Deal with left time.

Former-commit-id: 0810fdfff0e156ece79ff5848a3dcc94727b9a54

ch340.py

@@ -46,7 +46,7 @@ if OFFLINE_DEBUG:
             return time.time() - self.start < self._get_time()
             
         def _get_time(self):
-            return (self.time[0]*3600 + self.time[1]*60 + self.time[2])/2
+            return (self.time[0]*3600 + self.time[1]*60 + self.time[2])
         
         def _prepare(self,speed,t,vol):
             if speed is not None:

predictor_Syringe_Pump.py

@@ -3,7 +3,6 @@ import time
 from datetime import datetime
 import numpy as np
 import ch340
-from threading import Thread
 import atexit
 
 class MAT:
@@ -38,6 +37,15 @@ class MAT:
     def ch340_push(self, speed=0.1):
         self.ch340.push_async(speed=speed, t=1)
     
+    def process_left(self,now:float, velue_only=False):
+        st = self.ch340.start
+        if not velue_only: self.ch340.stop() 
+        assert abs(self.ch340._get_time()-1) < 1e3 # run time should be 1s
+        r = now-st
+        ret = self.total_volume - (1-r)*self.speeds[self.typ]  # 减去未完成的体积
+        if velue_only:return ret
+        else:self.total_volume = ret
+
     def _pred(self):
         """预测当前图像状态，返回'transport'、'middle'或'colored'"""
         suc, im = self.cap.read()
@@ -52,8 +60,10 @@ class MAT:
         
         now = time.time()
         
+        val = self.process_left(now,velue_only=True)
+        
         # 记录历史状态，保留bounce_time时间内的记录
-        self.history.append((now, ret, self.total_volume))
+        self.history.append((now, ret, val))
         while self.history and self.history[0][0] < now - self.bounce_time:
             self.history.pop(0)
         
@@ -65,13 +75,14 @@ class MAT:
         if ret == "middle":
             # 检测到middle立即切换到慢速模式
             if self.typ == 0:
-                print(f"检测到middle，切换到慢速模式，当前体积: {self.total_volume}")
+                self.process_left(now)
                 self.typ = 1
+                print(f"检测到middle，切换到慢速模式，当前体积: {val}")
         
         elif ret == "colored":
             # 检测到colored时记录当前体积
             if self.colored_volume is None:
-                self.colored_volume = self.total_volume
+                self.colored_volume = val
                 self.colored_time = now
                 print(f"检测到colored，记录体积: {self.colored_volume}")
             
@@ -84,8 +95,8 @@ class MAT:
                     self.ch340.stop()
                     return "colored"
                 else:
-                    print(f"colored比例小于90%，当前体积: {self.total_volume}, {colored_count / len(self.history)}")
+                    print(f"colored比例小于90%，当前体积: {val}, {colored_count / len(self.history)}")
-                    self.colored_volume = self.total_volume
+                    self.colored_volume = val
                     self.colored_time = now
         else:  # ret == "transport"
             pass
@@ -94,8 +105,9 @@ class MAT:
         if self.typ == 1:
             non_middle_count = sum(1 for _, state, _ in self.history if state == "transport")
             if len(self.history) > 3 and non_middle_count / len(self.history) > 0.9:
-                print(f"非middle比例超过90%，切回快速模式，当前体积: {self.total_volume}")
+                print(f"非middle比例超过90%，切回快速模式，当前体积: {val}")
                 self.typ = 0
+                self.process_left(now)
         
         # 如果已记录colored但在bounce_time内colored比例小于90%，重置
         if self.colored_volume is not None and now - self.colored_time > self.bounce_time:
@@ -113,7 +125,7 @@ class MAT:
                 print("Warning: Unusual condition, colored for over 90%% but last is transport")
                 print(f"疑似滴定终点: {self.colored_volume}")
         cv2.putText(im, 
-                    f"State: {ret}, rate: {round(rate,2)}, Vol: {self.total_volume:.2f} ml, typ: {'slow' if self.typ else 'fast'}", 
+                    f"State: {ret}, rate: {round(rate,2)}, Vol: {val:.2f} ml, typ: {'slow' if self.typ else 'fast'}", 
                     (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (10,215, 255) if self.typ else (255,255,255), 2)
         cv2.imshow("Frame", im)
         cv2.waitKey(1)
@@ -142,6 +154,7 @@ class MAT:
         self.running = True
         self.typ = 0
         self.last = 0
+        self.speeds = (quick_speed, slow_speed)
         while self.running:
             if self.total_volume % 12 == 0:
                 self.ch340_pull()  # 抽取12ml