clean code
Former-commit-id: 0c4a66b08f05c881992c7303fdebfd15d65d82df
This commit is contained in:
157
main.py
157
main.py
@ -7,51 +7,61 @@ import atexit
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import utils
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from utils import State, History,login_to_platform,send_data_to_platform
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from scipy.signal import find_peaks
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import tkinter as tk
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from typing import Optional
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import logging
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class MAT:
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def __init__(self, videoSourceIndex=0, bounce_time=2, end_bounce_time=5,k=30):
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def __init__(self, videoSourceIndex=0, bounce_time=2,sensity=30):
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# 初始化logging
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utils.setup_logging()
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self.system_logger = utils.get_system_logger()
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self.control_logger = utils.get_control_logger()
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self.endpoint_logger = utils.get_endpoint_logger()
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self.volume_logger = utils.get_volume_logger()
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self.system_logger.info('正在初始化MAT系统...')
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self.system_logger = logging.getLogger("System")
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self.control_logger = logging.getLogger("Control")
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self.endpoint_logger = logging.getLogger("Endpoint")
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self.volume_logger = logging.getLogger("Volume")
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self.system_logger.info('正在初始化MAT系统...')
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self.videoSourceIndex = videoSourceIndex
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self.cap = cv2.VideoCapture(videoSourceIndex, cv2.CAP_DSHOW)
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self.ch340 = ch340.CH340()
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self.total_volume = 0
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self.k = k
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self.sensity = sensity
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self.state = State(bounce_time, end_bounce_time)
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self.state = State(bounce_time)
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atexit.register(self.ch340.stop)
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self.history = History(max(bounce_time, end_bounce_time))
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self.first_about = 0
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self.history = History(bounce_time)
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self.colored_volume = None
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self.colored_time = None
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self.colored_im = None
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def ch340_pull(self):
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"抽取12ml液体"
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self.control_logger.info("开始抽取12ml")
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self.ch340.max_speed()
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self.ch340.pull(vol=12)
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self.control_logger.info('完成抽取')
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def ch340_init(self):
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"初始化电机位置，防止过头导致抽取溶液不准。"
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# self.ch340.push(speed=1,t=1)
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self.ch340.pull(speed=1.2,vol=1.8)
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self.control_logger.info('电极位置已初始化')
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def ch340_push(self, speed=0.1):
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def ch340_push(self, speed:int|float=0.1):
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"常规推送，保证推送时间为1s，推送体积=speed"
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self.ch340.push_async(speed=speed, t=1)
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def process_left(self, now: float, value_only=False):
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if self.state.mode == State.Mode.CRAZY:
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value_only = True
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def process_left(self, now: float, value_only:Optional[bool]=False) -> Optional[float]:
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'''
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计算当前时刻剩余体积，并更新到self.total_volume。
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@param now: 当前时间戳
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@param value_only: 如果为True，则只返回剩余体积，不更新状态
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@return: 当前剩余体积，仅当value_only为True时返回
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'''
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if self.state.mode == State.Mode.ABOUT:
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return self.total_volume
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st = self.ch340.start
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@ -95,9 +105,6 @@ class MAT:
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if self.history.is_empty():
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self.control_logger.error("未预期的没有可用的历史记录")
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return ret
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if self.state.mode == State.Mode.CRAZY:
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self._display_status(im, ret, rate, val)
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return ret
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# === 状态进入逻辑 ===
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@ -123,16 +130,6 @@ class MAT:
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self.state.enter_about_state(now)
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self.control_logger.info(f"检测到about，进入about模式，当前体积: {val:.2f} ml")
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# 3. end：返回colored，置end_check标记开始检查
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# elif ret == "colored":
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# if not self.state.in_end_check:
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# self.state.enter_end_check(now)
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# if self.colored_volume is None:
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# self.colored_volume = val
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# self.colored_time = now
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# self.colored_im = im.copy()
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# self.endpoint_logger.info(f"检测到colored，开始end检查，记录体积: {val:.2f} ml")
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# === 状态检查逻辑 ===
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# 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
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if self.state.should_check_middle_exit(now) and not self.history.last_end:
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@ -145,8 +142,6 @@ class MAT:
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if trans_ratio > 0.4:
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self.process_left(now)
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self.state.exit_middle_check()
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# about状态随middle一起退出
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# self.state.exit_about_with_middle()
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self.control_logger.info(f"middle比例{trans_ratio:.2%}<60%，退出middle检查，返回fast模式")
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if self.state.mode == State.Mode.ABOUT and self.state.about_check:
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@ -175,6 +170,7 @@ class MAT:
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return ret
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def end_check(self,dep=0):
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'''终点检测，通过对图像直方图峰值分析，确认是否全局变色。'''
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if not self.running:
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return "colored"
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if dep == 1:
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@ -189,14 +185,13 @@ class MAT:
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name = f"colored_{datetime.now().strftime('%Y%m%d_%H%M%S')}.jpg"
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cv2.imwrite(name,result)
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self.colored_im = name
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# 维护一个递归检测，重复4次后认定为终点。
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if dep > 3:
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# self.endpoint_logger.info(f"colored比例{.2%}>=70%，确认滴定终点")
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self.colored_volume = self.total_volume
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self.endpoint_logger.info(f"最终体积: {self.colored_volume:.2f} ml")
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self.running = False
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self.ch340.stop()
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# if self.colored_im is not None:
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# cv2.imwrite(f"colored_{datetime.now().strftime('%Y%m%d_%H%M%S')}.jpg", self.colored_im)
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return "colored"
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suc,im = self.cap.read()
