595 lines
22 KiB
Python
595 lines
22 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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设备测试类
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用于测试和模拟四个设备的推流功能：深度相机、普通相机、压力板、IMU
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"""
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import os
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import sys
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import time
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import threading
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import logging
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import json
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import base64
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import numpy as np
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import cv2
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from flask import Flask, render_template, jsonify
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from flask_socketio import SocketIO, emit
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from typing import Dict, Any, Optional
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from collections import deque
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import random
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import math
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# 添加父目录到路径
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parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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sys.path.append(parent_dir)
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sys.path.append(os.path.dirname(parent_dir))
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# 导入设备管理器（使用绝对路径）
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try:
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from devices.camera_manager import CameraManager
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from devices.imu_manager import IMUManager
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from devices.pressure_manager import PressureManager
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from devices.femtobolt_manager import FemtoBoltManager
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from devices.device_coordinator import DeviceCoordinator
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from devices.utils.config_manager import ConfigManager
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except ImportError:
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# 如果上面的导入失败，尝试直接导入
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from camera_manager import CameraManager
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import imu_manager
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import pressure_manager
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import femtobolt_manager
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import device_coordinator
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from utils import config_manager
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IMUManager = imu_manager.IMUManager
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PressureManager = pressure_manager.PressureManager
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FemtoBoltManager = femtobolt_manager.FemtoBoltManager
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DeviceCoordinator = device_coordinator.DeviceCoordinator
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ConfigManager = config_manager.ConfigManager
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class DeviceTestServer:
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"""设备测试服务器"""
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def __init__(self, host='localhost', port=5001):
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"""
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初始化测试服务器
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Args:
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host: 服务器主机
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port: 服务器端口
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"""
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self.host = host
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self.port = port
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# Flask应用
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self.app = Flask(__name__,
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template_folder=os.path.join(os.path.dirname(__file__), 'templates'),
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static_folder=os.path.join(os.path.dirname(__file__), 'static'))
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self.app.config['SECRET_KEY'] = 'device_test_secret_key'
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# SocketIO
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self.socketio = SocketIO(self.app, cors_allowed_origins="*",
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async_mode='threading', logger=False, engineio_logger=False)
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# 日志配置
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logging.basicConfig(level=logging.INFO)
