116 lines
3.5 KiB
Python
116 lines
3.5 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2025/2/18 10:03
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# @Author : hjw
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# @File : gpio.py
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'''
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import threading
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import logging
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import os
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import time
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# 配置日志系统
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logging.basicConfig(
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level=logging.INFO,
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format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
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handlers=[
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logging.FileHandler('controller.log'),
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logging.StreamHandler()
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]
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)
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logger = logging.getLogger(__name__)
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class GPIOManager:
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def __init__(self, config):
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self.pins = config['gpio']['pins']
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self.pulse_per_rev = config['gpio']['pulse_per_rev']
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self.threads = {}
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self.stop_flags = {}
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self.gpio_files = {}
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self.lock = threading.Lock()
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for pin in self.pins:
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self._init_gpio(pin)
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def _init_gpio(self, pin):
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try:
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export_path = '/sys/class/gpio/export'
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gpio_path = f'/sys/class/gpio/gpio{pin}'
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if not os.path.exists(gpio_path):
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with open(export_path, 'w') as f:
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f.write(str(pin))
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time.sleep(0.1)
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direction_path = f'{gpio_path}/direction'
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with open(direction_path, 'w') as f:
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f.write('out')
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self.gpio_files[pin] = open(f'{gpio_path}/value', 'r+')
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logger.info(f"GPIO {pin} 初始化完成")
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except Exception as e:
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logger.error(f"GPIO {pin} 初始化失败: {str(e)}")
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raise
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def set_speed(self, pin_id, speed, error):
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with self.lock:
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if pin_id not in self.pins:
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raise ValueError(f"无效的GPIO引脚: {pin_id}")
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# 停止现有线程
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if pin_id in self.threads:
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self.stop_flags[pin_id] = True
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self.threads[pin_id].join()
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if speed <= 0:
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self._write_value(pin_id, 0)
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return
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# 计算间隔时间（400脉冲/转）
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if error>10:
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interval = 1.0 / (2 * speed * 2) # 每个周期包含高低电平
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else:
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interval = 1.0 / speed # 每个周期包含高低电平
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self.stop_flags[pin_id] = False
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self.threads[pin_id] = threading.Thread(
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target=self._pulse_loop,
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args=(pin_id, interval),
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daemon=True
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)
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self.threads[pin_id].start()
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def _pulse_loop(self, pin_id, interval):
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# print(interval)
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while not self.stop_flags.get(pin_id, False):
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self._write_value(pin_id, 1)
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time.sleep(interval)
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# precise_delay_us(100)
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self._write_value(pin_id, 0)
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time.sleep(interval)
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# precise_delay_us(100)
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def _write_value(self, pin_id, value):
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try:
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self.gpio_files[pin_id].seek(0)
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self.gpio_files[pin_id].write(str(value))
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self.gpio_files[pin_id].truncate()
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self.gpio_files[pin_id].flush()
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os.fsync(self.gpio_files[pin_id].fileno())
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except IOError as e:
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logger.error(f"GPIO写入错误: {str(e)}")
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def cleanup(self):
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with self.lock:
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for pin in self.pins:
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if pin in self.threads:
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self.stop_flags[pin] = True
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self.threads[pin].join()
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self._write_value(pin, 0)
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for f in self.gpio_files.values():
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f.close()
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logger.info("GPIO资源已释放") |