def StartSever():
global SERVER
SERVER = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
BinServer_pb2_grpc.add_BinServiceServicer_to_server(BinServer(), SERVER)
SERVER.add_insecure_port('[::]:8081')
SERVER.start()
log.info('gRPC服务器启动成功 地址为{}:8081'.format(MY_ADDR))
def GetBackGround():
my_stream = BytesIO()
pre_frame = None
# 获得稳定的背景
while True:
time.sleep(1)
CAMERA.capture(my_stream, 'jpeg')
image_data = my_stream.getvalue()
nparr = np.frombuffer(image_data, np.uint8)
cur_frame = cv2.imdecode(nparr, 1)
# 图片剪裁
# 裁剪坐标为[y0:y1, x0:x1]
cur_frame = cur_frame[0:455, 10:500]
gray_img = cv2.cvtColor(cur_frame, cv2.COLOR_BGR2GRAY)
gray_img = cv2.resize(gray_img, (320, 240))
gray_img = cv2.GaussianBlur(gray_img, (21, 21), 0) # 高斯滤波
if pre_frame is None:
pre_frame = gray_img
else:
img_delta = cv2.absdiff(pre_frame, gray_img) # 取delta
thresh = cv2.threshold(img_delta, 25, 255,
cv2.THRESH_BINARY)[1] # 图像阈值处理 转化为 0 1
thresh = cv2.dilate(thresh, None, iterations=2) # 膨胀操作
image, contours, hierarchy = cv2.findContours(
thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE) # 查找轮廓
if len(contours) == 0:
bkg = gray_img
log.info('背景已更新')
break
else:
pre_frame = gray_img
return bkg
def Register():
global BIN_ID, USER_ID, MY_ADDR, CONNECTION_FLAG, STATUS_LED, REGIS_FLAG, ID_DIRC, STATUS
# 连接远程服务器测试
STATUS_LED.blink(0.1, 0.1, on_color=(0, 0.6, 0.6)) # 闪灯
try:
BIN_ID = STUB.BinRegister(
waste_pb2.BinRegisterRequest(user_id=USER_ID,
ip_address=MY_ADDR,
bin_id=BIN_ID)).bin_id
if not REGIS_FLAG:
ID_DIRC['BIN_ID'] = BIN_ID
json.dump(ID_DIRC, open('ID.json', 'w'))
except Exception as ex:
if 'connect' in ex.__str__():
CONNECTION_FLAG = False
log.info('服务器连接失败')
STATUS_LED.color = (1, 0.4, 0) # 连接失败
return CONNECTION_FLAG
else:
log.error('未知错误')
log.error(ex)
return False
log.info('向服务器注册成功！当前垃圾桶ID为：{}'.format(BIN_ID))
STATUS_LED.color = (0, 1, 0) # 正常状态
STATUS = 1
CONNECTION_FLAG = True
return CONNECTION_FLAG
def BinMotor(self, request, context):
global STATUS_LED, CAMERA, USER_ID, STATUS
user = request.user_id
num = request.motor
dirc = request.dirc
motor.MoveMotor(num, dirc, 0.1)
log.info('来自用户{} 手动模式 电机{} 方向:{} '.format(user, num, dirc))
return BinServer_pb2.NULL()
def BinStatus(self, request, context):
global STATUS_LED, CAMERA, USER_ID, STATUS
mpu_angel = mpu.GetAngel()
mpu_temp = mpu.GetTemp()
log.info('来自用户{} 状态获取 当前状态：{} 当前平板角度：{:.2F}° 当前温度:{:.1F}°C'.format(
request.user_id, STATUS, mpu_angel, mpu_temp))
return BinServer_pb2.StatusReply(status=STATUS,
angel=mpu_angel,
temp=mpu_temp)
def Init():
global STATUS_LED, CAMERA, BKG_FRAME, CHANNEL, STUB, MY_ADDR, USER_ID, BIN_ID, CONNECTION_FLAG, ID_DIRC, REGIS_FLAG, MPU
if os.path.exists('ID.json'):
ID_DIRC = json.load(open('ID.json'))
USER_ID = ID_DIRC['USER_ID']
BIN_ID = ID_DIRC['BIN_ID']
REGIS_FLAG = True
else:
json.dump(ID_DIRC, open('ID.json', 'w'))
STATUS_LED = RGBLED(red=16, green=20, blue=21)
STATUS_LED.blink(0.1, 0.1, on_color=(1, 0.6, 0)) # 闪灯
# 首先连接相机
CAMERA = PiCamera()
CAMERA.resolution = (640, 480)
if CAMERA is None:
raise SystemExit('摄像头连接失败')
# 摄像头预热
time.sleep(5)
# 获得一个稳定的背景
BKG_FRAME = GetBackGround()
# 初始化连接状态
CHANNEL = grpc.insecure_channel(SERVER_ADDR)
STUB = waste_pb2_grpc.WasteServiceStub(CHANNEL)
MY_ADDR = get_host_ip()
log.info('当前IP地址为: {}'.format(MY_ADDR))
