029——从GUI-＞Client-＞Server-＞driver实现对步进电机的控制

最新推荐文章于 2024-06-17 17:35:06 发布

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最新推荐文章于 2024-06-17 17:35:06 发布

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分类专栏： # 基于鸿蒙的芯片评估板自检系统文章标签： python 开发语言嵌入式操作系统 Linux c Python

本文链接：https://blog.csdn.net/qq_52479948/article/details/137933899

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基于鸿蒙的芯片评估板自检系统专栏收录该内容

40 篇文章 4 订阅

订阅专栏

1、修改GUI

为了好看一些把电机这组放到左面和send在一起了

2、修改客户端程序

'''
fuction : 客户端程序
author  : 辛天宇
date    : 2024-4-13
-------------------------------
author     date      modify
辛天宇   2024-4-15   结合GUI和网络通信

'''
import show
import tcp
import tool
import socket
import global_var


def send_handle(window, client_socket, values):
    global_var.TX_BUF = values['txbuff'] 
    print(f"txbuff={global_var.TX_BUF}")
    # 清理input
    window['txbuff'].update(value='')
    data = global_var.TX_BUF
    client_socket.sendall(data.encode())
    # 接收服务器的响应
    data = client_socket.recv(512)
    # 将字节字符串转化为字符串
    global_var.RX_BUF = data.decode('utf-8')
    print(f"rx......{global_var.RX_BUF}") 

def quit_handel(client_socket):
    cmd='Q'
    client_socket.sendall(cmd.encode())
    tcp.disconnect_to_server(client_socket)

# 进行一次发送和接收
def send_cmd(client_socket):
    data = global_var.TX_BUF
    client_socket.sendall(data.encode())
    # 接收服务器的响应
    data = client_socket.recv(512)
    # 将字节字符串转化为字符串
    global_var.RX_BUF = data.decode('utf-8')

# 设置发送消息
def set_tx_buf(device, message): 
    if device == 'sr04':
        global_var.TX_BUF = '@002'+message
    if device == 'led':
        global_var.TX_BUF = '@000'+message
    elif device == 'sr501':
        global_var.TX_BUF = '@001'+message
    elif device == 'irda':
        global_var.TX_BUF = '@003'+message
    elif device == 'motor':
        global_var.TX_BUF = '@004'+message
    elif device == 'dht11':
        global_var.TX_BUF = '@005'+message
        print(f"dht11={global_var.TX_BUF}")
    elif device == 'ds18b20':
        global_var.TX_BUF = '@006'
    elif device == 'iic':
        global_var.TX_BUF = '@007'
    elif device == 'spi':
        global_var.TX_BUF = '@008'
    

# 处理数据
def cmd_handle(window):
    cmd = global_var.RX_BUF
    if len(cmd) < 4:
        print("cmd ERROR")
        return -1
    if '@' == cmd[0]:
        # 目前驱动设备数量只有两位数
        if cmd[1] == '0':
            # LED: @000+1位命令位+1位数据位
            if cmd[2] == '0' and cmd[3] == '0':
                if cmd[5] == '1':
                    print("LED Status change success")
                elif cmd[5] == '0':
                    print("LED Status change failure")
                else:
                    print("message ERROR")
            # SR501:@001+1位数据位
            elif cmd[2] == '0' and cmd[3] == '1':
                if cmd[5] == '1':
                    print("有人")
                    message='有人'
                    window['SR501_O'].update(message)
                elif cmd[5] == '0':
                    print("无人")
                    message='无人'
                    window['SR501_O'].update(message)
                else:
                    print("message ERROR")
            # SR04
            elif cmd[2] == '0' and cmd[3] == '2':
                if cmd[4] == 'g':
                    global_var.SR04_DATA = cmd[5:8]
                    message = f"{global_var.SR04_DATA}cm"
                    window['SR04_O'].update(message)
                else:
                    print("SR04: message ERROR")               
            #irda
            elif cmd[2] == '0' and cmd[3] == '3':
                print(cmd[4:])
            #motor
            elif cmd[2] == '0' and cmd[3] == '4':
                if cmd[4] == 's':
                    global_var.SR04_DATA = cmd[5:8]
                    message = f"{global_var.SR04_DATA}cm"
                    window['SR04_O'].update(message)
                else:
                    print("MOTOR: message ERROR")  
            #dht11
            elif cmd[2] == '0' and cmd[3] == '5':
                print(cmd[4:])
                global_var.TEM=cmd[4]+cmd[5]
                global_var.HUM=cmd[6]+cmd[7]
            #ds18b20
            elif cmd[2] == '0' and cmd[3] == '6':
                print(cmd[4:])
            #iic
            elif cmd[2] == '0' and cmd[3] == '7':
                print(cmd[4:])
            #spi
            elif cmd[2] == '0' and cmd[3] == '8':
                print(cmd[4:])

