优化版本提交

backend/config.ini

@@ -29,7 +29,7 @@ depth_range_max = 1500
 
 [DEVICES]
 imu_device_type = real
-imu_port = COM6
+imu_port = COM3
 imu_baudrate = 9600
 pressure_device_type = real
 pressure_use_mock = False

backend/device_manager.py

@@ -252,7 +252,7 @@ class DeviceManager:
             # logger.info('准备启动FemtoBolt设备...')
             
             # 启动FemtoBolt设备
-            logger.info(f'尝试启动FemtoBolt设备...,参数详情是{self.femtobolt_config}')
+            # 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

backend/devices/camera_manager.py

@@ -370,7 +370,7 @@ class CameraManager(BaseDevice):
                 'device_id': self.device_id
             }
             
-            self._socketio.emit('camera_frame', data, namespace='/camera')
+            self._socketio.emit('camera_frame', data, namespace='/devices')
             
         except Exception as e:
             self.logger.error(f"发送帧数据失败: {e}")

backend/devices/device_coordinator.py

@@ -118,7 +118,7 @@ class DeviceCoordinator:
         """
         注册Socket.IO命名空间
         """
-        namespaces = ['/camera', '/imu', '/pressure', '/femtobolt', '/coordinator']
+        namespaces = ['/devices', '/coordinator']
         for namespace in namespaces:
             self.socket_manager.register_namespace(namespace)
             

backend/devices/femtobolt_manager.py

@@ -537,7 +537,7 @@ class FemtoBoltManager(BaseDevice):
                                             'min': self.depth_range_min,
                                             'max': self.depth_range_max
                                         }
-                                    }, namespace='/femtobolt')
+                                    }, namespace='/devices')
                                     frame_count += 1
                                     
                                 # 更新统计
@@ -640,7 +640,7 @@ class FemtoBoltManager(BaseDevice):
                 send_data['color_image'] = color_data
                 
             # 发送到SocketIO
-            self._socketio.emit('femtobolt_frame', send_data, namespace='/femtobolt')
+            self._socketio.emit('femtobolt_frame', send_data, namespace='/devices')
             
         except Exception as e:
             self.logger.error(f"发送深度数据失败: {e}")

backend/devices/imu_manager.py

@@ -502,7 +502,7 @@ class IMUManager(BaseDevice):
                         
                         # 发送数据到前端
                         if self._socketio:
-                            self._socketio.emit('imu_data', data, namespace='/imu')
+                            self._socketio.emit('imu_data', data, namespace='/devices')
                         
                         # 更新统计
                         self.data_count += 1

backend/devices/pressure_manager.py

@@ -807,14 +807,64 @@ class PressureManager(BaseDevice):
                     if self.device:
                         pressure_data = self.device.read_data()
                         
-                        if pressure_data:
+                        if pressure_data and 'foot_pressure' in pressure_data:
+                            foot_pressure = pressure_data['foot_pressure']
+                            # 获取各区域压力值
+                            left_front = foot_pressure['left_front']
+                            left_rear = foot_pressure['left_rear']
+                            right_front = foot_pressure['right_front']
+                            right_rear = foot_pressure['right_rear']
+                            left_total = foot_pressure['left_total']
+                            right_total = foot_pressure['right_total']
+                            
+                            # 计算总压力
+                            total_pressure = left_total + right_total
+                            
+                            # 计算平衡比例（左脚压力占总压力的比例）
+                            balance_ratio = left_total / total_pressure if total_pressure > 0 else 0.5
+                            
+                            # 计算压力中心偏移
+                            pressure_center_offset = (balance_ratio - 0.5) * 100  # 转换为百分比
+                            
+                            # 计算前后足压力分布
+                            left_front_ratio = left_front / left_total if left_total > 0 else 0.5
+                            right_front_ratio = right_front / right_total if right_total > 0 else 0.5
+                            
+                            # 构建完整的足部压力数据
+                            complete_pressure_data = {
+                                # 分区压力值
+                                'pressure_zones': {
+                                    'left_front': left_front,
+                                    'left_rear': left_rear,
+                                    'right_front': right_front,
+                                    'right_rear': right_rear,
+                                    'left_total': left_total,
+                                    'right_total': right_total,
+                                    'total_pressure': total_pressure
+                                },
+                                # 平衡分析
+                                'balance_analysis': {
+                                    'balance_ratio': round(balance_ratio, 3),
+                                    'pressure_center_offset': round(pressure_center_offset, 2),
+                                    'balance_status': 'balanced' if abs(pressure_center_offset) < 10 else 'unbalanced',
+                                    'left_front_ratio': round(left_front_ratio, 3),
+                                    'right_front_ratio': round(right_front_ratio, 3)
+                                },
+                                # 压力图片
+                                'pressure_image': pressure_data.get('pressure_image', ''),
+                                'timestamp': pressure_data['timestamp']
+                            }
+                            
                             # 更新统计信息
                             self.packet_count += 1
                             self.last_data_time = time.time()
                             
