Reconstruct debounce, enahnce display.

Former-commit-id: 39c845baadaa727877866fe43b86a02ebf64c915

ch340.py

@@ -2,7 +2,7 @@
 import serial.tools.list_ports
 import time
 
-OFFLINE_DEBUG = True
+OFFLINE_DEBUG = False
 
 def _list_ch340_ports():
     ports = serial.tools.list_ports.comports()
@@ -17,10 +17,13 @@ def _list_ch340_ports():
         return []
 
 if OFFLINE_DEBUG:
+    print("WARNING: Running in offline debug mode, no actual hardware interaction.\n"*3)
+    time.sleep(2)
     class CH340:
         def __init__(self):
             self._speed = 0.0
             self._time = (0,0,0)
+            self.start = 0
         
         @property
         def speed(self):
@@ -38,6 +41,13 @@ if OFFLINE_DEBUG:
         def time(self,x):
             self._time = x
         
+        @property
+        def running(self):
+            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
+        
         def _prepare(self,speed,t,vol):
             if speed is not None:
                 self.speed = speed
@@ -63,24 +73,37 @@ if OFFLINE_DEBUG:
             
         def push(self,speed=None,t=None,vol=None):
             self._prepare(speed,t,vol)
-            time.sleep(self.time[0]*3600 + self.time[1]*60 + self.time[2])
+            self.start = time.time()
+            time.sleep(self._get_time())
             
         def pull(self,speed=None,t=None,vol=None):
             self._prepare(speed,t,vol)
-            time.sleep(self.time[0]*3600 + self.time[1]*60 + self.time[2])
+            self.start = time.time()
+            time.sleep(self._get_time())
+        
+        def push_async(self,speed=None,t=None,vol=None):
+            self._prepare(speed,t,vol)
+            self.start = time.time()
+            time.sleep(0.01)
+        
+        def pull_async(self,speed=None,t=None,vol=None):
+            self._prepare(speed,t,vol)
+            self.start = time.time()
+            time.sleep(0.01)
         
         def stop(self):
+            self.start = 0
             print("Stop")
 else:
     class CH340:
         def __init__(self,idx=0):
-            
             self.port = _list_ch340_ports()[idx]  # 串口名
             self.pump_ser = serial.Serial(self.port, 9600) # 初始化串口
             self._speed = 0.0
             self.speed = 0.0
             self._time = (0,0,0)
             self.time = (0,0,0)
+            self.start = 0
         
         @property
         def speed(self):
@@ -116,6 +139,13 @@ else:
             self.pump_ser.write(f"q5h{x[2]}d".encode('ascii'))
             time.sleep(0.01)
         
+        @property
+        def running(self):
+            return time.time() - self.start < self._get_time()
+            
+        def _get_time(self):
+            return self.time[0]*3600 + self.time[1]*60 + self.time[2]
+        
         def _prepare(self,speed,t,vol):
             if speed is not None:
                 self.speed = speed
@@ -138,27 +168,27 @@ else:
         
         def push(self,speed=None,t=None,vol=None):
             self.push_async(speed,t,vol)
-            time.sleep(self.time[0]*3600 + self.time[1]*60 + self.time[2])
+            time.sleep(self._get_time())
         
         def push_async(self,speed=None,t=None,vol=None):
             self._prepare(speed,t,vol)
             self.pump_ser.write(b"q6h2d")
+            self.start = time.time()
             time.sleep(0.01)
         
         def pull(self,speed=None,t=None,vol=None):
             self.pull_async(speed,t,vol)
-            time.sleep(self.time[0]*3600 + self.time[1]*60 + self.time[2])
+            time.sleep(self._get_time())
         
         def pull_async(self,speed=None,t=None,vol=None):
-            print(1)
-            print(t,speed,vol)
             self._prepare(speed,t,vol)
             self.pump_ser.write(b"q6h3d")
-            print(self.time,self.speed)
+            self.start = time.time()
             time.sleep(0.01)
         
         def stop(self):
             self.pump_ser.write(b"q6h6d")
+            self.start = 0
             time.sleep(0.01)
         
         def __del__(self):

predictor_Syringe_Pump.py

@@ -14,15 +14,18 @@ class MAT:
         self.ch340 = ch340.CH340()
         self.bounce_time = bounce_time
         self.total_volume = 0
-        self.now_volume = 0
         self.start_time = time.time()
         # 将开始时间转化为年月日时分秒的格式，后续文件命名都已此命名
         self.formatted_time = datetime.fromtimestamp(self.start_time).strftime('%Y%m%d_%H%M%S')
 
         atexit.register(self.ch340.stop)
         print("实验开始于", self.formatted_time)
+        self.history = []  # 滑动窗口历史记录
+        self.colored_volume = None  # 首次colored体积
+        self.colored_time = None  # 首次colored时间
 
     def ch340_pull(self):
+        print("开始抽取12ml")
         self.ch340.max_speed()
         self.ch340.pull(vol=12)
         print('完成抽取')
@@ -33,61 +36,90 @@ class MAT:
         print('CH340 INITED')
 
     def ch340_push(self, speed=0.1):
-        self.ch340.push(speed=speed, t=1)
+        self.ch340.push_async(speed=speed, t=1)
     
     def _pred(self):
-        suc,im = self.cap.read()
+        """预测当前图像状态，返回'transport'、'middle'或'colored'"""
+        suc, im = self.cap.read()
         if not suc:
             print("Failed to capture frame from camera.")
             return None
         
