diff --git a/cam_poo.py b/cam_poo.py
index b270301aefbf7ab91e4ad5d95cc873378a09a563..1d365a25ca08c43462151d6b445d977e983fe18d 100644
--- a/cam_poo.py
+++ b/cam_poo.py
@@ -1,62 +1,69 @@
+import socket
+
+UDP_IP = "192.168.0.100"
+UDP_PORT = 52381
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
+
+
class Camera:
- def __init__(self, seq_num : hex):
- self.seq_num = seq_num #erreur du capteur UWB (p pour précision...)
- self.VV = 09
- self.WW = 09
-
- def abs2payload(self, LYZ: list ) -> list #L[0]="YYYY" L[1]="ZZZZ"
- payload = "81 01 06 02" #Absolute postition
- payload = payload + self.VV + self.WW #add move speed
- for i in L: #add position
- for j in i:
- payload = payload + "0" + j
- payload = payload + "FF" #end byte
+ def __init__(self, seq_num: hex):
+ self.seq_num = seq_num # erreur du capteur UWB (p pour précision...)
+ self.VV = "09"
+ self.WW = "09"
+
+ def abs2payload(self, LYZ: list) -> list: # L[0]="YYYY" L[1]="ZZZZ"
+ payload = "81 01 06 02" # Absolute postition
+ payload = payload + self.VV + self.WW # add move speed
+ for i in LYZ: # add position
+ for j in i:
+ payload = payload + "0" + j
+ payload = payload + "FF" # end byte
payloadtype = "01 00"
- # nouvelle coordonnée réelle après itération
return [payloadtype, payload]
- def payload2message(self, payloadL : list) -> string #hex
- payloadtype = payload[0]
+ def payload2message(self, payloadL: list) -> str: # hex
+ payloadtype = payloadL[0]
payload = payloadL[1]
- payloadlenght = "0F" # a coder
+ payloadlenght = "0F" # a coder
header = payloadtype + payloadlenght
- header = header + ('0'*(8-len(str(seq_num)))+str(seq_num))
+ header = header + ('0' * (8 - len(str(self.seq_num))) + str(self.seq_num))
message = header + payload
return message
- def send(self, message : string): -> bool
- sock.sendto(bytes.fromhex(message.replace(' ','')),(UDP_IP,UDP_PORT))
- self.seq_num +=1 #ballec de l'hexa pour l'instant
- print("fait "+ seq_num)
+ def send(self, message: str) -> bool:
+ sock.sendto(bytes.fromhex(message.replace(' ', '')), (UDP_IP, UDP_PORT))
+ self.seq_num += 1 # ballec de l'hexa pour l'instant
+ print("fait " + self.seq_num)
return True
- def zqsd2payload(self, x : string) -> string #hex
- payload = "FF" #message d'erreur à refaire
- if(command=='d'):
+ def zqsd2payload(self, x: str) -> str: # hex
+ payload = "FF" # message d'erreur à refaire
+ if x == 'd':
# payload = "81 01 06 03 VV WW 0Y 0Y 0Y 0Y 00 00 00 00 FF YYYY de DE00 à 2200 center 0000
- payload = "81 01 06 03 09 09 00 01 02 02 00 00 00 00 FF"
- if(command =='q'):
+ payload = "81 01 06 03 09 09 00 01 02 02 00 00 00 00 FF"
+ if x == 'q':
payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF"
- if(command =='z'):
- payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" #nonfonctionnel
- if(command =='s'):
- payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" #nonfonctionnel
+ if x == 'z':
+ payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" # nonfonctionnel
+ if x == 's':
+ payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" # nonfonctionnel
payloadtype = "01 00"
return [payloadtype, payload]
- def zoom2payload(self, n :int) -> string #hex #faire une version zoom + / zoom -
- if(n==0):
- payload="81 01 04 47 00 00 00 00 FF"
-
- if(n==2):
- payload="81 01 04 47 01 06 0A 01 FF"
-
+ def zoom2payload(self, n: int) -> str: # hex #faire une version zoom + / zoom -
+ if n == 0:
+ payload = "81 01 04 47 00 00 00 00 FF"
+
+ if n == 2:
+ payload = "81 01 04 47 01 06 0A 01 FF"
+ payloadtype = "01 00"
+
return [payloadtype, payload]
- def focus(self, b : bool) -> string #hex #focus2payload(0) = autofocus
- if bool:
- payload="81 01 04 38 02 FF" #autofocus
+ def focus(self, b: bool) -> str: # hex #focus2payload(0) = autofocus
+ if b:
+ payload = "81 01 04 38 02 FF" # autofocus
else:
- payload="81 01 04 38 03 FF"
+ payload = "81 01 04 38 03 FF"
payloadtype = "01 00"
return [payloadtype, payload]