comparison: slotUI/freeslot.py
slotUI/freeslot.py
- changeset 35
- 00166228a419
- parent 27
- 3e617fcf999a
- child 36
- aea84f4f5a12
equal
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replaced
| 34:d12d095e3282 | 35:00166228a419 |
|---|---|
| 1 """ | 1 """ |
| 2 FreeSlot project | 2 FreeSlot project |
| 3 Blackbox communication library | 3 Blackbox communication library |
| 4 """ | 4 """ |
| 5 | 5 |
| 6 import serial | 6 import serial, sys, string, time |
| 7 import sys | 7 |
| 8 # how often should a command retried when busy? | |
| 9 RETRIES = 10 | |
| 10 | |
| 11 # define loglevels | |
| 12 DEBUG = 20 | |
| 13 def log(level, msg): | |
| 14 """ | |
| 15 Logging output function | |
| 16 """ | |
| 17 print msg | |
| 8 | 18 |
| 9 class SerialCommunicator(): | 19 class SerialCommunicator(): |
| 10 def __init__(self, device, speed): | 20 def __init__(self, device, speed): |
| 11 self.device = device | 21 self.device = device |
| 12 self.speed = speed | 22 self.speed = speed |
| 36 | 46 |
| 37 def readline(self): | 47 def readline(self): |
| 38 answer = self.com.readline() | 48 answer = self.com.readline() |
| 39 return string.strip(answer, "\n") | 49 return string.strip(answer, "\n") |
| 40 | 50 |
| 51 def query(self, msg): | |
| 52 retry = 0 | |
| 53 response = self.write(msg, True) | |
| 54 while (retry < RETRIES) and (response == "BUSY"): | |
| 55 time.sleep(0.1) | |
| 56 response = self.write(msg, True) | |
| 57 retry += 1 | |
| 58 log( DEBUG, "%i> %s\n< %s" % (retry, msg, response) ) | |
| 59 return response | |
| 60 | |
| 61 | |
| 41 class Blackbox(): | 62 class Blackbox(): |
| 42 def __init__(self): | 63 def __init__(self): |
| 43 self.com = None | 64 self.com = None |
| 44 self.info = None | 65 self.info = None |
| 45 | 66 |
| 46 def connect(self, device="/dev/ttyUSB0", speed=115200): | 67 def connect(self, device="/dev/ttyUSB0", speed=57600): |
| 47 if self.com == None: | 68 if self.com == None: |
| 48 self.com = SerialCommunicator(device, speed) | 69 self.com = SerialCommunicator(device, speed) |
| 49 if self.com.connected: | 70 if self.com.connected: |
| 50 self.com.disconnect() | 71 self.com.disconnect() |
| 51 self.com.connect() | 72 self.com.connect() |
| 52 self.info = self.readinfo() | 73 self.info = self.readinfo() |
| 53 | 74 |
| 54 def disconnect(): | 75 def disconnect(self): |
| 55 self.com.disconnect() | 76 self.com.disconnect() |
| 56 | 77 |
| 57 def readinfo(): | 78 def readinfo(self): |
| 58 """ | 79 """ |
| 59 Read complete Information from connected box | 80 Read complete Information from connected box |
| 60 This does not include race+car status! | 81 This does not include race+car status! |
| 61 """ | 82 """ |
| 62 return None | 83 return None |
| 63 | 84 |
| 64 def progcar(self, carid, command, value): | 85 def progcar(self, carid, command, value): |
| 65 """ | 86 """ |
| 66 Send program packets to specified car id | 87 Send program packets to specified car id |
| 67 valid command: speed, brake | 88 valid command: speed, brake, fuel |
| 68 valid value: 4 bit integer (0..15) | 89 valid value: 4 bit integer (0..15) |
| 90 valid carid: 0..5 | |
| 69 """ | 91 """ |
| 70 return True | 92 if (carid < 0) or (carid > 5): |
| 93 return "ERR - invalid carid" | |
| 94 cmd = -1 | |
| 95 if command == "speed": | |
| 96 cmd = 0 | |
| 97 if command == "brake": | |
| 98 cmd = 1 | |
| 99 if command == "fuel": | |
| 100 cmd = 2 | |
| 101 if (cmd == -1): | |
| 102 return "ERR - invalid command" | |
| 103 if (value<0) or (value>15): | |
| 104 return "ERR - invalid value" | |
| 105 # transform value 10..15 to A..F | |
| 106 if (value>9): | |
| 107 value = chr(ord("A") + (value-10)) | |
| 108 command = "P%i%s%i" % (cmd, value, carid) | |
| 109 response = self.com.query( command ) | |
| 110 return response | |
| 111 | |
| 112 def blinkcar(self, carid, blink): | |
| 113 """ | |
| 114 Set car blinking state | |
| 115 """ | |
| 116 if (carid < 0) or (carid > 5): | |
| 117 return "ERR - invalid carid" | |
| 118 if blink: | |
| 119 return self.com.query( "P48%i" % carid ) | |
| 120 else: | |
| 121 return self.com.query( "P40%i" % carid ) | |
| 71 | 122 |
| 72 def setmode(self, mode): | 123 def setmode(self, mode): |
| 73 """ | 124 """ |
| 74 Switch the Blackbox mode | 125 Switch the Blackbox mode |
| 75 Valid modes are: idle, prepare, race | 126 Valid modes are: idle, prepare, race |
