smartpi 0.1.12__py3-none-any.whl → 0.1.14__py3-none-any.whl

smartpi/__init__.py

@@ -1,4 +1,4 @@
 __all__ = ["base_driver"]
 
-__version__ = "0.1.12"
+__version__ = "0.1.14"
 

smartpi/base_driver.py

@@ -1,9 +1,11 @@
 # coding=utf-8
-import serial,time,struct
+import serial,time,struct,threading
 from typing import List, Optional
 from collections import deque
 from . import servo,motor,cw2015,gui
 
+# 创建全局线程锁
+serial_lock = threading.RLock()
 
 # 命令常量
 BOOT_UPDATE_H = 0XFF
@@ -66,10 +68,16 @@ ser = serial.Serial(
             stopbits=serial.STOPBITS_ONE,  # 1位停止位
             timeout=TIMEOUT,
             xonxoff=False,  # 关闭软件流控
-            rtscts=False,   # 关闭硬件流控
-        
+            rtscts=False,   # 关闭硬件流控        
         )
 
+def is_lock_locked(lock):
+    """检查锁是否被占用"""
+    acquired = serial_lock.acquire(blocking=True)
+    if acquired:
+        serial_lock.release()
+        return False
+    return True
 
 def uart3_init() -> Optional[serial.Serial]:
     """初始化串口"""
@@ -94,20 +102,21 @@ def calculate_pro_check(command_h: int, command_l: int, data: List[bytes] = None
         
     return base_sum % 256  # 确保结果为单字节（原C代码未取模，需根据实际协议调整）
 
-def write_data(command_h: int, command_l: int, send_data: bytes= None) -> Optional[bytes]:                   
-    buffer = bytearray()
-    HEADER = bytes.fromhex('86 AB')  # 帧头
-    FOOTER = bytes.fromhex('CF')     # 帧尾
-    MIN_FRAME_LEN = 9                # 最小帧长度           
-    if send_data:            
-        pro_check = calculate_pro_check(command_h, command_l, list(send_data))
-        send_packet = [0x86, 0xAB, (0x09+len(send_data))//256, (0x09+len(send_data))%256, command_h, command_l, *send_data, 0x01, pro_check, 0xCF]
-    else:
-        pro_check = calculate_pro_check(command_h, command_l)
-        send_packet = [0x86, 0xAB, 0x00, 0x09, command_h, command_l, 0x01, pro_check, 0xCF]
-    send_bytes = bytes(send_packet)
-    
-    ser.write(send_bytes)
+def write_data(command_h: int, command_l: int, send_data: bytes= None) -> Optional[bytes]:
+    #with serial_lock:                   
+        buffer = bytearray()
+        HEADER = bytes.fromhex('86 AB')  # 帧头
+        FOOTER = bytes.fromhex('CF')     # 帧尾
+        MIN_FRAME_LEN = 9                # 最小帧长度           
+        if send_data:            
+            pro_check = calculate_pro_check(command_h, command_l, list(send_data))
+            send_packet = [0x86, 0xAB, (0x09+len(send_data))//256, (0x09+len(send_data))%256, command_h, command_l, *send_data, 0x01, pro_check, 0xCF]
+        else:
+            pro_check = calculate_pro_check(command_h, command_l)
+            send_packet = [0x86, 0xAB, 0x00, 0x09, command_h, command_l, 0x01, pro_check, 0xCF]
+        send_bytes = bytes(send_packet)
+        
+        ser.write(send_bytes)
                  
         
 def check_frame(frame: bytes) -> bool:
@@ -122,85 +131,65 @@ def check_frame(frame: bytes) -> bool:
     return calculated_checksum == frame_checksum
 
