########### 模块引入 ##############
import sensor, image, time
from pyb import LED
from pyb import UART,Timer
from pyb import Pin
########## 变量定义 ##############
class code_msg_to_send():
quadrotor_is_to_start = 0
pole_is_near = 0
class code_msg_to_recieve():
quadrotor_is_stopped = 1
class receive(object):
uart_buf = []
_data_len = 0
_data_cnt = 0
state = 0
########## 基础配置 #############
send_flag = code_msg_to_send()
rec_flag = code_msg_to_recieve()
R = receive()
uart = UART(3,115200)#初始化串口 波特率 115200
sensor.reset()
#sensor.set_vflip(True)
#sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000) # WARNING: If you use QQVGA it may take seconds
clock = time.clock() # to process a frame sometimes.
barcode_detected = 0
qrcode_detected = 0
barcode_pixels_threshold = [(49, 100, -20, 0, 16, 59)] #条形码识别阈值
qrcode_pixels_threshold = [600, 800] #二维码识别阈值
near_the_pole_threshold = [1000, 1500] #到达杆识别阈值
see_the_pole = False #起飞后是否看见杆，通过线段拟合get_regression实现
#BINARY_THRESHOLD = (208, 224)
x_width = 80
y_height = 60
had_finished_barcode = 0
had_finished_qrcode = 0
########### 串口 ##############
# 串口数据解析
def Receive_Anl(data_buf,num):
#和校验
sum = 0
i = 0
while i<(num-1):
sum = sum + data_buf[i]
i = i + 1
sum = sum%256 #求余
if sum != data_buf[num-1]:
return
#和校验通过
#if data_buf[2]==0x01:
# print("receive 1 ok!")
#if data_buf[2]==0x02:
# print("receive 2 ok!")
if data_buf[2]==0xFD: #控制字
#接收各种标志
rec_flag.quadrotor_is_stopped = data_buf[4]
barcode_detected = data_buf[5]
qrcode_detected = data_buf[6]
#print("Recieve flags success!")
# 串口通信协议接收
def Receive_Prepare(data):
if R.state==0:
if data == 0xAA:#帧头
R.state = 1
R.uart_buf.append(data)
else:
R.state = 0
elif R.state==1:
if data == 0xAF:#帧头
R.state = 2
R.uart_buf.append(data)
else:
R.state = 0
elif R.state==2:
if data <= 0xFF:#控制字
R.state = 3
R.uart_buf.append(data)
else:
R.state = 0
elif R.state==3:#数据个数
if data <= 33:
R.state = 4
R.uart_buf.append(data)
R._data_len = data
R._data_cnt = 0
else:
R.state = 0
elif R.state==4:
if R._data_len > 0:
R. _data_len = R._data_len - 1
R.uart_buf.append(data)
if R._data_len == 0:
R.state = 5
else:
R.state = 0
elif R.state==5:
R.state = 0
R.uart_buf.append(data)
Receive_Anl(R.uart_buf,R.uart_buf[3]+5)
R.uart_buf=[]#清空缓冲区，准备下次接收数据
else:
R.state = 0
# 读取串口缓存
def uart_read_buf():
i = 0
buf_size = uart.any()
while i<buf_size:
Receive_Prepare(uart.readchar())
i = i + 1
# 标志位数据打包
def pack_flag_data():
pack_data=bytearray([0xAA,0xAF,0xF0,0x00, #修改！！！！！！！！！！！
send_flag.quadrotor_is_to_start,send_flag.pole_is_near,
0x00,0x00,0x00,0x00,
0x00,0x00])
send_flag.quadrotor_is_to_start = 0
#send_flag.pole_is_near = 0
print("aaaa: ", send_flag.pole_is_near)
lens = len(pack_data)#数据包大小
pack_data[3] = lens-5;#有效数据个数
i = 0
sum = 0
#和校验
while i<(lens-1):
sum = sum + pack_data[i]
i = i+1
pack_data[lens-1] = sum;
return pack_data
############ 像素识别 ###########
barcode_cnt = 0
qrcode_cnt = 0
pole_cnt = 0
LED_ON = 0
def count_pixels_with_movement(img):
global x_width, y_height
global barcode_detected, qrcode_detected
global barcode_cnt, qrcode_cnt, pole_cnt
global LED_ON
blob = img.find_blobs(barcode_pixels_threshold, pixels_threshold=150, area_threshold=150, merge=True, margin=5)
if blob:
pass
for i in blob:
img.draw_rectangle(i.rect(), color = 127)
barcode_detected = 1
LED_ON = 1
print("132123132131313131112311231")
print("aaaaaaaaaaaaaaaaaaaaaaaaaaaa")
return
else:
barcode_detected = 0
LED_ON = 0
return
x_pos = 0
y_pos = 0
total_white_pixels = 0
for x_pos in range(x_width):
