def connect(self):
try:
#Creates the serial connection to the Arduino as specified in the config file
#print("creating serial stuff here - Arduino_RPI_comm line 230")
ard_log.info("Connecting to port: %s with baudrate: %s" %
(self.port, self.baudrate))
self.ser = serial.Serial(port=self.port,
baudrate=self.baudrate,
bytesize=self.bytesize,
parity=self.parity,
stopbits=self.stopbits,
timeout=self.timeout,
xonxoff=self.xonxoff,
rtscts=self.rtscts,
dsrdtr=self.dsrdtr,
writeTimeout=self.writeTimeout)
self.worker = GetHWPoller(self.sleeptime, self.poll_HW)
self.worker.start()
except serial.SerialException as e:
ard_log.error(e)
print("except serial.SerialException as e")
except ValueError as e:
ard_log.error(e)
print("except ValueError as e")
def receive(self):
ard_log.info('Last response: "%s"' % self.response)
if self.response != None:
msg = self.response.split(",")
self.ID_received = msg[0]
self.fields_received = msg[1]
self.data_received = msg[2].strip("#").split(";")
ard_log.info('Received - msg_id:%s, num_fields:%s' %
(self.ID_received, self.fields_received))
return
def load(self):
'''Function that loads the configurations from the arms.config module.
If the module can't be reached it will load default configurations.
'''
try:
UART_config = c.var.data["uart_config"]
ARDUINO_config = c.var.data["arduino_config"]
self.port = UART_config[
"port"] #Port for Uart, might need to be reconfigured
self.baudrate = UART_config["baudrate"]
self.bytesize = UART_config["bytesize"] #number of bits per bytes
self.parity = UART_config["parity"] #set parity check: no parity
self.stopbits = UART_config["stopbits"] #number of stop bits
self.timeout = UART_config["timeout"]
self.xonxoff = UART_config[
"xonxoff"] #disable software flow control
self.rtscts = UART_config[
"rtscts"] #disable hardware (RTS/CTS) flow control
self.dsrdtr = UART_config[
"dsrdtr"] #disable hardware (DSR/DTR) flow control
self.writeTimeout = UART_config["writeTimeout"] #timeout for write
self.sleeptime = UART_config[
"sleeptime"] #sets the time between message polling
self.adjustment_pulses = ARDUINO_config[
'adjustment_pulses'] #number of pulses to send when adjusting
self.upper_bound = ARDUINO_config[
'upper_bound'] #adjusts the acceptable upper bound relative error
self.upper_bias = ARDUINO_config['upper_bias'] #Bias limit on
self.lower_bound = ARDUINO_config[
'lower_bound'] #adjust the acceptable lower bound
self.lower_bias = ARDUINO_config['lower_bias'] #Bias limit
self.max_recursion = ARDUINO_config[
'max_recursion'] #determines the maximum number of adjustments in the command
ard_log.info("Loaded configurations")
except (KeyError, TypeError):
self.port = "COM2" #Port for Uart, might need to be reconfigured on
self.baudrate = 9600
self.bytesize = serial.EIGHTBITS #number of bits per bytes
self.parity = serial.PARITY_NONE #set parity check: no parity
self.stopbits = serial.STOPBITS_ONE #number of stop bits
self.timeout = 1 #non-block read
self.xonxoff = False #disable software flow control
self.rtscts = False #disable hardware (RTS/CTS) flow control
self.dsrdtr = False #disable hardware (DSR/DTR) flow control
self.writeTimeout = 2 #timeout for write
self.sleeptime = 1
#sets the time between message polling 0.1 is good maybe
ard_log.error(
"Could not load configurations, using default values")
return
def evaluate_response(self):
if (self.response != None):
msg = self.response.split(",")
self.ID_received = msg[0]
#print("printing msg[0]" + msg[0])
self.fields_received = msg[1]
self.data_received = msg[2].strip("#").split(";")
print(self.data_received) ##PRINTING HERE
ard_log.info('Received - msg_id:%s, num_fields:%s' %
(self.ID_received, self.fields_received))
function_vec = [
self.command_close, self.command_open,
self.command_activate_solenoid,
self.command_deactivate_solenoid,
self.command_acknowledge_error, self.command_request_info
]
#function_ID = [ "0" , "1" , "2" , "3 , "4" , "5" ]
function_vec[int(self.ID_received)](
) #Execute the function given by the command
ard_log.info('Executed Command %s' % (self.ID_received))
return True
def kill(self):
ard_log.info("WORKER END")
sys.stdout.flush()
self.aliveflag.clear() # kills the thread
self.join()
def command_request_info(self):
self.pressure_received = float(self.data_received[0])
ard_log.info("Pressure at this time is: %s" % (self.data_received[0]))
self.Arduino_replied = True
return
def disconnect(self):
ard_log.info("Disconnected from port %s" % (self.port))
self.kill() #ends the listner thread
self.ser.close() #closes the serial connection
return