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)