def __init__(self,
port='/dev/usb/ttyUSB0',
baudrate=9600,
parity=serial.PARITY_NONE,
bytesize=serial.EIGHTBITS):
"""Initialize the connection to the device"""
SerialConnection.__init__(self, port, baudrate, parity, bytesize)
def loadtoipm(src, BAUD, PORT):
pmfeatures_file = PATH_TO_PYMITE + '/src/platform/stm32f2/pmfeatures.py'
pmfeatures = pmImgCreator.PmImgCreator(pmfeatures_file)
code = compile(src, '', "exec")
img = pmfeatures.co_to_str(code)
print len(img)
conn = SerialConnection(PORT, BAUD)
conn.write(img)
return ''.join([c for c in conn.read()])
def connect_xbee(self):
"""
Tries to establish serial connection.
"""
port_name = self.entry1.get()
baud_rate = int(self.entry2.get())
self.s = SerialConnection(self, port_name, baud_rate)
if not self.s.start_connection():
messagebox.showerror('Error', "Could not establish serial connection.")
else:
self.connected = True
self.root2.destroy()
def shutDownDevice():
try:
ser = SerialConnection().getSerialConnection( '9600' ,
'none',
'1',
'8')
command = 'FA1000060001020001'
crc = ModbusLib.get_modbus_crc( bytearray.fromhex( command ) )
command = command+crc
print('UPS command', command)
commandResp = ModbusCommandSender().sendCommand( ser, command, 'RTU' )
if commandResp:
print('UPS written successfully')
else:
print('Error writing to UPS')
try:
subprocess.call( 'shutdown now', shell=True )
except Exception as e:
self.LOG.error( 'Error shutting down: %s', e )
except Exception as e:
print('Error writing to UPS', e)
def __init__(self):
QObject.__init__(self)
# Serial connection
self.serial = SerialConnection()
self.serial.set_port(0)
self.serial.message_received.connect(self._onMessageReceived)
# Board status object
self.boardStatus = BoardStatus()
# Board settings object
self.fmuSettings = FmuSettings()
# Status reader
self.statusReaderThread = None
self.statusReaderIsAlive = False
self.statusReaderUpdateInterval = 0.25 # Update interval in seconds
# Indicates if new data from the board was received
#self.hasNewData = False
self._logger = Logger()
def __init__(self, _number, _max):
self._number = _number
self._max = _max
# Don't call update here
def request(self, x):
print("{} was requested.".format(x))
def update(self):
while True:
print("Spawned {} of {}".format(self._number, self._max))
sleep(2)
if __name__ == '__main__':
'''
spawn = Spawn(1, 1) # Create the object as normal
p = multiprocessing.Process(target=methodcaller("update"), args=(spawn,)) # Run the loop in the process
p.start()
while True:
sleep(1.5)
spawn.request(2) # Now you can reference the "spawn"
'''
device = SC()
p = multiprocessing.Process(target=methodcaller("ReadData"),
args=(device, )) # Run the loop in the process
p.start()
while True:
sleep(1.5)
device.SendData('0003')
class _FMUManager(QObject):
"""
This class manages the communication with the controller, e.g. the
connection, status updates, etc.
"""
# Update interval in ms
UPDATE_INTERVAL = 1000
# This signals is emitted when the board status was updated
board_status_updated = pyqtSignal()
# This signal is emitted when the board settings are updated
board_settings_updated = pyqtSignal()
# This signal is emitted when a new data object message was received
data_object_received = pyqtSignal()
def __init__(self):
QObject.__init__(self)
# Serial connection
self.serial = SerialConnection()
self.serial.set_port(0)
self.serial.message_received.connect(self._onMessageReceived)
# Board status object
self.boardStatus = BoardStatus()
# Board settings object
self.fmuSettings = FmuSettings()
# Status reader
self.statusReaderThread = None
self.statusReaderIsAlive = False
self.statusReaderUpdateInterval = 0.25 # Update interval in seconds
# Indicates if new data from the board was received
#self.hasNewData = False
self._logger = Logger()
def connect(self, port=0):
"""Connects to the flight controller"""
self.serial.connect()
# Start reading the board status
self._startStatusReader()
# Read once the board settings
self.updateBoardSettings()
def disconnect(self):
"""Disconnects from the flight controller"""
# Stop the status reader
self._stopStatusReader()
# Disconnects
self.serial.disconnect()
def set_serial_port(self, port):
self.serial.set_port(port)
def connected(self):
return self.serial.connected
def setUpdateInterval(seld, interval):
pass
def _startStatusReader(self):
"""
Starts the status readers.
"""
# Already started?
if self.statusReaderIsAlive:
return
# Create thread and start reading the board status
self.statusReaderIsAlive = True
self.statusReaderThread = threading.Thread(target=self._statusReader)
self.statusReaderThread.setDaemon = True
self.statusReaderThread.start()
def _stopStatusReader(self):
"""
Stops the status reader.
"""
if not self.statusReaderIsAlive:
return
self.statusReaderIsAlive = False
#time.sleep(self.statusReaderUpdateInterval)
self.statusReaderThread.join()
def _statusReader(self):
"""
Sends status requests to the flight controller board.
"""
while self.statusReaderIsAlive:
#self._logger.debug("Sending new status query")
message = GetBoardStatusMessage()
self.serial.writeMessage(message)
#self.updateBoardSettings()
time.sleep(self.statusReaderUpdateInterval)
def _onMessageReceived(self):
"""
Callback method which is called when a new messages was received by
the serial connection.
"""
try:
messages = list(get_all_from_queue(self.serial.messageQueue))
#message = self.serial.messageQueue.get(False)
#if message[0] is None:
# return
#if message[0].commandType == CommandTypes.GET_BOARD_STATUS:
# self._updateStatus(message[0], message[1])
#elif message[0].commandType == CommandTypes.GET_BOARD_SETTINGS:
# self._onBoardSettingsUpdated(message[0], message[1])
if len(messages) > 0:
#self._logger.debug("New status response received")
for message in messages:
if message[0] is None:
continue
if message[0].commandType == CommandTypes.GET_BOARD_STATUS:
self._updateStatus(message[0], message[1])
elif message[0].commandType == CommandTypes.GET_BOARD_SETTINGS:
self._onBoardSettingsUpdated(message[0], message[1])
elif message[0].commandType == CommandTypes.DEBUG_INT_VALUES:
self.boardStatus.updateFromMessage(message[0], message[1])
# Emit signal
self.board_status_updated.emit()
elif message[0].commandType == CommandTypes.DEBUG_FLOAT_VALUES:
self.boardStatus.updateFromMessage(message[0], message[1])
# Emit signal
self.board_status_updated.emit()
elif message[0].commandType == CommandTypes.DEBUG_STRING_MESSAGE:
self.boardStatus.updateFromMessage(message[0], message[1])
# Emit signal
self.board_status_updated.emit()
else:
self.data_object_received.emit()
except StopIteration:
return
def _updateStatus(self, message, timestamp):
"""
Updates the board status with the received data from the serial
connection.
