baudrate = 921600
ser = serial.Serial("/dev/ttyAMA0",baudrate)
VEHECLE_LENGTH = 150 #载具的长度，单位为cm
print("Serial Port Configuration:")
print(ser)
if ser.isOpen == False:
ser.open()
#状态机定义
STATE_NORMALLY_RUNNING=1
STATE_COLLECTING_POINTS=2
STATE_MANUAL_CTRL=3
#实例化各模块
Ship = Comm.UASattitude()
Route = Comm.Route()
ValidShip = Comm.UASattitude()
wirelessPort = Ctrl.WirelessUSART()
RingBuff = Comm.ringBuff(100,baudrate,wirelessPort,ser)
#创建多线程
tSynthesis = Comm.sysnthesisData(RingBuff,Ship,ValidShip,10,systemOnline)
tUART = Comm.USARTinData(RingBuff,systemOnline)
#创建线程池
THREADS = [tSynthesis,tUART]
try:
for sub_thread in THREADS:
sub_thread.start()
except:
os.system('mplayer -really-quiet "/home/pi/RpiCentre/sound/subthreadserr.mp3"')
os.system('mplayer -really-quiet "/home/pi/RpiCentre/sound/SEQUENCESTART.mp3"')