 def process_received_data():
-    global buffer
-    # 读取所有可用数据
-    data = ser.read(ser.in_waiting or 1)
-    if data:
-        buffer.extend(data)
-    while len(buffer)>=2:
-#            for x in buffer:
-#                print(f"{x:02X}", end=' ')
-#            print("\n")
-        # 1. 查找帧头
-        start_idx = buffer.find(HEADER)
-        if start_idx == -1:
-            # 没有找到帧头，清空无效数据（保留最后可能的部分帧头）
-            #print("Header no found")
-            if len(buffer) > len(HEADER) - 1:
-                buffer = buffer[-len(HEADER) + 1:]
-            return                 
-        # 2. 检查帧头后的长度字段是否足够
-        if start_idx + 4 > len(buffer):
-            # 长度字段不完整，等待更多数据
-            return                
-        # 3. 解析帧长度
-        frame_length = (buffer[start_idx + 2] << 8) + buffer[start_idx + 3]          
-        # 4. 检查完整帧是否已到达
-        end_idx = start_idx + frame_length - 1
-        if end_idx >= len(buffer):
-            # 完整帧尚未完全到达
-            return                
-        # 5. 检查帧尾
-        if buffer[end_idx] != ord(FOOTER):
-            # 跳过当前帧头，继续查找
-            print("End no found")
-            buffer = buffer[start_idx + 1:]
-            continue               
-        # 6. 提取完整帧
-        frame = buffer[start_idx:end_idx + 1]
-        frames_queue.append(frame)            
-        # 7. 从缓冲区移除已处理帧
-        buffer = buffer[end_idx + 1:]        
-    # 处理所有完整帧
-    if len(frames_queue) > 0:
-        frame = frames_queue.popleft()
-        if check_frame(frame):
-            return frame
-        else:
-            print("Check byte error")
+    #with serial_lock:
+        global buffer
+        # 读取所有可用数据
+        data = ser.read(ser.in_waiting or 1)
+        if data:
+            buffer.extend(data)
+        while len(buffer)>=2:
+    #            for x in buffer:
+    #                print(f"{x:02X}", end=' ')
+    #            print("\n")
+            # 1. 查找帧头
+            start_idx = buffer.find(HEADER)
+            if start_idx == -1:
+                # 没有找到帧头，清空无效数据（保留最后可能的部分帧头）
+                #print("Header no found")
+                if len(buffer) > len(HEADER) - 1:
+                    buffer = buffer[-len(HEADER) + 1:]
+                return                 
+            # 2. 检查帧头后的长度字段是否足够
+            if start_idx + 4 > len(buffer):
+                # 长度字段不完整，等待更多数据
+                return                
+            # 3. 解析帧长度
+            frame_length = (buffer[start_idx + 2] << 8) + buffer[start_idx + 3]          
+            # 4. 检查完整帧是否已到达
+            end_idx = start_idx + frame_length - 1
+            if end_idx >= len(buffer):
+                # 完整帧尚未完全到达
+                return                
+            # 5. 检查帧尾
+            if buffer[end_idx] != ord(FOOTER):
+                # 跳过当前帧头，继续查找
+                print("End no found")
+                buffer = buffer[start_idx + 1:]
+                continue               
+            # 6. 提取完整帧
+            frame = buffer[start_idx:end_idx + 1]
+            frames_queue.append(frame)            
+            # 7. 从缓冲区移除已处理帧
+            buffer = buffer[end_idx + 1:]        
+        # 处理所有完整帧
+        if len(frames_queue) > 0:
+            frame = frames_queue.popleft()
+            if check_frame(frame):
+                return frame
+            else:
+                print("Check byte error")
                 
 # 功能函数类
 ##############################################################################读取设备信息
-"""固件升级模式"""
-def boot_update() -> None:
-    write_data(BOOT_UPDATE_H, BOOT_UPDATE_L)       
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3]
-            if display_data[0]==0X03:
-                print("固件更新启动\n")
-            elif display_data[0]==0X01:
-                print("擦除中......",f"{10*display_data[1]}","%\n")
-            elif display_data[0]==0X02:
-                print("升级中......",f"{10*display_data[1]}","%\n")              
-            elif display_data[0]==0X05:
-                print("更新成功！\n")
-            elif display_data[0]==0X06:
-                print("更新失败！\n")
-            else:
-                for x in display_data:
-                    print(f"{x:02X}", end=' ')
-                print("\n")
-            
-
 """读取设备型号"""
 def read_device_model() -> Optional[bytes]:
+    serial_lock.acquire()  #获取线程锁
     write_data(READ_MODEL_H, READ_MODEL_L)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3].decode(errors="ignore")
 #            print(f"设备型号: {display_data}")
             return display_data
@@ -208,15 +197,18 @@ def read_device_model() -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
 
