Java 与 Arduino 通信不同步 - 跳跃运动
Java to Arduino communication out of sync - leap motion
我正在尝试使用跳跃运动控制器来控制机械臂。现在我只控制两个伺服系统。我正在使用 java 从跳跃运动中读取数据，对其进行处理和格式化，然后将其发送到 Arduino。 Arduino 只是接收数据，翻译它，并将它发送到伺服系统。
我将数据发送到 Arduino 的格式是字符串形式：
z-rotation:shoulderPos:elbowAngle:wristAngle:clawPos
这些变量中的每一个都用前导零格式化，这样每次总是将恰好 19 个字节发送到 Arduino。
问题是我笔记本电脑上的 java 和 Arduino 之间的通信似乎丢失了数据。如果我发送一个命令字符串，"000:180:000:000:000"
例如，Arduino 告诉我它已收到 "000:180:000:000:000"
它正确地将“000”发送到一个伺服系统，将“180”发送到第二个伺服系统。
如果我发送一串九个命令：
000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000
Arduino 告诉我，它单独接收了所有命令，并且正确地将所有命令发送到伺服系统（通过伺服系统的抽动证明）并以向两个伺服系统发送“000”结束。
然而，当我 运行 我的代码具有跳跃运动时，它有效地不断向 Arduino 传输 19 字节的字符串，伺服系统开始抽动，在 0、180，以及我发送给他们的位置。当我将手移近 100 位置时，抽动伺服系统向 100 位置净移动，但从未真正到达它。 Arduino 告诉我，在开始接收像 "0:180:0000:0018:00" 这样的失真消息之前，它正在正确接收命令几秒钟。我只能假设命令的传输和接收不同步，但我不确定。
这是我的 Java 代码：
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.text.DecimalFormat;
import java.util.ArrayList;
import com.leapmotion.leap.*;
import gnu.io.CommPort;
import gnu.io.CommPortIdentifier;
import gnu.io.SerialPort;
import gnu.io.SerialPortEvent;
import gnu.io.SerialPortEventListener;
class SampleListenerMain extends Listener {
//define position lock booleans
public boolean leftLock = false;
public boolean rightLock = false;
String data = "";
static DecimalFormat df = new DecimalFormat("000");
//Displacement variables
double deltaX, deltaY, deltaZ, angle;
public void onInit(Controller controller) {
System.out.println("Initialized");
}
public void onConnect(Controller controller) {
System.out.println("Connected");
controller.enableGesture(Gesture.Type.TYPE_CIRCLE);
controller.enableGesture(Gesture.Type.TYPE_KEY_TAP);
}
public void onDisconnect(Controller controller) {
System.out.println("Disconnected");
}
public void onExit(Controller controller) {
System.out.println("Exited");
}
public void onFrame(Controller controller) {
//Define position variables
double shoulderAngle, elbowAngle, wristPos, clawPos, zRotationPos, wristAngle;
//Define object variables
//Frame
Frame frame = controller.frame();
//Hands
Hand leftHand = frame.hands().leftmost();
Hand rightHand = frame.hands().rightmost();
//Arms
Arm leftArm = leftHand.arm();
Arm rightArm = rightHand.arm();
/* Control of robotic arm with Z-rotation based on the left hand, arm 'wrist' position based on the wrist,
* arm 'elbow position based on the elbow, and claw based on the fingers. 'Shoulder' is based on the left elbow
*/
//Control position locks for left hand controls and right hand controls
//Gesture gesture = new Gesture(gesture);
for(Gesture gesture : frame.gestures()) {
HandList handsForGesture = gesture.hands();
switch(gesture.type()) {
case TYPE_KEY_TAP:
System.out.println("Key tap from" + handsForGesture + " Hand");
try {
wait(500);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
leftLock = !leftLock;
break;
default:
System.out.println("Unrecognized gesture");
break;
}
}
//'Shoulder' control
//find angle between the left elbow and the left wrist center
Vector leftElbow = leftArm.elbowPosition();
