def flush(self):
"""\
Flush of file like objects. In this case, wait until all data
is written.
"""
if not self.is_open:
raise portNotOpenError
termios.tcdrain(self.fd)
def flush_output(self):
"""Flush output buffer on serial port."""
if sys.platform.startswith("win"):
self.ser.flushOutput()
return
termios.tcdrain(self.fd)
def flush(self):
"""\
Flush of file like objects. In this case, wait until all data
is written.
"""
if not self.is_open:
raise portNotOpenError
termios.tcdrain(self.fd)
def restore(cls, *_whatever):
if sys.stderr.isatty():
termios.tcdrain(sys.stderr.fileno())
if sys.stdout.isatty():
termios.tcdrain(sys.stdout.fileno())
if sys.stdin.isatty():
termios.tcflush(sys.stdin.fileno(), termios.TCIOFLUSH)
if cls.old_tcattrs:
termios.tcsetattr(sys.stdin.fileno(), termios.TCSANOW,
cls.old_tcattrs)
def doGo(options, param): checkDevOpen(options) os.write(options.dev, "G%x#" % tuple(param)) # This tcdrain() seems to be necessary on some machines when the 'go' # command is the last one on the command line. It seems that the command # isn't fully sent by the time the program exits. termios.tcdrain(options.dev) return
def flush(self):
try:
os.write(self._fd_out, self._out_buffer)
except BrokenPipeError:
# this can happen if stdout is redirected to a program and the
# program exits before termpixels. We switch to TTY output so that
# the terminal can be reset if necessary.
self._fd_out = self._fd_out_tty
self._out_buffer.clear()
termios.tcdrain(self._fd_out_tty)
def read_error_status(board):
# To do : check the arguments
dest = board << 2
wrtbuf = [PRE, CMD_GET_ERROR, dest, POST, POST, POST, POST]
os.write(filehandle, bytes(wrtbuf))
termios.tcdrain(filehandle)
ok, data = read_uart(4)
if (not ok): # or wrtbuf[0]!=CMD_GET_ERROR or wrtbuf[1]!=dest) :
return -1
val = (data[2] << 8) | data[3]
return val
def read_error_status(board):
# To do : check the arguments
dest = board<<2
wrtbuf = [PRE, CMD_GET_ERROR, dest, POST, POST, POST, POST]
os.write(filehandle,bytes(wrtbuf))
termios.tcdrain(filehandle)
ok , data = read_uart(4)
if (not ok) : # or wrtbuf[0]!=CMD_GET_ERROR or wrtbuf[1]!=dest) :
return -1
val = (data[2]<<8) | data[3]
return val
def read_adc(board,adc) :
# To do : check the arguments
dest = (board<<2) | adc
wrtbuf = [PRE, CMD_GET_ADC, dest, POST, POST, POST, POST]
os.write(filehandle,bytes(wrtbuf))
termios.tcdrain(filehandle)
ok , data = read_uart(4)
if (not ok) : # or data[0]!=CMD_GET_ERROR or data[1]!=dest) :
return -1
ival = (data[2]<<8) | data[3]
## convert integer to float in range 0..3.3V
return ival*(3.3/4095.0)
def read_adc(board, adc):
# To do : check the arguments
dest = (board << 2) | adc
wrtbuf = [PRE, CMD_GET_ADC, dest, POST, POST, POST, POST]
os.write(filehandle, bytes(wrtbuf))
termios.tcdrain(filehandle)
ok, data = read_uart(4)
if (not ok): # or data[0]!=CMD_GET_ERROR or data[1]!=dest) :
return -1
ival = (data[2] << 8) | data[3]
## convert integer to float in range 0..3.3V
return ival * (3.3 / 4095.0)
def get_version(board):
dest = (board << 2)
wrtbuf = [0xA0, CMD_VERSION, dest, POST, POST, POST, POST]
os.write(filehandle, bytearray(wrtbuf))
termios.tcdrain(filehandle)
ok, data = read_uart(4)
if (not ok): # or wrtbuf[0]!=CMD_GET_ERROR or wrtbuf[1]!=dest) :
return 0
# convert xx.yy into xx*100+yy
# thus version 2.5 comes out as 205
val = data[2] * 100 + data[3]
return val
def flush(self):
"""Flush the write buffer of the serial port, blocking until all bytes
are written.
Raises:
SerialError: if an I/O or OS error occurs.
