def main():
iob=Io_board("Io_board_node")
iob.Init_node()
iob.Io_Sub("io_state")
import serial
try:
serial = serial.Serial('/dev/ttyUSB0', 115200, timeout=0.5) #/dev/ttyUSB0
if serial.isOpen() :
rospy.loginfo("open port success")
else :
rospy.loginfo("open port failed")
except:
serial = serial.Serial('/dev/ttyUSB1', 115200, timeout=0.5) #/dev/ttyUSB0
if serial.isOpen() :
rospy.loginfo("open port success")
else :
rospy.loginfo("open port failed")
rate = rospy.Rate(4)
#rostopic pub /io_state std_msgs/String "55C8070155"
while not rospy.is_shutdown():
#data =recv(serial)
if len(iob.iostatebuff)!=0:
iocmd=iob.iostatebuff[-1]
rospy.loginfo("receive : %s",str(iocmd))
time.sleep(1)
serial.write(iocmd.decode("hex")) #数据写回
else:
pass
# data ='55C81900000055'
rate.sleep()
def main():
# configure the serial connections (the parameters differs on the device you are connecting to)
global serial
serial = serial.Serial(
port='/dev/ttyUSB0',
baudrate=19200,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
timeout=0.5 # Timeout for reading data off serial port
)
serial.isOpen()
client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message
client.connect("192.168.1.199", 1883, 60)
# Blocking call that processes network traffic, dispatches callbacks and
# handles reconnecting.
# Other loop*() functions are available that give a threaded interface and a
# manual interface.
client.loop_forever()
def inner(self):
try:
if not serial.isOpen():
if not serial.open(QIODevice.ReadWrite):
self.error.emit(
"can't not open %s,error code:%d" %
(serial.portName(), serial.error()))
return
# locker = QMutexLocker(self.mutex) ## when wait for read can't wait for waitWritten
if serial.waitForReadyRead(10):
# if serial.bytesAvailable() > 0:
requestData = bytes()
requestData = serial.readAll()
while serial.waitForReadyRead(10):
requestData += serial.readAll()
bData = bytes(requestData)
hexData = ' '.join('{:02x}'.format(x) for x in bData)
# m = re.search('(7e.{31,31}e7)', hex)
# if m:
# requestStr = m.group(0)
# # requestStr = str(bytes(requestData))
# self.request.emit(requestStr)
self.request.emit(hexData)
else:
self.timeout.emit("Wait read ready timeout %s" %
(QTime.currentTime().toString()))
except TypeError as e:
print('Got Error', e)
def __init__(self, serial, timeout=10, debug=False, dbgFileName=""):
self.__dbgFileName = dbgFileName
try:
if dbgFileName <> "":
self.__dbgOutput = open(dbgFileName, 'w+')
except KeyboardInterrupt:
exit(-1)
except:
print "Bad FILE name!"
exit(-1)
self.uart = serial
self.timeout = timeout
self.modem_type = "None"
if serial.isOpen() == True:
serial.flush()
result = False
# These are critical for getting the modem back after a reboot of the Pi
self.send_mdm_cmd('\n', 1)
self.send_mdm_cmd('AT', 1)
self.send_mdm_cmd('\n', 1)
self.send_mdm_cmd('AT', 1)
self.send_mdm_cmd('\n', 1)
self.send_mdm_cmd('AT', 1)
result, resp = self.get_version()
if debug == True:
self.dbg = "Init type: " + str(resp)
if result == False:
print "AT ERR: " + resp
if debug == True:
self.dbg = "Init AT ERR: " + str(resp)
else:
self.modem_type = resp
def on_connect():
print('连接成功')
if serial.isOpen():
time.sleep(8)
serial.readlines()
serial.flushOutput()
printmessage_json = {
'id': 1,
'on_off': 1,
'status': {
'chambertemperature': 0,
'bedtemperature': 0
},
'printing': ps.printing,
'endprint': ps.endprint,
'startprint': ps.startprint
}
sio.emit('status', printmessage_json)
print("打印机上线，发送打印机状态：")
print(printmessage_json)
else:
printmessage_json = {
'id': 1,
'on_off': 0,
'status': {
'chambertemperature': 0,
'bedtemperature': 0,
},
'printing': ps.printing,
'endprint': ps.endprint,
'startprint': ps.startprint
}
sio.emit('status', printmessage_json)
print("打印机连接失败")
print(printmessage_json)
def openSerial():
# ser=serial.Serial("COM2",19200,timeout=3600)
th = threading.Thread(target=rcv_data)
th.setDaemon(True)
th.start()
if serial.isOpen():
print("open succeed >", "COM2")
else:
print("open failed >", "COM2")
def on_command(logger, SERVICES):
logger.info("Querying quaternion values from IMU...")
