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  • 一直出现Exception: IDE interrupt不知道怎么回事,下面是我的代码



    • 
      

      import sensor, image, mjpeg, pyb, network, usocket, sys
      import time

      SSID ='OPENMV_AP' # Network SSID
      KEY ='1234567890' # wifi密码(必须为10字符)
      HOST = '' # 使用第一个可用的端口
      PORT = 8080 # 任意非特权端口

      from pid import PID
      from pyb import Servo
      from pyb import Pin
      pan_servo=Servo(1)
      tilt_servo=Servo(2)
      red_threshold = (13, 49, 18, 61, 6, 47)
      pan_pid = PID(p=0.07, i=0, imax=90)
      tilt_pid = PID(p=0.05, i=0, imax=90)
      sensor.reset()

      设置传感器设置

      sensor.set_contrast(1)
      sensor.set_brightness(1)
      sensor.set_saturation(1)
      sensor.set_gainceiling(16)

      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQVGA)
      sensor.set_vflip(True)#将镜头倒转过来
      sensor.skip_frames(10)
      sensor.set_auto_whitebal(False)
      clock = time.clock()
      p_out = Pin('P0', Pin.OUT_PP)
      p_1 = Pin('P1', Pin.IN, Pin.PULL_UP)#设置p_1为输入引脚,并开启上拉电阻
      p_2 = Pin('P2', Pin.IN, Pin.PULL_UP)#设置p_2为输入引脚,并开启上拉电阻
      p_3 = Pin('P3', Pin.IN, Pin.PULL_UP)#设置p_3为输入引脚,并开启上拉电阻
      def find_max(blobs):
      max_size=0
      for blob in blobs:
      if blob[2]*blob[2] > max_size:
      max_blob=blob
      max_size = blob[2]*blob[2]
      return max_blob

      在AP模式下启动wlan模块。

      #您可以阻止等待客户端连接
      #print(wlan.wait_for_sta(10000))

      def start_streaming(s):
      print ('Waiting for connections..')
      client, addr = s.accept()
      # 将客户端套接字超时设置为2秒
      client.settimeout(2.0)
      print ('Connected to ' + addr[0] + ':' + str(addr[1]))

      # 从客户端读取请求
      data = client.recv(1024)
      # 应该在这里解析客户端请求
      
      # 发送多部分head
      client.send("HTTP/1.1 200 OK\r\n" \
                  "Server: OpenMV\r\n" \
                  "Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
                  "Cache-Control: no-cache\r\n" \
                  "Pragma: no-cache\r\n\r\n")
      
      # FPS clock
      clock = time.clock()
      
      # 开始流媒体图像
      #注:禁用IDE预览以增加流式FPS。
      while (True):
          clock.tick() # 跟踪snapshots()之间经过的毫秒数。
          img = sensor.snapshot().lens_corr(1.8)
          blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
          r_min = 2, r_max = 100, r_step = 2)
          if blobs:
              p_out.high()
              print("输出信号1")
              max_blob = find_max(blobs)
              img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
              img.draw_cross(int(max_blob[0]), int(max_blob[1]))
          else:
              p_out.low()
              print("输出信号0")
          frame = sensor.snapshot()
          cframe = frame.compressed(quality=35)
          header = "\r\n--openmv\r\n" \
                   "Content-Type: image/jpeg\r\n"\
                   "Content-Length:"+str(cframe.size())+"\r\n\r\n"
          client.send(header)
          client.send(cframe)
          print(clock.fps())
      

      while(1):
      if p_1.value() == 0: #追踪
      img_writer = image.ImageWriter("/stream.bin")
      while(True):
      clock.tick()
      img = sensor.snapshot().lens_corr(1.8)
      img_writer.add_frame(img)#写入图片
      blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
      r_min = 2, r_max = 100, r_step = 2)
      if blobs:
      p_out.high()
      max_blob = find_max(blobs)
      pan_error = max_blob[0]-img.width()/2
      tilt_error = max_blob[1]-img.height()/2
      print("pan_error: ", pan_error)
      img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
      img.draw_cross(int(max_blob[0]), int(max_blob[1]))
      pan_output=pan_pid.get_pid(pan_error,1)/2
      tilt_output=tilt_pid.get_pid(tilt_error,1)
      print("pan_output",pan_output)
      pan_servo.angle(pan_servo.angle()-pan_output)
      tilt_servo.angle(tilt_servo.angle()+tilt_output)
      else:
      p_out.low()
      if p_3.value() == 0:
      img_writer.close()

      elif p_2.value() == 0:               #图传
          wlan = network.WINC(mode=network.WINC.MODE_AP)
          wlan.start_ap(SSID, key=KEY, security=wlan.WEP, channel=2)
      
          while (True):
              # Create server socket
              s = usocket.socket(usocket.AF_INET, usocket.SOCK_STREAM)
              try:
                  # Bind and listen
                  s.bind([HOST, PORT])
                  s.listen(5)
      
                  # Set server socket timeout
                  # NOTE: Due to a WINC FW bug, the server socket must be closed and reopened if
                  # the client disconnects. Use a timeout here to close and re-create the socket.
                  s.settimeout(3)
                  start_streaming(s)
              except OSError as e:
                  s.close()
                  print("socket error: ", e)
                  #sys.print_exception(e)
      
      
      


    • Exception: IDE interrupt 不是错误,是IDE中断OpenMV的程序。不用理会。

      每次IDE点击连接按钮🔗,和停止按钮🛑,都会有。



    • IDE为啥会一直中断,怎么解决



    • Exception: IDE interrupt 不是错误,不需要解决。