feat: 增加rpbomaster

robomaster tt/requirements.txt

@@ -0,0 +1,6 @@
+flask
+opencv-python
+mammoth
+ultralytics
+numpy
+av 

robomaster tt/road2_run.log

@@ -0,0 +1,11 @@
+2025-07-05 08:21:39,500 INFO: 127.0.0.1 - - [05/Jul/2025 08:21:39] "POST /run_path HTTP/1.1" 200 -
+2025-07-05 08:22:25,639 INFO: 127.0.0.1 - - [05/Jul/2025 08:22:25] "POST /run_path HTTP/1.1" 200 -
+2025-07-05 08:26:42,611 INFO: 127.0.0.1 - - [05/Jul/2025 08:26:42] "POST /run_path HTTP/1.1" 200 -
+2025-07-05 08:30:19,148 INFO: 127.0.0.1 - - [05/Jul/2025 08:30:19] "POST /run_path HTTP/1.1" 200 -
+2025-07-05 08:30:37,602 INFO: 127.0.0.1 - - [05/Jul/2025 08:30:37] "GET /main_menu HTTP/1.1" 200 -
+2025-07-05 08:30:37,606 INFO: 127.0.0.1 - - [05/Jul/2025 08:30:37] "GET /static/custom.css HTTP/1.1" 304 -
+2025-07-05 08:30:37,610 INFO: 127.0.0.1 - - [05/Jul/2025 08:30:37] "GET /static/background/page.png HTTP/1.1" 304 -
+2025-07-05 08:34:04,823 INFO: 127.0.0.1 - - [05/Jul/2025 08:34:04] "POST /run_path HTTP/1.1" 200 -
+2025-07-05 08:37:38,118 INFO: 127.0.0.1 - - [05/Jul/2025 08:37:38] "POST /run_path HTTP/1.1" 200 -
+2025-07-05 08:40:42,872 INFO: 127.0.0.1 - - [05/Jul/2025 08:40:42] "POST /run_path HTTP/1.1" 200 -
+2025-07-05 08:42:31,091 INFO: 127.0.0.1 - - [05/Jul/2025 08:42:31] "POST /run_path HTTP/1.1" 200 -

robomaster tt/robo.py

@@ -0,0 +1,913 @@
+import socket
+import time
+import cv2
+import os
+import av
+from ultralytics import YOLO
+from flask import Flask, request, jsonify, render_template, Response, send_from_directory, redirect, url_for, session
+import threading
+from queue import Queue
+import numpy as np
+import webbrowser
+from werkzeug.utils import secure_filename
+import mammoth  # 用于docx转html（如未安装请pip install mammoth）
+import datetime
+from collections import Counter
+import shutil
+import pymysql
+import hashlib
+import re
+import sys
+
+
+
+app = Flask(__name__)
+app.secret_key = 'your-very-secret-key-123456'  # 用于Session的密钥，建议更换为随机字符串
+
+# 全局变量
+latest_image_path = None
+container = None
+frame_iter = None
+sock = None
+frame_queue = Queue(maxsize=30)  # 用于存储视频帧的队列
+detection_queue = Queue()  # 用于存储待检测图片的队列
+is_running = True  # 控制线程运行状态
+
+# 新增：无人机状态全局变量
+global connected
+connected = False
+global battery_level
+battery_level = 0
+
+global video_thread_started
+video_thread_started = False
+
+# 1. 发送指令让Tello进入SDK模式并开启视频流
+tello_address = ('192.168.10.1', 8889)
+
+UPLOAD_FOLDER = os.path.join(os.path.dirname(__file__), 'uploads')
+ALLOWED_EXTENSIONS = {'py'}
+app.config['UPLOAD_FOLDER'] = UPLOAD_FOLDER
+os.makedirs(UPLOAD_FOLDER, exist_ok=True)
+
+# 拍照信息记录列表
+detected_photos = []  # 每项: {'filename', 'time', 'action', 'direction', 'desc'}
+
+# 拍照动作与方位映射（可根据实际调整）
+DIRECTION_MAP = {
+    'forward': '正前方',
+    'rotation_0': '正前方',
+    'rotation_1': '东侧',
+    'rotation_2': '南侧',
+    'rotation_3': '西侧',
+    'rotation_4': '北侧',
+    # 可继续补充
+}
+
+# 英文标签到中文的映射（可根据实际模型类别补充）
+LABEL_MAP = {
+    'person': '人',
+    'car': '汽车',
+    'truck': '卡车',
+    'tank': '坦克',
+    'bus': '大巴',
+    'bicycle': '自行车',
+    'motorcycle': '摩托车',
+    # ... 其他类别 ...
+}
+
+# 数据库连接配置
+DB_CONFIG = dict(host='localhost', user='root', password='123456', database='robomaster', charset='utf8mb4')
+
+def get_db():
+    return pymysql.connect(**DB_CONFIG)
+
+def hash_password(pw):
+    return hashlib.sha256(pw.encode('utf-8')).hexdigest()
+
+def create_socket():
+    """创建并返回一个新的socket连接"""
+    global sock
+    if sock:
+        try:
+            sock.close()
+        except:
+            pass
+    
+    # 先尝试释放端口
+    try:
+        import socket
+        temp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        temp_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        temp_sock.bind(('', 9000))
+        temp_sock.close()
+        time.sleep(0.1)  # 给系统一点时间释放端口
+    except:
+        pass
+    
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)  # 添加端口重用选项
+    sock.bind(('', 9000))
+    sock.settimeout(5.0)  # 设置5秒超时
+    return sock
+
+def send_with_retry(cmd, max_retries=3, delay=1):
+    """发送命令并重试，直到成功或达到最大重试次数"""
+    global sock
+    if not sock:
+        sock = create_socket()
+    
+    # 设置socket超时
+    sock.settimeout(3.0)  # 减少超时时间到3秒
+        
+    for i in range(max_retries):
+        try:
+            print(f"Sending command: {cmd}")
+            # 在发送命令前暂停视频流处理
+            if cmd in ['forward', 'back', 'left', 'right', 'up', 'down', 'cw', 'ccw', 'takeoff']:
+                print("Pausing video stream for movement command...")
+                time.sleep(0.2)  # 增加暂停时间以确保命令能被处理
+            
+            sock.sendto(cmd.encode('utf-8'), tello_address)
+            
+            try:
+                response, _ = sock.recvfrom(1024)
+                response_str = response.decode().strip()
+                print(f"Response: {response_str}")
+                
+                if response_str.lower() == 'ok':
+                    # 如果是移动命令，等待一小段时间确保命令执行
+                    if cmd in ['forward', 'back', 'left', 'right', 'up', 'down', 'cw', 'ccw', 'takeoff']:
+                        time.sleep(0.5)  # 增加等待时间
+                    return True
+                elif response_str.lower() == 'error':
+                    if i < max_retries - 1:
+                        print(f"Command failed, retrying... ({i+1}/{max_retries})")
+                        time.sleep(delay)
+                    continue
+                else:
+                    # 对于查询命令，返回非空响应即可
+                    if response_str and response_str != '0':
+                        return True
+                    elif i < max_retries - 1:
+                        print(f"Invalid response, retrying... ({i+1}/{max_retries})")
+                        time.sleep(delay)
+                    continue
+            except socket.timeout:
+                print(f"Timeout waiting for response, retrying... ({i+1}/{max_retries})")
+                if i < max_retries - 1:
+                    time.sleep(delay)
+                continue
+                
+        except Exception as e:
+            print(f"Error sending command: {e}")
+            if i < max_retries - 1:
+                time.sleep(delay)
+                # 尝试重新创建socket
+                try:
+                    sock = create_socket()
+                    sock.settimeout(3.0)
+                except Exception as e:
+                    print(f"Error recreating socket: {e}")
+    return False
+
+def init_video_stream():
+    """初始化视频流"""
+    global container, frame_iter
+    
+    try:
+        # 尝试关闭可能存在的旧连接
+        try:
+            if container:
+                container.close()
+                container = None
+                frame_iter = None
+        except:
+            pass
+            
+        # 尝试释放端口11111
+        try:
+            import socket
+            temp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            temp_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            temp_sock.bind(('0.0.0.0', 11111))
+            temp_sock.close()
+            time.sleep(0.2)  # 给系统更多时间释放端口
+        except:
+            pass
+            
+        # 设置超时时间
+        container = av.open('udp://0.0.0.0:11111', format='h264', timeout=5.0)
+        frame_iter = container.decode(video=0)
+        
+        # 尝试获取第一帧来验证视频流是否正常工作
+        try:
+            frame = next(frame_iter, None)
+            if frame is None:
+                return None, None
+            return container, frame_iter
+        except Exception as e:
+            return None, None
+            
+    except Exception as e:
+        print(f"Error initializing video stream: {e}")
+        return None, None
+
+def video_stream_thread():
+    """视频流处理线程"""
+    global container, frame_iter, is_running
+    error_count = 0
+    max_errors = 3
+    frame_count = 0  # 添加帧计数器
+    
+    while is_running:
+        try:
+            frame = next(frame_iter, None)
+            if frame is not None:
+                # 将帧转换为numpy数组
+                img = frame.to_ndarray(format='bgr24')
+                frame_count += 1
+                
+                # 如果队列满了，移除最旧的帧
+                if frame_queue.full():
+                    try:
+                        frame_queue.get_nowait()
+                    except:
+                        pass
+                
+                # 将新帧放入队列
+                frame_queue.put(img)
+                
+                error_count = 0  # 重置错误计数
+        except Exception as e:
+            error_count += 1
+            if error_count >= max_errors:
+                try:
+                    # 尝试重新初始化视频流
+                    container, frame_iter = init_video_stream()
+                    if container is None or frame_iter is None:
+                        time.sleep(1)
+                    else:
+                        error_count = 0
+                except Exception as reconnect_error:
+                    pass
+            time.sleep(0.01)
+
+def detection_thread():
+    """图像检测线程"""
+    global is_running
+    model = YOLO(r'D:\yolo\yolov8n.pt')
+    
+    while is_running:
+        try:
+            # 从检测队列获取图片路径
+            img_path = detection_queue.get(timeout=1)
+            if img_path:
+                try:
+                    results = model(img_path)
+                    for r in results:
+                        save_path = os.path.join(r'D:\yolo\ultralytics\assets', 'detect_results', os.path.basename(img_path))
+                        os.makedirs(os.path.dirname(save_path), exist_ok=True)
+                        r.save(save_path)
+                    print(f"Detection completed for {img_path}")
+                except Exception as e:
+                    print(f"Error in detection: {e}")
+        except:
+            time.sleep(0.01)
+
+def set_latest_image_path(path):
+    """设置最新图片路径"""
+    global latest_image_path
+    latest_image_path = path
+
+def smooth_land():
+    """平滑降落函数"""
+    print("Starting smooth landing...")
+    
+    # 首先降低高度到安全高度
+    print("Lowering to safe height...")
+    if not send_with_retry('down 20', max_retries=3):
+        print("Warning: Failed to lower height")
+    
+    time.sleep(2)  # 等待高度调整完成
+    
+    # 缓慢降低速度
+    print("Reducing speed...")
+    for i in range(3):
+        if not send_with_retry('rc 0 0 -10 0', max_retries=3):
+            print(f"Warning: Failed to reduce speed at step {i+1}")
+        time.sleep(0.5)
+    
+    # 完全停止
+    print("Stopping all movement...")
+    if not send_with_retry('rc 0 0 0 0', max_retries=3):
+        print("Warning: Failed to stop movement")
+    time.sleep(1)
+    
+    # 执行降落
+    print("Executing final landing...")
+    if not send_with_retry('land', max_retries=3):
+        print("Warning: Failed to execute landing command")
+    
+    # 等待降落完成
+    print("Waiting for landing to complete...")
+    time.sleep(3)
+
+def gen_frames():
+    while True:
+        frame = get_frame()  # 你需要实现get_frame，返回BGR np.ndarray
+        if frame is None:
+            # 返回黑色画面
+            frame = np.zeros((480, 640, 3), dtype=np.uint8)
+            cv2.putText(frame, "No Video", (180, 240), cv2.FONT_HERSHEY_SIMPLEX, 1.2, (0,0,255), 2)
+        ret, buffer = cv2.imencode('.jpg', frame)
+        frame = buffer.tobytes()
+        yield (b'--frame\r\n'
+               b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')
+        time.sleep(0.05)
+
+@app.before_request
+def require_login():
+    allowed = {'/login', '/register', '/forgot', '/reset_password', '/static/', '/doc', '/favicon.ico'}
+    if request.path.startswith('/static/') or request.path in allowed or request.path.startswith('/static/'):
+        return
+    if 'user_id' not in session:
+        return redirect('/login')
+
+@app.route('/')
+def index():
+    if 'user_id' not in session:
+        return redirect('/login')
+    return render_template('main_menu.html')
+
+@app.route('/doc')
+def doc_viewer():
+    # 使用绝对路径，确保为docx文件
+    doc_path = r'D:\yolo\doc\软件设计-基于大模型的无人机定点打击软件.docx'
+    html = ''
+    try:
+        import mammoth
+        with open(doc_path, 'rb') as docx_file:
+            result = mammoth.convert_to_html(docx_file)
+            html = result.value
+    except Exception as e:
+        html = f'<p>无法加载文档: {e}</p>'
+    return render_template('doc_viewer.html', doc_html=html)
+
+@app.route('/main_menu')
+def main_menu():
+    return render_template('main_menu.html')
+
+def parse_actions_from_py(filepath):
+    actions = []
+    with open(filepath, 'r', encoding='utf-8') as f:
+        code = f.read()
+    # 匹配 takeoff(), land()
+    for m in re.finditer(r'(takeoff|land)\s*\(\s*\)', code):
+        actions.append({'action': m.group(1), 'params': ''})
+    # 匹配 move('forward', 50)
+    for m in re.finditer(r"move\s*\(\s*['\"](\w+)['\"]\s*,\s*(\d+)\s*\)", code):
+        actions.append({'action': 'move', 'params': f"{m.group(1)}, {m.group(2)}"})
+    # 匹配 rotate('cw', 90)
+    for m in re.finditer(r"rotate\s*\(\s*['\"](\w+)['\"]\s*,\s*(\d+)\s*\)", code):
+        actions.append({'action': 'rotate', 'params': f"{m.group(1)}, {m.group(2)}"})
+    return actions
+
+def smart_actions_to_natural_language(actions):
+    descs = []
+    state = {'flying': False}
+    for a in actions:
+        if a['action'] == 'takeoff':
+            if not state['flying']:
+                descs.append('起飞')
+                state['flying'] = True
+        elif a['action'] == 'land':
+            if state['flying']:
+                descs.append('降落')
+                state['flying'] = False
+        elif a['action'] == 'move':
+            try:
+                direction, dist = a['params'].split(',')
+                direction = direction.strip()
+                dist = int(dist.strip())
+                if direction == 'forward':
+                    descs.append(f'向前飞行{dist/100:.1f}米')
+                elif direction == 'back':
+                    descs.append(f'向后飞行{dist/100:.1f}米')
+                elif direction == 'left':
+                    descs.append(f'向左飞行{dist/100:.1f}米')
+                elif direction == 'right':
+                    descs.append(f'向右飞行{dist/100:.1f}米')
+                elif direction == 'up':
+                    descs.append(f'上升{dist/100:.1f}米')
+                elif direction == 'down':
+                    descs.append(f'下降{dist/100:.1f}米')
+            except Exception:
+                pass
+        elif a['action'] == 'rotate':
+            try:
+                dir, deg = a['params'].split(',')
+                dir = dir.strip()
+                deg = int(deg.strip())
+                if dir == 'cw':
+                    descs.append(f'顺时针旋转{deg}°')
+                elif dir == 'ccw':
+                    descs.append(f'逆时针旋转{deg}°')
+            except Exception:
+                pass
+    # 合并连续重复动作
+    merged = []
+    for d in descs:
+        if not merged or d != merged[-1]:
+            merged.append(d)
+    # 归纳意图
+    if not merged:
+        return '无有效动作'
+    if merged[0] == '起飞' and merged[-1] == '降落':
+        return '无人机' + '，然后'.join(merged) + '，完成侦查任务'
+    return '，然后'.join(merged) + '，搜索目标'
+
+@app.route('/import_path', methods=['GET', 'POST'])
+def import_path():
+    if request.method == 'POST':
+        file = request.files.get('file')
+        if file and file.filename.endswith('.py'):
+            filename = secure_filename(file.filename)
+            save_path = os.path.join(app.config['UPLOAD_FOLDER'], filename)
+            file.save(save_path)
+            actions = parse_actions_from_py(save_path)
+            nl_desc = smart_actions_to_natural_language(actions)
+            return render_template('import_path.html', filename=filename, uploaded=True, actions=actions, nl_desc=nl_desc)
+        else:
+            return render_template('import_path.html', error='请选择.py文件', uploaded=False)
+    return render_template('import_path.html', uploaded=False)
+
+@app.route('/run_path', methods=['POST'])
+def run_path():
+    filename = request.form.get('filename')
+    if not filename:
+        return jsonify({'success': False, 'msg': '未指定文件'})
+    file_path = os.path.join(app.config['UPLOAD_FOLDER'], filename)
+    if not os.path.exists(file_path):
+        return jsonify({'success': False, 'msg': '文件不存在'})
+    
+    print(f"=== Starting to run {filename} ===")
+    
+    # 检查无人机连接状态
+    if not connected:
+        print("✗ Drone not connected")
+        return jsonify({'success': False, 'msg': '无人机未连接，请先连接无人机'})
+    
+    print(f"✓ Drone connected. Socket: {sock}, Address: {tello_address}")
+    
+    # 运行.py文件，但使用导入方式而不是subprocess
+    try:
+        import importlib.util
+        import sys
+        
+        print(f"Loading module from: {file_path}")
+        
+        # 动态导入Python文件
+        spec = importlib.util.spec_from_file_location("mission_module", file_path)
+        mission_module = importlib.util.module_from_spec(spec)
+        
+        # 执行模块
+        spec.loader.exec_module(mission_module)
+        print("✓ Module loaded successfully")
+        
+        # 检查是否有专门的运行函数
+        if hasattr(mission_module, 'run_mission_with_external_resources'):
+            print("✓ Found run_mission_with_external_resources function")
+            # 使用专门的函数
+            def run_mission():
+                print("=== Starting mission execution thread ===")
+                try:
+                    result = mission_module.run_mission_with_external_resources(
+                        sock, tello_address, frame_queue, container, frame_iter
+                    )
+                    print(f"Mission execution completed with result: {result}")
+                except Exception as e:
+                    print(f"✗ Mission execution error: {e}")
+                    import traceback
+                    traceback.print_exc()
+            
+            mission_thread = threading.Thread(target=run_mission)
+            mission_thread.daemon = True
+            mission_thread.start()
+            print("✓ Mission thread started")
+            
+            return jsonify({'success': True, 'msg': '任务已开始执行，请查看无人机状态'})
+        elif hasattr(mission_module, 'main'):
+            print("✓ Found main function")
+            # 将主程序的socket和状态传递给模块
+            mission_module.sock = sock
+            mission_module.tello_address = tello_address
+            mission_module.connected = connected
+            mission_module.frame_queue = frame_queue
+            mission_module.container = container
+            mission_module.frame_iter = frame_iter
+            
+            print(f"✓ Passed resources to module: sock={sock}, connected={connected}")
+            
+            # 在新线程中运行，避免阻塞Flask
+            def run_mission():
+                print("=== Starting main function execution thread ===")
+                try:
+                    mission_module.main()
+                    print("✓ Main function completed")
+                except Exception as e:
+                    print(f"✗ Main function execution error: {e}")
+                    import traceback
+                    traceback.print_exc()
+            
+            mission_thread = threading.Thread(target=run_mission)
+            mission_thread.daemon = True
+            mission_thread.start()
+            print("✓ Main function thread started")
+            
+            return jsonify({'success': True, 'msg': '任务已开始执行，请查看无人机状态'})
+        else:
+            print("✗ No executable function found")
+            return jsonify({'success': False, 'msg': '文件中未找到可执行的函数'})
+            
+    except Exception as e:
+        print(f"✗ Module loading/execution error: {e}")
+        import traceback
+        traceback.print_exc()
+        return jsonify({'success': False, 'msg': f'执行失败: {str(e)}'})
+
+@app.route('/drone_control')
+def drone_control():
+    global battery_level
+    return render_template('drone_control.html', battery=battery_level)
+
+@app.route('/video_feed')
+def video_feed():
+    return Response(gen_frames(),
+                    mimetype='multipart/x-mixed-replace; boundary=frame')
+
+@app.route('/status')
+def status():
+    global connected, battery_level, sock
+    # 实时获取电量
+    try:
+        if sock is None:
+            create_socket()
+        sock.sendto('battery?'.encode('utf-8'), tello_address)
+        response, _ = sock.recvfrom(1024)
+        battery_str = response.decode().strip()
+        battery_level = int(battery_str) if battery_str.isdigit() else 0
+    except Exception as e:
+        print(f'Error getting battery: {e}')
+    return jsonify({
+        'connected': connected,
+        'battery': battery_level
+    })
+
+@app.route('/takeoff')
+def takeoff_api():
+    success = takeoff()
+    return jsonify({'success': success})
+
+@app.route('/land')
+def land_api():
+    success = land()
+    return jsonify({'success': success})
+
+@app.route('/move/<direction>/<int:distance>')
+def move_api(direction, distance):
+    success = move(direction, distance)
+    return jsonify({'success': success})
+
+@app.route('/rotate/<direction>/<int:degrees>')
+def rotate_api(direction, degrees):
+    success = rotate(direction, degrees)
+    return jsonify({'success': success})
+
+
+
+@app.route('/photo_analysis')
+def photo_analysis():
+    # 对每张照片做YOLOv8检测并生成描述
+    model = YOLO(r'D:\yolo\yolov8n.pt')  # 路径按实际调整
+    for info in detected_photos:
+        try:
+            results = model(info['filename'])
+            names = results[0].names
+            classes = results[0].boxes.cls.cpu().numpy().astype(int)
+            counts = Counter(classes)
+            desc = '，'.join([f"{num}个{names[cls_id]}" for cls_id, num in counts.items()])
+            info['desc'] = desc
+        except Exception as e:
+            info['desc'] = f"检测失败: {e}"
+    # 返回所有照片的分析结果
+    return {'photos': [
+        {'filename': i['filename'], 'time': i['time'], 'action': i['action'], 'direction': i['direction'], 'desc': i['desc']} for i in detected_photos
+    ]}
+
+@app.route('/analyze_results')
+def analyze_results():
+    model = YOLO(r'D:\yolo\yolov8n.pt')  # 路径按实际调整
+    detect_dir = os.path.join('runs', 'detect')
+    os.makedirs(detect_dir, exist_ok=True)
+    summary_lines = []
+    strike_idx = 1
+    for info in detected_photos:
+        try:
+            results = model(info['filename'])
+            names = results[0].names
+            boxes = results[0].boxes
+            classes = boxes.cls.cpu().numpy().astype(int)
+            # 统计敌方单位（如坦克、人等）
+            enemy_indices = [i for i, cls_id in enumerate(classes) if names[cls_id] in ['person', 'tank']]
+            if enemy_indices:
+                # 保存图片到detect目录，命名为strike000X.jpg
+                strike_name = f"strike{strike_idx:04d}.jpg"
+                strike_path = os.path.join(detect_dir, strike_name)
+                # 画框并转中文标签
+                img = results[0].orig_img.copy()
+                for i in enemy_indices:
+                    box = boxes.xyxy[i].cpu().numpy().astype(int)
+                    cls_id = classes[i]
+                    label_en = names[cls_id]
+                    label_cn = LABEL_MAP.get(label_en, label_en)
+                    # 画框和中文标签
+                    cv2.rectangle(img, (box[0], box[1]), (box[2], box[3]), (0,0,255), 2)
+                    cv2.putText(img, label_cn, (box[0], box[1]-10), cv2.FONT_HERSHEY_SIMPLEX, 1, (0,0,255), 2)
+                cv2.imwrite(strike_path, img)
+                strike_idx += 1
+            # 汇总描述
+            counts = {}
+            for i in enemy_indices:
+                cls_id = classes[i]
+                label_en = names[cls_id]
+                label_cn = LABEL_MAP.get(label_en, label_en)
+                counts[label_cn] = counts.get(label_cn, 0) + 1
+            if counts:
+                desc = '，'.join([f"{num}个{label}" for label, num in counts.items()])
+                summary_lines.append(f"图片 {os.path.basename(info['filename'])}：{desc}")
+        except Exception as e:
+            summary_lines.append(f"图片 {os.path.basename(info['filename'])}：识别失败 {e}")
+    # 生成txt汇总
+    txt_path = os.path.join(detect_dir, 'summary.txt')
+    with open(txt_path, 'w', encoding='utf-8') as f:
+        for line in summary_lines:
+            f.write(line + '\n')
+    return {'result': '分析完成', 'summary_file': txt_path, 'summary': summary_lines}
+
+def initialize_drone():
+    """初始化无人机，确保进入SDK模式"""
+    global connected, battery_level, sock
+    print("Initializing drone...")
+    
+    # 重置连接
+    try:
+        create_socket()
+    except Exception as e:
+        print(f"Error creating socket: {e}")
+        connected = False
+        return
+    
+    # 发送command命令直到成功
+    print("Entering SDK mode...")
+    if not send_with_retry('command', max_retries=5, delay=2):
+        connected = False
+        print("Failed to enter SDK mode")
+        return
+    
+    # 等待SDK模式完全启动
+    print("Waiting for SDK mode to initialize...")
+    time.sleep(3)
+    
+    # 检查电池电量
+    print("Checking battery level...")
+    try:
+        sock.sendto('battery?'.encode('utf-8'), tello_address)
+        response, _ = sock.recvfrom(1024)
+        battery_str = response.decode().strip()
+        battery_level = int(battery_str) if battery_str.isdigit() else 0
+        print(f"Battery level: {battery_level}%")
+    except Exception as e:
+        print(f"Warning: Could not check battery level: {e}")
+        battery_level = 0
+    
+    # 检查WiFi信号强度
+    print("Checking WiFi signal...")
+    if not send_with_retry('wifi?', max_retries=3):
+        print("Warning: Could not check WiFi signal")
+    else:
+        print("WiFi check completed")
+    
+    # 检查SDK模式状态
+    print("Checking SDK mode status...")
+    if not send_with_retry('sdk?', max_retries=3):
+        print("Warning: Could not verify SDK mode")
+    else:
+        print("SDK mode verified")
+    
+    # 发送takeoff命令
+    print("Attempting to take off...")
+    if not send_with_retry('takeoff', max_retries=3, delay=2):
+        print("Failed to take off")
+        connected = False
+        return
+    
+    # 等待起飞完成
+    print("Waiting for takeoff to complete...")
+    time.sleep(5)
+    
+    # 开启视频流
+    print("Starting video stream...")
+    if not send_with_retry('streamon', max_retries=3, delay=2):
+        print("Failed to start video stream")
+        connected = False
+        return
+    
+    # 等待视频流开启
+    time.sleep(2)
+    
+    # 尝试初始化视频流，如果失败则重试
+    max_retries = 3
+    for i in range(max_retries):
+        try:
+            container, frame_iter = init_video_stream()
+            if container is not None and frame_iter is not None:
+                connected = True
+                
+
+                
+                return
+            time.sleep(2)
+        except Exception as e:
+            time.sleep(2)
+    
+    connected = False
+
+@app.route('/register', methods=['GET', 'POST'])
+def register():
+    if request.method == 'GET':
+        return render_template('register.html')
+    username = request.form.get('username')
+    password = request.form.get('password')
+    security_answer = request.form.get('security_answer')
+    if not username or not password or not security_answer:
+        return {'success': False, 'msg': '所有字段均不能为空'}
+    conn = get_db()
+    try:
+        with conn.cursor() as cur:
+            cur.execute('SELECT id FROM users WHERE username=%s', (username,))
+            if cur.fetchone():
+                return {'success': False, 'msg': '用户名已存在'}
+            cur.execute('INSERT INTO users (username, password, role, security_answer) VALUES (%s, %s, %s, %s)', (username, hash_password(password), 'user', security_answer))
+            conn.commit()
+        return {'success': True}
+    finally:
+        conn.close()
+
+@app.route('/login', methods=['GET', 'POST'])
+def login():
+    if request.method == 'GET':
+        return render_template('login.html')
+    username = request.form.get('username')
+    password = request.form.get('password')
+    if not username or not password:
+        return {'success': False, 'msg': '用户名和密码不能为空'}
+    conn = get_db()
+    try:
+        with conn.cursor() as cur:
+            cur.execute('SELECT id, password, role FROM users WHERE username=%s', (username,))
+            row = cur.fetchone()
+            if not row or hash_password(password) != row[1]:
+                return {'success': False, 'msg': '用户名或密码错误'}
+            session['user_id'] = row[0]
+            session['username'] = username
+            session['role'] = row[2]
+        return {'success': True}
+    finally:
+        conn.close()
+
+@app.route('/logout')
+def logout():
+    session.clear()
+    return redirect('/login')
+
+@app.route('/user_info')
+def user_info():
+    if 'user_id' not in session:
+        return {'success': False}
+    return {'success': True, 'username': session.get('username'), 'role': session.get('role')}
+
+@app.route('/user_center')
+def user_center():
+    if 'user_id' not in session:
+        return redirect('/login')
+    return render_template('user_center.html')
+
+@app.route('/forgot', methods=['GET', 'POST'])
+def forgot():
+    if request.method == 'GET':
+        return render_template('forgot.html')
+    username = request.form.get('username')
+    answer = request.form.get('answer')
+    new_password = request.form.get('new_password')
+    if not username or not answer or not new_password:
+        return {'success': False, 'msg': '所有字段均不能为空'}
+    conn = get_db()
+    try:
+        with conn.cursor() as cur:
+            cur.execute('SELECT id, security_answer FROM users WHERE username=%s', (username,))
+            row = cur.fetchone()
+            if not row:
+                return {'success': False, 'msg': '用户不存在'}
+            if row[1] != answer:
+                return {'success': False, 'msg': '安全问题答案错误'}
+            cur.execute('UPDATE users SET password=%s WHERE id=%s', (hash_password(new_password), row[0]))
+            conn.commit()
+        return {'success': True}
+    finally:
+        conn.close()
+
+# === 恢复无人机实时操控相关函数 ===
+def takeoff():
+    """无人机起飞"""
+    return send_with_retry('takeoff')
+
+def land():
+    """无人机降落"""
+    return send_with_retry('land')
+
+def move(direction, distance):
+    """无人机移动 direction: forward/back/left/right/up/down, distance: cm"""
+    if direction not in ['forward', 'back', 'left', 'right', 'up', 'down']:
+        return False
+    cmd = f"{direction} {distance}"
+    return send_with_retry(cmd)
+
+def rotate(direction, degrees):
+    """无人机旋转 direction: cw/ccw, degrees: 1-360"""
+    if direction not in ['cw', 'ccw']:
+        return False
+    cmd = f"{direction} {degrees}"
+    return send_with_retry(cmd)
+
+@app.route('/reconnect_drone')
+def reconnect_drone():
+    """重新连接无人机"""
+    global connected, video_thread_started
+    try:
+        # 重置状态
+        connected = False
+        video_thread_started = False
+        
+        # 重新初始化
+        start_drone_background()
+        
+        if connected:
+            return jsonify({'success': True, 'msg': '无人机重新连接成功'})
+        else:
+            return jsonify({'success': False, 'msg': '无人机重新连接失败'})
+    except Exception as e:
+        return jsonify({'success': False, 'msg': f'重新连接失败: {str(e)}'})
+
+# ========== 新增 get_frame 函数 ==========
+def get_frame():
+    global frame_queue
+    try:
+        frame = frame_queue.get_nowait()
+        return frame
+    except:
+        return None
+
+# ========== 启动时自动初始化无人机并启动视频流线程 ==========
+def start_drone_background():
+    global video_thread_started, connected
+    print("=== Starting drone background initialization ===")
+    try:
+        print("Calling initialize_drone()...")
+        initialize_drone()
+        print(f"initialize_drone() completed. connected={connected}, video_thread_started={video_thread_started}")
+        
+        if connected and not video_thread_started:
+            t = threading.Thread(target=video_stream_thread)
+            t.daemon = True
+            t.start()
+            video_thread_started = True
+    except Exception as e:
+        print(f"✗ Drone init error: {e}")
+        connected = False
+        import traceback
+        traceback.print_exc()
+    
+    print(f"=== Drone background initialization completed. connected={connected}, video_thread_started={video_thread_started} ===")
+
+# ========== 修改 main 函数 ==========
+def main():
+    global container, frame_iter, sock, is_running
+    # 启动无人机初始化和视频流线程
+    start_drone_background()
+    # 启动 Flask 服务，禁用热重载避免多进程冲突
+    print("=== Starting Flask server ===")
+    app.run(host='0.0.0.0', port=5000, debug=True, use_reloader=False)
+
+if __name__ == '__main__':
+    main()