"""
self.boardStatus.updateFromMessage(message, timestamp)
#self.boardStatus.printStatus()
# Emit signal
self.board_status_updated.emit()
def _onBoardSettingsUpdated(self, message, timestamp):
"""Called when an board settings (0x0020) message was received. The board
settings will be updated with the received message."""
self.fmuSettings.updateFromMessage(message, timestamp)
# Emit signal
self.board_settings_updated.emit()
###########################################
## Output channels (servo, engine) methods
###########################################
def setServoPos(self, servo_nr=1, pos=0):
"""Moves the specified servo to the given position."""
message = ServoPositionMessage(servo_nr, pos)
self.serial.writeMessage(message)
def getServoPos(self, servo_nr=1):
pass
###########################################
## Board settings methods
###########################################
def updateBoardSettings(self):
"""Sends an update board settings message."""
message = GetBoardSettingsMessage()
self.serial.writeMessage(message)
def saveBoardSettings(self):
"""Saves all firmware settings to the flash memory."""
message = SaveSettingsMessage()
self.serial.writeMessage(message)
def setPIDRollCoefficients(self, p_fac, i_fac, d_fac, i_limit):
message = SetRollPIDCoefficientsMessage(p_fac, i_fac, d_fac, i_limit)
self.serial.writeMessage(message)
def setPIDPitchCoefficients(self, p_fac, i_fac, d_fac, i_limit):
message = SetPitchPIDCoefficientsMessage(p_fac, i_fac, d_fac, i_limit)
self.serial.writeMessage(message)
def setPIDYawCoefficients(self, p_fac, i_fac, d_fac, i_limit):
message = SetYawPIDCoefficientsMessage(p_fac, i_fac, d_fac, i_limit)
self.serial.writeMessage(message)
def setDcmRollCoefficients(self, p_factor, i_factor):
message = SetDcmRollCoefficientsMessage(p_factor, i_factor)
self.serial.writeMessage(message)
def setDcmPitchCoefficients(self, p_factor, i_factor):
message = SetDcmPitchCoefficientsMessage(p_factor, i_factor)
self.serial.writeMessage(message)
def setDcmYawCoefficients(self, p_factor, i_factor):
message = SetDcmYawCoefficientsMessage(p_factor, i_factor)
self.serial.writeMessage(message)
from payload import *
import threading
import time
import sys
import struct
from Timer import *
def quit():
print 'Exiting...'
sys.exit()
try:
databuffer = []
serial = SerialConnection()
print "Serial created"
serial.connect("/dev/tty.usbserial-FTG90JQK")
print "Serial Connected..."
print "Removing nulls"
serial.removeInitialNulls()
print "NULLS REMOVED"
counter = -1
while True:
#a = raw_input()
counter += 1
if counter > 255:
counter = 0
#senddata = '\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00'
def inoProcess(state, lock, rate_q_rc, change_q_rc, rate_q_pi, change_q_pi,
min_val, max_val):
"""Provide work with arduino serial port
:param state: current system state
:param lock: lock for global variables
:param rate_q_rc: queue with video rate value for rc
:param change_q_rc: queue with video change flag for rc
:param rate_q_pi: queue with video rate value for pi
:param change_q_pi: queue with video change flag for pi
:param min_val: minimum available video rate value
:param max_val: maximum available video rate value
"""
state_list = [2, 3, 4, 8]
ino_ser = SerialConnection(
device_name='Arduino',
device_id='1733') # Create arduino serial connection
prev_rate = min_val
while True:
if state.value in state_list:
if state.value == 2:
# Send start command to Arduino
ino_ser.sendData(msg=b'S')
lock.acquire()
state.value = 3
lock.release()
if state.value == 3:
# Get data from Arduino
if ino_ser.ser.inWaiting() > 0:
msg = ino_ser.getData()
if not (b'None' in msg):
if b'Change' in msg:
change_q_rc.put(True)
change_q_pi.put(True)
elif b'Up' in msg:
rate = setFrameTime(True, min_val, max_val,
prev_rate)
if not (prev_rate == rate):
rate_q_pi.put(rate)
rate_q_rc.put(rate)
prev_rate = rate
else:
rate = setFrameTime(False, min_val, max_val,
prev_rate)
if not (prev_rate == rate):
rate_q_pi.put(rate)
rate_q_rc.put(rate)
prev_rate = rate
if state.value == 4:
# Send end command to Arduino
ino_ser.sendData(msg=b'E')
if ino_ser.getResponse():
lock.acquire()
state.value = 5
lock.release()
if state.value == 8:
# Send timeout command to Arduino
ino_ser.sendData(msg=b'T')
prev_rate = min_val
if ino_ser.getResponse():
lock.acquire()
state.value = 1
lock.release()
def queryModbusDevices( self ):
modbusDevList = ModbusDeviceList().getModbusDeviceList()
modbusResponseList = []
index = 0
print('No of modbus devices: ', modbusDevList)
for modbusDevice in modbusDevList:
print('Modbus Device ', modbusDevice)
ser = None
try:
print('here1')
connectionType = modbusDevice.get( ModbusConsts.CONN_TYPE )
if connectionType is None:
continue
if connectionType == ModbusConsts.CONN_RTU:
print('here2')
connParams = modbusDevice.get( ModbusConsts.CONN_PARAMS )
print('here2.1')
modbusConfig = ModbusDeviceConfig().getModbusConfig( modbusDevice.get( ModbusConsts.DEVICE_TYPE ) )
print('here2.2')
