update 更新代码版本

app.py

@@ -1,3 +1,5 @@
+from time import sleep
+
 import configSer
 import tcp_Ser
 import upload.DataReporter
@@ -11,9 +13,9 @@ if __name__ == '__main__':
     json_str = config_obj.config_info.to_json(indent=4)
     print(f"当前配置：{json_str}")
 
-    tcp_service = tcp_Ser.TcpSer("127.0.0.1", config_obj.config_info.server.port)
+    tcp_service = tcp_Ser.TcpSer("0.0.0.0", config_obj.config_info.server.port)
     tcp_service.start()
-    reporter = upload.DataReporter.DataReporter()
+    reporter = upload.DataReporter.DataReporter(data_fps=config_obj.config_info.fps.data,video_fps=config_obj.config_info.fps.video)
     reporter.register_handler(tcp_service.broadcast_message)
     reporter.start()
     # 启动video
@@ -22,10 +24,10 @@ if __name__ == '__main__':
     # 添加订阅者processor
     tcp_service.add_subscribe(processor)
     # 启动
-    processor.video_mode(0)
-
-
+    processor.video_mode(config_obj.config_info.capture)
 
+    while True:
+        sleep(10)
 
     cv2.waitKey(0)
     cv2.destroyAllWindows()

config.json

@@ -2,33 +2,32 @@
     "server": {
         "port": 2230
     },
-    "capture": 0,
+    "fps": {
+        "data": 10,
+        "video": 0
+    },
+    "capture": "0",
     "targets": {
         "0": {
             "info": {
                 "rectangle_area": {
                     "x": 50,
-                    "y": 371,
-                    "w": 113,
-                    "h": 91
+                    "y": 230,
+                    "w": 130,
+                    "h": 100
                 },
                 "threshold": {
-                    "binary": 120,
-                    "gauss": 5
+                    "binary": 180,
+                    "gauss": 7
                 },
-                "radius_pix": 1,
                 "radius": 20.0,
-                "pix_length": 0.0,
                 "id": 0,
-                "desc": "0_biaoba",
+                "desc": "0_up",
                 "base": false
-            }
-        }
             },
-    "perspective": {
-            "0": [
+            "perspective": [
                 [
-                1.02161644,
+                    1.02,
                     -0.277155559,
                     109.207622
                 ],
@@ -42,6 +41,27 @@
                     2.664279e-06,
                     1.0
                 ]
-        ]
+            ],
+            "handler_info": {
+                "radius_pix": 20.0,
+                "pix_length": 1.0,
+                "center_point": {
+                    "x": 125.0,
+                    "y": 272.0
+                },
+                "center_init": {
+                    "x": 123.5,
+                    "y": 272.0
+                },
+                "displacement_pix": {
+                    "x": 1.5,
+                    "y": 0.0
+                },
+                "displacement_phy": {
+                    "x": 1.5,
+                    "y": 0.0
+                }
+            }
+        }
     }
 }

config2.json

@@ -1,45 +0,0 @@
-{
-    "server": {
-        "port": 2230
-     },
-    "capture": 0,
-    "targets": {
-        "0": {
-            "info": {
-                "rectangle_area": {
-                    "x": 75,
-                    "y": 310,
-                    "w": 59,
-                    "h": 55
-                },
-                "threshold": {
-                    "binary": 128,
-                    "gauss": 9
-                },
-                "radius": 20.0,
-                "id": 0,
-                "desc": "",
-                "base": false
-            }
-        }
-    },
-    "perspective2": {
-        "0": [
-            [
-                1.02161644,
-                -0.277155559,
-                109.207622
-            ],
-            [
-                0.0802663708,
-                1.00426514,
-                -34.8436318
-            ],
-            [
-                3.80200276e-05,
-                2.664279e-06,
-                1.0
-            ]
-        ]
-    }
-}

configSer.py

@@ -2,9 +2,9 @@ import json
 import os
 from dataclasses import (
     dataclass,
-    field, asdict
+    field
 )
-from typing import Dict, Optional
+from typing import Dict
 
 import numpy as np
 from dataclasses_json import dataclass_json
@@ -19,15 +19,20 @@ _file_path: str
 class Server:
     port: int = 0
 
