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 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()
