diff --git a/backend/device_manager.py b/backend/device_manager.py index 62b92d0f..b975af28 100644 --- a/backend/device_manager.py +++ b/backend/device_manager.py @@ -253,12 +253,18 @@ class DeviceManager: # 启动FemtoBolt设备 # logger.info(f'尝试启动FemtoBolt设备...,参数详情是{self.femtobolt_config}') + + self.femtobolt_camera = pykinect.start_device(config=self.femtobolt_config) if self.femtobolt_camera: self.device_status['femtobolt'] = True logger.info('✓ FemtoBolt深度相机初始化成功!') else: - raise Exception('设备启动返回None') + # 设备启动失败，但不抛出异常，允许应用继续运行 + logger.warning('FemtoBolt设备启动返回None，可能设备未连接或被占用') + self.femtobolt_camera = None + self.device_status['femtobolt'] = False + return # 直接返回，不抛出异常 except Exception as e: logger.warning(f'FemtoBolt深度相机初始化失败: {e}') diff --git a/backend/devices/camera_manager.py b/backend/devices/camera_manager.py index 4dc9711c..672b6da7 100644 --- a/backend/devices/camera_manager.py +++ b/backend/devices/camera_manager.py @@ -119,14 +119,16 @@ class CameraManager(BaseDevice): self.logger.warning(f"后端 {backend} 打开相机失败: {e}") continue else: - raise Exception("所有后端都无法打开相机") + self.logger.warning("所有后端都无法打开相机，相机设备不可用") + return False # 设置相机属性 self._configure_camera() # 验证相机是否正常工作 if not self._test_camera(): - raise Exception("相机测试失败") + self.logger.warning("相机测试失败，相机设备不可用") + return False self.is_connected = True self._device_info.update({ @@ -140,7 +142,17 @@ class CameraManager(BaseDevice): return True except Exception as e: - self.logger.error(f"相机初始化失败: {e}") + error_msg = f"相机初始化失败: {e}" + + # 提供更详细的错误信息和解决建议 + if "所有后端都无法打开相机" in str(e): + error_msg += f"\n可能原因：\n1. 相机设备索引 {self.device_index} 不存在或被其他程序占用\n2. 相机驱动程序未正确安装\n3. 相机硬件连接问题\n建议：检查相机连接状态，尝试更换设备索引或重启相机设备" + elif "Camera index out of range" in str(e): + error_msg += f"\n相机设备索引 {self.device_index} 超出范围，请检查可用的相机设备" + elif "backend" in str(e).lower(): + error_msg += "\n相机后端初始化失败，可能是驱动程序问题" + + self.logger.error(error_msg) self.is_connected = False if self.cap: try: diff --git a/backend/devices/device_coordinator.py b/backend/devices/device_coordinator.py index 79f4549c..b3bb20a9 100644 --- a/backend/devices/device_coordinator.py +++ b/backend/devices/device_coordinator.py @@ -96,7 +96,7 @@ class DeviceCoordinator: # 初始化设备 if not self._initialize_devices(): - raise Exception("设备初始化失败") + self.logger.warning("设备初始化失败，将以降级模式继续运行") # 启动监控线程 self._start_monitor() @@ -170,7 +170,8 @@ class DeviceCoordinator: # 至少需要一个设备初始化成功 if success_count == 0: - raise Exception("没有设备初始化成功") + self.logger.warning("没有设备初始化成功，但系统将继续运行") + return False self.logger.info(f"设备初始化完成，成功: {success_count}/{len(futures)}") return True diff --git a/backend/devices/femtobolt_manager.py b/backend/devices/femtobolt_manager.py index 538995e2..5657f6e2 100644 --- a/backend/devices/femtobolt_manager.py +++ b/backend/devices/femtobolt_manager.py @@ -22,6 +22,10 @@ import matplotlib from scipy import ndimage from scipy.interpolate import griddata import io +import importlib +from typing import Optional +import subprocess +import tempfile try: from .base_device import BaseDevice @@ -72,6 +76,8 @@ class FemtoBoltManager(BaseDevice): self.femtobolt = None self.device_handle = None self.sdk_initialized = False + # 新增：记录已使用的k4a.dll路径，供子进程探测使用 + self.k4a_dll_path: Optional[str] = None # 设备配置 self.algorithm_type = self.config.get('algorithm_type', 'opencv') @@ -440,6 +446,7 @@ class FemtoBoltManager(BaseDevice): self.logger.error(f"FemtoBolt设备配置失败: {e}") return False + def _start_device(self) -> bool: """ 启动FemtoBolt设备 @@ -448,30 +455,58 @@ class FemtoBoltManager(BaseDevice): bool: 启动是否成功 """ try: - # 启动FemtoBolt设备 - self.logger.info(f'尝试启动FemtoBolt设备...') + if not self.pykinect: + return