add rfid and spec terrain process

submit.bat

@@ -0,0 +1,15 @@
+@echo off
+set /p message=请输入本次提交信息：
+
+REM 将变更添加到暂存区
+git add track.py
+git add submit.bat
+
+REM 提交变更并添加提交信息
+git commit -m "%message%"
+
+REM 推送到远程仓库
+git push origin master
+
+REM 等待用户手动关闭窗口
+pause

track.py

@@ -110,7 +110,29 @@ def data_format_wrapper(down_center, state_crossing, deflection_angle):
     return bytes(send_data)
 
 
-def UsartSend(str_data, _img):
+def SendWhiteData(is_detect, detect_info=0x00):
+    data = [0x55,0x02,0x80,
+    0x02 if is_detect else 0x01,
+    detect_info if is_detect else 0x00,0x00,0x00,0xBB]
+    UsartSend(bytes(data))
+
+def SendROIData(roi_data):
+    data_1 = [0x55,0x02,0x81,
+    0x01 if roi_data['left']['blob_flag'] else 0x00,
+    0x01 if roi_data['right']['blob_flag'] else 0x00,
+    0x01 if roi_data['up']['blob_flag'] else 0x00,
+    0x00,0xBB]
+    data_2 = [0x55,0x02,0x82,
+    0x01 if roi_data['middle_up']['blob_flag'] else 0x00,
+    0x01 if roi_data['middle_down']['blob_flag'] else 0x00,
+    0x01 if roi_data['down']['blob_flag'] else 0x00,
+    0x00,0xBB]
+    UsartSend(bytes(data_1))
+    time.sleep(1)
+    UsartSend(bytes(data_2))
+
+
+def UsartSend(str_data):
     '''
     串口发送函数
     '''
@@ -122,7 +144,7 @@ def UsartSend(str_data, _img):
 
 #--------------定时器部分 START -------------------
 
-is_need_send_data = True # 是否需要发送数据的信号标志
+is_need_send_data = False # 是否需要发送数据的信号标志
 def uart_time_trigger(tim):
     '''
     串口发送数据的定时器，定时器的回调函数
@@ -176,8 +198,9 @@ time.sleep(1)
 
 
 # 直线灰度图颜色阈值
-LINE_COLOR_THRESHOLD = [(6, 65)]
+LINE_COLOR_THRESHOLD = [(6, 65)] #Dark
-#LIGHT_LINE_COLOR_THRESHOLD = [(9, 88)]
+WHITE_BLOCK_THRESHOLD = [(165, 255)]
+#LINE_COLOR_THRESHOLD = [(6, 120)]    #Light
 #LINE_COLOR_THRESHOLD = [(0, 52, -19, 0, -1, 14)]
 
 # 以实际空间坐标为基准，取样窗口
@@ -229,10 +252,41 @@ def find_blobs_in_rois(img):
                 if is_debug:
                     img.draw_rectangle((x,y,width, height), color=(255))
         else:
-            #blobs=canvas.find_blobs(LINE_COLOR_THRESHOLD, roi=roi, merge=True, pixels_area=10)
+            blobs=canvas.find_blobs(LINE_COLOR_THRESHOLD, roi=roi, merge=True, pixels_area=10)
             continue
+    return roi_blobs_result
 
 
+def find_white_blobs_in_rois(img):
+    '''
+    说明：在ROIS中寻找色块，获取ROI中色块的中心区域与是否有色块的信息
+    '''
+    global ROIS
+    global is_debug
+    canvas = img.copy()
+    roi_blobs_result = {}  # 在各个ROI中寻找色块的结果记录
+    for roi_direct in ROIS.keys():
+        roi_blobs_result[roi_direct] = {
+            'cx':0,
+            'cy':0,
+            'w':0,
+            'blob_flag': False
+        }
+    for roi_direct, roi in ROIS.items():
+        blobs=canvas.find_blobs(WHITE_BLOCK_THRESHOLD, roi=roi, merge=True)
+        if len(blobs) != 0:
+            largest_blob = max(blobs, key=lambda b: b.pixels())
+            if largest_blob.area() > 1000:
+                x,y,width,height = largest_blob[:4]
+                roi_blobs_result[roi_direct]['cx'] = largest_blob.cy()
+                roi_blobs_result[roi_direct]['cy'] = largest_blob.cx()
+                roi_blobs_result[roi_direct]['w'] = largest_blob.h()
+                roi_blobs_result[roi_direct]['blob_flag'] = True
+                if is_debug:
+                    img.draw_rectangle((x,y,width, height), color=(255))
+        else:
+            blobs=canvas.find_blobs(WHITE_BLOCK_THRESHOLD, roi=roi, merge=True, pixels_area=10)
+            continue
     return roi_blobs_result
 
