Update

testfield/legacy/server/arduino_api/arduino_api.py

@@ -0,0 +1,91 @@
+import json
+import serial
+import serial.tools.list_ports
+import time
+
+data_table = dict()
+
+class Motor(object):
+    angle = None
+    def __init__(self, code):
+        self.angle = 0
+        self.code = code
+        data_table[code] = self.angle
+    def get(self):
+        self.angle = data_table[self.code]
+        return self.angle
+    def set(self, angle):
+        self.angle = angle
+        commander("svo", self.code, "s", angle)
+        return self.angle
+
+class Engine(object):
+    speed = None
+    def __init__(self, code):
+        self.speed = 0
+        self.code = code
+        data_table[code] = self.speed
+    def get(self):
+        self.speed = data_table[self.code]
+        return self.speed
+    def tune(self, new_speed):
+        self.speed = new_speed
+        commander("eng", self.code, "s", new_speed)
+        return self.speed
+
+class Battery:
+    def get():
+        power_left = 0.9
+        return power_left
+    def stat():
+        status = "Unplugged"
+        return status
+
+class Serial:
+    ino = serial.Serial("COM7", 9600, timeout=2)
+    if ino.is_open:
+        print("串口初始化成功")
+    def close():
+        Serial.ino.close()
+    def write(data):
+        n = Serial.ino.write(data.encode())
+        print(f"写入 {n} 字节", data.encode())
+    def readln():
+        data = Serial.ino.readline()
+        print(f"读入: {data.decode('utf-8', 'ignore')}\n")
+        return data.decode('utf-8', 'ignore')
+
+def commander(type, device, option, num = -1):
+    d = f""""type":"{type}", "device":"{device}", "option":"{option}", "num":{num}"""
+    d = "{" + d + "}"
+    Serial.write(d)
+    if option == "q":
+        b = Serial.readln()
+        if b.strip() != "":
+            print("BIS", b)
+            b = json.loads(b)
+            for i in b.keys():
+                data_table[i] = b[i]
+
+def debug():
+    ports_list = list(serial.tools.list_ports.comports())
+    if len(ports_list) <= 0:
+        print("无串口设备。")
+    else:
+        print("可用的串口设备如下：")
+        for comport in ports_list:
+            print(list(comport)[0], list(comport)[1])
+    #Serial.init()
+    #time.sleep(1)
+    #print("hi",a)
+    #Serial.readln()
+    Serial.close()
+    """/*
+        data["t(ype)"]: svo/eng
+        data["d(evice)"]: al, ar, tl, tr
+        data["o(ption)"]: s(et)/q(uery)
+        data["n(um)"]: SHORT
+    */"""
+
+if __name__ == "__main__":
+    debug()

testfield/legacy/server/config.yaml

@@ -0,0 +1,14 @@
+# Host Config
+model: "SU27" # J-11/J-16
+name: "零号侧卫"
+hardware: # 硬件
+  surfaces: # 控制面
+    - al: "左副翼"
+    - ar: "右副翼"
+    - tv: "垂直尾翼"
+    - tl: "左尾翼"
+    - tr: "右尾翼"
+  engines: # 引擎
+    - e1: "一号引擎"
+  bools: # 布尔式硬件
+    - l1: "航行灯"

testfield/legacy/server/dummy_all/dummy_api.py

@@ -0,0 +1,33 @@
+class Motor(object):
+    angle = None
+    def __init__(self, id):
+        self.angle = 0 # mark
+        self.id = id
+    def get(self):
+        return self.angle
+    def turn(self, add_angle):
+        self.angle += add_angle
+        return self.angle
+class Engine(object):
+    speed = None
+    def __init__(self, id):
+        self.speed = 0 # Mark
+        self.id = id
+    def get(self):
+        return self.speed
+    def tune(self, new_speed):
+        self.speed = new_speed
+        return self.speed
+
+class Battery:
+    def get():
+        power_left = 0.9
+        return power_left
+    def stat():
+        status = "Unplugged"
+        return status
+    
+class Network:
+    def stat():
+        delay = 0.2 # ms
+        return delay # or -1 (unreachable)

