| 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: 2010.11.22 |
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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 = 2 |
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| 39 | |
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| 40 | DEFAULT_COMMAND = 'dump_packets' |
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| 41 | |
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| 42 | SERIAL_DEVICE = '/dev/ttyUSB0' |
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| 43 | #SERIAL_DEVICE = '/dev/ttyACM0' |
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| 44 | #DEFAULT_SERIAL_BAUDRATE = 115200 # This is the closest "standard" baud rate the USB-to-Serial device will support |
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| 45 | #DEFAULT_SERIAL_BAUDRATE = 125000 # This is the speed reported by the forum post |
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| 46 | #DEFAULT_SERIAL_BAUDRATE = 128000 # This is the next closest somewhat commonly-found baud rate (though not supported by device) |
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| 47 | DEFAULT_SERIAL_BAUDRATE = 133333 # This is the speed reported by the logic analyzer |
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| 48 | #DEFAULT_SERIAL_BAUDRATE = 230400 # This is the next highest "standard" baud rate the USB-to-Serial device will support |
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| 49 | DEFAULT_MODE = 'read' |
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| 50 | |
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| 51 | PROTOCOL_SYNC_TIME = 5 |
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| 52 | PROTOCOL_SYNC_HEAD1 = '\x00' |
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| 53 | PROTOCOL_SYNC_HEAD2 = '\x00' |
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| 54 | PROTOCOL_ADD_SYNC_TO_HEAD = False |
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| 55 | PROTOCOL_ADD_SYNC_TO_TAIL = False |
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| 56 | PACKET_LENGTH = 14 |
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| 57 | PAYLOAD_MINIMUM_LENGTH = 12 |
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| 58 | PACKET_READ_SIZE = 14 |
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| 59 | ECHO_ON = False |
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| 60 | |
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| 61 | #DEVICE_BUFFER_TIMER = 22 # Frame cycle 22ms |
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| 62 | DEVICE_BUFFER_TIMER = 21 # Frame cycle 22ms |
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| 63 | |
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| 64 | COMMAND_PACKET = { |
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| 65 | 'neutral': '\x00\x00\x00\xfa\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # default neutral setting to use for all commands |
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| 66 | 'no_thrust': '\x00\x00\x00\x5a\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # lowest trim setting for throttle |
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| 67 | 'minimum_thrust': '\x00\x00\x00\xca\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # lowest trim level at which throttle kicks in |
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| 68 | 'minimum_thrust_minus_one': '\x00\x00\x00\xc6\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # lowest trim level at which throttle kicks in |
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| 69 | 'maximum_thrust': '\x00\x00\x03\x54\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # maximum possible throttle and trim |
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| 70 | 'fifty_percent_thrust': '\x00\x00\x01\x7d\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # calculated 50% throttle |
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| 71 | 'test_packet': '\x00\x00\x03\x54\x06\x15\x09\xca\x0e\x2f\x13\x54\x14\xaa', # test packet from saleae logic screenshot |
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| 72 | 'maximum_forward': '\x00\x00\x00\x5a\x05\xc5\x0b\x54\x0e\x0b\x13\x54\x14\xaa', # maximum possible elevator and trim |
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| 73 | 'fly_forward': '\x00\x00\x01\x7d\x05\xc5\x0a\xde\x0e\x0b\x13\x54\x14\xaa', \ |
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| 74 | } |
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| 75 | |
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| 76 | DEFAULT_COMMAND_PACKET = COMMAND_PACKET['neutral'] |
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| 77 | |
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| 78 | ##################################################################### |
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| 79 | # Classes |
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| 80 | ##################################################################### |
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| 81 | |
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| 82 | class puzzlebox_brainstorms_helicopter_control(QtCore.QThread): |
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| 83 | |
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| 84 | def __init__(self, \ |
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| 85 | device_address=SERIAL_DEVICE, \ |
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| 86 | command=DEFAULT_COMMAND, \ |
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| 87 | DEBUG=DEBUG, \ |
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| 88 | parent=None): |
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| 89 | |
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| 90 | QtCore.QThread.__init__(self, parent) |
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| 91 | |
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| 92 | self.log = None |
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| 93 | self.DEBUG = DEBUG |
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| 94 | self.parent = parent |
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| 95 | |
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| 96 | self.device_address = device_address |
