujson
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import hashlib
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import requests
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import socket
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# ==================== 全局配置 ====================
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# OTA 升级地址与本地路径
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url = "https://static.shelingxingqiu.com/shoot/202511031031/main.py"
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local_filename = "/maixapp/apps/t11/main.py"
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# 设备认证信息（运行时动态加载）
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DEVICE_ID = None
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PASSWORD = None
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# 服务器连接参数
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SERVER_IP = "www.shelingxingqiu.com"
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SERVER_PORT = 50005
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HEARTBEAT_INTERVAL = 2 # 心跳间隔（秒）
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# 激光校准配置
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CONFIG_FILE = "/root/laser_config.json"
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DEFAULT_POINT = (640, 480) # 默认激光中心点（图像中心）
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laser_point = DEFAULT_POINT
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# HTTP 上报接口
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URL = "http://ws.shelingxingqiu.com"
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API_PATH = "/home/shoot/device_fire/arrow/fire"
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# UART 设备初始化
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uart4g = uart.UART("/dev/ttyS2", 115200) # 4G 模块通信
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distance_serial = uart.UART("/dev/ttyS1", 9600) # 激光测距模块
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# 引脚功能映射
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pinmap.set_pin_function("A18", "UART1_RX")
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pinmap.set_pin_function("A19", "UART1_TX")
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pinmap.set_pin_function("A29", "UART2_RX")
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pinmap.set_pin_function("A28", "UART2_TX")
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pinmap.set_pin_function("P18", "I2C1_SCL")
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pinmap.set_pin_function("P21", "I2C1_SDA")
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# pinmap.set_pin_function("A15", "I2C5_SCL")
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# pinmap.set_pin_function("A27", "I2C5_SDA")#ota升级要修改的
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# ADC 触发阈值（用于检测扳机/激光触发）
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ADC_TRIGGER_THRESHOLD = 3000
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ADC_LASER_THRESHOLD = 3000
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# 显示参数：激光十字线样式
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color = image.Color(255, 100, 0)
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thickness = 1
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length = 2
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# 全局状态变量
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laser_calibration_active = False # 是否正在后台校准激光
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laser_calibration_result = None # 校准结果坐标 (x, y)
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laser_calibration_lock = False # 简易互斥锁，防止多线程冲突
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# 硬件对象初始化
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laser_x, laser_y = laser_point
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adc_obj = adc.ADC(0, adc.RES_BIT_12)
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bus = i2c.I2C(1, i2c.Mode.MASTER) # 使用 I2C1 总线
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# bus = i2c.I2C(5, i2c.Mode.MASTER) #ota升级的
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# INA226 电流/电压监测芯片寄存器地址
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INA226_ADDR = 0x40
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REG_CONFIGURATION = 0x00
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REG_BUS_VOLTAGE = 0x02
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REG_CALIBRATION = 0x05
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CALIBRATION_VALUE = 0x1400
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# 激光控制指令（自定义协议）
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MODULE_ADDR = 0x00
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LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
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LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
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# 相机标定参数（用于距离估算）
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FOCAL_LENGTH_PIX = 3800.0 # 焦距（像素）
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REAL_RADIUS_CM = 15 # 靶心实际半径（厘米）
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# TCP 连接状态
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tcp_connected = False
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send_queue = []
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queue_lock = False
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update_thread_started = False # 防止 OTA 更新线程重复启动
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# ==================== 工具函数 ====================
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def download_file(url, filename):
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"""从指定 URL 下载文件并保存为 UTF-8 编码文本"""
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try:
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print(f"正在从 {url} 下载文件...")
