From 4744fac94124f40fbe62d53da329102bbfa37b51 Mon Sep 17 00:00:00 2001 From: UnknownObject Date: Sun, 18 Jun 2023 19:39:39 +0800 Subject: [PATCH] fix crash bug --- track.py | 57 ++++++++++++++++++++++++++++++++++---------------------- 1 file changed, 35 insertions(+), 22 deletions(-) diff --git a/track.py b/track.py index b1ef01c..6a977cc 100644 --- a/track.py +++ b/track.py @@ -35,11 +35,12 @@ def LCDDrawText(str_data,_image): del LCD_Text_Array[0] -def LCDDrawTrackInfo(down_center,state_crossing,deflection_angle,_image): +def LCDDrawTrackInfo(down_center,state_crossing,deflection_angle,_image,white_flag): lcd.display(_image) lcd.draw_string(0, 0, "down_center = " + str(down_center), lcd.GREEN) lcd.draw_string(0, 15, "state_crossing = " + str(state_crossing), lcd.GREEN) lcd.draw_string(0, 30, "deflection_angle = " + str(deflection_angle), lcd.GREEN) + lcd.draw_string(0, 45, "white_flag = " + str(white_flag), lcd.GREEN) #--------------LCD 滚动字符显示 STOP------------------ @@ -110,10 +111,11 @@ def data_format_wrapper(down_center, state_crossing, deflection_angle): return bytes(send_data) -def SendWhiteData(is_detect, detect_info=0x00): +def SendDetectData(is_detect, detect_info=0x00): data = [0x55,0x02,0x80, 0x02 if is_detect else 0x01, - detect_info if is_detect else 0x00,0x00,0x00,0xBB] + abs(int(detect_info)) if is_detect else 0x00, + get_symbol(detect_info),0x00,0xBB] UsartSend(bytes(data)) def SendROIData(roi_data): @@ -187,6 +189,7 @@ def Servo(angle): Servo(0) # 默认向下0度 +#Servo(-60) # 取样调试，调整至循迹角度 time.sleep(1) #--------------舵机配置 END ------------------- @@ -198,8 +201,8 @@ time.sleep(1) # 直线灰度图颜色阈值 -LINE_COLOR_THRESHOLD = [(6, 65)] #Dark -WHITE_BLOCK_THRESHOLD = [(165, 255)] +LINE_COLOR_THRESHOLD = [(0, 100)] #巡线阈值 +WHITE_BLOCK_THRESHOLD = [(180, 255)] #RFID/特殊地形标志物阈值 #LINE_COLOR_THRESHOLD = [(6, 120)] #Light #LINE_COLOR_THRESHOLD = [(0, 52, -19, 0, -1, 14)] @@ -335,20 +338,19 @@ def state_deflection_angle(roi_blobs_result): white_line_flag = 0 -def rfid_and_spec_terrain_detect(roi_blobs_result): +def rfid_and_spec_terrain_detect(roi_blobs_result, roi_black_result): global white_line_flag - if roi_blobs_result['up']['w'] > 100 and white_line_flag == 0: + if roi_black_result['up']['w'] > 100: white_line_flag = 1; - return False - if roi_blobs_result['middle_up']['w'] > 100 and white_line_flag == 1: - white_line_flag = 2; - return False - if roi_blobs_result['middle_down']['w'] > 100 and white_line_flag == 2: - white_line_flag = 3; - return False - if roi_blobs_result['down']['w'] > 100 and white_line_flag == 3: - white_line_flag = 0; - return True + if roi_blobs_result['middle_up']['w'] > 100: + white_line_flag = 2; + if roi_black_result['down']['w'] > 100: + white_line_flag = 3; + return True + return False + #if roi_blobs_result['down']['w'] > 100 and white_line_flag == 3: + # white_line_flag = 0; + # return True #--------------RFID卡与特殊地形标志物检测 END ------------------- @@ -405,6 +407,13 @@ while True: LCDDrawText(binascii.hexlify(data).decode('utf_8'), img) if(len(data) >= 8): if((data[1] == 0x02)&(data[7] == 0xBB)): + if(data[2] == 0x80): + roi_line_check = find_blobs_in_rois(img) + d_c, s_c, angle = state_deflection_angle(roi_line_check) + SendDetectData(True, angle) + #if(roi_line_check['middle_down']['blob_flag'] and roi_line_check['down']['blob_flag']): + #else: + #SendDetectData(False) # 巡线与控制舵机 if(data[2] == 0x91): if(data[3] == 0x01): # 启动识别 @@ -433,6 +442,10 @@ while True: angle = angle Servo(angle) # 控制舵机 time.sleep(1) # 等待舵机角度更新 + if(data[3] == 0xAA): + roi_line_check = find_blobs_in_rois(img) + d_c, s_c, angle = state_deflection_angle(roi_line_check) + SendDetectData(True, angle) # 二维码识别 if(data[2] == 0x92): print("识别二维码") @@ -453,14 +466,14 @@ while True: # 巡线 if Flag_track: roi_blobs_result = find_blobs_in_rois(img) - if rfid_and_spec_terrain_detect(find_white_blobs_in_rois(img)): - SendWhiteData(False) + if rfid_and_spec_terrain_detect(find_white_blobs_in_rois(img), roi_blobs_result): + SendDetectData(False) is_need_send_data = False else: down_center, state_crossing, deflection_angle = state_deflection_angle(roi_blobs_result) - if state_crossing: - white_line_flag = 0 - LCDDrawTrackInfo(down_center, state_crossing, deflection_angle, img) + #if state_crossing: + # white_line_flag = 0 + LCDDrawTrackInfo(down_center, state_crossing, deflection_angle, img, white_line_flag) if is_need_send_data: UsartSend(data_format_wrapper(down_center, state_crossing, deflection_angle)) time.sleep_ms(10)