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hsv = cv2.cvtColor(im, cv2.COLOR_BGR2HSV)
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@ -235,8 +230,6 @@ class MAT:
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State.Mode.FAST: (255, 255, 255),
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State.Mode.SLOW: (10, 215, 255),
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State.Mode.ABOUT: (228,116,167),
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State.Mode.CRAZY: (0, 255, 0),
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# State.Mode.END: (0, 0, 255)
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}
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status_text = f"Stat: {detection_result}, rate: {round(rate,2)}, Vol: {volume:.2f} ml"
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@ -248,9 +241,10 @@ class MAT:
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cv2.waitKey(1)
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def predictor(self,im):
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'''主预测函数，分析图像并返回当前状态。当前，colored不使用这个函数。'''
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hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
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s = hsv[:,:,1]
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mask = s>self.k
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mask = s>self.sensity
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cv2.imshow('mask',im*mask[:,:,np.newaxis])
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tot = mask.shape[0]*mask.shape[1]
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val = np.sum(mask)
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@ -283,7 +277,7 @@ class MAT:
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def run(self, quick_speed=0.2, slow_speed=0.05, end_speed=0.02, mid_time=0.5, about_time=1, cap_dir="Videos"):
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self.running = True
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self.start_time = time.time()
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self.speeds = [quick_speed, slow_speed, end_speed, 1.0]
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self.speeds: list[float] = [quick_speed, slow_speed, end_speed]
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self.need_check = False
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self.edited = False
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self.volume_list = []
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@ -324,67 +318,43 @@ class MAT:
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self._start_time = time.time()
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self.about_time=about_time
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self.crazy = 0
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while self.running:
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if not self.ch340.running:
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if self.state.mode == State.Mode.CRAZY:
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match self.crazy:
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case 0:
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self.control_logger.info("crazy 0")
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self.ch340_pull()
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self.ch340.speed = 1.00
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self.ch340.push_async(vol=12)
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self.crazy = 1
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case 1:
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self.control_logger.info("crazy 1")
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self.ch340_pull()
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self.ch340.push_async(vol=8)
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self.total_volume = 20
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cnt = 2
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self.crazy = 2
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self.state.mode = State.Mode.FAST
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else:
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if 12 * cnt - self.total_volume < 0.5:
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self.ch340_pull()
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cnt += 1
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time.sleep(0.01)
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# 简化的推送逻辑
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should_push = False
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if self.state.is_fast_mode():
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should_push = True
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elif self.state.is_slow_mode() and time.time() - self.ch340.start > mid_time:
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should_push = True
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elif self.state.is_about_mode() and time.time() - self.ch340.start > about_time:
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if not self.state.about_first_flag:
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self.state.about_check = True
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else:
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self.state.about_first_flag = False
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should_push = True
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if should_push:
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speed = self.speeds[self.state.mode.value]
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self.volume_logger.info(f"当前体积: {self.total_volume:.2f} ml, 加入速度: {speed:.2f} ml/次")
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self.ch340_push(speed)
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self.total_volume += speed
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self.volume_list.append(round(self.total_volume,2))
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try:
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self.color_list.append(self.state.mode.name)
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except Exception as e:
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self.control_logger.error(f"报表失败: {e}")
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if 12 * cnt - self.total_volume < 0.5:
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self.ch340_pull()
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cnt += 1
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should_push = False
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if self.state.is_fast_mode():
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should_push = True
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elif self.state.is_slow_mode() and \
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time.time() - self.ch340.start > mid_time:
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should_push = True
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elif self.state.is_about_mode() and \
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time.time() - self.ch340.start > about_time:
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if not self.state.about_first_flag:
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self.state.about_check = True
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else:
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self.state.about_first_flag = False
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should_push = True
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if should_push:
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speed = self.speeds[self.state.mode.value]
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self.volume_logger.info(f"当前体积: {self.total_volume:.2f} ml, 加入速度: {speed:.2f} ml/次")
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self.ch340_push(speed)
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self.total_volume += speed
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self.volume_list.append(round(self.total_volume,2))
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try:
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self.color_list.append(self.state.mode.name)
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except Exception as e:
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self.control_logger.error(f"报表失败: {e}")
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# if (self.state.is_about_mode() and time.time() - self.ch340.start > end_time) or not self.state.is_about_mode():
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if self._pred() is None:
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self.control_logger.error("预测失败，跳过当前帧")
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continue
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# try:
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# self.control_logger.info("推送安全体积")
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# self.ch340_push(0.15)
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# except Exception as e:
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# self.control_logger.error(f"推送失败: {e}")
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# 释放视频录制器
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if hasattr(self, 'capFile') and self.capFile.isOpened():
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self.capFile.release()
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@ -419,8 +389,7 @@ if __name__ == "__main__":
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mat = MAT(
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videoSourceIndex = 1,
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bounce_time=2,
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end_bounce_time=0.01,
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k = 32
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sensity = 32
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)
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mat.state.mode = State.Mode.FAST
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