# region 串口通信
# 初始化串口
import threading
import serial


def serial_init():
    try:
        ser = serial.Serial(
            port="/dev/ttyS0",  # 笔记本Windows端口，Linux/Mac替换为"/dev/ttyUSB0"
            baudrate=115200,
            timeout=0.1
        )
        print("串口初始化成功")
        return ser
    except Exception as e:
        print(f"笔记本串口初始化失败: {e}")
        return None


# 矩阵转换函数：将P_L1_O2通过R_T转换为P_L1_O1
class SerialSharedData:
    """线程安全的串口数据共享存储类"""
    def __init__(self):
        self.lock = threading.Lock()  # 防止多线程数据竞争
        self.buffer = b''  # 用于解析0xFF坐标帧的通用缓冲区
        self.cmd_buffer = b''  # 用于解析0xAA指令帧（主指令/子指令/停止指令）的缓冲区