def __init__(self, dev):
self._serial_handler = SerialHandler(dev)
self._forward_clib = False
self._turn_clib = False
self._lock = threading.RLock()
def __init__(self, dev):
self._serial_handler = SerialHandler(dev)
self._forward_clib = False
self._turn_clib = False
self._lock = threading.RLock()
class ProtocolHandler(object):
def __init__(self, dev):
self._serial_handler = SerialHandler(dev)
self._forward_clib = False
self._turn_clib = False
self._lock = threading.RLock()
def is_forward_clib(self):
with self._lock:
return self._forward_clib
def set_forward_clib(self, value):
with self._lock:
self._forward_clib = value
def is_turn_clib(self):
with self._lock:
return self._turn_clib
def set_turn_clib(self, value):
with self._lock:
self._turn_clib = value
def in_config_mode(self):
self._serial_handler.write(struct.pack('<B', CONFIG_HEADER))
def send_clib_status(self, status):
self._serial_handler.write(ClibStatus(status).to_bytes())
def load_channel_to_takeover(self):
res = ChannelToTakeover()
to_quit = False
while not to_quit:
self.wait_for_header()
res.convert_to_pkg(self._serial_handler.read(res.get_length()))
if res.get_id() == CHANNEL_TO_TAKEOVER:
to_quit = True
return res
def load_motor_to_takeover(self):
res = MotorToTakeover()
to_quit = False
while not to_quit:
self.wait_for_header()
res.convert_to_pkg(self._serial_handler.read(res.get_length()))
if res.get_id() == MOTOR_TO_TAKEOVER:
to_quit = True
return res
def send_channel_to_takeover_pkg(self, ch, listen_mode, value, status):
self._serial_handler.write(ChannelToTakeover(ch, listen_mode, value, status).to_bytes())
def wait_for_header(self):
while ord(self._serial_handler.read(1)) != HEADER_START: pass
def check_header_or_done(self):
while True:
read = ord(self._serial_handler.read(1))
if read == HEADER_START:
return True
elif read == DONE_HEADER:
return False
def send_motor_to_takeover_and_clib(self, ch, max_command, pin, tab, min_joy, max_joy, to_clib, deadband, reverse, sp):
self.set_forward_clib(True)
self._serial_handler.write(MotorToTakeover(ch, max_command, pin, tab, min_joy, 0, max_joy, to_clib, deadband, reverse).to_bytes())
self.wait_for_header()
while self.check_header_or_done():
res = ChannelRespond()
res.convert_to_pkg(self._serial_handler.read(res.get_length()))
sp.setValue(res.get_value())
if min_joy > res.get_value():
min_joy = res.get_value()
sp.setMinimum(min_joy)
elif max_joy < res.get_value():
max_joy = res.get_value()
sp.setMaximum(max_joy)
self._serial_handler.flush()
def send_motor_to_takeover(self, ch, max_command, pin, tab, min_joy, mid_joy, max_joy, to_clib, deadband, reverse):
self._serial_handler.write(MotorToTakeover(ch, max_command, pin, tab, min_joy, mid_joy, max_joy, to_clib, deadband, reverse).to_bytes())
def send_read_param(self):
self._serial_handler.write(struct.pack('<B', LOAD_HEADER))
def got_done(self):
wd = WatchDogTimer(3000)
now = WatchDogTimer.now()
while not self._serial_handler.available() and not wd.check_if_timeout(now):
now = WatchDogTimer.now()
if not wd.is_timeout():
return ord(self._serial_handler.read(1)) == DONE_HEADER
return False
class ProtocolHandler(object):
def __init__(self, dev):
self._serial_handler = SerialHandler(dev)
self._forward_clib = False
self._turn_clib = False
self._lock = threading.RLock()
def is_forward_clib(self):
with self._lock:
return self._forward_clib
def set_forward_clib(self, value):
with self._lock:
self._forward_clib = value
def is_turn_clib(self):
with self._lock:
return self._turn_clib
def set_turn_clib(self, value):
with self._lock:
self._turn_clib = value
def in_config_mode(self):
self._serial_handler.write(struct.pack('<B', CONFIG_HEADER))
def send_clib_status(self, status):
self._serial_handler.write(ClibStatus(status).to_bytes())
def load_channel_to_takeover(self):
res = ChannelToTakeover()
to_quit = False
while not to_quit:
self.wait_for_header()
res.convert_to_pkg(self._serial_handler.read(res.get_length()))
if res.get_id() == CHANNEL_TO_TAKEOVER:
to_quit = True
return res
def load_motor_to_takeover(self):
res = MotorToTakeover()
to_quit = False
while not to_quit:
self.wait_for_header()
res.convert_to_pkg(self._serial_handler.read(res.get_length()))
if res.get_id() == MOTOR_TO_TAKEOVER:
to_quit = True
return res
def send_channel_to_takeover_pkg(self, ch, listen_mode, value, status):
self._serial_handler.write(
ChannelToTakeover(ch, listen_mode, value, status).to_bytes())
def wait_for_header(self):
while ord(self._serial_handler.read(1)) != HEADER_START:
pass
def check_header_or_done(self):
while True:
read = ord(self._serial_handler.read(1))
if read == HEADER_START:
return True
elif read == DONE_HEADER:
return False
def send_motor_to_takeover_and_clib(self, ch, max_command, pin, tab,
min_joy, max_joy, to_clib, deadband,
reverse, sp):
self.set_forward_clib(True)
self._serial_handler.write(
MotorToTakeover(ch, max_command, pin, tab, min_joy, 0, max_joy,
to_clib, deadband, reverse).to_bytes())
self.wait_for_header()
while self.check_header_or_done():
res = ChannelRespond()
res.convert_to_pkg(self._serial_handler.read(res.get_length()))
sp.setValue(res.get_value())
if min_joy > res.get_value():
min_joy = res.get_value()
sp.setMinimum(min_joy)
elif max_joy < res.get_value():
max_joy = res.get_value()
sp.setMaximum(max_joy)
self._serial_handler.flush()
def send_motor_to_takeover(self, ch, max_command, pin, tab, min_joy,
mid_joy, max_joy, to_clib, deadband, reverse):
self._serial_handler.write(
MotorToTakeover(ch, max_command, pin, tab, min_joy, mid_joy,
max_joy, to_clib, deadband, reverse).to_bytes())
def send_read_param(self):
self._serial_handler.write(struct.pack('<B', LOAD_HEADER))
def got_done(self):
wd = WatchDogTimer(3000)
now = WatchDogTimer.now()
while not self._serial_handler.available() and not wd.check_if_timeout(
now):
now = WatchDogTimer.now()
if not wd.is_timeout():
return ord(self._serial_handler.read(1)) == DONE_HEADER
return False