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self.logger = logging.getLogger(self.__class__.__name__)
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# 设备管理器
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self.config_manager = ConfigManager()
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self.device_coordinator = None
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# 设备管理器和模拟数据生成器
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self.device_managers = {
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'camera': CameraManager(self.socketio, self.config_manager),
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'femtobolt': FemtoBoltManager(self.socketio, self.config_manager),
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'imu': IMUManager(self.socketio, self.config_manager),
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'pressure': PressureManager(self.socketio, self.config_manager)
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}
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self.mock_data_generators = {
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# 'imu': MockIMUGenerator(),
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# 'pressure': MockPressureGenerator()
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}
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# 测试状态
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self.is_testing = False
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self.test_threads = {}
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# 注册路由和事件
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self._register_routes()
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self._register_socketio_events()
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def _register_routes(self):
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"""注册Flask路由"""
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@self.app.route('/')
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def index():
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"""主页"""
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return render_template('deviceTest.html')
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@self.app.route('/api/device/status')
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def get_device_status():
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"""获取设备状态"""
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if self.device_coordinator:
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status = self.device_coordinator.get_device_status()
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else:
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status = {
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'coordinator': {'is_initialized': False, 'is_running': False},
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'devices': {}
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}
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return jsonify(status)
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@self.app.route('/api/test/start')
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def start_test():
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"""开始测试"""
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try:
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self.start_device_test()
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return jsonify({'success': True, 'message': '测试已开始'})
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except Exception as e:
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return jsonify({'success': False, 'message': str(e)})
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@self.app.route('/api/test/stop')
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def stop_test():
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"""停止测试"""
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try:
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self.stop_device_test()
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return jsonify({'success': True, 'message': '测试已停止'})
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except Exception as e:
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return jsonify({'success': False, 'message': str(e)})
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def _register_socketio_events(self):
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"""注册SocketIO事件"""
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@self.socketio.on('connect')
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def handle_connect():
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self.logger.info(f'客户端连接: {id}')
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emit('status', {'message': '连接成功'})
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@self.socketio.on('disconnect')
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def handle_disconnect():
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self.logger.info(f'客户端断开连接')
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@self.socketio.on('start_test')
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def handle_start_test():
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"""处理开始测试事件"""
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try:
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self.start_device_test()
