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Commit 720b63f3 authored by Pierre Minssen's avatar Pierre Minssen
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fix syntaxe

parent 9955333e
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import socket
UDP_IP = "192.168.0.100"
UDP_PORT = 52381
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
class Camera: class Camera:
def __init__(self, seq_num: hex): def __init__(self, seq_num: hex):
self.seq_num = seq_num # erreur du capteur UWB (p pour précision...) self.seq_num = seq_num # erreur du capteur UWB (p pour précision...)
self.VV = 09 self.VV = "09"
self.WW = 09 self.WW = "09"
def abs2payload(self, LYZ: list ) -> list #L[0]="YYYY" L[1]="ZZZZ" def abs2payload(self, LYZ: list) -> list: # L[0]="YYYY" L[1]="ZZZZ"
payload = "81 01 06 02" # Absolute postition payload = "81 01 06 02" # Absolute postition
payload = payload + self.VV + self.WW # add move speed payload = payload + self.VV + self.WW # add move speed
for i in L: #add position for i in LYZ: # add position
for j in i: for j in i:
payload = payload + "0" + j payload = payload + "0" + j
payload = payload + "FF" # end byte payload = payload + "FF" # end byte
payloadtype = "01 00" payloadtype = "01 00"
# nouvelle coordonnée réelle après itération
return [payloadtype, payload] return [payloadtype, payload]
def payload2message(self, payloadL : list) -> string #hex def payload2message(self, payloadL: list) -> str: # hex
payloadtype = payload[0] payloadtype = payloadL[0]
payload = payloadL[1] payload = payloadL[1]
payloadlenght = "0F" # a coder payloadlenght = "0F" # a coder
header = payloadtype + payloadlenght 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 message = header + payload
return message return message
def send(self, message : string): -> bool def send(self, message: str) -> bool:
sock.sendto(bytes.fromhex(message.replace(' ', '')), (UDP_IP, UDP_PORT)) sock.sendto(bytes.fromhex(message.replace(' ', '')), (UDP_IP, UDP_PORT))
self.seq_num += 1 # ballec de l'hexa pour l'instant self.seq_num += 1 # ballec de l'hexa pour l'instant
print("fait "+ seq_num) print("fait " + self.seq_num)
return True return True
def zqsd2payload(self, x : string) -> string #hex def zqsd2payload(self, x: str) -> str: # hex
payload = "FF" # message d'erreur à refaire payload = "FF" # message d'erreur à refaire
if(command=='d'): 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 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" payload = "81 01 06 03 09 09 00 01 02 02 00 00 00 00 FF"
if(command =='q'): if x == 'q':
payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF"
if(command =='z'): if x == 'z':
payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" # nonfonctionnel payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" # nonfonctionnel
if(command =='s'): if x == 's':
payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" # nonfonctionnel payload = "81 01 06 03 09 09 0F 0E 0D 0E 00 00 00 00 FF" # nonfonctionnel
payloadtype = "01 00" payloadtype = "01 00"
return [payloadtype, payload] return [payloadtype, payload]
def zoom2payload(self, n :int) -> string #hex #faire une version zoom + / zoom - def zoom2payload(self, n: int) -> str: # hex #faire une version zoom + / zoom -
if(n==0): if n == 0:
payload = "81 01 04 47 00 00 00 00 FF" payload = "81 01 04 47 00 00 00 00 FF"
if(n==2): if n == 2:
payload = "81 01 04 47 01 06 0A 01 FF" payload = "81 01 04 47 01 06 0A 01 FF"
payloadtype = "01 00"
return [payloadtype, payload] return [payloadtype, payload]
def focus(self, b : bool) -> string #hex #focus2payload(0) = autofocus def focus(self, b: bool) -> str: # hex #focus2payload(0) = autofocus
if bool: if b:
payload = "81 01 04 38 02 FF" # autofocus payload = "81 01 04 38 02 FF" # autofocus
else: else:
payload = "81 01 04 38 03 FF" payload = "81 01 04 38 03 FF"
......
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