914 lines
35 KiB
Python
914 lines
35 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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IMU传感器管理器
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负责IMU传感器的连接、校准和头部姿态数据采集
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"""
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import serial
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import threading
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import time
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import json
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import numpy as np
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from typing import Optional, Dict, Any, List, Tuple
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import logging
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from collections import deque
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import struct
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from datetime import datetime
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import asyncio
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try:
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from .base_device import BaseDevice
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from .utils.socket_manager import SocketManager
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from .utils.config_manager import ConfigManager
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except ImportError:
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from base_device import BaseDevice
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from utils.socket_manager import SocketManager
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from utils.config_manager import ConfigManager
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# 设置日志
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logger = logging.getLogger(__name__)
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class RealIMUDevice:
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"""真实IMU设备，通过串口读取姿态数据"""
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def __init__(self, port, baudrate):
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self.port = port
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self.baudrate = baudrate
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self.ser = None
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self.buffer = bytearray()
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self.calibration_data = None
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self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0}
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self.last_data = {
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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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}
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logger.debug(f'RealIMUDevice 初始化: port={self.port}, baudrate={self.baudrate}')
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self._connect()
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def _connect(self):
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try:
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logger.debug(f'尝试打开串口: {self.port} @ {self.baudrate}')
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self.ser = serial.Serial(self.port, self.baudrate, timeout=1)
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if hasattr(self.ser, 'reset_input_buffer'):
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try:
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self.ser.reset_input_buffer()
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logger.debug('已清空串口输入缓冲区')
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except Exception as e:
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logger.debug(f'重置串口输入缓冲区失败: {e}')
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logger.info(f'IMU设备连接成功: {self.port} @ {self.baudrate}bps')
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except Exception as e:
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# logger.error(f'IMU设备连接失败: {e}', exc_info=True)
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self.ser = None
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def set_calibration(self, calibration: Dict[str, Any]):
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self.calibration_data = calibration
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if 'head_pose_offset' in calibration:
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self.head_pose_offset = calibration['head_pose_offset']
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def apply_calibration(self, raw_data: Dict[str, Any]) -> Dict[str, Any]:
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"""应用校准：将当前姿态减去初始偏移，得到相对于初始姿态的变化量"""
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if not raw_data or 'head_pose' not in raw_data:
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return raw_data
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# 应用校准偏移
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calibrated_data = raw_data.copy()
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head_pose = raw_data['head_pose'].copy()
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angle=head_pose['rotation'] - self.head_pose_offset['rotation']
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# 减去基准值（零点偏移）
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head_pose['rotation'] = ((angle + 180) % 360) - 180
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head_pose['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt']
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head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch']
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calibrated_data['head_pose'] = head_pose
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return calibrated_data
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@staticmethod
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def _checksum(data: bytes) -> int:
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return sum(data[:-1]) & 0xFF
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def _parse_packet(self, data: bytes) -> Optional[Dict[str, float]]:
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if len(data) != 11:
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logger.debug(f'无效数据包长度: {len(data)}')
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return None
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if data[0] != 0x55:
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logger.debug(f'错误的包头: 0x{data[0]:02X}')
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return None
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if self._checksum(data) != data[-1]:
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logger.debug(f'校验和错误: 期望{self._checksum(data):02X}, 实际{data[-1]:02X}')
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return None
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packet_type = data[1]
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vals = [int.from_bytes(data[i:i+2], 'little', signed=True) for i in range(2, 10, 2)]
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if packet_type == 0x53: # 姿态角，单位0.01°
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pitchl, rxl, yawl, temp = vals # 注意这里 vals 已经是有符号整数
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# 使用第一段代码里的比例系数
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k_angle = 180.0
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roll = -round(rxl / 32768.0 * k_angle,2)
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pitch = -round(pitchl / 32768.0 * k_angle,2)
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yaw = -round(yawl / 32768.0 * k_angle,2)
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temp = temp / 100.0
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self.last_data = {
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'roll': roll,
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'pitch': pitch,
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'yaw': yaw,
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'temperature': temp
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}
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# print(f'解析姿态角包: roll={roll}, pitch={pitch}, yaw={yaw}, temp={temp}')
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return self.last_data
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else:
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# logger.debug(f'忽略的数据包类型: 0x{packet_type:02X}')
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return None
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def read_data(self, apply_calibration: bool = True) -> Dict[str, Any]:
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if not self.ser or not getattr(self.ser, 'is_open', False):
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# logger.warning('IMU串口未连接，尝试重新连接...')
