120 lines
3.5 KiB
Python
120 lines
3.5 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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硬件管理器模块
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提供硬件对象的统一管理和访问
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"""
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import threading
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import config
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from at_client import ATClient
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class HardwareManager:
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"""硬件管理器（单例）"""
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_instance = None
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def __new__(cls):
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if cls._instance is None:
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cls._instance = super(HardwareManager, cls).__new__(cls)
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cls._instance._initialized = False
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return cls._instance
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def __init__(self):
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if self._initialized:
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return
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# 私有硬件对象
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self._uart4g = None # 4G模块UART
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self._distance_serial = None # 激光测距串口
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self._bus = None # I2C总线
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self._adc_obj = None # ADC对象
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self._at_client = None # AT客户端
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self._initialized = True
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# ==================== 硬件访问（只读属性）====================
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@property
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def uart4g(self):
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"""4G模块UART（只读）"""
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return self._uart4g
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@property
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def distance_serial(self):
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"""激光测距串口（只读）"""
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return self._distance_serial
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@property
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def bus(self):
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"""I2C总线（只读）"""
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return self._bus
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@property
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def adc_obj(self):
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"""ADC对象（只读）"""
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return self._adc_obj
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@property
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def at_client(self):
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"""AT客户端（只读）"""
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return self._at_client
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# ==================== 初始化方法 ====================
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def init_uart4g(self, device=None, baudrate=None):
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"""初始化4G模块UART"""
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from maix import uart
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if device is None:
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device = config.UART4G_DEVICE
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if baudrate is None:
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baudrate = config.UART4G_BAUDRATE
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self._uart4g = uart.UART(device, baudrate)
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return self._uart4g
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def init_distance_serial(self, device=None, baudrate=None):
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"""初始化激光测距串口（激光控制）"""
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from maix import uart
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if device is None:
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device = config.DISTANCE_SERIAL_DEVICE
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if baudrate is None:
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baudrate = config.DISTANCE_SERIAL_BAUDRATE
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print(f"[HW] 初始化激光串口: device={device}, baudrate={baudrate}")
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self._distance_serial = uart.UART(device, baudrate)
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print(f"[HW] 激光串口初始化完成: {self._distance_serial}")
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return self._distance_serial
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def init_bus(self, bus_num=None):
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"""初始化I2C总线"""
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from maix import i2c
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if bus_num is None:
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bus_num = config.I2C_BUS_NUM
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self._bus = i2c.I2C(bus_num, i2c.Mode.MASTER)
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return self._bus
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def init_adc(self, channel=None, res_bit=None):
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"""初始化ADC"""
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from maix.peripheral import adc
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if channel is None:
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channel = config.ADC_CHANNEL
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if res_bit is None:
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res_bit = adc.RES_BIT_12
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self._adc_obj = adc.ADC(channel, res_bit)
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return self._adc_obj
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def init_at_client(self, uart_obj=None):
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"""初始化AT客户端"""
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if uart_obj is None:
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if self._uart4g is None:
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raise ValueError("uart4g must be initialized before at_client")
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uart_obj = self._uart4g
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self._at_client = ATClient(uart_obj)
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self._at_client.start()
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return self._at_client
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# 创建全局单例实例
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hardware_manager = HardwareManager()
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