520 lines
14 KiB
Python
520 lines
14 KiB
Python
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import serial
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import serial.tools.list_ports
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import threading
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import time
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import json
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import socket
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from PyQt5.QtCore import *
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def crc16(data:bytearray,offset:int,len:int):
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if(len>0):
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crc=0xffff
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for i in range(len-offset):
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crc=(crc^data[i+offset])&0xffff
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for j in range(8):
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if(crc&1)!=0:
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crc=((crc>>1)^0xa001)&0xffff
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else:
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crc=(crc>>1)&0xffff
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return crc&0xff,(crc>>8)&0xff
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return 0,0
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def crc32(data:bytearray):
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temp=0
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crc=0xffffffff
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i=0
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if(len(data)%4!=0):
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return 0
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while(i<len(data)):
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temp=data[i]|(data[i+1]<<8)|(data[i+2]<<16)|(data[i+3]<<24)
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i+=4
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for j in range(32):
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if((crc^temp)&0x80000000)!=0:
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crc=0x04c11db7^(crc<<1)
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else:
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crc<<=1
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temp<<=1
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crc&=0xffffffff
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return crc
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# 把tcp封装为串口
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class utcp:
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is_open=False
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def __init__(self,port:int)->None:
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self.ser = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.ser.bind(("",port))
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self.ser.settimeout(10)
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self.ser.listen(128)
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print("wait for mcu connect.")
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self.client,self.client_addr=self.ser.accept()
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print("client:",self.client_addr)
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self.is_open=True
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def read(self,len:int):
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# return self.ser.recv(len)
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return self.client.recv(len)
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def write(self,data:bytearray):
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# return self.ser.send(data)
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return self.client.send(data)
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def close(self):
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self.client.close()
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self.ser.close()
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self.is_open=False
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# 生成一个任务的参数
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def scheme_task_to_byte(j:json):
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data=bytearray()
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data.append(j["TaskID"])
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data.append(j["TaskIndex"])
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data.append(j["RetryCount"])
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data.append(j["ErrJumpTo"])
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data.append((j["ParamCount"]&0x0f)|(j["ReturnCount"]<<4))
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for i in j["ParamVal"]:
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data.append(i&0xff)
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data.append(i>>8)
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return data
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# 生成任务参数序列
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def scheme_tasks_to_byte(j:json):
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data=bytearray()
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for i in j["TaskArray"]:
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data+=scheme_task_to_byte(i)
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length=len(data)
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if(length<(0x700-4)):
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for i in range(0x700-4-length):
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data.append(0xff)
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return data
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# 生成任务id序列
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def scheme_taskids_to_byte(j:json):
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t=bytearray()
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t.append(j["PlanID"]&0xff)
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t.append((j["PlanID"]>>8)&0xff)
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t.append((j["PlanID"]>>16)&0xff)
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t.append((j["PlanID"]>>24)&0xff)
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for i in j["TaskArray"]:
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t.append(i["TaskID"])
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length=len(t)
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if(length<(0x100)):
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for i in range(0x100-length):
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t.append(0xff)
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return t
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# 根据方案生成小板用的字节数据
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def scheme_to_byte(j:json):
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t=bytearray()
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t+=scheme_taskids_to_byte(j)
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t+=scheme_tasks_to_byte(j)
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crc=crc32(t)
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t.append(crc&0xff)
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t.append((crc>>8)&0xff)
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t.append((crc>>16)&0xff)
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t.append((crc>>24)&0xff)
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return t
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# int转数组
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def arr_from_int(num:int):
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return bytearray([num&0xff,(num>>8)&0xff,(num>>16)&0xff,(num>>24)&0xff])
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# 提取方案中的范围数据， 先max后min
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def scheme_get_task_range(j:json):
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t=bytearray()
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t+=arr_from_int(j["TaskID"])
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t+=arr_from_int(j["TaskIndex"])
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t+=arr_from_int(j["ReturnCount"])
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t+=arr_from_int(j["ExecuteErrCode"])
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index=0
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for i in j["TestStandard"]:
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t+=arr_from_int(i["Max"])
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t+=arr_from_int(i["Min"])
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if (index<len(j["ResultErrCode"])):
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t+=arr_from_int(j["ResultErrCode"][index])
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else:
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t+=arr_from_int(0)
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index+=1
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# 不足16的部分填充为16
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n=16-len(j["TestStandard"])
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for i in range(n):
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t+=arr_from_int(65535)
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t+=arr_from_int(0)
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t+=arr_from_int(0)
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return t
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# 根据方案生成主板用的字节数据
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def scheme_to_host(j:json):
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t=bytearray()
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t+=arr_from_int(j["PlanID"])
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t+=arr_from_int(j["TimeOutM"])
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t+=arr_from_int(len(j["TaskArray"]))
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for i in j["TaskArray"]:
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t+=scheme_get_task_range(i)
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return t
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# 发送文件类
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class handle:
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stat=0
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name=""
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def __init__(self) -> None:
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pass
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def get_rate(self):
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return self.packet_now*100//self.packet_all
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def get_data(self):
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if(self.stat==0):
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length=len(self.data)
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# 1是写，0是读
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t=bytearray([1,length&0xff,(length>>8)&0xff,(length>>16)&0xff,(length>>24)&0xff])
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t+=self.name.encode()
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self.stat=1
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return t
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elif(self.stat==1):
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packet_bytes=200
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if(len(self.data)<self.sent_bytes):
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packet_bytes=len(self.data)-self.sent_bytes
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if(packet_bytes>0):
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self.packet_now+=1
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t=bytearray()
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t.append(2)
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t.append(self.packet_now&0xff)
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t.append((self.packet_now>>8)&0xff)
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t.append(self.packet_all&0xff)
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t.append((self.packet_all>>8)&0xff)
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t+=self.data[self.sent_bytes:self.sent_bytes+packet_bytes]
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self.sent_bytes+=packet_bytes
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return t
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else:
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print("send done.")
