def get(self, timeout): # type: (int) -> Any
""" Wait until the slave module replies or the timeout expires. """
try:
value = self._queue.get(timeout=timeout)
if value is None:
# No valid data could be received
raise CommunicationTimedOutException(
'Empty or invalid slave data received')
return value
except Empty:
raise CommunicationTimedOutException(
'No slave data received in {0}s'.format(timeout))
def get(self, timeout): # type: (Union[int, float]) -> Dict[str, Any]
"""
Wait until the uCAN (or CC) replies or the timeout expires.
:param timeout: timeout in seconds
:returns: dict containing the output fields of the command
"""
try:
value = self._queue.get(timeout=timeout)
if value is None:
# No valid data could be received
raise CommunicationTimedOutException('Empty or invalid uCAN data received')
return value
except Empty:
raise CommunicationTimedOutException('No uCAN data received in {0}s'.format(timeout))
def get(self, timeout):
"""
Wait until the uCAN (or CC) replies or the timeout expires.
:param timeout: timeout in seconds
:raises: :class`CommunicationTimedOutException` if Core did not respond in time
:returns: dict containing the output fields of the command
"""
try:
value = self._queue.get(timeout=timeout)
if value is None:
# No valid data could be received
raise CommunicationTimedOutException('Empty or invalid uCAN data received')
return value
except Empty:
raise CommunicationTimedOutException('No uCAN data received in {0}s'.format(timeout))
def get(self, timeout):
""" Wait until the master replies or the timeout expires.
:param timeout: timeout in seconds
:raises: :class`CommunicationTimedOutException` if master did not respond in time
:returns: dict containing the output fields of the command
"""
try:
return self.__queue.get(timeout=timeout)
except Empty:
raise CommunicationTimedOutException()
def get(self, timeout): # type: (Union[T_co, int]) -> Dict[str, Any]
"""
Wait until the Core replies or the timeout expires.
:param timeout: timeout in seconds
:returns: dict containing the output fields of the command
"""
try:
return self._queue.get(timeout=timeout)
except Empty:
raise CommunicationTimedOutException('No Core data received in {0}s'.format(timeout))
def get(self, timeout):
"""
Wait until the Core replies or the timeout expires.
:param timeout: timeout in seconds
:raises: :class`CommunicationTimedOutException` if Core did not respond in time
:returns: dict containing the output fields of the command
"""
try:
return self._queue.get(timeout=timeout)
except Empty:
raise CommunicationTimedOutException(
'No Core data received in {0}s'.format(timeout))
def __read_from_serial(self):
# type: () -> Tuple[bytearray, bytearray]
""" Read a PowerCommand from the serial port. """
phase = 0
index = 0
header = bytearray()
length = 0
data = bytearray()
crc = 0
command = bytearray()
try:
while phase < 8:
byte = self.__serial.read_queue.get(True, 0.25)
command += byte
self.__communication_stats_bytes['bytes_read'] += 1
if phase == 0: # Skip non 'R' bytes
if byte == bytearray(b'R'):
phase = 1
else:
phase = 0
elif phase == 1: # Expect 'T'
if byte == bytearray(b'T'):
phase = 2
else:
raise Exception("Unexpected character")
elif phase == 2: # Expect 'R'
if byte == bytearray(b'R'):
phase = 3
index = 0
else:
raise Exception("Unexpected character")
elif phase == 3: # Read the header fields
header += byte
index += 1
if index == 8:
length = ord(byte)
if length > 0:
phase = 4
index = 0
else:
phase = 5
elif phase == 4: # Read the data
data += byte
index += 1
if index == length:
phase = 5
elif phase == 5: # Read the CRC code
crc = ord(byte)
phase = 6
elif phase == 6: # Expect '\r'
if byte == bytearray(b'\r'):
