def change_speed(motor_num, speed): speed = int(speed) if (motor_num == 1): board_num = 0x80 command = 35 serial = ser_x80 elif (motor_num == 2): board_num = 0x81 command = 36 serial = ser_x81 elif (motor_num == 3): board_num = 0x80 command = 36 serial = ser_x80 else: print "Not a possibility." speed_byte3 = speed & 0xff #Least significant bit speed = speed >> 8 speed_byte2 = speed & 0xff speed = speed >> 8 speed_byte1 = speed & 0xff speed = speed >> 8 speed_byte0 = speed & 0xff # Most significant bit checksum = (board_num + command + speed_byte0 + speed_byte1 + speed_byte2 + speed_byte3) & 0x7f cmdList = [board_num, command, speed_byte0, speed_byte1, speed_byte2, speed_byte3, checksum] for i in range(len(cmdList)): serial.write(chr(cmdList[i])) # print cmdList[i] return 0;
def safety_callback(channel):
try:
code=""
type=""
if(GPIO.input(2) == GPIO.LOW):
#todo
type="emergency"
serial.flushInput()
serial.write("M730\r\n")
reply=serial.readline()
try:
code=float(reply.split("ERROR : ")[1].rstrip())
except:
code=100
if(GPIO.input(2) == GPIO.HIGH):
#to do
type=""
code=""
message = {'type': str(type), 'code': str(code)}
ws.send(json.dumps(message))
write_emergency(json.dumps(message))
except Exception, e:
logging.info(str(e))
def macro(code, expected_reply, timeout, error_msg, delay_after):
global s_error
serial_reply = ""
macro_start_time = time.time()
serial.write(code + "\r\n")
time.sleep(0.3) #give it some toie to start
while not (serial_reply == expected_reply
or serial_reply[:4] == expected_reply):
#Expected reply
#no reply:
if (time.time() >= macro_start_time + timeout):
#trace_msg="failed macro (timeout):"+ code+ " expected "+ expected_reply+ ", got:"+ serial_reply
trace(trace_msg, log_trace)
if not error_msg == "":
trace("FAILED : " + error_msg, log_trace)
s_error += 1
summary()
#print "error!"
return False #leave the function
serial_reply = serial.readline().rstrip()
#print serial_reply
#add safety timeout
time.sleep(0.1) #no hammering
pass
trace("OK : " + error_msg, log_trace)
time.sleep(delay_after) #wait the desired amount
return serial_reply
def helpResponseProcessor(line):
if line.find(' - ') != -1:
parts = line.split(" - ")
serial.write("help " + parts[0] + '\n')
# serial.flush()
incoming = serial.readlines()
printLines(incoming)
def GetData(line):
if line.find(' - ') != -1 and line.startswith('Get'):
parts = line.split(" - ")
serial.write(parts[0] + '\n')
# serial.flush()
incoming = serial.readlines()
printLines(incoming)
def send_ping_cmd(serial):
#in python, we can simply write down the MessagePack message and it is automatically built
#here is an order called "ping" which has a string as data
msg = msgpack.packb({'ping': 'Hello there :-)'}, use_single_float=True)
dtgrm = serial_datagram.encode(msg)
serial.write(dtgrm)
serial.flush()
def macro(code,expected_reply,timeout,error_msg,delay_after,warning=False,verbose=True):
global s_error
global s_warning
global s_skipped
serial.flushInput()
if s_error==0:
serial_reply=""
macro_start_time = time.time()
serial.write(code+"\r\n")
if verbose:
trace(error_msg)
time.sleep(0.3) #give it some tome to start
while not (serial_reply==expected_reply or serial_reply[:4]==expected_reply):
#Expected reply
#no reply:
if (time.time()>=macro_start_time+timeout+5):
if serial_reply=="":
serial_reply="<nothing>"
if not warning:
s_error+=1
trace(error_msg + ": Failed (" +serial_reply +")")
else:
s_warning+=1
trace(error_msg + ": Warning! ")
return False #leave the function
serial_reply=serial.readline().rstrip()
#add safety timeout
time.sleep(0.2) #no hammering
pass
time.sleep(delay_after) #wait the desired amount
else:
trace(error_msg + ": Skipped")
s_skipped+=1
return False
return serial_reply
def printToConsole(serial, tx_encoder , string , millisecondsDelay):
time.sleep(delay*millisecondsDelay)
rospy.loginfo(string)
serial.write(tx_encoder.encode(string))
return
def write_eeprom_long(str2parse, serial):
try:
items = str2parse.split(b',')
if len(items) > 2:
thekey = items[1].decode()
if thekey in list(mem.keys()):
addr = mem[thekey]
else:
addr = int(items[1])
if items[2][:2] == '0x':
val = int(items[2], 16)
else:
val = int(items[2])
for i in range(4):
outstr = b"w,%i,%i\n" % (addr + i, val & 0xff)
val >>= 8
serial.write(outstr)
time.sleep(.25)
else:
print("Error: missing parameters")
except:
#print("Error")
print(sys.exc_info())
def Numero_ricevuto(numero):
if numero == 33:
#If 33 is received, Arduino blocked all comunications (Decidere cosa fare!!!)
