ESP-NOW数据吞吐量记录GPS坐标

Question

我正在使用两个ESP32板进行ESP-NOW通信，其中一个ESP正在发送数据包，而另一个ESP则在将这些数据与GPS一起记录这些数据时接收到它们，以在某个坐标处测量吞吐量，以便我在移动和更改时获得吞吐量率发件人和接收器之间的速率。

ESP32接收器和GPS模块已连接到RPI，该RPI正在运行从串行COM端口读取数据，解析并将其写入文件的脚本。

import serial
import time
import pandas as pd

# Receiver
esp_com = '/dev/ttyUSB1'
esp_baud = 115200
ser = serial.Serial(port=esp_com, baudrate=esp_baud, timeout=0.1)

# GPS
gps_com = '/dev/ttyUSB0'
gps_baud = 4800
sergps = serial.Serial(port=gps_com, baudrate=gps_baud, timeout=0.1)

# title of the file to write data in
title = 'ESP-NOW LoRa'

# time step at which data is logged
timestep = 1

# create lists
XCV = []

# initial dropped/received packets data
drp = 0
rcv = 0
counter = 0

waiting_for_recv = False

# outputs empty data table
df = pd.DataFrame()

# outputs time in seconds since the timer started
then = time.time()
then1 = time.time()

# clear ESP buffers
ser.flushInput()
ser.flushOutput()

# initial data
RECEIVED = 0
RECEIVED = []
LAT = []
LON = []
T = []
t = 0
gpsdata = ''

# loop
while True:
    try:
        xcv = ser.readline().decode()  # decodes string
        if xcv != '':
            xcv = xcv.split("\r\n")
            for x in xcv:
                if x != '':
                    print(x)
                    XCV.append(x)
                    if 'RECV' in x:
                        RECEIVED = int(x[4:])  # sliced first 4 characters

        while True:
            cvb = sergps.readline()
            if cvb != b'':
                if 'GNGGA' in cvb.decode():
                    gpsdata = cvb.decode()
            else:
                break

        now = time.time()

        if now > then+timestep:
            print(now)
            df.at[counter, 'timestamp'] = now
            df.at[counter, 'received'] = RECEIVED
            drp = 0
            rcv = 0

            RECEIVED = 0
            then = now

            counter += 1

            vbn = gpsdata.split(',')
            if('GNGGA' in vbn[0]) & (vbn[2] != "") & (len(vbn) >= 5):
                print('GPS has a fix')
                tt = vbn[1]
                lat = vbn[2]
                lon = vbn[4]
                lat = int(lat[0:2])+float(lat[2:])/60
                lon = int(lon[0:3])+float(lon[3:])/60
                LAT.append(lat)
                LON.append(lon)
                T.append(t)
                t += 1
                print('LAT: {}, LON: {}'.format(lat, lon))

            else:
                print('GPS does not have a fix')
                LAT.append(0)
                LON.append(0)

            # write data to file every 30 seconds
            if now > then1+30:
                then1 = now
                # print GPS dataframe to columns
                df['lat'] = LAT
                df['lon'] = LON
                df.to_excel(title+'.xlsx')  # writes data to excel file

    except Exception as e:
        print(e)

我遇到了一个问题，一旦GPS有修复程序，并开始与坐标发送完整的NMEA消息，接收/丢弃的数据包数据丢失了，整个脚本都会挂起。我可以在变量中看到GPS NMEA数据正确解析，并且当GPS没有修复时，一切都起作用，但是一旦它开始发送完整的NMEA消息，脚本会断开脚本。

我自己真的无法弄清楚为什么，我认为代码本身需要优化。

Answer 1

我看到已经有一段时间了，但是我遇到了这篇文章。

因此，我看到的一个问题：

while True:
    cvb = sergps.readline()
    if cvb != b'':
         if 'GNGGA' in cvb.decode():
             gpsdata = cvb.decode()
    else:
        break

在这里，您将在任何数据来自GPS模块时陷入困境。获得 GPSDATA 后，您可能还需要休息。

另一件事，您有布尔值，因此请使用和（逻辑）而不是＆amp; （bitwise）：

vbn = gpsdata.split(',')
    if('GNGGA' in vbn[0]) & (vbn[2] != "") & (len(vbn) >= 5):
        print('GPS has a fix')

在此处阅读更多：'>'and'（boolean）vs'＆amp;'' （位）