269 lines
8.1 KiB
C
269 lines
8.1 KiB
C
#define PY_SSIZE_T_CLEAN
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#include <Python.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <zlib.h> // 引入 zlib 库
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#include <fec.h> // 引入 libfec 库
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#include "hx_serial.h"
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#include "hx_ringbuffer.h"
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// #define USE_FEC
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#ifdef USE_FEC
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#define FEC_SIZE 32 // 前向纠错冗余数据大小
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#else
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#define FEC_SIZE 0 // 前向纠错冗余数据大小
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#endif
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#define FRAME_HEADER 0xAA55 // 帧头
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#define FRAME_SIZE (240) // 每帧大小
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#define HEADER_SIZE (4) // 帧头 + 帧序号 + 数据长度
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#define CHECKSUM_SIZE (4) // CRC32 校验和大小（4 字节）
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#define DATA_SIZE (FRAME_SIZE - HEADER_SIZE - CHECKSUM_SIZE - FEC_SIZE) // 数据段大小
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#define RING_BUFFER_SIZE (1024 * 10) // 环形缓冲区大小 - default 10KB
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// 全局变量：串口设备和发送缓冲区
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static by_serial_t serial_port;
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static by_ringbuf_t ring_buffer;
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static uint8_t send_buffer[FRAME_SIZE];
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static uint8_t send_buffer_test[FRAME_SIZE];
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static uint8_t frame_counter = 0;
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static uint8_t data_len = 0;
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// 计算 CRC32 校验和
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uint32_t calculate_crc32(const uint8_t *data, size_t length) {
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return crc32(0, data, length);
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}
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// 前向纠错编码
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void fec_encode(uint8_t *data, size_t data_length, uint8_t *fec_data) {
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encode_rs_8(data, fec_data, 0);
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}
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// 前向纠错解码
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int fec_decode(uint8_t *data, size_t data_length, uint8_t *fec_data) {
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return decode_rs_8(data, (int *)fec_data, 0, 0);
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}
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// 解析一帧数据
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int parse_frame(by_ringbuf_t *ringbuf, uint8_t *output_data, int *output_len) {
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uint8_t frame[FRAME_SIZE];
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int available_data = by_ringbuf_available_data(ringbuf);
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// 检查是否有足够的数据解析一帧
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if (available_data < HEADER_SIZE + CHECKSUM_SIZE + FEC_SIZE) {
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return -1; // 数据不足，无法解析
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}
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// 查找帧头
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uint16_t header = FRAME_HEADER;
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int header_pos = by_ringbuf_find(ringbuf, (uint8_t *)&header, 2);
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if (header_pos < 0) {
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return -1; // 没有找到帧头
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}
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// 弹出帧头之前的数据
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by_ringbuf_pop(ringbuf, frame, header_pos);
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// 检查是否有足够的数据解析一帧
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if (by_ringbuf_available_data(ringbuf) < FRAME_SIZE) {
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return -1; // 数据不足，无法解析
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}
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// 读取帧数据
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by_ringbuf_pop(ringbuf, frame, FRAME_SIZE);
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// 解析帧序号、有效数据长度、数据段和 CRC32
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uint8_t seq = frame[2];
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uint8_t valid_data_len = frame[2 + 1];
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uint8_t *data_segment = &frame[2 + 1 + 1];
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uint32_t received_crc = *(uint32_t *)&frame[2 + 1 + 1 + DATA_SIZE];
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printf("Received frame: %d, valid_data_len: %d, received_crc: %08X\n", seq, valid_data_len, received_crc);
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for(uint8_t i = 0; i < FRAME_SIZE; i++) {
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printf("%02X ", frame[i]);
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}
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printf("\n");
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// 计算 CRC32 校验
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// uint32_t calculated_crc = calculate_crc32(data_segment, valid_data_len);
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uint32_t calculated_crc = calculate_crc32(frame, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
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if (received_crc != calculated_crc) {
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printf("CRC mismatch! Expected: %08X, Received: %08X\n", calculated_crc, received_crc);
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return -1; // CRC 校验失败，丢弃该帧
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}
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// 将有效数据拼接到输出缓冲区
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memcpy(&output_data[*output_len], data_segment, valid_data_len);
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*output_len += valid_data_len;
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// 判断是否为最后一帧
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if (valid_data_len < DATA_SIZE) {
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printf("Received last frame!\n");
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return 1; // 最后一帧，解析完成
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}
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return 0; // 成功解析一帧，但可能还有更多帧
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}
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// 边读取边解析串口数据
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int parse_serial_data(by_serial_t *serial_port, by_ringbuf_t *ringbuf, uint8_t *output_data, int *output_len) {
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uint8_t buffer[FRAME_SIZE];
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int ret;
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// 从串口读取数据到环形缓冲区
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ret = by_serial_read(serial_port, buffer, FRAME_SIZE);
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if (ret > 0) {
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by_ringbuf_append(ringbuf, buffer, ret);
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}
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// 尝试解析环形缓冲区中的数据
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while (1) {
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int parse_result = parse_frame(ringbuf, output_data, output_len);
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if (parse_result == 1) {
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return 0; // 解析完成
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} else if (parse_result == -1) {
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break; // 数据不足或解析失败，退出循环
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}