Vector leftWrist = leftArm.wristPosition();
deltaZ = leftElbow.getZ() - leftWrist.getZ();
deltaY = leftElbow.getY() - leftWrist.getY();
angle = Math.atan(deltaY/deltaZ);
//map angle so servo can understand it
shoulderAngle = leapArm.map(angle, 0, 90, 0, 180);
//System.out.println("ShoulderPos: " + shoulderAngle);
//Write position to 'shoulder'
//Z-rotation control
Vector leftHandPos = leftHand.palmPosition();
//rotate z-axis with speed proportional to left hand X position
//map X position to motor power
zRotationPos = leapArm.map(leftHandPos.getX(), -230, 230, 0, 180);
//System.out.println("zRotationPos: " + zRotationPos);
data += df.format(zRotationPos);
data += ":" + df.format(shoulderAngle);
//write power to rotational servo
//'elbow' control
//find angle between the right elbow and right wrist center
Vector rightElbow = rightArm.elbowPosition();
Vector rightWrist = rightArm.wristPosition();
//refresh deltas and angle
deltaZ = rightElbow.getZ() - rightWrist.getZ();
deltaY = rightElbow.getY() - rightWrist.getY();
angle = Math.atan(deltaY/deltaZ);
//map angle so the servo can understand it
elbowAngle = leapArm.map(angle, -1.25, 0, 0, 180);
data+= ":" + df.format(elbowAngle);
//System.out.println("ElbowPos: " + elbowAngle);
//'wrist' control
//update vectors
rightWrist = rightArm.wristPosition();
Vector rightHandPos = rightHand.palmPosition();
//update deltas
deltaZ = rightWrist.getZ() - rightHandPos.getZ();
deltaY = rightWrist.getY() - rightHandPos.getY();
System.out.println("Wrist pos: " + rightWrist.getX() + ", " + rightWrist.getY() + ", " + rightWrist.getZ());
System.out.println("Right hand pos: " + rightHandPos.getX() + ", " + rightHandPos.getY() + ", " + rightHandPos.getZ());
angle = Math.atan(deltaY/deltaZ);
wristAngle = leapArm.map(angle, -0.5, 0.5, 0, 180);
data += ":" + df.format(wristAngle);
//System.out.println("wristAngle: " + wristAngle + " degrees");
//pinch control
//define fingers
FingerList fingerList = rightHand.fingers().fingerType(Finger.Type.TYPE_INDEX);
Finger rightIndexFinger = fingerList.get(0);
fingerList = rightHand.fingers().fingerType(Finger.Type.TYPE_THUMB);
Finger rightThumb = fingerList.get(0);
//find the distance between the bones to detect pinch
Vector rightIndexDistal = rightIndexFinger.bone(Bone.Type.TYPE_DISTAL).center();
Vector rightThumbDistal = rightThumb.bone(Bone.Type.TYPE_DISTAL).center();
//Calculate distance between joints
double distalDistance = Math.sqrt(Math.pow((rightIndexDistal.getX()-rightThumbDistal.getX()),2) + Math.pow((rightIndexDistal.getY()-rightThumbDistal.getY()),2) + Math.pow((rightIndexDistal.getZ()-rightThumbDistal.getZ()),2));
if(distalDistance <= 10) {
clawPos = 180;
} else {
clawPos = 0;
}
data += ":" + df.format(clawPos);
System.out.println("ClawPos: " + clawPos);
/* Write data to arduino
* FORMAT: z-rotation:shoulderPos:elbowAngle:wristAngle:clawPos
*/
System.out.println("Data: " + data);
/* wait for arduino to catch up ~30 packets/sec
* basically see how long the arduino takes to process one packet and flush the receiving arrays to prevent 'pollution'.
*/
try {
Thread.sleep(50);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
//send to arduino
leapArm.writeToArduino(data);
System.out.println("Sent");
}
}
public class leapArm implements SerialPortEventListener {
public static double map(double input, double in_min, double in_max, double out_min, double out_max) {
return ((input - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min;
}
static OutputStream out = null;
static BufferedReader input;
public static void main(String[] args) {
//Connect to COM port
try
{
//Device
(new leapArm()).connect("/dev/cu.usbmodem14101");
Thread.sleep(3000);
//leapArm.writeToArduino("000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000");
//System.out.println("sent");
}
catch ( Exception e )
{
e.printStackTrace();
System.exit(0);
}
// Create a sample listener and controller
SampleListenerMain listener = new SampleListenerMain();
Controller controller = new Controller();
// Have the sample listener receive events from the controller
controller.addListener(listener);
// Keep this process running until Enter is pressed
System.out.println("Press Enter to quit...");
try {
System.in.read();
} catch (IOException e) {
e.printStackTrace();
}
// Remove the sample listener when done
controller.removeListener(listener);
}
void connect ( String portName ) throws Exception {
CommPortIdentifier portIdentifier = CommPortIdentifier.getPortIdentifier(portName);
if ( portIdentifier.isCurrentlyOwned() )
{
System.out.println("Error: Port is currently in use");
}
else
{
CommPort commPort = portIdentifier.open(this.getClass().getName(),2000);
if ( commPort instanceof SerialPort )
{
SerialPort serialPort = (SerialPort) commPort;
serialPort.setSerialPortParams(4800,SerialPort.DATABITS_8,SerialPort.STOPBITS_1,
SerialPort.PARITY_NONE);
out = serialPort.getOutputStream();
//input = new BufferedReader(new InputStreamReader(serialPort.getInputStream()));
// add event listeners
try {
serialPort.addEventListener(this);
serialPort.notifyOnDataAvailable(true);
} catch (Exception e) {
System.err.println(e.toString());
}
}
else
{
System.out.println("Selected port is not a Serial Port");
}
}
}
public static void writeToArduino(String data)
{
String tmpStr = data;
byte bytes[] = tmpStr.getBytes();
try {
/*System.out.println("Sending Bytes: ");
for(int i = 0; i<bytes.length; i++) {
System.out.println(bytes[i]);
}*/
out.write(bytes);
} catch (IOException e) { }
}
public synchronized void serialEvent(SerialPortEvent oEvent) {
if (oEvent.getEventType() == SerialPortEvent.DATA_AVAILABLE) {
try {
String inputLine=input.readLine();
System.out.println("Received: " + inputLine);
} catch (Exception e) {
System.err.println(e.toString());
}
}
// Ignore all the other eventTypes, but you should consider the other ones.
}
}
这是我的 Arduino 代码：
#include <SoftwareSerial.h>
#include <Servo.h>
Servo shoulder1, shoulder2;
SoftwareSerial mySerial(5,3); //RX, TX
char *strings[19];
char chars[19];
int loopno = 0;
byte index = 0;
void setup() {
// put your setup code here, to run once:
Serial.begin(4800);
mySerial.begin(9600);
mySerial.println("Started");
shoulder1.attach(2);
shoulder2.attach(4);
chars[19] = NULL;
}
void loop() {
// put your main code here, to run repeatedly:
if(Serial.available()>18) {
loopno++;
Serial.readBytes(chars, 19);
/*for(int i = 0; i< sizeof(chars); i++) {
mySerial.print("Character ");
mySerial.print(i);
mySerial.print(": ");
mySerial.println(chars[i]);
}*/
String str(chars);
/*mySerial.print("In string form: ");
mySerial.println(str);*/
char* ptr = NULL;
index = 0;
ptr = strtok(chars, ":");
while(ptr != NULL) {
/* mySerial.print("Pointer: ");
mySerial.println(ptr);*/
strings[index] = ptr;
index++;
ptr = strtok(NULL, ":");
}
//mySerial.print("shoulder1: ");
mySerial.println(atoi(strings[0]));
/*mySerial.print("shoulder2: ");
mySerial.println(atoi(strings[0]));
mySerial.print("Loop no: ");*/
mySerial.println(loopno);
shoulder1.write(atoi(strings[0]));
shoulder2.write(atoi(strings[1]));
}
flush();
}
void flush() {
for(int i = 0; i<19; i++) {
chars[i] = NULL;
strings[i] = NULL;
}
}
这是我正在使用的电路（顶部的 Arduino 用于串行读取和调试）
我很困惑为什么会这样。我试过：
- 降低波特率（115200 到 4800）。
- 如前所述，一次发送一个命令或分组发送命令。
- 注释掉所有调试和不必要的
print 语句以减少处理时间并减少 Arduino 程序中的 Serial 调用量。
- 注释掉 Java 代码中的所有
print 语句，并重写我的格式化和传输代码，着眼于提高数据收集 -> 传输速度的效率。
如果有人对此有经验或知道问题可能是什么，我将不胜感激！
谢谢，
加布
编辑：
我回到家后把它弄乱了，我想我可能已经孤立了（其中一个）问题。当我取消注释所有调试打印语句并发送 arduino `
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000"); Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");，它从循环 7 开始给我奇怪的反馈：
然而，当我 运行 我的代码除了第一个数据值和循环编号外，所有调试语句都被注释掉时，它能够成功跟踪 51 个循环的数据：
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000777:000:000:000:000");
给我：
这让我相信要么数据在串行通信中丢失，因为软件串行已知有这个问题（这是有道理的，因为较少的读出 -> 较少的混乱数据），或者我可能 运行 进入 Arduino 上的内存问题。可能是这两种情况吗？我仍然遇到最初的问题，只是认为这些见解可能会有所帮助。
我找到了解决方案：我的 arduino 代码需要大约 30 毫秒才能完成一个循环，但我的 java 端代码循环速度比这快。 64 字节的 arduino 串行缓冲区在几次循环后被填满，而且，由于 64 不是我发送的 19 字节的倍数，丢弃的字节意味着 number:number 格式会被弄乱。
如果对任何人有帮助，我只是跟踪了 arduino 循环的时间并在 java 端代码中添加了 50 毫秒的延迟，以便 arduino 端可以赶上。
我正在尝试使用跳跃运动控制器来控制机械臂。现在我只控制两个伺服系统。我正在使用 java 从跳跃运动中读取数据，对其进行处理和格式化，然后将其发送到 Arduino。 Arduino 只是接收数据，翻译它，并将它发送到伺服系统。
我将数据发送到 Arduino 的格式是字符串形式：
z-rotation:shoulderPos:elbowAngle:wristAngle:clawPos
这些变量中的每一个都用前导零格式化，这样每次总是将恰好 19 个字节发送到 Arduino。
问题是我笔记本电脑上的 java 和 Arduino 之间的通信似乎丢失了数据。如果我发送一个命令字符串，"000:180:000:000:000"
例如，Arduino 告诉我它已收到 "000:180:000:000:000"
它正确地将“000”发送到一个伺服系统，将“180”发送到第二个伺服系统。
如果我发送一串九个命令：
000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000
Arduino 告诉我，它单独接收了所有命令，并且正确地将所有命令发送到伺服系统（通过伺服系统的抽动证明）并以向两个伺服系统发送“000”结束。
然而，当我 运行 我的代码具有跳跃运动时，它有效地不断向 Arduino 传输 19 字节的字符串，伺服系统开始抽动，在 0、180，以及我发送给他们的位置。当我将手移近 100 位置时，抽动伺服系统向 100 位置净移动，但从未真正到达它。 Arduino 告诉我，在开始接收像 "0:180:0000:0018:00" 这样的失真消息之前，它正在正确接收命令几秒钟。我只能假设命令的传输和接收不同步，但我不确定。
这是我的 Java 代码：
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.text.DecimalFormat;
import java.util.ArrayList;
import com.leapmotion.leap.*;
import gnu.io.CommPort;
import gnu.io.CommPortIdentifier;
import gnu.io.SerialPort;
import gnu.io.SerialPortEvent;
import gnu.io.SerialPortEventListener;
class SampleListenerMain extends Listener {
//define position lock booleans
public boolean leftLock = false;
public boolean rightLock = false;
String data = "";
static DecimalFormat df = new DecimalFormat("000");
//Displacement variables
double deltaX, deltaY, deltaZ, angle;
public void onInit(Controller controller) {
System.out.println("Initialized");
}
public void onConnect(Controller controller) {
System.out.println("Connected");
controller.enableGesture(Gesture.Type.TYPE_CIRCLE);
controller.enableGesture(Gesture.Type.TYPE_KEY_TAP);
}
public void onDisconnect(Controller controller) {
System.out.println("Disconnected");
}
public void onExit(Controller controller) {
System.out.println("Exited");
}
public void onFrame(Controller controller) {
//Define position variables
double shoulderAngle, elbowAngle, wristPos, clawPos, zRotationPos, wristAngle;
//Define object variables
//Frame
Frame frame = controller.frame();
//Hands
Hand leftHand = frame.hands().leftmost();
Hand rightHand = frame.hands().rightmost();
//Arms
Arm leftArm = leftHand.arm();
Arm rightArm = rightHand.arm();
/* Control of robotic arm with Z-rotation based on the left hand, arm 'wrist' position based on the wrist,
* arm 'elbow position based on the elbow, and claw based on the fingers. 'Shoulder' is based on the left elbow
*/
//Control position locks for left hand controls and right hand controls
//Gesture gesture = new Gesture(gesture);
for(Gesture gesture : frame.gestures()) {
HandList handsForGesture = gesture.hands();
switch(gesture.type()) {
case TYPE_KEY_TAP:
System.out.println("Key tap from" + handsForGesture + " Hand");
try {
wait(500);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
leftLock = !leftLock;
break;
default:
System.out.println("Unrecognized gesture");
break;
}
}
//'Shoulder' control
//find angle between the left elbow and the left wrist center
Vector leftElbow = leftArm.elbowPosition();
Vector leftWrist = leftArm.wristPosition();
deltaZ = leftElbow.getZ() - leftWrist.getZ();
deltaY = leftElbow.getY() - leftWrist.getY();
angle = Math.atan(deltaY/deltaZ);
//map angle so servo can understand it
shoulderAngle = leapArm.map(angle, 0, 90, 0, 180);
//System.out.println("ShoulderPos: " + shoulderAngle);
//Write position to 'shoulder'
//Z-rotation control
Vector leftHandPos = leftHand.palmPosition();
//rotate z-axis with speed proportional to left hand X position
//map X position to motor power
zRotationPos = leapArm.map(leftHandPos.getX(), -230, 230, 0, 180);
//System.out.println("zRotationPos: " + zRotationPos);
data += df.format(zRotationPos);
data += ":" + df.format(shoulderAngle);
//write power to rotational servo
//'elbow' control
//find angle between the right elbow and right wrist center
Vector rightElbow = rightArm.elbowPosition();
Vector rightWrist = rightArm.wristPosition();
//refresh deltas and angle
deltaZ = rightElbow.getZ() - rightWrist.getZ();
deltaY = rightElbow.getY() - rightWrist.getY();
angle = Math.atan(deltaY/deltaZ);
//map angle so the servo can understand it
elbowAngle = leapArm.map(angle, -1.25, 0, 0, 180);
data+= ":" + df.format(elbowAngle);
//System.out.println("ElbowPos: " + elbowAngle);
//'wrist' control
//update vectors
rightWrist = rightArm.wristPosition();
Vector rightHandPos = rightHand.palmPosition();
//update deltas
deltaZ = rightWrist.getZ() - rightHandPos.getZ();
deltaY = rightWrist.getY() - rightHandPos.getY();
System.out.println("Wrist pos: " + rightWrist.getX() + ", " + rightWrist.getY() + ", " + rightWrist.getZ());
System.out.println("Right hand pos: " + rightHandPos.getX() + ", " + rightHandPos.getY() + ", " + rightHandPos.getZ());
angle = Math.atan(deltaY/deltaZ);
wristAngle = leapArm.map(angle, -0.5, 0.5, 0, 180);
data += ":" + df.format(wristAngle);
//System.out.println("wristAngle: " + wristAngle + " degrees");
//pinch control
//define fingers
FingerList fingerList = rightHand.fingers().fingerType(Finger.Type.TYPE_INDEX);
Finger rightIndexFinger = fingerList.get(0);
fingerList = rightHand.fingers().fingerType(Finger.Type.TYPE_THUMB);
Finger rightThumb = fingerList.get(0);
//find the distance between the bones to detect pinch
Vector rightIndexDistal = rightIndexFinger.bone(Bone.Type.TYPE_DISTAL).center();
Vector rightThumbDistal = rightThumb.bone(Bone.Type.TYPE_DISTAL).center();
//Calculate distance between joints
