3. **状态管理**：通过类属性维护设备状态（初始化状态、存在状态、运动状态、轨迹目标等），支持主动上报与主动查询双模式更新

4. **异常处理**：内置查询重试（最大 3 次）、超时控制（默认 200ms），统计通信异常，便于调试与稳定性优化

5. **定时器驱动**：通过硬件定时器周期性触发数据解析（默认 200ms），确保感知数据实时更新，避免阻塞主循环

---



## 使用说明

### 1. 硬件连接

- **UART 接线**（以 Raspberry Pi Pico 为例）：
    - 模块 MTX → MCU RX（GP17）
    - 模块 MRX → MCU TX（GP16）
    - 模块 VCC → 5V，模块 GND → GND

- **蓝牙模块（可选）**：HC08 连接至 MCU UART1（TX=GP8, RX=GP9），波特率 9600

### 2. 初始化流程

```python
from machine import UART, Pin
import time
from data_flow_processor import DataFlowProcessor
from r60amp1 import R60AMP1
from hc08 import HC08

# 初始化UART0（与雷达通信，波特率115200）
uart = UART(0, baudrate=115200, tx=Pin(16), rx=Pin(17), timeout=0)
# 初始化UART1（与蓝牙通信，波特率9600）
uart1 = UART(1, baudrate=9600, tx=Pin(8), rx=Pin(9), timeout=0)

# 创建蓝牙实例
hc0 = HC08(uart1)
# 创建数据流处理器
processor = DataFlowProcessor(uart)
# 创建R60AMP1实例（启用人体存在检测，解析间隔200ms）
device = R60AMP1(
    processor,
    parse_interval=200,
    presence_enabled=True,
    max_retries=3,
    retry_delay=100,
    init_timeout=5000
)

# 主动查询存在状态
success, presence_status = device.query_presence_status()
if success:
    print("Presence Status:", "Someone" if presence_status == R60AMP1.PRESENCE_PERSON else "No one")

# 主动查询轨迹信息
success, trajectory_targets = device.query_trajectory_info()
if success:
    for target in trajectory_targets:
        print(f"Target {target['index']}: X={target['x']}cm, Y={target['y']}cm")

# 主循环中读取主动上报数据
while True:
    print("Presence Status:", device.presence_status)
    print("Motion Status:", device.motion_status)
    print("Trajectory Targets:", len(device.trajectory_targets))
    time.sleep_ms(200)

# 主循环核心逻辑
try:
    last_print_time = time.ticks_ms()
    print_interval = 2000
    while True:
        current_time = time.ticks_ms()
        if time.ticks_diff(current_time, last_print_time) >= print_interval:
            # 打印上报数据
            print_report_sensor_data()
            # 蓝牙透传
            hc0.send_data(f"Presence: {device.presence_status}\n")
            hc0.send_data(f"Targets: {len(device.trajectory_targets)}\n")
            # 主动查询存在状态
            success, status = device.query_presence_status()
            if success:
                print("Active Query Presence:", "Someone" if status else "No one")
            last_print_time = current_time
        time.sleep_ms(10)
except KeyboardInterrupt:
    print("Program interrupted by user")
finally:
    device.close()
    del device

MIT License

Copyright (c) 2026 FreakStudio

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