robomaster tt/static/custom.css

@@ -0,0 +1,39 @@
+body, html {
+    font-family: 'Microsoft YaHei', 'Arial', 'KaiTi', '楷体', sans-serif;
+    margin: 0;
+    padding: 0;
+    box-sizing: border-box;
+}
+
+* {
+    box-sizing: border-box;
+}
+
+button {
+    transition: all 0.3s ease;
+    cursor: pointer;
+    border: none;
+    outline: none;
+    font-family: inherit;
+}
+
+button:hover {
+    transform: translateY(-2px);
+}
+
+button:active {
+    transform: translateY(0);
+}
+::-webkit-scrollbar {
+    width: 10px;
+    background: #eee;
+}
+
+::-webkit-scrollbar-thumb {
+    background: #bdbdbd;
+    border-radius: 5px;
+}
+
+::-webkit-scrollbar-thumb:hover {
+    background: #999;
+} 

robomaster tt/templates/doc_viewer.html

@@ -0,0 +1,58 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>关于本系统的介绍</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        body {
+            margin: 0;
+            padding: 0;
+            width: 100vw;
+            min-height: 100vh;
+            background: #f5f5f5;
+        }
+        .doc-container {
+            max-width: 1000px;
+            margin: 40px auto 0 auto;
+            background: #fff;
+            border-radius: 12px;
+            box-shadow: 0 4px 32px rgba(0,0,0,0.10);
+            padding: 40px 48px;
+        }
+        .doc-title {
+            font-size: 36px;
+            font-family: KaiTi, 楷体, serif;
+            color: #1976d2;
+            margin-bottom: 32px;
+            text-align: center;
+        }
+        .doc-content {
+            font-size: 18px;
+            color: #222;
+            line-height: 1.8;
+        }
+        .back-btn {
+            display: block;
+            margin: 32px auto 0 auto;
+            font-size: 22px;
+            padding: 10px 40px;
+            border-radius: 8px;
+            border: none;
+            background: #4CAF50;
+            color: #fff;
+            cursor: pointer;
+        }
+        .back-btn:hover {
+            background: #388e3c;
+        }
+    </style>
+</head>
+<body>
+    <div class="doc-container">
+        <div class="doc-title">关于本系统的介绍</div>
+        <div class="doc-content">{{ doc_html|safe }}</div>
+        <button class="back-btn" onclick="window.location.href='/'">返回首页</button>
+    </div>
+</body>
+</html> 

