8.18完成udp通信发送mpu6050数据
zrg
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# FocProject
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#### Description
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{**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**}
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#### Software Architecture
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Software architecture description
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#### Installation
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1. xxxx
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2. xxxx
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3. xxxx
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#### Instructions
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1. xxxx
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2. xxxx
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3. xxxx
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#### Contribution
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1. Fork the repository
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2. Create Feat_xxx branch
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3. Commit your code
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4. Create Pull Request
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#### Gitee Feature
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1. You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md
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2. Gitee blog [blog.gitee.com](https://blog.gitee.com)
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3. Explore open source project [https://gitee.com/explore](https://gitee.com/explore)
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4. The most valuable open source project [GVP](https://gitee.com/gvp)
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5. The manual of Gitee [https://gitee.com/help](https://gitee.com/help)
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6. The most popular members [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
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# FocProject
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#### 介绍
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{**以下是 Gitee 平台说明，您可以替换此简介**
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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
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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)}
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#### 软件架构
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软件架构说明
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#### 安装教程
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1. xxxx
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2. xxxx
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3. xxxx
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#### 使用说明
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1. xxxx
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2. xxxx
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3. xxxx
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#### 参与贡献
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1. Fork 本仓库
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2. 新建 Feat_xxx 分支
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3. 提交代码
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4. 新建 Pull Request
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#### 特技
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1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
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||||||
|
2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
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||||||
|
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
|
||||||
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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
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||||||
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5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
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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/)
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/**
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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
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在串口窗口中输入：T+速度，就可以使得两个电机闭环转动
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比如让两个电机都以 10rad/s 的速度转动，则输入：T10
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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
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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
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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
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*/
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#include <SimpleFOC.h>
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#include <WiFi.h>
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#include <AsyncUDP.h> //引用以使用异步UDP
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const char *ssid = "esp32";
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const char *password = "12345678";
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AsyncUDP udp; //创建UDP对象
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unsigned int localUdpPort = 2333; //本地端口号
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MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
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TwoWire I2Cone = TwoWire(0);
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//电机参数
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BLDCMotor motor = BLDCMotor(5);
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BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
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//命令设置
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int target_velocity = 0;
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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target_velocity = atoi((char*)(packet.data()));
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Serial.print("数据内容: ");
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Serial.println(target_velocity);
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// packet.print("reply data");
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}
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void setup() {
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Serial.begin(115200);
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//wifi初始化
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WiFi.mode(WIFI_AP);
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while(!WiFi.softAP(ssid, password)){}; //启动AP
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Serial.println("AP启动成功");
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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I2Cone.begin(23, 5, 400000); //SDA,SCL
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sensor.init(&I2Cone);
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//连接motor对象与传感器对象
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motor.linkSensor(&sensor);
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//供电电压设置 [V]
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driver.voltage_power_supply = 12;
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driver.init();
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//连接电机和driver对象
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motor.linkDriver(&driver);
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//FOC模型选择
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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//运动控制模式设置
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motor.controller = MotionControlType::velocity;
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//速度PI环设置