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| 97 | self.command = command |
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| 98 | self.mode = DEFAULT_MODE |
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| 99 | |
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| 100 | self.serial_device = None |
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| 101 | self.protocol = None |
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| 102 | |
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| 103 | |
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| 104 | #self.configureRemote() |
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| 105 | |
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| 106 | |
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| 107 | ################################################################## |
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| 108 | |
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| 109 | def configureRemote(self): |
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| 110 | |
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| 111 | self.serial_device = \ |
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| 112 | SerialDevice( \ |
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| 113 | self.log, \ |
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| 114 | device_address=self.device_address, \ |
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| 115 | mode=self.mode, \ |
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| 116 | DEBUG=self.DEBUG, \ |
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| 117 | parent=self) |
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| 118 | |
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| 119 | self.serial_device.start() |
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| 120 | |
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| 121 | |
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| 122 | self.protocol = \ |
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| 123 | ProtocolHandler( \ |
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| 124 | self.log, \ |
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| 125 | self.serial_device, \ |
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| 126 | mode=self.mode, \ |
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| 127 | DEBUG=self.DEBUG, \ |
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| 128 | parent=self) |
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| 129 | |
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| 130 | self.protocol.start() |
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| 131 | |
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| 132 | |
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| 133 | ################################################################## |
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| 134 | |
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| 135 | def processPacket(self, packet): |
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| 136 | |
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| 137 | if self.DEBUG: |
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| 138 | print "data_payload:", |
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| 139 | #print packet['data_payload'] |
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| 140 | print packet['data_payload'].encode("hex") |
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| 141 | |
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| 142 | #if packet['data_payload'].encode("hex") == '80acdf22cdb08b8d54': |
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| 143 | #print True |
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| 144 | #import cPickle as pickle |
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| 145 | #file = open('packet.data', 'w') |
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| 146 | #pickle.dump(packet['data_payload'], file) |
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| 147 | #file.close() |
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| 148 | #sys.exit(app.exec_()) |
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| 149 | |
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| 150 | #if (packet != {}): |
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| 151 | #self.packet_queue.append(packet) |
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| 152 | ###self.sendPacketQueue() |
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| 153 | |
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| 154 | if (self.parent != None): |
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| 155 | self.parent.processPacket(self.protocol.data_packet) |
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| 156 | |
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| 157 | |
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| 158 | ################################################################## |
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| 159 | |
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| 160 | def dump_packets(self): |
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| 161 | |
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| 162 | pass |
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| 163 | |
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| 164 | |
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| 165 | ################################################################## |
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| 166 | |
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| 167 | def neutral(self): |
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| 168 | |
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| 169 | if self.DEBUG: |
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| 170 | print "--> Command: neutral" |
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| 171 | |
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| 172 | #self.protocol.command_packet = COMMAND_PACKET['neutral'] |
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| 173 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 174 | |
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| 175 | |