testfield/legacy/server/dummy_all/dummy_lib.py

@@ -0,0 +1,201 @@
+import dummy_api as ctrl
+import time
+import os
+import threading
+class Surface(object):
+    motor = None
+    name = None
+    curr_angle = None
+    id = None
+    type_ = "surface"
+    def __init__(self, name, id):
+        self.motor = ctrl.Motor(id)
+        self.curr_angle = self.motor.get()
+        self.name = name
+        self.id = id
+        print("初始化操纵面 {}, 硬件代号绑定为 {}".format(name, id))
+    def add_angle(self, angle):
+        self.motor.turn(angle)
+        self.curr_angle = self.motor.get();
+        #print("将 {} 的角度加成 {} 度".format(self.name, angle))
+    def set_angle(self, angle):
+        angle_turn = angle - self.motor.get()
+        self.motor.turn(angle_turn)
+        self.curr_angle = self.motor.get()
+        #print("将 {} 的角度设置为 {} 度".format(self.name, angle))
+    def get_angle(self):
+        self.curr_angle = self.motor.get()
+        #print("{} 当前角度为 {} 度".format(self.name, self.curr_angle))
+        return self.curr_angle
+    def status(self):
+        return {"type":"Surface", "name":self.name, "angle":self.curr_angle}
+    def selfchk(self):
+        print("开始自检操纵面 {}".format(self.name))
+        self.add_angle(30)
+        self.add_angle(-60)
+        self.set_angle(0)
+
+class Engine(object):
+    engine = None
+    curr_speed = None
+    id = None
+    name = None
+    type_ = "engine"
+    def __init__(self, name, id):
+        self.id = id
+        self.name = name
+        self.engine = ctrl.Engine(id)
+        self.curr_speed = self.engine.get()
+        print("初始化引擎 {}, 硬件代号绑定为 {}".format(name, id))
+    def set_speed(self, new_speed):
+        self.engine.tune(new_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速调谐为 {} RPM".format(self.name, new_speed))
+    def add_speed(self, add_speed):
+        self.engine.tune(self.curr_speed + add_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速加成 {} RPM".format(self.name, add_speed))
+    def get_speed(self):
+        ##print("{} 当前转速为 {} RPM".format(self.name, self.curr_speed))
+        self.curr_speed = self.engine.get()
+        return self.curr_speed
+    def status(self):
+        ##print(self.curr_speed)
+        return {"type":"Engine", "name":self.name, "speed":self.get_speed()}
+    def selfchk(self):
+        print("开始自检引擎 {}".format(self.name))
+        self.add_speed(3)
+        self.add_speed(-6)
+        self.set_speed(0)
+        self.curr_speed = self.engine.get()
+
+
+class Sensor:
+    data = dict()
+    data["speed"] = 0
+    data["battery"] = 0
+    data["xangle"] = 0
+    data["yangle"] = 0
+    data["zangle"] = 0
+    data["sign"] = 0
+    data["cpuload"] = 0
+    data["memload"] = 0
+    data["memsum"] = 0
+    data["torch"] = 0
+    data["acc"] = 0
+    is_torch_on = 0
+
+    @staticmethod
+    def speed():
