def __init__(self, parent=None):
super(SerialPortProxy, self).__init__(parent)
self.setObjectName("SerialPortProxy")
#
self._currIndex = 0
self._currFrameId = 0
self._frameSize = 0
self._streamBuff = []
self._newBuff = [0] * 4096
self._pkgBuff = [0] * 100
self._serialRecv = SerialRecv()
self._serialConfig = SerialPortConfig()
self._serialPort = QSerialPort(self)
#
self._serialPort.error.connect(self.onSerialPortError)
self._serialPort.readyRead.connect(self.readData)
#
self._serialSimulate = None # SerialSimulate(self)
# read configuration
settings = QSettings(self)
# group - serialport properties
settings.beginGroup("Settings/" + self.objectName() + "/SerialPort")
self._serialConfig.port = settings.value("port", "COM1")
infolist = settings.value("info", "115200-8-N-1").split("-")
self._serialConfig.baudRate = int(infolist[0])
dataBits = int(infolist[1])
self._serialConfig.dataBits = (
QSerialPort.Data5
if dataBits == 5
else QSerialPort.Data6
if dataBits == 6
else QSerialPort.Data7
if dataBits == 7
else QSerialPort.Data8
if dataBits == 8
else QSerialPort.Data8
)
parity = infolist[2][0].upper()
self._serialConfig.parity = (
QSerialPort.NoParity
if parity == "N"
else QSerialPort.EvenParity
if parity == "E"
else QSerialPort.OddParity
if parity == "O"
else QSerialPort.SpaceParity
if parity == "S"
else QSerialPort.MarkParity
if parity == "M"
else QSerialPort.NoParity
)
stopBits = int(float(infolist[3]) * 10)
self._serialConfig.stopBits = (
QSerialPort.OneStop
if stopBits == 10
else QSerialPort.OneAndHalfStop
if stopBits == 15
else QSerialPort.TwoStop
if stopBits == 20
else QSerialPort.OneStop
)
settings.endGroup()
class SerialPortProxy(QObject):
"""
class SerialPortProxy
"""
stateChanged = QtCore.pyqtSignal(str)
serialPortError = QtCore.pyqtSignal(QSerialPort.SerialPortError, str)
displayRespond = QtCore.pyqtSignal(SerialRecv, QDateTime)
def __init__(self, parent=None):
super(SerialPortProxy, self).__init__(parent)
self.setObjectName("SerialPortProxy")
#
self._currIndex = 0
self._currFrameId = 0
self._frameSize = 0
self._streamBuff = []
self._newBuff = [0] * 4096
self._pkgBuff = [0] * 100
self._serialRecv = SerialRecv()
self._serialConfig = SerialPortConfig()
self._serialPort = QSerialPort(self)
#
self._serialPort.error.connect(self.onSerialPortError)
self._serialPort.readyRead.connect(self.readData)
#
self._serialSimulate = None # SerialSimulate(self)
# read configuration
settings = QSettings(self)
# group - serialport properties
settings.beginGroup("Settings/" + self.objectName() + "/SerialPort")
self._serialConfig.port = settings.value("port", "COM1")
infolist = settings.value("info", "115200-8-N-1").split("-")
self._serialConfig.baudRate = int(infolist[0])
dataBits = int(infolist[1])
self._serialConfig.dataBits = (
QSerialPort.Data5
if dataBits == 5
else QSerialPort.Data6
if dataBits == 6
else QSerialPort.Data7
if dataBits == 7
else QSerialPort.Data8
if dataBits == 8
else QSerialPort.Data8
)
parity = infolist[2][0].upper()
self._serialConfig.parity = (
QSerialPort.NoParity
if parity == "N"
else QSerialPort.EvenParity
if parity == "E"
else QSerialPort.OddParity
if parity == "O"
else QSerialPort.SpaceParity
if parity == "S"
else QSerialPort.MarkParity
if parity == "M"
else QSerialPort.NoParity
)
stopBits = int(float(infolist[3]) * 10)
self._serialConfig.stopBits = (
QSerialPort.OneStop
if stopBits == 10
else QSerialPort.OneAndHalfStop
if stopBits == 15
else QSerialPort.TwoStop
if stopBits == 20
else QSerialPort.OneStop
)
settings.endGroup()
def config(self):
return self._serialConfig
def setConfig(self, info):
self._serialConfig.port = info.port
self._serialConfig.baudRate = info.baudRate
self._serialConfig.dataBits = info.dataBits
self._serialConfig.parity = info.parity
self._serialConfig.stopBits = info.stopBits
#
settings = QSettings(self)
settings.beginGroup("Settings/" + self.objectName() + "/SerialPort")
settings.setValue("port", self._serialConfig.port)
settings.setValue("info", self.__str__())
settings.endGroup()
@QtCore.pyqtSlot(QSerialPort.SerialPortError, str)
def onSerialPortError(self, error):
print("SerialPort open failed!, %d" % error)
self.serialPortError.emit(
error,
"No error"
if error == QSerialPort.NoError
else "Device not found"
if error == QSerialPort.DeviceNotFoundError
else "Permission error"
if error == QSerialPort.PermissionError
else "Open error"
if error == QSerialPort.OpenError
else "Parity error"
if error == QSerialPort.ParityError
else "Framing error"
if error == QSerialPort.FramingError
else "Break Condition error"
