92 lines
2.9 KiB
Python
92 lines
2.9 KiB
Python
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import json
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import sys
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import threading
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import time
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from Speaker.speak_base import beep
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from UWB.consensus import *
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from UWB.positioning_standalone_v2 import Positioning
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FACTORY_MODE = threading.Event()
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# 长跑基站设定码
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SET_ANCHOR = "setanchor"
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PATH = sys.path[0]
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ANCHOR_RSSI_ADJUSTMENT_PATH = f"{PATH}/Exercise3/anchor_adjustment.json"
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# 设置方法
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def set_anchor(value: str, eb):
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positioning = eb.positioning
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positioning: Positioning
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speak_driver = eb.speak_driver
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speak_driver.add_speak(f"准备进行长跑基站校准！请将一个手环放置于屏幕前！")
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speak_driver.wait_4_speak()
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recognized_tag = positioning.get_detect_tag(3)
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if not recognized_tag:
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mes = "未识别到手环，请重新发送命令！"
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speak_driver.add_speak(mes)
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return mes
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speak_driver.add_speak("识别手环成功")
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print("识别到手环：", recognized_tag)
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speak_driver.wait_4_speak()
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anchor_list = list(positioning.multi_uwb.uwb_driver_table.keys())
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speak_driver.add_speak(
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f"共有{len(anchor_list)}个基站待校准，"
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f"请在5秒内到达识别边界，"
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f"滴声响后开始自动校准！"
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)
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speak_driver.wait_4_speak()
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for i in range(5):
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speak_driver.add_speak(f"{5 - i}")
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time.sleep(1)
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speak_driver.wait_4_speak()
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beep(freq=5000, duration=1000)
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speak_driver.add_speak(f"开始校准基站！")
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start_time = time.time()
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anchor_rssi_table = {}
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adjustment_num = 100
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finish_count = 0
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beep_count_max = 20
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beep_counter = 0
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while FACTORY_MODE:
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record = positioning.get_last_information()
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if not record:
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continue
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record_time, data = record
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if record_time < start_time:
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continue
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anchor = data[ANCHOR_ID]
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tag = data[TAG]
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rssi = data[RSSI]
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if tag == recognized_tag:
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anchor_rssi_table.setdefault(anchor, [])
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anchor_rssi_table[anchor].append(rssi)
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print(data)
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beep_counter += 1
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if beep_counter >= beep_count_max:
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beep(freq=3000, duration=300)
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beep_counter = 0
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if not len(anchor_rssi_table[anchor]) >= adjustment_num:
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continue
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finish_count += 1
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speak_driver.add_speak(f"{finish_count}个基站完成校准！")
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if finish_count == len(anchor_list):
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break
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# 写入结果
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anchor_rssi_adjustment = {
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anchor: sum(anchor_rssi_table[anchor]) / len(anchor_rssi_table[anchor])
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for anchor in anchor_list
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}
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with open(ANCHOR_RSSI_ADJUSTMENT_PATH, "w", encoding="utf-8_sig") as file:
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json.dump(anchor_rssi_adjustment, file)
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speak_driver.add_speak("已完成所有基站的校准！")
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FACTORY_MODE.clear()
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return "已完成所有基站的校准！"
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# 处理方法-代码对照表
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FUNC_TABLE = {
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SET_ANCHOR: set_anchor
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}
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