#os.system('reboot')
print("Arduino blocked all the activities!")
if numero == 107:
serial.write('121')
def write_eeprom_uint(str2parse, serial):
try:
items = str2parse.split(b',')
if len(items) > 2:
thekey = items[1].decode()
if thekey in list(mem.keys()):
addr = mem[thekey]
else:
addr = int(items[1])
if items[2][:2] == '0x':
val = int(items[2], 16)
else:
val = int(items[2])
if addr >= 0 and addr < 511 and val >= 0 and val < pow(2, 16):
outstr = b"w,%i,%i\n" % (addr, val & 0xff) # LSB
serial.write(outstr)
time.sleep(.25)
outstr = b"w,%i,%i\n" % (addr + 1, val >> 8) # MSB
serial.write(outstr)
else:
print("Error: icorrect value(s)")
else:
print("Error: missing parameters")
except:
#print "ERROR"
print(sys.exc_info())
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 show():
# backforward
forward()
time.sleep(2)
stop()
time.sleep(1)
# rudder
turn_big_left()
turn_big_right()
turn_small_left()
turn_small_right()
time.sleep(1)
turn_small_right()
forward()
time.sleep(2)
stop()
# loop
while True:
cmd = raw_input('Enter anycommand you like >> ')
if cmd == 'Y':
break
else:
serial.write(cmd)
read()
def probe(x, y):
global points_on_plane
serial_reply = ""
serial.flushInput()
serial.write("G30\r\n")
probe_start_time = time.time()
while not serial_reply[:22] == "echo:endstops hit: Z:":
serial_reply = serial.readline().rstrip()
#issue G30 Xnn Ynn and waits reply.
if (time.time() - probe_start_time > 90):
#timeout management
trace("Could not probe this point")
return False
break
pass
#get the z position
z = float(serial_reply.split("Z:")[1].strip())
new_point = [x, y, z, 1]
points_on_plane = np.vstack([points_on_plane,
new_point]) #append new point to the cloud.
