package-lock.json

@@ -616,7 +616,6 @@
       "integrity": "sha512-zx0EIq78WlY/lBb1uXlziZmDZI4ubcCXIMJ4uGjXzZW0nS19TjSPeXPAjzzTmKQlJUZm0SbmZhPKP7tuQ1SsEw==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "chalk": "^4.1.1",
         "fs-extra": "^9.0.1",
@@ -1753,7 +1752,6 @@
       "integrity": "sha512-yl43JD/86CIj3Mz5mvvLJqAOfIup7ncxfJ0Btnl0/v5TouVUyeEdcpknfgc+yMevS/48oH9WAkkw93m7otLb/A==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "@inquirer/checkbox": "^3.0.1",
         "@inquirer/confirm": "^4.0.1",
@@ -2912,7 +2910,6 @@
       "integrity": "sha512-NZyJarBfL7nWwIq+FDL6Zp/yHEhePMNnnJ0y3qfieCrmNvYct8uvtiV41UvlSe6apAfk0fY1FbWx+NwfmpvtTg==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "bin": {
         "acorn": "bin/acorn"
       },
@@ -2979,7 +2976,6 @@
       "integrity": "sha512-B/gBuNg5SiMTrPkC+A2+cW0RszwxYmn6VYxB/inlBStS5nx6xHIt/ehKRhIMhqusl7a8LjQoZnjCs5vhwxOQ1g==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "fast-deep-equal": "^3.1.3",
         "fast-uri": "^3.0.1",
@@ -3197,7 +3193,6 @@
         }
       ],
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "baseline-browser-mapping": "^2.9.0",
         "caniuse-lite": "^1.0.30001759",
@@ -4504,6 +4499,17 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/encoding": {
+      "version": "0.1.13",
+      "resolved": "https://registry.npmjs.org/encoding/-/encoding-0.1.13.tgz",
+      "integrity": "sha512-ETBauow1T35Y/WZMkio9jiM0Z5xjHHmJ4XmjZOq1l/dXz3lr2sRn87nJy20RupqSh1F2m3HHPSp8ShIPQJrJ3A==",
+      "dev": true,
+      "license": "MIT",
+      "optional": true,
+      "dependencies": {
+        "iconv-lite": "^0.6.2"
+      }
+    },
     "node_modules/end-of-stream": {
       "version": "1.4.5",
       "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.5.tgz",
@@ -8024,7 +8030,6 @@
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       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "esbuild": "^0.21.3",
         "postcss": "^8.4.43",
@@ -8084,7 +8089,6 @@
       "resolved": "https://registry.npmjs.org/vue/-/vue-3.5.28.tgz",
       "integrity": "sha512-BRdrNfeoccSoIZeIhyPBfvWSLFP4q8J3u8Ju8Ug5vu3LdD+yTM13Sg4sKtljxozbnuMu1NB1X5HBHRYUzFocKg==",
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "@vue/compiler-dom": "3.5.28",
         "@vue/compiler-sfc": "3.5.28",
@@ -8138,7 +8142,6 @@
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       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "@types/eslint-scope": "^3.7.7",
         "@types/estree": "^1.0.8",

public/shablons/color.txt

@@ -1,51 +1,45 @@
-class ColorDetect():
+def color_detection(data, print_type='str'):
-    def __init__(self):
+    '''определение цвета'''
-        self.color = None
 
-    def getColor(self):
+    frame = bridge.imgmsg_to_cv2(data, 'bgr8')
-        return self.color
+    height, width = frame.shape[:2]
+    y_start = int(height * 0.33)
+    y_end = int(height * 0.67)
+    x_start = int(width * 0.31)
+    x_end = int(width * 0.69)
 
-    def detect_color_callback(self, data, print_type='str'):
+    cropped_frame = frame[y_start:y_end, x_start:x_end]
-        '''определение цвета'''
+    
+    if cropped_frame.size == 0:
+        return
+    
 
-        frame = bridge.imgmsg_to_cv2(data, 'bgr8')
+    if print_type == 'rgb':
-        height, width = frame.shape[:2]
-        y_start = int(height * 0.33)
-        y_end = int(height * 0.67)
-        x_start = int(width * 0.31)
-        x_end = int(width * 0.69)
 
