feat: 添加健康监控系统并重构代码结构

- 新增health_monitor模块，包含温度、电压、WiFi RSSI监控功能
- 移除旧的app_main.h/app_main.c和debug模块，将调试日志移动到monitor目录
- 在main.cpp中替换system_monitor_task为health_monitor_task
- 更新CMakeLists.txt依赖项，添加esp_driver_tsens和esp_driver_uart
- 修改WiFi配置参数，更新SSID和密码设置方式
- 在Python工具中修复OTA客户端重新连接逻辑
- 调整任务优先级分配，统一使用核心0以适配ESP32-C3单核架构

.vscode/settings.json

@@ -13,5 +13,6 @@
     "--background-index",
     "--query-driver=**",
     "--compile-commands-dir=g:\\Robot_v2\\DFU\\ESP32_COMM\\build"
-  ]
+],
+"idf.flashType": "UART"
 }

main/CMakeLists.txt

@@ -1,14 +1,13 @@
 idf_component_register(
     SRCS
         "core/main.cpp"
-        "core/app_main.cpp"
         "relay/ota_relay.cpp"
         "transport/spi_master.cpp"
         "transport/protocol.cpp"
         "server/wifi_ota.cpp"
         "server/ble_ota.cpp"
         "monitor/health_monitor.cpp"
-        "debug/debug_log.cpp"
+        "monitor/debug_log.cpp"
     INCLUDE_DIRS
         "."
         "core"
@@ -16,17 +15,19 @@ idf_component_register(
         "transport"
         "server"
         "monitor"
-        "debug"
         "include"
     REQUIRES
+        cjson
         esp_driver_spi
+        esp_driver_tsens
+        esp_driver_uart
         esp_wifi
-        esp_http_server
-        nvs_flash
-        esp_timer
-        esp_partition
         esp_netif
         esp_event
-        esp_system
-        cjson
+        esp_partition
+        esp_timer
+        esp_http_server
+        esp_blockdev
+        nvs_flash
+        freertos
 )

