cmvr-es/script/test.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
text_dgceshi.py — 写死 5 组表情（已按 XML 限位约束），每 5 秒切换，循环发送到 ESP32
依赖：pip install pyserial
用法：
  python text_dgceshi.py /dev/ttyUSB0 [baudrate]

帧格式（与你现有固件一致）：
[0]  0xAA
[1]  count = 指令条数（每条是5字节：addr, ch, ang, durL, durH）
[2..] 指令序列，共 count*5 字节
[end] XOR 校验（对前面所有字节异或）
"""

import sys
import time
import serial

FRAME_HEADER = 0xAA

def calc_checksum(data: bytearray) -> int:
    """XOR 校验"""
    cs = 0
    for b in data:
        cs ^= b
    return cs & 0xFF

def pack_pose(raw_list):
    """
    raw_list: [addr, ch, ang, durL, durH, addr, ch, ang, durL, durH, ...]
    返回带帧头/数量/校验的完整数据包 bytes
    """
    assert len(raw_list) % 5 == 0, "原始列表长度必须是 5 的倍数"
    count = len(raw_list) // 5
    pkt = bytearray([FRAME_HEADER, count & 0xFF])
    pkt.extend(int(x) & 0xFF for x in raw_list)
    pkt.append(calc_checksum(pkt))
    return bytes(pkt)

def print_packet(pkt):
    print("发送数据包:", ' '.join(f"0x{b:02X}" for b in pkt))

def wakeup_esp32(port, baud=115200):
    """通过 RTS/DTR 尝试唤醒 ESP32（可选）"""
    try:
        ser = serial.Serial(port, baud, timeout=1)
        ser.setDTR(False)
        ser.setRTS(False)
        time.sleep(0.02)
        ser.setDTR(True)
        ser.setRTS(True)
        ser.write(b"\r\n")
        time.sleep(0.2)
    except Exception as e:
        print(f"[WARN] 唤醒失败：{e}")
    finally:
        try:
            ser.close()
        except:
            pass

def open_serial(port, baud):
    try:
        ser = serial.Serial(port, baud, timeout=1)
        print(f"已打开串口: {port} @ {baud}bps")
        return ser
    except Exception as e:
        print(f"打开串口失败: {e}")
        sys.exit(1)

# =======================
# 五组“写死”的表情数据（严格遵守你的 XML 安全限位）
# 64:0~3  眉（offset 90/90/90/90，限位 45~120/…/50~120）
# 64:4~9  眼（offset 90..，限位 [90~170, 10~90, 10~90, 90~170, 10~170, 10~170]）
# 65:0~9  嘴（offset 90..，限位 [60~130, 60~130, 50~120, 50~130, 50~100, 50~130, 50~130, 90~120, 91~120, 60~89]）
# duration 全部为 0（立即执行）；如需时长，可把毫秒拆成 durL/durH 小端写入
# =======================

POSES_RAW = [
    # # Pose 1 — 中性位置（全部 offset）
    [
        # 板 64 — 眼眉 0~3
        64,0,90,0,0, 64,1,90,0,0, 64,2,90,0,0, 64,3,90,0,0,
        # 板 64 — 眼睛 4~9（选在各自安全范围内的中值/视觉舒适值）
        64,4,160,0,0, 64,5,20,0,0, 64,6,20,0,0, 64,7,160,0,0, 64,8,150,0,0, 64,9,150,0,0,
        # 板 65 — 嘴巴 0~9
        65,0,90,0,0, 65,1,90,0,0, 65,2,85,0,0, 65,3,90,0,0, 65,4,90,0,0,
        65,5,90,0,0, 65,6,90,0,0, 65,7,90,0,0, 65,8,90,0,0, 65,9,90,0,0
    ],

    # Pose 5 — 大笑（接近上限但不越界）
    [
        64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
        64,4,160,0,0, 64,5,20,0,0, 64,6,20,0,0, 64,7,160,0,0, 64,8,50,0,0, 64,9,40,0,0,
        65,0,50,0,0, 65,1,110,0,0, 65,2,70,0,0, 65,3,50,0,0, 65,4,100,0,0,
        65,5,110,0,0, 65,6,130,0,0, 65,7,90,0,0, 65,8,110,0,0, 65,9,70,0,0
    ],


    [
        64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
        64,4,160,0,0, 64,5,20,0,0, 64,6,20,0,0, 64,7,160,0,0, 64,8,50,0,0, 64,9,130,0,0,
        65,0,50,0,0, 65,1,110,0,0, 65,2,70,0,0, 65,3,50,0,0, 65,4,90,0,0,
        65,5,110,0,0, 65,6,130,0,0, 65,7,90,0,0, 65,8,90,0,0, 65,9,90,0,0
    ],
    [
        64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
        64,4,160,0,0, 64,5,20,0,0, 64,6,20,0,0, 64,7,160,0,0, 64,8,50,0,0, 64,9,40,0,0,
        65,0,50,0,0, 65,1,110,0,0, 65,2,70,0,0, 65,3,50,0,0, 65,4,90,0,0,
        65,5,110,0,0, 65,6,130,0,0, 65,7,90,0,0, 65,8,110,0,0, 65,9,70,0,0
    ]
]

POSES_RAW1 = [[
        # 板 64 — 眼眉 0~3
        64,0,90,0,0, 64,1,90,0,0, 64,2,90,0,0, 64,3,90,0,0,
        # 板 64 — 眼睛 4~9（选在各自安全范围内的中值/视觉舒适值）
        64,4,90,0,0, 64,5,90,0,0, 64,6,90,0,0, 64,7,90,0,0, 64,8,150,0,0, 64,9,150,0,0,
        # 板 65 — 嘴巴 0~9
        65,0,90,0,0, 65,1,90,0,0, 65,2,85,0,0, 65,3,90,0,0, 65,4,90,0,0,
        65,5,90,0,0, 65,6,90,0,0, 65,7,90,0,0, 65,8,90,0,0, 65,9,90,0,0
    ],

    # Pose 5 — 大笑（接近上限但不越界）
    [
        64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
        64,4,160,0,0, 64,5,20,0,0, 64,6,20,0,0, 64,7,160,0,0, 64,8,50,0,0, 64,9,40,0,0,
        65,0,50,0,0, 65,1,110,0,0, 65,2,70,0,0, 65,3,50,0,0, 65,4,100,0,0,
        65,5,110,0,0, 65,6,130,0,0, 65,7,90,0,0, 65,8,110,0,0, 65,9,70,0,0
    ],


]

def main():
    if len(sys.argv) < 2:
        print(f"用法: {sys.argv[0]} /dev/ttyUSB0 [baudrate]")
        sys.exit(1)
    port = sys.argv[1]
    baud = int(sys.argv[2]) if len(sys.argv) > 2 else 115200

    # 可选：尝试唤醒 ESP32
    wakeup_esp32(port, baud)

    ser = open_serial(port, baud)

    try:
        pose_idx = 0
        hold_seconds = 5
        print(f"开始循环播放 5 组表情，每组间隔 {hold_seconds} 秒...")
        while True:
            pose = POSES_RAW[pose_idx]
            pkt  = pack_pose(pose)
            print(f"\n→ 发送 Pose {pose_idx+1}/{len(POSES_RAW)}")
            print_packet(pkt)
            ser.write(pkt)
            ser.flush()
            time.sleep(hold_seconds)
            pose_idx = (pose_idx + 1) % len(POSES_RAW)
    except KeyboardInterrupt:
        print("\n用户中断，退出")
    finally:
        ser.close()
        print("串口已关闭")

if __name__ == "__main__":
    main()