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| 176 | ################################################################## |
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| 177 | |
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| 178 | def test_packet(self): |
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| 179 | |
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| 180 | if self.DEBUG: |
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| 181 | print "--> Command: test_packet" |
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| 182 | |
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| 183 | self.protocol.command_packet = COMMAND_PACKET['test_packet'] |
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| 184 | |
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| 185 | |
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| 186 | ################################################################## |
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| 187 | |
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| 188 | def test_mode(self): |
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| 189 | |
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| 190 | if self.DEBUG: |
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| 191 | print "--> Command: test_mode" |
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| 192 | |
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| 193 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 194 | QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync |
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| 195 | |
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| 196 | self.protocol.command_packet = COMMAND_PACKET['minimum_thrust'] |
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| 197 | QtCore.QThread.msleep(2 * 1000) # 1 second |
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| 198 | |
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| 199 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 200 | |
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| 201 | |
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| 202 | ################################################################## |
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| 203 | |
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| 204 | def hover(self, duration=2): |
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| 205 | |
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| 206 | if self.DEBUG: |
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| 207 | print "--> Command: hover" |
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| 208 | |
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| 209 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 210 | QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync |
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| 211 | |
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| 212 | self.protocol.command_packet = COMMAND_PACKET['fifty_percent_thrust'] |
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| 213 | QtCore.QThread.msleep(duration * 1000) |
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| 214 | |
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| 215 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 216 | |
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| 217 | |
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| 218 | ################################################################## |
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| 219 | |
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| 220 | def fly_forward(self, duration=2): |
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| 221 | |
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| 222 | if self.DEBUG: |
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| 223 | print "--> Command: fly_forward" |
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| 224 | |
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| 225 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 226 | QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) |
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| 227 | |
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| 228 | self.protocol.command_packet = COMMAND_PACKET['fly_forward'] |
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| 229 | QtCore.QThread.msleep(duration * 1000) |
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| 230 | |
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| 231 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 232 | |
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| 233 | |
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| 234 | ################################################################## |
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| 235 | |
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| 236 | def processCommand(self): |
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| 237 | |
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| 238 | if (self.command == 'dump_packets') or (self.command == 'read'): |
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| 239 | self.mode = 'read' |
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| 240 | else: |
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| 241 | self.mode = 'write' |
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| 242 | |
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| 243 | |
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| 244 | self.configureRemote() |
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| 245 | |
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| 246 | |
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| 247 | if (self.command == 'dump_packets'): |
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| 248 | self.mode = 'read' |
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| 249 | self.dump_packets() |
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| 250 | |
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| 251 | elif (self.command == 'neutral'): |
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| 252 | self.mode = 'write' |
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| 253 | self.neutral() |