self.LOG.debug(modbusConfig.get(ModbusConsts.QUERY_PARAMS))
print('here2.3')
try:
print('here3')
ser = SerialConnection().getSerialConnection( connParams.get( ModbusConsts.BAUDRATE ) ,
connParams.get( ModbusConsts.PARITY ),
connParams.get( ModbusConsts.STOP_BITS ),
connParams.get( ModbusConsts.BYTE_SIZE ))
except Exception as e3:
self.LOG.error( 'Error Getting Serial connection: %s', e3 )
modbusResp = ModbusRtuAcquisition().queryDevice( int(connParams.get( ModbusConsts.SLAVE_ID )),
ser,
modbusConfig.get( ModbusConsts.QUERY_PARAMS ),
index,
connectionType
)
print('here4')
modbusResp[ModbusConsts.DEVICE_TYPE] = modbusDevice.get( ModbusConsts.DEVICE_TYPE )
modbusResp[ModbusConsts.SLAVE_ID] = connParams.get( ModbusConsts.SLAVE_ID )
modbusResp[ModbusConsts.DEVICE_CATEGORY] = modbusDevice.get( ModbusConsts.DEVICE_CATEGORY )
modbusResp[ModbusConsts.DEVICE_ID] = modbusDevice.get( ModbusConsts.DEVICE_ID )
if modbusDevice.get( ModbusConsts.TCS_DATA ) is not None:
modbusResp[ModbusConsts.TCS_DATA] = modbusDevice.get( ModbusConsts.TCS_DATA )
modbusResponseList.append( modbusResp )
elif connectionType == ModbusConsts.CONN_TCP:
pass
elif connectionType == ModbusConsts.CONN_RTU_TCP:
pass
elif connectionType == ModbusConsts.CONN_RTU_LORA:
connParams = modbusDevice.get( ModbusConsts.CONN_PARAMS )
modbusConfig = ModbusDeviceConfig().getModbusConfig( modbusDevice.get( ModbusConsts.DEVICE_TYPE ) )
self.LOG.debug(modbusConfig.get(ModbusConsts.QUERY_PARAMS))
try:
ser = LoraConnection().getLoraConnection( connParams.get( ModbusConsts.BAUDRATE ),
connParams.get( ModbusConsts.PARITY ),
connParams.get( ModbusConsts.STOP_BITS ),
connParams.get( ModbusConsts.BYTE_SIZE ))
except Exception as e3:
self.LOG.error( 'Error Getting LoRa Serial connection: %s', e3 )
modbusResp = ModbusRtuAcquisition().queryDevice( int(connParams.get( ModbusConsts.SLAVE_ID )),
ser,
modbusConfig.get( ModbusConsts.QUERY_PARAMS ),
index
)
modbusResp[ModbusConsts.DEVICE_TYPE] = modbusDevice.get( ModbusConsts.DEVICE_TYPE )
modbusResp[ModbusConsts.SLAVE_ID] = connParams.get( ModbusConsts.SLAVE_ID )
modbusResp[ModbusConsts.DEVICE_CATEGORY] = modbusDevice.get( ModbusConsts.DEVICE_CATEGORY )
modbusResp[ModbusConsts.DEVICE_ID] = modbusDevice.get( ModbusConsts.DEVICE_ID )
if modbusDevice.get( ModbusConsts.TCS_DATA ) is not None:
modbusResp[ModbusConsts.TCS_DATA] = modbusDevice.get( ModbusConsts.TCS_DATA )
modbusResponseList.append( modbusResp )
elif connectionType == ModbusConsts.CONN_TYPE_SLAVE_RS485:
connParams = modbusDevice.get( ModbusConsts.CONN_PARAMS )
try:
ser = SerialConnection().getSerialConnection( connParams.get( ModbusConsts.BAUDRATE ),
connParams.get( ModbusConsts.PARITY ),
connParams.get( ModbusConsts.STOP_BITS ),
connParams.get( ModbusConsts.BYTE_SIZE ))
except Exception as e3:
self.LOG.error( 'Error Getting Serial connection: %s', e3 )
try:
modbusResp = ModbusSlaveCardAcquisition().querySlaveCard( modbusDevice, ser, index )
modbusResp[ModbusConsts.DEVICE_TYPE] = modbusDevice.get( ModbusConsts.DEVICE_TYPE )
modbusResp[ModbusConsts.SLAVE_ID] = connParams.get( ModbusConsts.SLAVE_ID )
modbusResp[ModbusConsts.DEVICE_CATEGORY] = modbusDevice.get( ModbusConsts.DEVICE_CATEGORY )
modbusResp[ModbusConsts.DEVICE_ID] = modbusDevice.get( ModbusConsts.DEVICE_ID )
modbusResponseList.append( modbusResp )
except Exception as e:
print(e)
elif connectionType == ModbusConsts.CONN_TYPE_SLAVE_LORA:
print('Querying Lora Slave')
connParams = modbusDevice.get( ModbusConsts.CONN_PARAMS )
try:
ser = LoraConnection().getLoraConnection( connParams.get( ModbusConsts.BAUDRATE ),
connParams.get( ModbusConsts.PARITY ),
connParams.get( ModbusConsts.STOP_BITS ),
connParams.get( ModbusConsts.BYTE_SIZE ))
except Exception as e3:
self.LOG.error( 'Error Getting LoRa Serial connection: %s', e3 )
modbusResp = ModbusSlaveCardAcquisition().querySlaveCard( modbusDevice, ser, index )
modbusResp[ModbusConsts.DEVICE_TYPE] = modbusDevice.get( ModbusConsts.DEVICE_TYPE )
modbusResp[ModbusConsts.SLAVE_ID] = connParams.get( ModbusConsts.SLAVE_ID )
modbusResp[ModbusConsts.DEVICE_CATEGORY] = modbusDevice.get( ModbusConsts.DEVICE_CATEGORY )
modbusResp[ModbusConsts.DEVICE_ID] = modbusDevice.get( ModbusConsts.DEVICE_ID )
modbusResponseList.append(modbusResp)
else:
self.LOG.warn( 'Connection Type not supported: %s', connectionType )
except Exception as e2:
self.LOG.error( 'Error querying the Modbus device: %s', e2 )
index += 1
mDecoder = ModbusDecoder()
decodedData = mDecoder.decodeModbusData( modbusResponseList )
print("Decoded Data: ",decodedData)
try:
decodedData = AlarmProcessor().processAlarms( decodedData, modbusDevice.get( ModbusConsts.DEVICE_TYPE ) )
except Exception as e:
self.LOG.error( 'Error processing alarms: %s', e )
InputDataQueue.modbusDataQueue.put_nowait( decodedData )
def main():
imei = None
mc = MainConfig().getConfig()
#GsmUtility.resetModem()
try:
subprocess.call('hwclock -f /dev/rtc1 -s', shell=True)
except Exception as e:
