Merge pull request '主线代码合入天煤分支' (#2) from master into tianmei-tech

Reviewed-on: #2

bash/video_tool.sh

@@ -148,6 +148,22 @@ if [ "$1" = "run" ]; then
     exit 0
 fi
 
+if [ "$1" = "enable_autostart" ]; then
+    enable_autostart
+    exit 0
+fi
+
+if [ "$1" = "disable_autostart" ]; then
+    disable_autostart
+    exit 0
+fi
+
+if [ "$1" = "status" ]; then
+    show_status
+    exit 0
+fi
+
+
 # 交互式主程序
 while true; do
     show_menu

surround_config.json

@@ -4,5 +4,5 @@
   "radar_unit": 0,
   "show_radar": 1,
   "radar_alarm_dist": 15,
-  "display_mode": 0
+  "display_mode": 1
 }

temp.py

@@ -0,0 +1,384 @@
+import sys
+import psutil
+import time
+from datetime import datetime
+import csv
+import os
+from PyQt5.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout, 
+                            QWidget, QLabel, QPushButton, QFileDialog, QMessageBox)
+from PyQt5.QtCore import QTimer, Qt, QPoint
+from PyQt5.QtGui import QPainter, QPen, QColor, QFont, QBrush
+import matplotlib.pyplot as plt
+from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
+from matplotlib.figure import Figure
+
+
+class CPUMonitor(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("CPU 监控")
+        self.setWindowFlags(Qt.WindowStaysOnTopHint | Qt.FramelessWindowHint)
+        self.setAttribute(Qt.WA_TranslucentBackground)
+        
+        # 数据存储
+        self.cpu_percent_history = []
+        self.cpu_temp_history = []
+        self.max_history_length = 120  # 增加到120个数据点
+        self.logging_enabled = False
+        self.log_file = None
+        self.csv_writer = None
+        
+        self.init_ui()
+        self.init_timer()
+        
+    def init_ui(self):
+        central_widget = QWidget()
+        self.setCentralWidget(central_widget)
+        layout = QVBoxLayout(central_widget)
+        layout.setSpacing(15)
+        layout.setContentsMargins(20, 20, 20, 20)
+        
+        # 获取屏幕尺寸，设置为半个屏幕
+        screen_geometry = QApplication.primaryScreen().geometry()
+        screen_width = screen_geometry.width()
+        screen_height = screen_geometry.height()
+        
+        # 设置为半个屏幕的大小
+        window_width = screen_width // 2
+        window_height = screen_height // 2
+        self.resize(window_width, window_height)
+        
+        # 窗口居中
+        self.move(screen_width // 4, screen_height // 4)
+        
+        # 顶部栏 (拖动用)
+        title_layout = QHBoxLayout()
+        title_label = QLabel("360环视 主板核心温度监控")
+        title_font = QFont("微软雅黑", 20, QFont.Bold)
+        title_label.setFont(title_font)
+        title_label.setStyleSheet("color: white; font-weight: bold;")
+        title_layout.addWidget(title_label)
+        
+        # 关闭按钮
+        self.close_btn = QPushButton("✕")
+        self.close_btn.setFixedSize(50, 50)
+        close_font = QFont("微软雅黑", 24, QFont.Bold)
+        self.close_btn.setFont(close_font)
+        self.close_btn.setStyleSheet("""
+            QPushButton {
+                background-color: #e74c3c;
+                color: white;
+                border-radius: 10px;
+            }
+            QPushButton:hover {
+                background-color: #c0392b;
+            }
+        """)
+        self.close_btn.clicked.connect(self.close)
+        
+        # 日志按钮
+        self.log_btn = QPushButton("开始记录")
+        self.log_btn.setFixedSize(150, 50)
+        log_font = QFont("微软雅黑", 16)
+        self.log_btn.setFont(log_font)
+        self.log_btn.setStyleSheet("""
+            QPushButton {
+                background-color: #3498db;
+                color: white;
+                border-radius: 10px;
+            }
+            QPushButton:hover {
+                background-color: #2980b9;
+            }
+        """)
+        self.log_btn.clicked.connect(self.toggle_logging)
+        
+        title_layout.addStretch()
+        title_layout.addWidget(self.log_btn)
+        title_layout.addSpacing(10)
+        title_layout.addWidget(self.close_btn)
+        layout.addLayout(title_layout)
+        
+        # 数据标签（大字号）
+        info_layout = QHBoxLayout()
+        
+        # CPU使用率显示
+        cpu_frame = QWidget()
+        cpu_frame.setStyleSheet("background-color: rgba(0, 0, 0, 100); border-radius: 15px;")
+        cpu_layout = QVBoxLayout(cpu_frame)
+        
+        cpu_title = QLabel("CPU 使用率")
+        cpu_title_font = QFont("微软雅黑", 18, QFont.Bold)
+        cpu_title.setFont(cpu_title_font)
+        cpu_title.setStyleSheet("color: #ecf0f1;")
+        cpu_layout.addWidget(cpu_title)
+        
+        self.cpu_label = QLabel("--%")
+        self.cpu_label.setFont(QFont("微软雅黑", 48, QFont.Bold))
+        self.cpu_label.setStyleSheet("color: #2ecc71;")
+        self.cpu_label.setAlignment(Qt.AlignCenter)
+        cpu_layout.addWidget(self.cpu_label)
+        
+        # 温度显示
+        temp_frame = QWidget()