                             # 发送数据到前端
                             if self._socketio:
-                                self._socketio.emit('pressure_data', pressure_data, namespace='/pressure')
+                                self._socketio.emit('pressure_data', {
+                                    'foot_pressure': complete_pressure_data,
+                                    'timestamp': datetime.now().isoformat()
+                                }, namespace='/devices')
                             else:
                                 self.logger.warning("SocketIO实例为空，无法发送压力数据")
                             

backend/devices/test/devicetest.py

@@ -170,42 +170,35 @@ class DeviceTestServer:
             except Exception as e:
                 emit('test_status', {'status': 'error', 'message': str(e)})
                 
-        # 注册各设备命名空间的连接事件
+        # 注册统一设备命名空间的连接事件
-        @self.socketio.on('connect', namespace='/camera')
+        @self.socketio.on('connect', namespace='/devices')
-        def handle_camera_connect():
+        def handle_devices_connect():
-            self.logger.info('相机命名空间客户端连接')
+            self.logger.info('设备命名空间客户端连接')
-            emit('status', {'message': '相机命名空间连接成功'}, namespace='/camera')
+            emit('status', {'message': '设备命名空间连接成功'}, namespace='/devices')
             
-        @self.socketio.on('connect', namespace='/femtobolt')
+        @self.socketio.on('disconnect', namespace='/devices')
-        def handle_femtobolt_connect():
+        def handle_devices_disconnect():
-            self.logger.info('深度相机命名空间客户端连接')
+            self.logger.info('设备命名空间客户端断开连接')
-            emit('status', {'message': '深度相机命名空间连接成功'}, namespace='/femtobolt')
             
-        @self.socketio.on('connect', namespace='/imu')
+        @self.socketio.on('subscribe_device', namespace='/devices')
-        def handle_imu_connect():
+        def handle_subscribe_device(data):
-            self.logger.info('IMU命名空间客户端连接')
+            """处理设备订阅事件"""
-            emit('status', {'message': 'IMU命名空间连接成功'}, namespace='/imu')
+            device_type = data.get('device_type')
+            self.logger.info(f'客户端订阅设备: {device_type}')
+            emit('subscription_status', {
+                'device_type': device_type, 
+                'status': 'subscribed'
+            }, namespace='/devices')
             
-        @self.socketio.on('connect', namespace='/pressure')
+        @self.socketio.on('unsubscribe_device', namespace='/devices')
-        def handle_pressure_connect():
+        def handle_unsubscribe_device(data):
-            self.logger.info('压力板命名空间客户端连接')
+            """处理设备取消订阅事件"""
-            emit('status', {'message': '压力板命名空间连接成功'}, namespace='/pressure')
+            device_type = data.get('device_type')
-            
+            self.logger.info(f'客户端取消订阅设备: {device_type}')
-        @self.socketio.on('disconnect', namespace='/camera')
+            emit('subscription_status', {
-        def handle_camera_disconnect():
+                'device_type': device_type, 
-            self.logger.info('相机命名空间客户端断开连接')
+                'status': 'unsubscribed'
-            
+            }, namespace='/devices')
-        @self.socketio.on('disconnect', namespace='/femtobolt')
-        def handle_femtobolt_disconnect():
-            self.logger.info('深度相机命名空间客户端断开连接')
-            
-        @self.socketio.on('disconnect', namespace='/imu')
-        def handle_imu_disconnect():
-            self.logger.info('IMU命名空间客户端断开连接')
-            
-        @self.socketio.on('disconnect', namespace='/pressure')
-        def handle_pressure_disconnect():
-            self.logger.info('压力板命名空间客户端断开连接')
                 
     def start_device_test(self):
         """开始设备测试"""
@@ -329,8 +322,8 @@ class DeviceTestServer:
                 # 生成模拟数据
                 data = generator.generate_data()
                 
-                # 发送到对应的命名空间
+                # 发送到统一的设备命名空间
-                namespace = f'/{device_name}'
+                namespace = '/devices'
                 event_name = self._get_event_name(device_name)
                 
                 self.socketio.emit(event_name, data, namespace=namespace)

backend/devices/test/templates/deviceTest.html

@@ -840,7 +840,7 @@
             }
         }
         
-        // 处理压力板数据
+        // 处理压力板数据（兼容新老数据结构）
         function handlePressureData(data) {
             if (!isTesting) return;
             