self.LOG.error('Error syncing time: %s', e)
try:
imei = GsmUtility.getGsmImeiNumber()
except Exception as e:
print(e)
try:
ser = SerialConnection().getSerialConnection(
connParams.get(ModbusConsts.BAUDRATE),
connParams.get(ModbusConsts.PARITY),
connParams.get(ModbusConsts.STOP_BITS),
connParams.get(ModbusConsts.BYTE_SIZE))
command = 'FA0600060001'
crc = ModbusLib.get_modbus_crc(bytearray.fromhex(command))
command = command + crc
print('UPS command', command)
commandResp = ModbusCommandSender().sendCommand(ser, command, 'RTU')
if commandResp:
print('UPS written successfully')
else:
print('Error writing to UPS')
except Exception as e:
print('Error writing to UPS', e)
GsmUtility.ImeiNumber = '0123456789' if imei is None else imei
Status.deviceId = '0123456789' if mc.get(
Constants.DEVICE_ID) is None else mc.get(Constants.DEVICE_ID)
try:
with open('/fw/DataLogger/app/version.info', 'r') as f:
Status.fwVersion = f.readline()
Status.fwVersion = Status.fwVersion.strip()
except Exception as e:
print('Error reading Firmware version: %s', e)
recordTime = str(
datetime.datetime.fromtimestamp(
time.time()).strftime('%Y-%m-%d %H:%M:%S'))
payload_type = 'xml' if mc.get(Constants.PAYLOAD_TYPE) is None else mc.get(
Constants.PAYLOAD_TYPE)
if payload_type == Constants.PAYLOAD_TYPE_XML:
initialRecord = '<GATEWAY_ID V=\'' + str(
Status.deviceId
) + '\'>' + '<DT V=\'' + recordTime + '\'>' + '<FW_VERSION V=\'' + str(
Status.fwVersion) + '\'/></DT></GATEWAY_ID>'
elif payload_type == Constants.PAYLOAD_TYPE_JSON:
initialRecord = {}
initialRecord['gateway_id'] = Status.deviceId
initialRecord['dt'] = recordTime
initialRecord['fw_version'] = Status.fwVersion
initialRecord['imei'] = GsmUtility.ImeiNumber
initialRecord = json.dumps(initialRecord)
else:
initialRecord = '<GATEWAY_ID V=\'' + str(
Status.deviceId
) + '\'>' + '<DT V=\'' + recordTime + '\'>' + '<FW_VERSION V=\'' + str(
Status.fwVersion) + '\'/></DT></GATEWAY_ID>'
pq = PayloadQueue()
pq.appendPayload(initialRecord)
Status.modbusDevStatus = [0] * len(
ModbusDeviceList().getModbusDeviceList())
print('No of modbus devices ',
len(ModbusDeviceList().getModbusDeviceList()))
GPIO.setmode(GPIO.BOARD)
GPIO.setup(15, GPIO.OUT)
GPIO.setup(22, GPIO.OUT)
GPIO.output(22, GPIO.HIGH)
time.sleep(5)
GPIO.setup(8, GPIO.OUT)
GPIO.output(8, GPIO.HIGH)
time.sleep(5)
try:
channel = mc.get(Constants.LORA_CHANNEL)
channel = 23 if channel is None else channel
result = LoraUtility.setChannel(channel)
print('Lora Channel Result: ', result)
except Exception as e:
print(e)
GPIO.output(8, GPIO.LOW)
# Start the process monitor thread
pm = ProcessMonitor.ProcessMonitor()
pm.start()
interval = int(mc.get(Constants.PERIODIC_INTERVAL))
curtime = time.time()
timeToSleep = interval - (curtime % interval)
time.sleep(timeToSleep)
# Start the PeriodicTimer
pt = PeriodicTimer.PeriodicTimer()
pt.start()
time.sleep(1)
# Start the modbus data acquisition service
modbusDataService = ModbusDataService.ModbusDataService()
modbusDataService.start()
# Start the payload construction service
messageComposer = MessageComposer.MessageComposer()
messageComposer.start()
# Start the Message sending service
messageSender = MessageSender.MessageSender()
messageSender.start()
# Start the LED thread
ledt = LedStatus.LedStatus()
ledt.start()
# Wait for the threads to complete
while True:
if Status.stop:
MessageSender.stop = True
MessageComposer.stop = True
ModbusDataService.stop = True
PeriodicTimer.stop = True
ProcessMonitor.stop = True
time.sleep(
int(MainConfig().getConfig().get(Constants.PERIODIC_INTERVAL)))
break
else:
time.sleep(
int(MainConfig().getConfig().get(Constants.PERIODIC_INTERVAL)))
# streamData is an Observable to connect the raw stream from connection to downstream observers
streamData = ObservableString()
messages = ObservableArray()
frames = ObservableArray()
state = ObservableDict()
outputConnection = None
if len(inFile) > 0:
print(f'using {inFile} as source')
connection = FileReader(inFile)
else:
port = args.port
print(f'using {port} as source')
connection = SerialConnection(port)
outputConnection = connection
timeout = float(args.timeout)
# connection will read from either sourcse
# messageParser will chop the stream into separate messages
messageParser = MessageParser(PentairProtocol.RECORD_SEPARATOR, messages)
# connect messageParser as an oberver of streamData
streamData.addObserver(messageParser)
protocol = PentairProtocol()
frameParser = FrameParser(frames, protocol)
messages.addObserver(frameParser)
def __init__(self, file_path='/dev/serial0', baudrate=115200):
SerialConnection.__init__(self, file_path=file_path, baudrate=baudrate)
self.serial_connection = None
return False
except:
return True
print sys.argv
try:
fakePacket = False
if len(sys.argv) == 2:
fakePacket = True
databuffer = []
isReady = False
printNulls = True
sendStars = True
serial = SerialConnection()
print "Serial created"
serial.connect("/dev/ttyUSB0")
print "Serial Connected..."
