Merge branch 'dev-v15' of http://121.37.111.42:3000/ThbTech/BodyBalanceEvaluation into dev-v15

backend/config.ini

@@ -52,6 +52,7 @@ synchronized_images_only = False
 [DEVICES]
 imu_enable = True
 imu_use_mock = False
+imu_ble_name = WT901BLE67
 imu_mac_address = FA:E8:88:06:FE:F3
 pressure_enable = False
 pressure_use_mock = False

backend/devices/base_device.py

@@ -33,6 +33,7 @@ class BaseDevice(ABC):
         self.config = config
         self.is_connected = False
         self.is_streaming = False
+        self._initializing = False
         self.socket_namespace = f"/{device_name}"
         self.logger = logging.getLogger(f"device.{device_name}")
         self._lock = threading.RLock()  # 可重入锁

backend/devices/camera_manager.py

@@ -812,17 +812,19 @@ class CameraManager(BaseDevice):
         Returns:
             Dict[str, Any]: 设备状态信息
         """
-        status = super().get_status()
+        return {
-        status.update({
+            'device_type': 'camera',
+            'is_connected': self.is_connected,
+            'is_streaming': self.is_streaming,
             'device_index': self.device_index,
             'resolution': f"{self.width}x{self.height}",
             'target_fps': self.fps,
             'actual_fps': self.actual_fps,
             'frame_count': self.frame_count,
             'dropped_frames': self.dropped_frames,
-            'has_frame': self.last_frame is not None
+            'has_frame': self.last_frame is not None,
-        })
+            'device_info': self.get_device_info()
-        return status
+        }
         
     def capture_image(self, save_path: Optional[str] = None) -> Optional[np.ndarray]:
         """

backend/devices/device_coordinator.py

@@ -75,6 +75,8 @@ class DeviceCoordinator:
             'device_errors': defaultdict(int),
             'reconnect_attempts': defaultdict(int)
         }
+        self._last_restart_ts = defaultdict(float)
+        self._restart_in_progress = defaultdict(bool)
         
         # 线程池
         self.executor = ThreadPoolExecutor(max_workers=8, thread_name_prefix="DeviceCoord")
@@ -117,12 +119,12 @@ class DeviceCoordinator:
                 if not self._initialize_devices():
                     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()
-                
                 self.is_initialized = True
                 self.stats['start_time'] = time.time()
                 
+                # 启动监控线程
+                self._start_monitor()
+                
                 self.logger.info("设备协调器初始化成功")
                 self._emit_event('coordinator_initialized', {'devices': list(self.devices.keys())})
                 
@@ -191,7 +193,8 @@ class DeviceCoordinator:
             success_count = 0
             for device_name, future in futures:
                 try:
-                    result = future.result(timeout=30)  # 30秒超时
+                    timeout_s = 45 if device_name == 'imu' else 30
+                    result = future.result(timeout=timeout_s)
                     if result:
                         success_count += 1
                         self.logger.info(f"{device_name}设备初始化成功")
@@ -587,12 +590,22 @@ class DeviceCoordinator:
         was_streaming = False
         
         try:
+            if self._restart_in_progress[device_name]:
+                self.logger.warning(f"{device_name} 设备正在重启中，跳过重复重启请求")
+                return False
+            self._restart_in_progress[device_name] = True
+            self._last_restart_ts[device_name] = time.time()
             self.logger.info(f"开始彻底重启设备: {device_name}")
             
             # 第一步：检查并停止数据流
             stop_start = time.time()
-            if hasattr(device, 'is_streaming'):
+            try:
-                was_streaming = device.is_streaming
+                if hasattr(device, 'get_status'):
+                    was_streaming = bool((device.get_status() or {}).get('is_streaming', False))
+                elif hasattr(device, 'is_streaming'):
+                    was_streaming = bool(device.is_streaming)
+            except Exception:
+                was_streaming = False
                 
             if hasattr(device, 'stop_streaming') and was_streaming:
                 self.logger.info(f"正在停止 {device_name} 设备推流...")
@@ -609,6 +622,11 @@ class DeviceCoordinator:
             # 第二步：断开连接并彻底清理资源
             cleanup_start = time.time()
             self.logger.info(f"正在彻底清理 {device_name} 设备...")
+            try:
+                if hasattr(device, '_init_abort'):
+                    device._init_abort.set()
+            except Exception:
+                pass
             
             # 断开连接但暂时不广播状态变化，避免重启过程中的状态冲突
             if hasattr(device, 'disconnect'):
@@ -646,7 +664,7 @@ class DeviceCoordinator:
                 self.logger.info(f"{device_name} 设备实例已销毁")
             
             # 短暂等待，确保资源完全释放
-            time.sleep(0.2)            
+            time.sleep(1.5 if device_name == 'imu' else 0.2)
             destroy_time = (time.time() - destroy_start) * 1000
             
             # 第四步：重新创建设备实例
@@ -754,8 +772,6 @@ class DeviceCoordinator:
             if not new_device.initialize():
                 init_time = (time.time() - init_start) * 1000
                 self.logger.error(f"{device_name} 设备初始化失败 (耗时: {init_time:.1f}ms)")
-                # 初始化失败，从设备字典中移除
-                self.devices.pop(device_name, None)               
                 return False
             
             init_time = (time.time() - init_start) * 1000
@@ -797,6 +813,8 @@ class DeviceCoordinator:
             error_msg = f"彻底重启设备 {device_name} 异常: {e} (耗时: {total_time:.1f}ms)"
             self.logger.error(error_msg)            
             return False
+        finally:
+            self._restart_in_progress[device_name] = False
             
     def _start_monitor(self):
         """
@@ -822,15 +840,18 @@ class DeviceCoordinator:
         while self.is_initialized:
             try:
                 # 检查设备健康状态
-                for device_name, device in self.devices.items():
+                for device_name, device in list(self.devices.items()):
                     try:
+                        if self._restart_in_progress.get(device_name, False) or getattr(device, '_initializing', False):
+                            continue
                         status = device.get_status()
                         if not status.get('is_connected', False):
                             self.logger.warning(f"设备 {device_name} 连接丢失")
                             self.stats['device_errors'][device_name] += 1
                             
