Competition-2026/onboardprogram/main.py

# -*- coding: utf-8 -*-
# 智能生活主机 main.py（mPython / 掌控板 MicroPython）
# 功能：P0人体感应、P7 RFID门灯、P13/P14两路照明联动、P5/P6风扇、
# SHT20温湿度、UDP心率/摔倒从机、摇晃报警、HTTP API、Wi-Fi失败后启动AP。
# 注意：心率由从机模拟；摇晃报警是演示级“疑似摔倒”判断，不是医学级跌倒检测。
# 电机/灯具必须通过驱动板、MOSFET或继电器供电，不能直接由GPIO带负载。

from mpython import *
from machine import Pin
from bluebit import SHT20, Scan_Rfid
import socket
import time
import json

# ==================== 配置 ====================
WIFI_SSID = "48-502"
WIFI_PASSWORD = "a13356041516"

AP_SSID = "QHZXManagement"
AP_PASSWORD = "QHZX2026"
WIFI_CONNECT_TIMEOUT = 8

PIR_PIN_NO = 0
DOOR_LIGHT_PIN_NO = 7
ROOM_LIGHT_PIN_NOS = (13, 14)
FAN_PIN_A_NO = 5
FAN_PIN_B_NO = 6

RFID_AUTHORIZED_UID = 1239985986
DEFAULT_FAN_TEMP = 28.0
DEFAULT_FAN_HUMIDITY = 75.0
DEFAULT_LIGHT_TIMEOUT = 30
DEFAULT_DOOR_TIMEOUT = 8

MASTER_UDP_PORT = 4210
SLAVE_UDP_PORT = 4211
UDP_STATUS_TIMEOUT_MS = 5000

# 摇晃检测：100ms采样。
# 连续两次明显变化，或一次强烈变化，触发报警。
SHAKE_DELTA_SQ = 0.65
SHAKE_STRONG_DELTA_SQ = 2.0
SHAKE_WINDOW_MS = 900
SHAKE_COOLDOWN_MS = 5000

fan_auto = True
pir_auto = True
fan_temp_threshold = DEFAULT_FAN_TEMP
fan_humidity_threshold = DEFAULT_FAN_HUMIDITY
light_timeout = DEFAULT_LIGHT_TIMEOUT
door_timeout = DEFAULT_DOOR_TIMEOUT

# ==================== 状态变量 ====================
fallen = False
fall_count = 0
fall_time = 0
fall_source = ""

last_accel = None
last_local_sample_ms = 0
last_local_fall_event_ms = None
shake_hit_count = 0
last_shake_hit_ms = None

temperature = None
humidity = None
sensor_ok = False
last_sensor_ms = 0

pir_now = False
last_motion_ms = time.ticks_ms()
door_light_deadline = None

rfid_last = "—"
rfid_authorized = False
rfid_card_present = False
rfid_available = True

heart_rate_bpm = None
heart_rate_simulated = True
slave_fall_alarm = False
slave_fall_count = 0
slave_connected = False
slave_last_rx_ms = None
last_slave_fall_alarm = False
slave_ip = ""
slave_peer_addr = None
slave_udp = None

wifi_mode = "STA"
ip = "0.0.0.0"
pin_warnings = []

# ==================== GPIO初始化 ====================
def add_warning(message):
    if message not in pin_warnings:
        pin_warnings.append(message)


def make_pin(pin_number, mode, pull=None):
    try:
        pin = MPythonPin(pin_number, mode, pull)
        if mode == PinMode.OUT:
            pin.write_digital(0)
        return pin
    except Exception as e:
        message = "P%d不可用: %s" % (pin_number, str(e))
        print(message)
        add_warning(message)
        return None


pir_pin = make_pin(PIR_PIN_NO, PinMode.IN, Pin.PULL_DOWN)
door_light_pin = make_pin(DOOR_LIGHT_PIN_NO, PinMode.OUT)
room_light_pins = [make_pin(n, PinMode.OUT) for n in ROOM_LIGHT_PIN_NOS]
fan_pin_a = make_pin(FAN_PIN_A_NO, PinMode.OUT)
fan_pin_b = make_pin(FAN_PIN_B_NO, PinMode.OUT)

fan_available = fan_pin_a is not None and fan_pin_b is not None
room_light_available = all(pin is not None for pin in room_light_pins)
outputs = {"door_light": False, "room_light": False, "fan": False}

try:
    sht20 = SHT20()
except Exception as e:
    sht20 = None
    add_warning("SHT20初始化失败: %s" % str(e))