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self._connect()
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return {
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'head_pose': {
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'rotation': self.last_data['yaw'],
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'tilt': self.last_data['roll'],
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'pitch': self.last_data['pitch']
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},
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'temperature': self.last_data['temperature'],
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'timestamp': datetime.now().isoformat()
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}
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try:
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bytes_waiting = self.ser.in_waiting
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if bytes_waiting:
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# logger.debug(f'串口缓冲区待读字节: {bytes_waiting}')
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chunk = self.ser.read(bytes_waiting)
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# logger.debug(f'读取到字节: {len(chunk)}')
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self.buffer.extend(chunk)
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while len(self.buffer) >= 11:
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if self.buffer[0] != 0x55:
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dropped = self.buffer.pop(0)
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logger.debug(f'丢弃无效字节: 0x{dropped:02X}')
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continue
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packet = bytes(self.buffer[:11])
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parsed = self._parse_packet(packet)
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del self.buffer[:11]
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if parsed is not None:
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raw = {
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'head_pose': {
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'rotation': parsed['yaw'], # rotation = roll
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'tilt': parsed['roll'], # tilt = yaw
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'pitch': parsed['pitch'] # pitch = pitch
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},
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'temperature': parsed['temperature'],
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'timestamp': datetime.now().isoformat()
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}
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# logger.debug(f'映射后的头部姿态: {raw}')
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return self.apply_calibration(raw) if apply_calibration else raw
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raw = {
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'head_pose': {
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'rotation': self.last_data['yaw'],
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'tilt': self.last_data['roll'],
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'pitch': self.last_data['pitch']
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},
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'temperature': self.last_data['temperature'],
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'timestamp': datetime.now().isoformat()
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}
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return self.apply_calibration(raw) if apply_calibration else raw
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except Exception as e:
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logger.error(f'IMU数据读取异常: {e}', exc_info=True)
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raw = {
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'head_pose': {
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'rotation': self.last_data['yaw'],
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'tilt': self.last_data['roll'],
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'pitch': self.last_data['pitch']
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},
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'temperature': self.last_data['temperature'],
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'timestamp': datetime.now().isoformat()
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}
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return self.apply_calibration(raw) if apply_calibration else raw
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def __del__(self):
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try:
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if self.ser and getattr(self.ser, 'is_open', False):
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self.ser.close()
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logger.info('IMU设备串口已关闭')
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except Exception:
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pass
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class MockIMUDevice:
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"""模拟IMU设备"""
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def __init__(self):
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self.noise_level = 0.1
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self.calibration_data = None # 校准数据
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self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0} # 头部姿态零点偏移
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def set_calibration(self, calibration: Dict[str, Any]):
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"""设置校准数据"""
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self.calibration_data = calibration
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if 'head_pose_offset' in calibration:
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self.head_pose_offset = calibration['head_pose_offset']
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def apply_calibration(self, raw_data: Dict[str, Any]) -> Dict[str, Any]:
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"""应用校准：将当前姿态减去初始偏移，得到相对姿态"""
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if not raw_data or 'head_pose' not in raw_data:
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return raw_data
