From e828deb33bb0b29d9d1aba275bdb14b64ea6ca26 Mon Sep 17 00:00:00 2001
From: haotian <2421912570@qq.com>
Date: Tue, 30 Sep 2025 17:03:22 +0800
Subject: [PATCH] =?UTF-8?q?=E7=A8=8B=E5=BA=8F=E5=AE=9E=E7=8E=B0=E4=B8=80?=
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---
 config.yaml      |  1 +
 face_rec.py      | 37 +++++++++++++++++++------
 face_rec.service | 22 ++++++++++-----
 start.sh         | 71 +++++++++++++++++++++++++++++++++++-------------
 4 files changed, 96 insertions(+), 35 deletions(-)

diff --git a/config.yaml b/config.yaml
index 0de4239..cf8e14a 100644
--- a/config.yaml
+++ b/config.yaml
@@ -20,6 +20,7 @@ camera:
   width: 1280
   height: 720
   fps: 30
+  retry_interval: 2 # 打开摄像头失败后的重试间隔(秒)
 
 # 人脸检测配置
 face_detection:
diff --git a/face_rec.py b/face_rec.py
index 99a7ea6..8d17001 100644
--- a/face_rec.py
+++ b/face_rec.py
@@ -176,16 +176,35 @@ class FaceRecognitionSystem:
     def _init_camera(self):
         """初始化摄像头"""
         cam_config = self.config['camera']
+        retry_interval = cam_config.get('retry_interval', 3)  # 默认3秒重试
         
-        self.camera = cv2.VideoCapture(cam_config['device_id'])
-        self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, cam_config['width'])
-        self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, cam_config['height'])
-        self.camera.set(cv2.CAP_PROP_FPS, cam_config['fps'])
-        
-        if not self.camera.isOpened():
-            raise RuntimeError("无法打开摄像头")
-        
-        self.logger.info("摄像头初始化完成")
+        attempt = 0
+        while True:
+            attempt += 1
+            self.logger.info(f"正在尝试打开摄像头 (第{attempt}次尝试)...")
+            
+            self.camera = cv2.VideoCapture(cam_config['device_id'])
+            
+            if self.camera.isOpened():
+                # 设置摄像头参数
+                self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, cam_config['width'])
+                self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, cam_config['height'])
+                self.camera.set(cv2.CAP_PROP_FPS, cam_config['fps'])
+                
+                # 验证是否能读取帧
+                ret, frame = self.camera.read()
+                if ret:
+                    self.logger.info(f"摄像头初始化成功 (设备ID: {cam_config['device_id']})")
+                    return
+                else:
+                    self.logger.warning("摄像头已打开但无法读取帧")
+                    self.camera.release()
+            else:
+                self.logger.warning(f"无法打开摄像头设备 {cam_config['device_id']}")
+            
+            # 等待后重试
+            self.logger.info(f"{retry_interval}秒后重试...")
+            time.sleep(retry_interval)
     
     def assess_frame_quality(self, frame: np.ndarray) -> float:
         """评估帧质量(使用Laplacian方差检测模糊度)"""
diff --git a/face_rec.service b/face_rec.service
index 9b06cc1..cdd49b3 100644
--- a/face_rec.service
+++ b/face_rec.service
@@ -1,16 +1,24 @@
 [Unit]
-Description=My Custom Startup Script
+Description=Face Rec GUI Service (system-level)
+After=display-manager.service
+# 或者 After=gdm.service / lightdm.service，根据你系统用的显示管理器
 
 [Service]
 Type=simple
 User=unitree
-# 配置systemd服务允许访问显示
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/unitree/.Xauthority"
-# 这里确保自己对这个脚本有执行权限。现chmod +x  xxxx.sh
+WorkingDirectory=/home/unitree/robot_face_rec
+
 ExecStart=/home/unitree/robot_face_rec/start.sh
 Restart=on-failure
-WorkingDirectory=/home/unitree/
+RestartSec=5
+TimeoutStartSec=30
+
+StandardOutput=journal
+StandardError=journal
+
+# 如果需要，你可以设置环境，但脚本里会重写 DISPLAY
+# Environment=DISPLAY=:0
+# Environment=XAUTHORITY=/home/unitree/.Xauthority
 
 [Install]
-WantedBy=multi-user.target
+WantedBy=graphical.target
diff --git a/start.sh b/start.sh
index cea0223..4b1997d 100755
--- a/start.sh
+++ b/start.sh
@@ -1,29 +1,62 @@
-#! /bin/bash 
+#!/bin/bash
 
+# --- 日志相关 ---
+LOG_DIR="/home/unitree/robot_face_rec/logs/face_rec"
+mkdir -p "$LOG_DIR"
+LOG_FILE="$LOG_DIR/face_rec_$(date +%Y%m%d_%H%M%S).log"
 
-# 进入到项目目录
-cd /home/unitree/robot_face_rec
+{
+  echo "===== $(date) Starting face_rec script ====="
+  echo "User: $(whoami)"
+  echo "PWD before cd: $(pwd)"
+  echo "Python: $(which python) / Version: $(python --version 2>&1)"
+} >> "$LOG_FILE"
 
+# 切换到项目目录
+cd /home/unitree/robot_face_rec || {
+  echo "Failed to cd to project dir" >> "$LOG_FILE"
+  exit 1
+}
 
-LOG_DIR="logs/face_rec"
+{
+  echo "PWD after cd: $(pwd)"
+  echo "Env before display detection: DISPLAY=$DISPLAY, XAUTHORITY=$XAUTHORITY"
+} >> "$LOG_FILE"
 
-mkdir -p $LOG_DIR 
+# --- 动态检测 DISPLAY 的逻辑 ---
+# 方法：尝试从正在运行的 Xorg / X 进程环境中读取 DISPLAY
 
-# 生成日志文件名(使用当前时间)
-LOG_FILE="$LOG_DIR/robot_$(date +%Y%m%d_%H%M%S).log"
+display_found=""
 
-# 检查当前程序是否已经正在运行.
+for pid in $(pgrep Xorg); do
+  if [ -r /proc/$pid/environ ]; then
+    disp=$(tr '\0' '\n' < /proc/$pid/environ | grep '^DISPLAY=' | cut -d'=' -f2-)
+    if [ -n "$disp" ]; then
+      # display_found="$disp"
+      echo "Chosen "
+      break
+    fi
+  fi
+done
 
-if pgrep -f "face_rec.py" > /dev/null; then
-    echo "face_rec.py 已经在运行中"
-    exit 1 
-fi 
+# 如果还没找到 DISPLAY，则尝试 fallback
+if [ -z "$display_found" ]; then
+  # 常见默认：:0
+  display_found=":0"
+  echo "Chosen default"
+fi
 
-# nohup python run_sync_robot.py > "$LOG_FILE" 2>&1 &
-# 注systemctl控制时最后的&要去掉,使得脚本一直在运行.脚本其实阻塞在这,后面都不会执行
-nohup python face_rec.py > "$LOG_FILE" 2>&1 
+export DISPLAY="$display_found"
 
-# 保存进程id 
-echo $! > "$LOG_DIR/robot.pid"
-echo "WebSocket客户端已启动，日志保存在: $LOG_FILE"
-echo "进程ID: $(cat $LOG_DIR/robot.pid)" 
\ No newline at end of file
+{
+  echo "Chosen DISPLAY = $DISPLAY"
+} >> "$LOG_FILE"
+
+# XAUTHORITY：假设用户的 .Xauthority 存在于 home 目录
+export XAUTHORITY="/home/unitree/.Xauthority"
+{
+  echo "Using XAUTHORITY = $XAUTHORITY"
+} >> "$LOG_FILE"
+
+# 最终执行 Python 程序（不后台化，用 exec 替换进程）
+exec python face_rec.py >> "$LOG_FILE" 2>&1