520 lines
14 KiB
Python
520 lines
14 KiB
Python
import serial
|
||
import serial.tools.list_ports
|
||
import threading
|
||
import time
|
||
import json
|
||
import socket
|
||
from PyQt5.QtCore import *
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
def crc16(data:bytearray,offset:int,len:int):
|
||
if(len>0):
|
||
crc=0xffff
|
||
for i in range(len-offset):
|
||
crc=(crc^data[i+offset])&0xffff
|
||
for j in range(8):
|
||
if(crc&1)!=0:
|
||
crc=((crc>>1)^0xa001)&0xffff
|
||
else:
|
||
crc=(crc>>1)&0xffff
|
||
return crc&0xff,(crc>>8)&0xff
|
||
return 0,0
|
||
|
||
|
||
def crc32(data:bytearray):
|
||
temp=0
|
||
crc=0xffffffff
|
||
i=0
|
||
if(len(data)%4!=0):
|
||
return 0
|
||
while(i<len(data)):
|
||
temp=data[i]|(data[i+1]<<8)|(data[i+2]<<16)|(data[i+3]<<24)
|
||
i+=4
|
||
for j in range(32):
|
||
if((crc^temp)&0x80000000)!=0:
|
||
crc=0x04c11db7^(crc<<1)
|
||
else:
|
||
crc<<=1
|
||
temp<<=1
|
||
crc&=0xffffffff
|
||
return crc
|
||
|
||
|
||
|
||
# 把tcp封装为串口
|
||
class utcp:
|
||
is_open=False
|
||
def __init__(self,port:int)->None:
|
||
self.ser = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||
self.ser.bind(("",port))
|
||
self.ser.settimeout(10)
|
||
self.ser.listen(128)
|
||
print("wait for mcu connect.")
|
||
self.client,self.client_addr=self.ser.accept()
|
||
print("client:",self.client_addr)
|
||
self.is_open=True
|
||
def read(self,len:int):
|
||
# return self.ser.recv(len)
|
||
return self.client.recv(len)
|
||
def write(self,data:bytearray):
|
||
# return self.ser.send(data)
|
||
return self.client.send(data)
|
||
def close(self):
|
||
self.client.close()
|
||
self.ser.close()
|
||
self.is_open=False
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
# 生成一个任务的参数
|
||
def scheme_task_to_byte(j:json):
|
||
data=bytearray()
|
||
data.append(j["TaskID"])
|
||
data.append(j["TaskIndex"])
|
||
data.append(j["RetryCount"])
|
||
data.append(j["ErrJumpTo"])
|
||
data.append((j["ParamCount"]&0x0f)|(j["ReturnCount"]<<4))
|
||
for i in j["ParamVal"]:
|
||
data.append(i&0xff)
|
||
data.append(i>>8)
|
||
return data
|
||
|
||
# 生成任务参数序列
|
||
def scheme_tasks_to_byte(j:json):
|
||
data=bytearray()
|
||
for i in j["TaskArray"]:
|
||
data+=scheme_task_to_byte(i)
|
||
length=len(data)
|
||
if(length<(0x700-4)):
|
||
for i in range(0x700-4-length):
|
||
data.append(0xff)
|
||
return data
|
||
|
||
# 生成任务id序列
|
||
def scheme_taskids_to_byte(j:json):
|
||
t=bytearray()
|
||
t.append(j["PlanID"]&0xff)
|
||
t.append((j["PlanID"]>>8)&0xff)
|
||
t.append((j["PlanID"]>>16)&0xff)
|
||
