import serial
import math
import time
from tkinter import *
from tkinter.filedialog import askopenfilename
from tkinter import messagebox
import cv2
import numpy as np
import threading
import inspect
import ctypes
import math
# opencv部分可以改进 简化轮廓
# 解决tkinter卡死问题
'''
通信格式说明:
波特率 9600
PC发送:
第1字节 xDir
第2字节 yDir
第3字节 zState
第4&5字节 xPS
第6&7字节 yPS
单片机发送: 0xff 表示打印完成
'''
# build serial
try:
s = serial.Serial('com5', 9600, timeout=0.5)
except serial.serialutil.SerialException:
print('串口未打开')
# 参数设置
m = 15 # 臂长1(cm)
n = 15 # 臂长2(cm)
MaxW = (2**0.5)*(m+n) # weight底cm
MaxH = MaxW/2 # high 避开0 cm
print('MAXW:', MaxW, 'MAXH:', MaxH)
global Q
Q = 400
# globals
global w, new_thread, isb, osb, input, output, cv, menu, is_print_button, set_threshold, isCanny, CannyMin, CannyMax, iterations, fanse
global mpx, npx
fanse = False
# iterations迭代次数
isCanny = True
global contours
global lst # list
global isfinish, pos
isfinish = False
cishu = -1 # 发送开始标志时 也会有接收
def readdata():
global isfinish, cishu
while True:
inputdata = s.read(1)
# if inputdata!=b'':
# print(inputdata)
if inputdata == b'\xff': # 打印完成
isfinish = True # 若发送0xff且坐标正确
# 清空缓存 防止次数误加
s.flushInput()
cishu += 1
print(cishu, "打印完成!")
def stop_thread(thread):
tid = thread.ident
exctype = SystemExit
tid = ctypes.c_long(tid)
if not inspect.isclass(exctype):
exctype = type(exctype)
res = ctypes.pythonapi.PyThreadState_SetAsyncExc(
tid, ctypes.py_object(exctype))
if res == 0:
raise ValueError("invalid thread id")
elif res != 1:
ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None)
raise SystemError("PyThreadState_SetAsyncExc failed")
# define image
img = []
# size setting
canvasw = 256
canvash = 256
listboxw = 150
listboxh = 300
scrollbarw = 10
scrollbarh = listboxh
# class pen
class pen:
org = [0, 0] # for show
p1 = [0, 0] # for show
# p2 for computing
x = 1
y = 1
alpha = 0 # rad
beta = 0
z = 0 # 状态 0:up 1:down
def __init__(self):
global cv
self.id1 = cv.create_line(0, 0, 0, 0)
self.id2 = cv.create_line(0, 0, 0, 0)
def up(self):
self.z = 0
def down(self):
self.z = 1
def goto(self, pos): # pos是经典坐标系下
global MaxH, MaxW,mpx,npx, cv, MaxH_px
coe=350/(mpx+npx)
if self.z == 1:
cv.create_line(int(self.x+MaxH_px)*coe, int(-self.y+MaxH_px)*coe,
int(pos[0]+MaxH_px)*coe, int(-pos[1]+MaxH_px)*coe)
cv.delete(self.id1)
cv.delete(self.id2)
a, b = pos[0], pos[1]
S = -((npx**2-a**2-b**2-mpx**2)/(2*b))
x = (2*S*a/b+math.sqrt((2*S*a/b)**2-4*(1+a**2/b**2)
* (S**2-mpx**2)))/(2*(1+a**2/b**2))
y = S-a*x/b
