def __init__(self, dispatcher, devname):
"Constructor. devname - serial port devname"
self.dispatcher = dispatcher
self.stream = SerialStream(devname)
self._next_pkt_id = 0
self._devname = devname
self._sendlock = Lock()
self._calibrated = False
Tasklet.new(self.auto_calibrate_baudrate)()
def __init__(self, dispatcher, devname):
"Constructor. devname - serial port devname"
self.dispatcher = dispatcher
self.stream = SerialStream(devname)
self._next_pkt_id = 0
self._devname = devname
self._sendlock = Lock()
self._calibrated = False
Tasklet.new(self.auto_calibrate_baudrate)()
class Host(object):
"Interface to the hardware"
def __init__(self, dispatcher, devname):
"Constructor. devname - serial port devname"
self.dispatcher = dispatcher
self.stream = SerialStream(devname)
self._next_pkt_id = 0
self._devname = devname
self._sendlock = Lock()
self._calibrated = False
Tasklet.new(self.auto_calibrate_baudrate)()
def send_raw(self, buf):
"Send raw data without any checksuming and headers"
with self._sendlock:
#print "%s sent: %s" % (self._devname, ", ".join(["0x%02x" % d for d in buf]))
buf = ''.join([chr(a) for a in buf])
with self.stream.get_writer() as writer:
writer.write_bytes(buf)
writer.flush()
def flush(self):
self.stream.flush()
def send(self, pkt):
"Immediately push packet to the serial port"
buf = [0x5a]
_crc = 0
for data in [len(pkt)] + list(pkt):
if type(data) == str and len(data) == 1:
data = ord(data)
_crc = crc(_crc, data)
buf.append(data)
buf.append(_crc)
self.send_raw(buf)
def ping(self):
while True:
if self._calibrated:
pkt = [0xf2]
for i in xrange(0, 8):
pkt.append(random.randint(0, 255))
self.send(pkt)
Tasklet.sleep(7)
def loop(self):
"Infinitely read serial input and parse packets"
with self.stream.get_reader() as reader:
while True:
try:
# wait for preamble
while True:
data = ord(reader.read_bytes(1))
if data == 0x5a:
break
# read packet length
_crc = 0
pktlen = ord(reader.read_bytes(1))
_crc = crc(_crc, pktlen)
# read packet data
if pktlen > 0:
data = []
try:
with Timeout.push(1):
for d in reader.read_bytes(pktlen):
d = ord(d)
data.append(d)
_crc = crc(_crc, d)
# read CRC
_crc = crc(_crc, ord(reader.read_bytes(1)))
except TimeoutError:
pass
else:
# check CRC
if _crc == 0:
#print "%s recv: %s" % (self._devname, ", ".join(["0x%02x" % d for d in data]))
if self._calibrated:
if len(data) == 1 and (data[0] == ord('I') or data[0] == 0xf2):
self._calibrated = False
Tasklet.new(self.auto_calibrate_baudrate)()
if self._calibrated or data[0] == 0xf0 or data[0] == ord('E'):
self.dispatcher.receive(data)
except Exception as e:
logging.exception(e)
def version(self):
"Check host version (None if not available)"
req = HostVersionRequest(self)
try:
return self.dispatcher.request(req, timeout=10)
except TimeoutError:
return None
def calibrate_baudrate(self):
"Perform baud rate calibration"
req = BaudRateCalibrationRequest(self)
try:
res = self.dispatcher.request(req, timeout=3)
if res:
self._calibrated = True
return res
else:
raise BaudRateCalibrationError()
except TimeoutError:
raise BaudRateCalibrationError()
def auto_calibrate_baudrate(self):
while True:
try:
print "%s calibrated: %s" % (self._devname, self.calibrate_baudrate())
except BaudRateCalibrationError:
print "%s calibration failed" % self._devname
else:
self._calibrated = True
break
def next_pkt_id(self):
self._next_pkt_id = (self._next_pkt_id + 1) % 256
return self._next_pkt_id
class Host(object):
"Interface to the hardware"
def __init__(self, dispatcher, devname):
"Constructor. devname - serial port devname"
self.dispatcher = dispatcher
self.stream = SerialStream(devname)
self._next_pkt_id = 0
self._devname = devname
self._sendlock = Lock()
self._calibrated = False
Tasklet.new(self.auto_calibrate_baudrate)()
def send_raw(self, buf):
"Send raw data without any checksuming and headers"
with self._sendlock:
#print "%s sent: %s" % (self._devname, ", ".join(["0x%02x" % d for d in buf]))
buf = ''.join([chr(a) for a in buf])
with self.stream.get_writer() as writer:
writer.write_bytes(buf)
writer.flush()
def flush(self):
self.stream.flush()
def send(self, pkt):
"Immediately push packet to the serial port"
buf = [0x5a]
_crc = 0
for data in [len(pkt)] + list(pkt):
if type(data) == str and len(data) == 1:
data = ord(data)
_crc = crc(_crc, data)
buf.append(data)
buf.append(_crc)
self.send_raw(buf)
def ping(self):
while True:
if self._calibrated:
pkt = [0xf2]
for i in xrange(0, 8):
pkt.append(random.randint(0, 255))
self.send(pkt)
Tasklet.sleep(7)
def loop(self):
"Infinitely read serial input and parse packets"
with self.stream.get_reader() as reader:
while True:
try:
# wait for preamble
while True:
data = ord(reader.read_bytes(1))
if data == 0x5a:
break
# read packet length
_crc = 0
pktlen = ord(reader.read_bytes(1))
_crc = crc(_crc, pktlen)
# read packet data
if pktlen > 0:
data = []
try:
with Timeout.push(1):
for d in reader.read_bytes(pktlen):
d = ord(d)
data.append(d)
_crc = crc(_crc, d)
# read CRC
_crc = crc(_crc, ord(reader.read_bytes(1)))
except TimeoutError:
pass
else:
# check CRC
if _crc == 0:
#print "%s recv: %s" % (self._devname, ", ".join(["0x%02x" % d for d in data]))
if self._calibrated:
if len(data) == 1 and (data[0] == ord('I') or data[0] == 0xf2):
self._calibrated = False
Tasklet.new(self.auto_calibrate_baudrate)()
if self._calibrated or data[0] == 0xf0 or data[0] == ord('E'):
self.dispatcher.receive(data)
except Exception as e:
logging.exception(e)
def version(self):
"Check host version (None if not available)"
req = HostVersionRequest(self)
try:
return self.dispatcher.request(req, timeout=10)
except TimeoutError:
return None
def calibrate_baudrate(self):
"Perform baud rate calibration"
req = BaudRateCalibrationRequest(self)
try:
res = self.dispatcher.request(req, timeout=3)
if res:
self._calibrated = True
return res
else:
raise BaudRateCalibrationError()
except TimeoutError:
raise BaudRateCalibrationError()
def auto_calibrate_baudrate(self):
while True:
try:
print "%s calibrated: %s" % (self._devname, self.calibrate_baudrate())
except BaudRateCalibrationError:
print "%s calibration failed" % self._devname
else:
self._calibrated = True
break
def next_pkt_id(self):
self._next_pkt_id = (self._next_pkt_id + 1) % 256
return self._next_pkt_id
