a

host/aidsorter.conf

@@ -7,10 +7,14 @@ cpu_threads=0
 # in the image recognition system, but also
 # consumes more processing power.
 # If unset, the default is 640x480
-resolution=1024x768
+resolution=640x480
 # The debounce in frames for the system to wait
 # before registering a new object detection.
 detector_debounce=5
+# How many samples should the program take before
+# considering the object as something that belongs
+# to a bucket.
+detector_samples=10
 
 # The baudrate of the serial connection
 baudrate=115200
@@ -20,7 +24,7 @@ mcu_connection_timeout=10.0
 # This is separated by a comma
 # Example
 #   bucket1_contents=
-bucket1_contents=person
-bucket2_contents=bottle,cup
-bucket3_contents=cell phone,laptop
-bucket4_contents=
+bucket1_contents=noodles
+bucket2_contents=biscuit
+bucket3_contents=canned_goods
+bucket4_contents=hygiene

host/aidsorter/camera.py

@@ -7,16 +7,30 @@
 # pyright: reportDeprecated=false
 
 import time
-from typing import Optional
 
 import cv2
+
 from aidsorter import detector, exceptions, info, visualizer
 from aidsorter.fps_config import FPSConfig
 from aidsorter.logger import LoggerFactory
 from aidsorter.mcu import MCU
 from aidsorter.mcu_config import MCUConfig
 
 
+def getCameraCapture(camera_id: int, resolution: tuple[int, int]) -> cv2.VideoCapture:
+    logger = LoggerFactory().get_logger(__name__)
+    logger.info("Getting camera capture...")
+    cam_cap = cv2.VideoCapture(camera_id)
+    logger.info("Backend API name: %s", cam_cap.getBackendName())
+    if not cam_cap.set(cv2.CAP_PROP_FRAME_WIDTH, resolution[0]):
+        raise exceptions.CameraError("Unable to set the camera width.")
+
+    if not cam_cap.set(cv2.CAP_PROP_FRAME_HEIGHT, resolution[1]):
+        raise exceptions.CameraError("Unable to set the camera height.")
+
+    return cam_cap
+
+
 def capture(
     config_path: str,
     camera_id: int = 1,
@@ -46,8 +60,9 @@ def capture(
     stats_style = visualizer.StatsStyle()
     tf_detector = detector.create_detector(model_name, config.cpu_threads)
     mcu = MCU(mcu_port, config.baudrate, config.mcu_connection_timeout)
-    prev_object_category: Optional[str] = None
     object_sorting_in_progress: int = -1  # which bucket is targeted for the object
+    object_category_samples: list[str] = []
+    object_category_samples_expiration: int = 0
 
     logger = LoggerFactory().get_logger(__name__)
     logger.info("Starting the detection process...")
@@ -56,13 +71,7 @@ def capture(
         "Using camera resolution: %sx%s", config.resolution[0], config.resolution[1]
     )
     logger.info("Using CPU threads: %s", config.cpu_threads)
-    cam_cap = cv2.VideoCapture(camera_id)
-    logger.info("Backend API name: %s", cam_cap.getBackendName())
-    if not cam_cap.set(cv2.CAP_PROP_FRAME_WIDTH, config.resolution[0]):
-        raise exceptions.CameraError("Unable to set the camera width.")
-
-    if not cam_cap.set(cv2.CAP_PROP_FRAME_HEIGHT, config.resolution[1]):
-        raise exceptions.CameraError("Unable to set the camera height.")
+    cam_cap = getCameraCapture(camera_id, config.resolution)
 
     logger.info("Starting camera loop...")
     fps.start_time = time.time()  # Start the timer
@@ -88,73 +97,116 @@ def capture(
                 ],
             )
 
+            if object_sorting_in_progress != -1:
+                # Here, we wait for the object to fall into the bucket.
+                try:
+                    if mcu.ir_states[object_sorting_in_progress - 1]:
+                        mcu.set_gate_state(object_sorting_in_progress, False)
+                        # just acknowledge all IR states...
+                        # _ = mcu.acknowledge_ir_state(object_sorting_in_progress)
+                        logger.debug("Acknowledging all IR states...")
+                        for i in range(1, 6):
+                            _ = mcu.acknowledge_ir_state(i)
+
+                        logger.info(
+                            "Nahulog na siya kay %s.", object_sorting_in_progress
+                        )
+                        object_sorting_in_progress = -1
+                        mcu.platform_deactivate()
+                        mcu.show_statistics()
+
+                except IndexError:
+                    logger.error("Unable to get IR statuses. Please check the MCU.")
+
+                continue
+
             if len(detection_result.detections) > 1:
+                object_category_samples_expiration = 0
                 mcu.set_err_led(True)
                 logger.error(
                     "%s object/s detected. Will not proceed.",
                     len(detection_result.detections),
                 )
 