self.id1 = cv.create_line(MaxH_px*coe, MaxH_px*coe, (x+MaxH_px)*coe, (-y+MaxH_px)*coe)
self.id2 = cv.create_line(
(x+MaxH_px)*coe, (-y+MaxH_px)*coe, (pos[0]+MaxH_px)*coe, (-pos[1]+MaxH_px)*coe)
drawpad.update()
al = math.acos(x/mpx) if y >= 0 else -math.acos(x/mpx)
# ((a-x)*(0-x)+(b-y)*(0-y))/( (a-x)**2+(b-y)**2 + (0-x)**2+(0-y)**2 )**0.5
be = math.acos((-(a-x)*x-(b-y)*y) /
((((a-x)**2+(b-y)**2) * (x**2+y**2))**0.5))
da, db = al-self.alpha, be-self.beta # delta差异
self.alpha, self.beta, self.x, self.y = al, be, a, b
return [0 if da < 0 else 1, 0 if db < 0 else 1, abs(da), abs(db)]
# 参数
global threshold
threshold = 127
def change_threshold(a):
global threshold
threshold = set_threshold.get()
def change_CannyMin(a):
global CannyMin
CannyMin = set_CannyMin.get()
def change_CannyMax(a):
global CannyMax
CannyMax = set_CannyMax.get()
def change_iterations(a):
global iterations
iterations = set_iterations.get()
def cv_show():
global img, gray, ret, thresh, contours, hierarchy, res, threshold, CannyMin, CannyMax, kernel, ersion, iterations, fanse
# 获取轮廓
# 按高的比例缩放
# img=cv2.resize(img,[int(img.shape[1]*(MaxH/img.shape[0])),int(MaxH)])#先宽后高
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(
gray, threshold, 255, cv2. THRESH_BINARY) # thresh 黑白图
if isCanny:
thresh = cv2.Canny(thresh, CannyMin, CannyMax)
print(CannyMin, CannyMax)
contours, hierarchy = cv2.findContours(
thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE) # 减少点数,提高效率 cv2.CHAIN_APPROX_SIMPLE
# 显示
draw_img = img.copy()
res = cv2.drawContours(draw_img, contours, -1, (0, 0, 255), 3)
print('轮廓展示')
cv2.imshow('轮廓', res)
cv2.waitKey(0)
cv2.destroyAllWindows()
else:
# kernel=cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
# np.zeros((5,5),np.uint8)生成5x5填充0的卷积核(白) np.ones((5,5),np.uint8)5x5填充1(黑)
kernel = np.ones((3, 3), np.uint8)
if fanse:
erosion = cv2.erode(thresh, kernel, iterations=iterations)
else:
erosion = cv2.dilate(thresh, kernel, iterations=iterations)
# 显示
cv2.imshow('腐蚀', erosion)
print('腐蚀展示')
cv2.waitKey(0)
cv2.destroyAllWindows()
def draw():
global isfinish, cishu, mpx, npx, cv, drawpad
global img, gray, ret, thresh, contours, hierarchy, res, threshold, CannyMin, CannyMax, kernel, ersion, iterations, fanse, Q
# 实例化对象
p = pen()
drawpad.deiconify()
# drawpad.geometry(str(int(2*(mpx+npx)))+'x'+str(int(mpx+npx)))#宽x高
# cv.place(x=0, y=0, width=int(2*(mpx+npx)),
# height=int(mpx+npx))
# cv.pack()
cv.delete(ALL) # 清屏
cishu = 0
output.delete(0, output.size())
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(
