def __init__(self, port):
"""
Connect to the Arduino board and create a logger to track communication.
Args:
Port: The stored port to attempt to connect to.
Raises:
SerialException: Unable to connect to the board.
"""
self._logger = Logger(name="arduino_log")
self._connection = None
self._establish_connection(port)
def __init__(self, port):
"""
Connect to the Arduino board and create a logger to track communication.
Args:
Port: The stored port to attempt to connect to.
Raises:
SerialException: Unable to connect to the board.
"""
self._logger = Logger(name = "arduino_log")
self._connection = None
self._establish_connection(port)
class BoardCommunicator(object):
"""
Class actually responsible for the serial communication with the board.
Needs to keep a running connection with the board, and reconnect if
necessary. Reconnection will reboot the arduino, so homing is required.
Attributes:
_connection: The serial connection with the Arduino board.
_logger: An Arduino-communication specific logger. Logs messages to and
from the Arduino board.
"""
def __init__(self, port):
"""
Connect to the Arduino board and create a logger to track communication.
Args:
Port: The stored port to attempt to connect to.
Raises:
SerialException: Unable to connect to the board.
"""
self._logger = Logger(name = "arduino_log")
self._connection = None
self._establish_connection(port)
def send(self, message):
"""
Send a message to the Arduino board.
Args:
message: the string to be sent to the Arduino over the serial connection
Returns:
An integer specifying the success or error of sending the message to the
Arduino board.
Raises:
SerialException: the connection to the Arduino board has been closed
"""
self._logger.log("Sent to arduino: '%s'" %message)
if self._connection.isOpen():
self._connection.flushInput()
self._connection.flushOutput()
self._connection.write(message)
else:
raise SerialException("Connection to arduino board closed")
#blocking waiting for feedback
while(self._connection.inWaiting() == 0):
pass
sleep(1) #allows for the entire message to be transmitted
result = int(self._connection.read(self._connection.inWaiting()).rstrip())
self._logger.log("Received from arduino: '%d'" %result)
return result
def _establish_connection(self, port):
"""
Helper method to be used by the BoardCommunicator only to connect to the
arduino board. Tells the arduino to home upon connection.
"""
cxn = Serial()
cxn.baudrate = 115200
self._logger.log("Connecting to arduino board at %s" %port)
cxn.port = port
#Attempt to connect at the previously stored port.
try:
cxn.open()
except (SerialException, OSError):
cxn.close()
self._logger.log("Failed connection to stored port %s" %port)
if cxn.isOpen():
sleep(3)
while cxn.inWaiting() > 0:
cxn.read()
#Send the handshake message
cxn.write("connection")
sleep(3)
msg = cxn.read(cxn.inWaiting()).strip()
self._logger.log("Handshake string received from arduino: %r" %msg)
if msg == "main":
self._logger.log("Main Arduino control unit found at port %s"
%port)
self._connection = cxn
if self.send("h") == 0:
self._logger.log("Homing of camera successful")
return
else:
self._logger.log("Homing failed upon connection")
raise SerialException("Homing Error, please check machine")
else:
self._logger.log("Connection at port %s was not the Arduino" +
" control unit")
cxn.close()
#If the stored port fails, search available ports, trying the handshake
#at each one
else:
self._logger.log("Searching available ports for the Arduino "
"control unit")
cxn.close()
for searched_port in list_ports.comports():
cxn.port = searched_port[0]
try:
cxn.open()
except (SerialException, OSError):
self._logger.log("Failed connection to searched port %s"
%searched_port[0])
if cxn.isOpen():
sleep(3)
while cxn.inWaiting() > 0:
cxn.read()
cxn.write("connection")
sleep(3)
msg = cxn.read(cxn.inWaiting()).strip()
self._logger.log("Handshake string received from arduino: %r" %msg)
if msg == "main":
self._logger.log("Main Arduino control unit found at port %s"
%searched_port[0])
self._connection = cxn
utils.update_config_dict("CameraCommunicator",
dict(arduino_port = searched_port[0]))
if self.send("h") == 0:
self._logger.log("Homing of camera successful")
return
else:
self._logger.log("Homing failed upon connection")
raise SerialException("Homing Error, please check machine")
else:
self._logger.log(("Connection at port %s was not the Arduino" +
" control unit") %searched_port[0])
cxn.close()
if self._connection is None:
self._logger.log("Did not connect to the Arduino Board after " +
"searching all ports")
raise SerialException("Did not connect to the Arduino Board")
class BoardCommunicator(object):
"""
Class actually responsible for the serial communication with the board.