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response = requests.get(url)
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response.raise_for_status()
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response.encoding = 'utf-8'
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with open(filename, 'w', encoding='utf-8') as file:
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file.write(response.text)
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return f"下载成功！文件已保存为: {filename}"
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except requests.exceptions.RequestException as e:
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return f"下载失败！网络请求错误: {e}"
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except OSError as e:
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return f"下载失败！文件写入错误: {e}"
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except Exception as e:
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return f"下载失败！发生未知错误: {e}"
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def is_server_reachable(host, port=80, timeout=5):
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"""检查目标主机端口是否可达（用于 OTA 前网络检测）"""
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try:
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addr_info = socket.getaddrinfo(host, port)[0]
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s = socket.socket(addr_info[0], addr_info[1], addr_info[2])
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s.settimeout(timeout)
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s.connect(addr_info[-1])
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s.close()
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return True
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except Exception as e:
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print(f"[NET] 无法连接 {host}:{port} - {e}")
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return False
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def direct_ota_download():
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"""
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直接执行 OTA 下载（假设已有网络）
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用于 cmd=7 触发
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"""
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global update_thread_started
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try:
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# 再次确认网络可达（可选但推荐）
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from urllib.parse import urlparse
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parsed_url = urlparse(url)
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host = parsed_url.hostname
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port = parsed_url.port or (443 if parsed_url.scheme == 'https' else 80)
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if not is_server_reachable(host, port, timeout=8):
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safe_enqueue({"result": "ota_failed", "reason": f"无法连接 {host}:{port}"}, 2)
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return
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print(f"[OTA] 开始直接下载固件...")
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result_msg = download_file(url, local_filename)
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print(f"[OTA] {result_msg}")
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safe_enqueue({"result": result_msg}, 2)
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except Exception as e:
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error_msg = f"OTA 异常: {str(e)}"
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print(error_msg)
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safe_enqueue({"result": "ota_failed", "reason": error_msg}, 2)
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finally:
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update_thread_started = False # 允许下次 OTA
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def handle_wifi_and_update(ssid, password):
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"""在子线程中执行 Wi-Fi 连接 + OTA 更新流程"""
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try:
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ip, error = connect_wifi(ssid, password)
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if error:
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safe_enqueue({"result": "wifi_failed", "error": error}, 2)
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return
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safe_enqueue({"result": "wifi_connected", "ip": ip}, 2)
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# 解析 OTA 地址并测试连通性
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from urllib.parse import urlparse
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parsed_url = urlparse(url)
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host = parsed_url.hostname
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port = parsed_url.port or (443 if parsed_url.scheme == 'https' else 80)
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if not is_server_reachable(host, port, timeout=8):
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err_msg = f"网络不通：无法连接 {host}:{port}"
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safe_enqueue({"result": err_msg}, 2)
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return
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print(f"[NET] 已确认可访问 {host}:{port}，开始下载...")
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result = download_file(url, local_filename)
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print(result)
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safe_enqueue({"result": result}, 2)
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finally:
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update_thread_started = False
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print("[UPDATE] 更新线程执行完毕，即将退出。")
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def connect_wifi(ssid, password):
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"""
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连接 Wi-Fi 并将凭证持久化保存到 /boot/ 目录，
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以便设备重启后自动连接。
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"""
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conf_path = "/etc/wpa_supplicant.conf"
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ssid_file = "/boot/wifi.ssid"
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pass_file = "/boot/wifi.pass"
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try:
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# 生成 wpa_supplicant 配置
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net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read()
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if "network={" not in net_conf:
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return None, "Failed to generate wpa config"