"""
try:
termios.tcdrain(self._fd)
except termios.error as e:
raise SerialError(e.errno, "Flushing serial port: " + e.strerror)
def flush(self):
"""Flush the write buffer of the serial port, blocking until all bytes
are written.
Raises:
SerialError: if an I/O or OS error occurs.
"""
try:
termios.tcdrain(self._fd)
except termios.error as e:
raise SerialError(e.errno, "Flushing serial port: " + e.strerror)
def get_version(board) :
dest = (board<<2)
wrtbuf = [0xA0, CMD_VERSION, dest, POST, POST, POST, POST]
os.write(filehandle,bytearray(wrtbuf))
termios.tcdrain(filehandle)
ok , data = read_uart(4)
if (not ok) : # or wrtbuf[0]!=CMD_GET_ERROR or wrtbuf[1]!=dest) :
return 0
# convert xx.yy into xx*100+yy
# thus version 2.5 comes out as 205
val = data[2]*100 + data[3]
return val
def read_inputs(board) :
# GB_CHECKN(board>=0 && board<=3, "read_inputs illegal board\n")
dest = (board << 2)
wrtbuf = [PRE, CMD_READIO, dest, POST, POST, POST, POST, POST]
os.write(filehandle,bytes(wrtbuf))
termios.tcdrain(filehandle)
ok , rec_data = read_uart(5)
if (not ok) : # or data[0]!=CMD_GET_ADC or data[1]!=dest) :
return -1
i_value = rec_data[4]
i_value |= rec_data[3]<<8
i_value |= rec_data[2]<<16
return i_value
def read_inputs(board):
# GB_CHECKN(board>=0 && board<=3, "read_inputs illegal board\n")
dest = (board << 2)
wrtbuf = [PRE, CMD_READIO, dest, POST, POST, POST, POST, POST]
os.write(filehandle, bytes(wrtbuf))
termios.tcdrain(filehandle)
ok, rec_data = read_uart(5)
if (not ok): # or data[0]!=CMD_GET_ADC or data[1]!=dest) :
return -1
i_value = rec_data[4]
i_value |= rec_data[3] << 8
i_value |= rec_data[2] << 16
return i_value
def thread_send_stop(self):
if (self.fd > 0):
if ENABLE_RTS_LINE:
self.portLock.acquire()
if ENABLE_TCDRAIN:
termios.tcdrain(self.fd)
time.sleep(SERIAL_PORT_COOLDOWN_TIME)
# set RTS to off
self.setRTS(False)
self.portLock.release()
# use the message queue to send self.sentPackets
if self.msgQueue is not None:
self.msgQueue.put((self.txThread.threadID, self.sentPackets, REPORT_DATA_RECIEVED))
def _restore_attrs(self):
new_attrs = termios.tcgetattr(self.fd)
if new_attrs == self.attrs:
return
warning_message("TTY flags for", self.fd.name, "changed, resetting them")
print("Previous state", self.attrs)
print("New state", new_attrs)
termios.tcsetattr(self.fd, termios.TCSANOW, self.attrs)
termios.tcdrain(self.fd)
new_attrs = termios.tcgetattr(self.fd)
if new_attrs != self.attrs:
warning_message("Failed to restore TTY flags for", self.fd.name)
print("Previous state", self.attrs)
print("New state", new_attrs)
def get_motor_status(brd,mot) :
id = (brd<<2) | mot
wrtbuf = [PRE, CMD_MOT_STATUS, id, POST, POST, POST, POST, POST, POST]
os.write(filehandle,bytes(wrtbuf))
# returns 6 bytes:
# ID, CMD, move,
# step_count:MS, step_count:MM, step_count:LS
termios.tcdrain(filehandle)
ok , rec_data = read_uart(6)
if (not ok) : # or rec_data[0]!=CMD_MOT_STATUS or rec_data[1]!=dest) :
return []
motor_data = [0]*2
motor_data[0] = rec_data[2] & 0x0F
motor_data[1] =(rec_data[3]<<16) + (rec_data[4]<<8)+rec_data[5]
return motor_data
def get_motor_status(brd, mot):
id = (brd << 2) | mot
wrtbuf = [PRE, CMD_MOT_STATUS, id, POST, POST, POST, POST, POST, POST]
os.write(filehandle, bytes(wrtbuf))
# returns 6 bytes:
# ID, CMD, move,
# step_count:MS, step_count:MM, step_count:LS
termios.tcdrain(filehandle)
ok, rec_data = read_uart(6)
if (not ok): # or rec_data[0]!=CMD_MOT_STATUS or rec_data[1]!=dest) :
return []
motor_data = [0] * 2
