384 lines
16 KiB
Python
384 lines
16 KiB
Python
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import serial
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import time
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import serial.tools.list_ports
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from typing import Optional, Dict, List
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import logging
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import tkinter as tk
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from tkinter import ttk, messagebox, scrolledtext
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# 配置日志系统
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logging.basicConfig(
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level=logging.INFO,
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format='%(asctime)s - %(levelname)s - %(message)s'
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)
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logger = logging.getLogger(__name__)
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# 传感器型号与分布力数据长度的映射（单位：字节）
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SENSOR_DISTRIBUTED_LENGTH = {
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"S1813_elite": 93,
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"S2015_elite": 156,
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"S1813_core": 153,
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"S2716_core": 348,
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"S3013_core": 288,
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"M2826_omega": 381,
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"L3530_omega": 405,
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"S1610_elite": 75,
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"M2324_core": 204,
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"M3025_core": 231,
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"L5325_omega": 717,
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"M2020_elite": 27
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}
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class SensorUI:
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def __init__(self, root):
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self.root = root
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self.root.title("传感器数据采集系统")
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self.root.geometry("900x700")
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self.root.resizable(True, True)
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self.ser = None # 串口对象
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self.running = False # 数据采集状态
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self.init_ui()
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def init_ui(self):
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# ===== 配置区域 =====
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config_frame = ttk.LabelFrame(self.root, text="设备配置")
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config_frame.pack(fill=tk.X, padx=10, pady=5)
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# COM口选择
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ttk.Label(config_frame, text="COM口:").grid(row=0, column=0, padx=5, pady=5, sticky=tk.W)
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self.com_var = tk.StringVar()
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self.com_combo = ttk.Combobox(config_frame, textvariable=self.com_var, width=10)
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self.com_combo.grid(row=0, column=1, padx=5, pady=5)
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ttk.Button(config_frame, text="刷新", command=self.refresh_com_ports).grid(row=0, column=2, padx=5, pady=5)
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# 传感器型号选择（联动数据长度）
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ttk.Label(config_frame, text="传感器型号:").grid(row=0, column=3, padx=5, pady=5, sticky=tk.W)
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self.sensor_model = tk.StringVar(value="S1813_elite")
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self.sensor_combo = ttk.Combobox(config_frame, textvariable=self.sensor_model, width=15)
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self.sensor_combo['values'] = list(SENSOR_DISTRIBUTED_LENGTH.keys())
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self.sensor_combo.bind("<<ComboboxSelected>>", self.update_length_by_model) # 选择型号时更新长度
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self.sensor_combo.grid(row=0, column=4, padx=5, pady=5)
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# 模组号选择（联动设备地址）
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ttk.Label(config_frame, text="模组号:").grid(row=0, column=5, padx=5, pady=5, sticky=tk.W)
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self.module_id = tk.StringVar(value="00") # 默认模组号00
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self.module_combo = ttk.Combobox(config_frame, textvariable=self.module_id, width=5)
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self.module_combo['values'] = ["00", "01", "02", "03", "04", "05", "06", "07"]
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self.module_combo.bind("<<ComboboxSelected>>", self.update_device_addr) # 选择模组号时更新设备地址
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self.module_combo.grid(row=0, column=6, padx=5, pady=5)
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# 设备地址显示（只读，由模组号计算得出）
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ttk.Label(config_frame, text="设备地址:").grid(row=0, column=7, padx=5, pady=5, sticky=tk.W)
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self.device_addr_var = tk.StringVar(value="01") # 模组号00对应设备地址01
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ttk.Label(config_frame, textvariable=self.device_addr_var, width=5).grid(row=0, column=8, padx=5, pady=5)
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# 数据长度设置（可手动修改）
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ttk.Label(config_frame, text="分布力数据长度(字节):").grid(row=1, column=0, padx=5, pady=5, sticky=tk.W)
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self.dist_length = tk.StringVar(value=str(SENSOR_DISTRIBUTED_LENGTH["S1813_elite"]))
