From 6ec453a63d52eb75b8e210c75de5e5167f52e363 Mon Sep 17 00:00:00 2001 From: root <13910913995@163.com> Date: Mon, 12 Jan 2026 15:21:44 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0imu=E8=AE=BE=E5=A4=87?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- backend/config.ini | 13 +- backend/database.py | 11 +- backend/devices/device_model.py | 246 +++++++++++++++++++++ backend/devices/imu_manager.py | 273 ++++++++---------------- backend/devices/imu_test.py | 69 ++++++ backend/devices/pressure_manager.py | 18 +- backend/devices/screen_recorder.py | 10 +- backend/devices/utils/config_manager.py | 40 ++-- backend/main.py | 3 +- 9 files changed, 449 insertions(+), 234 deletions(-) create mode 100644 backend/devices/device_model.py create mode 100644 backend/devices/imu_test.py diff --git a/backend/config.ini b/backend/config.ini index b423d868..a2da6209 100644 --- a/backend/config.ini +++ b/backend/config.ini @@ -39,7 +39,7 @@ fourcc = MJPG backend = directshow [FEMTOBOLT] -enable = True +enable = False algorithm_type = plt color_resolution = 1080P depth_mode = NFOV_2X2BINNED @@ -50,19 +50,16 @@ fps = 15 synchronized_images_only = False [DEVICES] -imu_enable = False -imu_device_type = ble -imu_port = COM9 -imu_mac_address = ef:3c:1a:0a:fe:02 -imu_baudrate = 9600 +imu_enable = True +imu_use_mock = False +imu_mac_address = FA:E8:88:06:FE:F3 pressure_enable = False -pressure_device_type = real pressure_use_mock = False pressure_port = COM5 pressure_baudrate = 115200 [REMOTE] -enable = True +enable = False port = COM6 baudrate = 115200 timeout = 0.1 diff --git a/backend/database.py b/backend/database.py index b2e16753..30b5cecf 100644 --- a/backend/database.py +++ b/backend/database.py @@ -246,6 +246,7 @@ class DatabaseManager: id TEXT PRIMARY KEY, -- 记录唯一标识(YYYYMMDDHHMMSS)年月日时分秒 session_id TEXT NOT NULL, -- 检测会话ID（外键） head_pose TEXT , -- 头部姿态数据（JSON格式） + head_data_image TEXT , -- 头部姿态截图存储路径 body_pose TEXT , -- 身体姿态数据（JSON格式） foot_data TEXT , -- 足部姿态数据（JSON格式） body_image TEXT, -- 身体视频截图存储路径 @@ -490,7 +491,7 @@ class DatabaseManager: UPDATE patients SET name = ?, gender = ?, birth_date = ?, nationality = ?, residence = ?, height = ?, weight = ?, shoe_size = ?, phone = ?, email = ?, - occupation = ?, workplace = ?, medical_history = ?, idcode = ?, notes = ?, updated_at = ? + occupation = ?, workplace = ?, idcode = ?, notes = ?, updated_at = ? WHERE id = ? ''', ( patient_data.get('name'), @@ -504,8 +505,7 @@ class DatabaseManager: patient_data.get('phone'), patient_data.get('email'), patient_data.get('occupation'), - patient_data.get('workplace'), - patient_data.get('medical_history'), + patient_data.get('workplace'), patient_data.get('idcode'), patient_data.get('notes'), china_time, @@ -955,13 +955,14 @@ class DatabaseManager: # 根据表结构保存数据 cursor.execute(''' INSERT INTO detection_data ( - id, session_id, head_pose, body_pose, foot_data, + id, session_id, head_pose, head_data_image, body_pose, foot_data, body_image, screen_image, foot_data_image, foot1_image, foot2_image, timestamp - ) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?) + ) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?) ''', ( data_id, session_id, json.dumps(data.get('head_pose')) if data.get('head_pose') else None, + data.get('head_data_image'), json.dumps(data.get('body_pose')) if data.get('body_pose') else None, json.dumps(data.get('foot_data')) if data.get('foot_data') else None, data.get('body_image'), diff --git a/backend/devices/device_model.py b/backend/devices/device_model.py new file mode 100644 index 00000000..83804d73 --- /dev/null +++ b/backend/devices/device_model.py @@ -0,0 +1,246 @@ +# coding:UTF-8 +import threading +import time +import struct +import bleak +import asyncio + + +# 设备实例 Device instance +class DeviceModel: + # region 属性 attribute + # 设备名称 deviceName + deviceName = "我的设备" + + # 设备数据字典 Device Data Dictionary + deviceData = {} + + # 设备是否开启 + isOpen = False + + # 临时数组 Temporary array + TempBytes = [] + + # endregion + + def __init__(self, deviceName, BLEDevice, callback_method): + print("Initialize device model") + # 设备名称（自定义） Device Name + self.deviceName = deviceName + self.BLEDevice = BLEDevice + self.client = None + self.writer_characteristic = None + self.isOpen = False + self.callback_method = callback_method + self.deviceData = {} + + # region 获取设备数据 Obtain device data + # 设置设备数据 Set device data + def set(self, key, value): + # 将设备数据存到键值 Saving device data to key values + self.deviceData[key] = value + + # 获得设备数据 Obtain device data + def get(self, key): + # 从键值中获取数据，没有则返回None Obtaining data from key values + if key in self.deviceData: + return self.deviceData[key] + else: + return None + + # 删除设备数据 Delete device data + def remove(self, key): + # 删除设备键值 + del self.deviceData[key] + + # endregion + + # 打开设备 open Device + async def openDevice(self): + print("Opening device......") + # 获取设备的服务和特征 Obtain the services and characteristic of the device + async with bleak.BleakClient(self.BLEDevice, timeout=15) as client: + self.client = client + self.isOpen = True + # 设备UUID常量 Device UUID constant + target_service_uuid = "0000ffe5-0000-1000-8000-00805f9a34fb" + target_characteristic_uuid_read = "0000ffe4-0000-1000-8000-00805f9a34fb" + target_characteristic_uuid_write = "0000ffe9-0000-1000-8000-00805f9a34fb" + notify_characteristic = None + + print("Matching services......") + for service in client.services: + if service.uuid == target_service_uuid: + print(f"Service: {service}") + print("Matching characteristic......") + for characteristic in service.characteristics: + if characteristic.uuid == target_characteristic_uuid_read: + notify_characteristic = characteristic + if characteristic.uuid == target_characteristic_uuid_write: + self.writer_characteristic = characteristic + if notify_characteristic: + break + + if self.writer_characteristic: + # 读取磁场四元数 Reading magnetic field quaternions + print("Reading magnetic field quaternions") + time.sleep(3) + asyncio.create_task(self.sendDataTh()) + + if notify_characteristic: + print(f"Characteristic: {notify_characteristic}") + # 设置通知以接收数据 Set up notifications to receive data + await client.start_notify(notify_characteristic.uuid, self.onDataReceived) + + # 保持连接打开 Keep connected and open + try: + while self.isOpen: + await asyncio.sleep(1) + except asyncio.CancelledError: + pass + finally: + # 在退出时停止通知 Stop notification on exit + await client.stop_notify(notify_characteristic.uuid) + else: + print("No matching services or characteristic found") + + # 关闭设备 close Device + def closeDevice(self): + self.isOpen = False + print("The device is turned off") + + async def sendDataTh(self): + while self.isOpen: + await self.readReg(0x3A) + time.sleep(0.1) + await self.readReg(0x51) + time.sleep(0.1) + + # region 数据解析 data analysis + # 串口数据处理 Serial port data processing + def onDataReceived(self, sender, data): + tempdata = bytes.fromhex(data.hex()) + for var in tempdata: + self.TempBytes.append(var) + if len(self.TempBytes) == 1 and self.TempBytes[0] != 0x55: + del self.TempBytes[0] + continue + if len(self.TempBytes) == 2 and (self.TempBytes[1] != 0x61 and self.TempBytes[1] != 0x71): + del self.TempBytes[0] + continue + if len(self.TempBytes) == 20: + self.processData(self.TempBytes) + self.TempBytes.clear() + + # 数据解析 data analysis + def processData(self, Bytes): + if Bytes[1] == 0x61: + Ax = self.getSignInt16(Bytes[3] << 8 | Bytes[2]) / 32768 * 16 + Ay = self.getSignInt16(Bytes[5] << 8 | Bytes[4]) / 32768 * 16 + Az = self.getSignInt16(Bytes[7] << 8 | Bytes[6]) / 32768 * 16 + Gx = self.getSignInt16(Bytes[9] << 8 | Bytes[8]) / 32768 * 2000 + Gy = self.getSignInt16(Bytes[11] << 8 | Bytes[10]) / 32768 * 2000 + Gz = self.getSignInt16(Bytes[13] << 8 | Bytes[12]) / 32768 * 2000 + AngX = self.getSignInt16(Bytes[15] << 8 | Bytes[14]) / 32768 * 180 + AngY = self.getSignInt16(Bytes[17] << 8 | Bytes[16]) / 32768 * 180 + AngZ = self.getSignInt16(Bytes[19] << 8 | Bytes[18]) / 32768 * 180 + self.set("AccX", round(Ax, 3)) + self.set("AccY", round(Ay, 3)) + self.set("AccZ", round(Az, 3)) + self.set("AsX", round(Gx, 3)) + self.set("AsY", round(Gy, 3)) + self.set("AsZ", round(Gz, 3)) + self.set("AngX", round(AngX, 3)) + self.set("AngY", round(AngY, 3)) + self.set("AngZ", round(AngZ, 