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return bytearray()
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# 设置要发送的文件
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def set_file(self,name:str):
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self.data=bytearray()
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with open(name,"rb") as f:
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self.data=f.read()
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self.name=f.name.split('/')[-1]
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self.stat=0
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self.packet_all=(len(self.data)+199)//200
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self.sent_bytes=0
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self.packet_now=0
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self.packet_bytes=200
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# 设置要发送的方案
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def set_json(self,name:str):
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self.data=bytearray()
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with open(name,"rb") as f:
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json_obj=json.loads(f.read())
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d=scheme_to_byte(json_obj)
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# print("len=",len(d),d.hex(","))
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d+=scheme_to_host(json_obj)
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# print("len=",len(d),d.hex(","))
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self.data=d
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self.name=f.name.split('/')[-1]
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self.stat=0
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self.packet_all=(len(self.data)+199)//200
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self.sent_bytes=0
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self.packet_now=0
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self.packet_bytes=200
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class protu(QObject):
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# 进度信号，ip，1~100
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rate_signal =pyqtSignal([int])
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# 结束信号，ip，成败，描述
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end_signal = pyqtSignal([bool,str])
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# 接收到数据信号
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recv_signal =pyqtSignal([int,bytearray,str])
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hand=handle()
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def __init__(self) -> None:
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QObject.__init__(self)
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self.cmd=0
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self.cmd_no=0
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self.str_err=""
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self.is_big_data=False
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self.num_to_recv=0
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self.recv_data=bytearray()
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def init(self,com:str):
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s=com.split(":")
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try:
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if(s[0]=="utcp"):
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self.ser = utcp(int(s[1]))
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else:
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bsp=int(s[1])
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self.ser = serial.Serial(port=s[0], baudrate=bsp,bytesize=serial.EIGHTBITS,parity=serial.PARITY_NONE,
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stopbits=serial.STOPBITS_ONE,timeout=None)
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except Exception as e:
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print(str(e))
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return False
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return True
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def encode(self,data:bytearray):
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t=bytearray()
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length=len(data)+3
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t.append(0x59)
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t.append(0x6d)
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t.append(length&0xff)
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t.append(length>>8)
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t.append(self.cmd)
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t.append(self.cmd_no&0xff)
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t.append(self.cmd_no>>8)
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t+=data
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a,b=crc16(t,2,length+4)
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t.append(a)
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t.append(b)
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# print("encode:",t.hex(","))
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return t
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def decode(self,data:bytearray):
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self.str_err="ok"
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if(len(data)<10):
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print("recv data len too less.")
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self.str_err="recv data len too less."
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return bytearray()
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if(data[0]!=0x59 or data[1]!=0x6d or data[2]!=0x43):
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# print("frame head not 0x59 0x6d.")
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self.str_err="frame head not 0x59 0x6d."
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return bytearray()
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length=data[3]|(data[4]<<8)
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if(length==65535):
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# 重新设置数据长度
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length=data[7]|(data[8]<<8)|(data[9]<<16)|(data[10]<<24);
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self.is_big_data=True
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else:
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self.is_big_data=False
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if(length+7!=len(data)):
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print("recv data have lossed")
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self.str_err="recv data have lossed"
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return bytearray()
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a,b=crc16(data,3,length+5)
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if(a!=data[-2] or b!=data[-1]):
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print("recv data check error.h_crc=%02x %02x,crc=%02x %02x",a,b,data[-2],data[-1])
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self.str_err="recv data check error."