motor_data[0] = rec_data[2] & 0x0F
motor_data[1] = (rec_data[3] << 16) + (rec_data[4] << 8) + rec_data[5]
return motor_data
def _open(self, port, speed):
self._fd = os.open(port, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
self.port = os.fdopen(self._fd, "r+b", buffering=0)
iflag, oflag, cflag, lflag, ispeed, ospeed, cc = termios.tcgetattr(self._fd)
iflag = termios.IGNBRK | termios.IGNPAR
oflag = 0
cflag |= termios.CLOCAL | termios.CREAD | termios.CS8
lflag = 0
ispeed = ospeed = getattr(termios, "B%s" % speed)
cc[termios.VMIN] = 1
cc[termios.VTIME] = 0
termios.tcsetattr(self._fd, termios.TCSANOW, [iflag, oflag, cflag, lflag, ispeed, ospeed, cc])
termios.tcdrain(self._fd)
termios.tcflush(self._fd, termios.TCOFLUSH)
termios.tcflush(self._fd, termios.TCIFLUSH)
def set_baud(self, baud):
iflag, oflag, cflag, lflag, ispeed, ospeed, cc = \
termios.tcgetattr(self._fd)
iflag = termios.IGNBRK | termios.IGNPAR
oflag = 0
cflag |= termios.CLOCAL | termios.CREAD | termios.CS8
lflag = 0
ispeed = ospeed = getattr(termios, "B"+str(baud))
cc[termios.VMIN] = 1
cc[termios.VTIME] = 0
termios.tcsetattr(self._fd, termios.TCSANOW, [
iflag, oflag, cflag, lflag, ispeed, ospeed, cc])
termios.tcdrain(self._fd)
termios.tcflush(self._fd, termios.TCOFLUSH)
termios.tcflush(self._fd, termios.TCIFLUSH)
logger.debug("baud rate set to".format(baud))
def _open(self, port, speed):
self._fd = os.open(port, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
self.port = os.fdopen(self._fd, "r+b", buffering=0)
iflag, oflag, cflag, lflag, ispeed, ospeed, cc = \
termios.tcgetattr(self._fd)
iflag = termios.IGNBRK | termios.IGNPAR
oflag = 0
cflag |= termios.CLOCAL | termios.CREAD | termios.CS8
lflag = 0
ispeed = ospeed = getattr(termios, "B%s" % speed)
cc[termios.VMIN] = 1
cc[termios.VTIME] = 0
termios.tcsetattr(self._fd, termios.TCSANOW,
[iflag, oflag, cflag, lflag, ispeed, ospeed, cc])
termios.tcdrain(self._fd)
termios.tcflush(self._fd, termios.TCOFLUSH)
termios.tcflush(self._fd, termios.TCIFLUSH)
def get_motor_missed(brd,mot) :
id = (brd<<2) | mot
wrtbuf = [PRE, CMD_MOT_MISSED, id, POST, POST, POST, POST, POST, POST]
os.write(filehandle,bytes(wrtbuf))
# returns 8 bytes:
# ID, CMD,
# missed:MS, missed:MM, missed:LS
# three times 0
termios.tcdrain(filehandle)
ok , rec_data = read_uart(8)
if (not ok) : # or rec_data[0]!=CMD_MOT_MISSED or rec_data[1]!=dest) :
return []
motor_data = [0]*2
motor_data[0] =(rec_data[2]<<16) + (rec_data[3]<<8)+rec_data[4]
# Next should be zero
motor_data[1] =(rec_data[5]<<16) + (rec_data[6]<<8)+rec_data[7]
return motor_data
def _restore_attrs(self):
new_attrs = termios.tcgetattr(self.fd)
if new_attrs == self.attrs:
return
warning_message("TTY flags for", self.fd.name, "changed, resetting them")
print("Previous state", self.attrs)
print("New state", new_attrs)
try:
termios.tcsetattr(self.fd, termios.TCSADRAIN, self.attrs)
termios.tcdrain(self.fd)
except Exception as e:
warning_message("Error while restoring TTY flags:", e)
new_attrs = termios.tcgetattr(self.fd)
if new_attrs != self.attrs:
warning_message("Failed to restore TTY flags for", self.fd.name)
print("Previous state", self.attrs)
print("New state", new_attrs)
def get_motor_missed(brd, mot):
id = (brd << 2) | mot
wrtbuf = [PRE, CMD_MOT_MISSED, id, POST, POST, POST, POST, POST, POST]
os.write(filehandle, bytes(wrtbuf))
# returns 8 bytes:
# ID, CMD,
# missed:MS, missed:MM, missed:LS
# three times 0
termios.tcdrain(filehandle)
ok, rec_data = read_uart(8)
