| 1 | #!/usr/bin/env python |
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| 2 | # -*- coding: utf-8 -*- |
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| 3 | # |
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| 4 | # Puzzlebox - Brainstorms - Helicopter Control |
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| 5 | # |
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| 6 | # Copyright Puzzlebox Productions, LLC (2010) |
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| 7 | # |
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| 8 | # This code is released under the GNU Pulic License (GPL) version 2 |
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| 9 | # For more information please refer to http://www.gnu.org/copyleft/gpl.html |
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| 10 | |
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| 11 | __changelog__ = """ |
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| 12 | Last Update: 2010.11.15 |
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| 13 | |
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| 14 | """ |
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| 15 | |
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| 16 | import sys, time |
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| 17 | import signal |
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| 18 | import serial |
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| 19 | |
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| 20 | try: |
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| 21 | import PySide as PyQt4 |
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| 22 | from PySide import QtCore |
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| 23 | except: |
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| 24 | print "Using PyQt4 module" |
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| 25 | from PyQt4 import QtCore |
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| 26 | else: |
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| 27 | print "Using PySide module" |
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| 28 | |
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| 29 | import Configuration as configuration |
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| 30 | |
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| 31 | #import Puzzlebox.Synapse.Protocol as protocol |
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| 32 | from Puzzlebox.Synapse import Protocol |
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| 33 | |
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| 34 | ##################################################################### |
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| 35 | # Globals |
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| 36 | ##################################################################### |
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| 37 | |
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| 38 | DEBUG = 3 |
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| 39 | |
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| 40 | DEFAULT_COMMAND = 'hover' |
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| 41 | |
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| 42 | SERIAL_DEVICE = '/dev/ttyUSB0' |
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| 43 | DEFAULT_SERIAL_BAUDRATE = 115200 |
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| 44 | |
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| 45 | DEVICE_BUFFER_CHECK_TIMER = 20 # Check buffer size once every 20ms |
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| 46 | |
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| 47 | |
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| 48 | ##################################################################### |
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| 49 | # Classes |
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| 50 | ##################################################################### |
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| 51 | |
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| 52 | #class puzzlebox_brainstorms_helicopter_control: |
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| 53 | class puzzlebox_brainstorms_helicopter_control(QtCore.QThread): |
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| 54 | |
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| 55 | def __init__(self, \ |
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| 56 | device_address=SERIAL_DEVICE, \ |
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| 57 | command=DEFAULT_COMMAND, \ |
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| 58 | DEBUG=DEBUG, \ |
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| 59 | parent=None): |
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| 60 | |
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| 61 | QtCore.QThread.__init__(self, parent) |
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| 62 | |
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| 63 | self.log = None |
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| 64 | self.DEBUG = DEBUG |
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| 65 | |
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| 66 | self.device_address = device_address |
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| 67 | self.command = command |
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| 68 | |
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| 69 | self.connection = None |
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| 70 | |
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| 71 | #try: |
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| 72 | #self.connection = self.connect_to_nxt(self.device) |
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| 73 | #except Exception, e: |
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| 74 | #if self.DEBUG: |
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| 75 | #print "<-- [RC] Connection failed to NXT device [%s]" % self.device |
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| 76 | #print "ERROR [RC]:", |
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| 77 | #print e |
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| 78 | |
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| 79 | self.serial_device = None |
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| 80 | self.protocol = None |
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| 81 | |
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| 82 | |
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| 83 | self.configureRemote() |
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| 84 | |
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| 85 | |
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| 86 | ################################################################## |
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| 87 | |
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| 88 | #def connect_to_nxt(self, device): |
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| 89 | |