-                            # 尝试重连
+                            now = time.time()
-                            if self.stats['device_errors'][device_name] <= 3:
+                            if now - self._last_restart_ts[device_name] >= 15.0:
+                                self._last_restart_ts[device_name] = now
                                 self.logger.info(f"尝试重连设备: {device_name}")
                                 if self.restart_device(device_name):
                                     self.stats['device_errors'][device_name] = 0
@@ -1098,7 +1119,7 @@ if __name__ == "__main__":
         
         # 执行测试
         # 可选值: 'camera1', 'camera2', 'imu', 'pressure', 'femtobolt'
-        success = test_restart_device('pressure')
+        success = test_restart_device('imu')
         
         if success:
             print("\n🎉 所有测试通过！")

backend/devices/device_model.py

@@ -1,9 +1,8 @@
 # coding:UTF-8
-import threading
 import time
-import struct
 import bleak
 import asyncio
+import logging
 
 
 # 设备实例 Device instance
@@ -24,7 +23,8 @@ class DeviceModel:
     # endregion
 
     def __init__(self, deviceName, BLEDevice, callback_method):
-        print("Initialize device model")
+        self.logger = logging.getLogger("device.imu.witmotion")
+        self.logger.info("初始化IMU设备模型")
         # 设备名称（自定义） Device Name
         self.deviceName = deviceName
         self.BLEDevice = BLEDevice
@@ -57,10 +57,12 @@ class DeviceModel:
 
     # 打开设备 open Device
     async def openDevice(self):
-        print("Opening device......")
+        start_ts = time.perf_counter()
-        # 获取设备的服务和特征 Obtain the services and characteristic of the device
+        self.logger.info("正在打开蓝牙IMU设备...")
+        connect_start = time.perf_counter()
         async with bleak.BleakClient(self.BLEDevice, timeout=15) as client:
             self.client = client
+            self.logger.info(f"蓝牙连接建立完成（耗时: {(time.perf_counter() - connect_start)*1000:.1f}ms）")
             self.isOpen = True
             # 设备UUID常量 Device UUID constant
             target_service_uuid = "0000ffe5-0000-1000-8000-00805f9a34fb"
@@ -68,11 +70,28 @@ class DeviceModel:
             target_characteristic_uuid_write = "0000ffe9-0000-1000-8000-00805f9a34fb"
             notify_characteristic = None
 
-            print("Matching services......")
+            self.logger.info("正在匹配服务...")
-            for service in client.services:
+            services = None
+            for _ in range(3):
+                get_services = getattr(client, 'get_services', None)
+                if callable(get_services):
+                    services = await get_services()
+                else:
+                    backend = getattr(client, "_backend", None)
+                    backend_get_services = getattr(backend, "get_services", None)
+                    if callable(backend_get_services):
+                        services = await backend_get_services()
+                    else:
+                        services = getattr(client, 'services', None)
+                if services:
+                    break
+                await asyncio.sleep(0.2)
+            if not services:
+                services = []
+            for service in services:
                 if service.uuid == target_service_uuid:
-                    print(f"Service: {service}")
+                    self.logger.info(f"匹配到服务: {service}")
-                    print("Matching characteristic......")
+                    self.logger.info("正在匹配特征...")
                     for characteristic in service.characteristics:
                         if characteristic.uuid == target_characteristic_uuid_read:
                             notify_characteristic = characteristic
@@ -81,16 +100,12 @@ class DeviceModel:
                     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}")
+                self.logger.info(f"匹配到特征: {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)
+                self.logger.info("开始接收姿态数据（XYZ欧拉角）")
+                self.logger.info(f"设备打开完成（耗时: {(time.perf_counter() - start_ts)*1000:.1f}ms）")
 
                 # 保持连接打开 Keep connected and open
                 try:
@@ -102,19 +117,13 @@ class DeviceModel:
                     # 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")
+                self.logger.warning("未找到匹配的服务或特征")
+                raise RuntimeError("未找到匹配的服务或特征")
 
     # 关闭设备  close Device
     def closeDevice(self):
         self.isOpen = False
-        print("The device is turned off")
+        self.logger.info("设备已关闭")
-
-    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
@@ -125,7 +134,7 @@ class DeviceModel:
             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):
+            if len(self.TempBytes) == 2 and self.TempBytes[1] != 0x61:
                 del self.TempBytes[0]
                 continue
             if len(self.TempBytes) == 20:
@@ -134,47 +143,15 @@ class DeviceModel:
 
     # 数据解析 data analysis
     def processData(self, Bytes):
-        if Bytes[1] == 0x61:
+        if Bytes[1] != 0x61:
-            Ax = self.getSignInt16(Bytes[3] << 8 | Bytes[2]) / 32768 * 16
+            return
-            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
@@ -191,7 +168,7 @@ class DeviceModel:
             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)
+            self.logger.warning(f"发送数据失败: {ex}")
 