if (not ok): # or rec_data[0]!=CMD_MOT_MISSED or rec_data[1]!=dest) :
return []
motor_data = [0] * 2
motor_data[0] = (rec_data[2] << 16) + (rec_data[3] << 8) + rec_data[4]
# Next should be zero
motor_data[1] = (rec_data[5] << 16) + (rec_data[6] << 8) + rec_data[7]
return motor_data
def get_motor_config(brd,mot) :
id = (brd<<2) | mot
wrtbuf = [PRE, CMD_MOT_CONFIG, id, POST, POST, POST, POST, POST,
POST, POST, POST, POST, POST, POST, POST, POST]
os.write(filehandle,bytes(wrtbuf))
termios.tcdrain(filehandle)
ok , rec_data = read_uart(13)
if (not ok) : # or rec_data[0]!=CMD_MOT_CONFIG or rec_data[1]!=dest) :
return []
motor_data = [0]*8
motor_data[0] = rec_data[2] & 0x1F
motor_data[1] = rec_data[3] & 0xF
motor_data[2] = rec_data[3]>>4
motor_data[3] =(rec_data[4]<<16) + (rec_data[5]<<8)+rec_data[6]
motor_data[4] =(rec_data[7]<<8) + rec_data[8]
motor_data[5] =(rec_data[9] & 0x0F)
motor_data[6] =(rec_data[9] >>4)
motor_data[7] =(rec_data[10] & 0x0F)
return motor_data
def _send_cmd(cmd):
# Flush data path all the way to nestedlog server.
#
# These should be no-ops, since stdout/stderr are a character device
# rather than pipes.
sys.stdout.flush()
sys.stderr.flush()
# Synchronously flush to nestedlog-helper CUSE server, which will
# synchronously flush to main nestedlog server.
termios.tcdrain(1)
sock_path = os.environ[SOCK_ENV_VAR]
client_sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
client_sock.connect(sock_path)
client_sock.sendall(cmd.encode('utf-8'))
response = client_sock.recv(1)
client_sock.close()
if response != b'0':
raise Exception('nestedlog server command failed')
def quad_read(board, channel):
# GB_CHECK(board>=0 && board<=3, "quad_read illegal board\n");
# GB_CHECK(gb_motor[board][channel].flags&QUAD_ON,"quad_read not in quadrature mode\n");
dest = (board << 2) | channel
wrtbuf = [
PRE, CMD_QUAD_READ, dest, POST, POST, POST, POST, POST, POST, POST,
POST
]
os.write(filehandle, bytes(wrtbuf))
termios.tcdrain(filehandle)
ok, data = read_uart(7) # id cmd pos pos pos err err
if (not ok): # or wrtbuf[0]!=CMD_GET_ERROR or wrtbuf[1]!=dest) :
return -1, -1
pos = (data[2] << 16) | (data[3] << 8) | data[4]
# sign extend from 24 to 32 bit
# python is very bad at typing. This does not work:
#if pos & 0x00800000 : pos = int(pos | 0xFF000000)
if pos & 0x00800000:
pos = int((pos | 0xFF000000) - 0x100000000)
err = (data[5] << 8) | data[6]
return pos, err
def real_main(args: List[str]) -> None:
msg = 'Show an error message'
cli_opts, items = parse_args(args[1:],
OPTIONS,
'',
msg,
'hints',
result_class=ErrorCLIOptions)
data = json.loads(sys.stdin.buffer.read())
error_message = data['msg']
if cli_opts.title:
print(styled(cli_opts.title, fg_intense=True, fg='red', bold=True))
print()
print(error_message, flush=True)
if data.get('tb'):
import select
from kittens.tui.operations import init_state, set_cursor_visible
fd, original_termios = open_tty()
msg = '\n\r\x1b[1;32mPress e to see detailed traceback or any other key to exit\x1b[m'
write_all(fd, msg)
write_all(
fd,
init_state(alternate_screen=False, kitty_keyboard_mode=False) +
set_cursor_visible(False))
with no_echo(fd):
termios.tcdrain(fd)
while True:
rd = select.select([fd], [], [])[0]
if not rd:
break
q = os.read(fd, 1)
if q in b'eE':
break
return
if data.get('tb'):
tb = data['tb']
for ln in tb.splitlines():
print('\r\n', ln, sep='', end='')
print(flush=True)
hold_till_enter()
def _execute(self, code: str, timeout: float = 5) -> None:
"""Run the given Python code.