@@ -848,20 +848,50 @@
             document.getElementById('pressureDeviceStatus').textContent = '已连接';
             document.getElementById('pressureDeviceStatus').classList.add('connected');
             
-            if (data.pressure_image) {
+            // 后端新结构：{ foot_pressure: { pressure_zones, balance_analysis, pressure_image }, timestamp }
+            // 旧结构：{ pressure_image, pressure_data: { left_total, right_total, total_pressure, balance_ratio } }
+            const footPressure = data && (data.foot_pressure || null);
+            const zones = footPressure && (footPressure.pressure_zones || footPressure.pressureZones || null);
+            const analysis = footPressure && (footPressure.balance_analysis || footPressure.balanceAnalysis || null);
+            
+            // 压力图像（优先新结构，其次旧结构）
+            const pressureImage = (footPressure && footPressure.pressure_image) || data.pressure_image || null;
+            if (pressureImage) {
                 const img = document.getElementById('pressureImage');
-                img.src = 'data:image/jpeg;base64,' + data.pressure_image;
+                img.src = 'data:image/jpeg;base64,' + pressureImage;
                 img.style.display = 'block';
                 document.getElementById('pressureNoSignal').style.display = 'none';
             }
             
-            // 更新压力数据
+            // 数值数据：优先新结构的 pressure_zones/balance_analysis，回退到旧结构的 pressure_data
-            if (data.pressure_data) {
+            if (zones || analysis) {
+                const leftTotal = (zones && (zones.left_total ?? zones.leftTotal)) ?? 0;
+                const rightTotal = (zones && (zones.right_total ?? zones.rightTotal)) ?? 0;
+                const totalPressure = (zones && (zones.total_pressure ?? zones.totalPressure)) ?? (leftTotal + rightTotal);
+                let balanceRatioRaw = analysis && (analysis.balance_ratio ?? analysis.balanceRatio);
+                if (balanceRatioRaw == null && totalPressure) {
+                    // 若缺失，按左右比例计算一个近似值
+                    balanceRatioRaw = leftTotal / totalPressure; // 0~1
+                }
+                let balanceRatio = 0;
+                if (typeof balanceRatioRaw === 'number') {
+                    balanceRatio = balanceRatioRaw <= 1 ? Math.round(balanceRatioRaw * 100) : Math.round(balanceRatioRaw);
+                }
+                document.getElementById('leftTotal').textContent = leftTotal;
+                document.getElementById('rightTotal').textContent = rightTotal;
+                document.getElementById('totalPressure').textContent = totalPressure;
+                document.getElementById('balanceRatio').textContent = `${balanceRatio}%`;
+            } else if (data && data.pressure_data) {
                 const pd = data.pressure_data;
-                document.getElementById('leftTotal').textContent = pd.left_total;
+                const leftTotal = pd.left_total ?? pd.leftTotal ?? 0;
-                document.getElementById('rightTotal').textContent = pd.right_total;
+                const rightTotal = pd.right_total ?? pd.rightTotal ?? 0;
-                document.getElementById('totalPressure').textContent = pd.total_pressure;
+                const totalPressure = pd.total_pressure ?? pd.totalPressure ?? (leftTotal + rightTotal);
-                document.getElementById('balanceRatio').textContent = `${pd.balance_ratio}%`;
+                let balanceRatioRaw = pd.balance_ratio ?? pd.balanceRatio ?? 0;
+                const balanceRatio = balanceRatioRaw <= 1 ? Math.round(balanceRatioRaw * 100) : Math.round(balanceRatioRaw);
+                document.getElementById('leftTotal').textContent = leftTotal;
+                document.getElementById('rightTotal').textContent = rightTotal;
+                document.getElementById('totalPressure').textContent = totalPressure;
+                document.getElementById('balanceRatio').textContent = `${balanceRatio}%`;
             }
         }
         

backend/devices/utils/config.ini

@@ -15,7 +15,7 @@ backup_interval = 24
 max_backups = 7
 
 [CAMERA]
-device_index = 0
+device_index = 3
 width = 1280
 height = 720
 fps = 30
@@ -29,7 +29,7 @@ depth_range_max = 1500
 