-        ret = self.my_predictor(im)
+        ret,rate = self.predictor(im)
-        # print(ret)
         if ret is None:
             print("Fallback")
-            self.thr = Thread(target=self._pred).start()
+            return None
-        else:
-            # 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.last[1] += 1
-            # fps end
-            now = time.time()
         
-            if ret == "middle":
+        now = time.time()
-                if self.debounce[0] and self.typ == 0:
+        
-                    if self.debounce[1] and self.debounce[0]:
+        # 记录历史状态，保留bounce_time时间内的记录
-                        # print(self.debounce)
+        self.history.append((now, ret, self.total_volume))
-                        if now-self.debounce[0][-1] > self.bounce_time:
+        while self.history and self.history[0][0] < now - self.bounce_time:
-                            print("Bounce check succeeded, val:",self.debounce[1][0])
+            self.history.pop(0)
-                    else:
+        
-                        print("Got middle flag, bounce check start, val:",self.total_volume)
+        if not self.history:
-                        self.typ = 1
+            print("Warning: No history available.")
-                        self.ch340.stop()
-                    self.debounce[1].append((time.time(),self.total_volume))
-            elif ret == "colored":
-                if self.debounce[1]:
-                    print("Got stop flag, val:",self.total_volume)
-                    self.running = False
-                    self.ch340.stop()
-                    return
-            else:
-                if self.debounce[0]:
-                    if self.debounce[1]:
-                        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
         
-    def my_predictor(self,im):
+        # 处理检测结果
+        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.typ = 1
+        
+        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_time = now
+                print(f"检测到colored，记录体积: {self.colored_volume}")
+            
+            # 检查是否要停止
+            if now - self.colored_time > self.bounce_time:
+                colored_count = sum(1 for _, state, _ in self.history if state == "colored")
+                if colored_count / len(self.history) > 0.9:
+                    print(f"确认终点，最终体积: {self.colored_volume:0.2f} ml")
+                    self.running = False
+                    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)}")
+                    self.colored_volume = self.total_volume
+                    self.colored_time = now
+        else:  # ret == "transport"
+            pass
+        
+        # 在慢速模式下检查是否要切回快速模式
+        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}")
+                self.typ = 0
+        
+        # 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:
+            colored_count = sum(1 for _, state, _ in self.history if state == "colored")
+            if colored_count / len(self.history) < 0.9:
+                print(f"colored比例小于90%，重置colored记录")
+                self.colored_volume = None
+                for t, state,vol in self.history:
+                    if state == "colored":
+                        print(f"滑动窗口到: {vol} at {t}")
+                        self.colored_volume = vol
+                        self.colored_time = t
+                        break
+            else:
+                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'}", 
+                    (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)
+        return ret
+
+    def predictor(self,im):
         hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
         s = hsv[:,:,1]
         mask = s>60
@@ -95,59 +127,42 @@ class MAT:
         val = np.sum(mask)
         rate = val/tot
         if rate < 0.01:
-            return "transport"
+            return "transport",rate
         elif rate <0.2:
-            return "middle"
+            return "middle",rate
         else:
-            return "colored"
+            return "colored",rate
 
     def __del__(self):
         self.cap.release()
         cv2.destroyAllWindows()
         print("Experiment finished.")
 
-    def save_img(self):
+    def run(self,quick_speed = 0.2,slow_speed = 0.05):
-        suc,im = self.cap.read()
-        if not suc:
-            print("Failed to capture frame from camera.")
-            return
-        cv2.imshow("new",im)
-        name  = f"Imgs/{self.formatted_time}_{self.total_volume}.jpg"
-        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):
         self.running = True
         self.typ = 0
-        self.last = [time.time(),0]
+        self.last = 0
-        self.debounce = [[],[]]
-        self.thr = Thread(target=self._pred)
-        self.thr.start()
         while self.running:
-            if self.now_volume <= 0:
+            if self.total_volume % 12 == 0:
                 self.ch340_pull()  # 抽取12ml
-                self.now_volume += 12
+                time.sleep(0.01)
 
-            if self.typ == 0:  # 每次加0.2ml
+            if not self.ch340.running:
-                speed = quick_speed
+                print(f"Current Total Volume: {self.total_volume:0.2f} ml")
-                self.ch340_push(speed)
+                if self.typ == 0:  # 每次加0.2ml
-                self.total_volume += speed
+                    speed = quick_speed
-                self.now_volume -= speed
+                    self.ch340_push(speed)
-            else:
+                    self.total_volume += speed
-                speed = slow_speed
+                else:
-                self.ch340_push(speed)  # 每次加0.05ml
+                    speed = slow_speed
-                self.total_volume += speed
+                    self.ch340_push(speed)  # 每次加0.05ml
-                self.now_volume -= speed
+                    self.total_volume += speed
-                time.sleep(1)
 
-            self.total_volume = round(self.total_volume, 3)
+            if self._pred() is None:
+                print("Prediction failed, skipping frame.")
+                continue
             
             
-            self.save_img()
-            cv2.waitKey(1)
-            
-            print(f"Current Total Volume: {self.total_volume} ml")
-        self.save_img()
         print('----->>Visual Endpoint<<-----')
         print(f"Total Volume: {self.total_volume} ml")
 
@@ -159,10 +174,9 @@ if __name__ == "__main__":
         bounce_time=0.2
     )
     
-    # exit()
     mat.run(
-        quick_speed = 0.15, 
         slow_speed = 0.05,
+        quick_speed = 0.15,     
     )