| 1 | #!/usr/bin/env python |
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| 2 | # -*- coding: utf-8 -*- |
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| 3 | # |
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| 4 | # Puzzlebox - Brainstorms - Helicopter Control |
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| 5 | # |
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| 6 | # Copyright Puzzlebox Productions, LLC (2010-2012) |
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| 7 | # |
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| 8 | # This code is released under the GNU Pulic License (GPL) version 2 |
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| 9 | # For more information please refer to http://www.gnu.org/copyleft/gpl.html |
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| 10 | |
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| 11 | __changelog__ = """2012.06.14 |
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| 12 | """ |
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| 13 | |
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| 14 | import sys, time |
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| 15 | import signal |
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| 16 | import serial |
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| 17 | |
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| 18 | ##try: |
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| 19 | ## import PySide as PyQt4 |
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| 20 | ## from PySide import QtCore |
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| 21 | ##except: |
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| 22 | ## print "Using PyQt4 module" |
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| 23 | ## from PyQt4 import QtCore |
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| 24 | ##else: |
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| 25 | ## print "Using PySide module" |
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| 26 | |
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| 27 | import Configuration as configuration |
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| 28 | |
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| 29 | if configuration.ENABLE_PYSIDE: |
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| 30 | try: |
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| 31 | import PySide as PyQt4 |
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| 32 | from PySide import QtCore |
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| 33 | except Exception, e: |
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| 34 | print "ERROR: Exception importing PySide:", |
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| 35 | print e |
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| 36 | configuration.ENABLE_PYSIDE = False |
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| 37 | else: |
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| 38 | print "INFO: [Brainstorms:Helicopter_Control] Using PySide module" |
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| 39 | |
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| 40 | if not configuration.ENABLE_PYSIDE: |
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| 41 | print "INFO: [Brainstorms:Helicopter_Control] Using PyQt4 module" |
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| 42 | from PyQt4 import QtCore |
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| 43 | |
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| 44 | #import Puzzlebox.Synapse.Protocol as protocol |
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| 45 | #from Puzzlebox.Synapse import Protocol |
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| 46 | |
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| 47 | ##################################################################### |
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| 48 | # Globals |
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| 49 | ##################################################################### |
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| 50 | |
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| 51 | DEBUG = 2 |
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| 52 | |
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| 53 | DEFAULT_COMMAND = 'dump_packets' |
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| 54 | |
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| 55 | COMMAND_ACTIVATE = configuration.COMMAND_ACTIVATE |
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| 56 | |
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| 57 | SERIAL_DEVICE = '/dev/ttyUSB0' |
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| 58 | #SERIAL_DEVICE = '/dev/ttyACM0' |
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| 59 | #DEFAULT_SERIAL_BAUDRATE = 115200 # This is the closest "standard" baud rate the USB-to-Serial device will support |
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| 60 | #DEFAULT_SERIAL_BAUDRATE = 125000 # This is the speed reported by the forum post |
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| 61 | #DEFAULT_SERIAL_BAUDRATE = 128000 # This is the next closest somewhat commonly-found baud rate (though not supported by device) |
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| 62 | DEFAULT_SERIAL_BAUDRATE = 133333 # This is the speed reported by the logic analyzer |
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| 63 | #DEFAULT_SERIAL_BAUDRATE = 230400 # This is the next highest "standard" baud rate the USB-to-Serial device will support |
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| 64 | DEFAULT_MODE = 'read' |
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| 65 | |
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| 66 | PROTOCOL_SYNC_TIME = 5 |
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| 67 | PROTOCOL_SYNC_HEAD1 = '\x00' |
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| 68 | PROTOCOL_SYNC_HEAD2 = '\x00' |
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| 69 | PROTOCOL_ADD_SYNC_TO_HEAD = False |
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| 70 | PROTOCOL_ADD_SYNC_TO_TAIL = False |
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| 71 | PACKET_LENGTH = 14 |
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| 72 | PAYLOAD_MINIMUM_LENGTH = 12 |
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| 73 | PACKET_READ_SIZE = 14 |
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| 74 | ECHO_ON = False |
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| 75 | |
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| 76 | #DEVICE_BUFFER_TIMER = 22 # Frame cycle 22ms |
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| 77 | DEVICE_BUFFER_TIMER = 21 # Frame cycle 22ms |
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| 78 | |
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| 79 | # Protocol Specification |