False - # 启动真实设备 + # 通过探测后再真正启动 + # 在真正调用 start_device 之前，先通过 k4a.dll 查询已安装设备数量，0 则跳过 + try: + import os, ctypes + k4a_path = getattr(self, "k4a_dll_path", None) + if not k4a_path: + base_dir = os.path.dirname(os.path.abspath(__file__)) + k4a_path = os.path.normpath(os.path.join(base_dir, "..", "dll", "femtobolt", "k4a.dll")) + k4a = ctypes.CDLL(k4a_path) + try: + # 有些环境需要显式声明返回类型 + k4a.k4a_device_get_installed_count.restype = ctypes.c_uint32 + except Exception: + pass + device_count = int(k4a.k4a_device_get_installed_count()) + except Exception as e: + self.logger.warning(f"获取FemtoBolt设备数量失败，跳过启动: {e}") + return False + + if device_count <= 0: + self.logger.warning("未检测到FemtoBolt深度相机，跳过启动") + return False + else: + self.logger.info(f"检测到 FemtoBolt 设备数量: {device_count}") + self.device_handle = self.pykinect.start_device(config=self.femtobolt_config) if self.device_handle: self.logger.info('✓ FemtoBolt深度相机初始化成功!') else: - raise Exception('设备启动返回None') - - # 等待设备稳定 - time.sleep(1.0) + self.logger.warning('FemtoBolt设备启动返回None，设备可能未连接') + return False - # 测试捕获 - if not self._test_capture(): - raise Exception("设备捕获测试失败") - - self.logger.info("FemtoBolt设备启动成功") + # # 等待设备稳定 + # time.sleep(1.0) + + # # 测试捕获（可选，失败不抛异常，只作为稳定性判断） + # try: + # if not self._test_capture(): + # self.logger.warning('FemtoBolt设备捕获测试失败') + # return False + # except Exception: + # return False + + self.logger.info('FemtoBolt设备启动成功') return True - except Exception as e: self.logger.error(f"FemtoBolt设备启动失败: {e}") return False - + def _test_capture(self) -> bool: """ 测试设备捕获 diff --git a/backend/devices/imu_manager.py b/backend/devices/imu_manager.py index 5a3e44e4..9cd2ef99 100644 --- a/backend/devices/imu_manager.py +++ b/backend/devices/imu_manager.py @@ -77,7 +77,7 @@ class RealIMUDevice: head_pose = raw_data['head_pose'].copy() angle=head_pose['rotation'] - self.head_pose_offset['rotation'] # 减去基准值（零点偏移） - head_pose['rotation'] = ((angle + 180) % 360) - 180 + head_pose['rotation'] = round(((angle + 180) % 360) - 180, 1) head_pose['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt'] head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch'] @@ -103,9 +103,9 @@ class RealIMUDevice: pitchl, rxl, yawl, temp = vals # 注意这里 vals 已经是有符号整数 # 使用第一段代码里的比例系数 k_angle = 180.0 - roll = -round(rxl / 32768.0 * k_angle,2) - pitch = -round(pitchl / 32768.0 * k_angle,2) - yaw = -round(yawl / 32768.0 * k_angle,2) + roll = -round(rxl / 32768.0 * k_angle,1) + pitch = -round(pitchl / 32768.0 * k_angle,1) + yaw = -round(yawl / 32768.0 * k_angle,1) temp = temp / 100.0 self.last_data = { 'roll': roll, @@ -285,9 +285,9 @@ class BleIMUDevice: head_pose = raw_data['head_pose'].copy() # 与串口IMU保持一致：对 rotation 做归一化到 [-180, 180) angle = head_pose['rotation'] - self.head_pose_offset['rotation'] - head_pose['rotation'] = ((angle + 180) % 360) - 180 - head_pose['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt'] - head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch'] + head_pose['rotation'] = round(((angle + 180) % 360) - 180,1) + head_pose['tilt'] = round(head_pose['tilt'] - self.head_pose_offset['tilt'],1) + head_pose['pitch'] = round(head_pose['pitch'] - self.head_pose_offset['pitch'],1) calibrated_data['head_pose'] = head_pose return calibrated_data @@ -483,9 +483,9 @@ class BleIMUDevice: angleZ = float(np.short((np.short(buf[L+1]) << 8) | buf[L]) * scaleAngle); L += 2 with self._lock: # 映射：roll=X, pitch=Y, yaw=Z - self.last_data['roll'] = angleX*-1 - self.last_data['pitch'] = angleY*-1 - self.last_data['yaw'] = angleZ*-1 + self.last_data['roll'] = round(angleX*-1, 1) + self.last_data['pitch'] = round(angleY*-1, 1) + self.last_data['yaw'] = round(angleZ*-1, 