finnal

GPIOSignal/src/yolov11_stereo_distance_ws.py

@@ -1794,11 +1794,17 @@ def main():
                     if not math.isnan(distance_meters):
                         distances.append(distance_meters)
 
-            # ⭐ Send distance via WebSocket (最近距离)
+            # ⭐ Send distance via WebSocket (只在危险区域内才发送)
             if len(distances) > 0:
                 valid_dists = [d for d in distances if np.isfinite(d)]
                 if valid_dists:
-                    uploader.send_distance(min(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")
 
             # ⭐ 绘制警告覆盖层
             draw_warning_overlay(frame, distances)