diff --git a/Auto_Ctrl/predictor_Syringe_Pump.py b/Auto_Ctrl/predictor_Syringe_Pump.py index e2df2c7..9ccbcc7 100644 --- a/Auto_Ctrl/predictor_Syringe_Pump.py +++ b/Auto_Ctrl/predictor_Syringe_Pump.py @@ -12,15 +12,16 @@ import joblib import json import Find_COM from threading import Thread +import atexit -LOCAL_DEBUG = True +LOCAL_DEBUG = False if LOCAL_DEBUG: print("WARNING: Local debug mode is enabled. Serial communication will be skipped.") time.sleep(2) class MAT: - def __init__(self, videoSourceIndex=0, weights_path = "resnet34-1Net.pth", json_path = 'class_indices.json', classes = 2): + def __init__(self, videoSourceIndex=0, weights_path = "resnet34-1Net.pth", json_path = 'class_indices.json', classes = 2,bounce_time=1): print('实验初始化中') self.data_root = os.getcwd() self.videoSourceIndex = videoSourceIndex # 摄像机编号 @@ -30,6 +31,7 @@ class MAT: self.port = Find_COM.list_ch340_ports()[0] # 串口名 self.pump_ser = serial.Serial(self.port, 9600) # 初始化串口 self.classes = classes + self.bounce_time = bounce_time # 防抖时间 self.total_volume = 0 # 记录总体积 self.now_volume = 0 # 记录当前注射泵内体积 self.volume_list = [] # 记录体积变化 @@ -41,11 +43,13 @@ class MAT: self.formatted_time = datetime.fromtimestamp(self.start_time).strftime('%Y%m%d_%H%M%S') self.model = joblib.load("model.pkl") + atexit.register(self.start_move_3) print("实验开始于", self.formatted_time) def start_move_1(self): # 抽料程序 if LOCAL_DEBUG:return - data = b"q1h24d" # *2 + self.start_move_init() + data = b"q1h40d" # *2 self.pump_ser.write(data) time.sleep(0.01) data = b"q2h0d" @@ -54,14 +58,44 @@ class MAT: data = b"q4h0d" self.pump_ser.write(data) time.sleep(0.01) - data = b"q5h15d" + data = b"q5h9d" self.pump_ser.write(data) time.sleep(0.01) data = b"q6h3d" self.pump_ser.write(data) - time.sleep(15) + time.sleep(9) print('完成抽取') + def start_move_init(self): # init + if LOCAL_DEBUG:return + data = b"q1h15d" # *2 + self.pump_ser.write(data) + time.sleep(0.01) + data = b"q2h0d" + self.pump_ser.write(data) + time.sleep(0.01) + data = b"q4h0d" + self.pump_ser.write(data) + time.sleep(0.01) + data = b"q5h2d" + self.pump_ser.write(data) + time.sleep(0.01) + data = b"q6h2d" + self.pump_ser.write(data) + print("send1") + time.sleep(2) + data = b"q1h20d" # *2 + self.pump_ser.write(data) + time.sleep(0.01) + data = b"q5h1d" + self.pump_ser.write(data) + time.sleep(0.1) + data = b"q6h3d" + self.pump_ser.write(data) + print("send2") + time.sleep(1) + print('INITED') + def start_move_2(self, speed=0.1): # 进料程序 if LOCAL_DEBUG: time.sleep(1) @@ -92,20 +126,23 @@ class MAT: if LOCAL_DEBUG:return data = b"q6h6d" self.pump_ser.write(data) - + def preproc(self, im): try: hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV) mask = hsv[:,:,1] > 150 mask = mask[:,:,np.newaxis] cnt = np.count_nonzero(mask) + if cnt == 0: + return 0,0,0 hsv*=mask h = round(np.sum(hsv[:,:,0])/cnt) s = round(np.sum(hsv[:,:,1])/cnt) v = round(np.sum(hsv[:,:,2])/cnt) return h,s,v except Exception as e : - print(e) + import traceback + traceback.print_exc() return None # name = f"{cl}_{h}_{s}_{v}.jpg" @@ -118,14 +155,46 @@ class MAT: ret = self.my_predictor(im) if ret is None: cv2.imwrite("tmp.jpg",im) + print("Fallback") + self.thr = Thread(target=self._pred).start() return self.predictor("tmp.jpg") else: - if ret == self.end_kind: - print("Stop at ",self.total_volume) - self.running = False - self.start_move_3() + # fps + now = time.time() + if now - self.last[0] > 1: + print("FPS: ",self.last[1]) + print(ret) + self.last[0] = now + self.last[1] = 0 else: - self.thr = Thread(target=self._pred).start() + self.last[1] += 1 + # fps end + now = time.time() + + if ret == self.end_kind: + if self.debounce[0]: + if self.debounce[1] and self.debounce[0]: + # print(self.debounce) + if now-self.debounce[0][-1] > self.bounce_time: + print("Bounce check succeeded, val:",self.debounce[1][0]) + self.running = False + self.start_move_3() + return + else: + print("Got stop flag, bounce check start, val:",self.total_volume) + self.debounce[1].append((time.time(),self.total_volume)) + else: + if self.debounce[0]: + # print(self.debounce) + if self.debounce[1]: + # print(self.debounce[1][0][0],now,self.bounce_time) + # print(self.debounce[1][0][0] > now - self.bounce_time) + while self.debounce[1] and self.debounce[1][0][0] > now - self.bounce_time: + self.debounce[1].pop(0) + while self.debounce[0] and self.debounce[0][0] < now - self.bounce_time: + self.debounce[0].pop(0) + self.debounce[0].append(now) + self.thr = Thread(target=self._pred).start() return ret,0.9 def my_predictor(self,im): @@ -193,10 +262,11 @@ class MAT: if not cv2.imwrite(name,im): print("Failed to save image",name) - def run(self,quick_speed = 0.2, mid_speed=0.1,slow_speed = 0.05,expect = 5, end_kind = 'orange'): + def run(self,quick_speed = 0.2, mid_speed=0.1,slow_speed = 0.05,expect:float|int = 5, end_kind = 'orange'): self.running = True self.end_kind = end_kind - self.cnt = 0 + self.last = [time.time(),0] + self.debounce = [[],[]] self.thr = Thread(target=self._pred) self.thr.start() switching_point = expect * 0.9 @@ -229,7 +299,6 @@ class MAT: print(f"Total Volume: {self.total_volume} ml") # print(f"Image File: {im_file}") print("Volume List:", self.volume_list) - print("Voltage List:", self.voltage_list) print("Color List:", self.color_list) @@ -239,7 +308,15 @@ if __name__ == "__main__": warnings.filterwarnings('ignore') # 创建MAT类的实例并运行 - mat = MAT(videoSourceIndex = 0, weights_path = "resnet34-1Net.pth", json_path = 'class_indices.json', classes = 2) + mat = MAT( + videoSourceIndex = 1, + weights_path = "resnet34-1Net.pth", + json_path = 'class_indices.json', + classes = 2, + bounce_time=1 + ) + + # exit() mat.run( quick_speed = 0.3, slow_speed = 0.2,