class Receiver:
def __init__(
self,
bus,
device,
):
self.spiRecv = spidev.SpiDev()
self.spiRecv.open(bus, device)
self.spiRecv.max_speed_hz = 6250000 #976000
self.spiRecv.mode = 0b00
self.spiSend = spidev.SpiDev()
self.spiSend.open(bus, 0)
self.spiSend.max_speed_hz = 6250000 #976000
self.spiSend.mode = 0b00
spi_init()
self.drop_id = 0
self.glass = Glass(0)
self.chunk_size = 0
self.recv_done_flag = False
self.feedback_ack_flag = False
self.chunk_process = []
self.feedback_idx = 0
self.data_rec = ""
self.recv_dir = os.path.join(
RECV_PATH,
time.asctime().replace(' ', '_').replace(':', '_'))
'''LT喷泉码接收解码部分'''
def begin_to_catch(self):
a_drop_bytes = self.catch_a_drop_spi() # bytes
if a_drop_bytes is not None:
self.drop_id += 1
print("====================")
print("Recv dropid : ", self.drop_id)
print("====================")
if len(a_drop_bytes) > 0:
check_data = recv_check(a_drop_bytes)
if not check_data == None:
self.drop_byte_size = len(check_data)
self.add_a_drop(check_data) # bytes --- drop --- bits
def catch_a_drop_spi(self):
if GPIO.input(25):
spi_recv = self.spiRecv.readbytes(239)
rec_bytes = bytes(spi_recv)
frame_len = len(rec_bytes)
print("framelen: ", frame_len)
if (frame_len > 1):
while (rec_bytes[frame_len - 1] == 0 and frame_len >= 1):
frame_len = frame_len - 1
rec_bytes = rec_bytes[:frame_len]
print("droplen: ", frame_len)
self.data_rec = rec_bytes
if self.data_rec[0:2] == b'##' and self.data_rec[
frame_len - 2:frame_len] == b'$$':
data_array = bytearray(self.data_rec)
data_array.pop(0)
data_array.pop(0)
data_array.pop()
data_array.pop()
return bytes(data_array)
else:
print(self.data_rec)
print('Wrong receive frame !')
def add_a_drop(self, d_byte):
drop = self.glass.droplet_from_Bytes(d_byte) # drop
if self.glass.num_chunks == 0:
print('init num_chunks : ', drop.num_chunks)
self.glass = Glass(drop.num_chunks) # 初始化接收glass
self.chunk_size = len(drop.data)
#若为ew，则需要将drop转为ewdrop，两个drop里译码方式不一样
ew_drop = EW_Droplet(drop.data, drop.seed, drop.num_chunks,
drop.process, drop.func_id, drop.feedback_idx)
print('drop data len: ', len(drop.data))
self.glass.addDroplet(drop) # glass add drops
logging.info('=============================')
logging.info('Decode Progress: ' + str(self.glass.chunksDone()) + '/' +
str(self.glass.num_chunks))
logging.info('=============================')
# 接收完成
if self.glass.isDone():
self.recv_done_flag = True
logging.info('============Recv done===========')
# 接收完成写入图像
img_data = self.glass.get_bits()
os.mkdir(self.recv_dir)
with open(os.path.join(self.recv_dir, "img_recv" + ".jpg"),
'wb') as f:
f.write(img_data)
self.send_recv_done_ack() # 接收完成返回ack
# 接收到K个数据包之后
if self.drop_id >= self.glass.num_chunks:
if (self.drop_id - self.glass.num_chunks) % 10 == 0:
self.chunk_process = self.glass.getProcess() # 用于返回进程包
self.glass.glass_process_history.append(
self.chunk_process) # 添加反馈历史数据，用于droplet参数，正确译码
self.send_feedback()
print("Feedback chunks: ", self.chunk_process)
print("Feedback chunks num: ", len(self.chunk_process))
print("Feedback idx: ", self.feedback_idx)
self.feedback_idx += 1
def send_recv_done_ack(self):
if self.recv_done_flag:
ack = b'#$'
acklen = len(ack)
acksend = bytearray(ack)
while (acklen < 239):
acksend.insert(acklen, 0)
acklen += 1
self.spiSend.xfer2(acksend)
logging.info('Send fountain ACK done')
logging.info('Recv drops: ' + str(self.drop_id))
logging.info('Wrong frame drops: ' + str(self.drop_id))
logging.info('Wrong checksum drops: ' + str(self.drop_id))
def send_feedback(self):
fb = b'$#'
for chunk_id in self.chunk_process:
chunk_id_bits = format(int(chunk_id), "016b")
fb += bitarray.bitarray(chunk_id_bits).tobytes()
fblen = len(fb)
fbsend = bytearray(fb)
while (fblen < 239):
fbsend.insert(fblen, 0)
fblen += 1
self.spiSend.xfer2(fbsend)
class Receiver:
def __init__(
self,
bus,
device,
port,
baudrate,
timeout,
):
self.spiRecv = spidev.SpiDev()
self.spiRecv.open(bus, device)
self.spiRecv.max_speed_hz = 6250000 #976000
self.spiRecv.mode = 0b00
self.spiSend = spidev.SpiDev()
self.spiSend.open(bus, 0)
self.spiSend.max_speed_hz = 6250000 #976000
self.spiSend.mode = 0b00
# 串口和spi初始化
spi_init()
self.port = serial.Serial(port, baudrate)
self.packet_id = 0 # 数据包数量
self.drop_id = 0 # 校验正确的有效数据包数量
self.real_drop_id = 0 # dropid除去度函数切换和进度包更新时收到的drop
self.glass = Glass(0)
self.chunk_size = 0
self.recv_done_flag = False
self.feedback_ack_flag = False # 用于度函数切换过程不接收
self.feedback_send_done = False
self.chunk_process = []
self.feedback_idx = 0
self.data_rec = ""
self.recv_dir = os.path.join(
RECV_PATH,
time.asctime().replace(' ', '_').replace(':', '_'))
# 吞吐量统计
self.packid_save = []
self.dropid_save = []
self.valid_dropid_save = []
self.packs_per_sec = []