# ==================== 输出控制 ====================
def set_door_light(state):
    if door_light_pin is None:
        outputs["door_light"] = False
        return False
    try:
        door_light_pin.write_digital(1 if state else 0)
        outputs["door_light"] = bool(state)
        return True
    except Exception as e:
        add_warning("P7门灯输出失败: %s" % str(e))
        outputs["door_light"] = False
        return False


def set_room_lights(state):
    """P13/P14作为同一组灯，调用一次就同时开或同时关。"""
    results = []
    for index, pin in enumerate(room_light_pins):
        if pin is None:
            results.append(False)
            continue
        try:
            pin.write_digital(1 if state else 0)
            results.append(True)
        except Exception as e:
            add_warning("P%d照明输出失败: %s" % (ROOM_LIGHT_PIN_NOS[index], str(e)))
            results.append(False)
    outputs["room_light"] = bool(state) and len(results) == 2 and all(results)
    if not all(results):
        add_warning("照明灯组存在不可用引脚，请检查P13/P14及板卡版本")
    return len(results) == 2 and all(results)


def set_fan(state):
    global fan_available
    if not fan_available:
        outputs["fan"] = False
        return False
    try:
        if state:
            fan_pin_a.write_digital(1)
            fan_pin_b.write_digital(0)
        else:
            fan_pin_a.write_digital(0)
            fan_pin_b.write_digital(0)
        outputs["fan"] = bool(state)
        return True
    except Exception as e:
        fan_available = False
        outputs["fan"] = False
        add_warning("P%d/P%d风扇控制失败: %s" % (FAN_PIN_A_NO, FAN_PIN_B_NO, str(e)))
        return False

# ==================== 摔倒/摇晃报警 ====================
def register_fall(source, now=None):
    """锁存一次疑似摔倒报警，直到App调用/api/reset。"""
    global fallen, fall_count, fall_time, fall_source
    if fallen:
        return False
    if now is None:
        now = time.ticks_ms()
    fallen = True
    fall_count += 1
    fall_time = now // 1000
    fall_source = source
    print("摔倒报警:", source)
    return True


def detect_shake(now):
    """根据加速度相邻采样变化判断摇晃；触发后保持fallen=True。"""
    global last_accel, last_local_sample_ms
    global last_local_fall_event_ms, shake_hit_count, last_shake_hit_ms

    if time.ticks_diff(now, last_local_sample_ms) < 100:
        return
    last_local_sample_ms = now

    try:
        accel = (
            accelerometer.get_x(),
            accelerometer.get_y(),
            accelerometer.get_z()
        )
        if last_accel is not None:
            dx = accel[0] - last_accel[0]
            dy = accel[1] - last_accel[1]
            dz = accel[2] - last_accel[2]
            change_sq = dx * dx + dy * dy + dz * dz

            if change_sq >= SHAKE_DELTA_SQ:
                if (last_shake_hit_ms is None or
                        time.ticks_diff(now, last_shake_hit_ms) > SHAKE_WINDOW_MS):
                    shake_hit_count = 1
                else:
                    shake_hit_count += 1
                last_shake_hit_ms = now

                confirmed = (change_sq >= SHAKE_STRONG_DELTA_SQ or shake_hit_count >= 2)
                cooldown_ok = (
                    last_local_fall_event_ms is None or
                    time.ticks_diff(now, last_local_fall_event_ms) >= SHAKE_COOLDOWN_MS
                )
                if confirmed and cooldown_ok and not fallen:
                    if register_fall("主机摇晃检测（疑似摔倒）", now):
                        last_local_fall_event_ms = now
                    shake_hit_count = 0

            elif (last_shake_hit_ms is not None and
                  time.ticks_diff(now, last_shake_hit_ms) > SHAKE_WINDOW_MS):
                shake_hit_count = 0
        last_accel = accel
    except Exception as e:
        print("主机加速度计读取异常:", e)

