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Former-commit-id: c078eab42975bcbc5fd98aae28228937b5694d19
This commit is contained in:
flt6
2025-06-03 23:26:51 +08:00
parent c36f1ef5e6
commit 4e387287eb
3 changed files with 145 additions and 41 deletions
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84
main.py
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@ -5,7 +5,7 @@ import numpy as np
import ch340
import atexit
import utils
from utils import State
from utils import State, History
class MAT:
@ -17,7 +17,7 @@ class MAT:
self.endpoint_logger = utils.get_endpoint_logger()
self.volume_logger = utils.get_volume_logger()
self.system_logger.info('正在初始化MAT系统...')
self.system_logger.info('正在初始化MAT系统...')
self.videoSourceIndex = videoSourceIndex
self.cap = cv2.VideoCapture(videoSourceIndex, cv2.CAP_DSHOW)
self.ch340 = ch340.CH340()
@ -26,7 +26,7 @@ class MAT:
self.state = State(bounce_time, end_bounce_time)
atexit.register(self.ch340.stop)
self.history = []
self.history = History(max(bounce_time, end_bounce_time))
self.colored_volume = None
self.colored_time = None
self.colored_im = None
@ -53,7 +53,7 @@ class MAT:
r = now - st
ret = self.total_volume - (1-r) * self.speeds[self.state.mode.value]
if value_only:
return ret
return ret
else:
self.total_volume = ret
@ -71,16 +71,18 @@ class MAT:
ret, rate = self.predictor(im)
if ret is None:
return None
now = time.time()
val = self.process_left(now, value_only=True)
# 更新滑动窗口历史记录 - 维护最近end_bounce_time内的状态
self.history.append((now, ret, val, im))
while self.history and self.history[0][0] < now - self.state.end_bounce_time:
self.history.pop(0)
# 确保val不为None
if val is None:
self.control_logger.warning("体积计算返回None，跳过本次记录")
return ret
if not self.history:
# 更新滑动窗口历史记录 - 维护最近end_bounce_time内的状态
self.history.add_record(now, ret,rate, val, im)
if self.history.is_empty():
self.control_logger.error("未预期的没有可用的历史记录")
return ret
@ -111,49 +113,44 @@ class MAT:
self.colored_time = now
self.colored_im = im.copy()
self.endpoint_logger.info(f"检测到colored，开始end检查，记录体积: {val:.2f} ml")
# === 状态检查逻辑 ===
# === 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):
# 计算最近bounce_time内的middle比例
bounce_start_time = now - self.state.bounce_time
recent_history = [(t, state, v, i) for t, state, v, i in self.history if t >= bounce_start_time]
recent_records = self.history.get_recent_records(self.state.bounce_time, now)
if recent_history:
trans_count = sum(1 for _, state, _, _ in recent_history if state == "transport")
trans_ratio = trans_count / len(recent_history)
if recent_records:
trans_ratio = self.history.get_state_ratio("transport", recent_records)
if trans_ratio > 0.3:
self.process_left(now)
self.state.exit_middle_check()
# about状态随middle一起退出
self.state.exit_about_with_middle()
self.state.exit_about_with_middle()
self.control_logger.info(f"middle比例{trans_ratio:.2%}<70%，退出middle检查，返回fast模式")
# end检查: 进入end之后的end_bounce_time，如果end比例<80%，则重置；否则终止实验
if self.state.should_check_end_result(now):
colored_count = sum(1 for _, state, _, _ in self.history if state == "colored")
colored_ratio = colored_count / len(self.history)
colored_ratio = self.history.get_state_ratio("colored", self.history.get_recent_records(self.state.end_bounce_time, now))
if colored_ratio < 0.8:
# end比例<80%，从history中找到第二个end并继续check逻辑
self.endpoint_logger.warning(f"colored比例{colored_ratio:.2%}<80%，寻找下一个colored点")
# 寻找历史中倒数第二个colored状态
colored_times = [t for t, state, _, _ in self.history if state == "colored"]
colored_times = self.history.get_states_by_type("colored")
if len(colored_times) >= 2:
# 使用倒数第二个colored时间重新开始检查
second_last_colored_time = colored_times[1]
self.state.end_detected_time = second_last_colored_time
# 更新colored记录为对应的体积
for t, state, vol, img in self.history:
if t == second_last_colored_time and state == "colored":
self.colored_volume = vol
self.colored_time = t
self.colored_im = img.copy()
break
record = self.history.find_record_by_timestamp(second_last_colored_time)
if record:
self.colored_volume = record.volume
self.colored_time = record.timestamp
self.colored_im = record.image.copy()
self.endpoint_logger.info(f"重置到第二个colored点: {self.colored_volume:.2f} ml")
else:
@ -170,7 +167,8 @@ class MAT:
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"
# 显示状态信息
# 显示状态信息
self._display_status(im, ret, rate, val)
return ret
@ -199,14 +197,20 @@ class MAT:
tot = mask.shape[0]*mask.shape[1]
val = np.sum(mask)
rate = val/tot
if rate < 0.02:
return "transport",rate
elif rate <0.2:
return "middle",rate
elif rate < 0.35:
return "about",rate
if self.history.base is not None:
base = self.history.base
thr = (base*5, base*10, base*30)
if rate < thr[0]:
return "transport",rate
elif rate <thr[1]:
return "middle",rate
elif rate < thr[2]:
return "about",rate
else:
return "colored",rate
else:
return "colored",rate
return "transport",rate
def __del__(self):
self.cap.release()
@ -236,11 +240,11 @@ class MAT:
self.system_logger.info("实验参数:")
for key, value in experiment_params.items():
self.system_logger.info(f" {key}: {value}")
fps = int(self.cap.get(cv2.CAP_PROP_FPS)) or 30
width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
# 初始化视频录制器
# 初始化视频录制器
if vid_name != "Disabled":
fourcc = cv2.VideoWriter.fourcc(*'x264') # 使用更兼容的编码器
self.capFile = cv2.VideoWriter(vid_name, fourcc, fps, (width, height))
@ -302,14 +306,14 @@ if __name__ == "__main__":
mat = MAT(
videoSourceIndex = 1,
bounce_time=3,
end_bounce_time=15
end_bounce_time=0.01
)
mat.run(
slow_speed = 0.05,
quick_speed = 0.15,
end_time= 2
# cap_dir=None
end_time= 2,
cap_dir=None
)