def main():
args = validateInput()
serial = initSerial(args['SerialPort'], args['BaudRate'])
freq = int(struct.unpack('h', serial.read(2))[0])
scriptTime = int(freq * args['ExecTime'])
timeCounter = 0
while (timeCounter <= scriptTime or scriptTime == 0):
timeCounter += 1
try:
dataLen = int(struct.unpack('B', serial.read(1))[0])
rawData = serial.read(dataLen)
data = struct.unpack(STRUCT_DATA, rawData)
# Arquivo de log
dataFile = open(args['FileName'], 'a')
dataFileBin = open(args['FileName'] + 'bin', 'ab')
dataFile.write(
str(data[0]) + "\t" + str(data[1]) + "\t" + str(data[2]) +
"\n")
dataFileBin.write(rawData)
dataFile.close()
dataFileBin.close()
except KeyboardInterrupt:
break
serial.close()
def start_bootloader():
'''Starts bootloader
:returns:
True if bootloader mode entered, False if failed
'''
print("start")
C = [0x55, 0x55, ord('J'), ord('I'), 0x00]
crc = calc_crc(
C[2:4] +
[0x00]) # for some reason must add a payload byte to get correct CRC
crc_msb = (crc & 0xFF00) >> 8
crc_lsb = (crc & 0x00FF)
C.insert(len(C), crc_msb)
C.insert(len(C), crc_lsb)
serial.write(C)
print(C)
time.sleep(2) # must wait for boot loader to be ready
R = serial.read(5)
print(R)
if R[0] == 85 and R[1] == 85:
#packet_type = '{0:1c}'.format(R[2]) + '{0:1c}'.format(R[3])
packet_type = R[2] + R[3]
if packet_type == 'JI':
serial.read(R[4] + 2)
print('bootloader ready')
time.sleep(2)
if boot_mode == 0:
print('resync with device')
time.sleep(2)
return True
else:
return False
else:
return False
def send_command(serial,
command,
human,
expected_response=None,
crlf=True,
waittime=1000):
'''Sends a command to the device.'''
# flush the read buffer
serial.read(serial.inWaiting())
print human
print "<<< " + command
serial.write(command)
if crlf:
serial.write("\r\n")
time.sleep(waittime / 1000)
if expected_response:
n = max([serial.inWaiting(), len(expected_response)])
#print n
data = serial.read(n)
#print data
if expected_response in data:
print ">>> OK"
else:
print "<<< " + command
print ">>> ERROR: " + data
def find_packet(serial):
if hex(ord(serial.read())) == START_IOPACKET:
lengthMSB = ord(serial.read())
lengthLSB = ord(serial.read())
length = (lengthLSB + (lengthMSB << 8)) + 1
return serial.read(length)
else:
return None
def read_response(serial):
hdr_len = 3
header = np.frombuffer(serial.read(hdr_len), dtype=np.uint8)
pl_len = header[-1]
payload = np.frombuffer(serial.read(pl_len), dtype=np.uint8)
response = np.concatenate((header, payload))
print response
def receive_frame (serial):
raw_data = b''
raw_byte = serial.read ()
if raw_byte == STX:
while raw_byte:
raw_data += raw_byte
raw_byte = serial.read ()
else:
raw_data += raw_byte
return raw_data
def write(self, data, half_duplex=None):
if half_duplex is None:
half_duplex = self.half_duplex
serial = self.serial
data = self.encode(data)
cnt = serial.write(data)
serial.flush()
if half_duplex:
# Clean RX buffer in case of half duplex
# All written data is read into RX buffer
serial.read(cnt)
def getPosition(serial, device, channel):
""" Accesses the position of a channel using the pololu protocol.
SERIAL is the serial device the maestro is attached to.
DEVICE is the maestro device number. (default 12)
CHANNEL is the channel to sample.
When the channel is an analog channel, it reports a value [0...1023].
"""
serial.write(chr(0xAA))
serial.write(chr(device))
serial.write(chr(0x10))
serial.write(chr(channel))
return ord(serial.read(1)) + 256 * ord(serial.read(1))
def get_position(serial, channel, device=12):
""" Accesses the position of a channel using the pololu protocol.
SERIAL is the serial device the maestro is attached to.
DEVICE is the maestro device number. (default 12)
CHANNEL is the channel to sample.
When the channel is an analog channel, it reports a value [0...1023].
