Merge branch 'jgy-dev-TS-E-A-2024-12-11' into 'main'

添加二指大包支持

See merge request tactilesensor/fingersensorsdk/finger/python!4

cap_read.py

@@ -30,7 +30,7 @@ class ClassCapRead:
 
         # 最大连接5个手指
         self.fingers = list()   # 传感器列表
-        for i in range(5):
+        for i in range(2):
             self.fingers.append(ClassFinger(2+i, self.ch341))
 
         self.currCh341State = 0  # 当前ch341连接状态
@@ -71,6 +71,34 @@ class ClassCapRead:
         if self.vofaClient:
             self.vofaClient.close()
 
+    def debugPrint(self):
+        if self.socketConnected == True:
+            fingerIndex = 0
+            _log1 = ""
+            # 输出原始通道数值
+            # for index in range(0, self.fingers[fingerIndex].projectPara.sensor_num):
+            #     _log1 += str(self.fingers[fingerIndex].readData.channelCapData[index])
+            #     _log1 += ','
+            for index in range(0, self.fingers[fingerIndex].projectPara.ydds_num):
+                _log1 += str(int(self.fingers[fingerIndex].readData.nf[index]*1000))
+                _log1 += ','
+                _log1 += str(int(self.fingers[fingerIndex].readData.tf[index]*1000))
+                _log1 += ','
+                _log1 += str(self.fingers[fingerIndex].readData.tfDir[index])
+                _log1 += ','
+            for index in range(0, self.fingers[fingerIndex].projectPara.s_prox_num):
+                _log1 += str(self.fingers[fingerIndex].readData.sProxCapData[index])
+                _log1 += ','
+            for index in range(0, self.fingers[fingerIndex].projectPara.m_prox_num):
+                _log1 += str(self.fingers[fingerIndex].readData.mProxCapData[index])
+                _log1 += ','
+
+            _log1 += str(0)
+            _log1 += '\r\n'
+            #print(_log1)
+            if self.socketConnected == 1:
+                self.vofaClient.send(_log1.encode())
+
     def set_sensor_enable(self, idx):
         _pack = list()
         _pack.append(idx)
@@ -130,25 +158,7 @@ class ClassCapRead:
                 self.fingers[fingerIndex].capRead()
                 connectedSensorCnt += 1
 
-        if self.socketConnected == True:
+        self.debugPrint()
-            fingerIndex = 0
-            _log1 = ""
-            # 输出原始通道数值
-            for index in range(0, self.fingers[fingerIndex].projectPara.sensor_num):
-                _log1 += str(self.fingers[fingerIndex].readData.channelCapData[index])
-                _log1 += ','
-            for index in range(0, self.fingers[fingerIndex].projectPara.ydds_num):
-                _log1 += str(int(self.fingers[fingerIndex].readData.nf[index]*1000))
-                _log1 += ','
-                _log1 += str(int(self.fingers[fingerIndex].readData.tf[index]*1000))
-                _log1 += ','
-                _log1 += str(self.fingers[fingerIndex].readData.tfDir[index])
-                _log1 += ','
-            _log1 += str(0)
-            _log1 += '\r\n'
-            #print(_log1)
-            if self.socketConnected == 1:
-                self.vofaClient.send(_log1.encode())
         
         # 大于1个传感器连接需要设置接近采集序列
         if connectedSensorCnt > 1 and (time.time() - self.syncTimer) > DEF_CDC_SYNC_MS:

class_finger.py

@@ -63,7 +63,7 @@ class ClassFinger:
             print(f"setSensorCapOffset err, addr = {addrRead}")
         
         # 实际用户使用中只需要根据使用的传感器来定义参数即可，不需要读取项目号
-        projectRead = self.snsCmd.getSensorProjectIdex(self.addr)
+        projectRead = self.snsCmd.getSensorProjectIdex(addrRead)
         print(f"project={projectRead}")
         findProjectFlg = False
         if projectRead > 0:
@@ -142,14 +142,38 @@ class ClassFinger:
                             self.readData.tfDir[i] = instance.tfDir
                             self.readData.sProxCapData[i] = instance.prox
                     elif self.projectPara.ydds_type == 4:
-                        pass
+                        struct_size = sizeof(DynamicYddsU16Ts)
+                        for i in range(self.projectPara.ydds_num):
+                            offset = yddsOffset + i * struct_size
+                            struct_data = self.data[offset : offset + struct_size]
+                            print(f"struct={struct_data}")
+                            struct_data = [value & 0xFF for value in struct_data]
+                            struct_data = bytes(struct_data)  # 转换为 bytes 类型
+                            instance = DynamicYddsU16Ts.from_buffer_copy(struct_data)
+                            self.readData.nf[i] = instance.nf/1000.0
+                            self.readData.tf[i] = instance.tf/1000.0
+                            self.readData.tfDir[i] = instance.tfDir
+                        sProxOffset = yddsOffset + self.projectPara.ydds_num*struct_size
+                        for i in range(self.projectPara.s_prox_num):
+                            self.readData.sProxCapData[i] = ((self.data[sProxOffset + i*self.projectPara.cap_byte] & 0xFF) +
+                                                            ((self.data[sProxOffset + i*self.projectPara.cap_byte + 1] & 0xFF) << 8) +
+                                                            ((self.data[sProxOffset + i*self.projectPara.cap_byte + 2] & 0xFF) << 16))
+                        mProxOffset = yddsOffset + self.projectPara.ydds_num*struct_size
+                        for i in range(self.projectPara.m_prox_num):
+                            self.readData.mProxCapData[i] = ((self.data[mProxOffset + i*self.projectPara.cap_byte] & 0xFF) +
+                                                            ((self.data[mProxOffset + i*self.projectPara.cap_byte + 1] & 0xFF) << 8) +
+                                                            ((self.data[mProxOffset + i*self.projectPara.cap_byte + 2] & 0xFF) << 16))
+
 
                     print(f"capChannelDat={self.readData.channelCapData}")
                     for i in range(self.projectPara.ydds_num):
                         print(f"nf[{i}] = {self.readData.nf[i]}")
                         print(f"tf[{i}] = {self.readData.tf[i]}")
                         print(f"tfDir[{i}] = {self.readData.tfDir[i]}")
+                    for i in range(self.projectPara.s_prox_num):
                         print(f"sProxCapData[{i}] = {self.readData.sProxCapData[i]}")
+                    for i in range(self.projectPara.m_prox_num):
+                        print(f"sProxCapData[{i}] = {self.readData.mProxCapData[i]}")
 
                 break
             else:

sensorPara.py

@@ -13,6 +13,14 @@ class DynamicYddsComTs(Structure):
         ("prox", c_uint32),
     ]
 
+class DynamicYddsU16Ts(Structure):
+    _pack_ = 1  # 按 1 字节对齐
+    _fields_ = [
+        ("nf", c_uint16),
+        ("tf", c_uint16),
+        ("tfDir", c_uint16),
+    ]
+
 #todo 其他三维力类型待补充