nsqdriver 0.12.17__cp313-cp313-manylinux2014_x86_64.manylinux_2_17_x86_64.whl

nsqdriver/NS_QSYNC.py

@@ -0,0 +1,812 @@
+import atexit
+import socket
+import struct
+import threading
+import time
+import pickle
+import enum
+import copy
+from concurrent.futures import ThreadPoolExecutor
+from concurrent.futures import wait as wait_futures
+from multiprocessing import shared_memory
+from functools import lru_cache, wraps
+from typing import Union, TYPE_CHECKING, Tuple, Iterable
+
+try:
+    from .common import BaseDriver, Quantity, QInteger
+except ImportError as e:
+    class BaseDriver:
+        def __init__(self, addr, timeout, **kw):
+            self.addr = addr
+            self.timeout = timeout
+
+
+    class Quantity(object):
+        def __init__(self, name: str, value=None, ch: int = 1, unit: str = ''):
+            self.name = name
+            self.default = dict(value=value, ch=ch, unit=unit)
+
+
+    class QInteger:
+        def __init__(self, name, value=None, unit='', ch=None,
+                     get_cmd='', set_cmd='', ):
+            self.name = name
+
+if TYPE_CHECKING:
+    from backend.board_parser import MCIBoard
+    from concurrent.futures import Future
+
+THREAD_POOL = ThreadPoolExecutor(max_workers=10)
+_scanning_lock = threading.Lock()
+_scanning_stop_event = threading.Event()
+DEVICE_SET = set()
+
+DEBUG_PRINT = False
+
+
+def print_debug(*args, **kwargs):
+    if DEBUG_PRINT:
+        print(*args, **kwargs)
+
+
+@atexit.register
+def global_system_exit():
+    THREAD_POOL.shutdown(wait=False)
+    SHARED_DEVICE_MEM.close()
+    try:
+        SHARED_DEVICE_MEM.unlink()
+    except FileNotFoundError as e:
+        pass
+
+
+def retry(times):
+    def decorator(func):
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            _times = times - 1
+            while not func(*args, **kwargs) and _times > 0:
+                _times -= 1
+            return _times != 0
+
+        return wrapper
+
+    return decorator
+
+
+class Driver(BaseDriver):
+    class ScannMode(enum.IntEnum):
+        """!
+        @detail QC/QR等被同步设备的发现方式，'local': 本地共享内存扫描， 'remote': 网络udp扫描
+        """
+        local = 0
+        """local: 本地共享内存扫描
+
+        - NS_MCI中的Driver每实例化一次，就会在SharedMemory中记录一次自己的ip
+        - 系统进行同步时，会对SharedMemory中记录的QC/QR设备ip进行同步
+        - 只有程序整体退出的时候才会清空这片缓存
+        """
+        remote = 1
+        """remote: 网络udp扫描
+
+        - import 本文件后，会建立一个独立线程间断广播UDP包，扫描局域网内的QC/QR设备，记录被扫描到的设备ip
+        - 系统进行同步时，会对扫描到的QC/QR设备ip进行同步
+        - 注意：这种方式比较粗暴，会影响局域网内正在运行的设备
+        """
+        alone = 2
+        """alone: 单机运行模式
+
+        - QC/QR设备单独运行时使用本模式，默认使用QC/QR设备板内的QSYNC做设备内的系统同步
+        - 系统进行同步时，会判断QSYNC Driver的ip是否为QC/QR设备的ip
+        """
+
+    _scanning_lock = _scanning_lock
+    _device_set = DEVICE_SET
+    segment = ('ns', '111|112|113|114|115')
+
+    icd_head_reset = 0x41000002
+    icd_head_status = 0x4100000E
+    icd_head_cmd_2 = 0x31000015
+    icd_head_cmd_3 = 0x410000B1
+    icd_head_cmd_4 = 0x31000013
+    icd_head_cmd_5 = 0x410000B2
+    icd_head_cmd_6 = 0x3100001A
+    icd_head_cmd_7 = 0x410000B3
+    CHs = list(range(1, 17))
+
+    quants = [
+        QInteger('TRIG'),
+        Quantity('SystemSync', value=None, ch=1),  # set/get,运行次数
+        Quantity('GenerateTrig', value=None, unit='s'),  # set/get,触发周期单位s，触发数量=shot
+        Quantity('ResetTrig', value=None),