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| 254 | |
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| 255 | elif (self.command == 'test_packet'): |
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| 256 | self.mode = 'write' |
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| 257 | self.test_packet() |
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| 258 | |
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| 259 | elif (self.command == 'test_mode'): |
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| 260 | self.mode = 'write' |
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| 261 | self.test_mode() |
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| 262 | |
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| 263 | elif (self.command == 'hover'): |
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| 264 | self.mode = 'write' |
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| 265 | self.hover() |
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| 266 | |
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| 267 | elif (self.command == 'fly_forward'): |
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| 268 | self.mode = 'write' |
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| 269 | self.fly_forward(duration=2) |
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| 270 | |
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| 271 | |
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| 272 | ################################################################## |
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| 273 | |
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| 274 | def stop(self): |
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| 275 | |
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| 276 | #self.connection.close() |
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| 277 | pass |
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| 278 | |
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| 279 | |
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| 280 | ################################################################## |
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| 281 | |
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| 282 | def run(self): |
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| 283 | |
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| 284 | if self.DEBUG: |
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| 285 | print "<---- [%s] Main thread running" % "Helicopter Remote" |
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| 286 | |
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| 287 | |
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| 288 | self.processCommand() |
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| 289 | |
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| 290 | self.exec_() |
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| 291 | |
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| 292 | |
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| 293 | ################################################################## |
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| 294 | |
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| 295 | def exitThread(self, callThreadQuit=True): |
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| 296 | |
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| 297 | try: |
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| 298 | self.emulationTimer.stop() |
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| 299 | except: |
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| 300 | pass |
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| 301 | |
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| 302 | if self.serial_device != None: |
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| 303 | self.serial_device.exitThread() |
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| 304 | |
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| 305 | if self.protocol != None: |
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| 306 | self.protocol.exitThread() |
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| 307 | |
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| 308 | self.socket.close() |
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| 309 | |
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| 310 | if callThreadQuit: |
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| 311 | QtCore.QThread.quit(self) |
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| 312 | |
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| 313 | if self.parent == None: |
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| 314 | sys.exit() |
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| 315 | |
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| 316 | |
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| 317 | ##################################################################### |
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| 318 | ##################################################################### |
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| 319 | |
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| 320 | class ProtocolHandler(QtCore.QThread): |
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| 321 | |
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| 322 | def __init__(self, log, \ |
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| 323 | serial_device, \ |
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| 324 | mode=DEFAULT_MODE, \ |
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| 325 | DEBUG=DEBUG, \ |
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| 326 | parent=None): |
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| 327 | |
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| 328 | QtCore.QThread.__init__(self,parent) |
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| 329 | |
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| 330 | self.log = log |
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| 331 | self.DEBUG = DEBUG |
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| 332 | self.parent = parent |