To make sure the code returns, we do the following:
1. Send the code to stdin, followed by \n
2. Send a separate line: print('_ok')\n
3. Read back the '_ok\n' on stdout
This strategy lets us write _blocks_ of code (since the un-indented
print() comes after, Python knows the block is closed). But if the code
outputs any messages, that's an error.
Keyword arguments:
timeout -- Number of seconds to wait for _ok before throwing
"""
self._ensure_empty_stdout_and_stderr()
message = f"{code}\nprint('_ok')\n".encode('utf-8')
os.write(self.pty_master, message)
termios.tcdrain(self.pty_master)
r, _, _ = select.select([self.shell.stdout, self.shell.stderr], [], [],
timeout)
b = b''
if r == [self.shell.stdout]:
b = r[0].read(4)
if b == b"_ok\n":
return # we're done!
raise RuntimeError(
f'Expected b"_ok\\n"; got: {b}\nCode was:\n{code}')
else:
if not r:
raise RuntimeError(f'Timeout running code:\n{code}')
else:
raise RuntimeError('\n'.join([
'Python wrote to stderr while executing code:',
code,
'STDERR:',
str(r[0].read()),
]))
def _restore_attrs(self):
try:
# Run drain first to ensure that we get the most recent state.
termios.tcdrain(self.fd)
except Exception as e:
warning_message(self.context, "error while draining:", e)
new_attrs = termios.tcgetattr(self.fd)
if new_attrs == self.attrs:
return
warning_message(self.context, "TTY flags for", self.fd.name, "changed, resetting them")
print("Previous state", self.attrs)
print("New state", new_attrs)
try:
termios.tcsetattr(self.fd, termios.TCSADRAIN, self.attrs)
termios.tcdrain(self.fd)
except Exception as e:
warning_message(self.context, "error while restoring TTY flags:", e)
new_attrs = termios.tcgetattr(self.fd)
if new_attrs != self.attrs:
warning_message(self.context, "failed to restore TTY flags for", self.fd.name)
print("Previous state", self.attrs)
print("New state", new_attrs)
def hold_till_enter() -> None:
import select
import termios
from kittens.tui.operations import init_state, set_cursor_visible
fd, original_termios = open_tty()
msg = '\n\r\x1b[1;32mPress Enter or Esc to exit\x1b[m'
write_all(fd, msg)
write_all(
fd,
init_state(alternate_screen=False, kitty_keyboard_mode=False) +
set_cursor_visible(False))
with no_echo(fd):
termios.tcdrain(fd)
while True:
rd = select.select([fd], [], [])[0]
if not rd:
break
q = os.read(fd, 1)
if q in b'\n\r\x1b':
break
if q in b'\x03\x04':
write_all(fd, msg)
def drain(self):
"Wait for the associated device to drain (e.g. before closing)."
termios.tcdrain(self.fd)
def runs_tcall():
termios.tcsendbreak(2, 0)
termios.tcdrain(2)
termios.tcflush(2, termios.TCIOFLUSH)
termios.tcflow(2, termios.TCOON)
def drainOutput(self):
"""internal - not portable!"""
if not self._isOpen: raise portNotOpenError
termios.tcdrain(self.fd)
def drainOutput(self): termios.tcdrain(self.fd)
def _execute_internal_capture_signals(run_command, signal_handler, stdout, stderr):
# Listener used to know if SIGCONT has been received
listener = SignalListener()
if signal_handler:
signal_handler.add_listener(signal.SIGCONT, listener)
# save original tty setting if a tty exists
old_tty_attr = None
if is_interactive():
old_tty_attr = termios.tcgetattr(sys.stdin)
# get the current settings se we can modify them
newattr = termios.tcgetattr(sys.stdin)
# set the terminal to uncanonical mode and turn off
# input echo.
newattr[3] &= ~termios.ICANON & ~termios.ECHO
# set our new attributes
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, newattr)
master_fd = None
master_stderr_fd = None
try:
# Open pseudo-terminals to interact with subprocess. Need one for stdout and one for stderr
master_fd, slave_fd = pty.openpty()
master_stderr_fd, slave_stderr_fd = pty.openpty()