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# 写入运行时配置
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with open(conf_path, "w") as f:
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f.write("ctrl_interface=/var/run/wpa_supplicant\n")
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f.write("update_config=1\n\n")
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f.write(net_conf)
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# 持久化保存 SSID/PASS（关键！）
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with open(ssid_file, "w") as f:
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f.write(ssid.strip())
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with open(pass_file, "w") as f:
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f.write(password.strip())
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# 重启 Wi-Fi 服务
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os.system("/etc/init.d/S30wifi restart")
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# 等待获取 IP
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for _ in range(20):
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ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
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if ip:
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return ip, None
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time.sleep(1)
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return None, "Timeout: No IP obtained"
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except Exception as e:
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return None, f"Exception: {str(e)}"
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def read_device_id():
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"""从 /device_key 文件读取设备唯一 ID，失败则使用默认值"""
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try:
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with open("/device_key", "r") as f:
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device_id = f.read().strip()
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if device_id:
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print(f"[INFO] 从 /device_key 读取到 DEVICE_ID: {device_id}")
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return device_id
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except Exception as e:
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print(f"[ERROR] 无法读取 /device_key: {e}")
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return "DEFAULT_DEVICE_ID"
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def safe_enqueue(data_dict, msg_type=2):
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"""线程安全地将消息加入 TCP 发送队列"""
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global queue_lock, send_queue
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while queue_lock:
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time.sleep_ms(1)
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queue_lock = True
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send_queue.append((msg_type, data_dict))
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queue_lock = False
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def at(cmd, wait="OK", timeout=2000):
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"""向 4G 模块发送 AT 指令并等待响应"""
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if cmd:
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uart4g.write((cmd + "\r\n").encode())
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t0 = time.ticks_ms()
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buf = b""
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while time.ticks_ms() - t0 < timeout:
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data = uart4g.read()
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if data:
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buf += data
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if wait.encode() in buf:
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return buf.decode(errors="ignore")
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return buf.decode(errors="ignore")
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def make_packet(msg_type: int, body_dict: dict) -> bytes:
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"""打包 TCP 数据包：头部（长度+类型+校验）+ JSON 正文"""
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body = json.dumps(body_dict).encode()
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body_len = len(body)
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checksum = body_len + msg_type
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header = struct.pack(">III", body_len, msg_type, checksum)
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return header + body
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def parse_packet(data: bytes):
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"""解析 TCP 数据包，返回 (类型, 正文字典)"""
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if len(data) < 12:
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return None, None
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body_len, msg_type, checksum = struct.unpack(">III", data[:12])
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body = data[12:12 + body_len]
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try:
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return msg_type, json.loads(body.decode())
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except:
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return msg_type, {"raw": body.decode(errors="ignore")}
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def tcp_send_raw(data: bytes, max_retries=2) -> bool:
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"""通过 4G 模块的 AT 指令发送原始 TCP 数据包"""
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global tcp_connected
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if not tcp_connected:
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return False
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for attempt in range(max_retries):
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cmd = f'AT+MIPSEND=0,{len(data)}'
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if ">" not in at(cmd, ">", 1500):
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time.sleep_ms(100)
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continue
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time.sleep_ms(10)
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full = data + b"\x1A" # AT 指令结束符
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try:
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sent = uart4g.write(full)
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if sent != len(full):
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continue
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except:
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continue
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if "OK" in at("", "OK", 1000):
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return True