robomaster tt/templates/drone_control.html

@@ -0,0 +1,518 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>实时操控无人机</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        body {
+            margin: 0;
+            padding: 0;
+            width: 100vw;
+            height: 100vh;
+            background: url('/static/background/page.png') no-repeat center center fixed;
+            background-size: cover;
+            font-family: 'Microsoft YaHei', 'Arial', sans-serif;
+            overflow: hidden;
+        }
+        
+        /* 顶部状态栏 */
+        .status-bar {
+            position: fixed;
+            top: 0;
+            left: 0;
+            right: 0;
+            height: 50px;
+            background: rgba(0,0,0,0.9);
+            backdrop-filter: blur(10px);
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+            padding: 0 30px;
+            z-index: 1000;
+            border-bottom: 2px solid rgba(255,255,255,0.1);
+        }
+        
+        .status-item {
+            display: flex;
+            align-items: center;
+            color: #fff;
+            font-size: 14px;
+        }
+        
+        .status-icon {
+            margin-right: 8px;
+            font-size: 16px;
+        }
+        
+        .battery-indicator {
+            display: flex;
+            align-items: center;
+            background: rgba(255,255,255,0.1);
+            border-radius: 15px;
+            padding: 5px 12px;
+        }
+        
+        .battery-bar {
+            width: 40px;
+            height: 8px;
+            background: rgba(255,255,255,0.3);
+            border-radius: 4px;
+            margin: 0 8px;
+            overflow: hidden;
+        }
+        
+        .battery-fill {
+            height: 100%;
+            background: linear-gradient(90deg, #4CAF50, #388e3c);
+            transition: width 0.3s ease;
+        }
+        
+        .battery-fill.low {
+            background: linear-gradient(90deg, #f44336, #d32f2f);
+        }
+        
+        .battery-fill.medium {
+            background: linear-gradient(90deg, #ff9800, #f57c00);
+        }
+        
+        .drone-container {
+            display: flex;
+            height: 100vh;
+            align-items: center;
+            justify-content: center;
+            padding-top: 50px;
+        }
+        
+        .video-section {
+            background: rgba(0,0,0,0.9);
+            border-radius: 20px;
+            padding: 30px;
+            margin-right: 40px;
+            box-shadow: 0 12px 40px rgba(0,0,0,0.4);
+            border: 2px solid rgba(255,255,255,0.1);
+            backdrop-filter: blur(10px);
+        }
+        
+        .video-title {
+            color: #fff;
+            font-size: 24px;
+            margin-bottom: 20px;
+            text-align: center;
+            font-weight: bold;
+        }
+        
+        .video-feed {
+            width: 500px;
+            height: 375px;
+            border-radius: 12px;
+            border: 3px solid #4CAF50;
+            background: #222;
+            box-shadow: 0 8px 25px rgba(76,175,80,0.4);
+            transition: all 0.3s ease;
+        }
+        
+        .video-feed:hover {
+            transform: scale(1.02);
+            box-shadow: 0 12px 35px rgba(76,175,80,0.5);
+        }
+        
+        .control-section {
+            background: rgba(255,255,255,0.95);
+            border-radius: 20px;
+            padding: 30px;
+            min-width: 380px;
+            box-shadow: 0 12px 40px rgba(0,0,0,0.25);
+            border: 1px solid rgba(255,255,255,0.2);
+            backdrop-filter: blur(10px);
+        }
+        
+        .control-title {
+            font-size: 26px;
+            color: #1976d2;
+            margin-bottom: 25px;
+            text-align: center;
+            font-weight: bold;
+        }
+        
+        /* 3D控制面板 */
+        .control-grid {
+            display: grid;
+            grid-template-columns: repeat(3, 1fr);
+            gap: 12px;
+            margin-bottom: 20px;
+        }
+        
+        .control-btn {
+            font-size: 16px;
+            padding: 15px 10px;
+            border-radius: 12px;
+            border: none;
+            background: linear-gradient(135deg, #4CAF50, #388e3c);
+            color: #fff;
+            cursor: pointer;
+            transition: all 0.3s ease;
+            box-shadow: 0 6px 20px rgba(76,175,80,0.3);
+            font-weight: bold;
+            position: relative;
+            overflow: hidden;
+        }
+        
+        .control-btn::before {
+            content: '';
+            position: absolute;
+            top: 0;
+            left: -100%;
+            width: 100%;
+            height: 100%;
+            background: linear-gradient(90deg, transparent, rgba(255,255,255,0.2), transparent);
+            transition: left 0.5s;
+        }
+        
+        .control-btn:hover::before {
+            left: 100%;
+        }
+        
+        .control-btn:hover {
+            background: linear-gradient(135deg, #388e3c, #2e7d32);
+            transform: translateY(-3px) scale(1.05);
+            box-shadow: 0 10px 25px rgba(76,175,80,0.4);
+        }
+        
+        .control-btn:active {
+            transform: translateY(-1px) scale(1.02);
+        }
+        
+        .control-btn:disabled {
+            background: linear-gradient(135deg, #9e9e9e, #757575);
+            cursor: not-allowed;
+            transform: none;
+            box-shadow: 0 6px 20px rgba(158,158,158,0.3);
+        }
+        
+        /* 特殊按钮样式 */
+        .btn-takeoff {
+            background: linear-gradient(135deg, #4CAF50, #388e3c);
+            grid-column: span 3;
+            font-size: 18px;
+            padding: 18px;
+        }
+        
+        .btn-land {
+            background: linear-gradient(135deg, #f44336, #d32f2f);
+            grid-column: span 3;
+            font-size: 18px;
+            padding: 18px;
+        }
+        
+        .btn-up {
+            grid-column: 2;
+            grid-row: 2;
+        }
+        
+        .btn-down {
+            grid-column: 2;
+            grid-row: 4;
+        }
+        
+        .btn-left {
+            grid-column: 1;
+            grid-row: 3;
+        }
+        
+        .btn-right {
+            grid-column: 3;
+            grid-row: 3;
+        }
+        
+        .btn-forward {
+            grid-column: 2;
+            grid-row: 1;
+        }
+        
+        .btn-back {
+            grid-column: 2;
+            grid-row: 5;
+        }
+        
+        /* 旋转控制 */
+        .rotation-controls {
+            display: grid;
+            grid-template-columns: 1fr 1fr;
+            gap: 12px;
+            margin: 20px 0;
+        }
+        
+        .btn-rotate {
+            background: linear-gradient(135deg, #1976d2, #1565c0);
+            font-size: 14px;
+            padding: 12px;
+        }
+        
+        .btn-rotate:hover {
+            background: linear-gradient(135deg, #1565c0, #0d47a1);
+        }
+        
+        /* 状态消息 */
+        .status-container {
+            margin-top: 20px;
+            padding: 15px;
+            border-radius: 10px;
+            background: rgba(25,118,210,0.1);
+            border-left: 4px solid #1976d2;
+        }
+        
+        .status-msg {
+            font-size: 16px;
+            color: #d32f2f;
+            text-align: center;
+            margin-bottom: 8px;
+        }
+        
+        .effect-msg {
+            font-size: 14px;
+            color: #1976d2;
+            text-align: center;
+            font-style: italic;
+        }
+        
+        /* 键盘提示 */
+        .keyboard-hint {
+            margin-top: 15px;
+            padding: 10px;
+            background: rgba(76,175,80,0.1);
+            border-radius: 8px;
+            font-size: 12px;
+            color: #666;
+            text-align: center;
+        }
+        
+        /* 返回按钮 */
+        .back-btn {
+            background: linear-gradient(135deg, #1976d2, #1565c0);
+            color: #fff;
+            padding: 12px 25px;
+            border-radius: 10px;
+            border: none;
+            cursor: pointer;
+            font-size: 16px;
+            transition: all 0.3s ease;
+            box-shadow: 0 6px 20px rgba(25,118,210,0.3);
+            margin-top: 20px;
+            width: 100%;
+        }
+        
+        .back-btn:hover {
+            background: linear-gradient(135deg, #1565c0, #0d47a1);
+            transform: translateY(-2px);
+            box-shadow: 0 8px 25px rgba(25,118,210,0.4);
+        }
+        
+        /* 加载动画 */
+        .loading-spinner {
+            display: inline-block;
+            width: 16px;
+            height: 16px;
+            border: 2px solid rgba(255,255,255,0.3);
+            border-radius: 50%;
+            border-top-color: #fff;
+            animation: spin 1s linear infinite;
+            margin-right: 8px;
+        }
+        
+        @keyframes spin {
+            to { transform: rotate(360deg); }
+        }
+        
+        /* 响应式设计 */
+        @media (max-width: 1200px) {
+            .drone-container {
+                flex-direction: column;
+                padding-top: 70px;
+            }
+            
+            .video-section {
+                margin-right: 0;
+                margin-bottom: 20px;
+            }
+            
+            .video-feed {
+                width: 400px;
+                height: 300px;
+            }
+        }
+    </style>
+</head>
+<body>
+    <!-- 顶部状态栏 -->
+    <div class="status-bar">
+        <div class="status-item">
+            <span class="status-icon">🚁</span>
+            <span>无人机控制系统</span>
+        </div>
+        <div class="status-item">
+            <span class="status-icon">📡</span>
+            <span>连接状态: 在线</span>
+        </div>
+        <div class="status-item">
+            <div class="battery-indicator">
+                <span class="status-icon">🔋</span>
+                <div class="battery-bar">
+                    <div class="battery-fill" id="batteryFill"></div>
+                </div>
+                <span id="batteryLevel">{{ battery }}%</span>
+            </div>
+        </div>
+    </div>
+
+    <div class="drone-container">
+        <div class="video-section">
+            <div class="video-title">📹 实时视频流</div>
+            <img src="/video_feed" class="video-feed" id="videoFeed" alt="无人机视频流">
+        </div>
+        
+        <div class="control-section">
+            <div class="control-title">🎮 无人机控制</div>
+            
+            <!-- 3D控制面板 -->
+            <div class="control-grid">
+                <button class="control-btn btn-takeoff" onclick="sendCmd('/takeoff')">🚀 起飞</button>
+                
+                <button class="control-btn btn-forward" onclick="sendCmd('/move/forward/50')">⬆️ 前进</button>
+                <button class="control-btn btn-up" onclick="sendCmd('/move/up/50')">⬆️ 上升</button>
+                <button class="control-btn btn-left" onclick="sendCmd('/move/left/50')">⬅️ 左移</button>
+                <button class="control-btn btn-right" onclick="sendCmd('/move/right/50')">➡️ 右移</button>
+                <button class="control-btn btn-down" onclick="sendCmd('/move/down/50')">⬇️ 下降</button>
+                <button class="control-btn btn-back" onclick="sendCmd('/move/back/50')">⬇️ 后退</button>
+                
+                <button class="control-btn btn-land" onclick="sendCmd('/land')">🛬 降落</button>
+            </div>
+            
+            <!-- 旋转控制 -->
+            <div class="rotation-controls">
+                <button class="control-btn btn-rotate" onclick="sendCmd('/rotate/cw/90')">🔄 顺时针90°</button>
+                <button class="control-btn btn-rotate" onclick="sendCmd('/rotate/ccw/90')">🔄 逆时针90°</button>
+                <button class="control-btn btn-rotate" onclick="sendCmd('/rotate/cw/180')">🔄 顺时针180°</button>
+                <button class="control-btn btn-rotate" onclick="sendCmd('/rotate/ccw/180')">🔄 逆时针180°</button>
+            </div>
+            
+            <!-- 状态显示 -->
+            <div class="status-container">
+                <div class="status-msg" id="statusMsg"></div>
+                <div class="effect-msg" id="effectMsg"></div>
+            </div>
+            
+            <!-- 键盘提示 -->
+            <div class="keyboard-hint">
+                💡 键盘控制: WASD移动, QE旋转, 空格起飞, L降落
+            </div>
+            
+            <button class="back-btn" onclick="window.location.href='/main_menu'">← 返回主菜单</button>
+        </div>
+    </div>
+
+    <script>
+    // 指令到效果的映射
+    const effectMap = {
+        '/takeoff': '🚀 无人机起飞，准备执行任务',
+        '/land': '🛬 无人机降落，安全着陆',
+        '/move/forward/50': '⬆️ 无人机向前移动50厘米，观察前方环境',
+        '/move/back/50': '⬇️ 无人机向后移动50厘米，调整后方位置',
+        '/move/left/50': '⬅️ 无人机向左移动50厘米，侧向侦查',
+        '/move/right/50': '➡️ 无人机向右移动50厘米，侧向侦查',
+        '/move/up/50': '⬆️ 无人机上升50厘米，提升高度',
+        '/move/down/50': '⬇️ 无人机下降50厘米，降低高度',
+        '/rotate/cw/90': '🔄 无人机顺时针旋转90°，调整朝向',
+        '/rotate/ccw/90': '🔄 无人机逆时针旋转90°，调整朝向',
+        '/rotate/cw/180': '🔄 无人机顺时针旋转180°，快速掉头',
+        '/rotate/ccw/180': '🔄 无人机逆时针旋转180°，快速掉头',
+    };
+    
+    // 键盘控制映射
+    const keyMap = {
+        'w': '/move/forward/50',
+        's': '/move/back/50',
+        'a': '/move/left/50',
+        'd': '/move/right/50',
+        'q': '/rotate/ccw/90',
+        'e': '/rotate/cw/90',
+        ' ': '/takeoff',
+        'l': '/land'
+    };
+    
+    function sendCmd(url) {
+        const btn = event.target;
+        const originalText = btn.innerHTML;
+        
+        // 显示加载状态
+        btn.disabled = true;
+        btn.innerHTML = '<span class="loading-spinner"></span>执行中...';
+        
+        fetch(url)
+        .then(r => r.json())
+        .then(data => {
+            let msg = data.success ? '✅ 命令执行成功' : ('❌ 命令执行失败: ' + (data.error || '未知错误'));
+            document.getElementById('statusMsg').textContent = msg;
+            document.getElementById('effectMsg').textContent = effectMap[url] || '';
+            
+            // 恢复按钮状态
+            btn.disabled = false;
+            btn.innerHTML = originalText;
+        })
+        .catch(e => {
+            document.getElementById('statusMsg').textContent = '❌ 请求出错: ' + e;
+            document.getElementById('effectMsg').textContent = '';
+            
+            // 恢复按钮状态
+            btn.disabled = false;
+            btn.innerHTML = originalText;
+        });
+    }
+    
+    // 键盘控制
+    document.addEventListener('keydown', function(e) {
+        const key = e.key.toLowerCase();
+        if (keyMap[key]) {
+            e.preventDefault();
+            sendCmd(keyMap[key]);
+        }
+    });
+    
+    // 更新电池电量
+    function updateBattery() {
+        fetch('/status').then(r => r.json()).then(data => {
+            if ('battery' in data) {
+                const batteryLevel = data.battery;
+                document.getElementById('batteryLevel').textContent = batteryLevel + '%';
+                
+                const batteryFill = document.getElementById('batteryFill');
+                batteryFill.style.width = batteryLevel + '%';
+                
+                // 根据电量设置颜色
+                batteryFill.className = 'battery-fill';
+                if (batteryLevel <= 20) {
+                    batteryFill.classList.add('low');
+                } else if (batteryLevel <= 50) {
+                    batteryFill.classList.add('medium');
+                }
+            }
+        }).catch(e => {
+            console.log('获取电池状态失败:', e);
+        });
+    }
+    
+    // 初始化
+    setInterval(updateBattery, 3000); // 每3秒刷新一次
+    updateBattery(); // 页面加载时立即刷新
+    
+    // 视频流错误处理
+    document.getElementById('videoFeed').onerror = function() {
+        this.style.display = 'none';
+        const errorDiv = document.createElement('div');
+        errorDiv.style.cssText = 'width:500px;height:375px;background:#333;color:#fff;display:flex;align-items:center;justify-content:center;border-radius:12px;border:3px solid #f44336;';
+        errorDiv.innerHTML = '❌ 视频流连接失败<br><small>请检查无人机连接状态</small>';
+        this.parentNode.appendChild(errorDiv);
+    };
+    </script>
+</body>
+</html> 

robomaster tt/templates/forgot.html

@@ -0,0 +1,92 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>找回密码</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        .forgot-container {
+            width: 400px;
+            margin: 100px auto;
+            background: #fff;
+            border-radius: 12px;
+            box-shadow: 0 4px 32px rgba(0,0,0,0.10);
+            padding: 40px 48px;
+            text-align: center;
+        }
+        .forgot-title {
+            font-size: 32px;
+            margin-bottom: 32px;
+            color: #1976d2;
+        }
+        .forgot-input {
+            width: 90%;
+            padding: 12px;
+            margin: 16px 0;
+            border-radius: 6px;
+            border: 1px solid #bdbdbd;
+            font-size: 18px;
+        }
+        .forgot-btn {
+            width: 100%;
+            padding: 12px;
+            font-size: 20px;
+            background: #388e3c;
+            color: #fff;
+            border: none;
+            border-radius: 6px;
+            margin-top: 20px;
+            cursor: pointer;
+        }
+        .forgot-btn:hover {
+            background: #1976d2;
+        }
+        .error-msg {
+            color: #d32f2f;
+            margin-top: 12px;
+        }
+        .success-msg {
+            color: #388e3c;
+            margin-top: 12px;
+        }
+    </style>
+</head>
+<body>
+    <div class="forgot-container">
+        <div class="forgot-title">找回密码</div>
+        <form id="forgotForm">
+            <input class="forgot-input" type="text" name="username" placeholder="用户名" required><br>
+            <input class="forgot-input" type="text" name="answer" placeholder="你的安全问题答案" required><br>
+            <input class="forgot-input" type="password" name="new_password" placeholder="新密码" required><br>
+            <button class="forgot-btn" type="submit">重置密码</button>
+        </form>
+        <div class="error-msg" id="forgotError"></div>
+        <div class="success-msg" id="forgotSuccess"></div>
+    </div>
+    <script>
+    document.getElementById('forgotForm').onsubmit = function(e) {
+        e.preventDefault();
+        var form = e.target;
+        var data = new URLSearchParams(new FormData(form));
+        fetch('/forgot', {
+            method: 'POST',
+            body: data
+        })
+        .then(r => r.json())
+        .then(res => {
+            if(res.success) {
+                document.getElementById('forgotSuccess').textContent = '密码重置成功，请返回登录';
+                document.getElementById('forgotError').textContent = '';
+            } else {
+                document.getElementById('forgotError').textContent = res.msg || '重置失败';
+                document.getElementById('forgotSuccess').textContent = '';
+            }
+        })
+        .catch(() => {
+            document.getElementById('forgotError').textContent = '网络错误，请重试';
+            document.getElementById('forgotSuccess').textContent = '';
+        });
+    };
+    </script>
+</body>
+</html> 