+        Sensor.data["speed"] = 99
+        return Sensor.data["speed"]
+
+    @staticmethod
+    def battery():
+        Sensor.data["battery"] = 0.8
+        return Sensor.data["battery"]
+
+    @staticmethod
+    def xangle():
+        Sensor.data["xangle"] = 201
+        return Sensor.data["xangle"]
+
+    @staticmethod
+    def yangle():
+        Sensor.data["yangle"] = 108
+        return Sensor.data["yangle"]
+
+    @staticmethod
+    def zangle():
+        Sensor.data["zangle"] = 0
+        return Sensor.data["zangle"]
+
+    @staticmethod
+    def sign():
+        Sensor.data["sign"] = 322
+        return Sensor.data["sign"]
+
+    @staticmethod
+    def cpuload():
+        Sensor.data["cpuload"] = 0.12
+        return Sensor.data["cpuload"]
+
+    @staticmethod
+    def memload():
+        Sensor.data["memload"] = 0.88
+        return Sensor.data["memload"]
+
+    @staticmethod
+    def memsum():
+        Sensor.data["memsum"] = 2048
+        return Sensor.data["memsum"]
+
+    @staticmethod
+    def torch():
+        Sensor.data["torch"] = Sensor.is_torch_on
+        return Sensor.data["torch"]
+
+    @staticmethod
+    def torchon():
+        Sensor.is_torch_on = 1
+
+    @staticmethod
+    def acc():
+        Sensor.data["acc"] = 3
+        return Sensor.data["acc"]
+
+    @staticmethod
+    def net_delay():
+        Sensor.data["net_delay"] = 300
+        return Sensor.data["net_delay"]
+    
+    @staticmethod
+    def refresh():
+        Sensor.speed()
+        Sensor.battery()
+        Sensor.xangle()
+        Sensor.yangle()
+        Sensor.zangle()
+        Sensor.sign()
+        Sensor.cpuload()
+        Sensor.memload()
+        Sensor.memsum()
+        Sensor.torch()
+        Sensor.acc()
+        Sensor.net_delay()
+    
+    @staticmethod
+    def stat():
+        #Sensor.refresh()
+        return Sensor.data
+
+    def pseudo_gui():
+        import tkinter as tk
+        def update_label(key, value):
+            labels[key].config(text=f"{key}: {value}")
+        def update():
+            while 1:
+                for key in Sensor.data.keys():
+                    Sensor.data[key] = sliders[key].get()
+        root = tk.Tk()
+        root.title("DEBUGGING CONSOLE")
+
+        labels = {}
+        sliders = {}
+
+        # 自动布局
+        for key in Sensor.data.keys():
+            # 创建标签
+            label = tk.Label(root, text=f"{key}: {Sensor.data[key]}")
+            label.pack()
+            labels[key] = label
+
+            # 创建滑块
+            slider = tk.Scale(root, from_=0, to=100, orient=tk.HORIZONTAL, command=lambda value, k=key: update_label(k, value))
+            slider.pack()
+            sliders[key] = slider
+        
+        up = threading.Thread(target=update, name='Update')
+        up.start()
+        root.mainloop()
+        up.join()