socketConnection = SocketConnection()
print "Socket created"
if(socketConnection.connectAsSender()):
threading.Thread(target = sendLoop).start()
threading.Thread(target = getInput).start()
print 'Thread started'
global printAll
while True:
p = raw_input()
if(p == 'q'):
global serial
serial.close()
sys.exit(0)
printAll = not printAll
def logData(data):
global dataBuffer
dataBuffer.append(data)
print data
dataBuffer = []
serial = SerialConnection()
serial.connect("/dev/tty.usbserial-FTG90JQK")
printAll = False
threading.Thread(target = getMode).start()
threading.Thread(target = sender).start()
while True:
var = serial.readline()
if printAll:
logData(var)
else:
if var[:6] == "$GPGGA":
parts = var.split(",")
if(parts[2] != "" and parts[4] != ""):
lat = float(parts[2])
if parts[3] == "S":
lat = -lat
self.getcommand()
if (self.data == 'X'):
break
print ('Stopping surrogate...')
sur = Surrogator(sock)
fps = Fps()
fps.tic()
ts = time.time()
st = datetime.datetime.fromtimestamp(ts).strftime('%Y-%m-%d-%H-%M-%S')
connection = SerialConnection(portname=portname)
motor = MotorCortex(connection = connection)
# Connect remotely to any client that is waiting for sensor loggers.
sensorimotor = SensorimotorCortex(connection,'sensorimotor',24)
sensorimotor.init()
sensorimotor.start()
sensorimotor.sensorlocalburst=1000
sensorimotor.sensorburst=100
sensorimotor.updatefreq=10
sensorimotor.cleanbuffer()
connection.send(b'AE010')
connection.send(b'AB100')
def terminate():
print('Stopping ShinkeyBot')
class MainWindow(Frame):
"""
MainWindow is the main window of the application.
"""
def __init__(self, parent: Tk, gs_manager, *args, **kwargs):
"""
Constructor.
Parameters
----------
parent : Tk
Tkinter parent
gs_manager : GroundStation
Instance of current GroundStation
*args
Tkinter frame arguments, forwarded to superclass
**kwargs
Tkinter frame argument names, forwarded to superclass
"""
super(MainWindow, self).__init__(parent, *args, **kwargs)
self._gs_manager = gs_manager
self.logger = logging.getLogger()
parent.protocol('WM_DELETE_WINDOW', self.__on_close__)
self.s = None
self.connected = False
self.recording = False
self.is_receiving = False
self.update_plot = False
self.num_packets_bad = 0
self.num_packets_good = 0
self._root = parent
self._root.title("ARIS Groundstation")
if sys.platform.startswith('win'):
self._root.state("zoomed")
self._root.wm_iconbitmap("aris.ico")
else:
self._root.state('normal')
self._root.grid_rowconfigure(1, weight=1)
self._root.grid_columnconfigure(1, weight=1)
self.current_velocity = 0
self.current_altitude = 0
self.__setup__()
def __setup__(self):
"""
Setup main window
"""
# ==============================================================================================================
# Menu Bar
# ==============================================================================================================
self.menubar = tk.Menu(self._root)
self._root.config(menu=self.menubar)
self.file_menu = tk.Menu(self.menubar, tearoff=0)
self.connection_menu = tk.Menu(self.menubar, tearoff=0)
self.plot_menu = tk.Menu(self.menubar, tearoff=0)
self.menubar.add_cascade(label="File", menu=self.file_menu)
self.menubar.add_cascade(label="Connection", menu=self.connection_menu)
self.menubar.add_cascade(label='Live plot', menu=self.plot_menu)
self.file_menu.add_command(label="New", command=self.donothing)
self.file_menu.add_command(label="Open", command=self.donothing)
self.file_menu.add_command(label="Save", command=self.donothing)
self.file_menu.add_command(label="Save as...", command=self.donothing)
self.file_menu.add_separator()
self.file_menu.add_command(label="Exit", command=self._root.quit)
self.connection_menu.add_command(label="Serial connection", command=self.connection_window)
self.connection_menu.add_command(label='Start reception', command=self.start_reception)
self.connection_menu.add_command(label='Stop reception', command=self.stop_reception)
# self.plotmenu.add_command(label='Settings', command=self.plot_setting_window)
self.plot_menu.add_command(label='Start live plot', command=self.start_plot)
self.plot_menu.add_command(label='Stop live plot', command=self.stop_plot)
# ==============================================================================================================
# create subframes
# ==============================================================================================================
self.frame_upper = tk.Frame(self._root, width=500, height=100)
self.frame_lower = tk.Frame(self._root, width=150, height=100)
self.frame_upper_left = tk.LabelFrame(self.frame_upper, text='Commands', font=6, width=10, height=100)
self.frame_upper_middle = tk.LabelFrame(self.frame_upper, text='Velocity [m/s]', font=6, width=500, height=100)
self.frame_upper_right = tk.LabelFrame(self.frame_upper, text='Altitude [m]', font=6, width=500, height=100)
# ==============================================================================================================
# create plots
# ==============================================================================================================
canvas_left = Canvas(self.frame_upper_middle, width=80, height=80)
canvas_left.pack(side='left', fill='both', expand=True)
self.canvas_left = FigureCanvasTkAgg(fig_velocity, canvas_left)
self.canvas_left.draw()
self.canvas_left.get_tk_widget().pack(side=tk.BOTTOM, fill=tk.BOTH, expand=True)
canvas_right = Canvas(self.frame_upper_right, width=80, height=80)
canvas_right.pack(side='left', fill='both', expand=True)
self.canvas_right = FigureCanvasTkAgg(fig_altitude, canvas_right)
self.canvas_right.draw()
self.canvas_right.get_tk_widget().pack(side=tk.BOTTOM, fill=tk.BOTH, expand=True)
# ==============================================================================================================
# add separator lines
# ==============================================================================================================
self.sep1 = ttk.Separator(self._root, orient="horizontal")
self.sep2 = ttk.Separator(self.frame_lower, orient="vertical")
# ==============================================================================================================
# add frame for recording
# ==============================================================================================================
self.frame_recording = tk.LabelFrame(self.frame_upper_left, text='Recording', width=40, height=10)
self.label_file_name = tk.Label(self.frame_recording, text='file name')
self.button_start_rec = tk.Button(self.frame_recording, text='Start', font=4, command=self.start_recording)
