Benewake(北醒) TFmini-S\TFmini Plus\TF-Luna\TF02-Pro\TF03 串口版本雷达在Python上的例程

测试环境

Window 10、Python 3.8.6

需求库

numpy pyserial

下载与Python版本匹配的pyserial与numpy模块，将其源文件复制至Python文件目录下，随后执行 ‘pip install 模块路径’指令（需要正确设置pip环境才可安装）

例程

#创建日期：2020年10月10日
#版本：初版
#此程序对应北醒TF系列默认配置下串口版本有效
#此程序只提供参考和学习

# -*- coding: utf-8 -*-
import serial.tools.list_ports
import time
import numpy as np

ser = serial.Serial()
ser.port = 'COM55'    #设置端口
ser.baudrate = 115200 #设置雷达的波特率

def getTFminiData():
   while True:
      count = ser.in_waiting #获取接收到的数据长度
      if count > 8:
         recv = ser.read(9)#读取数据并将数据存入recv
         #print('get data from serial port:', recv)
         ser.reset_input_buffer()#清除输入缓冲区
         if recv[0] == 0x59 and recv[1] == 0x59:  # python3
            distance = np.int16(recv[2] + np.int16(recv[3] << 8))
            strength = recv[4] + recv[5] * 256
            temp = (np.int16(recv[6] + np.int16(recv[7] << 8)))/8-256 #计算芯片温度
            print('distance = %5d  strengh = %5d  temperature = %5d' % (distance, strength, temp))
            ser.reset_input_buffer()

         if recv[0] == 'Y' and recv[1] == 'Y':  # python2 //此处标示出文件读取成功
            lowD = int(recv[2].encode('hex'), 16)
            highD = int(recv[3].encode('hex'), 16)
            lowS = int(recv[4].encode('hex'), 16)
            highS = int(recv[5].encode('hex'), 16)
            lowT = int(recv[6].encode('hex'), 16)
            highT = int(recv[7].encode('hex'), 16)
            distance = np.int16(lowD + np.int16(highD << 8))
            strength = lowS + highS * 256
            temp = (np.int16(lowD + np.int16(highD << 8)))/8-256 #计算芯片温度
            print('distance = %5d  strengh = %5d  temperature = %5d' % (distance, strength, temp))
      else:
         time.sleep(0.005) #50ms
if __name__ == '__main__':
   try:
      if ser.is_open == False:
         try:
            ser.open()
         except:
            print('Open COM failed!')
      getTFminiData()
   except KeyboardInterrupt:  # Ctrl+C 停止输出数据
      if ser != None:
         ser.close()

输出如下：

distance =   205  strengh =  5224  temperature =    52
distance =   205  strengh =  5231  temperature =    52
distance =   205  strengh =  5230  temperature =    52
distance =   205  strengh =  5218  temperature =    52
distance =   205  strengh =  5226  temperature =    52
distance =   205  strengh =  5221  temperature =    52
distance =   205  strengh =  5227  temperature =    52
distance =   205  strengh =  5224  temperature =    52
distance =   205  strengh =  5223  temperature =    52
distance =   205  strengh =  5223  temperature =    52
distance =   205  strengh =  5226  temperature =    52
distance =   205  strengh =  5225  temperature =    52

运行过程中可能存在的问题：

1、

Traceback (most recent call last):
  File "C:/Users/Administrator/AppData/Local/Programs/Python/Python37/test.py", line 1, in <module>
    import serial.tools.list_ports
ModuleNotFoundError: No module named 'serial'

解决办法：安装Python-serial 模块

2、

Traceback (most recent call last):
  File "C:/Users/Administrator/Desktop/test1.py", line 3, in <module>
    import numpy as np
ModuleNotFoundError: No module named 'numpy'

解决办法：安装numpy模块

3、

Traceback (most recent call last):
  File "C:/Users/Administrator/Desktop/test1.py", line 39, in <module>
    getTFminiData()
  File "C:/Users/Administrator/Desktop/test1.py", line 11, in getTFminiData
    count = ser.in_waiting #获取接收到的数据长度
  File "E:\Python\lib\site-packages\serial\serialwin32.py", line 259, in in_waiting
    raise SerialException("ClearCommError failed ({!r})".format(ctypes.WinError()))
serial.serialutil.SerialException: ClearCommError failed (OSError(9, '句柄无效。', None, 6))

解决办法：设置端口名称为实验设备端口号
例：本次实验中接收端口号为COM55，则修改设置端口语句为ser.port = 'COM55'