for y_pos in range(y_height):
if img.get_pixel(x_pos, y_pos) == 255:
total_white_pixels += 1
#print("total white pixels are", total_white_pixels)
# if total_white_pixels >= verticle_pixels_threshold[0] and \
# total_white_pixels <= verticle_pixels_threshold[1]: #直角
# singleline_check.is_verticle = 2
# elif total_white_pixels >= track_line_pixels_threshold[0] and \
# total_white_pixels <= track_line_pixels_threshold[1]: #巡线
# singleline_check.is_verticle = 1
if total_white_pixels >= barcode_pixels_threshold[0] and \
total_white_pixels <= barcode_pixels_threshold[1]: #条形码
if barcode_cnt >= 0 and barcode_cnt <= 49:
barcode_cnt += 1
if barcode_cnt == 50:
barcode_cnt = -1
barcode_detected = 1
# LED(1).toggle() #红灯
# time.sleep(200)
# LED(1).toggle()
#if total_white_pixels >= qrcode_pixels_threshold[0] and \
# total_white_pixels <= qrcode_pixels_threshold[1]: #二维码
# if qrcode_cnt >= 0 and qrcode_cnt <= 49:
# qrcode_cnt += 1
# if qrcode_cnt == 50:
# qrcode_cnt = -1
# qrcode_detected = 1
# LED(3).toggle() #蓝灯
# time.sleep(200)
# LED(3).toggle()
#elif total_white_pixels >= near_the_pole_threshold[0] and \
# total_white_pixels <= near_the_pole_threshold[1]: #到达杆
# if pole_cnt >= 0 and pole_cnt <= 49:
# pole_cnt += 1
# if pole_cnt == 50:
# pole_cnt = -1
# send_flag.pole_is_near = 1
print("the flags are: %d %d %d"%(barcode_detected, qrcode_detected, send_flag.pole_is_near))
############ 拍照 ###############
barcode_num = 0
qrcode_num = 0
# 拍摄照片
def shot_images_while_tracking_lines():
#global had_finished_barcode, had_finished_qrcode
global barcode_detected, qrcode_detected, barcode_num, qrcode_num
if barcode_detected: #and (not had_finished_barcode):
#sensor.set_framesize(sensor.QVGA)
#barcode_detected = 0
if barcode_num <= 3:
barcode_num += 1
barcode_name = "barcode_" + str(barcode_num)
sensor.snapshot().save(barcode_name + ".jpg")
print(barcode_name + ".jpg is saved!")
time.sleep(5)
if barcode_num >= 3:
barcode_num = 0
#barcode_detected = 0
print("bar:", barcode_detected)
#had_finished_barcode = 1
return True
if qrcode_detected: #and (not had_finished_qrcode):
#sensor.set_framesize(sensor.QVGA)
#qrcode_detected = 0
if qrcode_num <= 4:
qrcode_num += 1
qrcode_name = "qrcode_" + str(qrcode_num)
sensor.snapshot().save(qrcode_name + ".jpg")
print(qrcode_name + ".jpg is saved!")
time.sleep(5)
if qrcode_num >= 3:
qrcode_num = 0
#qrcode_detected = 0
print("qr:", qrcode_detected)
#had_finished_qrcode = 1
return True
pin2 = Pin('P2', Pin.OUT_PP, Pin.PULL_NONE)
############# 主函数 #########
while True:
clock.tick()
img = sensor.snapshot()#.binary([BINARY_THRESHOLD])
count_pixels_with_movement(img)
#uart_read_buf()
print(send_flag.quadrotor_is_to_start)
if not send_flag.quadrotor_is_to_start:
print(rec_flag.quadrotor_is_stopped)
if rec_flag.quadrotor_is_stopped:
#rec_flag.quadrotor_is_stopped = 0
#shot_images_while_tracking_lines()
#send_flag.quadrotor_is_to_start = 1
print("ok!")
uart.write(pack_flag_data())
if send_flag.pole_is_near:
send_flag.pole_is_near = 0
LED(1).off()
LED(3).off()
LED(4).off()
LED(3).on() #?
#time.sleep(20)
if LED_ON:
#LED_ON = 0
#lock_flag = 1
LED(1).off()
LED(2).off()
LED(3).off()
LED(4).off()
shot_images_while_tracking_lines() #?
LED(2).on()
pin2.value(1) # 点灯
sensor.skip_frames(time = 200)
else:
LED(2).off()
pin2.value(0)
if qrcode_detected:
qrcode_detected = 0
LED(1).off()
LED(3).off()
LED(4).off()
LED(1).toggle() #?
sensor.skip_frames(time = 200)
```运行上述代码后，可以条形码部分的识别和拍照可以进行，但是二维码部分既无法识别也拍照不了，求大神帮我看看这是啥情况，谢谢