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#!/usr/bin/python
#
# rc-interface-test
import pygtk
pygtk.require( '2.0' );
import gtk, serial, struct
from io import BytesIO
class MainDialogue:
# number of channels to read
NUM_CHANNELS = 8
# maximum channel value
MAX_CHANNEL_VALUE = 1000
# serial device to use
SERIAL_DEVICE = '/dev/ttyUSB0'
def __init__( self ):
self.link = serial.Serial( self.SERIAL_DEVICE, 9600 )
self.got_one = False
self.channel_values = []
self.quit = False
self.buffer = bytearray()
def setup_window( self ):
# create and set up window
self.window = gtk.Window( gtk.WINDOW_TOPLEVEL )
self.window.connect( "delete_event", self.destroy )
self.window.connect( "destroy", self.destroy )
self.window.set_title( "Testing rc-interface serial comms" );
self.window.set_border_width( 30 )
self.window.set_modal( True )
self.window.connect( "key-press-event", self.key_press_event )
# add widgets
table = gtk.Table( self.NUM_CHANNELS, 2 )
table.set_row_spacings( 20 )
table.set_col_spacings( 10 )
self.window.add( table )
# add channels
self.controls = []
for a in range( 0, self.NUM_CHANNELS ):
label = gtk.Label( "Channel %d" % ( a + 1 ) )
table.attach( label, 0, 1, a, a + 1 )
adj = gtk.Adjustment( 0, 0, self.MAX_CHANNEL_VALUE, 1, 0, 0 )
control = gtk.HScale( adj )
control.set_draw_value( False )
control.set_property( 'width-request', 300 )
control.set_sensitive( False )
table.attach( control, 1, 2, a, a + 1 )
self.controls.append( control )
# show it
self.window.show_all()
def key_press_event( self, widget, event ):
if event.keyval == gtk.keysyms.Escape:
self.window.destroy()
else:
return False
def destroy( self, widget, data = None ):
self.quit = True
def process_serial_data_at( self, pos ):
for a in range( 0, self.NUM_CHANNELS ):
at = 2 * a + pos
value = struct.unpack( "h", self.buffer[ at : at + 2 ] )[ 0 ]
# update control
self.controls[ a ].set_value( value )
def read_serial( self ):
# try and read
in_waiting = self.link.inWaiting()
if( in_waiting ):
self.buffer.extend( self.link.read( in_waiting ) )
# check buffer for double -1
got = bytearray()
i = 0
while i < len( self.buffer ):
# check foir double -1
if i > 0 and self.buffer[ i ] == 255 and \
self.buffer[ i - 1 ] == 255:
# if we've got enough data, process it
start_index = i - ( self.NUM_CHANNELS * 2 + 1 )
if start_index >= 0:
self.process_serial_data_at( start_index )
# remove everything up to and including this double -1 from
# the serial buffer
self.buffer = self.buffer[ i + 1 : ]
i = 0
else:
i += 1
def main( self ):
self.setup_window()
while not self.quit:
# update gtk
while gtk.events_pending():
gtk.main_iteration( False )
# check serial interface
self.read_serial()
MainDialogue().main()
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