Changeset 239

Timestamp:

12/02/10 04:12:37 (10 years ago)

Author:

sc

Message:

Brainstorms/Wheelchair_Control.py:

• started conversion to proper Python module

File:

• trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py (modified) (4 diffs)

trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py

@@ -19 +19 @@
 import serial
 
+try:
+        import PySide as PyQt4
+        from PySide import QtCore
+except:
+        print "Using PyQt4 module"
+        from PyQt4 import QtCore
+else:
+        print "Using PySide module"
+
 #####################################################################
 # Globals
 #####################################################################
+
+DEBUG = 1
+
+DEFAULT_COMMAND = 'stop'
+DEFAULT_SERIAL_DEVICE = '/dev/ttyACM0'
+
+COMMAND_CHARACTER = 'x'
+
+WHEELCHAIR_COMMANDS = {
+        'stop': '00110011', 
+}
 
 # 'dir' : (low_pin, high_pin)
@@ -52 +72 @@
 #####################################################################
 # Classes
+#####################################################################
+
+class puzzlebox_brainstorms_wheelchair_control(QtCore.QThread):
+        
+        def __init__(self, \
+                     device_address=DEFAULT_SERIAL_DEVICE, \
+                     command=DEFAULT_COMMAND, \
+                     DEBUG=DEBUG, \
+                     parent=None):
+                
+                QtCore.QThread.__init__(self, parent)
+                
+                self.log = None
+                self.DEBUG = DEBUG
+                self.parent = parent
+                
+                self.device_address = device_address
+                self.command = command
+                
+                self.device = self.initializeSerial()
+        
+        
+        ##################################################################
+        
+        def run(self):
+                
+                pass
+        
+        
+        ##################################################################
+        
+        def exitThread(self, callThreadQuit=True):
+                
+                try:
+                        self.device.stop()
+                except:
+                        pass
+                
+                #self.wait()
+                if callThreadQuit:
+                        QtCore.QThread.quit(self)
+        
+        
+        ##################################################################
+        
+        def initializeSerial():
+                
+                baudrate = 9600
+                bytesize = 8
+                parity = 'NONE'
+                stopbits = 1
+                software_flow_control = 'f'
+                rts_cts_flow_control = 't'
+                #timeout = 15
+                timeout = 5
+                
+                # convert bytesize
+                if (bytesize == 5):
+                        init_byte_size = serial.FIVEBITS
+                elif (bytesize == 6):
+                        init_byte_size = serial.SIXBITS
+                elif (bytesize == 7):
+                        init_byte_size = serial.SEVENBITS
+                elif (bytesize == 8):
+                        init_byte_size = serial.EIGHTBITS
+                else:
+                        #self.log.perror("Invalid value for %s modem byte size! Using default (8)" % modem_type)
+                        init_byte_size = serial.EIGHTBITS
+                
+                # convert parity
+                if (parity == 'NONE'):
+                        init_parity = serial.PARITY_NONE
+                elif (parity == 'EVEN'):
+                        init_parity = serial.PARITY_EVEN
+                elif (parity == 'ODD'):
+                        init_parity = serial.PARITY_ODD
+                else:
+                        #self.log.perror("Invalid value for %s modem parity! Using default (NONE)" % modem_type)
+                        init_parity = serial.PARITY_NONE
+                
+                # convert stopbits
+                if (stopbits == 1):
+                        init_stopbits = serial.STOPBITS_ONE
+                elif (stopbits == 2):
+                        init_stopbits = serial.STOPBITS_TWO
+                else:
+                        #self.log.perror("Invalid value for %s modem stopbits! Using default (8)" % modem_type)
+                        init_byte_size = serial.STOPBITS_ONE
+                
+                # convert software flow control
+                if (software_flow_control == 't'):
+                        init_software_flow_control = 1
+                else:
+                        init_software_flow_control = 0
+                
+                # convert rts cts flow control
+                if (rts_cts_flow_control == 't'):
+                        init_rts_cts_flow_control = 1
+                else:
+                        init_rts_cts_flow_control = 0
+                
+                device = serial.Serial(port = self.device_address, \
+                                                                                baudrate = baudrate, \
+                                                                                bytesize = init_byte_size, \
+                                                                                parity = init_parity, \
+                                                                                stopbits = init_stopbits, \
+                                                                                xonxoff = init_software_flow_control, \
+                                                                                rtscts = init_rts_cts_flow_control, \
+                                                                                timeout = timeout)
+                
+                device.write('%s%s' % COMMAND_CHARACTER, DEFAULT_COMMAND)
+                if self.DEBUG:
+                        print "--> Wheelchair Command:",
+                        print DEFAULT_COMMAND
+                
+                time.sleep(2)
+                
+                return(device)
+
+
+#####################################################################
 #####################################################################
 
@@ -169 +310 @@
         else:
                 init_rts_cts_flow_control = 0
-
+        
         device = serial.Serial(port = '/dev/ttyACM0', \
                                                                          baudrate = baudrate, \
@@ -178 +319 @@
                                                                          rtscts = init_rts_cts_flow_control, \
                                                                          timeout = timeout)
-
+        
         device.write('x00110011')
         print "sent stop"