3)) + self.callback_method(self) + else: + # 磁场 magnetic field + if Bytes[2] == 0x3A: + Hx = self.getSignInt16(Bytes[5] << 8 | Bytes[4]) / 120 + Hy = self.getSignInt16(Bytes[7] << 8 | Bytes[6]) / 120 + Hz = self.getSignInt16(Bytes[9] << 8 | Bytes[8]) / 120 + self.set("HX", round(Hx, 3)) + self.set("HY", round(Hy, 3)) + self.set("HZ", round(Hz, 3)) + # 四元数 Quaternion + elif Bytes[2] == 0x51: + Q0 = self.getSignInt16(Bytes[5] << 8 | Bytes[4]) / 32768 + Q1 = self.getSignInt16(Bytes[7] << 8 | Bytes[6]) / 32768 + Q2 = self.getSignInt16(Bytes[9] << 8 | Bytes[8]) / 32768 + Q3 = self.getSignInt16(Bytes[11] << 8 | Bytes[10]) / 32768 + self.set("Q0", round(Q0, 5)) + self.set("Q1", round(Q1, 5)) + self.set("Q2", round(Q2, 5)) + self.set("Q3", round(Q3, 5)) + else: + pass + + # 获得int16有符号数 Obtain int16 signed number + @staticmethod + def getSignInt16(num): + if num >= pow(2, 15): + num -= pow(2, 16) + return num + + # endregion + + # 发送串口数据 Sending serial port data + async def sendData(self, data): + try: + if self.client.is_connected and self.writer_characteristic is not None: + await self.client.write_gatt_char(self.writer_characteristic.uuid, bytes(data)) + except Exception as ex: + print(ex) + + # 读取寄存器 read register + async def readReg(self, regAddr): + # 封装读取指令并向串口发送数据 Encapsulate read instructions and send data to the serial port + await self.sendData(self.get_readBytes(regAddr)) + + # 写入寄存器 Write Register + async def writeReg(self, regAddr, sValue): + # 解锁 unlock + self.unlock() + # 延迟100ms Delay 100ms + time.sleep(0.1) + # 封装写入指令并向串口发送数据 + await self.sendData(self.get_writeBytes(regAddr, sValue)) + # 延迟100ms Delay 100ms + time.sleep(0.1) + # 保存 save + self.save() + + # 读取指令封装 Read instruction encapsulation + @staticmethod + def get_readBytes(regAddr): + # 初始化 + tempBytes = [None] * 5 + tempBytes[0] = 0xff + tempBytes[1] = 0xaa + tempBytes[2] = 0x27 + tempBytes[3] = regAddr + tempBytes[4] = 0 + return tempBytes + + # 写入指令封装 Write instruction encapsulation + @staticmethod + def get_writeBytes(regAddr, rValue): + # 初始化 + tempBytes = [None] * 5 + tempBytes[0] = 0xff + tempBytes[1] = 0xaa + tempBytes[2] = regAddr + tempBytes[3] = rValue & 0xff + tempBytes[4] = rValue >> 8 + return tempBytes + + # 解锁 unlock + def unlock(self): + cmd = self.get_writeBytes(0x69, 0xb588) + self.sendData(cmd) + + # 保存 save + def save(self): + cmd = self.get_writeBytes(0x00, 0x0000) + self.sendData(cmd) diff --git a/backend/devices/imu_manager.py b/backend/devices/imu_manager.py index d9073d17..69768263 100644 --- a/backend/devices/imu_manager.py +++ b/backend/devices/imu_manager.py @@ -4,10 +4,8 @@ IMU传感器管理器 负责IMU传感器的连接、校准和头部姿态数据采集 """ -import serial import threading import time -import numpy as np from typing import Optional, Dict, Any import logging from collections import deque @@ -24,27 +22,29 @@ except ImportError: logger = logging.getLogger(__name__) class BleIMUDevice: - """蓝牙IMU设备，基于bleak实现，解析逻辑参考tests/testblueimu.py""" + """蓝牙IMU设备（WitMotion WT9011DCL-BT50），基于 device_model.py 官方接口""" def __init__(self, mac_address: str): self.mac_address = mac_address self.loop = None self.loop_thread = None - self.client = None self.running = False self._lock = threading.Lock() - self.disconnected_event = None self.calibration_data = None self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0} self.last_data = { 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, - 'temperature': 25.0 + 'temperature': 25.0, } self._connected = False - # GATT特征（参考测试脚本中的handle/short uuid） - self._notify_char = 0x0007 - self._write_char = 0x0005 + self._device_model = None + self._open_task = None + try: + from . import device_model as wit_device_model + except Exception: + import device_model as wit_device_model + self._wit_device_model = wit_device_model def set_calibration(self, calibration: Dict[str, Any]): self.calibration_data = calibration @@ -97,6 +97,8 @@ class BleIMUDevice: asyncio.set_event_loop(self.loop) try: self.loop.run_until_complete(self._connect_and_listen()) + except asyncio.CancelledError: + pass except Exception as e: logger.error(f'BLE IMU事件循环异常: {e}', exc_info=True) finally: @@ -107,21 +109,42 @@ class BleIMUDevice: except Exception: pass - async def _disconnect(self): + def _on_device_update(self, dm): try: - if self.client and self.client.is_connected: - try: - await self.client.stop_notify(self._notify_char) - except Exception: - pass - await self.client.disconnect() + roll = dm.get("AngX") + pitch = dm.get("AngY") + yaw = dm.get("AngZ") + if roll is None or pitch is None or yaw is None: + return + with self._lock: + self.last_data['roll'] = float(roll) + self.last_data['pitch'] = float(pitch) + self.last_data['yaw'] = float(yaw) except Exception: pass + async def _disconnect(self): + try: + if self._device_model is not None: + try: + self._device_model.closeDevice() + except Exception: + pass + if self._open_task is not None and not self._open_task.done(): + self._open_task.cancel() + try: + await self._open_task + except asyncio.CancelledError: + pass + except Exception: + pass + finally: + self._open_task = None + self._device_model = None + async def _connect_and_listen(self): try: - from bleak import BleakClient, BleakScanner - from bleak.backends.characteristic import BleakGATTCharacteristic + from bleak import BleakScanner except Exception as e: logger.error(f"未安装bleak或导入失败: {e}") self.running = False @@ -129,142 +152,50 @@ class BleIMUDevice: while self.running: try: - # logger.info(f"扫描并连接蓝牙IMU: {self.mac_address} ...") - device = await BleakScanner.find_device_by_address(self.mac_address, cb=dict(use_bdaddr=False)) + try: + device = await BleakScanner.find_device_by_address(self.mac_address, timeout=20.0) + except TypeError: + device = await BleakScanner.find_device_by_address(self.mac_address, cb=dict(use_bdaddr=False)) + if device is None: - # logger.warning(f"未找到设备: {self.mac_address}") await asyncio.sleep(2.0) continue - self.disconnected_event = asyncio.Event() + self._device_model = self._wit_device_model.DeviceModel("WitMotionBle5.0", device, self._on_device_update) + self._open_task = asyncio.create_task(self._device_model.openDevice()) - def _on_disconnected(_client): - logger.info("BLE IMU已断开连接") + connected = False + for _ in range(50): + if not self.running: + break + if self._open_task.done(): + break + client = getattr(self._device_model, "client", None) + if client is not None and getattr(client, "is_connected", False): + connected = True + break + await asyncio.sleep(0.2) + + self._connected = connected + if not connected: + await self._disconnect() self._connected = False - try: - self.disconnected_event.set() - except Exception: - pass + await asyncio.sleep(2.0) + continue - self.client = BleakClient(device, disconnected_callback=_on_disconnected) - logger.info("正在连接BLE IMU...") - await self.client.connect() - self._connected = True - logger.info("BLE IMU连接成功") - - # 订阅通知 - await self.client.start_notify(self._notify_char, self._notification_handler) - - # 发送初始化指令（参考测试脚本） - try: - await self.client.write_gatt_char(self._write_char, bytes([0x29])) # 保持连接 - await asyncio.sleep(0.2) - await self.client.write_gatt_char(self._write_char, bytes([0x46])) # 高速模式 - await asyncio.sleep(0.2) - - isCompassOn = 0 - barometerFilter = 2 - Cmd_ReportTag = 0x0FFF - params = bytearray([0x00 for _ in range(11)]) - params[0] = 0x12 - params[1] = 5 - params[2] = 255 - params[3] = 0 - params[4] = ((barometerFilter & 3) << 1) | (isCompassOn & 1) - params[5] = 60 # 发送帧率 - params[6] = 1 - params[7] = 3 - params[8] = 5 - params[9] = Cmd_ReportTag & 0xff - params[10] = (Cmd_ReportTag >> 8) & 0xff - await self.client.write_gatt_char(self._write_char, params) - await asyncio.sleep(0.2) - - await self.client.write_gatt_char(self._write_char, bytes([0x19])) # 开始上报 - except Exception as e: - logger.warning(f"BLE IMU写入初始化指令失败: {e}") - - # 保持连接直到停止或断开 - while self.running and self.client and self.client.is_connected: + while self.running and self._open_task is not None and not self._open_task.done(): await asyncio.sleep(1.0) - # 退出前尝试停止通知 - try: - await self.client.stop_notify(self._notify_char) - except Exception: - pass - try: - await self.client.disconnect() - except Exception: - pass + await self._disconnect() self._connected = False + except asyncio.CancelledError: + break except Exception as e: logger.error(f"BLE IMU连接/监听失败: {e}", exc_info=True) self._connected = False await asyncio.sleep(2.0) - def _notification_handler(self, characteristic, data: bytearray): - """通知回调：解析IMU数据，更新欧拉角""" - try: - buf = data - if len(buf) < 3: - return - if buf[0] != 0x11: - return - - # 比例系数 - scaleAngle = 0.0054931640625 # 180/32768 - scaleTemperature = 0.01 - - ctl = (buf[2] << 8) | buf[1] - L = 7 # 数据偏移起点 - tmp_temperature = None - - # 跳过前面不关心的标志位，关注角度与温度 - if (ctl & 0x0001) != 0: - L += 6 # aX aY aZ - if (ctl & 0x0002) != 0: - L += 6 # AX AY AZ - if (ctl & 0x0004) != 0: - L += 6 # GX GY GZ - if (ctl & 0x0008) != 0: - L += 6 # CX CY CZ - if (ctl & 0x0010) != 0: - # 温度 - tmpX = np.short((np.short(buf[L+1]) << 8) | buf[L]) * scaleTemperature - L += 2 - # 气压与高度各3字节 - # 气压 - tmpU32 = np.uint32(((np.uint32(buf[L+2]) << 16) | (np.uint32(buf[L+1]) << 8) | np.uint32(buf[L]))) - if (tmpU32 & 0x800000) == 0x800000: - tmpU32 = (tmpU32 | 0xff000000) - tmpY = np.int32(tmpU32) * 0.0002384185791 - L += 3 - # 高度 - tmpU32 = np.uint32(((np.uint32(buf[L+2]) << 16) | (np.uint32(buf[L+1]) << 8) | np.uint32(buf[L]))) - if (tmpU32 & 0x800000) == 0x800000: - tmpU32 = (tmpU32 | 0xff000000) - tmpZ = np.int32(tmpU32) * 0.0010728836 - L += 3 - tmp_temperature = float(tmpX) - if (ctl & 0x0020) != 0: - L += 8 # 四元数 wxyz - if (ctl & 0x0040) != 0: - angleX = float(np.short((np.short(buf[L+1]) << 8) | buf[L]) * scaleAngle); L += 2 - angleY = float(np.short((np.short(buf[L+1]) << 8) | buf[L]) * scaleAngle); L += 2 - 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'] = 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: - # 解析失败忽略 - pass - @property def connected(self) -> bool: return self._connected @@ -386,9 +317,7 @@ class IMUManager(BaseDevice): self._socketio = socketio # 设备配置 - self.port = config.get('port', 'COM7') - self.baudrate = config.get('baudrate', 9600) - self.device_type = config.get('device_type', 'ble') # 'real' | 'mock' | 'ble' + self.use_mock = bool(config.get('use_mock', False)) self.mac_address = config.get('mac_address', '') # IMU设备实例 self.imu_device = None @@ -409,7 +338,7 @@ class IMUManager(BaseDevice): self.data_buffer = deque(maxlen=100) self.last_valid_data = None - self.logger.info(f"IMU管理器初始化完成 - 端口: {self.port}, 设备类型: {self.device_type}, MAC: {self.mac_address}") + self.logger.info(f"IMU管理器初始化完成 - use_mock: {self.use_mock}, MAC: {self.mac_address}") def initialize(self) -> bool: """ @@ -422,10 +351,10 @@ class IMUManager(BaseDevice): self.logger.info(f"正在初始化IMU设备...") # 使用构造函数中已加载的配置，避免并发读取配置文件 - self.logger.info(f"使用已加载配置: port={self.port}, baudrate={self.baudrate}, device_type={self.device_type}, mac={self.mac_address}") + self.logger.info(f"使用已加载配置: use_mock={self.use_mock}, mac={self.mac_address}") # 根据配置选择设备类型 - if self.device_type == 'ble': + if not self.use_mock: if not self.mac_address: self.logger.error("IMU BLE设备未配置MAC地址") self.is_connected = False @@ -443,8 +372,6 @@ class IMUManager(BaseDevice): self.set_connected(True) self._device_info.update({ - 'port': self.port, - 'baudrate': self.baudrate, 'mac_address': self.mac_address, }) @@ -631,8 +558,6 @@ class IMUManager(BaseDevice): """ status = super().get_status() status.update({ - 'port': self.port, - 'baudrate': self.baudrate, 'is_streaming': self.imu_streaming, 'is_calibrated': self.is_calibrated, 'data_count': self.data_count, @@ -640,7 +565,7 @@ class IMUManager(BaseDevice): 'buffer_size': len(self.data_buffer), 'has_data': self.last_valid_data is not None, 'head_pose_offset': self.head_pose_offset, - 'device_type': self.device_type, + 'device_type': 'mock' if self.use_mock else 'ble', 'mac_address': self.mac_address }) return status @@ -688,9 +613,7 @@ class IMUManager(BaseDevice): config = self.config_manager.get_device_config('imu') # 更新配置属性 - self.port = config.get('port', 'COM7') - self.baudrate = config.get('baudrate', 9600) - self.device_type = config.get('device_type', 'mock') + self.use_mock = bool(config.get('use_mock', False)) self.mac_address = config.get('mac_address', '') # 更新数据缓存队列大小 @@ -704,7 +627,7 @@ class IMUManager(BaseDevice): for data in current_data[-buffer_size:]: self.data_buffer.append(data) - self.logger.info(f"IMU配置重新加载成功 - 端口: {self.port}, 波特率: {self.baudrate}, 设备类型: {self.device_type}, MAC: {self.mac_address}") + self.logger.info(f"IMU配置重新加载成功 - use_mock: {self.use_mock}, MAC: {self.mac_address}") return True except Exception as e: @@ -719,37 +642,21 @@ class IMUManager(BaseDevice): if not self.imu_device: return False - # 检查设备类型并分别处理 - if isinstance(self.imu_device, RealIMUDevice): - # 对于真实串口设备，检查串口连接状态 - if hasattr(self.imu_device, 'ser') and self.imu_device.ser: - # 检查串口是否仍然打开 - if not self.imu_device.ser.is_open: - return False - - # 尝试读取数据来验证连接 - try: - # 保存当前超时设置 - original_timeout = self.imu_device.ser.timeout - self.imu_device.ser.timeout = 0.1 # 设置短超时 - - # 尝试读取少量数据 - test_data = self.imu_device.ser.read(1) - - # 恢复原始超时设置 - self.imu_device.ser.timeout = original_timeout - - return True # 如果没有异常，认为连接正常 - except Exception: - return False - else: + if hasattr(self.imu_device, 'connected'): + return bool(getattr(self.imu_device, 'connected')) + + if hasattr(self.imu_device, 'ser') and getattr(self.imu_device, 'ser', None): + if not self.imu_device.ser.is_open: return False - - elif isinstance(self.imu_device, BleIMUDevice): - # 对于蓝牙设备，检查连接状态 - return self.imu_device.connected - - # 对于模拟设备或其他类型，总是返回True + try: + original_timeout = self.imu_device.ser.timeout + self.imu_device.ser.timeout = 0.1 + self.imu_device.ser.read(1) + self.imu_device.ser.timeout = original_timeout + return True + except Exception: + return False + return True except Exception as e: diff --git a/backend/devices/imu_test.py b/backend/devices/imu_test.py new file mode 100644 index 00000000..c5e4f6ae --- /dev/null +++ b/backend/devices/imu_test.py @@ -0,0 +1,69 @@ +import asyncio +import bleak +import device_model + +# 扫描到的设备 Scanned devices +devices = [] +# 蓝牙设备 BLEDevice +BLEDevice = None + + +# 扫描蓝牙设备并过滤名称 +# Scan Bluetooth devices and filter names +async def scan(): + global devices + global BLEDevice + find = [] + print("Searching for Bluetooth devices......") + try: + devices = await bleak.BleakScanner.discover(timeout=20.0) + print("Search ended") + for d in devices: + if d.name is not None and "WT" in d.name: + find.append(d) + print(d) + if len(find) == 0: + print("No devices found in this search!") + else: + user_input = input("Please enter the Mac address you want to connect to (e.g. DF:E9:1F:2C:BD:59)：") + for d in devices: + if d.address == user_input: + BLEDevice = d + break + except Exception as ex: + print("Bluetooth search failed to start") + print(ex) + + +# 指定MAC地址搜索并连接设备 +# Specify MAC address to search and connect devices +async def scanByMac(device_mac): + global BLEDevice + print("Searching for Bluetooth devices......") + BLEDevice = await bleak.BleakScanner.find_device_by_address(device_mac, timeout=20) + + +# 数据更新时会调用此方法 This method will be called when data is updated +def updateData(DeviceModel): + # 直接打印出设备数据字典 Directly print out the device data dictionary + print(DeviceModel.deviceData) + # 获得X轴加速度 Obtain X-axis acceleration + # print(DeviceModel.get("AccX")) + + +if __name__ == '__main__': + # 方式一：广播搜索和连接蓝牙设备 + # # Method 1:Broadcast search and connect Bluetooth devices + # asyncio.run(scan()) + + # # 方式二：指定MAC地址搜索并连接设备 + # # Method 2: Specify MAC address to search and connect devices + asyncio.run(scanByMac("FA:E8:88:06:FE:F3")) + + if BLEDevice is not None: + # 创建设备 Create device + device = device_model.DeviceModel("MyBle5.0", BLEDevice, updateData) + # 开始连接设备 Start connecting devices + asyncio.run(device.openDevice()) + else: + print("This BLEDevice was not found!!") diff --git a/backend/devices/pressure_manager.py b/backend/devices/pressure_manager.py index d11138b2..78c8b3a8 100644 --- a/backend/devices/pressure_manager.py +++ b/backend/devices/pressure_manager.py @@ -673,7 +673,7 @@ class PressureManager(BaseDevice): # 设备实例 self.device = None - self.device_type = self.config.get('device_type', 'mock') # 'real' 或 'mock' + self.use_mock = bool(self.config.get('use_mock', False)) # 数据流相关 self.streaming_thread = None @@ -695,7 +695,7 @@ class PressureManager(BaseDevice): self.read_fail_threshold = int(self.config.get('read_fail_threshold', 30)) self._last_connected_state = None # 去抖动状态广播 - self.logger.info(f"压力板管理器初始化完成 - 设备类型: {self.device_type}") + self.logger.info(f"压力板管理器初始化完成 - use_mock: {self.use_mock}") def initialize(self) -> bool: """ @@ -708,10 +708,10 @@ class PressureManager(BaseDevice): self.logger.info(f"正在初始化压力板设备...") # 使用构造函数中已加载的配置，避免并发读取配置文件 - self.logger.info(f"使用已加载配置: device_type={self.device_type}, stream_interval={self.stream_interval}") + self.logger.info(f"使用已加载配置: use_mock={self.use_mock}, stream_interval={self.stream_interval}") # 根据设备类型创建设备实例 - if self.device_type == 'real': + if not self.use_mock: self.device = RealPressureDevice() else: self.device = MockPressureDevice() @@ -719,11 +719,11 @@ class PressureManager(BaseDevice): # 使用set_connected方法启动连接监控线程 self.set_connected(True) self._device_info.update({ - 'device_type': self.device_type, + 'device_type': 'mock' if self.use_mock else 'real', 'matrix_size': '4x4' if hasattr(self.device, 'rows') else 'unknown' }) - self.logger.info(f"压力板初始化成功 - 设备类型: {self.device_type}") + self.logger.info(f"压力板初始化成功 - use_mock: {self.use_mock}") return True except Exception as e: @@ -890,7 +890,7 @@ class PressureManager(BaseDevice): Dict[str, Any]: 设备状态信息 """ return { - 'device_type': self.device_type, + 'device_type': 'mock' if self.use_mock else 'real', 'is_connected': self.is_connected, 'is_streaming': self.is_streaming, 'is_calibrated': self.is_calibrated, @@ -966,14 +966,14 @@ class PressureManager(BaseDevice): # 更新配置属性 self.config = new_config - self.device_type = new_config.get('device_type', 'mock') + self.use_mock = bool(new_config.get('use_mock', False)) 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}") + self.logger.info(f"压力板配置重新加载成功 - use_mock: {self.use_mock}, 流间隔: {self.stream_interval}") return True except Exception as e: diff --git a/backend/devices/screen_recorder.py b/backend/devices/screen_recorder.py index 762d845b..8ff0cda2 100644 --- a/backend/devices/screen_recorder.py +++ b/backend/devices/screen_recorder.py @@ -223,6 +223,7 @@ class RecordingManager: data = { 'session_id': session_id, 'head_pose': detection_data.get('head_pose'), + 'head_data_image': detection_data.get('head_data_image'), 'screen_location': detection_data.get('screen_location'), 'body_pose': None, 'body_image': None, @@ -239,7 +240,7 @@ class RecordingManager: image_fields = [ ('body_image', 'body'), ('foot1_image', 'foot1'), - ('foot2_image', 'foot2') + ('foot2_image', 'foot2') ] for field, prefix in image_fields: @@ -268,10 +269,15 @@ class RecordingManager: except Exception as e: self.logger.error(f'保存{field}失败: {e}') + # 完整屏幕截图--根据screen_location 进行截图 screen_image = self._capture_screen_image(data_dir, data.get('screen_location'),'screen', timestamp=timestamp) if screen_image: data['screen_image'] = str(os.path.join( patient_id, session_id, f"image_{timestamp}", screen_image)) + # 头部数据屏幕截图——根据head_data_image 进行截图 + head_data_image = self._capture_screen_image(data_dir, data.get('head_data_image'),'head_data', timestamp=timestamp) + if head_data_image: + data['head_data_image'] = str(os.path.join( patient_id, session_id, f"image_{timestamp}", head_data_image)) # 足部压力屏幕截图——根据foot_data_image 进行截图 foot_data_image = self._capture_screen_image(data_dir, data.get('foot_data_image'),'foot_data', timestamp=timestamp) if foot_data_image: @@ -315,4 +321,4 @@ class RecordingManager: except Exception as e: self.logger.error(f'屏幕截图失败: {e}') - return None \ No newline at end of file + return None diff --git a/backend/devices/utils/config_manager.py b/backend/devices/utils/config_manager.py index 3e3a94e5..dce5a71d 100644 --- a/backend/devices/utils/config_manager.py +++ b/backend/devices/utils/config_manager.py @@ -96,8 +96,9 @@ class ConfigManager: # 默认设备配置 self.config['DEVICES'] = { - 'imu_port': 'COM7', - 'imu_baudrate': '9600', + 'imu_enable': 'False', + 'imu_use_mock': 'False', + 'imu_mac_address': '', 'pressure_port': 'COM8', 'pressure_baudrate': '115200' } @@ -233,12 +234,8 @@ class ConfigManager: """ return { 'enable': self.config.getboolean('DEVICES', 'imu_enable', fallback=False), - 'device_type': self.config.get('DEVICES', 'imu_device_type', fallback='mock'), - 'port': self.config.get('DEVICES', 'imu_port', fallback='COM7'), - '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='ef:3c:1a:0a:fe:02'), + 'use_mock': self.config.getboolean('DEVICES', 'imu_use_mock', fallback=False), + 'mac_address': self.config.get('DEVICES', 'imu_mac_address', fallback='FA:E8:88:06:FE:F3'), } def _get_pressure_config(self) -> Dict[str, Any]: @@ -250,11 +247,9 @@ class ConfigManager: """ return { 'enable': self.config.getboolean('DEVICES', 'pressure_enable', fallback=False), - 'device_type': self.config.get('DEVICES', 'pressure_device_type', fallback='mock'), + 'use_mock': self.config.getboolean('DEVICES', 'pressure_use_mock', fallback=False), 'port': self.config.get('DEVICES', 'pressure_port', fallback='COM8'), - 'baudrate': self.config.getint('DEVICES', 'pressure_baudrate', fallback=115200), - 'timeout': self.config.getfloat('DEVICES', 'pressure_timeout', fallback=1.0), - 'calibration_samples': self.config.getint('DEVICES', 'pressure_calibration_samples', fallback=50) + 'baudrate': self.config.getint('DEVICES', 'pressure_baudrate', fallback=115200) } def _get_remote_config(self) -> Dict[str, Any]: @@ -384,8 +379,8 @@ class ConfigManager: # 验证设备配置 try: imu_config = self.get_device_config('imu') - if not imu_config.get('port'): - warnings.append("IMU串口未配置") + if imu_config.get('enable') and not imu_config.get('use_mock') and not imu_config.get('mac_address'): + warnings.append("IMU未配置MAC地址") except Exception as e: errors.append(f"IMU配置验证失败: {e}") @@ -433,14 +428,10 @@ class ConfigManager: config_data = configs['imu'] if 'enable' in config_data: self.set_config_value('DEVICES', 'imu_enable', str(config_data['enable'])) - if 'device_type' in config_data: - self.set_config_value('DEVICES', 'imu_device_type', config_data['device_type']) if 'use_mock' in config_data: self.set_config_value('DEVICES', 'imu_use_mock', str(config_data['use_mock'])) - if 'port' in config_data: - self.set_config_value('DEVICES', 'imu_port', config_data['port']) - if 'baudrate' in config_data: - self.set_config_value('DEVICES', 'imu_baudrate', str(config_data['baudrate'])) + if 'mac_address' in config_data: + self.set_config_value('DEVICES', 'imu_mac_address', config_data['mac_address']) results['imu'] = { 'success': True, @@ -460,8 +451,6 @@ class ConfigManager: config_data = configs['pressure'] if 'enable' in config_data: self.set_config_value('DEVICES', 'pressure_enable', str(config_data['enable'])) - if 'device_type' in config_data: - self.set_config_value('DEVICES', 'pressure_device_type', config_data['device_type']) if 'use_mock' in config_data: self.set_config_value('DEVICES', 'pressure_use_mock', str(config_data['use_mock'])) if 'port' in config_data: @@ -638,11 +627,12 @@ class ConfigManager: Args: configs: 所有设备配置数据 { - 'imu': {'device_type': 'real', 'port': 'COM7', 'baudrate': 9600}, - 'pressure': {'device_type': 'real', 'port': 'COM8', 'baudrate': 115200}, + 'imu': {'enable': True, 'use_mock': False, 'mac_address': 'FA:E8:88:06:FE:F3'}, + 'pressure': {'enable': True, 'device_type': 'real', 'use_mock': False, 'port': 'COM8', 'baudrate': 115200}, 'camera1': {'device_index': 0, 'width': 1280, 'height': 720, 'fps': 30}, 'camera2': {'device_index': 1, 'width': 1280, 'height': 720, 'fps': 30}, - 'femtobolt': {'color_resolution': '1080P', 'depth_mode': 'NFOV_UNBINNED', 'fps': 15} + 'femtobolt': {'color_resolution': '1080P', 'depth_mode': 'NFOV_UNBINNED', 'fps': 15}, + 'remote': {'enable': True, 'port': 'COM6', 'baudrate': 115200, 'timeout': 0.1, 'strict_crc': False} } Returns: diff --git a/backend/main.py b/backend/main.py index c9683f64..dca45d05 100644 --- a/backend/main.py +++ b/backend/main.py @@ -1124,8 +1124,7 @@ class AppServer: 'email': data.get('email'), 'occupation': data.get('occupation'), 'workplace': data.get('workplace'), - 'idcode': data.get('idcode'), - 'medical_history': data.get('medical_history'), + 'idcode': data.get('idcode'), 'notes': data.get('notes') }