phase = 7
else:
raise Exception("Unexpected character")
elif phase == 7: # Expect '\n'
if byte == bytearray(b'\n'):
phase = 8
else:
raise Exception("Unexpected character")
if PowerCommand.get_crc(header, data) != crc:
raise Exception('CRC doesn\'t match')
except Empty:
raise CommunicationTimedOutException('Communication timed out')
except Exception:
self.__debug('reading from', command)
raise
finally:
self.__debug('reading from', command)
threshold = time.time() - self.__debug_buffer_duration
self.__debug_buffer['read'][time.time()] = printable(command)
for t in self.__debug_buffer['read'].keys():
if t < threshold:
del self.__debug_buffer['read'][t]
return header, data
def __read_from_serial(self):
""" Read a PowerCommand from the serial port. """
phase = 0
index = 0
header = ""
length = 0
data = ""
crc = 0
command = ""
try:
while phase < 8:
byte = self.__serial.read_queue.get(True, 0.25)
command += byte
self.__serial_bytes_read += 1
if phase == 0: # Skip non 'R' bytes
if byte == 'R':
phase = 1
else:
phase = 0
elif phase == 1: # Expect 'T'
if byte == 'T':
phase = 2
else:
raise Exception("Unexpected character")
elif phase == 2: # Expect 'R'
if byte == 'R':
phase = 3
index = 0
else:
raise Exception("Unexpected character")
elif phase == 3: # Read the header fields
header += byte
index += 1
if index == 8:
length = ord(byte)
if length > 0:
phase = 4
index = 0
else:
phase = 5
elif phase == 4: # Read the data
data += byte
index += 1
if index == length:
phase = 5
elif phase == 5: # Read the CRC code
crc = ord(byte)
phase = 6
elif phase == 6: # Expect '\r'
if byte == '\r':
phase = 7
else:
raise Exception("Unexpected character")
elif phase == 7: # Expect '\n'
if byte == '\n':
phase = 8
else:
raise Exception("Unexpected character")
if crc7(header + data) != crc:
raise Exception("CRC doesn't match")
except Empty:
raise CommunicationTimedOutException('Communication timed out')
finally:
if self.__verbose:
PowerCommunicator.__log('reading from', command)
return header, data
def __read_from_serial(self):
""" Read a PowerCommand from the serial port. """
phase = 0
index = 0
header = ""
length = 0
data = ""
crc = 0
command = ""
try:
while phase < 8:
byte = self.__serial.read_queue.get(True, 0.25)
command += byte
self.__communication_stats['bytes_read'] += 1
if phase == 0: # Skip non 'R' bytes
if byte == 'R':
phase = 1
else:
phase = 0
elif phase == 1: # Expect 'T'
if byte == 'T':
phase = 2
else:
raise Exception("Unexpected character")
elif phase == 2: # Expect 'R'
if byte == 'R':
phase = 3
index = 0
else:
raise Exception("Unexpected character")
elif phase == 3: # Read the header fields
header += byte
index += 1
if index == 8:
length = ord(byte)
if length > 0:
phase = 4
index = 0
else:
phase = 5
elif phase == 4: # Read the data
data += byte
index += 1
if index == length:
phase = 5
elif phase == 5: # Read the CRC code
crc = ord(byte)
phase = 6
elif phase == 6: # Expect '\r'
if byte == '\r':
phase = 7
else:
raise Exception("Unexpected character")
elif phase == 7: # Expect '\n'
if byte == '\n':
phase = 8
else:
raise Exception("Unexpected character")
crc_match = (crc7(header + data)
== crc) if header[0] == 'E' else (crc8(data) == crc)
if not crc_match:
raise Exception('CRC{0} doesn\'t match'.format(
'7' if header[0] == 'E' else '8'))
except Empty:
raise CommunicationTimedOutException('Communication timed out')
finally:
if self.__verbose:
PowerCommunicator.__log('reading from', command)
threshold = time.time() - self.__debug_buffer_duration
self.__debug_buffer['read'][time.time()] = printable(command)
for t in self.__debug_buffer['read'].keys():
if t < threshold:
del self.__debug_buffer['read'][t]
return header, data