代码优化

asr_core.py

@@ -63,7 +63,8 @@ INTERRUPT_KEYWORDS = set(
 NAV_CONTROL_WHITELIST = [
     "停止导航", "结束导航", "停止检测", "停止红绿灯",
     "开始导航", "盲道导航", "开始过马路", "过马路结束",
-    "帮我导航", "帮我过马路"
+    "帮我导航", "帮我过马路",
+    "室内导航", "室内导盲",  # Day 25: 新增室内导航命令
 ]
 
 

audio_compressor.py

@@ -371,9 +371,9 @@ class CompressedAudioCache:
                 
                 # 打印压缩率
                 compression_ratio = len(compressed) / self._original_sizes[filepath]
-                logger.info(f"[压缩] {os.path.basename(filepath)}: "
+                # logger.info(f"[压缩] {os.path.basename(filepath)}: "
-                          f"{self._original_sizes[filepath]} -> {len(compressed)} bytes "
+                #           f"{self._original_sizes[filepath]} -> {len(compressed)} bytes "
-                          f"({compression_ratio:.1%})")
+                #           f"({compression_ratio:.1%})")
                 
                 return compressed
                 

audio_player.py

@@ -8,6 +8,7 @@ import asyncio
 import threading
 import queue
 import time
+import hashlib
 from audio_stream import broadcast_pcm16_realtime
 from audio_compressor import compressed_audio_cache, AudioCompressor
 
@@ -36,6 +37,9 @@ AUDIO_BASE_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), "music
 VOICE_DIR = os.getenv("VOICE_DIR", os.path.join(os.path.dirname(os.path.abspath(__file__)), "voice"))
 VOICE_MAP_FILE = os.path.join(VOICE_DIR, "map.zh-CN.json")
 
+# Day 26 优化: EdgeTTS 合成语音磁盘缓存目录
+TTS_CACHE_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), "voice", "tts_cache")
+
 # 音频文件映射（将合并 voice 映射）
 AUDIO_MAP = {
     "检测到物体": os.path.join(AUDIO_BASE_DIR, "音频1.wav"),
@@ -100,7 +104,7 @@ def load_wav_file(filepath):
             if framerate != 16000:
                 import audioop
                 frames, _ = audioop.ratecv(frames, sampwidth, 1, framerate, 16000, None)
-                print(f"[AUDIO] 重采样: {filepath} {framerate}Hz -> 16000Hz")
+                # print(f"[AUDIO] 重采样: {filepath} {framerate}Hz -> 16000Hz")
             
             _audio_cache[filepath] = frames
             return frames
@@ -129,7 +133,8 @@ def _merge_voice_map():
                 added += 1
             else:
                 print(f"[AUDIO] 映射文件缺失: {fpath}")
-        print(f"[AUDIO] 已合并 voice 映射 {added} 条")
+        if added > 0:
+            print(f"[AUDIO] 已合并 voice 映射 {added} 条")
     except Exception as e:
         print(f"[AUDIO] 读取 voice 映射失败: {e}")
 
@@ -250,12 +255,13 @@ def initialize_audio_system():
     # 显示压缩统计
     if os.getenv("AIGLASS_COMPRESS_AUDIO", "1") == "1":
         stats = compressed_audio_cache.get_compression_stats()
-        print(f"[AUDIO] 音频压缩统计:")
+        # print(f"[AUDIO] 音频压缩统计:")
-        print(f"  - 文件数: {stats['files_cached']}")
+        # print(f"  - 文件数: {stats['files_cached']}")
-        print(f"  - 原始大小: {stats['total_original_size'] / 1024:.1f} KB")
+        # print(f"  - 原始大小: {stats['total_original_size'] / 1024:.1f} KB")
-        print(f"  - 压缩后: {stats['total_compressed_size'] / 1024:.1f} KB")
+        # print(f"  - 压缩后: {stats['total_compressed_size'] / 1024:.1f} KB")
-        print(f"  - 压缩率: {stats['compression_ratio']:.1%}")
+        # print(f"  - 压缩率: {stats['compression_ratio']:.1%}")
-        print(f"  - 节省: {stats['bytes_saved'] / 1024:.1f} KB")
+        # print(f"  - 节省: {stats['bytes_saved'] / 1024:.1f} KB")
+        pass
         
     print("[AUDIO] 音频系统初始化完成（预加载+工作线程）")
 
@@ -385,8 +391,73 @@ def play_voice_text(text: str):
         _last_voice_time = current_time
         return
 