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calibrated_data = raw_data.copy()
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head_pose = raw_data['head_pose'].copy()
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head_pose['rotation'] = head_pose['rotation'] - self.head_pose_offset['rotation']
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head_pose['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt']
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head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch']
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calibrated_data['head_pose'] = head_pose
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return calibrated_data
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def read_data(self, apply_calibration: bool = True) -> Dict[str, Any]:
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"""读取IMU数据"""
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# 生成头部姿态角度数据，角度范围(-90°, +90°)
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# 使用正弦波模拟自然的头部运动，添加随机噪声
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import time
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current_time = time.time()
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# 旋转角（左旋为负，右旋为正）
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rotation_angle = 30 * np.sin(current_time * 0.5) + np.random.normal(0, self.noise_level * 5)
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rotation_angle = np.clip(rotation_angle, -90, 90)
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# 倾斜角（左倾为负，右倾为正）
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tilt_angle = 20 * np.sin(current_time * 0.3 + np.pi/4) + np.random.normal(0, self.noise_level * 5)
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tilt_angle = np.clip(tilt_angle, -90, 90)
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# 俯仰角（俯角为负，仰角为正）
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pitch_angle = 15 * np.sin(current_time * 0.7 + np.pi/2) + np.random.normal(0, self.noise_level * 5)
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pitch_angle = np.clip(pitch_angle, -90, 90)
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# 生成原始数据
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raw_data = {
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'head_pose': {
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'rotation': rotation_angle, # 旋转角：左旋(-), 右旋(+)
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'tilt': tilt_angle, # 倾斜角：左倾(-), 右倾(+)
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'pitch': pitch_angle # 俯仰角：俯角(-), 仰角(+)
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},
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'timestamp': datetime.now().isoformat()
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}
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# 应用校准并返回
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return self.apply_calibration(raw_data) if apply_calibration else raw_data
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class BleIMUDevice:
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"""蓝牙IMU设备，基于bleak实现，解析逻辑参考tests/testblueimu.py"""
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def __init__(self, mac_address: str):
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self.mac_address = mac_address
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self.loop = None
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self.loop_thread = None
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self.client = None
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self.running = False
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self._lock = threading.Lock()
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self.disconnected_event = None
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self.calibration_data = None
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self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0}
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self.last_data = {
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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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}
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self._connected = False
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# GATT特征（参考测试脚本中的handle/short uuid）
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self._notify_char = 0x0007
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self._write_char = 0x0005
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def set_calibration(self, calibration: Dict[str, Any]):
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self.calibration_data = calibration
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||
if 'head_pose_offset' in calibration:
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self.head_pose_offset = calibration['head_pose_offset']
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|
||
def apply_calibration(self, raw_data: Dict[str, Any]) -> Dict[str, Any]:
|
||
if not raw_data or 'head_pose' not in raw_data:
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return raw_data
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||
calibrated_data = raw_data.copy()
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head_pose = raw_data['head_pose'].copy()
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# 与串口IMU保持一致：对 rotation 做归一化到 [-180, 180)
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angle = head_pose['rotation'] - self.head_pose_offset['rotation']
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head_pose['rotation'] = ((angle + 180) % 360) - 180
|
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head_pose['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt']
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head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch']
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calibrated_data['head_pose'] = head_pose
|
||
return calibrated_data
|
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def start(self):
|
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if self.running:
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return
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||
self.running = True
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self.loop_thread = threading.Thread(target=self._run_loop, daemon=True)
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self.loop_thread.start()