self.drops_per_sec = []
self.valid_drops_per_sec = []
self.ttl_timer_start = False
self.t0 = 0
self.t1 = 0
self.process_bytes = b''
self.decode_time = [] # 用于统计每个编码包的译码时间
'''LT喷泉码接收解码部分'''
def begin_to_catch(self):
a_drop_bytes = self.catch_a_drop_spi() # bytes
if a_drop_bytes is not None:
decode_t0 = time.time()
# 从收到第一个包之后,开启定时记录吞吐量线程，记录时间
if self.ttl_timer_start == False:
self.t0 = time.time()
self.creat_ttl_Timer()
self.ttl_timer_start = True
self.packet_id += 1
print("Recv Packet id : ", self.packet_id)
if len(a_drop_bytes) > 0:
check_data = recv_check(a_drop_bytes) # 接收校验
if not check_data == None:
self.drop_byte_size = len(check_data)
self.add_a_drop(check_data) # bytes --- drop --- bits
decode_t1 = time.time()
self.decode_time.append(decode_t1 - decode_t0)
def catch_a_drop_spi(self):
if GPIO.input(25):
spi_recv = self.spiRecv.readbytes(239)
rec_bytes = bytes(spi_recv)
frame_len = len(rec_bytes)
print("framelen: ", frame_len)
# 去掉末尾补充的0
if (frame_len > 1):
while (rec_bytes[frame_len - 1] == 0 and frame_len >= 1):
frame_len = frame_len - 1
rec_bytes = rec_bytes[:frame_len]
print("droplen: ", frame_len)
self.data_rec = rec_bytes
# 判断帧头帧尾
if self.data_rec[0:2] == b'##' and self.data_rec[
frame_len - 2:frame_len] == b'$$':
data_array = bytearray(self.data_rec)
data_array.pop(0)
data_array.pop(0)
data_array.pop()
data_array.pop()
return bytes(data_array)
else:
print(self.data_rec)
print('Wrong receive frame !')
def add_a_drop(self, d_byte):
self.drop_id += 1
print("====================")
print("Recv dropid : ", self.drop_id)
print("====================")
print('glass_process_history len: ',
len(self.glass.glass_process_history))
drop = self.glass.droplet_from_Bytes(d_byte) # drop
if self.glass.num_chunks == 0:
print('init num_chunks : ', drop.num_chunks)
self.glass = Glass(drop.num_chunks) # 初始化接收glass
self.chunk_size = len(drop.data)
#若为ew，则需要将drop转为ewdrop，两个drop里译码方式不一样
ew_drop = EW_Droplet(drop.data, drop.seed, drop.num_chunks,
drop.process, drop.func_id, drop.feedback_idx)
print('drop data len: ', len(drop.data))
self.glass.addDroplet(ew_drop)
# 这里解决度函数切换过程不接收，解决进度包更新过程不接收
# if (self.feedback_ack_flag==False) or (self.feedback_ack_flag==True and ew_drop.func_id==1 and ew_drop.feedback_idx==self.feedback_idx-1):
# self.real_drop_id += 1
# self.glass.addDroplet(ew_drop) # glass add drops
# print("=============================================================")
# print("除去度函数切换和进度包更新时收到的drop，Real_Recv_dropid : ", self.real_drop_id)
# print("=============================================================")
# self.feedback_send_done=False
logging.info('=============================')
logging.info('Decode Progress: ' + str(self.glass.chunksDone()) + '/' +
str(self.glass.num_chunks))
logging.info('=============================')
# 接收完成
if self.glass.isDone():
self.recv_done_flag = True
self.t1 = time.time()
logging.info('============Recv done===========')
logging.info("Fountain time elapsed:" + str(self.t1 - self.t0))
# 接收完成写入图像
img_data = self.glass.get_bits()
os.mkdir(self.recv_dir)
with open(os.path.join(self.recv_dir, "img_recv" + ".bmp"),
'wb') as f:
f.write(img_data)
# 串口模拟水声延迟进行反馈
t1 = threading.Timer(1.8, self.send_recv_done_ack)
t1.start()
# 实际写入水声通信机进行反馈
# self.send_recv_done_ack() # 接收完成返回ack
# 记录吞吐量
self.cal_ttl()
print('packet_id history: ', self.packid_save,
len(self.packid_save))
print('packets_per_sec: ', self.packs_per_sec,
len(self.packs_per_sec))
print('drop_id history: ', self.dropid_save, len(self.dropid_save))
logging.info('Send Sonic Fountain ACK done')
logging.info('Recv Packets: : ' + str(self.packet_id))
logging.info('Recv drops: ' + str(self.drop_id))
logging.info('Feedback num: ' + str(self.feedback_idx))
print('drops_per_sec: ', self.drops_per_sec,
len(self.drops_per_sec))
res = pd.DataFrame({
'packet_id_history': self.packid_save,
'packets_per_sec': self.packs_per_sec,
'drop_id_history': self.dropid_save,
'drops_per_sec': self.drops_per_sec
})
res.to_csv(
('data_save/Recv_ttl' + '_' +
time.asctime().replace(' ', '_').replace(':', '_') + '.csv'),
mode='a')
# print('avgs_decode_time: ', float(sum(self.decode_time)/len(self.decode_time)))
# print('max_decode_time:', max(self.decode_time))
# print('min_decode_time:', min(self.decode_time))
# 反馈
n1 = self.glass.w1_done_dropid
n2 = 30
if self.glass.is_w1_done(0.6) and self.recv_done_flag == False:
if (self.drop_id - n1) % n2 == 0:
process = self.glass.getProcess()
# 用于添加反馈历史数据, 用于droplet参数，正确译码
self.chunk_process = process[0]
self.glass.glass_process_history.append(self.chunk_process)
# 用于实际反馈
process_bitmap = process[1]
# self.process_bytes = self.bit2hex(process_bitmap) # 实际水声通信机反馈可能需要用到这个
# print(process_bitmap)
# print(self.process_bytes)
process_bits = bitarray.bitarray(process_bitmap)