while True:
input("pause")
try:
request = '''
{
qua {
success
errors
quaData {
q1
q2
q3
q4
}
}
}
'''
response = SERVICES.query(service="imu-service", query=request)
result = response["qua"]
success = result["success"]
errors = result["errors"]
quaData = result["quaData"]
q1 = quaData["q1"]
q2 = quaData["q2"]
q3 = quaData["q3"]
q4 = quaData["q4"]
if success:
logger.info('Quaternion: ({}, {}, {}, {})'.format(q1,q2,q3,q4))
else:
logger.warning("Unable to retrieve quaternion data: {}".format(errors))
try:
# open uart port
serial.close()
serial.open()
if serial.isOpen():
message = (q1,q2,q3,q4)
# if uart port is open, try to send encoded string message
serial.write(str(message).encode('utf-8'))
serial.close()
logger.debug("UART port is open. Sent message: {}".format(str(message)))
else:
# if could not open uart port, return failure
serial.close()
logger.warn("Could not open serial port")
# return failure if exception during write/encoding
except Exception as e:
logger.warn("Error sending message {} over uart port: {}".format(str(message), str(e)))
except Exception as e:
logger.warning("Unsuccessful getting data from quaternion: {}-{}".format(type(e).__name__,str(e)))
def initSerial(port, baudrate):
# Serial port Configuration
serial.port = "/dev/" + port
serial.baudrate = baudrate
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
serial.flush()
logd('Opening port %s - %s' % (port, baudrate))
serial.isOpen()
if serial.isOpen():
logd('Success')
else:
logd('Failed')
exit(2)
def receiveMessage(port, baudrate, desiredCountOfReceivedMessages):
import serial
# b'...' - a sequence of octets (integers between 0 and 255)
#Connect the serial port
serial = serial.Serial(port,
timeout=None,
baudrate=baudrate,
xonxoff=False,
rtscts=False,
dsrdtr=False,
bytesize=serial.EIGHTBITS,
stopbits=serial.STOPBITS_ONE,
parity=serial.PARITY_NONE)
if serial.isOpen():
print("waiting for new message")
else:
print("Serial port is not open")
print(serial.name) # check which port was really used
#serial.write(mode) # write a string
#Get data from serial as fast as possible
buffer = []
canAppendToBuffer = 0
messageComplete = 0
countOfReceivedMessages = 0
while messageComplete != 1:
waiting = serial.in_waiting # find num of bytes currently waiting in hardware
for c in serial.read(waiting): # read them, convert to ascii
currentCharacter = chr(c)
# special character - begining of command was found
if (currentCharacter == '<'):
canAppendToBuffer = 1
# special character - end of message
elif (currentCharacter == '>'):
countOfReceivedMessages += 1
if (countOfReceivedMessages == desiredCountOfReceivedMessages):
messageComplete = 1
# normal data
if (canAppendToBuffer == 1):
buffer.append(currentCharacter)
#write data into file
receivedString = ''.join(buffer)
receivedRows = receivedString.split('\n')
#remove blank characters
while ("" in receivedRows):
receivedRows.remove("")
return receivedRows
def initSerial(port, baudrate):
serial.port = port
serial.baudrate = baudrate
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
serial.flush()
logd('Opening port %s - %s' % (port, baudrate))
if serial.isOpen():
logd('Success')
else:
logd('Failed')
exit(2)
def initSerial(port, baudrate):
serial.port = port
serial.baudrate = baudrate
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
serial.flush()
logd( 'Opening port %s - %s' %(port, baudrate) )
if serial.isOpen():
logd('Success')
else:
logd('Failed')
exit(2)
def write_to_ee(address,values):
if type(values) != list:
print 'Error, values must be a list of ints'
msg = '\x01'
msg += dec2hex(address)
number = len(values) * 2
msg += dec2hex(number)[1:2]
for x in range(number/2):
msg += dec2hex(values[x])
if serial.isOpen():
print "Writing:", msg.encode('hex')
serial.write(msg)
else:
print 'Error, the serial port is not open.'
