感知与控制实验
(1)题目
现场快递柜状态采集与控制系统
设计实现一个对现场快递柜状态数据采集、显示、参数设置、抽屉打开、保鲜控 制等功能软件系统。
(2)要求
-
了解现场网感知与控制的基本方法。
-
掌握基于 RS232 的协议设计与通信方法，在此基础上实现对现场设备状态数据的 采集、对设备的控制
-
针对快递柜系统设计实现一个对现场快递柜状态数据采集、显示、参数设置、抽屉 打开、保鲜控制等功能软件系统。
(3)内容
（1）理解快递柜控制板仿真软件的通信协议（见附件），并设计实现，进而实现与快递 柜控制板仿真软件（见附件）的通信（对于控制命令要考虑可靠传输）。
（2）实现对快递柜控制板状态数据的采集与显示，包括当前温度、控制温度、控制状 态、10 个抽屉的开关状态；
（3）实现对开关指定抽屉、启停温度控制（压缩机制冷控制）、设置控制温度、以及设 置系统参数等设置操作。 感知与控制课程设计实验指导书 2
（4）依据控制温度和压缩机的启停控制，实现对快递柜控制板温度的控制，控制精度 为 1 度。
（5）以曲线方式显示 1 小时内的当前温度和设定温度的变化趋势
(4)工具
Pycharm、Python、Obs、RCPET(见附录)、vspdxunick(见附录)
RCPET：用于接收与返回快递柜状态程序
使用vspdxunick打开虚拟串口 COM1和COM2。
(5)代码实现
"""
导入第三方库
"""
import serial
import serial.tools.list_ports
from PySide2.QtUiTools import QUiLoader #qt designer 好用的库，图形化界面必备
from PySide2.QtCore import QFile
from PySide2.QtCore import Signal, QObject
from PySide2.QtWidgets import QFileDialog
import re
import sys
import time
import binascii
from PyQt5 import QtWidgets
import threading
import matplotlib.pyplot as plt
import matplotlib
import datetime
import pyecharts.options as opts # 绘图
from pyecharts.charts import Line # 导入Line模块
import webbrowser
class Communication:
# 初始化连接串口
def __init__(self, com, bps, timeout):
self.port = com
self.bps = bps
self.timeout = timeout
global Ret
try:
# 打开串口，并得到串口对象
self.main_engine = serial.Serial(self.port, self.bps, timeout=self.timeout)
# 判断是否打开成功
if (self.main_engine.is_open):
Ret = True
except Exception as e:
print("---异常---：", e)
# 打印设备基本信息
def Print_Name(self):
print(self.main_engine.name) # 设备名字
print(self.main_engine.port) # 读或者写端口
print(self.main_engine.baudrate) # 波特率
print(self.main_engine.bytesize) # 字节大小
print(self.main_engine.parity) # 校验位
print(self.main_engine.stopbits) # 停止位
print(self.main_engine.timeout) # 读超时设置
print(self.main_engine.writeTimeout) # 写超时
print(self.main_engine.xonxoff) # 软件流控
print(self.main_engine.rtscts) # 软件流控
print(self.main_engine.dsrdtr) # 硬件流控
print(self.main_engine.interCharTimeout) # 字符间隔超时
# 打开串口
def Open_Engine(self):
self.main_engine.open()
# 关闭串口
def Close_Engine(self):
self.main_engine.close()
print(self.main_engine.is_open) # 检验串口是否打开
# 打印可用串口列表
@staticmethod
def Print_Used_Com():
port_list = list(serial.tools.list_ports.comports())
print(port_list)
# 接收指定大小的数据
# 从串口读size个字节。如果指定超时，则可能在超时后返回较少的字节；如果没有指定超时，则会一直等到收完指定的字节数。
def Read_Size(self, size):
data=self.main_engine.read(size=size)
return data
# 接收一行数据
# 使用readline()时应该注意：打开串口时应该指定超时，否则如果串口没有收到新行，则会一直等待。
# 如果没有超时，readline会报异常。
def Read_Line(self):
return self.main_engine.readline()
# 发数据
def Send_data(self, data):
self.main_engine.write(data)
# 接收数据
# 一个整型数据占两个字节
# 一个字符占一个字节
def Recive_data(self, way):
# 循环接收数据，此为死循环，可用线程实现
print("开始接收数据：")
while True:
try:
# 一个字节一个字节的接收
if self.main_engine.in_waiting:
if (way == 0):
for i in range(self.main_engine.in_waiting):
print("接收ascii数据：" + re.sub("\D","",str(self.Read_Size(1))))
data1 = self.Read_Size(1).hex() # 转为十六进制
data2 = int(data1, 16) # 转为十进制print("收到数据十六进制："+data1+" 收到数据十进制："+str(data2))
if (way == 1):
# 整体接收
data = self.main_engine.read_all() # 方式二print("接收ascii数据：", data)
print(data)
Status.ms.text_print.emit(data)
except Exception as e:
print("异常报错：", e)
class MySignals(QObject):
# 定义一种信号，两个参数 类型分别是： QTextBrowser 和 字符串
# 调用 emit方法 发信号时，传入参数 必须是这里指定的 参数类型
receive_print =Signal()