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self.dist_entry = ttk.Entry(config_frame, textvariable=self.dist_length, width=10)
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self.dist_entry.grid(row=1, column=1, padx=5, pady=5)
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ttk.Label(config_frame, text="合力数据长度(字节):").grid(row=1, column=2, padx=5, pady=5, sticky=tk.W)
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self.result_length = tk.StringVar(value="3")
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ttk.Entry(config_frame, textvariable=self.result_length, width=10).grid(row=1, column=3, padx=5, pady=5)
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# 控制按钮
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btn_frame = ttk.Frame(config_frame)
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btn_frame.grid(row=1, column=4, columnspan=5, padx=5, pady=5)
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ttk.Button(btn_frame, text="连接设备", command=self.connect_device).pack(side=tk.LEFT, padx=5)
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ttk.Button(btn_frame, text="传感器标定", command=self.calibrate_sensor).pack(side=tk.LEFT, padx=5)
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ttk.Button(btn_frame, text="开始采集", command=self.start_collection).pack(side=tk.LEFT, padx=5)
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ttk.Button(btn_frame, text="停止采集", command=self.stop_collection).pack(side=tk.LEFT, padx=5)
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# ===== 日志显示区域 =====
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log_frame = ttk.LabelFrame(self.root, text="数据日志")
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log_frame.pack(fill=tk.BOTH, expand=True, padx=10, pady=5)
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self.log_text = scrolledtext.ScrolledText(log_frame, wrap=tk.WORD, state=tk.DISABLED)
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self.log_text.pack(fill=tk.BOTH, expand=True, padx=5, pady=5)
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# 初始化COM口列表和设备地址
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self.refresh_com_ports()
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self.update_device_addr()
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def refresh_com_ports(self):
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"""刷新COM口列表"""
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ports = [port.device for port in serial.tools.list_ports.comports()]
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self.com_combo['values'] = ports
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if ports:
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self.com_var.set(ports[0])
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def update_device_addr(self, event=None):
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"""根据模组号计算设备地址（设备地址 = 模组号 + 1，转为十六进制）"""
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try:
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module_dec = int(self.module_id.get(), 16) # 模组号转为十进制
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device_dec = module_dec + 1 # 设备地址 = 模组号 + 1
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device_hex = f"{device_dec:02X}" # 转为2位十六进制（大写）
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self.device_addr_var.set(device_hex)
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self.log(f"模组号{self.module_id.get()} → 设备地址{device_hex}")
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except ValueError:
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self.log("模组号格式错误，无法计算设备地址")
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def update_length_by_model(self, event=None):
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"""根据选择的传感器型号自动更新分布力数据长度"""
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model = self.sensor_model.get()
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if model in SENSOR_DISTRIBUTED_LENGTH:
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self.dist_length.set(str(SENSOR_DISTRIBUTED_LENGTH[model]))
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self.log(f"自动更新{model}的分布力数据长度为: {SENSOR_DISTRIBUTED_LENGTH[model]}字节")
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def log(self, message: str):
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"""在UI中显示日志"""
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self.log_text.config(state=tk.NORMAL)
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self.log_text.insert(tk.END, message + "\n")
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self.log_text.see(tk.END)
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self.log_text.config(state=tk.DISABLED)
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def connect_device(self):
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"""连接串口设备"""
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if self.ser and self.ser.is_open:
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self.ser.close()
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com_port = self.com_var.get()
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if not com_port:
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messagebox.showerror("错误", "请选择COM口")
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return
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try:
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self.ser = serial.Serial(
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port=com_port,
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baudrate=921600,
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bytesize=serial.EIGHTBITS,
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parity=serial.PARITY_NONE,
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stopbits=serial.STOPBITS_ONE,
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timeout=0.1, # 读取超时缩短至0.1秒
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write_timeout=0.1, # 写入超时缩短
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inter_byte_timeout=0.0005, # 字节间隔超时缩短
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xonxoff=False,
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rtscts=False
