smartpi 0.1.37__py3-none-any.whl → 0.1.39__py3-none-any.whl

smartpi/__init__.py

@@ -4,5 +4,5 @@ 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",
            "P1", "P2", "P3", "P4", "P5", "P6", "M1", "M2", "M3", "M4", "M5", "M6"]
 
-__version__ = "0.1.37"
+__version__ = "0.1.39"
 

smartpi/base_driver.py

@@ -1,5 +1,5 @@
 # coding=utf-8
-import serial,time,struct,threading,fcntl,os
+import serial,time,struct,threading,fcntl,os,termios
 from typing import List, Optional
 from collections import deque
 from . import servo,motor,cw2015,led,light_sensor
@@ -116,8 +116,8 @@ 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]:
-    #with serial_lock:                   
+def write_data(command_h: int, command_l: int, send_data: bytes= None, lock: bytes= True) -> Optional[bytes]:
+    if lock == True:                 
         buffer = bytearray()
         HEADER = bytes.fromhex('86 AB')  # 帧头
         FOOTER = bytes.fromhex('CF')     # 帧尾
@@ -133,7 +133,29 @@ 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()
+        buf_clear()
+        serial_lock.acquire()  #获取线程锁
+        fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  #进程锁，阻塞其他进程
+        ser.write(send_bytes)
+        serial_lock.release()  #释放线程锁
+        fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
+    elif lock == False:
+        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)
+        
+#        for x in send_bytes:
+#            print(f"{x:02X}", end=' ')
+#        print("\n")
+        buf_clear()
         ser.write(send_bytes)
                  
         
@@ -217,7 +239,7 @@ def process_received_data():
 def read_device_model() -> 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_MODEL_H, READ_MODEL_L)
+    write_data(READ_MODEL_H, READ_MODEL_L, None, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -225,12 +247,13 @@ def read_device_model() -> Optional[bytes]:
             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")
+            buf_clear()
 #            print(f"设备型号: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buf_clear()
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None
@@ -239,7 +262,7 @@ def read_device_model() -> Optional[bytes]:
 def read_version() -> 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_VERSION_H, READ_VERSION_L)
+    write_data(READ_VERSION_H, READ_VERSION_L, None, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -247,12 +270,13 @@ def read_version() -> Optional[bytes]:
             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")
+            buf_clear()
 #            print(f"版本号: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buf_clear()
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None
@@ -261,7 +285,7 @@ def read_version() -> Optional[bytes]:
 def read_factory_data() -> 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_FACTORY_H, READ_FACTORY_L)
+    write_data(READ_FACTORY_H, READ_FACTORY_L, None, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -269,12 +293,13 @@ def read_factory_data() -> Optional[bytes]:
             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")
+            buf_clear()
 #            print(f"厂家信息: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buf_clear() 
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None
@@ -290,7 +315,7 @@ def read_hardware_ID() -> Optional[bytes]:
 def read_device_name() -> 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_NAME_H, READ_NAME_L)
+    write_data(READ_NAME_H, READ_NAME_L, None, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -298,12 +323,13 @@ def read_device_name() -> Optional[bytes]:
             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")
+            buf_clear()
 #            print(f"设备名称: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buf_clear() 
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None
@@ -313,7 +339,7 @@ def write_device_name(send_data: str) -> 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
     data_bytes = send_data.encode('utf-8')
-    write_data(WRITE_NAME_H, WRITE_NAME_L, data_bytes)
+    write_data(WRITE_NAME_H, WRITE_NAME_L, data_bytes, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -321,12 +347,13 @@ def write_device_name(send_data: str) -> Optional[bytes]:
             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")
+            buf_clear()
 #            print(f"设置状态: {display_data}")
             return 0
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buf_clear()
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None
@@ -335,7 +362,7 @@ def write_device_name(send_data: str) -> Optional[bytes]:
 def read_connected() -> 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_CONNECT_H, READ_CONNECT_L)
+    write_data(READ_CONNECT_H, READ_CONNECT_L, None, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -343,12 +370,13 @@ def read_connected() -> Optional[bytes]:
             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")
+            buf_clear()
 #            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()
+                buf_clear()
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None
@@ -367,7 +395,7 @@ def read_battery() -> Optional[bytes]:
 def read_peripheral() -> 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_PERIPH_H, READ_PERIPH_L)
+    write_data(READ_PERIPH_H, READ_PERIPH_L, None, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -375,6 +403,7 @@ def read_peripheral() -> Optional[bytes]:
             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]
+            buf_clear()
 #            for x in display_data:
 #                print(f"{x:02X}", end=' ')
 #            print("\n")
@@ -382,7 +411,7 @@ def read_peripheral() -> Optional[bytes]:
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
-                buffer.clear() 
+                buf_clear()
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None
@@ -390,8 +419,8 @@ def read_peripheral() -> Optional[bytes]:
 """单次操作外设"""         
 def single_operate_sensor(op_struct: bytes, block_time: float) -> 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)
+    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, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -399,6 +428,7 @@ def single_operate_sensor(op_struct: bytes, block_time: float) -> Optional[bytes
             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]
+            buf_clear()
 #            for x in display_data:
 #                print(f"{x:02X}", end=' ')
 #            print("\n")
@@ -406,7 +436,7 @@ def single_operate_sensor(op_struct: bytes, block_time: float) -> Optional[bytes
         else:
             if time.time() - start_time > 2+block_time:  
                 print("读取超时")
-                buffer.clear() 
+                buf_clear()
                 serial_lock.release()  #释放线程锁
                 fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
                 return None  
@@ -416,17 +446,18 @@ def P_port_init(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x0F, 0x00, 0xBE]
     servo_str[0]=0XA0+port
     time.sleep(0.005)
-    response = single_operate_sensor(servo_str,0)
-    if response:
-        return 0
-    else:
-        return None
+#    response = single_operate_sensor(servo_str,0)       
+    write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
               
