diff --git a/main.py b/main.py index 45ba06f..47ddc88 100644 --- a/main.py +++ b/main.py @@ -5,9 +5,17 @@ import numpy as np import ch340 import atexit import utils +from enum import Enum + +class Flags(Enum): + ENDCHK = 0b01 + MIDCHK = 0b10 + @staticmethod + def un(flag): + return 0b11 ^ flag.value class MAT: - def __init__(self, videoSourceIndex=0, bounce_time=1): + def __init__(self, videoSourceIndex=0, bounce_time=1,end_bounce_time=5): # 初始化logging utils.setup_logging() self.system_logger = utils.get_system_logger() @@ -20,13 +28,16 @@ class MAT: self.cap = cv2.VideoCapture(videoSourceIndex, cv2.CAP_DSHOW) self.ch340 = ch340.CH340() self.bounce_time = bounce_time + self.end_bounce_time = end_bounce_time self.total_volume = 0 self.middle_time = 0 + self.flags = 0 atexit.register(self.ch340.stop) 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 + self.colored_im = None # 首次colored图像 def ch340_pull(self): self.control_logger.info("开始抽取12ml") @@ -36,7 +47,7 @@ class MAT: def ch340_init(self): self.ch340.push(speed=1,t=1) - self.ch340.pull(speed=1.2,vol=3) + self.ch340.pull(speed=1.2,vol=1) self.control_logger.info('电极位置已初始化') def ch340_push(self, speed=0.1): @@ -70,8 +81,8 @@ class MAT: 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, val)) - while self.history and self.history[0][0] < now - self.bounce_time: + self.history.append((now, ret, val, im)) + while self.history and self.history[0][0] < now - self.end_bounce_time: self.history.pop(0) if not self.history: @@ -85,6 +96,7 @@ class MAT: self.process_left(now) self.typ = 1 self.middle_time = now + self.flags |= Flags.MIDCHK.value self.control_logger.info(f"检测到middle，切换到慢速模式，当前体积: {val:.2f} ml") elif ret == "colored": @@ -92,16 +104,20 @@ class MAT: if self.colored_volume is None: self.colored_volume = val self.colored_time = now + self.colored_im = self.history[-1][3] # 保存当前图像 + self.flags |= Flags.ENDCHK.value self.endpoint_logger.info(f"检测到colored，记录体积: {self.colored_volume:.2f} ml") # 检查是否要停止 - if self.colored_time is not None and now - self.colored_time > self.bounce_time: - colored_count = sum(1 for _, state, _ in self.history if state == "colored") + if self.colored_time is not None and now - self.colored_time > self.end_bounce_time: + colored_count = sum(1 for _, state, _,_ in self.history if state == "colored") if colored_count / len(self.history) > 0.9: self.endpoint_logger.info(f"确认终点，最终体积: {self.colored_volume:.2f} ml") self.running = False self.ch340.stop() + cv2.imwrite(f"colored_{datetime.now().strftime('%Y%m%d_%H%M%S')}.jpg", self.colored_im) return "colored" else: + self.flags &= Flags.un(Flags.ENDCHK) self.endpoint_logger.warning(f"colored比例小于90%，当前体积: {val:.2f} ml, 比例: {colored_count / len(self.history):.2%}") self.colored_volume = val self.colored_time = now @@ -109,23 +125,24 @@ class MAT: pass # 在慢速模式下检查是否要切回快速模式 - if self.typ == 1 and now - self.middle_time > self.bounce_time: - non_middle_count = sum(1 for _, state, _ in self.history if state == "transport") - if non_middle_count / len(self.history) > 0.9: + if self.typ == 1 and now - self.middle_time > self.bounce_time and not self.flags & Flags.ENDCHK.value: + non_middle_count = sum(1 for _, state, _,_ in self.history if state == "transport") + if non_middle_count / len(self.history) > 0.8: self.typ = 0 self.process_left(now) # TODO: 滑动到第一个middle状态 self.middle_time = 0 - self.control_logger.info(f"非middle比例超过90%，切回快速模式，当前体积: {val:.2f} ml") + self.control_logger.info(f"非middle比例超过80%，切回快速模式，当前体积: {val:.2f} ml") + self.flags &= Flags.un(Flags.MIDCHK) # 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 