689 lines
24 KiB
Python
689 lines
24 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 threading
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import time
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from typing import Optional, Dict, Any
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import logging
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from collections import deque
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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.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.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 BleIMUDevice:
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"""蓝牙IMU设备（WitMotion WT9011DCL-BT50），基于 device_model.py 官方接口"""
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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.running = False
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self._lock = threading.Lock()
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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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self._device_model = None
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self._open_task = None
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try:
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from . import device_model as wit_device_model
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except Exception:
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import device_model as wit_device_model
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self._wit_device_model = wit_device_model
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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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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'] = round(((angle + 180) % 360) - 180,1)
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head_pose['tilt'] = round(head_pose['tilt'] - self.head_pose_offset['tilt'],1)
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head_pose['pitch'] = round(head_pose['pitch'] - self.head_pose_offset['pitch'],1)
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calibrated_data['head_pose'] = head_pose
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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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}
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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 asyncio.CancelledError:
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pass
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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()
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except Exception:
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pass
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def _on_device_update(self, dm):
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try:
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roll = dm.get("AngX")
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pitch = dm.get("AngY")
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yaw = dm.get("AngZ")
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if roll is None or pitch is None or yaw is None:
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return
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with self._lock:
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self.last_data['roll'] = float(roll)
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self.last_data['pitch'] = float(pitch)
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self.last_data['yaw'] = float(yaw)
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except Exception:
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pass
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async def _disconnect(self):
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try:
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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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except Exception:
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pass
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if self._open_task is not None and not self._open_task.done():
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self._open_task.cancel()
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try:
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await self._open_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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finally:
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self._open_task = None
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self._device_model = None
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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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except Exception as e:
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logger.error(f"未安装bleak或导入失败: {e}")
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self.running = False
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return
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while self.running:
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try:
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try:
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device = await BleakScanner.find_device_by_address(self.mac_address, timeout=20.0)
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except TypeError:
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device = await BleakScanner.find_device_by_address(self.mac_address, cb=dict(use_bdaddr=False))
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if device is None:
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await asyncio.sleep(2.0)
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continue
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self._device_model = self._wit_device_model.DeviceModel("WitMotionBle5.0", device, self._on_device_update)
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self._open_task = asyncio.create_task(self._device_model.openDevice())
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connected = False
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for _ in range(50):
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if not self.running:
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break
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if self._open_task.done():
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break
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client = getattr(self._device_model, "client", None)
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if client is not None and getattr(client, "is_connected", False):
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connected = True
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break
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await asyncio.sleep(0.2)
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self._connected = connected
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if not connected:
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await self._disconnect()
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self._connected = False
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await asyncio.sleep(2.0)
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continue
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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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await self._disconnect()
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self._connected = False
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except asyncio.CancelledError:
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break
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except Exception as e:
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logger.error(f"BLE IMU连接/监听失败: {e}", exc_info=True)
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self._connected = False
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await asyncio.sleep(2.0)
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@property
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def connected(self) -> bool:
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return self._connected
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class MockIMUDevice:
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def __init__(self):
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self.running = False
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self.thread = None
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self._lock = threading.Lock()
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self._connected = False
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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._phase = 0.0
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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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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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angle = head_pose['rotation'] - self.head_pose_offset['rotation']
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head_pose['rotation'] = round(((angle + 180) % 360) - 180, 1)
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head_pose['tilt'] = round(head_pose['tilt'] - self.head_pose_offset['tilt'], 1)
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head_pose['pitch'] = round(head_pose['pitch'] - self.head_pose_offset['pitch'], 1)
