足底压力仪、足底可见光拔插重连功能提交
This commit is contained in:
zhaozilong12
parent
3b5fce9be5
commit
147c66ada6
@ -70,9 +70,11 @@ class CameraManager(BaseDevice):
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self.fps_start_time = time.time()
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self.actual_fps = 0
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# 重连机制
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self.max_reconnect_attempts = 3
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self.reconnect_delay = 2.0
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# 重连与断连检测机制（-1 表示无限重连）
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self.max_reconnect_attempts = int(config.get('max_reconnect_attempts', -1))
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self.reconnect_delay = float(config.get('reconnect_delay', 2.0))
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self.read_fail_threshold = int(config.get('read_fail_threshold', 30))
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self._last_connected_state = None
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# 设备标识和性能统计
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self.device_id = f"camera_{self.device_index}"
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@ -131,6 +133,7 @@ class CameraManager(BaseDevice):
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return False
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self.is_connected = True
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self._last_connected_state = True
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self._device_info.update({
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'device_index': self.device_index,
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'resolution': f"{self.width}x{self.height}",
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@ -235,7 +238,7 @@ class CameraManager(BaseDevice):
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for i in range(5):
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ret, _ = self.cap.read()
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if not ret:
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self.logger.warning(f"校准时读取第{i+1}帧失败")
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self.logger.warning(f"校时时读取第{i+1}帧失败")
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self.logger.info("相机校准完成")
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return True
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@ -305,6 +308,7 @@ class CameraManager(BaseDevice):
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self.logger.info("相机流工作线程启动")
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reconnect_attempts = 0
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consecutive_read_failures = 0
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# 基于目标FPS的简单节拍器，防止无上限地读取/编码/发送导致对象堆积
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frame_interval = 1.0 / max(self.fps, 1)
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@ -313,24 +317,73 @@ class CameraManager(BaseDevice):
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while self.is_streaming:
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loop_start = time.time()
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try:
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# 如果设备未打开，进入重连流程
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if not self.cap or not self.cap.isOpened():
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if reconnect_attempts < self.max_reconnect_attempts:
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self.logger.warning(f"相机连接丢失，尝试重连 ({reconnect_attempts + 1}/{self.max_reconnect_attempts})")
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# 仅在状态变化时广播一次断连状态
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if self._last_connected_state is not False:
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try:
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self._socketio.emit('camera_status', {
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'status': 'disconnected',
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'device_id': self.device_id,
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'timestamp': time.time()
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}, namespace='/devices')
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except Exception:
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pass
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self._last_connected_state = False
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# 无限重连：max_reconnect_attempts == -1；否则按次数重试
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if self.max_reconnect_attempts == -1 or reconnect_attempts < self.max_reconnect_attempts:
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self.logger.warning(f"相机连接丢失，尝试重连 ({'∞' if self.max_reconnect_attempts == -1 else reconnect_attempts + 1}/{self.max_reconnect_attempts if self.max_reconnect_attempts != -1 else '∞'})")
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if not self.is_streaming:
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break
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if self._reconnect():
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reconnect_attempts = 0
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consecutive_read_failures = 0
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# 广播恢复
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try:
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self._socketio.emit('camera_status', {
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'status': 'connected',
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'device_id': self.device_id,
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'timestamp': time.time()
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}, namespace='/devices')
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except Exception:
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pass
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self._last_connected_state = True
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continue
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else:
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reconnect_attempts += 1
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time.sleep(self.reconnect_delay)
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continue
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else:
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self.logger.error("相机重连失败次数过多，停止流")
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break
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# 超过次数也不退出线程，降频重试，防止永久停机
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self.logger.error("相机重连失败次数过多，进入降频重试模式")
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time.sleep(max(self.reconnect_delay, 5.0))
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# 重置计数以便继续尝试
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reconnect_attempts = 0
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continue
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ret, frame = self.cap.read()
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if not ret or frame is None:
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consecutive_read_failures += 1
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self.dropped_frames += 1
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if consecutive_read_failures >= getattr(self, 'read_fail_threshold', 30):
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self.logger.warning(f"连续读帧失败 {consecutive_read_failures} 次，执行相机软复位并进入重连")
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try:
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if self.cap:
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try:
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self.cap.release()
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except Exception:
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pass
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self.cap = None