"""
serial.write(chr(0xAA))
serial.write(chr(device))
serial.write(chr(0x10))
serial.write(chr(channel))
return ord(serial.read(1)) + (ord(serial.read(1)) << 8)
def recv(self, serial):
buffer = ''
aux = ''
while len(str(aux.encode('hex'))) == 0:
aux = serial.read()
while len(str(aux.encode('hex'))) > 0:
buffer += aux
aux = serial.read()
serial.flushInput()
print " ENCODED: %s" % buffer
buffer = b64decode(buffer)
print " ENCRYPTED: %s" % buffer.encode('hex')
return buffer
def recv(self,serial):
buffer = ''
aux = ''
while len(str(aux.encode('hex'))) == 0:
aux = serial.read()
while len(str(aux.encode('hex'))) > 0:
buffer += aux
aux = serial.read()
serial.flushInput()
print " ENCODED: %s" % buffer
buffer = b64decode ( buffer )
print " ENCRYPTED: %s" % buffer.encode('hex')
return buffer
def read_from(self, serial):
self.cmd.extend(serial.read(3))
if self.cmd[_IDX_STX] != _STX:
raise MalformedCommand(_IDX_STX, _STX, self.cmd[_IDX_STX])
# the length includes prelude and appendix, which are six bytes total.
if self.length > 6:
self.cmd.extend(serial.read(self.length - 6))
self.cmd.extend(serial.read(3))
if self.cmd[_IDX_ETX] != _ETX:
raise MalformedCommand(_IDX_ETX, _ETX, self.cmd[_IDX_ETX])
def xmodem_send(self, serial, file): length = len(file.read()) / 128 file.seek(0, 0) i = 1 t, anim = 0, '|/-\\' serial.setTimeout(1) while 1: if serial.read(1) != NAK: t = t + 1 print anim[t%len(anim)],'\r', if t == 60 : return False else: break p = 1 s = file.read(128) while s: s = s + '\xFF'*(128 - len(s)) chk = 0 for c in s: chk+=ord(c) while 1: serial.write(SOH) serial.write(chr(p)) serial.write(chr(255 - p)) serial.write(s) serial.write(chr(chk%256)) serial.flush() answer = serial.read(1) if answer == NAK: continue if answer == ACK: break return False s = file.read(128) p = (p + 1)%256 # update progressbar progress = (100*i) / float(length) self.p["value"] = progress self.label2["text"] = str(round(progress, 2))+'%' self.win.update_idletasks() i += 1 serial.write(EOT) if progress == 100: self.win.destroy() return True else: return False
def avarage(self, event):
prom = 0x01
dlg = wx.TextEntryDialog(self, 'Cual es el Promedio?:',
'PROMEDIO') # you display a dialog entry
dlg.SetValue("0")
if dlg.ShowModal() == wx.ID_OK:
promedio = int(dlg.GetValue())
print "PROMEDIO %i" % promedio
dlg.Destroy()
serial = serial_x(commNumber)
serial.write('P')
serial.write(promedio)
print(serial.read(2))
prom = serial.read(1)
print prom
def send_data(data, read_byte): ## sending data to herkulex Servo
length = len(data) + 5
data.insert(0, length)
csm1 = checksum1(data)
csm2 = checksum2(csm1)
data.insert(0, 0xFF)
data.insert(1, 0xFF)
data.insert(5, csm1)
data.insert(6, csm2)
#print data
stringtosend = ""
for i in range(len(data)):
byteformat = '%02X' % data[i]
stringtosend = stringtosend + "\\x" + byteformat
try:
serial.write(stringtosend.decode('string-escape'))
t = 13
if (read_byte != 0): ##reading data from servo ACK
rxdata = serial.read(t)
return rxdata
except:
return -1
def readSensor(serial):
try:
# request data 21
serial.flushInput()
serial.write('90 232'.encode('utf8'))
serial.write('90 223'.encode('utf8'))
serial.write('90 203'.encode('utf8'))
#print(ser.out_waiting)
msg_b = serial.read(8)
encoded = str(base64.b16encode(msg_b))
encoded = encoded.replace("b'","")
encoded = encoded.replace("'","")
B = read_hex(encoded)
#print(B)
return B
except (Exception,KeyboardInterrupt) as e:
print('sensor communication broke down')
print(str(e))
serial.flushInput()
time.sleep(0.2)
serial.flushOutput()
time.sleep(0.2)
serial.close() # Only executes once the loop exits
sys.exit()
def read_from_port(serial):
alldata = ""
dlen = 0
while stopFlag:
data = serial.read(256)
if len(data) != 0:
alldata = alldata + data
if (dlen > 0) and (len(alldata) > 0):
print alldata[0]
alldata = alldata[1:]
dlen = dlen - 1
elif (len(alldata) > 2):
if alldata[0] == '\xAB' and alldata[1] == '\xAD':
dlen = ord(alldata[2])
if dlen <= (len(alldata) - 3):
print "receive data:" + alldata[3:3 + dlen]
dlen = 0
alldata = alldata[3 + dlen:]
else:
dlen -= (len(alldata) - 3)
print "receive data:" + alldata[3:]
alldata = ""
elif alldata[0] == '\xAB' and alldata[1] == '\xA5':
print "send data success len:" + str(ord(alldata[2]))
#skip 3 bytes
alldata = alldata[3:]
else:
#skip one byte and continue
alldata = alldata[1:]
def Main(args):
global port
if len(args) != 2:
print("Invalid input arguments")
return 1
serial.port = args[1]
serial.baudrate = 115200
serial.timeout = 3
serial.open()
input("Press enter to send data...")