text_print = Signal(str)
# 温度
class Temperature:
def __init__(self, now_temper): # 构造函数
self.now_temper = now_temper # 当前温度
self.list_tem = [now_temper, now_temper, now_temper, now_temper, now_temper, now_temper, now_temper, now_temper, now_temper, now_temper]
self.list_time = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
def setTime1(self):
now = datetime.datetime.now()
now_time = now.strftime("%H:%M:%S")
return now_time
def set_time2(self):
now = datetime.datetime.now()
now_time = now.strftime("%H:%M:%S")
self.list_time = [now_time, now_time, now_time, now_time, now_time]
def add(self):
time.sleep(0.3)
self.now_temper = self.now_temper + 1 # 当前温度每3秒加0.5°C
# self.start()
self.list_tem[0] = self.list_tem[1]
self.list_tem[1] = self.list_tem[2]
self.list_tem[2] = self.list_tem[3]
self.list_tem[3] = self.list_tem[4]
self.list_tem[4] = self.list_tem[5]
self.list_tem[5] = self.list_tem[6]
self.list_tem[6] = self.list_tem[7]
self.list_tem[7] = self.list_tem[8]
self.list_tem[8] = self.list_tem[9]
self.list_tem[9] = self.now_temper
print(self.list_tem)
self.list_time[0] = self.list_time[1]
self.list_time[1] = self.list_time[2]
self.list_time[2] = self.list_time[3]
self.list_time[3] = self.list_time[4]
self.list_time[4] = self.list_time[5]
self.list_time[5] = self.list_time[6]
self.list_time[6] = self.list_time[7]
self.list_time[7] = self.list_time[8]
self.list_time[8] = self.list_time[9]
self.list_time[9] = self.setTime1()
print(self.list_time)
def decrease(self):
time.sleep(0.3)
self.now_temper = self.now_temper - 1 # 当前温度每3秒减0.5°C
self.list_tem[0] = self.list_tem[1]
self.list_tem[1] = self.list_tem[2]
self.list_tem[2] = self.list_tem[3]
self.list_tem[3] = self.list_tem[4]
self.list_tem[4] = self.list_tem[5]
self.list_tem[5] = self.list_tem[6]
self.list_tem[6] = self.list_tem[7]
self.list_tem[7] = self.list_tem[8]
self.list_tem[8] = self.list_tem[9]
self.list_tem[9] = self.now_temper
print(self.list_tem)
self.list_time[0] = self.list_time[1]
self.list_time[1] = self.list_time[2]
self.list_time[2] = self.list_time[3]
self.list_time[3] = self.list_time[4]
self.list_time[4] = self.list_time[5]
self.list_time[5] = self.list_time[6]
self.list_time[6] = self.list_time[7]
self.list_time[7] = self.list_time[8]
self.list_time[8] = self.list_time[9]
self.list_time[9] = self.setTime1()
print(self.list_time)
def exchange(self,set):
i = 10
while i > 0:
if self.now_temper > set:
self.decrease()
elif self.now_temper <= set:
self.add()
elif abs(self.now_temper - set) <= 1:
i = 0
i = i - 1
print(self.list_tem)
return self.list_tem
def Scatter(self, set,colour): # 绘制折线图html文件
time = self.list_time[-10:] # 取time末尾10位
tempture = self.list_tem[-10:] # 取温度末尾10位
c = (
Line(init_opts=opts.InitOpts(
width="900px",
height="600px",
)).add_xaxis(time).add_yaxis('温度/°C', tempture).set_colors(colour).set_global_opts(
title_opts=opts.TitleOpts(title="温度变化"),
yaxis_opts=opts.AxisOpts(name="温度°C"),
xaxis_opts=opts.AxisOpts(name="time"))
).render("chart.html")
webbrowser.open("chart.html")
# 主界面
class Status:
def __init__(self):
qfile_Server = QFile("express_control.ui")
qfile_Server.open(QFile.ReadOnly)
qfile_Server.close()
# 从 UI 定义中动态 创建一个相应的窗口对象
self.ui = QUiLoader().load(qfile_Server)
self.start=0
self.a = Temperature(30)