 """从机模式转换"""         
 def mode_change(send_data: str) -> 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(MODE_CHANGE_H, MODE_CHANGE_L, send_data)
+    write_data(MODE_CHANGE_H, MODE_CHANGE_L, send_data, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -450,7 +481,7 @@ def mode_change(send_data: str) -> Optional[bytes]:
 def mode_change(send_data: str) -> 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(SEND_CYCLE_H, SEND_CYCLE_L, send_data)
+    write_data(SEND_CYCLE_H, SEND_CYCLE_L, send_data, False)
     start_time = time.time()
     while True:
         response =process_received_data()
@@ -502,8 +533,22 @@ def power_button_detec() -> bytes:
         fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
         return 0
         
-def buf_clear():
+def buf_clear():    
+    #清空Python层缓冲区
     buffer.clear()
+    frames_queue.clear()    
+    #清空pyserial缓冲区
+    try:
+        # 尝试先读取所有已到达的数据
+        while ser.in_waiting > 0:
+            ser.read(ser.in_waiting)
+        # 然后重置输入缓冲区
+        ser.reset_input_buffer()
+        fcntl.ioctl(ser.fileno(), termios.TCIOFLUSH)
+    except Exception as e:
+        print(f"清空串口缓冲区时出错: {e}")    
+    
+    return True
 
 """H2-RCU初始化"""
 def smartpi_init():
@@ -515,6 +560,7 @@ def smartpi_init():
     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()
+    serial_lock.release()
     fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
         
     servo.set_init(1)
@@ -560,7 +606,7 @@ def smartpi_init():
     P_port_init(5)
     P_port_init(6)
     
-    time.sleep(0.1)
-    serial_lock.release()     
-    time.sleep(0.1)   
+    if is_lock_locked(serial_lock):
+        serial_lock.release()  #释放线程锁
+    fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
             

smartpi/text_gte_model/config/config.json

@@ -0,0 +1,30 @@
+{
+  "_name_or_path": "thenlper/gte-small-zh",
+  "architectures": [
+    "BertModel"
+  ],
+  "attention_probs_dropout_prob": 0.1,
+  "classifier_dropout": null,
+  "directionality": "bidi",
+  "hidden_act": "gelu",
+  "hidden_dropout_prob": 0.1,
+  "hidden_size": 512,
+  "initializer_range": 0.02,
+  "intermediate_size": 2048,
+  "layer_norm_eps": 1e-12,
+  "max_position_embeddings": 512,
+  "model_type": "bert",
+  "num_attention_heads": 8,
+  "num_hidden_layers": 6,
+  "pad_token_id": 0,
+  "pooler_fc_size": 768,
+  "pooler_num_attention_heads": 12,
+  "pooler_num_fc_layers": 3,
+  "pooler_size_per_head": 128,
+  "pooler_type": "first_token_transform",
+  "position_embedding_type": "absolute",
+  "transformers_version": "4.33.2",
+  "type_vocab_size": 2,
+  "use_cache": true,
+  "vocab_size": 21128
+}

smartpi/text_gte_model/config/quantize_config.json

@@ -0,0 +1,30 @@
+{
+    "per_channel": true,
+    "reduce_range": true,
+    "per_model_config": {
+        "model": {
+            "op_types": [
+                "Erf",
+                "Softmax",
+                "Shape",
+                "Unsqueeze",
+                "ReduceMean",
+                "Sub",
+                "Transpose",
+                "Mul",
+                "Pow",
+                "Cast",
+                "Gather",
+                "Reshape",
+                "MatMul",
+                "Slice",
+                "Div",
+                "Sqrt",
+                "Constant",
+                "Add",
+                "Concat"
+            ],
+            "weight_type": "QInt8"
+        }
+    }
+}

smartpi/text_gte_model/config/special_tokens_map.json

@@ -0,0 +1,7 @@
+{
+  "cls_token": "[CLS]",
+  "mask_token": "[MASK]",
+  "pad_token": "[PAD]",
+  "sep_token": "[SEP]",
+  "unk_token": "[UNK]"
+}