     # 读取寄存器 read register
     async def readReg(self, regAddr):

backend/devices/femtobolt_manager.py

@@ -939,8 +939,10 @@ class FemtoBoltManager(BaseDevice):
         Returns:
             Dict[str, Any]: 设备状态信息
         """
-        status = super().get_status()
+        return {
-        status.update({
+            'device_type': 'femtobolt',
+            'is_connected': self.is_connected,
+            'is_streaming': self.is_streaming,
             'color_resolution': self.color_resolution,
             'depth_mode': self.depth_mode,
             'target_fps': self.fps,
@@ -949,9 +951,9 @@ class FemtoBoltManager(BaseDevice):
             'dropped_frames': self.dropped_frames,
             'depth_range': f"{self.depth_range_min}-{self.depth_range_max}mm",
             'has_depth_frame': self.last_depth_frame is not None,
-            'has_color_frame': self.last_color_frame is not None
+            'has_color_frame': self.last_color_frame is not None,
-        })
+            'device_info': self.get_device_info()
-        return status
+        }
         
  
         

backend/devices/imu_manager.py

@@ -23,8 +23,9 @@ logger = logging.getLogger(__name__)
 
 class BleIMUDevice:
     """蓝牙IMU设备（WitMotion WT9011DCL-BT50），基于 device_model.py 官方接口"""
-    def __init__(self, mac_address: str):
+    def __init__(self, mac_address: str, ble_name: str = ""):
         self.mac_address = mac_address
+        self.ble_name = ble_name
         self.loop = None
         self.loop_thread = None
         self.running = False
@@ -40,11 +41,14 @@ class BleIMUDevice:
         self._connected = False
         self._device_model = None
         self._open_task = None
+        self._main_task = None
+        self._last_update_ts = 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
+        logger.info(f"BLE IMU实例创建: mac={self.mac_address}")
 
     def set_calibration(self, calibration: Dict[str, Any]):
         self.calibration_data = calibration
@@ -75,7 +79,21 @@ class BleIMUDevice:
         self.running = False
         try:
             if self.loop:
-                asyncio.run_coroutine_threadsafe(self._disconnect(), self.loop)
+                try:
+                    if self._main_task is not None and not self._main_task.done():
+                        self.loop.call_soon_threadsafe(self._main_task.cancel)
+                except Exception:
+                    pass
+                try:
+                    fut = asyncio.run_coroutine_threadsafe(self._disconnect(), self.loop)
+                    fut.result(timeout=5.0)
+                except Exception:
+                    pass
+        except Exception:
+            pass
+        try:
+            if self.loop_thread and self.loop_thread.is_alive():
+                self.loop_thread.join(timeout=6.0)
         except Exception:
             pass
 
@@ -96,18 +114,28 @@ class BleIMUDevice:
         self.loop = asyncio.new_event_loop()
         asyncio.set_event_loop(self.loop)
         try:
-            self.loop.run_until_complete(self._connect_and_listen())
+            self._main_task = self.loop.create_task(self._connect_and_listen())
+            self.loop.run_until_complete(self._main_task)
         except asyncio.CancelledError:
             pass
         except Exception as e:
             logger.error(f'BLE IMU事件循环异常: {e}', exc_info=True)
         finally:
             try:
-                if not self.loop.is_closed():
+                try:
-                    self.loop.stop()
+                    pending = asyncio.all_tasks(self.loop)
-                    self.loop.close()
+                    for t in pending:
+                        t.cancel()
+                    if pending:
+                        self.loop.run_until_complete(asyncio.gather(*pending, return_exceptions=True))
                 except Exception:
                     pass
+                if not self.loop.is_closed():
+                    self.loop.stop()
+            except Exception:
+                pass
+            self._main_task = None
+            self.loop = None
 
     def _on_device_update(self, dm):
         try:
@@ -120,6 +148,8 @@ class BleIMUDevice:
                 self.last_data['roll'] = float(roll)
                 self.last_data['pitch'] = float(pitch)
                 self.last_data['yaw'] = float(yaw)
+                self._last_update_ts = time.time()
+                self._connected = True
         except Exception:
             pass
 
@@ -130,6 +160,12 @@ class BleIMUDevice:
                     self._device_model.closeDevice()
                 except Exception:
                     pass
+                try:
+                    client = getattr(self._device_model, "client", None)
+                    if client is not None and getattr(client, "is_connected", False):
+                        await client.disconnect()
+                except Exception:
+                    pass
             if self._open_task is not None and not self._open_task.done():
                 self._open_task.cancel()
                 try:
@@ -141,6 +177,7 @@ class BleIMUDevice:
         finally:
             self._open_task = None
             self._device_model = None
+            self._last_update_ts = None
 
     async def _connect_and_listen(self):
         try:
@@ -150,39 +187,86 @@ class BleIMUDevice:
             self.running = False
             return
 