 [DEVICES]
 imu_device_type = real
-imu_port = COM6
+imu_port = COM3
 imu_baudrate = 9600
 pressure_device_type = real
 pressure_use_mock = False

backend/devices/utils/socket_manager.py

@@ -43,7 +43,7 @@ class SocketManager:
         注册设备命名空间
         
         Args:
-            namespace: 命名空间路径（如 '/camera'）
+            namespace: 命名空间路径（如 '/devices'）
             device_name: 设备名称
         """
         with self._lock:

backend/main.py

@@ -138,6 +138,7 @@ class AppServer:
                 self.app, 
                 cors_allowed_origins='*', 
                 async_mode='threading',
+                #async_mode='eventlet',
                 logger=False,
                 engineio_logger=False,
                 ping_timeout=60,
@@ -926,70 +927,73 @@ class AppServer:
         if self.socketio is None:
             return
         
-       # 注册各设备命名空间的连接事件
+        # 注册统一设备命名空间的连接事件
-        @self.socketio.on('connect', namespace='/camera')
+        @self.socketio.on('connect', namespace='/devices')
-        def handle_camera_connect():
+        def handle_devices_connect():
-            self.logger.info('相机命名空间客户端连接')
+            self.logger.info('设备命名空间客户端连接')
-            emit('status', {'message': '相机命名空间连接成功'}, namespace='/camera')
+            emit('status', {'message': '设备命名空间连接成功'}, namespace='/devices')
             
-        @self.socketio.on('connect', namespace='/femtobolt')
+        @self.socketio.on('disconnect', namespace='/devices')
-        def handle_femtobolt_connect():
+        def handle_devices_disconnect():
-            self.logger.info('深度相机命名空间客户端连接')
+            self.logger.info('设备命名空间客户端断开连接')
-            emit('status', {'message': '深度相机命名空间连接成功'}, namespace='/femtobolt')
             
-        @self.socketio.on('connect', namespace='/imu')
+        # 注册设备订阅事件
-        def handle_imu_connect():
+        @self.socketio.on('subscribe_device', namespace='/devices')
-            self.logger.info('IMU命名空间客户端连接')
+        def handle_subscribe_device(data):
-            emit('status', {'message': 'IMU命名空间连接成功'}, namespace='/imu')
+            """订阅特定设备数据"""
-            
+            device_type = data.get('device_type')
-        @self.socketio.on('connect', namespace='/pressure')
+            if device_type in ['camera', 'femtobolt', 'imu', 'pressure']:
-        def handle_pressure_connect():
+                self.logger.info(f'客户端订阅{device_type}设备数据')
-            self.logger.info('压力板命名空间客户端连接')
+                emit('subscription_status', {
-            emit('status', {'message': '压力板命名空间连接成功'}, namespace='/pressure')
+                    'device_type': device_type,
-            
+                    'status': 'subscribed',
-        @self.socketio.on('disconnect', namespace='/camera')
+                    'message': f'{device_type}设备数据订阅成功'
-        def handle_camera_disconnect():
+                }, namespace='/devices')
-            self.logger.info('相机命名空间客户端断开连接')
+            else:
-            
+                emit('subscription_status', {
-        @self.socketio.on('disconnect', namespace='/femtobolt')
+                    'device_type': device_type,
-        def handle_femtobolt_disconnect():
+                    'status': 'error',
-            self.logger.info('深度相机命名空间客户端断开连接')
+                    'message': '不支持的设备类型'
-            
+                }, namespace='/devices')
-        @self.socketio.on('disconnect', namespace='/imu')
+                
-        def handle_imu_disconnect():
+        @self.socketio.on('unsubscribe_device', namespace='/devices')
-            self.logger.info('IMU命名空间客户端断开连接')
+        def handle_unsubscribe_device(data):
-            
+            """取消订阅特定设备数据"""
-        @self.socketio.on('disconnect', namespace='/pressure')
+            device_type = data.get('device_type')
-        def handle_pressure_disconnect():
+            self.logger.info(f'客户端取消订阅{device_type}设备数据')
-            self.logger.info('压力板命名空间客户端断开连接')
+            emit('subscription_status', {
+                'device_type': device_type,
+                'status': 'unsubscribed',
+                'message': f'{device_type}设备数据取消订阅成功'
+            }, namespace='/devices')
 
-        @self.socketio.on('start_push_data')
+        @self.socketio.on('start_push_data', namespace='/devices')
         def handle_start_push_data():
             """启动数据推送"""
             try:
                 self.start_device_push_data()
-                emit('test_status', {'status': 'started', 'message': '数据推送已开始'})
+                emit('test_status', {'status': 'started', 'message': '数据推送已开始'}, namespace='/devices')
             except Exception as e:
-                emit('test_status', {'status': 'error', 'message': str(e)})
+                emit('test_status', {'status': 'error', 'message': str(e)}, namespace='/devices')
                 
