def __init__(self, portNum, baud=19200, sendInit=False):
if 0 <= portNum <=5 and portNum != 3:
# Uart - serial ports - 0,1,2,4 and 5
# Port 3 is not available via headers
# Port 0 refers to the USB. This doesn't need pin, mode & port
# settings but I've put those in as zero values (which can be tested for)
# just for completeness
self.commPortInfo = [
{'name': 'usb', 'dev': 'ttyACM0', 'txPin': 0, 'rxPin': 0, 'mode': 0, 'port': 0},
{'name': 'uart1', 'dev': 'ttyO1', 'txPin': 24, 'rxPin': 26, 'mode': 0, 'port': 9},
{'name': 'uart2', 'dev': 'ttyO2', 'txPin': 21, 'rxPin': 22, 'mode': 1, 'port': 9},
0,
{'name': 'uart4', 'dev': 'ttyO4', 'txPin': 13, 'rxPin': 11, 'mode': 6, 'port': 9},
{'name': 'uart5', 'dev': 'ttyO5', 'txPin': 37, 'rxPin': 38, 'mode': 4, 'port': 8}
]
self.uart = portNum
self.dev = '/dev/' + self.commPortInfo[self.uart]['dev']
self.name = self.commPortInfo[self.uart]['name']
self.baudRate = baud # default
self.byteSize = EIGHTBITS
self.parity = PARITY_NONE # this is pySerial default anyway
self.stopBits = STOPBITS_ONE # also pySerial default
self.timeOut = 3
self.message = ''
self.port = 0
self.txPin = 0
self.rxPin = 0
self.mode = 0
if self.uart > 0:
# this is one of the uart ports rather than usb
self.port = self.commPortInfo[self.uart]['port']
self.txPin = self.commPortInfo[self.uart]['txPin']
self.rxPin = self.commPortInfo[self.uart]['rxPin']
self.mode = self.commPortInfo[self.uart]['mode']
self.tx = GPIO_pin(self.port, self.txPin, BB.OUTPUT)
self.tx.setMode(self.mode)
self.rx = GPIO_pin(self.port, self.rxPin, BB.INPUT)
self.rx.setMode(self.mode)
try:
self.serPort = Serial(self.dev,
baudrate = self.baudRate,
#parity = self.parity,
#bytesize = self.byteSize,
#stopbits = self.stopBits,
timeout=0.1,
xonxoff=0,
rtscts=0,
interCharTimeout=None)
self.serPort.flushOutput()
self.serPort.flushInput()
except serial.serialutil.SerialException as e:
print(e)
exit()
if sendInit:
# Opening a serial connection to an Arduino can cause it to
# reset, so let's send it an init message then give it a moment
# to get its act together
self.send('++INIT++')
time.sleep(2)
self.serPort.flushOutput()
self.serPort.flushInput()
else:
# throw an exception one day, but for time being print a message
print('*** ERROR: ' + str(portNum) + 'is not a valid uart number')
exit()
class CommPort:
'''
commPort class
USAGE: Needs to be instantiated with the following params:
portNum 0, 1, 2, 4 or 5 required
baud <baud rate> optional defaults to 19200
sendInit boolean optional
'''
def __init__(self, portNum, baud=19200, sendInit=False):
if 0 <= portNum <=5 and portNum != 3:
# Uart - serial ports - 0,1,2,4 and 5
# Port 3 is not available via headers
# Port 0 refers to the USB. This doesn't need pin, mode & port
# settings but I've put those in as zero values (which can be tested for)
# just for completeness
self.commPortInfo = [
{'name': 'usb', 'dev': 'ttyACM0', 'txPin': 0, 'rxPin': 0, 'mode': 0, 'port': 0},
{'name': 'uart1', 'dev': 'ttyO1', 'txPin': 24, 'rxPin': 26, 'mode': 0, 'port': 9},
{'name': 'uart2', 'dev': 'ttyO2', 'txPin': 21, 'rxPin': 22, 'mode': 1, 'port': 9},
0,
{'name': 'uart4', 'dev': 'ttyO4', 'txPin': 13, 'rxPin': 11, 'mode': 6, 'port': 9},
{'name': 'uart5', 'dev': 'ttyO5', 'txPin': 37, 'rxPin': 38, 'mode': 4, 'port': 8}
]
self.uart = portNum
self.dev = '/dev/' + self.commPortInfo[self.uart]['dev']
self.name = self.commPortInfo[self.uart]['name']
