commit 3988ab1b17eed20a5e2b6d3f383cbb6e95b47d8a Author: zrg <674148718@qq.com> Date: Wed Aug 18 01:01:19 2021 +0800 8.18完成udp通信发送mpu6050数据 diff --git a/README.en.md b/README.en.md new file mode 100644 index 0000000..a478b3f --- /dev/null +++ b/README.en.md @@ -0,0 +1,36 @@ +# FocProject + +#### Description +{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**} + +#### Software Architecture +Software architecture description + +#### Installation + +1. xxxx +2. xxxx +3. xxxx + +#### Instructions + +1. xxxx +2. xxxx +3. xxxx + +#### Contribution + +1. Fork the repository +2. Create Feat_xxx branch +3. Commit your code +4. Create Pull Request + + +#### Gitee Feature + +1. You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md +2. Gitee blog [blog.gitee.com](https://blog.gitee.com) +3. Explore open source project [https://gitee.com/explore](https://gitee.com/explore) +4. The most valuable open source project [GVP](https://gitee.com/gvp) +5. The manual of Gitee [https://gitee.com/help](https://gitee.com/help) +6. The most popular members [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/) diff --git a/README.md b/README.md new file mode 100644 index 0000000..a0953e3 --- /dev/null +++ b/README.md @@ -0,0 +1,39 @@ +# FocProject + +#### 介绍 +{**以下是 Gitee 平台说明，您可以替换此简介** +Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台（同时支持 SVN）。专为开发者提供稳定、高效、安全的云端软件开发协作平台 +无论是个人、团队、或是企业，都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)} + +#### 软件架构 +软件架构说明 + + +#### 安装教程 + +1. xxxx +2. xxxx +3. xxxx + +#### 使用说明 + +1. xxxx +2. xxxx +3. xxxx + +#### 参与贡献 + +1. Fork 本仓库 +2. 新建 Feat_xxx 分支 +3. 提交代码 +4. 新建 Pull Request + + +#### 特技 + +1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md +2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com) +3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目 +4. [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目 +5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help) +6. Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/) diff --git a/arduino/main/main.ino b/arduino/main/main.ino new file mode 100644 index 0000000..00e9496 --- /dev/null +++ b/arduino/main/main.ino @@ -0,0 +1,114 @@ + /** +Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：灯哥开源FOC V1.0 +在串口窗口中输入：T+速度，就可以使得两个电机闭环转动 +比如让两个电机都以 10rad/s 的速度转动，则输入：T10 +在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(7) 中的值，设置为自己的极对数数字 +程序默认设置的供电电压为 16.8V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值 +默认PID针对的电机是 GB6010 ，使用自己的电机需要修改PID参数，才能实现更好效果 + */ +#include +#include +#include //引用以使用异步UDP + +const char *ssid = "esp32"; +const char *password = "12345678"; + +AsyncUDP udp; //创建UDP对象 +unsigned int localUdpPort = 2333; //本地端口号 + +MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); + +TwoWire I2Cone = TwoWire(0); + + +//电机参数 +BLDCMotor motor = BLDCMotor(5); +BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); + + +//命令设置 +int target_velocity = 0; +void onPacketCallBack(AsyncUDPPacket packet) +{ + target_velocity = atoi((char*)(packet.data())); + Serial.print("数据内容: "); + Serial.println(target_velocity); +// packet.print("reply data"); +} + +void setup() { + Serial.begin(115200); + //wifi初始化 + WiFi.mode(WIFI_AP); + while(!WiFi.softAP(ssid, password)){}; //启动AP + Serial.println("AP启动成功"); + while (!udp.listen(localUdpPort)) //等待udp监听设置成功 + { + } + udp.onPacket(onPacketCallBack); //注册收到数据包事件 + I2Cone.begin(23, 5, 400000); //SDA,SCL + + sensor.init(&I2Cone); + + //连接motor对象与传感器对象 + motor.linkSensor(&sensor); + + + //供电电压设置 [V] + driver.voltage_power_supply = 12; + driver.init(); + + + //连接电机和driver对象 + motor.linkDriver(&driver); + + + //FOC模型选择 + motor.foc_modulation = FOCModulationType::SpaceVectorPWM; + + //运动控制模式设置 + motor.controller = MotionControlType::velocity; + + + + //速度PI环设置 + motor.PID_velocity.P = 1.5; + + motor.PID_velocity.I = 20; + + //最大电机限制电机 + motor.voltage_limit = 12; + + + //速度低通滤波时间常数 + motor.LPF_velocity.Tf = 0.01; + + + //设置最大速度限制 + motor.velocity_limit = 40; + + + motor.useMonitoring(Serial); + + + //初始化电机 + motor.init(); + + //初始化 FOC + motor.initFOC(); + + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target velocity using serial terminal:")); + +} + + + +void loop() { + motor.loopFOC(); + + + motor.move(target_velocity); + +} diff --git a/arduino/problems and reasons.txt b/arduino/problems and reasons.txt new file mode 100644 index 0000000..cc7a991 --- /dev/null +++ b/arduino/problems and reasons.txt @@ -0,0 +1,11 @@ +1wifiܵΪconst uint_8 ֱatoiתΪint +atoi((char*)(packet.data())) //ʹ(char*) ǿת + +2csizeof()صDZռڴʵʳȡstrlenһַʵʳȣ÷Ǵӿʼһ'\0',ֻûиֵDzģarr׵ַһֱȥֱ'\0'ֹͣ +ַתʹstrlen()ʵʳ + +3תַпʹsprintf +sprintf(s, "%d", 100//100תΪ10Ʊʾַ + +4ǿת(const unsigned char*)ֱʹprint +atoi((char*)(packet.data())) //ʹ(char*) ǿת \ No newline at end of file diff --git a/arduino/udp_test1/udp_test1/udp_test1.ino b/arduino/udp_test1/udp_test1/udp_test1.ino new file mode 100644 index 0000000..31928f3 --- /dev/null +++ b/arduino/udp_test1/udp_test1/udp_test1.ino @@ -0,0 +1,92 @@ +#include +#include //引用以使用异步UDP +#include + +const char *ssid = "esp32"; +const char *password = "12345678"; + +const int MPU_addr=0x68; // I2C address of the MPU-6050 +int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ; + +AsyncUDP udp; //创建UDP对象 +unsigned int localUdpPort = 2333; //本地端口号 + + +unsigned int broadcastPort = localUdpPort; +//const char *broadcastData = "broadcast data"; + const uint8_t broadcastData[] = {"broadcast data"}; + +void onPacketCallBack(AsyncUDPPacket packet) +{ + Serial.print("UDP数据包来源类型: "); + Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播")); + Serial.print("远端地址及端口号: "); + Serial.print(packet.remoteIP()); + Serial.print(":"); + Serial.println(packet.remotePort()); + Serial.print("目标地址及端口号: "); + Serial.print(packet.localIP()); + Serial.print(":"); + Serial.println(packet.localPort()); + Serial.print("数据长度: "); + Serial.println(packet.length()); + Serial.print("数据内容: "); + Serial.write(packet.data(), packet.length()); + Serial.println(); + +// packet.print("reply data"); +// broadcastPort = packet.remotePort(); +} + +void setup() +{ + Serial.begin(115200); + // mpu6050初始化 + Wire.begin(19, 18, 400000); + Wire.beginTransmission(MPU_addr); + Wire.write(0x6B); // PWR_MGMT_1 register + Wire.write(0); // set to zero (wakes up the MPU-6050) + Wire.endTransmission(true); + + //wifi初始化 + WiFi.mode(WIFI_AP); + while(!WiFi.softAP(ssid, password)){}; //启动AP + Serial.println("AP启动成功"); + while (!udp.listen(localUdpPort)) //等待udp监听设置成功 + { + } + udp.onPacket(onPacketCallBack); //注册收到数据包事件 +} +char s[255]; +void loop() +{ + Wire.beginTransmission(MPU_addr); + Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) + Wire.endTransmission(false); + Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers +// AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) + AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L) +// AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) +// Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) +// GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) +// GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) +// GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) + +// Serial.print("AcX = "); Serial.print(AcX); + Serial.print(" | AcY = "); Serial.println(AcY); +// itoa(AcY,s,10); + + sprintf(s, "%d", AcY); //将100转为16进制表示的字符串 + Serial.println(strlen(s)); +// Serial.print(" | AcZ = "); Serial.print(AcZ); +// Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet +// Serial.print(" | GyX = "); Serial.print(GyX); +// Serial.print(" | GyY = "); Serial.print(GyY); +// Serial.print(" | GyZ = "); Serial.println(GyZ); + delay(100); + +// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息 + + IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址 + udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据 +} diff --git a/arduino/wifi_test/wifi_test/wifi_test.ino b/arduino/wifi_test/wifi_test/wifi_test.ino new file mode 100644 index 0000000..9e2e861 --- /dev/null +++ b/arduino/wifi_test/wifi_test/wifi_test.ino @@ -0,0 +1,58 @@ +#include +#include //引用以使用异步UDP + +const char *ssid = "esp32"; +const char *password = "12345678"; + +AsyncUDP udp; //创建UDP对象 +unsigned int localUdpPort = 2333; //本地端口号 + +unsigned int broadcastPort = localUdpPort; +const char *broadcastData = "broadcast data"; +// const uint8_t broadcastData[] = {"broadcast data"}; + +void onPacketCallBack(AsyncUDPPacket packet) +{ +// Serial.print("UDP数据包来源类型: "); +// Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播")); +// Serial.print("远端地址及端口号: "); +// Serial.print(packet.remoteIP()); +// Serial.print(":"); +// Serial.println(packet.remotePort()); +// Serial.print("目标地址及端口号: "); +// Serial.print(packet.localIP()); +// Serial.print(":"); +// Serial.println(packet.localPort()); +// Serial.print("数据长度: "); +// Serial.println(packet.length()); + Serial.print("数据内容: "); +// Serial.write(packet.data(), packet.length()); + Serial.println(atoi( (char*)(packet.data()))); + +// packet.print("reply data"); +// broadcastPort = packet.remotePort(); +} + +void setup() +{ + Serial.begin(115200); + Serial.println(); + + WiFi.mode(WIFI_AP); + while(!WiFi.softAP(ssid, password)){}; //启动AP + Serial.println("AP启动成功"); + while (!udp.listen(localUdpPort)) //等待udp监听设置成功 + { + } + udp.onPacket(onPacketCallBack); //注册收到数据包事件 +} + +void loop() +{ +// delay(5000); +// +// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息 + + // IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址 + // udp.writeTo(broadcastData, sizeof(broadcastData), broadcastAddr, localUdpPort); //广播数据 +} diff --git a/python_gui/gui/.idea/.gitignore b/python_gui/gui/.idea/.gitignore new file mode 100644 index 0000000..26d3352 --- /dev/null +++ b/python_gui/gui/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/python_gui/gui/.idea/gui.iml b/python_gui/gui/.idea/gui.iml new file mode 100644 index 0000000..317dedf --- /dev/null +++ b/python_gui/gui/.idea/gui.iml @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/python_gui/gui/.idea/inspectionProfiles/profiles_settings.xml b/python_gui/gui/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000..105ce2d --- /dev/null +++ b/python_gui/gui/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/python_gui/gui/.idea/misc.xml b/python_gui/gui/.idea/misc.xml new file mode 100644 index 0000000..a2e120d --- /dev/null +++ b/python_gui/gui/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/python_gui/gui/.idea/modules.xml b/python_gui/gui/.idea/modules.xml new file mode 100644 index 0000000..c2b3c36 --- /dev/null +++ b/python_gui/gui/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/python_gui/gui/.idea/vcs.xml b/python_gui/gui/.idea/vcs.xml new file mode 100644 index 0000000..b2bdec2 --- /dev/null +++ b/python_gui/gui/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/python_gui/gui/__pycache__/main_ui.cpython-37.pyc b/python_gui/gui/__pycache__/main_ui.cpython-37.pyc new file mode 100644 index 0000000..81b729a Binary files /dev/null and b/python_gui/gui/__pycache__/main_ui.cpython-37.pyc differ diff --git a/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc b/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc new file mode 100644 index 0000000..e8301b4 Binary files /dev/null and b/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc differ diff --git a/python_gui/gui/main.py b/python_gui/gui/main.py new file mode 100644 index 0000000..3a6d145 --- /dev/null +++ b/python_gui/gui/main.py @@ -0,0 +1,62 @@ +import sys +from PyQt5.QtWidgets import QApplication, QMainWindow +from main_ui import * +from wifi_udp import * +import threading #引入并行 +import numpy as np +import pyqtgraph as pg + + +class MyWindow(QMainWindow, Ui_MainWindow): + def __init__(self, parent=None): + super(MyWindow, self).