trace("Probed " + str(x) + "," + str(y) + " / " + str(deg) +
" degrees = " + str(z))
return True
def clear_display(serial):
for row in range(1, 5):
serial.write(b"".join([
b'\xFE\x47\x01',
chr(row).encode(),
(" " * int(config['display']['WIDTH'])).encode()
]))
def send_message(serial, msg_type, msg):
print "Sending, id=0x%02X, len=%d" % (msg_type, len(msg))
serial.write(chr(DEBUG_MAGIC_1))
serial.write(chr(DEBUG_MAGIC_2))
serial.write(chr(msg_type))
serial.write(chr(len(msg)))
serial.write(msg)
def sendMessage(serial,message):
if serial:
serial.write(message.encode('utf-8'))
time.sleep(0.07)
return 1
else:
return 0
def write_eeprom_int16(str2parse, serial):
try:
items = str2parse.split(b',')
if len(items) > 2:
if items[1] in list(mem.keys()):
addr = mem[items[1]]
else:
addr = int(items[1])
if items[2][:2] == '0x':
val = int(items[2], 16)
else:
val = int(items[2])
if addr >= 0 and addr < 511 and val > -pow(2, 15) and val < pow(
2, 15):
outstr = b"wi,%i,%i\n" % (addr, val & 0xFFFF)
serial.write(outstr)
time.sleep(.25)
else:
print("Error: icorrect value(s)")
else:
print("Error: missing parameters")
except:
#print "ERROR"
print(sys.exc_info())
def serWrite(threadName, delay):
if len(serialq) > 0:
msg = serialq.popleft()
serial.write(msg)
print ("[Arduino | %s] serWrite > %s" %(time.ctime(time.time()), msg))
real_delay_call(serWrite, delay, threadName, delay)
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 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 start_app():
'''Starts app
'''
C = [0x55, 0x55, ord('J'), ord('A'), 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)
sleep(2)
#print (C)
#R = serial.read() #7
R = serial.read_all()
print(len(R))
'''
if (R[0]) == 85 and (R[1]) == 85:
packet_type = R[2] + R[3]
print(packet_type)
'''
if R[0] == 85 and R[1] == 85:
packet_type = '{0:1c}'.format(R[2]) + '{0:1c}'.format(R[3])
print(packet_type)
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 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)
time.sleep(2) # must wait for boot loader to be ready
#R = serial.read(5)
R = serial.read_all()
print(R)
if R[0] == 85 and R[1] == 85:
#packet_type = '{0:1c}'.format(R[2]) + '{0:1c}'.format(R[3])
packet_type = '{0:1c}'.format(R[2]) + '{0:1c}'.format(R[3])
print(packet_type)
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 serWrite(threadName, delay):
if len(serialq) > 0:
msg = serialq.popleft()
serial.write(msg)
print("[Arduino | %s] serWrite > %s" % (time.ctime(time.time()), msg))
real_delay_call(serWrite, delay, threadName, delay)
def send_filter_status_req(serial):
# request status data
request = Digi18Com_pb2.Request()
request.action_id = Digi18Com_pb2.GET_FILTERID
start = request.SerializeToString()
# write to the COM
serial.write(wrap_content(start))
def send_status_req(serial):
# request status data
request = Digi18Com_pb2.Request()
request.action_id = Digi18Com_pb2.SAMPLER_STATUS
start = request.SerializeToString()
# write to the COM
serial.write(wrap_content(start))
def cmdx(serial, command, timeout=2, retry=2): ''' send command to zigbee router and wait for response serial : serial device command : command line timeout : wait time return : the response list from zigbee router ''' ret = [] ind = 0 # if time out and can't receive data, the retry while ind < retry: ind += 1 serial.write(command) n = 0 # wait for a while and record all the response while n < timeout*1: time.sleep(0.01) n += 1 count = serial.inWaiting() if count > 0: recv = ser.read(count) ser.flushInput() ret.append(recv) if len(ret) > 0: break return ret
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 macro(code,expected_reply,timeout,error_msg,delay_after):
global s_error
serial_reply=""
macro_start_time = time.time()
serial.write(code+"\r\n")
time.sleep(0.3) #give it some toie to start
while not (serial_reply==expected_reply or serial_reply[:4]==expected_reply):
#Expected reply
#no reply:
if (time.time()>=macro_start_time+timeout):
#trace_msg="failed macro (timeout):"+ code+ " expected "+ expected_reply+ ", got:"+ serial_reply
trace(trace_msg,log_trace)
if not error_msg=="":
trace("FAILED : "+error_msg,log_trace)
s_error+=1
summary()
#print "error!"
