def __init__(self): """ """ CRC_POLYNOMIAL = 0x97 self.app_logger = getLogger('application.usart_communication') self.app_logger.info('Creating serial communicator') self.__parser = MessageParser() self.__arduino_logger = ArduinoLogger() self.__serial_port = Serial() self.__crc_calculator = Crc8Calculator(CRC_POLYNOMIAL) self.__receiver_thread = Thread(target=self.__read_incoming_message) self.__is_reading = False self.__request_queue = Queue() self.__command_queue = Queue() self.__request_counter = 0 self.__command_counter = 0 self.__input_message_queue = Queue()
class ArduinoSerialCommunicator(IArduinoCommunicator): """ """ def __init__(self): """ """ CRC_POLYNOMIAL = 0x97 self.app_logger = getLogger('application.usart_communication') self.app_logger.info('Creating serial communicator') self.__parser = MessageParser() self.__arduino_logger = ArduinoLogger() self.__serial_port = Serial() self.__crc_calculator = Crc8Calculator(CRC_POLYNOMIAL) self.__receiver_thread = Thread(target=self.__read_incoming_message) self.__is_reading = False self.__request_queue = Queue() self.__command_queue = Queue() self.__request_counter = 0 self.__command_counter = 0 self.__input_message_queue = Queue() def request_object_data(self, address, sub_address): content = self.__parser.pack_request(self.__command_counter, address, sub_address) self.app_logger.debug('Writing request to arduino: %s', hexlify(content)) self.__serial_port.write(content) msg = self.__get_incoming_message() if msg['id'] == self.__command_counter: self.app_logger.debug('Request replied successfully') print('Arduino replied with: %s' % msg['data']) self.__request_counter += 1 self.__request_counter %= 256 def open(self, port_name): self.__serial_port.port = port_name self.__serial_port.baudrate = 57600 self.__serial_port.open() self.__start_reading() def close(self): self.__stop_reading() self.__serial_port.close() def write_to_object(self, address, sub_address, data): content = self.__parser.pack_command(self.__command_counter, address, sub_address, data) self.app_logger.debug('Writing command to arduino') self.app_logger.debug(content) self.__serial_port.write(content) msg = self.__get_incoming_message() if msg['id'] == self.__command_counter: if msg['data'] == 1: self.app_logger.debug('Command applied successfully') self.__command_counter += 1 self.__command_counter %= 256 def __start_reading(self): self.__is_reading = True self.__receiver_thread.setDaemon(True) self.__receiver_thread.start() def __stop_reading(self): self.__is_reading = False self.__receiver_thread.join() def __read_incoming_message(self): incoming_message = bytearray() msg_size = 0 try: while self.__is_reading: data = ord(self.__serial_port.read(1)) # First byte condition if data == 0xFF and len(incoming_message) == 0: incoming_message.append(data) # Complete header (0xFF + msgType) Stop to determine size elif len(incoming_message) == 1: incoming_message.append(data) msg_size = self.__parser.get_message_size(incoming_message) elif 1 < len(incoming_message) < msg_size: incoming_message.append(data) if len(incoming_message) == msg_size: self.__process_message(incoming_message) incoming_message = bytearray() msg_size = 0 except SerialException as e: self.app_logger.fatal('Error reading serial port:') self.app_logger.fatal(e.strerror) def __process_message(self, message): self.app_logger.debug('Processing incoming message.') assert(type(message) is bytearray) parsed_msg = dict(type='unknown') try: parsed_msg = self.__parser.parse_incoming_message(message) except AssertionError as ae: self.app_logger.error('Invalid incoming message with error ' + ae.args[0]) self.app_logger.error('Data: %s' % hexlify(message)) self.__serial_port.flush() if parsed_msg['type'] == 'string': self.__arduino_logger.process_log_message(parsed_msg) elif parsed_msg['type'] == 'error': self.app_logger.warning('Arduino replied with error message') self.app_logger.warning('Data: %s' % hexlify(message)) else: self.app_logger.debug('Message put in queue') self.app_logger.debug('Type: %s' % parsed_msg['type']) self.__input_message_queue.put(parsed_msg) def __get_incoming_message(self): msg = self.__input_message_queue.get() self.app_logger.debug('Message read from queue') self.app_logger.debug('Type: %s' % msg['type']) self.__input_message_queue.task_done() return msg