传感器数据获取

实现步骤

准备工作

1. 安装固件recv_send.bin
2. 启动小车会自动开启wifi,名称是smart_car,密码是12345678,电脑连接这个wifi

代码实现

1. 搭建ui界面
2. 连接小车服务器
3. 开启新线程接收小车服务器数据并解析
4. 更新界面数据

接收协议

小车目前会返回红外传感器数据及超声波传感器数据

接收的数据遵循如下协议:

一帧完整数据

帧头	类型	数据长度	数据位	校验位
0xff 0xff	0x01	0x01	0x00	0x02

注意:

数据长度不包含校验位

指令类型

类型	类型标识
0x01	红外传感器
0x02	超声波传感器

数据长度

类型	数据长度
红外传感器	0x01
超声波传感器	0x04

代码实现

from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QHBoxLayout,QFormLayout, QGroupBox, QPushButton,QLineEdit,QCheckBox,QLabel
from PyQt5.QtCore import pyqtSignal
import socket
import sys
import threading
import struct

class MainWindow(QWidget):
    def __init__(self):
        super(MainWindow, self).__init__()
        # -------------- 界面 -------------- #
        self.init_ui()
        # -------------- socket初始化 -------------- #
        self.soc = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        # -------------- 数据结果变量 -------------- #
        # 红外传感器数据
        self.infrared_data = []
        # 超声波传感器数据
        self.dis = 0
        # -------------- 控制界面关闭停止任务 -------------- #
        self.window_has_closed = False


    def init_ui(self):
        # 整体布局
        whole_layout = QVBoxLayout()
        self.setLayout(whole_layout)
        # 分组布局
        connect_gb = QGroupBox('连接小车')
        infrared_gb = QGroupBox('红外传感器状态')
        ultrasonic_gb = QGroupBox('超声波传感器测距')
        # 添加控件
        whole_layout.addWidget(connect_gb)
        whole_layout.addWidget(infrared_gb)
        whole_layout.addWidget(ultrasonic_gb)
        # 布局
        connect_layout = QHBoxLayout(connect_gb)
        infrared_layout = QHBoxLayout(infrared_gb)
        ultrasonic_layout = QFormLayout(ultrasonic_gb)
        # -------------- 小车连接 -------------- #
        self.ip_edit = QLineEdit()
        self.port_edit = QLineEdit()
        self.ip_edit.setPlaceholderText('请输入小车ip')
        self.port_edit.setPlaceholderText('请输入小车端口')
        self.ip_edit.setText('192.168.10.1')
        self.port_edit.setText('7070')
        connect_btn = QPushButton('连接')
        connect_layout.addWidget(self.ip_edit)
        connect_layout.addWidget(self.port_edit)
        connect_layout.addWidget(connect_btn)
        # -------------- 红外传感器 -------------- #
        self.ck1 = QCheckBox('灯1')
        self.ck2 = QCheckBox('灯2')
        self.ck3 = QCheckBox('灯3')
        self.ck4 = QCheckBox('灯4')
        self.ck5 = QCheckBox('灯5')
        self.ck6 = QCheckBox('灯6')
        self.ck7 = QCheckBox('灯7')
        self.ck1.setDisabled(True)
        self.ck2.setDisabled(True)
        self.ck3.setDisabled(True)
        self.ck4.setDisabled(True)
        self.ck5.setDisabled(True)
        self.ck6.setDisabled(True)
        self.ck7.setDisabled(True)
        infrared_layout.addWidget(self.ck1)
        infrared_layout.addWidget(self.ck2)
        infrared_layout.addWidget(self.ck3)
        infrared_layout.addWidget(self.ck4)
        infrared_layout.addWidget(self.ck5)
        infrared_layout.addWidget(self.ck6)
        infrared_layout.addWidget(self.ck7)
        # -------------- 超声波传感器 -------------- #
        self.dis_label = QLabel()
        ultrasonic_layout.addRow('距离:',self.dis_label)
        # -------------- 信号和槽连接 -------------- #
        connect_btn.clicked.connect(self.connect_to_server)

    def connect_to_server(self):
        ip = self.ip_edit.text()
        port = int(self.port_edit.text())
        self.soc.connect((ip, port))
        # 开启线程接收传感器数据
        threading.Thread(target=self.recv_sensor_data).start()