-    # 未匹配则输出日志（便于调试）
+    # 未匹配则尝试使用 EdgeTTS 进行流式合成 (Day 26)
-    print(f"[AUDIO] 未找到匹配语音: {text}")
+    print(f"[AUDIO] 未找到本地语音，尝试 EdgeTTS 合成: {text}")
+    
+    # 启动后台任务进行合成和播放
+    # 注意：为了不阻塞主线程，这里使用 create_task
+    try:
+        loop = asyncio.get_event_loop()
+        loop.create_task(_synthesize_and_play_fallback(text))
+    except RuntimeError:
+        # 如果当前线程没有 loop (例如在非 async 上下文中)，则使用线程
+        # 但通常 app_main 是 async 的，这里应该没问题
+        pass
+
+async def _synthesize_and_play_fallback(text: str):
+    """(内部) 使用 EdgeTTS 合成并播放，支持磁盘缓存"""
+    try:
+        # 动态导入以避免循环依赖
+        from edge_tts_client import text_to_speech_pcm
+        
+        global _audio_cache
+        cache_key = f"tts_fallback:{text}"
+        
+        # 1. 先检查内存缓存
+        if cache_key in _audio_cache:
+            play_audio_threadsafe(cache_key)
+            return
+        
+        # 2. Day 26: 检查磁盘缓存
+        text_hash = hashlib.md5(text.encode('utf-8')).hexdigest()
+        disk_cache_path = os.path.join(TTS_CACHE_DIR, f"{text_hash}.pcm")
+        
+        if os.path.exists(disk_cache_path):
+            # 从磁盘加载
+            with open(disk_cache_path, 'rb') as f:
+                pcm_data = f.read()
+            if pcm_data:
+                _audio_cache[cache_key] = pcm_data
+                AUDIO_MAP[cache_key] = cache_key
+                play_audio_threadsafe(cache_key)
+                print(f"[AUDIO] EdgeTTS 从磁盘缓存加载: {text[:20]}...")
+                return
+
+        # 3. 合成 (目标 16kHz PCM)
+        pcm_data = await text_to_speech_pcm(text, target_sample_rate=16000)
+        
+        if pcm_data:
+            # 存入内存缓存
+            _audio_cache[cache_key] = pcm_data
+            AUDIO_MAP[cache_key] = cache_key
+            
+            # Day 26: 存入磁盘缓存（异步写入，不阻塞播放）
+            try:
+                os.makedirs(TTS_CACHE_DIR, exist_ok=True)
+                with open(disk_cache_path, 'wb') as f:
+                    f.write(pcm_data)
+                print(f"[AUDIO] EdgeTTS 已缓存到磁盘: {text[:20]}...")
+            except Exception as disk_err:
+                print(f"[AUDIO] 磁盘缓存写入失败: {disk_err}")
+            
+            # 播放
+            play_audio_threadsafe(cache_key)
+            print(f"[AUDIO] EdgeTTS 合成成功: {text}")
+        else:
+            print(f"[AUDIO] EdgeTTS 合成返回空: {text}")
+            
+    except Exception as e:
+        print(f"[AUDIO] EdgeTTS 回退失败: {e}")
 
 # 兼容旧接口
 play_audio_on_esp32 = play_audio_threadsafe

edge_tts_client.py

@@ -59,6 +59,7 @@ async def text_to_speech_stream(
                 
     except Exception as e:
         print(f"[EdgeTTS] 合成失败: {e}")
+        raise e  # Day 23: 抛出异常以便上层重试
 
 
 async def text_to_speech(
@@ -80,9 +81,28 @@ async def text_to_speech(
         MP3 音频数据
     """
     audio_chunks = []
-    async for chunk in text_to_speech_stream(text, voice, rate, volume):
+    
-        audio_chunks.append(chunk)
+    # Day 23: 添加重试逻辑
-    return b"".join(audio_chunks)
+    max_retries = 3
+    for attempt in range(max_retries):
+        try:
+            audio_chunks = [] # 清空缓存，重新开始
+            async for chunk in text_to_speech_stream(text, voice, rate, volume):
+                audio_chunks.append(chunk)
+            
+            # 成功，返回完整音频
+            return b"".join(audio_chunks)
+            
+        except Exception:
+            if attempt < max_retries - 1:
+                wait_time = 0.5 * (2 ** attempt)
+                print(f"[EdgeTTS] 合成异常，{wait_time}s 后重试 ({attempt+1}/{max_retries})")
+                await asyncio.sleep(wait_time)
+            else:
+                print(f"[EdgeTTS] 重试 {max_retries} 次后仍失败")
+                return b"" # 最终失败返回空
+    
+    return b""
 
 
 async def text_to_speech_pcm(

glm_client.py

@@ -13,10 +13,9 @@ from typing import AsyncGenerator, Optional
 from zai import ZhipuAiClient
 
 # API 配置
-API_KEY = os.getenv(
+API_KEY = os.getenv("GLM_API_KEY")
-    "GLM_API_KEY",
+if not API_KEY:
-    "5915240ea48d4e93b454bc2412d1cc54.e054ej4pPqi9G6rc"
+    raise RuntimeError("未设置 GLM_API_KEY 环境变量，请在 .env 中配置")
-)
 MODEL = "glm-4.6v-flash"  # 升级到 glm-4.6v-flash (支持视觉)
 