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time.sleep_ms(100)
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return False
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def generate_token(device_id):
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"""生成用于 HTTP 接口鉴权的 Token（HMAC-SHA256）"""
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SALT = "shootMessageFire"
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SALT2 = "shoot"
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return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
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def send_http_cmd(cmd_str, timeout_ms=3000):
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"""发送 HTTP 相关 AT 指令（调试用）"""
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print("[HTTP AT] =>", cmd_str)
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return at(cmd_str, "OK", timeout_ms)
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def read_http_response(timeout_ms=5000):
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"""读取并打印 HTTP 响应（用于调试）"""
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start = time.ticks_ms()
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while time.ticks_ms() - start < timeout_ms:
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data = uart4g.read(128)
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if data:
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try:
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print("📡 HTTP 响应:", data.decode("utf-8", "ignore").strip())
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except:
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print("📡 响应(raw):", data)
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time.sleep_ms(100)
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def upload_shoot_event(json_data):
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"""通过 4G 模块上报射击事件到 HTTP 接口（备用通道）"""
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token = generate_token(DEVICE_ID)
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if not send_http_cmd(f'AT+MHTTPCREATE="{URL}"'):
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return False
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instance_id = 0
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send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
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send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
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send_http_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {DEVICE_ID}"')
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json_str = ujson.dumps(json_data)
|
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if not send_http_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"'):
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return False
|
||
if send_http_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{API_PATH}"'):
|
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read_http_response()
|
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return True
|
||
return False
|
||
|
||
|
||
def load_laser_point():
|
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"""从配置文件加载激光中心点，失败则使用默认值"""
|
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global laser_point
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try:
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if "laser_config.json" in os.listdir("/root"):
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with open(CONFIG_FILE, "r") as f:
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data = json.load(f)
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||
if isinstance(data, list) and len(data) == 2:
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laser_point = (int(data[0]), int(data[1]))
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print(f"[INFO] 加载激光点: {laser_point}")
|
||
else:
|
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raise ValueError
|
||
else:
|
||
laser_point = DEFAULT_POINT
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||
except:
|
||
laser_point = DEFAULT_POINT
|
||
|
||
|
||
def save_laser_point(point):
|
||
"""保存激光中心点到配置文件"""
|
||
global laser_point
|
||
try:
|
||
with open(CONFIG_FILE, "w") as f:
|
||
json.dump([point[0], point[1]], f)
|
||
laser_point = point
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||
except:
|
||
pass
|
||
|
||
|
||
def turn_on_laser():
|
||
"""发送指令开启激光，并读取回包（部分模块支持）"""
|
||
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:
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||
print("🔇 无回包（正常或模块不支持）")
|
||
return resp
|
||
|
||
|
||
def find_red_laser(frame, threshold=150):
|
||
"""在图像中查找最亮的红色激光点（基于 RGB 阈值）"""
|
||
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():
|
||
"""执行一次激光校准：拍照 → 找红点 → 保存坐标"""
|
||
global laser_x, laser_y
|
||
time.sleep_ms(80)
|
||
cam = camera.Camera(640, 480)
|
||
frame = cam.read()
|
||
pos = find_red_laser(frame)
|
||
if pos:
|
||
laser_x, laser_y = pos
|
||
save_laser_point(pos)
|
||
return pos
|
||
return None
|
||
|
||
|
||
# ==================== 电源管理（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():
|
||
"""初始化 INA226 芯片：配置模式 + 校准值"""
|
||
write_register(REG_CONFIGURATION, 0x4527)
|
||
write_register(REG_CALIBRATION, CALIBRATION_VALUE)
|
||
|
||
|
||
def get_bus_voltage():
|
||
"""读取总线电压（单位：V）"""
|
||
raw = read_register(REG_BUS_VOLTAGE)
|
||
return raw * 1.25 / 1000
|
||
|
||
|
||
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
|
||
|
||
|
||
# ==================== 靶心检测与距离计算 ====================
|
||
|
||
def detect_circle(frame):
|
||
"""检测图像中的靶心（优先清晰轮廓，其次黄色区域）"""
|
||
global REAL_RADIUS_CM
|
||
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 = best_radius1 = method = None
|
||
|
||
# 方法1：基于轮廓拟合椭圆（清晰靶心）
|
||
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)
|
||
best_radius1 = best_radius
|
||
REAL_RADIUS_CM = 15
|
||
method = "清晰"
|
||
break
|
||
|
||
# 方法2：基于 HSV 黄色掩码（模糊靶心）
|
||
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)
|
||
best_radius1 = best_radius
|
||
REAL_RADIUS_CM = 15
|
||
method = "模糊"
|
||
|
||
result_img = image.cv2image(img_cv, False, False)
|
||
return result_img, best_center, best_radius, method, best_radius1
|
||
|
||
|
||
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 (REAL_RADIUS_CM * FOCAL_LENGTH_PIX) / pixel_radius / 100.0
|
||
|
||
|
||
def compute_laser_position(circle_center, laser_point, radius, method):
|
||
"""计算激光相对于靶心的偏移量（单位：厘米）"""
|
||
if not all([circle_center, radius, method]):
|
||
return None, None
|
||
cx, cy = circle_center
|
||
lx, ly = laser_point
|
||
# 根据检测方法动态调整靶心物理半径（简化模型）
|
||
circle_r = (radius / 4.0) * 20.0 if method == "模糊" else (68 / 16.0) * 20.0
|
||
dx = lx - cx
|
||
dy = ly - cy
|
||
return dx / (circle_r / 100.0), -dy / (circle_r / 100.0)
|
||
|
||
|
||
# ==================== TCP 通信线程 ====================
|
||
|
||
def connect_server():
|
||
"""通过 4G 模块建立 TCP 连接"""
|
||
global tcp_connected
|
||
if tcp_connected:
|
||
return True
|
||
print("连接到服务器...")