main/core/app_main.cpp

@@ -1,97 +0,0 @@
-/*
- * app_main.c - 应用程序初始化与健康监控
- */
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "freertos/queue.h"
-#include "esp_timer.h"
-#include "esp_chip_info.h"
-#include "esp_system.h"
-/* ESP-IDF 6.0: temperature_sensor.h 已移除，使用替代方案 */
-
-#include "ota_relay.h"
-#include "health_monitor.h"
-#include "debug_log.h"
-
-extern health_state_t g_health_state;
-
-/* ESP-IDF 6.0: temperature_sensor 驱动已移除，使用系统负载估算温度 */
-static int32_t s_temp_estimate_celsius = 0;
-
-// 芯片温度监控（1秒间隔）- 使用系统负载估算
-static void temp_monitor_callback(void *arg)
-{
-    /* ESP-IDF 6.0 替代方案：使用空闲任务时间估算温度
-     * 实际项目中建议使用外部温度传感器（如 I2C TMP107）
-     */
-    (void)esp_timer_get_time();  // 获取时间戳用于负载估算（暂未使用）
-    DEBUG_DBG("TEMP", "芯片温度估算: %ld°C (基于系统负载)", s_temp_estimate_celsius);
-
-    if (s_temp_estimate_celsius > 100) {
-        g_health_state = SYS_SAFE_SHUTDOWN;
-        DEBUG_ERR("TEMP", "危险: 温度 %ld°C > 100°C，触发安全关机", s_temp_estimate_celsius);
-    } else if (s_temp_estimate_celsius > 80) {
-        if (g_health_state < SYS_WARNING) {
-            g_health_state = SYS_WARNING;
-            DEBUG_WARN("TEMP", "警告: 温度 %ld°C > 80°C", s_temp_estimate_celsius);
-        }
-    }
-}
-
-// 电压监控（启动时检查一次）
-static void voltage_monitor_callback(void *arg)
-{
-    // ESP-IDF 6.0: esp_efuse_get_voltage 已移除
-    // 使用回退方案：假设 3.3V
-    float voltage = 3.30f;
-    DEBUG_DBG("VOLT", "VDD 电压: %.2fV (估算)", voltage);
-
-    if (voltage < 2.3f) {
-        g_health_state = SYS_SAFE_SHUTDOWN;
-        DEBUG_ERR("VOLT", "危险: 电压 %.2fV < 2.3V，触发安全关机", voltage);
-    } else if (voltage < 2.5f) {
-        if (g_health_state < SYS_WARNING) {
-            g_health_state = SYS_WARNING;
-            DEBUG_WARN("VOLT", "警告: 电压 %.2fV < 2.5V", voltage);
-        }
-    }
-}
-
-// 系统监控任务
-void system_monitor_task(void *pvParameters)
-{
-    DEBUG_INFO("MON", "系统监控任务启动");
-
-    /* ESP-IDF 6.0: temperature_sensor 驱动已移除
-     * 使用默认温度估计值（实际项目建议使用外部传感器）
-     */
-    s_temp_estimate_celsius = 25;  // 默认 25°C
-
-    // 创建定时器进行周期性监控
-    esp_timer_handle_t temp_timer;
-    esp_timer_create_args_t timer_args = {};
-    timer_args.callback = &temp_monitor_callback;
-    timer_args.arg = nullptr;
-    timer_args.name = "temp_monitor";
-    timer_args.dispatch_method = ESP_TIMER_TASK;
-    timer_args.skip_unhandled_events = false;
-    esp_timer_create(&timer_args, &temp_timer);
-    esp_timer_start_periodic(temp_timer, 1 * 1000000);  // 1秒
-
-    // 启动时检查一次电压
-    voltage_monitor_callback(NULL);
-
-    while (1) {
-        // 每30秒记录一次健康状态
-        DEBUG_INFO("MON", "健康状态: %d, 空闲堆: %lu",
-                   g_health_state, esp_get_free_heap_size());
-
-        vTaskDelay(pdMS_TO_TICKS(30000));
-    }
-}
-
-// 当 eFuse 读取不可用时的电压回退方案
-uint32_t read_voltage_mv(void)
-{
-    return 3300;  // 默认 3.3V 假设
-}

main/core/app_main.h

@@ -1,15 +0,0 @@
-/*
- * app_main.h - 应用程序初始化与健康监控
- */
-#ifndef APP_MAIN_H
-#define APP_MAIN_H
-
-#include <stdint.h>
-
-/* 系统监控任务 */
-void system_monitor_task(void *pvParameters);
-
-/* 电压读取（回退方案） */
-uint32_t read_voltage_mv(void);
-
-#endif /* APP_MAIN_H */

main/core/main.cpp

@@ -8,17 +8,15 @@
 #include "esp_log.h"
 #include "esp_chip_info.h"
 
-#include "core/app_main.h"
-#include "ota_relay.h"
-#include "spi_master.h"
-#include "wifi_ota.h"
-#include "ble_ota.h"
-#include "protocol.h"
-#include "debug_log.h"
+#include "monitor/health_monitor.h"
+#include "relay/ota_relay.h"
+#include "transport/spi_master.h"
+#include "server/wifi_ota.h"
+#include "server/ble_ota.h"
+#include "transport/protocol.h"
+#include "monitor/debug_log.h"
 
-extern "C" void app_main(void);
-
-void app_main(void)
+extern "C" void app_main(void)
 {
     esp_chip_info_t chip_info;
     esp_chip_info(&chip_info);
@@ -31,6 +29,17 @@ void app_main(void)
     DEBUG_INFO("MAIN", "Free heap: %lu bytes", esp_get_free_heap_size());
     DEBUG_INFO("MAIN", "========================================");
 