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self.is_connected = False
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except Exception:
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pass
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# 进入下一轮循环会走到未打开分支
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consecutive_read_failures = 0
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time.sleep(self.reconnect_delay)
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continue
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if self.dropped_frames > 10:
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self.logger.warning(f"连续丢帧过多: {self.dropped_frames}")
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# 仅在异常情况下触发一次GC，避免高频强制GC
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@ -340,10 +393,11 @@ class CameraManager(BaseDevice):
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pass
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self.dropped_frames = 0
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# 防止空转占满CPU
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time.sleep(0.005)
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time.sleep(0.02)
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continue
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# 重置丢帧计数
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# 读帧成功，重置失败计数
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consecutive_read_failures = 0
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self.dropped_frames = 0
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# 保存原始帧到队列（用于录制）
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@ -366,10 +420,6 @@ class CameraManager(BaseDevice):
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# 处理帧（降采样以优化传输负载）
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processed_frame = self._process_frame(frame)
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# # 缓存帧（不复制，减少内存占用）
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# self.last_frame = processed_frame
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# self.frame_cache.append(processed_frame)
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# 发送帧数据
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self._send_frame_data(processed_frame)
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@ -378,7 +428,6 @@ class CameraManager(BaseDevice):
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# 主动释放局部引用，帮助GC更快识别可回收对象
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del frame
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# 注意：processed_frame 被 last_frame 和 frame_cache 引用，不可删除其对象本身
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# 限速：保证不超过目标FPS，减小发送端积压
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now = time.time()
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@ -394,7 +443,7 @@ class CameraManager(BaseDevice):
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except Exception as e:
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self.logger.error(f"相机流处理异常: {e}")
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# 小退避，避免异常情况下空转
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time.sleep(0.02)
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time.sleep(0.05)
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self.logger.info("相机流工作线程结束")
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@ -601,6 +650,10 @@ class CameraManager(BaseDevice):
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self.buffer_size = config.get('buffer_size', 1)
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self.fourcc = config.get('fourcc', 'MJPG')
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self._tx_max_width = int(config.get('tx_max_width', 640))
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# 新增：动态更新重连/阈值配置
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self.max_reconnect_attempts = int(config.get('max_reconnect_attempts', self.max_reconnect_attempts))
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self.reconnect_delay = float(config.get('reconnect_delay', self.reconnect_delay))
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self.read_fail_threshold = int(config.get('read_fail_threshold', self.read_fail_threshold))
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# 更新帧缓存队列大小
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frame_cache_len = int(config.get('frame_cache_len', 2))
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@ -186,6 +186,18 @@ class RealPressureDevice:
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r = self.dll.fpms_usb_read_frame_wrap(self.device_handle.value, self.buf, self.frame_size)
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if r != 0:
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logger.warning(f"读取帧失败, code= {r}")
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# 如果返回负数，多半表示物理断开或严重错误，标记断连并关闭句柄，触发上层重连
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if r < 0:
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try:
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if self.device_handle:
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try:
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self.dll.fpms_usb_close_wrap(self.device_handle.value)
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except Exception:
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pass
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self.device_handle = None
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except Exception:
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pass
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self.is_connected = False
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return self._get_empty_data()
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# 转换为numpy数组
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@ -728,6 +740,12 @@ class PressureManager(BaseDevice):
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self.error_count = 0
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self.last_data_time = None
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# 重连相关配置（与camera_manager保持一致的键名和默认值）
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self.max_reconnect_attempts = int(self.config.get('max_reconnect_attempts', -1)) # -1 表示无限重连
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self.reconnect_delay = float(self.config.get('reconnect_delay', 2.0))
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self.read_fail_threshold = int(self.config.get('read_fail_threshold', 30))
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self._last_connected_state = None # 去抖动状态广播
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self.logger.info(f"压力板管理器初始化完成 - 设备类型: {self.device_type}")
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def initialize(self) -> bool:
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@ -825,73 +843,140 @@ class PressureManager(BaseDevice):
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"""
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self.logger.info("压力数据流线程启动")
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reconnect_attempts = 0
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consecutive_read_failures = 0
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try:
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while self.is_streaming and self.is_connected:
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while self.is_streaming:
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try:
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# 若设备未连接或不存在，进入重连流程
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if not self.device or not self.is_connected or (hasattr(self.device, 'is_connected') and not self.device.is_connected):
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# 广播断开状态（仅状态变化时）
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if self._last_connected_state is not False:
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try:
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if self._socketio:
