Rev 739 | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 739 | Rev 746 | ||
|---|---|---|---|
| 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 | class SerialThread(Thread): |
14 | class SerialThread(Thread): |
| 15 | 15 | ||
| 16 | terminated = False |
16 | terminated = False |
| 17 | port = None |
17 | port = None |
| 18 | pktHandler = None |
18 | pktHandler = None |
| 19 | 19 | ||
| 20 | def __init__ (self, pktHandler, port): |
20 | def __init__ (self, pktHandler, port): |
| 21 | Thread.__init__(self) |
21 | Thread.__init__(self) |
| 22 | self.pktHandler = pktHandler |
22 | self.pktHandler = pktHandler |
| 23 | self.port = port |
23 | self.port = port |
| 24 | 24 | ||
| 25 | def run(self): |
25 | def run(self): |
| 26 | try: |
26 | try: |
| 27 | log.debug('SerialThread.run') |
27 | log.debug('SerialThread.run') |
| 28 | readBuffer = [] |
28 | readBuffer = [] |
| 29 | 29 | ||
| 30 | while not self.terminated: |
30 | while not self.terminated: |
| 31 | inByte = self.port.read() |
31 | inByte = self.port.read() |
| 32 | if inByte == '\n': |
32 | if inByte == '\n': |
| 33 | msg = ''.join(readBuffer) |
33 | msg = ''.join(readBuffer) |
| 34 | readBuffer = [] |
34 | readBuffer = [] |
| 35 | #print 'Incoming:', msg |
35 | #print 'Incoming:', msg |
| 36 | self.pktHandler.input(msg) |
36 | self.pktHandler.input(msg) |
| 37 | else: |
37 | else: |
| 38 | readBuffer.append(inByte) |
38 | readBuffer.append(inByte) |
| 39 | 39 | ||
| 40 | time.sleep(0.001) |
40 | time.sleep(0.001) |
| 41 | 41 | ||
| 42 | self.port.close() |
42 | self.port.close() |
| 43 | self.ownerNotifier.notify(self.ownerNotifier.TERMINATE) |
43 | self.ownerNotifier.notify(self.ownerNotifier.TERMINATE) |
| 44 | 44 | ||
| 45 | except: # sys.excepthook does not work in threads |
45 | except: # sys.excepthook does not work in threads |
| 46 | import traceback |
46 | import traceback |
| 47 | traceback.print_exc() |
47 | traceback.print_exc() |
| 48 | self.terminate() |
48 | self.terminate() |
| 49 | self.port.close() |
49 | self.port.close() |
| 50 | 50 | ||
| 51 | def terminate(self): |
51 | def terminate(self): |
| 52 | log.debug('SerialThread.terminate') |
52 | log.debug('SerialThread.terminate') |
| 53 | self.terminated = True |
53 | self.terminated = True |
| 54 | 54 | ||
| 55 | 55 | ||
| 56 | class NodeIfSerial(NodeIfBase): |
56 | class NodeIfSerial(NodeIfBase): |
| 57 | 57 | ||
| 58 | DEFAULT_CONFIG = {'serialPort':1, #com1 |
58 | DEFAULT_CONFIG = {'serialPort':1, #com1 |
| 59 | 'baudRate':9600, |
59 | 'baudRate':9600, |
| 60 | 'byteSize':8, |
60 | 'byteSize':8, |
| 61 | 'parity': 'N', |
61 | 'parity': 'N', |
| 62 | 'stopBits':1, |
62 | 'stopBits':1, |
| 63 | 'timeOut': 0, # must be 0 (non-blocking mode) |
63 | 'timeOut': 0, # must be 0 (non-blocking mode) |
| 64 | 'softFlowCtl': 0, |
64 | 'softFlowCtl': 0, |
| 65 | 'hardFlowCtl': 0 |
65 | 'hardFlowCtl': 0 |
| 66 | } |
66 | } |
| 67 | 67 | ||
| 68 | serialThread = None |
68 | serialThread = None |
| 69 | pktHandler = None |
69 | pktHandler = None |
| - | 70 | config = {} |
|
| 70 | 71 | ||
| 71 | def __init__ (self, pktHandler, cfg = None): |
72 | def __init__ (self, pktHandler, cfg = None): |
| 72 | if cfg is None: |
73 | if cfg is None: |
| 73 | self.config = self.DEFAULT_CONFIG |
74 | self.config = self.DEFAULT_CONFIG |
| - | 75 | else: |
|
| - | 76 | self.confg = cfg |
|
| 74 | 77 | ||
| 75 | self.pktHandler = pktHandler |
78 | self.pktHandler = pktHandler |
| 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 and not self.stimThread.terminated: |
101 | if self.serialThread is not None and not self.stimThread.terminated: |
| 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') |
| 102 | 105 | ||
| 103 | def running(self): |
106 | def running(self): |
| 104 | if self.serialThread is not None: |
107 | if self.serialThread is not None: |
| 105 | return not self.serialThread.terminated |
108 | return not self.serialThread.terminated |
| 106 | else: |
109 | else: |
| 107 | return False |
110 | return False |
| 108 | 111 | ||