+        async def find_device() -> Optional[Any]:
+            scan_timeout_s = 30.0
+            if self.ble_name:
+                find_by_name = getattr(BleakScanner, "find_device_by_name", None)
+                if callable(find_by_name):
+                    try:
+                        device = await find_by_name(self.ble_name, timeout=scan_timeout_s)
+                        if device is not None:
+                            if self.mac_address and (getattr(device, "address", "") or "").lower() != self.mac_address.lower():
+                                return None
+                            return device
+                    except Exception:
+                        pass
+            try:
+                found = await BleakScanner.discover(timeout=scan_timeout_s)
+            except Exception:
+                found = []
+            if self.ble_name:
+                for d in found:
+                    if (getattr(d, "name", None) or "") != self.ble_name:
+                        continue
+                    if self.mac_address and (getattr(d, "address", "") or "").lower() != self.mac_address.lower():
+                        continue
+                    return d
+            if self.mac_address:
+                target = self.mac_address.lower()
+                for d in found:
+                    addr = getattr(d, "address", "") or ""
+                    if addr.lower() == target:
+                        return d
+            candidates = [d for d in found if (getattr(d, "name", "") or "").startswith("WT")]
+            if len(candidates) == 1:
+                return candidates[0]
+            return None
+
         while self.running:
             try:
-                try:
+                attempt_ts = time.perf_counter()
-                    device = await BleakScanner.find_device_by_address(self.mac_address, timeout=20.0)
+                logger.info(f"BLE IMU开始扫描并连接: name={self.ble_name}, mac={self.mac_address}")
-                except TypeError:
+                device = await find_device()
-                    device = await BleakScanner.find_device_by_address(self.mac_address, cb=dict(use_bdaddr=False))
 
                 if device is None:
+                    logger.info(f"BLE IMU扫描未发现设备 (耗时: {(time.perf_counter()-attempt_ts)*1000:.1f}ms)")
                     await asyncio.sleep(2.0)
                     continue
 
+                device_addr = getattr(device, "address", None)
+                device_name = getattr(device, "name", None)
+                logger.info(f"BLE IMU发现设备 (耗时: {(time.perf_counter()-attempt_ts)*1000:.1f}ms, address={device_addr}, name={device_name})")
+                self._connected = False
+                self._last_update_ts = None
                 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())
 
-                connected = False
+                ready = False
-                for _ in range(50):
+                ready_timeout_s = 20.0
-                    if not self.running:
+                deadline = time.time() + ready_timeout_s
+                while self.running and time.time() < deadline:
+                    if self._open_task is not None and self._open_task.done():
+                        try:
+                            exc = self._open_task.exception()
+                        except Exception:
+                            exc = None
+                        if exc:
+                            logger.warning(f"BLE IMU打开失败: {type(exc).__name__}: {repr(exc)}")
                         break
-                    if self._open_task.done():
+                    if self.has_received_data:
+                        ready = True
                         break
-                    client = getattr(self._device_model, "client", None)
+                    await asyncio.sleep(0.1)
-                    if client is not None and getattr(client, "is_connected", False):
-                        connected = True
-                        break
-                    await asyncio.sleep(0.2)
 
-                self._connected = connected
+                if not ready:
-                if not connected:
+                    logger.warning(f"BLE IMU未获取到姿态数据 (耗时: {(time.perf_counter()-attempt_ts)*1000:.1f}ms)")
                     await self._disconnect()
                     self._connected = False
                     await asyncio.sleep(2.0)
                     continue
 
+                logger.info(f"BLE IMU连接并开始产出数据 (耗时: {(time.perf_counter()-attempt_ts)*1000:.1f}ms)")
+
                 while self.running and self._open_task is not None and not self._open_task.done():
                     await asyncio.sleep(1.0)
 
@@ -200,6 +284,14 @@ class BleIMUDevice:
     def connected(self) -> bool:
         return self._connected
 
+    @property
+    def has_received_data(self) -> bool:
+        return self._last_update_ts is not None
+    
+    @property
+    def last_update_time(self):
+        return self._last_update_ts
+
 class MockIMUDevice:
     def __init__(self):
         self.running = False
@@ -215,6 +307,7 @@ class MockIMUDevice:
             'temperature': 25.0
         }
         self._phase = 0.0
+        self._last_update_ts = None
 
     def set_calibration(self, calibration: Dict[str, Any]):
         self.calibration_data = calibration
@@ -286,6 +379,7 @@ class MockIMUDevice:
                     self.last_data['roll'] = round(roll, 1)
                     # 温度模拟：以25℃为基准，叠加±0.5℃的轻微波动
                     self.last_data['temperature'] = round(25.0 + math.sin(self._phase * 0.2) * 0.5, 2)
+                    self._last_update_ts = time.time()
                 # 控制输出频率为约60Hz
                 time.sleep(1.0 / 30.0)
         except Exception:
@@ -296,6 +390,14 @@ class MockIMUDevice:
     def connected(self) -> bool:
         return self._connected
 
+    @property
+    def has_received_data(self) -> bool:
+        return self._last_update_ts is not None
+    
+    @property
+    def last_update_time(self):
+        return self._last_update_ts
+
 class IMUManager(BaseDevice):
     """IMU传感器管理器"""
     
@@ -319,11 +421,12 @@ class IMUManager(BaseDevice):
         # 设备配置
         self.use_mock = bool(config.get('use_mock', False))
         self.mac_address = config.get('mac_address', '')
+        self.ble_name = config.get('ble_name', '')
         # IMU设备实例
         self.imu_device = None
+        self._init_abort = threading.Event()
         
         # 推流相关
-        self.imu_streaming = False
         self.imu_thread = None
         
         # 统计信息
@@ -338,7 +441,7 @@ 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 - use_mock: {self.use_mock}, MAC: {self.mac_address}")
+        self.logger.info(f"IMU管理器初始化完成 - use_mock: {self.use_mock}, BLE_NAME: {self.ble_name}, MAC: {self.mac_address}")
         
     def initialize(self) -> bool:
         """
@@ -347,35 +450,62 @@ class IMUManager(BaseDevice):
         Returns:
             bool: 初始化是否成功
         """
+        self._initializing = True
+        self._init_abort.clear()
         try:
+            start_ts = time.perf_counter()
             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: use_mock={self.use_mock}, mac={self.mac_address}")
+            self.logger.info(f"使用已加载配置: use_mock={self.use_mock}, name={self.ble_name}, mac={self.mac_address}")
             
