feat: 新增标签过滤器类

cfg_main.toml

@@ -3,12 +3,12 @@ logger_filename = "log/file_{time}.log"
 logger_format = "{time} {level} {message}"
 
 [task]
-GetBlock_enable = true # 人员施救使能
+GetBlock_enable = true  # 人员施救使能
 PutBlock_enable = false # 紧急转移使能
-GetBBall_enable = true # 整装上阵使能
-UpTower_enable = true  # 通信抢修使能
-GetRBall_enable = true # 高空排险使能
-PutBBall_enable = true # 派发物资使能
-PutHanoi_enable = true # 物资盘点使能
-MoveArea_enable = true # 应急避险使能
-KickAss_enable = true  # 扫黑除暴使能
+GetBBall_enable = true  # 整装上阵使能
+UpTower_enable = true   # 通信抢修使能
+GetRBall_enable = true  # 高空排险使能
+PutBBall_enable = true  # 派发物资使能
+PutHanoi_enable = true  # 物资盘点使能
+MoveArea_enable = true  # 应急避险使能
+KickAss_enable = true   # 扫黑除暴使能

main.py

@@ -19,7 +19,8 @@ task_queue.put(sb.task(sb.get_bball.exec, sb.get_bball.find, cfg_main['task']['G
 task_queue.put(sb.task(sb.up_tower.exec, sb.up_tower.find, cfg_main['task']['UpTower_enable'])) 
 task_queue.put(sb.task(sb.get_rball.exec, sb.get_rball.find, cfg_main['task']['GetRBall_enable'])) 
 task_queue.put(sb.task(sb.put_bball.exec, sb.put_bball.find, cfg_main['task']['PutBBall_enable'])) 
-task_queue.put(sb.task(sb.put_hanoi.exec, sb.put_hanoi.find, cfg_main['task']['PutHanoi_enable'])) 
+task_queue.put(sb.task(sb.put_hanoi1.exec, sb.put_hanoi1.find, True))  # 无论是否进行任务，检测标识并转向都是必须进行的
+task_queue.put(sb.task(sb.put_hanoi2.exec, sb.put_hanoi2.find, cfg_main['task']['PutHanoi_enable'])) 
 task_queue.put(sb.task(sb.move_area.exec, sb.move_area.find, cfg_main['task']['MoveArea_enable'])) 
 task_queue.put(sb.task(sb.kick_ass.exec, sb.kick_ass.find, cfg_main['task']['KickAss_enable'])) 
 

majtask.py

@@ -67,4 +67,4 @@ class main_task():
             # self.by_cmd.send_speed_x(7)
             pid_out = self.pid1.get(self.lane_error)
             # self.by_cmd.send_speed_omega(pid_out)
-        self.lane_socket.send_string("infer")
+        # self.lane_socket.send_string("infer")

subtask.py

@@ -1,5 +1,7 @@
 from enum import Enum
 from loguru import logger
+from utils import label_filter
+from utils import tlabel
 import time
 
 # 任务类
@@ -73,7 +75,16 @@ class task_queuem(task):
 # 人员施救
 class get_block():
     def find():
-        return True
+        # 目标检测红/蓝方块
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.RBLOCK)
+        ret2, list2 = filter.get(tlabel.BBLOCK)
+
+        if (ret1 > 0) or (ret2 > 0):
+            logger.info("[TASK1]# find label")
+            return True
+        else:
+            return False
     def exec():
         pass
 
@@ -81,56 +92,123 @@ class get_block():
 # 紧急转移
 class put_block():
     def find():
-        return False
+        # 目标检测医院
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.HOSPITAL)
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 
 # 整装上阵
 class get_bball():
     def find():
-        return False
+        # 目标检测黄球
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.YBALL)
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 
 # 通信抢修
 class up_tower():
     def find():
-        return False
+        # 目标检测通信塔
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.YBALL)
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 
 # 高空排险
 class get_rball():
     def find():
-        return False
+        # 目标检测红球
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.RBALL)
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 
 # 派发物资
 class put_bball():
     def find():
-        return False
+        # 目标检测通信塔
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.BASKET)
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 
 # 物资盘点
-class put_hanoi():
+class put_hanoi1():
     def find():
-        return False
+        # 目标检测左右转向标识
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.MARKL)
+        ret2, list2 = filter.get(tlabel.MARKR)
+
+        if (ret1 > 0) or (ret2 > 0):
+            return True
+        else:
+            return False
+    def exec():
+        pass
+
+class put_hanoi2():
+    def find():
+        # 目标检测左右转向标识
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.LPILLAR)
+
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 
 # 应急避险
 class move_area():
     def find():
-        return False
+        # 目标检测标志牌
+        # TODO 如何确保在都检测标志牌的情况下，和下一个任务进行区分
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.SIGN)
+
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 
 # 扫黑除暴
 class kick_ass():
     def find():
-        return False
+        # 目标检测标志牌
+        # TODO 如何确保在都检测标志牌的情况下，和上一个任务进行区分
+        filter = label_filter(None)
+        ret1, list1 = filter.get(tlabel.SIGN)
+
+        if ret1 > 0:
+            return True
+        else:
+            return False
     def exec():
         pass
 

utils.py

@@ -0,0 +1,49 @@
+from enum import Enum
+
+# 根据标签修改
+class tlabel(Enum):
+    BBLOCK   = 1    # 蓝色方块
+    RBLOCK   = 2    # 红色方块
+    HOSPITAL = 3    # 医院
+    BBALL    = 4    # 蓝球
+    YBALL    = 5    # 黄球
+    TOWER    = 6    # 通信塔
+    RBALL    = 7    # 红球
+    BASKET   = 8    # 球筐
+    MARKL    = 9    # 指向标
+    MARKR    = 10   # 指向标
+    SPILLAR  = 11   # 小柱体 (红色)
+    MPILLAR  = 12   # 中柱体 (蓝色)
+    LPILLAR  = 13   # 大柱体 (红色)
+    SIGN     = 14   # 文字标牌
+    TARGET   = 15   # 目标靶
+    SHELTER  = 16   # 停车区
+    BASE     = 17   # 基地
+
+class label_filter:
+    def __init__(self, list_src):
+        self.num = 0
+        self.pos = []
+        self.list = list_src # 获取目标检测输出的接口 (含标签，位置，置信度)
+        # TODO 添加置信度阈值
+        pass
+    def get(self, tlabel):
+        # TODO 循环查找匹配的标签值
+        # TODO 返回对应标签的个数，以及坐标列表
+        return self.num, self.pos
+    def find(self, tlabel):
+        # TODO 遍历返回的列表，有对应标签则返回 True
+        return False
+    def aim_left(self, tlabel):
+        # TODO 如果标签存在，则返回列表中位置最靠左的目标框和中心的偏移值
+        error = 0
+        return error
+    def aim_right(self, tlabel):
+        # TODO 如果标签存在，则返回列表中位置最靠右的目标框和中心的偏移值
+        error = 0
+        return error
+    def aim_near(self, tlabel):
+        # TODO 如果标签存在，则返回列表中位置最近的目标框和中心的偏移值
+        error = 0
+        return error
+