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self._socketio.emit('pressure_status', {
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'status': 'disconnected',
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'timestamp': time.time()
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}, namespace='/devices')
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except Exception:
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pass
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self._last_connected_state = False
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if self.max_reconnect_attempts == -1 or reconnect_attempts < self.max_reconnect_attempts:
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self.logger.warning(f"压力设备连接丢失，尝试重连 ({'∞' if self.max_reconnect_attempts == -1 else reconnect_attempts + 1}/{self.max_reconnect_attempts if self.max_reconnect_attempts != -1 else '∞'})")
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if not self.is_streaming:
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break
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if self._reconnect():
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reconnect_attempts = 0
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consecutive_read_failures = 0
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# 广播恢复
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try:
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if self._socketio:
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self._socketio.emit('pressure_status', {
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'status': 'connected',
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'timestamp': time.time()
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}, namespace='/devices')
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except Exception:
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pass
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self._last_connected_state = True
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continue
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else:
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reconnect_attempts += 1
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time.sleep(self.reconnect_delay)
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continue
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else:
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self.logger.error("压力设备重连失败次数过多，进入降频重试模式")
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time.sleep(max(self.reconnect_delay, 5.0))
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reconnect_attempts = 0
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continue
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# 从设备读取数据
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pressure_data = None
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if self.device:
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pressure_data = self.device.read_data()
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# 如果底层设备在读取时标记了断开，则在此处进入下一轮以触发重连
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if hasattr(self.device, 'is_connected') and not self.device.is_connected:
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self.is_connected = False
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time.sleep(self.reconnect_delay)
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continue
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if pressure_data and 'foot_pressure' in pressure_data:
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foot_pressure = pressure_data['foot_pressure']
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# 获取各区域压力值
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left_front = foot_pressure['left_front']
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left_rear = foot_pressure['left_rear']
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right_front = foot_pressure['right_front']
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right_rear = foot_pressure['right_rear']
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left_total = foot_pressure['left_total']
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right_total = foot_pressure['right_total']
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if not pressure_data or 'foot_pressure' not in pressure_data:
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consecutive_read_failures += 1
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if consecutive_read_failures >= self.read_fail_threshold:
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self.logger.warning(f"连续读取压力数据失败 {consecutive_read_failures} 次，执行设备软复位并进入重连")
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try:
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if self.device and hasattr(self.device, 'close'):
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self.device.close()
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except Exception:
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pass
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self.is_connected = False
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consecutive_read_failures = 0
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time.sleep(self.reconnect_delay)
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continue
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time.sleep(0.05)
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continue
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# 计算总压力
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total_pressure = left_total + right_total
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# 读数成功，重置失败计数
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consecutive_read_failures = 0
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self.is_connected = True
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# 计算平衡比例（左脚压力占总压力的比例）
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balance_ratio = left_total / total_pressure if total_pressure > 0 else 0.5
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foot_pressure = pressure_data['foot_pressure']
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# 获取各区域压力值
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left_front = foot_pressure['left_front']
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left_rear = foot_pressure['left_rear']
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right_front = foot_pressure['right_front']
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right_rear = foot_pressure['right_rear']
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left_total = foot_pressure['left_total']
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right_total = foot_pressure['right_total']
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# 计算压力中心偏移
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pressure_center_offset = (balance_ratio - 0.5) * 100 # 转换为百分比
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# 计算总压力
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total_pressure = left_total + right_total
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# 计算前后足压力分布
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left_front_ratio = left_front / left_total if left_total > 0 else 0.5
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right_front_ratio = right_front / right_total if right_total > 0 else 0.5
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# 计算平衡比例（左脚压力占总压力的比例）
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balance_ratio = left_total / total_pressure if total_pressure > 0 else 0.5
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# 构建完整的足部压力数据
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complete_pressure_data = {
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# 分区压力值
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'pressure_zones': {
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'left_front': left_front,
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'left_rear': left_rear,