# ==================== UDP主从通信 ====================
def udp_send_slave_command(command):
    if slave_udp is None or slave_peer_addr is None:
        return False
    try:
        payload = json.dumps(command).encode("utf-8")
        for _ in range(3):
            slave_udp.sendto(payload, slave_peer_addr)
            time.sleep_ms(30)
        return True
    except Exception as e:
        add_warning("UDP发送从机命令失败: %s" % str(e))
        return False


def handle_slave_message(message, addr=None):
    global heart_rate_bpm, heart_rate_simulated
    global slave_fall_alarm, slave_fall_count, slave_connected
    global slave_last_rx_ms, last_slave_fall_alarm
    global slave_ip, slave_peer_addr

    if not isinstance(message, dict) or message.get("type") != "slave_status":
        return

    now = time.ticks_ms()
    slave_last_rx_ms = now
    slave_connected = True

    if addr is not None:
        slave_ip = addr[0]
        slave_peer_addr = (addr[0], SLAVE_UDP_PORT)

    bpm = message.get("heart_rate_bpm")
    if isinstance(bpm, (int, float)):
        heart_rate_bpm = int(bpm)

    heart_rate_simulated = bool(message.get("heart_rate_simulated", True))
    try:
        slave_fall_count = int(message.get("fall_count", slave_fall_count))
    except Exception:
        pass

    new_alarm = bool(message.get("fall_alarm", False))
    slave_fall_alarm = new_alarm
    if new_alarm and not last_slave_fall_alarm:
        register_fall("从机摇晃检测（疑似摔倒）", now)
    last_slave_fall_alarm = new_alarm


def poll_slave_udp():
    global slave_connected
    if slave_udp is None:
        slave_connected = False
        return
    for _ in range(6):
        try:
            packet, addr = slave_udp.recvfrom(1024)
        except OSError:
            break
        except Exception as e:
            add_warning("UDP接收异常: %s" % str(e))
            break
        try:
            message = json.loads(packet.decode("utf-8", "ignore"))
            handle_slave_message(message, addr)
        except Exception as e:
            print("从机UDP数据解析异常:", e)
    if slave_last_rx_ms is None:
        slave_connected = False
    else:
        slave_connected = time.ticks_diff(time.ticks_ms(), slave_last_rx_ms) < UDP_STATUS_TIMEOUT_MS

# ==================== HTTP API ====================
def parse_query(query_string):
    result = {}
    if not query_string:
        return result
    for item in query_string.split("&"):
        if "=" in item:
            key, value = item.split("=", 1)
            result[key] = value.replace("+", " ")
        elif item:
            result[item] = ""
    return result


def status_data():
    return {
        "ok": True,
        "message": "ok",
        "temperature": temperature,
        "humidity": humidity,
        "sensor_ok": bool(sensor_ok),
        "pir": bool(pir_now),
        "pir_auto": bool(pir_auto),
        "door_light": bool(outputs["door_light"]),
        "room_light": bool(outputs["room_light"]),
        "fan": bool(outputs["fan"]),
        "fan_auto": bool(fan_auto),
        "fan_available": bool(fan_available),
        "room_light_available": bool(room_light_available),
        "fan_temp_threshold": fan_temp_threshold,
        "fan_humidity_threshold": fan_humidity_threshold,
        "light_timeout": light_timeout,
        "door_timeout": door_timeout,
        "rfid_last": str(rfid_last),
        "rfid_authorized": bool(rfid_authorized),
        "rfid_available": bool(rfid_available),
        "heart_rate_bpm": heart_rate_bpm,
        "heart_rate_simulated": bool(heart_rate_simulated),
        "slave_connected": bool(slave_connected),
        "slave_transport": "UDP/Wi-Fi",
        "slave_ip": slave_ip,
        "slave_udp_port": SLAVE_UDP_PORT,
        "slave_fall_alarm": bool(slave_fall_alarm),
        "slave_fall_count": slave_fall_count,
        "fall_source": fall_source,
        "fall_alert": bool(fallen),
        "fall_status": "摔倒报警" if fallen else "正常",
        "shake_detection": True,
        "pin_status": "；".join(pin_warnings) if pin_warnings else "所有已配置引脚初始化正常",
        "uptime": time.ticks_ms() // 1000,
        "fallen": bool(fallen),
        "fall_count": fall_count,
        "fall_time": fall_time,
        "wifi_mode": wifi_mode,
        "ip_address": ip,
        "ap_ssid": AP_SSID,
        "ap_password": AP_PASSWORD if wifi_mode == "AP" else ""
    }