# Use os.setsid() make it run in a new process group, or bash job control will not be enabled
# This is needed because docker needs to run in the foreground but if it runs in the foreground
# of the current process group it will automatically catch all signals.
p = Popen(
run_command,
preexec_fn=os.setsid,
stdin=slave_fd,
stdout=slave_fd,
stderr=slave_stderr_fd,
universal_newlines=True)
data_in_last_loop = True # True to start with to always enter loop
while p.poll() is None or data_in_last_loop:
if in_foreground() and is_interactive():
r, w, e = select.select([sys.stdin, master_fd, master_stderr_fd], [], [], 0.2)
else:
r, w, e = select.select([master_fd, master_stderr_fd], [], [], 0.2)
data_in_last_loop = bool(r)
if listener.occurred:
# After SIGCONT the select says that there is something to read from stdin
# but for some reason there isn't which makes os.read block until next input
# which might be never
listener.occurred = False
if is_interactive() and in_foreground():
# drain stdin only if the process is in the foreground otherwise
# we don't have access to stdin and this will hang
termios.tcdrain(sys.stdin)
# Similar to stdin the select says that there are things to read
# but reading hangs. This could lead to data loss if there are things
# to read from the subprocess stdout/stderr but no idea how to handle that
termios.tcdrain(master_fd)
termios.tcdrain(master_stderr_fd)
else:
if sys.stdin in r:
# Read from stdin and write to subprocess stdin
d = os.read(sys.stdin.fileno(), 10240)
os.write(master_fd, d)
if master_fd in r:
# Read from subprocess stdout and write to stdout
o = os.read(master_fd, 10240)
if o:
try:
# If stderr is a StringIO this will fail
os.write(stdout.fileno(), o)
except Exception:
stdout.write(o.decode('utf-8', 'ignore'))
if master_stderr_fd in r:
# Read from subprocess stderr and write to stderr
o = os.read(master_stderr_fd, 10240)
if o:
try:
# If stderr is a StringIO this will fail
os.write(stderr.fileno(), o)
except Exception:
stderr.write(o.decode('utf-8', 'ignore'))
return_value = p.wait()
logger.debug(
'Docker run completed with return value: {return_value}'.format(
return_value=return_value))
finally:
if master_fd:
os.close(master_fd)
if master_stderr_fd:
os.close(master_stderr_fd)
if old_tty_attr is not None and in_foreground() and is_interactive():
# Reset stdin if in foreground
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_tty_attr)
if signal_handler:
signal_handler.remove_listener(signal.SIGCONT, listener)
return return_value
def write_test(rxThread, read_timeout, ser, baud, data_to_send, write_size, write_delay, warm_up, cool_down):
try:
if not ser.isOpen():
ser.open()
# set bauderate
ser.setBaudrate(baud)
ser.setRTS(False)
ser.setDTR(True)
if USE_TCDRAIN:
iflag, oflag, cflag, lflag, ispeed, ospeed, cc = termios.tcgetattr(ser.fd)
iflag |= (TERMIOS.IGNBRK | TERMIOS.IGNPAR)
termios.tcsetattr(ser.fd, TERMIOS.TCSANOW, [iflag, oflag, cflag, lflag, ispeed, ospeed, cc])
except serial.SerialException:
print ('serial.SerialException : Failure to change the baudrate to {0}.'.format(baud))
raise BaseException
# verify port is still open
if not ser.isOpen():
print ('Port no longer open')
raise BaseException
# set RTS and warm_up
print ('Start Transmitting')
ser.setRTS(True)
time.sleep(warm_up)
# start sending
data = data_to_send[:]
while len(data) is not 0:
write_len = min(len(data), write_size)
ser.write(data[:write_len])
data = data[write_len:]
time.sleep(write_delay)
# set cool_down and RTS
if USE_TCDRAIN:
termios.tcdrain(ser.fd)
time.sleep(cool_down)
# set RTS to off
ser.setRTS(False)
print ('Finished Transmitting')
# still recieving
rxThread.running_lock.acquire()
if not rxThread.running:
rxThread.running_lock.release()
print ('Recieve thread prematurly terminated')
raise BaseException
rxThread.running_lock.release()
# examin and display recieved data
read_start_time = time.time()
read_data = ''
while ((len(read_data) < len(data_to_send)) and ((time.time() - read_start_time) < read_timeout)):
try:
(packet, packet_time) = rxThread.read_queue.get(True, read_timeout)
print ('recieved {len} bytes within {time:1.4} seconds'.format(len=len(packet), time=packet_time))
read_data += packet
except Queue.Empty:
pass
if (len(read_data) is not len(data_to_send)):
print ('The TX and RX data does not match - Length is different')
if (read_data == data_to_send):
print ('Recieved all the transmitted data !!!')
