+import time
+
from re import compile
from serial import Serial
from datetime import datetime
+from struct import *
+
+
+
+#buildingFrame = 0; #if it is a start of new frame
+
+class Const:
+ HEADER = 0x02
+ SNS_BITS = 5
+ LGT_SNS = 0x00
+ ACC_SNS = 0x01
+ MAG_SNS = 0x02
+ TCH_SNS = 0x03
+ ADC_SNS_1 = 0x04
+
+ INT = 0
+ LONG = 1
+ FLOAT = 2
+ DOUBLE = 3
+ TAIL = 0x0A
+
+ START = 0
+ STOP = 1
+ SET_INT = 2
+ buildingFrame = 0
+
+ snsCode = {'light':LGT_SNS,'touch':TCH_SNS,'acc':ACC_SNS,'mag':MAG_SNS,'a2d':ADC_SNS_1}
+ cmdCode = {'start':START, 'stop':STOP, 'set':SET_INT}
+ sizeMap = {INT:2, FLOAT:4, LONG:4, DOUBLE:8}
+ typeMap = {0:INT, 1:LONG, FLOAT:2, DOUBLE:3}
+
+class Static:
+
+ count = 0
-class State:
+
+class State: #information stored
acc = [None]*3
mag = [None]*3
touch = [None]*2
self.time = datetime.utcnow()
class Device:
- # Attributes
- port = "/dev/ttyACM0"
-
# Constructors
def __init__(self, config):
+ print("IN")
self.config = config
self.serial = None
# Methods
def connect(self):
+ print("C")
+ buildingFrame = 0
try:
self.inbuf = []
- self.serial = Serial(self.port, \
+ self.serial = Serial(self.config.device, \
baudrate = self.config.baudrate, \
parity = self.config.parity, \
bytesize = self.config.databits, \
stopbits = self.config.stopbits, \
timeout = 0)
+ self.control()
self.serial.flushInput()
except Exception as ex:
return str(ex)
def disconnect(self):
+ print("DC")
if self.serial and self.serial.isOpen():
self.serial.close()
- def running(self):
+ def running(self): # isRunning
if self.serial == None:
return False
if self.serial.isOpen() == False:
return False
return True
- def control(self):
- pass
+ def control(self):#################
+ print("CT")
+ frame = [None]*7
+ for key in list(self.config.enable.keys()):
+ state = self.config.enable[key]
+ rate = self.config.rate[key]
+ cmd = Const.cmdCode['start'] if state else Const.cmdCode['stop']
+ sns = Const.snsCode[key]
+ frame[0] = chr(Const.HEADER)
+ frame[1] = chr(cmd<<(Const.SNS_BITS)|(0x1F&sns))
+ frame[2:6] = pack('f',float(rate))
+ frame[6] = Const.TAIL
+ self.serial.write(frame)
+ print('[SEND1] ',frame)
+ frame[1] = Const.cmdCode['set']<<(Const.SNS_BITS)|(0x1F&sns)
+ self.serial.write(frame)
+ print('[SEND2] ',frame)
+ self.serial.flush()
+
def process(self):
items = []
count = 0
limit = 1000
- if not self.running():
- return items
- while self.serial.readable():
- try:
- char = self.serial.read().decode()
- except Exception as ex:
- char = ''
- if len(char) == 0:
- break
- if char == '\r' or char == '\n':
- if len(self.inbuf) == 0:
- continue
- line = "".join(self.inbuf)
- item = self._parse_ascii(line)
- items.append(item)
- self.inbuf = []
- else:
- self.inbuf.append(char)
- if count > limit:
- print("Error: exceeded read limit")
- break
- count += 1
- return items
+ if not self.running():
+ return items;
+ if self.serial.readable():
+ buildingFrame = 0
+ while (self.serial.inWaiting() or count<(self.frame_len(self.inbuf)-1)): ######
+ char = self.serial.read()
+ count +=1
+ if char == chr(Const.TAIL) and buildingFrame and (len(self.inbuf))== self.frame_len(self.inbuf)-1:
+ self.inbuf.append(char)
+ #print("[TAIL]")
+ line = "".join(self.inbuf)
+ print(self.inbuf)
+ time.sleep(0.001)
+ #self.printHex(line)
+ item = self._parse_ascii(line) # analyze the received data
+ items.append(item)
+ buildingFrame = 0 # finished building one frame
+ #print ("BF set to 0")
+ self.inbuf = []
+ count = 0
+ elif char == chr(Const.HEADER) and buildingFrame==0:
+ self.inbuf = []
+ buildingFrame = 1
+ #print ("BF set to 1")
+ self.inbuf.append(char)
+ #print("[HEADER]")
+ #count +=1
+ elif buildingFrame:
+ self.inbuf.append(char)
+ #print("[DT]")
+ #count +=1
+ else:
+ #print("[ERROR] Byte Going Nowhere")
+ count = 0
+ buildingFrame = 0 # reset the construction
+ #print ("BF set to 0!")