             # 根据配置选择设备类型
             if not self.use_mock:
-                if not self.mac_address:
+                if not self.mac_address and not self.ble_name:
-                    self.logger.error("IMU BLE设备未配置MAC地址")
+                    self.logger.error("IMU BLE设备未配置蓝牙名称或MAC地址")
                     self.is_connected = False
                     return False
-                self.logger.info(f"使用蓝牙IMU设备 - MAC: {self.mac_address}")
+                self.logger.info(f"使用蓝牙IMU设备 - NAME: {self.ble_name}, MAC: {self.mac_address}")
-                self.imu_device = BleIMUDevice(self.mac_address)
+                try:
+                    if self.imu_device and hasattr(self.imu_device, 'stop'):
+                        self.imu_device.stop()
+                except Exception:
+                    pass
+                self.imu_device = BleIMUDevice(self.mac_address, self.ble_name)
                 self.imu_device.start()
-                # 使用set_connected方法来正确启动连接监控线程
+                connect_timeout_s = float(self.config.get('connect_timeout', 40.0))
-                self.set_connected(True)            
+                deadline = time.time() + max(0.1, connect_timeout_s)
+                while time.time() < deadline:
+                    if self._init_abort.is_set():
+                        self.logger.warning("IMU初始化被中断")
+                        return False
+                    if bool(getattr(self.imu_device, 'connected', False)):
+                        break
+                    time.sleep(0.1)
+                connected = bool(getattr(self.imu_device, 'connected', False))
+                self._start_connection_monitor()
+                self.set_connected(connected)
+                if not connected:
+                    self.logger.error(f"IMU蓝牙连接超时（等待 {connect_timeout_s:.1f}s）")
+                    try:
+                        self.imu_device.stop()
+                    except Exception:
+                        pass
+                    self.imu_device = None
+                    self.set_connected(False)
+                    return False
             else:
                 self.logger.info("使用模拟IMU设备")
                 self.imu_device = MockIMUDevice()
                 self.imu_device.start()
-                # 使用set_connected方法来正确启动连接监控线程
+                self._start_connection_monitor()
                 self.set_connected(True)
                 
             self._device_info.update({
                 'mac_address': self.mac_address,
             })
             
-            self.logger.info("IMU初始化成功")
+            self.logger.info(f"IMU初始化完成（耗时: {(time.perf_counter() - start_ts)*1000:.1f}ms，当前连接状态: {self.is_connected}）")
             return True
             
         except Exception as e:
@@ -383,6 +513,8 @@ class IMUManager(BaseDevice):
             self.is_connected = False
             self.imu_device = None
             return False
+        finally:
+            self._initializing = False
             
     def _quick_calibrate_imu(self) -> Dict[str, Any]:
         """
@@ -464,20 +596,39 @@ class IMUManager(BaseDevice):
             bool: 启动是否成功
         """
         try:
+            if self.is_streaming:
+                self.logger.warning("IMU数据流已在运行")
+                return True
+
             if not self.is_connected or not self.imu_device:
                 if not self.initialize():
                     return False
 
-            if self.imu_streaming:
+            if not self.is_connected:
-                self.logger.warning("IMU数据流已在运行")
+                self.logger.error("IMU设备未连接")
-                return True
+                return False
+                    
+            first_data_timeout_s = float(self.config.get('first_data_timeout', 30.0))
+            deadline = time.time() + max(0.1, first_data_timeout_s)
+            while time.time() < deadline:
+                if not self.imu_device:
+                    break
+                if hasattr(self.imu_device, 'connected') and not bool(getattr(self.imu_device, 'connected')):
+                    break
+                if bool(getattr(self.imu_device, 'has_received_data', False)):
+                    break
+                time.sleep(0.05)
+            if not self.imu_device or not bool(getattr(self.imu_device, 'has_received_data', False)):
+                self.logger.error(f"IMU未获取到有效数据（等待 {first_data_timeout_s:.1f}s）")
+                return False
                 
             # 启动前进行快速校准
             if not self.is_calibrated:
                 self.logger.info("启动前进行快速零点校准...")
                 self._quick_calibrate_imu()                
 
-            self.imu_streaming = True
+            self.is_streaming = True
+            self.update_heartbeat()
             self.imu_thread = threading.Thread(target=self._imu_streaming_thread, daemon=True)
             self.imu_thread.start()
             
@@ -486,7 +637,7 @@ class IMUManager(BaseDevice):
             
         except Exception as e:
             self.logger.error(f"IMU数据流启动失败: {e}")
-            self.imu_streaming = False
+            self.is_streaming = False
             return False
             
     def stop_streaming(self) -> bool:
@@ -497,7 +648,7 @@ class IMUManager(BaseDevice):
             bool: 停止是否成功
         """
         try:
-            self.imu_streaming = False
+            self.is_streaming = False
             
             if self.imu_thread and self.imu_thread.is_alive():
                 self.imu_thread.join(timeout=3.0)
@@ -522,19 +673,25 @@ class IMUManager(BaseDevice):
         """
         self.logger.info("IMU数据流工作线程启动")
         
-        while self.imu_streaming:
+        while self.is_streaming:
             try:
                 if self.imu_device:
                     # 读取IMU数据
                     data = self.imu_device.read_data(apply_calibration=True)
                     
