增加训练yolo的代码

test/test_laser.py

@@ -1,172 +1,246 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 """
-激光模块测试脚本
-用于诊断激光开关问题
-
-使用方法：
-python test_laser.py
-
-功能：
-1. 初始化串口
-2. 循环测试激光开/关
-3. 打印详细调试信息
+M01激光测距模块测试脚本 - 修正版
+基于文档中的完整命令示例
 """
 
 from maix import uart, pinmap, time
+import binascii
 
 # ==================== 配置 ====================
-UART_PORT = "/dev/ttyS1"   # 激光模块连接的串口（UART1）
-BAUDRATE = 9600            # 波特率
-
-# 引脚映射（确保与硬件连接一致）
-print("=" * 50)
-print("🔧 步骤1: 配置引脚映射")
-print("=" * 50)
+UART_PORT = "/dev/ttyS1"
+BAUDRATE = 9600
 
+# 初始化串口
 try:
     pinmap.set_pin_function("A18", "UART1_RX")
-    print("✅ A18 -> UART1_RX")
-except Exception as e:
-    print(f"❌ A18 配置失败: {e}")
-
-try:
     pinmap.set_pin_function("A19", "UART1_TX")
-    print("✅ A19 -> UART1_TX")
-except Exception as e:
-    print(f"❌ A19 配置失败: {e}")
-
-# ==================== 激光控制指令 ====================
-MODULE_ADDR = 0x00
-
-# 原始命令
-LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
-LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
-
-# 备用命令格式（如果原始命令不工作，可以尝试这些）
-# 格式1: 简化命令
-LASER_ON_CMD_ALT1 = bytes([0xAA, 0x01, 0x01])
-LASER_OFF_CMD_ALT1 = bytes([0xAA, 0x01, 0x00])
-
-# 格式2: 不同的协议头
-LASER_ON_CMD_ALT2 = bytes([0x55, 0xAA, 0x01])
-LASER_OFF_CMD_ALT2 = bytes([0x55, 0xAA, 0x00])
-
-print("\n" + "=" * 50)
-print("🔧 步骤2: 初始化串口")
-print("=" * 50)
-print(f"设备: {UART_PORT}")
-print(f"波特率: {BAUDRATE}")
-
-try:
     laser_uart = uart.UART(UART_PORT, BAUDRATE)
-    print(f"✅ 串口初始化成功: {laser_uart}")
+    print("✅ 硬件初始化完成")
 except Exception as e:
-    print(f"❌ 串口初始化失败: {e}")
+    print(f"❌ 初始化失败: {e}")
     exit(1)
 
-# ==================== 测试函数 ====================
-def send_and_check(cmd, name):
-    """发送命令并检查回包"""
-    print(f"\n📤 发送: {name}")
-    print(f"   命令字节: {cmd.hex()}")
-    print(f"   命令长度: {len(cmd)} 字节")
-    
-    # 清空接收缓冲区
+# ==================== 根据文档的完整命令集 ====================
+# 1. 激光开关（文档2.3.10，已验证可用）
+LASER_ON_CMD = bytes([0xAA, 0x00, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
+LASER_OFF_CMD = bytes([0xAA, 0x00, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
+
+# 2. 尝试不同的测距命令格式
+TEST_COMMANDS = [
+    # 格式1：文档2.3.12的单次测量（您测试失败的）
+    {
+        "name": "单次测量 (0x0020)",
+        "cmd": bytes([0xAA, 0x00, 0x00, 0x20, 0x00, 0x01, 0x00, 0x00, 0x21]),
+        "desc": "文档2.3.12 示例命令"
+    },
+    # 格式2：文档2.3.7的读取测量结果
+    {
+        "name": "读取测量结果 (0x0022)",
+        "cmd": bytes([0xAA, 0x80, 0x00, 0x22, 0xA2]),
+        "desc": "文档2.3.7 读取测量结果"
+    },
+    # 格式3：文档2.3.13的快速测量
+    {
+        "name": "快速测量 (0x0022带数据)",
+        "cmd": bytes([0xAA, 0x00, 0x00, 0x22, 0x00, 0x01, 0x00, 0x00, 0x23]),
+        "desc": "文档2.3.13 快速测量"
+    },
+    # 格式4：连续测量模式
+    {
+        "name": "连续测量模式 (0x0021)",
+        "cmd": bytes([0xAA, 0x00, 0x00, 0x21, 0x00, 0x01, 0x00, 0x00, 0x22]),
+        "desc": "文档2.3.14 连续测量"
+    }
+]
+
+def clear_buffer():
+    """清空串口缓冲区"""
     try:
-        old_data = laser_uart.read(-1)
-        if old_data:
-            print(f"   清空缓冲区: {len(old_data)} 字节")
+        data = laser_uart.read(-1)
+        if data:
+            print(f"清空: {len(data)}字节")
     except:
         pass
+
+def send_and_wait(cmd, name, wait_time=2000):
+    """发送命令并等待响应"""
+    print(f"\n📤 发送: {name}")
+    print(f"   命令: {cmd.hex()}")
+    
+    clear_buffer()
     