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| 333 | |
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| 334 | self.device = None |
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| 335 | self.mode = mode |
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| 336 | |
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| 337 | self.device = serial_device |
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| 338 | |
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| 339 | self.packet_count = 0 |
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| 340 | self.bad_packets = 0 |
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| 341 | |
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| 342 | self.keep_running = True |
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| 343 | |
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| 344 | self.command_packet = DEFAULT_COMMAND_PACKET |
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| 345 | |
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| 346 | |
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| 347 | ################################################################## |
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| 348 | |
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| 349 | def processDataPayload(self, data_payload, payload_timestamp): |
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| 350 | |
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| 351 | packet_update = {} |
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| 352 | packet_update['data_payload'] = data_payload |
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| 353 | packet_update['payload_timestamp'] = payload_timestamp |
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| 354 | |
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| 355 | |
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| 356 | if (self.parent != None): |
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| 357 | self.parent.processPacket(packet_update) |
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| 358 | |
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| 359 | |
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| 360 | ################################################################## |
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| 361 | |
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| 362 | def parseStream(self): |
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| 363 | |
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| 364 | # Loop forever, parsing one packet per loop |
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| 365 | packet_count = 0 |
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| 366 | |
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| 367 | while self.keep_running: |
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| 368 | |
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| 369 | # Synchronize on [SYNC] bytes |
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| 370 | byte = self.device.read() |
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| 371 | #print byte.encode("hex") |
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| 372 | |
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| 373 | #if (byte != PROTOCOL_SYNC): |
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| 374 | if (byte != PROTOCOL_SYNC_HEAD1): |
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| 375 | continue |
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| 376 | |
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| 377 | byte = self.device.read() |
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| 378 | if (byte != PROTOCOL_SYNC_HEAD2): |
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| 379 | continue |
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| 380 | |
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| 381 | |
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| 382 | payload_timestamp = time.time() |
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| 383 | |
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| 384 | data_payload = self.device.getBuffer() |
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| 385 | data_payload = "%s%s%s" % (PROTOCOL_SYNC_HEAD1, PROTOCOL_SYNC_HEAD2, data_payload) |
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| 386 | |
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| 387 | |
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| 388 | if len(data_payload) < PAYLOAD_MINIMUM_LENGTH: |
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| 389 | #if len(data_payload) != PACKET_LENGTH: |
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| 390 | continue |
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| 391 | |
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| 392 | |
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| 393 | self.processDataPayload(data_payload, payload_timestamp) |
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| 394 | |
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| 395 | |
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| 396 | #if self.DEBUG > 1: |
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| 397 | #packet_count += 1 |
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| 398 | #if packet_count >= DEBUG_PACKET_COUNT: |
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| 399 | #print "max debugging count reached, disconnecting" |
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| 400 | #self.keep_running = False |
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| 401 | #self.device.stop() |
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| 402 | #QtCore.QThread.quit(self) |
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| 403 | ##sys.exit() |
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| 404 | |
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| 405 | |
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| 406 | ################################################################## |
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| 407 | |
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| 408 | def writeStream(self): |
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| 409 | |
