def __init__(self, parent = None):
super(SerialSimulate, self).__init__(parent)
self.setObjectName('SerialSimulate')
#
self._currIndex = 0
self._currFrameId = 0
self._frameSize = 0
self._streamBuff = []
self._newBuff = [0] * 4096
self._pkgBuff = [0] * 100
self._serialSend = SerialSend()
self._serialRecv = SerialRecv()
self._serialConfig = SerialPortConfig()
self._serialPort = QSerialPort(self)
#
self._serialPort.error.connect(self.onSerialPortError)
self._serialPort.readyRead.connect(self.readData)
#
self._serialPort.setPortName('COM5')
if self._serialPort.open(QIODevice.ReadWrite):
self._serialPort.setBaudRate(QSerialPort.Baud115200)
self._serialPort.setDataBits(QSerialPort.Data8)
self._serialPort.setParity(QSerialPort.OddParity)
self._serialPort.setStopBits(QSerialPort.OneStop)
self.stateChanged.emit('Open')
#
self._serialRecv.lMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.lABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.rABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.lMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.lARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.rARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.lWheelSpd = self.convertToASCII(100)
self._serialRecv.rWheelSpd = self.convertToASCII(100)
#
self._timerId = self.startTimer(100, Qt.PreciseTimer)
def stepInc(value, step, maxValue):
value = SerialPortProxy.swapUint16(value) + step # + random() % 50
if value > maxValue:
value = 0
return SerialPortProxy.swapUint16(value)