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| 90 | #connection = jaraco.nxt.Connection(self.device) |
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| 91 | |
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| 92 | #if self.DEBUG: |
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| 93 | #battery_voltage = self.get_battery_voltage(connection) |
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| 94 | #print "--> [RC] Battery voltage:", |
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| 95 | #print battery_voltage |
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| 96 | |
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| 97 | |
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| 98 | #return(connection) |
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| 99 | |
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| 100 | |
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| 101 | ################################################################## |
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| 102 | |
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| 103 | #def connect_to_port(self, device_port): |
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| 104 | |
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| 105 | #if isinstance(device_port, basestring): |
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| 106 | #port = getattr(jaraco.nxt.messages.OutputPort, device_port) |
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| 107 | |
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| 108 | #assert port in jaraco.nxt.messages.OutputPort.values() |
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| 109 | |
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| 110 | #return(port) |
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| 111 | |
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| 112 | |
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| 113 | ################################################################## |
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| 114 | |
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| 115 | def configureRemote(self): |
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| 116 | |
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| 117 | self.serial_device = \ |
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| 118 | SerialDevice( \ |
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| 119 | self.log, \ |
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| 120 | device_address=self.device_address, \ |
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| 121 | DEBUG=self.DEBUG, \ |
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| 122 | parent=self) |
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| 123 | |
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| 124 | self.serial_device.start() |
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| 125 | |
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| 126 | #self.protocol = \ |
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| 127 | #ProtocolHandler( \ |
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| 128 | #self.log, \ |
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| 129 | #self.serial_device, \ |
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| 130 | #DEBUG=self.DEBUG, \ |
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| 131 | #parent=self) |
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| 132 | |
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| 133 | #self.protocol.start() |
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| 134 | |
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| 135 | |
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| 136 | ################################################################## |
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| 137 | |
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| 138 | def processPacket(self, packet): |
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| 139 | |
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| 140 | if self.DEBUG > 2: |
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| 141 | print packet |
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| 142 | |
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| 143 | if (packet != {}): |
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| 144 | self.packet_queue.append(packet) |
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| 145 | self.sendPacketQueue() |
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| 146 | |
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| 147 | #if (self.parent != None): |
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| 148 | #self.parent.processPacketThinkGear(self.protocol.data_packet) |
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| 149 | |
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| 150 | ################################################################## |
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| 151 | |
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| 152 | def dump_packets(self): |
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| 153 | |
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| 154 | pass |
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| 155 | |
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| 156 | |
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| 157 | ################################################################## |
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| 158 | |
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| 159 | def run(self, command): |
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| 160 | |
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| 161 | #if (command == 'drive_forward'): |
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| 162 | #self.drive_forward(self.connection, power=power, duration=3) |
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| 163 | |
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| 164 | #elif (command == 'drive_reverse'): |
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| 165 | #self.drive_reverse(self.connection, power=power) |
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| 166 | |
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| 167 | #elif (command == 'turn_left'): |
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| 168 | #self.turn_left(self.connection, power=power) |
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| 169 | |
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| 170 | #elif (command == 'turn_right'): |
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| 171 | #self.turn_right(self.connection, power=power) |
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| 172 | |
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| 173 | #elif (command == 'turn_left_in_reverse'): |
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| 174 | #self.turn_left_in_reverse(self.connection, power=power) |
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| 175 | |
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| 176 | #elif (command == 'turn_right_in_reverse'): |
