smartpi 0.1.18__py3-none-any.whl → 0.1.20__py3-none-any.whl

smartpi/__init__.py

@@ -1,4 +1,4 @@
 __all__ = ["base_driver"]
 
-__version__ = "0.1.18"
+__version__ = "0.1.20"
 

smartpi/base_driver.py

@@ -201,8 +201,8 @@ def process_received_data():
 ##############################################################################读取设备信息
 """读取设备型号"""
 def read_device_model() -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     write_data(READ_MODEL_H, READ_MODEL_L)
     start_time = time.time()
     while True:
@@ -223,8 +223,8 @@ def read_device_model() -> Optional[bytes]:
 
 """读取版本号"""
 def read_version() -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     write_data(READ_VERSION_H, READ_VERSION_L)
     start_time = time.time()
     while True:
@@ -245,8 +245,8 @@ def read_version() -> Optional[bytes]:
 
 """读取工厂信息"""
 def read_factory_data() -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     write_data(READ_FACTORY_H, READ_FACTORY_L)
     start_time = time.time()
     while True:
@@ -267,8 +267,8 @@ def read_factory_data() -> Optional[bytes]:
 
 """读取硬件ID"""
 def read_hardware_ID() -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     write_data(READ_HW_ID_H, READ_HW_ID_L)
     start_time = time.time()
     while True:
@@ -289,8 +289,8 @@ def read_hardware_ID() -> Optional[bytes]:
         
 """读取设备名称"""
 def read_device_name() -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
-    serial_lock.acquire()  #获取线程锁        
+    serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程       
     write_data(READ_NAME_H, READ_NAME_L)
     start_time = time.time()
     while True:
@@ -311,8 +311,8 @@ def read_device_name() -> Optional[bytes]:
         
 """设置设备名称"""
 def write_device_name(send_data: str) -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     data_bytes = send_data.encode('utf-8')
     write_data(WRITE_NAME_H, WRITE_NAME_L, data_bytes)
     start_time = time.time()
@@ -334,8 +334,8 @@ def write_device_name(send_data: str) -> Optional[bytes]:
         
 """读取连接方式"""
 def read_connected() -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程 
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     write_data(READ_CONNECT_H, READ_CONNECT_L)
     start_time = time.time()
     while True:
@@ -464,8 +464,8 @@ def read_battery() -> Optional[bytes]:
 
 """读取外设连接情况"""
 def read_peripheral() -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程 
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     write_data(READ_PERIPH_H, READ_PERIPH_L)
     start_time = time.time()
     while True:
@@ -487,9 +487,9 @@ def read_peripheral() -> Optional[bytes]:
                 return None
 
 """单次操作外设"""         
-def single_operate_sensor(op_struct: bytes) -> Optional[bytes]: 
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程    
+def single_operate_sensor(op_struct: bytes) -> Optional[bytes]:     
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程            
     write_data(SINGLE_OP_H, SINGLE_OP_L, op_struct)
     start_time = time.time()
     while True:
@@ -522,8 +522,8 @@ def P_port_init(port:bytes) -> Optional[bytes]:
               
 """从机模式转换"""         
 def mode_change(send_data: str) -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程 
-    serial_lock.acquire()  #获取线程锁    
+    serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程    
     write_data(MODE_CHANGE_H, MODE_CHANGE_L, send_data)
     start_time = time.time()
     while True:
@@ -546,8 +546,8 @@ def mode_change(send_data: str) -> Optional[bytes]:
         
 """智能模式发送周期"""         
 def mode_change(send_data: str) -> Optional[bytes]:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程  
-    serial_lock.acquire()  #获取线程锁     
+    serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程    
     write_data(SEND_CYCLE_H, SEND_CYCLE_L, send_data)
     start_time = time.time()
     while True:
@@ -569,16 +569,16 @@ def mode_change(send_data: str) -> Optional[bytes]:
                 return None
                 
 def shut_down():
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     write_data(0XFF, 0XFE)
     serial_lock.release()  #释放线程锁
     fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
     time.sleep(0.5)
     
 def shut_down_state() -> bool:
-    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     response =process_received_data()
     if response:
         receive_data = response[4:-3]
@@ -587,6 +587,7 @@ def shut_down_state() -> bool:
             fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
             return True
         else:
+            buffer.clear()
             serial_lock.release()  #释放线程锁
             fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
             return False
@@ -594,15 +595,21 @@ def shut_down_state() -> bool:
         serial_lock.release()  #释放线程锁
         fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
         return False
+        
+def buf_clear():
+    buffer.clear()
 
