keita
6589a5215c
--auto-lock 追加0x0F发现目标自动锁定+0x10识别转跟踪(只发0x07常不锁定), --motor-on 可先开电机0x27, 指令间200ms间隔; 面板新增状态字行(s1/s2/s3、 视频源、电机、自检)便于判断吊舱实际状态; 退出汇总改为分级排查指引。 打桩验证: 序列0x27/0x07(param_x=1)/0x0F/0x10 与状态字解析均正确
254 lines
11 KiB
Python
254 lines
11 KiB
Python
"""pod_console.py —— 吊舱目标识别实时控制台(台架工具,非飞行组件)。
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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),
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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)。
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用法:
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python utils/pod_bridge/pod_console.py /dev/ttyAMA0
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python utils/pod_bridge/pod_console.py /dev/ttyAMA0 --detect drone --refresh 0.2
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python utils/pod_bridge/pod_console.py /dev/ttyAMA0 --detect drone --auto-lock
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python utils/pod_bridge/pod_console.py /dev/ttyAMA0 --duration 60 # 定时自动结束
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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
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(识别开 0x07 + 发现目标自动锁定 0x0F + 识别转跟踪 0x10),必要时 --motor-on
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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。
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说明:
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* 默认 --duration 0 表示一直运行直到 Ctrl+C;
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* 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;
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* 锁定事件取自 表2-2 状态字节1 的 bit2(规格 §2.2.2)。
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"""
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import argparse
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import sys
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import time
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from pathlib import Path
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sys.path.insert(0, str(Path(__file__).resolve().parents[1])) # utils/ 入 sys.path
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from pod_bridge.pod_serial import PodSerial # noqa: E402
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from pod_bridge.protocol import (ControlCode, ControlCommand, # noqa: E402
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TargetGeo, Telemetry, encode_control)
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# 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)
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_DETECT_PARAM_X = {"person": 0, "drone": 1}
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_TELEMETRY_NOMINAL_HZ = 60.0
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def _fmt_hhmmss(seconds: float) -> str:
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m, s = divmod(int(seconds), 60)
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return f"{m:02d}:{s:02d}"
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class LockTracker:
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"""记录锁定区间(闭合区间在 close() 时补终值)。"""
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def __init__(self):
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self.events = [] # [(start_s, end_s_or_None, laser_start, laser_last)]
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self._open = None
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def update(self, locked: bool, now_s: float, laser) -> bool:
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"""返回 True 表示本拍发生状态跳变。"""
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if locked and self._open is None:
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self._open = {"start": now_s, "laser0": laser, "laser1": laser, "n": 0}
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return True
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if locked and self._open is not None:
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self._open["n"] += 1
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if laser is not None:
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self._open["laser1"] = laser
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return False
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if not locked and self._open is not None:
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self._close(now_s)
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return True
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return False
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def _close(self, now_s: float) -> None:
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e = self._open
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self.events.append((e["start"], now_s, e["laser0"], e["laser1"], e["n"]))
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self._open = None
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def finish(self, now_s: float) -> None:
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if self._open is not None:
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self._close(now_s)
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@property
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def open_start(self):
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return self._open["start"] if self._open else None
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@property
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def open_duration(self) -> float:
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return 0.0 if self._open is None else 0.0
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def _render(status_lines: list, tty: bool) -> None:
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if tty:
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sys.stdout.write("\x1b[2J\x1b[H")
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sys.stdout.write("\n".join(status_lines) + "\n")
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sys.stdout.flush()
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def main() -> int:
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ap = argparse.ArgumentParser(description="吊舱目标识别实时控制台")
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ap.add_argument("port", nargs="?", default="/dev/ttyAMA0", help="串口设备号")
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ap.add_argument("--baud", type=int, default=115200)
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ap.add_argument("--refresh", type=float, default=0.2, help="刷新周期(秒)")
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ap.add_argument("--duration", type=float, default=0.0,
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help="运行时长(秒);0 表示一直跑到 Ctrl+C")
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ap.add_argument("--detect", choices=sorted(_DETECT_PARAM_X),
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help="启动时下发 目标识别开(0x07)")
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ap.add_argument("--auto-lock", action="store_true",
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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)")
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ap.add_argument("--motor-on", action="store_true",
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help="启动时先下发 开电机(0x27)")
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args = ap.parse_args()
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pod = PodSerial(args.port, args.baud)
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def _send(code, **params):
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pod.send(encode_control(ControlCommand(code=code, **params)))
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time.sleep(0.2) # 吊舱处理指令需要时间,连续下发间隔 200ms
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print(f"[send] 0x{int(code):02X} {params or ''}")
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if args.motor_on:
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_send(ControlCode.MOTOR_ON) # 0x27 开电机
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if args.detect:
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_send(ControlCode.TARGET_DETECT_ON, # 0x07 目标识别开
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param_x=_DETECT_PARAM_X[args.detect])
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if args.auto_lock:
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_send(ControlCode.AUTO_LOCK_ON_FOUND) # 0x0F 发现目标自动锁定
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_send(ControlCode.DETECT_TO_TRACK) # 0x10 识别转跟踪
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elif args.detect:
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print("[提示] 只开了识别(0x07)可能仍不锁定,可加 --auto-lock 追加 0x0F/0x10")
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tty = sys.stdout.isatty()
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t0 = time.monotonic()
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last_render = 0.0
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last_tele_stamp = t0
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rate_hz = 0.0
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n_tele = n_tgt = 0
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latest_tgt = None
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latest = None # 最近一帧遥测
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tracker = LockTracker()
