前视声呐目标识别定位（一）-基础知识

前视声呐目标识别定位（二）-目标识别定位模块   

前视声呐目标识别定位（三）-部署至机器人

        以启动识别模块为例，其余关闭识别模块，启动和关闭声呐模块，启动和关闭离线数据播放同理。

1、client_test.py

python3 clien_test.py 1 1

if cmd == str(1):
    print("sent the yolo start cmd...")
    arrBuff = bytearray(b'\xee\xaa\xee\xaa\xee\xff\xee\xff')

在协议文件中，启动的协议为：

故模块将该数据包发送至auv_server。

2、auv_server.py

def test_cmd(self):
    while True:
        self.test_conn, self.test_addr = self.test_server.accept()
        test_cmd_msg = self.test_conn.recv(1024)
        if len(test_cmd_msg)>0:
            self.conn.send(test_cmd_msg)

直接将指令转发至center_server

3、center_sever.py

# send the control_center cmd from auv to the control_center module on nx
def recv_control_center_msg(self):
    while True:          
        cmd_msg = self.nx_client.recv(1024)
        if len(cmd_msg) > 3:
            # send the control_center cmd to the control_center module
            if cmd_msg[-4:] == b'\xee\xff\xee\xff':
                self.control_center_socket.send(cmd_msg)
            # send the sonar parameters cmd to the sonar module
            elif cmd_msg[-4:] == b'\xee\xaa\xee\xff':
                self.sonar_param_socket.send(cmd_msg)
            else:
                print("cmd from auv error, no such cmd...")

根据‘\ee\ff\ee\ff‘判断为不带参数的指令，转control_center.py

4、control_center.py

def rcev_cmd(self):
...

    # start yolov5_ros ros2 launch
    if recvmsg[0:4] == self.start_yolo_msg[0:4]:
        # yolo is running, continue
        if self.yolo_running:
            print("yolo is running...")
            # callback the cmd
            self.send_cmd(self.yolo_is_running)
        # no yolo is running, start yolo
        else:
            print("start yolo...")
            self.yolo_subprocess = subprocess.Popen(self.start_yolo_cmd, shell=True, executable="/bin/bash")
            self.yolo_running = True
            self.send_cmd(self.start_yolo_msg)
....

根据”\ee\aa\ee\aa”判断为启动识别程序。

如果识别程序没有运行，执行

self.start_yolo_cmd = 'cd ~/yolov5_humble_fls_tcp && source install/setup.bash && ros2 launch yolov5_humble_fls start.launch.py'

反馈信息至auv_server.py，self.cmd_callback_header + self.start_yolo_msg

即/ee/ff/ee/ff/ee/aa/ee/aa/ee/aa/ee/ff

5、auv_server.py

# cmd callback state msg
if pkg_head == b'\xee\xff\xee\xff':
    print(self.cmd_callback_state[recv_msg[4:8]])

根据\ee\ff\ee\ff判断为反馈信息，根据\ee\aa\ee\aa判断为识别程序成功启动信息