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emit('test_status', {'status': 'started', 'message': '测试已开始'})
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except Exception as e:
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emit('test_status', {'status': 'error', 'message': str(e)})
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@self.socketio.on('stop_test')
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def handle_stop_test():
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"""处理停止测试事件"""
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try:
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self.stop_device_test()
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emit('test_status', {'status': 'stopped', 'message': '测试已停止'})
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except Exception as e:
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emit('test_status', {'status': 'error', 'message': str(e)})
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# 注册各设备命名空间的连接事件
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@self.socketio.on('connect', namespace='/camera')
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def handle_camera_connect():
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self.logger.info('相机命名空间客户端连接')
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emit('status', {'message': '相机命名空间连接成功'}, namespace='/camera')
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@self.socketio.on('connect', namespace='/femtobolt')
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def handle_femtobolt_connect():
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self.logger.info('深度相机命名空间客户端连接')
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emit('status', {'message': '深度相机命名空间连接成功'}, namespace='/femtobolt')
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@self.socketio.on('connect', namespace='/imu')
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def handle_imu_connect():
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self.logger.info('IMU命名空间客户端连接')
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emit('status', {'message': 'IMU命名空间连接成功'}, namespace='/imu')
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@self.socketio.on('connect', namespace='/pressure')
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def handle_pressure_connect():
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self.logger.info('压力板命名空间客户端连接')
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emit('status', {'message': '压力板命名空间连接成功'}, namespace='/pressure')
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@self.socketio.on('disconnect', namespace='/camera')
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def handle_camera_disconnect():
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self.logger.info('相机命名空间客户端断开连接')
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@self.socketio.on('disconnect', namespace='/femtobolt')
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def handle_femtobolt_disconnect():
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self.logger.info('深度相机命名空间客户端断开连接')
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@self.socketio.on('disconnect', namespace='/imu')
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def handle_imu_disconnect():
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self.logger.info('IMU命名空间客户端断开连接')
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@self.socketio.on('disconnect', namespace='/pressure')
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def handle_pressure_disconnect():
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self.logger.info('压力板命名空间客户端断开连接')
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def start_device_test(self):
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"""开始设备测试"""
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if self.is_testing:
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self.logger.warning('测试已在运行')
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return
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try:
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self.logger.info('开始设备测试...')
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self.is_testing = True
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# 并行启动真实设备管理器
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failed_devices = []
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device_threads = {}
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device_results = {}
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def initialize_device(device_name, manager):
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"""设备初始化工作函数"""
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try:
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print(f"[DEBUG] 尝试初始化设备: {device_name}")
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if manager.initialize():
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print(f"[DEBUG] {device_name} 初始化成功，开始启动流")
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manager.start_streaming()
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device_results[device_name] = True
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self.logger.info(f'{device_name}真实设备启动成功')