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recent = [] # 最近事件行(屏幕滚动区)
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print(f"[pod-console] {args.port} @ {args.baud} 8N1,运行中 ... Ctrl+C 退出")
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if args.detect:
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print(f"[pod-console] 已下发 目标识别开(0x07,参数X={_DETECT_PARAM_X[args.detect]})")
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try:
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while True:
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now_s = time.monotonic() - t0
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if args.duration > 0 and now_s >= args.duration:
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break
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try:
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frames = pod.poll()
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except OSError as exc:
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print(f"\n[pod-console] 链路中断: {exc}")
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print("[pod-console] 排查:串口控制台占用(serial-getty)/"
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"mini-UART 不稳 → 换 PL011 或 USB 转串口")
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return 1
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for frame in frames:
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if isinstance(frame, Telemetry):
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n_tele += 1
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latest = frame
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dt = time.monotonic() - last_tele_stamp
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last_tele_stamp = time.monotonic()
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if dt > 0:
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rate_hz = 1.0 / dt
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if tracker.update(frame.is_target_locked, now_s,
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frame.laser_range_m):
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tag = "锁定" if frame.is_target_locked else "解锁"
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line = f"{_fmt_hhmmss(now_s)} {tag}"
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recent.append(line)
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if not tty: # 重定向到文件时保留事件流水
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print(f"[事件] {line}")
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elif isinstance(frame, TargetGeo):
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n_tgt += 1
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latest_tgt = (frame, now_s)
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if now_s - last_render >= args.refresh:
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last_render = now_s
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lock_txt = "否"
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if tracker.open_start is not None:
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lock_txt = f"是(已锁定 {now_s - tracker.open_start:.1f}s)"
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laser = "-" if latest is None or latest.laser_range_m is None \
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else f"{latest.laser_range_m:.1f} m"
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off = "-, -" if latest is None else \
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f"{latest.off_target_x_deg:+.2f}°, {latest.off_target_y_deg:+.2f}°"
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frame_ang = "-" if latest is None else \
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(f"{latest.frame_roll_deg:+.2f}, {latest.frame_pitch_deg:+.2f}, "
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f"{latest.frame_yaw_deg:+.2f}")
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if latest is not None:
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st = (f"状态字 s1=0x{latest.status1:02X} s2=0x{latest.status2:02X} "
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f"s3=0x{latest.status3:02X} | 视频源={latest.track_source} "
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f"电机={'开' if latest.motor_on else '关'} "
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f"自检=0x{latest.self_check:02X}")
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else:
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st = "状态字: 尚无遥测"
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tgt_txt = "无"
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if latest_tgt is not None:
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g, ts = latest_tgt
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tgt_txt = (f"lat={g.latitude_deg:.7f} lon={g.longitude_deg:.7f} "
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f"({ts:.0f}s)")
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lines = [
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f"[pod-console] {args.port} | 运行 {now_s:.1f}s | "
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f"遥测 {n_tele} 帧 ({rate_hz:.1f}Hz,标称 {_TELEMETRY_NOMINAL_HZ:.0f}) "
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f"| 目标帧 {n_tgt}",
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f" 锁定: {lock_txt}",
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f" 激光: {laser}",
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f" 脱靶量(X,Y): {off} 框架角(R,P,Y): {frame_ang}",
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f" {st}",
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f" 最近目标: {tgt_txt}",
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f" 锁定次数: {len(tracker.events)}"
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+ (f"(进行中第 {len(tracker.events) + 1} 次)"
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if tracker.open_start is not None else ""),
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" " + (" | ".join(recent[-6:]) if recent else "尚无锁定事件"),
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" Ctrl+C 退出并输出汇总",
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]
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_render(lines, tty)
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time.sleep(0.002)
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except KeyboardInterrupt:
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pass
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finally:
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now_s = time.monotonic() - t0
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tracker.finish(now_s)
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try:
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pod.close()
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except OSError:
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pass
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# ---- 退出汇总 ----
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total = sum((e[1] - e[0]) for e in tracker.events)
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print("\n==== 本次运行汇总 ====")
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print(f"时长 {now_s:.1f}s | 遥测 {n_tele} 帧 "
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f"({n_tele / now_s:.1f}Hz 均值) | 目标帧 {n_tgt}")
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print(f"锁定事件 {len(tracker.events)} 次")
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if not tracker.events:
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print(" 未出现锁定,排查顺序:")
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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)")
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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")
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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")
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print(" 4) 手动试探:send_control.py --code AUTO_LOCK_ON_FOUND / DETECT_TO_TRACK")
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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)")
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else:
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for i, (s, e, l0, l1, n) in enumerate(tracker.events, 1):
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lz = "-"
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if l0 is not None or l1 is not None:
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a = "-" if l0 is None else f"{l0:.1f}"
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b = "-" if l1 is None else f"{l1:.1f}"
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lz = f"{a}→{b} m"
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print(f" #{i} {_fmt_hhmmss(s)} → {_fmt_hhmmss(e)} "
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f"({e - s:.1f}s, {n} 帧, 激光 {lz})")
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pct = total / now_s * 100 if now_s > 0 else 0.0
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longest = max(tracker.events, key=lambda x: x[1] - x[0])
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print(f"累计锁定 {total:.1f}s(占比 {pct:.1f}%) | "
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f"最长一次 {longest[1] - longest[0]:.1f}s")
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return 0
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if __name__ == "__main__":
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sys.exit(main())
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