 """读取版本号"""
 def read_version() -> Optional[bytes]:
+    serial_lock.acquire()  #获取线程锁
     write_data(READ_VERSION_H, READ_VERSION_L)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3].decode(errors="ignore")
 #            print(f"版本号: {display_data}")
             return display_data
@@ -224,15 +216,18 @@ def read_version() -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
 
 """读取工厂信息"""
 def read_factory_data() -> Optional[bytes]:
+    serial_lock.acquire()  #获取线程锁
     write_data(READ_FACTORY_H, READ_FACTORY_L)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3].decode(errors="ignore")
 #            print(f"厂家信息: {display_data}")
             return display_data
@@ -240,15 +235,18 @@ def read_factory_data() -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
 
 """读取硬件ID"""
 def read_hardware_ID() -> Optional[bytes]:
+    serial_lock.acquire()  #获取线程锁
     write_data(READ_HW_ID_H, READ_HW_ID_L)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3].decode(errors="ignore")
 #            print(f"硬件ID: {display_data}")
             return display_data
@@ -256,15 +254,18 @@ def read_hardware_ID() -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
         
 """读取设备名称"""
-def read_device_name() -> Optional[bytes]:        
+def read_device_name() -> Optional[bytes]:
+    serial_lock.acquire()  #获取线程锁        
     write_data(READ_NAME_H, READ_NAME_L)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3].decode(errors="ignore")
 #            print(f"设备名称: {display_data}")
             return display_data
@@ -272,16 +273,19 @@ def read_device_name() -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
         
 """设置设备名称"""
 def write_device_name(send_data: str) -> Optional[bytes]:
+    serial_lock.acquire()  #获取线程锁
     data_bytes = send_data.encode('utf-8')
     write_data(WRITE_NAME_H, WRITE_NAME_L, data_bytes)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3].decode(errors="ignore")
 #            print(f"设置状态: {display_data}")
             return 0
@@ -289,22 +293,26 @@ def write_device_name(send_data: str) -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
         
 """读取连接方式"""
 def read_connected() -> Optional[bytes]: 
+    serial_lock.acquire()  #获取线程锁
     write_data(READ_CONNECT_H, READ_CONNECT_L)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3].decode(errors="ignore")
 #            print(f"连接方式: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buffer.clear()
+                serial_lock.release()  #释放线程锁 
                 return None
     
 """读取电池电量百分比"""        
@@ -317,39 +325,39 @@ def read_battery() -> Optional[bytes]:
         
 ###############################################################################固件升级
 
-"""下载更新请求"""
-def update_request() -> Optional[bytes]:
-    write_data(UPDATE_REQUEST_H, UPDATE_REQUEST_L)
-    start_time = time.time()
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3].decode(errors="ignore")
-            print(f"从机响应: {display_data}")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                return None
-
-"""查询最大通讯长度"""
-def read_max_com_len() -> Optional[bytes]:
-    write_data(MAX_COM_LEN_H, MAX_COM_LEN_L)
-    start_time = time.time()
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3].decode(errors="ignore")
-            print(f"从机响应: {display_data}")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                return None
-
-"""下载文件的信息"""
+#"""下载更新请求"""
+#def update_request() -> Optional[bytes]:
+#    write_data(UPDATE_REQUEST_H, UPDATE_REQUEST_L)
+#    start_time = time.time()
+#    while True:
+#        response =process_received_data()
+#        if response:
+#            display_data = response[6:-3].decode(errors="ignore")
+#            print(f"从机响应: {display_data}")
+#            return display_data
+#        else:
+#            if time.time() - start_time > 3:
+#                print("读取超时")
+#                buffer.clear() 
+#                return None
+#
+#"""查询最大通讯长度"""
+#def read_max_com_len() -> Optional[bytes]:
+#    write_data(MAX_COM_LEN_H, MAX_COM_LEN_L)
+#    start_time = time.time()
+#    while True:
+#        response =process_received_data()
+#        if response:
+#            display_data = response[6:-3].decode(errors="ignore")
+#            print(f"从机响应: {display_data}")
+#            return display_data
+#        else:
+#            if time.time() - start_time > 3:
+#                print("读取超时")
+#                buffer.clear() 
+#                return None
+#
+#"""下载文件的信息"""
 #def download_massage() -> Optional[bytes]:
 #    write_data(DL_MESSAGE_H, DL_MESSAGE_L, file_data)#文件信息来源从哪获取？
 #    start_time = time.time()
@@ -416,12 +424,14 @@ def read_max_com_len() -> Optional[bytes]:
 ###############################################################################读取传感器信息
 
