Rev 736 | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 736 | Rev 737 | ||
|---|---|---|---|
| 1 | ########################################################### |
1 | ########################################################### |
| 2 | # |
2 | # |
| 3 | # Serial interface, connects with can bus over a serial |
3 | # Serial interface, connects with can bus over a serial |
| 4 | # line |
4 | # line |
| 5 | # |
5 | # |
| 6 | ########################################################### |
6 | ########################################################### |
| 7 | import logging as log |
7 | import logging as log |
| 8 | from NodeIfBase import NodeIfBase |
8 | from NodeIfBase import NodeIfBase |
| 9 | from threading import Thread |
9 | from threading import Thread |
| 10 | import serial |
10 | import serial |
| 11 | import sys |
11 | import sys |
| 12 | import time |
12 | import time |
| 13 | 13 | ||
| 14 | UART_START_BYTE = 253 |
14 | UART_START_BYTE = 253 |
| 15 | UART_END_BYTE = 250 |
15 | UART_END_BYTE = 250 |
| 16 | PACKET_LENGTH = 17 |
16 | PACKET_LENGTH = 17 |
| 17 | readBufferSize = 8192 |
17 | readBufferSize = 8192 |
| 18 | UART_CONN_BYTE = 252 |
18 | UART_CONN_BYTE = 252 |
| 19 | 19 | ||
| 20 | class SerialThread(Thread): |
20 | class SerialThread(Thread): |
| 21 | 21 | ||
| 22 | terminated = False |
22 | terminated = False |
| 23 | port = None |
23 | port = None |
| 24 | pktHandler = None |
24 | pktHandler = None |
| 25 | 25 | ||
| 26 | def __init__ (self, pktHandler, port |
26 | def __init__ (self, pktHandler, port): |
| 27 | Thread.__init__(self) |
27 | Thread.__init__(self) |
| 28 | self.pktHandler = pktHandler |
28 | self.pktHandler = pktHandler |
| 29 | self.port = port |
29 | self.port = port |
| 30 | sys.excepthook = exceptHook |
- | |
| 31 | 30 | ||
| 32 | def run(self): |
31 | def run(self): |
| - | 32 | try: |
|
| 33 | log.debug('SerialThread.run') |
33 | log.debug('SerialThread.run') |
| 34 | readBuffer = [] |
34 | readBuffer = [] |
| 35 | while not self.terminated: |
- | |
| 36 | 35 | ||
| - | 36 | while not self.terminated: |
|
| 37 | inByte = self.port.read() |
37 | inByte = self.port.read() |
| 38 | if inByte == '\n': |
38 | if inByte == '\n': |
| 39 | msg = ''.join(readBuffer) |
39 | msg = ''.join(readBuffer) |
| 40 | readBuffer = [] |
40 | readBuffer = [] |
| 41 | #print 'Incoming:', msg |
41 | #print 'Incoming:', msg |
| 42 | self.pktHandler.input(msg) |
42 | self.pktHandler.input(msg) |
| 43 | else: |
43 | else: |
| 44 | readBuffer.append(inByte) |
44 | readBuffer.append(inByte) |
| 45 | 45 | ||
| 46 | time.sleep(0.1) |
46 | time.sleep(0.1) |
| - | 47 | self.port.close() |
|
| - | 48 | except: # sys.excepthook does not work in threads |
|
| - | 49 | import traceback |
|
| - | 50 | traceback.print_exc() |
|
| - | 51 | self.terminate() |
|
| 47 | self.port.close() |
52 | self.port.close() |
| 48 | 53 | ||
| 49 | def terminate(self): |
54 | def terminate(self): |
| 50 | log.debug('SerialThread.terminate') |
55 | log.debug('SerialThread.terminate') |
| 51 | self.terminated = True |
