feat: 相机模块完毕

Cargo.toml

@@ -61,3 +61,11 @@ mockall = "0.11.4"         # Mocking for tests
 [[example]]
 name = "cams_detector_demo"
 path = "examples/cams_detector_demo.rs"
+
+[[example]]
+name = "camera_demo"
+path = "examples/camera_demo.rs"
+
+[[example]]
+name = "meteor_detection_system"
+path = "examples/meteor_detection_system.rs"

docs/camera_module.md

@@ -0,0 +1,209 @@
+# Camera 模块使用文档
+
+## 概述
+
+Camera 模块是一个完整的相机控制和管理系统，提供了高级API用于配置、捕获、存储和处理相机帧。该模块主要用于天文观测系统，特别是流星检测，但它的设计足够灵活，可以用于任何需要视频捕获和处理的应用。
+
+模块主要功能包括：
+- 相机设备初始化和配置
+- 实时视频流捕获
+- 高效的帧缓冲管理
+- 视频事件存储和处理
+- 相机健康监控
+
+## 核心组件
+
+### 1. CameraController
+
+`CameraController` 是主要的控制接口，它管理相机的整个生命周期和操作流程。
+
+主要特性：
+- 初始化和配置相机设备
+- 启动和停止视频流捕获
+- 管理帧缓冲
+- 提供帧订阅机制
+- 保存流星事件和相关视频
+- 监控相机健康状态
+
+### 2. OpenCVCamera 
+
+`OpenCVCamera` 是相机硬件的具体驱动实现，基于OpenCV库。
+
+主要特性：
+- 支持各种相机设备（通过路径或索引）
+- 配置相机分辨率、帧率、曝光和增益
+- 控制相机聚焦
+- 视频流管理
+
+### 3. Frame 和 FrameBuffer
+
+`Frame` 表示单个捕获的视频帧，包含图像数据、时间戳和元数据。
+
+`FrameBuffer` 是一个高效的循环缓冲区，用于存储最近捕获的视频帧。
+
+主要特性：
+- 管理固定容量的帧缓冲
+- 提供索引和时间范围的帧检索
+- 提取特定事件周围的帧
+
+## 关键数据结构
+
+### CameraSettings
+
+```rust
+pub struct CameraSettings {
+    pub device: String,        // 相机设备路径或索引
+    pub resolution: Resolution, // 分辨率设置
+    pub fps: u32,              // 每秒帧数
+    pub exposure: ExposureMode, // 曝光模式
+    pub gain: u8,              // 增益/ISO设置 (0-255)
+    pub focus_locked: bool,    // 是否锁定无限远焦点
+}
+```
+
+### Resolution
+
+```rust
+pub enum Resolution {
+    HD1080p,                   // 1920x1080
+    HD720p,                    // 1280x720
+    VGA,                       // 640x480
+    Custom {                   // 自定义分辨率
+        width: u32,
+        height: u32,
+    },
+}
+```
+
+### ExposureMode
+
+```rust
+pub enum ExposureMode {
+    Auto,                      // 自动曝光控制
+    Manual(u32),               // 手动曝光控制，以微秒为单位
+}
+```
+
+### MeteorEvent
+
+```rust
+pub struct MeteorEvent {
+    pub id: uuid::Uuid,        // 事件唯一标识符
+    pub timestamp: DateTime<Utc>, // 事件检测时间戳
+    pub confidence: f32,       // 置信度分数 (0.0-1.0)
+    pub bounding_box: (u32, u32, u32, u32), // 图像中的坐标 (左上x, 左上y, 宽度, 高度)
+    pub video_path: String,    // 保存的视频剪辑路径
+}
+```
+
+## 使用流程
+
+典型的使用流程包括以下步骤：
+
+1. 创建和配置相机控制器
+2. 初始化相机设备
+3. 启动视频捕获
+4. 订阅帧更新（可选）
+5. 处理捕获的帧
+6. 保存检测到的事件
+7. 停止捕获并清理资源
+
+## 示例代码
+
+请参考 `examples/camera_demo.rs` 示例，了解更详细的使用方法。
+
+## 注意事项
+
+1. **设备兼容性**：该模块主要支持Linux和macOS上的相机设备。在其他平台上可能需要额外的配置。
+
+2. **资源管理**：由于视频捕获可能消耗大量内存，特别是在高分辨率和高帧率下，请确保合理配置帧缓冲区大小。
+
+3. **依赖项**：该模块依赖于OpenCV库进行图像处理和视频捕获，请确保系统已正确安装相应的依赖项。
+
+4. **错误恢复**：模块包含错误检测和恢复机制，但在关键应用中仍应实施额外的监控和故障恢复策略。
+
+5. **性能考虑**：考虑系统资源限制，特别是在嵌入式设备上，应谨慎选择分辨率、帧率和缓冲区大小。
+
+## 高级特性
+
+### 帧订阅
+
+模块使用tokio的广播通道实现了实时帧通知机制：
+
+```rust
+// 订阅帧更新
+let mut frame_receiver = camera_controller.subscribe_to_frames();
+
+// 在单独的任务中处理帧
+tokio::spawn(async move {
+    while let Ok(frame) = frame_receiver.recv().await {
+        // 处理新帧
+    }
+});
+```
+
+### 事件存储
+
+当检测到流星时，可以保存相关视频剪辑：
+
+```rust
+let event = camera_controller.save_meteor_event(
+    timestamp,      // 事件发生时间
+    0.95,           // 置信度
+    (100, 200, 50, 30), // 边界框 (x, y, 宽度, 高度)
+    5,              // 事件前5秒
+    3               // 事件后3秒
+).await?;
+```
+
+### 健康监控
+
+可以使用健康检查功能监控相机状态：
+
+```rust
+let is_healthy = camera_controller.check_health().await?;
+if !is_healthy {
+    // 实施恢复策略
+}
+```
+
+## 故障排除
+
+### 常见问题
+
+1. **无法打开相机设备**
+   - 检查设备路径或索引是否正确
+   - 确认设备有适当的访问权限
+   - 验证设备未被其他应用程序使用
+
+2. **分辨率/帧率设置无效**
+   - 不是所有相机都支持所有分辨率和帧率组合
+   - 检查相机规格和支持的格式
+   - 使用更保守的值或尝试自定义分辨率
+
+3. **帧捕获停止或间歇性失败**
+   - 可能是相机硬件问题
+   - 检查USB连接或电源问题
+   - 考虑重新初始化或重启相机
+
+4. **内存使用过高**
+   - 减小帧缓冲区容量
+   - 降低分辨率或帧率
+   - 确保正确处理和释放不再需要的帧
+
+### 诊断工具
+
+使用`get_status()`方法获取详细的相机状态信息：
+
+```rust
+let status = camera_controller.get_status().await?;
+println!("Camera status: {}", status);
+```
+
+## 性能优化建议
+
+1. 根据实际需求选择分辨率，无需使用高于实际需要的分辨率
+2. 仅在必要时处理帧，避免冗余的图像处理操作
+3. 使用帧订阅机制进行异步处理，避免阻塞主循环
+4. 在资源受限的系统上，考虑使用区域感兴趣(ROI)处理帧子区域
+5. 对于长时间运行的应用，定期检查健康状态并实施自动恢复机制

examples/camera_demo.rs

@@ -0,0 +1,168 @@
+use anyhow::Result;
+use log::{error, info};
+use std::path::PathBuf;
+use std::time::Duration;
+use tokio::time;
+
+// 导入Camera模块组件
+use meteor_detect::camera::{CameraController, CameraSettings, ExposureMode, Resolution, Frame};
+use meteor_detect::config::Config;
+
+/// 这是一个简单的演示程序，展示如何使用Camera模块的主要功能
+#[tokio::main]
+async fn main() -> Result<()> {
+    // 初始化日志
+    env_logger::init();
+    
+    // 1. 创建配置
+    let config = create_demo_config();
+    
+    // 2. 初始化相机控制器
+    info!("初始化相机控制器");
+    let mut camera_controller = CameraController::new(&config).await?;
+    
+    // 3. 初始化相机设备
+    info!("初始化相机设备");
+    camera_controller.initialize().await?;
+    
+    // 4. 启动视频捕获
+    info!("启动视频捕获");
+    camera_controller.start_capture().await?;
+    
+    // 5. 获取相机状态
+    let status = camera_controller.get_status().await?;
+    info!("相机状态: {}", status);
+    
+    // 6. 订阅帧更新
+    info!("设置帧处理器");
+    let mut frame_receiver = camera_controller.subscribe_to_frames();
+    
+    // 在单独的任务中处理帧
+    let frame_processor = tokio::spawn(async move {
+        let mut frame_count = 0;
+        
+        // 处理10个帧后退出
+        while let Ok(frame) = frame_receiver.recv().await {
+            frame_count += 1;
+            info!("收到帧 #{}: 时间戳={}", frame.index, frame.timestamp);
+            
+            // 示例: 保存第5帧为图像文件
+            if frame_count == 5 {
+                info!("保存第5帧为图像文件");
+                let path = PathBuf::from("demo_frame.jpg");
+                if let Err(e) = frame.save_to_file(&path) {
+                    error!("保存帧失败: {}", e);
+                }
+            }
+            
+            if frame_count >= 10 {
+                info!("已处理10帧，退出处理循环");
+                break;
+            }
+        }
+        
+        info!("帧处理器已完成");
+        frame_count
+    });
+    
+    // 7. 等待5秒，然后模拟一个流星事件
+    info!("等待5秒后模拟流星事件...");
+    time::sleep(Duration::from_secs(5)).await;
+    
+    // 获取当前时间作为事件时间戳
+    let event_timestamp = chrono::Utc::now();
+    
+    // 模拟流星事件检测 - 保存事件视频
+    info!("保存流星事件");
+    match camera_controller
+        .save_meteor_event(
+            event_timestamp,
+            0.85, // 置信度
+            (100, 100, 200, 150), // 边界框 (x, y, width, height)
+            3,    // 事件前3秒
+            2,    // 事件后2秒
+        )
+        .await
+    {
+        Ok(event) => {
+            info!("保存了流星事件: id={}, 视频='{}'", event.id, event.video_path);
+        }
+        Err(e) => {
+            error!("保存流星事件失败: {}", e);
+        }
+    }
+    
+    // 8. 更新相机设置
+    info!("更新相机设置");
+    let mut new_settings = config.camera.clone();
+    new_settings.resolution = Resolution::HD1080p;
+    new_settings.fps = 24;
+    camera_controller.update_settings(new_settings).await?;
+    
+    // 9. 检查相机健康状态
+    info!("检查相机健康状态");
+    let is_healthy = camera_controller.check_health().await?;
+    info!("相机健康状态: {}", if is_healthy { "正常" } else { "异常" });
+    
+    // 10. 等待帧处理完成
+    info!("等待帧处理器完成");
+    let processed_frames = frame_processor.await?;
+    info!("共处理了 {} 帧", processed_frames);
+    
+    // 11. 停止视频捕获
+    info!("停止视频捕获");
+    camera_controller.stop_capture().await?;
+    
+    info!("演示完成");
+    Ok(())
+}
+
+/// 创建用于演示的配置
+fn create_demo_config() -> Config {
+    let camera_settings = CameraSettings {
+        // 在Linux上通常是"/dev/video0"，在macOS上通常是"0"
+        device: "0".to_string(),
+        resolution: Resolution::HD720p,
+        fps: 30,
+        exposure: ExposureMode::Auto,
+        gain: 128,
+        focus_locked: true,
+    };
+    
+    Config {
+        camera: camera_settings,
+        // 其他配置字段，使用其默认值
+        ..Default::default()
+    }
+}
+//
+// /// 如果需要，这里提供一个更复杂的帧处理示例
+// /// 可以作为单独函数供参考
+// #[allow(dead_code)]
+// async fn process_frames_with_opencv(frame: &Frame) -> Result<()> {
+//     use opencv::{core, imgproc, prelude::*};
+//
+//     // 1. 转换为灰度图像
+//     let mut gray = core::Mat::default();
+//     imgproc::cvt_color(&frame.mat, &mut gray, imgproc::COLOR_BGR2GRAY, 0)?;
+//
+//     // 2. 应用高斯模糊
+//     let mut blurred = core::Mat::default();
+//     imgproc::gaussian_blur(
+//         &gray,
+//         &mut blurred,
+//         core::Size::new(5, 5),
+//         1.5,
+//         1.5,
+//         core::BORDER_DEFAULT,
+//     )?;
+//
+//     // 3. 应用边缘检测
+//     let mut edges = core::Mat::default();
+//     imgproc::canny(&blurred, &mut edges, 50.0, 150.0, 3, false)?;
+//
+//     // 保存处理后的图像（可选）
+//     opencv::imgcodecs::imwrite("processed_frame.jpg", &edges, &core::Vector::new())?;
+//
+//     Ok(())
+// }

examples/meteor_detection_system.rs

@@ -0,0 +1,234 @@
+use anyhow::Result;
+use log::{error, info, warn};
+use std::sync::Arc;
+use std::time::Duration;
+use tokio::sync::mpsc::{self, Sender};
+use tokio::time;
+
+// 导入Camera模块组件
+use meteor_detect::camera::{CameraController, CameraSettings, ExposureMode, Resolution, FrameBuffer, Frame};
+use meteor_detect::config::Config;
+
+/// 演示如何使用相机模块构建完整的流星检测系统
+#[tokio::main]
+async fn main() -> Result<()> {
+    // 初始化日志
+    env_logger::init();
+
+    // 1. 创建和初始化相机
+    let config = create_detector_config();
+    let mut camera = CameraController::new(&config).await?;
+    
+    info!("初始化相机系统");
+    camera.initialize().await?;
+    
+    info!("启动相机捕获");
+    camera.start_capture().await?;
+    
+    // 2. 获取帧缓冲器的引用（用于检测器访问）
+    let frame_buffer = camera.get_frame_buffer();
+    
+    // 3. 创建通信通道
+    // 用于从检测器向主程序发送事件
+    let (event_tx, mut event_rx) = mpsc::channel(10);
+    
+    // 用于从健康监控向主程序发送健康状态
+    let (health_tx, mut health_rx) = mpsc::channel(10);
+    
+    // 4. 启动检测器任务，从缓冲区读取帧进行处理
+    start_detector_task(frame_buffer.clone(), event_tx).await;
+    
+    // 5. 启动健康监控任务 - 只发送健康状态，而不是直接操作相机
+    start_health_monitor_task(health_tx).await;
+    
+    // 6. 主线程处理检测事件和健康状态
+    info!("等待检测事件...");
+    let mut saved_events = 0;
+    
+    // 创建轮询健康状态的定时器
+    let mut health_interval = time::interval(Duration::from_secs(30));
+    
+    loop {
+        tokio::select! {
+            // 处理检测事件
+            Some(event) = event_rx.recv() => {
+                info!("收到流星检测事件: 时间={}, 置信度={:.2}", 
+                    event.timestamp, event.confidence);
+                
+                // 保存事件视频
+                match camera.save_meteor_event(
+                    event.timestamp,
+                    event.confidence,
+                    event.bounding_box,
+                    5, // 事件前5秒
+                    3, // 事件后3秒
+                ).await {
+                    Ok(saved_event) => {
+                        info!("已保存流星事件视频: {}", saved_event.video_path);
+                        saved_events += 1;
+                        
+                        // 在这里可以添加额外处理，如上传到云存储、发送通知等
+                    },
+                    Err(e) => {
+                        error!("保存流星事件失败: {}", e);
+                    }
+                }
+                
+                // 演示目的，保存3个事件后退出
+                if saved_events >= 3 {
+                    info!("已保存足够的事件，退出处理循环");
+                    break;
+                }
+            },
+            
+            // 处理健康检查的时间间隔
+            _ = health_interval.tick() => {
+                // 直接在主线程中执行健康检查
+                match camera.check_health().await {
+                    Ok(is_healthy) => {
+                        if !is_healthy {
+                            warn!("相机健康检查失败，可能需要干预");
+                        } else {
+                            info!("相机健康状态: 正常");
+                        }
+                    },
+                    Err(e) => {
+                        error!("健康检查失败: {}", e);
+                    }
+                }
+                
+                // 获取和记录相机状态
+                if let Ok(status) = camera.get_status().await {
+                    info!("相机状态: {}", status);
+                }
+            },
+            
+            // 接收健康监控发送的消息（演示目的，实际中可以根据需要处理）
+            Some(health_msg) = health_rx.recv() => {
+                info!("收到健康监控消息: {}", health_msg);
+            },
+            
+            // 如果所有通道都已关闭，退出循环
+            else => break,
+        }
+    }
+    
+    // 7. 清理资源
+    info!("停止相机捕获");
+    camera.stop_capture().await?;
+    
+    info!("流星检测系统演示完成");
+    Ok(())
+}
+
+/// 启动检测器任务
+async fn start_detector_task(frame_buffer: Arc<FrameBuffer>, event_tx: Sender<DetectionEvent>) {
+    tokio::spawn(async move {
+        info!("启动流星检测器");
+        let mut detection_count = 0;
+        let mut last_detection_time = chrono::Utc::now();
+        
+        // 模拟检测循环
+        loop {
+            // 模拟帧分析（实际应用中会连续分析每一帧）
+            time::sleep(Duration::from_secs(2)).await;
+            
+            // 从帧缓冲区获取最新帧
+            if let Some(frame) = frame_buffer.get(0) {
+                let now = chrono::Utc::now();
+                
+                // 确保距离上次检测至少10秒（防止重复检测）
+                if (now - last_detection_time).num_seconds() >= 10 {
+                    // 这里应该是实际的检测算法
+                    // 为演示目的，我们随机生成一些检测结果
+                    let detection_seed = rand::random::<f32>();
+                    
+                    if detection_seed < 0.3 {  // 30%的概率检测到流星
+                        detection_count += 1;
+                        last_detection_time = now;
+                        
+                        info!("检测到流星 #{}", detection_count);
+                        
+                        // 发送检测事件到主线程
+                        let event = DetectionEvent {
+                            timestamp: now,
+                            confidence: 0.7 + (detection_seed * 0.3), // 0.7-1.0之间的置信度
+                            bounding_box: (
+                                (rand::random::<f32>() * 800.0) as u32,  // x
+                                (rand::random::<f32>() * 600.0) as u32,  // y
+                                (50.0 + rand::random::<f32>() * 100.0) as u32, // width
+                                (50.0 + rand::random::<f32>() * 100.0) as u32, // height
+                            ),
+                        };
+                        
+                        if event_tx.send(event).await.is_err() {
+                            warn!("无法发送检测事件，接收端可能已关闭");
+                            break;
+                        }
+                    }
+                }
+            } else {
+                warn!("无法获取帧，缓冲区可能为空");
+                time::sleep(Duration::from_millis(500)).await;
+            }
+            
+            // 演示目的，5次检测后退出
+            if detection_count >= 5 {
+                info!("已达到预设检测次数，检测器退出");
+                break;
+            }
+        }
+    });
+}
+
+/// 启动健康监控任务
+async fn start_health_monitor_task(health_tx: Sender<String>) {
+    tokio::spawn(async move {
+        info!("启动健康监控任务 (模拟)");
+        let mut interval = time::interval(Duration::from_secs(45));
+        
+        // 简单模拟健康监控，不直接访问相机
+        // 在实际应用中，这可能会监控系统各个部分的状态
+        loop {
+            interval.tick().await;
+            
+            // 发送简单的健康状态消息回主线程
+            // 这是一个简化的演示
+            if health_tx.send("系统运行正常".to_string()).await.is_err() {
+                warn!("无法发送健康状态，接收端可能已关闭");
+                break;
+            }
+        }
+    });
+}
+
+/// 创建用于检测系统的配置
+fn create_detector_config() -> Config {
+    let camera_settings = CameraSettings {
+        device: "0".to_string(),
+        // 对于流星检测，建议使用更高分辨率
+        resolution: Resolution::HD1080p,
+        fps: 30,
+        // 对于夜间观测，手动曝光通常更好
+        exposure: ExposureMode::Manual(500000), // 500毫秒曝光
+        // 增加增益以提高低光灵敏度
+        gain: 200,
+        focus_locked: true,
+    };
+    
+    Config {
+        camera: camera_settings,
+        // 其他配置字段，使用其默认值
+        ..Default::default()
+    }
+}
+
+/// 流星检测事件
+struct DetectionEvent {
+    /// 事件时间戳
+    timestamp: chrono::DateTime<chrono::Utc>,
+    /// 检测置信度 (0-1)
+    confidence: f32,
+    /// 边界框 (x, y, 宽度, 高度)
+    bounding_box: (u32, u32, u32, u32),
+}

src/camera/controller.rs

@@ -33,7 +33,7 @@ pub struct CameraController {
 
 impl CameraController {
     /// Create a new camera controller with the given configuration
-    pub async fn new(config: &crate::Config) -> Result<Self> {
+    pub async fn new(config: &crate::config::Config) -> Result<Self> {
         // Extract camera settings from config (placeholder for now)
         let settings = config.clone().camera;
 
@@ -129,7 +129,11 @@ impl CameraController {
         tokio::spawn(async move {
             let frame_interval = Duration::from_secs_f64(1.0 / fps as f64);
             let mut interval = time::interval(frame_interval);
-
+            
+            // Error tracking for recovery
+            let mut consecutive_errors = 0;
+            const ERROR_THRESHOLD: u32 = 10; // After 10 errors, try to reinitialize
+            
             info!("Starting camera capture at {} fps", fps);
 
             loop {
@@ -137,6 +141,9 @@ impl CameraController {
 
                 match stream.capture_frame() {
                     Ok(mat) => {
+                        // Reset error counter on success
+                        consecutive_errors = 0;
+                        
                         // Create a new frame with timestamp
                         let frame = Frame::new(mat, Utc::now(), frame_count);
                         frame_count += 1;
@@ -151,6 +158,34 @@ impl CameraController {
                     }
                     Err(e) => {
                         error!("Failed to capture frame: {}", e);
+                        consecutive_errors += 1;
+                        
+                        if consecutive_errors >= ERROR_THRESHOLD {
+                            error!("Too many consecutive errors ({}), attempting to reinitialize camera stream", consecutive_errors);
+                            
+                            // Try to recreate the stream - this is a simplified version
+                            // In a real implementation, you might want to signal the main thread
+                            // to fully reinitialize the camera
+                            match OpenCVCamera::open("0") {  // Note: simplified, should use original device
+                                Ok(mut camera) => {
+                                    // Configure minimal settings
+                                    let _ = camera.set_format(Resolution::HD720p);
+                                    let _ = camera.set_fps(fps);
+                                    
+                                    // Try to start streaming again
+                                    match camera.start_streaming() {
+                                        Ok(new_stream) => {
+                                            info!("Successfully reinitialized camera stream");
+                                            stream = new_stream;
+                                            consecutive_errors = 0;
+                                        },
+                                        Err(e) => error!("Failed to restart camera streaming: {}", e)
+                                    }
+                                },
+                                Err(e) => error!("Failed to reopen camera: {}", e)
+                            }
+                        }
+                        
                         // Small delay to avoid tight error loop
                         time::sleep(Duration::from_millis(100)).await;
                     }
@@ -268,8 +303,36 @@ impl CameraController {
         // Create a video file name
         let video_path = event_dir.join("event.mp4").to_string_lossy().to_string();
 
-        // TODO: Call FFmpeg to convert frames to video
-        // This would be done by spawning an external process
+        // Use tokio::process to call FFmpeg to convert frames to video
+        use tokio::process::Command;
+        
+        info!("Converting frames to video using FFmpeg");
+        let ffmpeg_result = Command::new("ffmpeg")
+            .args(&[
+                "-y",  // Overwrite output file if it exists
+                "-framerate", &self.settings.fps.to_string(),
+                "-i", &event_dir.join("frame_%04d.jpg").to_string_lossy(),
+                "-c:v", "libx264",
+                "-preset", "medium",
+                "-crf", "23",
+                &video_path
+            ])
+            .output()
+            .await;
+            
+        match ffmpeg_result {
+            Ok(output) => {
+                if !output.status.success() {
+                    let stderr = String::from_utf8_lossy(&output.stderr);
+                    warn!("FFmpeg warning: {}", stderr);
+                } else {
+                    info!("Successfully created video at: {}", video_path);
+                }
+            },
+            Err(e) => {
+                warn!("Failed to execute FFmpeg: {}. Video will not be created, only individual frames saved.", e);
+            }
+        }
 
         // Create and return the event
         let event = MeteorEvent {
@@ -284,6 +347,33 @@ impl CameraController {
         Ok(event)
     }
 
+    /// Check the health of the camera system
+    pub async fn check_health(&self) -> Result<bool> {
+        // If camera is not running, consider it healthy
+        if !self.is_running {
+            return Ok(true);
+        }
+        
+        // Check if we've received frames recently
+        if let Some(frame) = self.frame_buffer.get(0) {
+            let now = Utc::now();
+            let elapsed = now.signed_duration_since(frame.timestamp);
+            
+            // If no new frames in last 5 seconds, camera may be stuck
+            if elapsed.num_seconds() > 5 {
+                warn!("Camera health check: No new frames received in {} seconds", elapsed.num_seconds());
+                return Ok(false);
+            }
+        } else if self.is_running {
+            // If no frames at all but camera is running, something is wrong
+            warn!("Camera health check: Camera is running but no frames in buffer");
+            return Ok(false);
+        }
+        
+        // All checks passed
+        Ok(true)
+    }
+    
     /// Get the current status of the camera
     pub async fn get_status(&self) -> Result<serde_json::Value> {
         let frame_buffer_stats = {
@@ -341,3 +431,45 @@ impl CameraController {
         Ok(status)
     }
 }
+
+impl Drop for CameraController {
+    fn drop(&mut self) {
+        info!("Cleaning up camera controller resources");
+        
+        // Stop streaming if running
+        if self.is_running {
+            // Use block_in_place since drop can't be async
+            if let Err(e) = tokio::task::block_in_place(|| {
+                futures::executor::block_on(self.stop_capture())
+            }) {
+                error!("Error stopping camera during cleanup: {}", e);
+            }
+        }
+        
+        // Release camera resources
+        self.camera = None;
+        self.stream = None;
+        
+        info!("Camera controller resources released");
+    }
+}
+
+
+// 为CameraController实现Clone trait
+impl Clone for CameraController {
+    fn clone(&self) -> Self {
+        // 创建新的广播通道
+        let (frame_tx, _) = tokio::sync::broadcast::channel(30);
+
+        Self {
+            settings: self.settings.clone(),
+            camera: None, // 不克隆相机实例，因为它包含底层资源
+            stream: None, // 不克隆流，因为它也包含底层资源
+            frame_buffer: self.frame_buffer.clone(),
+            frame_count: self.frame_count,
+            is_running: self.is_running,
+            frame_tx, // 使用新创建的广播通道
+            events_dir: self.events_dir.clone(),
+        }
+    }
+}

src/camera/frame_buffer.rs

@@ -35,10 +35,6 @@ impl Frame {
         )?;
         Ok(())
     }
-
-    pub fn is_full() {
-        
-    }
 }
 
 /// A circular buffer for storing video frames

src/camera/v4l2.rs

@@ -1,288 +0,0 @@
-// use anyhow::{anyhow, Context, Result};
-// use log::{debug, error, info, warn};
-// use std::path::Path;
-// use v4l::buffer::Type;
-// use v4l::io::traits::CaptureStream;
-// use v4l::prelude::*;
-// use v4l::video::Capture;
-// use v4l::{Format, FourCC};
-
-// use opencv::{core, imgproc, prelude::*};
-// use crate::utils::opencv_compat::convert_color;
-
-// use crate::camera::{ExposureMode, Resolution};
-
-// /// V4L2 camera driver for star-light cameras
-// pub struct V4l2Camera {
-//     /// The open device handle
-//     device: Device,
-//     /// The current camera format
-//     format: Format,
-//     /// Whether the camera is currently streaming
-//     is_streaming: bool,
-// }
-
-// impl V4l2Camera {
-//     /// Open a camera device by path
-//     pub fn open<P: AsRef<Path>>(path: P) -> Result<Self> {
-//         let device = Device::with_path(path.as_ref())
-//             .context("Failed to open camera device")?;
-        
-//         info!(
-//             "Opened camera: {} ({})",
-//             device.info().card,
-//             device.info().driver
-//         );
-        
-//         // Get the current format
-//         let format = device
-//             .format()
-//             .context("Failed to get camera format")?;
-            
-//         debug!("Initial camera format: {:?}", format);
-        
-//         Ok(Self {
-//             device,
-//             format,
-//             is_streaming: false,
-//         })
-//     }
-    
-//     /// Set the camera resolution and pixel format
-//     pub fn set_format(&mut self, resolution: Resolution) -> Result<()> {
-//         let (width, height) = resolution.dimensions();
-        
-//         // Try to set format to MJPEG or YUYV first, then fall back to others
-//         let formats = [FourCC::new(b"MJPG"), FourCC::new(b"YUYV")];
-        
-//         let mut success = false;
-//         let mut last_error = None;
-        
-//         for &fourcc in &formats {
-//             let mut format = Format::new(width, height, fourcc);
-            
-//             match self.device.set_format(&mut format) {
-//                 Ok(_) => {
-//                     self.format = format;
-//                     success = true;
-//                     break;
-//                 }
-//                 Err(e) => {
-//                     last_error = Some(e);
-//                     warn!("Failed to set format {:?}: {}", fourcc, last_error.as_ref().unwrap());
-//                 }
-//             }
-//         }
-        
-//         if !success {
-//             return Err(anyhow!(
-//                 "Failed to set any supported format: {:?}",
-//                 last_error.unwrap()
-//             ));
-//         }
-        
-//         info!(
-//             "Set camera format: {}×{} {}",
-//             self.format.width, self.format.height, 
-//             String::from_utf8_lossy(&self.format.fourcc.repr)
-//         );
-        
-//         Ok(())
-//     }
-    
-//     /// Set the camera frame rate
-//     pub fn set_fps(&mut self, fps: u32) -> Result<()> {
-//         if let Some(params) = self.device.params() {
-//             let mut params = params.context("Failed to get camera parameters")?;
-//             params.set_frames_per_second(fps, 1);
-            
-//             self.device
-//                 .set_params(&params)
-//                 .context("Failed to set frame rate")?;
-                
-//             info!("Set camera frame rate: {} fps", fps);
-//         } else {
-//             warn!("Camera does not support frame rate adjustment");
-//         }
-        
-//         Ok(())
-//     }
-    
-//     /// Set camera exposure mode and value
-//     pub fn set_exposure(&mut self, mode: ExposureMode) -> Result<()> {
-//         // First, set auto/manual mode
-//         let ctrl_id = v4l::control::id::EXPOSURE_AUTO;
-//         let auto_value = match mode {
-//             ExposureMode::Auto => 3, // V4L2_EXPOSURE_AUTO
-//             ExposureMode::Manual(_) => 1, // V4L2_EXPOSURE_MANUAL
-//         };
-        
-//         self.device
-//             .set_control(ctrl_id, auto_value)
-//             .context("Failed to set exposure mode")?;
-            
-//         // If manual, set the exposure value
-//         if let ExposureMode::Manual(exposure_time) = mode {
-//             // Exposure time in microseconds
-//             let ctrl_id = v4l::control::id::EXPOSURE_ABSOLUTE;
-//             self.device
-//                 .set_control(ctrl_id, exposure_time as i64)
-//                 .context("Failed to set exposure time")?;
-//         }
-        
-//         info!("Set camera exposure: {:?}", mode);
-//         Ok(())
-//     }
-    
-//     /// Set camera gain (ISO)
-//     pub fn set_gain(&mut self, gain: u8) -> Result<()> {
-//         let ctrl_id = v4l::control::id::GAIN;
-        
-//         self.device
-//             .set_control(ctrl_id, gain as i64)
-//             .context("Failed to set gain")?;
-            
-//         info!("Set camera gain: {}", gain);
-//         Ok(())
-//     }
-    
-//     /// Lock focus at infinity (if supported)
-//     pub fn lock_focus_at_infinity(&mut self) -> Result<()> {
-//         // First, set focus mode to manual
-//         let auto_focus_id = v4l::control::id::FOCUS_AUTO;
-//         if let Ok(_) = self.device.set_control(auto_focus_id, 0) {
-//             // Then set focus to infinity (typically maximum value)
-//             let focus_id = v4l::control::id::FOCUS_ABSOLUTE;
-            
-//             // Get the range of the control
-//             if let Ok(control) = self.device.control(focus_id) {
-//                 let max_focus = control.maximum();
-                
-//                 if let Ok(_) = self.device.set_control(focus_id, max_focus) {
-//                     info!("Locked focus at infinity (value: {})", max_focus);
-//                     return Ok(());
-//                 }
-//             }
-            
-//             warn!("Failed to set focus to infinity");
-//         } else {
-//             warn!("Camera does not support focus control");
-//         }
-        
-//         Ok(())
-//     }
-    
-//     /// Start streaming from the camera
-//     pub fn start_streaming(&mut self) -> Result<V4l2CaptureStream> {
-//         let queue = MmapStream::with_buffers(&self.device, Type::VideoCapture, 4)
-//             .context("Failed to create capture stream")?;
-            
-//         self.is_streaming = true;
-//         info!("Started camera streaming");
-        
-//         Ok(V4l2CaptureStream {
-//             stream: queue,
-//             format: self.format.clone(),
-//         })
-//     }
-    
-//     /// Stop streaming from the camera
-//     pub fn stop_streaming(&mut self) -> Result<()> {
-//         // The streaming will be stopped when the CaptureStream is dropped
-//         self.is_streaming = false;
-//         info!("Stopped camera streaming");
-//         Ok(())
-//     }
-    
-//     /// Check if the camera is currently streaming
-//     pub fn is_streaming(&self) -> bool {
-//         self.is_streaming
-//     }
-    
-//     /// Get current format width
-//     pub fn width(&self) -> u32 {
-//         self.format.width
-//     }
-    
-//     /// Get current format height
-//     pub fn height(&self) -> u32 {
-//         self.format.height
-//     }
-    
-//     /// Get current format pixel format
-//     pub fn pixel_format(&self) -> FourCC {
-//         self.format.fourcc
-//     }
-// }
-
-// /// Wrapper around V4L2 capture stream
-// pub struct V4l2CaptureStream {
-//     stream: MmapStream,
-//     format: Format,
-// }
-
-// impl V4l2CaptureStream {
-//     /// Capture a single frame from the camera
-//     pub fn capture_frame(&mut self) -> Result<core::Mat> {
-//         let buffer = self.stream.next()
-//             .context("Failed to capture frame")?;
-        
-//         let width = self.format.width as i32;
-//         let height = self.format.height as i32;
-        
-//         // Convert the buffer to an OpenCV Mat based on the pixel format
-//         let mat = match self.format.fourcc {
-//             // MJPEG format
-//             f if f == FourCC::new(b"MJPG") => {
-//                 // Decode JPEG data
-//                 let data = buffer.data();
-//                 let vec_data = unsafe {
-//                     std::slice::from_raw_parts(data.as_ptr(), data.len())
-//                 }.to_vec();
-                
-//                 let buf = core::Vector::from_slice(&vec_data);
-//                 let img = opencv::imgcodecs::imdecode(&buf, opencv::imgcodecs::IMREAD_COLOR)?;
-//                 img
-//             },
-            
-//             // YUYV format
-//             f if f == FourCC::new(b"YUYV") => {
-//                 let data = buffer.data();
-                
-//                 // Create a Mat from the YUYV data
-//                 let mut yuyv = unsafe {
-//                     let bytes_per_pixel = 2; // YUYV is 2 bytes per pixel
-//                     let step = width as usize * bytes_per_pixel;
-//                     core::Mat::new_rows_cols_with_data(
-//                         height,
-//                         width,
-//                         core::CV_8UC2,
-//                         data.as_ptr() as *mut _,
-//                         step,
-//                     )?
-//                 };
-                
-//                 // Convert YUYV to BGR
-//                 let mut bgr = core::Mat::default()?;
-//                 convert_color(&yuyv, &mut bgr, imgproc::COLOR_YUV2BGR_YUYV, 0)?;
-//                 bgr
-//             },
-            
-//             // Unsupported format
-//             _ => {
-//                 return Err(anyhow!(
-//                     "Unsupported pixel format: {}",
-//                     String::from_utf8_lossy(&self.format.fourcc.repr)
-//                 ));
-//             }
-//         };
-        
-//         Ok(mat)
-//     }
-// }
-
-// impl Drop for V4l2CaptureStream {
-//     fn drop(&mut self) {
-//         debug!("V4L2 capture stream dropped");
-//     }
-// }

src/gps/controller.rs

@@ -77,7 +77,7 @@ pub struct GpsController {
 
 impl GpsController {
     /// Create a new GPS controller with the given configuration
-    pub async fn new(config: &crate::Config) -> Result<Self> {
+    pub async fn new(config: &crate::config::Config) -> Result<Self> {
         // Extract GPS settings from config
         let gps_config = config.gps.clone();
 

src/lib.rs

@@ -0,0 +1,20 @@
+// Platform detection
+#[cfg(target_os = "linux")]
+pub const PLATFORM_SUPPORTS_GPIO: bool = true;
+
+#[cfg(not(target_os = "linux"))]
+pub const PLATFORM_SUPPORTS_GPIO: bool = false;
+
+// 将所有模块重新导出，使它们对例子可见
+pub mod camera;
+pub mod config;
+pub mod utils;
+pub mod gps;
+pub mod sensors;
+pub mod detection;
+pub mod streaming;
+pub mod storage;
+pub mod communication;
+pub mod monitoring;
+pub mod overlay;
+pub mod hooks;

src/main.rs

@@ -1,9 +1,3 @@
-// Platform detection
-#[cfg(target_os = "linux")]
-pub const PLATFORM_SUPPORTS_GPIO: bool = true;
-
-#[cfg(not(target_os = "linux"))]
-pub const PLATFORM_SUPPORTS_GPIO: bool = false;
 
 mod camera;
 mod config;
@@ -28,6 +22,7 @@ use tokio::signal;
 use futures::future::join_all;
 
 pub use config::Config;
+use meteor_detect::PLATFORM_SUPPORTS_GPIO;
 use crate::overlay::Watermark;
 
 /// Main entry point for the meteor detection system

src/sensors/controller.rs

@@ -84,7 +84,7 @@ pub struct SensorController {
 
 impl SensorController {
     /// Create a new sensor controller with the given configuration
-    pub async fn new(config: &crate::Config) -> Result<Self> {
+    pub async fn new(config: &crate::config::Config) -> Result<Self> {
         // Extract sensor settings from config
         let sensor_config = config.sensors.clone();