CameraMachine/python/mcu/SerialIns.py

#!usr/bin/python3
import serial.tools.list_ports
import time


# https://blog.csdn.net/weixin_44289254/article/details/121583562


class SerialIns(object):
    def __init__(self, port_name=None, baud=9600, timeout=0.01):
        self.port_name = port_name
        self.baud = baud
        self.serial_handle = None
        # self.serial_handle = self.check_connect()
        try:
            self.serial_handle = serial.Serial(
                port=self.port_name, baudrate=self.baud, timeout=timeout
            )
            print("{}打开成功".format(self.port_name))
        except:
            self.serial_handle = None
            print("{}打开失败".format(self.port_name))

        self.receive_data = b""
        # self.receive_data = bytearray(b'\x00\UU\x02d\x00\x9b\x9b')

    def read_line(self):
        c = self.serial_handle.inWaiting()
        if c:
            time.sleep(0.02)
            # 确保缓存写入完成
            if c == self.serial_handle.inWaiting():
                return self.serial_handle.readline()
        return None

    def read_all(self):
        return self.serial_handle.read_all()

    def check_connect(self):
        if not self.port_name:
            self.scan_serial_port()
            if self.port_name:
                self.serial_handle = serial.Serial(self.port_name, self.baud)
        else:
            try:
                # if self.scan_serial_port(self.port_name):
                self.serial_handle = serial.Serial(self.port_name, self.baud)
                print("{}打开成功".format(self.port_name))
            except:
                print("{}打开失败".format(self.port_name))

        return self.serial_handle

    def clearn_flush(self):  # 清空接收缓存
        if self.serial_handle:
            self.serial_handle.flushInput()
            self.receive_data = b""

    def write_cmd(self, data: list):
        if self.serial_handle:
            # data = [(0xff & par1), (0xff & (par1 >> 8))]
            # self.clearn_flush()
            buf = bytearray(b"")
            buf.extend([0x55, 0x55, (0xFF & len(data))])
            buf.extend(data)
            buf.extend([0xFF & ~sum(data)])
            # 55 55 02 5a 01 a4
            # print("send buf  {}".format(self.change_hex_to_int(buf)))
            try:
                self.serial_handle.write(buf)
                return True
            except:
                self.serial_handle = None
                _recv_data = b""
                return False

    def read_cmd_out_time(self, scan_interval=0.1, out_time=1):
        if self.serial_handle:
            """
            获取数据，设计超时机制
            :param scan_interval:
            :param out_time:
            :return:
            """
            n = 0
            while 1:
                n += 1
                time.sleep(scan_interval)
                if out_time <= n * scan_interval:
                    return False
                receive_data = self.read_cmd()
                if receive_data:
                    return receive_data
        return False

    def read_cmd1(self, out_time=1, check=None):
        s = time.time()
        while 1:
            try:
                _recv_data = self.serial_handle.read_all()  # 读取接收到的数据
            except:
                self.serial_handle = None
                _recv_data = b""
                return False

            self.receive_data += _recv_data  # 写入所有缓存数据
            # print(self.receive_data)
            if not self.receive_data or len(self.receive_data) < 4:
                return
            if self.receive_data[0] == 0x55 and self.receive_data[1] == 0x55:
                # print("read ori ", self.change_hex_to_int(self.receive_data))
                data_len = self.receive_data[2]
                if len(self.receive_data) < data_len + 4:
                    # 此处需要超时机制
                    print("1数据长度不够，等待下次读取")
                    # 超时退出
                    if time.time() - s > out_time:
                        time.sleep(0.01)
                        return
                _data = self.receive_data[3 : data_len + 4]
                # 更新缓存区
                self.receive_data = self.receive_data[data_len + 4 :]
                # 校验数据
                if check is None:
                    if 0xFF & ~sum(_data[:-1]) == _data[-1]:
                        # print("data:", self.change_hex_to_int(data[:-1]))
                        return _data[:-1]
                    else:
                        print("数据异常，丢弃")
                        return
                else:
                    if _data[-1] == check:
                        return _data[:-1]
                    else:
                        print("数据异常，丢弃")
                        return
            else:
                # print("起始位不是 55 55 进行移除", self.receive_data[0])
                # 起始位不是 55 55 进行移除
                index = 0
                for index, r_data in enumerate(self.receive_data):
                    if r_data == 0x55:
                        break

                index += 1
                if index >= len(self.receive_data):
                    self.receive_data = b""
                else:
                    self.receive_data = self.receive_data[index - 1 :]

    def read_cmd111(self, out_time=1, check=None):
        while 1:
            try:
                _recv_data = self.serial_handle.read_all()  # 读取接收到的数据
            except BaseException as e:
                print("串口接收报错", e)
                self.serial_handle = None
                _recv_data = b""
                return False

