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Merge branch 'master' into transport

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Former-commit-id: 8a0e3cae8b38d79badc1c6bc8184bc2c689454a5
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flt6
2025-05-18 11:37:15 +08:00
parent e27e5d6129 33b8c47ce8
commit eed3f00ae1
1 changed files with 91 additions and 15 deletions
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106
Auto_Ctrl/predictor_Syringe_Pump.py
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@ -12,6 +12,7 @@ import joblib
import json
import Find_COM
from threading import Thread
import atexit
LOCAL_DEBUG = False
@ -20,7 +21,7 @@ if LOCAL_DEBUG:
time.sleep(2)
class MAT:
def __init__(self, videoSourceIndex=0, weights_path = "resnet34-1Net.pth", json_path = 'class_indices.json', classes = 2):
def __init__(self, videoSourceIndex=0, weights_path = "resnet34-1Net.pth", json_path = 'class_indices.json', classes = 2,bounce_time=1):
print('实验初始化中')
self.data_root = os.getcwd()
self.videoSourceIndex = videoSourceIndex # 摄像机编号
@ -30,6 +31,7 @@ class MAT:
self.port = Find_COM.list_ch340_ports()[0] # 串口名
self.pump_ser = serial.Serial(self.port, 9600) # 初始化串口
self.classes = classes
self.bounce_time = bounce_time # 防抖时间
self.total_volume = 0 # 记录总体积
self.now_volume = 0 # 记录当前注射泵内体积
self.volume_list = [] # 记录体积变化
@ -41,11 +43,13 @@ class MAT:
self.formatted_time = datetime.fromtimestamp(self.start_time).strftime('%Y%m%d_%H%M%S')
self.model = joblib.load("model.pkl")
atexit.register(self.start_move_3)
print("实验开始于", self.formatted_time)
def start_move_1(self): # 抽料程序
if LOCAL_DEBUG:return
data = b"q1h24d" # *2
self.start_move_init()
data = b"q1h40d" # *2
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q2h0d"
@ -54,14 +58,44 @@ class MAT:
data = b"q4h0d"
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q5h15d"
data = b"q5h9d"
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q6h3d"
self.pump_ser.write(data)
time.sleep(15)
time.sleep(9)
print('完成抽取')
def start_move_init(self): # init
if LOCAL_DEBUG:return
data = b"q1h15d" # *2
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q2h0d"
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q4h0d"
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q5h2d"
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q6h2d"
self.pump_ser.write(data)
print("send1")
time.sleep(2)
data = b"q1h20d" # *2
self.pump_ser.write(data)
time.sleep(0.01)
data = b"q5h1d"
self.pump_ser.write(data)
time.sleep(0.1)
data = b"q6h3d"
self.pump_ser.write(data)
print("send2")
time.sleep(1)
print('INITED')
def start_move_2(self, speed=0.1): # 进料程序
if LOCAL_DEBUG:
time.sleep(1)
@ -92,20 +126,23 @@ class MAT:
if LOCAL_DEBUG:return
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 :
print(e)
import traceback
traceback.print_exc()
return None
# name = f"{cl}_{h}_{s}_{v}.jpg"
@ -118,15 +155,45 @@ class MAT:
ret = self.my_predictor(im)
# print(ret)
if ret is None:
print("Failed")
print("Fallback")
self.thr = Thread(target=self._pred).start()
else:
if ret == self.end_kind:
print("Stop at ",self.total_volume)
self.running = False
self.start_move_3()
# 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.thr = Thread(target=self._pred).start()
self.last[1] += 1
# fps end
now = time.time()
if ret == self.end_kind:
if self.debounce[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)
self.debounce[1].append((time.time(),self.total_volume))
else:
if self.debounce[0]:
# print(self.debounce)
if self.debounce[1]:
# print(self.debounce[1][0][0],now,self.bounce_time)
# print(self.debounce[1][0][0] > now - self.bounce_time)
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,0.9
def my_predictor(self,im):
@ -190,10 +257,11 @@ class MAT:
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,expect = 5, end_kind = 'orange'):
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.end_kind = end_kind
self.cnt = 0
self.last = [time.time(),0]
self.debounce = [[],[]]
self.thr = Thread(target=self._pred)
self.thr.start()
switching_point = expect * 0.9
@ -235,7 +303,15 @@ if __name__ == "__main__":
warnings.filterwarnings('ignore')
# 创建MAT类的实例并运行
mat = MAT(videoSourceIndex = 1, weights_path = "resnet34-1Net.pth", json_path = 'class_indices.json', classes = 2)
mat = MAT(
videoSourceIndex = 1,
weights_path = "resnet34-1Net.pth",
json_path = 'class_indices.json',
classes = 2,
bounce_time=1
)
# exit()
mat.run(
quick_speed = 0.3,
slow_speed = 0.2,