测试文件夹架构

新建文件夹/TTLCommunicator.py

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+import serial
+import serial.tools.list_ports
+
+
+class TTLCommunicator:
+    def __init__(self, baudrate=115200, timeout=0.1):
+        """初始化TTL通信对象"""
+        self.baudrate = baudrate
+        self.timeout = timeout
+        self.ser = None
+        self.connected = False
+
+    @staticmethod  # 声明为静态方法
+    def find_usb_ttl_port():
+        """自动查找USB转TTL设备端口（静态方法，不依赖实例状态）"""
+        ports = list(serial.tools.list_ports.comports())
+        for port in ports:
+            if "USB Serial" in port.description or "CH340" in port.description or "PL2303" in port.description:
+                return port.device
+        return None
+
+    def connect(self, port=None):
+        """连接到USB转TTL设备"""
+        try:
+            if not port:
+                # 调用静态方法时，可直接通过类名或实例调用（此处保持原有逻辑）
+                port = self.find_usb_ttl_port()
+                if not port:
+                    print("未找到USB转TTL设备")
+                    return False
+
+            self.ser = serial.Serial(
+                port=port,
+                baudrate=self.baudrate,
+                timeout=self.timeout,
+                parity=serial.PARITY_NONE,
+                stopbits=1,
+                bytesize=serial.EIGHTBITS
+            )
+
+            if self.ser.is_open:
+                self.connected = True
+                print(f"已连接TTL设备：{port}（波特率：{self.baudrate}）")
+                return True
+            return False
+        except Exception as e:
+            print(f"连接失败：{str(e)}")
+            return False
+
+    def send_data(self, data_str):
+        """发送数据到TTL设备"""
+        if not self.connected or not self.ser:
+            print("未连接TTL设备，请先调用connect()")
+            return False
+
+        try:
+            data = (data_str + "\n").encode("utf-8")  # 加换行符作为结束标志
+            self.ser.write(data)
+            self.ser.flush()
+            return True
+        except Exception as e:
+            print(f"发送失败：{str(e)}")
+            return False
+
+    def close(self):
+        """关闭串口连接"""
+        if self.ser and self.ser.is_open:
+            self.ser.close()
+            self.connected = False
+            print("TTL连接已关闭")

新建文件夹/visualizer.py

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+import cv2
+import numpy as np
+
+class Visualizer:
+    """可视化：绘制灯条、装甲板、预测位置等"""
+    def __init__(self):
+        self.colors = {
+            "red": (0, 0, 255),
+            "blue": (255, 0, 0),
+            "light_bar": (0, 255, 255),
+            "armor": (0, 255, 0),
+            "prediction": (0, 165, 255),
+            "text": (255, 255, 255)
+        }
+
+    def draw_light_bars(self, frame, light_bars, target_color):
+        """绘制灯条（矩形+中心线+标签）"""
+        bar_color = self.colors[target_color]
+        line_color = self.colors["light_bar"]
+
+        for lb in light_bars:
+            cv2.drawContours(frame, [lb["box"]], 0, bar_color, 2)
+            end1 = tuple(map(int, lb["center_line"][0]))
+            end2 = tuple(map(int, lb["center_line"][1]))
+            cv2.line(frame, end1, end2, line_color, 2)
+            center = tuple(map(int, lb["center"]))
+            cv2.putText(
+                frame, target_color, (center[0], center[1] - 8),
+                cv2.FONT_HERSHEY_SIMPLEX, 0.4, bar_color, 1
+            )
+
+        return frame
+
+    def draw_armor_plate(self, frame, armor):
+        """绘制装甲板（2D框+3D信息）"""
+        corners = armor.get("corners_2d")
+        if corners is not None:
+            # 关键修改：np.int0 替换为 np.int32
+            cv2.polylines(frame, [np.int32(corners)], True, self.colors["armor"], 2)
+
+        center = tuple(map(int, armor["center"]))
+        cv2.circle(frame, center, 3, self.colors["armor"], -1)
+        cv2.putText(
+            frame, "Armor", (center[0] + 5, center[1] - 5),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.5, self.colors["armor"], 2
+        )
+
+        return frame
+
+    def draw_prediction(self, frame, predicted_pos, label="Predicted"):
+        """绘制预测位置（橙色圆点+标签）"""
+        if predicted_pos is None:
+            return frame
+
+        pos = tuple(map(int, predicted_pos))
+        cv2.circle(frame, pos, 5, self.colors["prediction"], -1)
+        cv2.putText(
+            frame, label, (pos[0] + 10, pos[1] - 10),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.5, self.colors["prediction"], 2
+        )
+
+        return frame
+
+    def draw_offset_text(self, frame, display_center, target_color, is_predicted):
+        """绘制装甲板相对图像中心的偏移量"""
+        if display_center is None:
+            text = "Armor: unknown | Offset: (0, 0)"
+        else:
+            img_center = (frame.shape[1] // 2, frame.shape[0] // 2)
+            offset_x = int(display_center[0] - img_center[0])
+            offset_y = int(display_center[1] - img_center[1])
+            color_text = f"{target_color} (predicted)" if is_predicted else target_color
+            text = f"Armor: {color_text} | Offset: ({offset_x}, {offset_y})"
+
+        cv2.putText(
+            frame, text, (10, 30),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.8, self.colors["text"], 2
+        )
+
+        return frame