+        Quantity('Shot', value=1024, ch=1),  # set/get, 运行次数
+        Quantity('TrigPeriod', value=200e-6, ch=1),  # set/get, 触发周期
+        Quantity('TrigWidth', value=800e-9, ch=1),  # set/get, 触发周期
+        Quantity('TrigDelay', value=0, ch=1),  # set/get, 触发周期
+        Quantity('TrigDelayList', value=0, ch=1),  # set/get, 触发周期
+        Quantity('TrigFrom', value=0, ch=1),  # Trig来源： 0：内部产生；1：外部输入
+        Quantity('RefClock', value='out', ch=1),  # 参考时钟选择： ‘out’：外参考时钟；‘in’：内参考时钟
+        Quantity('DiscoveryMode', value=ScannMode.local, ch=1),  # QC/QR等被同步设备的发现方式，见DiscoveryMode说明
+        Quantity('UpdateFirmware', value='', ch=1),  # qsync固件更新
+        Quantity('GeneratePrtTrig', value=None, unit='s'),  # 生成subprt trig
+        Quantity('SubDelayCount', value=0, ch=1),
+        Quantity('TrigWidth', value=0, ch=1),
+    ]
+
+    SystemParameter = {
+        'RefClock': 'out',  # 参考时钟选择： ‘out’：外参考时钟；‘in’：内参考时钟
+        'TrigFrom': 0,  # Trig来源： 0：内部产生；1：外部输入
+        'TrigPeriod': 200e-6,  # 触发信号重复周期
+        'TrigWidth': 800e-9,  # 触发信号高电平宽度 单位s
+        'TrigDelay': 0,  # 触发信号相对开启通知的延迟
+        'Shot': 1024,
+        'DiscoveryMode': ScannMode.local,  # QC/QR等被同步设备的发现方式，见DiscoveryMode说明
+    }
+
+    def __init__(self, addr: str = '', timeout: float = 10.0, **kw):
+        super().__init__(addr, timeout, **kw)
+        self.handle = None
+        self.model = 'NS_QSYNC'  # 默认为设备名字
+        self.srate = None
+        self.gen_trig_num = 0
+        self.addr = addr
+
+        self.param = {'Shot': 1024, 'TrigPeriod': 200e-6, 'MixMode': 2}
+        self.subprtparam = [
+            [[0x5F5F5F5F,
+              0x41000001,
+              0x00000000,
+              4 * (17 * 100 + 17 * 4 + 5),  # 指令长度 ，uint32个数*4
+              0, ]],
+            [[0, 0, 800, 0] for _ in range(17)],
+            [[0 for _ in range(100)] for _ in range(17)],
+        ]
+        print_debug(f'QSYNC: 实例化成功{addr}')
+
+    @property
+    def device_set(self):
+        mode = self.param.get('DiscoveryMode', self.ScannMode.local)
+        if mode is self.ScannMode.local:
+            return set(SHARED_DEVICE_MEM.ip)
+        elif mode is self.ScannMode.alone:
+            if self.addr in SHARED_DEVICE_MEM.ip:
+                return {self.addr}
+            else:
+                raise RuntimeError('qsync处于alone模式下，只能控制QC/QR内的qsync，请确认对应QC/QR设备是否已经open成功')
+        elif mode is self.ScannMode.remote:
+            return self._device_set.copy()
+        else:
+            return set()
+
+    def open(self, **kw):
+        """!
+        输入IP打开设备，配置默认超时时间为5秒
+        打开设备时配置RFSoC采样时钟，采样时钟以参数定义
+        @param kw:
+        @return:
+        """
+        # 配置系统初始值
+        system_parameter = kw.get('system_parameter', {})
+        values = self.SystemParameter.copy()
+        values.update(system_parameter)
+        for name, value in values.items():
+            if value is not None:
+                self.set(name, value, 1)
+
+        # self.sync_system()
+        status = self.get('Status')
+        print(f'*********QSYNC{self.addr}开启成功*********\n'
+              f'core_temp: {status[0]}℃\n'
+              f'10M_locked: {status[1] if len(status) > 1 else "nan"}')
+        print(f'qsync {self.addr} opened successfully')
+
+    def close(self, **kw):
+        """
+        关闭设备
+        """
+        # self.handle.release_dma()
+        # self.handle.close()
+        ...