nCmdsGood = 0
print("Starting upload on " + args[1] + "...")
while True:
cmd = bytes([ (0x80 if ((nCmdsGood % 5) == 0) else 0) | (0x01 if ((nCmdsGood % 3) == 0) else 0), 0 ])
serial.write(cmd)
resp = serial.read(len(cmd))
if len(resp) > 0:
if resp == cmd:
nCmdsGood += 1
print(resp)
else:
print("Waited too long.")
break
input("Press enter to close serial port...")
serial.close()
print("Done!")
def read_speed(motor_num):
if (motor_num == 1):
board_num = 0x80
command = 30
serial = ser_x80
elif (motor_num == 2):
board_num = 0x81
command = 30
serial = ser_x81
elif (motor_num == 3):
board_num = 0x80
command = 31 ## OK, this is seriously a major WTF here. I need to see if the board is wired wrong or something.
serial = ser_x80
data = []
serial.write(chr(board_num))
serial.write(chr(command))
for i in range(6):
data.append(serial.read())
speed = (data[0].encode("hex")) + (data[1].encode("hex")) + (data[2].encode("hex")) + (data[3].encode("hex"))
speed = int(speed, 16)
if ((ord(data[4]) == 1) and (speed != 0)):
speed = ~(0xffffffff - speed) + 1
rotations_per_second = float(speed) * 125 / 8192
return rotations_per_second
def read_from_port(serial):
while True:
#print ("teste")
dado=serial.read(64)
if(len(dado)>0):
p=":".join("{:02x}".format(ord(c)) for c in dado)
print "rcv "+p
def readsen177(serial):
'''
Read data from SEN0177 by serial port and return list of all measured values
'''
try:
dane=serial.read(32)
#concentration of PM1.0, ug/m3
PM1=readbit(dane,4)
#concentration of PM2.5, ug/m3
PM25=readbit(dane,6)
#concentration of PM10.0, ug/m3
PM10=readbit(dane,8)
#the number of particulate of diameter above 0.3um in 0.1 liters of air
bin1=readbit(dane,16)
#the number of particulate of diameter above 0.5um in 0.1 liters of air
bin2=readbit(dane,18)
#the number of particulate of diameter above 1.0um in 0.1 liters of air
bin3=readbit(dane,20)
#the number of particulate of diameter above 2.5um in 0.1 liters of air
bin4=readbit(dane,22)
#the number of particulate of diameter above 5.0um in 0.1 liters of air
bin5=readbit(dane,24)
#the number of particulate of diameter above 10.0um in 0.1 liters of air
bin6=readbit(dane,26)
ser.flushInput()
ser.flushOutput()
return [PM1,PM25,PM10,bin1,bin2,bin3,bin4,bin5,bin6,int(checkval(dane)==readbit(dane,30))]
except Exception as e:
print ("PM data read error: {}".format(e))
return 1
def openbci_id(self, serial):
"""
When automatically detecting port, parse the serial return for the "OpenBCI" ID.