testfield/legacy/server/host.py

@@ -0,0 +1,163 @@
+import yaml
+
+__dummy_mode__ = 1
+cfg = None
+if not __dummy_mode__:
+    import sys, os
+    sys.path.append("arduino_api")
+    sys.path.append("termux_lib")
+    import termux_lib as lib
+    import socket
+    import json
+    import os
+    import time
+    import threading
+else:
+    import sys
+    sys.path.append("dummy_all")
+    import dummy_lib as lib
+    import socket
+    import json
+    import os
+    import time
+    import threading
+
+    def hwinit():
+        global hw
+        hw = dict()
+        hw["aile_left"] = lib.Flank("左副翼", "al")
+        hw["aile_right"] = lib.Flank("右副翼", "ar")
+        #hw["tail_vert"] = lib.Flank("垂直尾翼", "tv")
+        hw["tail_left"] = lib.Flank("左尾翼", "tl")
+        hw["tail_right"] = lib.Flank("右尾翼", "tr")
+        hw["engine_main"] = lib.Engine("一号引擎", "e1")
+        
+
+    def check():
+        for i in hw.values():
+            i.selfchk()
+        print("操纵面与引擎自检完成, 等待远程指令")
+
+    def proc(data):
+        global hw
+        #print(data)
+        inf = json.loads(data.replace('\n', ';'))
+        print("DT"+data + "DT")
+        if inf["type"] == "cmd":
+            #print(f"执行命令")
+            exec(inf["cmd"])
+        elif inf["type"] == "syscmd":
+            #print(f"执行系统级命令")
+            os.system(inf["cmd"])
+        elif inf["type"] == "reset":
+            pass
+            #print(f"系统重置")
+        elif inf["type"] == "stop":
+            #print(f"退出系统")
+            return 1
+        else:
+            pass
+            #print(f"未知命令")
+        return 0
+    global isx
+    isx = 0
+    def stat():
+        global isx
+        status = dict()
+        status["devices"] = dict()
+        for i in hw.items():
+            status["devices"][i[0]] = i[1].status()
+        status["name"] = name
+        status["sensors"] = lib.Sensor.stat()
+        status["time"] = time.asctime()
+        isx+=1
+        return status
+    def debug_shell():
+        lib.Sensor.pseudo_gui()
+
+def init_hardware():
+    global hwobj
+    hwobj = dict()
+    print("注册传感器")
+    for i in hw["surfaces"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+    print("注册操纵面")
+    for i in hw["surfaces"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+    print("注册引擎")
+    for i in hw["engines"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册机炮")
+    for i in hw["cannons"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册供能系统")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册机轮制动")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册雷达")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册挂架")
+    for i in hw[""]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册布尔元件")
+    for i in hw["bools"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+def selfchk():
+    print("开始自检")
+    for i in hw:
+        print(f"{i}")
+    for i in hw["engines"]:
+            print(f"{j} ", end="")
+
+
+if __name__ == "__main__":
+    name = "零号侧卫"
+    global hw
+    hw = dict()
+    port = 40808
+    print(f"Commdore 飞行控制系统 服务端")
+    print("正在加载配置文件")
+    with open("config.yaml") as cfg_file:
+        cfg = yaml.safe_load(cfg_file)
+    name = cfg["name"]
+    model = cfg["model"]
+    hw = cfg["hardware"]
+    print(f"型号: {model}")
+    print(f"名称: {name}")
+    print("正在初始化硬件")
+    print("启动 socket 网络通信")
+    print("启动备用 socket 网络通信")
+    dummy = socket.socket()
+    dummy.bind(("localhost", port)) # 端口监听
+    dummy.listen(1)
+    print(f"监听端口 " + str(port))
+    conn, address = dummy.accept()
+    print(f"来自 {address} 的连接已接收")
+    msg = json.dumps(stat()) # 状态回传
+    size = len(msg.encode())
+    conn.send(msg.encode("UTF-8").ljust(2048))
+    np = threading.Thread(target=debug_shell, name='Debugging')
+    np.start()
+    while True:
+        # 接收消息
+        print(lib.Sensor.data)
+        data: str = conn.recv(2048).decode("UTF-8")
+        if data == "" or data == None:
+            continue
+        print(f"命令接收: {data}")
+        ret = proc(data)
+        if ret == 1:
+            break
+        msg = json.dumps(stat()) # 状态回传
+        size = len(msg.encode())
+        conn.send(msg.encode("UTF-8").ljust(2048 - size))  # encode将字符串编码为字节数组对象
+        #print(msg.encode("UTF-8").decode('unicode_escape'))
+        #print(f"当前状态已回传")
+
+    # 关闭连接
+    conn.close()
+    dummy.close()
+    np.join()