-        @self.socketio.on('stop_push_data')
+        @self.socketio.on('stop_push_data', namespace='/devices')
         def handle_stop_push_data():
             """停止数据推送"""
             try:
                 self.stop_device_push_data()
-                emit('test_status', {'status': 'stopped', 'message': '数据推送已停止'})
+                emit('test_status', {'status': 'stopped', 'message': '数据推送已停止'}, namespace='/devices')
             except Exception as e:
-                emit('test_status', {'status': 'error', 'message': str(e)})
+                emit('test_status', {'status': 'error', 'message': str(e)}, namespace='/devices')
 
     def start_device_push_data(self):
         """开始设备数据推送"""
-        if self.is_testing:
+        if self.is_pushing_data:
             self.logger.warning('设备数据推送已在运行')
             return
             
         try:
             self.logger.info('开始设备数据推送...')
-            self.is_testing = True
+            self.is_pushing_data = True
             
             # 并行启动真实设备管理器
             failed_devices = []
@@ -1052,18 +1056,18 @@ class AppServer:
             
         except Exception as e:
             self.logger.error(f'启动设备数据推送失败: {e}')
-            self.is_testing = False
+            self.is_pushing_data = False
             raise
             
     def stop_device_push_data(self):
         """停止设备数据推送"""
-        if not self.is_testing:
+        if not self.is_pushing_data:
             self.logger.warning('设备数据推送未运行')
             return
             
         try:
             self.logger.info('停止设备数据推送...') 
-            self.is_testing = False
+            self.is_pushing_data = False
             
             # 停止设备管理器
             for device_name, manager in self.device_managers.items():

frontend/src/renderer/src/views/Detection.vue

@@ -532,6 +532,7 @@ const patientInfo = ref({
 
 // WebSocket相关变量
 let socket = null
+let devicesSocket = null
 let cameraSocket = null
 let femtoboltSocket = null
 let imuSocket = null
@@ -809,8 +810,24 @@ function connectWebSocket() {
       socket.disconnect()
       socket = null
     }
+    if (cameraSocket) {
+      cameraSocket.disconnect()
+      cameraSocket = null
+    }
+    if (femtoboltSocket) {
+      femtoboltSocket.disconnect()
+      femtoboltSocket = null
+    }
+    if (imuSocket) {
+      imuSocket.disconnect()
+      imuSocket = null
+    }
+    if (pressureSocket) {
+      pressureSocket.disconnect()
+      pressureSocket = null
+    }
 
-    // 创建Socket.IO连接
+    // 创建主Socket.IO连接
     socket = io(BACKEND_URL, {
       transports: ['websocket', 'polling'],
       timeout: 10000,
@@ -820,19 +837,29 @@ function connectWebSocket() {
       reconnectionDelay: 1000
     })
 
-    // 连接成功事件
+    // 创建统一设备命名空间连接
+    devicesSocket = io(BACKEND_URL + '/devices', {
+      transports: ['websocket', 'polling'],
+      timeout: 10000,
+      forceNew: true
+    })
+    
+    // 为了保持兼容性，将统一的设备socket赋值给各个设备变量
+    cameraSocket = devicesSocket
+    femtoboltSocket = devicesSocket
+    imuSocket = devicesSocket
+    pressureSocket = devicesSocket
+
+    // 主连接事件
     socket.on('connect', () => {
-      console.log('✅ WebSocket连接成功！Socket ID:', socket.id)
+      console.log('✅ 主WebSocket连接成功！Socket ID:', socket.id)
       isConnected.value = true
-      // 连接成功后自动启动设备数据推送
-      startDeviceDataPush()
       //绘制头部仪表盘
       initchart()
     })
 
-    // 连接失败事件
     socket.on('connect_error', (error) => {
-      console.error('❌ 连接失败:', error.message)
+      console.error('❌ 主连接失败:', error.message)
       isConnected.value = false
       // 如果正在录像，停止录像
       if (isRecording.value) {
@@ -841,9 +868,8 @@ function connectWebSocket() {
       }
     })
 
-    // 断开连接事件
     socket.on('disconnect', (reason) => {
-      console.log('⚠️ 连接断开:', reason)
+      console.log('⚠️ 主连接断开:', reason)
       isConnected.value = false
       stopDeviceDataPush()
       // 如果正在录像，停止录像
@@ -853,96 +879,90 @@ function connectWebSocket() {
       }
     })
 