"""
line = ''
#
# Wait for device to send data
#
# time.sleep(2)
if serial.inWaiting():
line = ''
c = ''
# Look for end sequence $$$
while '$$$' not in line:
c = serial.read().decode(
'utf-8', errors='replace'
) # we're supposed to get UTF8 text, but the board might behave otherwise
line += c
if "OpenBCI" in line:
return True
return False
def read_reply(serial, count):
if (verbose_mode):
print("Waiting data...")
r = serial.read(count)
if (verbose_mode):
print("Read: %d: %s" % (len(r),r))
return r
def readSerial(threadName, delay):
s = ""
while True:
if serial.inWaiting() != 0:
c = serial.read()
if (c == 'U'):
global relock
relock = 1
if (c == 'S' or c == 'I'):
global sendPin
sendPin = 1
if (c == '\n'):
print "[%7s] %s" % (threadName, s)
# if(s == "Enter Pin:"):
# print "in sendpin"
# global sendPin
# sendPin = 1
if (s == "Unlocked"):
print "In unlocked"
global relock
relock = 1
s = ""
else:
s += c
else:
time.sleep(0.01)
def dlt645_read_time(serial,addr,data_tag):
#print 'dlt645_read_time ...'
try:
cmd2 = '\xfe\xfe\xfe\xfe' + encode_dlt645(addr,0x11,4,data_tag)
serial.write(cmd2)
time.sleep(0.5)
resp = ''
c = ''
i = 0
while c != '\x16' and i < SERIAL_TIMEOUT_CNT:
c = serial.read(1)
if len(c) > 0:
resp += c
else:
print '.'
i += 1
if i >= SERIAL_TIMEOUT_CNT:
return -1,0
resp1 = dlt_645_rm_fe(resp)
ret,addr,data,ctl = decode_dlt645(resp1)
#print data.encode('hex')
# need to convert to Unix time stamp
if ret == 0 and len(data) >= 7:
list1 = list(bcd2digits(data[4:7]))
str1 = ''.join(str(e) for e in list1)
return ret,str1
else:
return -1,0
except:
print 'dlt645_read_data exception!'
return -1,0
def openbci_id(self, serial):
"""
When automatically detecting port, parse the serial return for the "OpenBCI" ID.
"""
line = ''
# # Wait for device to send data
# if self.openBCIFirmwareVersion == 'v1':
# serial.timeout = 1.0 #wait for 1 s for each character in read
time.sleep(2)
res = False
if serial.inWaiting():
line = ''
c = ''
# Look for end sequence $$$
timeouted = False
while ('$$$' not in line) and not timeouted:
c = serial.read()
if c == '':
timeouted = True
line += c.decode('utf-8')
if "OpenBCI" in line:
res = True
# if self.openBCIFirmwareVersion == 'v1':
# serial.timeout = self.timeout # reset timeout to default
return res
def recv(self, serial):
#sleep(0.01)
data = serial.read(100)
# sleep(0.02)
#
# print(data)
return data
def readSensor(serial):
try:
# request data 21
serial.flushInput()
string = "5A E8 5A DF 5A CB" #Long range - Fast mode - Start periodic readout
cmd_bytes = bytearray.fromhex(string)
ser.write(cmd_bytes)
msg_b = serial.read(8)
encoded = str(base64.b16encode(msg_b))
encoded = encoded.replace("b'","")
encoded = encoded.replace("'","")
B = read_hex(encoded)
#print(B)
return B
except KeyboardInterrupt:
print("User interrupt encountered. Exiting...")
time.sleep(3)
serial.flushInput()
serial.flushOutput()
serial.close()
sys.exit()
except:
# for all other kinds of error, but not specifying which one
print("Device disconnected")
time.sleep(3)
serial.flushInput()
serial.flushOutput()
serial.close()
sys.exit()
def run(self): # Main loop of thread
try:
while True:
for device in self.devices:
serial = self.devices[device]["serial"]
ch = b''
data_from_device = b''
while ch != b'\n':
try:
try:
ch = serial.read(1) # Reading data from serial
except AttributeError as e:
if serial is None:
self.__connect_to_devices() # if port not found - try to connect to it
raise e
data_from_device = data_from_device + ch
except Exception as e:
log.exception(e)
continue
try:
converted_data = self.devices[device]['converter'].convert(self.devices[device]['device_config'], data_from_device)
self.__gateway.send_to_storage(self.get_name(), converted_data)
time.sleep(.1)
except Exception as e:
log.exception(e)
self.close()
raise e
if not self.connected:
break
except Exception as e:
log.exception(e)
def reader(self, serial, color):
"""loop and copy serial->console"""
first = True
try:
line = []
while self.alive:
data = serial.read(1)
if not data:
continue
# don't print a NULL if it's the first character we
# read. This hides startup/port-opening glitches with
# some serial devices.
if self.suppress_read_firstnull and first and data == "\0":
first = False
continue
first = False
if color != self.last_color:
self.last_color = color
sys.stdout.write(color)
line.append(data)
if data == "\r":
# if len(data) > 1:
if line != ["\r"]:
try:
msg = MkMsg.createFromData(line)
# if ((msg.command == 'o') or (msg.command == 'O')):
print time.strftime("%X") + str(msg)
except Exception, e:
print e, line
line = []
# sys.stdout.write("".join(line))
# sys.stdout.write("\n")
# if (self.raw or
# (ord(data) >= 32 and ord(data) < 128) or
# data == '\r' or data == '\n' or data == '\t'):
# if self.add_cr and data == '\n':
# sys.stdout.write('\r' + data)
# else:
# sys.stdout.write(data)
# else:
# sys.stdout.write('\\x'+("0"+hex(ord(data))[2:])[-2:])
sys.stdout.flush()
except Exception as e:
sys.stdout.write(color)
sys.stdout.flush()
traceback.print_exc()
sys.stdout.write(self.color.reset)
sys.stdout.flush()
self.console.cleanup()
os._exit(1)
def read_data(serial):
'''
Function for recieve data from serial port.
Parameters
serial serial.Serial instance.
Return
list list of int for data recieved. Empty list if not
recieve any thing.
'''
if serial is None:
return []
PACKAGE = []
try:
if not serial.is_open:
pass
# rospy.logwarn("Serial port is not open.")
elif serial.is_open:
# print serial.inWaiting()
while serial.inWaiting():
PACKAGE.append(ord(serial.read()))
if len(PACKAGE) > 0:
# rospy.logdebug("RECIEVE<< "+str(PACKAGE))
rospy.logdebug(str(len(PACKAGE)))
except Exception as e:
rospy.logerr("cannot recieve data from serial port" + str(e))
finally:
return PACKAGE
def getPacket(self, outputPacket):
# Will halt while buffer is being used
while (self.BufferUsed == True):
sleep(2.0 / 1000) # Wait 2Msec
# Lock the buffer untill we are finished
self.BufferUsed = True
# We know we will always have a constant 2 bits of header
softStorage = outputSerial.read(2)
if softStorage[0] != 0x50 or softStorage[1] != 0xAF:
NAKReply_Und.send(self.outputSerial)
return False
# We assume that the new two bits will be correct and we dont have to garbage collect
# Another 3 bits of header info (cmd1, cmd2, length), not super important we keep the header
softStorage = outputSerial.read(3)
outputPacket.setCMD1(softStorage[0])
outputPacket.setCMD2(softStorage[1])
# Grab the next Length of data
storageLength = softStorage[2]
softStorage = serial.read(storageLength)
for dataVar in softStorage:
outputPacket.addData(dataVar)
# Make sure to unlock the buffer so other programs can use it
BufferUsed = False
return True
def serial_read():
global port, serial, isDone, mainMenu, playing, gameOver, speed, char
while not isDone:
try:
value = serial.read()
if mainMenu:
if value == 'y':
char.lastHundred = int(char.distXTraveled/100)
mainMenu = False
playing = True
if playing:
if value == 'r':
char.updateComm('right')
if value == 'l':
char.updateComm('left')
if value == 'j':
char.updateComm('jump')
if value == 'y':
speed = min(max_speed, speed + 0.005)
if value == 'n':
speed = max(min_speed, speed - 0.001)
print value
except:
continue
def read_from_port(serial):
alldata = ""
dlen = 0
while stopFlag:
data = serial.read(256)
if len(data) != 0:
alldata = alldata + data
if (dlen > 0) and (len(alldata) > 0):
print alldata[0]
alldata = alldata[1:]
dlen = dlen - 1
elif(len(alldata) > 2):
if alldata[0] == '\xAB' and alldata[1] == '\xAD':
dlen = ord(alldata[2])
if dlen <= (len(alldata) - 3):
print "receive data:" + alldata[3:3+dlen]
dlen = 0
alldata = alldata[3+dlen:]
else:
dlen -= (len(alldata) - 3)
print "receive data:" + alldata[3:]
alldata = ""
elif alldata[0] == '\xAB' and alldata[1] == '\xA5':
print "send data success len:" + str(ord(alldata[2]))
#skip 3 bytes
alldata = alldata[3:]
else:
#skip one byte and continue
alldata = alldata[1:]
def dlt645_get_addr(serial):
#print 'dlt645_get_addr ...'