self.conn = Communication("com2", 38400, 0.5)
self.ui.open_drawer.clicked.connect(self.open_drawer)
self.ui.close_drawer.clicked.connect(self.close_drawer)
self.ui.openbutton.clicked.connect(self.openwork)
self.ui.closebutton.clicked.connect(self.closework)
self.ui.control_temperature.clicked.connect(self.control_temp)
self.ui.set_contemper.clicked.connect(self.set_controltemp)
self.ui.temper_chart.clicked.connect(self.chart)
self.ui.now_temperature.setText(str(self.a.now_temper))
self.ui.dr1.setStyleSheet("background-color:#008080;")
self.ui.dr2.setStyleSheet("background-color:#008080;")
self.ui.dr3.setStyleSheet("background-color:#008080;")
self.ui.dr4.setStyleSheet("background-color:#008080;")
self.ui.dr5.setStyleSheet("background-color:#008080;")
self.ui.dr6.setStyleSheet("background-color:#008080;")
self.ui.dr7.setStyleSheet("background-color:#008080;")
self.ui.dr8.setStyleSheet("background-color:#008080;")
self.ui.dr9.setStyleSheet("background-color:#008080;")
self.ui.dr10.setStyleSheet("background-color:#008080;")
self.open_close='0000000000000000' #控制抽屉开关
self.flag='01' #控制压缩机开关
self.wendu='00000000'#控制温度
self.ms = MySignals()
self.ms.text_print.connect(self.text_signal)
def chose_drawer(self):
drawer=self.ui.chose_drawer.text()
drawer=int(re.sub("\D","",drawer))
return drawer
def chart(self):
set_wendu = self.ui.set_temperature.text()
set_wendu=int(re.sub("\D","",set_wendu))
for i in self.a.exchange(set_wendu):
self.ui.now_temperature.setText(str(i))
self.a.Scatter(set_wendu,"blue")
def closework(self):
exit(0)
def openwork(self):
data = 'FFFF1C'+'75'+'7F05100125F002010A020507080802FF03FF032036E8FFF7FFFF1C757F05100125F002010A020507080802FF03FF032036E8FFF7'
data = binascii.a2b_hex(data) # 十六进制转字节流
self.conn.Send_data(data)
def open_drawer(self):
# global i
# i = hex(int(i))[2:].zfill(2)
point=self.chose_drawer()
time.sleep(0.3) # 小睡300ms，给路灯反应时间
send_data1='FFFF0C'+'76'+'0103' #首
# send_data2 = '0000000000000000'
send_data3='1E58FFF7'
send_data2=list(self.open_close)
if point==1:
send_data2[7]='1'
self.ui.dr1.setStyleSheet("background-color:#ffff00;")
elif point==2:
send_data2[6] = '1'
self.ui.dr2.setStyleSheet("background-color:#ffff00;")
elif point==3:
# data3 = 'FFFF0C770103' + '0400' + '1E58FFF7'
send_data2[5] = '1'
self.ui.dr3.setStyleSheet("background-color:#ffff00;")
elif point==4:
# data4 = 'FFFF0C770103' + '0800' + '1E58FFF7'
send_data2[4] = '1'
self.ui.dr4.setStyleSheet("background-color:#ffff00;")
elif point==5:
# data5 = 'FFFF0C770103' + '1000' + '1E58FFF7'
send_data2[3] = '1'
self.ui.dr5.setStyleSheet("background-color:#ffff00;")
elif point==6:
send_data2[2] = '1'
self.ui.dr6.setStyleSheet("background-color:#ffff00;")
elif point==7:
# data7 = 'FFFF0C770103' + '4000' + '1E58FFF7'
send_data2[1] = '1'
self.ui.dr7.setStyleSheet("background-color:#ffff00;")
elif point==8:
# data8 = 'FFFF0C770103' + '8000' + '1E58FFF7'
send_data2[0] = '1'
self.ui.dr8.setStyleSheet("background-color:#ffff00;")
elif point==9:
# data9 = 'FFFF0C770103' + '0001' + '1E58FFF7'
send_data2[15] = '1'
self.ui.dr9.setStyleSheet("background-color:#ffff00;")
elif point==10:
# data10 = 'FFFF0C770103' + '0002' + '1E58FFF7'
send_data2[14] = '1'
self.ui.dr10.setStyleSheet("background-color:#ffff00;")
else:
pass
