From 2ad852ee08e21ee681950f1d6058499248baf88e Mon Sep 17 00:00:00 2001
From: baoshiwei <baoshiwei@shlanbao.cn>
Date: 星期五, 18 七月 2025 15:04:22 +0800
Subject: [PATCH] 完成串口读取数据和处理
---
src/utils/dataFetcher.ts | 170 ++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 110 insertions(+), 60 deletions(-)
diff --git a/src/utils/dataFetcher.ts b/src/utils/dataFetcher.ts
index 05bfdfe..e935fb5 100644
--- a/src/utils/dataFetcher.ts
+++ b/src/utils/dataFetcher.ts
@@ -1,68 +1,118 @@
-import { getLatestWsData } from '../pipe_client';
+import { invoke } from '@tauri-apps/api/core';
-// const pipeName = 'tauri-pipe-server';
+import * as math from 'mathjs';
-// const dataSource = 'ws'; // pipe|ws
+// 瀹氫箟涓�涓被鍨嬶紝鐢ㄤ簬瀛樺偍鎵�鏈夋敞鍐岀殑鍥炶皟鍑芥暟
+type DataCallback = (data: number[]) => void;
+const dataCallbacks: DataCallback[] = [];
-export async function fetchForceData() {
- try {
- let response: string | null = null;
-
- // if (dataSource === 'pipe') {
- // if (!pipeName) throw new Error('Pipe name is required for pipe data source');
- // response = await sendToPipe(pipeName, 'GET_FORCE_DATA');
- // } else if (dataSource === 'ws') {
- response = await getLatestWsData();
- if (!response) return null;
- // }
-
- if (!response) return null;
-
- const jsonData = JSON.parse(response);
- const forceData = jsonData[0];
- if (Array.isArray(forceData) && forceData.length === 6) {
- // 灏嗘暟缁勪腑鐨勬瘡涓暟鍒嗗埆*4000/4194303
- for (let i = 0; i < forceData.length; i++) {
- forceData[i] = forceData[i] * 4000 / 4194303;
- }
- return forceData;
- }
-
- return null;
- } catch (error) {
- console.error('Error fetching force data:', error);
- return null;
+// 娉ㄥ唽鏁版嵁鎺ユ敹鍥炶皟鍑芥暟
+export function registerDataCallback(callback: DataCallback) {
+ dataCallbacks.push(callback);
+}
+
+// 绉婚櫎鏁版嵁鎺ユ敹鍥炶皟鍑芥暟
+export function unregisterDataCallback(callback: DataCallback) {
+ const index = dataCallbacks.indexOf(callback);
+ if (index > -1) {
+ dataCallbacks.splice(index, 1);
}
}
-export function createDataReceiver( callback: (data: number[]) => void) {
- let errorCount = 0;
- const maxConsecutiveErrors = 5;
- let showingError = false;
-
- return async () => {
- try {
- const forceData = await fetchForceData();
- console.log('forceData111', forceData);
- if (forceData) {
- // 閲嶇疆閿欒璁℃暟
- errorCount = 0;
- if (showingError) {
- showingError = false;
- console.log('鏁版嵁閫氫俊宸叉仮澶�');
- }
- console.log('forceData222', forceData);
- callback(forceData);
- }
- } catch (err) {
- // 澧炲姞閿欒璁℃暟
- errorCount++;
-
- // 鍙湪杩炵画閿欒杈惧埌闃堝�兼椂鏄剧ず閿欒淇℃伅锛岄伩鍏嶆棩蹇楀埛灞�
- if (errorCount >= maxConsecutiveErrors && !showingError) {
- showingError = true;
- console.error('鏁版嵁閫氫俊鎸佺画澶辫触锛岃妫�鏌ユ湇鍔＄鐘舵��:', err);
- }
+// 澶勭悊浠嶳ust鍚庣鎺ユ敹鍒扮殑涓插彛鏁版嵁
+export function processSerialData(data: number[]): number[] | undefined {
+ // 瀵规帴鏀跺埌鐨勬暟鎹繘琛宑rc鏍￠獙,鍓嶄袱涓瓧鑺傛槸甯уご锛屽悗涓や釜瀛楄妭鏄牎楠屽��
+ // 鏍￠獙鏁版嵁鏄惁姝ｇ‘
+ // 鍘婚櫎鍓嶄袱涓瓧鑺傚拰鍚庝袱涓瓧鑺�
+ const dataWithoutHeaderAndCRC = data.slice(0, -2);
+ const crc16 = crc16modbus(dataWithoutHeaderAndCRC);
+ // 鏍￠獙鏁版嵁鏄惁姝ｇ‘
+ if (crc16[0] === data[data.length - 2] && crc16[1] === data[data.length - 1]) {
+ console.log('鏍￠獙鏁版嵁姝ｇ‘');
+ }
+
+ const dataWithoutHeader = data.slice(2, -2);
+ // dataWithoutHeader 涓瘡涓変釜瀛楄妭杞崲鎴愪竴涓暟
+ 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));
+ // 瀵规帴鏀跺埌鐨勬暟鎹繘琛屽鐞�
+ if (Array.isArray(dataArray) && dataArray.length === 6) {
+ // 灏嗘暟缁勪腑鐨勬瘡涓暟鍒嗗埆*4000/4194303
+ for (let i = 0; i < dataArray.length; i++) {
+ dataArray[i] = dataArray[i] * 4000 / 4194303;
}
+
+ // 瀹氫箟B鐭╅樀锛堜粠Excel鏂囦欢涓幏鍙栵級
+ 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]
+ ];
+
+ // 璁＄畻鐪熷疄鐨勫姏鍊硷細F = B * dataArray
+ const realForces = math.multiply(B, dataArray);
+
+ // 灏嗗鐞嗗悗鐨勬暟鎹垎鍙戠粰鎵�鏈夋敞鍐岀殑鍥炶皟鍑芥暟
+ dataCallbacks.forEach(callback => callback(realForces as number[]));
+ // 杩斿洖鐪熷疄鐨勫姏鍊兼暟缁�
+ return realForces as number[];
+ } else {
+ console.error("Data array must contain 6 elements.");
+ return undefined;
+ }
+}
+
+export function createDataReceiver(callback: (data: number[]) => void) {
+ // 鐩存帴娉ㄥ唽鍥炶皟鍑芥暟锛屼笉鍐嶉渶瑕佽疆璇㈡垨閿欒璁℃暟
+ registerDataCallback(callback);
+
+ // 杩斿洖涓�涓竻鐞嗗嚱鏁帮紝鐢ㄤ簬鍦ㄧ粍浠跺嵏杞芥椂绉婚櫎鍥炶皟
+ return () => {
+ unregisterDataCallback(callback);
};
-}
\ No newline at end of file
+}
+
+// CRC-16/Modbus 鏌ヨ〃娉曢鐢熸垚 256 涓� CRC 鍊�
+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 璁＄畻鍑芥暟
+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];
+ }
+
+ // 杩斿洖灏忕鏍煎紡锛圡odbus 瑕佹眰浣庝綅鍦ㄥ墠锛夛紝浠ュ瓧鑺傛暟缁勭殑褰㈠紡杩斿洖
+ const crcBytes = [crc & 0xFF, crc >>> 8];
+ return crcBytes;
+}
--
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