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)
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if self.ser.is_open:
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self.log(f"串口连接成功: {com_port}（波特率921600）")
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logger.info(f"串口连接成功: {com_port}")
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except serial.SerialException as e:
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self.log(f"串口连接失败: {str(e)}")
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logger.error(f"串口连接失败: {str(e)}")
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messagebox.showerror("连接失败", str(e))
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def get_commands(self) -> Dict[str, str]:
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"""生成命令帧"""
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model = self.sensor_model.get()
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device_addr = self.device_addr_var.get() # 设备地址（十六进制，如"01"）
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dist_len = int(self.dist_length.get()) # 分布力数据长度（十进制）
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# 1. 分布力命令帧：
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# 命令帧格式：55 AA 09 00 [设备地址] 00 FB 0E 04 00 00 [长度低8位] [长度高8位]
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len_low = dist_len & 0xFF # 数据长度低8位
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len_high = (dist_len >> 8) & 0xFF # 数据长度高8位
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len_hex = f"{len_low:02X}{len_high:02X}" # 小端格式（低位+高位）
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distributed_frame = f"55 AA 09 00 {device_addr} 00 FB 0E 04 00 00 {len_hex[0:2]} {len_hex[2:4]}"
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# 2. 标定命令帧：
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# 格式：55 AA 0A 00 [设备地址] 00 79 03 00 00 00 01 00 01
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calibration_frame = f"55 AA 0A 00 {device_addr} 00 79 03 00 00 00 01 00 01"
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# 3. 合力命令帧：
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# 格式：55 AA 09 00 [设备地址] 00 FB F0 03 00 00 03 00
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resultant_frame = f"55 AA 09 00 {device_addr} 00 FB F0 03 00 00 03 00"
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return {
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"calibration": calibration_frame,
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"resultant_force": resultant_frame,
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"distributed_force": distributed_frame
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}
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def calculate_lrc(self, data: bytes) -> int:
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"""计算LRC校验值"""
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lrc = 0
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for byte in data:
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lrc = (lrc + byte) & 0xFF
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lrc = ((~lrc) + 1) & 0xFF
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return lrc
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def send_command(self, command_type: str) -> Optional[bytes]:
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"""发送命令并返回响应"""
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if not self.ser or not self.ser.is_open:
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self.log("未连接设备，请先连接")
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return None
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commands = self.get_commands()
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if command_type not in commands:
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self.log(f"未知命令类型: {command_type}")
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return None
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# 生成带LRC的命令帧
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frame = commands[command_type].replace(" ", "") # 移除空格
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try:
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frame_bytes = bytes.fromhex(frame)
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lrc = self.calculate_lrc(frame_bytes)
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frame_with_lrc = frame + f"{lrc:02X}" # 追加LRC
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except ValueError as e:
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self.log(f"生成命令帧失败: {str(e)}")
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return None
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# 发送命令并打印详情（含设备地址和数据长度）
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try:
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data_bytes = bytes.fromhex(frame_with_lrc)
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self.ser.write(data_bytes)
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print(f"发送{command_type}命令（设备地址={self.device_addr_var.get()}）: {frame_with_lrc}")
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except serial.SerialException as e:
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self.log(f"命令发送失败: {str(e)}")
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return None
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# 读取响应
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time.sleep(0.01)
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response = b""
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start_time = time.time()
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while time.time() - start_time < 0.2: # 1.5秒超时
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if self.ser.in_waiting > 0:
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response += self.ser.read(self.ser.in_waiting) # 一次性读取所有等待的数据，减少循环次数
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# 若已读取到预期长度（根据命令类型），提前退出
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if command_type == "resultant_force" and len(response) >= 14 + 3:
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break
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if command_type == "distributed_force" and len(response) >= 14 + int(self.dist_length.get()):
