# core/serial_parser.py  
import serial 
import threading 
import time 
from collections import deque 
 
class SerialParser:
    def __init__(self, port='COM3', baud=115200):
        self.ser  = serial.Serial(port, baud, timeout=0.1)
        self.data_queue  = deque(maxlen=1000)
        self.running  = True 
        self.thread  = threading.Thread(target=self._read_loop)
        self.thread.start() 
 
    def _parse_line(self, line):
        try:
            # 原始数据清洗 
            decoded = line.decode().strip().lower()   # 统一小写处理 
            if not decoded:
                return None 
    
            # 构建数据字典 
            data_dict = {}
            for pair in decoded.split(): 
                if ':' not in pair:
                    continue  # 跳过无效字段 
                key, value = pair.split(':',  1)  # 仅分割第一个冒号 
                data_dict[key] = value 
    
            # 数据转换与结构封装 
            return {
                'attitude': {
                    'roll': float(data_dict.get('roll',  0)),
                    'pitch': float(data_dict.get('pitch',  0)),
                    'yaw': float(data_dict.get('yaw',  0))
                },
                'acc': {
                    'x': float(data_dict.get('accx',  0)),
                    'y': float(data_dict.get('accy',  0)),
                    'z': float(data_dict.get('accz',  0))
                },
                'gyro': {
                    'x': float(data_dict.get('gyrox',  0)),
                    'y': float(data_dict.get('gyroy',  0)),
                    'z': float(data_dict.get('gyroz',  0))
                },
                'timestamp': time.time() 
            }
        except Exception as e:
            print(f"解析异常: {str(e)}")
            return None 
 
    def _read_loop(self):
        buffer = bytearray()
        while self.running: 
            buffer += self.ser.read_all() 
            while b'\r\n' in buffer:
                line_end = buffer.index(b'\r\n') 
                line = buffer[:line_end]
                buffer = buffer[line_end+2:]
                # 改造为兼容写法 
                parsed = self._parse_line(line)
                if parsed is not None:
                    self.data_queue.append(parsed) 
 
    def get_latest_data(self):
        return self.data_queue[-1]  if self.data_queue  else None 
 
    def stop(self):
        self.running  = False 
        self.thread.join() 
        self.ser.close()