# Wait until we see that the port path is available
waiting = True
count = 1
while (waiting):
try:
# We don't really care about the actual communication
# rate because we just want to know if the serial
# path is available. However, we will set the baud
# rate to 115200 based on the expected spec for our Arduino function.
# The timeout value applies to any commands we might
# choose to send in the future.
arduino = llap.LLAP(deviceId='--',
port=arduinoPort,
baudrate=115200,
timeout=1.0,
xonxoff=True,
rtscts=True,
dsrdtr=True)
arduino.flush()
arduino.start()
waiting = False
except (OSError, serial.SerialException):
# Don't pass the exception to the caller
# Display a simple message
print(str(count) + ") Waiting for " + arduinoPort + " ...")
# Wait a short time then keep looping until the exception stops
time.sleep(1.0)
count = count + 1
def run(self):
# Wait until we see that the port path is available
waiting = True
connected = False
count = 1
while (waiting and (self.on == True)):
try:
# We don't really care about the actual communication
# rate because we just want to know if the serial
# path is available. However, we will set the baud
# rate to 115200 based on the expected spec for our device function.
# The timeout value applies to any commands we might
# choose to send in the future.
self.device = llap.LLAP(deviceId='--',
port=self.devicePort,
baudrate=115200,
timeout=1.0,
xonxoff=True,
rtscts=True,
dsrdtr=True)
self.device.flush()
self.device.start()
waiting = False
except (OSError, serial.SerialException):
# Don't pass the exception to the caller
# Display a simple message
if (self.form != None):
self.form.displayMessage(
str(count) + ": Waiting for " + self.devicePort)
# Wait a short time then keep looping until the exception stops
time.sleep(1.0)
count = count + 1
print("Port Wait Complete")
if (self.on == True):
try:
print("Waiting for STARTED")
message, deviceId = self.device.waitFor("STARTED",
timeout=2.0,
displayAll=True)
if (message == None):
self.device.send("ACK")
message, deviceId = self.device.waitFor("ACK",
timeout=2.0,
displayAll=True)
if (message == None):
raise TimeoutError('Timeout Waiting for STARTED')
self.displayMessage(message, deviceId)
self.device.changeDeviceId('AA')
self.device.send("HELLO")
message, deviceId = self.device.waitFor("HELLO")
if (message == None):
raise TimeoutError('Timeout Waiting for HELLO')
self.displayMessage(message, deviceId)
self.device.send("INTVL010T")
self.device.send("CYCLE")
connected = True
self.displayMessage("RUNNING")
except (TimeoutError, KeyboardInterrupt) as error:
print(str(error))
connected = False
if (self.form != None):
self.form.displayMessage(str(error))
updateDelta = 1.0 / 12.0
nextUpdateTime = time.time() + updateDelta
while (connected and (self.on == True)):
try:
message, deviceId = self.device.get(timeout_sec=0.100)
if (deviceId == 'PP'):
c = message[4:].split(',', 13)
self.navigator.updateImu(c)
if (time.time() >= nextUpdateTime):
self.displayMessage(message, deviceId)
heading = "{:.1f}".format(self.navigator.heading)
roll = "{:.1f}".format(self.navigator.roll * 180 / pi)
pitch = "{:.1f}".format(self.navigator.pitch * 180 / pi)
yaw = "{:.1f}".format(self.navigator.yaw * 180 / pi)
self.displayMessage("HEADING = " + heading + " (" + roll +
", " + pitch + ", " + yaw + ")")
nextUpdateTime += updateDelta
except (BaseException) as error:
print(str(error))
self.displayMessage(str(error))
print("Connection Loop Exited")
self.device.send("STOP")
self.device.stop()
self.device.close()
if (self.form != None):
self.form.clearStatus()
def run(self):
# Wait until we see that the port path is available
waiting = True
connected = False
count = 1
while (waiting and (self.on == True)):
try:
# We don't really care about the actual communication
# rate because we just want to know if the serial
# path is available. However, we will set the baud
# rate to 115200 based on the expected spec for our device function.
# The timeout value applies to any commands we might
# choose to send in the future.
self.device = llap.LLAP(deviceId='--',
port=self.devicePort,
baudrate=115200,
timeout=1.0,
xonxoff=True,
rtscts=True,
dsrdtr=True)
self.device.flush()
self.device.start()
waiting = False
except (OSError, serial.SerialException):
# Don't pass the exception to the caller
# Display a simple message
if (self.form != None):
self.form.displayMessage(
str(count) + ": Waiting for " + self.devicePort)
# Wait a short time then keep looping until the exception stops
time.sleep(1.0)
count = count + 1
if (self.on == True):
try:
message, deviceId = self.device.waitFor("STARTED", timeout=2.0)
if (message == None):
raise TimeoutError('Timeout Waiting for STARTED')
self.displayMessage(message, deviceId)
self.device.changeDeviceId('AA')
self.device.send("HELLO")
message, deviceId = self.device.waitFor("HELLO")
if (message == None):
raise TimeoutError('Timeout Waiting for HELLO')
self.displayMessage(message, deviceId)
self.device.send("INTVL010T")
self.device.send("CYCLE")
connected = True
self.displayMessage("RUNNING")
except (TimeoutError, KeyboardInterrupt) as error:
connected = False
if (self.form != None):
self.form.displayMessage(str(error))
updateDelta = 1.0 / 24.0
nextUpdateTime = time.time() + updateDelta
while (connected and (self.on == True)):
try:
message, deviceId = self.device.get()
if (time.time() > nextUpdateTime):
self.displayMessage(message, deviceId)
# temporary parsing of the message to compute
# an orientation
c = message[5:].split(',', 9)
self.form.quad.xDir = int(c[6])
self.form.quad.yDir = int(c[7])
self.form.quad.zDir = int(c[8])
self.form.quad.updateGL()
nextUpdateTime += updateDelta
except:
pass
self.device.send("STOP")
self.device.stop()
self.device.close()
if (self.form != None):
self.form.clearStatus()