+    // 健康监控任务（温度 + 电压 + WiFi RSSI）
+    xTaskCreatePinnedToCore(
+        health_monitor_task,
+        "health_mon",
+        4096,
+        NULL,
+        configMAX_PRIORITIES - 4,
+        NULL,
+        0
+    );
+
     // 初始化协议层（CRC、AES）
     protocol_init();
     DEBUG_INFO("MAIN", "协议层初始化完成");
@@ -46,20 +55,6 @@ void app_main(void)
     // 创建 FreeRTOS 任务
     BaseType_t xRet;
 
-    // 系统监控任务（最高优先级）
-    xRet = xTaskCreatePinnedToCore(
-        system_monitor_task,
-        "sys_monitor",
-        4096,
-        NULL,
-        configMAX_PRIORITIES - 1,
-        NULL,
-        1  // 核1
-    );
-    if (xRet != pdPASS) {
-        DEBUG_ERR("MAIN", "创建 system_monitor_task 失败");
-    }
-
     // OTA 中继任务（中高优先级）
     xRet = xTaskCreatePinnedToCore(
         ota_relay_task,
@@ -96,7 +91,7 @@ void app_main(void)
         NULL,
         configMAX_PRIORITIES - 3,
         NULL,
-        1
+        0  // ESP32-C3 单核，固定核0
     );
     if (xRet != pdPASS) {
         DEBUG_ERR("MAIN", "创建 ble_ota_task 失败");

main/include/app_config.h

@@ -12,19 +12,21 @@
 // ============================================================
 // 0 = AP 模式（设备当热点）
 // 1 = STA 模式（连接路由器）
+#define CONFIG_WIFI_MODE_IS_STA  1
 inline constexpr uint8_t CONFIG_WIFI_MODE = 1;
 
 // ============================================================
 // WiFi STA 模式配置（连接路由器）
 // ============================================================
-inline constexpr const char* WIFI_STA_SSID = "你的WiFi名称";
-inline constexpr const char* WIFI_STA_PASSWORD = "你的WiFi密码";
+inline constexpr const char* WIFI_STA_SSID = "004舰桥";
+inline constexpr const char* WIFI_STA_PASSWORD = "q13362875622";
 inline constexpr uint32_t WIFI_STA_CONNECT_TIMEOUT_MS = 30000;
 
 // STA 静态 IP
 inline constexpr uint8_t WIFI_STA_USE_STATIC_IP = 0;  // 设为 1 启用静态 IP
+#define WIFI_STA_STATIC_IP_IS_ENABLED  0
 
-#if WIFI_STA_USE_STATIC_IP
+#if WIFI_STA_STATIC_IP_IS_ENABLED
 inline constexpr const char* WIFI_STA_STATIC_IP      = "192.168.1.100";
 inline constexpr const char* WIFI_STA_STATIC_GW      = "192.168.1.1";
 inline constexpr const char* WIFI_STA_STATIC_NETMASK = "255.255.255.0";

main/monitor/health_monitor.cpp

@@ -1,11 +1,16 @@
 /*
- * health_monitor.c - 系统健康监控实现
+ * health_monitor.cpp - 系统健康监控
+ * 包含：健康状态管理 + WiFi RSSI 监控 + 温度监控 + 电压监控
  */
 #include <stdio.h>
 #include <string.h>
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "freertos/semphr.h"
 #include "esp_wifi.h"
+#include "esp_timer.h"
+#include "esp_err.h"
+#include "driver/temperature_sensor.h"
 
 #include "health_monitor.h"
 #include "debug_log.h"
@@ -13,7 +18,11 @@
 health_state_t g_health_state = SYS_NORMAL;
 
 static SemaphoreHandle_t g_health_mutex = NULL;
+static temperature_sensor_handle_t s_temp_handle = NULL;
 
+// ----------------------------------------
+// 健康状态管理
+// ----------------------------------------
 void health_monitor_init(void)
 {
     g_health_mutex = xSemaphoreCreateMutex();
@@ -22,7 +31,113 @@ void health_monitor_init(void)
     }
 }
 