self.process_bytes = process_bits.tobytes()
# 串口模拟水声延迟进行反馈
t = threading.Timer(1.8, self.send_feedback)
t.start()
# 实际写入水声通信机进行反馈
# self.send_feedback()
print("Feedback chunks: ", self.chunk_process)
print("Feedback chunks num: ", len(self.chunk_process))
print("Feedback idx: ", self.feedback_idx)
self.feedback_idx += 1
self.feedback_ack_flag = True
self.feedback_send_done = True
# 定时器线程每隔1s记录发包数,即吞吐量
def save_throughout_put(self):
if (self.recv_done_flag == False):
self.packid_save.append(self.packet_id)
self.dropid_save.append(self.drop_id)
self.valid_dropid_save.append(self.real_drop_id)
self.creat_ttl_Timer()
def creat_ttl_Timer(self):
if (self.recv_done_flag == False):
t = threading.Timer(1, self.save_throughout_put)
t.start()
# 计算吞吐量
def cal_ttl(self):
idx = 0
while idx < len(self.packid_save):
if idx == 0:
self.packs_per_sec.append(self.packid_save[0])
else:
self.packs_per_sec.append(self.packid_save[idx] -
self.packid_save[idx - 1])
idx += 1
idx = 0
while idx < len(self.dropid_save):
if idx == 0:
self.drops_per_sec.append(self.dropid_save[0])
else:
self.drops_per_sec.append(self.dropid_save[idx] -
self.dropid_save[idx - 1])
idx += 1
# 串口发送译码完成ack
def send_recv_done_ack(self):
if self.recv_done_flag:
# M = b'M\r\n'
# self.port.write(M)
# self.port.flushOutput()
# time.sleep(0.01)
ack = b'#$\r\n'
acksend = bytearray(ack)
self.port.write(acksend)
self.port.flushOutput()
# 串口反馈译码进度
def send_feedback(self):
fb = b'$#' + self.process_bytes + b'\r\n'
# M = b'M\r\n'
# self.port.write(M)
# self.port.flushOutput()
# time.sleep(0.01)
self.port.write(fb)
self.port.flushOutput()
def bit2hex(self, bit_array_source):
bit_array = bit_array_source
a = len(bit_array) % 4
for j in range(0, a):
bit_array.append(0)
result = b''
i = 0
while i < len(bit_array):
bit4 = bit_array[i:i + 4]
if (bit4 == [0, 0, 0, 0]):
result += b'0'
elif (bit4 == [0, 0, 0, 1]):
result += b'1'
elif (bit4 == [0, 0, 1, 0]):
result += b'2'
elif (bit4 == [0, 0, 1, 1]):
result += b'3'
elif (bit4 == [0, 1, 0, 0]):
result += b'4'
elif (bit4 == [0, 1, 0, 1]):
result += b'5'
elif (bit4 == [0, 1, 1, 0]):
result += b'6'
elif (bit4 == [0, 1, 1, 1]):
result += b'7'
elif (bit4 == [1, 0, 0, 0]):
result += b'8'
elif (bit4 == [1, 0, 0, 1]):
result += b'9'
elif (bit4 == [1, 0, 1, 0]):
result += b'a'
elif (bit4 == [1, 0, 1, 1]):
result += b'b'
elif (bit4 == [1, 1, 0, 0]):
result += b'c'
elif (bit4 == [1, 1, 0, 1]):
result += b'd'
elif (bit4 == [1, 1, 1, 0]):
result += b'e'
elif (bit4 == [1, 1, 1, 1]):
result += b'f'
i += 4
return result
class Receiver:
def __init__(self, bus, device):
self.spiRecv = spidev.SpiDev()
self.spiRecv.open(bus, device)
self.spiRecv.max_speed_hz = 6250000 #976000
self.spiRecv.mode = 0b00
self.spiSend = spidev.SpiDev()
self.spiSend.open(bus, 0)
self.spiSend.max_speed_hz = 6250000 #976000
self.spiSend.mode = 0b00
# spi初始化
spi_init()
self.packet_id = 0
self.drop_id = 0
self.real_drop_id = 0 # dropid除去度函数切换和进度包更新时收到的drop
self.glass = Glass(0)
self.chunk_size = 0
self.recv_done_flag = False
self.feedback_ack_flag = False # 用于度函数切换过程不接收
self.feedback_send_done = False
self.chunk_process = []
self.feedback_idx = 0
self.data_rec = ""
self.recv_dir = os.path.join(
RECV_PATH,
time.asctime().replace(' ', '_').replace(':', '_'))
self.packid_save = []
self.dropid_save = []
self.valid_dropid_save = []
self.packs_per_sec = []
self.drops_per_sec = []
self.valid_drops_per_sec = []
self.ttl_timer_start = False
self.t0 = 0
self.t1 = 0
self.process_bytes = b''
'''LT喷泉码接收解码部分'''
def begin_to_catch(self):
a_drop_bytes = self.catch_a_drop_spi() # bytes
if a_drop_bytes is not None:
# 从收到第一个包之后,开启定时记录吞吐量线程，记录时间
if self.ttl_timer_start == False:
self.t0 = time.time()
self.creat_ttl_Timer()
self.ttl_timer_start = True
self.packet_id += 1
print("Recv Packet id : ", self.packet_id)
if len(a_drop_bytes) > 0:
check_data = recv_check(a_drop_bytes)
if not check_data == None:
self.drop_byte_size = len(check_data)
self.add_a_drop(check_data) # bytes --- drop --- bits
def catch_a_drop_spi(self):
if GPIO.input(25):
spi_recv = self.spiRecv.readbytes(239)
rec_bytes = bytes(spi_recv)
frame_len = len(rec_bytes)
print("framelen: ", frame_len)
if (frame_len > 1):
while (rec_bytes[frame_len - 1] == 0 and frame_len >= 1):
frame_len = frame_len - 1
rec_bytes = rec_bytes[:frame_len]
print("droplen: ", frame_len)
self.data_rec = rec_bytes
if self.data_rec[0:2] == b'##' and self.data_rec[
frame_len - 2:frame_len] == b'$$':
data_array = bytearray(self.data_rec)
data_array.pop(0)
data_array.pop(0)
data_array.pop()
data_array.pop()
return bytes(data_array)
else:
print(self.data_rec)
print('Wrong receive frame !')
def add_a_drop(self, d_byte):
self.drop_id += 1
print("====================")
print("Recv dropid : ", self.drop_id)
print("====================")
drop = self.glass.droplet_from_Bytes(d_byte) # drop
if self.glass.num_chunks == 0:
print('init num_chunks : ', drop.num_chunks)
self.glass = Glass(drop.num_chunks) # 初始化接收glass
self.chunk_size = len(drop.data)
#若为ew，则需要将drop转为ewdrop，两个drop里译码方式不一样
ew_drop = EW_Droplet(drop.data, drop.seed, drop.num_chunks,
drop.process, drop.func_id, drop.feedback_idx)
print('drop data len: ', len(drop.data))
self.glass.addDroplet(ew_drop)
# 这里解决度函数切换过程不接收，解决进度包更新过程不接收
# if (self.feedback_ack_flag==False) or (self.feedback_ack_flag==True and ew_drop.func_id==1 and ew_drop.feedback_idx==self.feedback_idx-1):
# self.real_drop_id += 1
# self.glass.addDroplet(ew_drop) # glass add drops
# print("=============================================================")
# print("除去度函数切换和进度包更新时收到的drop，Real_Recv_dropid : ", self.real_drop_id)
# print("=============================================================")
# self.feedback_send_done=False
logging.info('=============================')
logging.info('Decode Progress: ' + str(self.glass.chunksDone()) + '/' +
str(self.glass.num_chunks))
logging.info('=============================')
# 接收完成
if self.glass.isDone():
self.recv_done_flag = True
self.t1 = time.time()
logging.info('============Recv done===========')
logging.info("VLC Feedback Fountain time elapsed:" +
str(self.t1 - self.t0))
# 接收完成写入图像
img_data = self.glass.get_bits()
os.mkdir(self.recv_dir)
with open(os.path.join(self.recv_dir, "img_recv" + ".bmp"),
'wb') as f:
f.write(img_data)
self.send_recv_done_ack() # 接收完成返回ack
# 记录吞吐量
self.cal_ttl()
print('packet_id history: ', self.packid_save,
len(self.packid_save))
print('packets per sec: ', self.packs_per_sec,
len(self.packs_per_sec))
print('drop_id history: ', self.dropid_save, len(self.dropid_save))
print('drops per sec: ', self.drops_per_sec,
len(self.drops_per_sec))
res = pd.DataFrame({
'packet_id_history': self.packid_save,
'packets_per_sec': self.packs_per_sec,
'drop_id_history': self.dropid_save,
'drops_per_sec': self.drops_per_sec
})
res.to_csv(
('data_save/Recv_ttl' + '_' +
time.asctime().replace(' ', '_').replace(':', '_') + '.csv'),
mode='a')
# 反馈
n1 = round(0.8 * self.glass.num_chunks)
n2 = 30
if self.drop_id >= n1 and self.recv_done_flag == False:
if (self.drop_id - n1) % n2 == 0:
process = self.glass.getProcess()
# 用于添加反馈历史数据, 用于droplet参数，正确译码
self.chunk_process = process[0]
self.glass.glass_process_history.append(self.chunk_process)
# 用于实际反馈
process_bitmap = process[1]
process_bits = bitarray.bitarray(process_bitmap)
self.process_bytes = process_bits.tobytes()
self.send_feedback()
print("Feedback chunks: ", self.chunk_process)
print("Feedback chunks num: ", len(self.chunk_process))
print("Feedback idx: ", self.feedback_idx)
self.feedback_idx += 1
self.feedback_ack_flag = True
self.feedback_send_done = True
# if self.real_drop_id >= self.glass.num_chunks:
# if (self.real_drop_id - self.glass.num_chunks)%10==0 and self.feedback_send_done==False:
# self.chunk_process = self.glass.getProcess() # 用于返回进程包
# self.glass.glass_process_history.append(self.chunk_process) # 添加反馈历史数据，用于droplet参数，正确译码
# self.send_feedback()
# print("Feedback chunks: ", self.chunk_process)
# print("Feedback chunks num: ", len(self.chunk_process))
# print("Feedback idx: ", self.feedback_idx)
# self.feedback_idx += 1
# self.feedback_ack_flag = True
# self.feedback_send_done=True
# 定时器线程每隔1s记录发包数,即吞吐量
def save_throughout_put(self):
if (self.recv_done_flag == False):
self.packid_save.append(self.packet_id)
self.dropid_save.append(self.drop_id)
self.valid_dropid_save.append(self.real_drop_id)
self.creat_ttl_Timer()
def creat_ttl_Timer(self):
if (self.recv_done_flag == False):
t = threading.Timer(1, self.save_throughout_put)
t.start()
# 计算吞吐量
def cal_ttl(self):
idx = 0
while idx < len(self.packid_save):
if idx == 0:
self.packs_per_sec.append(self.packid_save[0])
else:
self.packs_per_sec.append(self.packid_save[idx] -
self.packid_save[idx - 1])
idx += 1
idx = 0
while idx < len(self.dropid_save):
if idx == 0:
self.drops_per_sec.append(self.dropid_save[0])
else:
self.drops_per_sec.append(self.dropid_save[idx] -
self.dropid_save[idx - 1])
idx += 1
def send_recv_done_ack(self):
if self.recv_done_flag:
ack = b'#$'
acklen = len(ack)
acksend = bytearray(ack)
while (acklen < 239):
acksend.insert(acklen, 0)
acklen += 1
self.spiSend.xfer2(acksend)
logging.info('Send fountain ACK done')
logging.info('Recv Packets: : ' + str(self.packet_id))
logging.info('Recv drops: ' + str(self.drop_id))
def send_feedback(self):
fb = b'$#'
for chunk_id in self.chunk_process:
chunk_id_bits = format(int(chunk_id), "016b")
fb += bitarray.bitarray(chunk_id_bits).tobytes()
fblen = len(fb)
fbsend = bytearray(fb)
while (fblen < 239):
fbsend.insert(fblen, 0)
fblen += 1
self.spiSend.xfer2(fbsend)
class NodeRLY:
def __init__(self, portSNC, baudrateSNC, timeoutSNC, portROV, baudrateROV,
timeoutROV):
self.ID = 1 #本节点id
self.routing_table = [0, 1, 2] #路由
self.snc_handshake_done = False
self.vlc_handshake_done = False
self.vlc_handshake_timedout = False
# 初始化spi发送
self.spiSend = spidev.SpiDev()
self.spiSend.open(0, 0) # bus device
self.spiSend.max_speed_hz = 6250000 #976000
self.spiSend.mode = 0b00
# 初始化spi接收
self.spiRecv = spidev.SpiDev()
self.spiRecv.open(0, 1)
self.spiRecv.max_speed_hz = 6250000 #976000
self.spiRecv.mode = 0b00
# 初始化光通信spi、水声串口、ROV串口
spi_init()
self.acoustic = Acoustic(portSNC, baudrateSNC, timeoutSNC)
self.rov = ROV(portROV, baudrateROV, timeoutROV)
# 自动对准
self.align_rov_state = 0 #记录上次循环的转向状态，0为左，1为右
# 喷泉码接收
self.rx_packet_id = 0
self.rx_drop_id = 0
self.glass = Glass(0)
self.chunk_size = 0
self.recv_done_flag = False
self.feedback_ack_flag = False # 用于度函数切换过程不接收
self.chunk_process = []
self.feedback_idx = 0
self.data_rec = ""
self.recv_dir = os.path.join(
RECV_PATH,
time.asctime().replace(' ', '_').replace(':', '_'))
self.rx_packid_save = []
self.rx_dropid_save = []
self.rx_packs_per_sec = []
self.rx_drops_per_sec = []
self.rx_ttl_timer_start = False
self.t0 = 0
self.t1 = 0
self.process_bytes = b''
self.img_recv_bits = bitarray.bitarray(endian='big')
self.decode_time = []
# 喷泉码中继发送
self.tx_drop_id = 0
self.recvdone_ack = False
self.chunk_process = []
self.feedback_num = 0
self.tx_dropid_save = []
'''LT喷泉码接收解码部分'''
def begin_to_catch(self):
a_drop_bytes = self.catch_a_drop_spi() # bytes
if a_drop_bytes is not b'':
decode_t0 = time.time()
# 从收到第一个包之后,开启定时记录吞吐量线程，记录时间
if self.rx_ttl_timer_start == False:
self.t0 = time.time()
self.creat_ttl_Timer()
self.rx_ttl_timer_start = True
self.rx_packet_id += 1
print("Recv Packet id : ", self.rx_packet_id)
if len(a_drop_bytes) > 0:
check_data = recv_check(a_drop_bytes)
if not check_data == b'':
self.add_a_drop(check_data) # bytes --- drop --- bits
def catch_a_drop_spi(self):
if GPIO.input(25):
spi_recv = self.spiRecv.readbytes(239)
rec_bytes = bytes(spi_recv)
frame_len = len(rec_bytes)
print("framelen: ", frame_len)
if (frame_len > 1):
while (rec_bytes[frame_len - 1] == 0 and frame_len >= 1):
frame_len = frame_len - 1
rec_bytes = rec_bytes[:frame_len]
print("droplen: ", frame_len)
self.data_rec = rec_bytes
if self.data_rec[0:2] == b'##' and self.data_rec[
frame_len - 2:frame_len] == b'$$':
data_array = bytearray(self.data_rec)
data_array.pop(0)
data_array.pop(0)
data_array.pop()
data_array.pop()
return bytes(data_array)
else:
print(self.data_rec)
print('Wrong receive frame !')
return b''
else:
return b''
def add_a_drop(self, d_byte):
self.rx_drop_id += 1
print("====================")
print("Recv dropid : ", self.rx_drop_id)
print("====================")
print('glass_process_history len: ',
len(self.glass.glass_process_history))
drop = self.glass.droplet_from_Bytes(d_byte) # drop
if self.glass.num_chunks == 0:
print('init num_chunks : ', drop.num_chunks)
self.glass = Glass(drop.num_chunks) # 初始化接收glass
self.chunk_size = len(drop.data)
#若为ew，则需要将drop转为ewdrop，两个drop里译码方式不一样
ew_drop = EW_Droplet(drop.data, drop.seed, drop.num_chunks,
drop.process, drop.func_id, drop.feedback_idx)
print('drop data len: ', len(drop.data))
self.glass.addDroplet(ew_drop)
logging.info('=============================')
logging.info('Decode Progress: ' + str(self.glass.chunksDone()) + '/' +
str(self.glass.num_chunks))
logging.info('=============================')
# 接收完成
if self.glass.isDone():
self.recv_done_flag = True
self.t1 = time.time()
logging.info('============Recv done===========')
logging.info("Fountain time elapsed:" + str(self.t1 - self.t0))
# 接收完成写入图像
img_data = self.glass.get_bits()
self.img_recv_bits = img_data
os.mkdir(self.recv_dir)
with open(os.path.join(self.recv_dir, "img_recv" + ".bmp"),
'wb') as f:
f.write(img_data)
self.send_recv_done_ack() # 接收完成返回ack
# 记录吞吐量
self.rx_cal_ttl()
logging.info('Recv drops: ' + str(self.rx_drop_id))
logging.info('Feedback num: ' + str(self.feedback_idx))
print('drops_per_sec: ', self.rx_drops_per_sec,
len(self.rx_drops_per_sec))
res = pd.DataFrame({
'packet_id_history': self.rx_packid_save,
'packets_per_sec': self.rx_packs_per_sec,
'drop_id_history': self.rx_dropid_save,
'drops_per_sec': self.rx_drops_per_sec
})
res.to_csv(
('data_save/Recv_ttl' + '_' +
time.asctime().replace(' ', '_').replace(':', '_') + '.csv'),
mode='a')
# 反馈
n1 = self.glass.w1_done_dropid
n2 = 30
if self.glass.is_w1_done(0.6) and self.recv_done_flag == False:
if (self.rx_drop_id - n1) % n2 == 0:
process = self.glass.getProcess()
# 用于添加反馈历史数据, 用于droplet参数，正确译码
self.chunk_process = process[0]
self.glass.glass_process_history.append(self.chunk_process)
# 用于实际反馈
process_bitmap = process[1]
# self.process_bytes = self.bit2hex(process_bitmap)
# print(process_bitmap)
# print(self.process_bytes)
process_bits = bitarray.bitarray(process_bitmap)
self.process_bytes = process_bits.tobytes()
self.send_feedback()
print("Feedback chunks: ", self.chunk_process)
print("Feedback chunks num: ", len(self.chunk_process))
print("Feedback idx: ", self.feedback_idx)
self.feedback_idx += 1
self.feedback_ack_flag = True
# 定时器线程每隔1s记录收包数,即接收吞吐量
def rx_save_throughput(self):
if (self.recv_done_flag == False):
self.rx_packid_save.append(self.rx_packet_id)
self.rx_dropid_save.append(self.rx_drop_id)
self.rx_creat_ttl_Timer()
def rx_creat_ttl_Timer(self):
if (self.recv_done_flag == False):
t = threading.Timer(1, self.rx_save_throughput)
t.start()
# 计算接收瞬时吞吐量
def rx_cal_ttl(self):
idx = 0
while idx < len(self.rx_packid_save):
if idx == 0:
self.rx_packs_per_sec.append(self.rx_packid_save[0])
else:
self.rx_packs_per_sec.append(self.rx_packid_save[idx] -
self.rx_packid_save[idx - 1])
idx += 1
idx = 0
while idx < len(self.rx_dropid_save):
if idx == 0:
self.rx_drops_per_sec.append(self.rx_dropid_save[0])
else:
self.rx_drops_per_sec.append(self.rx_dropid_save[idx] -
self.rx_dropid_save[idx - 1])
idx += 1
def send_recv_done_ack(self):
if self.recv_done_flag:
self.acoustic.mfsk_tx_config()
self.acoustic.mfsk_tx(b'#$\r\n')
self.port.flushOutput()
def send_feedback(self):
self.acoustic.mfsk_tx_config()
fb = b'$#' + self.process_bytes + b'\r\n'
self.acoustic.mfsk_tx(fb)
self.port.flushOutput()
'''基于水声辅助的光通信链路建立部分'''
# 等待水声握手，并反馈水声握手ACK
def wait_acoustic_handshake(self):
print("===...waiting for connection...===")
self.acoustic.mfsk_rx_config()
while True:
str_recv = self.acoustic.mfsk_rx()
# 收到水声握手包
if str_recv[0:2] == "##":
var = self.acoustic.acoustic_handshake_pack_res(str_recv[2:])
# 反馈水声握手ACK
if var[0] == self.ID:
self.acoustic.mfsk_tx_config()
self.acoustic.mfsk_tx(b'##snc')
self.snc_handshake_done = True
break
# 下面3个是ROV可见光通信自动对准程序
def rov_vlc_align(self):
last_state = 1 #右转
start = time.time()
align_flag = False #对准标志位
print("===Start to align===")
while not align_flag:
align_flag = self.align_stability_test()
if not align_flag:
if self.align_rov_state == 0:
if (last_state == 1):
print("===Rov turn right===")
self.rov.port.write(b'#8868$') #右转
else:
if (last_state == 0):
print("===Rov turn left===")
self.rov.port.write(b'#88a8$') #左转
last_state = self.align_rov_state
#对准成功
if align_flag:
print('===Align Successed!===')
print("===Sending VLC handshake ACK===")
self.vlc_handshake_done = True
self.acoustic.mfsk_tx_config()
self.acoustic.mfsk_tx(b'$$vlc')
break
#超过30s，对准失败
elif (time.time() - start) > 30:
print('===Align Failed!===')
self.vlc_handshake_done = False
break
# 稳定性测试
def align_stability_test(self):
if self.align_vlc_rx(): #当前时刻能接收光信号
if self.align_rov_state == 0: #记录旋转状态，如因惯性过转，下次反转
self.align_rov_state = 1
else:
self.align_rov_state = 0
print("===Rov stop===")
self.rov.port.write(b'#0000$') #rov停转
time.sleep(1)
#静止后仍然能接收光信号
print("===stop and receive===")
rnum = 0
start = time.time()
while True:
if (self.align_vlc_rx()):
rnum += 1
print("rnum = ", rnum)
if (time.time() - start) > 3:
if (rnum > 24):
return True
else:
return False
else:
return False
# 接收可见光通信探测包并检测
def align_vlc_rx(self):
a_drop_bytes = self.catch_a_drop_spi()
if a_drop_bytes is not b'':
check_data = recv_check(a_drop_bytes)
if check_data is not b'':
print("Receive a valid packet!!!")
return True
else:
return False
else:
return False
'''中继转发部分'''
def relay_forward(self):
# 状态重新初始化
self.align_rov_state = 0
self.vlc_handshake_done = False
self.snc_handshake_done = False
self.vlc_handshake_timedout = False
# 中继转发
print(
'========================================================================'
)
print(
'INFO: srcID=0, selfID=1, desID=2, starting Relay Forwarding procedure...'
)
self.send_acoustic_handshake()
self.wait_acoustic_handshake_ACK()
if self.snc_handshake_done == True:
self.rov_vlc_align()
if self.vlc_handshake_done:
time.sleep(3)
print("===Starting data relay forwarding transfer===")
self.fountain = EW_Fountain(self.img_recv_bits, chunk_size=215)
self.send_drops_spi()
else:
print(
"Acoustic handshake failed, Relay Forwarding Transmission Terminated !!!"
)
# 寻找下一跳节点id
def find_next_id(self):
idx = 0
next_id = 0
for id in self.routing_table:
if id == self.ID:
next_id = self.routing_table[idx + 1]
return next_id
idx += 1
return None
# 发送水声握手包
def send_acoustic_handshake(self):
id = self.find_next_id()
if id is not None:
nextid = format(int(id), "08b")
srcid = format(int(0), "08b")
desid = format(int(2), "08b")
w1size = format(int(6), "08b")
imgW = format(int(256), "016b")
imgH = format(int(256), "016b")
SPIHTlen = format(int(len(self.m)), "032b")
level = format(int(3), "08b")
wavelet = format(int(1), "08b") # 1代表bior4.4
mode = format(int(1), "08b") # 1代表periodization
acoustic_handshake = b'##' + bitarray.bitarray(
nextid + srcid + desid + w1size + imgW + imgH + SPIHTlen +
level + wavelet + mode).tobytes()
# 切换成发送模式，发送水声握手包
print('===Send desID=2 acoustic broadcast handshake===')
self.acoustic.mfsk_tx_config()
self.acoustic.mfsk_tx(acoustic_handshake)
else:
print("nextID Not Found !!!")
# 等待水声握手包的ACK
def wait_acoustic_handshake_ACK(self):
self.acoustic.mfsk_rx_config()
snc_shake_time0 = time.time()
snc_shake_retry_times = 0
while True:
if self.acoustic.mfsk_rx() == "##snc":
print(
'===Acoustic handshake ACK received, Acoustic handshake done!==='
)
self.snc_handshake_done = True
break
if (time.time() - snc_shake_time0) % 6 == 0:
self.send_acoustic_handshake()
snc_shake_retry_times += 1
if snc_shake_retry_times >= 3:
break
# 中继转发喷泉码
def a_drop(self):
return self.fountain.droplet().toBytes()
def send_drops_spi(self):
# 启动反馈检测、吞吐量计算线程
self.tx_creat_ttl_Timer()
self.creat_detect_feedback_Timer()
# 主线程
while True:
self.tx_drop_id += 1
# 发送一帧补0到239字节
sendbytes = send_check(self.a_drop())
sendbytearray = bytearray(sendbytes)
datalen = len(sendbytearray)
while (datalen < 239):
sendbytearray.insert(datalen, 0)
datalen += 1
self.spiSend.xfer2(sendbytearray)
print("====================")
print("Relay Forward Send dropid: ", self.tx_drop_id)
print("====================")
print("FountainFrameLen: ", len(self.a_drop()))
print("SendFrameLen: ", len(sendbytearray))
if (self.recvdone_ack):
logging.info('============Fountain Send done===========')
logging.info('Send drops used: ' + str(self.tx_drop_id))
logging.info('Feedback num: ' + str(self.feedback_num))
# 记录吞吐量
throughput_list = cal_ttl(self.tx_dropid_save)
# print('dropid history: ', self.dropid_save, len(self.dropid_save))
print('drops_per_sec: ', throughput_list, len(throughput_list))
res = pd.DataFrame({
'dropid_history': self.tx_dropid_save,
'drops_per_sec': throughput_list
})
res.to_csv(
('data_save/Send_ttl' + '_' +
time.asctime().replace(' ', '_').replace(':', '_') +
'.csv'),
mode='a')
break
time.sleep(0.09) #发包间隔
# 定时器线程每隔1s记录发包数,即吞吐量
def tx_save_throughput(self):
if (self.recvdone_ack == False):
self.tx_dropid_save.append(self.tx_drop_id)
self.tx_creat_ttl_Timer()
def tx_creat_ttl_Timer(self):
if (self.recvdone_ack == False):
t = threading.Timer(1, self.tx_save_throughput)
t.start()
# 检测反馈
def feedback_detect(self):
data_rec = self.acoustic.modem_feedback()
if data_rec is not b'':
data_str = str(data_rec, encoding="utf8")
idx = data_str.find('Received String: ')
if idx >= 0:
msg_str = data_str[idx + 17:]
msg_bytes = bytes(msg_str, encoding="utf-8")
# msg_bytes = data_rec
# 接收完成
if msg_bytes[:2] == b'#$':
self.recvdone_ack = True
# 进度包
elif msg_bytes[:2] == b'$#':
self.fountain.all_at_once = True
process_recv = self.get_process_from_feedback(msg_bytes)
if process_recv == []:
self.recvdone_ack = True
else:
self.chunk_process = process_recv
self.fountain.chunk_process = self.chunk_process
self.fountain.feedback_idx = self.feedback_num
self.feedback_num += 1
self.creat_detect_feedback_Timer()
def creat_detect_feedback_Timer(self):
if self.recvdone_ack == False:
t = threading.Timer(0.001, self.feedback_detect)
t.start()
# 从反馈中获取进度
def get_process_from_feedback(self, rec_bytes):
process = []
chunk_id = 0