if error == QSerialPort.BreakConditionError
else "Write error"
if error == QSerialPort.WriteError
else "Read error"
if error == QSerialPort.ReadError
else "Resource error"
if error == QSerialPort.ResourceError
else "Unsupported operation"
if error == QSerialPort.UnsupportedOperationError
else "Unknown error"
if error == QSerialPort.UnknownError
else "Timeout"
if error == QSerialPort.TimeoutError
else "Not open"
if error == QSerialPort.NotOpenError
else "%d" % error,
)
@QtCore.pyqtSlot()
def start(self):
if self._serialPort.isOpen():
self._serialPort.close()
# config serialport properties
self._serialPort.setPortName(self._serialConfig.port)
if self._serialPort.open(QIODevice.ReadWrite):
self._serialPort.setBaudRate(self._serialConfig.baudRate)
self._serialPort.setDataBits(self._serialConfig.dataBits)
self._serialPort.setParity(self._serialConfig.parity)
self._serialPort.setStopBits(self._serialConfig.stopBits)
self.stateChanged.emit("Open")
@QtCore.pyqtSlot()
def stop(self):
if self._serialPort.isOpen():
self._serialPort.close()
self.stateChanged.emit("Close")
@QtCore.pyqtSlot()
def save(self):
self.setProperty("portState", self._serialPort.isOpen())
self.stop()
# save state of simulator
if self._serialSimulate:
self._serialSimulate.save()
@QtCore.pyqtSlot()
def restore(self):
self.start() if bool(self.property("portState")) else self.stop()
# restore state of simulator
if self._serialSimulate:
self._serialSimulate.restore()
@QtCore.pyqtSlot(SerialSend)
def writeData(self, data):
if not self._serialPort.isOpen():
# warning...
return 0
return int(self._serialPort.write(data.pack()))
@QtCore.pyqtSlot()
def readData(self):
self._streamBuff = self._serialPort.read(4096)
self.unpack()
return self._streamBuff.__len__()
def unpack(self):
for (i, value) in enumerate(self._streamBuff):
if self._currIndex < self._serialRecv._offset_length: # 1.frame-header
self._frameSize = 0
if value == self._serialRecv._headers[self._currIndex]:
self._newBuff[self._currIndex] = value
self._currIndex += 1
else:
self._currIndex = 0
continue
elif self._currIndex == self._serialRecv._offset_length: # 2.frame-length
if value == self._serialRecv.length:
pass
else:
self._currIndex = 0
continue
self._frameSize = value
self._newBuff[i] = value
self._currIndex += 1
continue
elif self._currIndex == self._serialRecv._offset_index: # 3.frame-index
self._currFrameId = value
self._newBuff[i] = value
self._currIndex += 1
continue
elif self._currIndex < self._frameSize: # 4.frame-data
self._newBuff[i] = value
self._currIndex += 1
if self._currIndex == self._frameSize: # receive a full frame successfully
# 5.frame-sum
s = 0
for index in range(0, self._serialRecv._offset_sum):
s = (s + self._newBuff[index]) & 0xFF
if self._newBuff[self._serialRecv._offset_sum] != s:
self._currIndex = 0
# continue # invalid frame
# 6.frame-tail
if self._newBuff[self._serialRecv._offset_tail] != int(self._serialRecv.tail):
self._currIndex = 0 # invalid frame
continue
# 7.save as...
self._pkgBuff = self._newBuff[0 : self._frameSize]
# 8.dispatch
self.dispatch()
# 9.reset
self._currIndex = 0
def dispatch(self):
# save as...
self._serialRecv.unpack(bytes(self._pkgBuff))
# convert
self._serialRecv.lMBrakeP = self.swapUint16(self._serialRecv.lMBrakeP)
self._serialRecv.lABrakeP = self.swapUint16(self._serialRecv.lABrakeP)
self._serialRecv.rMBrakeP = self.swapUint16(self._serialRecv.rMBrakeP)
self._serialRecv.rABrakeP = self.swapUint16(self._serialRecv.rABrakeP)
self._serialRecv.lMRotateP = self.swapUint16(self._serialRecv.lMRotateP)
self._serialRecv.lARotateP = self.swapUint16(self._serialRecv.lARotateP)
self._serialRecv.rMRotateP = self.swapUint16(self._serialRecv.rMRotateP)
self._serialRecv.rARotateP = self.swapUint16(self._serialRecv.rARotateP)
self._serialRecv.lWheelSpd = self.swapUint32(self._serialRecv.lWheelSpd)
self._serialRecv.rWheelSpd = self.swapUint32(self._serialRecv.rWheelSpd)
# emit
self.displayRespond.emit(self._serialRecv, QDateTime.currentDateTime())
_crc16_table = bytes(256)
@staticmethod
def calcRCR16(data):
cnta = 0
cntb = 0
crcval = 0
@staticmethod
def serialPortSendSum(data):
return 0 # TODO
s = 0
for i in range(0, data._offset_sum):
s = (s + data[i]) & 0xFF
return s
@staticmethod
def serialPortRecvSum(data):
return 0 # TODO
s = 0
for i in range(0, data._offset_sum):
s = (s + data[i]) & 0xFF
return s
@staticmethod
def swapUint16(value):
return value
@staticmethod
def swapUint32(value):
return value
@staticmethod
def convertFromASCII(value):
return value
@staticmethod
def convertToASCII(value):
return value
