import serial
import os
import time
from serial.tools import list_ports
import socket 

s = socket.socket()         # 创建 socket 对象
host = "127.0.0.1" # 获取本地主机名
port = 7000                # 设置端口号
 
s.connect((host, port))

#获取端口列表
plist = list(serial.tools.list_ports.comports())
for port in plist:
    print('端口号：' + port[0] + '   端口名：' + port[1])
#打开端口
port = serial.Serial(port = '/dev/ttyAMA0', baudrate = 420000, bytesize = 8
                         , parity = 'N', stopbits = 1 , timeout= 1.0)
#校验初始化
lut = []
poly = 0xD5
idx = 0
for CNT in range(256):
    lut.append(0)
while idx<256:
    crc = idx
    shift = 0
    while shift<8:
        shift += 1
        if crc & 0x80:
            crc_temp = poly
        else:
            crc_temp = 0
        crc = (crc << 1) ^ crc_temp
    lut[idx] = crc & 0xff
    idx += 1
#主循环
while(True):
    time.sleep(0.01)

    #读端口
    data = port.read_all()

    if(len(data)>7):
        #校验
        len_data = data[1]
        data_idx = 2
        try:

            inCrc = data[2+len_data-1]

        except Exception as e:  
            # 捕获其他类型的异常  
            # print(f"An unexpected error occurred: {e}")
            continue
        crc = 0
        while len_data-1:
            try:
                crc = lut[crc ^ data[data_idx]]
                data_idx += 1
                len_data -= 1
            except Exception as e:  
                # 捕获其他类型的异常  
                # print(f"An unexpected error occurred: {e}")
                break  
        if (data[2] == 22) & (len(data) >= (len_data+2)) & (inCrc == crc):
            #解析,从地四个字节开始，每个字节占用11位
            ch1 = ((data[3]>>0) | (data[4]<<8)) & 0x07FF
            ch2 = ((data[4]>>3) | (data[5]<<5)) & 0x07FF
            ch3 = ((data[5]>>6) | (data[6]<<2) | (data[7]<<10)) & 0x07FF
            ch4 = ((data[7]>>1) | (data[8]<<7)) & 0x07FF
            ch5 = ((data[8]>>4) | (data[9]<<4)) & 0x07FF
    
            #结果显示(可不看)
            #清屏
            os.system('clear')
            #通道数值
            content = ""
            print("ch2->"+ str(ch2))
            
            if (ch2>950 and ch2<1050) :
                print("ch2中间")

                content += "24@23@18@1@"
                content += "20@16@12@1"

            elif(ch2 >1050 ):
                print("ch2前进")

                content += "24@23@18@"
                content += str(ch2-949)
                content += "@"
                content += "20@16@12@"
                content += str(ch2-949)
                
            elif(ch2 < 950):
                print("ch3后退")

                content += "23@24@18@"
                content += str(1124-ch2)
                content += "@"
                content += "16@20@12@"
                content += str(1124-ch2)

            print("ch3->"+ str(ch3))
            content += "@"

            if (ch3>950 and ch3<1080) :
                print("ch3中间")

                content += "27@17@13@1@"
                content += "26@21@19@1"

            elif(ch3 >1080 ):
                print("ch3前进")

                content += "27@17@13@"
                content += str(ch3-979)
                content += "@"
                content += "26@21@19@"
                content += str(ch3-979)
            elif(ch3<910):
                print("ch2后退")

                content += "17@27@13@"
                content += str(1124-ch3)
                content += "@"
                content += "21@26@19@"
                content += str(1124-ch3)

            print(content)
            s.send(content.encode('utf-8'))