             elif len(detection_result.detections) == 1:
+                object_category_samples_expiration = 0
                 mcu.set_err_led(False)
-                if object_sorting_in_progress != -1:
-                    # Here, we wait for the object to fall into the bucket.
-                    if mcu.ir_states[object_sorting_in_progress - 1] == 1:
-                        mcu.set_gate_state(object_sorting_in_progress, False)
-                        object_sorting_in_progress = -1
-                        logger.info(
-                            "Nahulog na siya kay %s.", object_sorting_in_progress
-                        )
+                logger.debug(
+                    "object_sorting_in_progress=%s", object_sorting_in_progress
+                )
+
+                object_category: str = (
+                    detection_result.detections[0].categories[0].category_name
+                )
+
+                if (
+                    len(object_category_samples) < config.detector_samples
+                    and object_sorting_in_progress == -1
+                ):
+                    logger.debug("Taking sample #%s.", len(object_category_samples) + 1)
+                    object_category_samples.append(object_category)
+                    continue
+
+                logger.debug("Samples: %s", object_category_samples)
+                object_category = max(
+                    set(object_category_samples), key=object_category_samples.count
+                )
+                logger.info(
+                    "Object category from %s samples: %s (%s%%)",
+                    config.detector_samples,
+                    object_category,
+                    object_category_samples.count(object_category)
+                    / config.detector_samples
+                    * 100,
+                )
+                object_category_samples.clear()
+
+                # Here, we sort the object to the correct bucket.
+                if object_category in config.bucket_contents[0]:
+                    logger.info("Object %s belongs to Bucket 1.", object_category)
+                    mcu.set_gate_state(1, True)
+                    mcu.platform_activate()
+                    object_sorting_in_progress = 1
+
+                elif object_category in config.bucket_contents[1]:
+                    logger.info("Object %s belongs to Bucket 2.", object_category)
+                    mcu.set_gate_state(2, True)
+                    mcu.platform_activate()
+                    object_sorting_in_progress = 2
+
+                elif object_category in config.bucket_contents[2]:
+                    logger.info("Object %s belongs to Bucket 3.", object_category)
+                    mcu.set_gate_state(3, True)
+                    mcu.platform_activate()
+                    object_sorting_in_progress = 3
+
+                elif object_category in config.bucket_contents[3]:
+                    logger.info("Object %s belongs to Bucket 4.", object_category)
+                    mcu.set_gate_state(4, True)
+                    mcu.platform_activate()
+                    object_sorting_in_progress = 4
 
                 else:
-                    # Here, we sort the object to the correct bucket.
-                    object_category: str = (
-                        detection_result.detections[0].categories[0].category_name
-                    )
-                    if prev_object_category != object_category:
-                        if object_category in config.bucket_contents[0]:
-                            logger.info(
-                                "Object %s belongs to Bucket 1.", object_category
-                            )
-                            mcu.set_gate_state(1, True)
-                            mcu.platform_activate()
-                            object_sorting_in_progress = 1
-
-                        elif object_category in config.bucket_contents[1]:
-                            logger.info(
-                                "Object %s belongs to Bucket 2.", object_category
-                            )
-                            mcu.set_gate_state(2, True)
-                            mcu.platform_activate()
-                            object_sorting_in_progress = 2
-
-                        elif object_category in config.bucket_contents[2]:
-                            logger.info(
-                                "Object %s belongs to Bucket 3.", object_category
-                            )
-                            mcu.set_gate_state(3, True)
-                            mcu.platform_activate()
-                            object_sorting_in_progress = 3
-
-                        elif object_category in config.bucket_contents[3]:
-                            logger.info(
-                                "Object %s belongs to Bucket 4.", object_category
-                            )
-                            mcu.set_gate_state(4, True)
-                            mcu.platform_activate()
-                            object_sorting_in_progress = 4
-
-                        else:
-                            logger.warning(
-                                "Unknown object category: %s", object_category
-                            )
-                            logger.warning("Object will be put in Bucket 5.")
-                            mcu.platform_activate()
-                            object_sorting_in_progress = 5
-
-                    prev_object_category = (
-                        object_category  # Update the previous object category
+                    logger.warning("Unknown object category: %s", object_category)
+                    logger.warning("Object will be put in Bucket 5.")
+                    mcu.platform_activate()
+                    object_sorting_in_progress = 5
+
+                mcu.acknowledge_object_sort()
+
+            elif len(detection_result.detections) == 0:
+                if len(object_category_samples) != 0:
+                    if object_category_samples_expiration < config.detector_samples:
+                        object_category_samples_expiration += 1
+                        continue
+
+                    object_category_samples_expiration = 0
+                    logger.info(
+                        "No object detected after %s frames. Clearing %s samples.",
+                        config.detector_samples,
+                        len(object_category_samples),
                     )
+                    object_category_samples.clear()
 
             # Calculate the FPS
             if fps.frame_count % fps.avg_frame_count == 0:
@@ -189,6 +241,21 @@ def capture(
             logger.info("KeyboardInterrupt detected.")
             break
 
+        except exceptions.CameraError as e:
+            logger.error("An error occurred: %s", e)
+            logger.info("Restarting after %s seconds...", info.ERROR_RESTART_DELAY)
+            mcu.set_err_led(True)
+            time.sleep(info.ERROR_RESTART_DELAY)
+            mcu.set_err_led(False)
+            cam_cap = getCameraCapture(camera_id, config.resolution)
+
+        except Exception as e:  # pylint: disable=broad-exception-caught
+            logger.critical("An error occurred: %s", e)
+            logger.info("Restarting after %s seconds...", info.ERROR_RESTART_DELAY)
+            mcu.set_err_led(True)
+            time.sleep(info.ERROR_RESTART_DELAY)
+            mcu.set_err_led(False)
+
     logger.info("Releasing camera...")
     cam_cap.release()
     logger.info("Destroying all windows...")

host/aidsorter/info.py

@@ -8,7 +8,8 @@
 VERSION = (0, 3, 0)
 TITLE = f"{NAME} v{'.'.join(map(str, VERSION))}"
 PROTOCOL_VERSION = "1.0"
-PROTOCOL_SEP = "\r\n"
+PROTOCOL_SEP = "\n"
+ERROR_RESTART_DELAY = 5  # in seconds
 
 DEBUG_MODE = (
     logging.DEBUG