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初始提交：龙芯2K0300智能车卖家Demo完整代码

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spdis
2026-05-28 15:24:33 +08:00
commit b6b631cef3
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udp_receive/CMakeLists.txt
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# demo2
add_executable(udp_receive udp_receive.cpp)
# 链接 OpenCV 库
target_link_libraries(udp_receive common_lib ${OpenCV_LIBS})
udp_receive/slider.py
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'''
Author: ilikara 3435193369@qq.com
Date: 2025-03-11 03:00:45
LastEditors: Ilikara 3435193369@qq.com
LastEditTime: 2025-03-11 17:04:09
FilePath: /2k300_smartcar/udp_receive/slider.py
Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
'''
import tkinter as tk
import socket
import struct
# 配置参数
TARGET_IP = "192.168.43.238" # 目标板卡IP
TARGET_PORT = 8888 # 目标端口
class UdpSliderApp:
def __init__(self, master):
self.master = master
master.title("Dual Slider Control")
# 创建UDP socket
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# 滑块1
self.slider1_frame = tk.Frame(master)
self.slider1_frame.pack(pady=10)
self.label1 = tk.Label(self.slider1_frame, text="Angle: 0.00")
self.label1.pack(side=tk.LEFT)
self.slider1 = tk.Scale(
self.slider1_frame,
from_=-7.0, to=7.0,
resolution=0.01,
orient=tk.HORIZONTAL,
length=300,
command=lambda v: self.send_values()
)
self.slider1.pack(side=tk.LEFT)
# 滑块2
self.slider2_frame = tk.Frame(master)
self.slider2_frame.pack(pady=10)
self.label2 = tk.Label(self.slider2_frame, text="Speed: 0.00")
self.label2.pack(side=tk.LEFT)
self.slider2 = tk.Scale(
self.slider2_frame,
from_=-20.0, to=20.0, # 示例范围可调
resolution=0.1,
orient=tk.HORIZONTAL,
length=300,
command=lambda v: self.send_values()
)
self.slider2.pack(side=tk.LEFT)
# 退出按钮
self.exit_btn = tk.Button(
master,
text="Exit",
command=master.quit,
bg="#ff4444",
fg="white"
)
self.exit_btn.pack(pady=20)
self.reset_btn = tk.Button(
self.slider2_frame,
text="Reset to 0",
command=self.reset_slider2,
bg="#ff6666",
fg="white",
width=8
)
self.reset_btn.pack(side=tk.LEFT, padx=10)
def send_values(self):
"""打包并发送两个浮点数"""
try:
val1 = float(self.slider1.get())
val2 = float(self.slider2.get())
# 更新标签
self.label1.config(text=f"Angle: {val1:.2f}")
self.label2.config(text=f"Speed: {val2:.2f}")
# 打包为网络字节序的两个float
data = struct.pack('!ff', val1, val2) # !表示网络字节序
# 发送UDP数据
self.sock.sendto(data, (TARGET_IP, TARGET_PORT))
except Exception as e:
print(f"发送错误: {str(e)}")
def reset_slider2(self):
self.slider2.set(0.0) # 设置滑块物理位置
self.label2.config(text="Slider2: 0.00") # 直接更新显示
self.send_values() # 手动触发发送
if __name__ == "__main__":
root = tk.Tk()
app = UdpSliderApp(root)
root.mainloop()
app.sock.close()
udp_receive/udp_receive.cpp
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/*
* @Author: ilikara 3435193369@qq.com
* @Date: 2025-03-11 02:38:15
* @LastEditors: ilikara 3435193369@qq.com
* @LastEditTime: 2025-03-29 01:39:17
* @FilePath: /2k300_smartcar/udp_receive/udp_receive.cpp
* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
*/
#include <iostream>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <cstdint>