return False #leave the function
serial_reply=serial.readline().rstrip()
#print serial_reply
#add safety timeout
time.sleep(0.1) #no hammering
pass
trace("OK : " + error_msg,log_trace)
time.sleep(delay_after) #wait the desired amount
return serial_reply
def main():
iob=Io_board("Io_board_node")
iob.Init_node()
iob.Io_Sub("io_state")
import serial
try:
serial = serial.Serial('/dev/ttyUSB0', 115200, timeout=0.5) #/dev/ttyUSB0
if serial.isOpen() :
rospy.loginfo("open port success")
else :
rospy.loginfo("open port failed")
except:
serial = serial.Serial('/dev/ttyUSB1', 115200, timeout=0.5) #/dev/ttyUSB0
if serial.isOpen() :
rospy.loginfo("open port success")
else :
rospy.loginfo("open port failed")
rate = rospy.Rate(4)
#rostopic pub /io_state std_msgs/String "55C8070155"
while not rospy.is_shutdown():
#data =recv(serial)
if len(iob.iostatebuff)!=0:
iocmd=iob.iostatebuff[-1]
rospy.loginfo("receive : %s",str(iocmd))
time.sleep(1)
serial.write(iocmd.decode("hex")) #数据写回
else:
pass
# data ='55C81900000055'
rate.sleep()
def vibrate(serial: serial.Serial, degrees, distance):
print('vibrate', degrees, distance)
if serial is None:
return
serial.write("<{},{}>\n".format(round(degrees), round(distance)).encode('ascii'))
def macro(code,expected_reply,timeout,error_msg,delay_after,warning=False,verbose=True):
global s_error
global s_warning
global s_skipped
serial.flushInput()
if s_error==0:
serial_reply=""
macro_start_time = time.time()
serial.write(code+"\r\n")
if verbose:
trace(error_msg)
time.sleep(0.3) #give it some tome to start
while not (serial_reply==expected_reply or serial_reply[:4]==expected_reply):
#Expected reply
#no reply:
if (time.time()>=macro_start_time+timeout+5):
if serial_reply=="":
serial_reply="<nothing>"
if not warning:
s_error+=1
trace(error_msg + ": Failed (" +serial_reply +")")
else:
s_warning+=1
trace(error_msg + ": Warning! ")
return False #leave the function
serial_reply=serial.readline().rstrip()
#add safety timeout
time.sleep(0.2) #no hammering
pass
time.sleep(delay_after) #wait the desired amount
else:
trace(error_msg + ": Skipped")
s_skipped+=1
return False
return serial_reply
def check_update_status(serial, dev_id, retransmission_times=3):
global responses_result_dict
global timeCount
global failed_to_exit
res = None
comannd = bytearray([0xf0, 0x01, 0x61, 0x08, 0x00, 0xf7])
comannd[1] = dev_id
checksum = 0
for i in range(1, len(comannd) - 2):
checksum = (checksum + comannd[i]) & 0x7f
comannd[4] = checksum
responses_result_dict["check_update_status"] = []
responses_result_dict["universal_response"] = []
serial.write(comannd)
timeCount = 0
number_of_retransmissions = 0
while (len(responses_result_dict["check_update_status"]) < 2):
if timeCount > 20:
number_of_retransmissions = number_of_retransmissions + 1
timeCount = 0
print "retransmissions:" + str(number_of_retransmissions)
serial.write(comannd)
if number_of_retransmissions > retransmission_times:
failed_to_exit = True
break
if len(responses_result_dict["check_update_status"]) > 1:
res = []
res.append(responses_result_dict["check_update_status"][0])
res.append(responses_result_dict["check_update_status"][1])
return res
def assign_id_command(serial, retransmission_times=3):
global responses_result_dict
global timeCount
global failed_to_exit
res = None
comannd = bytearray([0xf0, 0xff, 0x10, 0x00, 0x0f, 0xf7])
responses_result_dict["assign_id"] = []
responses_result_dict["universal_response"] = []
print "assign_id_command"
serial.write(comannd)
timeCount = 0
number_of_retransmissions = 0
while (len(responses_result_dict["assign_id"]) < 2):
if timeCount > 10:
number_of_retransmissions = number_of_retransmissions + 1
timeCount = 0
print "retransmissions:" + str(number_of_retransmissions)
serial.write(comannd)
if number_of_retransmissions > retransmission_times:
break
print responses_result_dict["assign_id"]
