205 lines
7.7 KiB
Python
205 lines
7.7 KiB
Python
from enum import *
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import threading
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import queue # 导入 queue 模块
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from class_ch341 import *
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from class_sensorcmd import *
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from class_finger import *
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from collections import namedtuple
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import socket
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DEF_CDC_SYNC_MS = 1000 #电容同步间隔
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DEF_GET_CAP_MS = (30) #读取电容间隔
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DEF_PRO_CYC = 100
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DEF_MAX_FINGER_NUM = 1 #需要连接的手指数量，最大5个
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# 定义一个全局的队列，用于线程间通信
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capReadQueue = queue.Queue()
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# 341通信
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class EnumCh341ConnectStatus(Enum):
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CH341_CONNECT_INIT = 0
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CH341_CONNECT_OPEN = 1
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CH341_CONNECT_SET_SPEED = 2
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CH341_CONNECT_SAMPLE_START = 3
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CH341_CONNECT_CHECK = 4
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CH341_CONNECT_SAMPLE_STOP = 5
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class ClassCapRead:
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def __init__(self):
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self.ch341 = ClassCh341()
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# 最大连接5个手指
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self.fingers = list() # 传感器列表
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for i in range(DEF_MAX_FINGER_NUM):
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self.fingers.append(ClassFinger(2+i, self.ch341))
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self.currCh341State = 0 # 当前ch341连接状态
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self.prevCh341State = 0 # 上次ch341连接状态
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self.ch341CheckTimer = 0
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self.mcuInit = 0
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self.pcaAddr = 0x70 # iic控制芯片地址
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self.ch341Init = 0 # ch341初始化标志位
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self.syncTimer = 0
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
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self.running = True # <-- 新增这一行
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self.connectDebug()
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def __del__(self):
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self.disConnectDebug()
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self.ch341.disconnect()
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print("ch341释放")
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pass
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def connectDebug(self):
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#连接到调试的服务器
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self.vofaClient = socket.socket()
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addr = ('127.0.0.1', 1347)
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try:
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self.vofaClient.connect(addr)
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# client.send('hello world\r\n'.encode())
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self.socketConnected = True
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print('连接服务器成功')
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except Exception as e:
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self.socketConnected = False
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print('连接服务器失败')
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def disConnectDebug(self):
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if self.vofaClient:
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self.vofaClient.close()
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def debugPrint(self):
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if self.socketConnected == True:
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fingerIndex = 0
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_log1 = ""
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# 输出原始通道数值
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# for index in range(0, self.fingers[fingerIndex].projectPara.sensor_num):
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# _log1 += str(self.fingers[fingerIndex].readData.channelCapData[index])
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# _log1 += ','
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for index in range(0, self.fingers[fingerIndex].projectPara.ydds_num):
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_log1 += str(int(self.fingers[fingerIndex].readData.nf[index]*1000))
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_log1 += ','
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_log1 += str(int(self.fingers[fingerIndex].readData.tf[index]*1000))
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_log1 += ','
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_log1 += str(self.fingers[fingerIndex].readData.tfDir[index])
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_log1 += ','
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for index in range(0, self.fingers[fingerIndex].projectPara.s_prox_num):
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_log1 += str(self.fingers[fingerIndex].readData.sProxCapData[index])
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_log1 += ','
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for index in range(0, self.fingers[fingerIndex].projectPara.m_prox_num):
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_log1 += str(self.fingers[fingerIndex].readData.mProxCapData[index])
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_log1 += ','
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_log1 += str(0)
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_log1 += '\r\n'
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#print(_log1)
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if self.socketConnected == 1:
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self.vofaClient.send(_log1.encode())
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def set_sensor_enable(self, idx):
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_pack = list()
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_pack.append(idx)
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self.ch341.write(self.pcaAddr, _pack)
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def ch341Connect(self):
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if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_INIT:
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if(True == self.ch341.init()):
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_OPEN
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elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_OPEN:
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if(True == self.ch341.open()):
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED
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else:
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
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elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED:
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if(True == self.ch341.set_speed(self.ch341.IIC_SPEED_400)):
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START
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else:
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print("set speed err")
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START
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elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START:
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_CHECK
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self.timer = threading.Timer(DEF_GET_CAP_MS/1000, self.capRead)
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self.timer.start()
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elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
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self.ch341CheckTimer += DEF_PRO_CYC
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if(self.ch341CheckTimer >= 1000):
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self.ch341CheckTimer = 0
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if(False == self.ch341.connectCheck()):
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print("ch341 拔出")
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_STOP
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elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_STOP:
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self.syncTimer = 0
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for i in range(0, len(self.fingers)):
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self.fingers[i].disconnected()
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
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else:
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
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def capRead(self):
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capReadTime = time.time()
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ms_capReadTime = capReadTime
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connectedSensorChan = 0
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connectedSensorCnt = 0
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for fingerIndex in range(0, len(self.fingers)):
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self.set_sensor_enable(1 << (self.fingers[fingerIndex].pcaIdx))
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connectedSensorChan |= 1 << (self.fingers[fingerIndex].pcaIdx)
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if self.fingers[fingerIndex].connect == False:
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if True == self.fingers[fingerIndex].checkSensor():
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print(f"sensor[{fingerIndex}] connected")
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else:
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print(f"addr = {fingerIndex}, connected false")
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else:
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self.fingers[fingerIndex].capRead()
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connectedSensorCnt += 1
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self.debugPrint()
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# 大于1个传感器连接需要设置接近采集序列
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if connectedSensorCnt > 1 and (time.time() - self.syncTimer) > DEF_CDC_SYNC_MS:
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self.syncTimer = time.time()
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self.set_sensor_enable(connectedSensorChan)
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for fingerIndex in range(0, len(self.fingers)):
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if self.fingers[fingerIndex].connect is True:
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self.fingers[fingerIndex].snsCmd.setSensorSync(0)
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break
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if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
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capReadTime = time.time()
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difftime = int(capReadTime*1000-ms_capReadTime*1000)
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#print(f"diffTime={difftime}")
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#定时器在任务完成后重新启动
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if self.running: # 新增判断
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if(difftime>DEF_GET_CAP_MS):
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timer = threading.Timer(DEF_GET_CAP_MS/1000, self.capRead)
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else:
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timer = threading.Timer((DEF_GET_CAP_MS-difftime)/1000, self.capRead)
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timer.start()
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def capReadThread():
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cap = ClassCapRead()
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try:
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while True:
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cap.ch341Connect()
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time.sleep(DEF_PRO_CYC/1000)
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except KeyboardInterrupt:
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print("\nStopping sensor read...")
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cap.running = False
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cap.disConnectDebug()
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cap.ch341.disconnect()
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print("CH341 released.")
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def main():
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capReadThread()
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if __name__ == "__main__":
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main() |