            # print("read_cmd", _recv_data)
            if not _recv_data or len(_recv_data) < 4:
                # print("数据长度不够")
                return

            print("2   _recv_data", self.change_hex_to_int(_recv_data))
            if _recv_data[0] == 0x55 and _recv_data[1] == 0x55:
                # print("read ori ", self.change_hex_to_int(self.receive_data))
                data_len = _recv_data[2]
                if len(_recv_data) < data_len + 4:
                    # 此处需要超时机制
                    print("2数据长度不够，等待下次读取")
                    # if time.time() - s > out_time:
                    #     time.sleep(0.01)
                    #     return
                    return

                _data = _recv_data[3 : data_len + 4]
                # 校验数据
                if check is None:
                    if 0xFF & ~sum(_data[:-1]) == _data[-1]:
                        # print("data:", self.change_hex_to_int(data[:-1]))
                        return _data[:-1]
                    else:
                        print("数据异常，丢弃")
                        return
                else:
                    if _data[-1] == check:
                        return _data[:-1]
                    else:
                        print("数据异常，丢弃")
                        return
            else:
                # 起始位不是 55 55 进行移除
                while self.receive_data:
                    if len(self.receive_data) == 1:
                        if self.receive_data[0] == 0x55:
                            break
                        else:
                            self.receive_data = b""
                    else:
                        if (
                            self.receive_data[0] == 0x55
                            and self.receive_data[1] == 0x55
                        ):
                            break
                        else:
                            self.receive_data = self.receive_data[1:]

    def read_cmd(self, out_time=1, check=None, out_time_n=5):
        n = 0
        while 1:
            try:
                read_d = self.serial_handle.read_all()  # 读取接收到的数据
                self.receive_data += read_d
            except BaseException as e:
                print("串口接收报错", e)
                self.serial_handle = None
                return False

            if len(self.receive_data) < 4:
                break

            if self.receive_data[0] == 0x55 and self.receive_data[1] == 0x55:
                # print("read ori ", self.change_hex_to_int(self.receive_data))
                data_len = self.receive_data[2]
                if len(self.receive_data) < data_len + 4:
                    # 此处需要超时机制
                    # print("数据长度不够，等待下次读取")
                    # 超时退出
                    # if not self.serial_handle.txdone():
                    #     return None
                    # n += 1
                    # if n > out_time_n:
                    #     return None
                    # time.sleep(0.01)
                    continue
                _data = self.receive_data[3 : data_len + 4]
                # 更新缓存区
                self.receive_data = self.receive_data[data_len + 4 :]
                # 校验数据
                if 0xFF & ~sum(_data[:-1]) == _data[-1]:
                    # print("receive_data:", self.change_hex_to_int(self.receive_data[:-1]))
                    return _data[:-1]
                else:
                    return None
            else:
                # print("起始位不是 55 55 进行移除", self.receive_data[0])
                # 起始位不是 55 55 进行移除
                while self.receive_data:
                    if len(self.receive_data) == 1:
                        if self.receive_data[0] == 0x55:
                            break
                        else:
                            self.receive_data = b""
                    else:
                        if (
                            self.receive_data[0] == 0x55
                            and self.receive_data[1] == 0x55
                        ):
                            break
                        else:
                            self.receive_data = self.receive_data[1:]

    def change_hex_to_int(self, _bytearray):
        return " ".join([hex(x)[2:].zfill(2) for x in _bytearray])

    def scan_serial_port(self, port_name=None):
        plist = list(serial.tools.list_ports.comports())
        if len(plist) <= 0:
            return None

        if port_name:
            for i in plist:
                # print("port", i)
                if i.name == port_name:
                    return i
            return None
        else:
            for i in plist:
                if "CH340" in i.description:
                    self.port_name = i.name
                    print("----------", i)
            return plist

    def open_serial_port(self):
        if self.serial_handle:
            if not s.check_connect():
                self.serial_handle.open()
        return True

    def close_serial_port(self):
        if self.serial_handle:
            self.serial_handle.close()
            print("{}串口已关闭".format(self.port_name))
            self.serial_handle = None

    def __del__(self):
        self.close_serial_port()


if __name__ == "__main__":
    s = SerialIns(port_name="COM11", baud=115200, timeout=0.1)
    s.scan_serial_port()
    s.clearn_flush()
    print("-" * 30)
    for i in range(2):
        data = [0x55, 0x55, 0x2, 0x5A, 0x1, 0xA4]
        print("command data {}".format(s.change_hex_to_int(data)))
        # s.write_cmd(data=data)
        buf = bytearray(b"")
        buf.extend(data)
        s.serial_handle.write(buf)

        time.sleep(0.1)
        data = s.read_cmd()
        # print("data-->", data)
        if data:
            print("data--> {}".format(s.change_hex_to_int(data)))
        time.sleep(1)
    print("-" * 30)
    s.close_serial_port()