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}
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return -1; // 未找到完整帧
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}
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// 初始化串口
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static PyObject *serial_init(PyObject *self, PyObject *args) {
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const char *dev_name;
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if (!PyArg_ParseTuple(args, "s", &dev_name)) {
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return NULL;
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}
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if (by_serial_init(&serial_port, dev_name) != 0) {
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PyErr_SetString(PyExc_IOError, "Failed to initialize serial port");
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return NULL;
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}
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// 初始化环形缓冲区
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if (by_ringbuf_init(&ring_buffer, RING_BUFFER_SIZE) != 0) {
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PyErr_SetString(PyExc_IOError, "Failed to initialize ring buffer");
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return NULL;
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}
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frame_counter = 0; // 重置帧计数器
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Py_RETURN_NONE;
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}
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// 发送数据
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static PyObject *serial_send(PyObject *self, PyObject *args) {
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const char *data;
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Py_ssize_t length;
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if (!PyArg_ParseTuple(args, "s#", &data, &length)) {
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return NULL;
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}
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printf("Send data len = %ld\n", length);
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size_t offset = 0;
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uint8_t idx = 0;
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while (offset < length) {
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memset(send_buffer, 0, FRAME_SIZE);
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// 构造帧头
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uint16_t header = FRAME_HEADER;
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memcpy(send_buffer, &header, 2);
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// 构造帧序号
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memcpy(send_buffer + 2, &frame_counter, 1);
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// 构造数据长度
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if (length - offset > DATA_SIZE) {
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data_len = DATA_SIZE;
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} else {
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data_len = length - offset;
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}
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memcpy(send_buffer + 3, &data_len, 1);
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// 拷贝该帧对应数据段
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memcpy(send_buffer + HEADER_SIZE, data + offset, data_len);
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#ifdef USE_FEC
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// 将 FEC 数据附加到帧中
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memcpy(send_buffer + HEADER_SIZE + DATA_SIZE, fec_data, 32);
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#endif
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// 计算 CRC32 校验和
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uint32_t crc = calculate_crc32(send_buffer, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
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memcpy(send_buffer + HEADER_SIZE + DATA_SIZE + FEC_SIZE, &crc, CHECKSUM_SIZE);
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for(uint8_t i = 0; i < FRAME_SIZE; i++) {
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printf("%02x ", send_buffer[i]);
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}
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// 发送帧
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if (by_serial_write(&serial_port, (const char *)send_buffer, FRAME_SIZE) != 0) {
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PyErr_SetString(PyExc_IOError, "Failed to send data over serial port");
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return NULL;
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}
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offset += DATA_SIZE;
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frame_counter++;
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printf("* frame [%d]\n", frame_counter);
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// usleep(50000);
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usleep(80000);
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}
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frame_counter = 0;
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printf("****************\n");
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Py_RETURN_NONE;
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}
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// 接收数据
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static PyObject *serial_receive(PyObject *self, PyObject *args) {
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uint8_t output_data[8192];
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int output_len = 0;
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int timeout = 5000; // 超时时间，单位为毫秒
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int elapsed_time = 0;
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// TODO 增加当接收新帧时的处理
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while (elapsed_time < timeout) {
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if (parse_serial_data(&serial_port, &ring_buffer, output_data, &output_len) == 0) {
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// 返回解析后的数据
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printf("Parsed data length: %d\n", output_len);
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return Py_BuildValue("y#", output_data, output_len);
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}
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usleep(1000); // 等待 1 毫秒
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elapsed_time += 1;
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}
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// 超时未接收到完整帧
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PyErr_SetString(PyExc_TimeoutError, "Timeout while waiting for data");
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return NULL;
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}
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// 模块方法表
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static PyMethodDef SerialMethods[] = {
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{"init", serial_init, METH_VARARGS, "Initialize serial port"},
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{"send", serial_send, METH_VARARGS, "Send data over serial port"},
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{"receive", serial_receive, METH_VARARGS, "Receive data from serial port"},
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{NULL, NULL, 0, NULL}};
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// 模块定义
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static struct PyModuleDef serialmodule = {
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PyModuleDef_HEAD_INIT,
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"serial_module",
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NULL,
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-1,
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SerialMethods};
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// 模块初始化函数
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PyMODINIT_FUNC PyInit_serial_module(void) {
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return PyModule_Create(&serialmodule);
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} |