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uart.py
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193 lines (130 loc) · 5.62 KB
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import os
import time
import logging
import serial
import struct
from threading import Thread
from queue import Queue, Empty
class UartException(Exception):
pass
class UartType:
READ_REQ = 0
READ_REP = 1
WRITE_REQ = 2
WRITE_REP = 3
READ_BLOCK_REQ = 4
READ_BLOCK_REP = 5
WRITE_BLOCK_REQ = 6
WRITE_BLOCK_REP = 7
ERROR_REP = 8
AUTO_OFFLOAD = 9
class AutoOffloadType:
AO_HK = 0
AO_WAVE = 1
class Uart:
logger = logging.getLogger('Uart')
T_SLEEP = 0.001 # s
T_TIMEOUT = 1
def __init__(self, port, baudrate, hk_signal, wave_signal):
self.hk_signal = hk_signal
self.wave_signal = wave_signal
self.uart = serial.Serial(port, baudrate=baudrate, timeout=1)
# self.uart.set_buffer_size(rx_size = 12800, tx_size = 12800)
self.rep_queue = Queue()
self.ao_queue = Queue()
self.stop_thread = False
self.uart.reset_input_buffer()
self.uart.reset_output_buffer()
self.thread = Thread(target=self._run)
self.thread.daemon = True # makes it stop better
self.thread.start()
def __del__(self):
self.stop()
def stop(self):
self.stop_thread = True
# print('thread stop')
# self.thread.join()
# print('thread join')
def write_req(self, packet):
# self.logger.info(f'send: {packet}')
self.uart.write(packet)
def read_rep(self):
packet = self.rep_queue.get()
# self.logger.info(f'recv: {packet}')
return packet
def _read_bytes(self, amount, timeout=True):
self.logger.debug(f'_read_bytes({amount})')
data = b''
t0 = time.time()
while (not timeout) or time.time() - t0 < self.T_TIMEOUT:
new_data = self.uart.read(size=(amount - len(data)))
if len(new_data) > 0:
data += new_data
t0 = time.time()
if len(data) >= amount:
return data
if timeout:
self.logger.info('waiting for more bytes to read...')
time.sleep(0.001)
raise UartException(f'Read timeout, read {len(data)} bytes')
def _run(self):
while not self.stop_thread:
try:
header = self._read_bytes(1, timeout=False)
if len(header) == 0:
continue
# self.logger.info(f'opcode = {header}')
opcode = struct.unpack('<B', header)[0]
if opcode == UartType.READ_REP:
data = self._read_bytes(2)
self.rep_queue.put(header + data)
elif opcode == UartType.WRITE_REP:
self.rep_queue.put(header)
elif opcode == UartType.READ_BLOCK_REP:
length = self._read_bytes(4)
# self.logger.info(f'length = {length} ({struct.unpack(">I", length)[0]})')
data = self._read_bytes(16 * struct.unpack('<I', length)[0]) # length is in 8 word burst of 2 byte words.
self.rep_queue.put(header + length + data)
elif opcode == UartType.WRITE_BLOCK_REP:
self.rep_queue.put(header)
elif opcode == UartType.ERROR_REP:
code = self._read_bytes(1)
self.rep_queue.put(header + code)
elif opcode == UartType.AUTO_OFFLOAD:
channel = self._read_bytes(1)
length = self._read_bytes(2)
data = self._read_bytes(2 * struct.unpack('<h', length)[0])
packet = header + channel + length + data
# if channel == b'\x01':
# bytes_available = self.uart.in_waiting
# print('')
# print(header)
# print(channel)
# print(length, struct.unpack('<h', length)[0])
# print(bytes_available)
# if bytes_available > 0:
# # print(data)
# # print('')
# for i in range(len(packet) // 2):
# word = packet[i:i + 1]
# print(word)
# # print(f"{struct.unpack('<h', word)}")
# extra_data = self.uart.read(bytes_available)
# print('\nBREAK\n')
# for i in range(len(extra_data) // 2):
# word = extra_data[i:i + 1]
# print(word)
if struct.unpack('<B', channel)[0] == AutoOffloadType.AO_HK and self.hk_signal != None:
self.hk_signal.received.emit(packet)
elif struct.unpack('<B', channel)[0] == AutoOffloadType.AO_WAVE and self.wave_signal != None:
self.wave_signal.received.emit(packet)
else:
self.logger.warning(f'unknown auto offload channel received from device: {channel}')
else:
self.logger.warning(f'unknown opcode received from device: {header}')
except serial.SerialTimeoutException:
print('pass', self.stop_thread)
except TypeError:
self.logger.error('TypeError')
os._exit(1)
print('end')