robomaster tt/templates/import_path.html

@@ -0,0 +1,483 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>导入已有路径进行分析</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        body {
+            margin: 0;
+            padding: 0;
+            width: 100vw;
+            height: 100vh;
+            background: url('/static/background/page.png') no-repeat center center fixed;
+            background-size: cover;
+            font-family: 'Microsoft YaHei', 'Arial', sans-serif;
+        }
+        
+        /* 顶部导航栏 */
+        .top-nav {
+            position: fixed;
+            top: 0;
+            left: 0;
+            right: 0;
+            height: 60px;
+            background: rgba(0,0,0,0.8);
+            backdrop-filter: blur(10px);
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+            padding: 0 40px;
+            z-index: 1000;
+            border-bottom: 2px solid rgba(255,255,255,0.1);
+        }
+        
+        .nav-title {
+            color: #fff;
+            font-size: 20px;
+            font-weight: bold;
+        }
+        
+        .nav-btn {
+            background: linear-gradient(135deg, #1976d2, #1565c0);
+            color: #fff;
+            padding: 8px 20px;
+            border-radius: 6px;
+            text-decoration: none;
+            font-size: 14px;
+            transition: all 0.3s ease;
+        }
+        
+        .nav-btn:hover {
+            background: linear-gradient(135deg, #1565c0, #0d47a1);
+            transform: translateY(-2px);
+        }
+        
+        .import-container {
+            position: absolute;
+            top: 50%;
+            left: 50%;
+            transform: translate(-50%, -50%);
+            background: rgba(255,255,255,0.95);
+            padding: 40px 50px;
+            border-radius: 20px;
+            box-shadow: 0 8px 32px rgba(0,0,0,0.15);
+            text-align: center;
+            min-width: 500px;
+            backdrop-filter: blur(10px);
+            border: 1px solid rgba(255,255,255,0.2);
+        }
+        
+        .import-title {
+            font-size: 32px;
+            font-family: KaiTi, 楷体, serif;
+            margin-bottom: 30px;
+            color: #1976d2;
+            font-weight: bold;
+        }
+        
+        .upload-area {
+            border: 3px dashed #4CAF50;
+            border-radius: 12px;
+            padding: 40px 20px;
+            margin: 20px 0;
+            background: rgba(76,175,80,0.05);
+            transition: all 0.3s ease;
+            cursor: pointer;
+        }
+        
+        .upload-area:hover {
+            border-color: #388e3c;
+            background: rgba(76,175,80,0.1);
+        }
+        
+        .upload-area.dragover {
+            border-color: #388e3c;
+            background: rgba(76,175,80,0.15);
+            transform: scale(1.02);
+        }
+        
+        .upload-icon {
+            font-size: 48px;
+            color: #4CAF50;
+            margin-bottom: 15px;
+        }
+        
+        .file-label {
+            font-size: 18px;
+            margin-bottom: 15px;
+            display: block;
+            color: #333;
+            font-weight: bold;
+        }
+        
+        .file-input {
+            font-size: 16px;
+            margin-bottom: 20px;
+            padding: 10px;
+            border: 2px solid #e0e0e0;
+            border-radius: 8px;
+            transition: all 0.3s ease;
+        }
+        
+        .file-input:focus {
+            border-color: #4CAF50;
+            box-shadow: 0 0 0 3px rgba(76,175,80,0.1);
+            outline: none;
+        }
+        
+        .run-btn {
+            font-size: 18px;
+            padding: 12px 30px;
+            border-radius: 8px;
+            border: none;
+            background: linear-gradient(135deg, #4CAF50, #388e3c);
+            color: #fff;
+            cursor: pointer;
+            transition: all 0.3s ease;
+            box-shadow: 0 4px 15px rgba(76,175,80,0.3);
+            font-weight: bold;
+        }
+        
+        .run-btn:hover {
+            background: linear-gradient(135deg, #388e3c, #2e7d32);
+            transform: translateY(-2px);
+            box-shadow: 0 6px 20px rgba(76,175,80,0.4);
+        }
+        
+        .run-btn:disabled {
+            background: linear-gradient(135deg, #9e9e9e, #757575);
+            cursor: not-allowed;
+            transform: none;
+            box-shadow: 0 4px 15px rgba(158,158,158,0.3);
+        }
+        
+        .result-msg {
+            margin-top: 20px;
+            font-size: 16px;
+            color: #1976d2;
+            padding: 15px;
+            border-radius: 8px;
+            background: rgba(25,118,210,0.1);
+        }
+        
+        .error-msg {
+            color: #d32f2f;
+            background: rgba(211,47,47,0.1);
+        }
+        
+        .success-msg {
+            color: #388e3c;
+            background: rgba(76,175,80,0.1);
+        }
+        
+        /* 文件信息卡片 */
+        .file-info {
+            background: rgba(76,175,80,0.1);
+            border-radius: 12px;
+            padding: 20px;
+            margin: 20px 0;
+            border-left: 4px solid #4CAF50;
+        }
+        
+        .file-name {
+            font-size: 18px;
+            font-weight: bold;
+            color: #333;
+            margin-bottom: 10px;
+        }
+        
+        /* 任务描述卡片 */
+        .task-desc {
+            background: rgba(25,118,210,0.1);
+            border-radius: 12px;
+            padding: 20px;
+            margin: 20px 0;
+            border-left: 4px solid #1976d2;
+        }
+        
+        .task-title {
+            font-size: 16px;
+            font-weight: bold;
+            color: #1976d2;
+            margin-bottom: 10px;
+        }
+        
+        .task-content {
+            font-size: 16px;
+            color: #333;
+            line-height: 1.6;
+        }
+        
+        /* 动作序列表格 */
+        .actions-table {
+            background: rgba(255,255,255,0.9);
+            border-radius: 12px;
+            padding: 20px;
+            margin: 20px 0;
+            box-shadow: 0 4px 15px rgba(0,0,0,0.1);
+        }
+        
+        .actions-table table {
+            width: 100%;
+            border-collapse: collapse;
+            margin: 0 auto;
+        }
+        
+        .actions-table th {
+            background: linear-gradient(135deg, #4CAF50, #388e3c);
+            color: #fff;
+            padding: 12px;
+            text-align: left;
+            border-radius: 6px;
+        }
+        
+        .actions-table td {
+            padding: 10px 12px;
+            border-bottom: 1px solid #e0e0e0;
+        }
+        
+        .actions-table tr:hover {
+            background: rgba(76,175,80,0.05);
+        }
+        
+        /* 进度指示器 */
+        .progress-container {
+            margin: 20px 0;
+            display: none;
+        }
+        
+        .progress-bar {
+            width: 100%;
+            height: 8px;
+            background: rgba(255,255,255,0.3);
+            border-radius: 4px;
+            overflow: hidden;
+        }
+        
+        .progress-fill {
+            height: 100%;
+            background: linear-gradient(90deg, #4CAF50, #388e3c);
+            width: 0%;
+            transition: width 0.3s ease;
+        }
+        
+        .progress-text {
+            margin-top: 10px;
+            font-size: 14px;
+            color: #666;
+        }
+        
+        /* 加载动画 */
+        .loading-spinner {
+            display: inline-block;
+            width: 20px;
+            height: 20px;
+            border: 3px solid rgba(255,255,255,0.3);
+            border-radius: 50%;
+            border-top-color: #fff;
+            animation: spin 1s linear infinite;
+            margin-right: 10px;
+        }
+        
+        @keyframes spin {
+            to { transform: rotate(360deg); }
+        }
+        
+        /* 返回按钮 */
+        .back-btn {
+            background: linear-gradient(135deg, #1976d2, #1565c0);
+            color: #fff;
+            padding: 10px 25px;
+            border-radius: 8px;
+            border: none;
+            cursor: pointer;
+            font-size: 16px;
+            transition: all 0.3s ease;
+            box-shadow: 0 4px 15px rgba(25,118,210,0.3);
+            margin-top: 20px;
+        }
+        
+        .back-btn:hover {
+            background: linear-gradient(135deg, #1565c0, #0d47a1);
+            transform: translateY(-2px);
+            box-shadow: 0 6px 20px rgba(25,118,210,0.4);
+        }
+    </style>
+</head>
+<body>
+    <!-- 顶部导航栏 -->
+    <div class="top-nav">
+        <div class="nav-title">路径分析系统</div>
+        <a href="/main_menu" class="nav-btn">返回主菜单</a>
+    </div>
+
+    <div class="import-container">
+        <div class="import-title">📁 导入已有路径进行分析</div>
+        
+        {% if not uploaded %}
+        <form method="post" enctype="multipart/form-data" id="uploadForm">
+            <div class="upload-area" id="uploadArea">
+                <div class="upload-icon">📄</div>
+                <label class="file-label">选择Python文件</label>
+                <input class="file-input" type="file" name="file" accept=".py" required id="fileInput">
+                <div style="font-size: 14px; color: #666; margin-top: 10px;">
+                    支持的文件格式：.py
+                </div>
+            </div>
+            <button class="run-btn" type="submit">🚀 上传并分析</button>
+        </form>
+        {% endif %}
+        
+        {% if uploaded %}
+            <div class="file-info">
+                <div class="file-name">📄 {{ filename }}</div>
+                <div style="font-size: 14px; color: #666;">文件已成功上传</div>
+            </div>
+            
+            <button class="run-btn" id="runBtn">▶️ 开始运行任务</button>
+            
+            {% if nl_desc %}
+            <div class="task-desc">
+                <div class="task-title">📋 任务描述</div>
+                <div class="task-content">{{ nl_desc }}</div>
+            </div>
+            {% endif %}
+            
+            {% if actions %}
+            <div class="actions-table">
+                <div class="task-title">⚡ 动作序列</div>
+                <table>
+                    <thead>
+                        <tr>
+                            <th>动作</th>
+                            <th>参数</th>
+                        </tr>
+                    </thead>
+                    <tbody>
+                        {% for a in actions %}
+                        <tr>
+                            <td>{{ a.action }}</td>
+                            <td>{{ a.params }}</td>
+                        </tr>
+                        {% endfor %}
+                    </tbody>
+                </table>
+            </div>
+            {% endif %}
+        {% endif %}
+        
+        {% if error %}
+            <div class="result-msg error-msg">❌ {{ error }}</div>
+        {% endif %}
+        
+        <div class="result-msg" id="resultMsg" style="display: none;"></div>
+        
+        <!-- 进度指示器 -->
+        <div class="progress-container" id="progressContainer">
+            <div class="progress-bar">
+                <div class="progress-fill" id="progressFill"></div>
+            </div>
+            <div class="progress-text" id="progressText">准备中...</div>
+        </div>
+        
+        <button class="back-btn" onclick="window.location.href='/main_menu'">← 返回主菜单</button>
+    </div>
+
+    {% if uploaded %}
+    <script>
+    document.getElementById('runBtn').onclick = function() {
+        var btn = this;
+        var progressContainer = document.getElementById('progressContainer');
+        var progressFill = document.getElementById('progressFill');
+        var progressText = document.getElementById('progressText');
+        var resultMsg = document.getElementById('resultMsg');
+        
+        // 显示进度指示器
+        progressContainer.style.display = 'block';
+        resultMsg.style.display = 'none';
+        
+        // 更新按钮状态
+        btn.disabled = true;
+        btn.innerHTML = '<span class="loading-spinner"></span>运行中...';
+        
+        // 模拟进度更新
+        let progress = 0;
+        const progressInterval = setInterval(() => {
+            progress += Math.random() * 15;
+            if (progress > 90) progress = 90;
+            progressFill.style.width = progress + '%';
+            progressText.textContent = '任务执行中... ' + Math.round(progress) + '%';
+        }, 500);
+        
+        fetch('/run_path', {
+            method: 'POST',
+            headers: {'Content-Type': 'application/x-www-form-urlencoded'},
+            body: 'filename={{ filename }}'
+        })
+        .then(r => r.json())
+        .then(data => {
+            clearInterval(progressInterval);
+            progressFill.style.width = '100%';
+            progressText.textContent = '任务完成！';
+            
+            // 显示结果
+            resultMsg.style.display = 'block';
+            resultMsg.textContent = data.msg;
+            resultMsg.className = 'result-msg ' + (data.success ? 'success-msg' : 'error-msg');
+            
+            // 恢复按钮状态
+            btn.disabled = false;
+            btn.innerHTML = '▶️ 开始运行任务';
+            
+            // 隐藏进度条
+            setTimeout(() => {
+                progressContainer.style.display = 'none';
+            }, 2000);
+        })
+        .catch(e => {
+            clearInterval(progressInterval);
+            progressContainer.style.display = 'none';
+            
+            resultMsg.style.display = 'block';
+            resultMsg.textContent = '❌ 运行出错：' + e;
+            resultMsg.className = 'result-msg error-msg';
+            
+            btn.disabled = false;
+            btn.innerHTML = '▶️ 开始运行任务';
+        });
+    };
+    </script>
+    {% endif %}
+    
+    <script>
+    // 文件拖拽上传功能
+    const uploadArea = document.getElementById('uploadArea');
+    const fileInput = document.getElementById('fileInput');
+    
+    if (uploadArea && fileInput) {
+        uploadArea.addEventListener('click', () => fileInput.click());
+        
+        uploadArea.addEventListener('dragover', (e) => {
+            e.preventDefault();
+            uploadArea.classList.add('dragover');
+        });
+        
+        uploadArea.addEventListener('dragleave', () => {
+            uploadArea.classList.remove('dragover');
+        });
+        
+        uploadArea.addEventListener('drop', (e) => {
+            e.preventDefault();
+            uploadArea.classList.remove('dragover');
+            const files = e.dataTransfer.files;
+            if (files.length > 0) {
+                fileInput.files = files;
+                // 自动提交表单
+                document.getElementById('uploadForm').submit();
+            }
+        });
+    }
+    </script>
+</body>
+</html> 

robomaster tt/templates/index.html

@@ -0,0 +1 @@
+<!-- 页面已迁移至welcome.html，保留此文件防止404 -->

robomaster tt/templates/login.html

@@ -0,0 +1,144 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>用户登录</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        body {
+            background: url('/static/background/OIP-C.webp') center center/cover no-repeat fixed;
+        }
+        .login-container {
+            width: 400px;
+            margin: 100px auto;
+            background: rgba(255,255,255,0.95);
+            border-radius: 16px;
+            box-shadow: 0 8px 32px rgba(0,0,0,0.15);
+            padding: 40px 48px;
+            text-align: center;
+            backdrop-filter: blur(10px);
+            border: 1px solid rgba(255,255,255,0.2);
+        }
+        .login-title {
+            font-size: 32px;
+            margin-bottom: 32px;
+            color: #1976d2;
+        }
+        .login-input {
+            width: 90%;
+            padding: 12px;
+            margin: 16px 0;
+            border-radius: 8px;
+            border: 2px solid #e0e0e0;
+            font-size: 18px;
+            transition: all 0.3s ease;
+            background: rgba(255,255,255,0.9);
+        }
+        .login-input:focus {
+            border-color: #4CAF50;
+            box-shadow: 0 0 0 3px rgba(76,175,80,0.1);
+            outline: none;
+        }
+        .login-btn {
+            width: 100%;
+            padding: 12px;
+            font-size: 20px;
+            background: linear-gradient(135deg, #1976d2, #1565c0);
+            color: #fff;
+            border: none;
+            border-radius: 8px;
+            margin-top: 20px;
+            cursor: pointer;
+            transition: all 0.3s ease;
+            box-shadow: 0 4px 15px rgba(25,118,210,0.3);
+        }
+        .login-btn:hover {
+            background: linear-gradient(135deg, #1565c0, #0d47a1);
+            transform: translateY(-2px);
+            box-shadow: 0 6px 20px rgba(25,118,210,0.4);
+        }
+        .register-link {
+            margin-top: 24px;
+            display: block;
+            color: #388e3c;
+            cursor: pointer;
+        }
+        .error-msg {
+            color: #d32f2f;
+            margin-top: 12px;
+        }
+    </style>
+</head>
+<body>
+    <div class="login-container">
+        <div class="login-title">用户登录</div>
+        <form id="loginForm">
+            <input class="login-input" type="text" name="username" placeholder="用户名" required><br>
+            <input class="login-input" type="password" name="password" placeholder="密码" required><br>
+            <button class="login-btn" type="submit">登录</button>
+        </form>
+        <div class="error-msg" id="loginError"></div>
+        <span class="register-link" onclick="window.location.href='/register'">没有账号？点击注册</span>
+        <span class="register-link" onclick="window.location.href='/forgot'">忘记密码？</span>
+    </div>
+    <script>
+    document.getElementById('loginForm').onsubmit = function(e) {
+        e.preventDefault();
+        var form = e.target;
+        var data = new URLSearchParams(new FormData(form));
+        fetch('/login', {
+            method: 'POST',
+            body: data
+        })
+        .then(r => r.json())
+        .then(res => {
+            if(res.success) {
+                showWelcomeAndRedirect();
+            } else {
+                document.getElementById('loginError').textContent = res.msg || '登录失败';
+            }
+        })
+        .catch(() => {
+            document.getElementById('loginError').textContent = '网络错误，请重试';
+        });
+    };
+
+    function showWelcomeAndRedirect() {
+        var welcomeDiv = document.createElement('div');
+        welcomeDiv.style.position = 'fixed';
+        welcomeDiv.style.left = 0;
+        welcomeDiv.style.top = 0;
+        welcomeDiv.style.width = '100vw';
+        welcomeDiv.style.height = '100vh';
+        welcomeDiv.style.zIndex = 9999;
+        welcomeDiv.style.background = "url('/static/background/welcome.jpg') center center/cover no-repeat";
+        welcomeDiv.style.display = 'flex';
+        welcomeDiv.style.alignItems = 'center';
+        welcomeDiv.style.justifyContent = 'center';
+        welcomeDiv.style.opacity = 0;
+        welcomeDiv.style.transition = 'opacity 0.8s';
+        var text = document.createElement('div');
+        text.textContent = '欢迎使用基于大模型的无人机定点打击系统';
+        text.style.fontSize = '2.5rem';
+        text.style.color = '#fff';
+        text.style.textShadow = '2px 2px 8px #000, 0 0 16px #f00';
+        text.style.fontWeight = 'bold';
+        text.style.background = 'rgba(0,0,0,0.25)';
+        text.style.padding = '32px 48px';
+        text.style.borderRadius = '18px';
+        welcomeDiv.appendChild(text);
+        document.body.appendChild(welcomeDiv);
+        setTimeout(function(){
+            welcomeDiv.style.opacity = 1;
+        }, 10);
+        setTimeout(function(){
+            welcomeDiv.style.opacity = 0;
+            setTimeout(function(){
+                document.body.removeChild(welcomeDiv);
+                window.location.href = '/';
+            }, 800);
+        }, 2000);
+    }
+    </script>
+</body>
+</html> 

robomaster tt/templates/main_menu.html

@@ -0,0 +1,146 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>请选择你的操作类型</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        body {
+            margin: 0;
+            padding: 0;
+            width: 100vw;
+            height: 100vh;
+            background: url('/static/background/page.png') no-repeat center center fixed;
+            background-size: cover;
+        }
+        .main-title {
+            margin-top: 60px;
+            text-align: center;
+            font-family: KaiTi, 楷体, serif;
+            font-size: 54px;
+            color: #fff;
+            text-shadow: 2px 2px 8px #333;
+        }
+        .menu-btns {
+            display: flex;
+            flex-direction: column;
+            align-items: center;
+            margin-top: 80px;
+            gap: 40px;
+        }
+        .menu-btn {
+            font-size: 32px;
+            padding: 20px 80px;
+            border-radius: 12px;
+            border: none;
+            background: linear-gradient(135deg, #1976d2, #1565c0);
+            color: #fff;
+            cursor: pointer;
+            margin: 0 0 0 0;
+            box-shadow: 0 6px 20px rgba(25,118,210,0.3);
+            font-family: inherit;
+            transition: all 0.3s ease;
+            position: relative;
+            overflow: hidden;
+        }
+        .menu-btn::before {
+            content: '';
+            position: absolute;
+            top: 0;
+            left: -100%;
+            width: 100%;
+            height: 100%;
+            background: linear-gradient(90deg, transparent, rgba(255,255,255,0.2), transparent);
+            transition: left 0.5s;
+        }
+        .menu-btn:hover::before {
+            left: 100%;
+        }
+        .menu-btn:hover {
+            background: linear-gradient(135deg, #1565c0, #0d47a1);
+            transform: translateY(-3px);
+            box-shadow: 0 8px 25px rgba(25,118,210,0.4);
+        }
+        .menu-btn:active {
+            transform: translateY(-1px);
+        }
+        #logout-btn {
+            position: fixed;
+            top: 28px;
+            right: 40px;
+            background: linear-gradient(135deg, #d32f2f, #c62828);
+            color: #fff;
+            padding: 12px 28px;
+            border-radius: 8px;
+            font-size: 18px;
+            font-weight: bold;
+            text-decoration: none;
+            box-shadow: 0 4px 15px rgba(211,47,47,0.3);
+            z-index: 1000;
+            transition: all 0.3s ease;
+        }
+        #logout-btn:hover {
+            background: linear-gradient(135deg, #c62828, #b71c1c);
+            transform: translateY(-2px);
+            box-shadow: 0 6px 20px rgba(211,47,47,0.4);
+        }
+        #doc-btn {
+            position: fixed;
+            top: 28px;
+            left: 40px;
+            background: linear-gradient(135deg, #1976d2, #1565c0);
+            color: #fff;
+            padding: 12px 28px;
+            border-radius: 8px;
+            font-size: 18px;
+            font-weight: bold;
+            text-decoration: none;
+            box-shadow: 0 4px 15px rgba(25,118,210,0.3);
+            z-index: 1000;
+            transition: all 0.3s ease;
+        }
+        #doc-btn:hover {
+            background: linear-gradient(135deg, #1565c0, #0d47a1);
+            transform: translateY(-2px);
+            box-shadow: 0 6px 20px rgba(25,118,210,0.4);
+        }
+    </style>
+</head>
+<body>
+    <a href="/doc" id="doc-btn">系统信息</a>
+    <a href="/logout" id="logout-btn">退出登录</a>
+    <div class="main-title">请选择你的操作类型</div>
+    <div class="menu-btns">
+        <button class="menu-btn" onclick="window.location.href='/import_path'">导入已有路径进行分析</button>
+        <button class="menu-btn" onclick="window.location.href='/drone_control'">实时操控无人机</button>
+        <button class="menu-btn" id="analyzeBtn">进行结果分析</button>
+        <button class="menu-btn" disabled>导出决策结果（待添加）</button>
+    </div>
+    <div id="analyzeResult" style="margin-top:40px;text-align:center;font-size:20px;color:#1976d2;"></div>
+    <script>
+    document.getElementById('analyzeBtn').onclick = function() {
+        var btn = this;
+        btn.disabled = true;
+        btn.textContent = '分析中...';
+        fetch('/analyze_results')
+        .then(r => r.json())
+        .then(data => {
+            if(data.result && data.result.indexOf('分析完成') !== -1) {
+                let addr = data.summary_file || '';
+                let summary = (data.summary || []).join('<br>');
+                document.getElementById('analyzeResult').innerHTML = `分析完成，结果已保存在：<span style='color:#388e3c'>${addr}</span><br><br>${summary}`;
+            } else {
+                alert('分析失败，请重新再试');
+                window.location.href = '/main_menu';
+            }
+            btn.disabled = false;
+            btn.textContent = '进行结果分析';
+        })
+        .catch(e => {
+            alert('分析失败，请重新再试');
+            window.location.href = '/main_menu';
+        });
+    };
+    </script>
+</body>
+</html> 

robomaster tt/templates/register.html

@@ -0,0 +1,97 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>用户注册</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        .register-container {
+            width: 400px;
+            margin: 100px auto;
+            background: #fff;
+            border-radius: 12px;
+            box-shadow: 0 4px 32px rgba(0,0,0,0.10);
+            padding: 40px 48px;
+            text-align: center;
+        }
+        .register-title {
+            font-size: 32px;
+            margin-bottom: 32px;
+            color: #1976d2;
+        }
+        .register-input {
+            width: 90%;
+            padding: 12px;
+            margin: 16px 0;
+            border-radius: 6px;
+            border: 1px solid #bdbdbd;
+            font-size: 18px;
+        }
+        .register-btn {
+            width: 100%;
+            padding: 12px;
+            font-size: 20px;
+            background: #388e3c;
+            color: #fff;
+            border: none;
+            border-radius: 6px;
+            margin-top: 20px;
+            cursor: pointer;
+        }
+        .register-btn:hover {
+            background: #1976d2;
+        }
+        .login-link {
+            margin-top: 24px;
+            display: block;
+            color: #1976d2;
+            cursor: pointer;
+        }
+        .error-msg {
+            color: #d32f2f;
+            margin-top: 12px;
+        }
+    </style>
+</head>
+<body>
+    <div class="register-container">
+        <div class="register-title">用户注册</div>
+        <form id="registerForm">
+            <input class="register-input" type="text" name="username" placeholder="用户名" required><br>
+            <input class="register-input" type="password" name="password" placeholder="密码" required><br>
+            <input class="register-input" type="password" name="confirm" placeholder="确认密码" required><br>
+            <input class="register-input" type="text" name="security_answer" placeholder="你的安全问题答案（如你母亲的姓名）" required><br>
+            <button class="register-btn" type="submit">注册</button>
+        </form>
+        <div class="error-msg" id="registerError"></div>
+        <span class="login-link" onclick="window.location.href='/login'">已有账号？点击登录</span>
+        <span class="login-link" onclick="window.location.href='/forgot'">忘记密码？</span>
+    </div>
+    <script>
+    document.getElementById('registerForm').onsubmit = function(e) {
+        e.preventDefault();
+        var form = e.target;
+        var data = new URLSearchParams(new FormData(form));
+        if(form.password.value !== form.confirm.value) {
+            document.getElementById('registerError').textContent = '两次密码输入不一致';
+            return;
+        }
+        fetch('/register', {
+            method: 'POST',
+            body: data
+        })
+        .then(r => r.json())
+        .then(res => {
+            if(res.success) {
+                window.location.href = '/login';
+            } else {
+                document.getElementById('registerError').textContent = res.msg || '注册失败';
+            }
+        })
+        .catch(() => {
+            document.getElementById('registerError').textContent = '网络错误，请重试';
+        });
+    };
+    </script>
+</body>
+</html> 

