代码优化

workflow_blindpath.py

@@ -88,14 +88,16 @@ class ProcessingResult:
 class BlindPathNavigator:
     """盲道导航处理器 - 无外部依赖版本"""
     
-    def __init__(self, yolo_model=None, obstacle_detector=None):
+    def __init__(self, yolo_model=None, obstacle_detector=None, enable_crosswalk_detection=True):
         """
         初始化导航器
         :param yolo_model: YOLO分割模型（可选）
         :param obstacle_detector: 障碍物检测器（可选）
+        :param enable_crosswalk_detection: 是否启用斑马线检测（室内模式可关闭）
         """
         self.yolo_model = yolo_model
         self.obstacle_detector = obstacle_detector
+        self.enable_crosswalk_detection = enable_crosswalk_detection
         
         # 状态变量
         self.current_state = STATE_ONBOARDING
@@ -184,6 +186,10 @@ class BlindPathNavigator:
                    f"持续模式={self.straight_continuous_mode}, "
                    f"限制次数={self.straight_repeat_limit}")
         logger.info(f"[BlindPath] 方向播报配置: 间隔={self.direction_interval}秒")
+        
+        # Day 26 优化: 可配置日志采样间隔
+        self.log_interval = int(os.getenv("AIGLASS_LOG_INTERVAL", "30"))  # 每 N 帧输出一次日志
+        logger.info(f"[BlindPath] 日志采样间隔: 每{self.log_interval}帧")
 
         # 缓存变量
         self.prev_gray = None
@@ -258,8 +264,14 @@ class BlindPathNavigator:
         self.last_crosswalk_mask = None
         
         # 【新增】斑马线感知监控器
-        self.crosswalk_monitor = CrosswalkAwarenessMonitor()
-        logger.info("[BlindPath] 斑马线感知监控器已初始化")
+        # 【新增】斑马线感知监控器
+        if self.enable_crosswalk_detection:
+            self.crosswalk_monitor = CrosswalkAwarenessMonitor()
+            logger.info("[BlindPath] 斑马线感知监控器已初始化")
+        else:
+            self.crosswalk_monitor = None
+            logger.info("[BlindPath] 斑马线感知监控器已禁用 (室内模式)")
+            
         logger.info(f"[BlindPath] 盲道检测间隔: 每{self.BLINDPATH_DETECTION_INTERVAL}帧")
     
     def init_traffic_light_detector(self):
@@ -489,16 +501,24 @@ class BlindPathNavigator:
         # 【新增】检查近距离障碍物并设置语音
         self._check_and_set_obstacle_voice(detected_obstacles)
         
+        # 【配置】如果禁用了斑马线检测，强制置为None
+        if not self.enable_crosswalk_detection:
+            crosswalk_mask = None
+        
         # 【新增】斑马线感知处理
-        # 【Day 15 优化】减少每帧日志输出，只在每 30 帧输出一次
-        if crosswalk_mask is not None and self.frame_counter % 30 == 0:
+        # 【Day 26 优化】使用可配置的日志间隔
+        if crosswalk_mask is not None and self.frame_counter % self.log_interval == 0:
             cross_pixels = np.sum(crosswalk_mask > 0)
             if cross_pixels > 0:
                 logger.info(f"[斑马线] monitor: pixels={cross_pixels}, area={cross_pixels/crosswalk_mask.size*100:.2f}%")
-        elif crosswalk_mask is None and self.frame_counter % 30 == 0:
+        elif crosswalk_mask is None and self.frame_counter % self.log_interval == 0:
+            if self.enable_crosswalk_detection:
                 logger.info(f"[斑马线] crosswalk_mask为None")
         
-        crosswalk_guidance = self.crosswalk_monitor.process_frame(crosswalk_mask, blind_path_mask)
+        crosswalk_guidance = None
+        if self.crosswalk_monitor:
+            crosswalk_guidance = self.crosswalk_monitor.process_frame(crosswalk_mask, blind_path_mask)
+            
         if crosswalk_guidance:
             logger.info(f"[斑马线感知] 检测结果: area={crosswalk_guidance.get('area', 0):.3f}, "
                        f"should_broadcast={crosswalk_guidance.get('should_broadcast', False)}, "
@@ -511,7 +531,7 @@ class BlindPathNavigator:
             logger.info(f"[斑马线语音] 已设置待播报语音: {crosswalk_guidance['voice_text']}, 优先级{crosswalk_guidance['priority']}")
         
         # 【新增】添加斑马线可视化
-        if crosswalk_mask is not None:
+        if crosswalk_mask is not None and self.crosswalk_monitor:
             # 计算可视化数据
             total_pixels = crosswalk_mask.size
             crosswalk_pixels = np.sum(crosswalk_mask > 0)