193 lines
11 KiB
Python
193 lines
11 KiB
Python
import time
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import serial
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import struct
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class GroundControlStation:
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def __init__(self, com):
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self.heart_beat = {'timestamp': 0.0, 'buffer_err': 0}
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self.command = {'timestamp': 0.0, 'setting': 0, 'desired_heading': 0.0, 'desired_speed': 0.0,
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'desired_latitude': 0.0, 'desired_longitude': 0.0, 'desired_rudder': 0, 'desired_thrust': 0,
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'ignition': 0, 'buffer_err': 0}
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self.waypoints = []
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self.gcs = serial.Serial(com, 57600, timeout=0, write_timeout=0)
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self.buffer = []
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self.errors = 0
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def g_run(self, usv):
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self.receive_decode(usv)
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self.send_status(usv)
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def receive_decode(self, usv):
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self.buffer += self.gcs.read(128)
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while len(self.buffer) >= 5:
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if self.buffer[0] != calculate_header_lrc(self.buffer):
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del self.buffer[0]
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continue
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packet_data_length = self.buffer[2]
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packet_length = packet_data_length + 5
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if len(self.buffer) < packet_length:
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break
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if (self.buffer[3] | self.buffer[4] << 8) != calculate_crc16_ccitt(self.buffer[5:], packet_data_length):
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del self.buffer[0]
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self.errors += 1
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continue
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packet_id = self.buffer[1]
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packet_data = self.buffer[5:packet_length]
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if packet_id == 0 and packet_data_length == 8: # 心跳包
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self.heart_beat['timestamp'] = time.time()
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self.heart_beat['buffer_err'] = self.errors
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del self.buffer[:packet_length]
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continue
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elif (packet_data[0] | packet_data[1] << 8) != usv.settings.usv_id: # 数据过滤
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del self.buffer[:packet_length]
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continue
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elif packet_id == 1 and packet_data_length == 40: # Command
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command = struct.unpack('<Bffddhhb', bytes(packet_data[10:packet_data_length]))
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self.command['timestamp'] = time.time()
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self.command['setting'] = command[0]
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self.command['desired_heading'] = command[1]
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self.command['desired_speed'] = command[2]
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self.command['desired_latitude'] = command[3]
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self.command['desired_longitude'] = command[4]
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self.command['desired_rudder'] = command[5]
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self.command['desired_thrust'] = command[6]
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self.command['ignition'] = command[7]
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del self.buffer[:packet_length]
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continue
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elif packet_id == 2 and packet_data_length == 10: # 参数请求
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data_bytes = struct.pack('<Hdfffffffff', usv.settings.usv_id, time.time(),
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usv.control.pid['heading_p'], usv.control.pid['heading_i'],
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usv.control.pid['heading_d'], usv.control.pid['speed_p'],
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usv.control.pid['speed_i'], usv.control.pid['speed_d'],
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usv.control.pid['position_p'], usv.control.pid['position_i'],
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usv.control.pid['position_d'])
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crc16 = calculate_crc16_ccitt(data_bytes, len(data_bytes))
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header_bytes = calculate_header_bytes(17, 46, crc16) # 参数包id=17，包长46
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send_data = header_bytes + data_bytes
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self.gcs.write(send_data)
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del self.buffer[:packet_length]
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continue
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elif packet_id == 3 and packet_data_length == 46: # 设置请求
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# 解析PID参数
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pid = struct.unpack('<fffffffff', bytes(packet_data[10:packet_data_length]))
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# 保存PID
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usv.control.pid['heading_p'] = pid[0]
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usv.control.pid['heading_i'] = pid[1]
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usv.control.pid['heading_d'] = pid[2]
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usv.control.pid['speed_p'] = pid[3]
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usv.control.pid['speed_i'] = pid[4]
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usv.control.pid['speed_d'] = pid[5]
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usv.control.pid['position_p'] = pid[6]
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usv.control.pid['position_i'] = pid[7]
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usv.control.pid['position_d'] = pid[8]
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# 设置回应
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data_bytes = struct.pack('<HdB', usv.settings.usv_id, time.time(), 0xff)
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crc16 = calculate_crc16_ccitt(data_bytes, len(data_bytes))
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header_bytes = calculate_header_bytes(18, 11, crc16) # 回应包id=18，包长11
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send_data = header_bytes + data_bytes
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self.gcs.write(send_data)
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del self.buffer[:packet_length]
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continue
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elif packet_id == 4: # 任务上传请求
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data_type = packet_data[10]
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if packet_data_length == 11 and data_type == 0:
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self.waypoints.clear()
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if packet_data_length == 31 and data_type == 1:
