smartpi 0.1.30__py3-none-any.whl → 0.1.32__py3-none-any.whl

smartpi/__init__.py

@@ -1,6 +1,8 @@
 from ._gui import gui
+from .base_driver import P1, P2, P3, P4, P5, P6, M1, M2, M3, M4, M5, M6
 
-__all__ = ["base_driver","gui","ultrasonic","touch_sensor","temperature","humidity","light_sensor","color_sensor","motor","servo","led","flash"]
+__all__ = ["base_driver","gui","ultrasonic","touch_sensor","temperature","humidity","light_sensor","color_sensor","motor","servo","led","flash",
+           "P1", "P2", "P3", "P4", "P5", "P6", "M1", "M2", "M3", "M4", "M5", "M6"]
 
-__version__ = "0.1.30"
+__version__ = "0.1.32"
 

smartpi/base_driver.py

@@ -1,8 +1,8 @@
 # coding=utf-8
-import serial,time,struct,threading,fcntl
+import serial,time,struct,threading,fcntl,os
 from typing import List, Optional
 from collections import deque
-from . import servo,motor,cw2015
+from . import servo,motor,cw2015,led,light_sensor
 
 # 创建全局线程锁
 serial_lock = threading.RLock()
@@ -49,6 +49,20 @@ MODE_CHANGE_L = 0X03
 SEND_CYCLE_H = 0X01
 SEND_CYCLE_L = 0X04
 
+P1 = 1
+P2 = 2
+P3 = 3
+P4 = 4
+P5 = 5
+P6 = 6
+
+M1 = 1
+M2 = 2
+M3 = 3
+M4 = 4
+M5 = 5
+M6 = 6
+
 frames_queue = deque()
 buffer = bytearray()
 HEADER = bytes.fromhex('86 AB')  # 帧头
@@ -119,7 +133,7 @@ def write_data(command_h: int, command_l: int, send_data: bytes= None) -> Option
 #        for x in send_bytes:
 #            print(f"{x:02X}", end=' ')
 #        print("\n")
-        
+        buffer.clear()
         ser.write(send_bytes)
                  
         
@@ -267,25 +281,10 @@ def read_factory_data() -> Optional[bytes]:
 
 """读取硬件ID"""
 def read_hardware_ID() -> 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(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
-            fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
-            display_data = response[6:-3].decode(errors="ignore")
-#            print(f"硬件ID: {display_data}")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                serial_lock.release()  #释放线程锁
-                fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
-                return None
+    result = os.popen("cat /proc/cpuinfo | grep Serial").read().strip()
+    if ":" in result:
+        return result.split(":")[1].strip()
+    return None
         
 """读取设备名称"""
 def read_device_name() -> Optional[bytes]:
@@ -361,104 +360,6 @@ def read_battery() -> Optional[bytes]:
         return sensor.get_soc(0)
     else:
         return None
-        
-###############################################################################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"""
-#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()
-#    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
-#
-#"""查询设备状态"""
-#def read_device_status() -> Optional[bytes]:
-#    write_data(READ_STATUS_H, READ_STATUS_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
-#        
-#"""发送页校验码"""
-#def write_page_check() -> Optional[bytes]:
-#    write_data(PAGE_CHECK_H, PAGE_CHECK_L, page_check_data)
-#    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          
-#        
-#"""发送页数据"""
-#def write_page_check() -> Optional[bytes]:
-#    write_data(PAGE_SEND_H, PAGE_SEND_L, page_send_data)
-#    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
      
 ###############################################################################读取传感器信息
 
@@ -614,12 +515,7 @@ def smartpi_init():
     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)
-    P_port_init(4)
-    P_port_init(5)
-    P_port_init(6)
+        
     servo.set_init(1)
     servo.set_init(2)
     servo.set_init(3)
@@ -643,7 +539,26 @@ def smartpi_init():
     motor.reset_motor_encoder(3)
     motor.reset_motor_encoder(4)
     motor.reset_motor_encoder(5)
-    motor.reset_motor_encoder(6)
+    motor.reset_motor_encoder(6)       
+    light_sensor.turn_off(1)
+    light_sensor.turn_off(2)
+    light_sensor.turn_off(3)
+    light_sensor.turn_off(4)
+    light_sensor.turn_off(5)
+    light_sensor.turn_off(6)
+    led.set_color(1,0)
+    led.set_color(2,0)
+    led.set_color(3,0)
+    led.set_color(4,0)
+    led.set_color(5,0)
+    led.set_color(6,0)
+    P_port_init(1)
+    P_port_init(2)
+    P_port_init(3)
+    P_port_init(4)
+    P_port_init(5)
+    P_port_init(6)
+    
     time.sleep(0.1)
     serial_lock.release()     
     time.sleep(0.1)   