double distalDistance = Math.sqrt(Math.pow((rightIndexDistal.getX()-rightThumbDistal.getX()),2) + Math.pow((rightIndexDistal.getY()-rightThumbDistal.getY()),2) + Math.pow((rightIndexDistal.getZ()-rightThumbDistal.getZ()),2));
if(distalDistance <= 10) {
clawPos = 180;
} else {
clawPos = 0;
}
data += ":" + df.format(clawPos);
System.out.println("ClawPos: " + clawPos);
/* Write data to arduino
* FORMAT: z-rotation:shoulderPos:elbowAngle:wristAngle:clawPos
*/
System.out.println("Data: " + data);
/* wait for arduino to catch up ~30 packets/sec
* basically see how long the arduino takes to process one packet and flush the receiving arrays to prevent 'pollution'.
*/
try {
Thread.sleep(50);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
//send to arduino
leapArm.writeToArduino(data);
System.out.println("Sent");
}
}
public class leapArm implements SerialPortEventListener {
public static double map(double input, double in_min, double in_max, double out_min, double out_max) {
return ((input - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min;
}
static OutputStream out = null;
static BufferedReader input;
public static void main(String[] args) {
//Connect to COM port
try
{
//Device
(new leapArm()).connect("/dev/cu.usbmodem14101");
Thread.sleep(3000);
//leapArm.writeToArduino("000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000000:000:000:000:000180:000:000:000:000");
//System.out.println("sent");
}
catch ( Exception e )
{
e.printStackTrace();
System.exit(0);
}
// Create a sample listener and controller
SampleListenerMain listener = new SampleListenerMain();
Controller controller = new Controller();
// Have the sample listener receive events from the controller
controller.addListener(listener);
// Keep this process running until Enter is pressed
System.out.println("Press Enter to quit...");
try {
System.in.read();
} catch (IOException e) {
e.printStackTrace();
}
// Remove the sample listener when done
controller.removeListener(listener);
}
void connect ( String portName ) throws Exception {
CommPortIdentifier portIdentifier = CommPortIdentifier.getPortIdentifier(portName);
if ( portIdentifier.isCurrentlyOwned() )
{
System.out.println("Error: Port is currently in use");
}
else
{
CommPort commPort = portIdentifier.open(this.getClass().getName(),2000);
if ( commPort instanceof SerialPort )
{
SerialPort serialPort = (SerialPort) commPort;
serialPort.setSerialPortParams(4800,SerialPort.DATABITS_8,SerialPort.STOPBITS_1,
SerialPort.PARITY_NONE);
out = serialPort.getOutputStream();
//input = new BufferedReader(new InputStreamReader(serialPort.getInputStream()));
// add event listeners
try {
serialPort.addEventListener(this);
serialPort.notifyOnDataAvailable(true);
} catch (Exception e) {
System.err.println(e.toString());
}
}
else
{
System.out.println("Selected port is not a Serial Port");
}
}
}
public static void writeToArduino(String data)
{
String tmpStr = data;
byte bytes[] = tmpStr.getBytes();
try {
/*System.out.println("Sending Bytes: ");
for(int i = 0; i<bytes.length; i++) {
System.out.println(bytes[i]);
}*/
out.write(bytes);
} catch (IOException e) { }
}
public synchronized void serialEvent(SerialPortEvent oEvent) {
if (oEvent.getEventType() == SerialPortEvent.DATA_AVAILABLE) {
try {
String inputLine=input.readLine();
System.out.println("Received: " + inputLine);
} catch (Exception e) {
System.err.println(e.toString());
}
}
// Ignore all the other eventTypes, but you should consider the other ones.
}
}
这是我的 Arduino 代码：
#include <SoftwareSerial.h>
#include <Servo.h>
Servo shoulder1, shoulder2;
SoftwareSerial mySerial(5,3); //RX, TX
char *strings[19];
char chars[19];
int loopno = 0;
byte index = 0;
void setup() {
// put your setup code here, to run once:
Serial.begin(4800);
mySerial.begin(9600);
mySerial.println("Started");
shoulder1.attach(2);
shoulder2.attach(4);
chars[19] = NULL;
}
void loop() {
// put your main code here, to run repeatedly:
if(Serial.available()>18) {
loopno++;
Serial.readBytes(chars, 19);
/*for(int i = 0; i< sizeof(chars); i++) {
mySerial.print("Character ");
mySerial.print(i);
mySerial.print(": ");
mySerial.println(chars[i]);
}*/
String str(chars);
/*mySerial.print("In string form: ");
mySerial.println(str);*/
char* ptr = NULL;
index = 0;
ptr = strtok(chars, ":");
while(ptr != NULL) {
/* mySerial.print("Pointer: ");
mySerial.println(ptr);*/
strings[index] = ptr;
index++;
ptr = strtok(NULL, ":");
}
//mySerial.print("shoulder1: ");
mySerial.println(atoi(strings[0]));
/*mySerial.print("shoulder2: ");
mySerial.println(atoi(strings[0]));
mySerial.print("Loop no: ");*/
mySerial.println(loopno);
shoulder1.write(atoi(strings[0]));
shoulder2.write(atoi(strings[1]));
}
flush();
}
void flush() {
for(int i = 0; i<19; i++) {
chars[i] = NULL;
strings[i] = NULL;
}
}
这是我正在使用的电路（顶部的 Arduino 用于串行读取和调试）
我很困惑为什么会这样。我试过：
- 降低波特率（115200 到 4800）。
- 如前所述，一次发送一个命令或分组发送命令。
- 注释掉所有调试和不必要的
print语句以减少处理时间并减少 Arduino 程序中的Serial调用量。 - 注释掉 Java 代码中的所有
print语句，并重写我的格式化和传输代码，着眼于提高数据收集 -> 传输速度的效率。
如果有人对此有经验或知道问题可能是什么，我将不胜感激！
谢谢， 加布
编辑：
我回到家后把它弄乱了，我想我可能已经孤立了（其中一个）问题。当我取消注释所有调试打印语句并发送 arduino `
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000"); Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");，它从循环 7 开始给我奇怪的反馈：
然而，当我 运行 我的代码除了第一个数据值和循环编号外，所有调试语句都被注释掉时，它能够成功跟踪 51 个循环的数据：
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("180:000:000:000:000000:000:000:000:000000:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000180:000:000:000:000");
Tests.writeToArduino("000:000:000:000:000000:000:000:000:000777:000:000:000:000");
给我：
这让我相信要么数据在串行通信中丢失，因为软件串行已知有这个问题（这是有道理的，因为较少的读出 -> 较少的混乱数据），或者我可能 运行 进入 Arduino 上的内存问题。可能是这两种情况吗？我仍然遇到最初的问题，只是认为这些见解可能会有所帮助。
我找到了解决方案：我的 arduino 代码需要大约 30 毫秒才能完成一个循环，但我的 java 端代码循环速度比这快。 64 字节的 arduino 串行缓冲区在几次循环后被填满，而且，由于 64 不是我发送的 19 字节的倍数，丢弃的字节意味着 number:number 格式会被弄乱。
如果对任何人有帮助，我只是跟踪了 arduino 循环的时间并在 java 端代码中添加了 50 毫秒的延迟，以便 arduino 端可以赶上。