import sensor, image, time, math
from pyb import UART
import json
import ustruct
red_threshold_01 = ((6, 62, 25, 71, 15, 47));
green_threshold_01 = ((31, 99, -22, -61, 12, 59));
blue_threshold_01 = ((73, 43, -49, 57, -82, -13));
threshold = [50, 50, 0, 0, 0, 0]
rec=5;
sign=0;
uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)
def sending_data_qr(code1,code2):
global uart;
data = ustruct.pack("<bbhhb",
0x2C,
0x12,
int(code1),
int(code2),
0x5B)
uart.write(data);
def sending_data_sign(sign):
global uart;
data = ustruct.pack("<bbhb",
0x2C,
0x12,
int(sign),
0x5B)
uart.write(data);
def sending_data(cx):
global uart;
data = ustruct.pack("<bbhb",
0x2C,
0x12,
int(cx),
0x5B)
uart.write(data);
def recive_data():
global uart
global rec
if uart.any():
rec = uart.readline();
print( rec)
def find_max(blobs):
max_size=0
for blob in blobs:
if blob.pixels() > max_size:
max_blob=blob
max_size = blob.pixels()
return max_blob
while(1):
if(rec==b'\x01'):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(30)
sensor.set_auto_gain(False)
while(rec==b'\x01'):
img = sensor.snapshot()
img.lens_corr(1.8)
for code in img.find_qrcodes():
if( len ( list (code.payload()))==7):
tem = list (code.payload());
print(tem);
qr1=tem[0]+tem[1]+tem[2];
qr2=tem[4]+tem[5]+tem[6];
print(qr1);
print(qr2);
sending_data_qr(qr1,qr2);
recive_data();
elif(rec==b'\x05'):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(30)
sensor.set_auto_gain(False)
while(rec==b'\x05'):
img = sensor.snapshot()
img.lens_corr(1.8)
for code in img.find_qrcodes():
if( len ( list (code.payload()))==4):#判断扫码得到的是不是四位字符
tem = list (code.payload());#扫码得到的四位字符列表
#print(tem);
if(tem[0]=='红'):
if(tem[2]=='绿'):
qr1=12;
elif(tem[2]=='蓝'):
qr1=13;
if(tem[0]=='绿'):
if(tem[2]=='红'):
qr1=21;
elif(tem[2]=='蓝'):
qr1=23;
if(tem[0]=='蓝'):
if(tem[2]=='红'):
qr1=31;
elif(tem[2]=='绿'):
qr1=32;
print(qr1);
sending_data_qr(qr1,qr1);
recive_data();
elif(rec==b'\x04'):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
while(rec==b'\x04'):
clock.tick()
img = sensor.snapshot()
blobs = img.find_blobs([red_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10);
blobs1 = img.find_blobs([green_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10);
blobs2 = img.find_blobs([blue_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10);
cx=0;cy=0;cx1=0;cy1=0;cx2=0;cy2=0;
if blobs:
max_b = find_max(blobs);
img.draw_rectangle(max_b[0:4])
img.draw_cross(max_b[5], max_b[6])
img.draw_cross(160, 120)
cx=max_b[5];
cy=max_b[6];
img.draw_line((160,120,cx,cy), color=(127));
img.draw_string(cx, cy, "(%d, %d)"%(cx,cy), color=(127));
sign=sign+1;
elif blobs1:
max_b = find_max(blobs1);
img.draw_rectangle(max_b[0:4])
img.draw_cross(max_b[5], max_b[6])
img.draw_cross(160, 120)
cx1=max_b[5];
cy1=max_b[6];
img.draw_line((160,120,cx1,cy1), color=(127));
img.draw_string(cx1, cy1, "(%d, %d)"%(cx1,cy1), color=(127));
sign=sign+2;
elif blobs2:
max_b = find_max(blobs2);
img.draw_rectangle(max_b[0:4])
img.draw_cross(max_b[5], max_b[6])
img.draw_cross(160, 120)
cx2=max_b[5];
cy2=max_b[6];
img.draw_line((160,120,cx2,cy2), color=(127));
img.draw_string(cx2, cy2, "(%d, %d)"%(cx2,cy2), color=(127));
sign=sign+3;
print(sign);
sending_data_sign(sign);
sign=0;
recive_data();
else :
recive_data();