 """读取外设连接情况"""
-def read_peripheral() -> Optional[bytes]:   
+def read_peripheral() -> Optional[bytes]: 
+    serial_lock.acquire()  #获取线程锁
     write_data(READ_PERIPH_H, READ_PERIPH_L)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3]
 #            for x in display_data:
 #                print(f"{x:02X}", end=' ')
@@ -431,24 +441,28 @@ def read_peripheral() -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
 
 """单次操作外设"""         
-def single_operate_sensor(op_struct: bytes) -> Optional[bytes]:       
+def single_operate_sensor(op_struct: bytes) -> Optional[bytes]:     
+    serial_lock.acquire()  #获取线程锁
     write_data(SINGLE_OP_H, SINGLE_OP_L, op_struct)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3]
 #            for x in display_data:
 #                print(f"{x:02X}", end=' ')
 #            print("\n")
             return display_data
         else:
-            if time.time() - start_time > 3:
+            if time.time() - start_time > 2:  
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None  
 
 #P端口初始化释放     
@@ -462,12 +476,14 @@ def P_port_init(port:bytes) -> Optional[bytes]:
         return None
               
 """从机模式转换"""         
-def mode_change(send_data: str) -> Optional[bytes]:     
+def mode_change(send_data: str) -> Optional[bytes]: 
+    serial_lock.acquire()  #获取线程锁    
     write_data(MODE_CHANGE_H, MODE_CHANGE_L, send_data)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3]
             for x in display_data:
                 print(f"{x:02X}", end=' ')
@@ -477,15 +493,18 @@ def mode_change(send_data: str) -> Optional[bytes]:
             if time.time() - start_time > 3:
                 print("读取超时")
                 buffer.clear() 
+                serial_lock.release()  #释放线程锁
                 return None
         
 """智能模式发送周期"""         
-def mode_change(send_data: str) -> Optional[bytes]:       
+def mode_change(send_data: str) -> Optional[bytes]:  
+    serial_lock.acquire()  #获取线程锁     
     write_data(SEND_CYCLE_H, SEND_CYCLE_L, send_data)
     start_time = time.time()
     while True:
         response =process_received_data()
         if response:
+            serial_lock.release()  #释放线程锁
             display_data = response[6:-3]
             for x in display_data:
                 print(f"{x:02X}", end=' ')
@@ -494,11 +513,17 @@ def mode_change(send_data: str) -> Optional[bytes]:
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buffer.clear()
+                serial_lock.release()  #释放线程锁 
                 return None
 