t.append((j["PlanID"]>>24)&0xff)
|
||
for i in j["TaskArray"]:
|
||
t.append(i["TaskID"])
|
||
length=len(t)
|
||
if(length<(0x100)):
|
||
for i in range(0x100-length):
|
||
t.append(0xff)
|
||
return t
|
||
|
||
# 根据方案生成小板用的字节数据
|
||
def scheme_to_byte(j:json):
|
||
t=bytearray()
|
||
t+=scheme_taskids_to_byte(j)
|
||
t+=scheme_tasks_to_byte(j)
|
||
crc=crc32(t)
|
||
t.append(crc&0xff)
|
||
t.append((crc>>8)&0xff)
|
||
t.append((crc>>16)&0xff)
|
||
t.append((crc>>24)&0xff)
|
||
return t
|
||
|
||
|
||
# int转数组
|
||
def arr_from_int(num:int):
|
||
return bytearray([num&0xff,(num>>8)&0xff,(num>>16)&0xff,(num>>24)&0xff])
|
||
|
||
|
||
# 提取方案中的范围数据， 先max后min
|
||
def scheme_get_task_range(j:json):
|
||
t=bytearray()
|
||
t+=arr_from_int(j["TaskID"])
|
||
t+=arr_from_int(j["TaskIndex"])
|
||
t+=arr_from_int(j["ReturnCount"])
|
||
t+=arr_from_int(j["ExecuteErrCode"])
|
||
index=0
|
||
for i in j["TestStandard"]:
|
||
t+=arr_from_int(i["Max"])
|
||
t+=arr_from_int(i["Min"])
|
||
if (index<len(j["ResultErrCode"])):
|
||
t+=arr_from_int(j["ResultErrCode"][index])
|
||
else:
|
||
t+=arr_from_int(0)
|
||
index+=1
|
||
# 不足16的部分填充为16
|
||
n=16-len(j["TestStandard"])
|
||
for i in range(n):
|
||
t+=arr_from_int(65535)
|
||
t+=arr_from_int(0)
|
||
t+=arr_from_int(0)
|
||
return t
|
||
|
||
# 根据方案生成主板用的字节数据
|
||
def scheme_to_host(j:json):
|
||
t=bytearray()
|
||
t+=arr_from_int(j["PlanID"])
|
||
t+=arr_from_int(j["TimeOutM"])
|
||
t+=arr_from_int(len(j["TaskArray"]))
|
||
for i in j["TaskArray"]:
|
||
t+=scheme_get_task_range(i)
|
||
return t
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
# 发送文件类
|
||
class handle:
|
||
stat=0
|
||
name=""
|
||
def __init__(self) -> None:
|
||
pass
|
||
|
||
def get_rate(self):
|
||
return self.packet_now*100//self.packet_all
|
||
def get_data(self):
|
||
if(self.stat==0):
|
||
length=len(self.data)
|
||
# 1是写，0是读
|
||
t=bytearray([1,length&0xff,(length>>8)&0xff,(length>>16)&0xff,(length>>24)&0xff])
|
||
t+=self.name.encode()
|
||
self.stat=1
|
||
return t
|
||
elif(self.stat==1):
|
||
packet_bytes=200
|
||
if(len(self.data)<self.sent_bytes):
|
||
packet_bytes=len(self.data)-self.sent_bytes
|
||
if(packet_bytes>0):
|
||
self.packet_now+=1
|
||
t=bytearray()
|
||
t.append(2)
|
||
t.append(self.packet_now&0xff)
|
||
t.append((self.packet_now>>8)&0xff)
|
||
t.append(self.packet_all&0xff)
|
||
t.append((self.packet_all>>8)&0xff)
|
||
t+=self.data[self.sent_bytes:self.sent_bytes+packet_bytes]
|
||
self.sent_bytes+=packet_bytes
|
||
return t
|
||
else:
|
||
print("send done.")