self.baudRate = baud # default
self.byteSize = EIGHTBITS
self.parity = PARITY_NONE # this is pySerial default anyway
self.stopBits = STOPBITS_ONE # also pySerial default
self.timeOut = 3
self.message = ''
self.port = 0
self.txPin = 0
self.rxPin = 0
self.mode = 0
if self.uart > 0:
# this is one of the uart ports rather than usb
self.port = self.commPortInfo[self.uart]['port']
self.txPin = self.commPortInfo[self.uart]['txPin']
self.rxPin = self.commPortInfo[self.uart]['rxPin']
self.mode = self.commPortInfo[self.uart]['mode']
self.tx = GPIO_pin(self.port, self.txPin, BB.OUTPUT)
self.tx.setMode(self.mode)
self.rx = GPIO_pin(self.port, self.rxPin, BB.INPUT)
self.rx.setMode(self.mode)
try:
self.serPort = Serial(self.dev,
baudrate = self.baudRate,
#parity = self.parity,
#bytesize = self.byteSize,
#stopbits = self.stopBits,
timeout=0.1,
xonxoff=0,
rtscts=0,
interCharTimeout=None)
self.serPort.flushOutput()
self.serPort.flushInput()
except serial.serialutil.SerialException as e:
print(e)
exit()
if sendInit:
# Opening a serial connection to an Arduino can cause it to
# reset, so let's send it an init message then give it a moment
# to get its act together
self.send('++INIT++')
time.sleep(2)
self.serPort.flushOutput()
self.serPort.flushInput()
else:
# throw an exception one day, but for time being print a message
print('*** ERROR: ' + str(portNum) + 'is not a valid uart number')
exit()
def send(self, sendStr, encoding='utf-8', addNewline=True, cleanString=True):
'''
Send a message. A newline is appended, so don't need to include
that in the string.
'''
if cleanString:
sendStr = sendStr.strip() # clean it up first
if addNewline:
sendStr = sendStr + '\n'
self.serPort.write(sendStr.encode(encoding, 'replace'))
#self.serPort.flush()
return
def newMsgs(self, encoding='utf-8'):
'''
Obtain list of incoming messages. Assumes each message is terminated by newline.
Dodgy bytes are treated using the .replace() method which does
standard replacing according to codec. This avoids the program falling
over should a bad byte appear that the utf-8 codec can't handle. But
might be better to do some error handling here - maybe some basic
flow control to request resending of message
'''
msgList = []
while self.serPort.inWaiting() > 0:
# using readline could create a problem where data has been sent
# but isn't terminated by a newline. In this case, the while above
# would cause this program to wait forever. For time being that's tolerable
# because we'll be strict about always using a newline
msgList.append(self.serPort.readline().decode(encoding, 'replace').strip())
return msgList
def newMsg(self):
'''
DEPRECATED: Reads one newline-terminated message from buffer. This might cause
incoming messages to stack up, so using newMsgs() method above is
preferable and this method might be removed.
'''
if self.serPort.inWaiting() > 0:
self.message = self.serPort.readline().decode('utf-8', 'replace').strip()
result = True
else:
result = False
return result
def __str__(self):
'''
Print information about this port
'''
print('COMM PORT', self.uart, '-', self.name,'on', self.dev,'-',
str(self.baudRate) + ' baud', str(self.byteSize) + '-' + self.parity + '-' + str(self.stopBits))
if self.uart > 0:
print('port:', self.port, '| tx pin:', self.txPin, '| rx pin:', self.rxPin,
'| mode:', self.mode)
print('--')
print('TX:', self.tx)
print('RX:', self.rx)
return ' '