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def stop(self):
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self.running = False
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try:
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||
if self.loop:
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asyncio.run_coroutine_threadsafe(self._disconnect(), self.loop)
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||
except Exception:
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pass
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def read_data(self, apply_calibration: bool = True) -> Dict[str, Any]:
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||
with self._lock:
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||
raw = {
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||
'head_pose': {
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'rotation': self.last_data['yaw'], # rotation 对应航向角
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'tilt': self.last_data['pitch'], # tilt 对应横滚
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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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}
|
||
return self.apply_calibration(raw) if apply_calibration else raw
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||
def _run_loop(self):
|
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self.loop = asyncio.new_event_loop()
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asyncio.set_event_loop(self.loop)
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||
try:
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||
self.loop.run_until_complete(self._connect_and_listen())
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||
except Exception as e:
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||
logger.error(f'BLE IMU事件循环异常: {e}', exc_info=True)
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||
finally:
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||
try:
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||
if not self.loop.is_closed():
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||
self.loop.stop()
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self.loop.close()
|
||
except Exception:
|
||
pass
|
||
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||
async def _disconnect(self):
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||
try:
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||
if self.client and self.client.is_connected:
|
||
try:
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||
await self.client.stop_notify(self._notify_char)
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||
except Exception:
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||
pass
|
||
await self.client.disconnect()
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||
except Exception:
|
||
pass
|
||
|
||
async def _connect_and_listen(self):
|
||
try:
|
||
from bleak import BleakClient, BleakScanner
|
||
from bleak.backends.characteristic import BleakGATTCharacteristic
|
||
except Exception as e:
|
||
logger.error(f"未安装bleak或导入失败: {e}")
|
||
self.running = False
|
||
return
|
||
|
||
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))
|
||
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()
|
||
|
||
def _on_disconnected(_client):
|
||
logger.info("BLE IMU已断开连接")
|
||
self._connected = False
|
||
try:
|
||
self.disconnected_event.set()
|
||
except Exception:
|
||
pass
|
||
|
||
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:
|
||
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
|
||
self._connected = False
|
||
|
||
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'] = angleX*-1
|
||
self.last_data['pitch'] = angleY*-1
|
||
self.last_data['yaw'] = angleZ*-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
|
||
|
||
|
||
class IMUManager(BaseDevice):
|
||
"""IMU传感器管理器"""
|
||
|
||
def __init__(self, socketio, config_manager: Optional[ConfigManager] = None):
|
||
"""
|
||
初始化IMU管理器
|
||
|
||
Args:
|
||
socketio: SocketIO实例
|
||
config_manager: 配置管理器实例
|
||
"""
|
||
# 配置管理
|
||
self.config_manager = config_manager or ConfigManager()
|
||
config = self.config_manager.get_device_config('imu')
|
||
|
||
super().__init__("imu", config)
|
||
|
||
# 保存socketio实例
|
||
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', 'mock') # 'real' | 'mock' | 'ble'
|
||
self.use_mock = config.get('use_mock', False) # 保持向后兼容
|
||
self.mac_address = config.get('mac_address', '')
|
||
# IMU设备实例
|
||
self.imu_device = None
|
||
|
||
# 推流相关
|
||
self.imu_streaming = False
|
||
self.imu_thread = None
|
||
|
||
# 统计信息
|
||
self.data_count = 0
|
||
self.error_count = 0
|
||
|
||
# 校准相关
|
||
self.is_calibrated = False
|
||
self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0}
|
||
|
||
# 数据缓存
|
||
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}")
|
||
|
||
def initialize(self) -> bool:
|
||
"""
|
||
初始化IMU设备
|
||
|
||
Returns:
|
||
bool: 初始化是否成功
|
||
"""
|
||
try:
|
||
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}")
|
||
|
||
# 根据配置选择设备类型
|
||
if self.device_type == 'ble':
|
||
if not self.mac_address:
|
||
self.logger.error("IMU BLE设备未配置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.imu_device = BleIMUDevice(self.mac_address)
|
||
self.imu_device.start()
|
||
self.is_connected = True
|
||
elif self.device_type == 'real' or (self.device_type != 'mock' and not self.use_mock):
|
||
self.logger.info(f"使用真实IMU设备 - 端口: {self.port}, 波特率: {self.baudrate}")
|
||
self.imu_device = RealIMUDevice(self.port, self.baudrate)
|
||
|
||
# 检查真实设备是否连接成功
|
||
if self.imu_device.ser is None:
|
||
self.logger.error(f"IMU设备连接失败: 无法打开串口 {self.port}")
|
||
self.is_connected = False
|
||
self.imu_device = None
|
||
return False
|
||
self.is_connected = True
|
||
else:
|
||
self.logger.info("使用模拟IMU设备")
|
||
self.imu_device = MockIMUDevice()
|
||
self.is_connected = True
|
||
|
||
self._device_info.update({
|
||
'port': self.port,
|
||
'baudrate': self.baudrate,
|
||
'use_mock': self.use_mock,
|
||
'mac_address': self.mac_address,
|
||
})
|
||
|
||
self.logger.info("IMU初始化成功")
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"IMU初始化失败: {e}")
|
||
self.is_connected = False
|
||
self.imu_device = None
|
||
return False
|
||
|
||
def _quick_calibrate_imu(self) -> Dict[str, Any]:
|
||
"""
|
||
快速IMU零点校准（以当前姿态为基准）
|
||
|
||
Returns:
|
||
Dict[str, Any]: 校准结果
|
||
"""
|
||
try:
|
||
if not self.imu_device:
|
||
return {'status': 'error', 'error': 'IMU设备未初始化'}
|
||
|
||
self.logger.info('开始IMU快速零点校准...')