return
def read_hex_from_ee(address): serial.flushOutput() serial.flushInput() msg = '\x02' msg += dec2hex(address) if serial.isOpen(): serial.write(msg) else: print 'Error, the serial port is not open.' return value = serial.readline() if value == '': print 'Error, did not receive response from the Micro Controller.' return None value = value.strip() return value
def get_data():
if serial.isOpen() :
print("open success!"+'\n请输入: ')
else :
print("open failed")
while True:
data = serial.readall().decode('utf-8') #.strip().decode('utf-8')
if data == '':
continue
else:
break
sleep(10)
if data != b'' :
data=re.findall(r"\d+\.?\d*",data)
return data
def sendMessage(port, baudrate, message):
import serial
serial = serial.Serial(port,
timeout=None,
baudrate=baudrate,
xonxoff=False,
rtscts=False,
dsrdtr=False,
bytesize=serial.EIGHTBITS,
stopbits=serial.STOPBITS_ONE,
parity=serial.PARITY_NONE)
if serial.isOpen():
print("Sending command")
else:
print("command wasnt send")
print(serial.name) # check which port was really used
serial.write(message) # write a string
def Normalchaxun(serial, self):
while self.scanTag == False:
continue
MyLog.info("ScanPortList Finished!")
while self.ThreadTag: #Main Loop is here!
if serial.isOpen():
if len(SharedMemory.LockList) > 0:
for lock in SharedMemory.LockList:
self.ChaXun(lock.addr)
t.sleep(
0.05
) #50ms等待时间，防止查询太快导致485紊乱，在Write和Recv中已有50ms延迟，此处可以省略
else:
MyLog.error(
'No Lock in the list from serial422.py Normalchaxun')
t.sleep(self.ScanLockFreq) #轮训间隔，每间隔N秒进行一次轮训获取连接车位锁的状态
pass
def on_connect():
global printing
global endprint
global startprint
print('connection established')
if serial.isOpen():
time.sleep(8)
serial.readlines()
serial.flushOutput()
serial.write("M105\n".encode('ascii') )
time.sleep(0.5)
tem_message=serial.readline()
time.sleep(0.5)
printmessage_json = {
'id': 1,
'on_off': 1,
'statue': {
'chambertemperature':random.randint(1,20),
'bedtemperature': random.randint(1,20)
},
'printing':printing,
'endprint':endprint,
'startprint':startprint
}
sio.emit('state', printmessage_json)
print("打印机上线")
print(printmessage_json)
else:
printmessage_json = {
'id': 1,
'on_off': 0,
'statue': {
'chambertemperature':'',
'bedtemperature': '',
},
'printing':printing,
'endprint':endprint,
'startprint':startprint
}
sio.emit('state', printmessage_json)
print("打印机连接失败")
print(printmessage_json)
def inner(self):
try:
if not serial.isOpen():
if not serial.open():
# self.error.emit("can't not open %s,error code:%d"%(serial.portName(),serial.error()))
return
if serial.inWaiting() == 0:
return
data = bytes()
requestData = bytes()
# print('wait:',serial.in_waiting)
requestData = serial.read(serial.inWaiting())
hexData = ' '.join('{:02x}'.format(x) for x in requestData)
self.request.emit(hexData)
# else:
# self.timeout.emit("Wait read ready timeout %s"%(QTime.currentTime().toString()))
except TypeError as e:
print('Got Error', e)
def readSerialPort():
isOpen = serial.isOpen()
if(isOpen) :
print 'COM4 serial port is opened!'