1) if tmp_temperature is not None: self.last_data['temperature'] = tmp_temperature except Exception: diff --git a/backend/devices/utils/config_manager.py b/backend/devices/utils/config_manager.py index 8b5c9f19..1b6307b9 100644 --- a/backend/devices/utils/config_manager.py +++ b/backend/devices/utils/config_manager.py @@ -206,7 +206,7 @@ class ConfigManager: 'baudrate': self.config.getint('DEVICES', 'imu_baudrate', fallback=9600), 'timeout': self.config.getfloat('DEVICES', 'imu_timeout', fallback=1.0), 'calibration_samples': self.config.getint('DEVICES', 'imu_calibration_samples', fallback=100), - 'mac_address': self.config.get('DEVICES', 'imu_mac_address', fallback=''), + 'mac_address': self.config.get('DEVICES', 'imu_mac_address', fallback='ef:3c:1a:0a:fe:02'), } def _get_pressure_config(self) -> Dict[str, Any]: diff --git a/backend/main.py b/backend/main.py index 9133e58d..d20bec76 100644 --- a/backend/main.py +++ b/backend/main.py @@ -1567,7 +1567,7 @@ class AppServer: except Exception as e: self.logger.error(f'启动设备数据推送失败: {e}') self.is_pushing_data = False - raise + # 不抛出异常，允许应用继续运行 def stop_device_push_data(self): """停止设备数据推送""" diff --git a/backend/testcamera.py b/backend/testcamera.py index 263025dc..a1cf6658 100644 --- a/backend/testcamera.py +++ b/backend/testcamera.py @@ -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=3) + viewer = CameraViewer(device_index=1) viewer.start_stream() # import ctypes diff --git a/backend/tests/testfemtobolt.py b/backend/tests/testfemtobolt.py index 8f361630..a168abad 100644 --- a/backend/tests/testfemtobolt.py +++ b/backend/tests/testfemtobolt.py @@ -2,6 +2,7 @@ import os import numpy as np import cv2 from matplotlib.colors import LinearSegmentedColormap +import ctypes class FemtoBoltViewer: @@ -42,12 +43,42 @@ class FemtoBoltViewer: print(f"加载 SDK 失败: {e}") return False + # def _configure_device(self): + # self.config = self.pykinect.default_configuration + # self.config.depth_mode = self.pykinect.K4A_DEPTH_MODE_NFOV_UNBINNED + # self.config.camera_fps = self.pykinect.K4A_FRAMES_PER_SECOND_15 + # self.config.synchronized_images_only = False + # self.device_handle = self.pykinect.start_device(config=self.config) + def get_device_count(): + base_dir = os.path.dirname(os.path.abspath(__file__)) + dll_path = os.path.join(base_dir, "..", "dll", "femtobolt", "k4a.dll") + k4a = ctypes.CDLL(dll_path) + count = k4a.k4a_device_get_installed_count() + return count def _configure_device(self): + try: + base_dir = os.path.dirname(os.path.abspath(__file__)) + dll_path = os.path.join(base_dir, "..", "dll", "femtobolt", "k4a.dll") + k4a = ctypes.CDLL(dll_path) + device_count = k4a.k4a_device_get_installed_count() + # device_count = get_device_count() + if device_count == 0: + print("未检测到任何深度相机，请检查连接。",device_count) + return False + self.config = self.pykinect.default_configuration self.config.depth_mode = self.pykinect.K4A_DEPTH_MODE_NFOV_UNBINNED self.config.camera_fps = self.pykinect.K4A_FRAMES_PER_SECOND_15 self.config.synchronized_images_only = False + self.device_handle = self.pykinect.start_device(config=self.config) + print("设备启动成功") + return True + except Exception as e: + print(f"设备初始化失败: {e}") + return False + + def _generate_contour_image(self, depth): """改进版 OpenCV 等高线渲染，梯度平滑、局部对比增强""" @@ -114,8 +145,12 @@ class FemtoBoltViewer: if not self._load_sdk(): print("SDK 加载失败，程序退出") return - - self._configure_device() + # import pykinect_azure as pykinect + # print(dir(pykinect.k4a.device)) + # self._configure_device() + if not self._configure_device(): + print("设备配置失败，程序退出") + return print("FemtoBolt 深度相机启动成功，按 Ctrl+C 或 ESC 退出", self.config) try: