From 705ff60827b15574ab9dac95ed1c433d4f2dafd0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=AD=99=E7=91=B6?= <1131819881@qq.com>
Date: Wed, 3 Dec 2025 16:13:38 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=96=87=E4=BB=B6=E8=87=B3?=
 =?UTF-8?q?=20/?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 SensorDetector.py     | 131 ++++++++++++++++++++++
 kk_mian.py            |  44 ++++++++
 kk_mysql_save_api.py  | 156 ++++++++++++++++++++++++++
 kk_sftp_save_api.py   |  90 +++++++++++++++
 kk_tfcard_save_api.py | 253 ++++++++++++++++++++++++++++++++++++++++++
 5 files changed, 674 insertions(+)
 create mode 100644 SensorDetector.py
 create mode 100644 kk_mian.py
 create mode 100644 kk_mysql_save_api.py
 create mode 100644 kk_sftp_save_api.py
 create mode 100644 kk_tfcard_save_api.py

diff --git a/SensorDetector.py b/SensorDetector.py
new file mode 100644
index 0000000..49def65
--- /dev/null
+++ b/SensorDetector.py
@@ -0,0 +1,131 @@
+import serial
+import serial.tools.list_ports
+import time
+import datetime
+import struct
+import threading
+import json
+
+class SensorDetector:
+    def __init__(self, log_path, sensor_configs):
+        """
+        初始化方法，支持多传感器配置
+        :param log_path: 日志路径
+        :param sensor_configs: 传感器配置列表，格式如[{"port": "COM6", "id": "X11223366S_1"}, {"port": "COM7", "id": "X11223366S_2"}]
+        """
+        self.log_path = log_path
+        self.sensor_configs = sensor_configs  # 新增：多传感器配置
+        self.serials = {}  # 新增：存储多个串口连接
+        self.data3 = []
+        self.latest_data = {}  # 新增：存储每个传感器的最新数据
+        self.running = True  # 新增：轮询控制标志
+
+        # 确保日志目录存在
+        import os
+        if not os.path.exists(self.log_path):
+            os.makedirs(self.log_path)
+
+    def _open_serial_port(self, port, baudrate=38400, timeout=1):
+        """修改：支持指定端口打开串口"""
+        try:
+            ser = serial.Serial(port=port, baudrate=baudrate, timeout=timeout)
+            if ser.isOpen():
+                print(f"Successfully open serial port {port}")
+                return ser
+            else:
+                print(f"Failure to open serial port {port}")
+                return None
+        except Exception as e:
+            now = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+            with open(f"{self.log_path}/Exception_log.txt", "a") as f:
+                f.write(f"{now} open serial port {port} error:{e}\n")
+            return None
+
+    def _send_command(self, ser, data):
+        """修改：接受串口对象作为参数"""
+        try:
+            send_data = struct.pack("%dB" % (len(data)), *data)
+            ser.write(send_data)
+        except Exception as e:
+            now = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+            with open(f"{self.log_path}/Exception_log.txt", "a") as f:
+                f.write(f"{now} send command error:{e}\n")
+
+    def _sensor_worker(self, sensor_id, port, callback):
+        """新增：单个传感器的工作线程"""
+        ser = self._open_serial_port(port)
+        if not ser:
+            return
+
+        self.serials[sensor_id] = ser
+        # 发送启动指令
+        self._send_command(ser, [0x8A])
+
+        current_second_data = []
+        last_second = time.time()
+
+        while self.running:
+            try:
+                count0 = ser.inWaiting()
+                current_time = time.time()
+
+                if count0 > 0:
+                    read_buffer = ser.read(88)
+                    if len(read_buffer) == 88 and read_buffer[0] == 0xff:  # 增加长度校验，修复索引错误
+                        sensor_data = {
+                            'sensor_id': sensor_id,  # 新增：标记传感器ID
+                            'heart_rate': read_buffer[65],
+                            'blood_oxygen': read_buffer[66],
+                            'micro_circulation': read_buffer[67],
+                            'fatigue_index': read_buffer[68],
+                            'systolic_pressure': read_buffer[71],
+                            'diastolic_pressure': read_buffer[72],
+                            'cardiac_output': read_buffer[73]
+                        }
+                        current_second_data.append(sensor_data)
+
+                # 每秒回调一次数据
+                if current_time - last_second >= 1:
+                    callback(current_second_data)
+                    current_second_data = []
+                    last_second = current_time
+                time.sleep(0.01)  # 降低CPU占用
+            except Exception as e:
+                now = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+                with open(f"{self.log_path}/Exception_log.txt", "a") as f:
+                    f.write(f"{now} sensor {sensor_id} data reading error:{e}\n")
+                time.sleep(1)
+
+    def detect_sensors(self, callback):
+        """修改：启动多传感器轮询线程"""
+        try:
+            ports = list(serial.tools.list_ports.comports())
+            for p in ports:
+                print(p)
+
+            # 为每个传感器启动工作线程
+            threads = []
+            for config in self.sensor_configs:
+                t = threading.Thread(
+                    target=self._sensor_worker,
+                    args=(config["id"], config["port"], callback),
+                    daemon=True
+                )
+                threads.append(t)
+                t.start()
+
+            # 保持主线程运行
+            while self.running:
+                time.sleep(1)
+
+        except Exception as e:
+            now = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+            with open(f"{self.log_path}/Exception_log.txt", "a") as f:
+                f.write(f"{now} overall sensor detection error:{e}\n")
+
+    def stop(self):
+        """新增：停止所有传感器线程"""
+        self.running = False
+        for ser in self.serials.values():
+            if ser and ser.isOpen():
+                ser.close()
\ No newline at end of file
diff --git a/kk_mian.py b/kk_mian.py
new file mode 100644
index 0000000..04b0472
--- /dev/null
+++ b/kk_mian.py
@@ -0,0 +1,44 @@
+import serial
+import serial.tools.list_ports
+import time
+import datetime
+import struct
+import threading
+import paho.mqtt.client as mqtt
+import json
+from SensorDetector import SensorDetector
+import sys
+sys.path.append('../../net')
+from mqtt_proxy import MQTTPublisher
+
+# MQTT配置
+MQTT_BROKER = "60.204.151.68"
+MQTT_PORT = 1883
+mqtt_topic = "senser_MKS_data"
+
+mqtt_publisher = MQTTPublisher(MQTT_BROKER, MQTT_PORT, mqtt_topic)
+mqtt_publisher.connect()
+
+def handle_sensor_data(data_list):
+    """处理所有传感器的每秒数据"""
+    global mqtt_publisher
+    for data in data_list:
+        print("handle_sensor_data:", data)
+        if data["heart_rate"] == 0:
+            continue
+        json_str = json.dumps(data, ensure_ascii=False, indent=2)
+        print("发布成功,mqtt消息")
+        mqtt_publisher.publish(json_str)
+
+if __name__ == "__main__":
+    log_path = "./log_pip6/"
+    sensor_configs = [
+        {"port": "COM6", "id": "X11223366S_1"},
+        {"port": "COM7", "id": "X11223366S_2"}
+    ]
+    detector = SensorDetector(log_path, sensor_configs)
+    try:
+        detector.detect_sensors(handle_sensor_data)
+    except KeyboardInterrupt:
+        print("用户中断，停止传感器检测")
+        detector.stop()
\ No newline at end of file
diff --git a/kk_mysql_save_api.py b/kk_mysql_save_api.py
new file mode 100644
index 0000000..f3ad39a
--- /dev/null
+++ b/kk_mysql_save_api.py
@@ -0,0 +1,156 @@
+import requests
+import json
+import time
+from datetime import datetime
+
+def save_mysql_data(sensor_id,json_data,save_path):
+
+    url = "http://47.106.222.181:25081/algorithm/oxygen/result/data_post"
+    current_time = datetime.now().strftime('%Y-%m-%d %H:%M:%S')
+    payload = json.dumps({
+        "sensor_id": "X12345679S",
+        "raw_file_path": save_path
+    })
+    print("payload:",payload)
+    headers = {
+    'Content-Type': 'application/json'
+    }
+    response = requests.request("POST", url, headers=headers, data=payload)
+
+    print(response.text)
+    print(response.json())
+
+def save_mysql_data_with_jpg(device_id,module_code,json_data,save_path,save_jpg_path):
+
+    url = "http://47.106.222.181:25081/algorithm/oxygen/result/data_post"
+    current_time = datetime.now().strftime('%Y-%m-%d %H:%M:%S')
+    payload = json.dumps({
+    "device_id": "d100000002",
+    # "device_id": "d100000002", #机器人ID
+    "module_code": module_code,   #传感器ID
+    "timestamp": current_time,
+    "confidence": 0.99,
+    #传感器输出结果
+    "result_data":json_data,
+    # "result_data": {
+    #     "detection": "fall",
+    #     "position": {
+    #         "x": 125,
+    #         "y": 80,
+    #         "width": 50,
+    #         "height": 120
+    #     },
+    #     "duration": 3.5
+    # },
+    #需要替换
+    # "raw_ref": "/storage/raw/20250814/DEV-001/camera_001.mp4"
+    "raw_ref": save_path,
+    "pic_ref":save_jpg_path
+    })
+    print("payload:",payload)
+    headers = {
+    'Content-Type': 'application/json'
+    }
+    response = requests.request("POST", url, headers=headers, data=payload)
+
+    print(response.text)
+    print(response.json())
+
+
+def save_senser_mysql_data(device_id, module_code, json_data, save_path):
+    # def save_senser_mysql_data():
+
+    url = "http://47.106.222.181:25081/elderly/health/data"
+    current_time = datetime.now().strftime('%Y-%m-%d %H:%M:%S')
+
+    payload = json.dumps({
+        "elderly_id": 1,  # 必选，关联老人ID
+        "sensor_id": "X12345679S",  # 必选，传感器设备ID
+        "module_code": module_code,  # 可选，算法模块编码
+        # "sensor_data_path": "http://47.106.222.181:25079/sftp-images/uploads/device_info/data/device_info/d80801000058/senser_001/20250826/20250826_09/20250826_09_33_01_d80801000058_senser_001.json", # 可选，传感器原始数据存储路径
+        "sensor_data_path": save_path,  # 可选，传感器原始数据存储路径
+        "algorithm_data_path": "/processed/202508/oxygen_1005_1030.json",  # 可选，算法处理数据存储路径
+        "data_time": current_time  # 可选，数据采集时间，默认当前时间
+    })
+    print("payload:", payload)
+    headers = {
+        'Content-Type': 'application/json'
+    }
+    response = requests.request("POST", url, headers=headers, data=payload)
+
+    print(response.text)
+    print(response.json())
+
+
+def test_main():
+    start_time = time.time()  # 获取开始时间
+
+    save_path = "/d100000002/X12345681S/20251101/20251101_11/20251101_11_11_11_d100000002_X12345681S.json"
+    json_data = {'heart_rate': 0, 'blood_oxygen': 0, 'micro_circulation': 0, 'fatigue_index': 0, 'systolic_pressure': 0, 'diastolic_pressure': 0, 'cardiac_output': 0}
+
+    save_mysql_data("X11223366S",json_data,save_path)
+
+    end_time = time.time()  # 获取结束时间
+
+    # 计算耗时
+    duration = end_time - start_time
+    print(f"Function 'save_mysql_data' took {duration} seconds to execute.")
+    #0.668 秒
+
+def test_main_jpg():
+    start_time = time.time()  # 获取开始时间
+
+    json_data =  {
+        "detection": "fall",
+        "position": {
+            "x": 125,
+            "y": 80,
+            "width": 50,
+            "height": 120
+        },
+        "duration": 3.5
+    }
+
+    save_path = "/storage/raw/20250814/DEV-001/camera_001.mp4"
+    save_jpg_path = "/storage/raw/20250814/DEV-001/camera_001.jpg"
+
+    save_mysql_data_with_jpg("d80801000062", "A0001", json_data, save_path, save_jpg_path)
+
+    end_time = time.time()  # 获取结束时间
+
+    # 计算耗时
+    duration = end_time - start_time
+    print(f"Function 'save_mysql_data' took {duration} seconds to execute.")
+    #0.668 秒
+
+def test_main_1():
+    start_time = time.time()  # 获取开始时间
+
+    json_data =  {
+        "detection": "fall",
+        "position": {
+            "x": 125,
+            "y": 80,
+            "width": 50,
+            "height": 120
+        },
+        "duration": 3.5
+    }
+
+    save_path = "/storage/raw/20250814/DEV-001/camera_001.mp4"
+
+    save_senser_mysql_data( "d100000002","A0001",json_data,save_path)
+
+    end_time = time.time()  # 获取结束时间
+
+    # 计算耗时
+    duration = end_time - start_time
+    print(f"Function 'save_mysql_data' took {duration} seconds to execute.")
+    #0.668 秒
+
+
+if __name__ == "__main__":
+
+    test_main()
+    # test_main_jpg()
+    # save_senser_mysql_data()
diff --git a/kk_sftp_save_api.py b/kk_sftp_save_api.py
new file mode 100644
index 0000000..131483b
--- /dev/null
+++ b/kk_sftp_save_api.py
@@ -0,0 +1,90 @@
+import paramiko
+import os
+import posixpath
+
+def mkdir_p(sftp, remote_dir):
+    """递归创建远程目录（类似 mkdir -p）"""
+    if remote_dir == '/':
+        return  # 根目录假设已存在
+    try:
+        sftp.stat(remote_dir)
+        return
+    except FileNotFoundError:
+        pass
+    parent_dir = posixpath.dirname(remote_dir)
+    if parent_dir != '/':
+        mkdir_p(sftp, parent_dir)
+    try:
+        sftp.mkdir(remote_dir)
+    except Exception as e:
+        raise RuntimeError(f"创建目录失败: {remote_dir}, 错误: {str(e)}")
+
+def sftp_upload(host, port, username, password, local_path, remote_path,file_name):
+    # 创建SSH对象
+    ssh = paramiko.SSHClient()
+    # 允许连接不在know_hosts文件中的主机
+    ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+    # 连接服务器
+    ssh.connect(host, port, username, password)
+    
+    # 创建SFTP会话
+    sftp = ssh.open_sftp()
+    result = False
+    return_path = ""
+    try:
+        mkdir_p(sftp, remote_path)
+        # 上传文件
+        target_path = remote_path+"/"+file_name
+        sftp.put(local_path, target_path)
+        print(f"文件上传成功: {local_path} -> {target_path}")
+        result = True
+        return_path = target_path
+        
+    finally:
+        # 关闭SFTP会话和SSH连接
+        sftp.close()
+        ssh.close()
+    return result,return_path
+
+def sftp_upload_one_file(local_path,mkdir_remote_path,file_name):
+    
+    HOSTNAME = '47.106.222.181'
+    PORT = 25078  # 默认SSH端口是22
+    USERNAME = 'user'
+    PASSWORD = 'password'
+    # local_path = '/home/cat/shuikeWorkSpace/vscode_code/2025_workspace/shuike_dev/3rdparty/rk3576_NDK/app/node/save_data_app/Snipaste_2025-07-22_16-28-55.jpg'  # 本地文件路径
+    # remote_path = '/files/
+    remote_base_path = "/files/uploads/device_info" #文件系统的鹿鸣
+    
+    remote_path = remote_base_path+"/"+ mkdir_remote_path # 远程文件路径
+    print("remote_path1:",remote_path)
+    
+    flag,remote_path = sftp_upload(HOSTNAME, PORT, USERNAME, PASSWORD, local_path, remote_path,file_name)
+    
+    if flag:
+        print("上传成功")
+    
+    #远程路径
+    print("remote_path2:",remote_path)
+    remote_path_without_prefix = remote_path.replace("/files/", "") # /uploads/device_info
+    get_url = "http://47.106.222.181:25079/sftp-images/" + remote_path_without_prefix
+   # http://47.106.222.181:25079/sftp-images/uploads/device_info 
+    print("get_url:",get_url)
+    
+    return get_url
+
+if __name__ == "__main__":
+    # 使用示例
+    #本地图片
+    # local_path = '/home/cat/shuikeWorkSpace/vscode_code/2025_WorkSpace/snapshot_1.jpg'  # 本地文件路径
+    local_path = r'D:/ntxm/sensor_data/snapshot_1.jpg'
+
+    #远程路径
+    mkdir_remote_path = "d80801000058/sensor/20250814/20250814_01" #本地存储路径
+    
+    #图片链接
+    file_name = 'Snipaste_2025-07-22_16-28-55.jpg'  # 远程文件路径
+    
+    #进行上传
+    down_url = sftp_upload_one_file(local_path,mkdir_remote_path,file_name)
+
diff --git a/kk_tfcard_save_api.py b/kk_tfcard_save_api.py
new file mode 100644
index 0000000..3a3b0a4
--- /dev/null
+++ b/kk_tfcard_save_api.py
@@ -0,0 +1,253 @@
+import os
+import json
+import random
+from datetime import datetime
+import time
+from PIL import Image, ImageDraw
+import numpy as np
+import cv2
+
+#pip install Pillow 2_28
+#python -m pip install Pillow -i https://mirrors.aliyun.com/pypi/simple/ 
+#python -m pip install spdlog -i https://mirrors.aliyun.com/pypi/simple/ 
+# python -m pip install paramiko -i https://mirrors.aliyun.com/pypi/simple/ 
+
+class save_data_manager:
+    def __init__(self,base_path,robot_id):
+        self.base_path_ = base_path  # TF卡挂载点
+        self.robot_id_ = robot_id
+        #数据库对象
+        
+    def save_data_to_tfcard_json(self,json_data,dir_name,json_type):
+        """生成并保存数据到TF卡"""
+        now = datetime.now()
+        date_str = now.strftime("%Y%m%d")
+        hour_str = now.strftime("%H")
+      
+        # 1. 创建目录
+        save_dir = os.path.join(self.base_path_, "data", "device_info", self.robot_id_, dir_name, date_str, f"{date_str}_{hour_str}")
+        os.makedirs(save_dir, exist_ok=True)
+        
+        # 2. 创建文件
+        timestamp = None
+        if json_data['timestamp']:
+            timestamp = json_data['timestamp']
+        else:
+            timestamp = datetime.now().strftime("%Y%m%d_%H_%M_%S")
+        filename = f"{timestamp}_{self.robot_id_}_{json_type}.json"
+        
+        # 3. 写入json
+        json_save_path = os.path.join(save_dir, filename)
+        print("json_path:",json_save_path)
+        with open(json_save_path, "w") as f:
+            json.dump(json_data, f, indent=2)
+            print(f"Saved face data: {filename}")  
+        
+        return json_save_path
+    
+    
+    def save_data_to_tfcard_jpg(self,frame_data,dir_name,jpg_type):
+        """生成并保存数据到TF卡"""
+        now = datetime.now()
+        date_str = now.strftime("%Y%m%d")
+        hour_str = now.strftime("%H")
+      
+        # 1. 创建目录
+        save_dir = os.path.join(self.base_path_, "data", "device_info", self.robot_id_, dir_name, date_str, f"{date_str}_{hour_str}")
+        os.makedirs(save_dir, exist_ok=True)
+        
+        # 2. 创建文件
+        timestamp = datetime.now().strftime("%Y%m%d_%H_%M_%S")
+        filename = f"{timestamp}_{self.robot_id_}_{jpg_type}.jpg"
+        
+        # 3. 写入jpg
+        jpg_save_path = os.path.join(save_dir, filename)
+        print("jpg_save_path:",jpg_save_path)
+        
+        cv2.imwrite(jpg_save_path,frame_data)
+        
+        return jpg_save_path
+        
+       
+    
+    """生成模拟人脸关键点数据""" 
+    def generate_fake_face_data(self):
+        """生成模拟人脸关键点数据"""
+        return {
+            "timestamp": datetime.now().strftime("%Y%m%d_%H_%M_%S"),
+            "robot_id": self.robot_id_,
+            "results": [
+                {"x": round(random.uniform(0, 200),0), "y": round(random.uniform(0, 1),0)} for _ in range(68)
+            ],
+            "confidence": random.uniform(0.7, 0.99)
+        }
+
+    """生成模拟人体姿态数据"""
+    def generate_fake_pose_data(self):
+        """生成模拟人体姿态数据"""
+        keypoints = ["nose", "left_eye", "right_eye", "left_ear", "right_ear",
+                    "left_shoulder", "right_shoulder", "left_elbow", "right_elbow",
+                    "left_wrist", "right_wrist", "left_hip", "right_hip",
+                    "left_knee", "right_knee", "left_ankle", "right_ankle"]
+        
+        return {
+            "timestamp": datetime.now().strftime("%Y%m%d_%H_%M_%S"),
+            "robot_id": self.robot_id_,
+            "results": {kp: {
+                "x": round(random.uniform(0, 200),0),
+                "y": round(random.uniform(0, 200),0),
+                "score": round(random.uniform(0.7, 0.99),2)
+            } for kp in keypoints}
+    }
+    """生成模拟-血样-传感器数据"""    
+    def generate_fake_sensor_001_data(self):
+        print("生成模拟-血样-传感器数据")
+        mks_data_random = {
+                'heart_rate': random.randint(60, 100),  # 假设 心率 在60到180之间
+                'blood_oxygen': random.randint(85, 100),  # 假设 血氧 在85到100之间
+                'micro_circulation': random.randint(50, 100),  # 假设 微循环值 在50到100之间
+                'fatigue_index': random.randint(0, 100),  # 假设 疲劳 指数在0到100之间
+                'systolic_pressure': random.randint(90, 180),  # 假设 收缩压 在90到180之间
+                'diastolic_pressure': random.randint(60, 120),  # 假设 舒张压 在60到120之间
+                'cardiac_output': random.randint(40, 100)  # 假设 心输出 在40到100之间
+        }
+        print("mks_data_random:",mks_data_random)
+        return {
+            "timestamp": datetime.now().strftime("%Y%m%d_%H_%M_%S"),
+            "robot_id": self.robot_id_,
+            "result": mks_data_random,
+        }
+    
+    def generate_sensor_001_data(self,mks_data_random):
+        print("生成模拟-血样-传感器数据")
+        # mks_data_random = {
+        #         'heart_rate': random.randint(60, 100),  # 假设 心率 在60到180之间
+        #         'blood_oxygen': random.randint(85, 100),  # 假设 血氧 在85到100之间
+        #         'micro_circulation': random.randint(50, 100),  # 假设 微循环值 在50到100之间
+        #         'fatigue_index': random.randint(0, 100),  # 假设 疲劳 指数在0到100之间
+        #         'systolic_pressure': random.randint(90, 180),  # 假设 收缩压 在90到180之间
+        #         'diastolic_pressure': random.randint(60, 120),  # 假设 舒张压 在60到120之间
+        #         'cardiac_output': random.randint(40, 100)  # 假设 心输出 在40到100之间
+        # }
+        print("mks_data_random:",mks_data_random)
+        return {
+            "timestamp": datetime.now().strftime("%Y%m%d_%H_%M_%S"),
+            "robot_id": self.robot_id_,
+            "result": mks_data_random,
+        }
+    
+    """生成模拟-毫米波-传感器数据"""
+    def generate_fake_sensor_002_data(self):   
+        print("生成模拟-毫米波-传感器数据")     
+        sensor_data = {
+            "Part1Rst": {
+                "Battery": 100,
+                "Status": ["01"],
+                "CountNum": random.randint(1, 4),
+                "IsFall": 0
+            },
+            "Part2Rst": {
+            "TargetNum": 1,
+            "Target0": {
+                "ID": 16,
+                "PtNum": 22,
+                "PointCloud": [
+                    [-0.0691750283216743, 0.13160428640200078, 1.3956739328119288],
+                    [-0.07847705523541838, 0.15392815246426594, 1.383871249877477],
+                    [-0.08118316058836383, 0.15254387167066272, 1.3841153359302658],
+                    [-0.08118316058836383, 0.15254387167066272, 1.3841153359302658],
+                    [-0.0929625, 0.17252076850321676, 1.3695799337803236],
+                    [-0.08985277963433623, 0.1735465559405953, 1.366252506565061],
+                    [-0.08981986049799257, 0.1729446846963683, 1.3632120794907499],
+                    [-0.09402106608514023, 0.2008075149795186, 1.3752118342759272],
+                    [-0.16259914164055408, 0.3659265315697133, 1.2686130237385964],
+                    [-0.16217132883698243, 0.36379021511710175, 1.2623032883896637],
+                    [-0.16910310730617623, 0.3631439575505753, 1.2691036666139888],
+                    [-0.1638440883521219, 0.3831408593633806, 1.2404052475851655],
+                    [-0.17067092536679368, 0.3803548338347067, 1.2408964990548133],
+                    [-0.17067092536679368, 0.3803548338347067, 1.2408964990548133],
+                    [-0.17294653770501756, 0.4044264626613462, 1.2315388724510081],
+                    [-0.17294653770501756, 0.4044264626613462, 1.2315388724510081],
+                    [-0.17235096722025173, 0.40169857121649716, 1.224546809430924],
+                    [-0.16789502279593474, 0.4368924567706128, 1.236433858829858],
+                    [-0.16789502279593474, 0.4368924567706128, 1.236433858829858],
+                    [-0.16789502279593474, 0.4368924567706128, 1.236433858829858],
+                    [-0.16719017622805205, 0.5141370904782002, 1.2188803542752917],
+                    [-0.16758717901763867, 0.5169416889917281, 1.227432168376347]
+                ],
+                "CenterPoint": [-0.12395, 0.34706, 1.27605]
+            }
+            },
+            "Part3Rst": {
+                "TargetNum": 1,
+                "Target0": {
+                    "ID": 16,
+                    "Point": [-0.12395, 0.32227, 1.2512599999999998],
+                    "HeartRate": random.randint(50, 65),
+                    "BreathRate": 4
+                }
+            }
+        }
+        print("sensor_data:",sensor_data)
+        
+        return {
+            "timestamp": datetime.now().strftime("%Y%m%d_%H_%M_%S"),
+            "robot_id": self.robot_id_,
+            "result": sensor_data,
+        }
+
+    """生成模拟图片"""
+    def generate_fake_image(self,width=640, height=480):
+        """生成模拟图片"""
+        img = Image.new("RGB", (width, height), color=(random.randint(0, 255), random.randint(0, 255), random.randint(0, 255)))
+        draw = ImageDraw.Draw(img)
+        
+        # 添加一些随机形状
+        for _ in range(random.randint(3, 10)):
+            x1 = random.randint(0, width)
+            y1 = random.randint(0, height)
+            x2 = random.randint(x1, width)
+            y2 = random.randint(y1, height)
+            draw.rectangle([x1, y1, x2, y2], 
+                        fill=(random.randint(0, 255), random.randint(0, 255), random.randint(0, 255)))
+
+        # 将 PIL 图像转换为 NumPy 数组
+        numpy_image = np.array(img)
+    
+        return numpy_image        
+
+if __name__ == "__main__":
+    
+    base_path = "./sftp-data_1"  # TF卡挂载点
+    robot_id = "d80801000058"
+    
+    #json写入管理(完成)
+    test = save_data_manager(base_path,robot_id)    
+    
+    #数据插入管理
+    
+    #数据库同步管理(完成)
+    
+    #生成人脸数据
+    # face_data = test.generate_fake_face_data()
+    # test.save_data_to_tfcard_json(face_data,dir_name="face",json_type="face")
+    # #TODO 插入数据库
+    
+    # #人体人脸数据
+    # pose_data = test.generate_fake_pose_data()
+    # test.save_data_to_tfcard_json(pose_data,dir_name="pose",json_type="pose")
+    # #TODO 插入数据库
+    
+    #传感器数据
+    sensor_data = test.generate_fake_sensor_001_data()
+    test.save_data_to_tfcard_json(sensor_data,dir_name="sensor_001",json_type="sensor_001")
+    
+    sensor_data = test.generate_fake_sensor_002_data()
+    test.save_data_to_tfcard_json(sensor_data,dir_name="sensor_002",json_type="sensor_002")
+    #TODO 插入数据
+    
+    # frame_data = test.generate_fake_image()
+    # test.save_data_to_tfcard_jpg(frame_data,dir_name="face_jpg",jpg_type="jpg")
+    #TODO 插入数据库
+    
+    
\ No newline at end of file