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else:
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print(f"[DEBUG] {device_name} 初始化失败")
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device_results[device_name] = False
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self.logger.error(f'{device_name}真实设备启动失败，将使用模拟数据')
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except Exception as e:
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print(f"[DEBUG] {device_name} 初始化异常: {e}")
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device_results[device_name] = False
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self.logger.error(f'{device_name}真实设备启动异常: {e}，将使用模拟数据')
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# 为每个设备创建初始化线程
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for device_name, manager in self.device_managers.items():
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thread = threading.Thread(
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target=initialize_device,
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args=(device_name, manager),
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name=f'Init-{device_name}',
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daemon=True
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)
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device_threads[device_name] = thread
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thread.start()
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# 等待所有设备初始化完成（最多等待30秒）
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for device_name, thread in device_threads.items():
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thread.join(timeout=30.0)
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if thread.is_alive():
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self.logger.warning(f'{device_name}设备初始化超时，将使用模拟数据')
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device_results[device_name] = False
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# 收集失败的设备
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for device_name, success in device_results.items():
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if not success:
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failed_devices.append(device_name)
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# 启动模拟数据生成线程（包括失败的真实设备）
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for device_name, generator in self.mock_data_generators.items():
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# 如果真实设备启动成功且不在失败列表中，跳过模拟数据生成
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if device_name in self.device_managers and device_name not in failed_devices:
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continue
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thread = threading.Thread(
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target=self._mock_device_worker,
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args=(device_name, generator),
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name=f'MockDevice-{device_name}',
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daemon=True
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)
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thread.start()
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self.test_threads[device_name] = thread
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self.logger.info(f'{device_name}模拟数据生成器已启动')
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# 输出启动结果摘要
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successful_devices = [name for name, success in device_results.items() if success]
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if successful_devices:
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self.logger.info(f'成功启动的真实设备: {", ".join(successful_devices)}')
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if failed_devices:
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self.logger.info(f'使用模拟数据的设备: {", ".join(failed_devices)}')
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self.logger.info('设备测试已启动')
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except Exception as e:
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self.logger.error(f'启动设备测试失败: {e}')
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self.is_testing = False
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raise
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def stop_device_test(self):
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"""停止设备测试"""
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if not self.is_testing:
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self.logger.warning('测试未运行')
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return
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try:
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self.logger.info('停止设备测试...')
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self.is_testing = False
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# 停止真实设备管理器
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for device_name, manager in self.device_managers.items():
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manager.stop_streaming()
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manager.disconnect()