gray, threshold, 255, cv2. THRESH_BINARY) # thresh 黑白图
if isCanny:
thresh = cv2.Canny(thresh, CannyMin, CannyMax)
print(CannyMin, CannyMax)
contours, hierarchy = cv2.findContours(
thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE) # 减少点数,提高效率 cv2.CHAIN_APPROX_SIMPLE
keyPoints = contours[1:] # 不包括轮廓
for a in keyPoints:
p.down()
for b in a:
for c in b:
if list(c) == list(a[0][0]): # 是线段开始处
p.up()
# 每一段线是连续的
# define
x1, y1 = p.x, p.y # 经典坐标系
x2, y2 = list(c)[0] - int(MaxH_px), - \
list(c)[1] + int(MaxH_px) # 转为经典坐标系
# 修改尺寸时已经保证了图像高度小于最大高度(sqrt2)/2*(m+n),所以平移后不会有0
dx = abs(x2 - x1)
dy = abs(y2 - y1)
# 根据直线的走势方向，设置变化的单位是正是负
s1 = 1 if ((x2 - x1) > 0) else -1
s2 = 1 if ((y2 - y1) > 0) else -1
# 根据斜率的大小，交换dx和dy，可以理解为变化x轴和y轴使得斜率的绝对值为（0,1）
boolInterChange = False
if dy > dx: # np.swapaxes(dx, dy)
dx, dy = dy, dx
boolInterChange = True
# 初始误差
ee = 2 * dy - dx
x = x1
y = y1
for i in range(0, int(dx + 1)):
# 入口(重点)
# print('经典',x,y)
xd, yd, a1, a2 = p.goto([x, y])
#发送数据
s.write(bytes([xd]))#xDIR
time.sleep(0.01)
s.write(bytes([yd]))#yDIR
time.sleep(0.01)
s.write(bytes([p.z]))#zState
time.sleep(0.01)
#0&n=0 1&n=n 0b0000000011111111=0b11111111=255
print( int(a1/(2*math.pi)*Q), int(a2/(2*math.pi)*Q),
bytes([xd]),bytes([yd]),bytes([p.z]),
bytes([int(a1/(2*math.pi)*Q)>>8]),
bytes([int(a1/(2*math.pi)*Q)&255]),
bytes([int(a2/(2*math.pi)*Q)>>8]),
bytes([int(a2/(2*math.pi)*Q)&255]))
s.write(bytes([int(a1/(2*math.pi)*Q)>>8]))#xPS1
time.sleep(0.01)
s.write(bytes([int(a1/(2*math.pi)*Q)&255]))#xPS2
time.sleep(0.01)
s.write(bytes([int(a2/(2*math.pi)*Q)>>8]))#xPS1
time.sleep(0.01)
s.write(bytes([int(a2/(2*math.pi)*Q)&255]))#xPS2
while not isfinish: # 等待mcu发送完成
w.update() # 更新 解决卡死问题
# pass
isfinish = False
if ee >= 0: # 此时要选择横纵坐标都不同的点，根据斜率的不同，让变化小的一边变化一个单位
ee -= 2 * dx
if (boolInterChange):
x += s1
else:
y += s2
# 根据斜率的不同，让变化大的方向改变一单位，保证两边的变化小于等于1单位，让直线更加均匀
if boolInterChange:
y += s2
else:
x += s1
ee += 2 * dy
else:
p.down()
xd, yd, a1, a2 = p.goto(
[list(c)[0]-MaxH_px, -list(c)[1]+MaxH_px])
# 发送数据
s.write(bytes([xd]))#xDIR
time.sleep(0.01)
s.write(bytes([yd]))#yDIR
time.sleep(0.01)
s.write(bytes([p.z]))#zState
time.sleep(0.01)
#0&n=0 1&n=n 0b0000000011111111=0b11111111=255
s.write(bytes([int(a1/(2*math.pi)*Q)>>8]))#xPS1
time.sleep(0.01)
s.write(bytes([int(a1/(2*math.pi)*Q)&255]))#xPS2
time.sleep(0.01)
s.write(bytes([int(a2/(2*math.pi)*Q)>>8]))#xPS1
time.sleep(0.01)
s.write(bytes([int(a2/(2*math.pi)*Q)&255]))#xPS2
while not isfinish: # 等待mcu发送完成
