精简仓库结构并增强任务链路：归档双目可选后端、新增LOS判据与自定义返航
归档 legacy/：stereo_yolo/stereo_ranger/target_tracker 三包 + 175 条测试 + demo/配置/权重/三份规格；运行链路不再依赖，默认 pytest 446 条，归档测试按需运行。 目标有效性第二判据改为 LOS 运动学一致性（pod_bridge/los_consistency.py），删除 require_vision；pod_locked() 叠加该判据，状态机随之后退重搜。 自定义返航（task_runner/return_home.py）：保持转场高度回起飞点 → 恢复初始航向 → 垂直降落，不再爬 RTL_RETURN_ALT；未起飞/无起飞点/超时/异常仍退回 PX4 原生 RTL。 任务链安全兜底：主循环异常→紧急返航、stop 幂等、landing_stop 保留遥测、in_air 流复用+超时、解锁/起飞与吊舱识别仅执行一次、rtl_timeout 上限。 入口共享件拆到 utils/sitl_support.py；pod_sitl_test.py→l1_sitl_test.py；删除旧架构 test.py；相机脚本移入 tools/。 新增 .gitignore 并剔除历史误跟踪的 59 个 .pyc；requirements 按实际依赖重写；文档全面对齐，新增 legacy/README.md 与 tools/README.md。
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keita
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"""video_source.py —— 吊舱 RTSP 视频源（服务端拉流 → MJPEG 推流）。
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浏览器不能直连 RTSP，由本模块在服务端用 OpenCV 拉流、编码 JPEG 帧缓存，
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页面经 `/video_feed`（multipart/x-mixed-replace）显示实时画面。
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设计要点：
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* cv2 延迟导入：模块 import 无副作用，无 OpenCV 环境也能 import；
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capture_factory 可注入假采集器 → 单测不依赖真实摄像头/网络；
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* 断线自动重连（读帧失败 → 释放 → 退避重试）；
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* 抽帧节流 + 降分辨率：1080p60 全量转 JPEG 带宽/CPU 吃不消（默认 960 宽、≤15fps）。
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"""
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import logging
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import threading
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import time
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logger = logging.getLogger(__name__)
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_IDLE_RESEND_S = 2.0 # 无新帧时重发当前帧作保活（浏览器挂住连接）
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class RtspVideoSource:
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"""后台线程拉 RTSP，维护最新 JPEG 帧供 MJPEG 消费。"""
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def __init__(self, url: str, width: int = 960, fps: float = 15.0,
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quality: int = 75, capture_factory=None) -> None:
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self._url = url
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self._width = int(width)
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self._min_interval = 1.0 / max(1.0, float(fps))
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self._quality = int(quality)
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self._capture_factory = capture_factory
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self._lock = threading.Lock()
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self._frame = None # 最新 JPEG bytes
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self._frame_seq = 0
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self._frame_at = 0.0 # 最新帧时间（monotonic）
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self._stop = threading.Event()
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self._thread = None
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# --- 生命周期 -----------------------------------------------------------
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def start(self) -> None:
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if self._thread is not None and self._thread.is_alive():
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return
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self._stop.clear()
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self._thread = threading.Thread(target=self._run, name="rtsp-video",
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daemon=True)
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self._thread.start()
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def stop(self) -> None:
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self._stop.set()
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thread, self._thread = self._thread, None
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if thread is not None:
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thread.join(timeout=3.0)
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@property
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def online(self) -> bool:
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"""最近 2s 内有新帧 → 在线（用于页面状态显示）。"""
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with self._lock:
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return (self._frame is not None
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and (time.monotonic() - self._frame_at) < 2.0)
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def latest(self) -> tuple[int, bytes | None]:
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"""返回 (seq, jpeg)；尚无帧时 (0, None)。"""
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with self._lock:
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return self._frame_seq, self._frame
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def mjpeg_stream(self):
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"""MJPEG 生成器（multipart 分块）；客户端断开时随 GeneratorExit 终止。"""
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last_seq = -1
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last_send = 0.0
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while not self._stop.is_set():
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seq, jpeg = self.latest()
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now = time.monotonic()
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if jpeg is not None and (seq != last_seq
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or now - last_send > _IDLE_RESEND_S):
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last_seq = seq
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last_send = now
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yield (b"--frame\r\nContent-Type: image/jpeg\r\n"
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+ f"Content-Length: {len(jpeg)}\r\n\r\n".encode("ascii")
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+ jpeg + b"\r\n")
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time.sleep(1.0 / 30.0)
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# --- 拉流线程 -----------------------------------------------------------
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def _open(self):
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if self._capture_factory is not None:
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return self._capture_factory()
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import cv2 # 延迟导入：仅真正拉流时依赖 OpenCV
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return cv2.VideoCapture(self._url, cv2.CAP_FFMPEG)
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def _run(self) -> None:
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import os
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# stimeout：RTSP socket 超时（µs）。不设的话断网时单次 open 会阻塞 ~30s，
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# 影响重连节奏（实测 2026-10-14）。
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os.environ.setdefault("OPENCV_FFMPEG_CAPTURE_OPTIONS",
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"rtsp_transport;tcp|stimeout;5000000")
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import cv2
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cap = None
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last_encode = 0.0
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try:
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while not self._stop.is_set():
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if cap is None or not cap.isOpened():
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if cap is not None:
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try:
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cap.release()
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except Exception:
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pass
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cap = None
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cap = self._open()
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if not cap.isOpened():
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logger.warning("[Video] RTSP 打开失败，1s 后重试: %s",
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self._url)
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self._stop.wait(1.0)
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continue
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logger.info("[Video] RTSP 已连接: %s", self._url)
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last_encode = 0.0
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ok, frame = cap.read()
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if not ok or frame is None:
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logger.warning("[Video] 读帧失败，重连")
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try:
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cap.release()
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except Exception:
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pass
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cap = None
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self._stop.wait(0.5)
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continue
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now = time.monotonic()
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if now - last_encode < self._min_interval:
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continue # 抽帧节流：60fps 源 → ≤fps 编码
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last_encode = now
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h, w = frame.shape[:2]
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if w > self._width:
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scale = self._width / w
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frame = cv2.resize(
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frame, (self._width, max(1, int(h * scale))),
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interpolation=cv2.INTER_AREA)
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ok, buf = cv2.imencode(
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".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, self._quality])
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if not ok:
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continue
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with self._lock:
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self._frame = buf.tobytes()
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self._frame_seq += 1
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self._frame_at = time.monotonic()
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finally:
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if cap is not None:
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try:
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cap.release()
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except Exception:
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pass
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