如何从Raspberry Pi Zero发送实时传感器数据到PC？

我写了一个Python3脚本，运行在树莓派零W从 IMU 传感器 (MPU9250) 收集数据并创建 3 个不同的角度值；滚动、俯仰、偏航。看起来像这样：

def main():
    while True:
        dataAcc = mpu.readAccelerometerMaster()
        dataGyro = mpu.readGyroscopeMaster()
        dataMag = mpu.readMagnetometerMaster()

        [ax, ay, az] = [round(dataAcc[0], 5), round(dataAcc[1], 5), round(dataAcc[2], 5)]
        [gx, gy, gz] = [round(dataGyro[0], 5), round(dataGyro[1], 5), round(dataGyro[2], 5)]
        [mx, my, mz] = [round(dataMag[0], 5), round(dataMag[1], 5), round(dataMag[2], 5)]

        update(gx, gy, gz, ax, ay, az, mx, my, mz)
        roll = getRoll()
        pitch = getPitch()
        yaw = getYaw()

        print(f"Roll: {round(roll, 2)}\tPitch: {round(pitch, 2)}\tYaw: {round(yaw, 2)}")

我想做的是将这 3 个值发送到我的电脑并读取它们。有什么办法可以发送这些数据吗？ （如果可能的话，除了serial).

有很多方法可以做到这一点，仅举几例：

• 将 UDP 消息从 Raspi 发送到 PC
• 将 TCP 流从 Raspi 发送到 PC
• 将读数放入Redis并允许您网络上的任何人收集它们 - 例如here https://stackoverflow.com/a/58521903/2836621
• 使用 MQTT 客户端发布来自 Raspi 的读数，并在作为服务器的 PC 上订阅该主题
• 运行Python多处理管理器在一台机器上并从另一台机器连接 - 请参阅“使用远程管理器” here https://docs.python.org/3/library/multiprocessing.html#managers
• 通过蓝牙发送读数

这是上面第一个建议使用 UDP 的可能实现。首先，Raspi端生成3个读数X、Y和Z，并通过UDP每秒将它们发送到PC：

#!/usr/bin/env python3

import socket
import sys
from time import sleep
import random
from struct import pack

# Create a UDP socket
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

host, port = '192.168.0.8', 65000
server_address = (host, port)

# Generate some random start values
x, y, z = random.random(), random.random(), random.random()

# Send a few messages
for i in range(10):

    # Pack three 32-bit floats into message and send
    message = pack('3f', x, y, z)
    sock.sendto(message, server_address)

    sleep(1)
    x += 1
    y += 1
    z += 1

PC端的匹配代码如下：

#!/usr/bin/env python3

import socket
import sys
from struct import unpack

# Create a UDP socket
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

# Bind the socket to the port
host, port = '0.0.0.0', 65000
server_address = (host, port)

print(f'Starting UDP server on {host} port {port}')
sock.bind(server_address)

while True:
    # Wait for message
    message, address = sock.recvfrom(4096)

    print(f'Received {len(message)} bytes:')
    x, y, z = unpack('3f', message)
    print(f'X: {x}, Y: {y}, Z: {z}')

这是 MQTT 建议的可能实现。首先，发布者发布三个值。请注意，我有mosquitto在我的桌面上运行的代理：

#!/usr/bin/env python3

from time import sleep
import random
import paho.mqtt.client as mqtt

broker = '192.168.0.8'
client = mqtt.Client()
client.connect(broker,1883,60)

# Generate some random start values
x, y, z = random.random(), random.random(), random.random()

# Send a few messages
for i in range(10):

    # Publish out three values
    client.publish("topic/XYZ", f'{x},{y},{z}');

    sleep(1)
    x += 1
    y += 1
    z += 1

这是订阅者，它监听消息并打印它们：

#!/usr/bin/env python3

import socket
import sys
import paho.mqtt.client as mqtt

def on_connect(client, userdata, flags, rc):
  print("Connected with result code "+str(rc))
  client.subscribe("topic/XYZ")

def on_message(client, userdata, msg):
  message = msg.payload.decode()
  print(f'Message received: {message}')
    
broker = '192.168.0.8'
client = mqtt.Client()
client.connect(broker,1883,60)

client.on_connect = on_connect
client.on_message = on_message

client.loop_forever()

有一个蓝牙通信的例子here https://stackoverflow.com/a/70439467/2836621.

有一个类似的答案，还有更多例子here https://stackoverflow.com/a/76377651/2836621.