 # 星期映射
@@ -178,14 +177,35 @@ async def chat_stream(user_message: str, image_base64: Optional[str] = None) ->
     try:
         # 流式调用
         # Day 22: 升级到 glm-4.6v-flash
-        # 【修正】根据官方文档，thinking 参数也是必须的
+        max_retries = 3
-        response = await asyncio.to_thread(
+        retry_delay = 1
-            client.chat.completions.create,
+        
-            model=MODEL,
+        response = None
-            messages=messages,
+        for attempt in range(max_retries):
-            thinking={"type": "disabled"},
+            try:
-            stream=True,
+                # 【修正】根据官方文档，thinking 参数也是必须的
-        )
+                response = await asyncio.to_thread(
+                    client.chat.completions.create,
+                    model=MODEL,
+                    messages=messages,
+                    thinking={"type": "disabled"},
+                    stream=True,
+                )
+                break # 成功则跳出循环
+            except Exception as e:
+                error_str = str(e)
+                if attempt < max_retries - 1:
+                    if "429" in error_str or "1305" in error_str or "请求过多" in error_str:
+                        print(f"[GLM] (流式) 速率限制，{retry_delay}秒后重试... ({attempt + 1}/{max_retries})")
+                        await asyncio.sleep(retry_delay)
+                        retry_delay *= 2
+                        continue
+                    # 其他网络错误也可以重试
+                    print(f"[GLM] (流式) 连接错误: {e}，重试... ({attempt + 1}/{max_retries})")
+                    await asyncio.sleep(retry_delay)
+                    continue
+                else:
+                    raise e # 最后一次尝试失败，抛出异常
         
         for chunk in response:
             if chunk.choices[0].delta.content:

navigation_master.py

@@ -23,6 +23,7 @@ SEEKING_NEXT_BLINDPATH = "SEEKING_NEXT_BLINDPATH" # 过完马路后寻找下一
 RECOVERY = "RECOVERY"                  # 兜底/恢复（感知暂时丢失时）
 TRAFFIC_LIGHT_DETECTION = "TRAFFIC_LIGHT_DETECTION"  # 红绿灯检测模式
 ITEM_SEARCH = "ITEM_SEARCH"            # 找物品模式（暂停导航，由yolomedia处理画面）
+INDOOR_NAV = "INDOOR_NAV"              # 室内导航模式（使用室内导盲模型）
 
 # ========== 返回结构 ==========
 @dataclass
@@ -247,9 +248,11 @@ class NavigationMaster:
                  blind_nav: BlindPathNavigator,
                  cross_nav: CrossStreetNavigator,
                  *,
+                 indoor_nav: BlindPathNavigator = None,  # 新增：室内导航器
                  min_tts_interval: float = 1.2):
         self.blind = blind_nav
         self.cross = cross_nav
+        self.indoor = indoor_nav  # 室内导航器（使用室内导盲模型）
         self.state = IDLE
         self.last_guidance_ts = 0.0
         self.min_tts_interval = min_tts_interval
@@ -302,7 +305,14 @@ class NavigationMaster:
         self.state = CHAT
         self.cooldown_until = time.time() + self.COOLDOWN_SEC
         if self.blind:
-            self.blind.reset()
+            try: self.blind.reset()
+            except: pass
+        if self.cross:
+            try: self.cross.reset()
+            except: pass
+        if self.indoor:
+            try: self.indoor.reset()
+            except: pass
     
     def start_crossing(self):
         """启动过马路模式"""
@@ -316,6 +326,13 @@ class NavigationMaster:
         self.state = TRAFFIC_LIGHT_DETECTION
         self.cooldown_until = time.time() + self.COOLDOWN_SEC
     
+    def start_indoor_navigation(self):
+        """启动室内导航模式（使用室内导盲模型）"""
+        self.state = INDOOR_NAV
+        self.cooldown_until = time.time() + self.COOLDOWN_SEC
+        if self.blind:
+            self.blind.reset()
+    
     def is_in_navigation_mode(self):
         """检查是否在导航模式（非对话模式）"""
         return self.state not in ["CHAT", "IDLE", "TRAFFIC_LIGHT_DETECTION", "ITEM_SEARCH"]
@@ -384,6 +401,10 @@ class NavigationMaster:
             self.cross.reset()
         except Exception:
             pass
+        try:
+            if self.indoor: self.indoor.reset()
+        except Exception:
+            pass
 
     # ----- 内部工具 -----
     def _say(self, now: float, text: str) -> str:
@@ -455,6 +476,25 @@ class NavigationMaster:
         # 冷却期内允许继续输出画面，但避免"瞬时切换"
         in_cooldown = now < self.cooldown_until
 
+        # 【新增】室内导航模式：使用室内导盲模型处理帧
+        # Day 26: 支持 IndoorNavigator 返回的 IndoorResult
+        if self.state == INDOOR_NAV:
+            # 优先使用室内导航器，如果没有则 fallback 到盲道导航器
+            nav = self.indoor if self.indoor else self.blind
+            try:
+                result = nav.process_frame(bgr)
+            except Exception as e:
+                self.state = RECOVERY
+                ann_err = bgr.copy()
+                return OrchestratorResult(ann_err, self._say(now, ""), self.state, {"error": str(e)})
+            
+            ann = result.annotated_image if result.annotated_image is not None else bgr.copy()
+            say = result.guidance_text or ""
+            state_info = result.state_info if hasattr(result, 'state_info') else {}
+            
+            return OrchestratorResult(ann, self._say(now, say), self.state, 
+                                      {"source": "indoor", "state_info": state_info})
+
         # 各状态处理
         if self.state in (BLINDPATH_NAV, SEEKING_CROSSWALK, SEEKING_NEXT_BLINDPATH, RECOVERY):
             # —— 盲道侧 —— 统一调用盲道导航器

