add wust typr mpc and mutipule x
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cyy_mac
263
wust_vision-main/web.py
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263
wust_vision-main/web.py
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from flask import Flask, render_template, Response, jsonify
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import time, json, socket, os, logging, struct
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import mmap
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import threading
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import subprocess
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import atexit
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import fcntl
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import setproctitle
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setproctitle.setproctitle("wust_vision_web")
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app = Flask(__name__)
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# ===============================
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# 参数设置：选择模式
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# ===============================
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# True -> 强制共享内存模式
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# False -> 文件模式
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USE_SHARED_MEMORY_MODE = True
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STREAM_FPS = 60
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FRAME_INTERVAL = 1.0 / STREAM_FPS
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# 通信参数
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shared_memory_path = "/dev/shm/debug_frame"
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shared_size = 2 * 1024 * 1024 # 2MB
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shared_frame_path = "/dev/shm/debug_frame.jpg"
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# 初始化通信模式
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use_shared_memory = False
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mapfile = None
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fd = None
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# 权限修复锁
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permission_lock = threading.Lock()
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port = 8000
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def ensure_shared_memory_permissions():
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"""确保共享内存文件存在且权限正确"""
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with permission_lock:
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try:
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if not os.path.exists(shared_memory_path):
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print(f"创建共享内存文件: {shared_memory_path}")
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with open(shared_memory_path, "wb") as f:
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f.write(b"\0" * shared_size)
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current_mode = oct(os.stat(shared_memory_path).st_mode & 0o777)
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if current_mode != "0o777":
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print(f"修复权限 (当前: {current_mode} -> 目标: 777)")
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result = subprocess.run(
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["sudo", "chmod", "777", shared_memory_path],
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capture_output=True,
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text=True,
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)
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if result.returncode == 0:
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print("权限修复成功")
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return True
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else:
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print(f"权限修复失败: {result.stderr.strip()}")
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return False
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return True
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except Exception as e:
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print(f"权限修复异常: {str(e)}")
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return False
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def init_shared_memory():
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"""初始化共享内存连接"""
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global use_shared_memory, mapfile, fd
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if not ensure_shared_memory_permissions():
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print("[WARN] 权限修复失败")
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use_shared_memory = False
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return False
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try:
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fd = os.open(shared_memory_path, os.O_RDONLY)
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mapfile = mmap.mmap(fd, shared_size, mmap.MAP_SHARED, mmap.PROT_READ)
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fcntl.flock(fd, fcntl.LOCK_SH | fcntl.LOCK_NB)
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use_shared_memory = True
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print("[INFO] 共享内存初始化成功")
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return True
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except Exception as e:
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print(f"[WARN] 共享内存初始化失败: {e}")
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if mapfile:
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try:
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mapfile.close()
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except:
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pass
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mapfile = None
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if fd:
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try:
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os.close(fd)
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except:
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pass
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fd = None
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use_shared_memory = False
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return False
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# ===============================
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# 初始化模式
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# ===============================
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if USE_SHARED_MEMORY_MODE:
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if init_shared_memory():
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print("✅ 使用共享内存模式")
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else:
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print("⚠️ 强制共享内存模式失败，回退到文件模式")
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use_shared_memory = False
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else:
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use_shared_memory = False
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print("ℹ️ 使用文件模式")
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# ===============================
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# 清理函数
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# ===============================
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@atexit.register
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def cleanup():
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if mapfile:
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try:
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mapfile.close()
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except:
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pass
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if fd:
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try:
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os.close(fd)
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except:
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pass
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# ===============================
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# MJPEG 流生成器
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# ===============================
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def mjpeg_stream():
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global use_shared_memory, mapfile
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last_fix_attempt = 0
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while True:
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try:
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if use_shared_memory and mapfile:
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try:
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mapfile.seek(0)
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size_bytes = mapfile.read(4)
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if len(size_bytes) < 4:
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time.sleep(FRAME_INTERVAL)
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continue
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jpg_size = struct.unpack("I", size_bytes)[0]
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if jpg_size <= 0 or jpg_size > shared_size - 4:
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time.sleep(FRAME_INTERVAL)
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continue
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jpg_bytes = mapfile.read(jpg_size)
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if len(jpg_bytes) != jpg_size:
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time.sleep(FRAME_INTERVAL)
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continue
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if jpg_bytes[0:3] != b"\xff\xd8\xff":
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time.sleep(FRAME_INTERVAL)
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continue
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except (OSError, ValueError) as e:
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current_time = time.time()
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if current_time - last_fix_attempt > 60:
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print("尝试重新初始化共享内存...")
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if init_shared_memory():
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continue
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last_fix_attempt = current_time
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use_shared_memory = False
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continue
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if not use_shared_memory or not mapfile:
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try:
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with open(shared_frame_path, "rb") as f:
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jpg_bytes = f.read()
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if jpg_bytes[0:3] != b"\xff\xd8\xff":
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time.sleep(FRAME_INTERVAL)
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continue
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except FileNotFoundError:
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time.sleep(0.1)
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continue
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except Exception:
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time.sleep(0.1)
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continue
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yield b"--frame\r\n" b"Content-Type: image/jpeg\r\n\r\n" + jpg_bytes + b"\r\n"
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time.sleep(FRAME_INTERVAL)
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except Exception:
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time.sleep(0.5)
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# ===============================
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# Flask 路由
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# ===============================
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@app.route("/")
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def index():
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def get_local_ip():
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s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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try:
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s.connect(("10.255.255.255", 1))
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IP = s.getsockname()[0]
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except:
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IP = "127.0.0.1"
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finally:
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s.close()
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return IP
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url = f"http://{get_local_ip()}:{port}"
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return render_template("index.html", server_url=url)
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@app.route("/video")
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def video_feed():
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return Response(
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mjpeg_stream(), mimetype="multipart/x-mixed-replace; boundary=frame"
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)
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@app.route("/data")
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def get_data():
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try:
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with open("/dev/shm/cmd_log.json", "r") as f:
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return jsonify(json.load(f))
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except Exception as e:
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return jsonify({"error": str(e)}), 500
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@app.route("/serial_log")
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def serial_log():
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try:
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with open("/dev/shm/serial_log.json", "r") as f:
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return jsonify(json.load(f))
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except Exception as e:
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return jsonify({"error": str(e)}), 500
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@app.route("/target_log")
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def target_log():
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try:
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with open("/dev/shm/target_log.json", "r") as f:
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return jsonify(json.load(f))
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except Exception as e:
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return jsonify({"error": str(e)}), 500
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# ===============================
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# 主函数
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# ===============================
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if __name__ == "__main__":
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logging.basicConfig(level=logging.INFO)
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logging.getLogger("werkzeug").setLevel(logging.ERROR)
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def get_local_ip():
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s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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try:
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s.connect(("10.255.255.255", 1))
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IP = s.getsockname()[0]
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except:
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IP = "127.0.0.1"
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finally:
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s.close()
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return IP
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url = f"http://{get_local_ip()}:{port}"
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print(f"✅ Web 调试器已启动: {url}")
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print(f" - 共享内存模式: {'是' if use_shared_memory else '否'}")
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print(f" - 访问地址: {url}")
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app.run(host="0.0.0.0", port=port, threaded=True)
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