add:倒车辅助线

bash/close_shell.sh

@@ -10,5 +10,5 @@ do
     echo kill${pid}
     kill -9 $pid
     echo kill${pid}success
-    sleep 1
+    sleep 0.1
 done

surround_config.json

@@ -1,8 +1,8 @@
 {
   "carousel_interval": 4,
   "brightness": 50,
-  "radar_unit": 1,
+  "radar_unit": 0,
   "show_radar": 1,
-  "radar_alarm_dist": 5,
+  "radar_alarm_dist": 15,
   "display_mode": 0
 }

web.py

@@ -228,7 +228,7 @@ class SerialWorker(threading.Thread):
 
 
     def _parse_rx_frame(self, frame):
-        # print("[串口1 RX] " + " ".join("{:02X}".format(b) for b in frame))
+
         if len(frame) != 10 or frame[0] != 0x55 or frame[9] != 0xAA:
             return
         front = frame[1]; left  = frame[2]
@@ -266,7 +266,6 @@ class SerialWorker(threading.Thread):
             while self.running:
                 try:
                     frame = self._build_tx_frame()
-                    print("[串口1 TX] " + " ".join("{:02X}".format(b) for b in frame))
                     ser.write(frame)
                 except Exception as e:
                     if self.running:
@@ -331,7 +330,6 @@ class RemoteWorker(threading.Thread):
         if frame[:7] != REMOTE_HEADER:
             return
         code = frame[7]
-        print("[遥控] 0x{:02X}".format(code))
         self.signals.key_pressed.emit(code)
         if code == KEY_OK:
             self.signals.enter_settings.emit()
@@ -822,6 +820,71 @@ class RenderWorker(threading.Thread):
                     else:
                         back_part = np.zeros((sh, fw, 3), dtype=np.uint8)
 
+                    # --------------------------
+                    # 新增：绘制红/黄/绿倒车辅助线
+                    # --------------------------
+                    if back_frame is not None:
+                        h, w = back_part.shape[:2]
+                        h=h//2  # 只在下半部分绘制辅助线
+                        
+                        # ==========================================
+                        # 倒车线参数 - 梯形向远方伸长版本
+                        # ==========================================
+                        
+                        # 底部（车尾）两个端点 - 宽
+                        bottom_left = (int(w * 0.10), h+h)      # 左侧起始10%
+                        bottom_right = (int(w * 0.90), h+h)     # 右侧结束90%
+                        
+                        # 顶部（远方）- 更窄，形成更强的透视感
+                        # 绿色（最远，安全区）- 伸长到更高更窄的位置
+                        green_top_left = (int(w * 0.35), int(h * 0.12+h))   # 更窄更远
+                        green_top_right = (int(w * 0.65), int(h * 0.12+h))
+                        
+                        # 黄色（中间，警示区）
+                        yellow_top_left = (int(w * 0.28), int(h * 0.35+h))  # 稍宽
+                        yellow_top_right = (int(w * 0.72), int(h * 0.35+h))
+                        
+                        # 红色（最近，危险区）
+                        red_top_left = (int(w * 0.21), int(h * 0.60+h))    # 更宽
+                        red_top_right = (int(w * 0.79), int(h * 0.60+h))
+
+                        # 颜色定义（BGR格式）
+                        color_green = (0, 0, 255)       # 绿色
+                        color_red = (0, 255, 255)  # 黄色
+                        color_yellow = (0, 255, 0)        # 红色
+                       
+                        
+                        # 绘制梯形（填充半透明）
+                        overlay = back_part.copy()
+                        alpha = 0.2  # 透明度
+            
+                        
+                        # 绘制绿色区域（最远，安全区）
+                        green_pts = np.array([bottom_left, green_top_left, green_top_right, bottom_right], np.int32)
+                        cv2.fillPoly(overlay, [green_pts], color_green)
+                        
+                        # 绘制黄色区域（中间，警示区）
+                        yellow_pts = np.array([green_top_left, yellow_top_left, yellow_top_right, green_top_right], np.int32)
+                        cv2.fillPoly(overlay, [yellow_pts], color_yellow)
+                        
+                        # 绘制红色区域（最近，危险区）
+                        red_pts = np.array([yellow_top_left, red_top_left, red_top_right, yellow_top_right], np.int32)
+                        cv2.fillPoly(overlay, [red_pts], color_red)
+                        
+
+                        
+                        # 绘制左右车道线（加强透视感）
+                        # 左线
+                        cv2.line(overlay, bottom_left, green_top_left, (255, 255, 255), 2)
+                        # 右线
+                        cv2.line(overlay, bottom_right, green_top_right, (255, 255, 255), 2)
+                        
+                        
+                        # 混合半透明效果
+                        back_part = cv2.addWeighted(overlay, alpha, back_part, 1 - alpha, 0)
+                    # --------------------------
+                    # 原有亮度调节逻辑（保留）
+                    # --------------------------
                     if brightness != 50:
                         alpha_v = brightness / 50.0
                         back_part = cv2.convertScaleAbs(back_part, alpha=alpha_v, beta=0)
@@ -842,19 +905,18 @@ class RenderWorker(threading.Thread):
                                     else radar_dist)
                         alarm_d = cfg.get("radar_alarm_dist", 50)
                         rc = ((255, 80, 80) if dist_val <= alarm_d else (180, 220, 255))
-                        texts.append((bw + 10, sh - 80,
+                        texts.append((bw + 10, 48,
                                     f"雷达: {dist_val} {unit_str}  报警值: {alarm_d}{unit_str}",
-                                    rc, 22))
+                                    rc, 26))
 
                     # 停机状态
                     stop_text = "已停机" if is_stopped else "运行中"
                     stop_color = ((255, 100, 100) if is_stopped else (100, 255, 100))
-                    texts.append((bw + 10, sh - 52, f"状态: {stop_text}", stop_color, 22))
+                    texts.append((bw + 500, 20, f"状态: {stop_text}", stop_color, 30))
 
                     # 时间戳
-                    texts.append((bw + 10, sh - 26,
+                    # texts.append((bw + 10, sh - 26,
-                                time.strftime("%Y-%m-%d %H:%M:%S"), (160, 160, 160), 20))
+                    #             time.strftime("%Y-%m-%d %H:%M:%S"), (160, 160, 160), 20))
-                
                 elif display_mode == "fullscreen":
                     # ==========================================
                     # 全屏轮播模式：显示有人方向的画面
@@ -1023,13 +1085,6 @@ class RenderWorker(threading.Thread):
                     presence[0], presence[1], presence[2], presence[3],
                     radar_thr)
                 
-                # 记录状态用于调试
-                if self._last_active_dirs != active_dirs:
-                    self._last_active_dirs = active_dirs.copy()
-                    mode_str = {"reverse": "倒车模式", "fullscreen": "全屏轮播",
-                                "normal": "正常模式"}.get(display_mode, display_mode)
-                    print(f"[RENDER] 模式切换: {mode_str}, 检测到: {active_dirs}, 倒车: {is_reverse}")
-
                 
             except Exception as e:
                 print("[RENDER ERROR] {}".format(e))