+@dataclass_json
+@dataclass
+class Fps:
+    data: int = 0
+    video: int = 0
+
 @dataclass_json
 @dataclass
 class ConfigInfo:
     server:Server
-    capture: int = 0
+    fps:Fps
+    capture: str = "0"
     # 标靶配置
     targets: Dict[int, models.target.CircleTarget] = field(default_factory=dict)
-    # 标靶透视矩阵
-    perspective: Dict[int, np.ndarray] = field(default_factory=dict)
 
 class ConfigOperate:
     _file_path: str
@@ -46,29 +51,29 @@ class ConfigOperate:
             config = json.load(json_file)
         return config
 
-    def load2obj_sample2(self):
-        """"读取配置"""
-        dic=self.load2dict()
-        ts = dic["targets"]
-        capture = dic["capture"]
-        # 获取矩阵数据
-        matrix_dict = dic.get("perspective", {})
-        # n0=convert_to_ndarray(self.matrix_dict["0"])
-        # 将矩阵转换为字符串
-        # matrix_str = np.array2string(n0, precision=8, separator=', ', suppress_small=True)
-        for _,t in ts.items():
-            obj = models.target.TargetInfo(**t)
-            area = models.target.RectangleArea.from_dict(obj.rectangle_area)
-            thres = models.target.Threshold(**obj.threshold)
-            self.targets[obj.id] = models.target.CircleTarget(
-                obj.id,
-                obj.desc,
-                area,
-                obj.radius,
-                thres,
-                obj.base
-            )
-        return self.targets
+    # def load2obj_sample2(self):
+    #     """"读取配置"""
+    #     dic=self.load2dict()
+    #     ts = dic["targets"]
+    #     capture = dic["capture"]
+    #     # 获取矩阵数据
+    #     matrix_dict = dic.get("perspective", {})
+    #     # n0=convert_to_ndarray(self.matrix_dict["0"])
+    #     # 将矩阵转换为字符串
+    #     # matrix_str = np.array2string(n0, precision=8, separator=', ', suppress_small=True)
+    #     for _,t in ts.items():
+    #         obj = models.target.TargetInfo(**t)
+    #         area = models.target.RectangleArea.from_dict(obj.rectangle_area)
+    #         thres = models.target.Threshold(**obj.threshold)
+    #         self.targets[obj.id] = models.target.CircleTarget(
+    #             obj.id,
+    #             obj.desc,
+    #             area,
+    #             obj.radius,
+    #             thres,
+    #             obj.base
+    #         )
+    #     return self.targets
 
     def load2obj_sample(self):
         dic=self.load2dict()

models/msg.py

@@ -12,14 +12,8 @@ class Msg:
 
     def to_json_(self) -> str:
         """将数据类序列化为 JSON 字符串"""
-        # return json.dumps(self.__dict__, indent=4, default=lambda x: x.__dict__)
         return self.to_json()
 
-    # @classmethod
-    # def from_json(cls, json_str: str) -> 'Msg':
-    #     """从 JSON 字符串反序列化为数据类"""
-    #     data_dict = json.loads(json_str)
-    #     return cls(**data_dict)
 
 
 

models/target.py

@@ -1,8 +1,11 @@
 from dataclasses import dataclass, field
-from typing import Optional
+from typing import Optional, Dict
 
+import numpy as np
 from dataclasses_json import dataclass_json, config
 
+import utils
+
 
 @dataclass_json
 @dataclass
@@ -38,10 +41,8 @@ class TargetInfo:
     # 标靶方形区域
     rectangle_area:RectangleArea
     threshold:Threshold
-    radius_pix:float= 1
     # 标靶物理半径
     radius:float=0.0
-    pix_length:float=0.0
     id:int =-1
     desc:str=""
     base:bool=False
@@ -57,15 +58,13 @@ class TargetInfo:
     def from_dict(cls,data: dict):
         return cls(data['id'],data['rectangle_area'],data['radius'])
 