self.button_stop_rec = tk.Button(self.frame_recording, text='Stop', font=4, command=self.stop_recording)
self.entry_name = tk.Entry(self.frame_recording)
# ==============================================================================================================
# add frame for commands
# ==============================================================================================================
self.frame_command = tk.LabelFrame(self.frame_upper_left, text='Commands', width=40, height=10)
self.button_sensor = tk.Button(self.frame_command,
text='EST Reset',
width=10,
command=lambda: self.send_command('sensor'))
self.button_airbrake = tk.Button(self.frame_command,
text='Airbrake Test',
width=10,
command=lambda: self.send_command('airbrake'))
self.button_sf = tk.Button(self.frame_command,
text='High Sampling',
width=10,
command=lambda: self.send_command('frequency'))
self.button_buzzer = tk.Button(self.frame_command,
text='Buzzer',
width=10,
command=lambda: self.send_command('buzzer'))
self.button_disable = tk.Button(self.frame_command,
text='Disable Lock',
width=10,
command=lambda: self.send_command('disable'))
# ==============================================================================================================
# add log frame
# ==============================================================================================================
self.frame_log = tk.LabelFrame(self.frame_upper_left, text='Log', width=10, height=20)
# ==============================================================================================================
# add sensorboard frame
# ==============================================================================================================
self.frame_sb = tk.LabelFrame(self.frame_lower, text='Sensorboard data', font=6, width=250, height=75)
self.label_sb_val = []
for i in range(len(sb_names)):
self.label_sb_val.append(tk.Label(self.frame_sb,
text="--------",
borderwidth=2,
relief="sunken",
width=10))
self.label_sb_name = []
for i in range(len(sb_names)):
self.label_sb_name.append(tk.Label(self.frame_sb, text=sb_names[i]))
self.sep1_sb = ttk.Separator(self.frame_sb, orient='vertical')
# self.sep2_sb = ttk.Separator(self.frame_sb, orient='vertical')
# ==============================================================================================================
# add GPS frame
# ==============================================================================================================
self.frame_gps = tk.LabelFrame(self.frame_lower, text='GPS', font=6, width=200, height=75)
self.label_gps_val = []
self.label_gps_name = []
for i in range(len(gps_names)):
self.label_gps_val.append(tk.Label(self.frame_gps,
text='--------',
borderwidth=2,
relief='sunken',
width=10))
self.label_gps_name.append(tk.Label(self.frame_gps, text=gps_names[i]))
for i in range(len(gps_names)):
self.label_gps_name[i].grid(row=i, column=0, sticky='W')
self.label_gps_val[i].grid(row=i, column=1, padx=10)
# ==============================================================================================================
# add RF frame
# ==============================================================================================================
self.frame_rf = tk.LabelFrame(self.frame_lower, text='RF', font=6, width=100, height=75)
self.label_rf_val = []
self.label_rf_name = []
for i in range(len(rf_names)):
self.label_rf_val.append(tk.Label(self.frame_rf,
text='--------',
borderwidth=2,
relief='sunken',
width=10))
self.label_rf_name.append(tk.Label(self.frame_rf, text=rf_names[i]))
for i in range(len(rf_names)):
self.label_rf_name[i].grid(row=i, column=0, sticky='W')
self.label_rf_val[i].grid(row=i, column=1, padx=10)
# ==============================================================================================================
# add battery monitoring frame
# ==============================================================================================================
self.frame_battery = tk.LabelFrame(self.frame_lower, text='Power', font=6, width=100, height=75)
self.label_battery_val = []
self.label_battery_names = []
for i in range(len(battery_names)):
self.label_battery_val.append(tk.Label(self.frame_battery,
text='--------',
borderwidth=2,
relief='sunken',
width=15))
self.label_battery_names.append(tk.Label(self.frame_battery, text=battery_names[i]))
if i == 0:
self.label_battery_names[i].grid(row=i, column=0, padx=(20, 0), pady=(10, 0), sticky='W')
self.label_battery_val[i].grid(row=i, column=1, padx=10, pady=(10, 0))
else:
self.label_battery_names[i].grid(row=i, column=0, padx=(20, 0), sticky='W')
self.label_battery_val[i].grid(row=i, column=1, padx=10)
# ==============================================================================================================
# add FSM frame
# ==============================================================================================================
self.frame_fsm = tk.LabelFrame(self.frame_lower, text='FSM data', font=6, width=200, height=75)
self.label_fsm_val = []
self.label_fsm_names = []
for i in range(len(fsm_names)):
self.label_fsm_val.append(tk.Label(self.frame_fsm,
text='--------',
borderwidth=2,
relief='sunken',
width=15))
self.label_fsm_names.append(tk.Label(self.frame_fsm, text=fsm_names[i]))
if i == 0:
self.label_fsm_names[i].grid(row=i, column=0, padx=(20, 0), pady=(10, 0), sticky='W')
self.label_fsm_val[i].grid(row=i, column=1, padx=10, pady=(10, 0))
else:
self.label_fsm_names[i].grid(row=i, column=0, padx=(20, 0), sticky='W')
self.label_fsm_val[i].grid(row=i, column=1, padx=10)
# ==============================================================================================================
# pack/grid all elements
# ==============================================================================================================
self.frame_upper.pack(side="top", fill="both", expand=True)
self.sep1.pack(side="top", fill="both")
self.frame_lower.pack(side="top", fill="both", expand=True)
self.frame_upper_left.pack(side='left', fill='both', expand=True, pady=(0, 10))
self.frame_upper_middle.pack(side='left', fill='both', expand=True, pady=(0, 10))
self.frame_upper_right.pack(side='left', fill='both', expand=True, pady=(0, 10))
self.frame_recording.pack(side='top', fill='both', expand=True)
self.frame_command.pack(side='top', fill='both', expand=True)
self.frame_log.pack(side='top', fill='both', expand=True)
st = scrolledtext.ScrolledText(self.frame_log, state='disabled', width=40, height=20)
