update

serial_module.c

@@ -11,7 +11,7 @@
 #include <pthread.h> // 引入 pthread 库
 
 // 宏定义
-#define USE_FEC
+// #define USE_FEC
 #ifdef USE_FEC
 #define FEC_SIZE 32 // 前向纠错冗余数据大小
 #else
@@ -202,6 +202,8 @@ static PyObject *serial_send(PyObject *self, PyObject *args) {
         // 拷贝该帧对应数据段
         memcpy(send_buffer + HEADER_SIZE, data + offset, data_len);
 
+        printf("Received frame: seq=%d, len=%d\r\n", frame_counter, data_len);
+
         // 计算 CRC32 校验和
         uint32_t crc = calculate_crc32(send_buffer, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
         memcpy(send_buffer + HEADER_SIZE + DATA_SIZE + FEC_SIZE, &crc, CHECKSUM_SIZE);

test_send.py

@@ -1,43 +1,92 @@
 import serial_module
 import cv2
 import time
+import threading
+
+# 全局变量
+frame = None
+frame_lock = threading.Lock()
+thread_started = False
+
+# 摄像头读取线程
+def cap_thread():
+    global frame, thread_started
+    cap = cv2.VideoCapture(0)
+    if not cap.isOpened():
+        print("Error: Could not open camera.")
+        return
+    
+    # 标记线程已启动
+    thread_started = True
+
+    while True:
+        time_now = time.time()
+        ret, temp_frame = cap.read()
+        if ret:
+            with frame_lock:
+                # 在图像上打印时间
+                # print(f"Time: {time_now:.2f}")
+                cv2.putText(temp_frame, f"{time_now:.2f}", (10, 50), cv2.FONT_HERSHEY_SIMPLEX, 2, (0, 0, 255), 4)
+                frame = temp_frame
+        else:
+            print("Error: Failed to read frame from camera.")
+            time.sleep(0.1)  # 短暂休眠，避免频繁尝试读取
 
 # 初始化串口
 serial_module.init("/dev/ttyUSB0")
 
-cap = cv2.VideoCapture(0)
+# 启动摄像头读取线程
+threading.Thread(target=cap_thread, daemon=True).start()
 
-# while True:
-for _ in range(100):
+# 等待子线程初始化完成
+while not thread_started:
+    time.sleep(0.1)
+
+# 主线程处理逻辑
+# for _ in range(100):
+while True:
     time_via = time.time()
-    ret, frame = cap.read()
-    frame = cv2.resize(frame, (224,224))
-    cv2.imshow('frame',frame)
-    frame_jpg = cv2.imencode('.jpg', frame, [int(cv2.IMWRITE_JPEG_QUALITY), 50])[1].tobytes()
-    print(len(frame_jpg))
+
+    # 检查帧是否可用
+    with frame_lock:
+        if frame is None:
+            # print('frame is None')
+            time.sleep(0.1)  # 短暂休眠，避免频繁检测
+            continue
+        
+        # 调整帧大小
+        try:
+            frame_resized = cv2.resize(frame, (224, 224))
+        except Exception as e:
+            print(f"Error resizing frame: {e}")
+            continue
+
+    # 编码帧为 JPEG 格式
+    try:
+        frame_jpg = cv2.imencode('.jpg', frame_resized, [int(cv2.IMWRITE_JPEG_QUALITY), 50])[1].tobytes()
+    except Exception as e:
+        print(f"Error encoding frame: {e}")
+        continue
+
+    # 打印帧大小并发送数据
+    print(f"Frame size: {len(frame_jpg)} bytes")
     serial_module.send(frame_jpg)
-    cv2.imwrite('test_send.jpg', frame)
-    # # 创建一个大小为 3.5K 的二进制数据
-    # file_size = int(3.5 * 1024)
-    # empty_binary_data = bytearray(file_size)
-    # empty_binary_data = bytes(empty_binary_data)
 
-    # # 发送数据
-    # serial_module.send(empty_binary_data)
+    # 保存帧到文件（用于调试）
+    try:
+        cv2.imwrite('test_send.jpg', frame_resized)
+    except Exception as e:
+        print(f"Error saving frame: {e}")
 
-    print(time.time() - time_via)
-    time.sleep(4)
+    # 打印时间消耗
+    print(f"Time taken: {time.time() - time_via:.3f} seconds")
+
+    # 控制循环频率
+    # time.sleep(4)
+
+    # 按 'q' 键退出
     if cv2.waitKey(1) & 0xFF == ord('q'):
         break
 
-# # 发送数据
-# data = b"Your binary data here"  # 替换为你的二进制数据
-# serial_module.send(data)
-
-# # 接收数据
-# result = serial_module.receive()
-# if result:
-#     frame_number, pdu, rssi = result
-#     print(f"Frame Number: {frame_number}")
-#     print(f"PDU: {pdu}")
-#     print(f"RSSI: {rssi}")
+# 释放资源
+cv2.destroyAllWindows()