-        cropped_frame = frame[y_start:y_end, x_start:x_end]
+        mean_bgr = cv2.mean(cropped_frame)[:3]
+        mean_rgb = (int(mean_bgr[2]), int(mean_bgr[1]), int(mean_bgr[0]))  
+        color = str(mean_rgb)
+    
+
+    elif print_type == 'str':
+
+        # Получаем средние значения BGR
+        mean_bgr = cv2.mean(cropped_frame)[:3]
+        b, g, r = int(mean_bgr[0]), int(mean_bgr[1]), int(mean_bgr[2])
         
-        if cropped_frame.size == 0:
-            return
         
+        if b > g + 20 and b > r + 20 and b > 100 + 20:  
+            color = 'blue'
+        elif g > b + 20 and g > r + 20 and g > 100:  
+            color = 'green'
+        elif r > b + 20 and r > g + 20 and r > 100:  
+            color = 'red'
+        elif r > 150 and g > 150 and g > 150:
+            color= 'white'
+        else:
+            color = None
 
-        if print_type == 'rgb':
-
-            mean_bgr = cv2.mean(cropped_frame)[:3]
-            mean_rgb = (int(mean_bgr[2]), int(mean_bgr[1]), int(mean_bgr[0]))  
-            self.color = str(mean_rgb)
-        
-
-        elif print_type == 'str':
-
-            # Получаем средние значения BGR
-            mean_bgr = cv2.mean(cropped_frame)[:3]
-            b, g, r = int(mean_bgr[0]), int(mean_bgr[1]), int(mean_bgr[2])
-            
-            
-            if b > g and b > r and b > 100:  
-                self.color = 'blue'
-            elif g > b and g > r and g > 100:  
-                self.color = 'green'
-            elif r > b and r > g and r > 100:  
-                self.color = 'red'
-            else:
-                self.color = None
 <<separator>>
-    cd = ColorDetect()
+    color_sub = rospy.Subscriber('main_camera/image_raw', Image, lambda img: color_detection(img, print_type='rgb'), queue_size=1)
-    color_sub = rospy.Subscriber('main_camera/image_raw', Image, lambda img: cd.detect_color_callback(img, print_type='rgb'), queue_size=1)
-    print(cd.getColor())
     rospy.sleep(2)
-    color_sub.unregister()
+    color_sub.unregister()

public/shablons/emergency_and_navigate.txt

@@ -17,7 +17,9 @@ get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry) #сеов
 navigate = rospy.ServiceProxy('navigate', srv.Navigate) #сервис для полета по указаным координатам
 land = rospy.ServiceProxy('land', Trigger) #сервис для посадки
 
-<<ColorDetect>>
+rospy.init_node('flight')
+bridge = CvBridge()
+
 
 def navigate_wait(x=0, y=0, z=1, speed=0.5, frame_id='aruco_map', auto_arm=False, tolerance=0.2,sleep=2):
     """
@@ -86,6 +88,8 @@ def signal_handler(sig, frame):
 
 signal.signal(signal.SIGINT, signal_handler)
 
+<<qr_function>>
+<<ColorDetect>>
 
 def main():
     navigate_wait(z=1,frame_id='body',auto_arm=True) #должно быть. включает моторы и поднимает дрон на метр вверх

public/shablons/qr.txt

@@ -1,26 +1,12 @@
-class QrDetect():
+def qr_detection(data):
-    def __init__(self):
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')
-        self.qr_data = ''
+    barcodes = pyzbar.decode(cv_image)
-
-    def getQrData(self):
-        return self.qr_data
     
-    def qr_detection(self,data):
+    if barcodes:
-        '''сканирование qr кода'''
+        qr_data = barcodes[0].data.decode('utf-8')
-        if self.qr_data!= '':
+        return qr_data
-            return
-        cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')
-        barcodes = pyzbar.decode(cv_image)
 