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calibrated_data['head_pose'] = head_pose
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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._connected = True
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self.thread = threading.Thread(target=self._run_loop, daemon=True)
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self.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.thread and self.thread.is_alive():
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self.thread.join(timeout=2.0)
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except Exception:
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pass
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self._connected = False
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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'],
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'tilt': self.last_data['pitch'],
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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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}
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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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# 模拟IMU设备的后台数据生成线程（约60Hz），输出平滑变化的姿态与温度
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import math
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try:
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while self.running:
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# 相位累加，用于驱动正弦/余弦波形
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self._phase += 0.05
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# 航向角（yaw，左右旋转），幅度约±30°
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yaw = math.sin(self._phase * 0.6) * 30.0
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# yaw = 0
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# 俯仰角（pitch，上下点头），幅度约±10°
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pitch = math.sin(self._phase) * 5.0
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# pitch = 0
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# 横滚角（roll，左右侧倾），幅度约±8°
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roll = math.cos(self._phase * 0.8) * 5.0
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# roll = 0
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# 写入最新数据，使用1位或2位小数以模拟设备精度
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with self._lock:
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self.last_data['yaw'] = round(yaw, 1)
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self.last_data['pitch'] = round(pitch, 1)
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self.last_data['roll'] = round(roll, 1)
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# 温度模拟：以25℃为基准，叠加±0.5℃的轻微波动
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self.last_data['temperature'] = round(25.0 + math.sin(self._phase * 0.2) * 0.5, 2)
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# 控制输出频率为约60Hz
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time.sleep(1.0 / 30.0)
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except Exception:
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# 忽略模拟线程异常，避免影响主流程
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pass
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@property
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def connected(self) -> bool:
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return self._connected
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class IMUManager(BaseDevice):
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"""IMU传感器管理器"""
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def __init__(self, socketio, config_manager: Optional[ConfigManager] = None):
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"""
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初始化IMU管理器
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Args:
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socketio: SocketIO实例
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config_manager: 配置管理器实例
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"""
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# 配置管理
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self.config_manager = config_manager or ConfigManager()
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config = self.config_manager.get_device_config('imu')
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super().__init__("imu", config)
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# 保存socketio实例
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self._socketio = socketio
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# 设备配置
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self.use_mock = bool(config.get('use_mock', False))
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self.mac_address = config.get('mac_address', '')
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# IMU设备实例
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self.imu_device = None
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# 推流相关
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self.imu_streaming = False
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self.imu_thread = None
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# 统计信息
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self.data_count = 0
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self.error_count = 0
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# 校准相关
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self.is_calibrated = False
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self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0}
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# 数据缓存
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self.data_buffer = deque(maxlen=100)
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self.last_valid_data = None
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self.logger.info(f"IMU管理器初始化完成 - use_mock: {self.use_mock}, MAC: {self.mac_address}")
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def initialize(self) -> bool:
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"""
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初始化IMU设备
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Returns:
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bool: 初始化是否成功
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"""
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try:
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self.logger.info(f"正在初始化IMU设备...")
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# 使用构造函数中已加载的配置，避免并发读取配置文件
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self.logger.info(f"使用已加载配置: use_mock={self.use_mock}, mac={self.mac_address}")
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# 根据配置选择设备类型
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if not self.use_mock:
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if not self.mac_address:
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self.logger.error("IMU BLE设备未配置MAC地址")
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self.is_connected = False
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return False
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self.logger.info(f"使用蓝牙IMU设备 - MAC: {self.mac_address}")
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self.imu_device = BleIMUDevice(self.mac_address)
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self.imu_device.start()
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# 使用set_connected方法来正确启动连接监控线程
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self.set_connected(True)
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else:
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self.logger.info("使用模拟IMU设备")
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self.imu_device = MockIMUDevice()
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self.imu_device.start()
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# 使用set_connected方法来正确启动连接监控线程
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self.set_connected(True)
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self._device_info.update({
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'mac_address': self.mac_address,
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})
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self.logger.info("IMU初始化成功")
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return True
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except Exception as e:
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self.logger.error(f"IMU初始化失败: {e}")
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self.is_connected = False
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self.imu_device = None
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return False
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def _quick_calibrate_imu(self) -> Dict[str, Any]:
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"""
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快速IMU零点校准（以当前姿态为基准）
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Returns:
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Dict[str, Any]: 校准结果
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"""
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try:
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if not self.imu_device:
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return {'status': 'error', 'error': 'IMU设备未初始化'}
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self.logger.info('开始IMU快速零点校准...')
