smartpi 0.1.19__py3-none-any.whl → 0.1.21__py3-none-any.whl

smartpi/__init__.py

@@ -1,4 +1,4 @@
 __all__ = ["base_driver"]
 
-__version__ = "0.1.19"
+__version__ = "0.1.21"
 

smartpi/base_driver.py

@@ -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
@@ -594,6 +595,9 @@ 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():

smartpi/flash.py

@@ -7,7 +7,7 @@ FLASH_FILE = os.path.join(os.path.dirname(os.path.abspath(__file__)), "/home/Int
 FLASH_FILE_2 = os.path.join(os.path.dirname(os.path.abspath(__file__)), "/home/Interface/flash/flash_2.bin")
 
 DATA_SIZE = 2  # 每个数据2字节
-TOTAL_SLOTS = 100  # 100个数据槽
+TOTAL_SLOTS = 120  # 100个数据槽
 
 def _init_flash_file():
     """初始化存储文件"""

smartpi/servo.py

@@ -28,6 +28,17 @@ def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
     else:
         return 0
         
+#���ֶ������ת������(���ԽǶ�) port:����P�˿ڣ�dir:0:����Խ0��;1:��̾�����ת;2:˳ʱ����ת;3:��ʱ����ת
+def set_dir(port:bytes,dir:bytes) -> Optional[bytes]:
+    servo_str=[0xA0, 0x24, 0x01, 0x71, 0x00, 0xBE]
+    servo_str[0]=0XA0+port
+    servo_str[4]=dir
+    response = base_driver.single_operate_sensor(servo_str)
+    if response == None:
+        return None
+    else:
+        return 0
+        
 #BE-9528���ֶ�����ٶ�ת���Ƕ� port:����P�˿ڣ�angle:�Ƕ�(0~360)��speed:�ٶ�(0~100)��
 def set_angle_speed(port:bytes,angle:bytes,speed:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x0D, 0x01, 0x81, 0x00, 0x00, 0x81, 0x00, 0xBE]

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-0.1.19.dist-info → smartpi-0.1.21.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.19
+Version: 0.1.21
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3

{smartpi-0.1.19.dist-info → smartpi-0.1.21.dist-info}/RECORD

@@ -1,20 +1,20 @@
-smartpi/__init__.py,sha256=XC4FyX6UBONemsJEdIZzMvIkF4pscJ5XGVvK8jgVCdA,55
-smartpi/base_driver.py,sha256=DV-jh7j4X7ak9zFSqgwjHrj1X18SDqUjCqewLovxDVU,24096
+smartpi/__init__.py,sha256=QR4ouIPj9-lhXKMzcZUxB--K9gklRhYKZenfjmxWUOw,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
+smartpi/flash.py,sha256=-pUqg6FSVoBiLFKqrG9B4dFqn8lICnQsSPJr_MtZLIU,4132
 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=glDa4O0wW0kamb-tI3qf509qM7zA8UUjVXbA9si3TXM,1844
 smartpi/motor.py,sha256=uvuAwt2j5LjdLaMfNisXqaGh1ro3fZDvHU8IXd2fn9Q,4527
 smartpi/move.py,sha256=3qzrJCGA-qbsLXBpklY2DErtw0jlzMELzozjhEvRzKs,6028
-smartpi/servo.py,sha256=B6X3yCoEz82qqpUIE5MSO0Eg9YZJ5zDzJEcRpioZpUo,4625
+smartpi/servo.py,sha256=p8BxfqXVQYP81Kl0J9P23AGoGTrnn8To98ipo6Z_Tkk,5035
 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-0.1.19.dist-info/METADATA,sha256=kViF6wYE4k68vEkBr0T8XPnoZGIN3gmP0d7sAulJItg,311
-smartpi-0.1.19.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-smartpi-0.1.19.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
-smartpi-0.1.19.dist-info/RECORD,,
+smartpi-0.1.21.dist-info/METADATA,sha256=bZEx5P-yz1jfxEPLJS9W-DhGHNrjyfXHHiKLlkLqpHE,311
+smartpi-0.1.21.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+smartpi-0.1.21.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
+smartpi-0.1.21.dist-info/RECORD,,