if len(responses_result_dict["assign_id"]) > 1:
res = []
res.append(responses_result_dict["assign_id"][0])
res.append(responses_result_dict["assign_id"][1])
res.append(responses_result_dict["assign_id"][2])
return res
def target_flash_start():
file=open("../count/count.txt",'r+')
count_ok=file.readline()
count_ng=file.readline()
count_ok=int(count_ok)
count_ng=int(count_ng)
file.close()
sleep(1)
child1=subprocess.Popen(["../tool/JLink.exe","-CommanderScript","flash_nrf.jlink"],stdout=subprocess.PIPE)
out=child1.communicate()
# print out[0]
print("**************************")
print("")
if "Writing target memory failed" in out[0]:
print " flash error "
serial.write('Error\r\n')
count_ng=count_ng+1
elif "O.K." in out[0]:
print(" flash ok ")
serial.write('OK\r\n')
count_ok=count_ok+1
else:
print"Didn't flash any chip"
WriteCount(count_ok,count_ng)
print("%d/%d"%(count_ok,count_ng))
print("**************************")
target_flash_start_event.set()
def probe(x,y):
global points_on_plane
serial_reply=""
serial.flushInput() #clean buffer
probe_point= "G30\r\n" #probing comand
serial.write(probe_point)
time.sleep(0.5) #give it some to to start
probe_start_time = time.time()
while not serial_reply[:22]=="echo:endstops hit: Z:":
#issue G30 Xnn Ynn and waits reply.
#Expected reply
#endstops hit: Z: 0.0000
#couldn't probe point: =
if (time.time() - probe_start_time>10):
#10 seconds passed, no contact
trace_msg="Could not probe "+str(x)+ "," +str(y) + " / " + str(deg) + " degrees"
trace(trace_msg)
#change safe-Z
return False #leave the function,keep probing
serial_reply=serial.readline().rstrip()
#add safety timeout, exception management
time.sleep(0.1) #wait
pass
#get the z position
#print serial_reply
z=float(serial_reply.split("Z:")[1].strip())
new_point = [x,y,z,1]
points_on_plane = np.vstack([points_on_plane, new_point]) #append new point to the cloud.
trace("Probed "+str(x)+ "," +str(y) + " / " + str(deg) + " degrees = " + str(z))
return True
def send():
serial.write(bytes(2, 'UTF-8'))
print('发出指令成功')
serial.flushInput()
def write_multiple_registers(serial, data, Params): start_reg = data[3] #inicio de cadena if start_reg == '\x00' : # Pesos Params.in_00 = (ord(data[7]) << 8) + ord(data[8]) print 'Recibido: $ %d.%d ' % ( Params.in_00/100, Params.in_00%100), repr(data[:]) Params.in_01 = ( Params.in_00*100 / Params.in_02*100 )/100 # Multiplica litros por precio elif start_reg == '\x01' : # Litros Params.in_01 = (ord(data[7]) << 8) + ord(data[8]) print 'Recibido: %d.%d Litro(s)' % ( Params.in_01/100, Params.in_01%100), repr(data[:]) Params.in_00 = ( Params.in_01 * (Params.in_02) )/100 # Multiplica litros por precio elif start_reg == '\x02' : # Magna Params.in_02 = (ord(data[7]) << 8) + ord(data[8]) Params.in_00 = ( Params.in_01 * (Params.in_02) )/100 # Multiplica litros por precio print 'Recibido: $%d.%02d Magna' % ( Params.in_02/100, Params.in_02%100), repr(data[:]) elif start_reg == '\x03' : # Premium Params.in_03 = (ord(data[7]) << 8) + ord(data[8]) #Params.in_00 = ( Params.in_01 * (Params.in_02) )/1000 # Multiplica litros por precio print 'Recibido: $%d.%02d Premium' % ( Params.in_03/100, Params.in_03%100), repr(data[:]) elif start_reg == '\x1d' : # cadena de datos (30 caracteres) Params.str_00 = convert_st(data[7:37]) print 'Cadena 0: ', Params.str_00 , repr(data[:]) elif start_reg == '\x3b' : # cadena de datos (30 caracteres) Params.str_01 = convert_st(data[7:37]) print 'Cadena 1: ', Params.str_01 , repr(data[:]) else: print 'Recibido ', repr(data[:]) SRT = "\x01\x10\x00\x00\x00\x04" SRT= add_chksum (SRT) serial.write(SRT)
def probe(x,y):
global points_on_plane
serial_reply=""
serial.flushInput()
serial.write("G30\r\n")
probe_start_time = time.time()
while not serial_reply[:22]=="echo:endstops hit: Z:":
serial_reply=serial.readline().rstrip()
#issue G30 Xnn Ynn and waits reply.