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self.logger.info(f'{device_name}真实设备已停止')
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# 等待所有线程结束
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for device_name, thread in self.test_threads.items():
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if thread.is_alive():
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thread.join(timeout=2.0)
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self.test_threads.clear()
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self.logger.info('设备测试已停止')
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except Exception as e:
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self.logger.error(f'停止设备测试失败: {e}')
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def _mock_device_worker(self, device_name: str, generator):
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"""模拟设备工作线程"""
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self.logger.info(f'启动{device_name}模拟数据生成')
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while self.is_testing:
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try:
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# 生成模拟数据
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data = generator.generate_data()
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# 发送到对应的命名空间
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namespace = f'/{device_name}'
|
|||
|
|
event_name = self._get_event_name(device_name)
|
|||
|
|
|
|||
|
|
self.socketio.emit(event_name, data, namespace=namespace)
|
|||
|
|
|
|||
|
|
# 控制发送频率
|
|||
|
|
time.sleep(generator.get_interval())
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
self.logger.error(f'{device_name}模拟数据生成异常: {e}')
|
|||
|
|
time.sleep(1.0)
|
|||
|
|
|
|||
|
|
self.logger.info(f'{device_name}模拟数据生成结束')
|
|||
|
|
|
|||
|
|
def _get_event_name(self, device_name: str) -> str:
|
|||
|
|
"""获取设备对应的事件名称"""
|
|||
|
|
event_map = {
|
|||
|
|
'camera': 'camera_frame',
|
|||
|
|
'femtobolt': 'femtobolt_frame',
|
|||
|
|
'imu': 'imu_data',
|
|||
|
|
'pressure': 'pressure_data'
|
|||
|
|
}
|
|||
|
|
return event_map.get(device_name, f'{device_name}_data')
|
|||
|
|
|
|||
|
|
def run(self, debug=False):
|
|||
|
|
"""运行测试服务器"""
|
|||
|
|
self.logger.info(f'启动设备测试服务器: http://{self.host}:{self.port}')
|
|||
|
|
self.socketio.run(self.app, host=self.host, port=self.port, debug=debug)
|
|||
|
|
|
|||
|
|
|
|||
|
|
# MockCameraGenerator已移除，使用真实的CameraManager
|
|||
|
|
|
|||
|
|
|
|||
|
|
class MockFemtoBoltGenerator:
|
|||
|
|
"""模拟FemtoBolt深度相机数据生成器"""
|
|||
|
|
|
|||
|
|
def __init__(self):
|
|||
|
|
self.frame_count = 0
|
|||
|
|
self.interval = 1.0 / 15 # 15 FPS
|
|||
|
|
|
|||
|
|
def generate_data(self) -> Dict[str, Any]:
|
|||
|
|
"""生成模拟深度相机数据"""
|
|||
|
|
# 生成深度图像
|
|||
|
|
height, width = 480, 640
|
|||
|
|
|
|||
|
|
# 创建深度图像（模拟人体轮廓）
|
|||
|
|
depth_image = np.full((height, width), 2000, dtype=np.uint16)
|
|||
|
|
|
|||
|
|
# 添加人体轮廓
|
|||
|
|
center_x = width // 2
|
|||
|
|
center_y = height // 2
|
|||
|
|
|
|||
|
|
# 头部
|
|||
|
|
cv2.circle(depth_image, (center_x, center_y - 100), 40, 1500, -1)
|
|||
|
|
# 身体
|
|||
|
|
cv2.rectangle(depth_image, (center_x - 50, center_y - 60),
|
|||
|
|
(center_x + 50, center_y + 100), 1600, -1)
|
|||
|
|
# 手臂
|
|||
|
|
cv2.rectangle(depth_image, (center_x - 80, center_y - 40),
|
|||
|
|
(center_x - 50, center_y + 20), 1700, -1)
|
|||
|
|
cv2.rectangle(depth_image, (center_x + 50, center_y - 40),
|
|||
|
|
(center_x + 80, center_y + 20), 1700, -1)
|
|||
|
|
|
|||
|
|
# 转换为伪彩色
|
|||
|
|
normalized = ((depth_image - 500) / (4500 - 500) * 255).astype(np.uint8)
|
|||
|
|
colored = cv2.applyColorMap(normalized, cv2.COLORMAP_JET)
|
|||
|
|
|
|||
|
|
# 添加文字
|
|||
|
|
cv2.putText(colored, f'Depth Frame {self.frame_count}',
|
|||
|
|
(10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)
|
|||
|
|
|
|||
|
|
# 编码为JPEG
|
|||
|
|
encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 85]
|
|||
|
|
_, buffer = cv2.imencode('.jpg', colored, encode_param)
|
|||
|
|
depth_data = base64.b64encode(buffer).decode('utf-8')
|
|||
|
|
|
|||
|
|
self.frame_count += 1
|
|||
|
|
|
|||
|
|
return {
|
|||
|
|
'timestamp': time.time(),
|
|||
|
|
'frame_count': self.frame_count,
|
|||
|
|
'depth_image': depth_data,
|
|||
|
|
'fps': 15,
|
|||
|
|
'device_id': 'mock_femtobolt',
|
|||
|
|
'depth_range': {'min': 500, 'max': 4500}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
def get_interval(self) -> float:
|
|||
|
|
return self.interval
|
|||
|
|
|
|||
|
|
|
|||
|
|
class MockIMUGenerator:
|
|||
|
|
"""模拟IMU传感器数据生成器"""
|
|||
|
|
|
|||
|
|
def __init__(self):
|
|||
|
|
self.frame_count = 0
|
|||
|
|
self.interval = 1.0 / 50 # 50 Hz
|
|||
|
|
self.base_time = time.time()
|
|||
|
|
|
|||
|
|
def generate_data(self) -> Dict[str, Any]:
|
|||
|
|
"""生成模拟IMU数据"""
|
|||
|
|
current_time = time.time() - self.base_time
|
|||
|
|
|
|||
|
|
# 生成模拟的头部姿态数据（正弦波模拟头部运动）
|
|||
|
|
rotation = 15 * math.sin(current_time * 0.5) # 旋转角
|
|||
|
|
tilt = 10 * math.cos(current_time * 0.3) # 倾斜角
|
|||
|
|
pitch = 8 * math.sin(current_time * 0.7) # 俯仰角
|
|||
|
|
|
|||
|
|
# 生成加速度和陀螺仪数据
|
|||
|
|
accel_x = 0.1 * math.sin(current_time * 2.0)
|
|||
|
|
accel_y = 0.1 * math.cos(current_time * 1.5)
|
|||
|
|
accel_z = 9.8 + 0.2 * math.sin(current_time * 0.8)
|
|||
|
|