server_context.py

@@ -0,0 +1,98 @@
+# server_context.py
+# -*- coding: utf-8 -*-
+import asyncio
+from typing import Dict, List, Set, Deque, Optional, Tuple, Any
+from collections import deque
+from concurrent.futures import ThreadPoolExecutor
+from fastapi import WebSocket
+
+class ServerContext:
+    """
+    单例模式的服务器全局上下文
+    用于统一管理状态、资源引用和客户端连接，解决 app_main.py 中 global 变量混乱的问题。
+    """
+    _instance = None
+    _lock = asyncio.Lock()  # 异步锁，主要用于保护关键状态切换
+
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(ServerContext, cls).__new__(cls)
+            cls._instance._initialized = False
+        return cls._instance
+
+    def __init__(self):
+        if self._initialized:
+            return
+        
+        self._initialized = True
+        
+        # ====== 1. WebSocket 客户端管理 ======
+        self.ui_clients: Dict[int, WebSocket] = {}
+        self.camera_viewers: Set[WebSocket] = set()
+        self.imu_ws_clients: Set[WebSocket] = set()
+        
+        self.esp32_audio_ws: Optional[WebSocket] = None
+        self.esp32_camera_ws: Optional[WebSocket] = None
+        
+        # ====== 2. 媒体数据缓冲 ======
+        self.current_partial: str = ""
+        self.recent_finals: List[str] = []
+        self.last_frames: Deque[Tuple[float, bytes]] = deque(maxlen=10)
+        
+        # ====== 3. 业务状态标志 (State Flags) ======
+        # 盲道导航状态
+        self.navigation_active: bool = False
+        # 过马路导航状态
+        self.cross_street_active: bool = False
+        # Omni 对话状态
+        self.omni_conversation_active: bool = False
+        self.omni_previous_nav_state: Optional[str] = None
+        
+        # YOLO 媒体流状态
+        self.yolomedia_running: bool = False
+        self.yolomedia_sending_frames: bool = False
+        
+        # ====== 4. 核心组件引用 (Resources) ======
+        # 导航器实例
+        self.blind_path_navigator = None
+        self.cross_street_navigator = None
+        self.indoor_navigator = None
+        
+        # 协调器
+        self.orchestrator = None
+        
+        # 模型实例
+        self.yolo_seg_model = None
+        self.obstacle_detector = None
+        self.indoor_seg_model = None
+        
+        # ====== 5. 异步处理资源 ======
+        # 帧处理线程池
+        self.frame_processing_executor = ThreadPoolExecutor(max_workers=3, thread_name_prefix="frame_proc")
+        
+        # 异步帧处理状态
+        self.nav_processing_task: Optional[asyncio.Task] = None
+        self.nav_last_result_image: Any = None
+        self.nav_last_result_jpeg: Optional[bytes] = None
+        self.nav_pending_frame: Any = None
+        self.nav_processing_lock = asyncio.Lock()
+        self.nav_task_start_time: float = 0.0
+
+    def reset_navigation_state(self):
+        """重置所有导航相关的状态标志"""
+        self.navigation_active = False
+        self.cross_street_active = False
+        self.omni_conversation_active = False
+        # 注意：这里不停止 orchestrator，只是重置标志位
+        
+    def add_ui_client(self, ws: WebSocket):
+        self.ui_clients[id(ws)] = ws
+        
+    def remove_ui_client(self, ws: WebSocket):
+        self.ui_clients.pop(id(ws), None)
+        
+    def get_ui_client_count(self) -> int:
+        return len(self.ui_clients)
+
+# 全局访问点
+ctx = ServerContext()

trafficlight_detection.py

@@ -479,18 +479,25 @@ def is_detection_running():
     return _detection_running
 
 def init_model():
-    """初始化YOLO模型（单帧处理模式）"""
+    """初始化YOLO模型（单帧处理模式）
+    Day 26 优化: 包含预热推理，避免 TensorRT 重复加载
+    """
     global _model
     if _model is not None:
-        print("[TRAFFIC] 模型已加载")
         return True
     
     try:
         print("[TRAFFIC] 加载 YOLO 红绿灯检测模型...")
-        _model = YOLO(YOLO_MODEL_PATH)
+        _model = YOLO(YOLO_MODEL_PATH, task='detect')
         print(f"[TRAFFIC] 模型加载成功: {YOLO_MODEL_PATH}")
         class_names = _model.names if hasattr(_model, 'names') else {}
         print(f"[TRAFFIC] 模型类别: {class_names}")
+        
+        # Day 26 优化: 预热推理，创建 TensorRT 执行上下文（只创建一次）
+        test_img = np.zeros((640, 640, 3), dtype=np.uint8)
+        _ = _model(test_img, conf=CONF_THRESHOLD, verbose=False)
+        print("[TRAFFIC] 模型预热完成")
+        
         return True
     except Exception as e:
         print(f"[TRAFFIC] 模型加载失败: {e}")

