FishBotV1.0雷达转接板驱动（嵌入式）方案讨论

[小鱼]

雷达驱动板：主要用于驱动雷达，实现usb转接雷达和wifi转接雷达。

1. USB有线转雷达。直接采用串口芯片实现，无需开发
2. wifi无线转雷达，目前小鱼有两个方案，需要讨论确定的。

方案1：

通过ESPRTOS开发的，通过串口读数据进行wifi转发。

方案2：

通过ESP8266支持的AT固件，进入透传模式进行转发。

优缺点对比：

方案1自定义程度较高，可以加入配网（多播）功能、和服务器IP配置等。但稳定性存在疑虑。

方案2稳定性应该较好，但是灵活性上需要通过外部才能完成网络配置和服务器IP配置工作。

请各位小伙伴根据以往经验提提建议，选择哪个方案更好些？

另外关于上位机（电脑端）的驱动，初步打算是做一个Socket2VUart（网络转虚拟串口）的程序，这样可以无缝兼容官方驱动。

[小鱼]

AT固件版初步测试结果基本达到每秒5帧数据，偶尔四桢，具体测试需要上位机驱动编写完成后尝试

[小鱼]

写了个socket2serial的程序，在ros2上已经跑起来了，帧率可以保持在7Hz。采用的方式是AT方法，经调研后发现AT也是开放源码的，所以可以直接在AT源码上进行修改来弥补其灵活性的缺失。

关于这个问题，个人觉得以当前人力，最小开发为原则，所以选择成熟稳定的AT版本最佳。

另外关于通过网络数据的延时需要进一步测量，准备最近搭建一个测试环境进行测试，给出相关报告。

[小鱼]

@小鱼 uart2serial程序分享，利用linux的poll机制实现。

#!/usr/bin/env python3

import os
import pty
import socket
import select
import argparse

parser = argparse.ArgumentParser(description='Creates a virtual pty for a remote tcp/udp socket')
parser.add_argument('host', type=str)
parser.add_argument('port', type=int)
parser.add_argument('-u', '--udp', action='store_true')
args = parser.parse_args()

lhost = args.host
lport = args.port

def main():
    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM if args.udp else socket.SOCK_STREAM)
    s.bind((lhost, lport))
    s.listen(5)
    client,client_address = s.accept()
    master, slave = pty.openpty()
    print(s.fileno(),client,master)
#    tty.setraw(master, termios.TCSANOW)
    print('PTY: Opened {} for {}:{}'.format(os.ttyname(slave), lhost, lport))
    mypoll = select.poll()
    mypoll.register(client.fileno(), select.POLLIN)
    mypoll.register(master, select.POLLIN)

    try:
        while True:
            fdlist = mypoll.poll(256)
            for fd,event in fdlist:
                data = os.read(fd, 256)
                write_fd = client.fileno() if fd == master else master
                os.write(write_fd, data)
    finally:
        s.close()
        os.close(master)
        os.close(slave)
    
if __name__ == "__main__":
    main()

[小鱼]

@小鱼 相关资料收集

• https://github.com/espressif/esp-at/tree/release/v2.2.0.0_esp8266
• https://docs.espressif.com/projects/esp-at/zh_CN/release-v2.2.0.0_esp8266/
• https://docs.espressif.com/projects/esp8266-rtos-sdk/en/v3.4/get-started/index.html
• https://pypi.org/project/esptool

环境搭建

docker run -it -v d:/esp-at:/project -w /project xingrz/esp8266-rtos-builder:3.4 /bin/bash

[小鱼]

@小鱼 走USB串口速率

average rate: 7.410
	min: 0.134s max: 0.138s std dev: 0.00108s window: 9
average rate: 7.419
	min: 0.134s max: 0.138s std dev: 0.00084s window: 17
average rate: 7.420
	min: 0.134s max: 0.138s std dev: 0.00076s window: 25
average rate: 7.420
	min: 0.134s max: 0.138s std dev: 0.00068s window: 33
average rate: 7.421
	min: 0.134s max: 0.138s std dev: 0.00062s window: 41
average rate: 7.421
	min: 0.134s max: 0.138s std dev: 0.00061s window: 49
average rate: 7.422
	min: 0.134s max: 0.138s std dev: 0.00059s window: 57
average rate: 7.422
	min: 0.134s max: 0.138s std dev: 0.00060s window: 65
average rate: 7.423
	min: 0.134s max: 0.138s std dev: 0.00060s window: 73
average rate: 7.423
	min: 0.134s max: 0.138s std dev: 0.00058s window: 81
average rate: 7.423
	min: 0.134s max: 0.138s std dev: 0.00058s window: 89
average rate: 7.424
	min: 0.134s max: 0.138s std dev: 0.00056s window: 97
average rate: 7.424
	min: 0.134s max: 0.138s std dev: 0.00056s window: 105
average rate: 7.424
	min: 0.134s max: 0.138s std dev: 0.00055s window: 113

