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27 lines
855 B
27 lines
855 B
# region 串口通信
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# 初始化串口
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import threading
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import serial
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def serial_init():
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try:
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ser = serial.Serial(
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port="/dev/ttyS0", # 笔记本Windows端口，Linux/Mac替换为"/dev/ttyUSB0"
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baudrate=115200,
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timeout=0.1
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)
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print("串口初始化成功")
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return ser
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except Exception as e:
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print(f"笔记本串口初始化失败: {e}")
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return None
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# 矩阵转换函数：将P_L1_O2通过R_T转换为P_L1_O1
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class SerialSharedData:
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"""线程安全的串口数据共享存储类"""
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def __init__(self):
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self.lock = threading.Lock() # 防止多线程数据竞争
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self.buffer = b'' # 用于解析0xFF坐标帧的通用缓冲区
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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
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