#print_data_diff(read_data, data_to_send)
else:
print ('The TX and RX data does not match - different data')
print_data_diff(read_data, data_to_send)
def finalizer():
termios.tcdrain(tty_fileno)
def drainOutput(self):
"""internal - not portable!"""
if not self._isOpen: raise portNotOpenError
termios.tcdrain(self.fd)
def tcdrain(space, fd):
try:
termios.tcdrain(fd)
except termios.error, e:
e.errno = e.args[0]
raise convert_error(space, e)
def get_io_setup(brd) :
#GB_CHECK(brd>=0 && brd<=3, "get_io_status illegal board\n");
id = brd<<2
tx = [0]*20
tx[0] = PRE
tx[1] = CMD_IO_STATUS
tx[2] = id
for i in range(3,19) :
tx[i] = POST;
os.write(filehandle,bytes(tx))
termios.tcdrain(filehandle)
# Read input/output status
# return is:
# - ID, CMD (2 bytes) 0, 1
# - adc_enable 3-0 (1 byte) 2
# - dac_enable 1-0 (1 byte) 3
# - inputs pins 23-0 (3 bytes) 4, 5, 6
# - output pins 23-0 (3 bytes) 7, 8, 9
# - output status 23-0 (3 bytes) 10,11,12
# - open drain status (1 unsigned char) 13
# - unused (2 bytes) 14,15
# Total 16 bytes
ok , rec_data = read_uart(16)
if (not ok) : # or rec_data[0]!=CMD_IO_STATUS or rec_data[1]!=dest) :
status = []
return status
# EXT
for i in range(0,8) :
if (rec_data[6] & (1<<i)) :
pin_mode[brd][i^1] = PIN_INPUT
else :
if (rec_data[9] & (1<<i)) :
pin_mode[brd][i^1] = PIN_OUTPUT
else : # not input or output must be endstop
pin_mode[brd][i^1] = PIN_ENDSTOP
# Spares
for i in range(0,2) :
if (rec_data[5] & (1<<i)) :
pin_mode[brd][i^1+8] = PIN_INPUT
else :
pin_mode[brd][i^1+8] = PIN_OUTPUT
# to do : I2C mode
# ADCs
for i in range(0,4) :
if (rec_data[2] & (1<<i)) :
pin_mode[brd][i^1+12] = PIN_ADC
else :
if (rec_data[5] & (0x04<<i)) :
pin_mode[brd][i^1+12] = PIN_INPUT
else :
pin_mode[brd][i^1+12] = PIN_OUTPUT
# DACs
if (rec_data[3] & (0x02)) : # DAC1
pin_mode[brd][17] = PIN_DAC
else :
if (rec_data[5] & 0x40) :
pin_mode[brd][17] = PIN_INPUT
else :
pin_mode[brd][17] = PIN_OUTPUT
if (rec_data[3] & (0x01)) : # DAC0
pin_mode[brd][19] = PIN_DAC
else :
if (rec_data[5] & 0x80) :
pin_mode[brd][19] = PIN_INPUT
else :
pin_mode[brd][19] = PIN_OUTPUT
# gather up all pins and return in list
status = [0]*20
for i in range(0,20) :
status[i] = pin_mode[brd][i]
return status
def finalizer(): termios.tcdrain(tty_fileno)
def flush(self):
termios.tcdrain(self.fd)
def drain(self):
"Wait for the associated device to drain (e.g. before closing)."
termios.tcdrain(self.fd)
def send_command(self, command):
logging.info("--> %s" % command)
out = "%s\r\n" % command
os.write(self.file, out.encode("UTF-8"))
termios.tcdrain(self.file)
def drainOutput(self):
if not self.fd: raise portNotOpenError
termios.tcdrain(self.fd)
print(curs.fetchone())
conn.close()
def test_icmp():
return subprocess.call(["/bin/ping", "-c1", "-W"+str(ICMP_TIMEOUT), ICMP_IP])
def send_sysrq(key):
try:
fd = os.open(TTY_PATH, os.O_RDWR | os.O_SYNC) # no buffering
except Exception, e:
log("Cannot open " + TTY_PATH + ": " + e.__str__())
else:
try:
termios.tcsendbreak(fd, 0)
os.write(fd, key)
termios.tcdrain(fd)
except Exception, e:
log("We could not send the sysrq! " + e.__str__())
else:
log("sysrq sent!")