st.configure(font='TkFixedFont')
st.grid(row=0, column=0)
self.button_airbrake.grid(row=0, column=0, padx=5)
self.button_sensor.grid(row=0, column=1, padx=5)
self.button_sf.grid(row=0, column=2, padx=5)
self.button_buzzer.grid(row=1, column=0, padx=5)
self.button_disable.grid(row=1, column=1, padx=5)
self.logger.addHandler(LoggingHandler(st))
self.frame_sb.pack(side="left", fill="both", expand=True, padx=5, pady=10)
# self.sep2.pack(side="left", fill="both")
self.frame_gps.pack(side="left", fill="both", expand=True, padx=5, pady=10)
self.frame_rf.pack(side="left", fill="both", expand=True, padx=5, pady=10)
self.frame_battery.pack(side="left", fill="both", expand=True, padx=5, pady=10)
self.frame_fsm.pack(side="left", fill="both", expand=True, padx=5, pady=10)
self.label_file_name.grid(row=0, column=0, pady=20, padx=20)
self.entry_name.grid(row=0, column=1, pady=20)
self.button_start_rec.grid(row=1, column=0)
self.button_stop_rec.grid(row=1, column=1)
self.entry_name.delete(0, 'end')
self.entry_name.insert(0, 'recording.csv')
self.label_sb_name[0].grid(row=0, column=0, pady=(10, 0), sticky='W')
self.label_sb_name[1].grid(row=1, column=0, sticky='W')
self.label_sb_name[2].grid(row=0, column=3, pady=(10, 0), sticky='W')
self.label_sb_name[3].grid(row=1, column=3, sticky='W')
self.label_sb_name[4].grid(row=2, column=3, sticky='W')
self.label_sb_name[5].grid(row=3, column=3, sticky='W')
self.label_sb_name[6].grid(row=4, column=3, sticky='W')
self.label_sb_name[7].grid(row=5, column=3, sticky='W')
self.sep1_sb.grid(row=0, column=2, rowspan=6, sticky='ns')
# self.sep2_sb.grid(row=0, column=5, rowspan=3, sticky='ns')
self.label_sb_val[0].grid(row=0, column=1, padx=10, pady=(10, 0))
self.label_sb_val[1].grid(row=1, column=1, padx=10)
self.label_sb_val[2].grid(row=0, column=4, padx=10, pady=(10, 0))
self.label_sb_val[3].grid(row=1, column=4, padx=10)
self.label_sb_val[4].grid(row=2, column=4, padx=10)
self.label_sb_val[5].grid(row=3, column=4, padx=10)
self.label_sb_val[6].grid(row=4, column=4, padx=10)
self.label_sb_val[7].grid(row=5, column=4, padx=10)
def send_command(self, command):
"""
Called when user presses one of the control buttons
Parameters
----------
command : str
needs to be one of the following commands:
sensor, airbrake, frequency
"""
if self.s.serialConnection is not None:
answer = messagebox.askquestion('Warning', dict_command_msg.get(command))
if answer == 'yes':
self.s.send(command)
else:
self.logger.info('Command aborted.')
else:
messagebox.showinfo('Info', 'Serial connection is not established.')
def __on_close__(self):
"""
Called when user closes the application.
"""
if self.s is not None:
self.s.close()
self.connected = False
self.update_plot = False
self._root.destroy()
def start_reception(self):
"""
Starts reading data from serial line if the serial connection is established.
"""
if self.connected:
self.s.read_serial_start()
else:
messagebox.showinfo('Info', 'Serial connection is not established.')
def stop_reception(self):
"""
Stops reading data from serial line. Stops also live plot and recording.
"""
if self.connected:
self.s.isRun = False
if self.update_plot:
self.update_plot = False
self.logger.info('Live plot stopped.')
if self.recording:
self.recording = False
self.logger.info('Recording stopped.')
self.logger.info('Stopped receiving data')
def start_recording(self):
"""
Starts recording data to csv file.
"""
self.file_name = self.entry_name.get()
if not self.connected:
messagebox.showinfo('Warning', 'Serial connection is not established yet. Cannot start recording.')
elif self.file_name[-4:] != '.csv':
messagebox.showinfo('Warning', 'Invalid filename. Needs to end on .csv')
elif os.path.exists(self.file_name):
answer = messagebox.askquestion('Warning', 'File already exists. Continue overwriting?')
if answer == 'yes':
with open(self.file_name, 'w') as outfile:
writer = csv.writer(outfile)
writer.writerow(list(get_measurement_names())[1:])
self.recording = True
self.logger.info('Started recording.')
else:
with open(self.file_name, 'a') as outfile:
writer = csv.writer(outfile)
writer.writerow(list(get_measurement_names())[1:])
self.recording = True
self.logger.info('Started recording.')
def stop_recording(self):
"""
Stops recording data.
"""
self.recording = False
self.logger.info('Stopped recording.')
def donothing(self):
filewin = tk.Toplevel(self._root)
button = tk.Button(filewin, text="Do nothing button")
button.pack()
def start_plot(self):
"""
Starts live plot.
"""
if self.is_receiving:
self.update_plot = True
self.update_canvas()
self.logger.info('Live plot started')
else:
messagebox.showinfo('Info', 'Data reception needs to be started first.')
def stop_plot(self):
"""
Stops live plot.
"""
self.update_plot = False
self.logger.info('Live plot stopped.')
def update_canvas(self):
"""
Updates canvas which contains the live plots.
"""
velocity_data.append(self.current_velocity)
altitude_data.append(self.current_altitude)
sub_velocity.clear()
sub_altitude.clear()
sub_velocity.plot(velocity_data)
sub_altitude.plot(altitude_data)
self.canvas_left.draw()
self.canvas_right.draw()
if self.update_plot:
self.frame_upper_middle.after(100, self.update_canvas)
def connection_window(self):
"""
Opens the serial connection settings window.
"""
self.root2 = tk.Toplevel(self._root)
self.root2.title('Xbee serial connection setting')
self.root2.geometry('{}x{}'.format(400, 200))
self.frame1 = tk.LabelFrame(self.root2, text='Settings')
self.frame2 = tk.LabelFrame(self.root2, text='Available ports')
self.label_available_ports = tk.Label(self.frame2, text=available_ports())
self.label_port = tk.Label(self.frame1, text='Port')
self.label_baud = tk.Label(self.frame1, text='Baud rate')
self.entry1 = tk.Entry(self.frame1)
self.entry2 = tk.Entry(self.frame1)
self.button_connect = tk.Button(self.frame1, text='Connect', command=self.connect_xbee)
self.frame1.pack(side="left", fill="both", expand=True, padx=5, pady=5)
self.frame2.pack(side="left", fill="both", expand=True, padx=5, pady=5)
self.label_available_ports.grid(row=0, column=0)
self.label_port.grid(row=0, column=0, padx=(10, 0))
self.label_baud.grid(row=1, column=0, padx=(10, 0))
self.entry1.grid(row=0, column=1)
self.entry2.grid(row=1, column=1)
self.button_connect.grid(row=3, column=0, columnspan=2, pady=10)
self.entry1.delete(0, 'end')
if sys.platform.startswith('win'):
self.entry1.insert(0, 'COM6')
else:
self.entry1.insert(0, '/dev/ttyUSB0')
self.entry2.delete(0, 'end')
self.entry2.insert(0, 115200)
def connect_xbee(self):
"""
Tries to establish serial connection.