|
||
return bytearray()
|
||
|
||
# 设置要发送的文件
|
||
def set_file(self,name:str):
|
||
self.data=bytearray()
|
||
with open(name,"rb") as f:
|
||
self.data=f.read()
|
||
self.name=f.name.split('/')[-1]
|
||
self.stat=0
|
||
self.packet_all=(len(self.data)+199)//200
|
||
self.sent_bytes=0
|
||
self.packet_now=0
|
||
self.packet_bytes=200
|
||
|
||
# 设置要发送的方案
|
||
def set_json(self,name:str):
|
||
self.data=bytearray()
|
||
with open(name,"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(","))
|
||
self.data=d
|
||
self.name=f.name.split('/')[-1]
|
||
self.stat=0
|
||
self.packet_all=(len(self.data)+199)//200
|
||
self.sent_bytes=0
|
||
self.packet_now=0
|
||
self.packet_bytes=200
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
class protu(QObject):
|
||
# 进度信号，ip，1~100
|
||
rate_signal =pyqtSignal([int])
|
||
# 结束信号，ip，成败，描述
|
||
end_signal = pyqtSignal([bool,str])
|
||
# 接收到数据信号
|
||
recv_signal =pyqtSignal([int,bytearray,str])
|
||
|
||
hand=handle()
|
||
def __init__(self) -> None:
|
||
QObject.__init__(self)
|
||
self.cmd=0
|
||
self.cmd_no=0
|
||
self.str_err=""
|
||
self.is_big_data=False
|
||
self.num_to_recv=0
|
||
self.recv_data=bytearray()
|
||
def init(self,com:str):
|
||
s=com.split(":")
|
||
try:
|
||
if(s[0]=="utcp"):
|
||
self.ser = utcp(int(s[1]))
|
||
else:
|
||
bsp=int(s[1])
|
||
self.ser = serial.Serial(port=s[0], baudrate=bsp,bytesize=serial.EIGHTBITS,parity=serial.PARITY_NONE,
|
||
stopbits=serial.STOPBITS_ONE,timeout=None)
|
||
except Exception as e:
|
||
print(str(e))
|
||
return False
|
||
return True
|
||
|
||
def encode(self,data:bytearray):
|
||
t=bytearray()
|
||
length=len(data)+3
|
||
t.append(0x59)
|
||
t.append(0x6d)
|
||
t.append(length&0xff)
|
||
t.append(length>>8)
|
||
t.append(self.cmd)
|
||
t.append(self.cmd_no&0xff)
|
||
t.append(self.cmd_no>>8)
|
||
t+=data
|
||
a,b=crc16(t,2,length+4)
|
||
t.append(a)
|
||
t.append(b)
|
||
# print("encode:",t.hex(","))
|
||
return t
|
||
def decode(self,data:bytearray):
|
||
self.str_err="ok"
|
||
if(len(data)<10):
|
||
print("recv data len too less.")
|
||
self.str_err="recv data len too less."
|
||
return bytearray()
|
||
if(data[0]!=0x59 or data[1]!=0x6d or data[2]!=0x43):
|
||
# print("frame head not 0x59 0x6d.")
|
||
self.str_err="frame head not 0x59 0x6d."
|
||
return bytearray()
|
||
length=data[3]|(data[4]<<8)
|
||
if(length==65535):
|
||
# 重新设置数据长度
|
||
length=data[7]|(data[8]<<8)|(data[9]<<16)|(data[10]<<24);
|
||
self.is_big_data=True
|
||
else:
|
||
self.is_big_data=False
|
||
if(length+7!=len(data)):
|
||
print("recv data have lossed")
|
||
self.str_err="recv data have lossed"
|
||
return bytearray()
|
||
a,b=crc16(data,3,length+5)
|
||
if(a!=data[-2] or b!=data[-1]):
|
||
print("recv data check error.h_crc=%02x %02x,crc=%02x %02x",a,b,data[-2],data[-1])
|
||
self.str_err="recv data check error."
|
||
self.cmd_no=data[6]|(data[7]<<8)
|
||
self.cmd=data[5]
|
||
if(self.is_big_data==False):
|
||
return bytearray(data[8:-2])
|
||
else:
|
||
return bytearray(data[12:-2])
|
||
# 不带校验的接收函数
|
||
def recv_(self):
|
||
while(self.ser.is_open):
|
||
try:
|
||
data=self.ser.read(500)
|
||
except Exception as a:
|
||
# print("err:",str(a))
|
||
print("port closed")
|
||
return
|
||
if(len(data)>0):
|
||
t=self.decode(data)
|
||
if(self.str_err=="ok"):
|
||
self.recv_data+=t
|
||
# print("recv",t.hex(","))
|
||
# print(type(self.cmd),type(t),type(self.str_err))
|
||
self.recv_signal.emit(self.cmd,t,self.str_err)
|
||
# self.send_file_next(self.cmd,t,self.str_err)
|
||
# print("sent signal---")
|
||
else:
|
||
print(data.decode("utf-8"))
|
||
# 带帧校验的接收函数
|
||
def recv(self):
|
||
# 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
|
||
|
||
|