# 处理事件
def event_handle(window, client_socket):
    led = 0
    # 事件循环  
    while True:  
        try:
            cmd_handle(window)
            event, values = window.read()
            if event == 'input':
                window['txbuff'].update(disabled=not values['input'])
            elif event == 'send':
                send_handle(window, client_socket, values)
            elif event == 'Clean':
                window['Output'].update(value='')
            elif event == 'dht11':
                set_tx_buf('dht11', '2525')
                send_cmd(client_socket)
                message = f"{global_var.TEM}°C   {global_var.HUM}%"
                window['Getvalue'].update(message)
            elif event == 'ds18b20':
                set_tx_buf('ds18b20')
                send_cmd(client_socket)
                message = f"{global_var.TEM}°C"
                window['Getvalue'].update(message)
            elif event == 'Quit': 
                quit_handel(client_socket) 
                print(f"See you.............")
                break
            elif event is None:
                print(f"xxxxxxxxxxxxxxxxxxxx")
                break
            elif event == 'LED':
                if led % 2 == 0:
                    set_tx_buf('led','p1')
                else:
                    set_tx_buf('led','p0')
                led+=1
                if led > 100:
                    led = 0
                send_cmd(client_socket)
            elif event == 'SR501':
                set_tx_buf('sr501','g')
                send_cmd(client_socket)
            elif event == 'SR04':
                set_tx_buf('sr04','g')
                send_cmd(client_socket)
            elif event == 'IRDA':
                set_tx_buf('irda','g')
                send_cmd(client_socket)
            elif event == 'MOTOR':
                global_var.MOTOR_DATA = values['MOTOR_I']
                message = 's'+global_var.MOTOR_DATA
                set_tx_buf('motor', message)
                send_cmd(client_socket)
            # 处理其他事件...
        except Exception as e:
            window.close()
            print(f"An error occurred: {e}")
            return 0
    window.close()
    return 0  

def main():
    # 创建GUI对象
    window = show.show_window('DefaultNoMoreNagging')
    # 尝试连接到服务器  
    client_socket = tcp.connect_to_server()
    if client_socket is not None: 
        event_handle(window, client_socket)

if __name__ == '__main__':
    main()

3、修改服务器

先来验证一下sizeof(字符指针)到底能不能算出字符串大小

事实证明不行呢

给他个数组的假象也不行。

那就只能限制数据必须是3位了

4、修改遇到问题回头修改客户端

负数用str转化后会变成奇怪的正数。

def motor_handel(window, client_socket, values):
    i = int(values['MOTOR_I'])
    global_var.MOTOR_DATA = str(abs(i)%360)
    if i >= 0:
        global_var.MOTOR_DIRECTION='0'
    else:
        global_var.MOTOR_DIRECTION='1'
    message = 's'+global_var.MOTOR_DIRECTION+global_var.MOTOR_DATA
    # 清理input
    window['MOTOR_I'].update(value='0')
    set_tx_buf('motor', message)
    send_cmd(client_socket)

把数据先抓化成整型取绝对值除余后在使用按照正负分别设置message，正数符号位是0负数符号位是1.发空会直接死掉所以来了个默认值是0.

5、继续修改服务器

长度我改用strlen做计算这样就不需要限制了

/* TODO 传递参数后需改为使用通信结构体 */
/* TODO 所有的魔鬼数字都要进行定义 */
int select_driver(char * cmd, int acceptfd)
{
    int opt = 0;
    int get_data = 0;
    MSG drv_msg;
    char *tx_buffer;
    char buf[32];
    DIRECTION direction;
    CMD drv_cmd;