-    # 发送命令
     try:
-        written = laser_uart.write(cmd)
-        print(f"   写入字节数: {written}")
+        laser_uart.write(cmd)
+        print(f"   已发送 {len(cmd)} 字节")
     except Exception as e:
-        print(f"   ❌ 写入失败: {e}")
+        print(f"   ❌ 发送失败: {e}")
         return None
     
     # 等待响应
-    time.sleep_ms(100)
+    start_time = time.ticks_ms()
+    response = b""
     
-    # 读取回包
-    try:
-        resp = laser_uart.read(50)
-        if resp:
-            print(f"   📥 收到回包: {resp.hex()} ({len(resp)} 字节)")
-            return resp
-        else:
-            print(f"   ⚠️ 无回包")
-            return None
-    except Exception as e:
-        print(f"   ❌ 读取失败: {e}")
-        return None
+    while time.ticks_ms() - start_time < wait_time:
+        try:
+            chunk = laser_uart.read(1)
+            if chunk:
+                response += chunk
+                # 完整响应通常是9或13字节
+                if len(response) >= 9:
+                    # 检查是否完整帧
+                    if response[0] in [0xAA, 0xEE]:
+                        if len(response) >= 13:  # 测距完整响应
+                            break
+                        elif response[0] == 0xEE:  # 错误响应
+                            break
+        except:
+            break
+        
+        time.sleep_ms(10)
+    
+    if response:
+        print(f"   📥 响应: {response.hex()}")
+        print(f"   长度: {len(response)} 字节")
+        
+        # 解析错误码
+        if response[0] == 0xEE and len(response) >= 9:
+            err_code = (response[7] << 8) | response[8]
+            error_mapping = {
+                0x0000: "无错误",
+                0x0001: "硬件错误",
+                0x0002: "无输出数据", 
+                0x0003: "反射信号太弱",
+                0x0004: "反射信号太强",
+                0x0005: "温度太高(>40℃)",
+                0x0006: "温度太低(<-10℃)",
+                0x0007: "电源电压低(<2.5V)",
+                0x0008: "超出量程",
+                0x0009: "读通讯错误",
+                0x000A: "写通讯错误",
+                0x000B: "地址错误"
+            }
+            err_msg = error_mapping.get(err_code, f"未知错误: 0x{err_code:04X}")
+            print(f"   ❌ 模块错误: {err_msg}")
+    else:
+        print("   ⚠️ 无响应")
+    
+    return response
 
-def test_laser_cycle(on_cmd, off_cmd, cmd_name="标准命令"):
-    """测试一个开关周期"""
-    print(f"\n{'='*50}")
-    print(f"🧪 测试 {cmd_name}")
-    print(f"{'='*50}")
+def parse_distance_data(response):
+    """解析距离数据"""
+    if not response or len(response) < 13:
+        return None
     
-    print("\n>>> 测试开启激光")
-    send_and_check(on_cmd, f"{cmd_name} - 开启")
-    print("   ⏱️ 等待 2 秒观察激光是否亮起...")
-    time.sleep(2)
+    if response[0] != 0xAA or response[3] not in [0x20, 0x21, 0x22]:
+        return None
     
-    print("\n>>> 测试关闭激光")
-    send_and_check(off_cmd, f"{cmd_name} - 关闭")
-    print("   ⏱️ 等待 2 秒观察激光是否熄灭...")
-    time.sleep(2)
+    # 解析4字节BCD码
+    bcd_bytes = response[6:10]
+    distance_int = 0
+    
+    for byte in bcd_bytes:
+        high = (byte >> 4) & 0x0F
+        low = byte & 0x0F
+        
+        if high > 9 or low > 9:
+            return None
+        
+        distance_int = distance_int * 100 + high * 10 + low
+    
+    distance_m = distance_int / 1000.0
+    
+    # 信号质量
+    signal = 0
+    if len(response) >= 12:
+        signal = (response[10] << 8) | response[11]
+    
+    return {
+        'meters': distance_m,
+        'millimeters': distance_m * 1000,
+        'signal': signal,
+        'raw': response.hex()
+    }
 
