mirror of
https://github.com/NanjingForestryUniversity/supermachine--tomato-passion_fruit.git
synced 2025-11-08 22:34:00 +00:00
272 lines
11 KiB
Python
272 lines
11 KiB
Python
# -*- coding: utf-8 -*-
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# @Time : 2024/4/20 18:24
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# @Author : TG
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# @File : utils.py
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# @Software: PyCharm
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import os
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import win32file
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import win32pipe
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import time
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import logging
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import numpy as np
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from config import Config as setting
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class Pipe:
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def __init__(self, rgb_receive_name, rgb_send_name, spec_receive_name):
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self.rgb_receive_name = rgb_receive_name
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self.rgb_send_name = rgb_send_name
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self.spec_receive_name = spec_receive_name
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self.rgb_receive = None
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self.rgb_send = None
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self.spec_receive = None
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def create_pipes(self, rgb_receive_name, rgb_send_name, spec_receive_name):
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while True:
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try:
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# 打开或创建命名管道
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self.rgb_receive = win32pipe.CreateNamedPipe(
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rgb_receive_name,
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win32pipe.PIPE_ACCESS_INBOUND,
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win32pipe.PIPE_TYPE_BYTE | win32pipe.PIPE_WAIT,
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1, 80000000, 80000000, 0, None
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)
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self.rgb_send = win32pipe.CreateNamedPipe(
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rgb_send_name,
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win32pipe.PIPE_ACCESS_OUTBOUND, # 修改为输出模式
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win32pipe.PIPE_TYPE_BYTE | win32pipe.PIPE_WAIT,
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1, 80000000, 80000000, 0, None
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)
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self.spec_receive = win32pipe.CreateNamedPipe(
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spec_receive_name,
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win32pipe.PIPE_ACCESS_INBOUND,
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win32pipe.PIPE_TYPE_BYTE | win32pipe.PIPE_WAIT,
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1, 200000000, 200000000, 0, None
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)
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print("pipe管道创建成功，等待连接...")
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# 等待发送端连接
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win32pipe.ConnectNamedPipe(self.rgb_receive, None)
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print("rgb_receive connected.")
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# 等待发送端连接
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win32pipe.ConnectNamedPipe(self.rgb_send, None)
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print("rgb_send connected.")
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win32pipe.ConnectNamedPipe(self.spec_receive, None)
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print("spec_receive connected.")
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return self.rgb_receive, self.rgb_send, self.spec_receive
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except Exception as e:
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print(f"管道创建连接失败，失败原因: {e}")
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print("等待5秒后重试...")
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time.sleep(5)
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continue
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def receive_rgb_data(self, rgb_receive):
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try:
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# 读取图片数据长度
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len_img = win32file.ReadFile(rgb_receive, 4, None)
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data_size = int.from_bytes(len_img[1], byteorder='big')
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# 读取实际图片数据
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result, data = win32file.ReadFile(rgb_receive, data_size, None)
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# 检查读取操作是否成功
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if result != 0:
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logging.error(f"读取失败，错误代码: {result}")
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return None
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# 返回成功读取的数据
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return data
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except Exception as e:
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logging.error(f"数据接收失败，错误原因: {e}")
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return None
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def receive_spec_data(self, spec_receive):
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try:
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# 读取光谱数据长度
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len_spec = win32file.ReadFile(spec_receive, 4, None)
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data_size = int.from_bytes(len_spec[1], byteorder='big')
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# 读取光谱数据
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result, spec_data = win32file.ReadFile(spec_receive, data_size, None)
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# 检查读取操作是否成功
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if result != 0:
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logging.error(f"读取失败，错误代码: {result}")
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return None
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# 返回成功读取的数据
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return spec_data
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except Exception as e:
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logging.error(f"数据接收失败，错误原因: {e}")
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return None
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def parse_img(self, data: bytes) -> (str, any):
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"""
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图像数据转换.
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:param data:接收到的报文
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:return: 指令类型和内容
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"""
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try:
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assert len(data) > 1
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except AssertionError:
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logging.error('指令转换失败，长度不足2')
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return '', None
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cmd, data = data[:2], data[2:]
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cmd = cmd.decode('ascii').strip().upper()
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# 如果收到的是预热指令'YR'，直接返回命令和None，不处理图像数据
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if cmd == 'YR':
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return cmd, None
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n_rows, n_cols, img = data[:2], data[2:4], data[4:]
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try:
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n_rows, n_cols = [int.from_bytes(x, byteorder='big') for x in [n_rows, n_cols]]
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except Exception as e:
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logging.error(f'长宽转换失败, 错误代码{e}, 报文大小: n_rows:{n_rows}, n_cols:{n_cols}')
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return '', None
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try:
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assert n_rows * n_cols * 3 == len(img)
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# 因为是float32类型 所以长度要乘12 ，如果是uint8则乘3
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except AssertionError:
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logging.error('图像指令转换失败，数据长度错误')
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return '', None
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img = np.frombuffer(img, dtype=np.uint8).reshape(n_rows, n_cols, -1)
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return cmd, img
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def parse_spec(self, data: bytes) -> (str, any):
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"""
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光谱数据转换.