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way_point = struct.unpack('<ddf', bytes(packet_data[11:packet_data_length]))
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is_same = False
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if len(self.waypoints) != 0:
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if self.waypoints[-1][0] != way_point[0] and self.waypoints[-1][1] != way_point[1] and \
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self.waypoints[-1][2] != way_point[2]:
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is_same = True
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if not is_same:
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self.waypoints.append(way_point)
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if packet_data_length == 11 and data_type == 2:
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usv.mission.write(self.waypoints)
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# 返回成功信号
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data_bytes = struct.pack('<HdB', usv.settings.usv_id, time.time(), 0xff)
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crc16 = calculate_crc16_ccitt(data_bytes, len(data_bytes))
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header_bytes = calculate_header_bytes(19, 11, crc16) # 回应包id=19，包长11
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send_data = header_bytes + data_bytes
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self.gcs.write(send_data)
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del self.buffer[:packet_length]
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continue
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def send_status(self, usv):
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data_bytes = struct.pack('<HdBdddffffffffffffHHffhhb', usv.settings.usv_id, time.time(), usv.control.status,
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usv.navigation.data['location']['latitude'],
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usv.navigation.data['location']['longitude'],
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usv.navigation.data['location']['altitude'], usv.navigation.data['posture']['roll'],
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usv.navigation.data['posture']['pitch'], usv.navigation.data['posture']['yaw'],
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usv.navigation.data['velocity']['north'], usv.navigation.data['velocity']['east'],
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usv.navigation.data['velocity']['down'], usv.navigation.data['gyroscope']['X'],
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usv.navigation.data['gyroscope']['Y'], usv.navigation.data['gyroscope']['Z'],
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usv.navigation.data['accelerometer']['X'], usv.navigation.data['accelerometer']['Y'],
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usv.navigation.data['accelerometer']['Z'], usv.navigation.data['system_status'],
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usv.navigation.data['filter_status'], usv.control.depth, usv.control.battery,
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usv.control.data['rudder'], usv.control.data['thrust'], usv.control.data['ignition'])
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crc16 = calculate_crc16_ccitt(data_bytes, len(data_bytes))
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header_bytes = calculate_header_bytes(16, 100, crc16) # 回应包id=16，包长100
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send_data = header_bytes + data_bytes
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self.gcs.write(send_data)
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def calculate_header_bytes(usv_id, length, crc16):
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header_list = [0, usv_id, length, crc16 & 0xff, crc16 // 0x100]
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header_list[0] = calculate_header_lrc(header_list)
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return struct.pack('<BBBBB', header_list[0], header_list[1], header_list[2], header_list[3], header_list[4])
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def calculate_header_lrc(data_list):
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return ((((data_list[1] + data_list[2] + data_list[3] + data_list[4]) & 0xff) ^ 0xff) + 1) & 0xff
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def calculate_crc16_ccitt(data_list, length):
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crc16_ccitt = 0xffff
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crc16_ccitt_list = [0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
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0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
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0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
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0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
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0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
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0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
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0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
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0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
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0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
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0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
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0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
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0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
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0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
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0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
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0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
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0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
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0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
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0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
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0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
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0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
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0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
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0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
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0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
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0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
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0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
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0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
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0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
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0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
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0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
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0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
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0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
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0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
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for i in range(length):
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crc16_ccitt = ((crc16_ccitt << 8 & 0xffff) ^ crc16_ccitt_list[
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((crc16_ccitt >> 8) & 0xffff) ^ data_list[i]]) & 0xffff
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return crc16_ccitt
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