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started developing the arduino serial interface for the onosCenter
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marco
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Aug 17, 2016
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| #!/usr/bin/env python | ||
| # | ||
| # Copyright 2007 John Wiseman <jjwiseman@yahoo.com> | ||
| # | ||
| # Permission is hereby granted, free of charge, to any person | ||
| # obtaining a copy of this software and associated documentation files | ||
| # (the "Software"), to deal in the Software without restriction, | ||
| # including without limitation the rights to use, copy, modify, merge, | ||
| # publish, distribute, sublicense, and/or sell copies of the Software, | ||
| # and to permit persons to whom the Software is furnished to do so, | ||
| # subject to the following conditions: | ||
| # | ||
| # The above copyright notice and this permission notice shall be | ||
| # included in all copies or substantial portions of the Software. | ||
| # | ||
| # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, | ||
| # EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF | ||
| # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND | ||
| # NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS | ||
| # BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN | ||
| # ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | ||
| # CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| # SOFTWARE. | ||
|
|
||
| """ | ||
| A port of Tod E. Kurt's arduino-serial.c. | ||
| <http://todbot.com/blog/2006/12/06/arduino-serial-c-code-to-talk-to-arduino/> | ||
| """ | ||
|
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| import termios | ||
| import fcntl | ||
| import os | ||
| import sys | ||
| import time | ||
| import getopt | ||
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| # Map from the numbers to the termios constants (which are pretty much | ||
| # the same numbers). | ||
|
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| BPS_SYMS = { | ||
| 4800: termios.B4800, | ||
| 9600: termios.B9600, | ||
| 19200: termios.B19200, | ||
| 38400: termios.B38400, | ||
| 57600: termios.B57600, | ||
| 115200: termios.B115200 | ||
| } | ||
|
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|
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| # Indices into the termios tuple. | ||
|
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| IFLAG = 0 | ||
| OFLAG = 1 | ||
| CFLAG = 2 | ||
| LFLAG = 3 | ||
| ISPEED = 4 | ||
| OSPEED = 5 | ||
| CC = 6 | ||
|
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| def bps_to_termios_sym(bps): | ||
| return BPS_SYMS[bps] | ||
|
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| class SerialPort: | ||
|
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| def __init__(self, serialport, bps): | ||
| """Takes the string name of the serial port | ||
| (e.g. "/dev/tty.usbserial","COM1") and a baud rate (bps) and | ||
| connects to that port at that speed and 8N1. Opens the port in | ||
| fully raw mode so you can send binary data. | ||
| """ | ||
| self.port=serialport | ||
| self.fd = os.open(serialport, os.O_RDWR | os.O_NOCTTY | os.O_NDELAY) | ||
| attrs = termios.tcgetattr(self.fd) | ||
| bps_sym = bps_to_termios_sym(bps) | ||
| # Set I/O speed. | ||
| attrs[ISPEED] = bps_sym | ||
| attrs[OSPEED] = bps_sym | ||
|
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| # 8N1 | ||
| attrs[CFLAG] &= ~termios.PARENB | ||
| attrs[CFLAG] &= ~termios.CSTOPB | ||
| attrs[CFLAG] &= ~termios.CSIZE | ||
| attrs[CFLAG] |= termios.CS8 | ||
| # No flow control | ||
| attrs[CFLAG] &= ~termios.CRTSCTS | ||
|
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| # Turn on READ & ignore contrll lines. | ||
| attrs[CFLAG] |= termios.CREAD | termios.CLOCAL | ||
| # Turn off software flow control. | ||
| attrs[IFLAG] &= ~(termios.IXON | termios.IXOFF | termios.IXANY) | ||
|
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| # Make raw. | ||
| attrs[LFLAG] &= ~(termios.ICANON | termios.ECHO | termios.ECHOE | termios.ISIG) | ||
| attrs[OFLAG] &= ~termios.OPOST | ||
|
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||
| # It's complicated--See | ||
| # http://unixwiz.net/techtips/termios-vmin-vtime.html | ||
| attrs[CC][termios.VMIN] = 0; | ||
| attrs[CC][termios.VTIME] = 20; | ||
| termios.tcsetattr(self.fd, termios.TCSANOW, attrs) | ||
| os.system("cat "+self.port) | ||
| def read_until(self, until): | ||
| #print "called serial.read_until" | ||
| buf = "" | ||
| done = False | ||
| while not done: | ||
| n = os.read(self.fd, 1) | ||
| if n == '': | ||
| # FIXME: Maybe worth blocking instead of busy-looping? | ||
| time.sleep(0.01) | ||
| continue | ||
| buf = buf + n | ||
| if n == until: | ||
| done = True | ||
| os.close(n) | ||
| return buf | ||
|
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| def read(self, size): | ||
| #print "called serial.read" | ||
| buf = "" | ||
|
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| #buf= os.read(self.fd, 1) | ||
| buf=os.popen("cat < "+self.port).read() | ||
|
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| print "input buffer="+buf | ||
| #os.close(n) | ||
| return buf | ||
|
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| def read1(self, size): | ||
| #print "called serial.read" | ||
| buf = "" | ||
| done = False | ||
| while not done: | ||
| n = os.read(self.fd, 1) | ||
| if n == '': | ||
| # FIXME: Maybe worth blocking instead of busy-looping? | ||
| time.sleep(0.01) | ||
| continue | ||
| buf = buf + n | ||
| if len(buf) == size: | ||
| done = True | ||
| return buf | ||
| os.close(n) | ||
| return buf | ||
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| def write(self, str): | ||
| #os.write(self.fd, str) | ||
| os.system("echo "+str+" >> "+self.port) | ||
|
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| def write_byte(self, byte): | ||
| os.write(self.fd, chr(byte)) | ||
|
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| def isOpen(self): | ||
| print " called isOpen" | ||
| return(1) | ||
|
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| #def open(): | ||
| # return(1) | ||
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| # def __del__(self): | ||
| # print "class arduinoserial destroyed" | ||
| # try: | ||
| # os.close(self.fd) | ||
| # except: | ||
| # print "tried to close serial port" | ||
| def close(self): | ||
| print "class arduinoserial destroyed" | ||
| try: | ||
| os.close(self.fd) | ||
| except: | ||
| print "tried to close serial port" | ||
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