Example: 07-Interface-Library/03-Modbus/modbus_apriltag.py

# 本作品采用MIT许可证授权。
# 版权所有 (c) 2013-2023 OpenMV LLC。保留所有权利。
# https://github.com/openmv/openmv/blob/master/LICENSE
#
import csi
import time
from machine import UART
from modbus import ModbusRTU

csi0 = csi.CSI()
csi0.reset()
csi0.pixformat(csi.GRAYSCALE)
csi0.framesize(csi.QQVGA)
csi0.snapshot(time=2000)

uart = UART(3, 115200, parity=None, stop=2, timeout=1, timeout_char=4)
modbus = ModbusRTU(uart, register_num=9999)
clock = time.clock()

while True:
    if modbus.any():
        modbus.handle(debug=True)
    else:
        clock.tick()
        img = csi0.snapshot()
        tags = img.find_apriltags()  # 默认为TAG36H11，不带“families”。
        modbus.clear()
        modbus.REGISTER[0] = len(tags)
        if tags:
            print(tags)
            i = 1
            for tag in tags:
                img.draw_rectangle(tag.rect, color=127)
                modbus.REGISTER[i] = tag.family
                i += 1
                modbus.REGISTER[i] = tag.id
                i += 1
                modbus.REGISTER[i] = tag.cx
                i += 1
                modbus.REGISTER[i] = tag.cy
                i += 1
        # print(modbus.REGISTER[0:15])
        # 打印(clock.fps())