def send_json(conn, data, status_code="200 OK"):
    body = json.dumps(data).encode("utf-8")
    header = (
        "HTTP/1.1 %s\r\n" % status_code
        + "Content-Type: application/json; charset=utf-8\r\n"
        + "Access-Control-Allow-Origin: *\r\n"
        + "Access-Control-Allow-Methods: GET, OPTIONS\r\n"
        + "Cache-Control: no-store\r\n"
        + "Connection: close\r\n"
        + "Content-Length: %d\r\n\r\n" % len(body)
    )
    try:
        conn.send(header.encode("utf-8") + body)
    except Exception:
        pass


def control_device(params):
    global fan_auto, pir_auto, door_light_deadline, last_motion_ms
    device = params.get("device", "")
    state = params.get("state", "0") in ("1", "true", "on")

    if device == "fan":
        fan_auto = False
        if not fan_available:
            return False, "风扇驱动不可用，请检查P5/P6与驱动板"
        if not set_fan(state):
            return False, "风扇控制失败，请检查电机驱动模块"
        return True, "风扇状态已更新"

    if device == "room_light":
        pir_auto = False
        if not set_room_lights(state):
            return False, "照明灯组未能全部切换，请检查P13/P14"
        if state:
            last_motion_ms = time.ticks_ms()
        return True, "两路照明已同步打开" if state else "两路照明已同步关闭"

    if device == "door_light":
        door_light_deadline = None
        if not set_door_light(state):
            return False, "P7门灯输出不可用，请检查接线"
        return True, "门上灯状态已更新"

    return False, "未知设备名称"


def update_settings(params):
    global pir_auto, fan_auto
    global fan_temp_threshold, fan_humidity_threshold
    global light_timeout, door_timeout
    try:
        if "pir_auto" in params:
            pir_auto = params["pir_auto"] in ("1", "true", "on")
        if "fan_auto" in params:
            fan_auto = params["fan_auto"] in ("1", "true", "on")
        if "fan_temp" in params:
            value = float(params["fan_temp"])
            if not 15 <= value <= 40:
                return False, "温度阈值范围为15到40°C"
            fan_temp_threshold = value
        if "fan_humidity" in params:
            value = float(params["fan_humidity"])
            if not 30 <= value <= 95:
                return False, "湿度阈值范围为30到95%"
            fan_humidity_threshold = value
        if "light_timeout" in params:
            light_timeout = max(5, min(600, int(params["light_timeout"])))
        if "door_timeout" in params:
            door_timeout = max(2, min(120, int(params["door_timeout"])))
        return True, "自动化规则已保存"
    except Exception as e:
        return False, "参数无效: %s" % str(e)


def handle_request(conn):
    global fallen, fall_source
    global shake_hit_count, last_shake_hit_ms, last_local_fall_event_ms
    global last_slave_fall_alarm
    try:
        conn.settimeout(1)
        raw = conn.recv(1200)
        if not raw:
            return
        request_line = raw.decode("utf-8", "ignore").split("\r\n", 1)[0]
        parts = request_line.split(" ")
        if len(parts) < 2:
            send_json(conn, {"ok": False, "message": "bad request"}, "400 Bad Request")
            return
        target = parts[1]
        if "?" in target:
            path, query = target.split("?", 1)
        else:
            path, query = target, ""
        params = parse_query(query)