"""
port_name = self.entry1.get()
baud_rate = int(self.entry2.get())
self.s = SerialConnection(self, port_name, baud_rate)
if not self.s.start_connection():
messagebox.showerror('Error', "Could not establish serial connection.")
else:
self.connected = True
self.root2.destroy()
def update_rf_frame(self):
"""
Updates the values in the rf frame
"""
self.label_rf_val[0].config(text=self.num_packets_good + self.num_packets_bad)
self.label_rf_val[1].config(text=self.num_packets_bad)
self.label_rf_val[2].config(text=self.num_packets_good)
def update_values(self, data):
"""
Updates the values in the main window and the data for live plots.
Parameters
----------
data : list
contains the newest data received from the Xbee module.
"""
# print(len(data))
# print(data)
self.is_receiving = True
if data == 0:
for i in range(len(self.label_sb_val)):
self.label_sb_val[i].config(text='-----')
for i in range(len(self.label_gps_val)):
self.label_gps_val[i].config(text='-----')
for i in range(len(self.label_battery_val)):
self.label_battery_val[i].config(text='-----')
for i in range(len(self.label_fsm_val)):
self.label_fsm_val[i].config(text='-----')
else:
data = data[1:]
sb_data = data[:len_sb]
battery_data = data[len_sb:len_sb + len_battery]
gps_data = data[len_sb + len_battery:len_sb + len_battery + len_gps]
fsm_data = data[len_sb + len_gps + len_battery:len_sb + len_gps + len_battery + len_fsm]
gps_time = str(gps_data[0] + 2) + ':' + str(gps_data[1]) + ':' + str(gps_data[2])
tmp = ['0'] * (len_gps - 4)
tmp[0] = gps_time
tmp[1] = gps_data[3]
gps_lat_fmt = f'{gps_data[4]}.{gps_data[5]}'
gps_lon_fmt = f'{gps_data[6]}.{gps_data[7]}'
tmp[2] = gps_lat_fmt
tmp[3] = gps_lon_fmt
tmp[4:] = gps_data[8:]
gps_data = tmp
# sb data scaling
sb_data[1] = sb_data[1] / 100
sb_data[2:5] = map(lambda x: x / 32.8, sb_data[2:5])
sb_data[5:] = map(lambda x: x / 1024 * 9.81, sb_data[5:])
sb_data[2:] = [f'{x:.2f}' for x in sb_data[2:]]
# battery data scaling
battery_data[0] = battery_data[0] / 1000
# fsm data scaling
fsm_data[0] = fsm_data[0] / 1000
fsm_data[1] = fsm_data[1] / 1000
fsm_data[2] = fsm_data[2] / 10
fsm_data[4] = fsm_data[4] / 1000
for i in range(len(self.label_sb_val)):
self.label_sb_val[i].config(text=sb_data[i])
for i in range(len(self.label_gps_val)):
self.label_gps_val[i].config(text=gps_data[i])
for i in range(len(self.label_battery_val)):
self.label_battery_val[i].config(text=battery_data[i])
for i in range(len(self.label_fsm_val)):
if i != 3 and i != 5:
self.label_fsm_val[i].config(text=fsm_data[i])
# print(fsm_data)
if fsm_data[3] < 128:
if fsm_data[3] in range(len(flight_phase)):
self.label_fsm_val[3].config(text=flight_phase[fsm_data[3]])
else:
self.label_fsm_val[3].config(text=fsm_data[3])
self.label_fsm_val[5].config(text='off')
else:
fsm_data[3] = 128 - fsm_data[3]
if fsm_data[3] in range(len(flight_phase)):
self.label_fsm_val[3].config(text=flight_phase[fsm_data[3]])
else:
self.label_fsm_val[3].config(text=fsm_data[3])
self.label_fsm_val[5].config(text='on')
if self.recording:
with open(self.file_name, 'a') as outfile:
writer = csv.writer(outfile)
writer.writerow(data[:-3])
self.current_altitude = fsm_data[0]
self.current_velocity = fsm_data[1]
def rcProcess(state, lock, rate_q, change_q):
"""Provide work with rc serial port
:param state: current system state
:param lock: lock for global variables
:param rate_q: queue with video rate value
:param change_q: queue with video change flag
"""
state_list = [1, 2, 3, 5]
rc_ser = SerialConnection(device_name='RC',
device_id='1411') # Create rc serial connection
flag = True
prev_rate = 0
while True:
if state.value in state_list:
if state.value == 1:
# Wait for start command
flag = True
if rc_ser.ser.inWaiting() > 0:
msg = rc_ser.getData()
if b'1000' in msg:
lock.acquire()
state.value = 2
lock.release()
elif state.value == 2:
# Check special commands
if rc_ser.ser.inWaiting() > 0:
msg = rc_ser.getData()
if b'5000' in msg:
# Quest timeout command
lock.acquire()
state.value = 8
lock.release()
elif b'6000' in msg:
# Quest trouble end
lock.acquire()
state.value = 4
lock.release()
elif state.value == 3:
# Check special commands
if rc_ser.ser.inWaiting() > 0:
msg = rc_ser.getData()
if b'5000' in msg:
lock.acquire()
state.value = 8
lock.release()
elif b'6000' in msg:
lock.acquire()
state.value = 4
lock.release()
# Send data from Arduino
if not (rate_q.empty()):
# Send new video rate value
rate = rate_q.get()
if not (prev_rate == rate) and (rate % 0.2 == 0):
rc_ser.sendData(msg=rate, flag=True)
prev_rate = rate
if not (change_q.empty()):
# Send message about sub video
if change_q.get():
rc_ser.sendData(msg=b'2000')
elif state.value == 5:
if flag:
# Send end command
rc_ser.sendData(msg=b'4000')
flag = False
# Check special command
if rc_ser.ser.inWaiting() > 0:
msg = rc_ser.getData()
if b'5000' in msg:
lock.acquire()
state.value = 8
lock.release()
def serialConnectionFunction():
serialConnection = SerialConnection()
serialConnection.setup_connection()
yield serialConnection
