import os import time # from lief import Object import asyncio from collections import OrderedDict class DebugUart(): def __init__(self, mcu): # super().__init__() self.mcu = mcu # 0x01 0x42 0x6C 0x6b async def set(self, text): await asyncio.sleep(0.1) # 1 0x42 0x6C 0x6b # text = self.ui.textEdit.toPlainText() # self.ui.textEdit_2.clear() if not text: return text = text.replace("，", ",") text = text.replace(" ", ",") text = text.replace("\n", ",") data = text.split(",") try: buf = [ self.mcu.command["signal_forwarding"], 0x01, 0x01, 0x00, 0x00, ] data = [int(x, 16) for x in data if x] buf.extend(data) text = " ".join([f"0x{x:02X}" for x in data]) self.mcu.msg_type = "send_command" self.mcu.sendSocketMessage( code=0, msg="命令发送完成", device_status=2, data={"command": text, "type": "input"}, ) self.mcu.msg_type = "mcu" # self.ui.textEdit.setText(text) # # 刷新界面命令 # QApplication.processEvents() self.mcu.add_send_data_queue(buf) loop = asyncio.get_event_loop() loop.create_task(self.get(), name="sendCommand3") except BaseException as e: print("解析错误", e) pass async def get(self, *args): await asyncio.sleep(0.1) self.mcu.last_from_mcu_move_respond_data = None _s = time.time() print("_s", _s) while 1: await asyncio.sleep(0.1) if time.time() - _s > 3: return False # print("last_from_mcu_move_respond_data 1", time.time() - _s) # print( # "last_from_mcu_move_respond_data 2", # self.mcu.last_from_mcu_move_respond_data, # ) if self.mcu.last_from_mcu_move_respond_data is not None: break receive_data = self.mcu.last_from_mcu_move_respond_data receive_data = receive_data[2:] print("<------------------get_from_mcu_move_respond_data") # self.ui.textEdit_2.setText(" ".join([hex(x) for x in receive_data])) text = " ".join([hex(x) for x in receive_data]) self.mcu.msg_type = "send_command" self.mcu.sendSocketMessage( code=0, msg="命令发送完成", device_status=2, data={"command": text, "type": "output"}, ) self.mcu.msg_type = "mcu" if len(receive_data) >= 37: # 锁定按键菜单 Lock 为 Disable（0x01 为 Enable）； data = OrderedDict() # 锁定按键菜单 Lock 为 Disable（0x01 为 Enable）； data["锁定按键菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=4, len_data=1 ) # 控制模式菜单 Ctrl_Mode 为 CR_VFOC，即 FOC 矢量闭环控制模式； data["控制模式菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=5, len_data=1 ) # 脉冲端口复用功能菜单 P_PUL 为 PUL_ENA，即使能脉冲输入控制 data["脉冲端口复用功能菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=6, len_data=1 ) # 通讯端口复用功能菜单 P_Serial 为 UART_FUN，即使能串口通讯； data["通讯端口复用功能菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=7, len_data=1 ) # En 引脚的有效电平菜单 En 为 Hold，即一直有效 data["En引脚的有效电平菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=8, len_data=1 ) # 电机旋转正方向菜单 Dir 为 CW，即顺时针方向 data["电机旋转正方向菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=9, len_data=1 ) # 细分菜单 MStep 为 16 细分;（注：256 细分用 00 表示） data["细分菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=10, len_data=1 ) # 细分插补功能菜单 MPlyer 为 Enable，即使能细分插补； data["细分插补功能菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=11, len_data=1 ) # 自动熄屏功能菜单 AutoSDD 为 Disable，即关闭自动熄屏功能 data["自动熄屏功能菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=12, len_data=1 ) # 采样电流低通滤波器强度菜单 LPFilter 为 Def data["采样电流低通滤波器强度菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=13, len_data=1 ) # 开环模式工作电流菜单 Ma 为 120 0Ma data["开环模式工作电流菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=14, len_data=2 ) # 闭环模式最大电流菜单 Ma_Limit 为 2200Ma； data["闭环模式最大电流菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=16, len_data=2 ) # 闭环模式最大转速菜单 Vm_Limit 为 3000RPM（转/每分钟）； data["闭环模式最大转速菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=18, len_data=2 ) # 电流环带宽菜单 CurBW_Hz 为 1000rad/s； data["电流环带宽菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=20, len_data=2 ) # 串口波特率菜单 UartBaud 为 115200;（对应小屏幕选项顺序） data["串口波特率菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=22, len_data=1 ) # CAN 通讯速率菜单 CAN_Baud 为 500000;（对应小屏幕选项顺序） data["CAN通讯速率菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=23, len_data=1 ) # 通讯校验方式菜单 Checksum 为 0x6B; data["通讯校验方式菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=24, len_data=1 ) # 控制命令应答菜单 Response 为 Receive，即只返回确认收到命令; data["控制命令应答菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=25, len_data=1 ) # 通讯控制输入角度精确度选项菜单 S_PosTDP 为 Disable; data["通讯控制输入角度精确度选项菜单"] = ( self.mcu.get_data_from_receive_data( receive_data=receive_data, start=26, len_data=1 ) ) # 堵转保护功能菜单 Clog_Pro 为 Enable，即使能堵转保护; data["堵转保护功能菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=27, len_data=1 ) # 堵转保护转速阈值菜单 Clog_Rpm 为 8RPM（转/每分钟）; data["堵转保护转速阈值菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=28, len_data=2 ) # 堵转保护电流阈值菜单 Clog_Ma 为 2000Ma; data["堵转保护电流阈值菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=30, len_data=2 ) # 堵转保护检测时间阈值菜单 Clog_Ms 为 2000ms; data["堵转保护检测时间阈值菜单"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=32, len_data=2 ) # 位置到达窗口为 0.3 data["位置到达窗口"] = self.mcu.get_data_from_receive_data( receive_data=receive_data, start=34, len_data=2 ) for k, v in data.items(): print("{}:{}".format(k, v)) return data