+
+    def write(self, name: str, value, **kw):
+        channel = kw.get('ch', 1)
+        return self.set(name, value, channel)
+
+    def read(self, name: str, **kw):
+        channel = kw.get('ch', 1)
+        result = self.get(name, channel)
+        return result
+
+    def set(self, name, value=None, channel=1):
+        """!
+        设置设备属性
+        @param name:
+        @param value:
+        @param channel:
+        @return:
+        """
+        print_debug(f'QSYNC: set操作被调用{name}')
+        self.subprt(name, value, channel)
+        if name in {'SystemSync', 'ReInit'}:
+            self.sync_system()
+        elif name == 'TRIG':
+            value = self.param['TrigPeriod']
+            data = self.__fmt_qsync_start(
+                self.param['TrigFrom'], value, self.param['Shot'],
+                self.param['TrigWidth'], self.param['TrigDelay']
+            )
+            self._send_command(data, connect_timeout=2)
+            self.gen_trig_num += 1
+        elif name == 'GenerateTrig':
+            value = self.param['TrigPeriod'] if value is None else value
+            data = self.__fmt_qsync_start(
+                self.param['TrigFrom'], value, self.param['Shot'],
+                self.param['TrigWidth'], self.param['TrigDelay']
+            )
+            self._send_command(data, connect_timeout=2)
+            self.gen_trig_num += 1
+        elif name == 'ResetTrig':
+            self.subprtparam = [
+                [[0x5F5F5F5F,
+                  0x41000001,
+                  0x00000000,
+                  4 * (17 * 100 + 17 * 4 + 5),  # 指令长度 ，uint32个数*4
+                  0, ]],
+                [[0, 0, 800, 0] for _ in range(17)],
+                [[0 for _ in range(100)] for _ in range(17)],
+            ]
+            data = self.__fmt_qsync_common(self.icd_head_reset)
+            self._send_command(data)
+        elif name == 'RefClock':
+            self.change_ref(value)
+        elif name == 'UpdateFirmware':
+            self.update_firmware(value)
+        elif name == 'SetMask':
+            if not isinstance(value, list):
+                print(f'SetMask set value {value} is not a list')
+                return
+            data = self.__fmt_qsync_mask(*value)
+            self._send_command(data)
+        elif name == 'GT_pd':
+            data = self._fmt_gt_pd(value)
+            self._send_command(data)
+
+        elif name == "GeneratePrtTrig":
+            data = self.__fmt_qsync_prt(self.subprtparam)
+            self._send_command(data)
+        else:
+            self.param[name] = value
+
+    @lru_cache(maxsize=32)
+    def _fmt_gt_pd(self, value):
+
+        head = 0x61000003
+        if value == 1:
+            cmd_pack = (
+                0x5F5F5F5F,
+                head,
+                0x00000000,
+                32,
+                0xCFF3FFFF,
+                0xFFFFFFFF,
+                0xCFF3FFFF,
+                0xFFFFFFFF
+            )
+        else:
+            cmd_pack = (
+                0x5F5F5F5F,
+                head,
+                0x00000000,
+                32,
+                0xFFFFFFFF,
+                0xFFFFFFFF,
+                0xFFFFFFFF,
+                0xFFFFFFFF
+            )
+
+        return struct.pack('=' + 'I' * len(cmd_pack), *cmd_pack)
+
+    def subprt(self, name, value, ch=1):
+        """
+        subprt参数过滤
+        Args:
+            name: _description_
+            value: _description_
+            ch: _description_
+        """
+        if name == "Shot":
+            self.subprtparam[1][ch - 1][1] = round(value) & 0xFFFFFFFF
+        elif name == "TrigPeriod":
+            self.subprtparam[1][ch - 1][0] = round(value * 1e9) & 0xFFFFFFFF
+        elif name == "TrigWidth":
+            self.subprtparam[1][ch - 1][2] = round(value * 1e9) & 0xFFFFFFFF
+        # elif name == "TrigDelay":
+        #     self.subprtparam[1][ch-1][3] = round(value * 1e9) & 0xFFFFFFFF
+        elif name == "SubDelayCount":
+            self.subprtparam[1][ch - 1][3] = round(value) & 0xFFFFFFFF
+        elif name == "TrigDelayList":
+            self.subprtparam[2][ch - 1] = [round(i * 1e9) & 0xFFFFFFFF for i in value]
+            self.subprtparam[2][ch - 1].extend([0] * (100 - len(self.subprtparam[2][ch - 1])))  # 长度为100
+
+    def get(self, name, channel=1, value=0):
+        """!
