228 lines
8.1 KiB
Python
228 lines
8.1 KiB
Python
import threading
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import time
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import numpy as np
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from enum import Enum
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# 导入官方例程的底层依赖
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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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# === 配置区域 ===
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DEF_MAX_FINGER_NUM = 3 # 修改为 3 个传感器 (Finger 0, 1, 2)
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PCA_ADDR = 0x70 # I2C 多路复用器地址
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SAMPLE_RATE_MS = 10 # 采样间隔 (ms)，10ms = 100Hz
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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 TactileSensorDAQ:
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def __init__(self):
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# 1. 硬件初始化
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self.ch341 = ClassCh341()
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self.fingers = list()
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# 初始化3个传感器对象，ID从2开始 (假设硬件拨码是 2,3,4)
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for i in range(DEF_MAX_FINGER_NUM):
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self.fingers.append(ClassFinger(4 + i, self.ch341))
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# 2. 状态机变量
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
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self.ch341CheckTimer = 0
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self.pcaAddr = PCA_ADDR
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self.syncTimer = 0
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# 3. 数据容器 (核心修改)
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# 12维数据: [F0_U1_Fn, F0_U1_Ft, F0_U2_Fn, F0_U2_Ft, F1..., F2...]
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self.raw_data = np.zeros(12, dtype=np.float32) # 实时读取值
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self.offset = np.zeros(12, dtype=np.float32) # 去皮偏移量
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self.clean_data = np.zeros(12, dtype=np.float32) # 输出值 (Raw - Offset)
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# 4. 线程控制
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self.running = False
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self.lock = threading.Lock() # 线程锁，保证读取安全
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self.thread = None
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def _set_sensor_enable(self, idx):
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"""控制 I2C 多路复用器通道"""
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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 _update_state_machine(self):
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"""维持 CH341 连接状态机 (原 logic 的简化版)"""
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if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_INIT:
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if 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 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 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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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START # Retry
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elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START:
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# 连接建立成功，进入读取循环
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_CHECK
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elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
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# 这里的检查逻辑放入主循环中执行
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pass
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def _read_hardware(self):
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"""读取所有传感器数据的核心函数"""
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connectedSensorChan = 0
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# 临时列表存储本轮读取的数据
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temp_data_buffer = []
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for fingerIndex in range(len(self.fingers)):
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# 1. 切通道
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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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current_finger = self.fingers[fingerIndex]
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# 2. 检查连接与读取
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if not current_finger.connect:
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if current_finger.checkSensor():
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print(f"[System] Finger {fingerIndex} Connected!")
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else:
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current_finger.capRead()
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# 3. 提取数据 (这是修改的关键！)
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# 假设每个传感器有 ydds_num (通常是2) 个单元
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# 这里的 nf 和 tf 应该是数组
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for unit_i in range(current_finger.projectPara.ydds_num):
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# 提取法向力 Fn
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fn = current_finger.readData.nf[unit_i]
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# 提取切向力 Ft
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ft = current_finger.readData.tf[unit_i]
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temp_data_buffer.append(fn)
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temp_data_buffer.append(ft)
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# 4. 更新共享内存
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if len(temp_data_buffer) == 12: # 确保数据完整
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with self.lock:
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self.raw_data = np.array(temp_data_buffer, dtype=np.float32)
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# 计算去皮后的数据
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self.clean_data = self.raw_data - self.offset
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# 简单滤波：置零负值噪声
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# self.clean_data[self.clean_data < 0] = 0
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# 5. 同步逻辑 (保持原厂逻辑，防止电容漂移)
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if (time.time() - self.syncTimer) > 1.0: # 1秒同步一次
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self.syncTimer = time.time()
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self._set_sensor_enable(connectedSensorChan)
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for f in self.fingers:
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if f.connect:
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f.snsCmd.setSensorSync(0)
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break
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def _thread_worker(self):
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"""后台线程主循环"""
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while self.running:
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# 1. 维护连接
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if self.connectStatus != EnumCh341ConnectStatus.CH341_CONNECT_CHECK:
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self._update_state_machine()
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time.sleep(0.1)
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continue
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# 2. 读取数据
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start_time = time.time()
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try:
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self._read_hardware()
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except Exception as e:
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print(f"Read Error: {e}")
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# 3. 检查连接心跳 (保持原厂逻辑)
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self.ch341CheckTimer += (time.time() - start_time) * 1000
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if self.ch341CheckTimer >= 1000:
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self.ch341CheckTimer = 0
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if not self.ch341.connectCheck():
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print("CH341 Disconnected!")
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self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT
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# 4. 控制采样率
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elapsed = (time.time() - start_time) * 1000
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sleep_time = (SAMPLE_RATE_MS - elapsed) / 1000.0
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if sleep_time > 0:
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time.sleep(sleep_time)
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# === 用户API ===
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def start(self):
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"""启动采集"""
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if self.running: return
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self.running = True
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self.thread = threading.Thread(target=self._thread_worker)
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self.thread.daemon = True
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self.thread.start()
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print("Tactile Sensor System Started.")
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def stop(self):
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"""停止采集"""
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self.running = False
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if self.thread:
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self.thread.join()
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self.ch341.disconnect()
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print("Tactile Sensor System Stopped.")
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def tare(self):
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"""去皮：将当前读数设为零点"""
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print("Taring sensors... please wait.")
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time.sleep(1) # 等待数据稳定
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with self.lock:
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self.offset = np.copy(self.raw_data)
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print("Tare complete.")
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def get_data(self):
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"""获取最新的12维力数据"""
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with self.lock:
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return np.copy(self.clean_data)
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# === 调试代码 (直接运行此文件测试) ===
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if __name__ == "__main__":
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sensor = TactileSensorDAQ()
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sensor.start()
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try:
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# 等待连接稳定
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print("Waiting for sensors to connect...")
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time.sleep(3)
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sensor.tare() # 初始去皮
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while True:
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data = sensor.get_data()
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log_str = ""
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for i in range(3): # 遍历 3 个手指
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base_idx = i * 4
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# 为了显示简洁，我们将 Unit1 和 Unit2 的 Fn 相加，作为一个总压力显示
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# 你也可以根据需要显示全部细节
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f_n_total = data[base_idx] + data[base_idx + 2]
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f_t_total = data[base_idx + 1] + data[base_idx + 3]
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log_str += f"F{i}: N={f_n_total:.1f} T={f_t_total:.1f} | "
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print(log_str)
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# === 修改结束 ===
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time.sleep(0.1) # 打印频率
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except KeyboardInterrupt:
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sensor.stop() |