56 | self.terminated = True |
| 52 | 57 | ||
| 53 | 58 | ||
| 54 | class NodeIfSerial(NodeIfBase): |
59 | class NodeIfSerial(NodeIfBase): |
| 55 | 60 | ||
| 56 | DEFAULT_CONFIG = {'serialPort':1, #com1 |
61 | DEFAULT_CONFIG = {'serialPort':1, #com1 |
| 57 | 'baudRate':9600, |
62 | 'baudRate':9600, |
| 58 | 'byteSize':8, |
63 | 'byteSize':8, |
| 59 | 'parity': 'N', |
64 | 'parity': 'N', |
| 60 | 'stopBits':1, |
65 | 'stopBits':1, |
| 61 | 'timeOut': 0, # must be 0 (non-blocking mode) |
66 | 'timeOut': 0, # must be 0 (non-blocking mode) |
| 62 | 'softFlowCtl': 0, |
67 | 'softFlowCtl': 0, |
| 63 | 'hardFlowCtl': 0 |
68 | 'hardFlowCtl': 0 |
| 64 | } |
69 | } |
| 65 | 70 | ||
| 66 | serialThread = None |
71 | serialThread = None |
| 67 | pktHandler = None |
72 | pktHandler = None |
| 68 | exceptHook = None |
- | |
| 69 | 73 | ||
| 70 | def __init__ (self, pktHandler |
74 | def __init__ (self, pktHandler, cfg = None): |
| 71 | if cfg is None: |
75 | if cfg is None: |
| 72 | self.config = self.DEFAULT_CONFIG |
76 | self.config = self.DEFAULT_CONFIG |
| 73 | 77 | ||
| 74 | self.pktHandler = pktHandler |
78 | self.pktHandler = pktHandler |
| 75 | self.exceptHook = exceptHook |
- | |
| 76 | NodeIfBase.__init__(self, cfg, pktHandler) |
79 | NodeIfBase.__init__(self, cfg, pktHandler) |
| 77 | 80 | ||
| 78 | def start(self): |
81 | def start(self): |
| 79 | 82 | ||
| 80 | try: |
83 | try: |
| 81 | port = serial.Serial(self.config['serialPort'], |
84 | port = serial.Serial(self.config['serialPort'], |
| 82 | self.config['baudRate'], |
85 | self.config['baudRate'], |
| 83 | self.config['byteSize'], |
86 | self.config['byteSize'], |
| 84 | self.config['parity'], |
87 | self.config['parity'], |
| 85 | self.config['stopBits'], |
88 | self.config['stopBits'], |
| 86 | self.config['timeOut'], |
89 | self.config['timeOut'], |
| 87 | self.config['softFlowCtl'], |
90 | self.config['softFlowCtl'], |
| 88 | self.config['hardFlowCtl']) |
91 | self.config['hardFlowCtl']) |
| 89 | except (serial.SerialException), Error: |
92 | except (serial.SerialException), Error: |
| 90 | print Error |
93 | print Error |
| 91 | return False |
94 | return False |
| 92 | 95 | ||
| 93 | self.serialThread = SerialThread(self.pktHandler, port |
96 | self.serialThread = SerialThread(self.pktHandler, port) |
| 94 | self.serialThread.start() |
97 | self.serialThread.start() |
| 95 | return True |
98 | return True |
| 96 | 99 | ||
| 97 | def stop(self): |
100 | def stop(self): |
| 98 | if self.serialThread is not None: |
101 | if self.serialThread is not None: |
| 99 | self.serialThread.terminate() |
102 | self.serialThread.terminate() |
| 100 | else: |
103 | else: |
| 101 | log.debug('Serial interface not started, or already stopped') |
104 | log.debug('Serial interface not started, or already stopped') |
| - | 105 | ||
| - | 106 | def running(self): |
|
| - | 107 | if self.serialThread is not None: |
|
| - | 108 | return self.serialThread.terminated |
|
| - | 109 | else: |
|
| - | 110 | return False |
|
| - | 111 | ||
| 102 | - | ||