+ self.inbuf = []
+ if count > limit:
+ count = 0
+ print("[ERROR] Exceeded Read Limit")
+ break
+ return items
+
+
+ # auxilary function
+ def frame_len(self, frame):
+ if len(frame) < 3:
+ return -1
+ dataType_snsType = ord(frame[1])
+ dataNum = ord(frame[2])
+ dataType = (0xE0&dataType_snsType)>>Const.SNS_BITS
+ snsType = 0x1F&dataType_snsType
+ #print(dataType_snsType)
+ #print(dataType)
+ #print(snsType)
+ #print(dataNum)
+ dataSize = Const.sizeMap[Const.typeMap[dataType]]
+ return (dataSize*dataNum+4)
+
+
+ def printHex(self, frame):
+ #print("PH")
+ frameLen = self.frame_len(frame)
+ i = 0
+ while i<frameLen:
+ print(hex(ord(frame[i])))
+ i+=1
+
# Private methods
- def _parse_ascii(self, line):
- acc_re = compile("\[ACC\] accX=(.*) accY=(.*) accZ=(.*)")
- mag_re = compile("\[MAG\] magX=(.*) magY=(.*) magZ=(.*)")
- lgt_re = compile("\[LGT\] Light Intensity=(.*)")
- tch_re = compile("\[TCH\] Force=(.*) Distance=(.*)")
- a2d_re = compile("\[A2D\] ...")
-
- acc_m = acc_re.match(line)
- mag_m = mag_re.match(line)
- lgt_m = lgt_re.match(line)
- tch_m = tch_re.match(line)
- a2d_m = a2d_re.match(line)
-
- state = State()
- if acc_m:
- state.acc[0] = float(acc_m.group(1))
- state.acc[1] = float(acc_m.group(2))
- state.acc[2] = float(acc_m.group(3))
- if mag_m:
- state.mag[0] = float(mag_m.group(1))
- state.mag[1] = float(mag_m.group(2))
- state.mag[2] = float(mag_m.group(3))
- if lgt_m:
- state.light[0] = float(lgt_m.group(1))
- if tch_m:
- state.touch[0] = float(tch_m.group(1))
- if a2d_m:
- state.a2d[0] = float(tch_m.group(1))
- state.a2d[1] = float(tch_m.group(2))
- state.a2d[2] = float(tch_m.group(3))
- state.a2d[3] = float(tch_m.group(4))
- state.a2d[4] = float(tch_m.group(5))
- state.a2d[5] = float(tch_m.group(6))
-
- return state
+ def _write_ascii(self, line): # to be changed
+ #print("WA")
+ if self.serial:
+ print('write: [' + line + ']')
+ self.serial.write(line + '\n')
+ self.serial.flush()
+ time.sleep(0.1)
+
+ def _parse_ascii(self, line):##############
+ #print("PA")
+ dataType_snsType = ord(line[1]);
+ dataNum = ord(line[2]);
+ dataType = (0xE0&dataType_snsType)>>Const.SNS_BITS
+ snsType = 0x1F&dataType_snsType
+ state = State()
+ if snsType == Const.ACC_SNS:
+ line = line[3:15]
+ state.acc = unpack('3f',line)
+ elif snsType == Const.MAG_SNS:
+ line = line[3:9]
+ state.mag = unpack('3h',line)
+ elif snsType == Const.LGT_SNS:
+ state.light[0] = ord(line[3])
+ elif snsType == Const.TCH_SNS:
+ line = line[3:11]
+ state.touch = sunpack('2f',line)
+ elif snsType == Const.ADC_SNS_1:
+ line = line[3:15]
+ state.a2d = unpack('6h', line)
+ else:
+ print('[ERROR] Nothing Happened!')
+ return state
projects / ~andy / csm213a-hw / blobdiff