class ArduinoController(QObject):
connection = pyqtSignal(bool)
sensors = pyqtSignal(float, float, float, float)
clicked = pyqtSignal()
def __init__(self, _port, _stream=False, _update_in_millis=50):
super().__init__()
print("Opening Arduino on port " + _port)
self.update_in_millis = _update_in_millis
self.stream = _stream
self.running = False
self.arduino_port = _port
self.arduino = None
self.timer = QTimer()
self.timer.timeout.connect(self.process)
self.thread = None
self.prevSensorsValues = [0, 0, 0, 0]
self.sensorsValues = [0, 0, 0, 0]
self.buttonState = 0
self.alive = False
def readSerial(self):
while self.alive:
#print('loop')
if self.arduino.isOpen():
#print('loop', 'arduino open')
try:
data = self.arduino.readline(
)[:-2] # the last bit gets rid of the new-line chars
if data:
try:
data_string = data.decode("utf8")
datas = data_string.split()
#print('arduino datas', datas)
if len(datas) == 9:
self.sensorsValues[0] = (int(datas[1]) -
int(datas[0])) / 1024
self.sensorsValues[1] = (int(datas[3]) -
int(datas[2])) / 1024
self.sensorsValues[2] = (int(datas[5]) -
int(datas[4])) / 1024
self.sensorsValues[3] = (int(datas[7]) -
int(datas[6])) / 1024
button_value = int(datas[8])
if self.buttonState == 1 and button_value == 0:
self.clicked.emit()
self.buttonState = 0
elif self.buttonState == 0 and button_value == 1:
self.buttonState = 1
else:
print('not enough data, needs 8 arguments')
except UnicodeDecodeError:
pass
except (SerialException):
self.stop()
if self.arduino.isOpen():
self.arduino.close()
def process(self):
if self.arduino.isOpen():
if self.stream:
self.sensors.emit(self.sensorsValues[0], self.sensorsValues[1],
self.sensorsValues[2], self.sensorsValues[3])
else:
if (self.sensorsValues[0] != self.prevSensorsValues[0]
or self.sensorsValues[1] != self.prevSensorsValues[1]
or self.sensorsValues[2] != self.prevSensorsValues[2]
or self.sensorsValues[3] != self.prevSensorsValues[3]):
self.sensors.emit(self.sensorsValues[0],
self.sensorsValues[1],
self.sensorsValues[2],
self.sensorsValues[3])
self.prevSensorsValues = list(self.sensorsValues)
if self.running:
self.timer.run()
def stop(self):
print('arduino stop')
self.alive = False
self.timer.stop()
self.connection.emit(False)
def start(self):
print('arduino start')
self.arduino = Serial(port=self.arduino_port,
baudrate=9600,
timeout=0.2)
self.alive = True
if self.thread is None or not self.thread.is_alive():
self.thread = Thread(target=self.readSerial, daemon=True)
self.thread.start()
self.timer.start(self.update_in_millis)
self.connection.emit(True)
