mirror of
https://github.com/NanjingForestryUniversity/supermachine--tomato-passion_fruit.git
synced 2025-11-09 14:54:07 +00:00
242bb9a71b
fix:修复在20240627test4中的classifier.py的analyze_tomato函数中white_defect的函数忘记传递两个阈值量的错误；修复analyze_tomato函数中的叶片实例分割存在的问题，解决由于变量污染引起的分割错误；
265 lines
11 KiB
Python
265 lines
11 KiB
Python
# -*- coding: utf-8 -*-
|
||
# @Time : 2024/4/20 18:24
|
||
# @Author : TG
|
||
# @File : pipe_utils.py
|
||
# @Software: PyCharm
|
||
|
||
import os
|
||
import win32file
|
||
import win32pipe
|
||
import time
|
||
import logging
|
||
import numpy as np
|
||
from config import Config as setting
|
||
from utils.augmentations import *
|
||
|
||
class Pipe:
|
||
def __init__(self, rgb_receive_name, rgb_send_name, spec_receive_name):
|
||
self.rgb_receive_name = rgb_receive_name
|
||
self.rgb_send_name = rgb_send_name
|
||
self.spec_receive_name = spec_receive_name
|
||
self.rgb_receive = None
|
||
self.rgb_send = None
|
||
self.spec_receive = None
|
||
|
||
def create_pipes(self, rgb_receive_name, rgb_send_name, spec_receive_name):
|
||
while True:
|
||
try:
|
||
# 打开或创建命名管道
|
||
self.rgb_receive = win32pipe.CreateNamedPipe(
|
||
rgb_receive_name,
|
||
win32pipe.PIPE_ACCESS_INBOUND,
|
||
win32pipe.PIPE_TYPE_BYTE | win32pipe.PIPE_WAIT,
|
||
1, 80000000, 80000000, 0, None
|
||
)
|
||
self.rgb_send = win32pipe.CreateNamedPipe(
|
||
rgb_send_name,
|
||
win32pipe.PIPE_ACCESS_OUTBOUND, # 修改为输出模式
|
||
win32pipe.PIPE_TYPE_BYTE | win32pipe.PIPE_WAIT,
|
||
1, 80000000, 80000000, 0, None
|
||
)
|
||
self.spec_receive = win32pipe.CreateNamedPipe(
|
||
spec_receive_name,
|
||
win32pipe.PIPE_ACCESS_INBOUND,
|
||
win32pipe.PIPE_TYPE_BYTE | win32pipe.PIPE_WAIT,
|
||
1, 200000000, 200000000, 0, None
|
||
)
|
||
print("pipe管道创建成功，等待连接...")
|
||
time.sleep(0.5)
|
||
print('Fruit正在启动中，预计需要30秒')
|
||
time.sleep(0.5)
|
||
print('请勿关闭Fruit程序，否则程序将无法正常运行！')
|
||
time.sleep(0.5)
|
||
print('等待中..........')
|
||
# 等待发送端连接
|
||
win32pipe.ConnectNamedPipe(self.rgb_receive, None)
|
||
print("rgb_receive connected.")
|
||
# 等待发送端连接
|
||
win32pipe.ConnectNamedPipe(self.rgb_send, None)
|
||
print("rgb_send connected.")
|
||
win32pipe.ConnectNamedPipe(self.spec_receive, None)
|
||
print("spec_receive connected.")
|
||
print('Fruit程序启动成功！')
|
||
return self.rgb_receive, self.rgb_send, self.spec_receive
|
||
|
||
except Exception as e:
|
||
print(f"管道创建连接失败，失败原因: {e}")
|
||
print("等待5秒后重试...")