-
 @dataclass_json
 @dataclass
-class CircleTarget:
-    # 标靶方形区域
-    info:TargetInfo
-
-    # 初始标靶中心
+class HandlerInfo:
+    # 初始话
     is_init=True
+    radius_pix:float= 1.0
+    pix_length:float=0.0
     # 标靶中心
     center_point: Optional[Point]= field(default=None, metadata=config(exclude=lambda x: x is None))
     center_init : Optional[Point]= field(default=None, metadata=config(exclude=lambda x: x is None))
@@ -73,25 +72,41 @@ class CircleTarget:
     displacement_pix: Optional[Point]= field(default=None, metadata=config(exclude=lambda x: x is None))
     displacement_phy: Optional[Point]= field(default=None, metadata=config(exclude=lambda x: x is None))
 
-    def __init__(self,info:TargetInfo,center_point,center_init,displacement_pix,displacement_phy):
-        self.info=info
-        self.center_point=center_point
-        self.center_init=center_init
-        self. displacement_pix=displacement_pix
-        self.displacement_phy=displacement_phy
+@dataclass_json
+@dataclass
+class CircleTarget:
+    # 标靶方形区域
+    info:TargetInfo
+    # 标靶透视矩阵
+    perspective: np.ndarray = field(
+        metadata=config(
+            encoder=utils.encode_perspective,
+            decoder=utils.decode_perspective
+        )
+    )
+    handler_info: Optional[HandlerInfo]=None
+
+
+    # def __init__(self,info:TargetInfo,center_point,center_init,displacement_pix,displacement_phy):
+    #     self.info=info
+    #     self.center_point=center_point
+    #     self.center_init=center_init
+    #     self. displacement_pix=displacement_pix
+    #     self.displacement_phy=displacement_phy
 
 
     @classmethod
     def init_by_info(cls,t:TargetInfo):
         return CircleTarget(t,None,None,None,None)
     def circle_displacement(self):
-        previous = self.center_init
+        previous = self.handler_info.center_init
         if previous != ():
-            self.displacement_pix = Point(self.center_point.x - previous.x, self.center_point.y - previous.y)
+            self.handler_info.displacement_pix = Point(self.handler_info.center_point.x - previous.x,
+                                          self.handler_info.center_point.y - previous.y)
             if self.info.radius != 0:
                 # 单位像素距离
-                self.info.pix_length = self.info.radius / self.info.radius_pix
-                offset_x = round(float(self.displacement_pix.x * self.info.pix_length), 5)
-                offset_y = round(float(self.displacement_pix.y * self.info.pix_length), 5)
-                self.displacement_phy = Point(offset_x, offset_y)
+                self.handler_info.pix_length = self.info.radius / self.handler_info.radius_pix
+                offset_x = round(float(self.handler_info.displacement_pix.x * self.handler_info.pix_length), 5)
+                offset_y = round(float(self.handler_info.displacement_pix.y * self.handler_info.pix_length), 5)
+                self.handler_info.displacement_phy = Point(offset_x, offset_y)
         return self

tcp_Ser.py

@@ -28,20 +28,30 @@ class TcpSer(threading.Thread):
             # 保持连接，直到客户端断开
             while True:
                 # 接收客户端数据（如果需要）
-                data = client_socket.recv(1024)
+                data = client_socket.recv(4096)
                 msg_str=data.decode('utf-8')
                 if not data:
                     break  # 如果没有数据，退出循环
                 print(f"从 {client_socket.getpeername()} 收到: {msg_str}")
                 # 反序列化为  实例
                 s_cmd = Msg.from_json(msg_str)
+                valid_msg:bool=True
                 match s_cmd.cmd:
                     case "getPoints" | "setPoints":
-                        self.on_data(s_cmd)
+                        self.on_data(s_cmd,valid_msg)
+                    case "videoFps"| "dataFps":
+                        self.on_data(s_cmd,valid_msg)
+                    case "setCap":
+                        self.on_data(s_cmd,valid_msg)
                     # todo 添加处理
-                    case "xxxxx":
-                        self.on_data(s_cmd)
+                    case _:
+                        valid_msg = False
+                        err_msg=f"valid cmd={s_cmd.cmd}"
+                        resp=f"""{{"_from": "dev","cmd": "{s_cmd.cmd}","values": {{"operate": false,"err": "{err_msg}"}}}}"""
+                        client_socket.sendall(resp.encode())
+                        print("非法命令",resp)
 
