8.18完成udp通信发送mpu6050数据

README.en.md

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+# FocProject
+
+#### Description
+{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**}
+
+#### Software Architecture
+Software architecture description
+
+#### Installation
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### Instructions
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### Contribution
+
+1.  Fork the repository
+2.  Create Feat_xxx branch
+3.  Commit your code
+4.  Create Pull Request
+
+
+#### Gitee Feature
+
+1.  You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md
+2.  Gitee blog [blog.gitee.com](https://blog.gitee.com)
+3.  Explore open source project [https://gitee.com/explore](https://gitee.com/explore)
+4.  The most valuable open source project [GVP](https://gitee.com/gvp)
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+6.  The most popular members  [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)

README.md

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+# FocProject
+
+#### 介绍
+{**以下是 Gitee 平台说明，您可以替换此简介**
+Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台（同时支持 SVN）。专为开发者提供稳定、高效、安全的云端软件开发协作平台
+无论是个人、团队、或是企业，都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)}
+
+#### 软件架构
+软件架构说明
+
+
+#### 安装教程
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### 使用说明
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### 参与贡献
+
+1.  Fork 本仓库
+2.  新建 Feat_xxx 分支
+3.  提交代码
+4.  新建 Pull Request
+
+
+#### 特技
+
+1.  使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
+2.  Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
+3.  你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
+4.  [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
+5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
+6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)

arduino/main/main.ino

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+  /**
+Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：灯哥开源FOC V1.0
+在串口窗口中输入：T+速度，就可以使得两个电机闭环转动
+比如让两个电机都以 10rad/s 的速度转动，则输入：T10
+在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(7) 中的值，设置为自己的极对数数字
+程序默认设置的供电电压为 16.8V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
+默认PID针对的电机是 GB6010 ，使用自己的电机需要修改PID参数，才能实现更好效果
+ */
+#include <SimpleFOC.h>
+#include <WiFi.h>
+#include <AsyncUDP.h> //引用以使用异步UDP
+
+const char *ssid = "esp32";
+const char *password = "12345678";
+
+AsyncUDP udp;                     //创建UDP对象
+unsigned int localUdpPort = 2333; //本地端口号
+
+MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
+
+TwoWire I2Cone = TwoWire(0);
+
+
+//电机参数
+BLDCMotor motor = BLDCMotor(5);
+BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
+
+
+//命令设置
+int target_velocity = 0;
+void onPacketCallBack(AsyncUDPPacket packet)
+{
+  target_velocity = atoi((char*)(packet.data()));
+  Serial.print("数据内容: ");
+  Serial.println(target_velocity);
+//  packet.print("reply data");
+}
+
+void setup() {
+   Serial.begin(115200);
+  //wifi初始化
+  WiFi.mode(WIFI_AP);
+   while(!WiFi.softAP(ssid, password)){}; //启动AP
+    Serial.println("AP启动成功");
+  while (!udp.listen(localUdpPort)) //等待udp监听设置成功
+  {
+  }
+  udp.onPacket(onPacketCallBack); //注册收到数据包事件
+  I2Cone.begin(23, 5, 400000);   //SDA,SCL
+
+  sensor.init(&I2Cone);
+
+  //连接motor对象与传感器对象
+  motor.linkSensor(&sensor);
+
+
+  //供电电压设置 [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+
+
+  //连接电机和driver对象
+  motor.linkDriver(&driver);
+
+  
+  //FOC模型选择
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  //运动控制模式设置
+  motor.controller = MotionControlType::velocity;
+
+
+
+  //速度PI环设置
+  motor.PID_velocity.P = 1.5;
+
+  motor.PID_velocity.I = 20;
+
+  //最大电机限制电机
+  motor.voltage_limit = 12;
+
+  
+  //速度低通滤波时间常数
+  motor.LPF_velocity.Tf = 0.01;
+
+
+  //设置最大速度限制
+  motor.velocity_limit = 40;
+
+
+  motor.useMonitoring(Serial);
+
+  
+  //初始化电机
+  motor.init();
+
+  //初始化 FOC
+  motor.initFOC();
+
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  
+}
+
+
+
+void loop() {
+  motor.loopFOC();
+
+
+  motor.move(target_velocity);
+
+}

arduino/problems and reasons.txt

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+问题1：wifi接受到的数据为const uint_8  不能直接用atoi转换为int。
+解决：atoi((char*)(packet.data())) //使用(char*) 进行强制类型转换
+
+问题2：c语言中sizeof()返回的是变量声明后所占的内存数，不是实际长度。strlen是一个函数，求的是字符串的实际长度，它求得方法是从开始到遇到第一个'\0',如果你只定义没有给它赋初值，这个结果是不定的，它会从arr首地址一直找下去，直到遇到'\0'停止
+解决：字符串转换中使用strlen()获得实际长度
+
+问题3：数字转字符串中可以使用sprintf
+解决：sprintf(s, "%d", 100//将100转为10进制表示的字符串
+
+问题4：强制类型转换(const unsigned char*)不能直接使用print输出
+解决：atoi((char*)(packet.data())) //使用(char*) 进行强制类型转换

arduino/udp_test1/udp_test1/udp_test1.ino

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+#include <WiFi.h>
+#include <AsyncUDP.h> //引用以使用异步UDP
+#include<Wire.h>
+
+const char *ssid = "esp32";
+const char *password = "12345678";
+
+const int MPU_addr=0x68; // I2C address of the MPU-6050
+int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
+
+AsyncUDP udp;                     //创建UDP对象
+unsigned int localUdpPort = 2333; //本地端口号
+
+
+unsigned int broadcastPort = localUdpPort;
+//const char *broadcastData = "broadcast data";
+ const uint8_t broadcastData[] = {"broadcast data"};
+
+void onPacketCallBack(AsyncUDPPacket packet)
+{
+  Serial.print("UDP数据包来源类型: ");
+  Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
+  Serial.print("远端地址及端口号: ");
+  Serial.print(packet.remoteIP());
+  Serial.print(":");
+  Serial.println(packet.remotePort());
+  Serial.print("目标地址及端口号: ");
+  Serial.print(packet.localIP());
+  Serial.print(":");
+  Serial.println(packet.localPort());
+  Serial.print("数据长度: ");
+  Serial.println(packet.length());
+  Serial.print("数据内容: ");
+  Serial.write(packet.data(), packet.length());
+  Serial.println();
+
+//  packet.print("reply data");
+//  broadcastPort = packet.remotePort();
+}
+
+void setup()
+{
+     Serial.begin(115200);
+    // mpu6050初始化
+     Wire.begin(19, 18, 400000);
+ Wire.beginTransmission(MPU_addr);
+  Wire.write(0x6B); // PWR_MGMT_1 register
+  Wire.write(0); // set to zero (wakes up the MPU-6050)
+  Wire.endTransmission(true);
+
+  //wifi初始化
+  WiFi.mode(WIFI_AP);
+   while(!WiFi.softAP(ssid, password)){}; //启动AP
+    Serial.println("AP启动成功");
+  while (!udp.listen(localUdpPort)) //等待udp监听设置成功
+  {
+  }
+  udp.onPacket(onPacketCallBack); //注册收到数据包事件
+}
+char s[255];
+void loop()
+{
+  Wire.beginTransmission(MPU_addr);
+  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
+  Wire.endTransmission(false);
+  Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
+//  AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
+  AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
+//  AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
+//  Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
+//  GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
+//  GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
+//  GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
+  
+//  Serial.print("AcX = "); Serial.print(AcX);
+  Serial.print(" | AcY = "); Serial.println(AcY);
+//  itoa(AcY,s,10);
+
+   sprintf(s, "%d", AcY); //将100转为16进制表示的字符串
+   Serial.println(strlen(s));
+//  Serial.print(" | AcZ = "); Serial.print(AcZ);
+//  Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
+//  Serial.print(" | GyX = "); Serial.print(GyX);
+//  Serial.print(" | GyY = "); Serial.print(GyY);
+//  Serial.print(" | GyZ = "); Serial.println(GyZ);
+  delay(100);
+
+//  udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
+
+   IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
+   udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
+}

arduino/wifi_test/wifi_test/wifi_test.ino

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+#include <WiFi.h>
+#include <AsyncUDP.h> //引用以使用异步UDP
+
+const char *ssid = "esp32";
+const char *password = "12345678";
+
+AsyncUDP udp;                     //创建UDP对象
+unsigned int localUdpPort = 2333; //本地端口号
+
+unsigned int broadcastPort = localUdpPort;
+const char *broadcastData = "broadcast data";
+// const uint8_t broadcastData[] = {"broadcast data"};
+
+void onPacketCallBack(AsyncUDPPacket packet)
+{
+//  Serial.print("UDP数据包来源类型: ");
+//  Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
+//  Serial.print("远端地址及端口号: ");
+//  Serial.print(packet.remoteIP());
+//  Serial.print(":");
+//  Serial.println(packet.remotePort());
+//  Serial.print("目标地址及端口号: ");
+//  Serial.print(packet.localIP());
+//  Serial.print(":");
+//  Serial.println(packet.localPort());
+//  Serial.print("数据长度: ");
+//  Serial.println(packet.length());
+  Serial.print("数据内容: ");
+//  Serial.write(packet.data(), packet.length());
+  Serial.println(atoi( (char*)(packet.data())));
+
+//  packet.print("reply data");
+//  broadcastPort = packet.remotePort();
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+
+  WiFi.mode(WIFI_AP);
+   while(!WiFi.softAP(ssid, password)){}; //启动AP
+    Serial.println("AP启动成功");
+  while (!udp.listen(localUdpPort)) //等待udp监听设置成功
+  {
+  }
+  udp.onPacket(onPacketCallBack); //注册收到数据包事件
+}
+
+void loop()
+{
+//  delay(5000);
+//
+//  udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
+
+  // IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
+  // udp.writeTo(broadcastData, sizeof(broadcastData), broadcastAddr, localUdpPort); //广播数据
+}

python_gui/gui/.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml

python_gui/gui/.idea/gui.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/venv" />
+    </content>
+    <orderEntry type="jdk" jdkName="Python 3.7" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

python_gui/gui/.idea/inspectionProfiles/profiles_settings.xml

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+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

python_gui/gui/.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
+</project>

python_gui/gui/.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/gui.iml" filepath="$PROJECT_DIR$/.idea/gui.iml" />
+    </modules>
+  </component>
+</project>

python_gui/gui/.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
+  </component>
+</project>

python_gui/gui/main.py

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+import sys
+from PyQt5.QtWidgets import QApplication, QMainWindow
+from main_ui import *
+from wifi_udp import *
+import threading    #引入并行
+import numpy as np
+import pyqtgraph as pg
+
+
+class MyWindow(QMainWindow, Ui_MainWindow):
+    def __init__(self, parent=None):
+        super(MyWindow, self).__init__(parent)
+        self.setupUi(self)
+        self.v_list=[]
+        self.v_list.append(np.zeros(300))
+        self.timeArray = np.arange(-300, 0, 1)
+
+        self.velocity = 0
+        # 滑条
+        self.velocity_lineEdit.setText(str(self.velocity_horizontalSlider.value()))
+        self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged)
+        # wifi udp
+        self.udp = udp()
+
+        # 接收数据
+        self.udp_data = ''
+        t1 = threading.Thread(target=self.udp_recv)
+        t1.start()
+        # 绘图对象
+        self.pw = pg.PlotWidget()
+        self.curve = self.pw.plot(pen='y')
+        self.gridLayout.addWidget(self.pw)
+        # 定时器
+        self.timer = QtCore.QTimer()
+        self.timer.timeout.connect(self.update_plot)
+        self.timer.start(50)
+
+
+
+    # 滑条事件绑定
+    def velocity_horizontalSlider_valueChanged(self):
+        value = self.velocity_horizontalSlider.value()
+        self.velocity_lineEdit.setText(str(value))
+        # self.udp.send_message(str(value))
+        # self.curve.updateItems()
+        # self.curve.sigPlotChanged.emit(self.curve)
+
+    def udp_recv(self):
+        while True:
+            recv_data = self.udp.udpClientSocket.recv(1024)
+            recv_data = recv_data.decode('utf-8')
+            self.udp_data = recv_data
+    def update_plot(self):
+        print(self.udp_data)
+        self.v_list[0] = np.roll(self.v_list[0], -1)
+        self.v_list[0][-1] = self.udp_data
+        self.curve.setData(self.timeArray, self.v_list[0])  # 在绘图部件中绘制折线图
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    myWin = MyWindow()
+    myWin.show()
+    sys.exit(app.exec_())

python_gui/gui/main_ui.py

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+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'main_ui.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.2
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(800, 600)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.velocity_horizontalSlider = QtWidgets.QSlider(self.centralwidget)
+        self.velocity_horizontalSlider.setGeometry(QtCore.QRect(470, 420, 261, 22))
+        self.velocity_horizontalSlider.setMinimum(-100)
+        self.velocity_horizontalSlider.setMaximum(100)
+        self.velocity_horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
+        self.velocity_horizontalSlider.setTickPosition(QtWidgets.QSlider.TicksAbove)
+        self.velocity_horizontalSlider.setTickInterval(10)
+        self.velocity_horizontalSlider.setObjectName("velocity_horizontalSlider")
+        self.velocity_lineEdit = QtWidgets.QLineEdit(self.centralwidget)
+        self.velocity_lineEdit.setGeometry(QtCore.QRect(580, 460, 113, 21))
+        self.velocity_lineEdit.setObjectName("velocity_lineEdit")
+        self.label = QtWidgets.QLabel(self.centralwidget)
+        self.label.setGeometry(QtCore.QRect(520, 460, 51, 16))
+        self.label.setObjectName("label")
+        self.gridLayoutWidget = QtWidgets.QWidget(self.centralwidget)
+        self.gridLayoutWidget.setGeometry(QtCore.QRect(180, 20, 581, 361))
+        self.gridLayoutWidget.setObjectName("gridLayoutWidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.gridLayoutWidget)
+        self.gridLayout.setContentsMargins(0, 0, 0, 0)
+        self.gridLayout.setObjectName("gridLayout")
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 26))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
+        self.label.setText(_translate("MainWindow", "速度："))

python_gui/gui/main_ui.ui

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+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QSlider" name="velocity_horizontalSlider">
+    <property name="geometry">
+     <rect>
+      <x>470</x>
+      <y>420</y>
+      <width>261</width>
+      <height>22</height>
+     </rect>
+    </property>
+    <property name="minimum">
+     <number>-100</number>
+    </property>
+    <property name="maximum">
+     <number>100</number>
+    </property>
+    <property name="orientation">
+     <enum>Qt::Horizontal</enum>
+    </property>
+    <property name="tickPosition">
+     <enum>QSlider::TicksAbove</enum>
+    </property>
+    <property name="tickInterval">
+     <number>10</number>
+    </property>
+   </widget>
+   <widget class="QLineEdit" name="velocity_lineEdit">
+    <property name="geometry">
+     <rect>
+      <x>580</x>
+      <y>460</y>
+      <width>113</width>
+      <height>21</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label">
+    <property name="geometry">
+     <rect>
+      <x>520</x>
+      <y>460</y>
+      <width>51</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>速度：</string>
+    </property>
+   </widget>
+   <widget class="QWidget" name="gridLayoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>180</x>
+      <y>20</y>
+      <width>581</width>
+      <height>361</height>
+     </rect>
+    </property>
+    <layout class="QGridLayout" name="gridLayout"/>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

python_gui/gui/test1.py

@@ -0,0 +1,7 @@
+import socket
+#创建socket对象
+#SOCK_DGRAM  udp模式
+s=socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
+s.bind(("169.254.184.146",8000)) #绑定服务器的ip和端口
+data=s.recv(1024) #一次接收1024字节
+print(data.decode())# decode()解码收到的字节

