From de7947fd4128b5794ac8c734f43e1076d435b845 Mon Sep 17 00:00:00 2001 From: yipeng Date: Mon, 13 Nov 2023 19:27:42 +0800 Subject: [PATCH 1/3] [Modify]: Add battery status in publishing MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 1.增加Bms发布时的状态信息 Signed-off-by: yipeng --- .../include/cyberdog_bms/bms_plugin.hpp | 24 ++++++++++++++++++- cyberdog_bms/src/bms_plugin.cpp | 18 ++++++++++++++ 2 files changed, 41 insertions(+), 1 deletion(-) diff --git a/cyberdog_bms/include/cyberdog_bms/bms_plugin.hpp b/cyberdog_bms/include/cyberdog_bms/bms_plugin.hpp index 10b3b3e..66a9807 100644 --- a/cyberdog_bms/include/cyberdog_bms/bms_plugin.hpp +++ b/cyberdog_bms/include/cyberdog_bms/bms_plugin.hpp @@ -73,7 +73,29 @@ class BMSCarpo : public cyberdog::device::BMSBase uint8_t wireless_charging_temp; uint16_t batt_loop_number; uint8_t batt_health; - uint16_t batt_st; + // uint16_t batt_st; + union { + uint16_t batt_st; + struct + { + uint16_t charge_over_current : 1; + uint16_t discharge_over_current : 1; + uint16_t cell_over_voltage : 1; + uint16_t cell_under_voltage : 1; + uint16_t cell_volt_abnormal : 1; + uint16_t mos_over_temp : 1; + uint16_t discharge_short : 1; + uint16_t fuse : 1; + uint16_t discharge_over_tmp : 1; + uint16_t discharge_under_tmp : 1; + uint16_t charge_over_temp : 1; + uint16_t charge_under_temp : 1; + uint16_t charge_mos_state : 1; + uint16_t discharge_mos_state : 1; + uint16_t chg_mos_fault : 1; + uint16_t dsg_mos_fault : 1; + }; + }; union { uint8_t bms_state1; struct diff --git a/cyberdog_bms/src/bms_plugin.cpp b/cyberdog_bms/src/bms_plugin.cpp index a3d0357..efe5903 100644 --- a/cyberdog_bms/src/bms_plugin.cpp +++ b/cyberdog_bms/src/bms_plugin.cpp @@ -216,6 +216,24 @@ void BMSCarpo::BatteryMsgCall(EP::DataLabel & label, std::shared_ptr message.batt_loop_number = data->batt_loop_number; message.batt_health = data->batt_health; message.batt_st = data->batt_st; + + message.charge_over_current = data->charge_over_current; + message.discharge_over_current = data->discharge_over_current; + message.cell_over_voltage = data->cell_over_voltage; + message.cell_under_voltage = data->cell_under_voltage; + message.cell_volt_abnormal = data->cell_volt_abnormal; + message.mos_over_temp = data->mos_over_temp; + message.discharge_short = data->discharge_short; + message.fuse = data->fuse; + message.discharge_over_tmp = data->discharge_over_tmp; + message.discharge_under_tmp = data->discharge_under_tmp; + message.charge_over_temp = data->charge_over_temp; + message.charge_under_temp = data->charge_under_temp; + message.charge_mos_state = data->charge_mos_state; + message.discharge_mos_state = data->discharge_mos_state; + message.chg_mos_fault = data->chg_mos_fault; + message.dsg_mos_fault = data->dsg_mos_fault; + message.bms_state_one = data->bms_state1; message.power_normal = data->power_normal; message.power_wired_charging = data->power_wired_charging; From f992ff340eebeb5869d52a26126f8d61001205a0 Mon Sep 17 00:00:00 2001 From: wenlinfeng Date: Tue, 5 Sep 2023 21:41:17 +0800 Subject: [PATCH 2/3] [Fix]: Fix bug of ignore checking unrecorded devices when the local record list is empty MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit CARPO-2693 1.修复当本地记录的历史设备列表为空时忽略检查其与系统绑定设备列表的差异 2.修复在连接状态下可能只删除本地记录的历史而没删除系统绑定的设备信息 3.微调等待通知的时间，使断开连接更顺畅 Signed-off-by: wenlinfeng --- .../cyberdog_bluetooth/bluetooth_node.py | 24 ++++++++++--------- .../cyberdog_bluetooth/bt_core.py | 19 +++++++++------ 2 files changed, 25 insertions(+), 18 deletions(-) diff --git a/cyberdog_bluetooth/cyberdog_bluetooth/bluetooth_node.py b/cyberdog_bluetooth/cyberdog_bluetooth/bluetooth_node.py index c19a115..74f765e 100644 --- a/cyberdog_bluetooth/cyberdog_bluetooth/bluetooth_node.py +++ b/cyberdog_bluetooth/cyberdog_bluetooth/bluetooth_node.py @@ -179,6 +179,7 @@ def __init__(self, node_name: str): self.__self_check_status_code = -1 self.__notification_thread.start() self.__joy_polling_thread.start() + self.__bt_central.RemoveUnrecordedDevices(self.__getHistoryConnectionInfo()) def __del__(self): self.__notification_thread.join() @@ -305,7 +306,7 @@ def __connect_callback(self, req, res): self.__tryToReleaseMutex(self.__poll_mutex) # res.result = self.__waitForUWBResponse(False) self.__disconnectPeripheral() - self.__bt_central.RemoveUnRecordedDevices(self.__getHistoryConnectionInfo()) + self.__bt_central.RemoveUnrecordedDevices(self.__getHistoryConnectionInfo()) self.__connect_timeout_timer.reset() if self.__bt_central.ConnectToBLE( req.selected_device.mac, @@ -694,7 +695,7 @@ def __notificationTimerCB(self): if self.__connecting or not self.__bt_central.IsConnected(): self.__tryToReleaseMutex(self.__poll_mutex) return - notified = self.__bt_central.WaitForNotifications(0.5) + notified = self.__bt_central.WaitForNotifications(0.25) self.__tryToReleaseMutex(self.__poll_mutex) if notified == 3: self.__disconnectUnexpectedly() @@ -917,7 +918,7 @@ def __deleteHistory(self, mac): i = 0 found = False for dev_info in history_info_list: - if dev_info['mac'] == mac: + if dev_info['mac'] == mac or dev_info['mac'] == mac.lower(): found = True break i += 1 @@ -932,8 +933,10 @@ def __deleteHistory(self, mac): return False def __deleteHistoryCB(self, req, res): - res.result = self.__deleteHistory(req.map_url) - self.__unpair(req.map_url) + res.result = False + if not self.__connecting and not self.__dfu_processing: + res.result = self.__deleteHistory(req.map_url) + self.__unpair(req.map_url) return res def __tryToReleaseMutex(self, mutex): @@ -1015,7 +1018,7 @@ def __joyPubPolling(self): sleep(0.05) def __activateDFU(self): - if not self.__poll_mutex.acquire(blocking=True, timeout=0.75): + if not self.__poll_mutex.acquire(blocking=True, timeout=1.0): self.__logger.warning('Unable to acquire __poll_mutex') return False dfu_handle = self.__bt_central.SetNotificationByUUID( # indicate @@ -1242,11 +1245,10 @@ def __taskStatusCB(self, msg): self.__task_status = msg.task_status def __unpair(self, mac: str): - if not self.__connecting and not self.__dfu_processing: - if not self.__bt_central.Unpair(mac): - self.__disconnectPeripheral() - self.__logger.info('Unpaired current device') - self.__logger.info('Unpaired device %s' % mac) + if not self.__bt_central.Unpair(mac): + self.__disconnectPeripheral() + self.__logger.info('Unpaired current device') + self.__logger.info('Unpaired device %s' % mac) def __intervalTimerCB(self): self.__logger.info('Intermission is off') diff --git a/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py b/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py index 26d9b39..945250b 100644 --- a/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py +++ b/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py @@ -129,6 +129,9 @@ def Disconnect(self): except AttributeError as e: self.__logger.error( 'AttributeError: %s Exeption while disconnecting!' % e) + except BrokenPipeError as e: + self.__logger.error( + 'BrokenPipeError: %s Exeption while disconnecting!' % e) finally: self.__connected = False self.__peripheral_name = '' @@ -372,7 +375,8 @@ def SetNotificationByCharacteristicUUID(self, char_uuid: UUID, enable=True, indi return characteristic_handle def Unpair(self, addr: str): - if self.__connected and addr == self.__peripheral.addr: + if self.__connected and\ + (addr == self.__peripheral.addr or addr.lower() == self.__peripheral.addr): try: self.__peripheral.unpair() except BTLEManagementError as e: @@ -449,17 +453,17 @@ def __runCommand(self, cmd: str): tmp = str(output.stdout.read(), encoding='utf-8') return tmp - def RemoveUnRecordedDevices(self, devices): - if devices is None or len(devices) == 0: - return + def RemoveUnrecordedDevices(self, devices): mac_list = [] - for info in devices: - mac_list.append(info['mac'].upper()) + if devices is not None and len(devices) != 0: + for info in devices: + mac_list.append(info['mac'].upper()) + self.__logger.info('%s is in history list' % mac_list[-1]) raw_result = self.__runCommand('echo list | bluetoothctl | grep Device') str_list = raw_result.split('\n') device_num = len(str_list) if device_num < 2: - self.__logger.error('No bluetooth devices founded in system') + self.__logger.warning('No bluetooth devices found in system') return device_num -= 1 i = 0 @@ -469,6 +473,7 @@ def RemoveUnRecordedDevices(self, devices): i += 1 continue mac = str_list[i][found_i + 7: found_i + 24] + self.__logger.info('%s is a paired device' % mac) if mac not in mac_list: self.__logger.warning( '%s is not recorded in known file, remove it from system' % mac) From a0dc85a5677169f130b4c95eea091de799545081 Mon Sep 17 00:00:00 2001 From: dingdingsong Date: Wed, 6 Dec 2023 19:49:30 +0800 Subject: [PATCH 3/3] [Modify]: Fix bug MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 1、在RemoveUnrecordedDevies()中增加对CyberdogRemote关键字的查找判断； Signed-off-by: dingdingsong --- cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py b/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py index 945250b..767d7c5 100644 --- a/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py +++ b/cyberdog_bluetooth/cyberdog_bluetooth/bt_core.py @@ -469,7 +469,8 @@ def RemoveUnrecordedDevices(self, devices): i = 0 while i < device_num: found_i = str_list[i].find('Device ') - if found_i == -1: + cyberdog_i = str_list[i].find('CyberdogRemote') + if found_i == -1 or cyberdog_i == -1: i += 1 continue mac = str_list[i][found_i + 7: found_i + 24]