#self.ui.drawer_state.append(f"没有这个号码的抽屉") # 在下发列表中表示出来
string = ''
for i in send_data2:
string = string + str(i)
self.open_close = string
send_data2 = hex(int(string, 2))[2:].zfill(4) # 二进制转十六进制
data = send_data1 + send_data2 + send_data3
data = binascii.a2b_hex(data) # 十六进制转字节流
self.conn.Send_data(data)
def close_drawer(self):
point = self.chose_drawer()
time.sleep(0.3) # 小睡300ms，给路灯反应时间
send_data1 = 'FFFF0C'+'77'+'0103' # 首
send_data3 = '1E58FFF7'
send_data2 = list(self.open_close)
if point == 1:
# data1='FFFF0C770103'+'0100'+'1E58FFF7'
send_data2[7] = '0'
self.ui.dr1.setStyleSheet("background-color:#008080;")
elif point == 2:
# data2='FFFF0C770103'+'0200'+'1E58FFF7'
send_data2[6] = '0'
self.ui.dr2.setStyleSheet("background-color:#008080;")
elif point == 3:
send_data2[5] = '0'
self.ui.dr3.setStyleSheet("background-color:#008080;")
elif point == 4:
# data4 = 'FFFF0C770103' + '0800' + '1E58FFF7'
send_data2[4] = '0'
self.ui.dr4.setStyleSheet("background-color:#008080;")
elif point == 5:
# data5 = 'FFFF0C770103' + '1000' + '1E58FFF7'
send_data2[3] = '0'
self.ui.dr5.setStyleSheet("background-color:#008080;")
elif point == 6:
send_data2[2] = '0'
self.ui.dr6.setStyleSheet("background-color:#008080;")
elif point == 7:
send_data2[1] = '0'
self.ui.dr7.setStyleSheet("background-color:#008080;")
elif point == 8:
send_data2[0] = '0'
self.ui.dr8.setStyleSheet("background-color:#008080;")
elif point == 9:
send_data2[15] = '0'
self.ui.dr9.setStyleSheet("background-color:#008080;")
elif point == 10:
send_data2[14] = '0'
self.ui.dr10.setStyleSheet("background-color:#008080;")
else:
pass
string = ''
for i in send_data2:
string = string + str(i)
self.open_close = string
send_data2 = hex(int(string, 2))[2:].zfill(4) # 二进制转十六进制
data = send_data1 + send_data2 + send_data3
data = binascii.a2b_hex(data) # 十六进制转字节流
self.conn.Send_data(data)
def control_temp(self):
control_zhen="FFFF0B"+'76'+"0102"+self.flag+"60C8FFF7"
if(self.flag=='01'):
self.ui.controller_state.setText(f'open') # 在下发列表中表示出来
else:
self.ui.controller_state.setText(f'close') # 在下发列表中表示出来
control_zhen = binascii.a2b_hex(control_zhen) # 十六进制转字节流
self.conn.Send_data(control_zhen)
self.change()
def change(self):
if self.flag=='01':
self.flag='00'
else:
self.flag='01'
return self.flag
def set_controltemp(self):
set = self.ui.set_temperature.text()
set = int(re.sub("\D", "", set))
if set>0:
plus='0'
else:
plus='1'
if set%1==0:
dot='0'
else:
dot='1'
set=bin(int(set))[2:].zfill(6)
print(set)
self.wendu=plus+set+dot
print(self.wendu)
self.wendu = hex(int(self.wendu, 2))[2:].zfill(2) # 二进制转十六进制
wendu_zhen="FFFF0B"+'78'+"0104"+ self.wendu+"8CC2FFF7"
print(wendu_zhen)
wendu_zhen = binascii.a2b_hex(wendu_zhen) # 十六进制转字节流
self.conn.Send_data(wendu_zhen)
def text_signal(self, text):
self.ui.drawer_state.setPlainText(self.conn.Recive_data(1))
# 加载设置参数界面
class sys_param:
def __init__(self):
qfile_Server = QFile("sys_parameter.ui")
qfile_Server.open(QFile.ReadOnly)
qfile_Server.close()
# 从 UI 定义中动态 创建一个相应的窗口对象
self.ui = QUiLoader().load(qfile_Server)
# 生成编码
class CRC:
"""循环冗余检验
parameters
----------
info : list
需要被编码的信息
crc_n : int, default: 32
生成多项式的阶数
p : list
生成多项式
q : list
crc后得到的商
check_code : list
crc后得到的余数，即计算得到的校验码
code : list
最终的编码
----------
"""
def __init__(self, info, crc_n=32):
