free-D协议的简单实现

通过python语言来实现一个freeD协议的简单实现，在示例中角度参数都采用的角度制（单位：度），位置坐标位右手坐标系（单位：毫米mm），摄像机的推拉聚焦采用的是采用的百分比（范围：[0~1]）,依据实际取样点的个数不同，最好精确到千分位,可以在函数中自己定义实际的取样点数。
def generateZoom(perzvalue,rvalue = 13765):
def generateFocus(perfvalue,rvalue = 18723):
示例中的取样点为13765 和 18723。
示例中的最终传送数据为文本Bytes型，如果实际需要，可以将结果转换为对应的ASCII码，进行二进制传输【 strshexToChrs(strs_hex) 】，直接调用转换函数即可。
示例依据国内的PAL制式，将流模式的30帧/秒，改为了50帧/秒【 Delayms(20) 】。
所有数据的采集来自以Excel表格，数据顺序为'pan','tile','roll','x','y','z','zoom','focus'。后续将会用脚本语言实现一个数据自动生成工具。

数据的接收端实现：

import serial
com_rec = serial.Serial("COM2",38400)
for i in range(1000):
    com_rec.read(58)
    com_rec.flushInput()

暂定接收十秒的数据数据发送端：

def generatePan(panvalue):
    pan = float(panvalue)
    #if the value of pan NOT in range [-180~180]
    while abs(pan) > 180:
        if pan < -180:
            pan += 360
        else:
            pan -= 360
    return angleToByte(pan)
    
def generateTile(tilevalue):
    tile = float(tilevalue)
    #tile in [-90~90],now it's not a perfect solution
    while abs(tile) > 90:
        if tile < -90:
            tile += 180
        else:
            tile -= 180
    return angleToByte(tile)
    
def generateRoll(rollvalue):
    return generatePan(rollvalue)
    
def angleToByte(anglevalue):
    value = float(anglevalue)
    #to binary two's complement
    vbinary = bin(int(value*32768) & 0xffffff)[2:]
    #to hex
    res = hex(int(vbinary,2))[2:]
    res = "{:0>6}".format(res)
    return res
    
def posToByte(posvalue):
    value = float(posvalue)
    #to binary two's complement
    vbinary = bin(int(value*64) & 0xffffff)[2:]
    #to hex
    res = hex(int(vbinary,2))[2:]
    res = "{:0>6}".format(res)
    return res
    
def generatePos(pos_axis):
    axis = float(pos_axis)
    #if the value of position NOT in range (-131072~131072)mm
    while abs(axis) > 131072:
        if axis < -90:
            axis = -131072
        else:
            axis = 131072
    return posToByte(axis)
    
def generateCoordiante(poslist):
    pos_res = ""
    print(poslist)
    if len(poslist) != 3:
        print("position argument error.")
    for i in poslist:
        print(i)
        pos_res += str(generatePos(i))
    print(pos_res)
    return pos_res

def intToByte(intvalue):
    value = int(intvalue)
    #to binary two's complement
    vbinary = bin(value & 0xffffff)[2:]
    #to hex
    res = hex(int(vbinary,2))[2:]
    res = "{:0>6}".format(res)
    return res
    
    # perfvalue is the range of focus [0~1]
    # rvalue is max sample point of focus
def generateFocus(perfvalue,rvalue = 18723):
    fvalue = perfvalue * rvalue
    return intToByte(fvalue)
    
    # perzvalue is the range of zoom [0~1]
    # rvalue is max sample point of zoom
def generateZoom(perzvalue,rvalue = 13765):
    zvalue = perzvalue * rvalue
    return intToByte(zvalue)
    
    # input:the string of all protocal info NOT include checksum
def generateCheckSum(proto_info):
    prstr = proto_info
    res = int('40',16)
    for i in range(0,len(prstr),2):
        subtrack_num = prstr[i:i+2]
        res -= int(subtrack_num,16)
        res %= 256
    res = hex(res)[2:]
    return res
    
def Delayms(delaytime):
    delayT = int(delaytime)
    startT = time.perf_counter() * 1000
    while True:
        offset = int(time.perf_counter() * 1000 - startT)
        if offset >= delayT:
            break
    
def hexascToChr(str_hex):
    numDec = int(str(str_hex),16)
    return chr(numDec)
    
def strshexToChrs(strs_hex):
    res = []
    for i in range(0,len(strs_hex),2):
        str = strs_hex[i:i+2]
        res.append(hexascToChr(str))
    return ''.join(res)
    
    
if __name__ =='__main__':
    import time
    import xlrd
    import serial
    data = xlrd.open_workbook_xls(r'***\axis_data.xls')
    table = data.sheets()[0]
    
    com = serial.Serial("COM1",38400)
    start_time = time.time()
    for  rown in range(table.nrows):
        t1 = time.time()*1000000
        #lcam = ['pan','tile','roll','x','y','z','zoom','focus']
        lcam1 = []
        for i in range(8):
            lcam1.append(table.cell_value(rown,i))

        prlist = ['d1','ff']    
        prlist.append(generatePan(lcam1[0]))
        prlist.append(generateTile(lcam1[1]))
        prlist.append(generateRoll(lcam1[2]))
        prlist.append(generatePos(lcam1[3]))
        prlist.append(generatePos(lcam1[4]))
        prlist.append(generatePos(lcam1[5]))
        prlist.append(generateZoom(lcam1[6]))
        prlist.append(generateFocus(lcam1[7]))
        prlist.append('0000')
        prstr = "".join(prlist)

        CKSum = generateCheckSum(prstr)
        #print(CKSum)
        prres = prstr + CKSum
        t2 = time.time()*1000000

        com.write(prres.encode())
        print("transmit:",prres)
        Delayms(20)