smartpi/led.py

@@ -9,9 +9,10 @@ def set_color(port:bytes,command:bytes) -> Optional[bytes]:
     color_lamp_str=[0xA0, 0x05, 0x00, 0xBE]
     color_lamp_str[0]=0XA0+port
     color_lamp_str[2]=command
-    response = base_driver.single_operate_sensor(color_lamp_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(color_lamp_str,0)
+    base_driver.write_data(0X01, 0X02, color_lamp_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         

smartpi/light_sensor.py

@@ -3,6 +3,18 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
 
+#����ֵ��ȡ port:����P�˿ڣ�  �������أ���ֵ����; ��ȡ����-1  
+def turn_off(port:bytes) -> Optional[bytes]:
+    light_str=[0xA0, 0x02, 0x00, 0xBE]
+    light_str[0]=0XA0+port
+    light_str[2]=0x03
+#    response = base_driver.single_operate_sensor(light_str,0) 
+#    base_driver.write_data(0X01, 0X02, light_str)     
+#    if response == None:
+#        return None
+#    else:
+    return 0
+
 #����ֵ��ȡ port:����P�˿ڣ�  �������أ���ֵ����; ��ȡ����-1  
 def get_value(port:bytes) -> Optional[bytes]:
     light_str=[0xA0, 0x02, 0x00, 0xBE]

smartpi/motor.py

@@ -21,22 +21,24 @@ def get_motor_encoder(port:bytes) -> Optional[bytes]:
 def reset_motor_encoder(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x03, 0xBE]           
     motor_str[0]=0XA0+port       
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #���﷽����� port:����M�˿ڣ�dir:0��1
 def set_motor_direction(port:bytes,direc:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x06, 0x71, 0x00, 0xBE]           
     motor_str[0]=0XA0+port
     motor_str[4]=direc
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #�����ٶ�ת�� port:����M�˿ڣ�speed:-100~100
 def set_motor(port:bytes,speed:int) -> Optional[bytes]:
@@ -53,21 +55,23 @@ def set_motor(port:bytes,speed:int) -> Optional[bytes]:
         
     motor_str[4]=m_par
         
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #����ֹͣ port:����M�˿ڣ�
 def set_motor_stop(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x0B, 0xBE]           
     motor_str[0]=0XA0+port
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #����Ƕȿ��� port:����M�˿ڣ�speed:-100~100��degree:0~65535
 def set_motor_angle(port:bytes,speed:int,degree:int) -> Optional[bytes]:
@@ -86,11 +90,12 @@ def set_motor_angle(port:bytes,speed:int,degree:int) -> Optional[bytes]:
     motor_str[4]=m_par
     motor_str[6]=degree//256
     motor_str[7]=degree%256
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #���ﶨʱת�� port:����M�˿ڣ�speed:-100~100��second:1~256
 def set_motor_second(port:bytes,speed:int,second:float) -> Optional[bytes]:
@@ -116,11 +121,12 @@ def set_motor_second(port:bytes,speed:int,second:float) -> Optional[bytes]:
     motor_str[8]=byte_array[2]
     motor_str[9]=byte_array[3]
     
-    response = base_driver.single_operate_sensor(motor_str,second)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
 
 #���ﶨ��ת�� port:����M�˿ڣ�speed:-100~100
 def set_motor_constspeed(port:bytes,speed:int) -> Optional[bytes]:
@@ -138,11 +144,12 @@ def set_motor_constspeed(port:bytes,speed:int) -> Optional[bytes]:
         
     motor_str[4]=m_par
     
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #�����ٶȶ�ȡ port:����M�˿ڣ�
 def get_motor_speed(port:bytes) -> Optional[bytes]:

smartpi/servo.py

@@ -3,17 +3,17 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
 
-
 #С������� port:����P�˿ڣ�angle:�Ƕ�0~270��
 def steer_angle(port:bytes,angle:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x0E, 0x01, 0x71, 0x00, 0xBE]
     servo_str[0]=0XA0+port
     servo_str[4]=angle
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #С�����ʱ���� port:����P�˿ڣ�angle:�Ƕ�0~270��second:1~256
 def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
@@ -22,22 +22,24 @@ def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
     servo_str[4]=angle//256
     servo_str[5]=angle%256
     servo_str[7]=second
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    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,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, 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]:
@@ -46,11 +48,12 @@ def set_angle_speed(port:bytes,angle:bytes,speed:bytes) -> Optional[bytes]:
     servo_str[4]=angle//256
     servo_str[5]=angle%256
     servo_str[7]=speed
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+    #response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #���ֶ��ת�����Ƕ���ʱʱ�� port:����P�˿ڣ�angle:�Ƕ�(0~360)��ms:��ʱʱ��(0~65535)��
 def set_angle_ms(port:bytes,angle:bytes,ms:int) -> Optional[bytes]:
@@ -60,21 +63,23 @@ def set_angle_ms(port:bytes,angle:bytes,ms:int) -> Optional[bytes]:
     servo_str[5]=angle%256
     servo_str[7]=ms//256
     servo_str[8]=ms%256
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
 