    if('@' == cmd[0])
    {
#if (STD_ON == DEBUG)
        printf("cmd[0] = @\n");
#endif/*STD_ON == DEBUG*/
        drv_msg.device = extract_digit_number(cmd, 1, 3);
        printf("device is %d\n", drv_msg.device);
        /*TODO 后续需升级为多线程模式调用驱动*/
        switch(drv_msg.device)
        {
            case 0:
                /*TODO 日志打印等级控制*/
                /*TODO用设备结构体后这里要封装一下*/
                printf("LED!!!\n");
                if ('g' == cmd[4])
                {
                    direction = direction_get;
                    drv_cmd = cmd_no;
                    led_handle(direction, &drv_cmd);
                    if (cmd_close == drv_cmd)
                    {
                        tx_buffer = "@000g0";
                    }
                    else if(cmd_open == drv_cmd)
                    {
                        tx_buffer = "@000g1";
                    }
                }
                else
                {
                    if ('1' == cmd[5])
                        drv_cmd = cmd_open;
                    else if ('0' == cmd[5])
                        drv_cmd = cmd_close;
                    direction = direction_put;
                    if (NOERROR == led_handle(direction, &drv_cmd))
                    {
                        tx_buffer = "@000p1";
                    }
                    else
                    {
                        tx_buffer = "@000p0";
                    }
                }               
                if (send(acceptfd, tx_buffer, strlen(tx_buffer), 0) < 0)
                {
                    perror("send failed");  
                }
                break;
            case 1:
                printf("SR501!!!\n");
                /*TODO 这里封装成带回调函数的处理函数通过传入处理函数做数据处理*/
                if ('g' == cmd[4])
                {
                    
                    sr501_handle(&get_data);
                    if (sr501_some == get_data)
                    {
                        tx_buffer = "@001g1";
                    }
                    else if(sr501_nobody == get_data)
                    {
                        tx_buffer = "@001g0";
                    }
                }              
                if (send(acceptfd, tx_buffer, strlen(tx_buffer), 0) < 0)
                {
                    perror("send failed");  
                }
                break;
            case 2:
                printf("SR04!!!\n");
                if ('g' == cmd[4])
                {
                    opt = sr04_handle(&get_data);
                    if (NOERROR == opt)
                    {
                        sprintf(buf,"@002g%03d", get_data);
                        tx_buffer = buf;
                    }
                    else
                    {
                        tx_buffer = "@002e";
                    }
                }
                printf(">>>>>>%s\n",tx_buffer);         
                if (send(acceptfd, tx_buffer, strlen(tx_buffer), 0) < 0)
                {
                    perror("send failed");  
                }
                break;
            case 3:
                printf("IRDA!!!\n");
                break;
            case 4:
                printf("motor!!!\n");
                if ('s' == cmd[4])
                {
                    if(0 == cmd[5])
                    {
                        /*/0 /n*/
                        get_data = extract_digit_number(cmd, 5, (strlen(&cmd[5])-2));
                    }
                    else
                    {
                        get_data = -extract_digit_number(cmd, 5, (strlen(&cmd[5])-2));
                    }
                    opt = motor_handle(get_data);
                    if (NOERROR == opt)
                    {
                        tx_buffer = "@004s";
                    }
                    else
                    {
                        tx_buffer = "@004e";
                    }
                }      
                if (send(acceptfd, tx_buffer, strlen(tx_buffer), 0) < 0)
                {
                    perror("send failed");  
                }
                break;
            case 5:
                printf("dht11!!!\n");
                break;
            case 6:
                printf("ds18b20!!!\n");
                break;
            case 7:
                printf("IIC!!!\n");
                break;
            case 8:
                printf("SPI!!!\n");
                break;
            default:
                printf("Unknown equipment!!!\n");
        }
    }
    else
    {
        printf("cmd[0] ERROR!!!\n");
        opt = ERROR;
    }
    opt = atoi(&cmd[1]);
    return opt;
}

6、编写驱动句柄

/*
*author   : xintianyu
*function : Handle motor Settings
*date     : 2024-4-18
-----------------------
author date  modify

*/
int motor_handle(int data)
{
    char *device = "/dev/CEBSS_motor";
	int buf[2];
    int ret = NOERROR;
	static int fd;
    /* 打开文件 */
	fd = open(device, O_RDWR);
	if (fd == -1)
	{
		printf("can not open file %s\n", device);
		return ERROR;
	}
	printf("步进次数%d\n", data);
    /*5.625° 64：1 4096--360*/
	if (0 == data)
	    data = 365;
	data = data*4096;
	buf[0] = data/360;
	buf[1] = 2;

	if (write(fd, buf, 8) > 0)
	{
		ret = NOERROR;
	}
	else
	{
		ret = ERROR;
	}
	close(fd);
    return ret;
}

7、测试

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029——从GUI-＞Client-＞Server-＞driver实现对步进电机的控制

把数据先抓化成整型取绝对值除余后在使用按照正负分别设置message，正数符号位是0负数符号位是1.发空会直接死掉所以来了个默认值是0.先来验证一下sizeof(字符指针)到底能不能算出字符串大小。为了好看一些把电机这组放到左面和send在一起了。长度我改用strlen做计算这样就不需要限制了。负数用str转化后会变成奇怪的正数。那就只能限制数据必须是3位了。给他个数组的假象也不行。
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