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
@@ -185,6 +187,10 @@ class BlindPathNavigator:
                    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
         self.prev_blind_path_mask = 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()
+        # 【新增】斑马线感知监控器
-        logger.info("[BlindPath] 斑马线感知监控器已初始化")
+        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
+        # 【Day 26 优化】使用可配置的日志间隔
-        if crosswalk_mask is not None and self.frame_counter % 30 == 0:
+        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)

workflow_crossstreet.py

@@ -272,21 +272,22 @@ class CrossStreetNavigator:
         logger.info(f"[CROSS_STREET] 斑马线检测间隔: 每{self.CROSSWALK_DETECTION_INTERVAL}帧")
 
         # 确保模型在 GPU 上
-        # Day 20: TensorRT 引擎不需要 .to()
+        # Day 20/26: TensorRT 引擎不需要 .to()，改用 model_utils 检查
         if self.seg_model and torch.cuda.is_available():
             try:
                 # 检查是否是 TensorRT 引擎
+                from model_utils import is_tensorrt_engine
                 model_path = getattr(self.seg_model, 'ckpt_path', '') or ''
-                if not model_path.endswith('.engine'):
+                if is_tensorrt_engine(model_path):
-                    if hasattr(self.seg_model, 'model') and hasattr(self.seg_model.model, 'to'):
+                    pass  # TensorRT 引擎无需 .to()，静默跳过
-                        self.seg_model.model.to('cuda')
+                elif hasattr(self.seg_model, 'model') and hasattr(self.seg_model.model, 'to'):
-                    elif hasattr(self.seg_model, 'to'):
+                    self.seg_model.model.to('cuda')
-                        self.seg_model.to('cuda')
                     logger.info("[CROSS_STREET] 模型已移至 GPU")
-                else:
+                elif hasattr(self.seg_model, 'to'):
-                    logger.info("[CROSS_STREET] TensorRT 引擎已加载，跳过 .to()")
+                    self.seg_model.to('cuda')
-            except Exception as e:
+                    logger.info("[CROSS_STREET] 模型已移至 GPU")
-                logger.warning(f"[CROSS_STREET] 无法将模型移至 GPU: {e}")
+            except Exception:
+                pass  # Day 26: 静默处理，避免启动日志刷屏
 
     def reset(self):
         """重置状态"""