-// 每次向 GD32 发送 DATA_PACKET 前的健康检查
+health_state_t health_get_current(void)
+{
+    health_state_t state;
+    if (g_health_mutex) {
+        xSemaphoreTake(g_health_mutex, portMAX_DELAY);
+    }
+    state = g_health_state;
+    if (g_health_mutex) {
+        xSemaphoreGive(g_health_mutex);
+    }
+    return state;
+}
+
+// ----------------------------------------
+// 温度监控（定时器回调）
+// ----------------------------------------
+static void temp_monitor_callback(void *arg)
+{
+    float temp = 0.0f;
+    esp_err_t err = temperature_sensor_get_celsius(s_temp_handle, &temp);
+    if (err != ESP_OK) {
+        DEBUG_WARN("TEMP", "读取温度失败: %s", esp_err_to_name(err));
+        return;
+    }
+
+    DEBUG_DBG("TEMP", "芯片温度: %.1f°C", temp);
+
+    if (temp >= TEMP_CRITICAL) {
+        g_health_state = SYS_SAFE_SHUTDOWN;
+        DEBUG_ERR("TEMP", "危险: 温度 %.1f°C >= %d°C，触发安全关机", temp, TEMP_CRITICAL);
+    } else if (temp >= TEMP_WARNING) {
+        if (g_health_state < SYS_WARNING) {
+            g_health_state = SYS_WARNING;
+            DEBUG_WARN("TEMP", "警告: 温度 %.1f°C >= %d°C", temp, TEMP_WARNING);
+        }
+    }
+}
+
+// ----------------------------------------
+// 电压监控（启动时调用一次）
+// ----------------------------------------
+static void voltage_monitor_callback(void *arg)
+{
+    float voltage = 3.30f;  // ESP32-C3 无内置电压传感器，使用估算
+    DEBUG_DBG("VOLT", "VDD 电压: %.2fV (估算)", voltage);
+
+    if (voltage < 2.3f) {
+        g_health_state = SYS_SAFE_SHUTDOWN;
+        DEBUG_ERR("VOLT", "危险: 电压 %.2fV < 2.3V，触发安全关机", voltage);
+    } else if (voltage < 2.5f) {
+        if (g_health_state < SYS_WARNING) {
+            g_health_state = SYS_WARNING;
+            DEBUG_WARN("VOLT", "警告: 电压 %.2fV < 2.5V", voltage);
+        }
+    }
+}
+
+// ----------------------------------------
+// 温度电压监控任务入口
+// ----------------------------------------
+void health_monitor_task(void *pvParameters)
+{
+    DEBUG_INFO("MON", "健康监控任务启动");
+
+    // 初始化内置温度传感器（测量范围 20°C ~ 80°C）
+    temperature_sensor_config_t temp_config = TEMPERATURE_SENSOR_CONFIG_DEFAULT(20, 80);
+    esp_err_t err = temperature_sensor_install(&temp_config, &s_temp_handle);
+    if (err != ESP_OK) {
+        DEBUG_ERR("MON", "温度传感器初始化失败: %s", esp_err_to_name(err));
+    } else {
+        ESP_ERROR_CHECK(temperature_sensor_enable(s_temp_handle));
+        DEBUG_INFO("MON", "温度传感器已启用 (范围 20°C ~ 80°C)");
+    }
+
+    // 定时器，每5秒读取一次温度
+    esp_timer_handle_t temp_timer;
+    esp_timer_create_args_t timer_args = {};
+    timer_args.callback = &temp_monitor_callback;
+    timer_args.arg = nullptr;
+    timer_args.name = "temp_monitor";
+    timer_args.dispatch_method = ESP_TIMER_TASK;
+    timer_args.skip_unhandled_events = false;
+    esp_timer_create(&timer_args, &temp_timer);
+    esp_timer_start_periodic(temp_timer, 5 * 1000000);  // 5秒
+
+    // 启动时检查一次电压
+    voltage_monitor_callback(NULL);
+
+    // 每5秒打印一次健康状态
+    while (1) {
+        DEBUG_INFO("MON", "健康状态: %d, 空闲堆: %lu",
+                   g_health_state, esp_get_free_heap_size());
+        vTaskDelay(pdMS_TO_TICKS(5000));
+    }
+}
+
+// ----------------------------------------
+// 健康事件日志
+// ----------------------------------------
+void health_log_event(const char *event, int value)
+{
+    DEBUG_WARN("HEALTH", "[健康日志] %s: %d", event, value);
+}
+
+// ----------------------------------------
+// OTA 传输前的健康检查
+// ----------------------------------------
 health_status_t health_check_before_ota(void)
 {
     health_status_t status = HEALTH_MON_OK;
@@ -50,25 +165,6 @@ health_status_t health_check_before_ota(void)
     return status;
 }
 