self.info = info
'''
输入参数：发送数据比特序列，CRC生成多项式阶数
'''
'''
初始化CRC生成多项式p,其中P和二进制码（多项式比特序列）的关系为如下例：
G(X)系数: 4 1 0 分别代表x的4次方，x的1次方，x的0次方以此类推
G(X) = 1*(X^4) + 0*(X^3) + 0*(X^2) + 1*X + 1*1
二进制码 = 1 0 0 1 1
可根据需要自行添加修改，也可使用国际标准
'''
if crc_n == 8:
loc = [8, 2, 1, 0]
elif crc_n == 32:
loc = [32, 26, 23, 22, 16, 12, 11, 10, 8, 7, 5, 2, 1, 0] # 国际标准CRC-32
elif crc_n == 16:
loc = [16, 15, 2, 0] # 国际标准CRC-16
elif crc_n == 4:
loc = [4, 3, 0]
# 列表解析转换为多项式比特序列
p = [0 for i in range(crc_n + 1)]
for i in loc:
p[i] = 1
p = p[::-1] # 逆序输出
info = self.info.copy()
times = len(info)
n = crc_n + 1
# 左移补零即乘积
for i in range(crc_n):
info.append(0)
# 乘积除以多项式比特序列
q = [] # 商
for i in range(times):
if info[i] == 1: # 若乘积位为1，则商1，后逐位异或
q.append(1)
for j in range(n): # n即p的位数
info[j + i] = info[j + i] ^ p[j] # 按位异或
else: # 若乘积位是0，则商0，看下一位
q.append(0)
# 余数即为CRC编码
check_code = info[-crc_n::]
# 生成编码
code = self.info.copy()
for i in check_code:
code.append(i)
self.crc_n = crc_n
self.p = p
self.q = q
self.check_code = check_code
self.code = code
def print_format(self):
"""格式化输出结果"""
print('{:10}\t{}'.format('发送数据比特序列：', self.info))
print('{:10}\t{}'.format('生成多项式比特序列：', self.p))
print('{:15}\t{}'.format('商：', self.q))
print('{:10}\t{}'.format('余数（即CRC校验码）：', self.check_code))
import numpy as np
# 设置系统参数
class jump:
def __init__(self):
app = QtWidgets.QApplication(sys.argv)
self.a = Status()
self.a.ui.show()
self.b = sys_param()
self.a.ui.set_sys.clicked.connect(self.shift)
self.b.ui.returnbutton.clicked.connect(self.retur)
self.b.ui.ack.clicked.connect(self.ack)
sys.exit(app.exec_())
# 确认发送
def ack(self):
id = self.b.ui.id.text()
id = int(re.sub("\D","", id))
id = bin(int(id))[2:].zfill(40)
id = hex(int(id, 2))[2:].zfill(10) # 二进制转十六进制
address=self.b.ui.address.text()
address=int(re.sub("\D","",address))
address = bin(int(address))[2:].zfill(8)
address = hex(int(address, 2))[2:].zfill(2) # 二进制转十六进制
time = self.b.ui.time.text()
time = int(re.sub("\D", "", time))
time= bin(int(time))[2:].zfill(8)
time = hex(int(time, 2))[2:].zfill(2) # 二进制转十六进制
delay=self.b.ui.delay.text()
delay=int(re.sub("\D","",delay))
delay= bin(int(delay))[2:].zfill(8)
delay = hex(int(delay, 2))[2:].zfill(2) # 二进制转十六进制
con_temperature = self.b.ui.con_temperature.text()
con_temperature = int(re.sub("\D", "", con_temperature))
deviation=self.b.ui.deviation.text()
deviation=int(re.sub("\D","",deviation))
deviation= bin(int(deviation))[2:].zfill(8)
deviation = hex(int(deviation, 2))[2:].zfill(2) # 二进制转十六进制
if con_temperature>0:
plus='0'
else:
plus='1'
if con_temperature%1==0:
dot='0'
else:
dot='1'
con_temperature = bin(int(con_temperature))[2:].zfill(6)
con_temperature = plus + con_temperature + dot
con_temperature = hex(int(con_temperature, 2))[2:].zfill(2) # 二进制转十六进制
sys_zhen = 'FFFF1C'+'75'+'7F05' + id+address+'00' + time + delay+ '0000' + con_temperature + deviation + 'FFFFFFFF00' + '36E8FFF7'
sys_zhen = binascii.a2b_hex(sys_zhen) # 十六进制转字节流
self.a.conn.Send_data(sys_zhen)
# 打开设置参数界面
def shift(self):
self.a.ui.close()
self.b.ui.show()
# 返回
def retur(self):
self.b.ui.close()
self.a.ui.show()
Communication.Print_Used_Com()
Ret = False # 是否创建成功标志
jump()
(6) 附录
源码及工具：https://github.com/ITApeDeHao/PerceptionAndControl/tree/master
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