if (time.time() - probe_start_time>90):
#timeout management
trace("Could not probe this point")
return False
break
pass
#get the z position
z=float(serial_reply.split("Z:")[1].strip())
new_point = [x,y,z,1]
points_on_plane = np.vstack([points_on_plane, new_point]) #append new point to the cloud.
trace("Probed "+str(x)+ "," +str(y) + " / " + str(deg) + " degrees = " + str(z))
return True
def summary():
trace("SUMMARY:",log_trace)
trace("Errors : " + str(s_error),log_trace)
if s_error==0:
trace("Result : No errors occurred.",log_trace)
else:
trace("Self Test FAILED",log_trace)
if online==1:
print "Saving results on remote server"
url = 'http://plm.fabtotum.com/reports/add_report.php'
files = {'file': open(log_trace, 'rb')}
info={'ID':controller_serial_id, 'result':s_error}
try:
r = requests.post(url,info, files=files)
trace("Self Test results saved online",log_trace)
except:
#print "Response: " + r.text
trace("Could not contact remote support server, is Internet connectivity available?",log_trace)
if s_error>0:
#clean the buffer and leave
#shutdown temps
serial.write("M104 S0\r\n") #shutdown extruder (fast)
serial.write("M140 S0\r\n") #shudown bed (fast)
serial.flush()
serial.close()
write_json('1', status_json)
call (['sudo php /var/www/fabui/script/finalize.php '+str(task_id)+" self_test"], shell=True)
sys.exit()
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 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 measurePointHeight(x, y, initialHeight, feedrate):
macro("M402","ok",2,"Retracting Probe (safety)",1, verbose=False)
macro("G0 Z60 F5000","ok",5,"Moving to start Z height",10) #mandatory!
macro("G0 X"+str(x)+" Y"+str(y)+" Z "+str(initialHeight)+" F10000","ok",2,"Moving to left down corner point",10)
macro("M401","ok",2,"Lowering Probe",1, warning=True, verbose=False)
serial.flushInput()
serial_reply = ""
probe_start_time=time.time()
serial.write("G30 U"+str(feedrate)+"\r\n")
while not serial_reply[:22]=="echo:endstops hit: Z:":
serial_reply=serial.readline().rstrip()
if (time.time() - probe_start_time>80): #timeout management
z = initialHeight
serial.flushInput()
return z
pass
if serial_reply!="":
z=serial_reply.split("Z:")[1].strip()
serial_reply=""
serial.flushInput()
macro("G0 X"+str(x)+" Y"+str(y)+" Z "+str(initialHeight)+" F10000","ok",2,"Moving to left down corner point",10)
macro("M402","ok",2,"Raising Probe",1, warning=True, verbose=False)
return z
def faceDetection () :
camera.capture( imagePath )
# Read the image
image = cv2.imread( imagePath )
gray = cv2.cvtColor( image, cv2.COLOR_BGR2GRAY )
# Detect faces in the image
faces = faceCascade.detectMultiScale (
gray,
scaleFactor = 1.1,
minNeighbors = 5,
minSize = ( 30, 30 ),
flags = cv2.cv.CV_HAAR_SCALE_IMAGE
)
for ( x, y, w, h ) in faces:
centerX = x + ( w / 2 )
centerY = y + ( h / 2 )
print "Found face at: {0}, {0}".format( centerX, centerY )
serial.write( "{0}, {0}".format( centerX, centerY ) );
cv2.rectangle( image, ( x, y ), ( x + w, y + h ), ( 0, 255, 0), 3 )
cv2.imwrite( imageFaceDetectionPath, image )
break
# recall fn
interval.enter( refreshTime, 1, faceDetection, () )
def sendReceiveScript(serial, filename='init.lua'):
receiveLua = \
r"""tmr.stop(0)
file.remove('%s')
file.open('%s', 'w')
uart.on('data', 255,
function (d)
tmr.stop(0)
c = tonumber(d:sub(1, 4))
d = d:sub(5, 4+c)
file.write(d)
if c ~= 251 then
file.close()
uart.write(0, 'Y')
return
end
uart.write(0, 'Y')
end, 0)"""
receiveLua = ' '.join([line.strip() for line in receiveLua.split('\n')]).replace(', ', ',')
save_command = receiveLua % (filename, filename) + '\r'
assert len(save_command) < 256, 'Save_command too long: %s bytes' % len(save_command)
writeV('Sending receive script to NodeMCU...')
