slotUI/freeslot.py

Fri, 09 Dec 2011 22:30:55 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Fri, 09 Dec 2011 22:30:55 +0100
changeset 67
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parent 57
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child 77
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permissions
-rw-r--r--

pitlane lane response fix

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1 """
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2 FreeSlot project
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3 Blackbox communication library
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4 """
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5
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6 import serial, sys, string, time
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7
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8 # how often should a command retried when busy?
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9 RETRIES = 10
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10
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11 # define loglevels
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12 DEBUG = 20
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13 def log(level, msg):
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14 """
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15 Logging output function
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16 """
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17 print msg
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18
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19 class SerialCommunicator():
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20 def __init__(self, device, speed):
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21 self.device = device
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22 self.speed = speed
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23 self.com = None
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24 self.connected = False
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25
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26 def connect(self):
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27 if self.connected:
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28 return True
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29 try:
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30 self.com = serial.Serial(self.device, baudrate=self.speed,
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31 xonxoff=0, timeout=0.1)
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32 except serial.SerialException, err:
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33 print err
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34 sys.exit(1)
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35 self.connected = True
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36 return True
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37
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38 def disconnect(self):
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39 self.com = None
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40 return True
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41
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42 def write(self, msg, getanswer=False):
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43 self.com.write(msg + "\n")
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44 if getanswer:
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45 return self.readline()
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46 return None
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47
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48 def readline(self):
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49 answer = self.com.readline()
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50 return string.strip(answer, "\n")
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51
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52 def query(self, msg):
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53 retry = 0
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54 response = self.write(msg, True)
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55 while (retry < RETRIES) and (response == "BUSY"):
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56 time.sleep(0.1)
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57 response = self.write(msg, True)
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58 retry += 1
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59 log( DEBUG, "%i> %s\n< %s" % (retry, msg, response) )
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60 return response
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61
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62
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63 class Blackbox():
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64 def __init__(self):
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65 self.com = None
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66 self.info = None
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67
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68 def connect(self, device="/dev/ttyUSB0", speed=57600):
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69 if self.com == None:
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70 self.com = SerialCommunicator(device, speed)
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71 if self.com.connected:
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72 self.com.disconnect()
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73 self.com.connect()
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74 self.info = self.readinfo()
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75
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76 def disconnect(self):
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77 self.com.disconnect()
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78
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79 def readinfo(self):
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80 """
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81 Read complete Information from connected box
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82 This does not include race+car status!
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83 """
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84 return None
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85
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86 def progcar(self, carid, command, value):
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87 """
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88 Send program packets to specified car id
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89 valid command: speed, brake, fuel
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90 valid value: 4 bit integer (0..15)
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91 valid carid: 0..5
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92 """
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93 if (carid < 0) or (carid > 5):
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94 return "ERR - invalid carid"
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95 cmd = -1
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96 if command == "speed":
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97 cmd = 0
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98 if command == "brake":
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99 cmd = 1
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100 if command == "fuel":
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101 cmd = 2
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102 if (cmd == -1):
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103 return "ERR - invalid command"
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104 if (value<0) or (value>15):
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105 return "ERR - invalid value"
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106 # transform value 10..15 to A..F
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107 if (value>9):
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108 value = chr(ord("A") + (value-10))
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109 command = "P%i%s%i" % (cmd, value, carid)
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110 response = self.com.query( command )
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111 return response
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112
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113 def blinkcar(self, carid, blink):
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114 """
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115 Set car blinking state
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116 """
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117 if (carid < 0) or (carid > 5):
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118 return "ERR - invalid carid"
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119 if blink:
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120 return self.com.query( "P48%i" % carid )
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121 else:
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122 return self.com.query( "P40%i" % carid )
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123
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124 def speedlimit(self, carid, value):
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125 """
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126 Set the maximum controller speed for a car
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127 Attention: this is software limited, this does not affect car acceleration!
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128 """
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129 if (carid < 0) or (carid > 5):
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130 return "ERR - invalid carid"
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131 if (value<0) or (value>15):
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132 return "ERR - invalid value"
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133 # transform value 10..15 to A..F
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134 if (value>9):
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135 value = chr(ord("A") + (value-10))
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136 return self.com.query( "L%i%s" % (carid, value) )
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137
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138 def speedminimum(self, carid, value):
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139 """
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140 Set the minimzm controller speed for a car
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141 """
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142 if (carid < 0) or (carid > 5):
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143 return "ERR - invalid carid"
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144 if (value<0) or (value>15):
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145 return "ERR - invalid value"
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146 # transform value 10..15 to A..F
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147 if (value>9):
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148 value = chr(ord("A") + (value-10))
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149 return self.com.query( "S%i%s" % (carid, value) )
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150
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151
26
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152 def setmode(self, mode):
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153 """
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154 Switch the Blackbox mode
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155 Valid modes are: idle, prepare, race
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156 note: box will permanently send status info in race mode, so no
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157 polling is required
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158 """
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159 return True
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160
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161 def getmode(self):
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162 self.readinfo()
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163 return self.info["mode"]

mercurial