+                print("通讯完成")
         except Exception as e:
             print(f"处理客户端时出错: {e}")
         finally:
@@ -58,7 +68,7 @@ class TcpSer(threading.Thread):
             self.consumers.append(consumer)
          else:
              print("consumer 缺少on_data函数,订阅无效 ")
-    def on_data(self,msg):
+    def on_data(self,msg,valid):
         for consumer in self.consumers:
             try:
                 resp=consumer.on_data(msg)
@@ -72,6 +82,7 @@ class TcpSer(threading.Thread):
             if len(message)==0:
                 return
 
+            message+="\n\n"
             for client in self.connected_clients:
                 try:
                     client.sendall(message.encode())

test/测试config.py

@@ -6,11 +6,11 @@ import configSer
 def test_load_config():
     config_path = "../config.json"
     # 读取配置文件
-    config = configSer.ConfigOperate(config_path)
+    config: configSer.ConfigOperate = configSer.ConfigOperate(config_path)
     json_str2 = config.config_info.to_json(indent=4)
     print("json=",json_str2)
-    config_dict = asdict(config)
-    config.capture=1
+    # 测试修改相机id
+    config.config_info.capture=1
     config.save2json_file()
     # 更新配置文件
     updates = {

test/测试opencv.py

@@ -1,4 +1,5 @@
 import logging
+from time import sleep
 
 import cv2
 print(cv2.__version__)
@@ -6,33 +7,58 @@ def open_video(video_id):
      cap = cv2.VideoCapture(video_id)
      if not cap.isOpened():
          logging.info("无法打开摄像头")
-         exit()
      return cap
 
+class VideoProcessor:
+    capture: cv2.VideoCapture
 
 rtsp_url ="rtsp://admin:123456abc@192.168.1.64:554/h264/ch1/main/av_stream"
-capture = open_video(rtsp_url)
-fps = capture.get(cv2.CAP_PROP_FPS)
-width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
-height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+print("开始读取2")
+capture=open_video(2)
+vp = VideoProcessor()
+vp.capture = capture
+fps = vp.capture .get(cv2.CAP_PROP_FPS)
+width = int(vp.capture .get(cv2.CAP_PROP_FRAME_WIDTH))
+height = int(vp.capture .get(cv2.CAP_PROP_FRAME_HEIGHT))
 print(f"fps={fps}")
 print("width={width}, height={height}".format(width=width, height=height))
 
-# 定义视频编码器和输出文件
-fourcc = cv2.VideoWriter_fourcc(*'mp4v')
-out = cv2.VideoWriter('output.mp4', fourcc, fps, (width, height))
-# 读取一帧图像
+cv2.namedWindow('frame')
+i = 0
 while True:
-    ret, frame = capture.read()
+    ret, frame = vp.capture .read()
+    if ret:
         print("-->")
-
+        cv2.imshow("frame", frame)
+        i=i+1
+        if i>10:
+            break
+        # 写入帧到输出文件
+        # out.write(frame)
+    else:
+        logging.info("无法读取图像帧")
+        break
+    if cv2.waitKey(1) & 0xFF == ord('q'):  # 按'q'退出循环
+         break
+print("释放2")
+vp.capture.release()
+cv2.destroyAllWindows()
+print("开始读取0")
+sleep(2)
+vp.capture  = open_video(0)
+# # 定义视频编 = open_video(0)码器和输出文件
+# fourcc = cv2.VideoWriter_fourcc(*'mp4v')
+# out = cv2.VideoWriter('output.mp4', fourcc, fps, (width, height))
+while True:
+    ret, frame = vp.capture .read()
     if ret:
+        cv2.imshow("frame", frame)
         # 写入帧到输出文件
-        out.write(frame)
+        # out.write(frame)
     else:
-        logging.info("无法读取帧")
+        logging.info("无法读取图像帧")
     if cv2.waitKey(1) & 0xFF == ord('q'):  # 按'q'退出循环
          break
 
