mcu连接

python/mcu/DeviceControl.py

@@ -38,7 +38,6 @@ class DeviceControl(BaseClass, metaclass=SingletonType):
         self.state_turntable_steering = 3
         self.state_overturn_steering = 3
         self.state_move_turntable_steering = 3
-
         self.last_from_mcu_move_respond_data = None
         self.camera_motor_speed = 0
         self.camera_motor_value = 0
@@ -54,6 +53,7 @@ class DeviceControl(BaseClass, metaclass=SingletonType):
         self.is_runn_action = False
         self.is_stop_action = False
         self.connect_state = False
+        self.is_init_while = False
         self.device_name_dict = {
             "camera_steering": 0,
             "camera_high_motor": 1,
@@ -196,6 +196,8 @@ class DeviceControl(BaseClass, metaclass=SingletonType):
         # self.sign_data.emit(
         #     {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 连接失败"}
         # )
+        print("串口未连接,请检查")
+        self.sendSocketMessage(code=1, msg="串口未连接,请检查",device_status=-1)
         message = {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 连接失败"}
         self.sendSocketMessage(code=1, msg="MCU 连接失败", data=message,device_status=-1)
         self.close_connect()
@@ -502,7 +504,7 @@ class DeviceControl(BaseClass, metaclass=SingletonType):
             self.connect_state = False
             return False
         if not receive_data:
-            return
+            return False
         # print("receive_data", receive_data)
         # 数据 结构 command，按命令解析
         # command 0（9） 相机高度1-2  相机角度3-4  转盘角度5-6 灯光状态7  激光指示器状态8，运行状态9
@@ -956,8 +958,9 @@ class DeviceControl(BaseClass, metaclass=SingletonType):
             return False
 
         await asyncio.sleep(0.3)
-        print("尝试接收命令")
+        # print("尝试接收命令")
         receive_data = self.read_cmd(serial_handle)
+        print("尝试接收命令", receive_data)
         device_id = 0
 
         if receive_data:
@@ -1147,8 +1150,8 @@ class DeviceControl(BaseClass, metaclass=SingletonType):
             self.is_running = False
             self.connect_state = False
             self.connected_ports_dict = {}  # 已连接的ports
-            self.p_list = []
-            self.temp_ports_dict = {}
+            # self.p_list = []
+            # self.temp_ports_dict = {}
             self.init_state = False
             print("关闭MCU")
 
@@ -1659,9 +1662,12 @@ async def checkMcuConnection(device_ctrl: DeviceControl):
         device_ctrl.device_status = 2
         device_ctrl.sendSocketMessage(code=0, msg="MCU连接成功", data=message)
         return
+    if device_ctrl.is_init_while:
+        return
+    device_ctrl.is_init_while = True
     """实时检测串口是否连接"""
     while True:
-        await asyncio.sleep(0.5)
+        await asyncio.sleep(1)
         if device_ctrl.mcu_exit:
             break
         ports_dict = device_ctrl.scan_serial_port()
@@ -1671,8 +1677,6 @@ async def checkMcuConnection(device_ctrl: DeviceControl):
             if device_ctrl.p_list:
                 _p = device_ctrl.p_list.pop()
                 device_ctrl.remove_port(_p)
-            print("串口未连接,请检查")
-            device_ctrl.sendSocketMessage(code=1, msg="串口未连接,请检查",device_status=-1)
             continue
         if ports_dict:
             for index, _i in enumerate(device_ctrl.p_list):
@@ -1688,4 +1692,5 @@ async def checkMcuConnection(device_ctrl: DeviceControl):
                         device_ctrl.p_list.append(_port_name)
                     except BaseException as e:
                         print("串口不存在{} {}".format(_port_name, e))
+    device_ctrl.is_init_while = False
     print("MCU断开连接，已释放")