workflow_indoor.py

@@ -0,0 +1,454 @@
+# -*- coding: utf-8 -*-
+"""
+室内导航工作流 (Indoor Navigation Workflow)
+Day 26: 专为室内导盲模型 (yolo11l-seg-indoor14) 设计
+
+类别映射 (14 classes from MIT Indoor):
+- 可行走区域: floor(0), corridor(1), sidewalk(2)
+- 静态障碍物: chair(3), table(4), sofa_bed(5), cabinet(11), trash_can(12)
+- 兴趣点: door(6), elevator(7), stairs(8)
+- 边界: wall(9), window(13)
+- 动态障碍: person(10)
+"""
+
+import os
+import time
+import logging
+import numpy as np
+import cv2
+from dataclasses import dataclass
+from typing import Optional, List, Dict, Any
+from collections import deque
+
+logger = logging.getLogger(__name__)
+
+# ========== 类别常量 ==========
+# 可行走区域
+WALKABLE_CLASSES = {0, 1, 2}  # floor, corridor, sidewalk
+CLASS_FLOOR = 0
+CLASS_CORRIDOR = 1
+CLASS_SIDEWALK = 2
+
+# 静态障碍物
+OBSTACLE_CLASSES = {3, 4, 5, 11, 12}  # chair, table, sofa_bed, cabinet, trash_can
+CLASS_CHAIR = 3
+CLASS_TABLE = 4
+CLASS_SOFA_BED = 5
+CLASS_CABINET = 11
+CLASS_TRASH_CAN = 12
+
+# 兴趣点
+POI_CLASSES = {6, 7, 8}  # door, elevator, stairs
+CLASS_DOOR = 6
+CLASS_ELEVATOR = 7
+CLASS_STAIRS = 8
+
+# 边界
+BOUNDARY_CLASSES = {9, 13}  # wall, window
+CLASS_WALL = 9
+CLASS_WINDOW = 13
+
+# 动态障碍
+CLASS_PERSON = 10
+
+# 类别名称映射
+CLASS_NAMES = {
+    0: 'floor', 1: 'corridor', 2: 'sidewalk',
+    3: 'chair', 4: 'table', 5: 'sofa_bed',
+    6: 'door', 7: 'elevator', 8: 'stairs',
+    9: 'wall', 10: 'person', 11: 'cabinet',
+    12: 'trash_can', 13: 'window'
+}
+
+# 中文名称（用于语音）
+CLASS_NAMES_CN = {
+    0: '地面', 1: '走廊', 2: '人行道',
+    3: '椅子', 4: '桌子', 5: '沙发',
+    6: '门', 7: '电梯', 8: '楼梯',
+    9: '墙壁', 10: '行人', 11: '柜子',
+    12: '垃圾桶', 13: '窗户'
+}
+
+# ========== 配置参数 ==========
+CONF_THRESHOLD = float(os.getenv('INDOOR_CONF_THRESHOLD', '0.25'))
+WALKABLE_MIN_AREA = int(os.getenv('INDOOR_WALKABLE_MIN_AREA', '3000'))
+OBSTACLE_MIN_AREA = int(os.getenv('INDOOR_OBSTACLE_MIN_AREA', '500'))
+
+# 语音间隔
+GUIDE_INTERVAL = float(os.getenv('INDOOR_GUIDE_INTERVAL', '3.0'))
+DIRECTION_INTERVAL = float(os.getenv('INDOOR_DIRECTION_INTERVAL', '2.5'))
+POI_INTERVAL = float(os.getenv('INDOOR_POI_INTERVAL', '5.0'))
+OBSTACLE_INTERVAL = float(os.getenv('INDOOR_OBSTACLE_INTERVAL', '2.0'))
+
+# ========== 可视化颜色 (BGR) ==========
+VIS_COLORS = {
+    'walkable': (0, 255, 0),      # 绿色 - 可行走
+    'obstacle': (0, 0, 255),      # 红色 - 障碍物
+    'poi': (255, 255, 0),         # 青色 - 兴趣点
+    'boundary': (128, 128, 128),  # 灰色 - 边界
+    'person': (255, 0, 255),      # 粉色 - 行人
+    'centerline': (255, 255, 0),  # 黄色 - 引导线
+}
+
+
+@dataclass
+class IndoorResult:
+    """室内导航结果"""
+    annotated_image: Optional[np.ndarray] = None
+    guidance_text: str = ""
+    state_info: Dict[str, Any] = None
+    visualizations: List[Dict[str, Any]] = None
+
+    def __post_init__(self):
+        if self.state_info is None:
+            self.state_info = {}
+        if self.visualizations is None:
+            self.visualizations = []
+
+
+class IndoorNavigator:
+    """室内导航器 - 专为室内导盲模型设计"""
+
+    def __init__(self, seg_model=None, device_id: str = "indoor"):
+        self.seg_model = seg_model
+        self.device_id = device_id
+        self.frame_counter = 0
+        
+        # 语音节流
+        self.last_guide_time = 0
+        self.last_direction_time = 0
+        self.last_poi_time = 0
+        self.last_obstacle_time = 0
+        self.last_guidance_text = ""
+        self.last_direction_text = ""
+        
+        # 检测间隔
+        self.detection_interval = int(os.getenv('INDOOR_DETECTION_INTERVAL', '6'))
+        self.last_detection_frame = 0
+        
+        # 缓存
+        self.last_walkable_mask = None
+        self.last_obstacles = []
+        self.last_pois = []
+        
+        # 灰度图（用于光流等）
+        self.prev_gray = None
+        
+        # 日志间隔
+        self.log_interval = int(os.getenv('AIGLASS_LOG_INTERVAL', '30'))
+        
+        logger.info(f"[INDOOR] 室内导航器初始化完成")
+        logger.info(f"[INDOOR] 检测间隔: 每{self.detection_interval}帧")
+        logger.info(f"[INDOOR] 可行走类别: {[CLASS_NAMES[c] for c in WALKABLE_CLASSES]}")
+
+    def reset(self):
+        """重置状态"""
+        self.frame_counter = 0
+        self.last_guide_time = 0
+        self.last_direction_time = 0
+        self.last_poi_time = 0
+        self.last_obstacle_time = 0
+        self.last_guidance_text = ""
+        self.last_direction_text = ""
+        self.last_walkable_mask = None
+        self.last_obstacles = []
+        self.last_pois = []
+        self.prev_gray = None
+        logger.info("[INDOOR] 导航器已重置")
+
+    def process_frame(self, image: np.ndarray) -> IndoorResult:
+        """处理单帧图像"""
+        self.frame_counter += 1
+        h, w = image.shape[:2]
+        now = time.time()
+        
+        frame_visualizations = []
+        guidance_text = ""
+        state_info = {}
+        
+        # 是否执行检测
+        should_detect = (self.frame_counter - self.last_detection_frame) >= self.detection_interval
+        
+        if should_detect and self.seg_model is not None:
+            self.last_detection_frame = self.frame_counter
+            
+            # 执行分割推理
+            walkable_mask, obstacles, pois = self._detect_all(image)
+            
+            # 更新缓存
+            self.last_walkable_mask = walkable_mask
+            self.last_obstacles = obstacles
+            self.last_pois = pois