 
@@ -277,6 +331,27 @@ def state_deflection_angle(roi_blobs_result):
 
 #--------------直线与路口检测部分 END -------------------
 
+#--------------RFID卡与特殊地形标志物检测 START -------------------
+
+white_line_flag = 0
+
+def rfid_and_spec_terrain_detect(roi_blobs_result):
+    global white_line_flag
+    if roi_blobs_result['up']['w'] > 100 and white_line_flag == 0:
+        white_line_flag = 1;
+        return False
+    if roi_blobs_result['middle_up']['w'] > 100 and white_line_flag == 1:
+        white_line_flag = 2;
+        return False
+    if roi_blobs_result['middle_down']['w'] > 100 and white_line_flag == 2:
+        white_line_flag = 3;
+        return False
+    if roi_blobs_result['down']['w'] > 100 and white_line_flag == 3:
+        white_line_flag = 0;
+        return True
+
+
+#--------------RFID卡与特殊地形标志物检测 END -------------------
 
 #--------------二维码识别部分 START -------------------
 
@@ -309,8 +384,6 @@ def QR_Check():
 last_cx = 0
 last_cy = 0
 Flag_track = False
-#调试，使设备始终处于巡线模式
-#Flag_track = True
 #将蓝灯引脚IO12配置到GPIO0，K210引脚支持任意配置
 fm.register(12, fm.fpioa.GPIO0)
 LED_B = GPIO(GPIO.GPIO0, GPIO.OUT) #构建LED对象
@@ -322,6 +395,8 @@ while True:
     LED_B.value(0) #点亮LED
     # 拍摄图片
     img = sensor.snapshot()
+    # 去除图像畸变
+    img.lens_corr(DISTORTION_FACTOR)
     # 串口数据接收处理
     data = uart.read(8)
     if data is not None:
@@ -340,8 +415,9 @@ while True:
                     if(data[3] == 0x02):
                         print("巡线")
                         print("停止识别")
-                        Flag_track = False
                         tim1.stop()         # 停止定时器
+                        Flag_track = False
+                        time.sleep(1)
                     if(data[3] == 0x03):    # 舵机调整
                         angle = data[5]
                         # 判断舵机控制方向
@@ -372,22 +448,26 @@ while True:
                         QR_Flag = False
 
 
-    # 去除图像畸变
-    #img.lens_corr(DISTORTION_FACTOR)
     # 二维码识别
     #QR_Check()
     # 巡线
     if Flag_track:
         roi_blobs_result = find_blobs_in_rois(img)
-        down_center, state_crossing, deflection_angle = state_deflection_angle(roi_blobs_result)
+        if rfid_and_spec_terrain_detect(find_white_blobs_in_rois(img)):
-        LCDDrawTrackInfo(down_center, state_crossing, deflection_angle, img)
+            SendWhiteData(False)
-        if is_need_send_data:
-            UsartSend(data_format_wrapper(down_center, state_crossing, deflection_angle))
-            time.sleep_ms(10)
             is_need_send_data = False
-
+        else:
-    # 在LCD上显示
+            down_center, state_crossing, deflection_angle = state_deflection_angle(roi_blobs_result)
-    #lcd.display(img)
+            if state_crossing:
+                white_line_flag = 0
+            LCDDrawTrackInfo(down_center, state_crossing, deflection_angle, img)
+            if is_need_send_data:
+                UsartSend(data_format_wrapper(down_center, state_crossing, deflection_angle))
+                time.sleep_ms(10)
+                is_need_send_data = False
+    else:
+        # 在LCD上显示
+        lcd.display(img)
     #按键KEY按下。开启或关闭调试，并退出所有任务。
     if btn_debug.value() == 0:
         Flag_track = not Flag_track     # 巡线任务退出