def __init__(self, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('myGUI')
self.resize(600, 400)
self.tNow = 0
self.data = [[], [], [], []]
self.create_main_frame()
self.ser = mySerial.mySerial()
print('Start!!!\r\n')
def __init__(self, serNum=None,bandrate=None):
#self.Serial_name = rospy.get_param("GPSport_name",'/dev/ttyUSB1')
self.Serial_name = "/dev/ttyUSB1"
self.Serial_baudrate = rospy.get_param("GPSport_baudrate","115200")
self.serial = mySerial.mySerial()
self.serial.openSerial(self.Serial_name, int(self.Serial_baudrate))
print "GPS serial "+self.Serial_name+" open"
self.Data_Valid_Flag = 0
self.E_POSITION = 0.0
self.N_POSITION = 0.0
self.YAW_POSITION = 0.0
def createPort(self):
''' (self) -> None
Создание переменных для работы с портом.
'''
self.setupCOM = mySerial.mySerial(parent=self, port='COM2')
self.setupCOM.setWindowTitle(u'Настройка порта')
# сделаем окно модальным
# + в данном случае виджет должен иметь предка self !!!
self.setupCOM.setWindowModality(QtCore.Qt.WindowModal)
self.connect(self.setupCOM,
QtCore.SIGNAL("readData(PyQt_PyObject, PyQt_PyObject,\
PyQt_PyObject)"),
self.protocol)
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# para criar a GUI temos que chamar o metodo setupUi
self.setupUi(self)
self.setWindowTitle('Main designer GUI')
self.resize(600, 200)
self.timer = QTimer()
self.timer.timeout.connect(self.timer_tick)
self.timer.start(100)
self.chkLED.setChecked(False)
self.connect(self.chkLED, SIGNAL('stateChanged(int)'), self.on_chkLED)
self.butSend.clicked.connect(self.on_butSend)
self.ser = mySerial.mySerial()
def __init__(self): self.mSerial = mySerial() #初始化串口 '''----------------------------指令帧----------------------------------------------------------''' self.commandFramehHeader1 = "0xEB" #帧头 self.commandFramehHeader2 = "0x90" #帧头 self.commandHandId = "0x01" #灵巧手的ID号（1-254）默认为1 ， 广播ID为255 self.commandDataLength = "0x02" #数据体的长度：数据体长度 + 校验和的长度 self.commandData1 = "" #数据体（指令号）1 self.commandData2 = "" #数据体（指令号）2 self.commandCheckSum = "" #校验和 '''----------------------------应答帧----------------------------------------------------------''' self.replyFramehHeader1 = "0xEE" #帧头 self.replyFramehHeader2 = "0x16" #帧头 self.replyHandId = "0x01" #灵巧手的ID号（1-254）默认为1 ， 广播ID为255 self.replyDataLength = "0x02" #数据体的长度：数据体长度 + 校验和的长度 self.replyCmdData = "" #返回发送的命令号 self.replyData = "" #数据体 self.replyCheckSum = "" #校验和 '''---------------------------指令类型-----------------------------------------------------------''' self.CMD_MC_SET_DRVALL_SEEKANGLE_GYH = "0x54" #设置目标归一化角度 self.CMD_MC_SET_DRVALL_SEEKPOS = "0x50" #设置目标位置 self.CMD_MC_SET_DRVALL_SPEED = "0x51" #设置速度 self.CMD_MC_SET_DRVALL_YBP_THRESHOLD = "0x52" #设置抓力阈值 self.CMD_MC_READ_DRVALL_SEEKGYHANGLE = "0xD7" #读取目标归一化角度 self.CMD_MC_READ_DRVALL_SEEKPOS = "0xD0" #读取目标位置 self.CMD_MC_READ_DRVALL_CURANGLE_GYH = "0xD9" #读取当前归一化角度 self.CMD_MC_READ_DRVALL_CURPOS = "0xD1" #读取当前位置 self.CMD_MC_READ_DRVALL_SPEED = "0xD2" #读取当前速度 self.CMD_MC_READ_DRVALL_YBP_THRESHOLD = "0xD3" #读取抓力阈值 self.CMD_MC_READ_DRVALL_YBP_RAWDATA = "0xD4" #读取传感器原始值 self.CMD_MC_PARA_SAVE = "0x01" #参数固化，掉电不丢失 self.CMD_MC_PARA_ID_SET = "0x04" #设置灵巧手ID号 self.CMD_MC_MOVE_K_SET_CURPOS_IN_CMAP = "0x05" #保存当前手势到手势序列K中 self.CMD_MC_MOVE_K_SHOW = "0x06" #将手势序列K中的手势展示 self.CMD_MC_MOVE_K_SHOW_ASDEFAULT = "0x07" #将当前手势保存为上电默认状态
print 'Send first information'
print (myserial.receive())
#sleep(8)
myserial.send('#@200300654456+666-999$')
print (myserial.receive())
#sleep(8)
myserial.send('#8200200654456+200-200$')
print (myserial.receive())
#sleep(8)
myserial.send('#a200300200200+666-999$')
print (myserial.receive())
#sleep(8)
myserial.closePort()
'''
#Serial Initialization
myserial = mySerial.mySerial('/dev/ttyUSB0', 9600)
#Imaging Processing
#Sound Processing
#Main A infinite loop
while True:
os.cmd('') # System Command
[isFinished,x,y] = readFile.readFile()
if isFinished == True:
break
try:
# read all the data from the file
data = file.read()
finally:
file.close()
#check the data length by the file size
if not len(data) == file_size:
print("data length error")
# you need to convert the bytes to bytearray because that the bytes can no be altered
data = bytearray(data)
# init the serial port
mySer = mySerial(57600, serial_com)
# open the serial port
mySer.open()
boot_head_ack = False
try:
# transfer the data to the stm8 via the serial port
# set the serial operation non-block
mySer.ser.timeout = 0.5
#1: send the head and wait for the ack (block operation)
while boot_head_ack == False:
mySer.write(BOOT_HEAD)
#2: recv the head ack ok