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| 410 | # Loop forever, writing one packet per loop |
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| 411 | packet_count = 0 |
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| 412 | |
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| 413 | #import cPickle as pickle |
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| 414 | #file = open('packet.data', 'r') |
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| 415 | #packet = pickle.loads(file.read()) |
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| 416 | #file.close() |
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| 417 | |
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| 418 | while self.keep_running: |
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| 419 | |
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| 420 | # Preppend or Append [SYNC] bytes |
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| 421 | #if PROTOCOL_ADD_SYNC_TO_HEAD: |
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| 422 | #buffer = PROTOCOL_SYNC_HEAD1 |
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| 423 | #buffer += PROTOCOL_SYNC_HEAD2 |
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| 424 | #buffer += self.command_packet |
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| 425 | |
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| 426 | #if PROTOCOL_ADD_SYNC_TO_TAIL: |
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| 427 | #buffer = self.command_packet |
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| 428 | #buffer += PROTOCOL_SYNC_HEAD1 |
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| 429 | #buffer += PROTOCOL_SYNC_HEAD2 |
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| 430 | |
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| 431 | buffer = self.command_packet |
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| 432 | self.device.buffer = buffer |
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| 433 | #self.device.buffer = packet |
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| 434 | #print packet.encode("hex") |
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| 435 | |
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| 436 | # Sleep for 20 ms |
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| 437 | # Based on 50 Hz refresh rate of Blade MLP4DSM RC device |
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| 438 | # (1/50) * 1000 = 20 |
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| 439 | QtCore.QThread.msleep(DEVICE_BUFFER_TIMER) |
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| 440 | |
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| 441 | |
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| 442 | ################################################################## |
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| 443 | |
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| 444 | def run(self): |
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| 445 | |
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| 446 | self.packet_count = 0 |
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| 447 | self.bad_packets = 0 |
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| 448 | self.session_start_timestamp = time.time() |
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| 449 | |
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| 450 | if self.mode == 'read': |
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| 451 | self.parseStream() |
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| 452 | |
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| 453 | elif self.mode == 'write': |
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| 454 | self.writeStream() |
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| 455 | |
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| 456 | |
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| 457 | ################################################################## |
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| 458 | |
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| 459 | def exitThread(self, callThreadQuit=True): |
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| 460 | |
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| 461 | try: |
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| 462 | self.device.stop() |
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| 463 | except: |
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| 464 | pass |
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| 465 | |
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| 466 | #self.wait() |
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| 467 | if callThreadQuit: |
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| 468 | QtCore.QThread.quit(self) |
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| 469 | |
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| 470 | |
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| 471 | ##################################################################### |
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| 472 | ##################################################################### |
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| 473 | |
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| 474 | class SerialDevice(QtCore.QThread): |
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| 475 | |
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| 476 | def __init__(self, log, \ |
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| 477 | device_address=SERIAL_DEVICE, \ |
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| 478 | mode=DEFAULT_MODE, \ |
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| 479 | DEBUG=DEBUG, \ |
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| 480 | parent=None): |
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| 481 | |
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| 482 | QtCore.QThread.__init__(self, parent) |
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| 483 | |
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| 484 | self.log = log |
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| 485 | self.DEBUG = DEBUG |