 """H2-RCU初始化"""
 def smartpi_init():
+    
+    if is_lock_locked(serial_lock):
+        serial_lock.release()
+    
+    serial_lock.acquire()
     uart3_init()
     P_port_init(1)
     P_port_init(2)
@@ -531,6 +556,7 @@ def smartpi_init():
     motor.reset_motor_encoder(5)
     motor.reset_motor_encoder(6)
     time.sleep(0.1)
-    gui.init()          
+    gui.init()
+    serial_lock.release()      
     time.sleep(0.1)   
             

smartpi/gui.py

@@ -1,7 +1,6 @@
 import socket
 import json
 import sys
-import time
 
 # 连接对象（模块级单例）
 _connection = None
@@ -17,10 +16,8 @@ def _send(cmd):
     """发送命令到服务器"""
     if _connection is None and "pytest" not in sys.modules:  # 允许测试环境不初始化
         raise ConnectionError("GUI not initialized. Call gui.init() first.")
-        time.sleep(0.1)
     if _connection:
         _connection.sendall((json.dumps(cmd) + "\n").encode())
-        time.sleep(0.1)
 
 def show_text(x, y, text, color="black", size=16):
     _send({"type": "text", "x": x, "y": y, "text": text, "color": color, "size": size})

{smartpi-0.1.12.dist-info → smartpi-0.1.14.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.12
+Version: 0.1.14
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3

{smartpi-0.1.12.dist-info → smartpi-0.1.14.dist-info}/RECORD

@@ -1,8 +1,8 @@
-smartpi/__init__.py,sha256=ynl00MdZK44BRltFscnxPvaQB9vT8qwdufP2vRovzWc,55
-smartpi/base_driver.py,sha256=FmnwZFqKE2HVUsDoqxXigdX1YlElcY07YkLnlvKY_x8,18033
+smartpi/__init__.py,sha256=7gd_8YTZSFswemDB4ymWsDfhMpyAMzJ0BMImjrWF6vc,55
+smartpi/base_driver.py,sha256=ChZAacB5ACUoA6R1bB4MYQH4Mkl0umrlZ3UFaTfoz-Q,19571
 smartpi/color_sensor.py,sha256=sTqD3jApjmc6qHMrDyEy2UjaRt8vhJZNR88vzgUiLKs,496
 smartpi/cw2015.py,sha256=1lAF-pi_ye_ya1AZQS1sjbgsDf7MThO5IAskKsNGBzA,5695
-smartpi/gui.py,sha256=VuZEhuM3M-Lz12dpzRhcdLxE8p-Hosdq4wa0jAbnnbc,2165
+smartpi/gui.py,sha256=E98_soyWbEf_dwYhXZgMSXrgY5QuYoDTuFCPK63flIQ,2102
 smartpi/humidity.py,sha256=xtALQ_IlcwR2RCYvopCSmeNajB45kQU_ckk6FZ0rqko,497
 smartpi/led.py,sha256=n3_k1jGcQptfGXhezDLaYzH6UptgluP4Ze6qP_Y4WmU,536
 smartpi/light_sensor.py,sha256=kWmoXklYS1QG0eDz4Qn9FF4WueR3GARb3OwQSkXqUNA,569
@@ -12,7 +12,7 @@ smartpi/servo.py,sha256=B6X3yCoEz82qqpUIE5MSO0Eg9YZJ5zDzJEcRpioZpUo,4625
 smartpi/temperature.py,sha256=px2YeqgG63nPkyhJA1wDg3dwYx_oOCYuhMjtsVm_YO0,460
 smartpi/touch_sensor.py,sha256=F6IIQGewNRhC9U1RbHpVzuGYqb8H41lpeQ1Ejwsc_T8,438
 smartpi/ultrasonic.py,sha256=0meczFKXFLUt92kLxipeEc37vb5duvJjPs4kgtlpO8M,622
-smartpi-0.1.12.dist-info/METADATA,sha256=0HdhhFfnoSXNc6LVxBdE-zqiKdxdu1U7x7NxGLcAbcU,311
-smartpi-0.1.12.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-smartpi-0.1.12.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
-smartpi-0.1.12.dist-info/RECORD,,
+smartpi-0.1.14.dist-info/METADATA,sha256=X3ikK51XRpqcegUbzHDAtzSIy3L4Z_A7pc7rOuM6SAI,311
+smartpi-0.1.14.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+smartpi-0.1.14.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
+smartpi-0.1.14.dist-info/RECORD,,