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'right_front': right_front,
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'right_rear': right_rear,
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'left_total': left_total,
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'right_total': right_total,
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'total_pressure': total_pressure
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},
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# 平衡分析
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'balance_analysis': {
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'balance_ratio': round(balance_ratio, 3),
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'pressure_center_offset': round(pressure_center_offset, 2),
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'balance_status': 'balanced' if abs(pressure_center_offset) < 10 else 'unbalanced',
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'left_front_ratio': round(left_front_ratio, 3),
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'right_front_ratio': round(right_front_ratio, 3)
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},
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# 压力图片
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'pressure_image': pressure_data.get('pressure_image', ''),
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'timestamp': pressure_data['timestamp']
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}
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# 计算压力中心偏移
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pressure_center_offset = (balance_ratio - 0.5) * 100 # 转换为百分比
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# 更新统计信息
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self.packet_count += 1
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self.last_data_time = time.time()
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# 计算前后足压力分布
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left_front_ratio = left_front / left_total if left_total > 0 else 0.5
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right_front_ratio = right_front / right_total if right_total > 0 else 0.5
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# 发送数据到前端
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if self._socketio:
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self._socketio.emit('pressure_data', {
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'foot_pressure': complete_pressure_data,
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'timestamp': datetime.now().isoformat()
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}, namespace='/devices')
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else:
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self.logger.warning("SocketIO实例为空，无法发送压力数据")
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# 构建完整的足部压力数据
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complete_pressure_data = {
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'pressure_zones': {
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'left_front': left_front,
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'left_rear': left_rear,
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'right_front': right_front,
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'right_rear': right_rear,
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'left_total': left_total,
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'right_total': right_total,
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'total_pressure': total_pressure
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},
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'balance_analysis': {
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'balance_ratio': round(balance_ratio, 3),
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'pressure_center_offset': round(pressure_center_offset, 2),
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'balance_status': 'balanced' if abs(pressure_center_offset) < 10 else 'unbalanced',
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'left_front_ratio': round(left_front_ratio, 3),
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'right_front_ratio': round(right_front_ratio, 3)
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},
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'pressure_image': pressure_data.get('pressure_image', ''),
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'timestamp': pressure_data['timestamp']
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}
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# 更新统计信息
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self.packet_count += 1
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self.last_data_time = time.time()
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# 发送数据到前端
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if self._socketio:
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self._socketio.emit('pressure_data', {
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'foot_pressure': complete_pressure_data,
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'timestamp': datetime.now().isoformat()
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}, namespace='/devices')
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else:
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self.logger.warning("SocketIO实例为空，无法发送压力数据")
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time.sleep(self.stream_interval)
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||||
|
||||
@ -905,6 +990,42 @@ class PressureManager(BaseDevice):
|
||||
finally:
|
||||
self.logger.info("压力数据流线程结束")
|
||||
|
||||
def _reconnect(self) -> bool:
|
||||
"""重新连接压力设备"""
|
||||
try:
|
||||
# 先清理旧设备
|
||||
try:
|
||||
if self.device and hasattr(self.device, 'close'):
|
||||
self.device.close()
|
||||
except Exception:
|
||||
pass
|
||||
self.device = None
|
||||
self.is_connected = False
|
||||
|
||||
time.sleep(1.0) # 等待设备释放
|
||||
|
||||
# 重新创建设备
|
||||
if self.device_type == 'real':
|
||||
self.device = RealPressureDevice()
|
||||
else:
|
||||
self.device = MockPressureDevice()
|
||||
|
||||
self.is_connected = True
|
||||
# 广播一次连接状态
|
||||
try:
|
||||
if self._socketio:
|
||||
self._socketio.emit('pressure_status', {
|
||||
'status': 'connected',
|
||||
'timestamp': time.time()
|
||||
}, namespace='/devices')
|
||||
except Exception:
|
||||
pass
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"压力设备重连失败: {e}")
|
||||
self.is_connected = False
|
||||
return False
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备状态
|
||||
@ -990,6 +1111,10 @@ class PressureManager(BaseDevice):
|
||||
self.config = new_config
|
||||
self.device_type = new_config.get('device_type', 'mock')
|
||||
self.stream_interval = new_config.get('stream_interval', 0.1)
|
||||
# 动态更新重连参数
|
||||
self.max_reconnect_attempts = int(new_config.get('max_reconnect_attempts', self.max_reconnect_attempts))
|
||||
self.reconnect_delay = float(new_config.get('reconnect_delay', self.reconnect_delay))
|
||||
self.read_fail_threshold = int(new_config.get('read_fail_threshold', self.read_fail_threshold))
|
||||
|
||||
self.logger.info(f"压力板配置重新加载成功 - 设备类型: {self.device_type}, 流间隔: {self.stream_interval}")
|
||||
return True
|
||||
|
||||
@ -15,7 +15,7 @@ backup_interval = 24
|
||||
max_backups = 7
|
||||
|
||||
[CAMERA]
|
||||
device_index = 1
|
||||
device_index = 3
|
||||
width = 1280
|
||||
height = 720
|
||||
fps = 30
|
||||
@ -33,8 +33,9 @@ fps = 15
|
||||
synchronized_images_only = False
|
||||
|
||||
[DEVICES]
|
||||
imu_device_type = real
|
||||
imu_device_type = ble
|
||||
imu_port = COM9
|
||||
imu_mac_address = ef:3c:1a:0a:fe:02
|
||||
imu_baudrate = 9600
|
||||
pressure_device_type = real
|
||||
pressure_use_mock = False
|
||||
|
||||
@ -30,7 +30,7 @@ class CameraViewer:
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 修改这里的数字可以切换不同摄像头设备
|
||||
viewer = CameraViewer(device_index=1)
|
||||
viewer = CameraViewer(device_index=3)
|
||||
viewer.start_stream()
|
||||
|
||||
# import ctypes
|
||||
|
||||
Loading…
Reference in New Issue
Block a user