clean and adapt debounce

Former-commit-id: d3368549aeb92c55007f45be4e18171fb8176791

Auto_Ctrl/model-old.pkl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1ca6d267a1b151f02a2096b1e7fbcea8abc298b6feec224c200a8b9a81fc2fc8
-size 107513

Auto_Ctrl/predictor_Syringe_Pump.py

@@ -127,25 +127,6 @@ class MAT:
         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 :
-            import traceback
-            traceback.print_exc()
-            return None
-        # name = f"{cl}_{h}_{s}_{v}.jpg"
-
     def _pred(self):
         suc,im = self.cap.read()
         if not suc:
@@ -169,19 +150,24 @@ class MAT:
                 self.last[1] += 1
             # fps end
             now = time.time()
-        
-            if ret == self.end_kind:
-                if self.debounce[0]:
+
+            if ret == "middle":
+                if self.debounce[0] and self.typ == 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)
+                        print("Got middle flag, bounce check start, val:",self.total_volume)
+                        self.typ = 1
+                        self.start_move_3()
                     self.debounce[1].append((time.time(),self.total_volume))
+            elif ret == self.end_kind:
+                if self.debounce[1]:
+                    print("Got stop flag, val:",self.total_volume)
+                    self.running = False
+                    self.start_move_3()
+                    return
             else:
                 if self.debounce[0]:
                     # print(self.debounce)
@@ -200,13 +186,15 @@ class MAT:
         # im = cv2.imread(file)
         hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
         s = hsv[:,:,1]
-        mask = s>100
         # print(mask)
+        mask = s>60
         tot = mask.shape[0]*mask.shape[1]
         val = np.sum(mask)
-        # print(val/tot)
-        if val<tot*0.3:
+        rate = val/tot
+        if rate < 0.01:
             return "transport"
+        elif rate <0.2:
+            return "middle"
         else:
             return "colored"
 
@@ -259,6 +247,7 @@ class MAT:
 
     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.typ = 0
         self.end_kind = end_kind
         self.last = [time.time(),0]
         self.debounce = [[],[]]
@@ -270,7 +259,7 @@ class MAT:
                 self.start_move_1()  # 抽取12ml
                 self.now_volume += 12
 
-            if self.total_volume < switching_point:  # 每次加0.2ml
+            if self.typ == 0:  # 每次加0.2ml
                 speed = quick_speed
                 self.start_move_2(speed)
                 self.total_volume += speed
@@ -280,6 +269,7 @@ class MAT:
                 self.start_move_2(speed)  # 每次加0.05ml
                 self.total_volume += speed
                 self.now_volume -= speed
+                time.sleep(1)
 
             self.total_volume = round(self.total_volume, 3)
 
@@ -308,13 +298,13 @@ if __name__ == "__main__":
         weights_path = "resnet34-1Net.pth", 
         json_path = 'class_indices.json', 
         classes = 2,
-        bounce_time=1
+        bounce_time=0.2
     )
     
     # exit()
     mat.run(
-        quick_speed = 0.3, 
-        slow_speed = 0.2, 
+        quick_speed = 0.15, 
+        slow_speed = 0.05, 
         expect = 10, 
         end_kind = 'colored', 
     )