162 lines
7.6 KiB
Python
162 lines
7.6 KiB
Python
# coding:UTF-8
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"""
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测试文件
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Test file
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"""
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import time
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import datetime
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import platform
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import struct
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import lib.device_model as deviceModel
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from lib.data_processor.roles.jy901s_dataProcessor import JY901SDataProcessor
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from lib.protocol_resolver.roles.wit_protocol_resolver import WitProtocolResolver
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welcome = """
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欢迎使用维特智能示例程序 Welcome to the Wit-Motoin sample program
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"""
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_writeF = None #写文件 Write file
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_IsWriteF = False #写文件标识 Write file identification
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def readConfig(device):
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"""
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读取配置信息示例 Example of reading configuration information
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:param device: 设备模型 Device model
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:return:
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"""
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tVals = device.readReg(0x02,3) #读取数据内容、回传速率、通讯速率 Read data content, return rate, communication rate
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if (len(tVals)>0):
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print("返回结果：" + str(tVals))
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else:
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print("无返回")
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tVals = device.readReg(0x23,2) #读取安装方向、算法 Read the installation direction and algorithm
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if (len(tVals)>0):
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print("返回结果：" + str(tVals))
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else:
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print("无返回")
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def setConfig(device):
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"""
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设置配置信息示例 Example setting configuration information
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:param device: 设备模型 Device model
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:return:
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"""
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device.unlock() # 解锁 unlock
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time.sleep(0.1) # 休眠100毫秒 Sleep 100ms
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device.writeReg(0x03, 6) # 设置回传速率为10HZ Set the transmission back rate to 10HZ
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time.sleep(0.1) # 休眠100毫秒 Sleep 100ms
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device.writeReg(0x23, 0) # 设置安装方向:水平、垂直 Set the installation direction: horizontal and vertical
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time.sleep(0.1) # 休眠100毫秒 Sleep 100ms
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device.writeReg(0x24, 0) # 设置安装方向:九轴、六轴 Set the installation direction: nine axis, six axis
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time.sleep(0.1) # 休眠100毫秒 Sleep 100ms
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device.save() # 保存 Save
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def AccelerationCalibration(device):
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"""
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加计校准 Acceleration calibration
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:param device: 设备模型 Device model
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:return:
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"""
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device.AccelerationCalibration() # Acceleration calibration
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print("加计校准结束")
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def FiledCalibration(device):
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"""
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磁场校准 Magnetic field calibration
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:param device: 设备模型 Device model
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:return:
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"""
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device.BeginFiledCalibration() # 开始磁场校准 Starting field calibration
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if input("请分别绕XYZ轴慢速转动一圈，三轴转圈完成后，结束校准（Y/N)？").lower()=="y":
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device.EndFiledCalibration() # 结束磁场校准 End field calibration
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print("结束磁场校准")
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def onUpdate(deviceModel):
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"""
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数据更新事件 Data update event
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:param deviceModel: 设备模型 Device model
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:return:
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"""
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print("芯片时间:" + str(deviceModel.getDeviceData("Chiptime"))
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, " 温度:" + str(deviceModel.getDeviceData("temperature"))
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, " 加速度：" + str(deviceModel.getDeviceData("accX")) +","+ str(deviceModel.getDeviceData("accY")) +","+ str(deviceModel.getDeviceData("accZ"))
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, " 角速度:" + str(deviceModel.getDeviceData("gyroX")) +","+ str(deviceModel.getDeviceData("gyroY")) +","+ str(deviceModel.getDeviceData("gyroZ"))
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, " 角度:" + str(deviceModel.getDeviceData("angleX")) +","+ str(deviceModel.getDeviceData("angleY")) +","+ str(deviceModel.getDeviceData("angleZ"))
