def connect_stm():
for port in list_ports.comports():
if (port.serial_number == SNR) and (port.pid == PID) and (port.vid
== VID):
port = '/dev/' + port.name
else:
print 'No STM32 found. Aborting'
computerPort = serialWrapper.SerialWrapper(port)
commands = packetBuilder.CommandsList()
return computerPort, commands
import serialWrapper
import packetBuilder
import sys
from serial.tools import list_ports
commands_to_stm = packetBuilder.CommandsList()
current_module = sys.modules[__name__]
com_port = None
def create_connection_to_stm():
port_number = get_com_port_number()
return serialWrapper.SerialWrapper(port_number)
def get_com_port_number():
vid = 1155
pid = 22336
snr = '365032713431' # stm Serial number
return '/dev/tty.usbmodem1411'
for port in list_ports.comports():
if port.serial_number == snr:
return port.device
def process_request(command, parameters):
if parameters is '':
reply = getattr(current_module, command)()
else:
reply = getattr(current_module, command)(parameters)
return reply
def __init__(self, initialCoordinates):
portNumber = self.GetPortNumber()
#self.computerPort = serialWrapper.SerialWrapper("/dev/ttyACM2")
self.computerPort = serialWrapper.SerialWrapper(portNumber)
self.commands = packetBuilder.CommandsList()
self.InitializeRobot(initialCoordinates)
recievedPacket = computerPort.sendRequest(packet.bytearray)
#if recievedPacket.reply != 'Ok':
# raise Exception('setCoordinates failed')
port = port_number()
if port:
print 'STM32 found on port %s' %port
else:
print 'No STM32 found. Aborting'
sys.exit()
# COM port initialization
computerPort = serialWrapper.SerialWrapper(port)
# we will choose commands which we want to send from this list
commands = packetBuilder.CommandsList()
# Initialize PID, Trajectory and Kinematics
initPTC()
while True:
print '\nList of available commands: \n1 Movement\n2 Get Coordinates',\
'\n3 Set Coordinates'
command = raw_input('Command number: ')
if command == '1':
movement()
elif command == '2':
pass
elif command == '3':
setCoord()
class ParsePacket(object):
synchronization = 'FA'
adress = 'FA'
typeConvertor = typeConvertor.TypeConvertor()
crcCalculator = crc.CrcCalculator()
listOfComands = packetBuilder.CommandsList()
def __init__(self, byteString):
self.string = byteString
self.byteArray = self.GetByteArrayFromRecievedString()
self.recievedSynchronizationByte = self.byteArray[0]
self.recievedAdress = self.byteArray[1]
self.packetLenght = self.byteArray[2]
self.command = self.byteArray[3]
self.reply = self.GetReply()
self.recievedcrc = self.typeConvertor.IntToHex(
self.byteArray[len(self.byteArray) -
2]) + self.typeConvertor.IntToHex(
self.byteArray[len(self.byteArray) - 1])
self.CheckCrc()
def GetReply(self):
if self.listOfComands.getCurentCoordinates == self.command or self.listOfComands.getCurrentSpeed == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
coordinatesList = []
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[16:24]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[8:16]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[0:8]))
return coordinatesList
if self.listOfComands.getDataIKSensors == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
coordinatesList = []
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[24:32]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[16:24]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[8:16]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[0:8]))
return coordinatesList
if self.listOfComands.getDataUSSensors == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
coordinatesList = []
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[32:40]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[24:32]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[16:24]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[8:16]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[0:8]))
return coordinatesList
if self.listOfComands.closeCubeCollector == self.command or self.listOfComands.getADCPinState == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
# check int 16 or int 8
return int(invertedParametersString, 16)
if self.listOfComands.isPointWasReached == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
return int(invertedParametersString, 16)
if self.listOfComands.getManipulatorAngle == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
return self.typeConvertor.HexToFloat(invertedParametersString)
return self.byteArray[4:len(self.byteArray) - 2][:-1]
def CheckCrc(self):
calculatedCrc = self.crcCalculator.GetTwoBytesFromCrc32(
self.byteArray[0:len(self.byteArray) - 2])
if calculatedCrc != self.recievedcrc:
raise Exception('Expected crc: ' + self.recievedcrc +
', but calculated: ' + calculatedCrc)
def GetByteArrayFromRecievedString(self):
byteString = ""
for index in range(0, len(self.string)):
hexSymbol = self.typeConvertor.IntToHex(
ord(str(self.string[index])))
#print str(index) + ': ' + hexSymbol
byteString = byteString + hexSymbol
byteString = bytearray.fromhex(byteString)
#print 'end'
return byteString