        if path == "/api/status":
            send_json(conn, status_data())
        elif path == "/api/control":
            ok, message = control_device(params)
            data = status_data()
            data["ok"] = ok
            data["message"] = message
            send_json(conn, data, "200 OK" if ok else "400 Bad Request")
        elif path == "/api/settings":
            ok, message = update_settings(params)
            data = status_data()
            data["ok"] = ok
            data["message"] = message
            send_json(conn, data, "200 OK" if ok else "400 Bad Request")
        elif path == "/api/reset":
            fallen = False
            fall_source = ""
            shake_hit_count = 0
            last_shake_hit_ms = None
            last_local_fall_event_ms = time.ticks_ms()
            last_slave_fall_alarm = False
            udp_send_slave_command({"cmd": "reset_fall"})
            data = status_data()
            data["message"] = "主机和从机的当前摔倒标记已清除；累计次数保留"
            send_json(conn, data)
        elif path == "/":
            page = (
                "<!doctype html><html><head><meta charset='utf-8'>"
                "<meta name='viewport' content='width=device-width,initial-scale=1'>"
                "<title>智能生活</title></head><body style='font-family:sans-serif;"
                "max-width:640px;margin:40px auto;padding:0 16px'>"
                "<h1>智能生活主机已启动</h1>"
                "<p><a href='/api/status'>查看设备状态</a></p>"
                "<p>Wi-Fi模式：%s</p><p>地址：%s</p>"
                "</body></html>"
            ) % (wifi_mode, ip)
            page_bytes = page.encode("utf-8")
            header = (
                "HTTP/1.1 200 OK\r\n"
                "Content-Type: text/html; charset=utf-8\r\n"
                "Connection: close\r\n"
                "Content-Length: %d\r\n\r\n" % len(page_bytes)
            )
            conn.send(header.encode("utf-8") + page_bytes)
        elif path == "/favicon.ico" or parts[0] == "OPTIONS":
            send_json(conn, {"ok": True})
        else:
            send_json(conn, {"ok": False, "message": "not found"}, "404 Not Found")
    except Exception as e:
        print("HTTP请求处理异常:", e)
    finally:
        try:
            conn.close()
        except Exception:
            pass

# ==================== Wi-Fi连接：失败后启动备用AP ====================
oled.fill(0)
oled.DispChar("智能生活主机", 0, 0)
oled.DispChar("连接路由WiFi...", 0, 16)
oled.show()

my_wifi = wifi()
try:
    my_wifi.connectWiFi(WIFI_SSID, WIFI_PASSWORD, timeout=WIFI_CONNECT_TIMEOUT)
except Exception as e:
    print("STA连接异常:", e)

sta_ok = False
try:
    sta_ok = my_wifi.sta.isconnected()
except Exception:
    sta_ok = False

if sta_ok:
    wifi_mode = "STA"
    try:
        ip = my_wifi.sta.ifconfig()[0]
    except Exception:
        ip = "0.0.0.0"
else:
    wifi_mode = "AP"
    oled.fill(0)
    oled.DispChar("路由WiFi不可用", 0, 0)
    oled.DispChar("启动管理热点...", 0, 16)
    oled.show()
    try:
        my_wifi.enable_APWiFi(essid=AP_SSID, password=AP_PASSWORD, channel=6)
        try:
            ip = my_wifi.ap.ifconfig()[0]
        except Exception:
            ip = "192.168.4.1"
    except Exception as e:
        print("AP启动失败:", e)
        ip = "0.0.0.0"

print("智能生活主机模式:", wifi_mode)
print("设备地址: http://" + ip)
if wifi_mode == "AP":
    print("连接热点:", AP_SSID, "密码:", AP_PASSWORD)

# ==================== UDP服务：接收从机广播 ====================
try:
    slave_udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    try:
        slave_udp.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    except Exception:
        pass
    slave_udp.bind(("0.0.0.0", MASTER_UDP_PORT))
    slave_udp.setblocking(False)
    print("UDP主机已监听端口:", MASTER_UDP_PORT)
except Exception as e:
    slave_udp = None
    add_warning("UDP主从服务启动失败: %s" % str(e))

