import { invoke } from '@tauri-apps/api/core';
|
|
import * as math from 'mathjs';
|
|
// 定义一个类型，用于存储所有注册的回调函数
|
type DataCallback = (data: number[]) => void;
|
const dataCallbacks: DataCallback[] = [];
|
|
// 注册数据接收回调函数
|
export function registerDataCallback(callback: DataCallback) {
|
dataCallbacks.push(callback);
|
}
|
|
// 移除数据接收回调函数
|
export function unregisterDataCallback(callback: DataCallback) {
|
const index = dataCallbacks.indexOf(callback);
|
if (index > -1) {
|
dataCallbacks.splice(index, 1);
|
}
|
}
|
|
// 处理从Rust后端接收到的串口数据
|
export function processSerialData(data: number[]): number[] | undefined {
|
// 对接收到的数据进行crc校验,前两个字节是帧头，后两个字节是校验值
|
// 校验数据是否正确
|
// 去除前两个字节和后两个字节
|
const dataWithoutHeaderAndCRC = data.slice(0, -2);
|
const crc16 = crc16modbus(dataWithoutHeaderAndCRC);
|
// 校验数据是否正确
|
if (crc16[0] === data[data.length - 2] && crc16[1] === data[data.length - 1]) {
|
console.log('校验数据正确');
|
}
|
|
const dataWithoutHeader = data.slice(2, -2);
|
// dataWithoutHeader 中每三个字节转换成一个数
|
const dataArray: number[] = [];
|
for (let i = 0; i < dataWithoutHeader.length; i += 3) {
|
const num = dataWithoutHeader[i] * 256 * 256 + dataWithoutHeader[i + 1] * 256 + dataWithoutHeader[i + 2];
|
dataArray.push(num);
|
}
|
console.log('dataArray', dataArray);
|
invoke('log_data', { data: JSON.stringify(dataArray) })
|
.then(() => console.log('Data logged successfully'))
|
.catch((e: any) => console.error('Failed to log data:', e));
|
// 对接收到的数据进行处理
|
if (Array.isArray(dataArray) && dataArray.length === 6) {
|
// 将数组中的每个数分别*4000/4194303
|
for (let i = 0; i < dataArray.length; i++) {
|
dataArray[i] = dataArray[i] * 4000 / 4194303;
|
}
|
|
// 定义B矩阵（从Excel文件中获取）
|
const B = [
|
[-6.501014986, 49.89944483, -47.37512707, 3.306871125, -730.3864937, 731.892412],
|
[39.02334352, -20.01844412, -28.31245682, -846.7104044, 422.5886114, 423.8930456],
|
[1323.394066, 1311.347472, 1318.438012, -6.141452446, -5.309142718, -17.72182533],
|
[-0.461934807, 38.31359845, -37.51342676, -10.30786014, 5.431648347, -4.552001119],
|
[44.06827786, -21.49540034, -22.28032529, -0.447302394, -8.60890465, 9.325018254],
|
[1.125851578, 1.306669827, 1.532290446, -23.04749193, -23.05906062, -23.19316741]
|
];
|
|
// 计算真实的力值：F = B * dataArray
|
const realForces = math.multiply(B, dataArray);
|
|
// 将处理后的数据分发给所有注册的回调函数
|
dataCallbacks.forEach(callback => callback(realForces as number[]));
|
// 返回真实的力值数组
|
return realForces as number[];
|
} else {
|
console.error("Data array must contain 6 elements.");
|
return undefined;
|
}
|
}
|
|
export function createDataReceiver(callback: (data: number[]) => void) {
|
// 直接注册回调函数，不再需要轮询或错误计数
|
registerDataCallback(callback);
|
|
// 返回一个清理函数，用于在组件卸载时移除回调
|
return () => {
|
unregisterDataCallback(callback);
|
};
|
}
|
|
// CRC-16/Modbus 查表法预生成 256 个 CRC 值
|
function makeCRCTable() {
|
const table = new Array(256);
|
const polynomial = 0xA001;
|
|
for (let i = 0; i < 256; i++) {
|
let crc = i;
|
for (let j = 0; j < 8; j++) {
|
if (crc & 0x0001) {
|
crc = (crc >>> 1) ^ polynomial;
|
} else {
|
crc >>>= 1;
|
}
|
}
|
table[i] = crc;
|
}
|
return table;
|
}
|
|
const crcTable = makeCRCTable();
|
|
// CRC-16/Modbus 计算函数
|
function crc16modbus(buffer: number[]) {
|
let crc = 0xFFFF;
|
|
for (let i = 0; i < buffer.length; i++) {
|
let tableIndex = (crc ^ buffer[i]) & 0xFF;
|
crc = (crc >>> 8) ^ crcTable[tableIndex];
|
}
|
|
// 返回小端格式（Modbus 要求低位在前），以字节数组的形式返回
|
const crcBytes = [crc & 0xFF, crc >>> 8];
|
return crcBytes;
|
}
|