|
|||
|
|
gyro_x = 2.0 * math.cos(current_time * 1.2)
|
|||
|
|
gyro_y = 1.5 * math.sin(current_time * 0.9)
|
|||
|
|
gyro_z = 1.0 * math.sin(current_time * 1.1)
|
|||
|
|
|
|||
|
|
self.frame_count += 1
|
|||
|
|
|
|||
|
|
return {
|
|||
|
|
'timestamp': time.time(),
|
|||
|
|
'frame_count': self.frame_count,
|
|||
|
|
'device_id': 'mock_imu',
|
|||
|
|
'head_pose': {
|
|||
|
|
'rotation': round(rotation, 2),
|
|||
|
|
'tilt': round(tilt, 2),
|
|||
|
|
'pitch': round(pitch, 2)
|
|||
|
|
},
|
|||
|
|
'accelerometer': {
|
|||
|
|
'x': round(accel_x, 3),
|
|||
|
|
'y': round(accel_y, 3),
|
|||
|
|
'z': round(accel_z, 3)
|
|||
|
|
},
|
|||
|
|
'gyroscope': {
|
|||
|
|
'x': round(gyro_x, 3),
|
|||
|
|
'y': round(gyro_y, 3),
|
|||
|
|
'z': round(gyro_z, 3)
|
|||
|
|
},
|
|||
|
|
'temperature': round(25.0 + 2.0 * math.sin(current_time * 0.1), 1)
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
def get_interval(self) -> float:
|
|||
|
|
return self.interval
|
|||
|
|
|
|||
|
|
|
|||
|
|
class MockPressureGenerator:
|
|||
|
|
"""模拟压力传感器数据生成器"""
|
|||
|
|
|
|||
|
|
def __init__(self):
|
|||
|
|
self.frame_count = 0
|
|||
|
|
self.interval = 1.0 / 20 # 20 Hz
|
|||
|
|
self.base_time = time.time()
|
|||
|
|
|
|||
|
|
def generate_data(self) -> Dict[str, Any]:
|
|||
|
|
"""生成模拟压力数据"""
|
|||
|
|
current_time = time.time() - self.base_time
|
|||
|
|
|
|||
|
|
# 生成模拟的足部压力数据（模拟重心转移）
|
|||
|
|
base_pressure = 50
|
|||
|
|
shift = 20 * math.sin(current_time * 0.3) # 重心左右转移
|
|||
|
|
|
|||
|
|
left_total = max(0, base_pressure + shift + random.uniform(-5, 5))
|
|||
|
|
right_total = max(0, base_pressure - shift + random.uniform(-5, 5))
|
|||
|
|
|
|||
|
|
# 前后足压力分配
|
|||
|
|
left_front = left_total * (0.4 + 0.1 * math.sin(current_time * 0.5))
|
|||
|
|
left_rear = left_total - left_front
|
|||
|
|
right_front = right_total * (0.4 + 0.1 * math.cos(current_time * 0.5))
|
|||
|
|
right_rear = right_total - right_front
|
|||
|
|
|
|||
|
|
# 生成压力热力图
|
|||
|
|
pressure_image = self._generate_pressure_heatmap(
|
|||
|
|
left_front, left_rear, right_front, right_rear
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
self.frame_count += 1
|
|||
|
|
|
|||
|
|
return {
|
|||
|
|
'timestamp': time.time(),
|
|||
|
|
'frame_count': self.frame_count,
|
|||
|
|
'device_id': 'mock_pressure',
|
|||
|
|
'pressure_data': {
|
|||
|
|
'left_total': round(left_total, 1),
|
|||
|
|
'right_total': round(right_total, 1),
|
|||
|
|
'left_front': round(left_front, 1),
|
|||
|
|
'left_rear': round(left_rear, 1),
|
|||
|
|
'right_front': round(right_front, 1),
|
|||
|
|
'right_rear': round(right_rear, 1),
|
|||
|
|
'total_pressure': round(left_total + right_total, 1),
|
|||
|
|
'balance_ratio': round(left_total / (left_total + right_total) * 100, 1) if (left_total + right_total) > 0 else 50.0
|
|||
|
|
},
|
|||
|
|
'pressure_image': pressure_image
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
def _generate_pressure_heatmap(self, left_front, left_rear, right_front, right_rear) -> str:
|
|||
|
|
"""生成压力热力图"""
|
|||
|
|
# 创建足底压力图像
|
|||
|
|
height, width = 300, 300
|
|||
|
|
image = np.zeros((height, width, 3), dtype=np.uint8)
|
|||
|
|
|
|||
|
|
# 左足区域
|
|||
|
|
left_foot_x = width // 4
|
|||
|
|
left_front_intensity = int(min(255, left_front * 5))
|
|||
|
|
left_rear_intensity = int(min(255, left_rear * 5))
|
|||
|
|
|
|||
|
|
# 左前足
|
|||
|
|
cv2.rectangle(image, (left_foot_x - 30, height // 4),
|
|||
|
|
(left_foot_x + 30, height // 2),
|
|||
|
|
(0, 0, left_front_intensity), -1)
|
|||
|
|
|
|||
|
|
# 左后足
|
|||
|
|
cv2.rectangle(image, (left_foot_x - 30, height // 2),
|
|||
|
|
(left_foot_x + 30, height * 3 // 4),
|
|||
|
|
(0, 0, left_rear_intensity), -1)
|
|||
|
|
|
|||
|
|
# 右足区域
|
|||
|
|
right_foot_x = width * 3 // 4
|
|||
|
|
right_front_intensity = int(min(255, right_front * 5))
|
|||
|
|
right_rear_intensity = int(min(255, right_rear * 5))
|
|||
|
|
|
|||
|
|
# 右前足
|
|||
|
|
cv2.rectangle(image, (right_foot_x - 30, height // 4),
|
|||
|
|
(right_foot_x + 30, height // 2),
|
|||
|
|
(0, 0, right_front_intensity), -1)
|
|||
|
|
|
|||
|
|
# 右后足
|
|||
|
|
cv2.rectangle(image, (right_foot_x - 30, height // 2),
|
|||
|
|
(right_foot_x + 30, height * 3 // 4),
|
|||
|
|
(0, 0, right_rear_intensity), -1)
|
|||
|
|
|
|||
|
|
# 添加分割线
|
|||
|
|
cv2.line(image, (width // 2, 0), (width // 2, height), (255, 255, 255), 2)
|
|||
|
|
cv2.line(image, (0, height // 2), (width, height // 2), (255, 255, 255), 1)
|
|||
|
|
|
|||
|
|
# 编码为Base64
|
|||
|
|
encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 85]
|
|||
|
|
_, buffer = cv2.imencode('.jpg', image, encode_param)
|
|||
|
|
return base64.b64encode(buffer).decode('utf-8')
|
|||
|
|
|
|||
|
|
def get_interval(self) -> float:
|
|||
|
|
return self.interval
|
|||
|
|
|
|||
|
|
|
|||
|
|
def main():
|
|||
|
|
"""主函数"""
|
|||
|
|
# 创建templates目录
|
|||
|
|
templates_dir = os.path.join(os.path.dirname(__file__), 'templates')
|
|||
|
|
os.makedirs(templates_dir, exist_ok=True)
|
|||
|
|
|
|||
|
|
# 创建测试服务器
|
|||
|
|
server = DeviceTestServer(host='localhost', port=5001)
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 运行服务器
|
|||
|
|
server.run(debug=False)
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
print('\n服务器已停止')
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f'服务器运行异常: {e}')
|
|||
|
|
|
|||
|
|
|
|||
|
|
if __name__ == '__main__':
|
|||
|
|
main()
|