+        查询设备属性，获取数据
+        @param name:
+        @param channel:
+        @param value:
+        @return:
+        """
+        print_debug(f'QSYNC: get操作被调用{name}')
+        if name == 'Status':
+            cmd_data = self.__fmt_qsync_common(self.icd_head_status)
+            data = DeviceCmdHandle.send_command(cmd_data, addr=self.addr, return_fdk=True)
+            data = struct.unpack('I' * (len(data) // 4), data)
+            return data
+        return self.param.get(name, None)
+
+    def sync_system(self):
+        """
+        全系统同步流程
+
+        :return:
+        """
+        if Driver._scanning_lock.acquire(timeout=10):
+            Driver._scanning_lock.release()
+        if len(self.device_set) == 0:
+            return
+
+        data = self.__fmt_qsync_common(self.icd_head_reset)
+        self._send_command(data)
+
+        result = True
+        if self.param.get('DiscoveryMode', self.ScannMode.local) != self.ScannMode.alone:
+            data = self.__fmt_qsync_common(self.icd_head_reset)
+            result &= self._sendto_fake_qsync(data)
+            data = self.__fmt_qsync_ref_from('out')
+            result &= self._sendto_fake_qsync(data)
+        result &= self._sendto_device(self.icd_head_cmd_2)
+        result &= self._sendto_qsync(self.icd_head_cmd_3)
+        result &= self._sendto_device(self.icd_head_cmd_4)
+        result &= self._sendto_qsync(self.icd_head_cmd_5)
+        result &= self._sendto_device(self.icd_head_cmd_6, 30)
+        result &= self._sendto_qsync(self.icd_head_cmd_7)
+
+        print(f'System synchronization {"succeeded" if result else "FAILED"}')
+
+    def change_ref(self, value='out'):
+        self.param['RefClock'] = value
+        self.set('ResetTrig')
+        data = self.__fmt_qsync_ref_from(value)
+        self._send_command(data)
+
+    def _sendto_device(self, cmd_head, timeout=2):
+        """!
+        将指令发送给设备
+        @param cmd_head:
+        @param timeout:
+        @return:
+        """
+        cmd_data = self.__fmt_qsync_common(cmd_head)
+        devices = list(self.device_set)
+        futures = [
+            THREAD_POOL.submit(DeviceCmdHandle.send_command, cmd_data, 0, addr, 5000, True, False, timeout)
+            for addr in devices
+        ]
+        wait_futures(futures)
+        result = all(future.result() for future in futures)
+        for idx, future in enumerate(futures):
+            if not future.result():
+                print(f'device: {devices[idx]}系统同步过程 {hex(cmd_head)} 执行失败')
+        return result
+
+    def _sendto_fake_qsync(self, cmd_data, timeout=2):
+        devices = list(self.device_set)
+        futures = [
+            THREAD_POOL.submit(self._send_command, cmd_data, 0, addr, 5001, True, False, timeout)
+            for addr in devices if addr != self.addr
+        ]
+        wait_futures(futures)
+        result = all(future.result() for future in futures)
+        for idx, future in enumerate(futures):
+            if not future.result():
+                print(f'device: {devices[idx]}系统同步过程 {cmd_data[4:12]} 执行失败')
+        return result
+
+    def _sendto_qsync(self, cmd_head: int):
+        """!
+        将指令发送给qsync
+
+        @param cmd_head:
+        @return:
+        """
+        cmd_data = self.__fmt_qsync_common(cmd_head)
+        if not self._send_command(cmd_data, connect_timeout=2):
+            print(f'qsync: 系统同步过程 {hex(cmd_head)} 执行失败')
+            return False
+        return True
+
+    def update_firmware(self, file_path, boards=None):
+        """!
+        固件更新
+
+        @param file_path: 固件路径
+        @param boards:
+        @return:
+        """
+        import os
+        if not os.path.exists(file_path):
+            raise ValueError(f'文件路径: {file_path} 不存在')
+        with open(file_path, 'rb') as fp:
+            cmd_data = self.__fmt_update_firmware(fp.read())
+        if not self._send_command(cmd_data):
+            print(f'qsync: 固件更新 执行失败')
+
+    def _connect(self, addr=None, port=5001, timeout=None):
+        """!