 """H2-RCU初始化"""
 def smartpi_init():
     
     if is_lock_locked(serial_lock):
-        serial_lock.release()
+        serial_lock.release()  #释放线程锁
     
-    serial_lock.acquire()
+    fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
+    serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     uart3_init()
+    fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
     P_port_init(1)
     P_port_init(2)
     P_port_init(3)
@@ -635,6 +642,6 @@ def smartpi_init():
     motor.reset_motor_encoder(6)
     time.sleep(0.1)
     gui.init()
-    serial_lock.release()      
+    serial_lock.release()     
     time.sleep(0.1)   
             

smartpi/trace.py

@@ -1,20 +1,56 @@
 # coding=utf-8
-import time
+import time,fcntl,serial,threading
 from typing import List, Optional
 from smartpi import base_driver
 
-#循迹卡单通道光值读取 port:连接P端口；正常返回：通道光值数据; 读取错误：None  
-def get_analog(port:bytes, chn:bytes) -> Optional[bytes]:
-    trace_str=[0xA0, 0x21, 0x01, 0x71, 0x00, 0xBE]
+# 串口配置参数
+SERIAL_PORT = "/dev/ttyS3"  # 串口设备路径
+BAUD_RATE = 921600          # 波特率
+TIMEOUT = 0.1                # 读取超时时间（秒）
+
+ser = serial.Serial(
+            port=SERIAL_PORT,
+            baudrate=BAUD_RATE,
+            bytesize=serial.EIGHTBITS,  # 8位数据位
+            parity=serial.PARITY_NONE,  # 无校验位
+            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        
+        )
+        
+# 创建全局线程锁
+serial_lock = threading.RLock()
+
+#循迹卡单通道阈值比较后的布尔值读取 port:连接P端口；chn:检测通道1~7；正常返回：通道布尔值; 读取错误：None
+def get_chn_data(port:bytes, chn:bytes) -> Optional[bytes]:
+    trace_str=[0xA0, 0x18, 0x01, 0x71, 0x00, 0xBE]
     trace_str[0]=0XA0+port
-    trace_str[4]=20+chn
+    trace_str[4]=chn
+    response = base_driver.single_operate_sensor(trace_str)       
+    if response == None:
+        return None
+    else:
+        return response[4]
+
+#循迹卡设置各通道颜色 port:连接P端口；color1~color7:7个通道彩灯的颜色1~7(红、绿、蓝、黄、紫、青、白)
+def set_chn_color(port:bytes, color1:bytes, color2:bytes, color3:bytes, color4:bytes, color5:bytes, color6:bytes, color7:bytes) -> Optional[bytes]:
+    trace_str=[0xA0, 0x19, 0x01, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    trace_str[0]=0XA0+port
+    trace_str[4]=color1
+    trace_str[6]=color2
+    trace_str[8]=color3
+    trace_str[10]=color4
+    trace_str[12]=color5
+    trace_str[14]=color6
+    trace_str[16]=color7
     response = base_driver.single_operate_sensor(trace_str)       
     if response == None:
         return None
     else:
         return response[4]
         
-#循迹卡设置全部颜色 port:连接P端口；正常返回：通道光值数据; 读取错误：None  
+#循迹卡设置全部颜色 port:连接P端口；color:全部彩灯的颜色1~7(红、绿、蓝、黄、紫、青、白)
 def set_color(port:bytes, color:bytes) -> Optional[bytes]:
     trace_str=[0xA0, 0x20, 0x01, 0x71, 0x00, 0xBE]
     trace_str[0]=0XA0+port
@@ -25,5 +61,53 @@ def set_color(port:bytes, color:bytes) -> Optional[bytes]:
     else:
         return response[4]
 
+#循迹卡单通道光值读取 port:连接P端口；chn:检测通道；正常返回：通道光值数据; 读取错误：None  
+def get_analog(port:bytes, chn:bytes) -> Optional[bytes]:
+    trace_str=[0xA0, 0x21, 0x01, 0x71, 0x00, 0xBE]
+    trace_str[0]=0XA0+port
+    trace_str[4]=20+chn
+    response = base_driver.single_operate_sensor(trace_str)       
+    if response == None:
+        return None
+    else:
+        return response[4]
+
+#循迹卡判断是否组合图形 port:连接P端口；state:判断图形组合 1:TT 2:TL 3:TR 4:TM 5:L2 6:L1 7:L 8:M 9:R 10:R1 11:R2
+#正常返回：True/False; 读取错误：None
+def get_line_state(port:bytes, state:bytes) -> Optional[bytes]:
+    trace_str=[0xA0, 0x22, 0x01, 0x71, 0x00, 0xBE]
+    trace_str[0]=0XA0+port
+    trace_str[4]=state
+    response = base_driver.single_operate_sensor(trace_str)       
+    if response == None:
+        return None
+    else:
+        return response[4]
         