w.update() # 更新 解决卡死问题
# pass
isfinish = False
p.up()
else:
kernel = np.ones((3, 3), np.uint8)
if fanse:
erosion = cv2.erode(thresh, kernel, iterations=iterations)
else:
erosion = cv2.dilate(thresh, kernel, iterations=iterations)
for i in range(len(erosion)):
for j in range(0 if i % 2 == 0 else len(erosion[i])-1,
len(erosion[i]) if i % 2 == 0 else -1,
1 if i % 2 == 0 else -1):
print(i, j)
if erosion[i][j] == 0: # 黑
p.down()
else:
p.up()
xd, yd, a1, a2 = p.goto([i-MaxH_px, -j+MaxH_px])
s.write(bytes([xd]))#xDIR
time.sleep(0.01)
s.write(bytes([yd]))#yDIR
time.sleep(0.01)
s.write(bytes([p.z]))#zState
time.sleep(0.01)
#0&n=0 1&n=n 0b0000000011111111=0b11111111=255
s.write(bytes([int(a1/(2*math.pi)*Q)>>8]))#xPS1
time.sleep(0.01)
s.write(bytes([int(a1/(2*math.pi)*Q)&255]))#xPS2
time.sleep(0.01)
s.write(bytes([int(a2/(2*math.pi)*Q)>>8]))#xPS1
time.sleep(0.01)
s.write(bytes([int(a2/(2*math.pi)*Q)&255]))#xPS2
while not isfinish: # 等待mcu发送完成
w.update() # 更新 解决卡死问题
# pass
isfinish = False
# # 发送开始
# output.insert('end', '----------------')
# output.insert('end', '0,0,0')
# # 归位!!!
# output.insert('end', '----------------')
# while not isfinish: # 等待mcu发送完成
# pass
# isfinish = False
osb.config(command=output.yview('moveto', 1))
# menu
def callback(): # 打印按钮
if messagebox.askquestion("提示", "开始打印？") == 'yes':
draw()
def load():
global img
filename = askopenfilename(defaultextension='jpg')
if filename:
w.title(filename)
img = cv2.imread(filename)
def set_size():
global px, mpx, npx, MaxH_px
while True:
print("请输入图片长度(cm,小数float)(约束比例)")
a = input()
try:
wcm = float(a)
px = wcm/img.shape[1] # cm/px
hcm = img.shape[0]*px
# cm/px print(img.shape)#图片的 高，底，查看格式，查看格式3是RGB
print('img.shape:', img.shape)
print("Size(cm):", wcm, hcm)
print("px:", px)
if wcm > MaxW or hcm >= MaxH:
print('超出范围,请重新输入')
else:
print("Size(cm):", wcm, hcm)
print("px:", px)
mpx, npx = m/px, n/px
MaxH_px = MaxH/px
print('mpx&npx:', mpx, npx)
print('设置成功')
break
except ValueError:
print('类型错误,请重新输入')
def set_Q():
global Q
while True:
try:
q = input('请输入圈拍数:')
Q = int(q)
print('设置成功')
break
except ValueError:
print('类型错误,请重新输入')
# checkbutton
def CBfunc():
global isCanny
isCanny = not cb_var.get()
def set_fanse():
global fanse
fanse = cb_var2.get()
if __name__ == '__main__':
# 开启读取线程
new_thread = threading.Thread(target=readdata, name="T1")
new_thread.start()
# 创建tk窗口及组件-----------------------------------------------------------
w = Tk()
drawpad = Tk()
drawpad.title('drawing...')
