def open(self, Serial):
#baudRates = [9600,38400,19200,115200,57600]
baudRates = [115200, 9600] #,38400,19200,57600]
curBaudRate = 0
self.port = Serial(self.portName, baudRates[0])
self.port._timeout = 1.0
self.port._writeTimout = 1.0
self.port.flushInput()
self.port.flushOutput()
numAttempts = 3
timeout = 5.0
startt = time()
while (self.connectionState != STATE_READY):
if (self.connectionState == STATE_NO_SYNC):
self.sendPacket([CMD_SYNC0])
elif (self.connectionState == STATE_FIRST_SYNC):
self.sendPacket([CMD_SYNC1])
elif (self.connectionState == STATE_SECOND_SYNC):
self.sendPacket([CMD_SYNC2])
elif (self.connectionState == STATE_READY):
pass
try:
pkt = self.recvPacket()
except:
if (self.connectionState == STATE_NO_SYNC
and numAttempts >= 0):
numAttempts -= 1
else:
curBaudRate += 1
if (curBaudRate < len(baudRates)):
self.port.close()
self.port = Serial(self.portName,
baudRates[curBaudRate])
debug(
"Changing to baud rate: " +
` baudRates[curBaudRate] `, 1)
self.port.flushInput()
self.port.flushOutput()
else:
self.port.close()
sys.stderr.write(
"Could not open serial port. Is robot turned on and connected?\n"
)
raise Exception("No Robot Found")
continue
if (pkt[3] == CMD_SYNC0):
self.connectionState = STATE_FIRST_SYNC
elif (pkt[3] == CMD_SYNC1):
self.connectionState = STATE_SECOND_SYNC
elif (pkt[3] == CMD_SYNC2):
self.connectionState = STATE_READY
if (time() - startt) > timeout:
self.port.close()
sys.stderr.write("Robot needs to be reset.\n")
raise Exception("Bad Robot State")
botName = ""
botType = ""
botSubType = ""
i = 4
while (pkt[i]):
botName += chr(pkt[i])
i += 1
i += 1
while (pkt[i]):
botType += chr(pkt[i])
i += 1
i += 1
while (pkt[i]):
botSubType += chr(pkt[i])
i += 1
self.sendPacket([ArcosCmd.OPEN])
debug(
"P2OS Interface Ready - connected to " + ` botName ` + " " +
` botType ` + " " + ` botSubType `, 1)
print "P2OS Interface Ready - connected to " + ` botType ` + ` botName `
changed = [0, 0, 0, 0, 0, 0, 0, 0]
while 0 in changed:
self.cmdPulse()
self.sipRecv()
self.storedsonars.get()
changed = [
changed[i] or self.sonarsChanged[i]
for i in range(len(changed))
]
self.serialready = True
# turn on io packets
self.sendPacket([ArcosCmd.IOREQUEST, ArgType.ARGINT, 2, 0])
pkt = self.recvPacket()
print 'denny: battery = {0:d}'.format(pkt[14])
self.sendPacket([ArcosCmd.IOREQUEST, ArgType.ARGINT, 2, 0])
def connect(self, Serial):
baudRate = 115200
ports = []
if os.name == "posix":
if sys.platform == "linux2":
#usbSerial = glob.glob('/dev/ttyUSB*')
ports = glob.glob('/dev/rfcomm*')
elif sys.platform == "darwin":
ports = glob.glob('/dev/tty.eBot*')
#usbSerial = glob.glob('/dev/tty.usbserial*')
else:
print "Unknown posix OS."
sys.exit()
elif os.name == "nt":
ports = self.getOpenPorts()
#ports = ['COM' + str(i + 1) for i in range(256)]
#EBOT_PORTS = getEBotPorts()
connect = 0
ebot_ports = []
ebot_names = []
for port in ports:
try:
s = Serial(port, baudRate, timeout=1, writeTimeout=1)
s._timeout = 1.0
s._writeTimeout = 1.0
#try:
# s.open()
#except:
# continue
line = "aaaa"
while line[:2] != "eB":
if (s.inWaiting() > 0):
line = s.readline()
s.write("<<1?")
sleep(0.5)
line = s.readline()
if (line[:2] == "eB"):
ebot_ports.append(port)
ebot_names.append(line)
connect = 1
self.port = s
self.portName = port
self.port._timeout = 1.0
self.port._writeTimeout = 1.0
self.port.flushInput()
self.port.flushOutput()
if (line[:2] == "eB"):
break
#s.close()
# self.
except:
try:
if s.isOpen():
s.close()
except:
pass
if (connect == 0):
try:
self.port.close()
except:
pass
#sys.stderr.write("Could not open serial port. Is robot turned on and connected?\n")
raise Exception("No Robot Found")