move

LoraViewer/main.py

@@ -2,10 +2,13 @@
 
 import PySimpleGUI as sg
 import os.path
+import time
 
 # First the window layout in 2 columns
 sg.theme('DarkAmber')   # Add a touch of color
 
+menu_def = [['Panel'], ['Debug']]
+
 panel_view_column = [
     [
         sg.Text("字符识别结果：", font=("微软雅黑", 20), size=(23, 1))
@@ -18,7 +21,9 @@ panel_view_column = [
 
 
 # ----- Full layout -----
-layout = [[sg.VPush()],
+layout = [
+    [sg.Menu(menu_def)],
+    [sg.VPush()],
     [
         sg.Push(),
         sg.Column(panel_view_column, vertical_alignment="center", justification="center"),
@@ -30,9 +35,13 @@ layout = [[sg.VPush()],
 window = sg.Window("Lora 回传显示模块", layout, resizable=True, size=(500, 300), finalize=True)
 
 # Run the Event Loop
+i = 1
 while True:
     event, values = window.read()
     if event == "Exit" or event == sg.WIN_CLOSED:
         break
 
+    window['-CHARACTER-'].update(i)
+    print(i)
+
 window.close()

cvshot.py

@@ -0,0 +1,18 @@
+import cv2
+
+# take a photo using cv2
+
+img = cv2.VideoCapture(0)
+
+# img.set(cv2.CAP_PROP_AUTO_EXPOSURE, 0.25)
+img.set(cv2.CAP_PROP_AUTO_EXPOSURE, 3) # auto mode
+img.set(cv2.CAP_PROP_AUTO_EXPOSURE, 1) # manual mode
+img.set(cv2.CAP_PROP_EXPOSURE, 100)
+# while True:
+    
+ret, frame = img.read()
+if ret:
+    cv2.imwrite('img.png', frame)
+    img.release()
+
+    print('succeed')

delay_meta.py

@@ -0,0 +1,20 @@
+'''
+@description: 摆烂的利用延时的自控程序
+'''
+
+import time
+import random
+from utils.auv_control import Ship
+
+def motion_plan():
+    auv = Ship()
+    auv.LED0ON()
+    time.sleep(1)
+    auv.LED0OFF()
+
+    auv.setTarget_Y_Speed(0.5)
+    time.sleep(10)
+    auv.setTarget_Y_Speed(0)
+
+if __name__ == "__main__":
+    motion_plan()

utils/auv_control.py

@@ -0,0 +1,116 @@
+import serial
+import time
+import math
+
+
+class Ship:
+    # @parameter badudrate 波特率
+    def __init__(self):
+        self.connect = serial.Serial("/dev/ttyAMA0",baudrate=9600,timeout=0.5)
+        
+        self.Target_Pitch_Angle = 0
+        self.Target_Roll_Angle = 0
+        self.Target_Yaw_Angle = 0
+        self.Target_Pitch_Palstance = 0
+        self.Target_Roll_Palstance = 0
+        self.Target_Yaw_Palstance = 0
+        self.Target_X = 0
+        self.Target_Y = 0
+        self.Target_Depth = 0
+        self.Target_Height = 0
+        self.Target_X_Speed = 0
+        self.Target_Y_Speed = 0
+        self.Target_Z_Speed = 0
+        self.Target_X_Acc = 0
+        self.Target_Y_Acc = 0
+        self.LED0 = False
+        self.LED1 = False
+      
+    def sendMessage(self,tmp:int , val:float):
+        end = 255
+        end = end.to_bytes(1,'big')
+        id = tmp.to_bytes(1, 'big')
+        try:
+           self.connect.write(id)
+           self.connect.write(str(float()).encode('ascii'))
+           self.connect.write(str(' ').encode('ascii'))
+           self.connect.write(end)
+        except:
+            return 
+    
+    def setSlopeAndInter(self , slope : float , val : float):
+        tmp = 0x02
+        end = 0xff
+        id = tmp.to_bytes(1, 'big')
+        mark = end.to_bytes(1, 'big')
+        self.connect.write(id)
+        self.connect.write(str(slope).encode('ascii'))
+        self.connect.write(str(' ').encode('ascii'))
+        self.connect.write(str(val).encode('ascii'))
+        self.connect.write(str(' ').encode('ascii'))    
+        self.connect.write(end)   
+ 
+    def LED0ON(self):
+        if self.LED0 == False:
+            self.LED0 = True
+            tmp = 0x10
+            self.sendMessage(tmp , 0.0)
+    
+    def LED0OFF(self):
+        if self.LED0 == True:
+            self.LED0 = False
+            tmp = 0x0f
+            self.sendMessage(tmp , 0.0)
+    
+    def LED1OFF(self):
+        if self.LED1 == True:
+            self.LED1 = False
+            tmp = 0x11
+            self.endMessage(tmp , 0.0)
+    
+    def LED1ON(self):
+        if self.LED1 == False:
+            self.LED1 = False
+            tmp = 0x12
+            self.sendMessage(tmp, 0.0)
+    
+    def setTarget_Depth(self , val : float):
+        tmp = 0x08
+        self.Target_Depth = val
+        self.sendMessage(tmp, val)
+    
+    def setTarget_Yaw_Angle(self, val : float):
+        tmp = 0x02
+        self.Target_Yaw_Angle = val
+        self.sendMessage(tmp, val)
+
+    def setTarget_X_Speed(self , val : float):
+        tmp = 0x0A
+        self.Target_X_Speed = val
+        self.sendMessage(tmp, val)
+    
+    def setTarget_Y_Speed(self , val : float):
+        tmp = 0x0B
+        self.Target_Y_Speed = val
+        self.sendMessage(tmp, val)
+
+
+    def sendAlpha(self , ch : int):
+        tmp = 0x13 + ch
+        self.sendMessage(tmp, 0.0)
+    
+    def setFinal(self):
+        tmp = 0x2d
+        self.sendMessage(tmp, 0.0)
+
+    def setForward_Thrust(self, val:float):
+        tmp = 0x2f
+        self.sendMessage(tmp, val)
+
+    def setSidesway_Thrust(self , val: float):
+        tmp = 0x30
+        self.sendMessage(tmp ,val)
+
+    def setYaw_Rotate_Torque(self , val : float):
+        tmp = 0x32
+        self.sendMessage(tmp, val)

utils/ocr.py

@@ -4,7 +4,7 @@ import numpy as np
 from pytesseract import Output
 
 # img_source = cv2.VideoCapture(0)
-img_source = cv2.imread('./coffee-ocr.jpg')
+img_source = cv2.imread('./img.png')
 
 
 def get_grayscale(image):
@@ -51,4 +51,16 @@ def test_performance():
         cv2.imshow('img', img)
         cv2.waitKey(0)
 
-print(pytesseract.image_to_data(img_source, output_type=Output.DICT)['text'])
+# print(pytesseract.image_to_data(img_source, output_type=Output.DICT)['text'])
+
+def identy_char(img_path):
+    source_img = cv2.imread(img_path)
+    d =  pytesseract.image_to_data(source_img, output_type=Output.DICT, config='--psm 10')
+
+    for text in d['text']:
+        # print(text)
+        if len(text) == 1 and text.isalpha():
+            print(text)
+
+if __name__ == "__main__":
+    identy_char('./img.png')