168 lines
5.6 KiB
Python
168 lines
5.6 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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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
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依赖：pip install pyserial
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用法：
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python text_dgceshi.py /dev/ttyUSB0 [baudrate]
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帧格式（与你现有固件一致）：
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[0] 0xAA
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[1] count = 指令条数（每条是5字节：addr, ch, ang, durL, durH）
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[2..] 指令序列，共 count*5 字节
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[end] XOR 校验（对前面所有字节异或）
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"""
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import sys
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import time
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import serial
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FRAME_HEADER = 0xAA
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def calc_checksum(data: bytearray) -> int:
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"""XOR 校验"""
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cs = 0
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for b in data:
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cs ^= b
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return cs & 0xFF
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def pack_pose(raw_list):
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"""
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raw_list: [addr, ch, ang, durL, durH, addr, ch, ang, durL, durH, ...]
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返回带帧头/数量/校验的完整数据包 bytes
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"""
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assert len(raw_list) % 5 == 0, "原始列表长度必须是 5 的倍数"
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count = len(raw_list) // 5
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pkt = bytearray([FRAME_HEADER, count & 0xFF])
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pkt.extend(int(x) & 0xFF for x in raw_list)
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pkt.append(calc_checksum(pkt))
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return bytes(pkt)
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def print_packet(pkt):
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print("发送数据包:", ' '.join(f"0x{b:02X}" for b in pkt))
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def wakeup_esp32(port, baud=115200):
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"""通过 RTS/DTR 尝试唤醒 ESP32（可选）"""
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try:
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ser = serial.Serial(port, baud, timeout=1)
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ser.setDTR(False)
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ser.setRTS(False)
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time.sleep(0.02)
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ser.setDTR(True)
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ser.setRTS(True)
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ser.write(b"\r\n")
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time.sleep(0.2)
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except Exception as e:
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print(f"[WARN] 唤醒失败：{e}")
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finally:
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try:
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ser.close()
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except:
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pass
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def open_serial(port, baud):
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try:
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ser = serial.Serial(port, baud, timeout=1)
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print(f"已打开串口: {port} @ {baud}bps")
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return ser
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except Exception as e:
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print(f"打开串口失败: {e}")
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sys.exit(1)
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# =======================
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# 五组“写死”的表情数据（严格遵守你的 XML 安全限位）
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# 64:0~3 眉（offset 90/90/90/90，限位 45~120/…/50~120）
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# 64:4~9 眼（offset 90..，限位 [90~170, 10~90, 10~90, 90~170, 10~170, 10~170]）
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# 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]）
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# 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
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# =======================
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POSES_RAW = [
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# # Pose 1 — 中性位置（全部 offset）
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[
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# 板 64 — 眼眉 0~3
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64,0,90,0,0, 64,1,90,0,0, 64,2,90,0,0, 64,3,90,0,0,
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# 板 64 — 眼睛 4~9（选在各自安全范围内的中值/视觉舒适值）
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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,
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# 板 65 — 嘴巴 0~9
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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,
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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
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],
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# Pose 5 — 大笑（接近上限但不越界）
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[
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64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
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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,
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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,
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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
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],
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[
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64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
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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,
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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,
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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
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],
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[
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64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
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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,
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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,
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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
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]
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]
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POSES_RAW1 = [[
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# 板 64 — 眼眉 0~3
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64,0,90,0,0, 64,1,90,0,0, 64,2,90,0,0, 64,3,90,0,0,
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# 板 64 — 眼睛 4~9（选在各自安全范围内的中值/视觉舒适值）
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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,
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# 板 65 — 嘴巴 0~9
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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,
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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
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],
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# Pose 5 — 大笑（接近上限但不越界）
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[
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64,0,115,0,0, 64,1,75,0,0, 64,2,75,0,0, 64,3,115,0,0,
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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,
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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,
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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
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],
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]
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def main():
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if len(sys.argv) < 2:
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print(f"用法: {sys.argv[0]} /dev/ttyUSB0 [baudrate]")
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sys.exit(1)
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port = sys.argv[1]
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baud = int(sys.argv[2]) if len(sys.argv) > 2 else 115200
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# 可选：尝试唤醒 ESP32
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wakeup_esp32(port, baud)
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ser = open_serial(port, baud)
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try:
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pose_idx = 0
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hold_seconds = 5
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print(f"开始循环播放 5 组表情，每组间隔 {hold_seconds} 秒...")
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while True:
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pose = POSES_RAW[pose_idx]
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pkt = pack_pose(pose)
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print(f"\n→ 发送 Pose {pose_idx+1}/{len(POSES_RAW)}")
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print_packet(pkt)
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ser.write(pkt)
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ser.flush()
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time.sleep(hold_seconds)
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pose_idx = (pose_idx + 1) % len(POSES_RAW)
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except KeyboardInterrupt:
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print("\n用户中断，退出")
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finally:
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ser.close()
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print("串口已关闭")
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if __name__ == "__main__":
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main() |