slotUI/freeslot.py

Fri, 16 Dec 2011 00:24:35 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Fri, 16 Dec 2011 00:24:35 +0100
changeset 85
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parent 77
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child 86
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permissions
-rw-r--r--

added exception drop in uart rx tree

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

mercurial