-capture.release()
-out.release()
+vp.capture.release()
+# out.release()

upload/DataReporter.py

@@ -8,12 +8,12 @@ from upload.RateLimiter import RateLimiter
 
 class DataReporter(threading.Thread):
     call_back=None
-    def __init__(self,):
+    def __init__(self,data_fps:int,video_fps:int):
         super().__init__()
-        self.image_queue = queue.Queue(maxsize=10)  # 图片队列
-        self.data_queue = queue.Queue(maxsize=50)  # 数据队列
-        self.image_limiter = RateLimiter(max_rate=1, time_window=1)  # 图片限速: 5张/秒
-        self.data_limiter = RateLimiter(max_rate=1, time_window=1)  # 数据限速: 20条/秒
+        self.image_queue = queue.Queue(maxsize=video_fps)  # 图片队列
+        self.data_queue = queue.Queue(maxsize=data_fps)  # 数据队列
+        self.image_limiter = RateLimiter(max_rate=video_fps, time_window=1)  # 图片限速: 5张/秒
+        self.data_limiter = RateLimiter(max_rate=data_fps, time_window=1)  # 数据限速: 20条/秒
         self.running = True
         self.image_dropped = 0  # 统计丢弃的图片数量
         self.data_dropped = 0   # 统计丢弃的数据数量
@@ -27,7 +27,7 @@ class DataReporter(threading.Thread):
             if not self.image_queue.empty() and self.image_limiter.allow_request():
                 try:
                     image_data = self.image_queue.get_nowait()
-                    # self._report_image(image_data)
+                    self._report_image(image_data)
                 except queue.Empty:
                     pass
 
@@ -66,6 +66,8 @@ class DataReporter(threading.Thread):
         if data_type == 'image':
             with self.image_limiter.lock:
                 self.image_limiter.max_rate = new_rate
+                self.image_queue= queue.Queue(maxsize=new_rate)
         else:
             with self.data_limiter.lock:
                 self.data_limiter.max_rate = new_rate
+                self.data_queue = queue.Queue(maxsize=new_rate)

utils.py

@@ -1,5 +1,11 @@
+from typing import Dict, List
+
 import cv2
 import base64
+
+import numpy as np
+
+
 def frame_to_base64(frame, format="JPEG"):
     """将 OpenCV 读取的图片帧转换为 Base64 编码的字符串"""
     # 将图片帧编码为 JPEG 或 PNG 格式
@@ -17,3 +23,12 @@ def frame_to_base64(frame, format="JPEG"):
     # 将编码后的字节流转换为 Base64 字符串
     base64_string = base64.b64encode(encoded_frame).decode("utf-8")
     return base64_string
+
+
+
+# 自定义编码器和解码器
+def encode_perspective(value: np.ndarray) -> List[List[float]]:
+    return value.tolist()
+
+def decode_perspective(value: List[List[float]]) -> np.ndarray:
+    return np.array(value)

标靶识别.py

@@ -230,7 +230,9 @@ def image_mode():
     show_image(img_raw)
 
 def rtsp_mode():
-    rtsp_url ="rtsp://admin:123456abc@192.168.1.64:554"
+    # rtsp_url ="rtsp://admin:123456abc@192.168.1.64:554"
+    rtsp_url ="rtsp://localhost:8554/rtsp"
+
     capture = open_video(rtsp_url)
     fps = capture.get(cv2.CAP_PROP_FPS)
     print(f"fps={fps}")
@@ -242,8 +244,8 @@ def rtsp_mode():
 if __name__ == '__main__':
     signal.signal(signal.SIGINT, check_exit)
 