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| 80 | # |
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| 81 | # 000000a605ff0a060dff135414aa |
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| 82 | # AaAaBbbbCcccDdddEeee______Ff |
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| 83 | # |
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| 84 | # Aa - Frame sync bytes |
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| 85 | # Bbbb - Throttle bytes (4 decimal values per trim step) |
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| 86 | # Cccc - Aileron bytes (3 or 4 decimal values per trim step) |
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| 87 | # Dddd - Elevator bytes (3 or 4 decimal values per trim step) |
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| 88 | # Eeee - Rudder bytes (2 decimal values per trim step) |
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| 89 | # Ff - End of Frame byte |
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| 90 | # ____ - Unused/Unknown |
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| 91 | # |
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| 92 | # |
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| 93 | # Example throttle bytes |
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| 94 | # |
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| 95 | #0354 : +20 highest throttle stick setting and trim [852] |
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| 96 | # |
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| 97 | #00fa: +20 [250] |
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| 98 | #00f6: +19 |
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| 99 | #00f2: +18 |
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| 100 | #00ee: +17 |
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| 101 | #00ea: +16 |
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| 102 | #00e6: +15 |
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| 103 | #00e2: +14 |
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| 104 | #00de: +13 |
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| 105 | #00da: +12 |
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| 106 | #00d6: +11 |
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| 107 | #00d2: +10 |
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| 108 | #00ce: +9 |
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| 109 | #00ca: +8 |
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| 110 | #00c6: +7 |
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| 111 | #00c2: +6 |
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| 112 | #00be: +5 |
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| 113 | #00ba: +4 |
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| 114 | #00b6: +3 |
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| 115 | #00b2: +2 [178] |
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| 116 | #00ae: +1 [174] |
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| 117 | #00aa: lowest throttle stick setting [170] |
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| 118 | #00a6: -1 [166] |
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| 119 | #00a2: -2 |
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| 120 | #009e: -3 |
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| 121 | #009a: -4 |
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| 122 | #0096: -5 |
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| 123 | #0092: -6 |
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| 124 | #008e: -7 |
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| 125 | #008a: -8 |
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| 126 | #0086: -9 |
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| 127 | #0082: -10 |
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| 128 | #007e: -11 |
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| 129 | #007a: -12 |
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| 130 | #0076: -13 |
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| 131 | #0072: -14 |
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| 132 | #006e: -15 |
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| 133 | #006a: -16 |
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| 134 | #0066: -17 |
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| 135 | #0062: -18 |
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| 136 | #005e: -19 |
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| 137 | #005a: -20 [90] |
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| 138 | |
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| 139 | |
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| 140 | |
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| 141 | COMMAND_PACKET = { |
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| 142 | 'default_neutral': '\x00\x00\x00\xaa\x05\xff\x09\xff\x0d\xff\x13\x54\x14\xaa', # default neutral setting to use for all commands |
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| 143 | 'default_full_thrust': '\x00\x00\x03\x54\x05\xff\x09\xff\x0d\xff\x13\x54\x14\xaa', # new controll set to highest throttle (no changes to trim) |
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| 144 | #'neutral': '\x00\x00\x00\xfa\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # 0.4.5 neutral setting to use for all commands |
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| 145 | 'neutral': '\x00\x00\x00\xae\x05\xff\x09\xff\x0d\xff\x13\x54\x14\xaa', # default neutral setting to use for all commands |
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| 146 | 'no_thrust': '\x00\x00\x00\x5a\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # lowest trim setting for throttle |
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| 147 | 'minimum_thrust': '\x00\x00\x00\xca\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # lowest trim level at which throttle kicks in |
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| 148 | 'minimum_thrust_minus_one': '\x00\x00\x00\xc6\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # lowest trim level at which throttle kicks in |
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| 149 | 'maximum_thrust': '\x00\x00\x03\x54\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # maximum possible throttle and trim |
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| 150 | 'fifty_percent_thrust': '\x00\x00\x01\x7d\x05\xc5\x09\xde\x0e\x0b\x13\x54\x14\xaa', # calculated 50% throttle |
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| 151 | 'test_packet': '\x00\x00\x03\x54\x06\x15\x09\xca\x0e\x2f\x13\x54\x14\xaa', # test packet from saleae logic screenshot |
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| 152 | 'maximum_forward': '\x00\x00\x00\x5a\x05\xc5\x0b\x54\x0e\x0b\x13\x54\x14\xaa', # maximum possible elevator and trim |
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| 153 | #'fly_forward': '\x00\x00\x01\x7d\x05\xc5\x0a\xde\x0e\x0b\x13\x54\x14\xaa', # 0.4.5 fly_forward settings |
