半成品

import socket

import struct
from zlib import crc32


def data_processing(data):
    # 解析数据
    head = struct.unpack(">4s", data[0:4])[0]  # 固定包头
    protocol_version = struct.unpack('>B', data[4:5])[0]  # 协议版本
    private_id = struct.unpack('>B', data[5:6])[0]  # 私有版本
    package_length = struct.unpack('>H', data[6:8])[0]  # 包长度
    print("固定包头: ", head, "协议版本: ", protocol_version, "私有版本: ", private_id, "私有数据包长度:   ", package_length, "校验： ",
          struct.unpack(">L", data[-4:])[0])
    analyzing_data(data[8:-4])
    return data[8:-4], private_id

def analyzing_data(self, data):
    id_counter = struct.unpack(">H", data[0:1])[0]
    auto_or_manual = struct.unpack(">B", data[1:2])[0]

def send_data(self, private_id, version = 1):
    """
        ["执行结果码", ">B", 1],
        ["已收到指令ID", ">H", 2],
        ["已完成指令ID", ">H", 2],
        ["X坐标", ">I", 4],
        ["Y坐标", ">H", 2],
        ["摄像头X坐标", ">H", 2],
        ["摄像头Y坐标", ">H", 2],
        ["摄像头Z坐标", ">H", 2],
        ["电池电量", ">B", 1],
        ["是否在充电", ">B", 1],
        ["避障传感器", ">H", 2],
        ["故障码", ">H", 2],
    """
    head = struct.pack('>4s', 'HXTX'.encode("utf-8"))  # 固定包头
    ver = struct.pack('>B', 1)  # 协议版本
    private = struct.pack('>B', private_id)  # 私有命令ID

    # 私有参数
    cmd_bytes = struct.pack(">B", 0)
    cmd_bytes += struct.pack(">H", )
    cmd_bytes += struct.pack(">H", )
    cmd_bytes += struct.pack(">I", 100)
    cmd_bytes += struct.pack(">H", 50)
    cmd_bytes += struct.pack(">H", 30)
    cmd_bytes += struct.pack(">H", 30)
    cmd_bytes += struct.pack(">H", 30)
    cmd_bytes += struct.pack(">B", 20)
    cmd_bytes += struct.pack(">B", 0)
    cmd_bytes += struct.pack(">H", 0)
    cmd_bytes += struct.pack(">H", 0)
    data_len = struct.pack(">H", len(cmd_bytes) + 4)  # 包长度


    package_data = head + ver + private + data_len + cmd_bytes


    """校验32bit"""
    check_crc32 = crc32(package_data)
    _crc32 = struct.pack('>L', check_crc32)
    return package_data + _crc32




ip_port=('127.0.0.1',8081)
udp_server_sock=socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
udp_server_sock.bind(ip_port)



while True:
    try:
        msg, addr=udp_server_sock.recvfrom(1024)
        print(msg)
        data_processing(msg)
        udp_server_sock.sendto(msg,addr)
    except Exception:
        pass