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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 | |||
| 737 | olof | 26 | def __init__ (self, pktHandler, port): |
| 736 | olof | 27 | Thread.__init__(self) |
| 28 | self.pktHandler = pktHandler |
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| 29 | self.port = port |
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| 30 | |||
| 31 | def run(self): |
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| 737 | olof | 32 | try: |
| 33 | log.debug('SerialThread.run') |
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| 34 | readBuffer = [] |
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| 35 | |||
| 36 | while not self.terminated: |
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| 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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| 736 | olof | 45 | |
| 737 | olof | 46 | time.sleep(0.1) |
| 47 | self.port.close() |
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| 48 | except: # sys.excepthook does not work in threads |
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| 49 | import traceback |
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| 50 | traceback.print_exc() |
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| 51 | self.terminate() |
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| 52 | self.port.close() |
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| 53 | |||
| 736 | olof | 54 | def terminate(self): |
| 55 | log.debug('SerialThread.terminate') |
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| 56 | self.terminated = True |
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| 57 | |||
| 58 | |||
| 59 | class NodeIfSerial(NodeIfBase): |
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| 60 | |||
| 61 | DEFAULT_CONFIG = {'serialPort':1, #com1 |
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| 62 | 'baudRate':9600, |
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| 63 | 'byteSize':8, |
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| 64 | 'parity': 'N', |
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| 65 | 'stopBits':1, |
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| 66 | 'timeOut': 0, # must be 0 (non-blocking mode) |
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| 67 | 'softFlowCtl': 0, |
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| 68 | 'hardFlowCtl': 0 |
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| 69 | } |
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| 70 | |||
| 71 | serialThread = None |
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| 72 | pktHandler = None |
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| 73 | |||
| 737 | olof | 74 | def __init__ (self, pktHandler, cfg = None): |
| 736 | olof | 75 | if cfg is None: |
| 76 | self.config = self.DEFAULT_CONFIG |
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| 77 | |||
| 78 | self.pktHandler = pktHandler |
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| 79 | NodeIfBase.__init__(self, cfg, pktHandler) |
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| 80 | |||
| 81 | def start(self): |
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| 82 | |||
| 83 | try: |
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| 84 | port = serial.Serial(self.config['serialPort'], |
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| 85 | self.config['baudRate'], |
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| 86 | self.config['byteSize'], |
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| 87 | self.config['parity'], |
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| 88 | self.config['stopBits'], |
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| 89 | self.config['timeOut'], |
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| 90 | self.config['softFlowCtl'], |
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| 91 | self.config['hardFlowCtl']) |
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| 92 | except (serial.SerialException), Error: |
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| 93 | print Error |
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| 94 | return False |
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| 95 | |||
| 737 | olof | 96 | self.serialThread = SerialThread(self.pktHandler, port) |
| 736 | olof | 97 | self.serialThread.start() |
| 98 | return True |
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| 99 | |||
| 100 | def stop(self): |
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| 101 | if self.serialThread is not None: |
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| 102 | self.serialThread.terminate() |
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| 103 | else: |
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| 104 | log.debug('Serial interface not started, or already stopped') |
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| 737 | olof | 105 | |
| 106 | def running(self): |
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| 107 | if self.serialThread is not None: |
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| 108 | return self.serialThread.terminated |
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| 109 | else: |
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| 110 | return False |
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| 111 |