def connect(self):
"""
Opens connection with the eBot via BLE. Connects with the first eBot that the computer is paired to.
:raise Exception: No eBot found
"""
baudRate = 115200
ports = []
if os.name == "posix":
if sys.platform == "linux2":
#usbSerial = glob.glob('/dev/ttyUSB*')
ports = glob.glob('/dev/rfcomm*')
#print "Support for this OS is under development."
elif sys.platform == "darwin":
ports = glob.glob('/dev/tty.eBo*')
#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 = []
line = "a"
print "connecting",
for port in ports:
try:
print ".",
if (line[:2] == "eB"):
break
s = Serial(port, baudRate, timeout=5.0, writeTimeout=5.0)
s._timeout = 5.0
s._writeTimeout = 5.0
#try:
# s.open()
#except:
# continue
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 = 5.0
self.port._writeTimeout = 5.0
self.port.flushInput()
self.port.flushOutput()
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")
print "Connection Error", "No eBot found. Please reconnect and try again.",
#import ctypes # An included library with Python install.
#ctypes.windll.user32.MessageBoxA(0, "Your text", "Your title", 1)
raise Exception("No eBot found")
sleep(.01)
try:
self.port.write('<<1E')
sleep(0.4)
line = self.port.readline()
if (line != ">>1B\n" and line != ">>1B" and line != ">>\n"
and line != ">>"):
self.lostConnection()
self.port.write("<<1O")
sleep(0.4)
self.port.write("F")
sleep(0.2)
self.port.flushInput()
self.port.flushOutput()
print "connected"
self.receive_thread = Thread(target=self.recieve_background)
self.thread_flag = 1
self.receive_thread.start()
self.offset_counter = 0
except:
print "COM Error", "Robot connection lost..."
sys.stderr.write("Could not write to serial port.\n")
self.serialReady = False
sys.stderr.write("Robot turned off or no longer connected.\n")
sleep(7)
self.serialReady = True
def connect(self):
"""
Opens connection with the eBot via BLE. Connects with the first eBot that the computer is paired to.
:raise Exception: No eBot found
"""
baudRate = 115200
ports = []
if os.name == "posix":
if sys.platform == "linux2":
#usbSerial = glob.glob('/dev/ttyUSB*')
ports = glob.glob('/dev/tty.eBo*')
#print "Support for this OS is under development."
elif sys.platform == "darwin":
ports = glob.glob('/dev/tty.eBo*')
#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 = []
line = "a"
print "connecting",
for port in ports:
try:
print ".",
if (line[:2] == "eB"):
break
s = Serial(port, baudRate, timeout=5.0, writeTimeout=5.0)
s._timeout = 5.0
s._writeTimeout = 5.0
#try:
# s.open()
#except:
# continue
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 = 5.0
self.port._writeTimeout = 5.0
self.port.flushInput()
self.port.flushOutput()
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")
print "Connection Error", "No eBot found. Please reconnect and try again.",
#import ctypes # An included library with Python install.
#ctypes.windll.user32.MessageBoxA(0, "Your text", "Your title", 1)
raise Exception("No eBot found")
sleep(.01)
try:
self.port.write('<<1E')
sleep(0.4)
line = self.port.readline()
if (line != ">>1B\n" and line != ">>1B" and line != ">>\n" and line != ">>"):
self.lostConnection()
self.port.write("<<1O")
sleep(0.4)
self.port.write("F")
sleep(0.2)
self.port.flushInput()
self.port.flushOutput()
print "connected"
self.receive_thread = Thread(target= self.recieve_background)
self.thread_flag =1
self.receive_thread.start()
self.offset_counter =0
except:
print "COM Error", "Robot connection lost..."
sys.stderr.write("Could not write to serial port.\n")
self.serialReady = False
sys.stderr.write("Robot turned off or no longer connected.\n")
sleep(7)
self.serialReady = True
