feat: ✨ UART transmits the gold or diamond point information with the…

… protocol of jy62

contest/canmv/main.py

@@ -23,18 +23,94 @@
               read_buf_len=4096)  # 创建一个串口对象
 
 # 设置颜色阈值
-ithresholds = [(0, 40, -6, 127, -5, 127)] # 铁矿
+ithresholds = [(40, 56, -1, 5, -13, 1)] # 铁矿(0, 40, -6, 127, -5, 127)
 gthresholds = [(30, 100, -128, 16, 16, 127)] # 金矿
 dthresholds = [(0, 37, -128, 127, -53, -14)] # 钻石矿
 
+# 存储色素块位置
+goldmap = []
+diamondmap = []
+
 while (True):
     clock.tick()  # 更新时钟
     img = sensor.snapshot()  # 拍摄一张图片，返回图片对象
+    #Img = cv2.imread(img, cv2.IMREAD_GRAYSCALE)
+    ## 使用Canny边缘检测算法找到边缘
+    #edges = cv2.Canny(Img, threshold1=30, threshold2=100)
+    ## 显示边缘
+    #cv2.imshow('Edges', edges)
+    #cv2.waitKey(0)
+    #cv2.destroyAllWindows()
+    total_gold = 0
+    total_diamond = 0
     for blob in img.find_blobs(gthresholds, pixels_threshold=100, area_threshold=100, merge=True):  # 找到颜色区域
         img.draw_rectangle(blob.rect())  # 标记颜色区域
         img.draw_cross(blob.cx(), blob.cy())  # 标记颜色区域的中心点
+        cx, cy = blob.x(), blob.y()
+        img_width, img_height = img.width(), img.height()
+        x = min(max(int((cx / img_width) * 8) + 1, 1), 8)
+        y = min(max(int((cy / img_height) * 8) + 1, 1), 8)
+        goldmap.append((x,y))
+        total_gold += 1
+        #print('gold')
+        #print(x,y)
         #print("gold x = %d, y = %d" % (blob.cx(), blob.cy()))  # 打印颜色区域的中心点坐标
     for blob in img.find_blobs(dthresholds, pixels_threshold=100, area_threshold=100, merge=True):  # 找到颜色区域
         img.draw_rectangle(blob.rect())  # 标记颜色区域
         img.draw_cross(blob.cx(), blob.cy())  # 标记颜色区域的中心点
+        cx, cy = blob.x(), blob.y()
+        img_width, img_height = img.width(), img.height()
+        x = min(max(int((cx / img_width) * 8) + 1, 1), 8)
+        y = min(max(int((cy / img_height) * 8) + 1, 1), 8)
+        diamondmap.append((x,y))
+        total_diamond += 1
+        #print('diamond')
+        #print(x,y)
         #print("diamond x = %d, y = %d" % (blob.cx(), blob.cy()))  # 打印颜色区域的中心点坐标
+    #totalx = 0
+    #totaly = 0
+    #number = 0
+    #for i in goldmap:
+        #totalx += i[0]
+        #totaly += i[1]
+        #number+=1
+    #for i in diamondmap:
+        #totalx += i[0]
+        #totaly += i[1]
+        #number+=1
+    #totalx /=number
+    #totaly /=number
+    '''
+    采用如下信息编码格式，第一位表示矿物类型，第二位表示接下来发送数据长度
+    接下来的每两个构成一个完整坐标，最后一个字节的数据是校验位，大小应该等
+    于前面所有数据的和
+    '''
+    # 发送金矿位置 0x55
+    if len(goldmap)!=0:
+        check = 85
+        uart_A.write(b'\x55')
+        total_gold = total_gold*2+1
+        check += total_gold
+        gold_length = bytes([total_gold])
+        uart_A.write(gold_length)
+        for i in goldmap:
+            uart_A.write(bytes([i[0]]))
+            uart_A.write(bytes([i[1]]))
+            check += i[0]+i[1]
+        uart_A.write(bytes([check]))
+    # 发送钻石矿位置 0x56
+    if len(diamondmap)!=0:
+        check = 86
+        uart_A.write(b'\x56')
+        total_diamond = total_diamond*2+1
+        check += total_diamond
+        diamond_length = bytes([total_diamond])
+        uart_A.write(diamond_length)
+        for i in diamondmap:
+            uart_A.write(bytes([i[0]]))
+            uart_A.write(bytes([i[1]]))
+            check += i[0]+i[1]
+        uart_A.write(bytes([check]))
+
+
+