xznhj8129 · May 25, 2025 13:16 · May 25, 2025
diff --git a/ali_opflow.py b/ali_opflow.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+
+import serial
+import time
+import struct
+
+# ------------------
+# Configuration
+# ------------------
+SERIAL_PORT = '/dev/ttyUSB0'
+BAUD_RATE   = 115200
+
+SYNC_HEADER = b'\x99\x77\x0e'  # 3-byte header
+FRAME_SIZE  = 13               # total bytes per frame
+
+def extract_frames(buffer: bytes) -> tuple[list[bytes], bytes]:
+    """
+    Extract all 13-byte frames that start with 99 77 0E from 'buffer'.
+    Returns (list_of_frames, leftover_bytes).
+    """
+    frames = []
+    i = 0
+    while i <= len(buffer) - FRAME_SIZE:
+        if buffer[i:i+3] == SYNC_HEADER:
+            candidate = buffer[i:i+FRAME_SIZE]
+            frames.append(candidate)
+            i += FRAME_SIZE
+        else:
+            i += 1
+    leftover = buffer[i:]
+    return frames, leftover
+
+def decode_frame(frame: bytes):
+    """
+    Attempt to interpret the 13-byte frame as:
+      header[0..2]    = 0x99 0x77 0x0e
+      data[3..4]      = deltaX (signed 16-bit, little-endian)
+      data[5..6]      = deltaY (signed 16-bit, little-endian)
+      data[7]         = quality? (8-bit)
+      data[8..12]     = always zero in your logs
+
+    Returns a dict with the decoded fields.
+    """
+    # sanity check: must be 13 bytes total
+    assert len(frame) == FRAME_SIZE, "Frame is not 13 bytes"
+
+    xr = frame[3:5]  # 2 bytes
+    yr = frame[5:7]  # 2 bytes
+    d3   = frame[7]    # 1 byte
+    qual = d3 / 255.0
+
+    # Little-endian signed 16:
+    (x,) = struct.unpack('<h', xr)
+    (y,) = struct.unpack('<h', yr)
+
+    xw = x * qual
+    yw = y * qual
+
+    return [x, y, d3]
+
+def main():
+    print(f"Opening {SERIAL_PORT} at {BAUD_RATE} baud...\n")
+    ser = serial.Serial(SERIAL_PORT, BAUD_RATE, timeout=0.1)
+
+    buffer = b''
+    xsum = 0
+    ysum = 0
+    print("Reading data and decoding frames (Ctrl+C to stop)...\n")
+    try:
+        while True:
+            chunk = ser.read(ser.in_waiting or 1)
+            if chunk:
+                buffer += chunk
+                frames, buffer = extract_frames(buffer)
+                for f in frames:
+                    decoded = decode_frame(f)
+
+                    hex_frame = ' '.join(f'{b:02X}' for b in f)
+                    xsum+=decoded[0]
+                    ysum+=decoded[1]
+                    print(f"  Decoded:\t X: {decoded[0]}\t "
+                          f"Y: {decoded[1]}\t\t "
+                          f"Xsum: {xsum}\t\t "
+                          f"Ysum: {ysum}\t\t "
+                          f"?: {decoded[2]}\t ")
+
+            time.sleep(0.01)
+
+    except KeyboardInterrupt:
+        print("\nUser interrupted. Stopping...\n")
+
+    finally:
+        if ser.is_open:
+            ser.close()
+        print("Serial port closed.")
+
+if __name__ == "__main__":
+    main()
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