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| 177 | #self.turn_right_in_reverse(self.connection, power=power) |
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| 178 | |
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| 179 | #elif (command == 'stop_motors'): |
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| 180 | #self.stop_motors(self.connection) |
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| 181 | |
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| 182 | #elif (command == 'test_drive'): |
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| 183 | #self.test_drive(self.connection) |
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| 184 | |
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| 185 | |
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| 186 | self.dump_packets() |
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| 187 | |
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| 188 | |
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| 189 | ################################################################## |
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| 190 | |
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| 191 | def stop(self): |
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| 192 | |
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| 193 | self.connection.close() |
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| 194 | |
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| 195 | |
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| 196 | ################################################################## |
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| 197 | |
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| 198 | def run(self): |
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| 199 | |
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| 200 | if self.DEBUG: |
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| 201 | print "<---- [%s] Main thread running" % "Helicopter Remote" |
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| 202 | |
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| 203 | self.exec_() |
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| 204 | |
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| 205 | |
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| 206 | ################################################################## |
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| 207 | |
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| 208 | def exitThread(self, callThreadQuit=True): |
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| 209 | |
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| 210 | try: |
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| 211 | self.emulationTimer.stop() |
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| 212 | except: |
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| 213 | pass |
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| 214 | |
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| 215 | if self.serial_device != None: |
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| 216 | self.serial_device.exitThread() |
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| 217 | |
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| 218 | if self.protocol != None: |
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| 219 | self.protocol.exitThread() |
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| 220 | |
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| 221 | self.socket.close() |
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| 222 | |
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| 223 | if callThreadQuit: |
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| 224 | QtCore.QThread.quit(self) |
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| 225 | |
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| 226 | if self.parent == None: |
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| 227 | sys.exit() |
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| 228 | |
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| 229 | |
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| 230 | ##################################################################### |
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| 231 | ##################################################################### |
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| 232 | |
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| 233 | class ProtocolHandler(QtCore.QThread): |
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| 234 | |
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| 235 | def __init__(self, log, \ |
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| 236 | serial_device, \ |
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| 237 | DEBUG=DEBUG, \ |
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| 238 | parent=None): |
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| 239 | |
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| 240 | QtCore.QThread.__init__(self,parent) |
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| 241 | |
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| 242 | self.log = log |
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| 243 | self.DEBUG = DEBUG |
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| 244 | self.parent = parent |
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| 245 | |
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| 246 | self.device = None |
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| 247 | self.buffer = '' |
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| 248 | |
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| 249 | self.device = serial_device |
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| 250 | |
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| 251 | self.packet_count = 0 |
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| 252 | self.bad_packets = 0 |
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| 253 | |
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| 254 | self.keep_running = True |
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| 255 | |
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| 256 | |
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| 257 | ################################################################## |
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| 258 | |
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| 259 | def parseStream(self): |
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| 260 | |
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| 261 | '''Each Packet begins with its Header, followed by its Data Payload, |
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| 262 | and ends with the Payload's Check-sum Byte, as follows: |
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| 263 | [SYNC] [SYNC] [PLENGTH] [PAYLOAD...] [CHKSUM] |
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| 264 | _______________________ _____________ ____________ |
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| 265 | ^^^^^^^^(Header)^^^^^^^ ^^(Payload)^^ ^(Checksum)^''' |
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| 266 | |