-                    if data:
+                    if data and isinstance(data, dict) and data.get('head_pose') is not None:
                         # 发送数据到前端
                         if self._socketio:
                             self._socketio.emit('imu_data', data, namespace='/devices')
                         
                         # 更新统计
                         self.data_count += 1
+                        self.update_heartbeat()
+                        self.last_valid_data = data
+                        try:
+                            self.data_buffer.append(data)
+                        except Exception:
+                            pass
                     else:
                         self.error_count += 1
                         
@@ -556,19 +713,19 @@ class IMUManager(BaseDevice):
         Returns:
             Dict[str, Any]: 设备状态信息
         """
-        status = super().get_status()
+        return {
-        status.update({
+            'device_type': 'mock' if self.use_mock else 'ble',
-            'is_streaming': self.imu_streaming,
+            'mac_address': self.mac_address,
+            'is_connected': self.is_connected,
+            'is_streaming': self.is_streaming,
             'is_calibrated': self.is_calibrated,
             'data_count': self.data_count,
             'error_count': self.error_count,
             'buffer_size': len(self.data_buffer),
             'has_data': self.last_valid_data is not None,
             'head_pose_offset': self.head_pose_offset,
-            'device_type': 'mock' if self.use_mock else 'ble',
+            'device_info': self.get_device_info()
-            'mac_address': self.mac_address
+        }
-        })
-        return status
         
     def get_latest_data(self) -> Optional[Dict[str, float]]:
         """
@@ -586,9 +743,15 @@ class IMUManager(BaseDevice):
         断开IMU设备连接
         """
         try:
+            self._init_abort.set()
             self.stop_streaming()
             
             if self.imu_device:
+                try:
+                    if hasattr(self.imu_device, 'stop'):
+                        self.imu_device.stop()
+                except Exception:
+                    pass
                 self.imu_device = None
                 
             self.is_connected = False
@@ -643,7 +806,18 @@ class IMUManager(BaseDevice):
                 return False
             
             if hasattr(self.imu_device, 'connected'):
-                return bool(getattr(self.imu_device, 'connected'))
+                connected = bool(getattr(self.imu_device, 'connected'))
+                if connected:
+                    last_ts = getattr(self.imu_device, 'last_update_time', None)
+                    if last_ts:
+                        try:
+                            if time.time() - float(last_ts) <= float(self._connection_timeout):
+                                self.update_heartbeat()
+                        except Exception:
+                            self.update_heartbeat()
+                    else:
+                        self.update_heartbeat()
+                return connected
 
             if hasattr(self.imu_device, 'ser') and getattr(self.imu_device, 'ser', None):
                 if not self.imu_device.ser.is_open:
@@ -653,6 +827,7 @@ class IMUManager(BaseDevice):
                     self.imu_device.ser.timeout = 0.1
                     self.imu_device.ser.read(1)
                     self.imu_device.ser.timeout = original_timeout
+                    self.update_heartbeat()
                     return True
                 except Exception:
                     return False
@@ -668,6 +843,7 @@ class IMUManager(BaseDevice):
         清理资源
         """
         try:
+            self._init_abort.set()
             # 停止连接监控
             self._cleanup_monitoring()
             

backend/devices/imu_test.py

@@ -1,69 +1,84 @@
+import argparse
 import asyncio
+import time
+from statistics import mean
+
 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
+async def find_device_by_address(address: str, timeout_s: float):
-# 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)
+        return await bleak.BleakScanner.find_device_by_address(address, timeout=timeout_s)
-        print("Search ended")
+    except TypeError:
+        return await bleak.BleakScanner.find_device_by_address(address, cb=dict(use_bdaddr=False))
+
+
+async def find_device_by_name(name: str, timeout_s: float):
+    scanner_fn = getattr(bleak.BleakScanner, "find_device_by_name", None)
+    if callable(scanner_fn):
+        return await scanner_fn(name, timeout=timeout_s)
+    devices = await bleak.BleakScanner.discover(timeout=timeout_s)
     for d in devices:
-            if d.name is not None and "WT" in d.name:
+        if (getattr(d, "name", None) or "") == name:
-                find.append(d)
+            return d
-                print(d)
+    return None
-        if len(find) == 0:
+
-            print("No devices found in this search!")
+
+async def run_trials(label: str, finder, runs: int, cooldown_s: float):
+    ok_times = []
+    fail = 0
+
+    for i in range(1, runs + 1):
+        start = time.perf_counter()
+        device = await finder()
+        ms = (time.perf_counter() - start) * 1000
+        if device is None:
+            fail += 1
+            print(f"[{label}] [{i:03d}] FAIL {ms:.1f}ms")
         else:
-            user_input = input("Please enter the Mac address you want to connect to (e.g. DF:E9:1F:2C:BD:59)：")
+            addr = getattr(device, "address", None)
-            for d in devices:
+            name = getattr(device, "name", None)
-                if d.address == user_input:
+            ok_times.append(ms)
-                    BLEDevice = d
+            print(f"[{label}] [{i:03d}] OK {ms:.1f}ms address={addr} name={name}")
-                    break
+        if cooldown_s > 0:
-    except Exception as ex:
+            await asyncio.sleep(cooldown_s)
-        print("Bluetooth search failed to start")
-        print(ex)
 
