diff --git a/README.md b/README.md index 526c306..3d2ef0f 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # scan参数交互式配置向导 该工具用于在不同摄像头点位通过固定对话完成scan参数标定、配置替换、完整试扫和验证拼图， -适合批量部署RK3588。详细的底层命令和原理见[手动配置README.md](./手动配置README.md)。 +适合批量部署RK3576和RK3588。详细的底层命令和原理见[手动配置README.md](./手动配置README.md)。 ## 目录结构 @@ -25,7 +25,7 @@ scan-calibrator/ ## 启动 -首次把本目录复制到一台RK3588后，先执行一次安装与自检： +首次把本目录复制到一台RK3576或RK3588后，先执行一次安装与自检： ```bash cd /home/zhangw/scan-calibrator @@ -201,7 +201,10 @@ smart-cam的HTTP接口读取PTZ并记录，等价于： 11. 若pan实测与tilt透视预测相差超过15%，不强制套用比例，并明确提示镜头畸变或不同tilt行 水平覆盖不一致；这种摄像头使用单一pan_step无法保证所有行同时零重叠且无缺口； 12. 根据多个水平样本的带符号位移，自动识别该型号摄像头从画面左到右时pan是递增还是递减； -13. 删除本次自动标定产生的临时截图。 +13. 每次标定会话只编译一次OpenCV重叠分析器，后续step直接复用； +14. 如果smart-cam因RTSP采集看门狗而短暂重启，向导会等待scan HTTP恢复， + 然后重试当前PTZ或拍照操作，不会直接丢失整个第四步； +15. 删除本次自动标定产生的临时截图。 这一步不能省略。两个角点只能确定扫描范围，无法确定当前摄像头型号和zoom下的一幅画面 覆盖多少角度。 diff --git a/scan_calibrator.py b/scan_calibrator.py index 3ec3ccb..9bf366a 100755 --- a/scan_calibrator.py +++ b/scan_calibrator.py @@ -21,12 +21,21 @@ HELPER_CONTAINER_BIN = "/tmp/scan-calibrator-measure" DEFAULT_TARGET_OVERLAP = 0.04 MAX_GENERATED_OVERLAP = 0.05 PHASE_MIN_RESPONSE = 0.20 +API_MAX_ATTEMPTS = 3 +API_RECOVERY_TIMEOUT = 90.0 +API_RECOVERY_POLL_INTERVAL = 2.0 +TRANSIENT_CURL_EXIT_CODES = {7, 28, 52, 55, 56} +_HELPER_READY = False def fail(message: str) -> "NoReturn": raise SystemExit(f"错误：{message}") +def warn(message: str) -> None: + print(f"警告：{message}", file=sys.stderr, flush=True) + + def run(command: list[str], *, timeout: int = 90) -> subprocess.CompletedProcess[str]: result = subprocess.run(command, text=True, capture_output=True, timeout=timeout) if result.returncode: @@ -34,17 +43,95 @@ def run(command: list[str], *, timeout: int = 90) -> subprocess.CompletedProcess return result -def api(method: str, path: str, body: dict | None = None, timeout: int = 60) -> dict: +def api_command(method: str, path: str, body: dict | None, timeout: int) -> list[str]: command = ["docker", "exec", "smart-cam", "curl", "-sS", "--fail-with-body", "--max-time", str(timeout), "-X", method] if body is not None: command += ["-H", "Content-Type: application/json", "-d", json.dumps(body)] command.append(f"http://127.0.0.1:18080{path}") - result = run(command, timeout=timeout + 10) + return command + + +def transient_api_failure(result: subprocess.CompletedProcess[str]) -> bool: + if result.returncode in TRANSIENT_CURL_EXIT_CODES: + return True + detail = f"{result.stdout}\n{result.stderr}".lower() + return any(marker in detail for marker in ( + "container is not running", + "container is restarting", + "no such container", + "couldn't connect to server", + "connection reset by peer", + "empty reply from server", + "returned error: 502", + "returned error: 503", + "returned error: 504", + )) + + +def scan_http_ready() -> bool: try: - return json.loads(result.stdout) - except json.JSONDecodeError: - fail(f"scan HTTP返回的不是JSON：{result.stdout}") + state = subprocess.run( + ["docker", "inspect", "-f", "{{.State.Running}}", "smart-cam"], + text=True, capture_output=True, timeout=5, + ) + if state.returncode or state.stdout.strip() != "true": + return False + health = subprocess.run( + ["docker", "exec", "smart-cam", "curl", "-sS", "--fail", + "--max-time", "5", "-o", "/dev/null", + "http://127.0.0.1:18080/health"], + text=True, capture_output=True, timeout=10, + ) + return health.returncode == 