30 lines
871 B
Python
30 lines
871 B
Python
import struct
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import serial
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from time import sleep
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def send_msg(message : bytes):
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message_binaire = struct.pack('BBB{}sB'.format(message.__len__()), 0xFF, 0xFF, message.__len__() + 1, message, 0x00)
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print(message_binaire)
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ser.write(message_binaire)
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def msg_envoi_donnees(carte_id: bytes, registre : int, charge_utile : bytes):
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send_msg(struct.pack('ccBB{}s'.format(charge_utile.__len__()), b'r', carte_id, registre, charge_utile.__len__(), charge_utile))
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def led_on():
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msg_envoi_donnees(b'D', 0x00, b'\x06')
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def led_off():
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msg_envoi_donnees(b'D', 0x00, b'\x36')
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if __name__ == "__main__":
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ser = serial.Serial('/dev/ttyACM0' , 115200)
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traj = struct.pack('bffff', 0, 0.0, 0.0, 100. , 0.)
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msg_envoi_donnees(b'P', 0x22, traj)
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while True:
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led_off()
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sleep(0.5)
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led_on()
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sleep(0.5) |