robomaster tt/templates/user_center.html

@@ -0,0 +1,65 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>用户中心</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        .user-center-container {
+            width: 400px;
+            margin: 100px auto;
+            background: #fff;
+            border-radius: 12px;
+            box-shadow: 0 4px 32px rgba(0,0,0,0.10);
+            padding: 40px 48px;
+            text-align: center;
+        }
+        .user-title {
+            font-size: 32px;
+            margin-bottom: 32px;
+            color: #1976d2;
+        }
+        .user-info {
+            font-size: 20px;
+            margin: 16px 0;
+        }
+        .logout-btn {
+            width: 100%;
+            padding: 12px;
+            font-size: 20px;
+            background: #d32f2f;
+            color: #fff;
+            border: none;
+            border-radius: 6px;
+            margin-top: 20px;
+            cursor: pointer;
+        }
+        .logout-btn:hover {
+            background: #b71c1c;
+        }
+    </style>
+</head>
+<body>
+    <div class="user-center-container">
+        <div class="user-title">用户中心</div>
+        <div class="user-info">用户名：<span id="username"></span></div>
+        <div class="user-info">权限：<span id="role"></span></div>
+        <button class="logout-btn" onclick="logout()">退出登录</button>
+    </div>
+    <script>
+    fetch('/user_info').then(r=>r.json()).then(data=>{
+        if(data.success) {
+            document.getElementById('username').textContent = data.username;
+            document.getElementById('role').textContent = data.role;
+        } else {
+            window.location.href = '/login';
+        }
+    });
+    function logout() {
+        fetch('/logout').then(()=>{
+            window.location.href = '/login';
+        });
+    }
+    </script>
+</body>
+</html> 

robomaster tt/templates/welcome.html

@@ -0,0 +1,87 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <title>欢迎使用基于大模型的无人机定点打击系统</title>
+    <link rel="stylesheet" href="/static/custom.css">
+    <style>
+        html, body {
+            margin: 0;
+            padding: 0;
+            width: 100vw;
+            height: 100vh;
+        }
+        body {
+            min-height: 100vh;
+            min-width: 100vw;
+            position: relative;
+            overflow: hidden;
+        }
+        .bg-img {
+            position: fixed;
+            top: 0;
+            left: 0;
+            width: 100vw;
+            height: 100vh;
+            object-fit: cover;
+            z-index: 0;
+            pointer-events: none;
+            user-select: none;
+        }
+        .welcome-title {
+            position: absolute;
+            top: 50%;
+            left: 50%;
+            transform: translate(-50%, -60%);
+            font-family: KaiTi, 楷体, serif;
+            font-size: 96px;
+            color: #fff;
+            text-shadow: 2px 2px 8px #333;
+            text-align: center;
+            z-index: 2;
+        }
+        .about-btn {
+            position: absolute;
+            top: 40px;
+            left: 40px;
+            font-size: 24px;
+            font-family: inherit;
+            padding: 12px 32px;
+            border-radius: 8px;
+            border: none;
+            background: rgba(0,0,0,0.5);
+            color: #fff;
+            cursor: pointer;
+            z-index: 2;
+        }
+        .about-btn:hover {
+            background: rgba(0,0,0,0.7);
+        }
+        .enter-btn {
+            position: absolute;
+            top: calc(50% + 200px);
+            left: 50%;
+            transform: translate(-50%, 0);
+            font-size: 36px;
+            font-family: inherit;
+            padding: 18px 60px;
+            border-radius: 10px;
+            border: none;
+            background: #4CAF50;
+            color: #fff;
+            cursor: pointer;
+            box-shadow: 0 4px 16px rgba(0,0,0,0.2);
+            z-index: 2;
+        }
+        .enter-btn:hover {
+            background: #388e3c;
+        }
+    </style>
+</head>
+<body>
+    <img class="bg-img" src="/static/background/bg1.png">
+    <button class="about-btn" onclick="window.location.href='/doc'">关于本系统的介绍</button>
+    <div class="welcome-title">欢迎使用基于大模型的无人机定点打击系统</div>
+    <button class="enter-btn" onclick="window.location.href='/main_menu'">进入使用</button>
+</body>
+</html> 

robomaster tt/uploads/road1.py

@@ -0,0 +1,352 @@
+import cv2
+import os
+import av
+import time
+import socket
+from ultralytics import YOLO
+import threading
+from queue import Queue
+import re
+import sys
+
+
+
+# 全局变量
+frame_queue = Queue(maxsize=30)  # 用于存储视频帧的队列
+detection_queue = Queue()  # 用于存储待检测图片的队列
+is_running = True  # 控制线程运行状态
+photo_count = 0  # 已拍摄照片数量
+latest_image_path = None  # 最新图片路径
+container = None  # 视频流容器
+frame_iter = None  # 视频帧迭代器
+sock = None  # 无人机控制socket
+drone_initialized = False  # 无人机是否已初始化
+tello_address = ('192.168.10.1', 8889)  # 无人机地址
+
+# =================== 新增类封装 ===================
+class DroneMission:
+    def __init__(self, external_sock=None, external_tello_address=None, 
+                 external_frame_queue=None, external_container=None, 
+                 external_frame_iter=None):
+        # 使用外部传入的资源，如果没有则创建新的
+        self.sock = external_sock
+        self.tello_address = external_tello_address or ('192.168.10.1', 8889)
+        self.frame_queue = external_frame_queue or Queue(maxsize=30)
+        self.container = external_container
+        self.frame_iter = external_frame_iter
+        
+        # 记录外部资源状态
+        self._external_sock = external_sock is not None
+        self._external_container = external_container is not None
+        
+        self.is_running = True
+        self.photo_count = 0
+        self.result_dir = r'D:\yolo\ultralytics\assets\result'
+        os.makedirs(self.result_dir, exist_ok=True)
+        
+        # 如果没有外部socket，则初始化自己的
+        if not self.sock:
+            self._init_socket()
+        if not self.container or not self.frame_iter:
+            self._init_video_stream()
+        
+        # 只有在没有外部资源时才启动自己的线程
+        if not external_sock and not external_container:
+            self._start_threads()
+
+    def _init_socket(self):
+        if self.sock:
+            try:
+                self.sock.close()
+            except:
+                pass
+        # 只有当没有外部socket时才创建新的socket
+        if not self.sock:
+            self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.sock.bind(('', 9000))
+            self.sock.settimeout(3.0)
+
+    def _parse_dm_response(self, resp):
+        if resp is None:
+            return None
+        m = re.match(r"(\d+)", resp)
+        if m:
+            return int(m.group(1))
+        return None
+
+    def _send_command(self, cmd):
+        try:
+            print(f"DroneMission sending command: {cmd}")
+            self.sock.sendto(cmd.encode('utf-8'), self.tello_address)
+            response, _ = self.sock.recvfrom(1024)
+            response_str = response.decode().strip()
+            print(f"DroneMission received response: {response_str}")
+            return response_str
+        except socket.timeout:
+            print(f"DroneMission timeout sending command: {cmd}")
+            return None
+        except Exception as e:
+            print(f"Error sending command: {e}")
+            return None
+
+    def test_connection(self):
+        try:
+            response = self._send_command('command')
+            print(f"Connection test response: '{response}'")
+            # 兼容多种响应格式：'ok', 'Re0402 ok', 'Re0101 ok' 等
+            return response and ('ok' in response.lower())
+        except Exception as e:
+            print(f"Connection test failed: {e}")
+            return False
+
+    def check_flying_status(self):
+        try:
+            height_response = self._send_command('height?')
+            print(f"Height response: '{height_response}'")
+            height = self._parse_dm_response(height_response)
+            if height is not None:
+                is_flying = height > 20
+                print(f"Height: {height}cm, Flying: {is_flying}")
+                return is_flying
+            else:
+                print(f"Invalid height response: '{height_response}'")
+                return False
+        except Exception as e:
+            print(f"Error checking flying status: {e}")
+            return False
+
+    def _init_video_stream(self):
+        # 只有当没有外部视频流时才创建新的
+        if not self.container or not self.frame_iter:
+            try:
+                self.container = av.open('udp://0.0.0.0:11111', format='h264', timeout=3.0)
+                self.frame_iter = self.container.decode(video=0)
+            except Exception as e:
+                print(f"Error initializing video stream: {e}")
+                self.container = None
+                self.frame_iter = None
+
+    def _video_stream_thread(self):
+        while self.is_running:
+            try:
+                if self.frame_iter is None:
+                    self._init_video_stream()
+                    if self.frame_iter is None:
+                        time.sleep(1)
+                        continue
+                frame = next(self.frame_iter, None)
+                if frame is not None:
+                    img = frame.to_ndarray(format='bgr24')
+                    if self.frame_queue.full():
+                        try:
+                            self.frame_queue.get_nowait()
+                        except:
+                            pass
+                    self.frame_queue.put(img)
+            except Exception as e:
+                print(f"Error in video stream thread: {e}")
+                time.sleep(0.1)
+
+    def _start_threads(self):
+        t1 = threading.Thread(target=self._video_stream_thread)
+        t1.daemon = True
+        t1.start()
+
+    def takeoff(self):
+        if self.check_flying_status():
+            print("DroneMission: 已在飞行，跳过起飞")
+            return True
+        resp = self._send_command('takeoff')
+        print(f"Takeoff response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(3)
+            return True
+        print("Takeoff failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('takeoff')
+        print(f"Takeoff retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def land(self):
+        if not self.check_flying_status():
+            print("DroneMission: 已在地面，跳过降落")
+            return True
+        resp = self._send_command('land')
+        print(f"Land response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(2)
+            return True
+        print("Land failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('land')
+        print(f"Land retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def move(self, direction, distance):
+        cmd = f'{direction} {distance}'
+        resp = self._send_command(cmd)
+        print(f"Move response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Move failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Move retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def rotate(self, degrees):
+        cmd = f'cw {degrees}'
+        resp = self._send_command(cmd)
+        print(f"Rotate response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Rotate failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Rotate retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def capture_photo(self):
+        img = None
+        while not self.frame_queue.empty():
+            img = self.frame_queue.get()
+        if img is not None:
+            self.photo_count += 1
+            filename = f"result{self.photo_count:04d}.jpg"
+            img_path = os.path.join(self.result_dir, filename)
+            cv2.imwrite(img_path, img)
+            print(f"保存图片: {img_path}")
+            return img_path
+        print("未获取到图片帧，拍照失败")
+        return None
+
+    def mission_with_photos(self):
+        print("任务开始，测试连接...")
+        if not self.test_connection():
+            print("连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not self.test_connection():
+                print("连接仍然失败，但继续任务")
+        print("起飞...")
+        if not self.takeoff():
+            print("起飞失败，但继续任务")
+        time.sleep(3)
+        start_time = time.time()
+        total_time = 0
+        action_steps = [
+            ("上升5米", lambda: self.move('up', 500), 3),
+            ("前进20米", lambda: self.move('forward', 2000), 3),
+            ("旋转360°", lambda: self.rotate(360), 3),
+            ("前进20米", lambda: self.move('forward', 2000), 3),
+            ("降落", self.land, 0)
+        ]
+        step_idx = 0
+        next_photo_time = 0
+        print("开始动作与拍照...")
+        while step_idx < len(action_steps):
+            step_name, step_func, wait_time = action_steps[step_idx]
+            step_start = time.time()
+            step_done = False
+            while not step_done:
+                now = time.time()
+                # 拍照
+                if now - start_time >= next_photo_time:
+                    self.capture_photo()
+                    next_photo_time += 0.5
+                # 执行动作
+                if step_func():
+                    print(f"{step_name} 完成")
+                    time.sleep(wait_time)
+                    step_done = True
+                else:
+                    print(f"{step_name} 重试...")
+                    time.sleep(1)
+            step_idx += 1
+        print("任务完成")
+
+    def close(self):
+        self.is_running = False
+        # 只有在没有外部资源时才关闭socket和container
+        if not hasattr(self, '_external_sock') or not self._external_sock:
+            if self.sock:
+                try:
+                    self.sock.close()
+                except:
+                    pass
+        if not hasattr(self, '_external_container') or not self._external_container:
+            if self.container:
+                try:
+                    self.container.close()
+                except:
+                    pass
+
+# =================== 保留main函数兼容直接运行 ===================
+def main():
+    print("=== road1.py main() called ===")
+    # 检查是否有外部传入的资源
+    if 'sock' in globals() and 'tello_address' in globals():
+        print("✓ Using external resources")
+        # 使用外部资源
+        mission = DroneMission(
+            external_sock=globals().get('sock'),
+            external_tello_address=globals().get('tello_address'),
+            external_frame_queue=globals().get('frame_queue'),
+            external_container=globals().get('container'),
+            external_frame_iter=globals().get('frame_iter')
+        )
+        
+
+    else:
+        print("✓ Using independent resources")
+        # 独立运行模式
+        mission = DroneMission()
+    
+    try:
+        mission.mission_with_photos()
+        mission.close()
+        
+
+        
+        print("=== road1.py main() completed ===")
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+        
+
+
+# 添加一个函数用于外部调用
+def run_mission_with_external_resources(sock, tello_address, frame_queue=None, container=None, frame_iter=None):
+    """使用外部资源运行任务的函数"""
+    print("=== road1.py run_mission_with_external_resources() called ===")
+    print(f"Received resources: sock={sock}, tello_address={tello_address}")
+    
+    mission = DroneMission(
+        external_sock=sock,
+        external_tello_address=tello_address,
+        external_frame_queue=frame_queue,
+        external_container=container,
+        external_frame_iter=frame_iter
+    )
+    
+    try:
+        mission.mission_with_photos()
+        mission.close()
+        print("=== road1.py run_mission_with_external_resources() completed ===")
+        return True
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+        return False
+
+if __name__ == '__main__':
+    main() 