-    # rtsp_mode()
-    video_mode(0)
+    rtsp_mode()
+    # video_mode(0)
     # image_mode()
 
     cv2.waitKey(0)

标靶识别video.py

@@ -1,20 +1,17 @@
+import gc
 from datetime import datetime
 import json
 import queue
 import time
 from time import sleep
-from dataclasses import asdict
 import cv2
 import numpy as np
-import signal
 import sys
-import threading
 import logging
 
 import configSer
 import models.target
 import models.sampleMsg
-import tcp_Ser
 import upload.DataReporter
 import utils
 from models.msg import Msg
@@ -59,9 +56,9 @@ def add_rectangle(event, x, y, flags, param):
             "test add",
             area,
             radius,
-            models.target.Threshold(128,9),
+            models.target.Threshold(190,9),
             False)
-        new_target = models.target.CircleTarget(t_info,None,None,None,None)
+        new_target = models.target.CircleTarget(t_info,None,None)
         logging.info(f"新增区域[{target_id}] => {start_point, end_point}")
         configObj.config_info.targets[target_id] = new_target
 
@@ -69,7 +66,8 @@ def read_target_rectangle():
         return configObj.config_info.targets
 class VideoProcessor:
     reporter: upload.DataReporter.DataReporter
-
+    capture: cv2.VideoCapture
+    is_opened: bool= False
     def __init__(self, reporter:upload.DataReporter.DataReporter):
         self.reporter = reporter
 
@@ -78,33 +76,56 @@ class VideoProcessor:
         logging.info(f"msg={msg}")
         match msg.cmd:
             case "getPoints":
-                data_dict = {k: asdict(v.info) for k, v in configObj.config_info.targets.items()}
-                resp_msg = models.msg.Msg(_from="dev", cmd="getPoints", values={"targets": data_dict})
+                targets=configObj.config_info.targets.copy()
+                for k,v in targets.items():
+                    targets[k].handler_info=None
+
+                resp_msg = models.msg.Msg(_from="dev", cmd="getPoints", values={"targets": targets})
                 resp_json = resp_msg.to_json_()
                 return resp_json
             case "setPoints":
                 v=msg.values
                 ts=v["targets"]
 
-                # 清空原配置
-                configObj.config_info.targets={}
+                # # 清空原配置
+                # configObj.config_info.targets={}
                 for _,t in ts.items():
                     t_str=json.dumps(t)
-                    t_info = models.target.TargetInfo.from_json(t_str)
-                    c_target=models.target.CircleTarget.init_by_info(t_info)
-                    configObj.config_info.targets[c_target.info.id] =c_target
+                    new_c_target = models.target.CircleTarget.from_json(t_str)
+                    configObj.config_info.targets[new_c_target.info.id] =new_c_target
 
                 configObj.save2json_file()
                 resp_msg = models.msg.Msg(_from="dev", cmd="setPoints", values={"operate": True})
                 resp_json = resp_msg.to_json()
                 return resp_json
+            case "videoFps":
+                v = msg.values
+                fps = v["fps"]
+                self.reporter.adjust_rate(fps,"image")
+                configObj.config_info.fps.video = fps
+                configObj.save2json_file()
+                resp_msg = models.msg.Msg(_from="dev", cmd="setPoints", values={"operate": True})
+                resp_json = resp_msg.to_json()
+                return resp_json
+            case "dataFps":
+                v = msg.values
+                fps = v["fps"]
+                self.reporter.adjust_rate(fps,"data")
+                configObj.config_info.fps.data=fps
+                configObj.save2json_file()
+                resp_msg = models.msg.Msg(_from="dev", cmd="setPoints", values={"operate": True})
+                resp_json = resp_msg.to_json()
+                return resp_json
+            case "setCap":
+                v = msg.values
+                cap = v["cap"]
+                self.switch_video(cap)
+                resp_msg = models.msg.Msg(_from="dev", cmd="setPoints", values={"operate": True})
+                resp_json = resp_msg.to_json()
+                return resp_json
         print("==")
 
