def find_serial(self):
injector_serial, injector_device = next(
((path, device) for path, device in find_serial('CP2102').items()
if (device.hwid or device.device) not in self.initial_devices),
(None, None),
)
if injector_serial:
self.sleep()
self.sleep()
self.sleep()
self.logger.info("Opening %s", injector_serial)
try:
self.injector: Optional[serial.Serial] = serial.Serial(
port=injector_serial,
baudrate=115200,
xonxoff=True,
timeout=1)
except Exception as e:
self.logger.error("Failed to open, %s", e)
return
self.sleep()
self.sleep()
self.sleep()
self.read_config()
def __init__(self, mock=False, run=True) -> None:
super().__init__('injector_node')
self.command_publisher = messenger.Publisher('/command',
messenger.Messages.string)
self.strategy_listener = messenger.Listener('/strategy',
messenger.Messages.string)
self.canbus_listener = messenger.Listener('/canbus_message',
messenger.Messages.string)
self.settings_listener = messenger.Listener(
'/settings_changed',
messenger.Messages.string,
callback=self.refresh_settings)
self.recognition_listener = messenger.Listener(
'/recognition', messenger.Messages.string)
self.config = ConfigManager.get_value('game')
self.mock = mock
self.initial_devices = set(
(dev.hwid or dev.device) for dev in find_serial('CP2102').values())
self.logger.info("existing devices %s", list(self.initial_devices))
self.injector: Optional[serial.Serial] = None
if run:
self.loop(3)
def __init__(self, mock=False, run=True, silent=True) -> None:
super().__init__('remoterf',
existing_loggers=['remoterf', 'config_manager'])
self.silent = silent
self.mock = mock
path = next(iter(find_serial('FT232R').keys()), None)
self.ser = serial.Serial(path, timeout=1)
if run:
self.run()
def try_reconnect(self):
if self.motor_serial:
self.motor_serial.close()
self.motor_serial = None
while self.motor_serial is None:
controller_serial = next(iter(find_serial(self.descriptor)), None)
logger.info("Opening %s", controller_serial)
if not controller_serial:
logger.error('Reconnect serial device not found!')
sleep(1)
continue
try:
self.motor_serial = serial.Serial(
port=controller_serial,
baudrate=115200, timeout=0.01)
except Exception as e:
logger.error('Reconnect failed: %s', e)
sleep(1)
def reconnect(self):
while True:
zubax = set(find_serial('zubax').keys())
if len(zubax) != 1:
logger.error(f"Zubax controller not determined, {zubax}")
sleep(1)
continue
serial_device = next(iter(zubax), None)
print(serial_device)
logger.info(f"Zubax controller determined, {zubax}")
try:
self.node: Optional[uavcan.node.Node] = uavcan.make_node(
serial_device,
node_id=10,
bitrate=1000000,
)
# setup
node_monitor = uavcan.app.node_monitor.NodeMonitor(self.node)
dynamic_node_id_allocator = uavcan.app.dynamic_node_id.CentralizedServer(
self.node, node_monitor)
# Waiting for at least one other node to appear online (our local node is already online).
while len(
dynamic_node_id_allocator.get_allocation_table()) <= 1:
logger.error('Waiting for other nodes to become online...')
self.node.spin(timeout=1)
# how fast can we blast this?
self.node.periodic(0.05, self.update)
self.node.add_handler(uavcan.equipment.esc.Status, self.listen)
logger.info('New zubax node: %s', serial_device)
return
except Exception as e:
logger.error("Opening zubax failed %s", e)
sleep(1)
continue
def try_reconnect(self):
if self.motor_serial:
self.motor_serial.close()
self.motor_serial = None
for i in range(10):
if self.motor_serial is not None:
break
controller_serial = next(iter(find_serial('CP2102')), None)
logger.info("Opening %s", controller_serial)
if not controller_serial:
logger.error('Reconnect serial device not found!')
sleep(1)
continue
try:
self.motor_serial = serial.Serial(port=controller_serial,
baudrate=115200,
xonxoff=True,
timeout=0.01)
except Exception as e:
logger.error('Reconnect failed: %s', e)
sleep(1)