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| 154 | 'fly_forward': '\x00\x00\x01\x7d\x05\xc5\x0a\xde\x0e\x0b\x13\x54\x14\xaa', |
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| 155 | } |
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| 156 | |
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| 157 | DEFAULT_COMMAND_PACKET = COMMAND_PACKET['neutral'] |
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| 158 | |
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| 159 | ##################################################################### |
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| 160 | # Classes |
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| 161 | ##################################################################### |
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| 162 | |
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| 163 | class puzzlebox_brainstorms_helicopter_control(QtCore.QThread): |
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| 164 | |
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| 165 | def __init__(self, \ |
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| 166 | device_address=SERIAL_DEVICE, \ |
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| 167 | command=DEFAULT_COMMAND, \ |
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| 168 | DEBUG=DEBUG, \ |
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| 169 | parent=None): |
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| 170 | |
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| 171 | QtCore.QThread.__init__(self, parent) |
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| 172 | |
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| 173 | self.log = None |
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| 174 | self.DEBUG = DEBUG |
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| 175 | self.parent = parent |
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| 176 | |
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| 177 | self.device_address = device_address |
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| 178 | self.command = command |
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| 179 | self.mode = DEFAULT_MODE |
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| 180 | |
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| 181 | self.serial_device = None |
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| 182 | self.protocol = None |
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| 183 | |
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| 184 | |
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| 185 | #self.configureRemote() |
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| 186 | |
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| 187 | |
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| 188 | ################################################################## |
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| 189 | |
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| 190 | def configureRemote(self): |
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| 191 | |
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| 192 | self.serial_device = \ |
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| 193 | SerialDevice( \ |
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| 194 | self.log, \ |
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| 195 | device_address=self.device_address, \ |
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| 196 | mode=self.mode, \ |
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| 197 | DEBUG=self.DEBUG, \ |
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| 198 | parent=self) |
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| 199 | |
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| 200 | self.serial_device.start() |
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| 201 | |
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| 202 | |
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| 203 | self.protocol = \ |
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| 204 | ProtocolHandler( \ |
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| 205 | self.log, \ |
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| 206 | self.serial_device, \ |
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| 207 | mode=self.mode, \ |
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| 208 | DEBUG=self.DEBUG, \ |
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| 209 | parent=self) |
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| 210 | |
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| 211 | self.protocol.start() |
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| 212 | |
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| 213 | |
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| 214 | ################################################################## |
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| 215 | |
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| 216 | def processPacket(self, packet): |
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| 217 | |
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| 218 | if self.DEBUG: |
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| 219 | print "data_payload:", |
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| 220 | #print packet['data_payload'] |
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| 221 | print packet['data_payload'].encode("hex") |
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| 222 | |
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| 223 | #if packet['data_payload'].encode("hex") == '80acdf22cdb08b8d54': |
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| 224 | #print True |
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| 225 | #import cPickle as pickle |
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| 226 | #file = open('packet.data', 'w') |
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| 227 | #pickle.dump(packet['data_payload'], file) |
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| 228 | #file.close() |
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| 229 | #sys.exit(app.exec_()) |
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| 230 | |
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| 231 | #if (packet != {}): |
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| 232 | #self.packet_queue.append(packet) |
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| 233 | ###self.sendPacketQueue() |
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| 234 | |
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| 235 | if (self.parent != None): |
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| 236 | self.parent.processPacket(self.protocol.data_packet) |
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| 237 | |
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| 238 | |
