大致内容如下

forkliftid = 'A01'
containerid = '00000001'
def pub_push_position(forkliftid,containerid='',x='',y='',theta=''):
    tempPic = sensor.snapshot().save("position.jpg", quality=35)
    imagePath = '.\\position.jpg'
    with open(imagePath, 'rb') as p:
        tempPic = p.read()
        base64pic = ubinascii.b2a_base64(tempPic)
        pic = str(base64pic, 'utf-8').strip()
    msg = 'B@POSITION,{0},{1},{2},{3},{4},{5}'.format(forkliftid,containerid,x,y,theta,pic)
    client.publish('/v1/device/push', msg)

SSID='myInternet' # 无线网络名称
KEY='12345677'  # 无线网络密码
wlan = network.WINC()
wlan.connect(SSID, key=KEY, security=wlan.WPA_PSK)
client = MQTTClient("test", '192.168.99.250', port=1883)
client.connect()


while True:
    p_in = pyb.Pin('P9', pyb.Pin.IN, pyb.Pin.PULL_UP)
    if p_in.value() == 0:
        pub_push_position(forkliftid,containerid,x,y,theta)  
        # x,y,theta是apriltags的x，y和z_rotation
    client.check_msg()

img.draw_string(x轴位置,y轴位置,要打印的东西,字体颜色color=(),字体大小scale=)

通过Apriltags可以进行测距，如何使用AprilTags提供的坐标转换为空间中openmv的位置。例如我将AprilTag摆放在{'x':500,'y':500,'z':0}的位置得到tx,ty,tz,rx,ry,rz的值，并通过移动距离/tx(ty)的方式得出的xk、yk

cosPitch = math.cos(Ry)
cosYaw = math.cos(Rz)
cosRoll = math.cos(Rx)

sinPitch = math.sin(Ry)
sinYaw = math.sin(Rz)
sinRoll = math.sin(Rx)

if tag.id() in range(len(tags)):  # tags是存放规定tag坐标的列表
    X = cosPitch * cosYaw * Tx * xk + cosPitch * sinYaw * Ty * yk - sinPitch * Tz * zk
    Y = (-cosRoll * sinYaw + sinRoll * sinPitch * cosYaw) * Tx * xk + (cosRoll * cosYaw + sinRoll * sinPitch * sinYaw) * Ty * yk + sinRoll * cosPitch * Tz * zk
    Z = (sinRoll * sinYaw + cosRoll * sinPitch * cosYaw) * Tx * xk + (-sinRoll * cosYaw + cosRoll * sinPitch * sinYaw) * Ty * yk + cosRoll * cosPitch * Tz * zk

    changed = (X, Y, Z)

    currentX = str(round((tags[currentID].get('x') - X) / 10, 2)) + 'cm'
    currentY = str(round((tags[currentID].get('y') - Y) / 10, 2)) + 'cm'
    currentZ = str(round((tags[currentID].get('z') - Z) / 10, 2)) + 'cm'``

是否能通过这种方式正确的得出openmv自身的位置？另外xk、yk的值是否和求z方向的k值的方式一致？

已解决，在with as语句之后使用pyb.hard_reset()软重启

在使用mqtt接收指令之后需要将指令的标题和信息内容保存到文本文档中

filename = 'sub.txt'

def callback(topic, msg):
    topic = str(topic, 'utf-8')
    msg = str(msg, 'utf-8').split(',')    
    with open(filename, 'a') as subTxt:
        msg2str = ','.join(msg)
        textContent = topic + ' ' + msg2str + '\n'
        subTxt.write(textContent)

确认写入的字符串没有问题，使用open(filename, 'r')也能读取到写入的内容

但是无论如何在磁盘中没有出现相应的文本文档，并且在重新开启脚本之后会重置内容

是否能够证明内容实际一直存储在缓冲区并未实际写入？

应该如何解决？