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| 486 | |
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| 487 | self.device_address = device_address |
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| 488 | self.mode = mode |
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| 489 | self.device = None |
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| 490 | self.buffer = '' |
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| 491 | |
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| 492 | if (self.device_address.count(':') == 5): |
|---|
| 493 | # Device address is a Bluetooth MAC address |
|---|
| 494 | self.device = self.initializeBluetoothDevice() |
|---|
| 495 | else: |
|---|
| 496 | # Device address is a serial port address |
|---|
| 497 | self.device = self.initializeSerialDevice() |
|---|
| 498 | |
|---|
| 499 | #self.buffer_check_timer = QtCore.QTimer() |
|---|
| 500 | #QtCore.QObject.connect(self.buffer_check_timer, \ |
|---|
| 501 | #QtCore.SIGNAL("timeout()"), \ |
|---|
| 502 | #self.checkBuffer) |
|---|
| 503 | #self.buffer_check_timer.start(DEVICE_BUFFER_TIMER) |
|---|
| 504 | |
|---|
| 505 | self.keep_running = True |
|---|
| 506 | |
|---|
| 507 | |
|---|
| 508 | ################################################################## |
|---|
| 509 | |
|---|
| 510 | #def initializeBluetoothDevice(self): |
|---|
| 511 | |
|---|
| 512 | #socket = bluetooth.BluetoothSocket( bluetooth.RFCOMM ) |
|---|
| 513 | |
|---|
| 514 | #try: |
|---|
| 515 | #socket.connect((self.device_address, THINKGEAR_DEVICE_BLUETOOTH_CHANNEL)) |
|---|
| 516 | |
|---|
| 517 | #except Exception, e: |
|---|
| 518 | #if self.DEBUG: |
|---|
| 519 | #print "ERROR:", |
|---|
| 520 | #print e |
|---|
| 521 | #sys.exit() |
|---|
| 522 | |
|---|
| 523 | |
|---|
| 524 | #return socket |
|---|
| 525 | |
|---|
| 526 | |
|---|
| 527 | ################################################################### |
|---|
| 528 | |
|---|
| 529 | def initializeSerialDevice(self): |
|---|
| 530 | |
|---|
| 531 | baudrate = DEFAULT_SERIAL_BAUDRATE |
|---|
| 532 | bytesize = 8 |
|---|
| 533 | parity = 'NONE' |
|---|
| 534 | stopbits = 1 |
|---|
| 535 | software_flow_control = 'f' |
|---|
| 536 | rts_cts_flow_control = 'f' |
|---|
| 537 | #timeout = 15 |
|---|
| 538 | timeout = 5 |
|---|
| 539 | |
|---|
| 540 | # convert bytesize |
|---|
| 541 | if (bytesize == 5): |
|---|
| 542 | init_byte_size = serial.FIVEBITS |
|---|
| 543 | elif (bytesize == 6): |
|---|
| 544 | init_byte_size = serial.SIXBITS |
|---|
| 545 | elif (bytesize == 7): |
|---|
| 546 | init_byte_size = serial.SEVENBITS |
|---|
| 547 | elif (bytesize == 8): |
|---|
| 548 | init_byte_size = serial.EIGHTBITS |
|---|
| 549 | else: |
|---|
| 550 | #self.log.perror("Invalid value for %s modem byte size! Using default (8)" % modem_type) |
|---|
| 551 | init_byte_size = serial.EIGHTBITS |
|---|
| 552 | |
|---|
| 553 | # convert parity |
|---|
| 554 | if (parity == 'NONE'): |
|---|
| 555 | init_parity = serial.PARITY_NONE |
|---|
| 556 | elif (parity == 'EVEN'): |
|---|
| 557 | init_parity = serial.PARITY_EVEN |
|---|
| 558 | elif (parity == 'ODD'): |
|---|
| 559 | init_parity = serial.PARITY_ODD |
|---|
| 560 | else: |
|---|
| 561 | #self.log.perror("Invalid value for %s modem parity! Using default (NONE)" % modem_type) |
|---|
| 562 | init_parity = serial.PARITY_NONE |
|---|
| 563 | |
|---|
| 564 | # convert stopbits |
|---|
| 565 | if (stopbits == 1): |
|---|
| 566 | init_stopbits = serial.STOPBITS_ONE |
|---|
| 567 | elif (stopbits == 2): |
|---|
| 568 | init_stopbits = serial.STOPBITS_TWO |
|---|
| 569 | else: |
|---|
| 570 | #self.log.perror("Invalid value for %s modem stopbits! Using default (8)" % modem_type) |
|---|
| 571 | init_byte_size = serial.STOPBITS_ONE |
|---|
| 572 | |
|---|
| 573 | # convert software flow control |
|---|
| 574 | if (software_flow_control == 't'): |
|---|
| 575 | init_software_flow_control = 1 |
|---|
| 576 | else: |
|---|
| 577 | init_software_flow_control = 0 |
|---|
| 578 | |
|---|
| 579 | # convert rts cts flow control |
|---|
| 580 | if (rts_cts_flow_control == 't'): |
|---|
| 581 | init_rts_cts_flow_control = 1 |
|---|
| 582 | else: |
|---|
| 583 | init_rts_cts_flow_control = 0 |
|---|
| 584 | |
|---|
| 585 | |
|---|
| 586 | try: |
|---|
| 587 | |
|---|
| 588 | device = serialWrapper(port = self.device_address, \ |
|---|
| 589 | baudrate = baudrate, \ |
|---|
| 590 | bytesize = init_byte_size, \ |
|---|
| 591 | parity = init_parity, \ |
|---|
| 592 | stopbits = init_stopbits, \ |
|---|
| 593 | xonxoff = init_software_flow_control, \ |
|---|
| 594 | rtscts = init_rts_cts_flow_control, \ |
|---|
| 595 | timeout = timeout) |
|---|
| 596 | |
|---|
| 597 | except Exception, e: |
|---|
| 598 | if self.DEBUG: |
|---|
| 599 | print "ERROR:", |
|---|
| 600 | print e, |
|---|
| 601 | print self.device_address |
|---|
| 602 | sys.exit() |
|---|
| 603 | |
|---|
| 604 | |
|---|
| 605 | #device.flushInput() |
|---|
| 606 | ##device.flushOutput() |
|---|
| 607 | |
|---|
| 608 | |
|---|
| 609 | return(device) |
|---|
| 610 | |
|---|
| 611 | |
|---|
| 612 | ################################################################### |
|---|
| 613 | |
|---|
| 614 | #def checkBuffer(self): |
|---|
| 615 | |
|---|
| 616 | #if self.DEBUG > 1: |
|---|
| 617 | #print "INFO: Buffer size check:", |
|---|
| 618 | #print len(self.buffer), |
|---|
| 619 | #print "(maximum before reset is %i)" % DEVICE_BUFFER_MAX_SIZE |
|---|
| 620 | |
|---|
| 621 | #if (DEVICE_BUFFER_MAX_SIZE <= len(self.buffer)): |
|---|
| 622 | |
|---|
| 623 | #if self.DEBUG: |
|---|
| 624 | #print "ERROR: Buffer size has grown too large, resetting" |
|---|
| 625 | |
|---|
| 626 | #self.reset() |
|---|
| 627 | |
|---|
| 628 | |
|---|
| 629 | ################################################################### |
|---|
| 630 | |
|---|
| 631 | def getBuffer(self): |
|---|
| 632 | |
|---|
| 633 | data_payload = self.buffer |
|---|
| 634 | |
|---|
| 635 | self.resetBuffer() |
|---|
| 636 | |
|---|
| 637 | |
|---|
| 638 | return(data_payload) |
|---|
| 639 | |
|---|
| 640 | |
|---|
| 641 | ################################################################### |
|---|
| 642 | |
|---|
| 643 | def resetBuffer(self): |
|---|
| 644 | |
|---|
| 645 | self.buffer = '' |
|---|
| 646 | |
|---|
| 647 | |
|---|
| 648 | ################################################################### |