|
||
|
||
# 直接读取一次原始数据作为校准偏移量
|
||
raw_data = self.imu_device.read_data(apply_calibration=False)
|
||
if not raw_data or 'head_pose' not in raw_data:
|
||
return {'status': 'error', 'error': '无法读取IMU原始数据'}
|
||
|
||
# 使用当前姿态作为零点偏移
|
||
self.head_pose_offset = {
|
||
'rotation': raw_data['head_pose']['rotation'],
|
||
'tilt': raw_data['head_pose']['tilt'],
|
||
'pitch': raw_data['head_pose']['pitch']
|
||
}
|
||
|
||
# 应用校准到设备
|
||
calibration_data = {'head_pose_offset': self.head_pose_offset}
|
||
self.imu_device.set_calibration(calibration_data)
|
||
|
||
self.logger.info(f'IMU快速校准完成: {self.head_pose_offset}')
|
||
return {
|
||
'status': 'success',
|
||
'head_pose_offset': self.head_pose_offset
|
||
}
|
||
|
||
except Exception as e:
|
||
self.logger.error(f'IMU快速校准失败: {e}')
|
||
return {'status': 'error', 'error': str(e)}
|
||
|
||
def calibrate(self) -> bool:
|
||
"""
|
||
校准IMU传感器
|
||
|
||
Returns:
|
||
bool: 校准是否成功
|
||
"""
|
||
try:
|
||
if not self.is_connected or not self.imu_device:
|
||
if not self.initialize():
|
||
self.logger.error("IMU设备未连接")
|
||
return False
|
||
|
||
# 使用快速校准方法
|
||
result = self._quick_calibrate_imu()
|
||
|
||
if result['status'] == 'success':
|
||
self.is_calibrated = True
|
||
self.logger.info("IMU校准成功")
|
||
return True
|
||
else:
|
||
self.logger.error(f"IMU校准失败: {result.get('error', '未知错误')}")
|
||
return False
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"IMU校准失败: {e}")
|
||
return False
|
||
|
||
|
||
|
||
def start_streaming(self) -> bool:
|
||
"""
|
||
开始IMU数据流
|
||
|
||
Args:
|
||
socketio: SocketIO实例，用于数据推送
|
||
|
||
Returns:
|
||
bool: 启动是否成功
|
||
"""
|
||
try:
|
||
if not self.is_connected or not self.imu_device:
|
||
if not self.initialize():
|
||
return False
|
||
|
||
if self.imu_streaming:
|
||
self.logger.warning("IMU数据流已在运行")
|
||
return True
|
||
|
||
# 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.imu_thread = threading.Thread(target=self._imu_streaming_thread, daemon=True)
|
||
self.imu_thread.start()
|
||
|
||
self.logger.info("IMU数据流启动成功")
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"IMU数据流启动失败: {e}")
|
||
self.imu_streaming = False
|
||
return False
|
||
|
||
def stop_streaming(self) -> bool:
|
||
"""
|
||
停止IMU数据流
|
||
|
||
Returns:
|
||
bool: 停止是否成功
|
||
"""
|
||
try:
|
||
self.imu_streaming = False
|
||
|
||
if self.imu_thread and self.imu_thread.is_alive():
|
||
self.imu_thread.join(timeout=3.0)
|
||
|
||
# 停止BLE后台任务（如果是BLE设备）
|
||
try:
|
||
if isinstance(self.imu_device, BleIMUDevice):
|
||
self.imu_device.stop()
|
||
except Exception:
|
||
pass
|
||
|
||
self.logger.info("IMU数据流已停止")
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"停止IMU数据流失败: {e}")
|
||
return False
|
||
|
||
def _imu_streaming_thread(self):
|
||
"""
|
||
IMU数据流工作线程
|
||
"""
|
||
self.logger.info("IMU数据流工作线程启动")
|
||
|
||
while self.imu_streaming:
|
||
try:
|
||
if self.imu_device:
|
||
# 读取IMU数据
|
||
data = self.imu_device.read_data(apply_calibration=True)
|
||
|
||
if data:
|
||
# 缓存数据
|
||
# self.data_buffer.append(data)
|
||
# self.last_valid_data = data
|
||
|
||
# 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
|
||
else:
|
||