+        else:
+            # 使用缓存
+            walkable_mask = self.last_walkable_mask
+            obstacles = self.last_obstacles
+            pois = self.last_pois
+        
+        # 生成导航引导
+        if walkable_mask is not None:
+            guidance_text = self._generate_guidance(walkable_mask, obstacles, pois, h, w, now)
+            
+            # 添加可视化
+            self._add_mask_visualization(walkable_mask, frame_visualizations, 
+                                        "walkable_mask", "rgba(0, 255, 0, 0.3)")
+        
+        # 障碍物可视化
+        for obs in obstacles:
+            self._add_detection_visualization(obs, frame_visualizations, "obstacle")
+        
+        # 兴趣点可视化
+        for poi in pois:
+            self._add_detection_visualization(poi, frame_visualizations, "poi")
+        
+        # 日志
+        if self.frame_counter % self.log_interval == 0:
+            walkable_area = int(walkable_mask.sum()) if walkable_mask is not None else 0
+            logger.info(f"[INDOOR] Frame={self.frame_counter} | 可行走面积={walkable_area} | "
+                       f"障碍物={len(obstacles)} | 兴趣点={len(pois)}")
+        
+        # 更新状态信息
+        state_info = {
+            'frame': self.frame_counter,
+            'walkable_detected': walkable_mask is not None and walkable_mask.sum() > 0,
+            'obstacles_count': len(obstacles),
+            'pois_count': len(pois),
+        }
+        
+        # 更新灰度图
+        self.prev_gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+        
+        return IndoorResult(
+            annotated_image=image.copy(),
+            guidance_text=guidance_text,
+            state_info=state_info,
+            visualizations=frame_visualizations
+        )
+
+    def _detect_all(self, image: np.ndarray):
+        """执行分割检测，返回可行走区域、障碍物、兴趣点"""
+        h, w = image.shape[:2]
+        walkable_mask = np.zeros((h, w), dtype=np.uint8)
+        obstacles = []
+        pois = []
+        
+        try:
+            imgsz = int(os.getenv("AIGLASS_YOLO_IMGSZ", "480"))
+            use_half = os.getenv("AIGLASS_YOLO_HALF", "1") == "1"
+            
+            results = self.seg_model.predict(
+                image,
+                imgsz=imgsz,
+                conf=CONF_THRESHOLD,
+                verbose=False,
+                half=use_half
+            )
+            
+            if results and len(results) > 0 and results[0].masks is not None:
+                r0 = results[0]
+                masks = r0.masks.data.cpu().numpy()
+                boxes = r0.boxes
+                
+                for i, (mask, cls_id, conf) in enumerate(zip(masks, boxes.cls, boxes.conf)):
+                    cls_id = int(cls_id.item())
+                    conf_val = float(conf.item())
+                    
+                    # 调整 mask 尺寸
+                    mask_resized = cv2.resize(mask, (w, h), interpolation=cv2.INTER_NEAREST)
+                    mask_bin = (mask_resized > 0.5).astype(np.uint8)
+                    area = int(mask_bin.sum())
+                    
+                    if area < 100:  # 过滤小碎片
+                        continue
+                    
+                    # 可行走区域
+                    if cls_id in WALKABLE_CLASSES and area > WALKABLE_MIN_AREA:
+                        walkable_mask = cv2.bitwise_or(walkable_mask, mask_bin * 255)
+                    
+                    # 障碍物
+                    elif cls_id in OBSTACLE_CLASSES or cls_id == CLASS_PERSON:
+                        if area > OBSTACLE_MIN_AREA:
+                            obstacles.append({
+                                'class_id': cls_id,
+                                'class_name': CLASS_NAMES.get(cls_id, 'unknown'),
+                                'class_name_cn': CLASS_NAMES_CN.get(cls_id, '未知'),
+                                'conf': conf_val,
+                                'mask': mask_bin,
+                                'area': area,
+                                'center': self._mask_center(mask_bin),
+                            })
+                    
+                    # 兴趣点
+                    elif cls_id in POI_CLASSES:
+                        pois.append({
+                            'class_id': cls_id,
+                            'class_name': CLASS_NAMES.get(cls_id, 'unknown'),
+                            'class_name_cn': CLASS_NAMES_CN.get(cls_id, '未知'),
+                            'conf': conf_val,
+                            'mask': mask_bin,
+                            'area': area,
+                            'center': self._mask_center(mask_bin),
+                        })
+                        
+        except Exception as e:
+            logger.warning(f"[INDOOR] 检测失败: {e}")
+        
+        return walkable_mask, obstacles, pois
+
+    def _mask_center(self, mask: np.ndarray):
+        """计算 mask 质心"""
+        M = cv2.moments(mask)
+        if abs(M["m00"]) < 1e-6:
+            return None
+        cx = int(M["m10"] / M["m00"])
+        cy = int(M["m01"] / M["m00"])
+        return (cx, cy)
+
+    def _generate_guidance(self, walkable_mask, obstacles, pois, h, w, now):
+        """生成导航引导文本"""
+        guidance_text = ""
+        
+        # 1. 计算可行走区域的偏移和方向
+        direction_guidance = self._compute_direction_guidance(walkable_mask, h, w)