    def recv_sensor_data(self):
        # 帧头数据个数
        count = 0
        # 任务类型
        type = 0
        # 数据长度
        length = -1
        # 已经读取的数据长度
        read_length = 0
        # 转换之后的数据
        recv_data_trans = 4 * [0]
        # 接收的原始数据
        recv_data_original = 4 * [b'0']
        while not self.window_has_closed:
            print('read data')
            original_data = self.soc.recv(1)
            # 转换成数据
            data = struct.unpack('<b', original_data)[0]
            if count < 2 and data != -128:
                continue
            # -------------- 读取帧头数据 -------------- #
            if count < 2 and data == -128:
                print("recv head\n")
                count += 1
                continue
            # -------------- 读取类型 -------------- #
            if type == 0:
                # 标识
                type = data
                count += 1
                print(f"recv type type={type}")
                continue
            # -------------- 读取数据长度 -------------- #
            if length == -1:
                length = data
                print(f"recv length length={length}")
                continue
            # -------------- 读取数据 -------------- #
            # 读取数据
            if read_length < length:
                print(f"recv mini data read_length={read_length}")
                recv_data_original[read_length] = original_data
                recv_data_trans[read_length] = data
                read_length += 1
                continue
            # -------------- 验证数据是否正确 -------------- #
            total = 0
            total += type
            total += length
            for i in range(length):
                total += recv_data_trans[i]

            print('type:', type, ' data:', data, ' total:', total, ' total & 0xff', total & 0xff)
            # 结果错误
            if ((data & 0xff) ^ (total & 0xff)) != 0:
                print(
                    f"check error,check:{data},total:{total},total&0xff:{total & 0xff},{recv_data_trans[0]},{recv_data_trans[1]},{recv_data_trans[2]},{recv_data_trans[3]}")
                count = 0
                type = 0
                length = -1
                read_length = 0
                continue
            # -------------- 接收数据正确 处理数据 -------------- #
            # 重置数据
            count = 0
            # 通过临时变量保存type 并重置type
            cur_type = type
            type = 0
            length = -1
            read_length = 0

            print('type ', cur_type)
            # -------------- 根据类型修改数据 -------------- #
            # 红外传感器
            if cur_type == 1:
                # 清空
                self.infrared_data.clear()
                sensor_data = recv_data_trans[0]
                s1 = sensor_data & 0x01
                s2 = sensor_data >> 1 & 0x01
                s3 = sensor_data >> 2 & 0x01
                s4 = sensor_data >> 3 & 0x01
                s5 = sensor_data >> 4 & 0x01
                s6 = sensor_data >> 5 & 0x01
                s7 = sensor_data >> 6 & 0x01
                self.infrared_data.append(sensor_data & 0x01)
                self.infrared_data.append(sensor_data >> 1 & 0x01)
                self.infrared_data.append(sensor_data >> 2 & 0x01)
                self.infrared_data.append(sensor_data >> 3 & 0x01)
                self.infrared_data.append(sensor_data >> 4 & 0x01)
                self.infrared_data.append(sensor_data >> 5 & 0x01)
                self.infrared_data.append(sensor_data >> 6 & 0x01)
                print('红外数据:', self.infrared_data)
                self.update_ui(1)
                continue

            # 超声波传感器
            if cur_type == 2:
                dis_bit = recv_data_original[0] + recv_data_original[1] + recv_data_original[2] + recv_data_original[3]
                # self.dis = int.from_bytes(dis_bit, 'little')
                self.dis = struct.unpack('<i',dis_bit)
                print('距离:', self.dis)
                self.update_ui(2)

    def update_ui(self,type):
        '''
        接收到数据  更新界面
        :param type: 类型 1:更新红外传感器数据 2:更新超声波传感器数据
        :return:
        '''
        if type==1:
            self.ck1.setChecked(self.infrared_data[0])
            self.ck2.setChecked(self.infrared_data[1])
            self.ck3.setChecked(self.infrared_data[2])
            self.ck4.setChecked(self.infrared_data[3])
            self.ck5.setChecked(self.infrared_data[4])
            self.ck6.setChecked(self.infrared_data[5])
            self.ck7.setChecked(self.infrared_data[6])
            return
        if type==2:
            self.dis_label.setText(str(self.dis))

if __name__ == '__main__':
    app = QApplication(sys.argv)
    window = MainWindow()
    window.show()
    exec_ = app.exec_()
    window.window_has_closed = True
    sys.exit(exec_)