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motor.PID_velocity.P = 1.5;
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motor.PID_velocity.I = 20;
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//最大电机限制电机
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motor.voltage_limit = 12;
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//速度低通滤波时间常数
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motor.LPF_velocity.Tf = 0.01;
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//设置最大速度限制
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motor.velocity_limit = 40;
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motor.useMonitoring(Serial);
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//初始化电机
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motor.init();
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//初始化 FOC
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motor.initFOC();
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target velocity using serial terminal:"));
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}
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void loop() {
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motor.loopFOC();
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motor.move(target_velocity);
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}
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问题1：wifi接受到的数据为const uint_8 不能直接用atoi转换为int。
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解决：atoi((char*)(packet.data())) //使用(char*) 进行强制类型转换
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问题2：c语言中sizeof()返回的是变量声明后所占的内存数，不是实际长度。strlen是一个函数，求的是字符串的实际长度，它求得方法是从开始到遇到第一个'\0',如果你只定义没有给它赋初值，这个结果是不定的，它会从arr首地址一直找下去，直到遇到'\0'停止
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解决：字符串转换中使用strlen()获得实际长度
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问题3：数字转字符串中可以使用sprintf
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解决：sprintf(s, "%d", 100//将100转为10进制表示的字符串
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问题4：强制类型转换(const unsigned char*)不能直接使用print输出
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解决：atoi((char*)(packet.data())) //使用(char*) 进行强制类型转换
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#include <WiFi.h>
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#include <AsyncUDP.h> //引用以使用异步UDP
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#include<Wire.h>
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const char *ssid = "esp32";
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const char *password = "12345678";
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const int MPU_addr=0x68; // I2C address of the MPU-6050
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int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
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AsyncUDP udp; //创建UDP对象
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unsigned int localUdpPort = 2333; //本地端口号
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unsigned int broadcastPort = localUdpPort;
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//const char *broadcastData = "broadcast data";
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const uint8_t broadcastData[] = {"broadcast data"};
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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Serial.print("UDP数据包来源类型: ");
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Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
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Serial.print("远端地址及端口号: ");
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Serial.print(packet.remoteIP());
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Serial.print(":");
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Serial.println(packet.remotePort());
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Serial.print("目标地址及端口号: ");
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Serial.print(packet.localIP());
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Serial.print(":");
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Serial.println(packet.localPort());
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Serial.print("数据长度: ");
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Serial.println(packet.length());
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Serial.print("数据内容: ");
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Serial.write(packet.data(), packet.length());
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Serial.println();
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// packet.print("reply data");
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// broadcastPort = packet.remotePort();
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}
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void setup()
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{
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Serial.begin(115200);
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// mpu6050初始化
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Wire.begin(19, 18, 400000);
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Wire.beginTransmission(MPU_addr);
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Wire.write(0x6B); // PWR_MGMT_1 register
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Wire.write(0); // set to zero (wakes up the MPU-6050)
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Wire.endTransmission(true);
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//wifi初始化
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WiFi.mode(WIFI_AP);
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while(!WiFi.softAP(ssid, password)){}; //启动AP
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Serial.println("AP启动成功");
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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}
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char s[255];
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void loop()
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{
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Wire.beginTransmission(MPU_addr);
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Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
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Wire.endTransmission(false);
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Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
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// AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
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AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
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// AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
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// Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
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// GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
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// GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
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// GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
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// Serial.print("AcX = "); Serial.print(AcX);
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Serial.print(" | AcY = "); Serial.println(AcY);
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// itoa(AcY,s,10);
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sprintf(s, "%d", AcY); //将100转为16进制表示的字符串
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Serial.println(strlen(s));
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// Serial.print(" | AcZ = "); Serial.print(AcZ);
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// Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
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// Serial.print(" | GyX = "); Serial.print(GyX);
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// Serial.print(" | GyY = "); Serial.print(GyY);
