"""pod_console.py —— 吊舱目标识别实时控制台(台架工具,非飞行组件)。 持续刷新显示吊舱当前状态(锁定/激光/脱靶量/框架角/目标经纬度与帧率), Ctrl+C 退出;退出时打印本次运行的锁定事件汇总(含每次锁定的起止与时长)。 用法: python utils/pod_bridge/pod_console.py /dev/ttyAMA0 python utils/pod_bridge/pod_console.py /dev/ttyAMA0 --detect drone --refresh 0.2 python utils/pod_bridge/pod_console.py /dev/ttyAMA0 --detect drone --auto-lock python utils/pod_bridge/pod_console.py /dev/ttyAMA0 --duration 60 # 定时自动结束 锁定不起来时的排查:先看面板「状态字」行(电机/自检/视频源),再试 --auto-lock (识别开 0x07 + 发现目标自动锁定 0x0F + 识别转跟踪 0x10),必要时 --motor-on 先开电机(0x27)。协议上「识别」与「跟踪」是两个阶段,只开识别常不锁定。 说明: * 默认 --duration 0 表示一直运行直到 Ctrl+C; * 终端(TTY)下清屏刷新,输出重定向到文件时改为逐次追加,便于留存日志; * 锁定事件取自 表2-2 状态字节1 的 bit2(规格 §2.2.2)。 """ import argparse import sys import time from pathlib import Path sys.path.insert(0, str(Path(__file__).resolve().parents[1])) # utils/ 入 sys.path from pod_bridge.pod_serial import PodSerial # noqa: E402 from pod_bridge.protocol import (ControlCode, ControlCommand, # noqa: E402 TargetGeo, Telemetry, encode_control) # 表2-1 0x07 目标识别开:参数X 0=检测人或车,1=检测无人机(规格 §2.2.1) _DETECT_PARAM_X = {"person": 0, "drone": 1} _TELEMETRY_NOMINAL_HZ = 60.0 def _fmt_hhmmss(seconds: float) -> str: m, s = divmod(int(seconds), 60) return f"{m:02d}:{s:02d}" class LockTracker: """记录锁定区间(闭合区间在 close() 时补终值)。""" def __init__(self): self.events = [] # [(start_s, end_s_or_None, laser_start, laser_last)] self._open = None def update(self, locked: bool, now_s: float, laser) -> bool: """返回 True 表示本拍发生状态跳变。""" if locked and self._open is None: self._open = {"start": now_s, "laser0": laser, "laser1": laser, "n": 0} return True if locked and self._open is not None: self._open["n"] += 1 if laser is not None: self._open["laser1"] = laser return False if not locked and self._open is not None: self._close(now_s) return True return False def _close(self, now_s: float) -> None: e = self._open self.events.append((e["start"], now_s, e["laser0"], e["laser1"], e["n"])) self._open = None def finish(self, now_s: float) -> None: if self._open is not None: self._close(now_s) @property def open_start(self): return self._open["start"] if self._open else None @property def open_duration(self) -> float: return 0.0 if self._open is None else 0.0 def _render(status_lines: list, tty: bool) -> None: if tty: sys.stdout.write("\x1b[2J\x1b[H") sys.stdout.write("\n".join(status_lines) + "\n") sys.stdout.flush() def main() -> int: ap = argparse.ArgumentParser(description="吊舱目标识别实时控制台") ap.add_argument("port", nargs="?", default="/dev/ttyAMA0", help="串口设备号") ap.add_argument("--baud", type=int, default=115200) ap.add_argument("--refresh", type=float, default=0.2, help="刷新周期(秒)") ap.add_argument("--duration", type=float, default=0.0, help="运行时长(秒);0 表示一直跑到 Ctrl+C") ap.add_argument("--detect", choices=sorted(_DETECT_PARAM_X), help="启动时下发 目标识别开(0x07)") ap.add_argument("--auto-lock", action="store_true", help="在识别开之后追加 发现目标自动锁定(0x0F)与 识别转跟踪(0x10)") ap.add_argument("--motor-on", action="store_true", help="启动时先下发 开电机(0x27)") args = ap.parse_args() pod = PodSerial(args.port, args.baud) def _send(code, **params): pod.send(encode_control(ControlCommand(code=code, **params))) time.sleep(0.2) # 吊舱处理指令需要时间,连续下发间隔 200ms print(f"[send] 0x{int(code):02X} {params or ''}") if args.motor_on: _send(ControlCode.MOTOR_ON) # 0x27 开电机 if args.detect: _send(ControlCode.TARGET_DETECT_ON, # 0x07 目标识别开 param_x=_DETECT_PARAM_X[args.detect]) if args.auto_lock: _send(ControlCode.AUTO_LOCK_ON_FOUND) # 0x0F 发现目标自动锁定 _send(ControlCode.DETECT_TO_TRACK) # 0x10 识别转跟踪 elif args.detect: print("[提示] 只开了识别(0x07)可能仍不锁定,可加 --auto-lock 追加 0x0F/0x10") tty = sys.stdout.isatty() t0 = time.monotonic() last_render = 0.0 last_tele_stamp = t0 rate_hz = 0.0 