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