drawpad.geometry('350x700')
drawpad.withdraw() # 隐藏
w.title('Printer_Helper')
w.geometry('500x700') # srceen_size
# 滚动条-----------------------------------------
isb = Scrollbar(w)
isb.pack(side="right", fill="y")
isb.place(x=canvasw+listboxw, y=0, width=scrollbarw, height=scrollbarh)
osb = Scrollbar(w)
osb.pack(side="right", fill="y")
osb.place(x=canvasw+2*listboxw+scrollbarw, y=0,
width=scrollbarw, height=scrollbarh)
# listbox-------------------------------------------
inputt = Listbox(w, yscrollcommand=isb.set)
inputt.pack(side="left", fill="both")
inputt.place(x=canvasw, y=0, width=listboxw, height=listboxh)
output = Listbox(w, yscrollcommand=osb.set)
output.pack(side="left", fill="both")
output.place(x=canvasw+listboxw+scrollbarw, y=0,
width=listboxw, height=listboxh)
# update_scrollbar :input.yview('moveto',1), command是回调函数参数
# isb.config(command=input.yview('moveto',1))#滑动条滑到最下
# osb.config(command=output.yview('moveto',1))
# draw_pad-----------------------------------------
global cv
cv = Canvas(drawpad, bg="white", highlightthickness=0,
width=2000, height=960)
cv.place(x=0, y=0) # pack和place不可同时用
menu = Menu(w)
w.config(menu=menu) # 把菜单绑定root
menu.add_command(label='file', command=load)
menu.add_command(label='size', command=set_size)
menu.add_command(label='1圈拍数', command=set_Q)
# 参数
set_threshold = Scale(w, from_=0, to=255, label="二值化阈值 threshold",
orient="horizontal", command=change_threshold) # 阈值
set_threshold.pack(side="left")
set_threshold.set(127)
set_threshold.place(x=0, y=listboxh+50)
threshold = 127
set_CannyMin = Scale(w, from_=0, to=255, label="CannyMin",
orient="horizontal", command=change_CannyMin)
set_CannyMin.place(x=100, y=350)
set_CannyMax = Scale(w, from_=0, to=255, label="CannyMax",
orient="horizontal", command=change_CannyMax)
set_CannyMax.place(x=200, y=350)
CannyMin, CannyMax = 100, 127
set_iterations = Scale(w, from_=0, to=255, label="迭代次数 iterations",
orient="horizontal", command=change_iterations)
set_iterations.place(x=0, y=410)
# 勾选按钮 在canny与腐蚀选择
cb_var = BooleanVar()
cb = Checkbutton(w, text="腐蚀", command=CBfunc, variable=cb_var)
cb.place(x=0, y=470)
# 反色按钮
cb_var2 = BooleanVar()
cb = Checkbutton(w, text="反色", command=set_fanse, variable=cb_var2)
cb.place(x=50, y=470)
# button-----------------
show_image = Button(w, text="show image", command=cv_show)
show_image.place(x=127, y=listboxh)
# 询问是否要开始打印
is_print_button = Button(w, text="打印", command=callback)
is_print_button.place(x=220, y=listboxh)
# 创建tk窗口及组件-----------------------------------------------------------
mainloop()
stop_thread(new_thread)
/*
通信格式说明:
波特率 9600
PC发送:
第1字节 xDir
第2字节 yDir
第3字节 zState
第4&5字节 xPS
第6&7字节 yPS
单片机发送: 0xff 表示打印完成
28byj48_step-motor规定一拍用时5500us,509脉冲=1/8圈
42step-motor 400脉冲=1圈
*/
// direction-方向 lock-锁定 lock -> fixed
#include <Arduino.h>
#define u8 unsigned char
#define z 16
#define coe 5//sleepTime(ms) 5ms=5000us
// variable
hw_timer_t *timer;
u8 zs, k;