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| 267 | # Loop forever, parsing one Packet per loop... |
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| 268 | packet_count = 0 |
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| 269 | |
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| 270 | while self.keep_running: |
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| 271 | |
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| 272 | # Synchronize on [SYNC] bytes |
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| 273 | # Read from stream until two consecutive [SYNC] bytes are found |
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| 274 | byte = self.device.read() |
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| 275 | if (byte != PROTOCOL_SYNC): |
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| 276 | continue |
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| 277 | |
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| 278 | byte = self.device.read() |
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| 279 | if (byte != PROTOCOL_SYNC): |
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| 280 | continue |
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| 281 | |
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| 282 | payload_timestamp = time.time() |
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| 283 | |
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| 284 | # Parse [PLENGTH] byte |
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| 285 | |
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| 286 | # SPEC: [PLENGTH] byte indicates the length, in bytes, of the |
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| 287 | # Packet's Data Payload [PAYLOAD...] section, and may be any value |
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| 288 | # from 0 up to 169. Any higher value indicates an error |
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| 289 | # (PLENGTH TOO LARGE). Be sure to note that [PLENGTH] is the length |
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| 290 | # of the Packet's Data Payload, NOT of the entire Packet. |
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| 291 | # The Packet's complete length will always be [PLENGTH] + 4. |
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| 292 | |
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| 293 | byte = self.device.read() |
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| 294 | packet_length = byte.encode("hex") |
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| 295 | packet_length = int(packet_length, 16) |
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| 296 | |
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| 297 | if (packet_length > 170): |
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| 298 | self.bad_packets += 1 |
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| 299 | if self.DEBUG: |
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| 300 | print "ERROR: packet length bad" |
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| 301 | continue |
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| 302 | |
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| 303 | |
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| 304 | # Collect [PAYLOAD...] bytes |
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| 305 | data_payload = self.device.read(packet_length) |
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| 306 | |
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| 307 | |
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| 308 | # Calculate [PAYLOAD...] checksum |
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| 309 | |
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| 310 | # SPEC: The [CHKSUM] Byte must be used to verify the integrity of the |
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| 311 | # Packet's Data Payload. The Payload's Checksum is defined as: |
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| 312 | # 1. summing all the bytes of the Packet's Data Payload |
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| 313 | # 2. taking the lowest 8 bits of the sum |
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| 314 | # 3. performing the bit inverse (one's compliment inverse) |
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| 315 | # on those lowest 8 bits |
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| 316 | |
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| 317 | payload_checksum = 0 |
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| 318 | for byte in data_payload: |
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| 319 | value = byte.encode("hex") |
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| 320 | value = int(value, 16) |
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| 321 | payload_checksum += value |
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| 322 | |
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| 323 | |
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| 324 | # Take the lowest 8 bits of the calculated payload_checksum |
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| 325 | # and invert them. Serious C code mojo follows. |
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| 326 | payload_checksum &= 0xff |
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| 327 | payload_checksum = ~payload_checksum & 0xff |
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| 328 | |
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| 329 | |
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| 330 | # Parse [CKSUM] byte |
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| 331 | packet_checksum = self.device.read() |
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| 332 | packet_checksum = packet_checksum.encode("hex") |
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| 333 | packet_checksum = int(packet_checksum, 16) |
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| 334 | |
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| 335 | |
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| 336 | # Verify [CKSUM] byte against calculated [PAYLOAD...] checksum |
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| 337 | if packet_checksum != payload_checksum: |
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| 338 | self.bad_packets += 1 |
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| 339 | if self.DEBUG > 1: |
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| 340 | print "ERROR: packet checksum does not match" |
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| 341 | print " packet_checksum:", |
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| 342 | print packet_checksum |
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| 343 | print " payload_checksum:", |
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| 344 | print payload_checksum |
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| 345 | |
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| 346 | #self.device.checkBuffer() |
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| 347 | |
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| 348 | continue |
