def startService(self):
log.msg(system='DriveService', format="service starting")
self.protocol = DriveProtocol(self)
log.msg(system='DriveService', format="opening serial port %(port)s", port=self.port)
self.serial = SerialPort(self.protocol, self.port, reactor, baudrate=self.speed)
self.protocol.register_callback(0x01, self._onHandshake)
self.protocol.register_callback(0x41, self._onReceiveCalibration)
self.protocol.register_callback(0x42, self._onReceiveStatus)
self.protocol.register_callback(0xee, self._onDriveError)
service.Service.startService(self)
class DriveService(service.Service):
name = "driveservice"
def __init__(self, port, speed=115200):
self.port = port
self.speed = speed
self.cal_x_cur = 0
self.cal_y_cur = 0
self.cal_x_eeprom = 0
self.cal_y_eeprom = 0
def startService(self):
log.msg(system='DriveService', format="service starting")
self.protocol = DriveProtocol(self)
log.msg(system='DriveService', format="opening serial port %(port)s", port=self.port)
self.serial = SerialPort(self.protocol, self.port, reactor, baudrate=self.speed)
self.protocol.register_callback(0x01, self._onHandshake)
self.protocol.register_callback(0x41, self._onReceiveCalibration)
self.protocol.register_callback(0x42, self._onReceiveStatus)
self.protocol.register_callback(0xee, self._onDriveError)
service.Service.startService(self)
def stopService(self):
log.msg(system='DriveService', format="service stopping")
self.serial.loseConnection()
service.Service.stopService(self)
def setMode(self, mode):
self.protocol.cmd_mode(mode)
def directJoystick(self, xpos, ypos):
self.protocol.cmd_joystick(xpos, ypos)
def setCalibration(self, xvalue, yvalue):
self.protocol.cmd_calibrate_set(xvalue, yvalue)
def storeCalibration(self):
self.protocol.cmd_calibrate_store()
def driveSelect(self, enable):
self.protocol.cmd_driveselect(enable)
def stop(self):
self.protocol.cmd_joystick(0, 0)
def estop(self):
self.protocol.cmd_estop()
def reset(self):
self.protocol.cmd_reset()
def getCalibration(self):
self.protocol.req_calibration()
self.calibration_d = defer.Deferred()
return self.calibration_d
def _onHandshake(self, data):
log.msg(system='DriveService', format="Controller is alive")
self.parent.triggerEvent('DRV_HANDSHAKE')
def _onDriveError(self, data):
log.msg(system='DriveService', format="Controller error, code %(code)#x", code=data[0])
self.parent.triggerEvent('DRV_ERROR', data[0])
def _onReceiveStatus(self, data):
status = data[0];
xpos = data[1];
ypos = data[2];
xval = data[3];
yval = data[4];
self.parent.triggerEvent('DRV_STATUS', status, xpos, ypos, xval, yval)
def _onReceiveCalibration(self, data):
log.msg(system='DriveService', format="receivied calibration values")
calibration = {}
calibration['current_x'] = data[0]
calibration['current_y'] = data[1]
calibration['eeprom_x'] = data[2]
calibration['eeprom_y'] = data[3]
self.cal_x_cur = data[0]
self.cal_y_cur = data[1]
self.cal_x_eeprom = data[2]
self.cal_y_eeprom = data[3]
if self.calibration_d is not None:
self.calibration_d.callback(calibration)
self.calibration_d = None