def main(argv):
if len(argv) == 2:
port_name = rospy.get_param("~port", argv[1])
else:
print("Usage: python serial_node.py <port_name>")
return 1
rospy.init_node("Pi_Node", log_level=rospy.DEBUG)
rospy.loginfo("ROS serial python node initialised")
baud = int(rospy.get_param("~baud", "57600"))
tcp_portnum = int(
rospy.get_param("/rosserial_embeddedlinux/tcp_port", "11411"))
fork_server = rospy.get_param('/rosserial_embeddedlinux/fork_server',
False)
if port_name == "tcp":
server = RossSerialServer(tcp_portnm, fork_Server)
rospy.loginfo("Waiting for socket connections on port %d" %
tcp_portnum)
try:
server.losten()
except KeyboardInterupt:
rospy.loginfo()
finally:
rospy.loginfo("Shutting down")
for process in multiprocessing.active_children():
rospy.lofinfo("Shutting down process %r", process)
process.terminate()
process.join()
rospy.loginfo("End")
else:
while not rospy.is_shutdown():
rospy.loginfo("Connecting to %s at %d baud" % (port_name, baud))
try:
client = SerialClient(port_name, baud)
client.run()
except SerialException:
sleep(1)
continue
except OSError:
sleep(1)
continue
def main():
rospy.init_node("Arduino_serial_node", anonymous=False)
#rospy.init_node("Arduino_serial_node")
rospy.loginfo("ROS Serial Python Node")
port_name = rospy.get_param('~port', '/dev/ttyUSB0')
baud = int(rospy.get_param('~baud', '115200'))
# for systems where pyserial yields errors in the fcntl.ioctl(self.fd, TIOCMBIS, \
# TIOCM_DTR_str) line, which causes an IOError, when using simulated port
fix_pyserial_for_test = rospy.get_param('~fix_pyserial_for_test', False)
# TODO: do we really want command line params in addition to parameter server params?
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) >= 2:
port_name = sys.argv[1]
if len(sys.argv) == 3:
tcp_portnum = int(sys.argv[2])
# Use serial port
while not rospy.is_shutdown():
rospy.loginfo("Connecting to %s at %d baud" % (port_name, baud))
try:
client = SerialClient(port_name,
baud,
fix_pyserial_for_test=fix_pyserial_for_test)
client.run()
except KeyboardInterrupt:
finshed = 1
exit(1)
break
except SerialException:
sleep(1.0)
continue
except OSError:
sleep(1.0)
continue
server.listen()
except KeyboardInterrupt:
rospy.loginfo("got keyboard interrupt")
finally:
rospy.loginfo("Shutting down")
for process in multiprocessing.active_children():
rospy.loginfo("Shutting down process %r", process)
process.terminate()
process.join()
rospy.loginfo("All done")
else : # Use serial port
while not rospy.is_shutdown():
rospy.loginfo("Connecting to %s at %d baud" % (port_name,baud) )
try:
client = SerialClient(port_name, baud, fix_pyserial_for_test=fix_pyserial_for_test)
client.run()
except KeyboardInterrupt:
break
except SerialException:
sleep(1.0)
continue
except OSError:
sleep(1.0)
continue
except:
rospy.logwarn("Unexpected Error: %s", sys.exc_info()[0])
client.port.close()
sleep(1.0)
continue
# TODO: do we really want command line params in addition to parameter server params?
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) == 2:
port_name = sys.argv[1]
if len(sys.argv) == 3:
tcp_portnum = int(sys.argv[2])
if port_name == "tcp":
server = RosSerialServer(tcp_portnum, fork_server)
rospy.loginfo("Waiting for socket connections on port %d" %
tcp_portnum)
try:
server.listen()
except KeyboardInterrupt:
rospy.loginfo("got keyboard interrupt")
finally:
rospy.loginfo("Shutting down")
for process in multiprocessing.active_children():
rospy.loginfo("Shutting down process %r", process)
process.terminate()
process.join()
rospy.loginfo("All done")
else: # Use serial port
rospy.loginfo("Connecting to %s at %d baud" % (port_name, baud))
client = SerialClient(port_name, baud)
try:
client.run()
except KeyboardInterrupt:
pass
# TODO: do we really want command line params in addition to parameter server params?
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) == 2 :
port_name = sys.argv[1]
if len(sys.argv) == 3 :
tcp_portnum = int(sys.argv[2])
if port_name == "tcp" :
server = RosSerialServer(tcp_portnum, fork_server)
rospy.loginfo("Waiting for socket connections on port %d" % tcp_portnum)
try:
server.listen()
except KeyboardInterrupt:
rospy.loginfo("got keyboard interrupt")
finally:
rospy.loginfo("Shutting down")
for process in multiprocessing.active_children():
rospy.loginfo("Shutting down process %r", process)
process.terminate()
process.join()
rospy.loginfo("All done")
else : # Use serial port
rospy.loginfo("Connecting to %s at %d baud" % (port_name,baud) )
client = SerialClient(port_name, baud)
try:
client.run()
except KeyboardInterrupt:
pass
print "Contacting Xbees : ", network_ids
# Open serial port
ser = serial.Serial(xbee_port, 57600, timeout=0.01)
ser.flush()
ser.flushInput()
ser.flushOutput()
time.sleep(1)
# Create API object
xbee = XBee(ser, escaped=True)
for xid in network_ids:
client_ports[xid] = FakeSerial(xid, xbee)
time.sleep(.2)
clients[xid] = SerialClient(client_ports[xid])
threads = [threading.Thread(target=c.run) for c in clients.values()]
for t in threads:
t.deamon = True
t.start()
while not rospy.is_shutdown():
try:
msg = xbee.wait_read_frame()
if (debug):
print "Received ", msg
if msg['id'] == 'rx':
src = msg['source_addr']
pass
def flushOutput(self):
pass
if __name__=="__main__":
rospy.init_node("serial_node")
port = rospy.get_param('~port','/dev/ttyRPMSG30')
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) >= 2 :
port = sys.argv[1]
if port == "/dev/m4char":
port = M4charStream()
while not rospy.is_shutdown():
try:
rospy.loginfo("Opening {}".format(port))
client = SerialClient(port)
client.run()
except KeyboardInterrupt:
break
except SerialException:
sleep(1.0)
continue
except OSError:
sleep(1.0)
continue
def __init__(self, *args, **kwargs):
kwargs.pop('fix_pyserial_for_test', None)
_SerialClient.__init__(self, *args, **kwargs)
rospy.Service('~hard_reset', Empty, self.hard_reset)
def main_loop():
while not rospy.is_shutdown():
try:
serial_client.run()
except KeyboardInterrupt:
rospy.loginfo("Keyboard interrupt")
return
except SerialException:
sleep(1.0)
continue
except OSError:
sleep(1.0)
continue
if __name__ == '__main__':
rospy.init_node("serial_node")
baud = None
port = None
if not port:
port = rospy.get_param('~port','/dev/ttyUSB0')
if not baud:
baud = int(rospy.get_param('~baud','57600')) #57600
serial_client = SerialClient(port, baud)
main_loop()