+        获取到指定ip的tcp连接
+
+        @param addr:
+        @param port:
+        @return:
+        """
+        timeout = self.timeout if timeout is None else timeout
+        addr = self.addr if addr is None else addr
+        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        sock.settimeout(timeout+1)
+        sock.connect((addr, port))
+        return sock
+
+    @retry(3)
+    def _send_command(self, data: Union[str, bytes], wait=0, addr=None, port=5001,
+                      check_feedback=True, return_fdk=False, connect_timeout=10):
+        """!
+        发送指定内容到后端
+
+        @param data: 指令内容
+        @param wait: 指令发送完成后，等待一段时间再接收反馈，阻塞式等待
+        @param addr: 后端IP
+        @param port: 后端端口
+        @param check_feedback: 是否解析反馈
+        @param connect_timeout:
+        @return:
+        """
+        command_bak = data
+        try:
+            sock = self._connect(addr=addr, port=port, timeout=connect_timeout)
+        except Exception as e:
+            print(f'device: {addr}无法连接 {e}')
+            return False
+
+        try:
+            sock.sendall(memoryview(data))
+
+            time.sleep(wait)
+            _feedback = sock.recv(20)
+            if check_feedback:
+                if not _feedback.startswith(b'\xcf\xcf\xcf\xcf'):
+                    print('返回指令包头错误')
+                    return False
+                if command_bak[4:8] != _feedback[4:8]:
+                    print('返回指令ID错误')
+                    return False
+                # print(_feedback)
+                _feedback = struct.unpack('=IIIII', _feedback)
+                if _feedback[4] != 0:
+                    print('指令成功下发，但执行失败')
+                    return False
+        except Exception as e:
+            print(f'device: {addr}指令{command_bak[:4]}发送失败 {e}')
+            return False
+        finally:
+            sock.close()
+        return True
+
+    @lru_cache(maxsize=32)
+    def __fmt_qsync_common(self, head):
+        cmd_pack = (
+            0x5F5F5F5F,
+            head,
+            0x00000000,
+            16,
+        )
+
+        return struct.pack('=' + 'I' * len(cmd_pack), *cmd_pack)
+
+    @lru_cache(maxsize=16)
+    def __fmt_qsync_ref_from(self, _from):
+        if _from == 'in':
+            _from = 0
+        elif _from == 'out':
+            _from = 1
+        else:
+            _from = 0
+        cmd_pack = (
+            0x5F5F5F5F,
+            0x4100000F,
+            0x00000000,
+            20,
+            _from
+        )
+
+        return struct.pack('=' + 'I' * len(cmd_pack), *cmd_pack)
+
+    @lru_cache(maxsize=32)
+    def __fmt_qsync_mask(self, *mask):
+        cmd_pack = (
+            0x5F5F5F5F,
+            0x51000001,
+            0x00000000,
+            80,
+            *mask
+        )
+
+        return struct.pack('=' + 'I' * len(cmd_pack), *cmd_pack)
+
+    @lru_cache(maxsize=32)
+    def __fmt_qsync_start(self, src, period, shots, width, delay):
+        cmd_pack = (
+            0x5F5F5F5F,
+            0x41000001,
+            0x00000000,
+            36,
+            int(src),
+            int(period * 1e9) & 0xFFFFFFFF,
+            int(shots),
+            int(width * 1e9) & 0xFFFFFFFF,
+            int(delay * 1e9) & 0xFFFFFFFF
+        )
+
+        return struct.pack('=' + 'I' * len(cmd_pack), *cmd_pack)
+
+    # @lru_cache(maxsize=8)
+    def __fmt_qsync_prt(self, para):
+        cmd_pack = []
+        for i in para:
+            for ii in i:
+                for iii in ii:
+                    cmd_pack.append(iii)
+        return struct.pack('=' + 'I' * len(cmd_pack), *cmd_pack)
+
+    @staticmethod
+    def __fmt_update_firmware(file_data):
+        cmd_pack = (
+            0x5F5F5F5F,
+            0x31000006,
+            0x00000000,
+            16 + len(file_data),
+        )
+        return struct.pack('=' + 'I' * len(cmd_pack), *cmd_pack) + file_data
+
+    # DG645兼容
+    def Trigger_singleshot(self):
+        self.set('GenerateTrig')
+
+    def Convention_init(self, rate=5000, **kwds):
+        self.set('ResetTrig')
+        self.set('Shot', 0xFFFFFFFF)
+        self.set('TrigPeriod', 1 / rate)
+        self.set('GenerateTrig')
+
+    def BurstMode_init(self, count=2048, delay=200e-6, period=200e-6, source=0, **kwds):
+        self.set('ResetTrig')
+        self.set('Shot', count)
+        self.set('TrigPeriod', period)
+        self.set('TrigDelay', delay)
+        self.set('TrigFrom', source)
+
+    def startGun(self):
+        self.Trigger_singleshot()
+
+
+def do_scanning():
+    """
+    扫描板卡
+
+    :return:
+    """
+    while True:
+        dest = ('<broadcast>', 5003)
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        s.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+        addrs = socket.getaddrinfo(socket.gethostname(), None)
+        addr = [addr[4][0] for addr in addrs if addr[4][0].startswith('192.168.1.')]