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| 349 | |
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| 350 | |
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| 351 | else: |
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| 352 | # Since [CKSUM] is OK, parse the Data Payload |
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| 353 | if self.DEBUG > 3: |
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| 354 | print "packet checksum correct" |
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| 355 | |
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| 356 | |
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| 357 | self.processDataPayload(data_payload, payload_timestamp) |
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| 358 | |
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| 359 | |
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| 360 | #if self.DEBUG > 1: |
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| 361 | #packet_count += 1 |
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| 362 | #if packet_count >= DEBUG_PACKET_COUNT: |
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| 363 | #print "max debugging count reached, disconnecting" |
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| 364 | #self.keep_running = False |
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| 365 | #self.device.stop() |
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| 366 | #QtCore.QThread.quit(self) |
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| 367 | ##sys.exit() |
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| 368 | |
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| 369 | |
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| 370 | ################################################################## |
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| 371 | |
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| 372 | def updateDataPacket(self, packet_update): |
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| 373 | |
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| 374 | if 'eSense' in packet_update.keys(): |
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| 375 | process_packet = {'eSense': {}} |
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| 376 | for key in packet_update['eSense'].keys(): |
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| 377 | self.data_packet['eSense'][key] = packet_update['eSense'][key] |
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| 378 | process_packet['eSense'][key] = packet_update['eSense'][key] |
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| 379 | |
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| 380 | else: |
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| 381 | self.data_packet.update(packet_update) |
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| 382 | process_packet = packet_update |
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| 383 | |
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| 384 | |
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| 385 | process_packet['timestamp'] = packet_update['timestamp'] |
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| 386 | |
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| 387 | |
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| 388 | if self.DEBUG > 3: |
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| 389 | print self.data_packet |
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| 390 | |
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| 391 | |
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| 392 | if (self.parent != None): |
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| 393 | self.parent.processPacketThinkGear(process_packet) |
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| 394 | |
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| 395 | |
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| 396 | ################################################################## |
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| 397 | |
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| 398 | def run(self): |
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| 399 | |
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| 400 | self.packet_count = 0 |
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| 401 | self.bad_packets = 0 |
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| 402 | self.session_start_timestamp = time.time() |
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| 403 | |
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| 404 | self.parseStream() |
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| 405 | |
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| 406 | |
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| 407 | ################################################################## |
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| 408 | |
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| 409 | def exitThread(self, callThreadQuit=True): |
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| 410 | |
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| 411 | try: |
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| 412 | self.device.stop() |
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| 413 | except: |
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| 414 | pass |
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| 415 | |
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| 416 | #self.wait() |
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| 417 | if callThreadQuit: |
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| 418 | QtCore.QThread.quit(self) |
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| 419 | |
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| 420 | |
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| 421 | ##################################################################### |
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| 422 | ##################################################################### |
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| 423 | |
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| 424 | #class SerialDevice(Protocol.SerialDevice): |
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| 425 | #class SerialDevice: |
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| 426 | class SerialDevice(QtCore.QThread): |
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| 427 | |
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| 428 | def __init__(self, log, \ |
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| 429 | device_address=SERIAL_DEVICE, \ |
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| 430 | DEBUG=DEBUG, \ |
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| 431 | parent=None): |
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| 432 | |
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| 433 | QtCore.QThread.__init__(self, parent) |
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| 434 | |
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| 435 | self.log = log |
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| 436 | self.DEBUG = DEBUG |