fmt = '!3h'
while(1):
header = ord(serial.read())
if(header != 0x88 or header == -1):
continue
header = ord(serial.read())
if(header != 0xAF or header == -1):
continue
header = ord(serial.read())
if(header != 0x1C or header == -1):
continue
content = serial.read(29)
roll,pitch,yaw = struct.unpack_from(fmt,content,18)
print pitch / 100.0 , roll / 100.0,yaw / 10.0
def serial_send_data(send):
import serial
# 连接串口
serial = serial.Serial('COM1', 9600, timeout=2) # 端口号, 波特率, 超时
if serial.isOpen():
print('串口已打开')
send = send.upper() # 便于识别全部转换为大写
send = str.encode(send) # str转bytes
# print('You Send Data:', msg)
serial.write(send) # 串口写数据
while True:
data = serial.read(40) # 串口读200位数据
time.sleep(0.5)
break
data = bytes.decode(data)
data = re.findall('\n\r(.*)\n\r', data)
if (re.findall('Temperature', data[0])):
data[0] = data[0] + '℃'
print('receive data is :', data[0])
return data[0]
def main():
iob=Io_board("Io_board_node")
iob.Init_node()
iob.Io_Sub("io_state")
import serial
serial = serial.Serial('/dev/ttyUSB2', 115200, timeout=0.5) #/dev/ttyUSB0
if serial.isOpen() :
print("open port success")
else :
print("open port failed")
rate = rospy.Rate(4)
#rostopic pub /ur_driver/URScript std_msgs/String ""
while not rospy.is_shutdown():
#data =recv(serial)
if len(iob.iostatebuff)!=0:
iocmd=iob.iostatebuff[-1]
print("receive : ",iocmd)
time.sleep(1)
serial.write(iocmd.decode("hex")) #数据写回
else:
pass
# data ='55C81900000055'
rate.sleep()
def laser_record():
global laser_filename
global time_now
print('laser record...')
time_now = str(int(time.time()))
print(serial.port)
#file_dir = "./"
laser_filename = save_dir['datadir'] + 'laser_' + time_now + '_' + fj_id[
'id'] + '.txt'
print(laser_filename)
time1 = int(time.time())
#laser_record_time = 5
if not serial.is_open:
print('open')
serial.open()
try:
while True:
Byte_H = serial.read(1)
Byte_L = serial.read(1)
res = (ord(Byte_H) & 0x7f) * 128 + (ord(Byte_L) & 0x7f)
print(res)
ss = str(res) + '\n'
with open(laser_filename, 'a') as f:
f.write(ss)
time2 = int(time.time())
#print(time2)
#print(time1)
print(time2 - time1)
if (time2 - time1 == collectTime):
print('close')
serial.close()
print(serial.isOpen())
except Exception as e:
print(e)
return False
file_time = time.strftime("%Y_%m_%d_%H_%M_%S", time.localtime())
#mk_time = time.strftime("%Y_%m_%d",time.localtime())
#mkpath='./' + mk_time
day = get_utc_day()
mkpath = './' + day
mkdir(mkpath)
log_file = mkpath + '/' + 'user_' + file_time + '.bin'
print log_file
if __name__ == '__main__':
#serial = serial.Serial(com_set, 115200, timeout=0.5) #/dev/ttyUSB0
serial = serial.Serial(com, 460800, timeout=1)
if serial.isOpen():
print("open success")
else:
print("open failed")
while True:
data = recv(serial)
#print(data)
#print("receive : ",data)
if data != '' and file_init_flag == 0:
fh = open(log_file, "wb")
file_init_flag = 1
if file_init_flag == 1:
fh.write(data)
#serial.write(data)
def isConnected(self):
return serial.isOpen()
print "A necessary key is not specified: " + msg
return
mqttclient.publish('kh/temperatureSensor/' + data['id'] + '/rssi', rssi)
mqttclient.publish('kh/temperatureSensor/' + data['id'] + '/temperature', data['temp'])
mqttclient.publish('kh/temperatureSensor/' + data['id'] + '/battery', data['battpct'])
mqttclient.publish('kh/temperatureSensor/' + data['id'] + '/batteryVoltage', data['batt'])
mqttclient.publish('kh/temperatureSensor/' + data['id'] + '/humidity', data['rh'])
else:
print "Unknown HWType: " + msg
return
serial = serial.Serial(serialPortName, serialPortBaud, timeout=None)
if serial.isOpen() != True:
print "Port wasn't opened, exiting!"
