YitianLang-cart/Handcontrol_LYT_Version_Windows
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添加二指大包支持

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jinggaoyang-68
2024-12-11 11:11:50 +08:00
parent f75d3e7981
commit 4c2a3b05c8
3 changed files with 64 additions and 22 deletions
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50
cap_read.py
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@ -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:
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())
self.debugPrint()
# 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:

28
class_finger.py
View File

@ -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:

8
sensorPara.py
View File

@ -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