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Merge pull request #42 from CrashOverride85/dev
From dev branch for v1.6
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,116 @@ | ||
| import time | ||
| from serial import Serial | ||
| from serial.threaded import ReaderThread, Protocol, LineReader | ||
| import threading | ||
| import json | ||
| import sys | ||
| import queue | ||
|
|
||
| class SerialReader(Protocol): | ||
| on_receive = None | ||
| on_open = None | ||
| on_close = None | ||
|
|
||
| def __init__(self): | ||
| self.__state = 'IDLE' | ||
| self.__message = bytearray() | ||
|
|
||
| def connection_made(self, transport): | ||
| self.on_open() | ||
|
|
||
| def connection_lost(self, exc): | ||
| self.on_close() | ||
|
|
||
| def data_received(self, data): | ||
| for byte in data: | ||
| if self.__state == "IDLE": | ||
| if byte == 0x02: # STX | ||
| self.__state = "RECV" | ||
|
|
||
| elif self.__state == "RECV": | ||
| if byte == 0x03: # ETX | ||
| message_string = self.__message.decode("utf-8") | ||
|
|
||
| self.on_receive(message_string) | ||
|
|
||
| # reset for next message | ||
| self.__message = bytearray() | ||
| self.__state = "IDLE" | ||
|
|
||
| else: | ||
| self.__message.append(byte) | ||
|
|
||
|
|
||
| class ZcSerial: | ||
| def __init__(self, serial_port, rcv_queue, debug): | ||
| print("Opening: " + serial_port) | ||
| self.serial = Serial(serial_port, baudrate=115200, timeout=0) | ||
|
|
||
| serial_reader = SerialReader | ||
| serial_reader.on_receive = self.__on_message | ||
| serial_reader.on_open = self.__on_open | ||
| serial_reader.on_close = self.__on_close | ||
|
|
||
| self.__recv_waiting = False | ||
| self.__pending_recv_message = "" | ||
| self.__recv_event = threading.Event() | ||
| self.__waiting_for_msgId = 0 | ||
| self.__connection_wait_event = threading.Event() | ||
| self.__rcv_queue = rcv_queue | ||
| self.debug = debug | ||
|
|
||
| self.__reader = ReaderThread(self.serial, serial_reader) | ||
| self.__reader.start() | ||
|
|
||
| def __on_message(self, message): | ||
| if self.debug: | ||
| print("< " + message) | ||
|
|
||
| result = json.loads(message) | ||
| if self.__recv_waiting and "MsgId" in result and result["MsgId"] == self.__waiting_for_msgId: | ||
| self.__pending_recv_message = message | ||
| self.__recv_event.set() | ||
| else: | ||
| self.__rcv_queue.put(result) | ||
|
|
||
| def __on_close(self): | ||
| print("Connection closed") | ||
|
|
||
| def __on_open(self): | ||
| print("Connection opened") | ||
| self.__connection_wait_event.set() | ||
|
|
||
| def wait_for_connection(self): | ||
| self.__connection_wait_event.wait() | ||
|
|
||
| def send(self, message): | ||
| if self.debug: | ||
| print("> " + message) | ||
|
|
||
| self.serial.write(b'\x02') # STX | ||
| self.serial.write(message.encode('utf-8')) | ||
| self.serial.write(b'\x03') # ETX | ||
|
|
||
| # note: not at all thread safe | ||
| def recv(self, msgId): | ||
| self.__waiting_for_msgId = msgId | ||
| self.__recv_waiting = True | ||
|
|
||
| if self.__recv_event.wait(timeout=2): # timeout is seconds | ||
| retval = self.__pending_recv_message | ||
| else: | ||
| retval = None | ||
|
|
||
| self.__recv_waiting = False | ||
| self.__recv_event.clear() | ||
| self.__waiting_for_msgId = 0 | ||
|
|
||
| return retval | ||
|
|
||
| def run_forever(self): | ||
| pass # might do some sort of ping here one day to check connection is still good | ||
|
|
||
| def stop(self): | ||
| self.serial.write(b'\x04') # EOT, causes the zc95 to stop a pattern if one is running, and reset the connection (clears any state, etc.) | ||
| self.__reader.stop() | ||
| self.serial.close() |
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