self.colored_time is not None and now - self.colored_time > self.bounce_time: - colored_count = sum(1 for _, state, _ in self.history if state == "colored") + if self.colored_volume is not None and self.colored_time is not None and now - self.colored_time > self.end_bounce_time: + colored_count = sum(1 for _, state, _,_ in self.history if state == "colored") if colored_count / len(self.history) < 0.9: self.endpoint_logger.warning(f"colored比例小于90%，重置colored记录") self.colored_volume = None flag = False - for t, state,vol in self.history: + for t, state,vol,_ in self.history: if state == "colored": if not flag: flag = True @@ -134,14 +151,19 @@ class MAT: self.colored_volume = vol self.colored_time = t break + if self.colored_volume is None: + self.flags &= Flags.un(Flags.ENDCHK) + self.typ = 0 else: self.endpoint_logger.warning("异常情况，colored超过90%但最后状态是transport") self.endpoint_logger.info(f"疑似滴定终点: {self.colored_volume:.2f} ml") t = f"Stat: {ret}, rate: {round(rate,2)}, Vol: {val:.2f} ml" if self.middle_time > 0 and (now - self.middle_time)60 + mask = s>30 + cv2.imshow('mask',im*mask[:,:,np.newaxis]) tot = mask.shape[0]*mask.shape[1] val = np.sum(mask) rate = val/tot - if rate < 0.01: + if rate < 0.02: return "transport",rate elif rate <0.2: return "middle",rate + elif rate < 0.4: + return "about",rate else: return "colored",rate @@ -171,11 +196,11 @@ class MAT: cv2.destroyAllWindows() - def run(self,quick_speed = 0.2,slow_speed = 0.05, cap_dir="Videos"): + def run(self,quick_speed = 0.2,slow_speed = 0.05,end_speed = 0.02,mid_time = 0.5,end_time=1, cap_dir="Videos"): self.running = True self.typ = 0 self.start_time = time.time() - self.speeds = (quick_speed, slow_speed) + self.speeds = (quick_speed, slow_speed,end_speed) if cap_dir is not None: vid_name = f"{cap_dir}/{datetime.now().strftime('%Y%m%d_%H%M%S')}.mp4" else: @@ -211,18 +236,37 @@ class MAT: self.system_logger.info(f"视频录制已初始化") self.ch340_init() + cnt=0 while self.running: - if self.total_volume % 12 == 0: - self.ch340_pull() # 抽取12ml - time.sleep(0.01) - + match (self.flags): + case 0: + self.typ = 0 + case Flags.MIDCHK.value: + self.typ = 1 + case Flags.ENDCHK.value: + self.typ = 2 + if self.flags&Flags.ENDCHK.value and self.typ != 2: + # self.system_logger.warning("Colored状态但未进入慢速") + self.typ = 2 + # if self.flags == Flags.MIDCHK.value and self.typ != 1: + # self.system_logger.warning("Middle状态但未进入慢速") + # self.typ = 1 + if not self.ch340.running: - self.volume_logger.info(f"当前体积: {self.total_volume:.2f} ml, 加入速度: {speed:.2f} ml/次") - - speed = self.speeds[self.typ] - self.ch340_push(speed) - self.total_volume += speed + if 12*cnt - self.total_volume<0.5: + self.ch340_pull() # 抽取12ml + cnt+=1 + time.sleep(0.01) + flag = False + flag |= self.typ == 0 + flag |= self.typ == 1 and time.time()-self.ch340.start > mid_time + flag |= self.typ == 2 and time.time()-self.ch340.start > end_time + if flag: + self.volume_logger.info(f"当前体积: {self.total_volume:.2f} ml, 加入速度: {speed:.2f} ml/次") + speed = self.speeds[self.typ] + self.ch340_push(speed) + self.total_volume += speed if self._pred() is None: self.control_logger.error("预测失败，跳过当前帧") @@ -249,13 +293,15 @@ if __name__ == "__main__": # 创建MAT类的实例并运行 mat = MAT( videoSourceIndex = 1, - bounce_time=3 + bounce_time=3, + end_bounce_time=20 ) mat.run( slow_speed = 0.05, quick_speed = 0.15, - cap_dir=None + end_time= 2 + # cap_dir=None ) diff --git a/requirements.txt b/requirements.txt index 289c665..59a25f0 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,3 +1,4 @@ numpy opencv-python pyserial +matplotlib