#include <string.h>
#include <opencv2/opencv.hpp>
#include <thread>
#include "MotorController.h"
#include "PwmController.h"
#include "GPIO.h"
#include <iomanip>
cv::VideoCapture cap;
std::string directory = "./image";
int saved_frame_count;
void streamCapture(void)
{
cv::Mat frame;
while (1)
{
cap.read(frame);
if (frame.empty())
{
std::cerr << "Save Error: Frame is empty." << std::endl;
continue;
}
// 构建文件名
std::ostringstream filename;
filename << directory << "/image_" << std::setw(5) << std::setfill('0') << saved_frame_count << ".jpg";
saved_frame_count++;
// 保存图像
cv::imwrite(filename.str(), frame);
}
return;
}
GPIO mortorEN(73);
MotorController *motorController[2] = {nullptr, nullptr};
PwmController servo(1, 0);
void Init()
{
mortorEN.setDirection("out");
mortorEN.setValue(1);
const int pwmchip[2] = {8, 8};
const int pwmnum[2] = {2, 1};
const int gpioNum[2] = {12, 13};
const int encoder_pwmchip[2] = {0, 3};
const int encoder_gpioNum[2] = {75, 72};
const int encoder_dir[2] = {1, -1};
const unsigned int period_ns = 50000; // 20 kHz
for (int i = 0; i < 2; ++i)
{
motorController[i] = new MotorController(pwmchip[i], pwmnum[i], gpioNum[i], period_ns,
0, 0, 0, 0,
encoder_pwmchip[i], encoder_gpioNum[i], encoder_dir[i]);
motorController[i]->updateduty(0);
}
servo.setPeriod(3040000);
servo.setDutyCycle(1520000);
servo.enable();
}
int main()
{
// 打开默认摄像头（设备编号 0）
cap.open(0);
// 检查摄像头是否成功打开
if (!cap.isOpened())
{
printf("无法打开摄像头\n");
return -1;
}
cap.set(cv::CAP_PROP_FRAME_WIDTH, 320); // 宽度
cap.set(cv::CAP_PROP_FRAME_HEIGHT, 240); // 高度
cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G')); // 视频流格式
cap.set(cv::CAP_PROP_AUTO_EXPOSURE, -1); // 设置自动曝光
std::thread camworker = std::thread(streamCapture);
Init();
const int PORT = 8888;
const int BUFFER_SIZE = 2 * sizeof(float);
// 创建UDP Socket
int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
if (sockfd < 0)
{
std::cerr << "Socket creation failed" << std::endl;
return -1;
}
// 绑定地址和端口
sockaddr_in server_addr{};
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = INADDR_ANY;
server_addr.sin_port = htons(PORT);
if (bind(sockfd, (sockaddr *)&server_addr, sizeof(server_addr)))
{
std::cerr << "Bind failed" << std::endl;
close(sockfd);
return -1;
}
// 接收数据
sockaddr_in client_addr{};
socklen_t client_len = sizeof(client_addr);
char buffer[BUFFER_SIZE];
while (true)
{
ssize_t bytes_received = recvfrom(
sockfd,
buffer,
BUFFER_SIZE,
0,
(sockaddr *)&client_addr,
&client_len);
if (bytes_received == BUFFER_SIZE)
{
// 解析第一个float
uint32_t temp1;
memcpy(&temp1, buffer, 4);
temp1 = ntohl(temp1);
float val1;
memcpy(&val1, &temp1, 4);
// 解析第二个float
uint32_t temp2;
memcpy(&temp2, buffer + 4, 4);
temp2 = ntohl(temp2);
float val2;
memcpy(&val2, &temp2, 4);
std::cout << "收到数据: "
<< "滑块1=" << val1
<< ", 滑块2=" << val2
<< std::endl;
double servoduty_ns = (val1) / 100 * servo.readPeriod() + 1520000;
servo.setDutyCycle(servoduty_ns);
motorController[0]->updateduty(val2);
motorController[1]->updateduty(val2);
}
else
{
std::cerr << "Invalid data size" << std::endl;
}
}
close(sockfd);
return 0;
}