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// Serial.print(" | GyZ = "); Serial.println(GyZ);
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delay(100);
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// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
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IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
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udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
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}
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#include <WiFi.h>
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#include <AsyncUDP.h> //引用以使用异步UDP
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const char *ssid = "esp32";
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const char *password = "12345678";
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AsyncUDP udp; //创建UDP对象
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unsigned int localUdpPort = 2333; //本地端口号
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unsigned int broadcastPort = localUdpPort;
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const char *broadcastData = "broadcast data";
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// const uint8_t broadcastData[] = {"broadcast data"};
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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// Serial.print("UDP数据包来源类型: ");
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// Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
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// Serial.print("远端地址及端口号: ");
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// Serial.print(packet.remoteIP());
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// Serial.print(":");
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// Serial.println(packet.remotePort());
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// Serial.print("目标地址及端口号: ");
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// Serial.print(packet.localIP());
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// Serial.print(":");
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// Serial.println(packet.localPort());
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// Serial.print("数据长度: ");
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// Serial.println(packet.length());
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Serial.print("数据内容: ");
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// Serial.write(packet.data(), packet.length());
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Serial.println(atoi( (char*)(packet.data())));
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// packet.print("reply data");
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// broadcastPort = packet.remotePort();
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}
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void setup()
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{
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Serial.begin(115200);
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Serial.println();
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WiFi.mode(WIFI_AP);
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while(!WiFi.softAP(ssid, password)){}; //启动AP
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Serial.println("AP启动成功");
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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
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
# Default ignored files
|
||||||
|
/shelf/
|
||||||
|
/workspace.xml
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<module type="PYTHON_MODULE" version="4">
|
||||||
|
<component name="NewModuleRootManager">
|
||||||
|
<content url="file://$MODULE_DIR$">
|
||||||
|
<excludeFolder url="file://$MODULE_DIR$/venv" />
|
||||||
|
</content>
|
||||||
|
<orderEntry type="jdk" jdkName="Python 3.7" jdkType="Python SDK" />
|
||||||
|
<orderEntry type="sourceFolder" forTests="false" />
|
||||||
|
</component>
|
||||||
|
</module>
|
||||||
|
|
@ -0,0 +1,6 @@
|
||||||
|
<component name="InspectionProjectProfileManager">
|
||||||
|
<settings>
|
||||||
|
<option name="USE_PROJECT_PROFILE" value="false" />
|
||||||
|
<version value="1.0" />
|
||||||
|
</settings>
|
||||||
|
</component>
|
||||||
|
|
@ -0,0 +1,4 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
|
||||||
|
</project>
|
||||||
|
|
@ -0,0 +1,8 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="ProjectModuleManager">
|
||||||
|
<modules>
|
||||||
|
<module fileurl="file://$PROJECT_DIR$/.idea/gui.iml" filepath="$PROJECT_DIR$/.idea/gui.iml" />
|
||||||
|
</modules>
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
|
|
@ -0,0 +1,6 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="VcsDirectoryMappings">
|
||||||
|
<mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
Binary file not shown.
Binary file not shown.
|
|
@ -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_())
|
||||||
|
|
@ -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："))
|
||||||
|
|
@ -0,0 +1,91 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<ui version="4.0">
|
||||||
|
<class>MainWindow</class>
|
||||||
|
<widget class="QMainWindow" name="MainWindow">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>0</y>
|
||||||
|
<width>800</width>
|
||||||
|
<height>600</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="windowTitle">
|
||||||
|
<string>MainWindow</string>
|
||||||
|
</property>
|
||||||
|
<widget class="QWidget" name="centralwidget">
|
||||||
|
<widget class="QSlider" name="velocity_horizontalSlider">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>470</x>
|
||||||
|
<y>420</y>
|
||||||
|
<width>261</width>
|
||||||
|
<height>22</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="minimum">
|
||||||
|
<number>-100</number>
|
||||||
|
</property>
|
||||||
|
<property name="maximum">
|
||||||
|
<number>100</number>
|
||||||
|
</property>
|
||||||
|
<property name="orientation">
|
||||||
|
<enum>Qt::Horizontal</enum>
|
||||||
|
</property>
|
||||||
|
<property name="tickPosition">
|
||||||
|
<enum>QSlider::TicksAbove</enum>
|
||||||
|
</property>
|
||||||
|
<property name="tickInterval">
|
||||||
|
<number>10</number>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QLineEdit" name="velocity_lineEdit">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>580</x>
|
||||||
|
<y>460</y>
|
||||||
|
<width>113</width>
|
||||||
|
<height>21</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QLabel" name="label">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>520</x>
|
||||||
|
<y>460</y>
|
||||||
|
<width>51</width>
|
||||||
|
<height>16</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string>速度：</string>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QWidget" name="gridLayoutWidget">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>180</x>
|
||||||
|
<y>20</y>
|
||||||
|
<width>581</width>
|
||||||
|
<height>361</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<layout class="QGridLayout" name="gridLayout"/>
|
||||||
|
</widget>
|
||||||
|
</widget>
|
||||||
|
<widget class="QMenuBar" name="menubar">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>0</y>
|
||||||
|
<width>800</width>
|
||||||
|
<height>26</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QStatusBar" name="statusbar"/>
|
||||||
|
</widget>
|
||||||
|
<resources/>
|
||||||
|
<connections/>
|
||||||
|
</ui>
|
||||||
|
|
@ -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
|
||||||
|
|
@ -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_()
|
||||||
|
|
@ -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()
|
||||||
|
|
@ -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 = udp.udpClientSocket.recvfrom(udp.BUFSIZ)
|
||||||
|
if not data:
|
||||||
|
break
|
||||||
|
print("服务器端响应：", data.decode('utf-8'))
|
||||||
|
|
||||||
|
udp.udpClientSocket.close()
|
||||||
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Reference in New Issue