testfield/legacy/server/termux_lib/termux_lib.py

@@ -0,0 +1,232 @@
+import sys
+import os
+sys.path.append("../arduino_api")
+import arduino_api as ctrl
+import time
+import os
+import threading
+import json
+import subprocess
+import psutil
+import threading
+
+class Flank(object):
+    motor = None
+    name = None
+    curr_angle = None
+    code = None
+    type = "flank"
+    def __init__(self, name, code):
+        self.motor = ctrl.Motor(code)
+        self.curr_angle = self.motor.get()
+        self.name = name
+        self.code = code
+        print("初始化操纵面 {}, 硬件代号绑定为 {}".format(name, code))
+    def set_angle(self, angle):
+        self.motor.set(angle)
+        self.curr_angle = self.motor.get()
+        #print("将 {} 的角度设置为 {} 度".format(self.name, angle))
+    def add_angle(self, add_angle):
+        self.motor.set(self.curr_angle + add_angle)
+        self.curr_angle = self.motor.get()
+    def status(self):
+        return {"type":"Flank", "name":self.name, "angle":self.curr_angle}
+    def selfchk(self):
+        print("开始自检操纵面 {}".format(self.name))
+        self.add_angle(30)
+        self.add_angle(-60)
+        self.set_angle(0)
+
+class Engine(object):
+    engine = None
+    curr_speed = None
+    code = None
+    name = None
+    type = "engine"
+    def __init__(self, name, code):
+        self.code = code
+        self.name = name
+        self.engine = ctrl.Engine(code)
+        self.curr_speed = self.engine.get()
+        print("初始化引擎 {}, 硬件代号绑定为 {}".format(name, code))
+    def set_speed(self, new_speed):
+        self.engine.tune(new_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速调谐为 {} RPM".format(self.name, new_speed))
+    def add_speed(self, add_speed):
+        self.engine.tune(self.curr_speed + add_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速加成 {} RPM".format(self.name, add_speed))
+    def get_speed(self):
+        ##print("{} 当前转速为 {} RPM".format(self.name, self.curr_speed))
+        self.curr_speed = self.engine.get()
+        return self.curr_speed
+    def status(self):
+        ##print(self.curr_speed)
+        return {"type":"Engine", "name":self.name, "speed":self.get_speed()}
+    def selfchk(self):
+        print("开始自检引擎 {}".format(self.name))
+        self.add_speed(3)
+        self.add_speed(-6)
+        self.set_speed(0)
+        self.curr_speed = self.engine.get()
+
+
+"""
+@liteon-proximity: 光学接近传感器,用于检测物体的接近
+!yas537-mag: 磁力计传感器,用于测量磁场强度和方向
+@liteon-light: 光传感器,用于测量环境光强度
+@MPU6050-gyro: 陀螺仪传感器,用于测量角速度
+@MPU6050-accel: 加速度计传感器,用于测量线性加速度
+!liteon-pocket: 可能是特定用途的传感器,具体功能需参考设备文档
+*yas537-orientation: 方向传感器,结合磁力计和加速度计数据来确定设备的方向
+@Game Rotation Vector Sensor: 用于测量设备的旋转向量,常用于游戏和增强现实应用
+@GeoMag Rotation Vector Sensor: 结合地磁和加速度数据来测量设备的旋转向量
+@Gravity Sensor: 测量重力加速度,用于确定设备的姿态
+*Linear Acceleration Sensor: 测量去除重力影响后的线性加速度
+@Rotation Vector Sensor: 综合陀螺仪和加速度计数据来测量设备的旋转向量
+"""
+
+class Sensor:
+    data = {
+        "speed": 0,
+        "battery": 0,
+        "xangle": 0,
+        "yangle": 0,
+        "zangle": 0,
+        "sign": 0,
+        "cpuload": 0,
+        "memload": 0,
+        "memsum": 0,
+        "torch": 0,
+        "acc": 0
+    }
+    is_torch_on = 0
+    @staticmethod
+    def speed(): #TODO
+        Sensor.data["speed"] = -1
+        return Sensor.data["speed"]
+
+    @staticmethod
+    def battery(): # 电池剩余
+        return Sensor.data["sysbattery"]
+    
+    def battery(): # TODO: 电机电池剩余
+        return Sensor.data["battery"]
+
+    @staticmethod
+    def xangle(): # X迎角
+        return Sensor.data["xangle"]
+
+    @staticmethod
+    def yangle():
+        return Sensor.data["yangle"]
+
+    @staticmethod