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self.cmd_no=data[6]|(data[7]<<8)
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self.cmd=data[5]
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if(self.is_big_data==False):
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return bytearray(data[8:-2])
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else:
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return bytearray(data[12:-2])
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# 不带校验的接收函数
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def recv_(self):
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while(self.ser.is_open):
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try:
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data=self.ser.read(500)
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except Exception as a:
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# print("err:",str(a))
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print("port closed")
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return
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if(len(data)>0):
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t=self.decode(data)
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if(self.str_err=="ok"):
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self.recv_data+=t
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# print("recv",t.hex(","))
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# print(type(self.cmd),type(t),type(self.str_err))
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self.recv_signal.emit(self.cmd,t,self.str_err)
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# self.send_file_next(self.cmd,t,self.str_err)
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# print("sent signal---")
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else:
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print(data.decode("utf-8"))
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# 带帧校验的接收函数
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def recv(self):
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# self.recv_signal.connect(self.send_file_next)
|
|||
|
|
data=bytearray()
|
|||
|
|
while(self.ser.is_open):
|
|||
|
|
d=bytes()
|
|||
|
|
try:
|
|||
|
|
d=self.ser.read(1)
|
|||
|
|
except Exception as a:
|
|||
|
|
# print("err:",str(a))
|
|||
|
|
print("port closed")
|
|||
|
|
return
|
|||
|
|
data+=d
|
|||
|
|
if(len(data)==3):
|
|||
|
|
if(data[0]==0x59 and data[1]==0x6d and data[2]==0x43):
|
|||
|
|
self.num_to_recv=5
|
|||
|
|
else:
|
|||
|
|
data=data[1:]
|
|||
|
|
self.num_to_recv=0
|
|||
|
|
elif(len(data)==5):
|
|||
|
|
length=data[3]|(data[4]<<8)
|
|||
|
|
if(length<65535):
|
|||
|
|
self.num_to_recv+=length+2
|
|||
|
|
self.is_big_data=False
|
|||
|
|
else:
|
|||
|
|
self.num_to_recv=12
|
|||
|
|
self.is_big_data=True
|
|||
|
|
elif(len(data)==12):
|
|||
|
|
if(self.is_big_data==True):
|
|||
|
|
length=data[8]|(data[9]<<8)|(data[10]<<16)|(data[11]<<24)
|
|||
|
|
self.num_to_recv=5+length+2
|
|||
|
|
if(self.num_to_recv>0 and self.num_to_recv==len(data)):
|
|||
|
|
t=self.decode(data)
|
|||
|
|
|
|||
|
|
self.recv_data+=t
|
|||
|
|
# print("recv",t.hex(","))
|
|||
|
|
self.recv_signal.emit(self.cmd,t,self.str_err)
|
|||
|
|
# self.send_file_next(self.cmd,t,self.str_err)
|
|||
|
|
# print("sent signal---")
|
|||
|
|
data.clear()
|
|||
|
|
# else:
|
|||
|
|
# print("len(data)={d1},num_ro_recv={d2}".format(d1=len(data),d2=self.num_to_recv))
|
|||
|
|
def send(self,cmd:int,data:bytearray):
|
|||
|
|
self.cmd=cmd
|
|||
|
|
self.cmd_no+=1
|
|||
|
|
self.ser.write(self.encode(data))
|
|||
|
|