process_bits = bitarray.bitarray(endian='big')
process_bits.frombytes(rec_bytes[2:])
while chunk_id < self.fountain.num_chunks:
if (process_bits[chunk_id] == False):
process.append(chunk_id)
chunk_id += 1
return process
class Receiver:
def __init__(
self,
bus,
device,
port,
baudrate,
timeout,
):
self.spiRecv = spidev.SpiDev()
self.spiRecv.open(bus, device)
self.spiRecv.max_speed_hz = 6250000 #976000
self.spiRecv.mode = 0b00
self.spiSend = spidev.SpiDev()
self.spiSend.open(bus, 0)
self.spiSend.max_speed_hz = 6250000 #976000
self.spiSend.mode = 0b00
# 串口和spi初始化
spi_init()
self.port = serial.Serial(port, baudrate)
self.pack_id = 0
self.drop_id = 0
self.glass = Glass(0)
self.chunk_size = 0
self.recv_done_flag = False
self.feedback_ack_flag = False
self.chunk_process = []
self.feedback_idx = 0
self.data_rec = ""
self.recv_dir = os.path.join(
RECV_PATH,
time.asctime().replace(' ', '_').replace(':', '_'))
self.t0 = 0
self.t0_start = False
self.t1 = 0
self.process_bytes = b''
'''LT喷泉码接收解码部分'''
def begin_to_catch(self):
a_drop_bytes = self.catch_a_drop_spi() # bytes
if a_drop_bytes is not None:
# 从接收到第一个包开始计时
if self.t0_start == False:
self.t0 = time.time()
self.t0_start = True
self.pack_id += 1
print("Recv Packet_id : ", self.pack_id)
if len(a_drop_bytes) > 0:
check_data = recv_check(a_drop_bytes)
if not check_data == None:
self.drop_byte_size = len(check_data)
self.add_a_drop(check_data)
def catch_a_drop_spi(self):
if GPIO.input(25):
spi_recv = self.spiRecv.readbytes(239)
rec_bytes = bytes(spi_recv)
frame_len = len(rec_bytes)
if (frame_len > 1):
while (rec_bytes[frame_len - 1] == 0 and frame_len >= 1):
frame_len = frame_len - 1
rec_bytes = rec_bytes[:frame_len]
self.data_rec = rec_bytes
if self.data_rec[0:2] == b'##' and self.data_rec[
frame_len - 2:frame_len] == b'$$':
data_array = bytearray(self.data_rec)
data_array.pop(0)
data_array.pop(0)
data_array.pop()
data_array.pop()
return bytes(data_array)
else:
print(self.data_rec)
print('Wrong receive frame !')
def add_a_drop(self, d_byte):
self.drop_id += 1
print("====================")
print("Recv drop_id : ", self.drop_id)
print("====================")
drop = self.glass.droplet_from_Bytes(d_byte) # drop
if self.glass.num_chunks == 0:
self.glass = Glass(drop.num_chunks) # 初始化接收glass
self.chunk_size = len(drop.data)
#若为ew，则需要将drop转为ewdrop，两个drop里译码方式不一样
ew_drop = EW_Droplet(drop.data, drop.seed, drop.num_chunks,
drop.process, drop.func_id, drop.feedback_idx)
self.glass.addDroplet(ew_drop) # glass add drops
logging.info('=============================')
logging.info('Decode Progress: ' + str(self.glass.chunksDone()) + '/' +
str(self.glass.num_chunks))
logging.info('=============================')
# 接收完成
if self.glass.isDone():
self.t1 = time.time()
self.recv_done_flag = True
# # 接收完成写入图像
# img_data = self.glass.get_bits()
# os.mkdir(self.recv_dir)
# with open(os.path.join(self.recv_dir, "img_recv" + ".bmp"), 'wb') as f:
# f.write(img_data)
t1 = threading.Timer(2.6, self.send_recv_done_ack)
t1.start()
# self.send_recv_done_ack() # 接收完成返回ack
logging.info('============Recv done===========')
logging.info('Send Sonic Fountain ACK done')
logging.info('Recv packets: ' + str(self.drop_id))
logging.info('Recv drops: ' + str(self.drop_id))
logging.info("Sonic Feedback Fountain time elapsed:" +
str(self.t1 - self.t0))
# 接收到K个数据包之后
n1 = round(0.8 * self.glass.num_chunks)
n2 = 30
if self.drop_id >= n1 and self.recv_done_flag == False:
if (self.drop_id - n1) % n2 == 0:
process = self.glass.getProcess()
# 用于添加反馈历史数据, 用于droplet参数，正确译码
self.chunk_process = process[0]
self.glass.glass_process_history.append(self.chunk_process)
# 用于实际反馈
process_bitmap = process[1]
process_bits = bitarray.bitarray(process_bitmap)
self.process_bytes = process_bits.tobytes()
t = threading.Timer(2.6, self.send_feedback)
t.start()
print(self.process_bytes)
print("Feedback chunks: ", self.chunk_process)
print("Feedback chunks num: ", len(self.chunk_process))
print("Feedback idx: ", self.feedback_idx)
self.feedback_idx += 1
def send_recv_done_ack(self):
if self.recv_done_flag:
ack = b'#$\r\n'
acksend = bytearray(ack)
self.port.write(acksend)
self.port.flushOutput()
# 用定时器线程反馈仿真修改
def send_feedback(self):
fb = b'$#' + self.process_bytes
self.port.write(fb)
self.port.flushOutput()
