Merge branch 'jgy-dev-bugfix-2025-01-07' into 'main'

添加电容同步采集功能

See merge request tactilesensor/fingersensorsdk/finger/python!7

cap_read.py

@@ -12,7 +12,7 @@ DEF_CDC_SYNC_MS = 1000  #电容同步间隔
 DEF_GET_CAP_MS  =   (30)  #读取电容间隔
 DEF_PRO_CYC = 100
 
-DEF_MAX_FINGER_NUM = 2 # 需要连接的手指数量，最大5个
+DEF_MAX_FINGER_NUM = 5 # 需要连接的手指数量，最大5个
 
 # 定义一个全局的队列，用于线程间通信
 capReadQueue = queue.Queue()
@@ -166,6 +166,10 @@ class ClassCapRead:
         if connectedSensorCnt > 1 and (time.time() - self.syncTimer) > DEF_CDC_SYNC_MS:
             self.syncTimer = time.time()
             self.set_sensor_enable(connectedSensorChan)
+            for fingerIndex in range(0, len(self.fingers)):
+                if self.fingers[fingerIndex].connect is True:
+                    self.fingers[fingerIndex].snsCmd.setSensorSync(0)
+                    break
 
         if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
             capReadTime = time.time()

class_sensorcmd.py

@@ -250,6 +250,24 @@ class ClassSensorCmd:
             #print(f"time={time.time()},len(buf) = {len(buf)}, tarLen={tarLen}, buf[0]={buf[0]}, buf[1]={buf[1]}, sum={checkSum}")
             pass
         return False
+    
+    # 设置采集同步
+    # addr：传感器地址
+    def setSensorSync(self, addr):
+        _pack = list()
+        _pack.append(0xAA)
+        _pack.append(0x55)
+        _pack.append(0x03)
+        _pack.append(self.CMD_SET_SENSOR_CDC_SYNC)
+        _pack.append(0x00)
+        _pack.append(0x00)
+        _pack.append(0x00)
+        _pack.append(0x00)
+        _pack.append(0x00)
+        self.calcSum(_pack)
+        self._ch341.write(addr, _pack)
+        
+        return True