-health_state_t health_get_current(void)
-{
-    health_state_t state;
-    if (g_health_mutex) {
-        xSemaphoreTake(g_health_mutex, portMAX_DELAY);
-    }
-    state = g_health_state;
-    if (g_health_mutex) {
-        xSemaphoreGive(g_health_mutex);
-    }
-    return state;
-}
-
-// 健康事件的 Flash 日志写入
-void health_log_event(const char *event, int value)
-{
-    DEBUG_WARN("HEALTH", "[健康日志] %s: %d", event, value);
-}
-
 health_status_t health_update_from_wifi_rssi(int8_t rssi)
 {
     if (rssi < WIFI_RSSI_CRITICAL) {
@@ -89,4 +185,4 @@ health_status_t health_update_from_wifi_rssi(int8_t rssi)
     }
 
     return HEALTH_MON_OK;
-}
+}

main/monitor/health_monitor.h

@@ -1,8 +1,7 @@
 /*
  * health_monitor.h - 系统健康监控头文件
  */
-#ifndef HEALTH_MONITOR_H
-#define HEALTH_MONITOR_H
+#pragma once
 
 #include <stdint.h>
 #include "app_config.h"
@@ -30,9 +29,9 @@ extern health_state_t g_health_state;
 #define WIFI_RSSI_WEAK     WIFI_RSSI_CRITICAL
 
 // 函数声明
-extern health_status_t health_check_before_ota(void);
-extern void health_log_event(const char *event, int value);
-extern health_state_t health_get_current(void);
-extern health_status_t health_update_from_wifi_rssi(int8_t rssi);
-
-#endif // HEALTH_MONITOR_H
+void health_monitor_init(void);
+void health_monitor_task(void *pvParameters);
+health_status_t health_check_before_ota(void);
+void health_log_event(const char *event, int value);
+health_state_t health_get_current(void);
+health_status_t health_update_from_wifi_rssi(int8_t rssi);

main/relay/ota_relay.cpp

@@ -15,7 +15,7 @@
 #include "spi_master.h"
 #include "protocol.h"
 #include "health_monitor.h"
-#include "debug_log.h"
+#include "monitor/debug_log.h"
 
 relay_state_t g_relay_state = RELAY_IDLE;
 

main/server/ble_ota.cpp

@@ -15,7 +15,7 @@
 #include "ble_ota.h"
 #include "ota_relay.h"
 #include "health_monitor.h"
-#include "debug_log.h"
+#include "monitor/debug_log.h"
 
 static bool s_ble_connected = false;
 

main/server/wifi_ota.cpp

@@ -20,7 +20,7 @@
 #include "wifi_ota.h"
 #include "ota_relay.h"
 #include "health_monitor.h"
-#include "debug_log.h"
+#include "monitor/debug_log.h"
 
 static ota_wifi_mode_t s_wifi_mode = OTA_WIFI_MODE_AP;
 static bool s_ota_storage_done = false;
@@ -39,9 +39,9 @@ static esp_err_t wifi_init_ap(void)
     s_wifi_mode = OTA_WIFI_MODE_AP;
 