os.close(fd)
def server_down():
if violent:
send_sysrq(SYSRQ_KEY)
else:
log("We would sysrq-c if we were violent!")
if __name__ == '__main__':
if len(sys.argv) < 2:
print("Please use parameter within:\n - " + VIOLENT_ARG + " to send a sysrq on timeouts\n - test-sysrq to send a sysrq-t\n - anything else for simulation")
def write(self, str):
r = safe_write(self.fd, str, self.timeout)
termios.tcdrain(self.fd)
return r
def send_command(self, command):
dprint("-->", command)
os.write(self.file, "%s\r\n" % command)
termios.tcdrain(self.file)
def _poll_process(parent_pty, epoll, p, cmd, decoder, state):
"""Polls the process and captures / forwards input and output."""
terminated = p.poll() is not None
if terminated:
termios.tcdrain(parent_pty)
# We're no longer interested in write events and only want to consume any
# remaining output from the terminated process. Continuing to watch write
# events may cause early termination of the loop if no output was
# available but the pty was ready for writing.
epoll.modify(parent_pty,
(select.EPOLLIN | select.EPOLLHUP | select.EPOLLERR))
output_available = False
events = epoll.poll()
input_events = []
for _, event in events:
if event & select.EPOLLIN:
output_available = True
raw_contents = os.read(parent_pty, _PTY_READ_MAX_BYTES_FOR_TEST)
decoded_contents = decoder.decode(raw_contents)
sys.stdout.write(decoded_contents)
state.process_output.write(decoded_contents)
if event & select.EPOLLOUT:
# Queue polling for inputs behind processing output events.
input_events.append(event)
# PTY was disconnected or encountered a connection error. In either case,
# no new output should be made available.
if (event & select.EPOLLHUP) or (event & select.EPOLLERR):
state.is_pty_still_connected = False
for event in input_events:
# Check to see if there is any input on the stdin socket.
# pylint: disable=protected-access
input_line = _message._read_stdin_message()
# pylint: enable=protected-access
if input_line is not None:
# If a very large input or sequence of inputs is available, it's
# possible that the PTY buffer could be filled and this write call
# would block. To work around this, non-blocking writes and keeping
# a list of to-be-written inputs could be used. Empirically, the
# buffer limit is ~12K, which shouldn't be a problem in most
# scenarios. As such, optimizing for simplicity.
input_bytes = bytes(input_line.encode(_ENCODING))
os.write(parent_pty, input_bytes)
# Once the process is terminated, there still may be output to be read from
# the PTY. Wait until the PTY has been disconnected and no more data is
# available for read. Simply waiting for disconnect may be insufficient if
# there is more data made available on the PTY than we consume in a single
# read call.
if terminated and not state.is_pty_still_connected and not output_available:
sys.stdout.flush()
command_output = state.process_output.getvalue()
return ShellResult(cmd, p.returncode, command_output)
if not output_available:
# The PTY is almost continuously available for reading input to provide
# to the underlying subprocess. This means that the polling loop could
# effectively become a tight loop and use a large amount of CPU. Add a
# slight delay to give resources back to the system while monitoring the
# process.
# Skip this delay if we read output in the previous loop so that a partial
# read doesn't unnecessarily sleep before reading more output.
# TODO(b/115527726): Rather than sleep, poll for incoming messages from
# the frontend in the same poll as for the output.
time.sleep(0.1)
def runs_tcall():
termios.tcsendbreak(2, 0)
termios.tcdrain(2)
termios.tcflush(2, termios.TCIOFLUSH)
termios.tcflow(2, termios.TCOON)
def drainOutput(self):
"""internal - not portable!"""
if self.fd is None: raise portNotOpenError
termios.tcdrain(self.fd)
def tcdrain(space, w_fd):
fd = space.c_filedescriptor_w(w_fd)
try:
termios.tcdrain(fd)
except OSError, e:
raise convert_error(space, e)
def drainOutput(self):
"""internal - not portable!"""
if self.fd is None: raise portNotOpenError
termios.tcdrain(self.fd)
def tcdrain(space, fd):
try:
termios.tcdrain(fd)
except OSError, e:
raise convert_error(space, e)