+    def zangle():
+        return Sensor.data["zangle"]
+
+    @staticmethod
+    def sign(): # 信号强度
+        Sensor.data["sign"] = -1
+        return Sensor.data["sign"]
+
+    @staticmethod
+    def cpuload(): # CPU占用(百分比)
+        Sensor.data["cpuload"] = psutil.cpu_percent(interval=1) / 100
+        return Sensor.data["cpuload"]
+
+    @staticmethod
+    def memload(): # 内存占用(百分比)
+        Sensor.data["memload"] = psutil.virtual_memory().percent / 100
+        return Sensor.data["memload"]
+
+    @staticmethod
+    def memsum(): # 内存总量(MB)
+        return Sensor.data["memsum"]
+
+    @staticmethod
+    def torch():
+        return Sensor.data["torch"]
+
+    @staticmethod
+    def torchon(): # 打开电筒
+        Sensor.is_torch_on = not Sensor.is_torch_on
+        to = {0:"off", 1:"on"}
+        os.system(f"torch {to[Sensor.is_torch_on]} &")
+
+    @staticmethod
+    def refresh():
+        Sensor.speed()
+        Sensor.battery()
+        Sensor.xangle()
+        Sensor.yangle()
+        Sensor.zangle()
+        Sensor.sign()
+        Sensor.cpuload()
+        Sensor.memload()
+        Sensor.memsum()
+        Sensor.torch()
+    
+    @staticmethod
+    def stat():
+        #Sensor.refresh()
+        return Sensor.data
+
+    def update_battery():
+        while True:
+            result = subprocess.run(['termux-battery-status'], capture_output=True, text=True)
+            data = json.loads(result.stdout)
+            Sensor.data["sysbattery"] = data["percentage"]
+
+    def update_orientation():
+        while True:
+            # TODO: 优化
+            result = subprocess.run(['termux-sensor', '-s', 'yas537-orientation', '-n', '1'], capture_output=True, text=True)
+            data = json.loads(result.stdout)
+            Sensor.data["xangle"] = data["yas537-orientation"]["values"][0]
+            Sensor.data["yangle"] = data["yas537-orientation"]["values"][1]
+            Sensor.data["zangle"] = data["yas537-orientation"]["values"][2]
+
+    def update_acceleration():
+        while True:
+            result = subprocess.run(['termux-sensor', '-s', 'Linear Acceleration Sensor', '-n', '1'], capture_output=True, text=True)
+            data = json.loads(result.stdout)
+            Sensor.data["acc"] = data["Linear Acceleration Sensor"]["values"]
+    
+    def update_func(cmd):
+        while True:
+            exec(cmd)
+            time.sleep(0.1)
+    def init():
+        Sensor.data = {
+            "speed": 0,
+            "battery": 0,
+            "xangle": 0,
+            "yangle": 0,
+            "zangle": 0,
+            "sign": 0,
+            "cpuload": 0,
+            "memload": 0,
+            "memsum": 0,
+            "torch": 0,
+            "acc": 0
+        }
+        os.system("termux-torch off &")
+        Sensor.is_torch_on = 0
+        Sensor.data["memsum"] = psutil.virtual_memory().total / (1024 * 1024)
+
+    def deamon():
+        # 启动线程
+        Sensor.battery_thread = threading.Thread(target=Sensor.update_battery)
+        Sensor.orientation_thread = threading.Thread(target=Sensor.update_orientation)
+        Sensor.acceleration_thread = threading.Thread(target=Sensor.update_acceleration)
+        Sensor.other_thread = threading.Thread(target=Sensor.update_func, args=("""Sensor.sign()\nSensor.cpuload()\nSensor.memload()\nSensor.torch()"""))
+        Sensor.battery_thread.start()
+        Sensor.orientation_thread.start()
+        Sensor.acceleration_thread.start()
+    def stop():
+        Sensor.orientation_thread.join()
+        Sensor.battery_thread.join()
+        Sensor.acceleration_thread.join()
+        Sensor.other_thread.join()