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| 239 | ################################################################## |
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| 240 | |
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| 241 | def dump_packets(self): |
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| 242 | |
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| 243 | pass |
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| 244 | |
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| 245 | |
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| 246 | ################################################################## |
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| 247 | |
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| 248 | def sync_to_helicopter(self): |
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| 249 | |
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| 250 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 251 | QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync |
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| 252 | |
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| 253 | |
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| 254 | ################################################################## |
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| 255 | |
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| 256 | def neutral(self): |
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| 257 | |
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| 258 | if self.DEBUG: |
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| 259 | print "--> RC Helicopter Command: neutral" |
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| 260 | |
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| 261 | #self.protocol.command_packet = COMMAND_PACKET['neutral'] |
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| 262 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 263 | |
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| 264 | |
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| 265 | ################################################################## |
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| 266 | |
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| 267 | def test_packet(self): |
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| 268 | |
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| 269 | if self.DEBUG: |
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| 270 | print "--> RC Helicopter Command: test_packet" |
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| 271 | |
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| 272 | self.protocol.command_packet = COMMAND_PACKET['test_packet'] |
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| 273 | |
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| 274 | |
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| 275 | ################################################################## |
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| 276 | |
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| 277 | def test_mode(self): |
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| 278 | |
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| 279 | if self.DEBUG: |
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| 280 | print "--> RC Helicopter Command: test_mode" |
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| 281 | |
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| 282 | #self.sync_to_helicopter() |
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| 283 | |
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| 284 | self.protocol.command_packet = COMMAND_PACKET['minimum_thrust'] |
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| 285 | QtCore.QThread.msleep(2 * 1000) # 1 second |
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| 286 | |
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| 287 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 288 | |
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| 289 | |
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| 290 | ################################################################## |
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| 291 | |
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| 292 | def hover(self, duration=2): |
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| 293 | |
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| 294 | if self.DEBUG: |
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| 295 | print "--> RC Helicopter Command: hover" |
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| 296 | |
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| 297 | #self.sync_to_helicopter() |
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| 298 | |
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| 299 | #self.protocol.command_packet = COMMAND_PACKET['fifty_percent_thrust'] |
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| 300 | ##self.protocol.command_packet = COMMAND_PACKET['maximum_thrust'] |
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| 301 | |
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| 302 | self.protocol.command_packet = COMMAND_PACKET[COMMAND_ACTIVATE] |
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| 303 | |
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| 304 | if duration != None: |
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| 305 | QtCore.QThread.msleep(duration * 1000) |
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| 306 | |
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| 307 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 308 | |
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| 309 | |
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| 310 | ################################################################## |
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| 311 | |
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| 312 | def fly_forward(self, duration=2): |
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| 313 | |
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| 314 | if self.DEBUG: |
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| 315 | print "--> RC Helicopter Command: fly_forward" |
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| 316 | |
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| 317 | #self.sync_to_helicopter() |
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| 318 | |
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| 319 | self.protocol.command_packet = COMMAND_PACKET['fly_forward'] |
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| 320 | |
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| 321 | if duration != None: |
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| 322 | QtCore.QThread.msleep(duration * 1000) |
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| 323 | |
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| 324 | self.protocol.command_packet = COMMAND_PACKET['no_thrust'] |