 
-    def update_thresh_binary(self,v:int):
-        self.thresh_binary = v
-
-
     def pre_handler_img(self,gray_frame,now_str:str):
         # 将灰度图压缩为 JPEG 格式，并存储到内存缓冲区
         img_base64 = utils.frame_to_base64(gray_frame, format="JPEG")
@@ -139,7 +160,7 @@ class VideoProcessor:
 
             ret, sub_binary_frame = cv2.threshold(sub_image, tr.info.threshold.binary, 255, cv2.THRESH_BINARY)
             # 高斯滤波
-            sub_binary_frame = cv2.GaussianBlur(sub_binary_frame, (tr.info.threshold.gauss, tr.info.threshold.gauss), 1)
+            sub_binary_frame = cv2.GaussianBlur(sub_binary_frame, (tr.info.threshold.gauss, tr.info.threshold.gauss), 10,borderType=cv2.BORDER_REPLICATE)
             cv2.imshow(f'{tr.info.id}_binaryImg', sub_binary_frame)
 
             # 覆盖原图
@@ -149,30 +170,29 @@ class VideoProcessor:
             circles = self.circle2_detect(sub_binary_frame)
             if len(circles) == 0:
                 continue
-            center,radius=self.circle_show(img,circles,_start_point)
+            center,radius_pix=self.circle_show(img,circles,_start_point)
             # 纪录圆心位置
-            tr.center_point=center
-            tr.radius_pix=radius
-            if tr.is_init:
-                tr.center_init=tr.center_point
-                tr.is_init=False
+            if tr.handler_info is None:
+                tr.handler_info= models.target.HandlerInfo()
+            if tr.handler_info.is_init:
+                tr.handler_info.is_init=False
+                tr.handler_info.center_init = center
+
+            tr.handler_info.center_point=center
+            tr.handler_info.radius_pix=radius_pix
             tr.circle_displacement()
 
             all_upload_data.data.append(
                 models.sampleMsg.SensorData(
                     str(tr.info.id),
-                    tr.displacement_phy.x,
-                    tr.displacement_phy.y)
+                    tr.handler_info.displacement_phy.x,
+                    tr.handler_info.displacement_phy.y)
             )
 
         #过滤无效空数据
         if len(all_upload_data.data)==0:
             return
-        # json_str = json.dumps(
-        #          {k:asdict(v)  for k, v in once_upload.items() if v.is_init==False}
-        #      )
 
-        # print(f"标靶数据={json_str}",json_str)
         self.enqueue_data(all_upload_data)
 
 
@@ -235,30 +255,58 @@ class VideoProcessor:
 
 
     def open_video(self,video_id):
-        cap = cv2.VideoCapture(video_id)
-        # cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1600)  # 宽度
-        # cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 900)  # 高度
-        if not cap.isOpened():
-            logging.info("无法打开摄像头")
-            exit()
-        return cap
+        print(f"打开摄像头 -> {video_id}")
+        self.capture = cv2.VideoCapture(video_id)
+        frame_width = int(self.capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+        frame_height = int(self.capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        print(f"默认分辨率= {frame_width}*{frame_height}")
+        logging.info(f"{video_id}地址->{self.capture}")
+        fps = self.capture.get(cv2.CAP_PROP_FPS)
+        print(f"fps={fps},video_id={video_id},")
+        # self.capture.set(cv2.CAP_PROP_FRAME_WIDTH, 1600)  # 宽度
+        # self.capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 900)  # 高度
+        if not self.capture.isOpened():
+            self.capture.release()
+            logging.info(f"无法打开摄像头{video_id},release   地址 -> {self.capture}")
+            return
+        self.is_opened=True
+
+    def switch_video(self,video_id:str):
+        print(f"切换摄像头 -> {video_id}")
+        self.is_opened = False
+        self.capture.release()
+        cv2.destroyAllWindows()
+        if str.isdigit(video_id):
+            video_id=int(video_id)
+        self.open_video(video_id)
+
 