+#循迹卡自动设置灰度阈值 port:连接P端口；second:秒数 
+def set_threshold(port:bytes, second:int) -> Optional[bytes]:
+    trace_str=[0xA0, 0x23, 0x01, 0x81, 0x00, 0x00, 0xBE]
+    trace_str[0]=0XA0+port
+    trace_str[4]=second//256
+    trace_str[5]=second%256   
+    
+    serial_lock.acquire()  #获取线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程            
+    base_driver.write_data(0X01, 0X02, trace_str)
+    start_time = time.time()
+    
+    while True:
+        response =base_driver.process_received_data()
+        if response:
+            serial_lock.release()  #释放线程锁
+            fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
+            display_data = response[6:-3]
+            return display_data
+        else:
+            if time.time() - start_time > second+2:  
+                print("读取超时")
+                base_driver.buf_clear()
+                serial_lock.release()  #释放线程锁
+                fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
+                return None 
         

{smartpi-0.1.18.dist-info → smartpi-0.1.20.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.18
+Version: 0.1.20
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3

{smartpi-0.1.18.dist-info → smartpi-0.1.20.dist-info}/RECORD

@@ -1,5 +1,5 @@
-smartpi/__init__.py,sha256=yJNr8Bjm6Zi2geMqxDuEXaioVKTS4NGMUm5hfEW0TLQ,55
-smartpi/base_driver.py,sha256=3acmLtIcCW9sgPlPN7C10TGPIO_tCISC_QWLzNTM2X4,23846
+smartpi/__init__.py,sha256=eXDn9vmrk3l7U0NFTdKpBbQyKKA1oPV1uTs_UkaNtOE,55
+smartpi/base_driver.py,sha256=n_KIkdfk2BLzaPZpOj-hH30QuyiGwHSMQuosxj2YnOU,24172
 smartpi/color_sensor.py,sha256=sTqD3jApjmc6qHMrDyEy2UjaRt8vhJZNR88vzgUiLKs,496
 smartpi/cw2015.py,sha256=1lAF-pi_ye_ya1AZQS1sjbgsDf7MThO5IAskKsNGBzA,5695
 smartpi/flash.py,sha256=Luz0TjinQSkx31uVknqfSWkiAiVrqIE2Iba7lk3AOzM,4132
@@ -12,9 +12,9 @@ smartpi/move.py,sha256=3qzrJCGA-qbsLXBpklY2DErtw0jlzMELzozjhEvRzKs,6028
 smartpi/servo.py,sha256=B6X3yCoEz82qqpUIE5MSO0Eg9YZJ5zDzJEcRpioZpUo,4625
 smartpi/temperature.py,sha256=px2YeqgG63nPkyhJA1wDg3dwYx_oOCYuhMjtsVm_YO0,460
 smartpi/touch_sensor.py,sha256=F6IIQGewNRhC9U1RbHpVzuGYqb8H41lpeQ1Ejwsc_T8,438
-smartpi/trace.py,sha256=dtZQAkUUIsq578hycwrfR9GJUsIUCbHCF4ZvJv9GLrs,984
+smartpi/trace.py,sha256=ntk3UwVATOV_eViGQhFi3lyil9xFmzeZZ_MBvQTq3UQ,4567
 smartpi/ultrasonic.py,sha256=0meczFKXFLUt92kLxipeEc37vb5duvJjPs4kgtlpO8M,622
-smartpi-0.1.18.dist-info/METADATA,sha256=ShLsBIEi6ruwSr-BoqJWYwrvHyrc8Mn0xinRrWmYgng,311
-smartpi-0.1.18.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-smartpi-0.1.18.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
-smartpi-0.1.18.dist-info/RECORD,,
+smartpi-0.1.20.dist-info/METADATA,sha256=3WlrHNedbYaRx4tWEm8ZTa9hqPwTPwxO3HuefgnoP3M,311
+smartpi-0.1.20.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+smartpi-0.1.20.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
+smartpi-0.1.20.dist-info/RECORD,,