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| 325 | |
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| 326 | |
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| 327 | ################################################################## |
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| 328 | |
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| 329 | def processCommand(self): |
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| 330 | |
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| 331 | if (self.command == 'dump_packets') or (self.command == 'read'): |
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| 332 | self.mode = 'read' |
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| 333 | else: |
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| 334 | self.mode = 'write' |
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| 335 | |
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| 336 | |
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| 337 | self.configureRemote() |
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| 338 | |
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| 339 | |
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| 340 | if (self.command == 'dump_packets'): |
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| 341 | self.mode = 'read' |
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| 342 | self.dump_packets() |
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| 343 | |
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| 344 | elif (self.command == 'neutral'): |
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| 345 | self.mode = 'write' |
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| 346 | self.neutral() |
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| 347 | |
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| 348 | elif (self.command == 'test_packet'): |
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| 349 | self.mode = 'write' |
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| 350 | self.test_packet() |
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| 351 | |
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| 352 | elif (self.command == 'test_mode'): |
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| 353 | self.mode = 'write' |
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| 354 | self.sync_to_helicopter() |
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| 355 | self.test_mode() |
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| 356 | |
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| 357 | elif (self.command == 'hover'): |
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| 358 | self.mode = 'write' |
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| 359 | self.sync_to_helicopter() |
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| 360 | self.hover() |
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| 361 | |
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| 362 | elif (self.command == 'fly_forward'): |
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| 363 | self.mode = 'write' |
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| 364 | self.sync_to_helicopter() |
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| 365 | self.fly_forward(duration=2) |
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| 366 | |
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| 367 | |
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| 368 | ################################################################## |
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| 369 | |
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| 370 | def stop(self): |
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| 371 | |
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| 372 | #self.connection.close() |
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| 373 | pass |
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| 374 | |
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| 375 | |
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| 376 | ################################################################## |
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| 377 | |
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| 378 | def run(self): |
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| 379 | |
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| 380 | if self.DEBUG: |
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| 381 | print "<---- [%s] Main thread running" % "Helicopter Remote" |
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| 382 | |
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| 383 | |
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| 384 | self.processCommand() |
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| 385 | |
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| 386 | self.exec_() |
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| 387 | |
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| 388 | |
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| 389 | ################################################################## |
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| 390 | |
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| 391 | def exitThread(self, callThreadQuit=True): |
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| 392 | |
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| 393 | try: |
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| 394 | self.emulationTimer.stop() |
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| 395 | except: |
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| 396 | pass |
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| 397 | |
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| 398 | if self.serial_device != None: |
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| 399 | self.serial_device.exitThread() |
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| 400 | |
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| 401 | if self.protocol != None: |
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| 402 | self.protocol.exitThread() |
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| 403 | |
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| 404 | self.socket.close() |
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| 405 | |
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| 406 | if callThreadQuit: |
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| 407 | QtCore.QThread.quit(self) |
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| 408 | |
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| 409 | if self.parent == None: |
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| 410 | sys.exit() |
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| 411 | |
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| 412 | |
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| 413 | ##################################################################### |
