python接收PS2手柄键值，通过串口发送给下位机

portx = "/dev/ttyUSB0"
bps = 115200
res = None
import threading
from multiprocessing import Value,Lock,Manager
import multiprocessing
import serial
import time
import struct
a=[0,0,0,0]
begin=b'\xFF\xFF'
end=b'\xFE'
global LL
value1 = 0.0
serial = serial.Serial(portx, int(bps), timeout=0.2, parity=serial.PARITY_NONE, stopbits=1)
time.sleep(1.5)

import os, struct, array

#serial_connection
class JoyStick:
    def __init__(self):
        print('avaliable devices')
        for fn in os.listdir('/dev/input'):
            if fn.startswith('js'):
                print('/dev/input/%s' % fn)

        self.fn = '/dev/input/js0'
        self.x_axis = 0;
    
    def open(self):
        self.jsdev = open(self.fn, 'rb')

    def read(self):
        self.evbuf = self.jsdev.read(8)
        return struct.unpack('IhBB', self.evbuf)

    def type(self,type_):
        if type_ & 0x01:
            return "button";
        if type_ & 0x02:
            return "axis";

    def button_state(self):
        return 1;

    def get_x_axis(self):
        time, value, type_, number = struct.unpack('IhBB', self.evbuf)
        if number == 1:
            fvalue = value / 32767
            return fvalue;
js=JoyStick()
def joystick_thread(num,model,sudo,ki):
    js.open()
    while True:
        time, value, type_, number = js.read()
        if js.type(type_) == "button":
            print("button:{} state: {}".format(number, value))
            if number == 4 and value == 1:
                model = 1 
                print("start")    
                #logger.start()
                
            if number == 5 and value == 1:
                model = 0 
                print("end")
                #logger.stop()
                
            if number == 6 and value == 1:
                sudo+= 0.001 
                print("KP+",sudo)    
                
            if number == 7 and value == 1:
                if sudo > 0 :
                    sudo-= 0.001  
                print("KP-",sudo)
                
            if number == 0 and value == 1:
                ki+= 0.00001 
                print("KI+",ki)    
                
            if number == 2 and value == 1:
                if ki > 0 :
                    ki-= 0.00001  
                print("KI-",ki)
            if number == 8 and value == 1:
                model = 2 
                print("break")
                
            if number == 3 and value == 1:
                num+= 0.00001 
                print("KD+",num) 
            if number == 1 and value == 1:
                if num>0:
                    num -= 0.00001 
                    print("KD-",num)  
            if number ==12 and value == 1:
                model = 3 #按下mode 拍照
            if number == 9 and value ==1:
                model = 4
            value=struct.pack('f',num)
            model1=model.to_bytes(1,"little")
            sudo1=struct.pack('f',sudo)
            ki2 = struct.pack('f',ki)
            value1=begin+model1+value+sudo1+ki2+end#2+1+4+4+1
            serial.write(value1)
            if model == 2:
                break

if __name__ == "__main__":
    num = 0.00145 # KD
    model= 0 # moshi
    sudo = 0.021 #KP
    ki = 0.000000 #KI
    joystick_thread(num,model,sudo,ki)

单线程接收与发送