0 + except (OSError, subprocess.TimeoutExpired): + return False + + +def wait_for_scan_http(timeout: float = API_RECOVERY_TIMEOUT) -> bool: + deadline = time.monotonic() + timeout + while time.monotonic() < deadline: + if scan_http_ready(): + return True + time.sleep(API_RECOVERY_POLL_INTERVAL) + return False + + +def api(method: str, path: str, body: dict | None = None, timeout: int = 60) -> dict: + global _HELPER_READY + command = api_command(method, path, body, timeout) + last_detail = "" + for attempt in range(1, API_MAX_ATTEMPTS + 1): + try: + result = subprocess.run( + command, text=True, capture_output=True, timeout=timeout + 10, + ) + except subprocess.TimeoutExpired: + result = subprocess.CompletedProcess(command, 28, "", "请求执行超时") + if result.returncode == 0: + try: + return json.loads(result.stdout) + except json.JSONDecodeError: + fail(f"scan HTTP返回的不是JSON：{result.stdout}") + + last_detail = result.stderr.strip() or result.stdout.strip() or ( + f"退出码={result.returncode}" + ) + if not transient_api_failure(result) or attempt == API_MAX_ATTEMPTS: + break + warn( + f"scan HTTP或smart-cam容器短暂不可用（{last_detail}），" + f"正在等待恢复后重试当前操作 " + f"[{attempt}/{API_MAX_ATTEMPTS - 1}]" + ) + if not wait_for_scan_http(): + last_detail += f"；等待{API_RECOVERY_TIMEOUT:.0f}秒后scan HTTP仍未恢复" + break + # The container might have been replaced instead of restarted. Recheck + # the in-container overlap helper before the next image comparison. + _HELPER_READY = False + + fail(f"命令失败：{' '.join(command)}\n{last_detail}") def get_ptz() -> dict[str, int]: @@ -81,10 +168,20 @@ def save_state(state: dict) -> None: def ensure_helper() -> None: + global _HELPER_READY + if _HELPER_READY: + existing = subprocess.run( + ["docker", "exec", "smart-cam", "test", "-x", HELPER_CONTAINER_BIN], + text=True, capture_output=True, timeout=10, + ) + if existing.returncode == 0: + return + _HELPER_READY = False run(["docker", "cp", str(HELPER_SOURCE), f"smart-cam:{HELPER_CONTAINER_SOURCE}"]) run(["docker", "exec", "smart-cam", "sh", "-lc", f"g++ -O2 -std=c++17 {HELPER_CONTAINER_SOURCE} -o {HELPER_CONTAINER_BIN} " "$(pkg-config --cflags --libs opencv4)"], timeout=120) + _HELPER_READY = True def measure_images(first: str, second: str) -> dict: @@ -179,9 +276,15 @@ def measure_delta(axis: str, delta: int, direction: int, wait_seconds: float, result.update({"axis": axis, "delta": delta, "direction": direction, "origin": origin, "target": target, "actual": actual, "baseline_file": baseline, "candidate_file": candidate}) - return result - finally: + except BaseException: + try: + move(origin) + except BaseException as restore_error: + warn(f"当前样本失败后暂时无法返回标定起点：{restore_error}") + raise + else: move(origin) + return result def command_ptz(_: argparse.Namespace) -> None: diff --git a/tests/test_scan_calibrator.py b/tests/test_scan_calibrator.py new file mode 100644 index 0000000..052a5f6 --- /dev/null +++ b/tests/test_scan_calibrator.py @@ -0,0 +1,111 @@ +from __future__ import annotations + +from contextlib import redirect_stderr +import io +import subprocess +import unittest +from unittest import mock + +import scan_calibrator as core + + +def completed(returncode: int, stdout: str = "", stderr: str = ""): + return subprocess.CompletedProcess(["docker"], returncode, stdout, stderr) + + +class ApiRecoveryTests(unittest.TestCase): + def setUp(self) -> None: + core._HELPER_READY = False + + @mock.patch("scan_calibrator.wait_for_scan_http", return_value=True) + @mock.patch("scan_calibrator.subprocess.run") + def test_transient_curl_failure_waits_and_retries(self, run_mock, wait_mock): + core._HELPER_READY = True + run_mock.side_effect = [ + completed(52, stderr="curl: (52) Empty reply from server"), + completed(0, stdout='{"ptz": {"pan": 1, "tilt": 2, "zoom": 3}}'), + ] + + payload = core.api("GET", "/api/v1/ptz", timeout=5) + + self.assertEqual(payload["ptz"]["zoom"], 3) + self.assertEqual(run_mock.call_count, 2) + wait_mock.assert_called_once_with() + self.assertFalse(core._HELPER_READY) + + @mock.patch("scan_calibrator.wait_for_scan_http", return_value=True) + @mock.patch("scan_calibrator.subprocess.run") + def test_connection_refused_is_retried(self, run_mock, wait_mock): + run_mock.side_effect = [ + completed(7, stderr="curl: (7) Failed to connect to 127.0.0.1"), + completed(0, stdout='{"scan": {"state": "idle"}}'), + ] + + payload = core.api("GET", "/api/v1/scan/status", timeout=5) + + self.assertEqual(payload["scan"]["state"], "idle") + wait_mock.assert_called_once_with() + + @mock.patch("scan_calibrator.wait_for_scan_http") + @mock.patch("scan_calibrator.subprocess.run") + def test_non_transient_http_error_is_not_retried(self, run_mock, wait_mock): + run_mock.return_value = completed( + 22, stderr="curl: (22) The requested URL returned error: 404" + ) + + with self.assertRaisesRegex(SystemExit, "404"): + core.api("GET", "/missing", timeout=5) + + self.assertEqual(run_mock.call_count, 1) + wait_mock.assert_not_called() + + @mock.patch("scan_calibrator.time.sleep") + @mock.patch("scan_calibrator.scan_http_ready", side_effect=[False, True]) + @mock.patch("scan_calibrator.time.monotonic", side_effect=[0.0, 1.0, 2.0]) + def test_health_wait_polls_until_service_recovers( + self, _monotonic_mock, ready_mock, sleep_mock + ): + self.assertTrue(core.wait_for_scan_http(timeout=10.0)) + self.assertEqual(ready_mock.call_count, 2) + sleep_mock.assert_called_once_with(core.API_RECOVERY_POLL_INTERVAL) + + @mock.patch("scan_calibrator.run") + @mock.patch("scan_calibrator.subprocess.run") + def test_overlap_helper_compiles_only_once_per_session( + self, subprocess_run_mock, checked_run_mock + ): + subprocess_run_mock.return_value = completed(0) + + core.ensure_helper() + core.ensure_helper() + + self.assertEqual(checked_run_mock.call_count, 2) + subprocess_run_mock.assert_called_once_with( + ["docker", "exec", "smart-cam", "test", "-x", core.HELPER_CONTAINER_BIN], + text=True, capture_output=True, timeout=10, + ) + + @mock.patch("scan_calibrator.time.sleep") + @mock.patch("scan_calibrator.measure_images") + @mock.patch("scan_calibrator.snapshot", return_value="candidate.jpg") + @mock.patch("scan_calibrator.move") + def test_restore_failure_does_not_mask_measurement_failure( + self, move_mock, _snapshot_mock, measure_mock, _sleep_mock + ): + origin = {"pan": 100, "tilt": 200, "zoom": 300} + move_mock.side_effect = [dict(origin), SystemExit("恢复起点失败")] + measure_mock.side_effect = SystemExit("原始测量失败") + stderr = io.StringIO() + + with redirect_stderr(stderr): + with self.assertRaisesRegex(SystemExit, "原始测量失败"): + core.measure_delta( + "pan", 50, 1, 0.0, baseline="baseline.jpg", origin=origin + ) + + self.assertIn("恢复起点失败", stderr.getvalue()) + self.assertEqual(move_mock.call_count, 2) + + +if __name__ == "__main__": + unittest.main()