try:
#cmd2 = '\xfe\xfe\xfe\xfe\x68\xaa\xaa\xaa\xaa\xaa\xaa\x68\x13\x00\xdf\x16'
cmd2 = '\xfe\xfe\xfe\xfe' + encode_dlt645('\xaa\xaa\xaa\xaa\xaa\xaa',0x13,0,'')
serial.write(cmd2)
time.sleep(0.5)
resp = ''
c = ''
i = 0
while c != '\x16' and i < SERIAL_TIMEOUT_CNT:
c = serial.read(1)
if len(c) > 0:
resp += c
else:
print '.'
i += 1
if i >= SERIAL_TIMEOUT_CNT:
return -1,0
resp1 = dlt_645_rm_fe(resp)
#print 'resp1:',resp1
ret,addr,data,ctl = decode_dlt645(resp1)
if ret == 0:
return ret,addr
except:
print 'dlt645_get_addr exception!'
return -1,''
def _send_and_wait_for_ack(self, packet, serial):
ack = 0
MAX_RETRIES = 1 # no more than 9
while ack != 0x06 and int(chr(packet[4])) < MAX_RETRIES:
serial.write(packet)
ack = serial.read(1)
# This violates the principle that we do high level
# client-side and low level posbox-side but the retry
# counter is always in a fixed position in the high level
# message so it's safe to do it. Also it would be a pain
# to have to throw this all the way back to js just so it
# can increment the retry counter and then try again.
packet[4] += 1
if ack:
ack = ord(ack)
else:
_logger.warning("did not get ACK, retrying...")
ack = 0
if ack == 0x06:
return True
else:
_logger.error(
"retried " + str(MAX_RETRIES) +
" times without receiving ACK, is blackbox properly connected?"
)
return False
def readSensor(serial):
try:
# request data 21
serial.flushInput()
string = "5A E8 5A DF 5A CB" #Long range - Fast mode - Start periodic readout
cmd_bytes = bytearray.fromhex(string)
ser.write(cmd_bytes)
msg_b = serial.read(8)
encoded = str(base64.b16encode(msg_b))
encoded = encoded.replace("b'", "")
encoded = encoded.replace("'", "")
B = read_hex(encoded)
#print(B)
return B
except (Exception, KeyboardInterrupt) as e:
print('sensor communication broke down')
print(str(e))
serial.flushInput()
time.sleep(0.2)
serial.flushOutput()
time.sleep(0.2)
serial.close() # Only executes once the loop exits
sys.exit()
def write_block(buf, data_len, addr):
'''Executed WA command to write a block of new app code into memory
'''
print(data_len, addr)
C = [0x55, 0x55, ord('W'), ord('A'), data_len + 5]
addr_3 = (addr & 0xFF000000) >> 24
addr_2 = (addr & 0x00FF0000) >> 16
addr_1 = (addr & 0x0000FF00) >> 8
addr_0 = (addr & 0x000000FF)
C.insert(len(C), addr_3)
C.insert(len(C), addr_2)
C.insert(len(C), addr_1)
C.insert(len(C), addr_0)
C.insert(len(C), data_len)
for i in range(data_len):
#C.insert(len(C), ord(buf[i]))
C.insert(len(C), buf[i])
crc = calc_crc(C[2:C[4] + 5])
crc_msb = int((crc & 0xFF00) >> 8)
crc_lsb = int((crc & 0x00FF))
C.insert(len(C), crc_msb)
C.insert(len(C), crc_lsb)
status = 0
while (status == 0):
serial.write(C)
test = []
for ele in C:
test.insert(len(test), hex(ele))
#print test
#print len(C)
#print('percent: {:.2%}'.format(addr/fs_len))
print("upload progress: %.3f%%" % (float(addr) / float(fs_len) * 100))
if addr == 0:
sleep(8)
else:
#sleep(0.01)
sleep(0.01)
R = serial.read(12) #longer response
#test = ord(R[0])
status = 1
#print R[2]
#print R[3]
if len(R) > 1 and (R[0]) == 85 and (R[1]) == 85:
#packet_type = '{0:1c}'.format(R[2]) + '{0:1c}'.format(R[3])
#packet_type = R[2] + R[3]
#print(packet_type)
packet_type = '{0:1c}'.format(R[2]) + '{0:1c}'.format(R[3])
if packet_type == 'WA':
status = 1
else:
sys.exit()
print('retry 1')
status = 0
else:
print(len(R))
print(R)
#self.reset_buffer()
sleep(1)
print('no packet')
sys.exit()
def read_serial(serial, sensors):
"""
TODO: Upgrade to a class
:param serial:
:param sensors:
:return:
"""
while True:
# Read strings line by line
# ser_bytes = ser.readline()
# line = ser_bytes[0:len(ser_bytes) - 2].decode("ascii")
# sensors = parse_serial_line(line)
# print(f"\r {sensors}", end="")
# ser.flushInput()
# Read by bytes
counter = serial.in_waiting # count the number of bytes of the serial port
bytes_to_read = 5
if counter > bytes_to_read - 1:
bytes_serial = serial.read(bytes_to_read)
