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Former-commit-id: 74b47e62e52fe7724cbf096b1f67022110dd86e9
This commit is contained in:
flt6
2025-05-29 17:14:55 +08:00
parent 90170a80e0
commit c38984e7e7
2 changed files with 76 additions and 29 deletions
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104
main.py
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@ -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)<self.bounce_time:
self.flags |= Flags.MIDCHK.value
t += f", MIDCHK"
if self.colored_time is not None and (now - self.colored_time) < self.bounce_time:
if self.colored_time is not None and (now - self.colored_time) < self.end_bounce_time:
self.flags |= Flags.ENDCHK.value
t += f", ENDCHK"
cv2.putText(im,
t,
@ -153,14 +175,17 @@ class MAT:
def predictor(self,im):
hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
s = hsv[:,:,1]
mask = s>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
)

1
requirements.txt
View File

@ -1,3 +1,4 @@
numpy
opencv-python
pyserial
matplotlib