tiandytmd

scan_calibrator.py

@@ -8,6 +8,7 @@ from datetime import datetime
 import json
 import math
 from pathlib import Path
+import re
 import subprocess
 import sys
 import time
@@ -26,6 +27,7 @@ API_RECOVERY_TIMEOUT = 90.0
 API_RECOVERY_POLL_INTERVAL = 2.0
 TRANSIENT_CURL_EXIT_CODES = {7, 28, 52, 55, 56}
 _HELPER_READY = False
+REQUIRED_PTZ_CAPABILITIES = {"get_position", "move_absolute"}
 
 
 def fail(message: str) -> "NoReturn":
@@ -69,6 +71,45 @@ def transient_api_failure(result: subprocess.CompletedProcess[str]) -> bool:
     ))
 
 
+def api_error_detail(result: subprocess.CompletedProcess[str]) -> str:
+    """Turn scan-service JSON errors into field-operator instructions."""
+    message = ""
+    code = ""
+    try:
+        payload = json.loads(result.stdout)
+        error = payload.get("error", {})
+        if isinstance(error, dict):
+            code = str(error.get("code") or "")
+            message = str(error.get("message") or "")
+    except (json.JSONDecodeError, AttributeError, TypeError):
+        message = result.stdout.strip()
+
+    reached = re.search(
+        r"move_not_reached\s+pan_error=(-?\d+)\s+tilt_error=(-?\d+)\s+"
+        r"zoom_error=(-?\d+)\s+target=(-?\d+),(-?\d+),(-?\d+)\s+"
+        r"actual=(-?\d+),(-?\d+),(-?\d+)",
+        message,
+    )
+    if reached:
+        pe, te, ze, tp, tt, tz, ap, at, az = (
+            int(value) for value in reached.groups()
+        )
+        return (
+            "摄像头在限定时间内没有完全到位。\n"
+            f"  目标：pan={tp} ({tp / 100:.2f}°), "
+            f"tilt={tt} ({tt / 100:.2f}°), zoom={tz} ({tz / 100:.2f}×)\n"
+            f"  实际：pan={ap} ({ap / 100:.2f}°), "
+            f"tilt={at} ({at / 100:.2f}°), zoom={az} ({az / 100:.2f}×)\n"
+            f"  未到位差值：pan={pe / 100:.2f}°, "
+            f"tilt={te / 100:.2f}°, zoom={ze / 100:.2f}×\n"
+            "现场处理：请勿再操作Web云台，把第四步标定位置放在"
+            "扫描区域中部后重试；程序会自动限制后续测试步长。"
+        )
+    if message:
+        return f"摄像头控制失败（{code or 'unknown'}）：{message}"
+    return result.stderr.strip() or f"请求退出码={result.returncode}"
+
+
 def scan_http_ready() -> bool:
     try:
         state = subprocess.run(
@@ -114,9 +155,7 @@ def api(method: str, path: str, body: dict | None = None, timeout: int = 60) ->
             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}"
-        )
+        last_detail = api_error_detail(result)
         if not transient_api_failure(result) or attempt == API_MAX_ATTEMPTS:
             break
         warn(
@@ -131,17 +170,65 @@ def api(method: str, path: str, body: dict | None = None, timeout: int = 60) ->
         # the in-container overlap helper before the next image comparison.
         _HELPER_READY = False
 
-    fail(f"命令失败：{' '.join(command)}\n{last_detail}")
+    fail(f"scan HTTP请求失败：{method} {path}\n{last_detail}")
+
+
+def validate_control_status(payload: dict) -> dict:
+    """Validate the vendor-neutral PTZ contract exposed by smart-cam."""
+    if not isinstance(payload, dict):
+        fail("scan HTTP控制状态不是JSON对象")
+    vendor = str(payload.get("vendor") or "unknown").strip().lower()
+    if payload.get("driver_ready") is not True:
+        detail = str(payload.get("driver_error") or "未返回具体原因")
+        fail(f"摄像头驱动未就绪（vendor={vendor}）：{detail}")
+    capabilities = {
+        str(item).strip().lower()
+        for item in payload.get("capabilities", [])
+        if str(item).strip()
+    }
+    missing = sorted(REQUIRED_PTZ_CAPABILITIES - capabilities)
+    if missing:
+        fail(
+            f"当前smart-cam的摄像头适配层缺少标定必需能力："
+            f"{', '.join(missing)}（vendor={vendor}）"
+        )
+    camera = payload.get("camera")
+    return {
+        "vendor": vendor,
+        "capabilities": capabilities,
+        "camera": camera if isinstance(camera, dict) else {},
+    }
+
+
+def get_control_status() -> tuple[dict, dict]:
+    payload = api("GET", "/api/v1/control/status", timeout=15)
+    return payload, validate_control_status(payload)
+
+
+def parse_ptz_payload(payload: dict) -> dict[str, int]:
+    try:
+        ptz = payload["ptz"]
+        result = {key: int(ptz[key]) for key in ("pan", "tilt", "zoom")}
+    except (KeyError, TypeError, ValueError):
+        fail(f"scan HTTP未返回合法PTZ坐标：{payload}")
+    if not 0 <= result["pan"] <= 36000:
+        fail(f"scan HTTP返回的pan超出统一坐标范围：{result['pan']}")
+    if not -18000 <= result["tilt"] <= 18000 or result["zoom"] <= 0:
+        fail(f"scan HTTP返回的tilt/zoom无效：{result}")
+    return result
 
 
 def get_ptz() -> dict[str, int]:
-    payload = api("GET", "/api/v1/ptz", timeout=15)
-    return {key: int(payload["ptz"][key]) for key in ("pan", "tilt", "zoom")}
+    payload = api("GET", "/api/v1/ptz?source=scan_calibrator", timeout=50)
+    return parse_ptz_payload(payload)
 
 
 def move(ptz: dict[str, int]) -> dict[str, int]:
-    payload = api("POST", "/api/v1/ptz/absolute", ptz, timeout=50)
-    return {key: int(payload["ptz"][key]) for key in ("pan", "tilt", "zoom")}
+    payload = api(
+        "POST", "/api/v1/ptz/absolute",
+        {**ptz, "source": "scan_calibrator"}, timeout=50,
+    )
+    return parse_ptz_payload(payload)
 
 
 def snapshot() -> str: