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Copy pathUART.py
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UART.py
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import time
from serial_package import offical_Judge_Handler, Game_data_define
buffercnt = 0
buffer = [0]
buffer *= 1000
cmdID = 0
indecode = 0
def read(ser, myshow):
global buffercnt
buffercnt = 0
global buffer
global cmdID
global indecode
while True:
s = ser.read(1)
s = int().from_bytes(s, 'big')
#doc.write('s: '+str(s)+' ')
if buffercnt > 50:
buffercnt = 0
#print(buffercnt)
buffer[buffercnt] = s
#doc.write('buffercnt: '+str(buffercnt)+' ')
#doc.write('buffer: '+str(buffer[buffercnt])+'\n')
#print(hex(buffer[buffercnt]))
if buffercnt == 0:
if buffer[buffercnt] != 0xa5:
buffercnt = 0
continue
if buffercnt == 5:
if offical_Judge_Handler.myVerify_CRC8_Check_Sum(id(buffer), 5) == 0:
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 7:
cmdID = (0x0000 | buffer[5]) | (buffer[6] << 8)
#print("cmdID")
#print(cmdID)
if buffercnt == 10 and cmdID == 0x0002:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 10):
Referee_Game_Result()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 12 and cmdID == 0x0001:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 12):
Referee_Update_GameData()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 41 and cmdID == 0x0003:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 41):
Referee_Robot_HP(myshow)
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 12 and cmdID == 0x0004:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 12):
Referee_dart_status()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 13 and cmdID == 0x0101:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 13):
Referee_event_data()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 13 and cmdID == 0x0102:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 13):
Refree_supply_projectile_action()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 11 and cmdID == 0x0104:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 11):
Refree_Warning()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 10 and cmdID == 0x0105:
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 10):
Refree_dart_remaining_time()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 17 and cmdID == 0x301: #2bite数据
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 17):
Receive_Robot_Data()
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 25 and cmdID == 0x202: # 雷达没有 工程实验屏蔽掉
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 25):
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 25 and cmdID == 0x203: # 雷达没有 工程实验屏蔽掉
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 25):
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 27 and cmdID == 0x201: # 雷达没有 工程实验屏蔽掉
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 27):
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 10 and cmdID == 0x204: # 雷达没有 工程实验屏蔽掉
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 10):
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 10 and cmdID == 0x206: # 雷达没有 工程实验屏蔽掉
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 10):