|
||
time.sleep(5)
|
||
continue
|
||
|
||
def receive_rgb_data(self, rgb_receive):
|
||
try:
|
||
# 读取图片数据长度
|
||
len_img = win32file.ReadFile(rgb_receive, 4, None)
|
||
data_size = int.from_bytes(len_img[1], byteorder='big')
|
||
# 读取实际图片数据
|
||
result, data = win32file.ReadFile(rgb_receive, data_size, None)
|
||
# 检查读取操作是否成功
|
||
if result != 0:
|
||
logging.error(f"读取失败，错误代码: {result}")
|
||
return None
|
||
# 返回成功读取的数据
|
||
return data
|
||
except Exception as e:
|
||
logging.error(f"数据接收失败，错误原因: {e}")
|
||
return None
|
||
|
||
def receive_spec_data(self, spec_receive):
|
||
try:
|
||
# 读取光谱数据长度
|
||
len_spec = win32file.ReadFile(spec_receive, 4, None)
|
||
# print(f'len_data:{len_spec}')
|
||
data_size = int.from_bytes(len_spec[1], byteorder='big')
|
||
# print(f'所需读取数据长度：{data_size}')
|
||
# 读取光谱数据
|
||
result, spec_data = win32file.ReadFile(spec_receive, data_size, None)
|
||
# 检查读取操作是否成功
|
||
if result != 0:
|
||
logging.error(f"读取失败，错误代码: {result}")
|
||
return None
|
||
# 返回成功读取的数据
|
||
return spec_data
|
||
except Exception as e:
|
||
logging.error(f"数据接收失败，错误原因: {e}")
|
||
return None
|
||
|
||
def parse_img(self, data: bytes) -> (str, any):
|
||
"""
|
||
图像数据转换.
|
||
:param data:接收到的报文
|
||
:return: 指令类型和内容
|
||
"""
|
||
try:
|
||
assert len(data) > 1
|
||
except AssertionError:
|
||
logging.error('指令转换失败，长度不足2')
|
||
return '', None
|
||
cmd, data = data[:2], data[2:]
|
||
cmd = cmd.decode('ascii').strip().upper()
|
||
# 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
|
||
if cmd == 'YR':
|
||
return cmd, None
|
||
n_rows, n_cols, img = data[:2], data[2:4], data[4:]
|
||
try:
|
||
n_rows, n_cols = [int.from_bytes(x, byteorder='big') for x in [n_rows, n_cols]]
|
||
except Exception as e:
|
||
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}')
|
||
return '', None
|
||
try:
|
||
assert n_rows * n_cols * 3 == len(img)
|
||
# 因为是float32类型 所以长度要乘12 ，如果是uint8则乘3
|
||
except AssertionError:
|
||
logging.error('图像指令转换失败，数据长度错误')
|
||
return '', None
|
||
img = np.frombuffer(img, dtype=np.uint8).reshape(n_rows, n_cols, -1)
|
||
return cmd, img
|
||
|
||
def parse_spec(self, data: bytes) -> (str, any):
|
||
"""
|
||
光谱数据转换.
|
||
:param data:接收到的报文
|
||
:return: 指令类型和内容
|
||
"""
|
||
try:
|
||
assert len(data) > 2
|
||
except AssertionError:
|
||
logging.error('指令转换失败，长度不足3')
|
||
return '', None
|
||
cmd, data = data[:2], data[2:]
|
||
cmd = cmd.decode('ascii').strip().upper()
|
||
|
||
n_rows, n_cols, n_bands, spec = data[:2], data[2:4], data[4:6], data[6:]
|
||
try:
|
||
n_rows, n_cols, n_bands = [int.from_bytes(x, byteorder='big') for x in [n_rows, n_cols, n_bands]]
|
||
# print(f'高度:{n_rows}, 宽度:{n_cols}, 谱段数:{n_bands}')
|
||
except Exception as e:
|
||
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}')
|
||
return '', None
|
||
try:
|
||
assert n_rows * n_cols * n_bands * 2 == len(spec)
|
||
except AssertionError:
|
||
logging.error('图像指令转换失败，数据长度错误')
|
||
return '', None
|
||
spec = np.frombuffer(spec, dtype=np.uint16).reshape((n_rows, n_bands, -1)).transpose(0, 2, 1)
|
||
return cmd, spec
|
||
|
||
def send_data(self,cmd:str, brix, green_percentage, weight, diameter, defect_num, total_defect_area, rp):
|
||
'''
|
||
发送数据
|
||
:param cmd:
|
||
:param brix:
|
||
:param green_percentage:
|
||