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| 414 | ##################################################################### |
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| 415 | |
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| 416 | class ProtocolHandler(QtCore.QThread): |
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| 417 | |
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| 418 | def __init__(self, log, \ |
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| 419 | serial_device, \ |
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| 420 | mode=DEFAULT_MODE, \ |
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| 421 | DEBUG=DEBUG, \ |
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| 422 | parent=None): |
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| 423 | |
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| 424 | QtCore.QThread.__init__(self,parent) |
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| 425 | |
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| 426 | self.log = log |
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| 427 | self.DEBUG = DEBUG |
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| 428 | self.parent = parent |
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| 429 | |
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| 430 | self.device = None |
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| 431 | self.mode = mode |
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| 432 | |
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| 433 | self.device = serial_device |
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| 434 | |
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| 435 | self.packet_count = 0 |
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| 436 | self.bad_packets = 0 |
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| 437 | |
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| 438 | self.keep_running = True |
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| 439 | |
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| 440 | self.command_packet = DEFAULT_COMMAND_PACKET |
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| 441 | |
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| 442 | |
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| 443 | ################################################################## |
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| 444 | |
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| 445 | def processDataPayload(self, data_payload, payload_timestamp): |
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| 446 | |
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| 447 | packet_update = {} |
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| 448 | packet_update['data_payload'] = data_payload |
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| 449 | packet_update['payload_timestamp'] = payload_timestamp |
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| 450 | |
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| 451 | |
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| 452 | if (self.parent != None): |
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| 453 | self.parent.processPacket(packet_update) |
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| 454 | |
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| 455 | |
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| 456 | ################################################################## |
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| 457 | |
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| 458 | def parseStream(self): |
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| 459 | |
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| 460 | # Loop forever, parsing one packet per loop |
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| 461 | packet_count = 0 |
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| 462 | |
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| 463 | while self.keep_running: |
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| 464 | |
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| 465 | # Synchronize on [SYNC] bytes |
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| 466 | byte = self.device.read() |
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| 467 | #print byte.encode("hex") |
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| 468 | |
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| 469 | #if (byte != PROTOCOL_SYNC): |
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| 470 | if (byte != PROTOCOL_SYNC_HEAD1): |
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| 471 | continue |
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| 472 | |
|---|
| 473 | byte = self.device.read() |
|---|
| 474 | if (byte != PROTOCOL_SYNC_HEAD2): |
|---|
| 475 | continue |
|---|
| 476 | |
|---|
| 477 | |
|---|
| 478 | payload_timestamp = time.time() |
|---|
| 479 | |
|---|
| 480 | data_payload = self.device.getBuffer() |
|---|
| 481 | data_payload = "%s%s%s" % (PROTOCOL_SYNC_HEAD1, PROTOCOL_SYNC_HEAD2, data_payload) |
|---|
| 482 | |
|---|
| 483 | |
|---|
| 484 | if len(data_payload) < PAYLOAD_MINIMUM_LENGTH: |
|---|
| 485 | #if len(data_payload) != PACKET_LENGTH: |
|---|
| 486 | continue |
|---|
| 487 | |
|---|
| 488 | |
|---|
| 489 | self.processDataPayload(data_payload, payload_timestamp) |
|---|
| 490 | |
|---|
| 491 | |
|---|
| 492 | #if self.DEBUG > 1: |
|---|
| 493 | #packet_count += 1 |
|---|
| 494 | #if packet_count >= DEBUG_PACKET_COUNT: |
|---|
| 495 | #print "max debugging count reached, disconnecting" |
|---|
| 496 | #self.keep_running = False |
|---|
| 497 | #self.device.stop() |
|---|
| 498 | #QtCore.QThread.quit(self) |
|---|
| 499 | ##sys.exit() |
|---|
| 500 | |
|---|
| 501 | |
|---|
| 502 | ################################################################## |
|---|
| 503 | |
|---|
| 504 | def writeStream(self): |
|---|
| 505 | |
|---|
| 506 | # Loop forever, writing one packet per loop |
|---|
| 507 | packet_count = 0 |
|---|
| 508 | |
|---|
| 509 | #import cPickle as pickle |
|---|
| 510 | #file = open('packet.data', 'r') |
|---|
| 511 | #packet = pickle.loads(file.read()) |
|---|
| 512 | #file.close() |
|---|
| 513 | |
|---|
| 514 | while self.keep_running: |
|---|
| 515 | |
|---|
| 516 | # Preppend or Append [SYNC] bytes |
|---|
| 517 | #if PROTOCOL_ADD_SYNC_TO_HEAD: |
|---|
| 518 | #buffer = PROTOCOL_SYNC_HEAD1 |
|---|
| 519 | #buffer += PROTOCOL_SYNC_HEAD2 |
|---|
| 520 | #buffer += self.command_packet |
|---|
| 521 | |
|---|
| 522 | #if PROTOCOL_ADD_SYNC_TO_TAIL: |
|---|
| 523 | #buffer = self.command_packet |
|---|
| 524 | #buffer += PROTOCOL_SYNC_HEAD1 |
|---|
| 525 | #buffer += PROTOCOL_SYNC_HEAD2 |
|---|
| 526 | |
|---|
| 527 | buffer = self.command_packet |
|---|
| 528 | self.device.buffer = buffer |
|---|
| 529 | #self.device.buffer = packet |
|---|
| 530 | #print packet.encode("hex") |
|---|
| 531 | |
|---|
| 532 | # Sleep for 20 ms |
|---|