 # ==================== 主测试 ====================
-print("\n" + "=" * 50)
-print("🚀 开始激光测试")
-print("=" * 50)
-print("\n请观察激光模块的状态变化...")
-print("测试将依次尝试不同的命令格式\n")
+print("\n" + "="*50)
+print("M01激光测距模块详细测试")
+print("="*50)
 
 try:
-    # 测试1: 标准命令
-    test_laser_cycle(LASER_ON_CMD, LASER_OFF_CMD, "标准命令")
+    # 1. 测试基本连接
+    print("\n1. 测试模块连接...")
+    version_cmd = bytes([0xAA, 0x80, 0x00, 0x0A, 0x8A])
+    resp = send_and_wait(version_cmd, "读取硬件版本")
     
-    input("\n按回车继续测试备用命令1...")
+    if resp and resp[0] == 0xAA and resp[3] == 0x0A:
+        print(f"✅ 模块正常，版本: {resp[6]:02X}{resp[7]:02X}")
+    else:
+        print("❌ 模块连接测试失败")
+        exit(1)
     
-    # 测试2: 备用命令格式1
-    test_laser_cycle(LASER_ON_CMD_ALT1, LASER_OFF_CMD_ALT1, "备用命令1 (简化)")
+    # 2. 开启激光
+    print("\n2. 开启激光...")
+    resp = send_and_wait(LASER_ON_CMD, "开启激光", 1000)
+    if resp and resp.hex() == "aa0001be00010001c1":
+        print("✅ 激光已开启")
     
-    input("\n按回车继续测试备用命令2...")
+    print("   等待激光稳定...")
+    time.sleep(2)  # 重要等待时间
     
-    # 测试3: 备用命令格式2
-    test_laser_cycle(LASER_ON_CMD_ALT2, LASER_OFF_CMD_ALT2, "备用命令2 (0x55AA头)")
+    # 3. 尝试不同的测距命令
+    print("\n3. 测试不同测距命令...")
     
-    print("\n" + "=" * 50)
+    for i, test_cmd in enumerate(TEST_COMMANDS):
+        print(f"\n{'='*30}")
+        print(f"测试 {i+1}: {test_cmd['name']}")
+        print(f"{test_cmd['desc']}")
+        print(f"{'='*30}")
+        
+        resp = send_and_wait(test_cmd['cmd'], test_cmd['name'], 3000)
+        
+        if resp:
+            if resp[0] == 0xAA and len(resp) >= 13:
+                result = parse_distance_data(resp)
+                if result:
+                    print(f"✅ 测距成功!")
+                    print(f"   距离: {result['meters']:.3f} m")
+                    print(f"   距离: {result['millimeters']:.1f} mm")
+                    print(f"   信号质量: {result['signal']}")
+                    break
+                else:
+                    print("❌ 无法解析距离数据")
+            elif resp[0] == 0xEE:
+                print("❌ 命令执行错误")
+            else:
+                print("❌ 无效响应格式")
+        else:
+            print("❌ 无响应")
+        
+        time.sleep(1)  # 命令间间隔
+    
+    # 4. 关闭激光
+    print("\n4. 关闭激光...")
+    send_and_wait(LASER_OFF_CMD, "关闭激光", 1000)
+    
+    print("\n" + "="*50)
     print("🏁 测试完成")
-    print("=" * 50)
-    print("\n诊断建议：")
-    print("1. 如果激光始终不亮/始终亮：")
-    print("   - 检查激光模块的电源连接")
-    print("   - 检查串口TX/RX是否接反")
-    print("   - 尝试不同的波特率 (4800/19200)")
-    print("")
-    print("2. 如果有回包但激光无反应：")
-    print("   - 命令格式可能正确但激光硬件问题")
-    print("")
-    print("3. 如果某个备用命令有效：")
-    print("   - 需要更新 config.py 中的命令格式")
-
+    print("="*50)
+    
+    print("\n📋 测试总结：")
+    print("1. 模块通信: ✅ 正常")
+    print("2. 激光控制: ✅ 正常")
+    print("3. 测距功能: ❌ 有问题")
+    print("\n建议：")
+    print("1. 检查激光是否实际发光（在暗处观察红点）")
+    print("2. 确保测量目标在有效范围内（0.2-60米）")
+    print("3. 确保目标有足够反射率（白色平面最佳）")
+    print("4. 如果所有测距命令都返回ERR_ADDR，可能是固件版本问题")
+    
 except KeyboardInterrupt:
-    print("\n\n🛑 测试被中断")
-    # 确保激光关闭
+    print("\n\n🛑 用户中断")
     laser_uart.write(LASER_OFF_CMD)
     print("✅ 已发送关闭指令")
 except Exception as e:
-    print(f"\n❌ 测试出错: {e}")
-    import traceback
-    traceback.print_exc()
-
-
-
-
-
+    print(f"\n❌ 测试出错: {e}")