-        if barcodes:
+<<separator>>
-            self.qr_data = barcodes[0].data.decode('utf-8')
+    qr_sub = rospy.Subscriber('main_camera/image_raw', Image, qr_detection, queue_size=1)
-
+    rospy.sleep(2)
-
+    qr_sub.unregister()
-#в MAIN для вызова функции необходимо следующее:
-#1. создаём и вызываем подписчика, который вызывает функцию чтения кьюаркода
-qd = QrDetect()
-qr_sub = rospy.Subscriber('main_camera/image_raw',Image, qd.qr_detection,queue_size=1)
-#2. задаём время работы подписчика (за 1 секунду примерно 20 раз вызывается функция) 
-rospy.sleep(2) 
-#3. выключаем подписчика
-qr_sub.unregister() 

src/App.vue

@@ -21,6 +21,7 @@ onMounted(() => {
             y: 9 - Math.floor(i / 10),
             index: i,
             isPlatform: false,
+            isQR: false,
             BgImg: 'images/ArUco-marker.jpg'
         });
     }
@@ -52,8 +53,11 @@ async function saveResult() {
     finallyText.value = "";
     const mainCode = ref("");
     const colorDetectClass = ref("");
+    const QRDetectClass = ref("");
     const colorDetectCode = ref("");
+    const QRDetectCode = ref("");
     const isUsedPlatform = listOfTrips.value.some(item => item.isPlatform);
+    const isUsedQR = listOfTrips.value.some(item => item.isQR);
 
     if (isUsedPlatform) {
         const response = await fetch("/shablons/color.txt")
@@ -63,11 +67,22 @@ async function saveResult() {
         colorDetectCode.value += `\t${textOfCode[1].trim()}\n`;
     }
 
+    if (isUsedQR) {
+        const response = await fetch("/shablons/qr.txt")
+        let textOfCode = await response.text()
+        textOfCode = textOfCode.split('<<separator>>')
+        QRDetectClass.value = textOfCode[0]
+        QRDetectCode.value += `\t${textOfCode[1].trim()}\n`;
+    } 
+
     for (const item of listOfTrips.value) {
         mainCode.value += `\tnavigate_wait(${item.x}, ${item.y})\n`;
         if (item.isPlatform) {
             mainCode.value += colorDetectCode.value + '\n'
         }
+        if (item.isQR) {
+            mainCode.value += QRDetectCode.value + '\n'
+        }
     }
     const response = await fetch("/shablons/emergency_and_navigate.txt")
     let textOfCode = await response.text()
@@ -75,8 +90,11 @@ async function saveResult() {
     if (isUsedPlatform) {
         finallyText.value = finallyText.value.replace("<<ColorDetect>>", colorDetectClass.value);
     }
-    isModalVisible.value = true;
+    if (isUsedQR) {
-}
+        finallyText.value = finallyText.value.replace("<<qr_function>>", QRDetectClass.value);
+    }
+    isModalVisible.value = true;}
+    
 
 function cancel() {
 
@@ -159,6 +177,26 @@ function deletePlatform(item) {
     clickCount.value--
 }
 
+function createQR(item) {
+    if (!item.isQR) {
+        listOfTrips.value.push(item)
+        numbers.value[item.index].variable.push(clickCount.value);
+    }
+    item['isQR'] = true
+    numbers.value[item.index].BgImg = `images/qr.jpg`
+    clickCount.value++
+}
+
+function deleteQR(item) {
+    item['isQR'] = false
+    const index = listOfTrips.value.indexOf(item);
+    if (index !== -1) {
+        listOfTrips.value.splice(index, 1);
+    }
+    numbers.value[item.index].BgImg = 'images/ArUco-marker.jpg'
+    clickCount.value--
+}
+
 function onContextMenu(e, item) {
     ContextMenu.showContextMenu({
         theme: 'mac dark',
@@ -191,11 +229,11 @@ function onContextMenu(e, item) {
                 children: [
                     {
                         label: "Добавить",
-                        onClick: () => alert('Здесь ещё предстоит написать код')
+                        onClick: () => createQR(item)
                     },
                     {
                         label: "Удалить",
-                        onClick: () => alert('Здесь ещё предстоит написать код')
+                        onClick: () => deleteQR(item)
                     },
                 ],
             },