+        
+        # 2. 检查障碍物警告
+        obstacle_warning = self._check_obstacle_warning(obstacles, walkable_mask, h, w)
+        
+        # 3. 检查兴趣点提示
+        poi_hint = self._check_poi_hint(pois, h, w)
+        
+        # 优先级：障碍物 > 方向 > 兴趣点
+        if obstacle_warning and (now - self.last_obstacle_time) > OBSTACLE_INTERVAL:
+            guidance_text = obstacle_warning
+            self.last_obstacle_time = now
+            self.last_guidance_text = guidance_text
+        elif direction_guidance:
+            # 方向引导节流
+            if direction_guidance != self.last_direction_text:
+                if (now - self.last_direction_time) > DIRECTION_INTERVAL:
+                    guidance_text = direction_guidance
+                    self.last_direction_time = now
+                    self.last_direction_text = direction_guidance
+            elif (now - self.last_guide_time) > GUIDE_INTERVAL:
+                # 同样的方向，降低频率
+                guidance_text = direction_guidance
+                self.last_guide_time = now
+        elif poi_hint and (now - self.last_poi_time) > POI_INTERVAL:
+            guidance_text = poi_hint
+            self.last_poi_time = now
+        
+        return guidance_text
+
+    def _compute_direction_guidance(self, walkable_mask, h, w):
+        """计算方向引导"""
+        if walkable_mask is None or walkable_mask.sum() < WALKABLE_MIN_AREA:
+            return "未检测到可行走区域"
+        
+        # 分析下半部分（更近的区域）
+        lower_half = walkable_mask[int(h * 0.5):, :]
+        
+        if lower_half.sum() < 1000:
+            return "前方可行走区域较小，请小心"
+        
+        # 计算左中右分布
+        third = w // 3
+        left_area = lower_half[:, :third].sum()
+        center_area = lower_half[:, third:2*third].sum()
+        right_area = lower_half[:, 2*third:].sum()
+        
+        total = left_area + center_area + right_area + 1e-6
+        left_ratio = left_area / total
+        center_ratio = center_area / total
+        right_ratio = right_area / total
+        
+        # 方向判断
+        if center_ratio > 0.4:
+            return "保持直行"
+        elif left_ratio > right_ratio * 1.5:
+            return "向左调整"
+        elif right_ratio > left_ratio * 1.5:
+            return "向右调整"
+        else:
+            return "保持直行"
+
+    def _check_obstacle_warning(self, obstacles, walkable_mask, h, w):
+        """检查是否有障碍物在前方"""
+        if not obstacles:
+            return None
+        
+        # 定义前方区域（画面中下部）
+        front_zone_top = int(h * 0.4)
+        front_zone_left = int(w * 0.2)
+        front_zone_right = int(w * 0.8)
+        
+        for obs in obstacles:
+            center = obs.get('center')
+            if center is None:
+                continue
+            cx, cy = center
+            
+            # 检查是否在前方区域
+            if front_zone_top < cy < h and front_zone_left < cx < front_zone_right:
+                name_cn = obs.get('class_name_cn', '障碍物')
+                
+                # 判断位置
+                if cx < w * 0.4:
+                    return f"左前方有{name_cn}"
+                elif cx > w * 0.6:
+                    return f"右前方有{name_cn}"
+                else:
+                    return f"正前方有{name_cn}"
+        
+        return None
+
+    def _check_poi_hint(self, pois, h, w):
+        """检查兴趣点提示"""
+        if not pois:
+            return None
+        
+        for poi in pois:
+            cls_id = poi.get('class_id')
+            name_cn = poi.get('class_name_cn', '兴趣点')
+            center = poi.get('center')
+            
+            if center is None:
+                continue
+            cx, cy = center
+            
+            # 楼梯需要特别警告
+            if cls_id == CLASS_STAIRS:
+                if cy > h * 0.5:  # 比较近
+                    return f"注意前方有{name_cn}"
+            
+            # 门/电梯提示
+            elif cls_id in (CLASS_DOOR, CLASS_ELEVATOR):
+                if cy > h * 0.3:  # 在视野内
+                    position = "左侧" if cx < w * 0.4 else ("右侧" if cx > w * 0.6 else "前方")
+                    return f"{position}有{name_cn}"
+        
+        return None
+
+    def _add_mask_visualization(self, mask, visualizations, viz_type, color):
+        """添加 mask 可视化"""
+        if mask is None or mask.sum() == 0:
+            return
+        
+        visualizations.append({
+            'type': viz_type,
+            'mask': mask,
+            'color': color
+        })
+
+    def _add_detection_visualization(self, detection, visualizations, det_type):
+        """添加检测框可视化"""
+        center = detection.get('center')
+        if center is None:
+            return
+        
+        visualizations.append({
+            'type': det_type,
+            'center': center,
+            'class_name': detection.get('class_name', 'unknown'),
+            'class_name_cn': detection.get('class_name_cn', '未知'),
+            'conf': detection.get('conf', 0),
+        })

yolomedia.py

@@ -24,6 +24,10 @@ from mediapipe.framework.formats import landmark_pb2
 from ultralytics import YOLO
 from ultralytics.utils.plotting import Colors
 import bridge_io
+
+# Day 26: 抑制 pygame 社区欢迎信息
+import os
+os.environ['PYGAME_HIDE_SUPPORT_PROMPT'] = "1"
 import pygame  # 用于播放本地音频文件
 
 from audio_player import play_audio_threadsafe