# 启动反向服务
StartSever()
# 初始化完成
log.info('初始化完成')
# 最后注册垃圾桶
Register()
def main():
global STATUS_LED, CAMERA, BKG_FRAME, CHANNEL, STUB, MY_ADDR, USER_ID, CONNECTION_FLAG, RECONN_TIME, STATUS, STATUS_TIME
count = STATUS_TIME + 1
fail_count = 0
Init()
wait_flag = False
#初始化 成功 进入运行状态
while True:
if not CONNECTION_FLAG:
STATUS = -1
log.info('正在尝试重连')
if not Register():
time.sleep(RECONN_TIME)
continue
flag, image = isChange()
if flag:
if STATUS == -2:
if fail_count > 10:
fail_count = 0
STATUS == 1
else:
log.info('请取出识别失败的垃圾！')
time.sleep(1)
continue
if not wait_flag:
STATUS = 2
STATUS_LED.blink(0.1, 0.1,
on_color=(0.7, 0.1, 0.6)) # 闪灯 处理垃圾中
log.info('有垃圾进入') # 延时一段时间
time.sleep(1)
wait_flag = True
continue
else:
wait_flag = False
image64 = base64.b64encode(image)
try:
log.info('正在识别')
response = STUB.WasteDetect(
waste_pb2.WasteRequest(bin_id=str(BIN_ID),
waste_image=image64))
except Exception as ex:
if 'connect' in ex.__str__(): # 连接失败
CONNECTION_FLAG = False
log.info('服务器连接失败')
STATUS_LED.color = (1, 0.4, 0.0) # 连接失败
else:
log.error('未知错误')
log.error(ex)
continue
response_id = response.res_id
response_name = response.waste_name
if response_id > -1:
log.info('垃圾识别结果：{} 属于：{}'.format(response_name,
GARBAGE[response_id]))
motor.Garbge(response_id)
time.sleep(1) # 等待稳定
# 重新更新背景
BKG_FRAME = GetBackGround()
# 处理完成
STATUS_LED.color = (0, 1, 0)
STATUS = 1
else:
log.info('垃圾识别失败！ 识别结果：{}'.format(response_name))
STATUS_LED.color = (1, 0, 0)
time.sleep(5)
STATUS = -2
count = STATUS_TIME + 1
else:
STATUS = 1
STATUS_LED.color = (0, 1, 0) # 进入运行状态
wait_flag = False
# 判断MPU
mpu_angel = mpu.GetAngel()
mpu_temp = mpu.GetTemp()
if mpu_angel > 5: # 当前偏转角度过大 需要处理一下
STATUS_LED.color = (0.8, 0, 0.4)
STATUS = 3
log.warning('平板倾斜角度过大！')
if count > STATUS_TIME:
count = 0
try:
STUB.BinStatus(
waste_pb2.BinStatusRequest(bin_id=BIN_ID,
status=STATUS,
angel=mpu_angel,
temp=mpu_temp))
except Exception as ex:
if 'connect' in ex.__str__(): # 连接失败
CONNECTION_FLAG = False
log.info('服务器连接失败')
STATUS_LED.color = (1, 0.4, 0.0) # 连接失败
else:
log.error('未知错误')
log.error(ex)
log.info('向服务器上报状态： 当前状态：{} 当前平板角度：{:.2F}° 当前温度:{:.1F}°C'.format(
STATUS, mpu_angel, mpu_temp))
else:
count += 1
time.sleep(IMAGE_READ_TIME)
def BinImage(self, request, context):
global STATUS_LED, CAMERA, USER_ID, STATUS
my_stream = BytesIO()
CAMERA.capture(my_stream, 'jpeg')
log.info('来自用户{} 图片获取 '.format(request.user_id))
return BinServer_pb2.ImageReply(image=my_stream.getvalue())
def BinImage(self, request, context):
global STATUS_LED, CAMERA, USER_ID, STATUS
my_stream = BytesIO()
CAMERA.capture(my_stream, 'jpeg')
log.info('来自用户{} 图片获取 '.format(request.user_id))
return BinServer_pb2.ImageReply(image=my_stream.getvalue())
def StartSever():
global SERVER
SERVER = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
BinServer_pb2_grpc.add_BinServiceServicer_to_server(BinServer(), SERVER)
SERVER.add_insecure_port('[::]:8081')
SERVER.start()
log.info('gRPC服务器启动成功 地址为{}:8081'.format(MY_ADDR))
if __name__ == '__main__':
log.info('server start')
try:
main()
except KeyboardInterrupt:
log.info('server stop with KeyboardInterrupt')
except SystemExit as ex:
log.error('server stop with {}'.format(ex))
except Exception as ex:
log.exception(ex)
finally:
CHANNEL.close()
CAMERA.close()