socket

average rate: 6.297
	min: 0.000s max: 0.437s std dev: 0.17967s window: 72
average rate: 6.294
	min: 0.000s max: 0.437s std dev: 0.17973s window: 80
average rate: 6.295
	min: 0.000s max: 0.437s std dev: 0.17976s window: 88
average rate: 6.359
	min: 0.000s max: 0.437s std dev: 0.17850s window: 97
average rate: 6.415
	min: 0.000s max: 0.437s std dev: 0.17745s window: 106
average rate: 6.401
	min: 0.000s max: 0.439s std dev: 0.17790s window: 114
average rate: 6.451
	min: 0.000s max: 0.439s std dev: 0.17686s window: 123
average rate: 6.492
	min: 0.000s max: 0.439s std dev: 0.17608s window: 132
average rate: 6.478
	min: 0.000s max: 0.439s std dev: 0.17641s window: 140
average rate: 6.468
	min: 0.000s max: 0.439s std dev: 0.17663s window: 148
average rate: 6.458
	min: 0.000s max: 0.439s std dev: 0.17684s window: 156

增大电机转速

average rate: 6.996
	min: 0.001s max: 0.385s std dev: 0.16775s window: 9
average rate: 7.120
	min: 0.001s max: 0.385s std dev: 0.16423s window: 18
average rate: 7.138
	min: 0.001s max: 0.385s std dev: 0.16374s window: 27
average rate: 7.126
	min: 0.001s max: 0.385s std dev: 0.16405s window: 36
average rate: 7.135
	min: 0.001s max: 0.385s std dev: 0.16378s window: 45
average rate: 7.141
	min: 0.001s max: 0.385s std dev: 0.16361s window: 54
average rate: 7.135
	min: 0.001s max: 0.389s std dev: 0.16382s window: 63
average rate: 7.140
	min: 0.001s max: 0.389s std dev: 0.16367s window: 72
average rate: 7.143
	min: 0.000s max: 0.389s std dev: 0.16359s window: 81

[小鱼]

@小鱼 uart2serial程序分享，利用linux的poll机制实现。

#!/usr/bin/env python3

import os
import pty
import socket
import select
import argparse

parser = argparse.ArgumentParser(description='Creates a virtual pty for a remote tcp/udp socket')
parser.add_argument('port', type=int)
parser.add_argument('uart_name', type=str)
args = parser.parse_args()

lport = args.port
luser_name = args.uart_name

def restart_laser_driver_ros2():
    """
    Restart YdLaser Driver With Ros2!
    1.LifeCycle 
    2.Restart Laser SubProcess
    """
    pass

def main():
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    s.bind(('0.0.0.0', lport))
    s.listen(5)
    master, slave = pty.openpty()
    if os.path.exists(luser_name): os.remove(luser_name)
    os.symlink(os.ttyname(slave),luser_name)
    print(f"UART2SOCKET:{lport}->{luser_name}")
    mypoll = select.poll()
    mypoll.register(master, select.POLLIN)

    try:
        while True:
            client,client_address = s.accept()
            mypoll.register(client.fileno(), select.POLLIN)
            print(s.fileno(),client,master)
            print('PTY: Opened {} for {}:{}'.format(os.ttyname(slave), '0.0.0.0', lport))
            is_connect = True
            while is_connect:
                fdlist = mypoll.poll(256)
                for fd,event in fdlist:
                    data = os.read(fd, 256)
                    write_fd = client.fileno() if fd == master else master
                    if len(data)==0:
                        is_connect = False
                        break
                    os.write(write_fd, data)
                    print(fd, event,data)
            mypoll.unregister(client.fileno())
    finally:
        s.close()
        os.close(master)
        os.close(slave)
        os.remove(luser_name)

if __name__ == "__main__":
    main()