+        temp_frame.setStyleSheet("background-color: rgba(0, 0, 0, 100); border-radius: 15px;")
+        temp_layout = QVBoxLayout(temp_frame)
+        
+        temp_title = QLabel("CPU 温度")
+        temp_title.setFont(cpu_title_font)
+        temp_title.setStyleSheet("color: #ecf0f1;")
+        temp_layout.addWidget(temp_title)
+        
+        self.temp_label = QLabel("--°C")
+        self.temp_label.setFont(QFont("微软雅黑", 48, QFont.Bold))
+        self.temp_label.setStyleSheet("color: #e67e22;")
+        self.temp_label.setAlignment(Qt.AlignCenter)
+        temp_layout.addWidget(self.temp_label)
+        
+        info_layout.addWidget(cpu_frame)
+        info_layout.addSpacing(20)
+        info_layout.addWidget(temp_frame)
+        layout.addLayout(info_layout)
+        
+        # 图形（更大尺寸）
+        self.figure = Figure(figsize=(12, 6), dpi=100, facecolor='#1e1e1e')
+        self.canvas = FigureCanvas(self.figure)
+        self.ax = self.figure.add_subplot(111)
+        self.ax.set_facecolor('#2d2d2d')
+        self.ax.spines['bottom'].set_color('white')
+        self.ax.spines['top'].set_color('white')
+        self.ax.spines['right'].set_color('white')
+        self.ax.spines['left'].set_color('white')
+        
+        # 设置大字号
+        self.ax.tick_params(colors='white', labelsize=12)
+        self.ax.set_ylim(0, 100)
+        self.ax.set_xlim(0, self.max_history_length)
+        self.ax.set_title("CPU line", color='white', fontsize=20, fontweight='bold')
+        self.ax.set_xlabel("time (s)", color='white', fontsize=16)
+        self.ax.set_ylabel("number", color='white', fontsize=16)
+        
+        # 绘制曲线
+        self.line, = self.ax.plot([], [], '#2ecc71', linewidth=3, label='CPU use (%)')
+        self.temp_line, = self.ax.plot([], [], '#e74c3c', linewidth=3, alpha=0.8, label='CPU temp (°C)')
+        
+        # 图例
+        self.ax.legend(loc='upper right', facecolor='#2d2d2d', labelcolor='white', 
+                      fontsize=14, framealpha=0.9)
+        
+        # 添加网格
+        self.ax.grid(True, alpha=0.3, color='white')
+        
+        layout.addWidget(self.canvas)
+        
+        # 状态栏
+        status_layout = QHBoxLayout()
+        self.status_label = QLabel("就绪")
+        self.status_label.setFont(QFont("微软雅黑", 12))
+        self.status_label.setStyleSheet("color: #bdc3c7;")
+        status_layout.addWidget(self.status_label)
+        status_layout.addStretch()
+        
+        # 添加时间显示
+        self.time_label = QLabel("")
+        self.time_label.setFont(QFont("微软雅黑", 12))
+        self.time_label.setStyleSheet("color: #bdc3c7;")
+        status_layout.addWidget(self.time_label)
+        
+        layout.addLayout(status_layout)
+        
+        # 设置窗口样式
+        self.setStyleSheet("""
+            QMainWindow {
+                background-color: rgba(20, 20, 30, 220);
+                border: 2px solid #3498db;
+                border-radius: 15px;
+            }
+            QLabel {
+                background: transparent;
+            }
+        """)
+        
+    def init_timer(self):
+        self.timer = QTimer()
+        self.timer.timeout.connect(self.update_monitor)
+        self.timer.start(1000)  # 每秒更新
+        
+        # 图形更新定时器
+        self.graph_timer = QTimer()
+        self.graph_timer.timeout.connect(self.update_graph)
+        self.graph_timer.start(500)
+        
+        # 更新时间显示
+        self.time_timer = QTimer()
+        self.time_timer.timeout.connect(self.update_time)
+        self.time_timer.start(1000)
+        
+    def update_time(self):
+        current_time = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+        self.time_label.setText(current_time)
+        
+    def get_cpu_temperature(self):
+        """获取CPU温度"""
+        try:
+            temps = psutil.sensors_temperatures()
+            if not temps:
+                return None
+            
+            for name in ['coretemp', 'cpu_thermal', 'k10temp', 'cpu-thermal']:
+                if name in temps:
+                    return temps[name][0].current
+            
+            for sensor in temps.values():
+                if sensor:
+                    return sensor[0].current
+            return None
+        except:
+            return None
+    
+    def update_monitor(self):
+        # 获取CPU使用率
+        cpu_percent = psutil.cpu_percent(interval=0.1)
+        self.cpu_label.setText(f"{cpu_percent:.1f}%")
+        
+        # 根据使用率改变颜色
+        if cpu_percent < 80:
+            self.cpu_label.setStyleSheet("color: #2ecc71;")
+        elif cpu_percent < 95:
+            self.cpu_label.setStyleSheet("color: #f39c12;")
+        else:
+            self.cpu_label.setStyleSheet("color: #e74c3c;")
+        
+        # 获取CPU温度
+        cpu_temp = self.get_cpu_temperature()
+        if cpu_temp is not None:
+            self.temp_label.setText(f"{cpu_temp:.1f}°C")