| 533 | # Based on 50 Hz refresh rate of Blade MLP4DSM RC device |
|---|
| 534 | # (1/50) * 1000 = 20 |
|---|
| 535 | QtCore.QThread.msleep(DEVICE_BUFFER_TIMER) |
|---|
| 536 | |
|---|
| 537 | |
|---|
| 538 | ################################################################## |
|---|
| 539 | |
|---|
| 540 | def run(self): |
|---|
| 541 | |
|---|
| 542 | self.packet_count = 0 |
|---|
| 543 | self.bad_packets = 0 |
|---|
| 544 | self.session_start_timestamp = time.time() |
|---|
| 545 | |
|---|
| 546 | if self.mode == 'read': |
|---|
| 547 | self.parseStream() |
|---|
| 548 | |
|---|
| 549 | elif self.mode == 'write': |
|---|
| 550 | self.writeStream() |
|---|
| 551 | |
|---|
| 552 | |
|---|
| 553 | ################################################################## |
|---|
| 554 | |
|---|
| 555 | def exitThread(self, callThreadQuit=True): |
|---|
| 556 | |
|---|
| 557 | try: |
|---|
| 558 | self.device.stop() |
|---|
| 559 | except: |
|---|
| 560 | pass |
|---|
| 561 | |
|---|
| 562 | #self.wait() |
|---|
| 563 | if callThreadQuit: |
|---|
| 564 | QtCore.QThread.quit(self) |
|---|
| 565 | |
|---|
| 566 | |
|---|
| 567 | ##################################################################### |
|---|
| 568 | ##################################################################### |
|---|
| 569 | |
|---|
| 570 | class SerialDevice(QtCore.QThread): |
|---|
| 571 | |
|---|
| 572 | def __init__(self, log, \ |
|---|
| 573 | device_address=SERIAL_DEVICE, \ |
|---|
| 574 | mode=DEFAULT_MODE, \ |
|---|
| 575 | DEBUG=DEBUG, \ |
|---|
| 576 | parent=None): |
|---|
| 577 | |
|---|
| 578 | QtCore.QThread.__init__(self, parent) |
|---|
| 579 | |
|---|
| 580 | self.log = log |
|---|
| 581 | self.DEBUG = DEBUG |
|---|
| 582 | |
|---|
| 583 | self.device_address = device_address |
|---|
| 584 | self.mode = mode |
|---|
| 585 | self.device = None |
|---|
| 586 | self.buffer = '' |
|---|
| 587 | |
|---|
| 588 | if (self.device_address.count(':') == 5): |
|---|
| 589 | # Device address is a Bluetooth MAC address |
|---|
| 590 | self.device = self.initializeBluetoothDevice() |
|---|
| 591 | else: |
|---|
| 592 | # Device address is a serial port address |
|---|
| 593 | self.device = self.initializeSerialDevice() |
|---|
| 594 | |
|---|
| 595 | #self.buffer_check_timer = QtCore.QTimer() |
|---|
| 596 | #QtCore.QObject.connect(self.buffer_check_timer, \ |
|---|
| 597 | #QtCore.SIGNAL("timeout()"), \ |
|---|
| 598 | #self.checkBuffer) |
|---|
| 599 | #self.buffer_check_timer.start(DEVICE_BUFFER_TIMER) |
|---|
| 600 | |
|---|
| 601 | self.keep_running = True |
|---|
| 602 | |
|---|
| 603 | |
|---|
| 604 | ################################################################## |
|---|
| 605 | |
|---|
| 606 | #def initializeBluetoothDevice(self): |
|---|
| 607 | |
|---|
| 608 | #socket = bluetooth.BluetoothSocket( bluetooth.RFCOMM ) |
|---|
| 609 | |
|---|
| 610 | #try: |
|---|
| 611 | #socket.connect((self.device_address, THINKGEAR_DEVICE_BLUETOOTH_CHANNEL)) |
|---|
| 612 | |
|---|
| 613 | #except Exception, e: |
|---|
| 614 | #if self.DEBUG: |
|---|
| 615 | #print "ERROR:", |
|---|
| 616 | #print e |
|---|
| 617 | #sys.exit() |
|---|
| 618 | |
|---|
| 619 | |
|---|
| 620 | #return socket |
|---|
| 621 | |
|---|
| 622 | |
|---|
| 623 | ################################################################### |
|---|
| 624 | |
|---|
| 625 | def initializeSerialDevice(self): |
|---|
| 626 | |
|---|
| 627 | baudrate = DEFAULT_SERIAL_BAUDRATE |
|---|
| 628 | bytesize = 8 |
|---|
| 629 | parity = 'NONE' |
|---|
| 630 | stopbits = 1 |
|---|
| 631 | software_flow_control = 'f' |
|---|
| 632 | rts_cts_flow_control = 'f' |
|---|
| 633 | #timeout = 15 |
|---|
| 634 | timeout = 5 |
|---|
| 635 | |
|---|
| 636 | # convert bytesize |
|---|
| 637 | if (bytesize == 5): |
|---|
| 638 | init_byte_size = serial.FIVEBITS |
|---|
| 639 | elif (bytesize == 6): |
|---|
| 640 | init_byte_size = serial.SIXBITS |
|---|
| 641 | elif (bytesize == 7): |
|---|
| 642 | init_byte_size = serial.SEVENBITS |
|---|
| 643 | elif (bytesize == 8): |
|---|
| 644 | init_byte_size = serial.EIGHTBITS |
|---|
| 645 | else: |
|---|
| 646 | #self.log.perror("Invalid value for %s modem byte size! Using default (8)" % modem_type) |
|---|
| 647 | init_byte_size = serial.EIGHTBITS |
|---|
| 648 | |
|---|
| 649 | # convert parity |
|---|
| 650 | if (parity == 'NONE'): |
|---|
| 651 | init_parity = serial.PARITY_NONE |
|---|
| 652 | elif (parity == 'EVEN'): |
|---|
| 653 | init_parity = serial.PARITY_EVEN |
|---|
| 654 | elif (parity == 'ODD'): |
|---|
| 655 | init_parity = serial.PARITY_ODD |
|---|
| 656 | else: |
|---|
| 657 | #self.log.perror("Invalid value for %s modem parity! Using default (NONE)" % modem_type) |
|---|
| 658 | init_parity = serial.PARITY_NONE |
|---|
| 659 | |
|---|
| 660 | # convert stopbits |
|---|
| 661 | if (stopbits == 1): |
|---|
| 662 | init_stopbits = serial.STOPBITS_ONE |
|---|
| 663 | elif (stopbits == 2): |
|---|
| 664 | init_stopbits = serial.STOPBITS_TWO |
|---|
| 665 | else: |
|---|
| 666 | #self.log.perror("Invalid value for %s modem stopbits! Using default (8)" % modem_type) |
|---|
| 667 | init_byte_size = serial.STOPBITS_ONE |
|---|
| 668 | |
|---|
| 669 | # convert software flow control |
|---|
| 670 | if (software_flow_control == 't'): |
|---|
| 671 | init_software_flow_control = 1 |
|---|
| 672 | else: |
|---|
| 673 | init_software_flow_control = 0 |
|---|
| 674 | |
|---|
| 675 | # convert rts cts flow control |
|---|
| 676 | if (rts_cts_flow_control == 't'): |
|---|
| 677 | init_rts_cts_flow_control = 1 |
|---|
| 678 | else: |
|---|
| 679 | init_rts_cts_flow_control = 0 |
|---|
| 680 | |
|---|
| 681 | |
|---|
| 682 | try: |
|---|
| 683 | |
|---|
| 684 | device = serialWrapper(port = self.device_address, \ |
|---|
| 685 | baudrate = baudrate, \ |
|---|
| 686 | bytesize = init_byte_size, \ |
|---|
| 687 | parity = init_parity, \ |
|---|
| 688 | stopbits = init_stopbits, \ |
|---|
| 689 | xonxoff = init_software_flow_control, \ |
|---|
| 690 | rtscts = init_rts_cts_flow_control, \ |
|---|
| 691 | timeout = timeout) |
|---|
| 692 | |
|---|
| 693 | except Exception, e: |
|---|
| 694 | if self.DEBUG: |
|---|
| 695 | print "ERROR:", |
|---|
| 696 | print e, |
|---|
| 697 | print self.device_address |
|---|
| 698 | sys.exit() |
|---|
| 699 | |
|---|
| 700 | |
|---|
| 701 | #device.flushInput() |
|---|
| 702 | ##device.flushOutput() |
|---|
| 703 | |
|---|
| 704 | |
|---|
| 705 | return(device) |
|---|
| 706 | |
|---|
| 707 | |
|---|
| 708 | ################################################################### |
|---|
| 709 | |
|---|
| 710 | #def checkBuffer(self): |
|---|
| 711 | |
|---|
| 712 | #if self.DEBUG > 1: |
|---|
| 713 | #print "INFO: Buffer size check:", |
|---|
| 714 | #print len(self.buffer), |
|---|
| 715 | #print "(maximum before reset is %i)" % DEVICE_BUFFER_MAX_SIZE |
|---|
| 716 | |
|---|
| 717 | #if (DEVICE_BUFFER_MAX_SIZE <= len(self.buffer)): |
|---|
| 718 | |
|---|
| 719 | #if self.DEBUG: |
|---|
| 720 | #print "ERROR: Buffer size has grown too large, resetting" |
|---|
| 721 | |
|---|
| 722 | #self.reset() |
|---|
| 723 | |
|---|
| 724 | |