sys.exit
port = io.TextIOWrapper(io.BufferedRWPair(serial, serial, 1), newline = '\r\n', encoding = 'ascii')
mqttclient = mqtt.Client()
mqttclient.connect(mqttServer)
while 1:
recv = port.readline()
recv = re.sub('\r', '', recv)
recv = re.sub('\n', '', recv)
handleMessage(recv)
def listenForEvents(self, serial):
while(serial.isOpen()):
event = serial.readline().decode('utf-8').strip()
self.loop.run_in_executor(None, self.callback, event)
def __init__(self,serial): self.serial = serial print serial.isOpen() self.waitingReply = False
write.append(data[i])
i += 1
write[1] = 3 + write_len # data len
set_checksun(write)
sndmsg = bytearray(write)
snd_bytearray_uart(sndmsg)
return wait_dg_ack(CMD_WRITE_CH_ACK, 5)
if __name__ == "__main__":
serial.port = "/dev/ttyUSB2"
mac = "229900000003"
serial.open()
if serial.isOpen():
try:
signal.signal(signal.SIGINT, signal_handler)
readThread = read_thread(serial)
readThread.start()
while not app_exit:
#data = "220302010001"
#sndmsg = binascii.a2b_hex(data)
# let dg scan adv
if dg_scan_ble(mac):
if dg_connect_device(mac):
# set listening , value's handler + 1 write [0x01 0x00]
# Caso a temperatura lida por esse sensor seja maior do que o maximo esperado, envia para o robo o numero deste sensor
def check_and_notify(self, serial, temp):
if float(temp) > MAX_TEMP:
print("warning robots")
if serial:
serial.write(
"{number}$".format(number=self.number[2]).encode("utf-8"))
if __name__ == "__main__":
# Conexão com a porta serial para o XBee
try:
serial = serial.Serial(USB_PORT, 57600, timeout=1)
if not serial.isOpen():
serial.open()
except SerialException:
serial = None
print("Serial não conectada")
# Inicialização do socket para receber as conexões
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server_socket.bind(('0.0.0.0', PORT))
server_socket.listen(10)
CONNECTION_LIST.append(server_socket)
print("Server started on port " + str(PORT))
MAZE_SIZE_X = 8 # size of maze (number of tiles)
MAZE_SIZE_Y = 8
OBJ_COLOR_LOW = np.array([38, 70, 90]) #lower end of object/ball
OBJ_COLOR_HIGH = np.array([83, 195, 250]) # higher end
font = cv2.FONT_HERSHEY_PLAIN
cv2.namedWindow('src') #create windows to display images
cv2.namedWindow('cpy')
cv2.namedWindow('solved')
cv2.moveWindow('src', 0, 0) # move windows so they don't overlap
cv2.moveWindow('cpy', 500, 0)
cv2.moveWindow('solved', 1000, 0)
serial = serial.Serial('COM8', 9600) #initialize serial
time.sleep(1) # wait to make sure serial is initialized
print "\nSerial port is open?:", serial.isOpen()
brightness_led = 50 # brightness of leds located on top, 0-255
serial.write("15,15," + str(brightness_led) + ",") #level out maze
#--------END OF SETUP--------
cap = cv2.VideoCapture(0)
_, img_src = cap.read()
path_list, img_maze_solved = mazeAnalysisAndStuff(
img_src, 8,
8) # find path through maze; returns: list of path tiles, image with data
cv2.imshow('solved', img_maze_solved)
if path_list is None:
sys.exit()
Byte_L = serial.read(1)
res = (ord(Byte_H) & 0x7f) * 128 + (ord(Byte_L) & 0x7f)
#print(res)
ss = str(res) + '\n'
with open(laser_filename, 'a') as f:
f.write(ss)
time2 = int(time.time())
#print(time2 - time1)
collectTime = 30
#print(collectTime)
if (time2 - time1 == collectTime):
print('close')
serial.close()
print(serial.isOpen())
except Exception as e:
print(e)
import numpy as np
import matplotlib.pylab as plt
import itertools
from collections import OrderedDict
frequency = 1250
per_qian = 0.2
per_zhong = 0.4
per_hou = 1 - per_qian - per_zhong