-
+    if ok_times:
-# 指定MAC地址搜索并连接设备
+        print(f"[{label}] runs={runs} success={len(ok_times)} fail={fail} avg={mean(ok_times):.1f}ms min={min(ok_times):.1f}ms max={max(ok_times):.1f}ms")
-# 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!!")
+        print(f"[{label}] runs={runs} success=0 fail={fail}")
+
+
+def parse_args():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--address", default="FA:E8:88:06:FE:F3")
+    parser.add_argument("--name", default="WT901BLE67")
+    parser.add_argument("--runs", type=int, default=10)
+    parser.add_argument("--timeout", type=float, default=30.0)
+    parser.add_argument("--cooldown", type=float, default=0.3)
+    parser.add_argument("--mode", choices=["mac", "name", "both"], default="both")
+    return parser.parse_args()
+
+
+async def main():
+    args = parse_args()
+
+    if args.mode in ("mac", "both"):
+        await run_trials(
+            "mac",
+            lambda: find_device_by_address(args.address, args.timeout),
+            args.runs,
+            args.cooldown,
+        )
+
+    if args.mode in ("name", "both"):
+        await run_trials(
+            "name",
+            lambda: find_device_by_name(args.name, args.timeout),
+            args.runs,
+            args.cooldown,
+        )
+
+
+if __name__ == "__main__":
+    asyncio.run(main())

backend/devices/utils/config_manager.py

@@ -98,6 +98,7 @@ class ConfigManager:
         self.config['DEVICES'] = {
             'imu_enable': 'False',
             'imu_use_mock': 'False',
+            'imu_ble_name': '',
             'imu_mac_address': '',
             'pressure_port': 'COM8',
             'pressure_baudrate': '115200'
@@ -235,6 +236,7 @@ class ConfigManager:
         return {
             'enable': self.config.getboolean('DEVICES', 'imu_enable', fallback=False),
             'use_mock': self.config.getboolean('DEVICES', 'imu_use_mock', fallback=False),           
+            'ble_name': self.config.get('DEVICES', 'imu_ble_name', fallback=''),
             'mac_address': self.config.get('DEVICES', 'imu_mac_address', fallback='FA:E8:88:06:FE:F3'),
         }
         

backend/main.py

@@ -18,6 +18,7 @@ import logging
 from flask_socketio import SocketIO, emit
 import configparser
 import argparse
+from collections import defaultdict
 
 # 添加当前目录到路径
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
@@ -81,6 +82,7 @@ class AppServer:
         
         # 数据推送状态
         self.is_pushing_data = False
+        self._device_op_locks = defaultdict(threading.RLock)
         
         # 设备管理器
         self.config_manager = None
@@ -98,6 +100,9 @@ class AppServer:
         self._register_routes()
         self._register_socketio_events()
 
+    def _get_device_lock(self, device_name: str):
+        return self._device_op_locks[device_name]
+        
     def _init_logging(self):
         """初始化日志配置"""
         # 日志目录
@@ -228,6 +233,10 @@ class AppServer:
             self.logger.info('正在初始化设备协调器...')
             self.device_coordinator = DeviceCoordinator(self.socketio)           
             
+            # Flask应用启动后，异步初始化设备（如果尚未初始化）
+            if self.device_coordinator and not self.device_coordinator.is_initialized:
+                threading.Thread(target=self._initialize_devices, daemon=True).start()    
+
             # 初始化录制管理器
             self.logger.info('正在初始化录制管理器...')            
 
@@ -755,9 +764,7 @@ class AppServer:
                     
                     self.logger.info(f'用户 {username} 登录成功')
                     
-                    # 登录成功后，异步初始化设备（如果尚未初始化）
+                    
-                    if self.device_coordinator and not self.device_coordinator.is_initialized:
-                        threading.Thread(target=self._initialize_devices, daemon=True).start()
                     
                     return jsonify({
                         'success': True,
@@ -1964,6 +1971,7 @@ class AppServer:
             self.logger.info(f'开始重启 {device_type} 设备...')
             
             # 调用设备协调器的重启方法
+            with self._get_device_lock(device_type):
                 success = self.device_coordinator.restart_device(device_type)
             
             if success:
@@ -2023,6 +2031,25 @@ class AppServer:
             def initialize_device(device_name, manager):
                 """设备初始化工作函数"""
                 try:
+                    with self._get_device_lock(device_name):
+                        restarting = bool(getattr(self.device_coordinator, '_restart_in_progress', {}).get(device_name, False))
+                        if restarting:
+                            device_results[device_name] = False
+                            self.logger.warning(f'{device_name}设备正在重启，跳过启动')
+                            return
+
+                        initializing = bool(getattr(manager, '_initializing', False))
+                        if initializing:
+                            wait_deadline = time.time() + (60.0 if device_name == 'imu' else 30.0)
+                            while time.time() < wait_deadline and bool(getattr(manager, '_initializing', False)):
+                                time.sleep(0.2)
+                            if hasattr(manager, 'is_connected') and manager.is_connected:
+                                if hasattr(manager, 'is_streaming') and not manager.is_streaming:
+                                    manager.start_streaming()
+                                device_results[device_name] = True
+                                self.logger.info(f'{device_name}设备已连接，启动成功')
+                                return
+
                     # 检查设备是否已连接，避免重复初始化
                     if hasattr(manager, 'is_connected') and manager.is_connected:
                         print(f"[DEBUG] {device_name} 已连接，跳过初始化")