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| 437 | |
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| 438 | self.device_address = device_address |
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| 439 | self.device = None |
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| 440 | self.buffer = '' |
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| 441 | |
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| 442 | if (self.device_address.count(':') == 5): |
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| 443 | # Device address is a Bluetooth MAC address |
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| 444 | self.device = self.initializeBluetoothDevice() |
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| 445 | else: |
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| 446 | # Device address is a serial port address |
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| 447 | self.device = self.initializeSerialDevice() |
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| 448 | |
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| 449 | #self.buffer_check_timer = QtCore.QTimer() |
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| 450 | #QtCore.QObject.connect(self.buffer_check_timer, \ |
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| 451 | #QtCore.SIGNAL("timeout()"), \ |
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| 452 | #self.checkBuffer) |
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| 453 | #self.buffer_check_timer.start(DEVICE_BUFFER_CHECK_TIMER) |
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| 454 | |
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| 455 | self.keep_running = True |
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| 456 | |
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| 457 | |
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| 458 | ################################################################## |
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| 459 | |
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| 460 | #def initializeBluetoothDevice(self): |
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| 461 | |
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| 462 | #socket = bluetooth.BluetoothSocket( bluetooth.RFCOMM ) |
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| 463 | |
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| 464 | #try: |
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| 465 | #socket.connect((self.device_address, THINKGEAR_DEVICE_BLUETOOTH_CHANNEL)) |
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| 466 | |
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| 467 | #except Exception, e: |
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| 468 | #if self.DEBUG: |
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| 469 | #print "ERROR:", |
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| 470 | #print e |
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| 471 | #sys.exit() |
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| 472 | |
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| 473 | |
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| 474 | #return socket |
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| 475 | |
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| 476 | |
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| 477 | ################################################################### |
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| 478 | |
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| 479 | def initializeSerialDevice(self): |
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| 480 | |
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| 481 | baudrate = DEFAULT_SERIAL_BAUDRATE |
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| 482 | bytesize = 8 |
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| 483 | parity = 'NONE' |
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| 484 | stopbits = 1 |
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| 485 | software_flow_control = 'f' |
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| 486 | rts_cts_flow_control = 'f' |
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| 487 | #timeout = 15 |
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| 488 | timeout = 5 |
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| 489 | |
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| 490 | # convert bytesize |
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| 491 | if (bytesize == 5): |
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| 492 | init_byte_size = serial.FIVEBITS |
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| 493 | elif (bytesize == 6): |
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| 494 | init_byte_size = serial.SIXBITS |
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| 495 | elif (bytesize == 7): |
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| 496 | init_byte_size = serial.SEVENBITS |
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| 497 | elif (bytesize == 8): |
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| 498 | init_byte_size = serial.EIGHTBITS |
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| 499 | else: |
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| 500 | #self.log.perror("Invalid value for %s modem byte size! Using default (8)" % modem_type) |
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| 501 | init_byte_size = serial.EIGHTBITS |
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| 502 | |
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| 503 | # convert parity |
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| 504 | if (parity == 'NONE'): |
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| 505 | init_parity = serial.PARITY_NONE |
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| 506 | elif (parity == 'EVEN'): |
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| 507 | init_parity = serial.PARITY_EVEN |
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| 508 | elif (parity == 'ODD'): |
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| 509 | init_parity = serial.PARITY_ODD |
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| 510 | else: |
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| 511 | #self.log.perror("Invalid value for %s modem parity! Using default (NONE)" % modem_type) |
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| 512 | init_parity = serial.PARITY_NONE |
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| 513 | |
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| 514 | # convert stopbits |
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| 515 | if (stopbits == 1): |
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| 516 | init_stopbits = serial.STOPBITS_ONE |
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| 517 | elif (stopbits == 2): |
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| 518 | init_stopbits = serial.STOPBITS_TWO |
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| 519 | else: |
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| 520 | #self.log.perror("Invalid value for %s modem stopbits! Using default (8)" % modem_type) |