__init__(parent) + self.setupUi(self) + self.v_list=[] + self.v_list.append(np.zeros(300)) + self.timeArray = np.arange(-300, 0, 1) + + self.velocity = 0 + # 滑条 + self.velocity_lineEdit.setText(str(self.velocity_horizontalSlider.value())) + self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged) + # wifi udp + self.udp = udp() + + # 接收数据 + self.udp_data = '' + t1 = threading.Thread(target=self.udp_recv) + t1.start() + # 绘图对象 + self.pw = pg.PlotWidget() + self.curve = self.pw.plot(pen='y') + self.gridLayout.addWidget(self.pw) + # 定时器 + self.timer = QtCore.QTimer() + self.timer.timeout.connect(self.update_plot) + self.timer.start(50) + + + + # 滑条事件绑定 + def velocity_horizontalSlider_valueChanged(self): + value = self.velocity_horizontalSlider.value() + self.velocity_lineEdit.setText(str(value)) + # self.udp.send_message(str(value)) + # self.curve.updateItems() + # self.curve.sigPlotChanged.emit(self.curve) + + def udp_recv(self): + while True: + recv_data = self.udp.udpClientSocket.recv(1024) + recv_data = recv_data.decode('utf-8') + self.udp_data = recv_data + def update_plot(self): + print(self.udp_data) + self.v_list[0] = np.roll(self.v_list[0], -1) + self.v_list[0][-1] = self.udp_data + self.curve.setData(self.timeArray, self.v_list[0]) # 在绘图部件中绘制折线图 +if __name__ == '__main__': + app = QApplication(sys.argv) + myWin = MyWindow() + myWin.show() + sys.exit(app.exec_()) \ No newline at end of file diff --git a/python_gui/gui/main_ui.py b/python_gui/gui/main_ui.py new file mode 100644 index 0000000..2151d33 --- /dev/null +++ b/python_gui/gui/main_ui.py @@ -0,0 +1,55 @@ +# -*- coding: utf-8 -*- + +# Form implementation generated from reading ui file 'main_ui.ui' +# +# Created by: PyQt5 UI code generator 5.15.2 +# +# WARNING: Any manual changes made to this file will be lost when pyuic5 is +# run again. Do not edit this file unless you know what you are doing. + + +from PyQt5 import QtCore, QtGui, QtWidgets + + +class Ui_MainWindow(object): + def setupUi(self, MainWindow): + MainWindow.setObjectName("MainWindow") + MainWindow.resize(800, 600) + self.centralwidget = QtWidgets.QWidget(MainWindow) + self.centralwidget.setObjectName("centralwidget") + self.velocity_horizontalSlider = QtWidgets.QSlider(self.centralwidget) + self.velocity_horizontalSlider.setGeometry(QtCore.QRect(470, 420, 261, 22)) + self.velocity_horizontalSlider.setMinimum(-100) + self.velocity_horizontalSlider.setMaximum(100) + self.velocity_horizontalSlider.setOrientation(QtCore.Qt.Horizontal) + self.velocity_horizontalSlider.setTickPosition(QtWidgets.QSlider.TicksAbove) + self.velocity_horizontalSlider.setTickInterval(10) + self.velocity_horizontalSlider.setObjectName("velocity_horizontalSlider") + self.velocity_lineEdit = QtWidgets.QLineEdit(self.centralwidget) + self.velocity_lineEdit.setGeometry(QtCore.QRect(580, 460, 113, 21)) + self.velocity_lineEdit.setObjectName("velocity_lineEdit") + self.label = QtWidgets.QLabel(self.centralwidget) + self.label.setGeometry(QtCore.QRect(520, 460, 51, 16)) + self.label.setObjectName("label") + self.gridLayoutWidget = QtWidgets.QWidget(self.centralwidget) + self.gridLayoutWidget.setGeometry(QtCore.QRect(180, 20, 581, 361)) + self.gridLayoutWidget.setObjectName("gridLayoutWidget") + self.gridLayout = QtWidgets.QGridLayout(self.gridLayoutWidget) + self.gridLayout.setContentsMargins(0, 0, 0, 0) + self.gridLayout.setObjectName("gridLayout") + MainWindow.setCentralWidget(self.centralwidget) + self.menubar = QtWidgets.QMenuBar(MainWindow) + self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 26)) + self.menubar.setObjectName("menubar") + MainWindow.setMenuBar(self.menubar) + self.statusbar = QtWidgets.QStatusBar(MainWindow) + self.statusbar.setObjectName("statusbar") + MainWindow.setStatusBar(self.statusbar) + + self.retranslateUi(MainWindow) + QtCore.QMetaObject.connectSlotsByName(MainWindow) + + def retranslateUi(self, MainWindow): + _translate = QtCore.QCoreApplication.translate + MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) + self.label.setText(_translate("MainWindow", "速度：")) diff --git a/python_gui/gui/main_ui.ui b/python_gui/gui/main_ui.ui new file mode 100644 index 0000000..6fb30ee --- /dev/null +++ b/python_gui/gui/main_ui.ui @@ -0,0 +1,91 @@ + + + MainWindow + + + + 0 + 0 + 800 + 600 + + + + MainWindow + + + + + + 470 + 420 + 261 + 22 + + + + -100 + + + 100 + + + Qt::Horizontal + + + QSlider::TicksAbove + + + 10 + + + + + + 580 + 460 + 113 + 21 + + + + + + + 520 + 460 + 51 + 16 + + + + 速度： + + + + + + 180 + 20 + 581 + 361 + + + + + + + + + 0 + 0 + 800 + 26 + + + + + + + + diff --git a/python_gui/gui/test1.py b/python_gui/gui/test1.py new file mode 100644 index 0000000..21bb272 --- /dev/null +++ b/python_gui/gui/test1.py @@ -0,0 +1,7 @@ +import socket +#创建socket对象 +#SOCK_DGRAM udp模式 +s=socket.socket(socket.AF_INET,socket.SOCK_DGRAM) +s.bind(("169.254.184.146",8000)) #绑定服务器的ip和端口 +data=s.recv(1024) #一次接收1024字节 +print(data.decode())# decode()解码收到的字节 \ No newline at end of file diff --git a/python_gui/gui/test2.py b/python_gui/gui/test2.py new file mode 100644 index 0000000..2e4884c --- /dev/null +++ b/python_gui/gui/test2.py @@ -0,0 +1,42 @@ +# -*- coding: utf-8 -*- +""" +This example demonstrates many of the 2D plotting capabilities +in pyqtgraph. All of the plots may be panned/scaled by dragging with +the left/right mouse buttons. Right click on any plot to show a context menu. +""" + +from pyqtgraph.Qt import QtGui, QtCore +import numpy as np +import pyqtgraph as pg + +#QtGui.QApplication.setGraphicsSystem('raster') +app = QtGui.QApplication([]) +#mw = QtGui.QMainWindow() +#mw.resize(800,800) + +win = pg.GraphicsLayoutWidget(show=True, title="Basic plotting examples") +win.resize(1000,600) +win.setWindowTitle('pyqtgraph example: Plotting') + +# Enable antialiasing for prettier plots +pg.setConfigOptions(antialias=True) + +p6 = win.addPlot(title="Updating plot") +curve = p6.plot(pen='y') +data = np.random.normal(size=(10,1000)) +ptr = 0 +def update(): + global curve, data, ptr, p6 + curve.setData(data[ptr%10]) + if ptr == 0: + p6.enableAutoRange('xy', False) ## stop auto-scaling after the first data set is plotted + ptr += 1 +timer = QtCore.QTimer() +timer.timeout.connect(update) +timer.start(50) + +## Start Qt event loop unless running in interactive mode or using pyside. +if __name__ == '__main__': + import sys + if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'): + QtGui.QApplication.instance().exec_() diff --git a/python_gui/gui/udp_test1.py b/python_gui/gui/udp_test1.py new file mode 100644 index 0000000..af8aff5 --- /dev/null +++ b/python_gui/gui/udp_test1.py @@ -0,0 +1,34 @@ +import socket #引入套接字 +import threading #引入并行 +udp_data = None +def udp_send(udp_socket): + + while True: + num1 = '192.168.4.1' + num2 = 2333 + send_data = input('请输入要发送的数据：') + send_data = send_data.encode('utf-8') + udp_socket.sendto(send_data,(num1,num2)) #sendto（发送数据，发送地址） + +def udp_recv(udp_socket): + global udp_data + while True: + recv_data = udp_socket.recv(1024) + recv_data = recv_data.decode('utf-8') + udp_data = recv_data + print('收到信息为:%s'%recv_data) + +def main(): + udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) #创建套接字 + ip = '192.168.4.2' #服务器ip和端口 + port = 2333 + udp_socket.bind(("192.168.4.2",2333)) #服务器绑定ip和端口 + #发送数据 + t=threading.Thread(target=udp_send,args=(udp_socket,)) # Thread函数用于并行 + #接收数据 + t1=threading.Thread(target=udp_recv,args=(udp_socket,)) + t.start() #并行开始 + t1.start() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/python_gui/gui/wifi_udp.py b/python_gui/gui/wifi_udp.py new file mode 100644 index 0000000..488e3e5 --- /dev/null +++ b/python_gui/gui/wifi_udp.py @@ -0,0 +1,30 @@ +from socket import * +class udp(object): + """wifi udp to esp32""" + def __init__(self,HOST = '192.168.4.1',PORT = 2333): + + self.HOST = HOST + self.PORT =PORT + self.BUFSIZ = 1024 + self.ADDRESS = (self.HOST, self.PORT) + + self.udpClientSocket = socket(AF_INET, SOCK_DGRAM) + self.udpClientSocket.bind(("192.168.4.2",2333)) + + def send_message(self,data): + if not data: + return 0 + self.udpClientSocket.sendto(data.encode('utf-8'),self.ADDRESS) + +if __name__ == '__main__': + udp = udp() + while True: + data = input('>') + udp.send_message(data) + # 接收数据 + data, ADDR = 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