self.error_count += 1
|
||
|
||
time.sleep(0.02) # 50Hz采样率
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"IMU数据流处理异常: {e}")
|
||
self.error_count += 1
|
||
time.sleep(0.1)
|
||
|
||
self.logger.info("IMU数据流工作线程结束")
|
||
|
||
|
||
|
||
def get_status(self) -> Dict[str, Any]:
|
||
"""
|
||
获取设备状态
|
||
|
||
Returns:
|
||
Dict[str, Any]: 设备状态信息
|
||
"""
|
||
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,
|
||
'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': self.device_type,
|
||
'mac_address': self.mac_address
|
||
})
|
||
return status
|
||
|
||
def get_latest_data(self) -> Optional[Dict[str, float]]:
|
||
"""
|
||
获取最新的IMU数据
|
||
|
||
Returns:
|
||
Optional[Dict[str, float]]: 最新数据，无数据返回None
|
||
"""
|
||
return self.last_valid_data.copy() if self.last_valid_data else None
|
||
|
||
def collect_head_pose_data(self, duration: int = 10) -> List[Dict[str, Any]]:
|
||
"""
|
||
收集头部姿态数据
|
||
|
||
Args:
|
||
duration: 收集时长（秒）
|
||
|
||
Returns:
|
||
List[Dict[str, Any]]: 收集到的数据列表
|
||
"""
|
||
collected_data = []
|
||
|
||
if not self.is_connected or not self.imu_device:
|
||
self.logger.error("IMU设备未连接")
|
||
return collected_data
|
||
|
||
self.logger.info(f"开始收集头部姿态数据，时长: {duration}秒")
|
||
|
||
start_time = time.time()
|
||
while time.time() - start_time < duration:
|
||
try:
|
||
data = self.imu_device.read_data(apply_calibration=True)
|
||
if data:
|
||
# 添加时间戳
|
||
data['timestamp'] = time.time()
|
||
collected_data.append(data)
|
||
|
||
time.sleep(0.02) # 50Hz采样率
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"数据收集异常: {e}")
|
||
break
|
||
|
||
self.logger.info(f"头部姿态数据收集完成，共收集 {len(collected_data)} 个样本")
|
||
return collected_data
|
||
|
||
def disconnect(self):
|
||
"""
|
||
断开IMU设备连接
|
||
"""
|
||
try:
|
||
self.stop_streaming()
|
||
|
||
if self.imu_device:
|
||
self.imu_device = None
|
||
|
||
self.is_connected = False
|
||
self.logger.info("IMU设备已断开连接")
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"断开IMU设备连接失败: {e}")
|
||
|
||
def reload_config(self) -> bool:
|
||
"""
|
||
重新加载设备配置
|
||
|
||
Returns:
|
||
bool: 重新加载是否成功
|
||
"""
|
||
try:
|
||
self.logger.info("正在重新加载IMU配置...")
|
||
|
||
|
||
|
||
# 获取最新配置
|
||
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 = config.get('use_mock', False)
|
||
self.mac_address = config.get('mac_address', '')
|
||
|
||
# 更新数据缓存队列大小
|
||
buffer_size = config.get('buffer_size', 100)
|
||
if buffer_size != self.data_buffer.maxlen:
|
||
# 保存当前数据
|
||
current_data = list(self.data_buffer)
|
||
# 创建新缓冲区
|
||
self.data_buffer = deque(maxlen=buffer_size)
|
||
# 恢复数据（保留最新的数据）
|
||
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}")
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"重新加载IMU配置失败: {e}")
|
||
return False
|
||
|
||
def cleanup(self):
|
||
"""
|
||
清理资源
|
||
"""
|
||
try:
|
||
self.disconnect()
|
||
|
||
# 清理缓冲区
|
||
self.data_buffer.clear()
|
||
|
||
# 重置状态
|
||
self.is_calibrated = False
|
||
self.last_valid_data = None
|
||
self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0}
|
||
|
||
super().cleanup()
|
||
self.logger.info("IMU资源清理完成")
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"清理IMU资源失败: {e}") |