robomaster tt/uploads/road2.py

@@ -0,0 +1,500 @@
+import cv2
+import os
+import av
+import time
+import socket
+from ultralytics import YOLO
+import threading
+from queue import Queue
+import logging
+import sys
+
+
+
+# 全局变量
+frame_queue = Queue(maxsize=30)  # 用于存储视频帧的队列
+detection_queue = Queue()  # 用于存储待检测图片的队列
+is_running = True  # 控制线程运行状态
+latest_image_path = None  # 最新图片路径
+container = None  # 视频流容器
+frame_iter = None  # 视频帧迭代器
+sock = None  # 无人机控制socket
+tello_address = ('192.168.10.1', 8889)  # 无人机地址
+
+logging.basicConfig(filename='road2_run.log', level=logging.INFO, format='%(asctime)s %(levelname)s: %(message)s')
+
+# =================== 新增类封装 ===================
+class DroneMission:
+    def __init__(self, external_sock=None, external_tello_address=None, 
+                 external_frame_queue=None, external_container=None, 
+                 external_frame_iter=None):
+        # 使用外部传入的资源，如果没有则创建新的
+        self.sock = external_sock
+        self.tello_address = external_tello_address or ('192.168.10.1', 8889)
+        self.frame_queue = external_frame_queue or Queue(maxsize=30)
+        self.container = external_container
+        self.frame_iter = external_frame_iter
+        
+        # 记录外部资源状态
+        self._external_sock = external_sock is not None
+        self._external_container = external_container is not None
+        
+        self.detection_queue = Queue()
+        self.is_running = True
+        self.latest_image_path = None
+        
+        # 如果没有外部socket，则初始化自己的
+        if not self.sock:
+            self._init_socket()
+        if not self.container or not self.frame_iter:
+            self._init_video_stream()
+        
+        # 只有在没有外部资源时才启动自己的线程
+        if not external_sock and not external_container:
+            self._start_threads()
+        self.model = YOLO(r'D:\yolo\yolov8n.pt')
+
+    def _init_socket(self):
+        if self.sock:
+            try:
+                self.sock.close()
+            except:
+                pass
+        # 只有当没有外部socket时才创建新的socket
+        if not self.sock:
+            self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            self.sock.bind(('', 9000))
+            self.sock.settimeout(3.0)
+
+    def _send_command(self, cmd):
+        try:
+            print(f"DroneMission sending command: {cmd}")
+            self.sock.sendto(cmd.encode('utf-8'), self.tello_address)
+            response, _ = self.sock.recvfrom(1024)
+            response_str = response.decode().strip()
+            print(f"DroneMission received response: {response_str}")
+            return response_str
+        except socket.timeout:
+            print(f"DroneMission timeout sending command: {cmd}")
+            return None
+        except Exception as e:
+            print(f"DroneMission error sending command: {e}")
+            return None
+
+    def check_flying_status(self):
+        """检查无人机是否正在飞行"""
+        try:
+            # 尝试获取高度信息来判断是否在飞行
+            height_response = self._send_command('height?')
+            print(f"Height response: '{height_response}'")
+            
+            # 检查响应是否有效
+            if height_response and height_response.isdigit():
+                height = int(height_response)
+                is_flying = height > 20  # 如果高度大于20cm，认为在飞行
+                print(f"Height: {height}cm, Flying: {is_flying}")
+                return is_flying
+            else:
+                print(f"Invalid height response: '{height_response}'")
+                # 如果高度检查失败，尝试其他方法
+                return self._check_flying_alternative()
+        except Exception as e:
+            print(f"Error checking flying status: {e}")
+            return self._check_flying_alternative()
+    
+    def _check_flying_alternative(self):
+        """备用的飞行状态检查方法"""
+        try:
+            # 尝试获取电池信息，如果能获取到说明连接正常
+            battery_response = self._send_command('battery?')
+            print(f"Battery response: '{battery_response}'")
+            
+            # 检查电池响应是否有效
+            if battery_response and battery_response.isdigit():
+                print(f"Battery check successful: {battery_response}%")
+                # 如果能获取电池信息，假设无人机在飞行状态
+                return True
+            else:
+                print(f"Invalid battery response: '{battery_response}'")
+                # 如果电池检查也失败，尝试其他方法
+                return self._check_flying_by_commands()
+        except Exception as e:
+            print(f"Error in battery check: {e}")
+            return self._check_flying_by_commands()
+    
+    def _check_flying_by_commands(self):
+        """通过尝试执行命令来检查飞行状态"""
+        try:
+            # 尝试发送一个简单的查询命令
+            response = self._send_command('speed?')
+            print(f"Speed response: '{response}'")
+            
+            # 如果能得到任何响应，说明连接正常
+            if response and response != 'error':
+                print("Connection check successful, assuming flying")
+                return True
+            else:
+                print("Connection check failed")
+                return False
+        except Exception as e:
+            print(f"Error in connection check: {e}")
+            return False
+    
+    def test_connection(self):
+        """测试与无人机的连接"""
+        try:
+            # 尝试发送一个简单的命令
+            response = self._send_command('command')
+            print(f"Connection test response: '{response}'")
+            return response == 'ok'
+        except Exception as e:
+            print(f"Connection test failed: {e}")
+            return False
+
+    def _init_video_stream(self):
+        # 只有当没有外部视频流时才创建新的
+        if not self.container or not self.frame_iter:
+            try:
+                self.container = av.open('udp://0.0.0.0:11111', format='h264', timeout=3.0)
+                self.frame_iter = self.container.decode(video=0)
+            except Exception as e:
+                print(f"Error initializing video stream: {e}")
+                self.container = None
+                self.frame_iter = None
+
+    def _video_stream_thread(self):
+        while self.is_running:
+            try:
+                if self.frame_iter is None:
+                    self._init_video_stream()
+                    if self.frame_iter is None:
+                        time.sleep(1)
+                        continue
+                frame = next(self.frame_iter, None)
+                if frame is not None:
+                    img = frame.to_ndarray(format='bgr24')
+                    if self.frame_queue.full():
+                        try:
+                            self.frame_queue.get_nowait()
+                        except:
+                            pass
+                    self.frame_queue.put(img)
+            except Exception as e:
+                time.sleep(0.1)
+
+    def _detection_thread(self):
+        while self.is_running:
+            try:
+                img_path = self.detection_queue.get(timeout=1)
+                if img_path:
+                    try:
+                        results = self.model(img_path)
+                        for r in results:
+                            save_path = os.path.join(r'D:\yolo\ultralytics\assets', 'detect_results', os.path.basename(img_path))
+                            os.makedirs(os.path.dirname(save_path), exist_ok=True)
+                            r.save(save_path)
+                        print(f"Detection completed for {img_path}")
+                    except Exception as e:
+                        print(f"Error in detection: {e}")
+            except:
+                time.sleep(0.01)
+
+    def _start_threads(self):
+        t1 = threading.Thread(target=self._video_stream_thread)
+        t1.daemon = True
+        t1.start()
+        t2 = threading.Thread(target=self._detection_thread)
+        t2.daemon = True
+        t2.start()
+
+    def takeoff(self):
+        print("DroneMission: takeoff() called")
+        
+        # 首先检查是否已经在飞行
+        if self.check_flying_status():
+            print("DroneMission: 无人机已在飞行状态，跳过起飞")
+            return True
+        
+        # 尝试起飞
+        takeoff_response = self._send_command('takeoff')
+        print(f"DroneMission: takeoff response = '{takeoff_response}'")
+        
+        # 检查起飞响应
+        if takeoff_response == 'ok':
+            print("DroneMission: 起飞成功")
+            time.sleep(3)  # 等待起飞完成
+            return True
+        else:
+            print(f"DroneMission: 起飞失败，响应: '{takeoff_response}'")
+            # 即使起飞失败，也假设无人机可能已经在飞行
+            time.sleep(2)
+            return True  # 返回True以继续执行任务
+        
+        return False
+
+    def land(self):
+        print("DroneMission: land() called")
+        
+        # 检查是否在地面
+        if not self.check_flying_status():
+            print("DroneMission: 无人机已在地面，跳过降落")
+            return True
+        
+        # 尝试降落
+        land_response = self._send_command('land')
+        print(f"DroneMission: land response = '{land_response}'")
+        
+        # 检查降落响应
+        if land_response == 'ok':
+            print("DroneMission: 降落成功")
+            time.sleep(2)
+            return True
+        else:
+            print(f"DroneMission: 降落失败，响应: '{land_response}'")
+            # 尝试重试降落
+            print("DroneMission: 尝试重试降落...")
+            time.sleep(2)
+            retry_response = self._send_command('land')
+            print(f"DroneMission: 降落重试响应 = '{retry_response}'")
+            
+            if retry_response == 'ok':
+                print("DroneMission: 降落重试成功")
+                return True
+            else:
+                print("DroneMission: 降落重试失败，但任务完成")
+                return True
+
+    def move(self, direction, distance):
+        print(f"DroneMission: move({direction}, {distance}) called")
+        
+        # 尝试执行移动命令，不强制检查飞行状态
+        cmd = f'{direction} {distance}'
+        response = self._send_command(cmd)
+        print(f"DroneMission: move response = '{response}'")
+        
+        # 检查响应
+        if response == 'ok':
+            print(f"DroneMission: 移动命令执行成功")
+            return True
+        else:
+            print(f"DroneMission: 移动命令执行失败，响应: '{response}'")
+            # 尝试重试一次
+            print(f"DroneMission: 尝试重试移动命令...")
+            time.sleep(1)
+            retry_response = self._send_command(cmd)
+            print(f"DroneMission: 重试响应 = '{retry_response}'")
+            
+            if retry_response == 'ok':
+                print(f"DroneMission: 重试成功")
+                return True
+            else:
+                print(f"DroneMission: 重试失败，但继续执行任务")
+                return True
+
+    def rotate(self, direction, degrees):
+        print(f"DroneMission: rotate({direction}, {degrees}) called")
+        
+        # 尝试执行旋转命令
+        cmd = f'{direction} {degrees}'
+        response = self._send_command(cmd)
+        print(f"DroneMission: rotate response = '{response}'")
+        
+        # 检查响应
+        if response == 'ok':
+            print(f"DroneMission: 旋转命令执行成功")
+            return True
+        else:
+            print(f"DroneMission: 旋转命令执行失败，响应: '{response}'")
+            # 即使失败也返回True，让任务继续
+            return True
+
+    def get_latest_image(self, filename=None):
+        # 获取最新一帧并保存
+        img = None
+        # 从frame_queue中获取最新帧
+        while not self.frame_queue.empty():
+            img = self.frame_queue.get()
+        
+        # 如果没有从队列获取到图像，尝试从视频流获取
+        if img is None and self.frame_iter is not None:
+            try:
+                frame = next(self.frame_iter, None)
+                if frame is not None:
+                    img = frame.to_ndarray(format='bgr24')
+            except Exception as e:
+                pass
+        
+        if img is not None:
+            if filename is None:
+                filename = f"img_{int(time.time())}.jpg"
+            save_dir = r"D:\yolo\ultralytics\assets"
+            os.makedirs(save_dir, exist_ok=True)
+            img_path = os.path.join(save_dir, filename)
+            cv2.imwrite(img_path, img)
+            self.latest_image_path = img_path
+            return img_path
+        return None
+
+    def move_and_capture(self, direction, distance, filename=None):
+        # 移动并返回图片路径
+        print(f"DroneMission: move_and_capture({direction}, {distance}, {filename}) called")
+        
+        # 尝试移动
+        move_success = self.move(direction, distance)
+        time.sleep(2)
+        
+        # 无论移动是否成功，都尝试拍照
+        result = self.get_latest_image(filename)
+        print(f"DroneMission: move_and_capture result = {result}")
+        
+        if result:
+            print(f"DroneMission: 成功保存图片: {result}")
+        else:
+            print("DroneMission: 拍照失败")
+        
+        return result
+
+    def close(self):
+        self.is_running = False
+        # 只有在没有外部资源时才关闭socket和container
+        if not hasattr(self, '_external_sock') or not self._external_sock:
+            if self.sock:
+                try:
+                    self.sock.close()
+                except:
+                    pass
+        if not hasattr(self, '_external_container') or not self._external_container:
+            if self.container:
+                try:
+                    self.container.close()
+                except:
+                    pass
+
+# =================== 保留main函数兼容直接运行 ===================
+def main():
+    print("=== road2.py main() called ===")
+    # 检查是否有外部传入的资源
+    if 'sock' in globals() and 'tello_address' in globals():
+        print("✓ Using external resources")
+        # 使用外部资源
+        mission = DroneMission(
+            external_sock=globals().get('sock'),
+            external_tello_address=globals().get('tello_address'),
+            external_frame_queue=globals().get('frame_queue'),
+            external_container=globals().get('container'),
+            external_frame_iter=globals().get('frame_iter')
+        )
+    else:
+        print("✓ Using independent resources")
+        # 独立运行模式
+        mission = DroneMission()
+    
+    try:
+        print("测试无人机连接...")
+        if not mission.test_connection():
+            print("无人机连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not mission.test_connection():
+                print("无人机连接仍然失败，但继续执行任务")
+        
+        print("检查无人机状态...")
+        is_flying = mission.check_flying_status()
+        print(f"无人机飞行状态: {'飞行中' if is_flying else '地面'}")
+        
+        print("起飞...")
+        takeoff_success = mission.takeoff()
+        print(f"起飞结果: {takeoff_success}")
+        
+        time.sleep(3)
+        
+        print("上升1米...")
+        up_success = mission.move('up', 100)
+        print(f"上升结果: {up_success}")
+        if up_success:
+            time.sleep(2)
+        
+        print("向前飞行1米并拍照...")
+        img1 = mission.move_and_capture('forward', 100, "forward_1m.jpg")
+        print(f"向前飞行图片保存: {img1}")
+        
+        print("向右飞行1米并拍照...")
+        img2 = mission.move_and_capture('right', 100, "right_1m.jpg")
+        print(f"向右飞行图片保存: {img2}")
+        
+        print("降落...")
+        land_success = mission.land()
+        print(f"降落结果: {land_success}")
+        
+        mission.close()
+        print("=== road2.py main() completed ===")
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+
+# 添加一个函数用于外部调用
+def run_mission_with_external_resources(sock, tello_address, frame_queue=None, container=None, frame_iter=None):
+    """使用外部资源运行任务的函数"""
+    print("=== road2.py run_mission_with_external_resources() called ===")
+    print(f"Received resources: sock={sock}, tello_address={tello_address}")
+    
+    mission = DroneMission(
+        external_sock=sock,
+        external_tello_address=tello_address,
+        external_frame_queue=frame_queue,
+        external_container=container,
+        external_frame_iter=frame_iter
+    )
+    
+    try:
+        print("测试无人机连接...")
+        if not mission.test_connection():
+            print("无人机连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not mission.test_connection():
+                print("无人机连接仍然失败，但继续执行任务")
+        
+        print("检查无人机状态...")
+        is_flying = mission.check_flying_status()
+        print(f"无人机飞行状态: {'飞行中' if is_flying else '地面'}")
+        
+        print("起飞...")
+        takeoff_success = mission.takeoff()
+        print(f"起飞结果: {takeoff_success}")
+        
+        time.sleep(3)
+        
+        print("上升1米...")
+        up_success = mission.move('up', 100)
+        print(f"上升结果: {up_success}")
+        if up_success:
+            time.sleep(2)
+        
+        print("向前飞行1米并拍照...")
+        img1 = mission.move_and_capture('forward', 100, "forward_1m.jpg")
+        print(f"向前飞行图片保存: {img1}")
+        
+        print("向右飞行1米并拍照...")
+        img2 = mission.move_and_capture('right', 100, "right_1m.jpg")
+        print(f"向右飞行图片保存: {img2}")
+        
+        print("降落...")
+        land_success = mission.land()
+        print(f"降落结果: {land_success}")
+        
+        mission.close()
+        print("=== road2.py run_mission_with_external_resources() completed ===")
+        return True
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+        return False
+
+if __name__ == '__main__':
+    main() 

robomaster tt/uploads/road3.py

@@ -0,0 +1,348 @@
+import cv2
+import os
+import av
+import time
+import socket
+import math
+import threading
+from queue import Queue
+import re
+import sys
+
+
+
+class DroneMission:
+    def __init__(self, external_sock=None, external_tello_address=None, 
+                 external_frame_queue=None, external_container=None, 
+                 external_frame_iter=None):
+        # 使用外部传入的资源，如果没有则创建新的
+        self.sock = external_sock
+        self.tello_address = external_tello_address or ('192.168.10.1', 8889)
+        self.frame_queue = external_frame_queue or Queue(maxsize=30)
+        self.container = external_container
+        self.frame_iter = external_frame_iter
+        
+        # 记录外部资源状态
+        self._external_sock = external_sock is not None
+        self._external_container = external_container is not None
+        
+        self.is_running = True
+        self.photo_count = 0
+        self.result_dir = r'D:\yolo\ultralytics\assets\circle'
+        os.makedirs(self.result_dir, exist_ok=True)
+        
+        # 如果没有外部socket，则初始化自己的
+        if not self.sock:
+            self._init_socket()
+        if not self.container or not self.frame_iter:
+            self._init_video_stream()
+        
+        # 只有在没有外部资源时才启动自己的线程
+        if not external_sock and not external_container:
+            self._start_threads()
+
+    def _init_socket(self):
+        if self.sock:
+            try:
+                self.sock.close()
+            except:
+                pass
+        # 只有当没有外部socket时才创建新的socket
+        if not self.sock:
+            self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.sock.bind(('', 9000))
+            self.sock.settimeout(3.0)
+
+    def _parse_dm_response(self, resp):
+        if resp is None:
+            return None
+        m = re.match(r"(\d+)", resp)
+        if m:
+            return int(m.group(1))
+        return None
+
+    def _send_command(self, cmd):
+        try:
+            print(f"DroneMission sending command: {cmd}")
+            self.sock.sendto(cmd.encode('utf-8'), self.tello_address)
+            response, _ = self.sock.recvfrom(1024)
+            response_str = response.decode().strip()
+            print(f"DroneMission received response: {response_str}")
+            return response_str
+        except socket.timeout:
+            print(f"DroneMission timeout sending command: {cmd}")
+            return None
+        except Exception as e:
+            print(f"Error sending command: {e}")
+            return None
+
+    def test_connection(self):
+        try:
+            response = self._send_command('command')
+            print(f"Connection test response: '{response}'")
+            # 兼容多种响应格式：'ok', 'Re0402 ok', 'Re0101 ok' 等
+            return response and ('ok' in response.lower())
+        except Exception as e:
+            print(f"Connection test failed: {e}")
+            return False
+
+    def check_flying_status(self):
+        try:
+            height_response = self._send_command('height?')
+            print(f"Height response: '{height_response}'")
+            height = self._parse_dm_response(height_response)
+            if height is not None:
+                is_flying = height > 20
+                print(f"Height: {height}cm, Flying: {is_flying}")
+                return is_flying
+            else:
+                print(f"Invalid height response: '{height_response}'")
+                return False
+        except Exception as e:
+            print(f"Error checking flying status: {e}")
+            return False
+
+    def _init_video_stream(self):
+        # 只有当没有外部视频流时才创建新的
+        if not self.container or not self.frame_iter:
+            try:
+                self.container = av.open('udp://0.0.0.0:11111', format='h264', timeout=3.0)
+                self.frame_iter = self.container.decode(video=0)
+            except Exception as e:
+                print(f"Error initializing video stream: {e}")
+                self.container = None
+                self.frame_iter = None
+
+    def _video_stream_thread(self):
+        while self.is_running:
+            try:
+                if self.frame_iter is None:
+                    self._init_video_stream()
+                    if self.frame_iter is None:
+                        time.sleep(1)
+                        continue
+                frame = next(self.frame_iter, None)
+                if frame is not None:
+                    img = frame.to_ndarray(format='bgr24')
+                    if self.frame_queue.full():
+                        try:
+                            self.frame_queue.get_nowait()
+                        except:
+                            pass
+                    self.frame_queue.put(img)
+            except Exception as e:
+                print(f"Error in video stream thread: {e}")
+                time.sleep(0.1)
+
+    def _start_threads(self):
+        t1 = threading.Thread(target=self._video_stream_thread)
+        t1.daemon = True
+        t1.start()
+
+    def takeoff(self):
+        if self.check_flying_status():
+            print("DroneMission: 已在飞行，跳过起飞")
+            return True
+        resp = self._send_command('takeoff')
+        print(f"Takeoff response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(3)
+            return True
+        print("Takeoff failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('takeoff')
+        print(f"Takeoff retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def land(self):
+        if not self.check_flying_status():
+            print("DroneMission: 已在地面，跳过降落")
+            return True
+        resp = self._send_command('land')
+        print(f"Land response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(2)
+            return True
+        print("Land failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('land')
+        print(f"Land retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def move(self, direction, distance):
+        cmd = f'{direction} {distance}'
+        resp = self._send_command(cmd)
+        print(f"Move response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Move failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Move retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def rotate(self, degrees):
+        cmd = f'cw {degrees}'
+        resp = self._send_command(cmd)
+        print(f"Rotate response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Rotate failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Rotate retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def capture_photo(self):
+        img = None
+        while not self.frame_queue.empty():
+            img = self.frame_queue.get()
+        if img is not None:
+            self.photo_count += 1
+            filename = f"circle{self.photo_count:04d}.jpg"
+            img_path = os.path.join(self.result_dir, filename)
+            cv2.imwrite(img_path, img)
+            print(f"保存图片: {img_path}")
+            return img_path
+        print("未获取到图片帧，拍照失败")
+        return None
+
+    def circle_flight(self, radius=2000, height=1000, steps=36):
+        print("任务开始，测试连接...")
+        if not self.test_connection():
+            print("连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not self.test_connection():
+                print("连接仍然失败，但继续任务")
+        print("起飞...")
+        if not self.takeoff():
+            print("起飞失败，但继续任务")
+        time.sleep(3)
+        print(f"上升{height/100}米...")
+        if not self.move('up', height):
+            print("上升失败，但继续任务")
+        time.sleep(3)
+        print(f"以{radius/100}米为半径环绕飞行...")
+        angle_step = 360 // steps
+        arc_len = int(2 * math.pi * (radius/100) / steps * 100)
+        for i in range(steps):
+            if not self.rotate(angle_step):
+                print(f"第{i+1}步旋转失败，但继续任务");
+            time.sleep(1)
+            if not self.move('forward', arc_len):
+                print(f"第{i+1}步前进失败，但继续任务");
+            time.sleep(1)
+            self.capture_photo()
+        print("降落...")
+        self.land()
+        print("任务完成")
+
+    def close(self):
+        self.is_running = False
+        # 只有在没有外部资源时才关闭socket和container
+        if not hasattr(self, '_external_sock') or not self._external_sock:
+            if self.sock:
+                try:
+                    self.sock.close()
+                except:
+                    pass
+        if not hasattr(self, '_external_container') or not self._external_container:
+            if self.container:
+                try:
+                    self.container.close()
+                except:
+                    pass
+
+def main():
+    print("=== road3.py main() called ===")
+    # 检查是否有外部传入的资源
+    if 'sock' in globals() and 'tello_address' in globals():
+        print("✓ Using external resources")
+        # 使用外部资源
+        mission = DroneMission(
+            external_sock=globals().get('sock'),
+            external_tello_address=globals().get('tello_address'),
+            external_frame_queue=globals().get('frame_queue'),
+            external_container=globals().get('container'),
+            external_frame_iter=globals().get('frame_iter')
+        )
+        
+
+    else:
+        print("✓ Using independent resources")
+        # 独立运行模式
+        mission = DroneMission()
+    
+    try:
+        print("任务开始，测试连接...")
+        if not mission.test_connection():
+            print("连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not mission.test_connection():
+                print("连接仍然失败，但继续任务")
+        
+        mission.circle_flight(radius=2000, height=1000, steps=36)
+        mission.close()
+        
+        print("=== road3.py main() completed ===")
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+
+# 添加一个函数用于外部调用
+def run_mission_with_external_resources(sock, tello_address, frame_queue=None, container=None, frame_iter=None):
+    """使用外部资源运行任务的函数"""
+    print("=== road3.py run_mission_with_external_resources() called ===")
+    print(f"Received resources: sock={sock}, tello_address={tello_address}")
+    
+    mission = DroneMission(
+        external_sock=sock,
+        external_tello_address=tello_address,
+        external_frame_queue=frame_queue,
+        external_container=container,
+        external_frame_iter=frame_iter
+    )
+    
+    # 初始化安全系统
+    if SAFETY_AVAILABLE:
+        try:
+            init_safety_system(sock, tello_address, frame_queue)
+            print("🛡️ 安全系统已初始化")
+        except Exception as e:
+            print(f"⚠️ 安全系统初始化失败: {e}")
+    
+    try:
+        print("任务开始，测试连接...")
+        if not mission.test_connection():
+            print("连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not mission.test_connection():
+                print("连接仍然失败，但继续任务")
+        
+        mission.circle_flight(radius=2000, height=1000, steps=36)
+        mission.close()
+        
+        # 停止安全系统
+        if SAFETY_AVAILABLE:
+            stop_safety_system()
+        
+        print("=== road3.py run_mission_with_external_resources() completed ===")
+        return True
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+        
+        return False
+
+if __name__ == '__main__':
+    main() 

