def __init__(self, parent = None):
super(SerialSimulate, self).__init__(parent)
self.setObjectName('SerialSimulate')
#
self._currIndex = 0
self._currFrameId = 0
self._frameSize = 0
self._streamBuff = []
self._newBuff = [0] * 4096
self._pkgBuff = [0] * 100
self._serialSend = SerialSend()
self._serialRecv = SerialRecv()
self._serialConfig = SerialPortConfig()
self._serialPort = QSerialPort(self)
#
self._serialPort.error.connect(self.onSerialPortError)
self._serialPort.readyRead.connect(self.readData)
#
self._serialPort.setPortName('COM5')
if self._serialPort.open(QIODevice.ReadWrite):
self._serialPort.setBaudRate(QSerialPort.Baud115200)
self._serialPort.setDataBits(QSerialPort.Data8)
self._serialPort.setParity(QSerialPort.OddParity)
self._serialPort.setStopBits(QSerialPort.OneStop)
self.stateChanged.emit('Open')
#
self._serialRecv.lMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.lABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.rABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.lMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.lARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.rARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.lWheelSpd = self.convertToASCII(100)
self._serialRecv.rWheelSpd = self.convertToASCII(100)
#
self._timerId = self.startTimer(100, Qt.PreciseTimer)
class SerialSimulate(QObject):
'''
class SerialSimulate
'''
stateChanged = QtCore.pyqtSignal(str)
serialPortError = QtCore.pyqtSignal(QSerialPort.SerialPortError, str)
def __init__(self, parent = None):
super(SerialSimulate, self).__init__(parent)
self.setObjectName('SerialSimulate')
#
self._currIndex = 0
self._currFrameId = 0
self._frameSize = 0
self._streamBuff = []
self._newBuff = [0] * 4096
self._pkgBuff = [0] * 100
self._serialSend = SerialSend()
self._serialRecv = SerialRecv()
self._serialConfig = SerialPortConfig()
self._serialPort = QSerialPort(self)
#
self._serialPort.error.connect(self.onSerialPortError)
self._serialPort.readyRead.connect(self.readData)
#
self._serialPort.setPortName('COM5')
if self._serialPort.open(QIODevice.ReadWrite):
self._serialPort.setBaudRate(QSerialPort.Baud115200)
self._serialPort.setDataBits(QSerialPort.Data8)
self._serialPort.setParity(QSerialPort.OddParity)
self._serialPort.setStopBits(QSerialPort.OneStop)
self.stateChanged.emit('Open')
#
self._serialRecv.lMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.lABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.rABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.lMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.lARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.rARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.lWheelSpd = self.convertToASCII(100)
self._serialRecv.rWheelSpd = self.convertToASCII(100)
#
self._timerId = self.startTimer(100, Qt.PreciseTimer)
@QtCore.pyqtSlot(QSerialPort.SerialPortError, str)
def onSerialPortError(self, error):
print('SerialPort open failed!, %d' % error)
self.serialPortError.emit(error,
'No error' if error == QSerialPort.NoError
else 'Device not found' if error == QSerialPort.DeviceNotFoundError
else 'Permission error' if error == QSerialPort.PermissionError
else 'Open error' if error == QSerialPort.OpenError
else 'Parity error' if error == QSerialPort.ParityError
else 'Framing error' if error == QSerialPort.FramingError
else 'Break Condition error' if error == QSerialPort.BreakConditionError
else 'Write error' if error == QSerialPort.WriteError
else 'Read error' if error == QSerialPort.ReadError
else 'Resource error' if error == QSerialPort.ResourceError
else 'Unsupported operation' if error == QSerialPort.UnsupportedOperationError
else 'Unknown error' if error == QSerialPort.UnknownError
else 'Timeout' if error == QSerialPort.TimeoutError
else 'Not open' if error == QSerialPort.NotOpenError
else '%d' % error)
@QtCore.pyqtSlot()
def start(self):
if self._serialPort.isOpen():
self._serialPort.close()
# config serialport properties
self._serialPort.setPortName(self._serialConfig.port)
if self._serialPort.open(QIODevice.ReadWrite):
self._serialPort.setBaudRate(self._serialConfig.baudRate)
self._serialPort.setDataBits(self._serialConfig.dataBits)
self._serialPort.setParity(self._serialConfig.parity)
self._serialPort.setStopBits(self._serialConfig.stopBits)
self.stateChanged.emit('Open')
@QtCore.pyqtSlot()
def stop(self):
if self._serialPort.isOpen():
self._serialPort.close()
self.stateChanged.emit('Close')
@QtCore.pyqtSlot()
def save(self):
self.setProperty('portState', self._serialPort.isOpen())
self.stop()
@QtCore.pyqtSlot()
def restore(self):
self.start() if bool(self.property('portState')) else self.stop()
@QtCore.pyqtSlot(SerialRecv)
def writeData(self, data):
if not self._serialPort.isOpen():