|
||
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 主通信循环：登录、心跳、处理指令、发送数据"""
|
||
global tcp_connected, send_queue, queue_lock, laser_calibration_active, laser_calibration_result, laser_calibration_lock,update_thread_started
|
||
while not app.need_exit():
|
||
if not connect_server():
|
||
time.sleep_ms(5000)
|
||
continue
|
||
|
||
# 发送登录包
|
||
login_data = {"deviceId": DEVICE_ID, "password": PASSWORD}
|
||
if not tcp_send_raw(make_packet(1, 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:
|
||
# 接收数据
|
||
data = uart4g.read()
|
||
if data:
|
||
rx_buf += data
|
||
# 解析 +MIPURC 消息
|
||
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)
|
||
|
||
# 处理登录响应
|
||
if not logged_in and msg_type == 1:
|
||
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
|
||
|
||
# 处理心跳 ACK
|
||
elif logged_in and msg_type == 4:
|
||
last_heartbeat_ack_time = time.ticks_ms()
|
||
print("✅ 收到心跳确认")
|
||
|
||
# 处理业务指令
|
||
elif logged_in and isinstance(body, dict):
|
||
if isinstance(body.get("data"), dict) and "cmd" in body["data"]:
|
||
inner_cmd = body["data"]["cmd"]
|
||
if inner_cmd == 2: # 开启激光并校准
|
||
turn_on_laser()
|
||
time.sleep_ms(100)
|
||
laser_calibration_active = True
|
||
safe_enqueue({"result": "calibrating"}, 2)
|
||
elif inner_cmd == 3: # 关闭激光
|
||
distance_serial.write(LASER_OFF_CMD)
|
||
laser_calibration_active = False
|
||
safe_enqueue({"result": "laser_off"}, 2)
|
||
elif inner_cmd == 4: # 上报电量
|
||
voltage = get_bus_voltage()
|
||
battery_percent = voltage_to_percent(voltage)
|
||
battery_data = {"battery": battery_percent, "voltage": round(voltage, 3)}
|
||
safe_enqueue(battery_data, 2)
|
||
print(f"🔋 电量上报: {battery_percent}%")
|
||
elif inner_cmd == 5: # OTA 升级（含 Wi-Fi 配置）
|
||
inner_data = body["data"].get("data", {})
|
||
ssid = inner_data.get("ssid")
|
||
password = inner_data.get("password")
|
||
if not ssid or not password:
|
||
safe_enqueue({"result": "missing_ssid_or_password"}, 2)
|
||
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"}, 2)
|
||
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}, 2)
|
||
elif inner_cmd == 7:
|
||
# global update_thread_started
|
||
if update_thread_started:
|
||
safe_enqueue({"result": "update_already_started"}, 2)
|
||
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:
|
||
rx_buf = b""
|
||
break
|
||
|
||
# 发送队列中的业务数据
|
||
if logged_in and not queue_lock and send_queue:
|
||
queue_lock = True
|
||
if send_queue:
|
||
msg_type, data_dict = send_queue.pop(0)
|
||
pkt = make_packet(msg_type, data_dict)
|
||
if not tcp_send_raw(pkt):
|
||
tcp_connected = False
|
||
queue_lock = False
|
||
break
|
||
queue_lock = False
|
||
|
||
# 发送激光校准结果
|
||
if logged_in and not laser_calibration_lock and laser_calibration_result is not None:
|
||
laser_calibration_lock = True
|
||
x, y = laser_calibration_result
|
||
safe_enqueue({"result": "ok", "x": x, "y": y}, 2)
|
||
laser_calibration_result = None
|
||
laser_calibration_lock = False
|
||
|
||
# 定期发送心跳
|
||
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(4, {"t": int(time.time())})):
|
||
print("💔 心跳发送失败")
|
||
break
|
||
last_heartbeat_send_time = current_time
|
||
print("💓 心跳已发送")
|
||
|
||
# 心跳超时重连
|
||
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
|
||
print("🔌 连接异常，2秒后重连...")
