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receiveData.py
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import threading
import struct
import matplotlib.pyplot as plt
import mysql.connector
# 初始化数据库并返回db、cursor和sql对象
db = mysql.connector.connect(
host="localhost",
user="root",
passwd="",
database="test_db"
)
cursor = db.cursor()
sql = "INSERT INTO odom_data (position_x, position_y, theta_data, vel_linear, vel_angule) VALUES (%s, %s, %s, %s, %s)"
db1 = mysql.connector.connect(
host="localhost",
user="root",
passwd="",
database="test_db"
)
cursor1 = db1.cursor()
sql1 = "INSERT INTO time_record (classify_time, frame_time) VALUES (%s, %s)"
def data_process(ser_obj):
data_count = 0 # 参数用于统计正确数据的数量
insert_count = 0 # 参数用于统计数据插入数据库的次数
# plt.ion() # 开启interactive mode 成功的关键函数
# t = [0]
# m = [0]
my_list = [] # 初始化数组用于存储串口数据
while True:
data = ser_obj.readline()
# print(data)
# 通过数据长度判断接收到的数据是否正确，若数据错误则跳过程序重新接收
length = len(data)
# print("里程计字符串长度：", length)
if length == 21:
data_count = data_count+1
# print("当前正确的数据量有 ", data_count, " 条！")
# 初始化五个空数组用于存储十六进制数据
position_x = []
position_y = []
theta_data = []
vel_linear = []
vel_angule = []
for i in range(4):
# 用循环的方式将串口接收的数据分别存储到各自对应的五个数组中
position_x.insert(i, data[i])
position_y.insert(i, data[i + 4])
theta_data.insert(i, data[i + 8])
vel_linear.insert(i, data[i + 12])
vel_angule.insert(i, data[i + 16])
# 将数组中的数据转换为字节形式用于后续的变量转换
position_x_bytes = bytes(position_x[:4])
position_y_bytes = bytes(position_y[:4])
theta_data_bytes = bytes(theta_data[:4])
vel_linear_bytes = bytes(vel_linear[:4])
vel_angule_bytes = bytes(vel_angule[:4])
# 用struct.unpack（）方法将字节转换为float数
position_x = struct.unpack('f', position_x_bytes)
position_y = struct.unpack('f', position_y_bytes)
theta_data = struct.unpack('f', theta_data_bytes)
vel_linear = struct.unpack('f', vel_linear_bytes)
vel_angule = struct.unpack('f', vel_angule_bytes)
print("position_x: ", position_x[0])
print("position_y: ", position_y[0])
print("theta_data: ", theta_data[0])
print("vel_linear: ", vel_linear[0])
print("vel_angular: ", vel_angule[0])
# 该部分代码用于数据的实时动态显示
# t.append(position_x[0]) # 模拟数据增量流入，保存历史数据
# m.append(position_y[0]) # 模拟数据增量流入，保存历史数据
# plt.plot(t, m, c='b')
# plt.draw() # 注意此函数需要调用
# plt.pause(0.0001) # 添加plt.pause()才可以正常显示
# 初始化一个数组用于存储数据，达到100条后就保存至数据库
val_temp = [position_x[0], position_y[0], theta_data[0], vel_linear[0], vel_angule[0]]
my_list.append(val_temp) # 向数组中添加当前接收到的数据
array_length = len(my_list) # 提取当前数组存储的数据量
if array_length >= 50:
try:
insert_count = insert_count + 1
t_save = threading.Thread(target=save_data, name='save_data',
args=(my_list, insert_count,))
t_save.start()
my_list = [] # 清空当前list
print("insert 50 odom_data")
except:
print("Error: 无法启动存储数据子线程")
def save_data(my_list, insert_count):
cursor.executemany(sql, my_list)
db.commit() # 数据表内容有更新，必须使用到该语句
# print(cursor.rowcount, "记录插入成功。")
# print("第 ", insert_count, " 次插入数据库！")
def save_time(my_list, insert_count):
cursor1.executemany(sql1, my_list)
db1.commit() # 数据表内容有更新，必须使用到该语句
# print(cursor.rowcount, "记录插入成功。")
# print("第 ", insert_count, " 次插入数据库！")
def data_acquire(ser_obj):
# 新建一个线程，不间断读取串口数据
try:
t = threading.Thread(target=data_process, name='data_process',
args=(ser_obj,))
t.start()
except:
print("Error: 无法启动子线程")