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# 直接读取一次原始数据作为校准偏移量
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raw_data = self.imu_device.read_data(apply_calibration=False)
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if not raw_data or 'head_pose' not in raw_data:
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return {'status': 'error', 'error': '无法读取IMU原始数据'}
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# 使用当前姿态作为零点偏移
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self.head_pose_offset = {
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'rotation': raw_data['head_pose']['rotation'],
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'tilt': raw_data['head_pose']['tilt'],
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'pitch': raw_data['head_pose']['pitch']
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}
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# 应用校准到设备
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calibration_data = {'head_pose_offset': self.head_pose_offset}
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self.imu_device.set_calibration(calibration_data)
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self.logger.info(f'IMU快速校准完成: {self.head_pose_offset}')
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return {
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'status': 'success',
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'head_pose_offset': self.head_pose_offset
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}
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except Exception as e:
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self.logger.error(f'IMU快速校准失败: {e}')
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return {'status': 'error', 'error': str(e)}
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def calibrate(self) -> bool:
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"""
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校准IMU传感器
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Returns:
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bool: 校准是否成功
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"""
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try:
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if not self.is_connected or not self.imu_device:
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if not self.initialize():
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self.logger.error("IMU设备未连接")
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return False
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# 使用快速校准方法
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result = self._quick_calibrate_imu()
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if result['status'] == 'success':
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self.is_calibrated = True
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self.logger.info("IMU校准成功")
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return True
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else:
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self.logger.error(f"IMU校准失败: {result.get('error', '未知错误')}")
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return False
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except Exception as e:
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self.logger.error(f"IMU校准失败: {e}")
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return False
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def start_streaming(self) -> bool:
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"""
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开始IMU数据流
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Args:
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socketio: SocketIO实例，用于数据推送
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Returns:
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bool: 启动是否成功
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"""
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try:
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if not self.is_connected or not self.imu_device:
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if not self.initialize():
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return False
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if self.imu_streaming:
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self.logger.warning("IMU数据流已在运行")
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return True
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# 启动前进行快速校准
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if not self.is_calibrated:
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self.logger.info("启动前进行快速零点校准...")
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self._quick_calibrate_imu()
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self.imu_streaming = True
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self.imu_thread = threading.Thread(target=self._imu_streaming_thread, daemon=True)
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self.imu_thread.start()
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self.logger.info("IMU数据流启动成功")
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return True
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except Exception as e:
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self.logger.error(f"IMU数据流启动失败: {e}")
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self.imu_streaming = False
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return False
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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:
|
||
# 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({
|
||
'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': 'mock' if self.use_mock else 'ble',
|
||
'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 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.use_mock = bool(config.get('use_mock', False))
|
||
self.mac_address = config.get('mac_address', '')
|
||
|
||
# 更新数据缓存队列大小
|
||
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 - use_mock: {self.use_mock}, 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 check_hardware_connection(self) -> bool:
|
||
"""
|
||
检查IMU硬件连接状态
|
||
"""
|
||
try:
|
||
if not self.imu_device:
|
||
return False
|
||
|
||
if hasattr(self.imu_device, 'connected'):
|
||
return bool(getattr(self.imu_device, 'connected'))
|
||
|
||
if hasattr(self.imu_device, 'ser') and getattr(self.imu_device, 'ser', None):
|
||
if not self.imu_device.ser.is_open:
|
||
return False
|
||
try:
|
||
original_timeout = self.imu_device.ser.timeout
|
||
self.imu_device.ser.timeout = 0.1
|
||
self.imu_device.ser.read(1)
|
||
self.imu_device.ser.timeout = original_timeout
|
||
return True
|
||
except Exception:
|
||
return False
|
||
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.debug(f"检查IMU硬件连接时出错: {e}")
|
||
return False
|
||
|
||
def cleanup(self):
|
||
"""
|
||
清理资源
|
||
"""
|
||
try:
|
||
# 停止连接监控
|
||
self._cleanup_monitoring()
|
||
|
||
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}")
|