# warning...
self.killTimer(self._timerId)
return 0
return int(self._serialPort.write(data.pack()))
@QtCore.pyqtSlot()
def readData(self):
self._streamBuff = self._serialPort.read(4096)
self.unpack()
return self._streamBuff.__len__()
def unpack(self):
for (i, value) in enumerate(self._streamBuff):
if self._currIndex < self._serialSend._offset_length: # 1.frame-header
self._frameSize = 0
if value == self._serialSend._headers[self._currIndex]:
self._newBuff[self._currIndex] = value
self._currIndex += 1
else:
self._currIndex = 0
continue
elif self._currIndex == self._serialSend._offset_length: # 2.frame-length
if value == self._serialSend.length:
pass
else:
self._currIndex = 0
continue
self._frameSize = value
self._newBuff[i] = value
self._currIndex += 1
continue
elif self._currIndex == self._serialSend._offset_index: # 3.frame-index
self._currFrameId = value
self._newBuff[i] = value
self._currIndex += 1
continue
elif self._currIndex < self._frameSize: # 4.frame-data
self._newBuff[i] = value
self._currIndex += 1
if self._currIndex == self._frameSize: # receive a full frame successfully
# 5.frame-sum
s = 0
for index in range(0, self._serialSend._offset_sum):
s = (s + self._newBuff[index]) & 0xff
if self._newBuff[self._serialSend._offset_sum] != s:
self._currIndex = 0
# continue # invalid frame
# 6.frame-tail
if self._newBuff[self._serialSend._offset_tail] != int(self._serialSend.tail):
self._currIndex = 0 # invalid frame
continue
# 7.save as...
self._pkgBuff = self._newBuff[0:self._frameSize]
# 8.dispatch
self.dispatch()
# 9.reset
self._currIndex = 0
def dispatch(self):
# save as...
self._serialSend.unpack(bytes(self._pkgBuff))
# send
self._serialRecv.lWheelSpd = self.convertToASCII(int(self._serialSend.lWheelSpd / 42.94967296))
self._serialRecv.rWheelSpd = self.convertToASCII(int(self._serialSend.rWheelSpd / 42.94967296))
self._serialRecv.sum = SerialPortProxy.serialPortRecvSum(self._serialRecv)
self.writeData(self._serialRecv)
def timerEvent(self, event):
step = 1
if event.timerId() == self._timerId:
self._serialRecv.index += 1
if self._serialSend.ctrlWord.lPowerSw:
self._serialRecv.lMBrakeP = self.stepInc(self._serialRecv.lMBrakeP, step, 30)
self._serialRecv.lABrakeP = self.stepInc(self._serialRecv.lABrakeP, step, 30)
self._serialRecv.lMRotateP = self.stepInc(self._serialRecv.lMRotateP, step, 30)
self._serialRecv.lARotateP = self.stepInc(self._serialRecv.lARotateP, step, 30)
self._serialRecv.lWheelSpd = self.stepInc(self._serialRecv.lWheelSpd, step, 3000)
if self._serialSend.ctrlWord.rPowerSw:
self._serialRecv.rMBrakeP = self.stepInc(self._serialRecv.rMBrakeP, step, 30)
self._serialRecv.rABrakeP = self.stepInc(self._serialRecv.rABrakeP, step, 30)
self._serialRecv.rMRotateP = self.stepInc(self._serialRecv.rMRotateP, step, 30)
self._serialRecv.rARotateP = self.stepInc(self._serialRecv.rARotateP, step, 30)
self._serialRecv.rWheelSpd = self.stepInc(self._serialRecv.rWheelSpd, step, 3000)
self._serialRecv.sum = SerialPortProxy.serialPortRecvSum(self._serialRecv)
self.writeData(self._serialRecv)
@staticmethod
def stepWheelSpd(value, step, maxValue):
value = SerialPortProxy.convertFromASCII(value) + step
if value > maxValue:
value = 0
return SerialSimulate.convertToASCII(value)
@staticmethod
def convertToASCII(value):
return value
@staticmethod
def stepInc(value, step, maxValue):
value = SerialPortProxy.swapUint16(value) + step # + random() % 50
if value > maxValue:
value = 0
return SerialPortProxy.swapUint16(value)