serial.write(save_command.encode())
response = waitFor(prompt)
#assert response == save_command + prompt, response
writeLnV('ok!')
def send_message(serial, msg_type, msg): print "Sending, id=0x%02X, len=%d" % (msg_type, len(msg)) serial.write(chr(DEBUG_MAGIC_1)) serial.write(chr(DEBUG_MAGIC_2)) serial.write(chr(msg_type)) serial.write(chr(len(msg))) serial.write(msg)
def move(self, angle):
if(self.minAngle > angle):
angle = self.minAngle
if(self.maxAngle < angle):
angle = self.maxAngle
self.angle = angle
serial.write('#' + str(self.ID) + ' P' + str(angle) + '\r')
def query_arduino():
global serial
serial = serial.Serial('/dev/ttyACM0', 9600)
serial.write('1')
query = serial.readline().strip('\r\n').split()
fo = open('/etc/scripts/.arduino.db', 'wb')
fo.write(','.join(query))
fo.close()
def send(self,serial,data):
# send it
print " ENCRYPTED: %s" % data.encode('hex')
data = b64encode ( data )
print " ENCODED: %s" % data
serial.write(data + '\x00');
serial.flushOutput()
print "\n"
def _worksession_start(self, seconds):
serial = self._openSerial()
minutes = int(seconds) / 60
data = chr(minutes)
serial.write(data)
self._closeSerial(serial)
def sendto(self, serial):
"""
Sends this message to `serial`
:param serial: Serial interface to send this message to
:type serial: :py:class:`serial.Serial`
"""
serial.write(str(self))
def cleartape(serial):
zeros = [0, 0, 0] * (LED_NUMBER )
print("Clearing tape")
data = ""
for x in zeros:
data += chr(x)
serial.write(data)
serial.write(CONTROL)
def write_serial(self, command, *args, **kwargs):
hex = self.COMMANDS[command] % kwargs
if DEBUG:
print 'writing to serialport: %s %s' % (command, hex)
serial.write(Utilities.hex2chr(hex))
#time.sleep(2)
if DEBUG:
print 'waiting at serialport: %i' % serial.inWaiting()
def set_gain(self):
if self.is_open():
o_str = 'p{}'.format(self.gain);
b = o_str.encode()
serial = self.get_serial();
serial.write(b);
return True
else:
return False
def set_differential(self):
if self.is_open():
o_str = 'd{}'.format(self.diff);
b = o_str.encode()
serial = self.get_serial();
serial.write(b);
return True
else:
return False
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 read_serial(gcode): serial.flushInput() serial.write(gcode + "\r\n") response="" while (response==""): response=serial.readline().rstrip if response!="": return response
def set_integral(self):
if self.is_open():
o_str = 'i{}'.format(self.integral);
b = o_str.encode()
serial = self.get_serial();
serial.write(b);
return True
else:
return False
def send_string(serial, string):
message = "{0}{1}{2}".format(
chr(2),
string,
chr(13)
).encode()
logger.debug("sending to serial %s: %s\n", serial.name, message)
serial.write(message)
return " ".join(serial.readline().decode().split()[1:])