n_tele = n_tgt = 0 latest_tgt = None latest = None # 最近一帧遥测 tracker = LockTracker() recent = [] # 最近事件行(屏幕滚动区) print(f"[pod-console] {args.port} @ {args.baud} 8N1,运行中 ... Ctrl+C 退出") if args.detect: print(f"[pod-console] 已下发 目标识别开(0x07,参数X={_DETECT_PARAM_X[args.detect]})") try: while True: now_s = time.monotonic() - t0 if args.duration > 0 and now_s >= args.duration: break try: frames = pod.poll() except OSError as exc: print(f"\n[pod-console] 链路中断: {exc}") print("[pod-console] 排查:串口控制台占用(serial-getty)/" "mini-UART 不稳 → 换 PL011 或 USB 转串口") return 1 for frame in frames: if isinstance(frame, Telemetry): n_tele += 1 latest = frame dt = time.monotonic() - last_tele_stamp last_tele_stamp = time.monotonic() if dt > 0: rate_hz = 1.0 / dt if tracker.update(frame.is_target_locked, now_s, frame.laser_range_m): tag = "锁定" if frame.is_target_locked else "解锁" line = f"{_fmt_hhmmss(now_s)} {tag}" recent.append(line) if not tty: # 重定向到文件时保留事件流水 print(f"[事件] {line}") elif isinstance(frame, TargetGeo): n_tgt += 1 latest_tgt = (frame, now_s) if now_s - last_render >= args.refresh: last_render = now_s lock_txt = "否" if tracker.open_start is not None: lock_txt = f"是(已锁定 {now_s - tracker.open_start:.1f}s)" laser = "-" if latest is None or latest.laser_range_m is None \ else f"{latest.laser_range_m:.1f} m" off = "-, -" if latest is None else \ f"{latest.off_target_x_deg:+.2f}°, {latest.off_target_y_deg:+.2f}°" frame_ang = "-" if latest is None else \ (f"{latest.frame_roll_deg:+.2f}, {latest.frame_pitch_deg:+.2f}, " f"{latest.frame_yaw_deg:+.2f}") if latest is not None: st = (f"状态字 s1=0x{latest.status1:02X} s2=0x{latest.status2:02X} " f"s3=0x{latest.status3:02X} | 视频源={latest.track_source} " f"电机={'开' if latest.motor_on else '关'} " f"自检=0x{latest.self_check:02X}") else: st = "状态字: 尚无遥测" tgt_txt = "无" if latest_tgt is not None: g, ts = latest_tgt tgt_txt = (f"lat={g.latitude_deg:.7f} lon={g.longitude_deg:.7f} " f"({ts:.0f}s)") lines = [ f"[pod-console] {args.port} | 运行 {now_s:.1f}s | " f"遥测 {n_tele} 帧 ({rate_hz:.1f}Hz,标称 {_TELEMETRY_NOMINAL_HZ:.0f}) " f"| 目标帧 {n_tgt}", f" 锁定: {lock_txt}", f" 激光: {laser}", f" 脱靶量(X,Y): {off} 框架角(R,P,Y): {frame_ang}", f" {st}", f" 最近目标: {tgt_txt}", f" 锁定次数: {len(tracker.events)}" + (f"(进行中第 {len(tracker.events) + 1} 次)" if tracker.open_start is not None else ""), " " + (" | ".join(recent[-6:]) if recent else "尚无锁定事件"), " Ctrl+C 退出并输出汇总", ] _render(lines, tty) time.sleep(0.002) except KeyboardInterrupt: pass finally: now_s = time.monotonic() - t0 tracker.finish(now_s) try: pod.close() except OSError: pass # ---- 退出汇总 ---- total = sum((e[1] - e[0]) for e in tracker.events) print("\n==== 本次运行汇总 ====") print(f"时长 {now_s:.1f}s | 遥测 {n_tele} 帧 " f"({n_tele / now_s:.1f}Hz 均值) | 目标帧 {n_tgt}") print(f"锁定事件 {len(tracker.events)} 次") if not tracker.events: print(" 未出现锁定,排查顺序:") print(" 1) 视场内是否有目标、识别类型是否匹配(--detect person / drone,对应 0x07 参数X 0/1)") print(" 2) 加 --auto-lock:协议上「识别」与「跟踪」是两个阶段,只发 0x07 常不锁定") print(" 3) 看面板「状态字」行:电机是否为开(否则 --motor-on 发 0x27)、自检是否异常") print(" 4) 手动试探:send_control.py --code AUTO_LOCK_ON_FOUND / DETECT_TO_TRACK") print(" 5) 仍不锁定则确认吊舱是否已进入可跟踪模式(镜头/变焦/抗遮挡等)") else: for i, (s, e, l0, l1, n) in enumerate(tracker.events, 1): lz = "-" if l0 is not None or l1 is not None: a = "-" if l0 is None else f"{l0:.1f}" b = "-" if l1 is None else f"{l1:.1f}" lz = f"{a}→{b} m" print(f" #{i} {_fmt_hhmmss(s)} → {_fmt_hhmmss(e)} " f"({e - s:.1f}s, {n} 帧, 激光 {lz})") pct = total / now_s * 100 if now_s > 0 else 0.0 longest = max(tracker.events, key=lambda x: x[1] - x[0]) print(f"累计锁定 {total:.1f}s(占比 {pct:.1f}%) | " f"最长一次 {longest[1] - longest[0]:.1f}s") return 0 if __name__ == "__main__": sys.exit(main())