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
if buffercnt == 13 and cmdID == 0x209: # 雷达没有 工程实验屏蔽掉
if offical_Judge_Handler.myVerify_CRC16_Check_Sum(id(buffer), 13):
buffercnt = 0
if buffer[buffercnt] == 0xa5:
buffercnt = 1
continue
buffercnt += 1
Game_state = Game_data_define.game_state()
Game_result = Game_data_define.game_result()
Game_robot_HP = Game_data_define.game_robot_HP()
Game_dart_status = Game_data_define.dart_status()
Game_event_data = Game_data_define.event_data()
Game_supply_projectile_action = Game_data_define.supply_projectile_action()
Game_refree_warning = Game_data_define.refree_warning()
Game_dart_remaining_time = Game_data_define.dart_remaining_time()
def Judge_Refresh_Result():
print("Judge_Refresh_Result")
def Referee_Game_Result():
print("Referee_Game_Result")
Game_result.winner = buffer[7]
print(Game_result.winner)
def Referee_Update_GameData():
print("Referee_Update_GameData")
Game_state.stage_remain_time[0] = buffer[8]
Game_state.stage_remain_time[1] = buffer[9]
#print(buffer[8])
print('time:'+str((0x0000 | buffer[8]) | (buffer[9] << 8)))
#doc.write('Referee_Update_GameData'+'\n')
#doc.write('remaining time: '+str((0x0000 | buffer[8]) | (buffer[9] << 8))+'\n')
def Referee_Robot_HP(myshow):
print("Referee_Robot_HP")
Game_robot_HP.red_1_robot_HP = [buffer[7], buffer[8]]
Game_robot_HP.red_2_robot_HP = [buffer[9], buffer[10]]
Game_robot_HP.red_3_robot_HP = [buffer[11], buffer[12]]
Game_robot_HP.red_4_robot_HP = [buffer[13], buffer[14]]
Game_robot_HP.red_5_robot_HP = [buffer[15], buffer[16]]
Game_robot_HP.red_7_robot_HP = [buffer[17], buffer[18]]
Game_robot_HP.red_outpost_HP = [buffer[19], buffer[20]]
Game_robot_HP.red_base_HP = [buffer[21], buffer[22]]
Game_robot_HP.blue_1_robot_HP = [buffer[23], buffer[24]]
Game_robot_HP.blue_2_robot_HP = [buffer[25], buffer[26]]
Game_robot_HP.blue_3_robot_HP = [buffer[27], buffer[28]]
Game_robot_HP.blue_4_robot_HP = [buffer[29], buffer[30]]
Game_robot_HP.blue_5_robot_HP = [buffer[31], buffer[32]]
Game_robot_HP.blue_7_robot_HP = [buffer[33], buffer[34]]
Game_robot_HP.blue_outpost_HP = [buffer[35], buffer[36]]
Game_robot_HP.blue_base_HP = [buffer[37], buffer[38]]
Game_robot_HP_show = '红方:'+'\n'+\
'英雄:'+str((0x0000 | buffer[7]) | (buffer[8] << 8))+'\t'+\
'工程:'+str((0x0000 | buffer[9]) | (buffer[10] << 8))+'\t'+\
'步兵3:'+str((0x0000 | buffer[11]) | (buffer[12] << 8)) +'\t'+\
'步兵4:'+str((0x0000 | buffer[13]) | (buffer[14] << 8)) +'\n'+\
'步兵5:'+str((0x0000 | buffer[15]) | (buffer[16] << 8)) +'\t'+\
'哨兵:'+str((0x0000 | buffer[17]) | (buffer[18] << 8)) +'\t'+\
'前哨站:' + str((0x0000 | buffer[19]) | (buffer[20] << 8)) +'\t'+\
'基地:' + str((0x0000 | buffer[21]) | (buffer[22] << 8)) +'\n'+\
'蓝方:' + '\n' +\
'英雄:' + str((0x0000 | buffer[23]) | (buffer[24] << 8)) +'\t'+ \
'工程:' + str((0x0000 | buffer[25]) | (buffer[26] << 8)) + '\t'+\
'步兵3:' + str((0x0000 | buffer[27]) | (buffer[28] << 8)) + '\t'+\
'步兵4:' + str((0x0000 | buffer[29]) | (buffer[30] << 8)) + '\n' + \
'步兵5:' + str((0x0000 | buffer[31]) | (buffer[32] << 8)) + '\t'+\
'哨兵:' + str((0x0000 | buffer[33]) | (buffer[34] << 8)) + '\t'+\
'前哨站:' + str((0x0000 | buffer[35]) | (buffer[36] << 8)) + '\t'+\
'基地:' + str((0x0000 | buffer[37]) | (buffer[38] << 8))
print(Game_robot_HP_show)
myshow.set_text('message_box', Game_robot_HP_show)
def Referee_dart_status():
print("Referee_dart_status")
Game_dart_status.dart_belong = buffer[7]
Game_dart_status.stage_remaining_time = [buffer[8], buffer[9]]
def Referee_event_data():
print("Referee_event_data")
Game_event_data.event_type = [buffer[7], buffer[8], buffer[9], buffer[10]]
#doc.write('Referee_event_data' + '\n')
def Refree_supply_projectile_action():
print("Refree_supply_projectile_action")
Game_supply_projectile_action.supply_projectile_id = buffer[7]
Game_supply_projectile_action.supply_robot_id = buffer[8]
Game_supply_projectile_action.supply_projectile_step = buffer[9]
Game_supply_projectile_action.supply_projectile_num = buffer[10]
def Refree_Warning():
print("Refree_Warning")
Game_refree_warning.level = buffer[7]
Game_refree_warning.foul_robot_id = buffer[8]
def Refree_dart_remaining_time():
print("Refree_dart_remaining_time")
Game_dart_remaining_time.time = buffer[8]
#doc.write('Refree_dart_remaining_time' + '\n')
def Receive_Robot_Data():
print("Receive_Robot_Data()")
if (0x0000 | buffer[7]) | (buffer[8] << 8) == 0x0200:
print('change')
def Referee_Transmit_UserData_model( cmdID, datalength, dataID, receiverID, data, ser):
buffer = [0]
buffer = buffer*200
buffer[0] = 0xA5#数据帧起始字节，固定值为 0xA5
buffer[1] = (datalength+6) & 0x00ff#数据帧中 data 的长度,占两个字节
buffer[2] = ((datalength+6) & 0xff00) >> 8
buffer[3] = 1#包序号
buffer[4] = offical_Judge_Handler.myGet_CRC8_Check_Sum(id(buffer), 5 - 1, 0xff);#帧头 CRC8 校验
buffer[5] = cmdID & 0x00ff
buffer[6] = (cmdID & 0xff00) >> 8
buffer[7] = dataID & 0x00ff#数据的内容 ID,占两个字节
buffer[8] = (dataID & 0xff00) >> 8
buffer[9] = 0x09 #发送者的 ID, 占两个字节 （雷达9） #测试时候用工程2
buffer[10] = 0x00
buffer[11] = receiverID & 0x00ff #接收者ID
buffer[12] = (receiverID & 0xff00) >> 8
for i in range(datalength):
buffer[13+i] = data[i]
'''
CRC16 = offical_Judge_Handler.myGet_CRC16_Check_Sum(id(buffer), 13+datalength, 0xffff)
buffer[13+datalength] = CRC16 & 0x00ff #0xff
buffer[14+datalength] = (CRC16 >> 8) & 0xff
'''
offical_Judge_Handler.Append_CRC16_Check_Sum(id(buffer), 13 + datalength + 2) # 等价的
buffer_tmp_array = [0]
buffer_tmp_array *= 15 + datalength
for i in range(15+datalength):
buffer_tmp_array[i] = buffer[i]
#print(buffer_tmp_array)
#print(bytearray(buffer_tmp_array))
ser.write(bytearray(buffer_tmp_array))
def Robot_Data_Transmit(data, datalength, dataID, receiverID, ser):
Referee_Transmit_UserData_model(0x0301, datalength, dataID, receiverID, data, ser)
def Robot_Data_Transmit_test(robot_loc, ser):
x1,y1,x2,y2,x3,y3,x4,y4,x5,y5 = robot_loc.get()
data = [x1 & 0x00ff,
(x1 & 0xff00) >> 8,
y1 & 0x00ff,
(y1 & 0xff00) >> 8,
x2 & 0x00ff,
(x2 & 0xff00) >> 8,
y2 & 0x00ff,
(y2 & 0xff00) >> 8,
x3 & 0x00ff,
(x3 & 0xff00) >> 8,
y3 & 0x00ff,
(y3 & 0xff00) >> 8,
x4 & 0x00ff,
(x4 & 0xff00) >> 8,
y4 & 0x00ff,
(y4 & 0xff00) >> 8,
x5 & 0x00ff,
(x5 & 0xff00) >> 8,
y5 & 0x00ff,
(y5 & 0xff00) >> 8]
Robot_Data_Transmit(data, 20, 0x0200, 0x0002, ser)
def write(robot_loc, ser):
while True:
Robot_Data_Transmit_test(robot_loc, ser)
#print('send')
time.sleep(0.2)