 #���ֶ����λ port:����P�˿ڣ�
 def set_init(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x12, 0x01, 0xBE]
     servo_str[0]=0XA0+port
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #��ȡ���ֶ���Ƕ� port:����P�˿ڣ�
 def get_angle(port:bytes) -> Optional[bytes]:
@@ -102,11 +107,12 @@ def set_speed(port:bytes,speed:int) -> Optional[bytes]:
         m_par=256+speed
         
     servo_str[4]=m_par
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0      
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0      
         
 #���ֶ������ת�� port:����P�˿ڣ�code:����(0~65535)��speed:�ٶ�(-100~100)��
 def set_code_speed(port:bytes,code:int,speed:int) -> Optional[bytes]:
@@ -126,21 +132,23 @@ def set_code_speed(port:bytes,code:int,speed:int) -> Optional[bytes]:
         m_par=256+speed      
     servo_str[7]=m_par
 
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0  
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0  
 
 #���ֶ������ֵ���� port:����P�˿ڣ�
 def reset_encode(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x16, 0x01, 0xBE]
     servo_str[0]=0XA0+port
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #��ȡ���ֶ������ֵ port:����P�˿ڣ�
 def get_encoder(port:bytes) -> Optional[bytes]:

{smartpi-0.1.30.dist-info → smartpi-0.1.32.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.30
+Version: 0.1.32
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3
@@ -9,3 +9,9 @@ Classifier: Operating System :: OS Independent
 Requires-Python: >=3.7
 Description-Content-Type: text/markdown
 
+灵芯派函数库
+SmartPi library
+
+V0.1.31
+1、更新了设备硬件ID读取函数；
+

{smartpi-0.1.30.dist-info → smartpi-0.1.32.dist-info}/RECORD

@@ -1,20 +1,20 @@
-smartpi/__init__.py,sha256=KxiHhAK2d08nDxhs_Me1ZQHnYHBUfjBfIwCDNy0nF3s,199
+smartpi/__init__.py,sha256=lUBmDOfuGaZ59JU3nE42ao8-9nV_D5vheF1X7Dq400k,356
 smartpi/_gui.py,sha256=ij-6HZAEIwdy_hvU7f0NkyQjx_-eephijlKbGUhf8Uo,2177
-smartpi/base_driver.py,sha256=hJ5_Rph1BT-riYiW1pgw685WAgEMjpqDF264BLSP6hk,24392
+smartpi/base_driver.py,sha256=WtRBSkjcOHikU402lU1cBSVlRHhyWGZMll_zffg2F2U,20609
 smartpi/color_sensor.py,sha256=YXJjknYjp7teTZsHYZRAWgi73CH0MhBp1go9y0Inxyo,498
 smartpi/cw2015.py,sha256=1lAF-pi_ye_ya1AZQS1sjbgsDf7MThO5IAskKsNGBzA,5695
 smartpi/flash.py,sha256=-pUqg6FSVoBiLFKqrG9B4dFqn8lICnQsSPJr_MtZLIU,4132
 smartpi/humidity.py,sha256=nZwiBtMWKNipVM83ymajZACPHxkC2vUJjDMmCOPN9lw,499
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 smartpi/move.py,sha256=mYw5li1qQe97845cqclMksuaKOL9n_0E0n9652EIMcI,6046
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 smartpi/temperature.py,sha256=VT79CYA41q1d_4AM-Y0eIMeIw7AtCkSXjWVws6Yx5yE,462
 smartpi/touch_sensor.py,sha256=P57RRQlqY0KexpMi-ydqwF5albOKCBOGb0Rb6zeVTqk,440
 smartpi/trace.py,sha256=tut7BMbq87ShaR5eNuv7PZtAEz9DS5_BDf0_muIZ-tQ,4577
 smartpi/ultrasonic.py,sha256=kmVpUfvE1oHoqgv92ZU6Fi-sO6DSwm10ssKsImNeOkY,624
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