|---|
| 725 | ################################################################### |
|---|
| 726 | |
|---|
| 727 | def getBuffer(self): |
|---|
| 728 | |
|---|
| 729 | data_payload = self.buffer |
|---|
| 730 | |
|---|
| 731 | self.resetBuffer() |
|---|
| 732 | |
|---|
| 733 | |
|---|
| 734 | return(data_payload) |
|---|
| 735 | |
|---|
| 736 | |
|---|
| 737 | ################################################################### |
|---|
| 738 | |
|---|
| 739 | def resetBuffer(self): |
|---|
| 740 | |
|---|
| 741 | self.buffer = '' |
|---|
| 742 | |
|---|
| 743 | |
|---|
| 744 | ################################################################### |
|---|
| 745 | |
|---|
| 746 | def read(self, length=1): |
|---|
| 747 | |
|---|
| 748 | # Sleep for 20 ms if buffer is empty |
|---|
| 749 | # Based on 50 Hz refresh rate of Blade MLP4DSM RC device |
|---|
| 750 | # (1/50) * 1000 = 20 |
|---|
| 751 | while len(self.buffer) < length: |
|---|
| 752 | QtCore.QThread.msleep(DEVICE_BUFFER_TIMER) |
|---|
| 753 | |
|---|
| 754 | bytes = self.buffer[:length] |
|---|
| 755 | |
|---|
| 756 | self.buffer = self.buffer[length:] |
|---|
| 757 | |
|---|
| 758 | return(bytes) |
|---|
| 759 | |
|---|
| 760 | |
|---|
| 761 | ################################################################### |
|---|
| 762 | |
|---|
| 763 | def stop(self): |
|---|
| 764 | |
|---|
| 765 | #self.buffer_check_timer.stop() |
|---|
| 766 | self.keep_running = False |
|---|
| 767 | |
|---|
| 768 | |
|---|
| 769 | ################################################################### |
|---|
| 770 | |
|---|
| 771 | def exitThread(self, callThreadQuit=True): |
|---|
| 772 | |
|---|
| 773 | self.stop() |
|---|
| 774 | self.close() |
|---|
| 775 | |
|---|
| 776 | if callThreadQuit: |
|---|
| 777 | QtCore.QThread.quit(self) |
|---|
| 778 | |
|---|
| 779 | |
|---|
| 780 | ################################################################### |
|---|
| 781 | |
|---|
| 782 | def close(self): |
|---|
| 783 | |
|---|
| 784 | self.device.close() |
|---|
| 785 | |
|---|
| 786 | |
|---|
| 787 | ################################################################### |
|---|
| 788 | |
|---|
| 789 | def readBuffer(self): |
|---|
| 790 | |
|---|
| 791 | self.buffer = '' |
|---|
| 792 | |
|---|
| 793 | while self.keep_running: |
|---|
| 794 | |
|---|
| 795 | |
|---|
| 796 | # High-Speed Echo Mode |
|---|
| 797 | if (self.DEBUG > 3) and ECHO_ON: |
|---|
| 798 | byte = self.device.recv(PACKET_READ_SIZE) |
|---|
| 799 | self.device.write(byte) |
|---|
| 800 | continue |
|---|
| 801 | |
|---|
| 802 | |
|---|
| 803 | try: |
|---|
| 804 | #byte = self.device.read() |
|---|
| 805 | byte = self.device.recv(PACKET_READ_SIZE) |
|---|
| 806 | |
|---|
| 807 | #if ECHO_ON: |
|---|
| 808 | self.device.write(byte) |
|---|
| 809 | |
|---|
| 810 | if (len(byte) != 0): |
|---|
| 811 | if self.DEBUG > 2: |
|---|
| 812 | print "Device read:", |
|---|
| 813 | print byte, |
|---|
| 814 | if ECHO_ON: |
|---|
| 815 | print byte.encode("hex"), |
|---|
| 816 | print "wrote:", |
|---|
| 817 | print byte.encode("hex") |
|---|
| 818 | |
|---|
| 819 | self.buffer += byte |
|---|
| 820 | |
|---|
| 821 | except: |
|---|
| 822 | if self.DEBUG: |
|---|
| 823 | print "ERROR: failed to read from serial device" |
|---|
| 824 | break |
|---|
| 825 | |
|---|
| 826 | |
|---|
| 827 | self.exitThread() |
|---|
| 828 | |
|---|
| 829 | |
|---|
| 830 | ################################################################### |
|---|
| 831 | |
|---|
| 832 | def writeBuffer(self): |
|---|
| 833 | |
|---|
| 834 | self.buffer = '' |
|---|
| 835 | #beacon_timer = 0 |
|---|
| 836 | |
|---|
| 837 | while self.keep_running: |
|---|
| 838 | |
|---|
| 839 | if (len(self.buffer) != 0): |
|---|
| 840 | buffer = self.buffer |
|---|
| 841 | self.buffer = '' |
|---|
| 842 | |
|---|
| 843 | |
|---|
| 844 | #if beacon_timer >= 750: |
|---|
| 845 | #buffer += '\xaa' + buffer |
|---|
| 846 | #beacon_timer = 0 |
|---|
| 847 | |
|---|
| 848 | |
|---|
| 849 | try: |
|---|
| 850 | self.device.write(buffer) |
|---|
| 851 | |
|---|
| 852 | if self.DEBUG > 1: |
|---|
| 853 | print "Device wrote:", |
|---|
| 854 | #print buffer, |
|---|
| 855 | print buffer.encode("hex") |
|---|
| 856 | |
|---|
| 857 | except: |
|---|
| 858 | if self.DEBUG: |
|---|
| 859 | print "ERROR: failed to write to serial device" |
|---|
| 860 | break |
|---|
| 861 | |
|---|
| 862 | |
|---|
| 863 | # Sleep for 20 ms if buffer is empty |
|---|
| 864 | # Based on 50 Hz refresh rate of Blade MLP4DSM RC device |
|---|
| 865 | # (1/50) * 1000 = 20 |
|---|
| 866 | QtCore.QThread.msleep(DEVICE_BUFFER_TIMER) |
|---|
| 867 | #beacon_timer += DEVICE_BUFFER_TIMER |
|---|
| 868 | |
|---|
| 869 | |
|---|
| 870 | self.exitThread() |
|---|
| 871 | |
|---|
| 872 | |
|---|
| 873 | ################################################################### |
|---|
| 874 | |
|---|
| 875 | def run(self): |
|---|
| 876 | |
|---|
| 877 | if self.mode == 'read': |
|---|
| 878 | self.readBuffer() |
|---|
| 879 | |
|---|
| 880 | elif self.mode == 'write': |
|---|
| 881 | self.writeBuffer() |
|---|
| 882 | |
|---|
| 883 | |
|---|
| 884 | ##################################################################### |
|---|
| 885 | ##################################################################### |
|---|
| 886 | |
|---|
| 887 | class serialWrapper(serial.Serial): |
|---|
| 888 | |
|---|
| 889 | #__init__(port=None, baudrate=9600, bytesize=EIGHTBITS, parity=PARITY_NONE, stopbits=STOPBITS_ONE, timeout=None, xonxoff=False, rtscts=False, writeTimeout=None, dsrdtr=False, interCharTimeout=None) |
|---|
| 890 | |
|---|
| 891 | def recv(self, size=1): |
|---|
| 892 | |
|---|
| 893 | return(self.read(size)) |
|---|
| 894 | |
|---|
| 895 | |
|---|
| 896 | ##################################################################### |
|---|
| 897 | # Functions |
|---|
| 898 | ##################################################################### |
|---|
| 899 | |
|---|
| 900 | ##################################################################### |
|---|
| 901 | # Main |
|---|
| 902 | ##################################################################### |
|---|
| 903 | |
|---|
| 904 | if __name__ == '__main__': |
|---|
| 905 | |
|---|
| 906 | # Perform correct KeyboardInterrupt handling |
|---|
| 907 | signal.signal(signal.SIGINT, signal.SIG_DFL) |
|---|
| 908 | |
|---|
| 909 | # Collect default settings and command line parameters |
|---|
| 910 | device = SERIAL_DEVICE |
|---|
| 911 | command = DEFAULT_COMMAND |
|---|
| 912 | |
|---|
| 913 | for each in sys.argv: |
|---|
| 914 | |
|---|
| 915 | if each.startswith("--device="): |
|---|
| 916 | device = each[ len("--device="): ] |
|---|
| 917 | elif each.startswith("--command="): |
|---|
| 918 | command = each[ len("--command="): ] |
|---|
| 919 | |
|---|
| 920 | |
|---|
| 921 | app = QtCore.QCoreApplication(sys.argv) |
|---|
| 922 | |
|---|
| 923 | rc = puzzlebox_brainstorms_helicopter_control(device_address=device, command=command, DEBUG=DEBUG) |
|---|
| 924 | |
|---|
| 925 | rc.start() |
|---|
| 926 | |
|---|
| 927 | sys.exit(app.exec_()) |
|---|
| 928 | |
|---|