robomaster tt/uploads/road4.py

@@ -0,0 +1,422 @@
+import cv2
+import os
+import av
+import time
+import socket
+import math
+import threading
+from queue import Queue
+import re
+import sys
+
+# 导入安全系统
+try:
+    from safy import init_safety_system, get_safety_system, safe_command, force_land, get_safety_status, stop_safety_system
+    SAFETY_AVAILABLE = True
+except ImportError:
+    SAFETY_AVAILABLE = False
+    print("⚠️ 安全系统模块不可用")
+
+class DroneMission:
+    def __init__(self, external_sock=None, external_tello_address=None, 
+                 external_frame_queue=None, external_container=None, 
+                 external_frame_iter=None):
+        # 使用外部传入的资源，如果没有则创建新的
+        self.sock = external_sock
+        self.tello_address = external_tello_address or ('192.168.10.1', 8889)
+        self.frame_queue = external_frame_queue or Queue(maxsize=30)
+        self.container = external_container
+        self.frame_iter = external_frame_iter
+        
+        # 记录外部资源状态
+        self._external_sock = external_sock is not None
+        self._external_container = external_container is not None
+        
+        self.is_running = True
+        self.photo_count = 0
+        self.result_dir = r'D:\yolo\ultralytics\assets\snake'
+        os.makedirs(self.result_dir, exist_ok=True)
+        
+        # 如果没有外部socket，则初始化自己的
+        if not self.sock:
+            self._init_socket()
+        if not self.container or not self.frame_iter:
+            self._init_video_stream()
+        
+        # 只有在没有外部资源时才启动自己的线程
+        if not external_sock and not external_container:
+            self._start_threads()
+
+    def _init_socket(self):
+        if self.sock:
+            try:
+                self.sock.close()
+            except:
+                pass
+        # 只有当没有外部socket时才创建新的socket
+        if not self.sock:
+            self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.sock.bind(('', 9000))
+            self.sock.settimeout(3.0)
+
+    def _parse_dm_response(self, resp):
+        if resp is None:
+            return None
+        m = re.match(r"(\d+)", resp)
+        if m:
+            return int(m.group(1))
+        return None
+
+    def _send_command(self, cmd):
+        # 如果安全系统可用，使用安全命令
+        if SAFETY_AVAILABLE and get_safety_system():
+            response = safe_command(cmd)
+            if response:
+                print(f"DroneMission (safe) received response: {response}")
+            return response
+        
+        # 否则使用原始命令
+        try:
+            print(f"DroneMission sending command: {cmd}")
+            self.sock.sendto(cmd.encode('utf-8'), self.tello_address)
+            response, _ = self.sock.recvfrom(1024)
+            response_str = response.decode().strip()
+            print(f"DroneMission received response: {response_str}")
+            return response_str
+        except socket.timeout:
+            print(f"DroneMission timeout sending command: {cmd}")
+            return None
+        except Exception as e:
+            print(f"Error sending command: {e}")
+            return None
+
+    def test_connection(self):
+        try:
+            response = self._send_command('command')
+            print(f"Connection test response: '{response}'")
+            # 兼容多种响应格式：'ok', 'Re0402 ok', 'Re0101 ok' 等
+            return response and ('ok' in response.lower())
+        except Exception as e:
+            print(f"Connection test failed: {e}")
+            return False
+
+    def check_flying_status(self):
+        try:
+            height_response = self._send_command('height?')
+            print(f"Height response: '{height_response}'")
+            height = self._parse_dm_response(height_response)
+            if height is not None:
+                is_flying = height > 20
+                print(f"Height: {height}cm, Flying: {is_flying}")
+                return is_flying
+            else:
+                print(f"Invalid height response: '{height_response}'")
+                return False
+        except Exception as e:
+            print(f"Error checking flying status: {e}")
+            return False
+
+    def _init_video_stream(self):
+        # 只有当没有外部视频流时才创建新的
+        if not self.container or not self.frame_iter:
+            try:
+                self.container = av.open('udp://0.0.0.0:11111', format='h264', timeout=3.0)
+                self.frame_iter = self.container.decode(video=0)
+            except Exception as e:
+                print(f"Error initializing video stream: {e}")
+                self.container = None
+                self.frame_iter = None
+
+    def _video_stream_thread(self):
+        while self.is_running:
+            try:
+                if self.frame_iter is None:
+                    self._init_video_stream()
+                    if self.frame_iter is None:
+                        time.sleep(1)
+                        continue
+                frame = next(self.frame_iter, None)
+                if frame is not None:
+                    img = frame.to_ndarray(format='bgr24')
+                    if self.frame_queue.full():
+                        try:
+                            self.frame_queue.get_nowait()
+                        except:
+                            pass
+                    self.frame_queue.put(img)
+            except Exception as e:
+                print(f"Error in video stream thread: {e}")
+                time.sleep(0.1)
+
+    def _start_threads(self):
+        t1 = threading.Thread(target=self._video_stream_thread)
+        t1.daemon = True
+        t1.start()
+
+    def takeoff(self):
+        if self.check_flying_status():
+            print("DroneMission: 已在飞行，跳过起飞")
+            return True
+        resp = self._send_command('takeoff')
+        print(f"Takeoff response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(3)
+            return True
+        print("Takeoff failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('takeoff')
+        print(f"Takeoff retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def land(self):
+        if not self.check_flying_status():
+            print("DroneMission: 已在地面，跳过降落")
+            return True
+        resp = self._send_command('land')
+        print(f"Land response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(2)
+            return True
+        print("Land failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('land')
+        print(f"Land retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def move(self, direction, distance):
+        cmd = f'{direction} {distance}'
+        resp = self._send_command(cmd)
+        print(f"Move response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Move failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Move retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def rotate(self, degrees):
+        cmd = f'cw {degrees}'
+        resp = self._send_command(cmd)
+        print(f"Rotate response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Rotate failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Rotate retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def rotate_ccw(self, degrees):
+        cmd = f'ccw {degrees}'
+        resp = self._send_command(cmd)
+        print(f"RotateCCW response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("RotateCCW failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"RotateCCW retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def capture_photo(self):
+        img = None
+        while not self.frame_queue.empty():
+            img = self.frame_queue.get()
+        if img is not None:
+            self.photo_count += 1
+            filename = f"snake{self.photo_count:04d}.jpg"
+            img_path = os.path.join(self.result_dir, filename)
+            cv2.imwrite(img_path, img)
+            print(f"保存图片: {img_path}")
+            return img_path
+        print("未获取到图片帧，拍照失败")
+        return None
+
+    def snake_flight(self, radius=500, total_length=5000, steps_per_half=12):
+        print("任务开始，测试连接...")
+        if not self.test_connection():
+            print("连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not self.test_connection():
+                print("连接仍然失败，但继续任务")
+        print("起飞...")
+        if not self.takeoff():
+            print("起飞失败，但继续任务")
+        time.sleep(3)
+        print("上升5米...")
+        if not self.move('up', 500):
+            print("上升失败，但继续任务")
+        time.sleep(3)
+        half_circum = math.pi * radius
+        num_half = int(total_length // half_circum)
+        print(f"蛇形路径：{num_half}个半圆，每个半径{radius/100}m，总长度约{total_length/100}m")
+        
+        # 启动拍照线程
+        self._photo_thread_running = True
+        def photo_thread():
+            while self._photo_thread_running:
+                self.capture_photo()
+                time.sleep(0.1)
+        t_photo = threading.Thread(target=photo_thread)
+        t_photo.daemon = True
+        t_photo.start()
+        for i in range(num_half):
+            direction = 'cw' if i % 2 == 0 else 'ccw'
+            for j in range(steps_per_half):
+                angle = 180 / steps_per_half
+                arc_len = int(math.pi * radius / steps_per_half)
+                if direction == 'cw':
+                    self.rotate(angle)
+                else:
+                    self.rotate_ccw(angle)
+                time.sleep(0.5)
+                self.move('forward', arc_len)
+                time.sleep(0.5)
+        print("原路返回...")
+        for i in reversed(range(num_half)):
+            direction = 'ccw' if i % 2 == 0 else 'cw'
+            for j in range(steps_per_half):
+                angle = 180 / steps_per_half
+                arc_len = int(math.pi * radius / steps_per_half)
+                if direction == 'cw':
+                    self.rotate(angle)
+                else:
+                    self.rotate_ccw(angle)
+                time.sleep(0.5)
+                self.move('forward', arc_len)
+                time.sleep(0.5)
+        self._photo_thread_running = False
+        t_photo.join(timeout=2)
+        print("降落...")
+        self.land()
+        print("任务完成")
+
+    def close(self):
+        self.is_running = False
+        # 只有在没有外部资源时才关闭socket和container
+        if not hasattr(self, '_external_sock') or not self._external_sock:
+            if self.sock:
+                try:
+                    self.sock.close()
+                except:
+                    pass
+        if not hasattr(self, '_external_container') or not self._external_container:
+            if self.container:
+                try:
+                    self.container.close()
+                except:
+                    pass
+
+def main():
+    print("=== road4.py main() called ===")
+    # 检查是否有外部传入的资源
+    if 'sock' in globals() and 'tello_address' in globals():
+        print("✓ Using external resources")
+        # 使用外部资源
+        mission = DroneMission(
+            external_sock=globals().get('sock'),
+            external_tello_address=globals().get('tello_address'),
+            external_frame_queue=globals().get('frame_queue'),
+            external_container=globals().get('container'),
+            external_frame_iter=globals().get('frame_iter')
+        )
+        
+        # 初始化安全系统
+        if SAFETY_AVAILABLE:
+            try:
+                init_safety_system(globals().get('sock'), globals().get('tello_address'), globals().get('frame_queue'))
+                print("🛡️ 安全系统已初始化")
+            except Exception as e:
+                print(f"⚠️ 安全系统初始化失败: {e}")
+    else:
+        print("✓ Using independent resources")
+        # 独立运行模式
+        mission = DroneMission()
+    
+    try:
+        print("任务开始，测试连接...")
+        if not mission.test_connection():
+            print("连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not mission.test_connection():
+                print("连接仍然失败，但继续任务")
+        
+        mission.snake_flight(radius=500, total_length=5000, steps_per_half=12)
+        mission.close()
+        
+        # 停止安全系统
+        if SAFETY_AVAILABLE:
+            stop_safety_system()
+        
+        print("=== road4.py main() completed ===")
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+        
+        # 异常情况下也停止安全系统
+        if SAFETY_AVAILABLE:
+            stop_safety_system()
+
+# 添加一个函数用于外部调用
+def run_mission_with_external_resources(sock, tello_address, frame_queue=None, container=None, frame_iter=None):
+    """使用外部资源运行任务的函数"""
+    print("=== road4.py run_mission_with_external_resources() called ===")
+    print(f"Received resources: sock={sock}, tello_address={tello_address}")
+    
+    mission = DroneMission(
+        external_sock=sock,
+        external_tello_address=tello_address,
+        external_frame_queue=frame_queue,
+        external_container=container,
+        external_frame_iter=frame_iter
+    )
+    
+    # 初始化安全系统
+    if SAFETY_AVAILABLE:
+        try:
+            init_safety_system(sock, tello_address, frame_queue)
+            print("🛡️ 安全系统已初始化")
+        except Exception as e:
+            print(f"⚠️ 安全系统初始化失败: {e}")
+    
+    try:
+        print("任务开始，测试连接...")
+        if not mission.test_connection():
+            print("连接失败，尝试重新连接...")
+            time.sleep(2)
+            if not mission.test_connection():
+                print("连接仍然失败，但继续任务")
+        
+        mission.snake_flight(radius=500, total_length=5000, steps_per_half=12)
+        mission.close()
+        
+        # 停止安全系统
+        if SAFETY_AVAILABLE:
+            stop_safety_system()
+        
+        print("=== road4.py run_mission_with_external_resources() completed ===")
+        return True
+        
+    except Exception as e:
+        print(f"任务执行出错: {e}")
+        import traceback
+        traceback.print_exc()
+        mission.close()
+        
+        # 异常情况下也停止安全系统
+        if SAFETY_AVAILABLE:
+            stop_safety_system()
+        
+        return False
+
+if __name__ == '__main__':
+    main() 

robomaster tt/uploads/road5.py

@@ -0,0 +1,405 @@
+import cv2
+import os
+import av
+import time
+import socket
+import math
+import threading
+from queue import Queue
+import re
+import sys
+
+
+
+class DroneMission:
+    def __init__(self, external_sock=None, external_tello_address=None, 
+                 external_frame_queue=None, external_container=None, 
+                 external_frame_iter=None):
+        # 使用外部传入的资源，如果没有则创建新的
+        self.sock = external_sock
+        self.tello_address = external_tello_address or ('192.168.10.1', 8889)
+        self.frame_queue = external_frame_queue or Queue(maxsize=30)
+        self.container = external_container
+        self.frame_iter = external_frame_iter
+        
+        # 记录外部资源状态
+        self._external_sock = external_sock is not None
+        self._external_container = external_container is not None
+        
+        self.is_running = True
+        self.photo_count = 0
+        self.result_dir = r'D:\yolo\ultralytics\assets\road5'
+        os.makedirs(self.result_dir, exist_ok=True)
+        
+        # 如果没有外部socket，则初始化自己的
+        if not self.sock:
+            self._init_socket()
+        if not self.container or not self.frame_iter:
+            self._init_video_stream()
+        
+        # 只有在没有外部资源时才启动自己的线程
+        if not external_sock and not external_container:
+            self._start_threads()
+
+    def _init_socket(self):
+        if self.sock:
+            try:
+                self.sock.close()
+            except:
+                pass
+        # 只有当没有外部socket时才创建新的socket
+        if not self.sock:
+            self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.sock.bind(('', 9000))
+            self.sock.settimeout(3.0)
+
+    def _parse_dm_response(self, resp):
+        if resp is None:
+            return None
+        m = re.match(r"(\d+)", resp)
+        if m:
+            return int(m.group(1))
+        return None
+
+    def _send_command(self, cmd):
+        try:
+            print(f"DroneMission sending command: {cmd}")
+            self.sock.sendto(cmd.encode('utf-8'), self.tello_address)
+            response, _ = self.sock.recvfrom(1024)
+            response_str = response.decode().strip()
+            print(f"DroneMission received response: {response_str}")
+            return response_str
+        except socket.timeout:
+            print(f"DroneMission timeout sending command: {cmd}")
+            return None
+        except Exception as e:
+            print(f"Error sending command: {e}")
+            return None
+
+    def test_connection(self):
+        try:
+            response = self._send_command('command')
+            print(f"Connection test response: '{response}'")
+            # 兼容多种响应格式：'ok', 'Re0402 ok', 'Re0101 ok' 等
+            return response and ('ok' in response.lower())
+        except Exception as e:
+            print(f"Connection test failed: {e}")
+            return False
+
+    def check_flying_status(self):
+        try:
+            height_response = self._send_command('height?')
+            print(f"Height response: '{height_response}'")
+            height = self._parse_dm_response(height_response)
+            if height is not None:
+                is_flying = height > 20
+                print(f"Height: {height}cm, Flying: {is_flying}")
+                return is_flying
+            else:
+                print(f"Invalid height response: '{height_response}'")
+                return False
+        except Exception as e:
+            print(f"Error checking flying status: {e}")
+            return False
+
+    def _init_video_stream(self):
+        # 只有当没有外部视频流时才创建新的
+        if not self.container or not self.frame_iter:
+            try:
+                self.container = av.open('udp://0.0.0.0:11111', format='h264', timeout=3.0)
+                self.frame_iter = self.container.decode(video=0)
+            except Exception as e:
+                print(f"Error initializing video stream: {e}")
+                self.container = None
+                self.frame_iter = None
+
+    def _video_stream_thread(self):
+        while self.is_running:
+            try:
+                if self.frame_iter is None:
+                    self._init_video_stream()
+                    if self.frame_iter is None:
+                        time.sleep(1)
+                        continue
+                frame = next(self.frame_iter, None)
+                if frame is not None:
+                    img = frame.to_ndarray(format='bgr24')
+                    if self.frame_queue.full():
+                        try:
+                            self.frame_queue.get_nowait()
+                        except:
+                            pass
+                    self.frame_queue.put(img)
+            except Exception as e:
+                print(f"Error in video stream thread: {e}")
+                time.sleep(0.1)
+
+    def _start_threads(self):
+        t1 = threading.Thread(target=self._video_stream_thread)
+        t1.daemon = True
+        t1.start()
+
+    def takeoff(self):
+        if self.check_flying_status():
+            print("DroneMission: 已在飞行，跳过起飞")
+            return True
+        resp = self._send_command('takeoff')
+        print(f"Takeoff response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(3)
+            return True
+        print("Takeoff failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('takeoff')
+        print(f"Takeoff retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def land(self):
+        if not self.check_flying_status():
+            print("DroneMission: 已在地面，跳过降落")
+            return True
+        resp = self._send_command('land')
+        print(f"Land response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok' 等
+        if resp and resp != 'error' and ('ok' in resp.lower()):
+            time.sleep(2)
+            return True
+        print("Land failed, retrying...")
+        time.sleep(2)
+        retry = self._send_command('land')
+        print(f"Land retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower())
+
+    def move(self, direction, distance):
+        cmd = f'{direction} {distance}'
+        resp = self._send_command(cmd)
+        print(f"Move response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Move failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Move retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def rotate(self, direction, degrees):
+        cmd = f'{direction} {degrees}'
+        resp = self._send_command(cmd)
+        print(f"Rotate response: '{resp}'")
+        # 兼容多种响应格式：'ok', 'Re0101 ok', 高度值等
+        if resp and resp != 'error' and ('ok' in resp.lower() or resp.isdigit()):
+            return True
+        print("Rotate failed, retrying...")
+        time.sleep(1)
+        retry = self._send_command(cmd)
+        print(f"Rotate retry response: '{retry}'")
+        return retry and retry != 'error' and ('ok' in retry.lower() or retry.isdigit())
+
+    def capture_photo(self):
+        """拍摄照片并保存"""
+        try:
+            if not self.frame_queue.empty():
+                img = self.frame_queue.get()
+                timestamp = time.strftime("%Y%m%d_%H%M%S")
+                filename = f"road5_photo_{self.photo_count:03d}_{timestamp}.jpg"
+                filepath = os.path.join(self.result_dir, filename)
+                cv2.imwrite(filepath, img)
+                self.latest_image_path = filepath
+                self.photo_count += 1
+                print(f"Photo captured: {filepath}")
+                return filepath
+            else:
+                print("No frame available for photo capture")
+                return None
+        except Exception as e:
+            print(f"Error capturing photo: {e}")
+            return None
+
+    def mission_road5(self):
+        """执行road5飞行任务"""
+        print("🚁 开始执行 Road5 飞行任务...")
+        
+        # 步骤1: 起飞
+        print("📈 步骤1: 起飞")
+        if not self.takeoff():
+            print("❌ 起飞失败")
+            return False
+        print("✅ 起飞成功")
+        
+        # 步骤2: 上升5米 (500cm)
+        print("⬆️ 步骤2: 上升5米")
+        if not self.move('up', 500):
+            print("❌ 上升失败")
+            return False
+        print("✅ 上升5米成功")
+        
+        # 拍摄照片
+        self.capture_photo()
+        time.sleep(1)
+        
+        # 步骤3: 向前飞行10米 (1000cm)
+        print("➡️ 步骤3: 向前飞行10米")
+        if not self.move('forward', 1000):
+            print("❌ 向前飞行失败")
+            return False
+        print("✅ 向前飞行10米成功")
+        
+        # 拍摄照片
+        self.capture_photo()
+        time.sleep(1)
+        
+        # 步骤4: 旋转270度
+        print("🔄 步骤4: 旋转270度")
+        if not self.rotate('cw', 270):
+            print("❌ 旋转270度失败")
+            return False
+        print("✅ 旋转270度成功")
+        
+        # 拍摄照片
+        self.capture_photo()
+        time.sleep(1)
+        
+        # 步骤5: 向前飞行12米 (1200cm)
+        print("➡️ 步骤5: 向前飞行12米")
+        if not self.move('forward', 1200):
+            print("❌ 向前飞行失败")
+            return False
+        print("✅ 向前飞行12米成功")
+        
+        # 拍摄照片
+        self.capture_photo()
+        time.sleep(1)
+        
+        # 步骤6: 旋转90度
+        print("🔄 步骤6: 旋转90度")
+        if not self.rotate('cw', 90):
+            print("❌ 旋转90度失败")
+            return False
+        print("✅ 旋转90度成功")
+        
+        # 拍摄照片
+        self.capture_photo()
+        time.sleep(1)
+        
+        # 步骤7: 向后飞行6米 (600cm)
+        print("⬅️ 步骤7: 向后飞行6米")
+        if not self.move('back', 600):
+            print("❌ 向后飞行失败")
+            return False
+        print("✅ 向后飞行6米成功")
+        
+        # 拍摄照片
+        self.capture_photo()
+        time.sleep(1)
+        
+        # 步骤8: 返航 (返回起飞点)
+        print("🏠 步骤8: 返航")
+        # 计算返航路径：先向左飞行，再向后飞行
+        if not self.move('left', 1200):  # 向左飞行12米
+            print("❌ 向左飞行失败")
+            return False
+        print("✅ 向左飞行成功")
+        
+        if not self.move('back', 1000):  # 向后飞行10米
+            print("❌ 向后飞行失败")
+            return False
+        print("✅ 向后飞行成功")
+        
+        # 拍摄最终照片
+        self.capture_photo()
+        time.sleep(1)
+        
+        # 步骤9: 降落
+        print("🛬 步骤9: 降落")
+        if not self.land():
+            print("❌ 降落失败")
+            return False
+        print("✅ 降落成功")
+        
+        print("🎉 Road5 飞行任务完成！")
+        return True
+
+    def close(self):
+        """关闭资源"""
+        self.is_running = False
+        if not self._external_sock and self.sock:
+            try:
+                self.sock.close()
+            except:
+                pass
+        if not self._external_container and self.container:
+            try:
+                self.container.close()
+            except:
+                pass
+
+def main():
+    """主函数"""
+    print("🚁 Road5 无人机任务启动")
+    
+    # 创建无人机任务实例
+    mission = DroneMission()
+    
+    try:
+        # 测试连接
+        if not mission.test_connection():
+            print("❌ 无法连接到无人机")
+            return
+        
+        print("✅ 无人机连接成功")
+        
+        # 执行road5任务
+        success = mission.mission_road5()
+        
+        if success:
+            print("🎉 Road5 任务执行成功！")
+        else:
+            print("❌ Road5 任务执行失败")
+            
+    except Exception as e:
+        print(f"❌ 任务执行出错: {e}")
+    finally:
+        mission.close()
+
+def run_mission_with_external_resources(sock, tello_address, frame_queue=None, container=None, frame_iter=None):
+    """使用外部资源运行任务"""
+    print("🚁 Road5 无人机任务启动 (使用外部资源)")
+    
+    # 创建无人机任务实例，使用外部资源
+    mission = DroneMission(
+        external_sock=sock,
+        external_tello_address=tello_address,
+        external_frame_queue=frame_queue,
+        external_container=container,
+        external_frame_iter=frame_iter
+    )
+    
+    try:
+        # 测试连接
+        if not mission.test_connection():
+            print("❌ 无法连接到无人机")
+            return False
+        
+        print("✅ 无人机连接成功")
+        
+        # 执行road5任务
+        success = mission.mission_road5()
+        
+        if success:
+            print("🎉 Road5 任务执行成功！")
+        else:
+            print("❌ Road5 任务执行失败")
+            
+        return success
+        
+    except Exception as e:
+        print(f"❌ 任务执行出错: {e}")
+        return False
+    finally:
+        # 注意：使用外部资源时不要关闭socket和container
+        mission.is_running = False
+
+if __name__ == "__main__":
+    main() 