 
-    def show_video(self,cap):
+    def show_video(self):
         global sigExit,start_point, end_point, drawing
         cv2.namedWindow('Frame')
         cv2.setMouseCallback('Frame', add_rectangle)
         # 读取一帧图像
         while True:
-            ret, frame = cap.read()
+            if not self.is_opened:
+                print(f"摄像头 标记is_opened={self.is_opened}")
+                sleep(5)
+                continue
+            ret, frame = self.capture.read()
             if ret:
                 self.frame_handle(frame)
             else:
-                logging.info("无法读取帧")
+                logging.info(f"无法读取帧，cap地址- >{self.capture}")
+                sleep(1)
+                # self.capture.release()
+                # self.capture= cv2.VideoCapture(0)  # 再次尝试
             if cv2.waitKey(1) & 0xFF == ord('q'):  # 按'q'退出循环
                 break
             if sigExit:
                 break
+            # 显示图像
+            if frame is not None:
+                cv2.imshow('Frame', frame)
     def show_image(self,frame):
         global start_point, end_point, drawing
         cv2.namedWindow('Frame')
@@ -279,8 +327,6 @@ class VideoProcessor:
         if drawing:
             cv2.rectangle(frame, tuple(start_point), tuple(end_point), (0, 200, 200), 4)
             # print(f"鼠标位置 {start_point}  -> {end_point}")
-        # 显示图像
-        cv2.imshow('Frame', frame)
 
     # 读取图像
     #img_copy = img.copy()  # 复制图像用于还原
@@ -292,24 +338,26 @@ class VideoProcessor:
         self.show_image(img_raw)
 
     # 支持
-    def video_mode(self,video_id):
-        capture = self.open_video(video_id)
-        fps = capture.get(cv2.CAP_PROP_FPS)
-        print(f"fps={fps}")
-        self.show_video(capture)
+    def video_mode(self,video_id:str):
+        if str.isdigit(video_id):
+            video_id=int(video_id)
+        self.open_video(video_id)
+        # if self.is_opened:
+        self.show_video()
         # 释放摄像头资源并关闭所有窗口
-        capture.release()
+        print("退出 video")
+        self.capture.release()
         cv2.destroyAllWindows()
 
     def rtsp_mode(self,rtsp_url:str):
         # rtsp_url ="rtsp://admin:123456abc@192.168.1.64:554"
         # rtsp_url ="rtsp://admin:123456abc@192.168.1.64:554/h264/ch1/main/av_stream"
-        capture = self.open_video(rtsp_url)
-        fps = capture.get(cv2.CAP_PROP_FPS)
-        print(f"fps={fps}")
-        self.show_video(capture)
+        self.open_video(rtsp_url)
+        fps = self.capture.get(cv2.CAP_PROP_FPS)
+        print(f"rtsp fps={fps}")
+        self.show_video()
         # 释放摄像头资源并关闭所有窗口
-        capture.release()
+        self.capture.release()
         cv2.destroyAllWindows()
 
     def enqueue_data(self,data):
@@ -321,7 +369,8 @@ class VideoProcessor:
         try:
             self.reporter.data_queue.put((dt, data), block=False)
         except queue.Full:
-            self.reporter.data_dropped += 1
+            # self.reporter.data_dropped += 1
+            pass
     def enqueue_image(self,data):
         # 获取当前时间戳
         timestamp = time.time()
@@ -331,7 +380,8 @@ class VideoProcessor:
         try:
             self.reporter.image_queue.put((dt, data), block=False)
         except queue.Full:
-            self.reporter.image_dropped += 1
+            pass
+            #self.reporter.image_dropped += 1
 
     #数据广播
 def check_exit(sig, frame):