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Miheev dev #3

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IliaMiheev merged 15 commits from miheev-dev into develop 2026-03-09 19:08:57 +03:00
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+104 -79
6 changed files with 104 additions and 79 deletions
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package-lock.json
Generated
+11 -8
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@@ -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 @@
"integrity": "sha512-o5a9xKjbtuhY6Bi5S3+HvbRERmouabWbyUcpXXUA1u+GNUKoROi9byOJ8M0nHbHYHkYICiMlqxkg1KkYmm25Sw==",
"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 @@
"integrity": "sha512-gX/dMkRQc7QOMzgTe6KsYFM7DxeIONQSui1s0n/0xht36HvrgbxtM1xBlgx596NbpHuQU8P7QpKwrZYwUX48nw==",
"dev": true,
"license": "MIT",
"peer": true,
"dependencies": {
"@types/eslint-scope": "^3.7.7",
"@types/estree": "^1.0.8",
public/images/qr.jpg
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public/shablons/color.txt
+13 -19
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@@ -1,11 +1,4 @@
class ColorDetect():
def __init__(self):
self.color = None
def getColor(self):
return self.color
def detect_color_callback(self, data, print_type='str'):
def color_detection(data, print_type='str'):
'''определение цвета'''
frame = bridge.imgmsg_to_cv2(data, 'bgr8')
@@ -25,7 +18,7 @@ class ColorDetect():
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)
color = str(mean_rgb)
elif print_type == 'str':
@@ -35,17 +28,18 @@ class ColorDetect():
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'
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:
self.color = None
color = None
<<separator>>
cd = ColorDetect()
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())
color_sub = rospy.Subscriber('main_camera/image_raw', Image, lambda img: color_detection(img, print_type='rgb'), queue_size=1)
rospy.sleep(2)
color_sub.unregister()
public/shablons/emergency_and_navigate.txt
+5 -1
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@@ -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
+7 -21
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@@ -1,26 +1,12 @@
class QrDetect():
def __init__(self):
self.qr_data = ''
def getQrData(self):
return self.qr_data
def qr_detection(self,data):
'''сканирование qr кода'''
if self.qr_data!= '':
return
def qr_detection(data):
cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')
barcodes = pyzbar.decode(cv_image)
if barcodes:
self.qr_data = barcodes[0].data.decode('utf-8')
qr_data = barcodes[0].data.decode('utf-8')
return qr_data
#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()
<<separator>>
qr_sub = rospy.Subscriber('main_camera/image_raw', Image, qr_detection, queue_size=1)
rospy.sleep(2)
qr_sub.unregister()
src/App.vue
+42 -4
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@@ -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)
},
],
},