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break
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# 极短延迟
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time.sleep(0.0001)
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if response:
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print(f"收到响应（{len(response)}字节）: {response.hex()}")
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return response
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print("未收到响应")
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return None
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def calibrate_sensor(self):
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"""标定"""
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response = self.send_command("calibration")
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if response:
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# 校验帧头
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if response[:2].hex() == "aa55":
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self.log(f"{self.sensor_model.get()} 标定成功")
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else:
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self.log("标定响应格式错误")
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else:
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self.log("标定失败")
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def parse_resultant_force(self, data: bytes) -> Optional[Dict]:
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"""解析合力数据"""
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if len(data) != int(self.result_length.get()):
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print(f"合力数据长度错误（预期{self.result_length.get()}字节，实际{len(data)}字节）")
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return None
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byte1, byte2, byte3 = data[0], data[1], data[2]
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val1 = byte1 if byte1 <= 127 else byte1 - 256
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val2 = byte2 if byte2 <= 127 else byte2 - 256
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val3 = byte3
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# 转换为物理单位
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force_x = val1 * 0.1
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force_y = val2 * 0.1
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force_z = val3 * 0.1
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return {
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|||
|
|
"raw": (byte1, byte2, byte3),
|
|||
|
|
"parsed": (val1, val2, val3),
|
|||
|
|
"force_N": (force_x, force_y, force_z)
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
def parse_distributed_force(self, data: bytes) -> List[Dict]:
|
|||
|
|
"""解析分布力数据"""
|
|||
|
|
parsed = []
|
|||
|
|
total_len = int(self.dist_length.get())
|
|||
|
|
if len(data) < total_len:
|
|||
|
|
print(f"分布力数据长度不足（预期{total_len}字节，实际{len(data)}字节）")
|
|||
|
|
total_len = len(data)
|
|||
|
|
|
|||
|
|
group_count = total_len // 3 # 每3字节一组
|
|||
|
|
for i in range(group_count):
|
|||
|
|
byte1 = data[i*3]
|
|||
|
|
byte2 = data[i*3 + 1]
|
|||
|
|
byte3 = data[i*3 + 2]
|
|||
|
|
|
|||
|
|
val1 = byte1 if byte1 <= 127 else byte1 - 256
|
|||
|
|
val2 = byte2 if byte2 <= 127 else byte2 - 256
|
|||
|
|
val3 = byte3
|
|||
|
|
|
|||
|
|
force_x = val1 * 0.1
|
|||
|
|
force_y = val2 * 0.1
|
|||
|
|
force_z = val3 * 0.1
|
|||
|
|
|
|||
|
|
parsed.append({
|
|||
|
|
"index": i,
|
|||
|
|
"raw": (byte1, byte2, byte3),
|
|||
|
|
"parsed": (val1, val2, val3),
|
|||
|
|
"force_N": (force_x, force_y, force_z)
|
|||
|
|
})
|
|||
|
|
return parsed
|
|||
|
|
|
|||
|
|
def collect_data(self):
|
|||
|
|
"""循环采集数据"""
|
|||
|
|
if not self.running or not self.ser or not self.ser.is_open:
|
|||
|
|
return
|
|||
|
|
|
|||
|
|
# 读取合力数据
|
|||
|
|
result_response = self.send_command("resultant_force")
|
|||
|
|
if result_response and len(result_response) > 14:
|
|||
|
|
result_data = result_response[14:14 + int(self.result_length.get())]
|
|||
|
|
result_parsed = self.parse_resultant_force(result_data)
|
|||
|
|
if result_parsed:
|
|||
|
|
print("\n===== 合力数据 =====")
|
|||
|
|
print(f"合力数据原始字节: 0x{result_parsed['raw'][0]:02X}, 0x{result_parsed['raw'][1]:02X}, 0x{result_parsed['raw'][2]:02X}")
|
|||
|
|
print(f"合力数据解析值: X={result_parsed['parsed'][0]}, Y={result_parsed['parsed'][1]}, Z={result_parsed['parsed'][2]}")
|
|||
|
|
self.log(f"合力数据: X={result_parsed['force_N'][0]:.1f}N, Y={result_parsed['force_N'][1]:.1f}N, Z={result_parsed['force_N'][2]:.1f}N")
|
|||
|
|
self.log(f"")
|
|||
|
|
|
|||
|
|
# 读取分布力数据
|
|||
|
|
dist_response = self.send_command("distributed_force")
|
|||
|
|
if dist_response and len(dist_response) > 14:
|
|||
|
|
dist_data = dist_response[14:14 + int(self.dist_length.get())]
|
|||
|
|
dist_parsed = self.parse_distributed_force(dist_data)
|
|||
|
|
if dist_parsed:
|
|||
|
|
print("\n===== 分布力数据 =====")
|
|||
|
|
print(f"总测点: {len(dist_parsed)}")
|
|||
|
|
for point in dist_parsed:
|
|||
|
|
print(f"测点{point['index']:02d} | 物理值: X={point['force_N'][0]:.1f}N, Y={point['force_N'][1]:.1f}N, Z={point['force_N'][2]:.1f}N")
|
|||
|
|
print(f"------------------------------------------")
|
|||
|
|
|
|||
|
|
# 继续循环采集,10ms间隔
|
|||
|
|
self.root.after(10, self.collect_data)
|
|||
|
|
|
|||
|
|
def start_collection(self):
|
|||
|
|
"""开始数据采集"""
|
|||
|
|
if self.running:
|
|||
|
|
self.log("已在采集数据中")
|
|||
|
|
return
|
|||
|
|
|
|||
|
|
if not self.ser or not self.ser.is_open:
|
|||
|
|
messagebox.showwarning("警告", "请先连接设备")
|
|||
|
|
return
|
|||
|
|
|
|||
|
|
self.running = True
|
|||
|
|
self.log("开始数据采集...")
|
|||
|
|
self.collect_data()
|
|||
|
|
|
|||
|
|
def stop_collection(self):
|
|||
|
|
"""停止数据采集"""
|
|||
|
|
self.running = False
|
|||
|
|
self.log("已停止数据采集")
|
|||
|
|
|
|||
|
|
def on_close(self):
|
|||
|
|
"""关闭窗口时释放资源"""
|
|||
|
|
self.running = False
|
|||
|
|
if self.ser and self.ser.is_open:
|
|||
|
|
self.ser.close()
|
|||
|
|
self.root.destroy()
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
root = tk.Tk()
|
|||
|
|
app = SensorUI(root)
|
|||
|
|
root.protocol("WM_DELETE_WINDOW", app.on_close)
|
|||
|
|
root.mainloop()
|
|||
|
|
|
|||
|
|
|
|||
|
|
|