void Serial::sendcom(int pitch, int yaw, int flag) { //定义数据包 unsigned char data_write[8] = { 0xFF, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0, 0xFE };//发八位 int high_pitch = 0; int low_pitch = 0; int high_yaw = 0; int low_yaw = 0; if (flag == 0) { } else { if (pitch >= 0) { high_pitch = pitch >> 8; //保留高八位 low_pitch = pitch & 255; //保留低八位 } else { pitch = -pitch; //二进制负数在计算机中表示补码，将负的变成正的，方便计算 high_pitch = pitch >> 8; //保留高八位 low_pitch = pitch & 255; //保留低八位 high_pitch += 128; //最后在末尾加上1，标明该数据为负数 } if (yaw >= 0) { high_yaw = yaw >> 8; low_yaw = yaw & 255; } else { yaw = -yaw; high_yaw = yaw >> 8; low_yaw = yaw & 255; high_yaw += 128; } //数据存入包 data_write[1] = high_pitch; data_write[2] = low_pitch; data_write[3] = high_yaw; data_write[4] = low_yaw; } //写入串口 size_t len_write = m_serialport.write_some(buffer(data_write), ec); /*cout << "high_pitch: " << int(data_write[1]) << endl << "low_pitch: " << int(data_write[2]) << endl << "high_yaw: " << int(data_write[3]) << endl << "low_yaw: " << int(data_write[4]) << endl;*/ if (ec) { cout << "m_serialport.write_some fail " << endl; } else { cout << "m_serialport.write_some success " << endl; } }

这段代码是一个函数，用于将pitch和yaw两个角度数据打包发送到串口上。数据包的格式是8个字节，其中第1个字节是固定的0xFF，第2和第3个字节是pitch角度值（按位分为高八位和低八位），第4和第5个字节是yaw角度值（同样按位分为高八位和低八位），第6个字节固定为0x01，第7个字节固定为0x00，第8个字节固定为0xFE。如果flag为0，表示不发送任何数据，否则按照上述格式将数据打包并发送到串口上。其中，如果pitch或yaw的值为负数，需要将其转化为补码的形式再进行打包。最后函数会返回写入串口的字节数，并通过cout输出写入结果。