diff --git a/predictor_Syringe_Pump.py b/predictor_Syringe_Pump.py index 021713b..96f8ea0 100644 --- a/predictor_Syringe_Pump.py +++ b/predictor_Syringe_Pump.py @@ -1,59 +1,39 @@ -import torch import cv2 import time -import os -import serial from datetime import datetime import numpy as np -import joblib import ch340 from threading import Thread import atexit -LOCAL_DEBUG = False - -if LOCAL_DEBUG: - print("WARNING: Local debug mode is enabled. Serial communication will be skipped.") - time.sleep(2) - class MAT: - 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 - self.cap = cv2.VideoCapture(videoSourceIndex, cv2.CAP_DSHOW) # 打开摄像头 - self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") + def __init__(self, videoSourceIndex=0, bounce_time=1): + print('Initializing MAT...') + self.videoSourceIndex = videoSourceIndex + self.cap = cv2.VideoCapture(videoSourceIndex, cv2.CAP_DSHOW) self.ch340 = ch340.CH340() - 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 - self.color_list = [] # 记录颜色变化 - self.start_time = time.time() # 记录实验开始时间 - self.weights_path = os.path.join(self.data_root, weights_path) # 权重文件路径 - self.json_path = os.path.join(self.data_root, json_path) # 类别文件路径 + 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.start_move_3) + atexit.register(self.ch340.stop) print("实验开始于", self.formatted_time) - def start_move_1(self): # 抽料程序 + def ch340_pull(self): self.ch340.max_speed() self.ch340.pull(vol=12) print('完成抽取') - def start_move_init(self): # init + def ch340_init(self): self.ch340.push(speed=1,t=1) self.ch340.pull(speed=1.2,vol=3) - print('INITED') + print('CH340 INITED') - def start_move_2(self, speed=0.1): # 进料程序 + def ch340_push(self, speed=0.1): self.ch340.push(speed=speed, t=1) - - def start_move_3(self): # 进料急停 - self.ch340.stop() def _pred(self): suc,im = self.cap.read() @@ -88,33 +68,28 @@ class MAT: else: print("Got middle flag, bounce check start, val:",self.total_volume) self.typ = 1 - self.start_move_3() + self.ch340.stop() self.debounce[1].append((time.time(),self.total_volume)) - elif ret == self.end_kind: + elif ret == "colored": if self.debounce[1]: print("Got stop flag, val:",self.total_volume) self.running = False - self.start_move_3() + self.ch340.stop() return 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 + return ret def my_predictor(self,im): - # im = cv2.imread(file) hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV) s = hsv[:,:,1] - # print(mask) mask = s>60 tot = mask.shape[0]*mask.shape[1] val = np.sum(mask) @@ -141,27 +116,26 @@ 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:float|int = 5, end_kind = 'orange'): + def run(self,quick_speed = 0.2, mid_speed=0.1,slow_speed = 0.05): self.running = True self.typ = 0 - self.end_kind = end_kind self.last = [time.time(),0] self.debounce = [[],[]] self.thr = Thread(target=self._pred) self.thr.start() while self.running: if self.now_volume <= 0: - self.start_move_1() # 抽取12ml + self.ch340_pull() # 抽取12ml self.now_volume += 12 if self.typ == 0: # 每次加0.2ml speed = quick_speed - self.start_move_2(speed) + self.ch340_push(speed) self.total_volume += speed self.now_volume -= speed else: speed = slow_speed - self.start_move_2(speed) # 每次加0.05ml + self.ch340_push(speed) # 每次加0.05ml self.total_volume += speed self.now_volume -= speed time.sleep(1) @@ -169,7 +143,6 @@ class MAT: self.total_volume = round(self.total_volume, 3) - self.volume_list.append(self.total_volume) self.save_img() cv2.waitKey(1) @@ -177,17 +150,12 @@ class MAT: self.save_img() print('----->>Visual Endpoint<<-----') print(f"Total Volume: {self.total_volume} ml") - print("Volume List:", self.volume_list) - print("Color List:", self.color_list) if __name__ == "__main__": # 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, bounce_time=0.2 ) @@ -195,8 +163,6 @@ if __name__ == "__main__": mat.run( quick_speed = 0.15, slow_speed = 0.05, - expect = 10, - end_kind = 'colored', )