def run(self):
while self._running:
env_is_valid = check_env()
# 等待用户连接microbit
if not env_is_valid:
self.logger.info("错误信息: %s", "请插入microbit")
ui_error("错误信息", "请插入microbit")
time.sleep(5)
else:
port = find_microbit()
self.ser = serial.Serial(port, 115200, timeout=1)
break
def get_response_from_microbit():
try:
data = self.ser.readline()
# self.logger.info("in response")
if data:
data = data.decode()
try:
data = eval(data)
except (ValueError, SyntaxError):
pass
else:
# self.logger.info(data)
return data
except UnicodeDecodeError:
pass
return None
lock = threading.Lock()
def request():
while self._running:
lock.acquire()
self.scratch3_message = self.read()
lock.release()
bg_task = threading.Thread(target=request)
self.logger.debug("thread start")
bg_task.daemon = True
bg_task.start()
while self._running:
# 一读一写 比较稳定
scratch3_message = self.scratch3_message
self.logger.debug("scratch3_message {}".format(scratch3_message))
self.scratch3_message = {}
if scratch3_message == {}:
scratch3_message = {"topic": self.TOPIC, "data": ""}
scratch3_message = json.dumps(scratch3_message) + "\r\n"
scratch3_message_bytes = scratch3_message.encode('utf-8')
self.logger.debug(scratch3_message_bytes)
self.ser.write(scratch3_message_bytes)
# response
response_from_microbit = get_response_from_microbit()
if response_from_microbit:
# message = {"topic":self.TOPIC, "data":} # todo 不要在microbit中构建消息
self.publish(response_from_microbit)
time.sleep(0.05)
def run(self):
# 建立与arduino的连接
ser = self.connect_to_arduino()
if not ser:
ui_error("error", "无法连接arduino")
while self._running:
message = self.read(
) # todo 停止插件后，这里仍可能处于阻塞，以至于ser.close()无法释放（需要前端再多发一条消息才能跳出while）
self.logger.debug(message)
topic = message.get("topic")
if topic == self.TOPIC:
python_code = message.get('data')
self.logger.debug("run python code:{}".format(message))
try:
# 单一入口，传递源码
# 为了安全性, 做一些能力的牺牲, 放弃使用exec
output = eval(python_code)
except Exception as e:
output = e
message = {
"topic": self.TOPIC,
"message": str(output).rstrip()
}
self.publish(message)
ser.close()
def run(self):
try:
from eim_script import handle # reload
except Exception as e:
ui_error('eim_script error', str(e))
return
module = sys.modules["eim_script"]
importlib.reload(module)
while self._running:
message = self.read()
data = message.get('data')
if data:
# self.logger.debug("message:%s",str(message))
response = handle(data, self.logger)
message = {"topic": "eim", "message": response}
self.publish(message)
def run(self):
try:
from eim_monitor import monitor
except Exception as e:
ui_error('eim_script error', str(e))
return
module = sys.modules["eim_monitor"]
importlib.reload(module)
while self._running:
# monitor返回值被pub
# rate = 10
# time.sleep(1/rate) # 默认频率是每秒运行十次这个函数
try:
response = monitor()
if response:
message = {"topic": "eim", "message": response}
self.publish(message)
except:
ui_error('eim_script error', str(e))
def run(self):
while self._running:
'''
连接硬件 串口
'''
env_is_valid = check_env()
# 等待用户连接microbit
if not env_is_valid:
self.logger.info("错误信息: %s", "请插入ubtrobot")
ui_error("错误信息", "请连接ubtrobot")
time.sleep(5)
else:
try:
port = find_ubtrobot()
self.ser = serial.Serial(port, 115200, timeout=1) # 9600
break
except OSError:
self.logger.info("错误信息: %s", "请插入ubtrobot")
ui_error("错误信息", "请连接ubtrobot")
time.sleep(5)
while self._running:
'''
订阅到的是什么消息 消息体是怎样的
'''
message = self.read()
cmd_map = {
"forward":
[0xFB, 0xBF, 0x09, 0x03, 0xc7, 0xb0, 0xbd, 0xf8, 0x38, 0xED],
"backward":
[0xFB, 0xBF, 0x09, 0x03, 0xba, 0xf3, 0xcd, 0xcb, 0x51, 0xED],
"left":
[0xFB, 0xBF, 0x09, 0x03, 0xd7, 0xf3, 0xd7, 0xaa, 0x57, 0xED],
"right": [
0xFB, 0xBF, 0x09, 0x03, 0xd3, 0xd2, 0xd7, 0xaa, 0x32, 0xED
],
"push ups": [
0xFB, 0xBF, 0x0b, 0x03, 0xb8, 0xa9, 0xce, 0xd4, 0xb3, 0xc5,
0x89, 0xED
],
"stop": [0xFB, 0xBF, 0x06, 0x05, 0x00, 0x0b, 0xED],
"init": [
0xFB, 0xBF, 0x0b, 0x03, 0xb3, 0xf5, 0xca, 0xbc, 0xbb, 0xaf,
0xa6, 0xED
],
"happy birthday": [
0xFB, 0xBF, 0x13, 0x03, 0x48, 0x61, 0x70, 0x70, 0x79, 0x20,
0x42, 0x69, 0x72, 0x74, 0x68, 0x64, 0x61, 0x79, 0x6f, 0xED
],
"left punch": [
0xFB, 0xBF, 0x0b, 0x03, 0xd7, 0xf3, 0xb3, 0xf6, 0xc8, 0xad,
0xf6, 0xED
]
}
self.logger.debug("message {}".format(message))
if message.get("topic") == "eim":
cmd = cmd_map.get(message.get("data"))
if cmd:
self.logger.debug("cmd:{}".format(cmd))
# 如果是linux每次都要重连
if platform.system() == "Linux":
port = find_linux_port()
self.ser = serial.Serial(port, 115200, timeout=1)
self.ser.write(cmd)