# ser.reset_input_buffer() # reset buffer
sensor_index, sensor_reading = read_sensor_package(bytes_serial)
if sensor_index >= 0:
if sensor_index not in sensors:
sensors[sensor_index] = SMA(2)
if sensor_reading > 0:
sensors[sensor_index].append(sensor_reading)
def _send_and_wait_for_ack(self, packet, serial):
ack = 0
MAX_RETRIES = 1
while ack != 0x06 and int(chr(packet[4])) < MAX_RETRIES:
serial.write(packet)
ack = serial.read(1)
# This violates the principle that we do high level
# client-side and low level posbox-side but the retry
# counter is always in a fixed position in the high level
# message so it's safe to do it. Also it would be a pain
# to have to throw this all the way back to js just so it
# can increment the retry counter and then try again.
packet = packet[:4] + str(int(packet[4]) + 1) + packet[5:]
if ack:
ack = ord(ack)
else:
_logger.warning("did not get ACK, retrying...")
ack = 0
if ack == 0x06:
return True
else:
_logger.error("retried " + str(MAX_RETRIES) + " times without receiving ACK, is blackbox properly connected?")
return False
def read_float(serial):
"""
helper function to read a float from the serial port
"""
#convert from little endian(Razor) to big endian
hex_array = reversed([chr(ord(serial.read(1))) for i in range(4)])
hex_string = ''.join(hex_array)
return struct.unpack('>f', hex_string)[0]
def send(self, serial, response_length): serial.write(self.frame) try: if self.parameter: response = serial.read(response_length) response = binascii.hexlify(response) response = response[-4:-2] return responseType[response] else: response = serial.read(response_length) response = binascii.hexlify(response) status = response[-6:-4] data = response[-4:-2] data = int(data,16) return [ responseType[status], data ] except KeyError: return 'Invalid response from remote radio'
def modem_terminal(serial,string,timeout): serial.flushInput() serial.write(string) while timeout>0: if serial.inWaiting()>0: sys.stdout.write(serial.read(serial.inWaiting())) time.sleep(0.001) timeout=timeout-1 print ""
def recv(serial): while True: data = serial.read(30) if data == '': continue else: break sleep(1) return data
def send(self, serial, response_length): serial.write(self.frame) try: response = serial.read(response_length) response = binascii.hexlify(response) response = response[-4:-2] return responseType[response] except KeyError: return 'Invalid response from remote radio'
def setDH1():
serial.write(b'\x41\x54\x44\x48\x31\x33\x41\x32\x30\x30\x0D\x0A')
time.sleep(1)
resp = ""
while (serial.inWaiting() > 0):
data = serial.read()
resp += data
if '\x4F\x4B\x0D' in resp:
print "Set DH to Router1"
break
def send(self, serial, response_length): serial.write(self.frame) try: response = serial.read(response_length) response = binascii.hexlify(response) status = response[-8:-6] data = response[-6:-2] return [ responseType[status], data ] except KeyError: return 'Invalid response from remote radio'
def _serial_write_and_read_HX(serial, value, read_len):
retValue = [0 for x in range(read_len)]
serial.write(value)
time.sleep(0.2)
for iIndex in range(read_len):
tmp = serial.read(1)
retValue[iIndex] = hex(ord(tmp))
return retValue
def main():
while True:
text = raw_input("Enter text to send to Arduino ")
if not text:
continue
arduino.write(text)
print("Sent %s to arduino " % text)
time.sleep(1)
result = serial.read()
def exitCommandMode():
serial.write(b'\x41\x54\x43\x4E\x0D\x0A')
time.sleep(1)
resp = ""
while (serial.inWaiting() > 0):
data = serial.read()
resp += data
if '\x4F\x4B\x0D' in resp:
print "Exit Command Mode"
break
return 0
def serial_read(num_bytes):
if not hasattr(serial_read, "warned"):
serial_read.warned = False
data = serial.read(num_bytes)
if len(data) != num_bytes:
serial_read.warned = True
print "*** Error reading Scorbot-ER III serial port"
print "*** Is the cable plugged in and the control box powered on?"