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

@@ -794,9 +794,12 @@
             <div class="pop-up-camera-title">IMU设备</div>
           </div>
           <div class="pop-up-camera-display" style="padding-top: 10px;">
+          <div class="pop-up-camera-name">蓝牙名称</div>
+            <el-input v-model="cameraForm.imu.ble_name" placeholder="请输入" 
+            style="width: 180px;" />
             <div class="pop-up-camera-name">Mac地址</div>
             <el-input v-model="cameraForm.imu.mac_address" placeholder="请输入" 
-            style="width: 434px;" />
+            style="width: 180px;" />
             <el-checkbox v-model="cameraForm.imu.enable" label="有效" size="large" style="width: 60px;margin-left:10px ;" />
 
           </div>
@@ -1774,47 +1777,50 @@ function handleIMUData(data) {
 function updateHeadPoseMaxValues(headPose) {
   try {
     // 更新旋转角最值
-    if (headPose.rotation < 0) {
+    if (headPose.rotation > 0) {
       // 左旋（负值），取绝对值的最大值
       headPoseMaxValues.value.rotationLeftMax = Math.max(
         headPoseMaxValues.value.rotationLeftMax,
-        Math.abs(headPose.rotation)
+        headPose.rotation
       )
-    } else if (headPose.rotation > 0) {
+    } else if (headPose.rotation < 0) {
       // 右旋（正值）
       headPoseMaxValues.value.rotationRightMax = Math.max(
         headPoseMaxValues.value.rotationRightMax,
-        headPose.rotation
+        Math.abs(headPose.rotation)
+        
       )
     }
 
     // 更新倾斜角最值
-    if (headPose.tilt < 0) {
+    if (headPose.tilt > 0) {
       // 左倾（负值），取绝对值的最大值
       headPoseMaxValues.value.tiltLeftMax = Math.max(
         headPoseMaxValues.value.tiltLeftMax,
-        Math.abs(headPose.tilt)
+         headPose.tilt
+        
       )
-    } else if (headPose.tilt > 0) {
+    } else if (headPose.tilt < 0) {
       // 右倾（正值）
       headPoseMaxValues.value.tiltRightMax = Math.max(
         headPoseMaxValues.value.tiltRightMax,
-        headPose.tilt
+       Math.abs(headPose.tilt)
       )
     }
 
     // 更新俯仰角最值
-    if (headPose.pitch < 0) {
+    if (headPose.pitch >0) {
       // 下俯（负值），取绝对值的最大值
       headPoseMaxValues.value.pitchDownMax = Math.max(
         headPoseMaxValues.value.pitchDownMax,
-        Math.abs(headPose.pitch)
+        headPose.pitch
+        
       )
-    } else if (headPose.pitch > 0) {
+    } else if (headPose.pitch < 0) {
       // 上仰（正值）
       headPoseMaxValues.value.pitchUpMax = Math.max(
         headPoseMaxValues.value.pitchUpMax,
-        headPose.pitch
+        Math.abs(headPose.pitch)
       )
     }
 
@@ -3360,7 +3366,7 @@ function viewClick(e){
   font-style: normal;
   font-size: 14px;
   color: rgba(255,255,255,0.6);
-  width: 60px;
+  width: 70px;
   text-align: right;
   margin-right: 20px;
 }

frontend/src/renderer/src/views/model.vue

@@ -1,13 +1,16 @@
 <template>
-  <div id="containermodel"></div>
+  <div id="containermodel">
+    <img class="axes-overlay" :src="axesBgUrl" alt="" />
+  </div>
 </template>
 
 <script setup>
 import { onMounted, onUnmounted, watch } from 'vue'
 import * as THREE from 'three';
 import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
-import maleUrl from '@/assets/glb/male.glb?url'
+import modelUrl from '@/assets/glb/head.glb?url'
-import femaleUrl from '@/assets/glb/female.glb?url'
+import axesBgUrl from '@/assets/glb/xyz-axes.png?url'
+
 
 const props = defineProps({
   rotation: { type: [Number, String], default: 0 },
@@ -25,7 +28,7 @@ let onResizeHandler = null;
 
 // 渲染循环控制
 let lastRenderTime = 0;
-const TARGET_FPS = 10; // 限制为25帧以平衡流畅度与性能
+const TARGET_FPS = 20; // 限制为25帧以平衡流畅度与性能
 const FRAME_INTERVAL = 1000 / TARGET_FPS;
 
 onMounted(() => {
@@ -121,7 +124,7 @@ function setupLights() {
 
 function loadModel() {
     const loader = new GLTFLoader();
-    const url = (props.gender === '女') ? femaleUrl : maleUrl;
+    const url = modelUrl;
     
     loader.load(url, 
         (gltf) => {
@@ -132,11 +135,11 @@ function loadModel() {
             const box = new THREE.Box3().setFromObject(model);
             const size = box.getSize(new THREE.Vector3());
             const maxDim = Math.max(size.x, size.y, size.z);
-            const scale = 5 / maxDim;
+            const scale = 3.8 / maxDim;
             
             model.scale.set(scale, scale, scale);
             const center = box.getCenter(new THREE.Vector3());
-            model.position.set(-center.x * scale, -center.y * scale + 0.2, -center.z * scale);
+            model.position.set(-center.x * scale, -center.y * scale-0.2, -center.z * scale);
             model.rotation.set(0, 0, 0);
             
             model.traverse((child) => {
@@ -270,4 +273,19 @@ watch(
     position: relative;
     overflow: hidden; /* 防止 canvas 溢出 */
 }
+
+.axes-overlay {
+    position: absolute;
+    inset: 0;
+    width: 100%;
+    height: 100%;
+    object-fit: contain;
+    z-index: 2;
+    pointer-events: none;
+}
+
+:global(#containermodel canvas) {
+    position: relative;
+    z-index: 1;
+}
 </style>