-    // 重连事件
     socket.on('reconnect', (attemptNumber) => {
-      console.log('🔄 WebSocket重连成功，尝试次数:', attemptNumber)
+      console.log('🔄 主WebSocket重连成功，尝试次数:', attemptNumber)
       isConnected.value = true
     })
 
-    // 重连尝试事件
     socket.on('reconnect_attempt', (attemptNumber) => {
-      console.log('🔄 正在尝试重连...', attemptNumber)
+      console.log('🔄 正在尝试重连主连接...', attemptNumber)
     })
 
-    // 重连失败事件
     socket.on('reconnect_failed', () => {
-      console.error('❌ WebSocket重连失败')
+      console.error('❌ 主WebSocket重连失败')
       isConnected.value = false
     })
 
 
-    // 监听测试状态事件
+
-    socket.on('test_status', (data) => {
+    socket.on('error', (error) => {
-      console.log('📊 测试状态:', data)
+      console.error('❌ 主Socket错误:', error)
-      if (data.status === 'started') {
-        console.log('✅ 设备数据推送已开始')
-      } else if (data.status === 'stopped') {
-        console.log('⏹️ 设备数据推送已停止')
-      } else if (data.status === 'error') {
-        console.error('❌ 设备数据推送错误:', data.message)
-      }
     })
 
-    // 监听相机命名空间状态
+    // 统一设备命名空间事件监听
-    cameraSocket = io(BACKEND_URL + '/camera')
+    devicesSocket.on('connect', () => {
-    cameraSocket.on('connect', () => {
+      console.log('🔗 设备命名空间连接成功')
-      console.log('📹 相机命名空间连接成功')
       videoStatus.value = '已连接'
+      imuStatus.value = '已连接'
+      pressureStatus.value = '已连接'
+      
+      // 连接成功后订阅所有设备数据
+      devicesSocket.emit('subscribe_device', { device_type: 'camera' })
+      devicesSocket.emit('subscribe_device', { device_type: 'femtobolt' })
+      devicesSocket.emit('subscribe_device', { device_type: 'imu' })
+      devicesSocket.emit('subscribe_device', { device_type: 'pressure' })
+      
+      // 设备连接成功后启动数据推送
+      startDeviceDataPush()
     })
-    cameraSocket.on('disconnect', () => {
+    
-      console.log('📹 相机命名空间断开连接')
+    devicesSocket.on('disconnect', () => {
+      console.log('🔗 设备命名空间断开连接')
       videoStatus.value = '未连接'
+      imuStatus.value = '未连接'
+      pressureStatus.value = '未连接'
     })
-    cameraSocket.on('video_frame', (data) => {
+    
+    devicesSocket.on('connect_error', (error) => {
+      console.error('❌ 设备命名空间连接失败:', error.message)
+    })
+    
+    // 监听各设备数据事件
+    devicesSocket.on('camera_frame', (data) => {
       frameCount++
       displayFrame(data.image)
     })
-
+    devicesSocket.on('video_frame', (data) => {
-    // 监听深度相机命名空间状态
+      frameCount++
-    femtoboltSocket = io(BACKEND_URL + '/femtobolt')
+      displayFrame(data.image)
-    femtoboltSocket.on('connect', () => {
-      console.log('🔍 深度相机命名空间连接成功')
     })
-    femtoboltSocket.on('disconnect', () => {
+    
-      console.log('🔍 深度相机命名空间断开连接')
+    devicesSocket.on('femtobolt_frame', (data) => {
+      displayDepthCameraFrame(data.depth_image || data.image)
     })
-    femtoboltSocket.on('depth_camera_frame', (data) => {
+    devicesSocket.on('depth_camera_frame', (data) => {
-      displayDepthCameraFrame(data.image)
+      displayDepthCameraFrame(data.depth_image || data.image)
     })
-
+    
-    // 监听IMU命名空间状态
+    devicesSocket.on('imu_data', (data) => {
-    imuSocket = io(BACKEND_URL + '/imu')
-    imuSocket.on('connect', () => {
-      console.log('🧭 IMU命名空间连接成功')
-      imuStatus.value = '已连接'
-    })
-    imuSocket.on('disconnect', () => {
-      console.log('🧭 IMU命名空间断开连接')
-      imuStatus.value = '未连接'
-    })
-    imuSocket.on('imu_data', (data) => {
       handleIMUData(data)
     })
-
+    
-    // 监听压力板命名空间状态
+    devicesSocket.on('pressure_data', (data) => {
-    pressureSocket = io(BACKEND_URL + '/pressure')
+       handlePressureData(data)
-    pressureSocket.on('connect', () => {
+     })
-      console.log('⚖️ 压力板命名空间连接成功')
+     
-      pressureStatus.value = '已连接'
+     // 监听测试状态事件
-    })
+     devicesSocket.on('test_status', (data) => {
-    pressureSocket.on('disconnect', () => {
+       console.log('📊 测试状态:', data)
-      console.log('⚖️ 压力板命名空间断开连接')
+       if (data.status === 'started') {
-      pressureStatus.value = '未连接'
+         console.log('✅ 设备数据推送已开始')
-    })
+       } else if (data.status === 'stopped') {
-    pressureSocket.on('pressure_data', (data) => {
+         console.log('⏹️ 设备数据推送已停止')
-      handlePressureData(data)
+       } else if (data.status === 'error') {
-    })
+         console.error('❌ 设备数据推送错误:', data.message)
-
+       }
-    // 监听错误事件
+     })
-    socket.on('error', (error) => {
-      console.error('❌ Socket错误:', error)
-    })
-
 
