fix crash bug

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
+LINE_COLOR_THRESHOLD = [(0, 100)]     #巡线阈值
-WHITE_BLOCK_THRESHOLD = [(165, 255)]
+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:
-    if roi_blobs_result['middle_up']['w'] > 100 and white_line_flag == 1:
+            white_line_flag = 2;
-        white_line_flag = 2;
+            if roi_black_result['down']['w'] > 100:
-        return False
+                white_line_flag = 3;
-    if roi_blobs_result['middle_down']['w'] > 100 and white_line_flag == 2:
+                return True
-        white_line_flag = 3;
+    return False
-        return False
+    #if roi_blobs_result['down']['w'] > 100 and white_line_flag == 3:
-    if roi_blobs_result['down']['w'] > 100 and white_line_flag == 3:
+    #    white_line_flag = 0;
-        white_line_flag = 0;
+    #    return True
-        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)):
+        if rfid_and_spec_terrain_detect(find_white_blobs_in_rois(img), roi_blobs_result):
-            SendWhiteData(False)
+            SendDetectData(False)
             is_need_send_data = False
         else:
             down_center, state_crossing, deflection_angle = state_deflection_angle(roi_blobs_result)
-            if state_crossing:
+            #if state_crossing:
-                white_line_flag = 0
+            #    white_line_flag = 0
-            LCDDrawTrackInfo(down_center, state_crossing, deflection_angle, img)
+            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)