Handcontrol_LYT_Version_Windows/cap_read.py

from enum import *
import threading
import queue  # 导入 queue 模块
from class_ch341 import *
from class_sensorcmd import *
from class_finger import *
from collections import namedtuple
import socket


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

# 定义一个全局的队列，用于线程间通信
capReadQueue = queue.Queue()

# 341通信
class EnumCh341ConnectStatus(Enum):
    CH341_CONNECT_INIT = 0
    CH341_CONNECT_OPEN = 1
    CH341_CONNECT_SET_SPEED = 2
    CH341_CONNECT_SAMPLE_START = 3
    CH341_CONNECT_CHECK = 4
    CH341_CONNECT_SAMPLE_STOP = 5

class ClassCapRead:
    def __init__(self):
        self.ch341 = ClassCh341()

        # 最大连接5个手指
        self.fingers = list()   # 传感器列表
        for i in range(5):
            self.fingers.append(ClassFinger(2+i, self.ch341))

        self.currCh341State = 0  # 当前ch341连接状态
        self.prevCh341State = 0  # 上次ch341连接状态

        self.ch341CheckTimer = 0
        self.mcuInit = 0
        self.pcaAddr = 0x70    # iic控制芯片地址

        self.ch341Init = 0  # ch341初始化标志位

        self.syncTimer = 0

        self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT

        #连接到调试的服务器
        self.vofaClient = socket.socket()
        addr = ('127.0.0.1', 1347)
        try:
            self.vofaClient.connect(addr)
            # client.send('hello world\r\n'.encode())
            self.socketConnected = 1
            print('连接服务器成功')
        except Exception as e:
            self.socketConnected = 0
            print('连接服务器失败')
    def __del__(self):
        if self.vofaClient:
            self.vofaClient.close()
        self.ch341.disconnect()
        print("ch341释放")
        pass

    def set_sensor_enable(self, idx):
        _pack = list()
        _pack.append(idx)
        self.ch341.write(self.pcaAddr, _pack)

    def ch341Connect(self):
        if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_INIT:
            if(True == self.ch341.init()):
                self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_OPEN
        elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_OPEN:
            if(True == self.ch341.open()):
                self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED
            else:
                self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
        elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED:
            if(True == self.ch341.set_speed(self.ch341.IIC_SPEED_400)):
                self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START
            else:
                print("set speed err")
                self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START

        elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START:
            self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_CHECK
            self.timer = threading.Timer(DEF_GET_CAP_MS/1000, self.capRead)
            self.timer.start()
        elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
            self.ch341CheckTimer += DEF_PRO_CYC
            if(self.ch341CheckTimer >= 1000):
                self.ch341CheckTimer = 0
                if(False == self.ch341.connectCheck()):
                    print("ch341 拔出")
                    self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_STOP
        elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_STOP:
            self.syncTimer = 0
            for i in range(0, len(self.fingers)):
                self.fingers[i].disconnected()
            self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
        else:
            self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
   
    def capRead(self):
        capReadTime = time.time()
        ms_capReadTime = capReadTime

        connectedSensorChan = 0
        connectedSensorCnt = 0
        for fingerIndex in range(0, len(self.fingers)):
            self.set_sensor_enable(1 << (self.fingers[fingerIndex].pcaIdx))
            connectedSensorChan |= 1 << (self.fingers[fingerIndex].pcaIdx)

            if self.fingers[fingerIndex].connect == False:
                if True == self.fingers[fingerIndex].checkSensor():
                    print(f"sensor[{fingerIndex}] connected")
                else:
                    print(f"addr = {fingerIndex}, connected false")
            else:
                self.fingers[fingerIndex].capRead()
                connectedSensorCnt += 1
        
        # 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:
            self.syncTimer = time.time()
            self.set_sensor_enable(connectedSensorChan)

        if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
            capReadTime = time.time()
            difftime = int(capReadTime*1000-ms_capReadTime*1000)
            print(f"diffTime={difftime}")
            #定时器在任务完成后重新启动
            if(difftime>DEF_GET_CAP_MS):
                timer = threading.Timer(DEF_GET_CAP_MS/1000, self.capRead)
            else:
                timer = threading.Timer((DEF_GET_CAP_MS-difftime)/1000, self.capRead)
            timer.start()
        

def capReadThread():
    # 线程的主体功能
    cap = ClassCapRead()

    while True:
        cap.ch341Connect()
        time.sleep(DEF_PRO_CYC/1000)
    
def main():
    capReadThread()

if __name__ == "__main__":
    main()