   } catch (error) {
     console.error('💥 连接异常:', error.message)
@@ -952,21 +972,21 @@ function connectWebSocket() {
 
 // 启动设备数据推送
 function startDeviceDataPush() {
-  if (socket && socket.connected) {
+  if (devicesSocket && devicesSocket.connected) {
     console.log('🚀 发送启动设备数据推送请求...')
-    socket.emit('start_push_data')
+    devicesSocket.emit('start_push_data')
   } else {
-    console.warn('⚠️ Socket未连接，无法启动设备数据推送')
+    console.warn('⚠️ 设备Socket未连接，无法启动设备数据推送')
   }
 }
 
 // 停止设备数据推送
 function stopDeviceDataPush() {
-  if (socket && socket.connected) {
+  if (devicesSocket && devicesSocket.connected) {
     console.log('🛑 发送停止设备数据推送请求...')
-    socket.emit('stop_push_data')
+    devicesSocket.emit('stop_push_data')
   } else {
-    console.warn('⚠️ Socket未连接，无法停止设备数据推送')
+    console.warn('⚠️ 设备Socket未连接，无法停止设备数据推送')
   }
 }
 
@@ -986,29 +1006,21 @@ function disconnectWebSocket() {
     console.log('✅ 主WebSocket连接已断开')
   }
   
-  // 断开所有命名空间连接
+  // 断开统一设备命名空间连接
-  if (cameraSocket && cameraSocket.connected) {
+  if (devicesSocket && devicesSocket.connected) {
-    cameraSocket.disconnect()
+    // 取消订阅所有设备
+    devicesSocket.emit('unsubscribe_device', { device_type: 'camera' })
+    devicesSocket.emit('unsubscribe_device', { device_type: 'femtobolt' })
+    devicesSocket.emit('unsubscribe_device', { device_type: 'imu' })
+    devicesSocket.emit('unsubscribe_device', { device_type: 'pressure' })
+    
+    devicesSocket.disconnect()
+    devicesSocket = null
     cameraSocket = null
-    console.log('📹 相机命名空间连接已断开')
-  }
-  
-  if (femtoboltSocket && femtoboltSocket.connected) {
-    femtoboltSocket.disconnect()
     femtoboltSocket = null
-    console.log('🔍 深度相机命名空间连接已断开')
-  }
-  
-  if (imuSocket && imuSocket.connected) {
-    imuSocket.disconnect()
     imuSocket = null
-    console.log('🧭 IMU命名空间连接已断开')
-  }
-  
-  if (pressureSocket && pressureSocket.connected) {
-    pressureSocket.disconnect()
     pressureSocket = null
-    console.log('⚖️ 压力板命名空间连接已断开')
+    console.log('🔗 统一设备命名空间连接已断开')
   }
   
   // 重置状态
@@ -1098,20 +1110,32 @@ function handleIMUData(data) {
     const pVal = Math.round(pitch * 10) / 10
     const tVal = Math.round(tilt * 10) / 10
 
