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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 736 | olof | 1 | ########################################################### |
| 2 | # |
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| 3 | # Serial interface, connects with can bus over a serial |
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| 4 | # line |
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| 5 | # |
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| 6 | ########################################################### |
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| 7 | import logging as log |
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| 8 | from NodeIfBase import NodeIfBase |
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| 9 | from threading import Thread |
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| 10 | import serial |
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| 11 | import sys |
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| 12 | import time |
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| 13 | |||
| 14 | UART_START_BYTE = 253 |
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| 15 | UART_END_BYTE = 250 |
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| 16 | PACKET_LENGTH = 17 |
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| 17 | readBufferSize = 8192 |
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| 18 | UART_CONN_BYTE = 252 |
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| 19 | |||
| 20 | class SerialThread(Thread): |
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| 21 | |||
| 22 | terminated = False |
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| 23 | port = None |
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| 24 | pktHandler = None |
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| 25 | |||
| 26 | def __init__ (self, pktHandler, port, exceptHook): |
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| 27 | Thread.__init__(self) |
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| 28 | self.pktHandler = pktHandler |
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| 29 | self.port = port |
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| 30 | sys.excepthook = exceptHook |
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| 31 | |||
| 32 | def run(self): |
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| 33 | log.debug('SerialThread.run') |
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| 34 | readBuffer = [] |
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| 35 | while not self.terminated: |
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| 36 | |||
| 37 | inByte = self.port.read() |
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| 38 | if inByte == '\n': |
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| 39 | msg = ''.join(readBuffer) |
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| 40 | readBuffer = [] |
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| 41 | #print 'Incoming:', msg |
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| 42 | self.pktHandler.input(msg) |
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| 43 | else: |
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| 44 | readBuffer.append(inByte) |
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| 45 | |||
| 46 | time.sleep(0.1) |
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| 47 | self.port.close() |
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| 48 | |||
| 49 | def terminate(self): |
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| 50 | log.debug('SerialThread.terminate') |
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| 51 | self.terminated = True |
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| 52 | |||
| 53 | |||
| 54 | class NodeIfSerial(NodeIfBase): |
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| 55 | |||
| 56 | DEFAULT_CONFIG = {'serialPort':1, #com1 |
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| 57 | 'baudRate':9600, |
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| 58 | 'byteSize':8, |
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| 59 | 'parity': 'N', |
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| 60 | 'stopBits':1, |
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| 61 | 'timeOut': 0, # must be 0 (non-blocking mode) |
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| 62 | 'softFlowCtl': 0, |
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| 63 | 'hardFlowCtl': 0 |
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| 64 | } |
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| 65 | |||
| 66 | serialThread = None |
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| 67 | pktHandler = None |
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| 68 | exceptHook = None |
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| 69 | |||
| 70 | def __init__ (self, pktHandler, exceptHook, cfg = None): |
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| 71 | if cfg is None: |
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| 72 | self.config = self.DEFAULT_CONFIG |
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| 73 | |||
| 74 | self.pktHandler = pktHandler |
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| 75 | self.exceptHook = exceptHook |
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| 76 | NodeIfBase.__init__(self, cfg, pktHandler) |
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| 77 | |||
| 78 | def start(self): |
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| 79 | |||
| 80 | try: |
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| 81 | port = serial.Serial(self.config['serialPort'], |
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| 82 | self.config['baudRate'], |
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| 83 | self.config['byteSize'], |
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| 84 | self.config['parity'], |
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| 85 | self.config['stopBits'], |
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| 86 | self.config['timeOut'], |
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| 87 | self.config['softFlowCtl'], |
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| 88 | self.config['hardFlowCtl']) |
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| 89 | except (serial.SerialException), Error: |
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| 90 | print Error |
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| 91 | return False |
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| 92 | |||
| 93 | self.serialThread = SerialThread(self.pktHandler, port, self.exceptHook) |
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| 94 | self.serialThread.start() |
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| 95 | return True |
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| 96 | |||
| 97 | def stop(self): |
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| 98 | if self.serialThread is not None: |
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| 99 | self.serialThread.terminate() |
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| 100 | else: |
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| 101 | log.debug('Serial interface not started, or already stopped') |