robomaster tt/uploads/robo2.py

@@ -0,0 +1,442 @@
+import socket
+import time
+import cv2
+import os
+import av
+from ultralytics import YOLO
+from flask import Flask, request, jsonify, render_template
+import threading
+from queue import Queue
+import numpy as np
+import sys
+
+app = Flask(__name__)
+
+# 全局变量
+latest_image_path = None
+container = None
+frame_iter = None
+sock = None
+frame_queue = Queue(maxsize=30)  # 用于存储视频帧的队列
+detection_queue = Queue()  # 用于存储待检测图片的队列
+is_running = True  # 控制线程运行状态
+
+# 1. 发送指令让Tello进入SDK模式并开启0视频流
+tello_address = ('192.168.10.1', 8889)
+
+def create_socket():
+    """创建并返回一个新的socket连接"""
+    global sock
+    if sock:
+        try:
+            sock.close()
+        except:
+            pass
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    sock.bind(('', 9000))
+    sock.settimeout(5.0)  # 设置5秒超时
+    return sock
+
+def send_with_retry(cmd, max_retries=3, delay=1):
+    """发送命令并重试，直到成功或达到最大重试次数"""
+    global sock
+    if not sock:
+        sock = create_socket()
+    
+    # 针对 rc 命令，减少重试次数并增加延时
+    if cmd.startswith('rc'):
+        max_retries = min(max_retries, 2)
+        delay = max(delay, 0.5)
+    
+    # 设置socket超时
+    sock.settimeout(3.0)  # 减少超时时间到3秒
+        
+    for i in range(max_retries):
+        try:
+            print(f"Sending command: {cmd}")
+            # 在发送命令前暂停视频流处理
+            if cmd in ['forward', 'back', 'left', 'right', 'up', 'down', 'cw', 'ccw', 'takeoff']:
+                print("Pausing video stream for movement command...")
+                time.sleep(0.2)  # 增加暂停时间以确保命令能被处理
+            
+            sock.sendto(cmd.encode('utf-8'), tello_address)
+            
+            try:
+                response, _ = sock.recvfrom(1024)
+                response_str = response.decode().strip()
+                print(f"Response: {response_str}")
+                
+                if response_str.lower() == 'ok':
+                    # 如果是移动命令，等待一小段时间确保命令执行
+                    if cmd in ['forward', 'back', 'left', 'right', 'up', 'down', 'cw', 'ccw', 'takeoff']:
+                        time.sleep(0.5)  # 增加等待时间
+                    return True
+                elif response_str.lower() == 'error':
+                    if i < max_retries - 1:
+                        print(f"Command failed, retrying... ({i+1}/{max_retries})")
+                        time.sleep(delay)
+                    continue
+                else:
+                    # 对于查询命令，返回非空响应即可
+                    if response_str and response_str != '0':
+                        return True
+                    elif i < max_retries - 1:
+                        print(f"Invalid response, retrying... ({i+1}/{max_retries})")
+                        time.sleep(delay)
+                    continue
+            except socket.timeout:
+                print(f"Timeout waiting for response, retrying... ({i+1}/{max_retries})")
+                if i < max_retries - 1:
+                    time.sleep(delay)
+                continue
+                
+        except Exception as e:
+            print(f"Error sending command: {e}")
+            if i < max_retries - 1:
+                time.sleep(delay)
+                # 尝试重新创建socket
+                try:
+                    sock = create_socket()
+                    sock.settimeout(3.0)
+                except Exception as e:
+                    print(f"Error recreating socket: {e}")
+    return False
+
+def init_video_stream():
+    """初始化视频流"""
+    global container, frame_iter
+    
+    try:
+        print("Initializing video stream...")
+        
+        # 尝试关闭可能存在的旧连接
+        try:
+            if container:
+                container.close()
+                container = None
+                frame_iter = None
+        except:
+            pass
+            
+        # 尝试释放端口
+        try:
+            import socket
+            sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            sock.bind(('0.0.0.0', 11111))
+            sock.close()
+        except:
+            pass
+            
+        # 设置超时时间
+        container = av.open('udp://0.0.0.0:11111', format='h264', timeout=5.0)
+        frame_iter = container.decode(video=0)
+        
+        # 尝试获取第一帧来验证视频流是否正常工作
+        print("Testing video stream...")
+        try:
+            frame = next(frame_iter, None)
+            if frame is None:
+                print("Failed to get first frame")
+                return None, None
+            print("Successfully received first frame")
+            return container, frame_iter
+        except Exception as e:
+            print(f"Error getting first frame: {e}")
+            return None, None
+            
+    except Exception as e:
+        print(f"Error initializing video stream: {e}")
+        return None, None
+
+def video_stream_thread():
+    """视频流处理线程"""
+    global container, frame_iter, is_running
+    error_count = 0
+    max_errors = 3
+    
+    while is_running:
+        try:
+            frame = next(frame_iter, None)
+            if frame is not None:
+                # 将帧转换为numpy数组
+                img = frame.to_ndarray(format='bgr24')
+                # 如果队列满了，移除最旧的帧
+                if frame_queue.full():
+                    try:
+                        frame_queue.get_nowait()
+                    except:
+                        pass
+                # 将新帧放入队列
+                frame_queue.put(img)
+                error_count = 0  # 重置错误计数
+        except Exception as e:
+            error_count += 1
+            print(f"Error in video stream thread: {e}")
+            if error_count >= max_errors:
+                print("Too many video stream errors, attempting to reconnect...")
+                try:
+                    # 尝试重新初始化视频流
+                    container, frame_iter = init_video_stream()
+                    if container is None or frame_iter is None:
+                        print("Failed to reconnect video stream")
+                        time.sleep(1)
+                    else:
+                        print("Successfully reconnected video stream")
+                        error_count = 0
+                except Exception as reconnect_error:
+                    print(f"Error reconnecting video stream: {reconnect_error}")
+            time.sleep(0.01)
+
+def detection_thread():
+    """图像检测线程"""
+    global is_running
+    model = YOLO(r'D:\yolo\yolov8n.pt')
+    
+    while is_running:
+        try:
+            # 从检测队列获取图片路径
+            img_path = detection_queue.get(timeout=1)
+            if img_path:
+                try:
+                    results = model(img_path)
+                    for r in results:
+                        save_path = os.path.join(r'D:\yolo\ultralytics\assets', 'detect_results', os.path.basename(img_path))
+                        os.makedirs(os.path.dirname(save_path), exist_ok=True)
+                        r.save(save_path)
+                    print(f"Detection completed for {img_path}")
+                except Exception as e:
+                    print(f"Error in detection: {e}")
+        except:
+            time.sleep(0.01)
+
+def set_latest_image_path(path):
+    """设置最新图片路径"""
+    global latest_image_path
+    latest_image_path = path
+
+def smooth_land():
+    """平滑降落函数"""
+    print("Starting smooth landing...")
+    
+    # 首先降低高度到安全高度
+    print("Lowering to safe height...")
+    if not send_with_retry('down 20', max_retries=3):
+        print("Warning: Failed to lower height")
+    
+    time.sleep(2)  # 等待高度调整完成
+    
+    # 缓慢降低速度
+    print("Reducing speed...")
+    for i in range(3):
+        if not send_with_retry('rc 0 0 -10 0', max_retries=2):
+            print(f"Warning: Failed to reduce speed at step {i+1}")
+        time.sleep(0.5)
+    
+    # 完全停止
+    print("Stopping all movement...")
+    if not send_with_retry('rc 0 0 0 0', max_retries=2):
+        print("Warning: Failed to stop movement")
+    time.sleep(0.5)
+    
+    # 执行降落
+    print("Executing final landing...")
+    if not send_with_retry('land', max_retries=3):
+        print("Warning: Failed to execute landing command")
+    
+    # 等待降落完成
+    print("Waiting for landing to complete...")
+    time.sleep(3)
+
+# 全局异常钩子，确保任何未捕获异常都能安全降落
+def global_exception_handler(exc_type, exc_value, exc_traceback):
+    print("Uncaught exception:", exc_type, exc_value)
+    try:
+        smooth_land()
+    except Exception as e:
+        print("Error during emergency landing:", e)
+    finally:
+        sys.exit(1)
+
+sys.excepthook = global_exception_handler
+
+def main():
+    global container, frame_iter, sock, is_running
+    
+    # 确保存储图片的文件夹存在
+    save_dir = r"D:\yolo\ultralytics\assets"
+    os.makedirs(save_dir, exist_ok=True)
+
+    try:
+        # 初始化无人机
+        initialize_drone()
+        
+        # 先上升5米
+        # print("Ascending 5 meters before other actions...")
+        # if not send_with_retry('up 500', max_retries=3):
+        #     raise Exception("Failed to ascend 5 meters")
+        # time.sleep(3)  # 等待上升完成
+        
+        # 向前飞行1米
+        print("Moving forward 1 meter...")
+        if not send_with_retry('forward 100', max_retries=3):
+            raise Exception("Failed to move forward 1 meter")
+        time.sleep(3)  # 等待前进完成
+        
+        # 初始化视频流
+        container, frame_iter = init_video_stream()
+        if container is None or frame_iter is None:
+            raise Exception("Failed to initialize video stream")
+
+        # 启动视频流处理线程
+        video_thread = threading.Thread(target=video_stream_thread)
+        video_thread.daemon = True
+        video_thread.start()
+
+        # 启动检测线程
+        detect_thread = threading.Thread(target=detection_thread)
+        detect_thread.daemon = True
+        detect_thread.start()
+
+        img_count = 0
+        rotation_images = 12  # 360°/30° = 12张
+        
+        # 自转360度并拍照
+        print("\nPhase: Rotating in place and capturing images...")
+        rotation_speed = 30  # 自转速度（度/秒）
+        rotation_interval = 30  # 每次拍照间隔的角度
+        rotation_time = rotation_interval / rotation_speed  # 每次旋转所需时间
+        
+        # 开始自转
+        print("Starting rotation...")
+        if not send_with_retry('rc 0 0 0 30', max_retries=3):  # 设置自转速度
+            raise Exception("Failed to start rotation")
+        
+        # 等待一小段时间让旋转稳定
+        time.sleep(1)
+        
+        for i in range(rotation_images):
+            # 等待旋转到指定角度
+            time.sleep(rotation_time)
+            
+            # 拍摄照片
+            try:
+                img = None
+                while not frame_queue.empty():
+                    img = frame_queue.get()
+                if img is not None:
+                    img_path = os.path.join(save_dir, f"rotation_{img_count:04d}.jpg")
+                    cv2.imwrite(img_path, img)
+                    print(f"Saved rotation image: {img_path}")
+                    set_latest_image_path(img_path)
+                    detection_queue.put(img_path)
+                    img_count += 1
+                    print(f"Captured rotation image {i+1}/{rotation_images}")
+            except Exception as e:
+                print(f"Error capturing rotation frame: {e}")
+        
+        # 停止自转
+        print("Stopping rotation...")
+        if not send_with_retry('rc 0 0 0 0', max_retries=2):
+            print("Warning: Failed to stop rotation with rc command")
+        time.sleep(0.5)  # 增加等待时间
+
+    except KeyboardInterrupt:
+        print("Stopped by user.")
+        smooth_land()
+    except Exception as e:
+        print(f"Error occurred: {e}")
+        smooth_land()
+    finally:
+        # 停止所有线程
+        is_running = False
+        # 确保停止所有运动
+        if not send_with_retry('rc 0 0 0 0', max_retries=2):
+            print("Warning: Failed to send rc stop command in cleanup")
+        time.sleep(0.5)
+        # 执行平滑降落
+        # smooth_land()  # 已在except中调用，这里可注释避免重复
+        if container:
+            container.close()
+        cv2.destroyAllWindows()
+        print("Stopping video stream...")
+        send_with_retry('streamoff', max_retries=3)
+        if sock:
+            sock.close()
+
+def initialize_drone():
+    """初始化无人机，确保进入SDK模式"""
+    print("Initializing drone...")
+    
+    # 重置连接
+    create_socket()
+    
+    # 发送command命令直到成功
+    print("Entering SDK mode...")
+    if not send_with_retry('command', max_retries=5, delay=2):
+        raise Exception("Failed to enter SDK mode")
+    
+    # 等待SDK模式完全启动
+    print("Waiting for SDK mode to initialize...")
+    time.sleep(3)
+    
+    # 检查电池电量
+    print("Checking battery level...")
+    if not send_with_retry('battery?', max_retries=3):
+        print("Warning: Could not check battery level")
+    else:
+        print("Battery check completed")
+    
+    # 检查WiFi信号强度
+    print("Checking WiFi signal...")
+    if not send_with_retry('wifi?', max_retries=3):
+        print("Warning: Could not check WiFi signal")
+    else:
+        print("WiFi check completed")
+    
+    # 检查SDK模式状态
+    print("Checking SDK mode status...")
+    if not send_with_retry('sdk?', max_retries=3):
+        print("Warning: Could not verify SDK mode")
+    else:
+        print("SDK mode verified")
+    
+    # 发送takeoff命令
+    print("Attempting to take off...")
+    if not send_with_retry('takeoff', max_retries=3, delay=2):
+        raise Exception("Failed to take off")
+    
+    # 等待起飞完成
+    print("Waiting for takeoff to complete...")
+    time.sleep(5)
+    
+    # 开启视频流
+    print("Starting video stream...")
+    if not send_with_retry('streamon', max_retries=3, delay=2):
+        raise Exception("Failed to start video stream")
+    
+    # 等待视频流开启
+    print("Waiting for video stream to initialize...")
+    time.sleep(2)
+    
+    # 尝试初始化视频流，如果失败则重试
+    max_retries = 3
+    for i in range(max_retries):
+        try:
+            container, frame_iter = init_video_stream()
+            if container is not None and frame_iter is not None:
+                print("Video stream initialized successfully")
+                return
+            print(f"Video stream initialization failed, retrying... ({i+1}/{max_retries})")
+            time.sleep(2)
+        except Exception as e:
+            print(f"Error during video stream initialization attempt {i+1}: {e}")
+            time.sleep(2)
+    
+    raise Exception("Failed to initialize video stream after multiple attempts")
+
+if __name__ == '__main__':
+    # 启动主程序
+    main()
+    # 启动Flask服务
+    threading.Thread(target=app.run, kwargs={'host': '0.0.0.0', 'port': 5000}).start()

robomaster tt/uploads/setup.py

@@ -0,0 +1,53 @@
+# Ultralytics YOLO 🚀, GPL-3.0 license
+
+import re
+from pathlib import Path
+
+import pkg_resources as pkg
+from setuptools import find_packages, setup
+
+# Settings
+FILE = Path(__file__).resolve()
+ROOT = FILE.parent  # root directory
+README = (ROOT / "README.md").read_text(encoding="utf-8")
+REQUIREMENTS = [f'{x.name}{x.specifier}' for x in pkg.parse_requirements((ROOT / 'requirements.txt').read_text())]
+
+
+def get_version():
+    file = ROOT / 'ultralytics/__init__.py'
+    return re.search(r'^__version__ = [\'"]([^\'"]*)[\'"]', file.read_text(), re.M)[1]
+
+
+setup(
+    name="ultralytics",  # name of pypi package
+    version=get_version(),  # version of pypi package
+    python_requires=">=3.7.0",
+    license='GPL-3.0',
+    description='Ultralytics YOLOv8 and HUB',
+    long_description=README,
+    long_description_content_type="text/markdown",
+    url="https://github.com/ultralytics/ultralytics",
+    project_urls={
+        'Bug Reports': 'https://github.com/ultralytics/ultralytics/issues',
+        'Funding': 'https://ultralytics.com',
+        'Source': 'https://github.com/ultralytics/ultralytics',},
+    author="Ultralytics",
+    author_email='hello@ultralytics.com',
+    packages=find_packages(),  # required
+    include_package_data=True,
+    install_requires=REQUIREMENTS,
+    extras_require={
+        'dev':
+        ['check-manifest', 'pytest', 'pytest-cov', 'coverage', 'mkdocs', 'mkdocstrings[python]', 'mkdocs-material'],},
+    classifiers=[
+        "Intended Audience :: Developers", "Intended Audience :: Science/Research",
+        "License :: OSI Approved :: GNU General Public License v3 (GPLv3)", "Programming Language :: Python :: 3",
+        "Programming Language :: Python :: 3.7", "Programming Language :: Python :: 3.8",
+        "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10",
+        "Topic :: Software Development", "Topic :: Scientific/Engineering",
+        "Topic :: Scientific/Engineering :: Artificial Intelligence",
+        "Topic :: Scientific/Engineering :: Image Recognition", "Operating System :: POSIX :: Linux",
+        "Operating System :: MacOS", "Operating System :: Microsoft :: Windows"],
+    keywords="machine-learning, deep-learning, vision, ML, DL, AI, YOLO, YOLOv3, YOLOv5, YOLOv8, HUB, Ultralytics",
+    entry_points={
+        'console_scripts': ['yolo = ultralytics.yolo.cli:cli', 'ultralytics = ultralytics.yolo.cli:cli'],})