-    if (rotationCharts) {
+    if (rotationCharts && !rotationCharts.isDisposed()) {
-      rotationCharts.setOption({
+      try {
-        series: [{ data: [{ value: rVal }] }]
+        rotationCharts.setOption({
-      })
+          series: [{ data: [{ value: rVal }] }]
+        })
+      } catch (e) {
+        console.warn('rotationCharts setOption error:', e);
+      }
     }
-    if (pitchCharts) {
+    if (pitchCharts && !pitchCharts.isDisposed()) {
-      pitchCharts.setOption({
+      try {
-        series: [{ data: [{ value: pVal }] }]
+        pitchCharts.setOption({
-      })
+          series: [{ data: [{ value: pVal }] }]
+        })
+      } catch (e) {
+        console.warn('pitchCharts setOption error:', e);
+      }
     }
-    if (tiltCharts) {
+    if (tiltCharts && !tiltCharts.isDisposed()) {
-      tiltCharts.setOption({
+      try {
-        series: [{ data: [{ value: tVal }] }]
+        tiltCharts.setOption({
-      })
+          series: [{ data: [{ value: tVal }] }]
+        })
+      } catch (e) {
+        console.warn('tiltCharts setOption error:', e);
+      }
     }
 
     // 更新最值跟踪逻辑使用原始数值（不做四舍五入）
@@ -2007,45 +2031,72 @@ const initchart = () => {
     if (chartDom) {
       // 如果图表已经存在，先销毁
       if (rotationCharts) {
-        rotationCharts.dispose();
+        try {
+          rotationCharts.dispose();
+        } catch (e) {
+          console.warn('rotationCharts dispose error:', e);
+        }
+        rotationCharts = null;
       }
       rotationCharts = echarts.init(chartDom);
       rotationCharts.setOption(chartoption.value);
     } else {
-      console.warn('找不到 ID 为  的 DOM 元素');
+      console.warn('找不到 ID 为 rotationChartId 的 DOM 元素');
     }
     const chartDom2 = document.getElementById('pitchChartId');
     if (chartDom2) {
       // 如果图表已经存在，先销毁
       if (pitchCharts) {
-        pitchCharts.dispose();
+        try {
+          pitchCharts.dispose();
+        } catch (e) {
+          console.warn('pitchCharts dispose error:', e);
+        }
+        pitchCharts = null;
       }
       pitchCharts = echarts.init(chartDom2);
       pitchCharts.setOption(chartoption.value);
     } else {
-      console.warn('找不到 ID 为  的 DOM 元素');
+      console.warn('找不到 ID 为 pitchChartId 的 DOM 元素');
     }
     const chartDom3 = document.getElementById('tiltChartId');
     if (chartDom3) {
       // 如果图表已经存在，先销毁
       if (tiltCharts) {
-        tiltCharts.dispose();
+        try {
+          tiltCharts.dispose();
+        } catch (e) {
+          console.warn('tiltCharts dispose error:', e);
+        }
+        tiltCharts = null;
       }
       tiltCharts = echarts.init(chartDom3);
       tiltCharts.setOption(chartoption.value);
     } else {
-      console.warn('找不到 ID 为  的 DOM 元素');
+      console.warn('找不到 ID 为 tiltChartId 的 DOM 元素');
     }
     // 添加窗口大小调整监听器
     window.addEventListener('resize', () => {
-      if (rotationCharts) {
+      if (rotationCharts && !rotationCharts.isDisposed()) {
-        rotationCharts.resize();
+        try {
+          rotationCharts.resize();
+        } catch (e) {
+          console.warn('rotationCharts resize error:', e);
+        }
       }
-      if (pitchCharts) {
+      if (pitchCharts && !pitchCharts.isDisposed()) {
-        pitchCharts.resize();
+        try {
+          pitchCharts.resize();
+        } catch (e) {
+          console.warn('pitchCharts resize error:', e);
+        }
       }
-      if (tiltCharts) {
+      if (tiltCharts && !tiltCharts.isDisposed()) {
-        tiltCharts.resize();
+        try {
+          tiltCharts.resize();
+        } catch (e) {
+          console.warn('tiltCharts resize error:', e);
+        }
       }
     });
   });
@@ -2101,13 +2152,28 @@ onUnmounted(() => {
   
   // 清理图表资源
   if (tiltCharts) {
-    tiltCharts.dispose();
+    try {
+      tiltCharts.dispose();
+    } catch (e) {
+      console.warn('tiltCharts dispose error in onUnmounted:', e);
+    }
+    tiltCharts = null;
   }
   if (rotationCharts) {
-    rotationCharts.dispose();
+    try {
+      rotationCharts.dispose();
+    } catch (e) {
+      console.warn('rotationCharts dispose error in onUnmounted:', e);
+    }
+    rotationCharts = null;
   }
   if (pitchCharts) {
-    pitchCharts.dispose();
+    try {
+      pitchCharts.dispose();
+    } catch (e) {
+      console.warn('pitchCharts dispose error in onUnmounted:', e);
+    }
+    pitchCharts = null;
   }
   
   // 移除页面关闭事件监听器