测试接收

实验结果，发送hex_0xab,显示的是171.
说明是显示的是int.
2/必须要加校验码，不然容易出错，这个程序；

# Untitled - By: Administrator - 周二 九月 22 2020

import sensor, image, time , pyb
from pyb import UART
from pyb import Timer
from pyb import LED
import json

thresholds = [(53, 100, -101, 127, -59, 127), # 红色
              #(21, 75, 3, -38, 34, 68), # 绿色
              (52, 100, -101, 127, -59, 127),
              (39, 100, 15, 127, -112, 127)]  # generic_blue_thresholds
threshold_index = 2 # 0 for red, 1 for gre9en, 2 for blue
FunNum=100
TaskFlag=0
StartChar=0xab  #帧头
EndChar=0xba    #帧尾
EndCharRec=0x00
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking

uart=UART(1,9600)  #PA9  PA10
uart.init(9600, bits=8, parity=None, stop=1, timeout_char=1000) # init with given parameters
clock = time.clock()

##########################################################
def tick(timer):            # we will receive the timer object when being called
    global data
    global FunNum
    global TaskFlag
    if TaskFlag==1 :  #如果是第一个功能，发送二维码数据
    
            print('task01:',TaskFlag)
         #if blobs:  #如果查到色块，那么发送数据data
             #print("Find")
             #print('task:',output_str)
             #uart.write(data)
    if TaskFlag==2 :  #如果是第2个功能，发送颜色数据的位置
          print('task02:',TaskFlag)
         #if blobs:  #如果查到色块，那么发送数据data
            #print("Find")
            #print('you send:',output_str)
            #uart.write(data)
############################################################
tim = Timer(4, freq=10)      # create a timer object using timer 4 - trigger at 1Hz
tim.callback(tick)          # set the callback to our tick function

#******************************************************
def find_max(blobs):
    max_size=0
    for blob in blobs:
        if blob[2]*blob[3] > max_size:
            max_blob=blob
            max_size = blob[2]*blob[3]
    return max_blob
#*************************************************
def Uart_Receive():   #UART接收 改变框小球的颜色阈值
    global threshold_index
    global TaskFlag
    global EndChar
    global EndCharRec
    global StartChar
    
    if uart.any():
        temp_data = uart.readchar()#读取第一个字节，发送的是0xab
        print(temp_data) #打印出来，看看是什么数据，  显示171
        if temp_data==0xab:#如何和帧头相等
            print("LMF")#打印出来，验证
        temp_data = uart.readchar()  #读取第2个字节 
        print(temp_data)#打印出来，看看是什么数据
        temp_data = uart.readchar()   #读取第3个字节  
        print(temp_data)#打印出来，看看是什么数据
        

    #if uart.any():
        #temp_data = uart.readchar()   
        #if temp_data==StartChar:  #帧头相等0xab
            #FunNum = uart.readchar()
            #EndCharRec=uart.readchar()
            #if EndCharRec==EndChar: #帧尾相等
                 #if FunNum==0x01:   #功能1：二维码扫描
                     #threshold_index=0
                     #TaskFlag=1
                     #print(temp_data,threshold_index)

                 #elif FunNum==0x02:#功能2：颜色扫描
                      #threshold_index=1
                      #TaskFlag=2
                      #print(temp_data,threshold_index)
#***************************************************************
while(True):
    clock.tick()
    img = sensor.snapshot()
    Uart_Receive()

    blobs = img.find_blobs([thresholds[threshold_index]])
    #******************************************************查找到色块？
    if blobs:
           
           

            #发送 小球的(x,y,l,n)
            #x为横坐标，y为纵坐标，l为粗略的距离，n为小球颜色(0：红 1：绿)
           # output_str="%d,%d,%d,%d" % (max_blob.cx(),max_blob.cy(),l,threshold_index) #10进制字符包
           # checkout=0xAA+0x55+0x07+int(max_blob.cx()/2)+max_blob.cy()+l+threshold_index
            #data = bytearray([0xAA,0x55,0x07,int(max_blob.cx()/2),max_blob.cy(),l,threshold_index,0x00,0x00,checkout])#转成16进制
          #  data = bytearray([0xAA,0x55,0x07,int(max_blob.cx()/2),max_blob.cy(),l,threshold_index,0x00,0x00])#转成16进制
            #uart.write(data)
            time.sleep(1)
           # led.on()
        #else:
             #print("NO FIND")
             #data = bytearray([0xAA,0x55,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x06])
             #uart.write(data)

    #print(clock.fps())