def send_str(self,txt:str):
|
|||
|
|
self.ser.write(txt.encode("utf-8"))
|
|||
|
|
def start_recv(self):
|
|||
|
|
self.thread_ = threading.Thread(target=self.recv, args=())
|
|||
|
|
self.thread_.start()
|
|||
|
|
def wait(self):
|
|||
|
|
self.thread_.join()
|
|||
|
|
def close(self):
|
|||
|
|
try:
|
|||
|
|
if(self.ser.is_open):
|
|||
|
|
self.ser.close()
|
|||
|
|
except Exception as e:
|
|||
|
|
print(str(e))
|
|||
|
|
def send_file_next(self,cmd:int,data:bytearray,err:str):
|
|||
|
|
print("send_file_next")
|
|||
|
|
data=self.hand.get_data()
|
|||
|
|
if(len(data)>0):
|
|||
|
|
self.send(cmd,data)
|
|||
|
|
else:
|
|||
|
|
self.close()
|
|||
|
|
def send_file(self,cmd:int,name:str):
|
|||
|
|
self.start_recv()
|
|||
|
|
self.hand.set_file(name)
|
|||
|
|
# self.send_file_next(cmd,bytearray([0]),"ok")
|
|||
|
|
self.recv_signal.emit(cmd,bytearray([0]),"ok")
|
|||
|
|
self.wait()
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 0x30 开始检测
|
|||
|
|
# 0x31 检测上报
|
|||
|
|
# 0x32 读写方案
|
|||
|
|
# 0x33 连接维护
|
|||
|
|
# 0x34 自检数据
|
|||
|
|
# 0x35 自检上报
|
|||
|
|
# 0x36 升级脚本
|
|||
|
|
# 0xed 主板升级
|
|||
|
|
# 0xee 小板升级
|
|||
|
|
# 0x40 电机矫正
|
|||
|
|
# 0x41 小板电阻矫正
|
|||
|
|
# 0x42 小板电阻测量
|
|||
|
|
# 0x43 小板硬件版本
|
|||
|
|
|
|||
|
|
# with open("file/judge.lua","rb") as f:
|
|||
|
|
# send_file("COM5",0x36,f.name.split('/')[-1],f.read())
|
|||
|
|
# with open("file/JQ_JCXB_V54.bin","rb") as f:
|
|||
|
|
# send_file("COM5",0xee,f.name.split('/')[-1],f.read())
|
|||
|
|
# with open("file/checker_ye_cfg.json","rb") as f:
|
|||
|
|
# json_obj=json.loads(f.read())
|
|||
|
|
# d=scheme_to_byte(json_obj)
|
|||
|
|
# print("len=",len(d),d.hex(","))
|
|||
|
|
# d=scheme_to_host(json_obj)
|
|||
|
|
# print("len=",len(d),d.hex(","))
|
|||
|
|
# send_file("COM5",0x32,f.name.split('/')[-1],f.read())
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
def int2str(num:int):
|
|||
|
|
s=str(num//100)
|
|||
|
|
s=s+str(num%100//10)
|
|||
|
|
s=s+str(num%10)
|
|||
|
|
return s
|
|||
|
|
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
u=protu()
|
|||
|
|
# u.init("utcp:7777")
|
|||
|
|
# u.send_file(0xee,"file/JQ_JCXB_V54.bin")
|
|||
|
|
# u.send_file(0xed,"../Objects/checker_gen1_app_20230602.bin")
|
|||
|
|
|
|||
|
|
# 设置电阻 矫正值
|
|||
|
|
u.cmd=0x41
|
|||
|
|
data=bytearray([1,0,0x00,2,0,0x00,3,0,0x00,4,0,0x00,5,0,0x00,6,0,0x00,7,0,0x00,8,0,0x00,9,0,0x00,10,0,0x00,11,0,0x00,12,0,0x00,13,0,0x00,14,0,0x00,15,0,0x00,16,0,0x00,17,0,0x00,18,0,0x00,19,0,0x00,20,0,0x00])
|
|||
|
|
# 测量电阻
|
|||
|
|
# u.cmd=0x42
|
|||
|
|
# data=bytearray([0])
|
|||
|
|
# 设置硬件版本号
|
|||
|
|
# u.cmd=0x43
|
|||
|
|
# data=bytearray([1,50,0x00,2,51,0x00,3,52,0x00,4,53,0x00,5,54,0x00,6,55,0x00,7,56,0x00,8,57,0x00,9,58,0x00,10,59,0x00,11,60,0x00,12,61,0x00,13,62,0x00,14,63,0x00,15,64,0x00,16,65,0x00,17,66,0x00,18,67,0x00,19,68,0x00,20,69,0x00])
|
|||
|
|
# 设置电机校正值
|
|||
|
|
# u.cmd=0x40
|
|||
|
|
# data=bytearray([0x01,100,0])
|
|||
|
|
# data=bytearray([0x02]) # 上升
|
|||
|
|
# data=bytearray([0x03]) # 下降
|
|||
|
|
|
|||
|
|
print(u.encode(data).hex(' '))
|
|||
|
|
# with open("file/EX_Coder_Test_2023-07-6.json","rb") as f:
|
|||
|
|
# json_obj=json.loads(f.read())
|
|||
|
|
# d=scheme_to_byte(json_obj)
|
|||
|
|
# print("len=",len(d),d.hex(","))
|
|||
|
|
# d+=scheme_to_host(json_obj)
|
|||
|
|
|
|||
|
|
# print(int2str(20))
|
|||
|
|
# s="{d:03d}".format(d=2)
|
|||
|
|
# print(s)
|
|||
|
|
|
|||
|
|
# with open("file/7-15.json","rb") as f:
|
|||
|
|
# u.cmd=0x22
|
|||
|
|
# p=u.encode(f.read())
|
|||
|
|
# print(p.hex(' '))
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 开始检测
|
|||
|
|
# 59 6d 03 00 30 00 00 60 0f
|
|||
|
|
# 结束应答
|
|||
|
|
# 59 6D 03 00 31 00 00 31 CF
|
|||
|
|
|
|||
|
|
|