+            # 根据温度改变颜色
+            if cpu_temp < 60:
+                self.temp_label.setStyleSheet("color: #2ecc71;")
+            elif cpu_temp < 80:
+                self.temp_label.setStyleSheet("color: #f39c12;")
+            else:
+                self.temp_label.setStyleSheet("color: #e74c3c;")
+        else:
+            self.temp_label.setText("N/A")
+        
+        # 保存数据
+        self.cpu_percent_history.append(cpu_percent)
+        self.cpu_temp_history.append(cpu_temp if cpu_temp is not None else 0)
+        
+        # 保持历史长度
+        if len(self.cpu_percent_history) > self.max_history_length:
+            self.cpu_percent_history.pop(0)
+            self.cpu_temp_history.pop(0)
+        
+        # 保存日志
+        if self.logging_enabled and self.csv_writer:
+            timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+            temp_value = f"{cpu_temp:.1f}" if cpu_temp is not None else "N/A"
+            self.csv_writer.writerow([timestamp, f"{cpu_percent:.1f}", temp_value])
+            self.log_file.flush()
+    
+    def update_graph(self):
+        """更新图形"""
+        if not self.cpu_percent_history:
+            return
+        
+        # 更新CPU使用率曲线
+        x_data = list(range(len(self.cpu_percent_history)))
+        self.line.set_data(x_data, self.cpu_percent_history)
+        
+        # 更新温度曲线
+        if any(self.cpu_temp_history):
+            temp_data = [t if t is not None else 0 for t in self.cpu_temp_history]
+            self.temp_line.set_data(x_data, temp_data)
+            
+            # 动态调整Y轴范围（温度）
+            max_temp = max(temp_data)
+            if max_temp > 0:
+                self.ax.set_ylim(0, max(100, max_temp + 10))
+        else:
+            self.temp_line.set_data([], [])
+        
+        # 调整X轴范围
+        self.ax.set_xlim(0, max(self.max_history_length, len(self.cpu_percent_history)))
+        
+        # 重绘
+        self.canvas.draw_idle()
+    
+    def toggle_logging(self):
+        """切换日志记录状态"""
+        if not self.logging_enabled:
+            default_filename = f"cpu_log_{datetime.now().strftime('%Y%m%d_%H%M%S')}.csv"
+            filepath, _ = QFileDialog.getSaveFileName(
+                self, "保存日志文件", default_filename, "CSV文件 (*.csv)"
+            )
+            if filepath:
+                try:
+                    self.log_file = open(filepath, 'w', newline='', encoding='utf-8')
+                    self.csv_writer = csv.writer(self.log_file)
+                    self.csv_writer.writerow(['时间', 'CPU使用率(%)', 'CPU温度(°C)'])
+                    self.logging_enabled = True
+                    self.log_btn.setText("📝 记录中...")
+                    self.log_btn.setStyleSheet("""
+                        QPushButton {
+                            background-color: #27ae60;
+                            color: white;
+                            border-radius: 10px;
+                        }
+                        QPushButton:hover {
+                            background-color: #229954;
+                        }
+                    """)
+                    self.status_label.setText(f"日志记录中: {os.path.basename(filepath)}")
+                    QMessageBox.information(self, "日志记录", f"开始记录日志到:\n{filepath}")
+                except Exception as e:
+                    QMessageBox.warning(self, "错误", f"无法创建日志文件:\n{str(e)}")
+        else:
+            self.logging_enabled = False
+            if self.log_file:
+                self.log_file.close()
+                self.log_file = None
+            self.csv_writer = None
+            self.log_btn.setText("📝 开始记录")
+            self.log_btn.setStyleSheet("""
+                QPushButton {
+                    background-color: #3498db;
+                    color: white;
+                    border-radius: 10px;
+                }
+                QPushButton:hover {
+                    background-color: #2980b9;
+                }
+            """)
+            self.status_label.setText("日志记录已停止")
+            QMessageBox.information(self, "日志记录", "日志记录已停止")
+    
+    def mousePressEvent(self, event):
+        """实现窗口拖动"""
+        if event.button() == Qt.LeftButton:
+            self.drag_position = event.globalPos() - self.frameGeometry().topLeft()
+            event.accept()
+    
+    def mouseMoveEvent(self, event):
+        """实现窗口拖动"""
+        if event.buttons() == Qt.LeftButton:
+            self.move(event.globalPos() - self.drag_position)
+            event.accept()
+    
+    def closeEvent(self, event):
+        """关闭时清理"""
+        if self.logging_enabled and self.log_file:
+            self.log_file.close()
+        event.accept()
+
+
+def main():
+    app = QApplication(sys.argv)
+    window = CPUMonitor()
+    window.show()
+    sys.exit(app.exec_())
+
+
+if __name__ == "__main__":
+    main()