|---|
| 649 | |
|---|
| 650 | def read(self, length=1): |
|---|
| 651 | |
|---|
| 652 | # Sleep for 20 ms if buffer is empty |
|---|
| 653 | # Based on 50 Hz refresh rate of Blade MLP4DSM RC device |
|---|
| 654 | # (1/50) * 1000 = 20 |
|---|
| 655 | while len(self.buffer) < length: |
|---|
| 656 | QtCore.QThread.msleep(DEVICE_BUFFER_TIMER) |
|---|
| 657 | |
|---|
| 658 | bytes = self.buffer[:length] |
|---|
| 659 | |
|---|
| 660 | self.buffer = self.buffer[length:] |
|---|
| 661 | |
|---|
| 662 | return(bytes) |
|---|
| 663 | |
|---|
| 664 | |
|---|
| 665 | ################################################################### |
|---|
| 666 | |
|---|
| 667 | def stop(self): |
|---|
| 668 | |
|---|
| 669 | #self.buffer_check_timer.stop() |
|---|
| 670 | self.keep_running = False |
|---|
| 671 | |
|---|
| 672 | |
|---|
| 673 | ################################################################### |
|---|
| 674 | |
|---|
| 675 | def exitThread(self, callThreadQuit=True): |
|---|
| 676 | |
|---|
| 677 | self.stop() |
|---|
| 678 | self.close() |
|---|
| 679 | |
|---|
| 680 | if callThreadQuit: |
|---|
| 681 | QtCore.QThread.quit(self) |
|---|
| 682 | |
|---|
| 683 | |
|---|
| 684 | ################################################################### |
|---|
| 685 | |
|---|
| 686 | def close(self): |
|---|
| 687 | |
|---|
| 688 | self.device.close() |
|---|
| 689 | |
|---|
| 690 | |
|---|
| 691 | ################################################################### |
|---|
| 692 | |
|---|
| 693 | def readBuffer(self): |
|---|
| 694 | |
|---|
| 695 | self.buffer = '' |
|---|
| 696 | |
|---|
| 697 | while self.keep_running: |
|---|
| 698 | |
|---|
| 699 | |
|---|
| 700 | # High-Speed Echo Mode |
|---|
| 701 | if (self.DEBUG > 3) and ECHO_ON: |
|---|
| 702 | byte = self.device.recv(PACKET_READ_SIZE) |
|---|
| 703 | self.device.write(byte) |
|---|
| 704 | continue |
|---|
| 705 | |
|---|
| 706 | |
|---|
| 707 | try: |
|---|
| 708 | #byte = self.device.read() |
|---|
| 709 | byte = self.device.recv(PACKET_READ_SIZE) |
|---|
| 710 | |
|---|
| 711 | #if ECHO_ON: |
|---|
| 712 | self.device.write(byte) |
|---|
| 713 | |
|---|
| 714 | if (len(byte) != 0): |
|---|
| 715 | if self.DEBUG > 2: |
|---|
| 716 | print "Device read:", |
|---|
| 717 | print byte, |
|---|
| 718 | if ECHO_ON: |
|---|
| 719 | print byte.encode("hex"), |
|---|
| 720 | print "wrote:", |
|---|
| 721 | print byte.encode("hex") |
|---|
| 722 | |
|---|
| 723 | self.buffer += byte |
|---|
| 724 | |
|---|
| 725 | except: |
|---|
| 726 | if self.DEBUG: |
|---|
| 727 | print "ERROR: failed to read from serial device" |
|---|
| 728 | break |
|---|
| 729 | |
|---|
| 730 | |
|---|
| 731 | self.exitThread() |
|---|
| 732 | |
|---|
| 733 | |
|---|
| 734 | ################################################################### |
|---|
| 735 | |
|---|
| 736 | def writeBuffer(self): |
|---|
| 737 | |
|---|
| 738 | self.buffer = '' |
|---|
| 739 | #beacon_timer = 0 |
|---|
| 740 | |
|---|
| 741 | while self.keep_running: |
|---|
| 742 | |
|---|
| 743 | if (len(self.buffer) != 0): |
|---|
| 744 | buffer = self.buffer |
|---|
| 745 | self.buffer = '' |
|---|
| 746 | |
|---|
| 747 | |
|---|
| 748 | #if beacon_timer >= 750: |
|---|
| 749 | #buffer += '\xaa' + buffer |
|---|
| 750 | #beacon_timer = 0 |
|---|
| 751 | |
|---|
| 752 | |
|---|
| 753 | try: |
|---|
| 754 | self.device.write(buffer) |
|---|
| 755 | |
|---|
| 756 | if self.DEBUG > 1: |
|---|
| 757 | print "Device wrote:", |
|---|
| 758 | #print buffer, |
|---|
| 759 | print buffer.encode("hex") |
|---|
| 760 | |
|---|
| 761 | except: |
|---|
| 762 | if self.DEBUG: |
|---|
| 763 | print "ERROR: failed to write to serial device" |
|---|
| 764 | break |
|---|
| 765 | |
|---|
| 766 | |
|---|
| 767 | # Sleep for 20 ms if buffer is empty |
|---|
| 768 | # Based on 50 Hz refresh rate of Blade MLP4DSM RC device |
|---|
| 769 | # (1/50) * 1000 = 20 |
|---|
| 770 | QtCore.QThread.msleep(DEVICE_BUFFER_TIMER) |
|---|
| 771 | #beacon_timer += DEVICE_BUFFER_TIMER |
|---|
| 772 | |
|---|
| 773 | |
|---|
| 774 | self.exitThread() |
|---|
| 775 | |
|---|
| 776 | |
|---|
| 777 | ################################################################### |
|---|
| 778 | |
|---|
| 779 | def run(self): |
|---|
| 780 | |
|---|
| 781 | if self.mode == 'read': |
|---|
| 782 | self.readBuffer() |
|---|
| 783 | |
|---|
| 784 | elif self.mode == 'write': |
|---|
| 785 | self.writeBuffer() |
|---|
| 786 | |
|---|
| 787 | |
|---|
| 788 | ##################################################################### |
|---|
| 789 | ##################################################################### |
|---|
| 790 | |
|---|
| 791 | class serialWrapper(serial.Serial): |
|---|
| 792 | |
|---|
| 793 | #__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) |
|---|
| 794 | |
|---|
| 795 | def recv(self, size=1): |
|---|
| 796 | |
|---|
| 797 | return(self.read(size)) |
|---|
| 798 | |
|---|
| 799 | |
|---|
| 800 | ##################################################################### |
|---|
| 801 | # Functions |
|---|
| 802 | ##################################################################### |
|---|
| 803 | |
|---|
| 804 | ##################################################################### |
|---|
| 805 | # Main |
|---|
| 806 | ##################################################################### |
|---|
| 807 | |
|---|
| 808 | if __name__ == '__main__': |
|---|
| 809 | |
|---|
| 810 | # Perform correct KeyboardInterrupt handling |
|---|
| 811 | signal.signal(signal.SIGINT, signal.SIG_DFL) |
|---|
| 812 | |
|---|
| 813 | # Collect default settings and command line parameters |
|---|
| 814 | device = SERIAL_DEVICE |
|---|
| 815 | command = DEFAULT_COMMAND |
|---|
| 816 | |
|---|
| 817 | for each in sys.argv: |
|---|
| 818 | |
|---|
| 819 | if each.startswith("--device="): |
|---|
| 820 | device = each[ len("--device="): ] |
|---|
| 821 | elif each.startswith("--command="): |
|---|
| 822 | command = each[ len("--command="): ] |
|---|
| 823 | |
|---|
| 824 | |
|---|
| 825 | app = QtCore.QCoreApplication(sys.argv) |
|---|
| 826 | |
|---|
| 827 | rc = puzzlebox_brainstorms_helicopter_control(device_address=device, command=command, DEBUG=DEBUG) |
|---|
| 828 | |
|---|
| 829 | rc.start() |
|---|
| 830 | |
|---|
| 831 | sys.exit(app.exec_()) |
|---|
| 832 | |
|---|