+        _bind = False
+        _port = 15000
+        with _scanning_lock:
+            while not _bind:
+                try:
+                    s.bind((addr[0], _port))
+                    _bind = True
+                except Exception as e:
+                    _port += 1
+                    if _port >= 30000:
+                        raise e
+            s.sendto(b"____\x20\x00\x002\x00\x00\x00\x00\x14\x00\x00\x00\x00\x00\x00\x00", dest)
+            s.settimeout(3)
+
+            try:
+                while True:
+                    (feedback, _addr) = s.recvfrom(20)
+                    if feedback:
+                        DEVICE_SET.add(_addr[0])
+            except Exception as e:
+                s.close()
+        time.sleep(5)
+
+
+class DeviceCmdHandle:
+    """!
+    @brief 封装与QC/QR设备间的交互
+    """
+    error_map = {b'\x1a\x00\x001': {1: '指令Resync执行失败',
+                                    2: 'REFCLK not Detected',
+                                    3: 'Clock Maybe unstable, DAC Settings Error',
+                                    4: 'Clock Maybe unstable, ADC Settings Error, '
+                                       'Please check if the amplifier is too large',
+                                    5: 'SYSREF(External TRIG) not Detected, MTS failed / Sample Rate not Support',
+                                    7: 'ADC Calibration Failed'}
+                 }
+
+    @staticmethod
+    def packing_result(boards: Iterable["MCIBoard"],
+                       futures: Iterable["Future"],
+                       cmd_data: memoryview,
+                       head: bytes) -> Tuple[bytes, list]:
+        res = []
+        errors = []
+        for board, future in zip(boards, futures):
+            if board.has_cmd_link and board.has_stream_link:
+                _id = (board.sig_fpga_pci_port & 0xFF) << 24
+                _res = struct.unpack('IIIII', future.result())[-1] & 0xFFFFFF
+                if _res:
+                    errors.append(f'指令{cmd_data[4:8].tobytes()}向{board.cs_target}转发失败\n')
+                res.append(_id + _res)
+        return b''.join((head, cmd_data[4:12], struct.pack('=I' + 'I' * len(res), 16 + len(res) * 4, *res))), errors
+
+    @staticmethod
+    def packing_fake_result(boards: Iterable["MCIBoard"], cmd_data: memoryview, head: bytes) -> bytes:
+        res = []
+        for board in boards:
+            if board.has_cmd_link and board.has_stream_link:
+                _id = (board.ds_id & 0xFF) << 24
+                res.append(_id + 0)
+        return b''.join((head, cmd_data[4:12], struct.pack('=I' + 'I' * len(res), 16 + len(res) * 4, *res)))
+
+    @classmethod
+    def unpacking_result(cls, _feedback, _res, command_bak, addr):
+        cmd_id = command_bak[4:8]
+        if not _feedback.startswith(b'\xcf\xcf\xcf\xcf'):
+            print(f'设备{addr}-指令{cmd_id}-返回指令包头错误')
+            return False
+        if cmd_id != _feedback[4:8]:
+            print(f'设备{addr}-指令{cmd_id}-返回指令ID错误{_feedback[4:8]}')
+            return False
+        if len(_res) % 4 != 0:
+            print(f'设备{addr}-指令{cmd_id}-返回结果{_res}长度错误')
+            return False
+        command_status = True
+        results = struct.unpack('I' * (len(_res) // 4), _res)
+        for result in results:
+            board_id = (result & 0xFF000000) >> 24
+            board_res = result & 0xFFFFFF
+            error_map = cls.error_map.get(command_bak[4:8], {})
+            if board_res:
+                print(f'设备{addr}-板卡{board_id}-指令{cmd_id}-{error_map.get(board_res, "执行失败")}')
+                command_status &= False
+        return command_status
+
+    @classmethod
+    def send_command(cls, data: Union[str, bytes], wait=0, addr=None, port=5001,
+                     check_feedback=True, return_fdk=False, connect_timeout=None):
+        """!