Needs to keep a running connection with the board, and reconnect if
necessary. Reconnection will reboot the arduino, so homing is required.
Attributes:
_connection: The serial connection with the Arduino board.
_logger: An Arduino-communication specific logger. Logs messages to and
from the Arduino board.
"""
def __init__(self, port):
"""
Connect to the Arduino board and create a logger to track communication.
Args:
Port: The stored port to attempt to connect to.
Raises:
SerialException: Unable to connect to the board.
"""
self._logger = Logger(name="arduino_log")
self._connection = None
self._establish_connection(port)
def send(self, message):
"""
Send a message to the Arduino board.
Args:
message: the string to be sent to the Arduino over the serial connection
Returns:
An integer specifying the success or error of sending the message to the
Arduino board.
Raises:
SerialException: the connection to the Arduino board has been closed
"""
self._logger.log("Sent to arduino: '%s'" % message)
if self._connection.isOpen():
self._connection.flushInput()
self._connection.flushOutput()
self._connection.write(message)
else:
raise SerialException("Connection to arduino board closed")
#blocking waiting for feedback
while (self._connection.inWaiting() == 0):
pass
sleep(1) #allows for the entire message to be transmitted
result = int(
self._connection.read(self._connection.inWaiting()).rstrip())
self._logger.log("Received from arduino: '%d'" % result)
return result
def _establish_connection(self, port):
"""
Helper method to be used by the BoardCommunicator only to connect to the
arduino board. Tells the arduino to home upon connection.
"""
cxn = Serial()
cxn.baudrate = 115200
self._logger.log("Connecting to arduino board at %s" % port)
cxn.port = port
#Attempt to connect at the previously stored port.
try:
cxn.open()
except (SerialException, OSError):
cxn.close()
self._logger.log("Failed connection to stored port %s" % port)
if cxn.isOpen():
sleep(3)
while cxn.inWaiting() > 0:
cxn.read()
#Send the handshake message
cxn.write("connection")
sleep(3)
msg = cxn.read(cxn.inWaiting()).strip()
self._logger.log("Handshake string received from arduino: %r" %
msg)
if msg == "main":
self._logger.log("Main Arduino control unit found at port %s" %
port)
self._connection = cxn
if self.send("h") == 0:
self._logger.log("Homing of camera successful")
return
else:
self._logger.log("Homing failed upon connection")
raise SerialException("Homing Error, please check machine")
else:
self._logger.log("Connection at port %s was not the Arduino" +
" control unit")
cxn.close()
#If the stored port fails, search available ports, trying the handshake
#at each one
else:
self._logger.log("Searching available ports for the Arduino "
"control unit")
cxn.close()
for searched_port in list_ports.comports():
cxn.port = searched_port[0]
try:
cxn.open()
except (SerialException, OSError):
self._logger.log("Failed connection to searched port %s" %
searched_port[0])
if cxn.isOpen():
sleep(3)
while cxn.inWaiting() > 0:
cxn.read()
cxn.write("connection")
sleep(3)
msg = cxn.read(cxn.inWaiting()).strip()
self._logger.log(
"Handshake string received from arduino: %r" % msg)
if msg == "main":
self._logger.log(
"Main Arduino control unit found at port %s" %
searched_port[0])
self._connection = cxn
utils.update_config_dict(
"CameraCommunicator",
dict(arduino_port=searched_port[0]))
if self.send("h") == 0:
self._logger.log("Homing of camera successful")
return
else:
self._logger.log("Homing failed upon connection")
raise SerialException(
"Homing Error, please check machine")
else:
self._logger.log(
("Connection at port %s was not the Arduino" +
" control unit") % searched_port[0])
cxn.close()
if self._connection is None:
self._logger.log("Did not connect to the Arduino Board after " +
"searching all ports")
raise SerialException("Did not connect to the Arduino Board")
