优化云台跟踪效果

2025-12-26 23:28:23 +08:00
1 parent aa0c27d499
commit 1b12e76fdb
@@ -0,0 +1,145 @@
+import threading
+import time
+import re
+import traceback
+import paho.mqtt.client as mqtt
+from flask import Blueprint, Response, session
+
+from app.glo import *
+
+# ==================== 全局配置 ====================
+mqtt_client = None
+MQTT_SUB_TOPIC = ""
+latest_frame_cache = {}
+cache_lock = threading.Lock()
+mqtt_sub_lock = threading.Lock()
+
+wrobot_cam = Blueprint('wrobot_cam', __name__)
+
+
+# ==================== MQTT 核心逻辑 ====================
+def on_mqtt_connect(client, userdata, flags, rc):
+    """MQTT连接成功回调：此时暂不订阅（等第一次页面访问时再订阅）"""
+    if rc == 0:
+        print("MQTT连接成功（暂未订阅任何主题，等待页面访问）")
+    else:
+        print(f"MQTT连接失败  错误码: {rc}")
+
+def on_mqtt_message(client, userdata, message):
+    """MQTT消息回调：仅处理已订阅的主题"""
+    try:
+        if not MQTT_SUB_TOPIC or message.topic != MQTT_SUB_TOPIC:
+            return
+        
+        device_id = message.topic.split('/')[0]
+        if len(message.payload) < 100:
+            return
+        
+        with cache_lock:
+            latest_frame_cache[device_id] = message.payload
+
+    except Exception as e:
+        print(f"MQTT消息处理异常: {e}")
+        traceback.print_exc()
+
+def start_mqtt_background():
+    """启动MQTT客户端（仅连接，不订阅）"""
+    global mqtt_client
+    if mqtt_client is not None:
+        return
+
+    mqtt_client = mqtt.Client()
+    mqtt_client.on_connect = on_mqtt_connect
+    mqtt_client.on_message = on_mqtt_message
+
+    try:
+        mqtt_client.connect(MQTT_BROKER, MQTT_PORT, keepalive=60)
+        mqtt_client.loop_start()
+        print(f"MQTT客户端已启动 🚀（仅连接，未订阅主题）")
+    except Exception as e:
+        print(f"MQTT启动失败: {e}")
+        traceback.print_exc()
+
+def subscribe_first_topic(new_topic):
+    """第一次订阅主题（初始化订阅）"""
+    global MQTT_SUB_TOPIC
+    if not mqtt_client or not mqtt_client.is_connected():
+        raise RuntimeError("MQTT客户端未连接")
+
+    with mqtt_sub_lock:
+        MQTT_SUB_TOPIC = new_topic
+        mqtt_client.subscribe(MQTT_SUB_TOPIC)
+        print(f"MQTT首次订阅: {MQTT_SUB_TOPIC}")
+
+def update_mqtt_subscription(new_topic):
+    """更新订阅主题（非首次）"""
+    global MQTT_SUB_TOPIC
+    if not mqtt_client or not mqtt_client.is_connected():
+        raise RuntimeError("MQTT客户端未连接")
+
+    with mqtt_sub_lock:
+        # 取消旧主题订阅
+        mqtt_client.unsubscribe(MQTT_SUB_TOPIC)
+        print(f"MQTT取消订阅: {MQTT_SUB_TOPIC}")
+        
+        # 订阅新主题
+        MQTT_SUB_TOPIC = new_topic
+        mqtt_client.subscribe(MQTT_SUB_TOPIC)
+        print(f"MQTT重新订阅: {MQTT_SUB_TOPIC}")
+
+# ==================== Flask 路由核心逻辑 ====================
+def generate_video_frame(device_id):
+    """生成视频流"""
+    blank_jpeg = b'\xff\xd8\xff\xe0\x00\x10JFIF\x00\x01\x01\x00\x00\x01\x00\x01\x00\x00\xff\xd9'
+    
+    while True:
+        try:
+            with cache_lock:
+                frame_data = latest_frame_cache.get(device_id, blank_jpeg)
+            
+            yield (b'--frame\r\n'
+                   b'Content-Type: image/jpeg\r\n\r\n' + frame_data + b'\r\n')
+            
+            time.sleep(0.01)
+        
+        except GeneratorExit:
+            break
+        except Exception as e:
+            print(f"视频流生成异常: {e}")
+            yield (b'--frame\r\n'
+                   b'Content-Type: image/jpeg\r\n\r\n' + blank_jpeg + b'\r\n')
+            time.sleep(0.1)
+
+@wrobot_cam.route('/wrobot_cam/<string:device_id>')
+@wrobot_cam.route('/wrobot_cam')
+def main(device_id=None):
+    """核心逻辑：第一次访问时初始化订阅，后续访问时更新订阅"""
+    # 1. 校验设备ID（无参数时直接报错，因为启动时未知默认设备）
+    if not device_id:
+        return Response("必须指定设备ID（访问方式：/wrobot_cam/设备ID）", status=400, mimetype='text/plain')
+    
+    device_list = GetUserDeviceIdList(session['user']['user_id'])
+    if device_id not in device_list:
+        return Response(f"设备ID不合法", status=400, mimetype='text/plain')
+
+    
+    # 2. 构建真实主题
+    new_mqtt_topic = f"{device_id}/head_video"
+    
+    # 3. 区分「首次订阅」和「更新订阅」
+    try:
+        if not MQTT_SUB_TOPIC:  # 初始值为空 → 第一次访问，初始化订阅
+            threading.Thread(target=subscribe_first_topic, args=(new_mqtt_topic,), daemon=True).start()
+        elif new_mqtt_topic != MQTT_SUB_TOPIC:  # 非首次，更新订阅
+            threading.Thread(target=update_mqtt_subscription, args=(new_mqtt_topic,), daemon=True).start()
+    except RuntimeError as e:
+        return Response(f"MQTT客户端异常：{str(e)}", status=500, mimetype='text/plain')
+
+    # 4. 返回视频流
+    return Response(
+        generate_video_frame(device_id),
+        mimetype='multipart/x-mixed-replace; boundary=frame'
+    )
+
+# ==================== 启动初始化 ====================
+start_mqtt_background()