public/shablons/color.txt

@@ -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':
@@ -35,20 +28,20 @@ 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
 
 #в MAIN для вызова функции должно быть:
-# cd = ColorDetect()
-    #color_sub = rospy.Subscriber('main_camera/image_raw', Image, 
-                              #lambda img: cd.detect_color_callback(img, print_type='rgb'), 
+#color_sub = rospy.Subscriber('main_camera/image_raw', Image, 
+                            #lambda img: color_detection(img, print_type='rgb'), 
                             #queue_size=1)
-    # print(cd.getColor())
-    #rospy.sleep(2)
-    #color_sub.unregister()
+#rospy.sleep(2)
+#color_sub.unregister()

public/shablons/emergency_and_navigate.txt

@@ -17,6 +17,8 @@ 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
 
+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):
     """

public/shablons/qr.txt

@@ -1,16 +1,7 @@
-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

src/App.vue

@@ -11,14 +11,12 @@ const clickCount = ref(1); // Счетчик нажатий
 const listOfTrips = ref([]);
 const isModalVisible = ref(false);
 let finallyText = "";
-const qr_sub_text = [
-  "\tqd = QrDetect()\n",
-  "\tqr_sub = rospy.Subscriber('main_camera/image_raw',Image, qd.qr_detection,queue_size=1)\n",
-  "\trospy.sleep(2)\n",
-  "\tqr_sub.unregister()\n"
-];
-let is_qr_used = 0;
-let head = "";
+const qr_sub_text = `
+  \tqr_sub = rospy.Subscriber('main_camera/image_raw',Image, qr_detection,queue_size=1)\n
+  \trospy.sleep(2)\n
+  \tqr_sub.unregister()\n
+`
+let is_qr__head_used = 0;
 
 onMounted(() => {
     for (let i = 0; i < 100; i++) {
@@ -58,8 +56,8 @@ function saveResult() {
     for (const item of listOfTrips.value) {
     navigate_waites += `\tnavigate_wait(${item.x}, ${item.y})\n`;
     if (item.x===1 && item.y === 1) {
-        navigate_waites += qr_sub_text.join('')
-        is_qr_used=1
+        navigate_waites += qr_sub_text
+        is_qr__head_used=1
     }
     } 
     
@@ -69,9 +67,9 @@ function saveResult() {
             finallyText = textOfCode.replace("<<navigate_wait>>", navigate_waites);
         });
     isModalVisible.value = true;
-    if (is_qr_used === 1) {
+    if (is_qr__head_used === 1) {
         Qr_head() 
-        is_qr_used +=1
+        is_qr__head_used +=1
     }
 }
 
@@ -79,8 +77,7 @@ function Qr_head() {
     fetch("/shablons/qr.txt")
         .then((response) => response.text())
         .then((textOfCode) => {
-            head = textOfCode;
-            finallyText = finallyText.replace("<<qr_function>>", head);
+            finallyText = finallyText.replace("<<qr_function>>", textOfCode);
         })
 }