else:
serial_read.warned = False
return data
def setDL2():
serial.write(b'\x41\x54\x44\x4C\x34\x30\x45\x38\x33\x33\x46\x31\x0D\x0A')
time.sleep(1)
resp = ""
while (serial.inWaiting() > 0):
data = serial.read()
resp += data
if '\x4F\x4B\x0D' in resp:
print "Set DL to Router2"
break
return 0
def readSerialPort():
isOpen = serial.isOpen()
if(isOpen) :
print 'COM4 serial port is opened!'
fmt = '!3h'
while(1):
header = ord(serial.read())
if(header != 0x88 or header == -1):
continue
header = ord(serial.read())
if(header != 0xAF or header == -1):
continue
header = ord(serial.read())
if(header != 0x1C or header == -1):
continue
content = serial.read(29)
roll,pitch,yaw = struct.unpack_from(fmt,content,18)
print pitch / 100.0 , roll / 100.0,yaw / 10.0
def lineFromSerial(serial):
global serialBuffer
serialBuffer = serialBuffer + serial.read(serial.inWaiting())
if '\n' in serialBuffer:
lines = serialBuffer.partition('\n') # returns 3-tuple with line, separator, rest
if(lines[1] == ''):
# separator not found, first element is incomplete line
serialBuffer = lines[0]
return None
else:
serialBuffer = lines[2]
return lines[0]
def writeSetting():
serial.write(b'\x41\x54\x57\x52\x0D\x0A')
time.sleep(1)
resp = ""
while (serial.inWaiting() > 0):
data = serial.read()
resp += data
if '\x4F\x4B\x0D' in resp:
print "Write Setting "
break
return 0
def accesssCommandMode():
print "in func"
serial.write(b'\x2B\x2B\x2B')
time.sleep(1)
resp = ""
while (serial.inWaiting() > 0):
data = serial.read()
resp += data
if '\x4F\x4B\x0D' in resp:
print "In Command Mode"
break
return 0
def print_input(serial):
code = 0
state = 0
crc = 0
data_expected_length = 0
data_received_length = 0
data_buffer = bytes()
while True:
data = serial.read()
if (state == 0):
if (data == PACKET_HEADER1):
state += 1
print("got header1")
elif (state == 1):
if (data == PACKET_HEADER2):
state += 1
print("got header2")
else:
state = 0
elif (state == 2):
code = data
crc ^= ord(data)
state += 1
elif (state == 3):
data_expected_length = ord(data)
crc ^= ord(data)
state += 1
elif (state == 4):
data_expected_length |= (ord(data) << 8)
crc ^= ord(data)
state += 1
print("data length: {}".format(data_expected_length))
elif (state == 5):
data_buffer += data
crc ^= ord(data)
data_received_length += 1
if (data_received_length >= data_expected_length):
state += 1
elif (state == 6):
if (bytes([crc]) == data):
print("crc correct!")
update_imu_data(struct.unpack("< ffffff", data_buffer))
else:
print("calc crc: {}".format(bytes([crc])))
print("got crc: {}".format(data))
print("crc bad!")
state = 0
crc = 0
data_expected_length = 0
data_received_length = 0
data_buffer = bytes()
def readSerial(threadName, delay):
s = ""
while not Quit:
if serial.inWaiting() != 0:
c = serial.read()
if (c == '\n'):
print "[%7s] %s" % (threadName, s)
s =""
else:
s += c
else:
time.sleep(0.01)