web.py

@@ -293,6 +293,9 @@ class SerialWorker(threading.Thread):
                 buf.append(b)
                 if len(buf) == 10:
                     self._parse_rx_frame(bytes(buf))
+                    print("[RX] active: {}  radar: {}  stopped: {}  reverse: {}".format(
+                        self._active_dirs, self._radar_dist, self._stopped, self._reverse))
+
                     buf.clear()
                 elif len(buf) > 10:
                     buf.clear()
@@ -317,7 +320,7 @@ class RemoteSignals(QObject):
     exit_settings  = pyqtSignal()
 
 class RemoteWorker(threading.Thread):
-    def __init__(self, port="/dev/ttyS3", baudrate=115200):
+    def __init__(self, port="/dev/ttyS3", baudrate=9600):
         super().__init__(daemon=True)
         self.port     = port
         self.baudrate = baudrate
@@ -476,7 +479,7 @@ class BirdViewWorker(threading.Thread):
         while self.running:
             self.frame_idx += 1
             if self.frame_idx % self.framestep != 0:
-                time.sleep(0.005)
+                time.sleep(0.033)
                 continue
             frames = []
             for name, model in zip(self.names, self.models):
@@ -490,7 +493,7 @@ class BirdViewWorker(threading.Thread):
                     print("[BIRD ERROR] {}".format(e))
                     break
             if len(frames) != 4:
-                time.sleep(0.01)
+                time.sleep(0.033)
                 continue
             try:
                 self.birdview.update_frames(frames)
@@ -670,7 +673,7 @@ class MultiCameraBirdView:
             return
 
         self.caps          = []
-        self.which_cameras = {"front":0, "left":1, "back":2, "right":3}
+        self.which_cameras = {"front":2, "left":3, "back":0, "right":1}
         for name in self.names:
             cap_id = self.which_cameras.get(name, 0)
             cap    = cv2.VideoCapture(cap_id, cv2.CAP_V4L2)