增了电池电量显示

backend/devices/imu_manager.py

@@ -42,6 +42,7 @@ class BleIMUDevice:
         self._device_model = None
         self._open_task = None
         self._main_task = None
+        self._battery_task = None
         self._last_update_ts = None
         self._last_ble_device = None
         try:
@@ -107,7 +108,8 @@ class BleIMUDevice:
                     'pitch': self.last_data['roll']     # pitch 对应俯仰
                 },
                 'temperature': self.last_data.get('temperature', 25.0),
-                'timestamp': datetime.now().isoformat()
+                'timestamp': datetime.now().isoformat(),
+                'battery': self.last_data.get('battery'),
             }
         return self.apply_calibration(raw) if apply_calibration else raw
 
@@ -156,6 +158,14 @@ class BleIMUDevice:
 
     async def _disconnect(self):
         try:
+            if self._battery_task is not None and not self._battery_task.done():
+                self._battery_task.cancel()
+                try:
+                    await self._battery_task
+                except asyncio.CancelledError:
+                    pass
+                except Exception:
+                    pass
             if self._device_model is not None:
                 try:
                     self._device_model.closeDevice()
@@ -176,11 +186,39 @@ class BleIMUDevice:
                 except Exception:
                     pass
         finally:
+            self._battery_task = None
             self._open_task = None
             self._device_model = None
             self._last_update_ts = None
             self._connected = False
 
+    async def _battery_poll_loop(self, interval_s: float = 30.0):
+        try:
+            await asyncio.sleep(1.0)
+            while self.running:
+                dm = self._device_model
+                if dm is None or not bool(getattr(dm, "isOpen", False)):
+                    await asyncio.sleep(1.0)
+                    continue
+                try:
+                    battery = await dm.readBattery(timeout=2.0)
+                except asyncio.CancelledError:
+                    raise
+                except Exception:
+                    battery = None
+                if isinstance(battery, dict):
+                    battery_payload = {
+                        "raw": battery.get("raw"),
+                        "voltage": battery.get("voltage"),
+                        "percent": battery.get("percent"),
+                        "timestamp": datetime.now().isoformat(),
+                    }
+                    with self._lock:
+                        self.last_data["battery"] = battery_payload
+                await asyncio.sleep(max(1.0, float(interval_s)))
+        except asyncio.CancelledError:
+            pass
+
     async def _connect_and_listen(self):
         try:
             from bleak import BleakScanner
@@ -312,6 +350,11 @@ class BleIMUDevice:
                     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)")
+                try:
+                    if self._battery_task is None or self._battery_task.done():
+                        self._battery_task = asyncio.create_task(self._battery_poll_loop(interval_s=30.0))
+                except Exception:
+                    pass
 
                 while self.running and self._open_task is not None and not self._open_task.done():
                     await asyncio.sleep(1.0)
@@ -364,7 +407,13 @@ class MockIMUDevice:
             'roll': 0.0,
             'pitch': 0.0,
             'yaw': 0.0,
-            'temperature': 25.0
+            'temperature': 25.0,
+            'battery': {
+                "raw": None,
+                "voltage": None,
+                "percent": 100,
+                "timestamp": datetime.now().isoformat(),
+            },
         }
         self._phase = 0.0
         self._last_update_ts = None
@@ -412,7 +461,8 @@ class MockIMUDevice:
                     'pitch': self.last_data['roll']
                 },
                 'temperature': self.last_data.get('temperature', 25.0),
-                'timestamp': datetime.now().isoformat()
+                'timestamp': datetime.now().isoformat(),
+                'battery': self.last_data.get('battery'),
             }
         return self.apply_calibration(raw) if apply_calibration else raw
 

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

@@ -84,7 +84,10 @@
             <div class="body-title-display">
               <div class="body-son-display">
                 <img src="@/assets/detection/title2.png" alt="" style="margin-right: 8px;">
-                <div class="body-posture-text">头部姿态</div>
+                <div class="body-posture-text">
+                  头部姿态
+                  <span v-if="imuBatteryPercent !== null" class="imu-battery-percent">电量{{ imuBatteryPercent }}%</span>
+                </div>
                 <div class="calibration-zero" @click="calibrationClick" style="margin-left:20px">
                   <img src="@/assets/detection/calibration.png" style="margin-right:7px">
                   校准
@@ -1155,6 +1158,7 @@ const headlist = ref({
   tilt: 0,
   pitch: 0
 })
+const imuBatteryPercent = ref(null)
 // 开始计时器
 const startTimer = () => {
   if (isRunning.value) return;
@@ -1706,6 +1710,14 @@ const IMU_CHANGE_EPS = 0.1 // 小于0.1°的变化忽略
 function handleIMUData(data) {
   try {
     if (!data) return
+
+    const batteryPercent = data && data.battery && data.battery.percent
+    if (batteryPercent !== undefined && batteryPercent !== null) {
+      const v = Number(batteryPercent)
+      if (!Number.isNaN(v) && Number.isFinite(v)) {
+        imuBatteryPercent.value = Math.max(0, Math.min(100, Math.round(v)))
+      }
+    }
   
     // 兼容两种载荷结构：
     // 1) { rotation, tilt, pitch }
@@ -2763,6 +2775,13 @@ function viewClick(e){
   font-style: normal;
   font-size: 14px;
 }
+.imu-battery-percent{
+  margin-left: 10px;
+  font-weight: 400;
+  font-style: normal;
+  font-size: 14px;
+  color: rgba(255, 255, 255, 0.8);
+}
 
 .body-header-bottombox{
   width: 100%;