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:param data:接收到的报文
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:return: 指令类型和内容
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"""
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try:
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assert len(data) > 2
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except AssertionError:
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logging.error('指令转换失败，长度不足3')
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return '', None
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cmd, data = data[:2], data[2:]
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cmd = cmd.decode('ascii').strip().upper()
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n_rows, n_cols, n_bands, spec = data[:2], data[2:4], data[4:6], data[6:]
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try:
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n_rows, n_cols, n_bands = [int.from_bytes(x, byteorder='big') for x in [n_rows, n_cols, n_bands]]
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except Exception as e:
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logging.error(f'长宽转换失败, 错误代码{e}, 报文大小: n_rows:{n_rows}, n_cols:{n_cols}, n_bands:{n_bands}')
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return '', None
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try:
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assert n_rows * n_cols * n_bands * 2 == len(spec)
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except AssertionError:
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logging.error('图像指令转换失败，数据长度错误')
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return '', None
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spec = np.frombuffer(spec, dtype=np.uint16).reshape((n_rows, n_bands, -1)).transpose(0, 2, 1)
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return cmd, spec
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def send_data(self,cmd:str, brix, green_percentage, weight, diameter, defect_num, total_defect_area, rp):
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'''
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发送数据
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:param cmd:
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:param brix:
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:param green_percentage:
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:param weight:
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:param diameter:
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:param defect_num:
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:param total_defect_area:
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:param rp:
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:return:
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'''
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cmd = cmd.strip().upper()
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# if cmd == 'KO':
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# cmd_ko = cmd.encode('ascii')
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# length = (2).to_bytes(4, byteorder='big') # 因为只有KO两个字节，所以长度是2
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# send_message = length + cmd_ko
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# try:
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# win32file.WriteFile(self.rgb_send, send_message)
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# print('KO消息发送成功')
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# except Exception as e:
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# logging.error(f'发送KO指令失败，错误类型：{e}')
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# return False
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# return True
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cmd_type = 'RE'
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cmd_re = cmd_type.upper().encode('ascii')
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img = np.asarray(rp, dtype=np.uint8) # 将图像转换为 NumPy 数组
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height = img.shape[0] # 获取图像的高度
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width = img.shape[1] # 获取图像的宽度
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height = height.to_bytes(2, byteorder='big')
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width = width.to_bytes(2, byteorder='big')
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img_bytes = img.tobytes()
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diameter = int(diameter * 100).to_bytes(2, byteorder='big')
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defect_num = defect_num.to_bytes(2, byteorder='big')
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total_defect_area = int(total_defect_area * 1000).to_bytes(4, byteorder='big')
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length = len(img_bytes) + 18
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length = length.to_bytes(4, byteorder='big')
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if cmd == 'TO':
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brix = 0
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brix = brix.to_bytes(2, byteorder='big')
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gp = int(green_percentage * 100).to_bytes(1, byteorder='big')
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weight = 0
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weight = weight.to_bytes(1, byteorder='big')
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send_message = (length + cmd_re + brix + gp + diameter + weight +
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defect_num + total_defect_area + height + width + img_bytes)
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elif cmd == 'PF':
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brix = int(brix * 1000).to_bytes(2, byteorder='big')
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gp = int(green_percentage * 100).to_bytes(1, byteorder='big')
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weight = weight.to_bytes(1, byteorder='big')
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send_message = (length + cmd_re + brix + gp + diameter + weight +
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defect_num + total_defect_area + height + width + img_bytes)
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elif cmd == 'KO':
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brix = 0
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brix = brix.to_bytes(2, byteorder='big')
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gp = 0
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gp = gp.to_bytes(1, byteorder='big')
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weight = 0
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weight = weight.to_bytes(1, byteorder='big')
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defect_num = 0
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defect_num = defect_num.to_bytes(2, byteorder='big')
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total_defect_area = 0
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total_defect_area = total_defect_area.to_bytes(4, byteorder='big')
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height = setting.n_rgb_rows
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height = height.to_bytes(2, byteorder='big')
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width = setting.n_rgb_cols
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width = width.to_bytes(2, byteorder='big')
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img_bytes = np.zeros((setting.n_rgb_rows, setting.n_rgb_cols, setting.n_rgb_bands),
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dtype=np.uint8).tobytes()
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length = (18).to_bytes(4, byteorder='big')
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send_message = (length + cmd_re + brix + gp + diameter + weight +
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defect_num + total_defect_area + height + width + img_bytes)
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try:
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win32file.WriteFile(self.rgb_send, send_message)
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# time.sleep(0.01)
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# print('发送成功')
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except Exception as e:
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logging.error(f'发送指令失败，错误类型：{e}')
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return False
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# end_time = time.time()
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# print(f'发送时间：{end_time - start_time}秒')
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return True
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def create_file(file_name):
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"""
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创建文件
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:param file_name: 文件名
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:return: None
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"""
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if os.path.exists(file_name):
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print("文件存在：%s" % file_name)
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return False
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# os.remove(file_name) # 删除已有文件
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if not os.path.exists(file_name):
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print("文件不存在，创建文件：%s" % file_name)
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open(file_name, 'a').close()
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return True
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class Logger(object):
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def __init__(self, is_to_file=False, path=None):
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self.is_to_file = is_to_file
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if path is None:
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path = "tomato.log"
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self.path = path
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create_file(path)
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def log(self, content):
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if self.is_to_file:
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with open(self.path, "a") as f:
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print(time.strftime("[%Y-%m-%d_%H-%M-%S]:"), file=f)
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print(content, file=f)
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else:
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print(content) |