:param weight:
|
||
:param diameter:
|
||
:param defect_num:
|
||
:param total_defect_area:
|
||
:param rp:
|
||
:return:
|
||
'''
|
||
cmd = cmd.strip().upper()
|
||
cmd_type = 'RE'
|
||
cmd_re = cmd_type.upper().encode('ascii')
|
||
img = np.asarray(rp, dtype=np.uint8) # 将图像转换为 NumPy 数组
|
||
height = img.shape[0] # 获取图像的高度
|
||
width = img.shape[1] # 获取图像的宽度
|
||
height = height.to_bytes(2, byteorder='big')
|
||
width = width.to_bytes(2, byteorder='big')
|
||
img_bytes = img.tobytes()
|
||
diameter = int(diameter * 100).to_bytes(2, byteorder='big')
|
||
defect_num = defect_num.to_bytes(2, byteorder='big')
|
||
total_defect_area = int(total_defect_area * 1000).to_bytes(4, byteorder='big')
|
||
length = len(img_bytes) + 18
|
||
length = length.to_bytes(4, byteorder='big')
|
||
if cmd == 'TO':
|
||
brix = 0
|
||
brix = brix.to_bytes(2, byteorder='big')
|
||
gp = int(green_percentage * 100).to_bytes(1, byteorder='big')
|
||
weight = 0
|
||
weight = weight.to_bytes(1, byteorder='big')
|
||
send_message = (length + cmd_re + brix + gp + diameter + weight +
|
||
defect_num + total_defect_area + height + width + img_bytes)
|
||
elif cmd == 'PF':
|
||
brix = int(brix * 1000).to_bytes(2, byteorder='big')
|
||
gp = int(green_percentage * 100).to_bytes(1, byteorder='big')
|
||
weight = weight.to_bytes(1, byteorder='big')
|
||
send_message = (length + cmd_re + brix + gp + diameter + weight +
|
||
defect_num + total_defect_area + height + width + img_bytes)
|
||
elif cmd == 'KO':
|
||
brix = 0
|
||
brix = brix.to_bytes(2, byteorder='big')
|
||
gp = 0
|
||
gp = gp.to_bytes(1, byteorder='big')
|
||
weight = 0
|
||
weight = weight.to_bytes(1, byteorder='big')
|
||
defect_num = 0
|
||
defect_num = defect_num.to_bytes(2, byteorder='big')
|
||
total_defect_area = 0
|
||
total_defect_area = total_defect_area.to_bytes(4, byteorder='big')
|
||
height = setting.n_rgb_rows
|
||
height = height.to_bytes(2, byteorder='big')
|
||
width = setting.n_rgb_cols
|
||
width = width.to_bytes(2, byteorder='big')
|
||
img_bytes = np.zeros((setting.n_rgb_rows, setting.n_rgb_cols, setting.n_rgb_bands),
|
||
dtype=np.uint8).tobytes()
|
||
length = (18).to_bytes(4, byteorder='big')
|
||
send_message = (length + cmd_re + brix + gp + diameter + weight +
|
||
defect_num + total_defect_area + height + width + img_bytes)
|
||
try:
|
||
win32file.WriteFile(self.rgb_send, send_message)
|
||
except Exception as e:
|
||
logging.error(f'发送指令失败，错误类型：{e}')
|
||
return False
|
||
return True
|
||
|
||
def create_file(file_name):
|
||
"""
|
||
创建文件
|
||
:param file_name: 文件名
|
||
:return: None
|
||
"""
|
||
if os.path.exists(file_name):
|
||
print("文件存在：%s" % file_name)
|
||
return False
|
||
# os.remove(file_name) # 删除已有文件
|
||
if not os.path.exists(file_name):
|
||
print("文件不存在，创建文件：%s" % file_name)
|
||
open(file_name, 'a').close()
|
||
return True
|
||
|
||
class Logger(object):
|
||
def __init__(self, is_to_file=False, path=None):
|
||
self.is_to_file = is_to_file
|
||
if path is None:
|
||
path = "tomato-passion_fruit.log"
|
||
self.path = path
|
||
create_file(path)
|
||
|
||
def log(self, content):
|
||
if self.is_to_file:
|
||
with open(self.path, "a") as f:
|
||
print(time.strftime("[%Y-%m-%d_%H-%M-%S]:"), file=f)
|
||
print(content, file=f)
|
||
else:
|
||
print(content)
|