# ==================== HTTP服务器 ====================
server = socket.socket()
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(("0.0.0.0", 80))
server.listen(3)
server.setblocking(False)

last_oled_ms = 0
last_rfid_ms = 0

# ==================== 主循环 ====================
while True:
    now = time.ticks_ms()

    # 1) 收从机UDP心率和摔倒状态
    poll_slave_udp()

    # 2) P0人体感应：触发后同时打开P13/P14，超时后同时关闭
    try:
        pir_now = bool(pir_pin.read_digital()) if pir_pin is not None else False
    except Exception:
        pir_now = False
        add_warning("P0人体感应读取异常")

    if pir_now and pir_auto:
        last_motion_ms = now
        if not outputs["room_light"]:
            set_room_lights(True)

    if pir_auto and not pir_now:
        if time.ticks_diff(now, last_motion_ms) >= light_timeout * 1000:
            if outputs["room_light"]:
                set_room_lights(False)

    # 3) 每2秒读取SHT20
    if time.ticks_diff(now, last_sensor_ms) >= 2000:
        last_sensor_ms = now
        try:
            if sht20 is not None:
                temperature = float(sht20.temperature())
                humidity = float(sht20.humidity())
                sensor_ok = True
            else:
                sensor_ok = False
        except Exception as e:
            sensor_ok = False
            print("SHT20读取异常:", e)

    # 4) 温湿度自动控制风扇：达到任一阈值开启，双低于回差阈值关闭
    if (fan_auto and fan_available and sensor_ok and
            temperature is not None and humidity is not None):
        if not outputs["fan"]:
            if temperature >= fan_temp_threshold or humidity >= fan_humidity_threshold:
                set_fan(True)
        else:
            if (temperature <= fan_temp_threshold - 2.0 and
                    humidity <= fan_humidity_threshold - 5.0):
                set_fan(False)

    # 5) RFID卡号匹配后点亮P7门灯
    if time.ticks_diff(now, last_rfid_ms) >= 250:
        last_rfid_ms = now
        try:
            card = Scan_Rfid.scanning(i2c)
            if card:
                uid = int(card.serial_number())
                if not rfid_card_present:
                    rfid_last = str(uid)
                    rfid_authorized = (uid == RFID_AUTHORIZED_UID)
                    if rfid_authorized:
                        set_door_light(True)
                        door_light_deadline = time.ticks_add(now, door_timeout * 1000)
                        print("RFID授权通过，门灯点亮，UID:", uid)
                    else:
                        print("RFID未授权，UID:", uid)
                rfid_card_present = True
            else:
                rfid_card_present = False
        except Exception as e:
            rfid_available = False
            add_warning("RFID读取异常，请检查I2C模块和bluebit驱动")
            print("RFID扫描异常:", e)

    if door_light_deadline is not None and time.ticks_diff(now, door_light_deadline) >= 0:
        set_door_light(False)
        door_light_deadline = None

    # 6) 本地主机加速度计：摇晃时显示并上报疑似摔倒
    detect_shake(now)

    # 7) HTTP API请求
    try:
        conn, addr = server.accept()
        handle_request(conn)
    except OSError:
        pass
    except Exception as e:
        print("HTTP服务器异常:", e)

    # 8) OLED：报警状态优先显示，直到App清除
    if time.ticks_diff(now, last_oled_ms) >= 500:
        last_oled_ms = now
        try:
            oled.fill(0)
            oled.DispChar("智能生活主机", 0, 0)
            oled.DispChar("AP:" + AP_SSID if wifi_mode == "AP" else "IP:" + ip, 0, 16)

            if fallen:
                oled.DispChar("摔倒报警!!!", 0, 32)
                oled.DispChar("请立即确认!", 0, 48)
            else:
                if sensor_ok and temperature is not None and humidity is not None:
                    oled.DispChar("T:%.1f H:%.0f%%" % (temperature, humidity), 0, 32)
                else:
                    oled.DispChar("温湿度读取中", 0, 32)
                hr_text = "HR:%s*" % (str(heart_rate_bpm) if heart_rate_bpm is not None else "--")
                oled.DispChar(hr_text + (" UDP在线" if slave_connected else " UDP等待"), 0, 48)
            oled.show()
        except Exception:
            pass

    time.sleep_ms(20)