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, " 磁场:" + str(deviceModel.getDeviceData("magX")) +","+ str(deviceModel.getDeviceData("magY"))+","+ str(deviceModel.getDeviceData("magZ"))
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, " 经度:" + str(deviceModel.getDeviceData("lon")) + " 纬度:" + str(deviceModel.getDeviceData("lat"))
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, " 航向角:" + str(deviceModel.getDeviceData("Yaw")) + " 地速:" + str(deviceModel.getDeviceData("Speed"))
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, " 四元素:" + str(deviceModel.getDeviceData("q1")) + "," + str(deviceModel.getDeviceData("q2")) + "," + str(deviceModel.getDeviceData("q3"))+ "," + str(deviceModel.getDeviceData("q4"))
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)
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if (_IsWriteF): #记录数据 Record data
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Tempstr = " " + str(deviceModel.getDeviceData("Chiptime"))
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Tempstr += "\t"+str(deviceModel.getDeviceData("accX")) + "\t"+str(deviceModel.getDeviceData("accY"))+"\t"+ str(deviceModel.getDeviceData("accZ"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("gyroX")) +"\t"+ str(deviceModel.getDeviceData("gyroY")) +"\t"+ str(deviceModel.getDeviceData("gyroZ"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("angleX")) +"\t" + str(deviceModel.getDeviceData("angleY")) +"\t"+ str(deviceModel.getDeviceData("angleZ"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("temperature"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("magX")) +"\t" + str(deviceModel.getDeviceData("magY")) +"\t"+ str(deviceModel.getDeviceData("magZ"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("lon")) + "\t" + str(deviceModel.getDeviceData("lat"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("Yaw")) + "\t" + str(deviceModel.getDeviceData("Speed"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("q1")) + "\t" + str(deviceModel.getDeviceData("q2"))
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Tempstr += "\t" + str(deviceModel.getDeviceData("q3")) + "\t" + str(deviceModel.getDeviceData("q4"))
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Tempstr += "\r\n"
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_writeF.write(Tempstr)
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def startRecord():
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"""
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开始记录数据 Start recording data
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:return:
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"""
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global _writeF
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global _IsWriteF
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_writeF = open(str(datetime.datetime.now().strftime('%Y%m%d%H%M%S')) + ".txt", "w") #新建一个文件
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_IsWriteF = True #标记写入标识
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Tempstr = "Chiptime"
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Tempstr += "\tax(g)\tay(g)\taz(g)"
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Tempstr += "\twx(deg/s)\twy(deg/s)\twz(deg/s)"
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Tempstr += "\tAngleX(deg)\tAngleY(deg)\tAngleZ(deg)"
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Tempstr += "\tT(°)"
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Tempstr += "\tmagx\tmagy\tmagz"
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Tempstr += "\tlon\tlat"
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Tempstr += "\tYaw\tSpeed"
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Tempstr += "\tq1\tq2\tq3\tq4"
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Tempstr += "\r\n"
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_writeF.write(Tempstr)
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print("开始记录数据")
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def endRecord():
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"""
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结束记录数据 End record data
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:return:
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"""
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global _writeF
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global _IsWriteF
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_IsWriteF = False # 标记不可写入标识 Tag cannot write the identity
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_writeF.close() #关闭文件 Close file
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print("结束记录数据")
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if __name__ == '__main__':
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print(welcome)
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"""
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初始化一个设备模型 Initialize a device model
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"""
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device = deviceModel.DeviceModel(
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"我的JY901",
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WitProtocolResolver(),
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JY901SDataProcessor(),
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"51_0"
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)
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if (platform.system().lower() == 'linux'):
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device.serialConfig.portName = "/dev/ttyUSB0" #设置串口 Set serial port
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else:
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device.serialConfig.portName = "COM39" #设置串口 Set serial port
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device.serialConfig.baud = 9600 #设置波特率 Set baud rate
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device.openDevice() #打开串口 Open serial port
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readConfig(device) #读取配置信息 Read configuration information
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device.dataProcessor.onVarChanged.append(onUpdate) #数据更新事件 Data update event
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startRecord() # 开始记录数据 Start recording data
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input()
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device.closeDevice()
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endRecord() #结束记录数据 End record data
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