|
||
time.sleep_ms(2000)
|
||
|
||
|
||
def laser_calibration_worker():
|
||
"""后台线程：持续检测是否需要执行激光校准"""
|
||
global laser_calibration_active, laser_calibration_result, laser_calibration_lock
|
||
while True:
|
||
if laser_calibration_active:
|
||
result = calibrate_laser_position()
|
||
if result and len(result) == 2:
|
||
while laser_calibration_lock:
|
||
time.sleep_ms(1)
|
||
laser_calibration_lock = True
|
||
laser_calibration_result = result
|
||
laser_calibration_active = False
|
||
laser_calibration_lock = 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 + "."
|
||
|
||
# 创建照片存储目录
|
||
photo_dir = "/root/phot"
|
||
if photo_dir not in os.listdir("/root"):
|
||
try:
|
||
os.mkdir(photo_dir)
|
||
except:
|
||
pass
|
||
|
||
# 初始化硬件
|
||
init_ina226()
|
||
load_laser_point()
|
||
disp = display.Display()
|
||
cam = camera.Camera(640, 480)
|
||
|
||
# 启动通信与校准线程
|
||
_thread.start_new_thread(tcp_main, ())
|
||
_thread.start_new_thread(laser_calibration_worker, ())
|
||
|
||
print("系统准备完成...")
|
||
|
||
# 主循环：检测扳机触发 → 拍照 → 分析 → 上报
|
||
while not app.need_exit():
|
||
if adc_obj.read() > ADC_TRIGGER_THRESHOLD:
|
||
time.sleep_ms(60) # 防抖
|
||
frame = cam.read()
|
||
x, y = laser_point
|
||
|
||
# 绘制激光十字线
|
||
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)
|
||
|
||
# 检测靶心
|
||
result_img, center, radius, method, best_radius1 = detect_circle(frame)
|
||
disp.show(result_img)
|
||
|
||
# 计算偏移与距离
|
||
dx, dy = compute_laser_position(center, (x, y), radius, method)
|
||
distance_m = estimate_distance(best_radius1)
|
||
|
||
# 读取电量
|
||
voltage = get_bus_voltage()
|
||
battery_percent = voltage_to_percent(voltage)
|
||
|
||
# 保存图像（带标注）
|
||
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"❌ 保存失败: {e}")
|
||
|
||
# 构造上报数据
|
||
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), # 距离（厘米）
|
||
"m": method
|
||
}
|
||
report_data = {"cmd": 1, "data": inner_data}
|
||
safe_enqueue(report_data)
|
||
print("📤 射箭事件已加入发送队列")
|
||
|
||
time.sleep_ms(100)
|
||
else:
|
||
disp.show(cam.read())
|
||
time.sleep_ms(50)
|
||
|
||
|
||
if __name__ == "__main__":
|
||
cmd_str() |