final 1

Former-commit-id: dc04af028eb2ecbda74eef38f377be0989e21756

main.py

@@ -10,7 +10,7 @@ from scipy.signal import find_peaks
 
 
 class MAT:
-    def __init__(self, videoSourceIndex=0, bounce_time=2, end_bounce_time=5):
+    def __init__(self, videoSourceIndex=0, bounce_time=2, end_bounce_time=5,k=30):
         # 初始化logging
         utils.setup_logging()
         self.system_logger = utils.get_system_logger()
@@ -23,6 +23,7 @@ class MAT:
         self.cap = cv2.VideoCapture(videoSourceIndex, cv2.CAP_DSHOW)
         self.ch340 = ch340.CH340()
         self.total_volume = 0
+        self.k = k
         
         self.state = State(bounce_time, end_bounce_time)
         
@@ -131,7 +132,7 @@ class MAT:
           # === 状态检查逻辑 ===
         
         # middle检查: 进入middle的bounce_time后，在最近bounce_time内middle比例<70%返回fast状态
-        if self.state.should_check_middle_exit(now):
+        if self.state.should_check_middle_exit(now) and not self.history.last_end:
             # 计算最近bounce_time内的middle比例
             recent_records = self.history.get_recent_records(self.state.bounce_time, now)
             
@@ -151,26 +152,17 @@ class MAT:
             self.history.about_history.append(ratio == 1)
             while len(self.history.about_history) > 5:
                 self.history.about_history.pop(0)
-            if len(self.history.about_history) == 5:
+            if len(self.history.about_history) == 5 and  self.history.last_end < 2:
                 rate = sum(self.history.about_history) / len(self.history.about_history)
                 if rate > 0.8:
                     self.state.exit_about()
                     self.control_logger.info(f"about比例{ratio:.2%}<80%，退出about检查，返回middle模式")
             
-            self.end_check()
+            ret = self.end_check()
-            # print(f"end_history: {self.history.end_history}",peaks)
+            if ret == "colored":
-            # if len(self.history.end_history) >= 10:
+                return ret
-            #     colored_ratio=sum(self.history.end_history)/len(self.history.end_history)
+            if not self.history.last_end:
-            #     if colored_ratio > 0.7:
+                self.history.last_end = max(self.history.last_end,ret)
-            #         self.endpoint_logger.info(f"colored比例{colored_ratio:.2%}>=70%，确认滴定终点")
-            #         self.endpoint_logger.info(f"最终体积: {self.colored_volume:.2f} ml")
-            #         self.running = False
-            #         self.ch340.stop()
-            #         if self.colored_im is not None:
-            #             cv2.imwrite(f"colored_{datetime.now().strftime('%Y%m%d_%H%M%S')}.jpg", self.colored_im)
-            #         return "colored"
-            # while len(self.history.end_history) > 10:
-            #     self.history.end_history.pop(0)
             self.state.about_check = False
                 
         
@@ -182,6 +174,7 @@ class MAT:
     def end_check(self,dep=0):
         if dep > 5:
             # self.endpoint_logger.info(f"colored比例{.2%}>=70%，确认滴定终点")
+            self.colored_volume = self.total_volume
             self.endpoint_logger.info(f"最终体积: {self.colored_volume:.2f} ml")
             self.running = False
             self.ch340.stop()
@@ -201,12 +194,22 @@ class MAT:
                                     distance=10,  # 峰值之间的最小距离
                                     prominence=np.max(hist) * 0.01)  # 峰值的突出度
         if np.any(peaks>130):
+            if dep == 0:
+                self.process_left(time.time())
             self.history.end_history.append(True)
-            time.sleep(2)
             self.control_logger.info(f"检测到colored状态，end_check at {dep}")
-            self.end_check(dep+1)
+            bgn = time.time()
+            while time.time()-bgn < 2:
+                suc,im = self.cap.read()
+                if hasattr(self, 'capFile') and self.capFile.isOpened():
+                    self.capFile.write(im)
+                cv2.putText(im, "ENDCHK", (10, 30),
+                            cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
+                cv2.imshow("Frame", im)
+            return self.end_check(dep+1)
+            # time.sleep(2)
         else:  
-            self.history.end_history.append(False)
+            return dep
     
     def _display_status(self, im, detection_result, rate, volume):
         """显示状态信息到图像上"""
@@ -229,7 +232,7 @@ class MAT:
     def predictor(self,im):
         hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
         s = hsv[:,:,1]
-        mask = s>30
+        mask = s>self.k
         cv2.imshow('mask',im*mask[:,:,np.newaxis])
         tot = mask.shape[0]*mask.shape[1]
         val = np.sum(mask)
@@ -237,6 +240,7 @@ class MAT:
         if self.history.base is not None:
             base = self.history.base
             thr = (min(0.05,base*5), min(0.4,base*13), 0.5)
+            # thr = (base*5, base*13, 0.5)
             if rate < thr[0]:
                 return "transport",rate
             elif rate <thr[1]:
@@ -370,14 +374,15 @@ if __name__ == "__main__":
     mat = MAT(
         videoSourceIndex = 1, 
         bounce_time=4,
-        end_bounce_time=0.01
+        end_bounce_time=0.01,
+        k = 34
     )
     
     mat.state.mode = State.Mode.FAST
     
     mat.run(
         slow_speed = 0.05,
-        quick_speed = 0.45,
+        quick_speed = 0.8,
         about_time=3,
         # cap_dir=None
     )

utils.py

@@ -44,6 +44,7 @@ class History:
         self._base_time = base_time
         self._base_cnt = 0
         self.end_history:list[bool] = []
+        self.last_end = 0
         self.display = display
         self.fig: Any = None
         self.ax: Any = None

vid_chk.py

@@ -1,4 +1,5 @@
 import cv2
+import numpy as np
 
 flag = False
 vidId = 1
@@ -8,11 +9,49 @@ while not flag:
     cv2.imshow("image",im)
     k = cv2.waitKey(0)
     if k & 0xff == ord('q'):
-        cap.release()
+        # cap.release()
-        cv2.destroyAllWindows()
+        # cv2.destroyAllWindows()
         flag=True
     else:
         vidId+=1
         cap.release()
         cap.open(vidId, cv2.CAP_DSHOW)
         print(f"使用摄像头索引: {vidId}")
+
+import ch340
+base = 30
+pump = ch340.CH340()
+while True:
+    suc,im = cap.read()
+    hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
+    s = hsv[:,:,1]
+    mask = s>base
+    cv2.imshow('mask',im*mask[:,:,np.newaxis])
+    tot = mask.shape[0]*mask.shape[1]
+    val = np.sum(mask)
+    rate = val/tot
+    thr = (0.05,0.3, 0.5)
+    ret = ""
+    if rate < thr[0]:
+        ret =  "transport"
+    elif rate <thr[1]:
+        ret =  "middle"
+    elif rate < thr[2]:
+        ret =  "about"
+    else:
+        ret =  "colored"
+    im = cv2.putText(im, f"Rate: {rate:.2},base={base},{ret}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+    cv2.imshow('image',im)
+    k = cv2.waitKey(1)
+    if k & 0xff == ord('w'):
+        base+=1
+    elif k & 0xff == ord('s'):
+        base-=1
+    elif k & 0xff == ord('a'):
+        pump.push_async(speed=0.1,vol=0.1)
+    elif k & 0xff == ord('q'):
+        print("Camera index = ", vidId)
+        print("k =",base)
+        cap.release()
+        cv2.destroyAllWindows()
+        break