void timer_interrupt()
{
k %= 50; // 20ms/0.5ms=50
if (k <= zs)
{
digitalWrite(z, HIGH);
}
else
{
digitalWrite(z, LOW);
}
}
// u8 movelist[8] = {8, 0x0a, 2, 6, 4, 5, 1, 9};//L298n&42stepmotor
u8 movelist[8] = {0x0e, 0x0c,0x0d,9,0x0b,3,7,6};//uln2003&28byj48
int sd[7]; // serialData
u8 si; // serialDataIndex
int sleeptime, i, fi, ui;
bool isZero;
class motor
{
public:
u8 a, b, c, d, dir;
int ps;
motor(u8 ia, u8 ib, u8 ic, u8 id)
{
this->a = ia;
this->b = ib;
this->c = ic;
this->d = id;
pinMode(this->a, OUTPUT);
pinMode(this->b, OUTPUT);
pinMode(this->c, OUTPUT);
pinMode(this->d, OUTPUT);
}
void stop()
{
digitalWrite(this->a, LOW);
digitalWrite(this->b, LOW);
digitalWrite(this->c, LOW);
digitalWrite(this->d, LOW);
}
void move(u8 step, u8 dir)
{
u8 temp = step;
if (dir == 0)
{
temp = 7 - step;
}
//#num >> (i-1) & 1
digitalWrite(this->a, movelist[temp % 8] &1);//已经做了temp % 8工作，可以直接输入大于8数字
digitalWrite(this->b, movelist[temp % 8] >>1&1);
digitalWrite(this->c,movelist[temp % 8] >>2&1);
digitalWrite(this->d, movelist[temp % 8] >>3&1);
}
};
// create objects & set pin
motor x = motor(5,18,19,21);
motor y = motor(12,13,14,15);
motor *f, *u; // Fixed&Unfixed
void setup()
{
Serial.begin(9600);
pinMode(z, OUTPUT);
//{8, 0x0a, 2, 6, 4, 5, 1, 9};
si = 0;
timer = timerBegin(0, 80, true);
// config func
timerAttachInterrupt(timer, timer_interrupt, true);
// set Mode
timerAlarmWrite(timer, 500, true); // 1s=1000ms=1000*1000us => 0.5ms=500us
// start
timerAlarmEnable(timer);
x.stop();
y.stop();
}
//delayMicrosecond us
void loop()
{
if (Serial.available())
{
sd[si] = Serial.read();
si++;
if (si == 7)
{
zs = sd[2];
x.dir = sd[0];
y.dir = sd[1];
x.ps = (sd[3] << 8) + sd[4];
y.ps = (sd[5] << 8 )+ sd[6];//左右移操作顺序不一致,要用括号
// Serial.println(x.ps);
// Serial.println(y.ps);
if (x.ps >= y.ps)
{
f = &x;
u = &y;
}
else
{
f = &y;
u = &x;
}
if (u->ps == 0)
{
isZero = 0;
}
else
{
isZero = 1;
sleeptime = coe* f->ps / u->ps;
}
fi = 0;
ui = 0;
u->stop();
f->stop();
for (i = 0; i < f->ps * coe + 1; i++)
{
delay(1);
if (i % coe == 0)
{
f->move(fi, f->dir);
fi++;
}
if (isZero)
{
if (i % sleeptime == 0)
{
u->move(ui, u->dir);
ui++;
}
}
}
// setup si
si = 0;
u->stop();
f->stop();
Serial.write(0xff);//不是printf(0xff)(输出'255'),输出255(num)
}
}
}
// sth about motor
/*
#define LOW 0x0
#define HIGH 0x1
8a264519
step
1-1_0_0_0 :8
2-1_0_1_0 :a
3-0_0_1_0 :2
4-0_1_1_0 :6
5-0_1_0_0 :4
6-0_1_0_1 :5
7-0_0_0_1 :1
8-1_0_0_1 :9
*/
//ULN2003 28byj-48
// case 0: IN1_A=1; IN1_B=1; IN1_C=1; IN1_D=0; break; //e
// case 1: IN1_A=1; IN1_B=1; IN1_C=0; IN1_D=0; break;//c
// case 2: IN1_A=1; IN1_B=1; IN1_C=0; IN1_D=1; break;//d
// case 3: IN1_A=1; IN1_B=0; IN1_C=0; IN1_D=1; break;//9
// case 4: IN1_A=1; IN1_B=0; IN1_C=1; IN1_D=1; break;//b
// case 5: IN1_A=0; IN1_B=0; IN1_C=1; IN1_D=1; break;//3
// case 6: IN1_A=0; IN1_B=1; IN1_C=1; IN1_D=1; break;//7
// case 7: IN1_A=0; IN1_B=1; IN1_C=1; IN1_D=0; break;//6
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