|---|
| 521 | init_byte_size = serial.STOPBITS_ONE |
|---|
| 522 | |
|---|
| 523 | # convert software flow control |
|---|
| 524 | if (software_flow_control == 't'): |
|---|
| 525 | init_software_flow_control = 1 |
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| 526 | else: |
|---|
| 527 | init_software_flow_control = 0 |
|---|
| 528 | |
|---|
| 529 | # convert rts cts flow control |
|---|
| 530 | if (rts_cts_flow_control == 't'): |
|---|
| 531 | init_rts_cts_flow_control = 1 |
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| 532 | else: |
|---|
| 533 | init_rts_cts_flow_control = 0 |
|---|
| 534 | |
|---|
| 535 | |
|---|
| 536 | try: |
|---|
| 537 | ## device = serial.Serial(port = self.device_address, \ |
|---|
| 538 | ## baudrate = baudrate, \ |
|---|
| 539 | ## bytesize = init_byte_size, \ |
|---|
| 540 | ## parity = init_parity, \ |
|---|
| 541 | ## stopbits = init_stopbits, \ |
|---|
| 542 | ## xonxoff = init_software_flow_control, \ |
|---|
| 543 | ## rtscts = init_rts_cts_flow_control, \ |
|---|
| 544 | ## timeout = timeout) |
|---|
| 545 | |
|---|
| 546 | device = serialWrapper(port = self.device_address, \ |
|---|
| 547 | baudrate = baudrate, \ |
|---|
| 548 | bytesize = init_byte_size, \ |
|---|
| 549 | parity = init_parity, \ |
|---|
| 550 | stopbits = init_stopbits, \ |
|---|
| 551 | xonxoff = init_software_flow_control, \ |
|---|
| 552 | rtscts = init_rts_cts_flow_control, \ |
|---|
| 553 | timeout = timeout) |
|---|
| 554 | |
|---|
| 555 | except Exception, e: |
|---|
| 556 | if self.DEBUG: |
|---|
| 557 | print "ERROR:", |
|---|
| 558 | print e, |
|---|
| 559 | print self.device_address |
|---|
| 560 | sys.exit() |
|---|
| 561 | |
|---|
| 562 | |
|---|
| 563 | #device.flushInput() |
|---|
| 564 | ##device.flushOutput() |
|---|
| 565 | |
|---|
| 566 | |
|---|
| 567 | return(device) |
|---|
| 568 | |
|---|
| 569 | |
|---|
| 570 | ################################################################### |
|---|
| 571 | |
|---|
| 572 | #def checkBuffer(self): |
|---|
| 573 | |
|---|
| 574 | #if self.DEBUG > 1: |
|---|
| 575 | #print "INFO: Buffer size check:", |
|---|
| 576 | #print len(self.buffer), |
|---|
| 577 | #print "(maximum before reset is %i)" % DEVICE_BUFFER_MAX_SIZE |
|---|
| 578 | |
|---|
| 579 | #if (DEVICE_BUFFER_MAX_SIZE <= len(self.buffer)): |
|---|
| 580 | |
|---|
| 581 | #if self.DEBUG: |
|---|
| 582 | #print "ERROR: Buffer size has grown too large, resetting" |
|---|
| 583 | |
|---|
| 584 | #self.reset() |
|---|
| 585 | |
|---|
| 586 | |
|---|
| 587 | ################################################################### |
|---|
| 588 | |
|---|
| 589 | def reset(self): |
|---|
| 590 | |
|---|
| 591 | self.buffer = '' |
|---|
| 592 | |
|---|
| 593 | |
|---|
| 594 | ################################################################### |
|---|
| 595 | |
|---|
| 596 | #def read(self, length=1): |
|---|
| 597 | |
|---|
| 598 | ## Sleep for 2 ms if buffer is empty |
|---|
| 599 | ## Based on 512 Hz refresh rate of NeuroSky MindSet device |
|---|
| 600 | ## (1/512) * 1000 = 1.9531250 |
|---|
| 601 | #while len(self.buffer) < length: |
|---|
| 602 | #QtCore.QThread.msleep(2) |
|---|
| 603 | |
|---|
| 604 | #bytes = self.buffer[:length] |
|---|
| 605 | |
|---|
| 606 | #self.buffer = self.buffer[length:] |
|---|
| 607 | |
|---|
| 608 | #return(bytes) |
|---|
| 609 | |
|---|
| 610 | |
|---|
| 611 | ################################################################### |
|---|
| 612 | |
|---|
| 613 | def stop(self): |
|---|
| 614 | |
|---|
| 615 | #self.buffer_check_timer.stop() |
|---|
| 616 | self.keep_running = False |
|---|
| 617 | |
|---|
| 618 | |
|---|
| 619 | ################################################################### |
|---|
| 620 | |
|---|
| 621 | def exitThread(self, callThreadQuit=True): |
|---|
| 622 | |
|---|
| 623 | self.stop() |
|---|
| 624 | self.close() |
|---|
| 625 | |
|---|
| 626 | if callThreadQuit: |
|---|
| 627 | QtCore.QThread.quit(self) |
|---|
| 628 | |
|---|
| 629 | |
|---|
| 630 | ################################################################### |
|---|
| 631 | |
|---|
| 632 | def close(self): |
|---|
| 633 | |
|---|
| 634 | self.device.close() |
|---|
| 635 | |
|---|
| 636 | |
|---|
| 637 | ################################################################### |
|---|
| 638 | |
|---|
| 639 | #def run(self): |
|---|
| 640 | def start(self): |
|---|
| 641 | |
|---|
| 642 | self.buffer = '' |
|---|
| 643 | |
|---|
| 644 | while self.keep_running: |
|---|
| 645 | |
|---|
| 646 | try: |
|---|
| 647 | #byte = self.device.read() |
|---|
| 648 | byte = self.device.recv(1) |
|---|
| 649 | |
|---|
| 650 | if (len(byte) != 0): |
|---|
| 651 | if self.DEBUG > 2: |
|---|
| 652 | print "Device read:", |
|---|
| 653 | print byte |
|---|
| 654 | |
|---|
| 655 | self.buffer += byte |
|---|
| 656 | |
|---|
| 657 | except: |
|---|
| 658 | if self.DEBUG: |
|---|
| 659 | print "ERROR: failed to read from serial device" |
|---|
| 660 | break |
|---|
| 661 | |
|---|
| 662 | |
|---|
| 663 | #self.exitThread(callThreadQuit=False) |
|---|
| 664 | self.exitThread() |
|---|
| 665 | |
|---|
| 666 | |
|---|
| 667 | ##################################################################### |
|---|
| 668 | ##################################################################### |
|---|
| 669 | |
|---|
| 670 | class serialWrapper(serial.Serial): |
|---|
| 671 | |
|---|
| 672 | #__init__(port=None, baudrate=9600, bytesize=EIGHTBITS, parity=PARITY_NONE, stopbits=STOPBITS_ONE, timeout=None, xonxoff=False, rtscts=False, writeTimeout=None, dsrdtr=False, interCharTimeout=None) |
|---|
| 673 | |
|---|
| 674 | def recv(self, size=1): |
|---|
| 675 | |
|---|
| 676 | return(self.read(size)) |
|---|
| 677 | |
|---|
| 678 | |
|---|
| 679 | ##################################################################### |
|---|
| 680 | # Functions |
|---|
| 681 | ##################################################################### |
|---|
| 682 | |
|---|
| 683 | ##################################################################### |
|---|
| 684 | # Main |
|---|
| 685 | ##################################################################### |
|---|
| 686 | |
|---|
| 687 | if __name__ == '__main__': |
|---|
| 688 | |
|---|
| 689 | # Perform correct KeyboardInterrupt handling |
|---|
| 690 | signal.signal(signal.SIGINT, signal.SIG_DFL) |
|---|
| 691 | |
|---|
| 692 | # Collect default settings and command line parameters |
|---|
| 693 | device = SERIAL_DEVICE |
|---|
| 694 | command = DEFAULT_COMMAND |
|---|
| 695 | |
|---|
| 696 | for each in sys.argv: |
|---|
| 697 | |
|---|
| 698 | if each.startswith("--device="): |
|---|
| 699 | device = each[ len("--device="): ] |
|---|
| 700 | elif each.startswith("--command="): |
|---|
| 701 | command = each[ len("--command="): ] |
|---|
| 702 | |
|---|
| 703 | |
|---|
| 704 | app = QtCore.QCoreApplication(sys.argv) |
|---|
| 705 | |
|---|
| 706 | rc = puzzlebox_brainstorms_helicopter_control(device_address=device, command=command, DEBUG=DEBUG) |
|---|
| 707 | |
|---|
| 708 | if rc.connection == None: |
|---|
| 709 | #sys.exit() |
|---|
| 710 | sys.exit(app.exec_()) |
|---|
| 711 | |
|---|
| 712 | #rc.run(rc.command) |
|---|
| 713 | rc.start() |
|---|
| 714 | |
|---|
| 715 | #rc.stop() |
|---|
| 716 | sys.exit(app.exec_()) |
|---|
| 717 | |
|---|