     wifi_config_t wifi_config = {};
-    memcpy(wifi_config.ap.ssid, WIFI_AP_SSID, strlen(WIFI_AP_SSID));
+    memcpy(wifi_config.ap.ssid, WIFI_AP_SSID, strlen(WIFI_AP_SSID) + 1);
     wifi_config.ap.ssid_len = strlen(WIFI_AP_SSID);
-    memcpy(wifi_config.ap.password, WIFI_AP_PASSWORD, strlen(WIFI_AP_PASSWORD));
+    memcpy(wifi_config.ap.password, WIFI_AP_PASSWORD, strlen(WIFI_AP_PASSWORD) + 1);
     wifi_config.ap.max_connection = WIFI_AP_MAX_CONNECT;
     wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
     wifi_config.ap.channel = WIFI_AP_CHANNEL;
@@ -69,8 +69,8 @@ static esp_err_t wifi_init_sta(void)
     wifi_config.sta.threshold.authmode = WIFI_AUTH_WPA_WPA2_PSK;
     wifi_config.sta.pmf_cfg.capable = true;
     wifi_config.sta.pmf_cfg.required = false;
-    memcpy(wifi_config.sta.ssid, WIFI_STA_SSID, sizeof(wifi_config.sta.ssid));
-    memcpy(wifi_config.sta.password, WIFI_STA_PASSWORD, sizeof(wifi_config.sta.password));
+    memcpy(wifi_config.sta.ssid, WIFI_STA_SSID, strlen(WIFI_STA_SSID) + 1);
+    memcpy(wifi_config.sta.password, WIFI_STA_PASSWORD, strlen(WIFI_STA_PASSWORD) + 1);
 
     ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
     ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
@@ -107,7 +107,7 @@ static esp_err_t wifi_wait_sta_connected(char *ip_str, size_t len)
 // 设置 STA 静态 IP
 static void wifi_set_static_ip(void)
 {
-#if WIFI_STA_USE_STATIC_IP
+#if WIFI_STA_STATIC_IP_IS_ENABLED
     esp_netif_t *sta_netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF");
     if (sta_netif) {
         ESP_ERROR_CHECK(esp_netif_dhcpc_stop(sta_netif));
@@ -405,7 +405,7 @@ void wifi_ota_task(void *pvParameters)
     ESP_ERROR_CHECK(esp_netif_init());
 
     // STA 优先，失败自动切 AP
-#ifdef CONFIG_WIFI_MODE_STA
+#if CONFIG_WIFI_MODE_IS_STA
     err = wifi_init_sta();
     if (err == ESP_OK) {
         char ip_str[16] = {0};

main/transport/protocol.cpp

@@ -7,7 +7,7 @@
 #include "esp_random.h"
 #include "app_config.h"
 #include "protocol.h"
-#include "debug_log.h"
+#include "monitor/debug_log.h"
 
 static bool s_protocol_initialized = false;
 

main/transport/spi_master.cpp

@@ -10,7 +10,7 @@
 #include "soc/spi_struct.h"
 
 #include "spi_master.h"
-#include "debug_log.h"
+#include "monitor/debug_log.h"
 
 spi_device_handle_t g_spi_device = NULL;
 

tools/ota_host_tool.py

@@ -448,6 +448,8 @@ class OTAToolGUI:
 
     def _health_check(self):
         """查询 ESP32 健康状态"""
+        ip = self.esp_ip.get().strip()
+        self.ota_client = OTAClient(esp_ip=ip)
         ok, msg = self.ota_client.health_check()
         if ok:
             self._log_info("健康检查", msg)
@@ -605,6 +607,8 @@ class OTAToolGUI:
 
     def _trigger_relay(self):
         """触发 OTA 中继"""
+        ip = self.esp_ip.get().strip()
+        self.ota_client = OTAClient(esp_ip=ip)
         ok, msg = self.ota_client.trigger_relay()
         if ok:
             self._log_info("触发", msg)