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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 | class SerialThread(Thread): |
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| 15 | |||
| 16 | terminated = False |
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| 17 | port = None |
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| 18 | pktHandler = None |
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| 19 | |||
| 737 | olof | 20 | def __init__ (self, pktHandler, port): |
| 736 | olof | 21 | Thread.__init__(self) |
| 22 | self.pktHandler = pktHandler |
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| 23 | self.port = port |
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| 24 | |||
| 25 | def run(self): |
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| 737 | olof | 26 | try: |
| 27 | log.debug('SerialThread.run') |
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| 28 | readBuffer = [] |
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| 29 | |||
| 30 | while not self.terminated: |
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| 31 | inByte = self.port.read() |
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| 32 | if inByte == '\n': |
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| 33 | msg = ''.join(readBuffer) |
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| 34 | readBuffer = [] |
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| 35 | #print 'Incoming:', msg |
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| 36 | self.pktHandler.input(msg) |
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| 37 | else: |
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| 38 | readBuffer.append(inByte) |
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| 736 | olof | 39 | |
| 738 | olof | 40 | time.sleep(0.001) |
| 41 | |||
| 737 | olof | 42 | self.port.close() |
| 738 | olof | 43 | self.ownerNotifier.notify(self.ownerNotifier.TERMINATE) |
| 44 | |||
| 737 | olof | 45 | except: # sys.excepthook does not work in threads |
| 46 | import traceback |
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| 47 | traceback.print_exc() |
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| 48 | self.terminate() |
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| 49 | self.port.close() |
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| 50 | |||
| 736 | olof | 51 | def terminate(self): |
| 52 | log.debug('SerialThread.terminate') |
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| 53 | self.terminated = True |
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| 54 | |||
| 55 | |||
| 56 | class NodeIfSerial(NodeIfBase): |
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| 57 | |||
| 58 | DEFAULT_CONFIG = {'serialPort':1, #com1 |
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| 59 | 'baudRate':9600, |
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| 60 | 'byteSize':8, |
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| 61 | 'parity': 'N', |
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| 62 | 'stopBits':1, |
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| 63 | 'timeOut': 0, # must be 0 (non-blocking mode) |
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| 64 | 'softFlowCtl': 0, |
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| 65 | 'hardFlowCtl': 0 |
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| 66 | } |
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| 67 | |||
| 68 | serialThread = None |
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| 69 | pktHandler = None |
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| 750 | olof | 70 | ownerNotifier = None |
| 746 | olof | 71 | config = {} |
| 736 | olof | 72 | |
| 737 | olof | 73 | def __init__ (self, pktHandler, cfg = None): |
| 736 | olof | 74 | if cfg is None: |
| 75 | self.config = self.DEFAULT_CONFIG |
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| 746 | olof | 76 | else: |
| 77 | self.confg = cfg |
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| 736 | olof | 78 | |
| 79 | self.pktHandler = pktHandler |
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| 80 | NodeIfBase.__init__(self, cfg, pktHandler) |
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| 750 | olof | 81 | |
| 82 | def setPktHandler(self, pktHandler): |
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| 83 | self.pktHandler = pktHandler |
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| 84 | |||
| 85 | def setIfNotifier(self, ifNotifier): |
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| 86 | self.ownerNotifier = ifNotifier |
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| 736 | olof | 87 | |
| 88 | def start(self): |
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| 89 | |||
| 90 | try: |
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| 91 | port = serial.Serial(self.config['serialPort'], |
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| 92 | self.config['baudRate'], |
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| 93 | self.config['byteSize'], |
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| 94 | self.config['parity'], |
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| 95 | self.config['stopBits'], |
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| 96 | self.config['timeOut'], |
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| 97 | self.config['softFlowCtl'], |
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| 98 | self.config['hardFlowCtl']) |
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| 99 | except (serial.SerialException), Error: |
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| 100 | print Error |
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| 101 | return False |
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| 102 | |||
| 737 | olof | 103 | self.serialThread = SerialThread(self.pktHandler, port) |
| 736 | olof | 104 | self.serialThread.start() |
| 105 | return True |
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| 106 | |||
| 107 | def stop(self): |
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| 738 | olof | 108 | if self.serialThread is not None and not self.stimThread.terminated: |
| 736 | olof | 109 | self.serialThread.terminate() |
| 110 | else: |
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| 111 | log.debug('Serial interface not started, or already stopped') |
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| 737 | olof | 112 | |
| 113 | def running(self): |
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| 114 | if self.serialThread is not None: |
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| 739 | olof | 115 | return not self.serialThread.terminated |
| 737 | olof | 116 | else: |
| 117 | return False |
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| 118 |