206 lines
7.6 KiB
Python
206 lines
7.6 KiB
Python
import cv2
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import time
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from datetime import datetime
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import numpy as np
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import ch340
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import atexit
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class MAT:
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def __init__(self, videoSourceIndex=0, bounce_time=1):
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print('Initializing MAT...')
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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.bounce_time = bounce_time
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self.total_volume = 0
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self.start_time = time.time()
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self.middle_time = time.time()
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# 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
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self.formatted_time = datetime.fromtimestamp(self.start_time).strftime('%Y%m%d_%H%M%S')
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atexit.register(self.ch340.stop)
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print("实验开始于", self.formatted_time)
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self.history = [] # 滑动窗口历史记录
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self.colored_volume = None # 首次colored体积
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self.colored_time = None # 首次colored时间
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def ch340_pull(self):
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print("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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print('完成抽取')
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def ch340_init(self):
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self.ch340.push(speed=1,t=1)
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self.ch340.pull(speed=1.2,vol=3)
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print('CH340 INITED')
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def ch340_push(self, speed=0.1):
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self.ch340.push_async(speed=speed, t=1)
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def process_left(self,now:float, velue_only=False):
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st = self.ch340.start
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if not velue_only: self.ch340.stop()
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assert abs(self.ch340._get_time()-1) < 1e3 # run time should be 1s
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r = now-st
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ret = self.total_volume - (1-r)*self.speeds[self.typ] # 减去未完成的体积
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if velue_only:return ret
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else:self.total_volume = ret
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def _pred(self):
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"""预测当前图像状态，返回'transport'、'middle'或'colored'"""
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suc, im = self.cap.read()
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if not suc:
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print("Failed to capture frame from camera.")
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return None
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ret,rate = self.predictor(im)
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if ret is None:
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print("Fallback")
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return None
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now = time.time()
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val = self.process_left(now,velue_only=True)
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# 记录历史状态，保留bounce_time时间内的记录
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self.history.append((now, ret, val))
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while self.history and self.history[0][0] < now - self.bounce_time:
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self.history.pop(0)
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if not self.history:
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print("Warning: No history available.")
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return ret
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# 处理检测结果
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if ret == "middle":
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# 检测到middle立即切换到慢速模式
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if self.typ == 0:
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self.process_left(now)
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self.typ = 1
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self.middle_time = now
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print(f"检测到middle，切换到慢速模式，当前体积: {val}")
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elif ret == "colored":
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# 检测到colored时记录当前体积
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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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print(f"检测到colored，记录体积: {self.colored_volume}")
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# 检查是否要停止
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if now - self.colored_time > self.bounce_time:
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colored_count = sum(1 for _, state, _ in self.history if state == "colored")
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if colored_count / len(self.history) > 0.9:
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print(f"确认终点，最终体积: {self.colored_volume:0.2f} ml")
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self.running = False
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self.ch340.stop()
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return "colored"
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else:
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print(f"colored比例小于90%，当前体积: {val}, {colored_count / len(self.history)}")
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self.colored_volume = val
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self.colored_time = now
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else: # ret == "transport"
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pass
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# 在慢速模式下检查是否要切回快速模式
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if self.typ == 1 and now - self.middle_time > self.bounce_time:
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non_middle_count = sum(1 for _, state, _ in self.history if state == "transport")
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if non_middle_count / len(self.history) > 0.9:
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self.typ = 0
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self.process_left(now)
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# TODO: 滑动到第一个middle状态
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self.middle_time = 0
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print(f"非middle比例超过90%，切回快速模式，当前体积: {val}")
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# 如果已记录colored但在bounce_time内colored比例小于90%，重置
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if self.colored_volume is not None and now - self.colored_time > self.bounce_time:
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colored_count = sum(1 for _, state, _ in self.history if state == "colored")
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if colored_count / len(self.history) < 0.9:
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print(f"colored比例小于90%，重置colored记录")
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self.colored_volume = None
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flag = False
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for t, state,vol in self.history:
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if state == "colored":
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if not flag:
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flag = True
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continue
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print(f"滑动窗口到: {vol} at {t}")
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self.colored_volume = vol
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self.colored_time = t
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break
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else:
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print("Warning: Unusual condition, colored for over 90%% but last is transport")
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print(f"疑似滴定终点: {self.colored_volume}")
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cv2.putText(im,
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f"State: {ret}, rate: {round(rate,2)}, Vol: {val:.2f} ml, typ: {'slow' if self.typ else 'fast'}",
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(10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (10,215, 255) if self.typ else (255,255,255), 2)
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cv2.imshow("Frame", im)
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cv2.waitKey(1)
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return ret
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def predictor(self,im):
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hsv = cv2.cvtColor(im,cv2.COLOR_BGR2HSV)
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s = hsv[:,:,1]
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mask = s>60
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tot = mask.shape[0]*mask.shape[1]
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val = np.sum(mask)
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rate = val/tot
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if rate < 0.01:
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return "transport",rate
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elif rate <0.2:
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return "middle",rate
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else:
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return "colored",rate
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def __del__(self):
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self.cap.release()
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cv2.destroyAllWindows()
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print("Experiment finished.")
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def run(self,quick_speed = 0.2,slow_speed = 0.05):
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self.running = True
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self.typ = 0
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self.last = 0
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self.speeds = (quick_speed, slow_speed)
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while self.running:
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if self.total_volume % 12 == 0:
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self.ch340_pull() # 抽取12ml
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time.sleep(0.01)
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if not self.ch340.running:
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print(f"Current Total Volume: {self.total_volume:0.2f} ml")
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if self.typ == 0: # 每次加0.2ml
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speed = quick_speed
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self.ch340_push(speed)
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self.total_volume += speed
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else:
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speed = slow_speed
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self.ch340_push(speed) # 每次加0.05ml
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self.total_volume += speed
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if self._pred() is None:
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print("Prediction failed, skipping frame.")
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continue
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print('----->>Visual Endpoint<<-----')
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print(f"Total Volume: {self.total_volume} ml")
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print(f"End point volume: {self.colored_volume} ml")
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print(f"Theorical fixed volume: {self.colored_volume} ml")
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if __name__ == "__main__":
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# 创建MAT类的实例并运行
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mat = MAT(
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videoSourceIndex = 1,
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bounce_time=1
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)
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mat.run(
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slow_speed = 0.05,
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quick_speed = 0.15,
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)
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