python_gui/gui/test2.py

@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+"""
+This example demonstrates many of the 2D plotting capabilities
+in pyqtgraph. All of the plots may be panned/scaled by dragging with
+the left/right mouse buttons. Right click on any plot to show a context menu.
+"""
+
+from pyqtgraph.Qt import QtGui, QtCore
+import numpy as np
+import pyqtgraph as pg
+
+#QtGui.QApplication.setGraphicsSystem('raster')
+app = QtGui.QApplication([])
+#mw = QtGui.QMainWindow()
+#mw.resize(800,800)
+
+win = pg.GraphicsLayoutWidget(show=True, title="Basic plotting examples")
+win.resize(1000,600)
+win.setWindowTitle('pyqtgraph example: Plotting')
+
+# Enable antialiasing for prettier plots
+pg.setConfigOptions(antialias=True)
+
+p6 = win.addPlot(title="Updating plot")
+curve = p6.plot(pen='y')
+data = np.random.normal(size=(10,1000))
+ptr = 0
+def update():
+    global curve, data, ptr, p6
+    curve.setData(data[ptr%10])
+    if ptr == 0:
+        p6.enableAutoRange('xy', False)  ## stop auto-scaling after the first data set is plotted
+    ptr += 1
+timer = QtCore.QTimer()
+timer.timeout.connect(update)
+timer.start(50)
+
+## Start Qt event loop unless running in interactive mode or using pyside.
+if __name__ == '__main__':
+    import sys
+    if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
+        QtGui.QApplication.instance().exec_()

python_gui/gui/udp_test1.py

@@ -0,0 +1,34 @@
+import socket    #引入套接字
+import threading    #引入并行
+udp_data = None
+def udp_send(udp_socket):
+
+    while True:
+        num1 = '192.168.4.1'
+        num2 = 2333
+        send_data = input('请输入要发送的数据：')
+        send_data = send_data.encode('utf-8')
+        udp_socket.sendto(send_data,(num1,num2))  #sendto（发送数据，发送地址）
+
+def udp_recv(udp_socket):
+    global udp_data
+    while True:
+        recv_data = udp_socket.recv(1024)
+        recv_data = recv_data.decode('utf-8')
+        udp_data = recv_data
+        print('收到信息为:%s'%recv_data)
+
+def main():
+    udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)   #创建套接字
+    ip = '192.168.4.2'                                           #服务器ip和端口
+    port = 2333
+    udp_socket.bind(("192.168.4.2",2333))                                   #服务器绑定ip和端口
+    #发送数据
+    t=threading.Thread(target=udp_send,args=(udp_socket,))     # Thread函数用于并行
+    #接收数据
+    t1=threading.Thread(target=udp_recv,args=(udp_socket,))
+    t.start()                                                 #并行开始
+    t1.start()
+
+if __name__ == '__main__':
+    main()

python_gui/gui/wifi_udp.py

@@ -0,0 +1,30 @@
+from socket import *
+class udp(object):
+    """wifi udp to esp32"""
+    def __init__(self,HOST = '192.168.4.1',PORT = 2333):
+
+        self.HOST = HOST
+        self.PORT =PORT
+        self.BUFSIZ = 1024
+        self.ADDRESS = (self.HOST, self.PORT)
+
+        self.udpClientSocket = socket(AF_INET, SOCK_DGRAM)
+        self.udpClientSocket.bind(("192.168.4.2",2333))
+
+    def send_message(self,data):
+        if not data:
+            return 0
+        self.udpClientSocket.sendto(data.encode('utf-8'),self.ADDRESS)
+
+if __name__ == '__main__':
+    udp = udp()
+    while True:
+        data = input('>')
+        udp.send_message(data)
+        # 接收数据
+        data, ADDR = udp.udpClientSocket.recvfrom(udp.BUFSIZ)
+        if not data:
+            break
+        print("服务器端响应：", data.decode('utf-8'))
+
+    udp.udpClientSocket.close()