增了电池电量显示
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41f9b283c2
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@ -42,6 +42,7 @@ class BleIMUDevice:
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self._device_model = None
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self._open_task = None
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self._main_task = None
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self._battery_task = None
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self._last_update_ts = None
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self._last_ble_device = None
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try:
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@ -107,7 +108,8 @@ class BleIMUDevice:
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'pitch': self.last_data['roll'] # pitch 对应俯仰
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},
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'temperature': self.last_data.get('temperature', 25.0),
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'timestamp': datetime.now().isoformat()
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'timestamp': datetime.now().isoformat(),
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'battery': self.last_data.get('battery'),
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}
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return self.apply_calibration(raw) if apply_calibration else raw
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@ -156,6 +158,14 @@ class BleIMUDevice:
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async def _disconnect(self):
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try:
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if self._battery_task is not None and not self._battery_task.done():
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self._battery_task.cancel()
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try:
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await self._battery_task
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except asyncio.CancelledError:
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pass
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except Exception:
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pass
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if self._device_model is not None:
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try:
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self._device_model.closeDevice()
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@ -176,11 +186,39 @@ class BleIMUDevice:
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except Exception:
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pass
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finally:
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self._battery_task = None
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self._open_task = None
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self._device_model = None
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self._last_update_ts = None
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self._connected = False
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async def _battery_poll_loop(self, interval_s: float = 30.0):
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try:
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await asyncio.sleep(1.0)
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while self.running:
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dm = self._device_model
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if dm is None or not bool(getattr(dm, "isOpen", False)):
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await asyncio.sleep(1.0)
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continue
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try:
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battery = await dm.readBattery(timeout=2.0)
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except asyncio.CancelledError:
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raise
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except Exception:
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battery = None
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if isinstance(battery, dict):
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battery_payload = {
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"raw": battery.get("raw"),
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"voltage": battery.get("voltage"),
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"percent": battery.get("percent"),
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"timestamp": datetime.now().isoformat(),
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}
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with self._lock:
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self.last_data["battery"] = battery_payload
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await asyncio.sleep(max(1.0, float(interval_s)))
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except asyncio.CancelledError:
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pass
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async def _connect_and_listen(self):
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try:
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from bleak import BleakScanner
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@ -312,6 +350,11 @@ class BleIMUDevice:
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continue
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logger.info(f"BLE IMU连接并开始产出数据 (耗时: {(time.perf_counter()-attempt_ts)*1000:.1f}ms)")
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try:
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if self._battery_task is None or self._battery_task.done():
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self._battery_task = asyncio.create_task(self._battery_poll_loop(interval_s=30.0))
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except Exception:
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pass
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while self.running and self._open_task is not None and not self._open_task.done():
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await asyncio.sleep(1.0)
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@ -364,7 +407,13 @@ class MockIMUDevice:
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'roll': 0.0,
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'pitch': 0.0,
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'yaw': 0.0,
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'temperature': 25.0
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'temperature': 25.0,
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'battery': {
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"raw": None,
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"voltage": None,
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"percent": 100,
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"timestamp": datetime.now().isoformat(),
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},
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}
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self._phase = 0.0
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self._last_update_ts = None
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@ -412,7 +461,8 @@ class MockIMUDevice:
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'pitch': self.last_data['roll']
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},
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'temperature': self.last_data.get('temperature', 25.0),
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'timestamp': datetime.now().isoformat()
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'timestamp': datetime.now().isoformat(),
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'battery': self.last_data.get('battery'),
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}
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return self.apply_calibration(raw) if apply_calibration else raw
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@ -84,7 +84,10 @@
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<div class="body-title-display">
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<div class="body-son-display">
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<img src="@/assets/detection/title2.png" alt="" style="margin-right: 8px;">
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<div class="body-posture-text">头部姿态</div>
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<div class="body-posture-text">
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头部姿态
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<span v-if="imuBatteryPercent !== null" class="imu-battery-percent">电量{{ imuBatteryPercent }}%</span>
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</div>
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<div class="calibration-zero" @click="calibrationClick" style="margin-left:20px">
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<img src="@/assets/detection/calibration.png" style="margin-right:7px">
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校准
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@ -1155,6 +1158,7 @@ const headlist = ref({
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tilt: 0,
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pitch: 0
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})
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const imuBatteryPercent = ref(null)
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// 开始计时器
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const startTimer = () => {
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if (isRunning.value) return;
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@ -1707,6 +1711,14 @@ function handleIMUData(data) {
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try {
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if (!data) return
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const batteryPercent = data && data.battery && data.battery.percent
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if (batteryPercent !== undefined && batteryPercent !== null) {
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const v = Number(batteryPercent)
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if (!Number.isNaN(v) && Number.isFinite(v)) {
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imuBatteryPercent.value = Math.max(0, Math.min(100, Math.round(v)))
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}
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}
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// 兼容两种载荷结构：
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// 1) { rotation, tilt, pitch }
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// 2) { head_pose: { rotation, tilt, pitch } }
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@ -2763,6 +2775,13 @@ function viewClick(e){
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font-style: normal;
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font-size: 14px;
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}
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.imu-battery-percent{
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margin-left: 10px;
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font-weight: 400;
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font-style: normal;
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font-size: 14px;
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color: rgba(255, 255, 255, 0.8);
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}
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.body-header-bottombox{
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width: 100%;
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