+        发送指定内容到后端
+
+        @param data: 指令内容
+        @param wait: 指令发送完成后，等待一段时间再接收反馈，阻塞式等待
+        @param addr: 后端IP
+        @param port: 后端端口
+        @param check_feedback:
+        @param return_fdk:
+        @param connect_timeout:
+        @return:
+        """
+        command_bak = data
+        try:
+            sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            sock.settimeout(connect_timeout)
+            sock.connect((addr, port))
+        except Exception as e:
+            print(e)
+            return False
+
+        try:
+            sock.sendall(memoryview(data))
+
+            time.sleep(wait)
+            _feedback = sock.recv(16)
+            if check_feedback:
+                _res = sock.recv(struct.unpack('I', _feedback[12:16])[0] - 16)
+                if return_fdk:
+                    return _res
+                else:
+                    return cls.unpacking_result(_feedback, _res, command_bak, addr)
+        except Exception as e:
+            print(e)
+            return False
+        finally:
+            sock.close()
+        return True
+
+
+class InfoSharedList:
+    memory_name = 'NS_DEVICE_MEMORY'
+    memory_size = 1024 ** 2
+    head_size = 32  # memory中前head_size的长度为头部预留信息
+
+    def __init__(self):
+        try:
+            self._memory = shared_memory.SharedMemory(name=self.memory_name, create=True, size=self.memory_size)
+        except FileExistsError:
+            self._memory = shared_memory.SharedMemory(name=self.memory_name, create=False, size=self.memory_size)
+
+    def clear_ip(self):
+        _exit_pkl = pickle.dumps(self.ip)
+        self._memory.buf[self.head_size:len(_exit_pkl) + self.head_size] = b'\x00' * len(_exit_pkl)
+
+    @property
+    def ip(self):
+        try:
+            return pickle.loads(self._memory.buf[self.head_size:])
+        except pickle.UnpicklingError:
+            return []
+
+    @ip.setter
+    def ip(self, value):
+        ips = self.ip
+        ips.append(value)
+        ips = list(set(ips))
+        _pkl = pickle.dumps(ips)
+        self._memory.buf[self.head_size:len(_pkl) + self.head_size] = _pkl
+
+    def close(self):
+        self._memory.close()
+
+    def unlink(self):
+        try:
+            self._memory.unlink()
+        except FileNotFoundError as e:
+            pass
+
+
+# threading.Thread(target=do_scanning, daemon=True, name='qsync_scanning_device').start()
+SHARED_DEVICE_MEM = InfoSharedList()
+
+if __name__ == '__main__':
+    ins = Driver('127.0.0.1')
+
+    count = 1024
+    period = 400e-6
+    delay = 0
+    source = 0
+
+    # ins.set('ResetTrig')
+
+    for ch in [1, 2, 3, 4, 5, 6, 7]:
+        ins.set('Shot', count, channel=ch)
+        ins.set('TrigPeriod', period, channel=ch)
+        ins.set('TrigDelay', delay, channel=ch)
+        ins.set('TrigFrom', source, channel=ch)
+
+    for ch in [8]:
+        ins.set('Shot', count, channel=ch)
+        ins.set('TrigWidth', 1600e-9, channel=ch)
+        ins.set('TrigPeriod', period, channel=ch)
+        ins.set('SubTriggerCount', 4, channel=ch)
+        ins.set('TrigDelayList', [1600e-9 * i for i in range(4)])
+        ins.set('TrigFrom', source, channel=ch)
+
+    for i in range(1):
+        # ins.set('GenerateTrig')
+        ins.set('GeneratePrtTrig')
+        import time
+
+        time.sleep(1)