finnal

DeviceActivate/src/main.cpp

@@ -2,6 +2,7 @@
 本程序用于设备激活
 当检测配置文件发现设备未激活时,则系统阻塞
 进行激活,并保存密文
+当检测到设备已被激活后,启动验证程序,并退出本程序
 */
 
 #include <iostream>

GPIOSignal/src/yolov11_stereo_distance_ws.py

@@ -1794,17 +1794,11 @@ def main():
                     if not math.isnan(distance_meters):
                         distances.append(distance_meters)
 
-            # ⭐ Send distance via WebSocket (只在危险区域内才发送)
+            # ⭐ Send distance via WebSocket (最近距离)
             if len(distances) > 0:
                 valid_dists = [d for d in distances if np.isfinite(d)]
                 if valid_dists:
-                    min_distance = min(valid_dists)
-                    # 只有当最近距离小于MAX_DISTANCE（危险区域）时才发送
-                    if min_distance < MAX_DISTANCE:
-                        uploader.send_distance(min_distance)
-                        print(f"[WebSocket] ⚠️  发送报警：最近距离 {min_distance:.2f}m < {MAX_DISTANCE:.2f}m")
-                    else:
-                        print(f"[WebSocket] ✅ 安全距离：最近距离 {min_distance:.2f}m >= {MAX_DISTANCE:.2f}m，不发送")
+                    uploader.send_distance(min(valid_dists))
 
             # ⭐ 绘制警告覆盖层
             draw_warning_overlay(frame, distances)

VideoProsessing/src/main.cpp

@@ -0,0 +1,104 @@
+/*
+本程序用于视频分流
+1.推流摄像头画面至RTSP服务器,交由YOLO模型进行处理
+2.接收YOLO传来的坐标,深度,警报等级等等数据
+3.根据获取到的数据绘制边框和相应数据
+4.将绘制完毕的视频流继续推流至RTSP服务器用于输出
+*/
+
+#include <iostream>
+#include <opencv4/opencv2/opencv.hpp>
+#include <mqtt/async_client.h>
+
+using namespace std;
+using namespace cv;
+using namespace chrono_literals;
+
+int main()
+{
+    VideoCapture cap(0);
+    // 直接传 MJPEG（本身就是全 I 帧）
+    FILE *pipe = popen(
+        "ffmpeg "
+        "-f rawvideo -pixel_format bgr24 -video_size 640x480 -framerate 30 "
+        "-i - "
+        "-c:v h264_rkmpp "
+        "-rc_mode 2 "         // CQP 模式
+        "-qp_init 30 "
+        "-profile baseline "
+        "-g 1 "               // 全 I 帧
+        "-bf 0 "
+        "-coder cavlc "
+        "-8x8dct false "
+        "-fflags nobuffer "
+        "-flags low_delay "
+        "-max_delay 0 "
+        "-f rtsp -muxdelay 0.001 -rtsp_transport udp "
+        "rtsp://192.168.12.1:8554/rtsp/test", "w");
+    
+    if (pipe) {
+        setvbuf(pipe, NULL, _IONBF, 0);  // 添加无缓冲模式
+    }
+    if (!pipe)
+    {
+        cerr << "popen faild\n";
+        return -1;
+    }
+
+    if (cap.isOpened() == false)
+    {
+        cerr << "摄像头打开失败,请重试" << endl;
+        return -1;
+    }
+
+    //  降低分辨率,固定MJPG编码
+    cap.set(CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    cap.set(CAP_PROP_FRAME_WIDTH, 640);
+    cap.set(CAP_PROP_FRAME_HEIGHT, 480);
+    cap.set(CAP_PROP_FPS, 30);
+
+    cap.set(CAP_PROP_BUFFERSIZE, 1);
+
+    int64 count = 0;
+    auto t0 = chrono::steady_clock::now();
+
+    Mat frame;
+    while (true)
+    {
+        cap.read(frame);
+        if (frame.empty())
+        {
+            cerr << "读取帧失败" << endl;
+            break;
+        }
+
+        putText(frame, "press 'q' to quit", Point(0, 20), FONT_HERSHEY_SIMPLEX, 1.0, Scalar(0, 255, 0), 2, LINE_8);
+
+        ++count;
+        auto now = chrono::steady_clock::now();
+        string fps;
+        if (chrono::duration_cast<chrono::milliseconds>(now - t0).count() / 1000.0 > 1.0)
+        {
+            fps = "FPS:" + to_string(count);
+            setWindowTitle("测试画面", fps);
+            count = 0;
+            t0 = now;
+        }
+
+        fwrite(frame.data, 1, frame.total() * frame.elemSize(), pipe);
+        fflush(pipe);  // 立即刷新
+        // imshow("测试画面", frame);
+
+        // 按下 'q' 键退出
+        if (cv::waitKey(1) == 'q')
+        {
+            break;
+        }
+    }
+
+    // 释放资源
+    pclose(pipe);
+    cap.release();
+    destroyAllWindows();
+    return 0;
+}

VideoProsessing/src/makefile

@@ -0,0 +1,11 @@
+all: video
+
+PKG_CFLAGS := $(shell pkg-config --cflags opencv4)
+PKG_LIBS   := $(shell pkg-config --libs opencv4)
+
+video: main.cpp
+	g++ -g -o video main.cpp $(PKG_CFLAGS) $(PKG_LIBS) -lpaho-mqttpp3 -lpaho-mqtt3a -lpthread
+	mv video ../bin/
+
+clean:
+	rm -rf ../bin/video

softWareInit/src/main.cpp

@@ -378,10 +378,11 @@ void VideoStream()
     // 静音ffmpeg的统计输出，保留错误；避免污染日志
     // string commnd = "ffmpeg -nostats -hide_banner -loglevel error -f v4l2 -i /dev/video0 -c:v h264_rkmpp -rtsp_transport tcp -f rtsp rtsp://192.168.12.1:8554/stream 2>/dev/null";
     string commnd =
-        "VIDEO_SIZE=$(xdpyinfo | awk '/dimensions:/ {print $2}'); "
-        "DISPLAY_VAL=${DISPLAY:-:0.0}; "
+        "export DISPLAY=${DISPLAY:-:0}; "
+        "VIDEO_SIZE=$(DISPLAY=$DISPLAY xdpyinfo 2>/dev/null | awk '/dimensions:/ {print $2}'); "
+        "if [ -z \"$VIDEO_SIZE\" ]; then VIDEO_SIZE=1920x1080; fi; "
         "ffmpeg -nostats -hide_banner -loglevel error "
-        "-f x11grab -framerate 15 -video_size \"$VIDEO_SIZE\" -i \"$DISPLAY_VAL\" "
+        "-f x11grab -framerate 15 -video_size \"$VIDEO_SIZE\" -i \"$DISPLAY\" "
         "-c:v h264_rkmpp -b:v 2000k -f rtsp rtsp://192.168.12.1:8554/stream 2>/dev/null";
     video_proc = bp::child("/bin/bash", bp::args = {"-c", commnd});
 }