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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
# number of motor channels
NUM_MOTORS = 4
# maximum channel value
MAX_CHANNEL_VALUE = 1000
# serial device to use
SERIAL_DEVICE = '/dev/ttyUSB0'
def __init__( self ):
try:
self.link = serial.Serial( self.SERIAL_DEVICE, 9600 )
self.link_error = None
except serial.serialutil.SerialException as e:
self.link = None
self.link_error = e
self.got_one = False
self.motor_values = [ 0 ] * self.NUM_MOTORS
self.quit = False
self.buffer = bytearray()
def add_info( self, vbox, heading = False, text = '' ):
label = gtk.Label()
if( heading ):
label.set_markup( "<b>%s</b>" % text )
else:
label.set_label( text )
# label.set_justify( gtk.JUSTIFY_LEFT )
label.set_alignment( 0, 0 )
vbox.pack_start( label, False, False )
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 )
hbox = gtk.HBox( False, 10 )
self.window.add( hbox )
# controls frame
frame = gtk.Frame( "Channels" )
frame.set_shadow_type( gtk.SHADOW_IN )
hbox.pack_start( frame )
table = gtk.Table( 2, self.NUM_CHANNELS )
table.set_border_width( 25 )
table.set_row_spacings( 10 )
table.set_col_spacings( 15 )
frame.add( table )
# add channels
self.controls = []
for a in range( self.NUM_CHANNELS ):
label = gtk.Label( a + 1 )
table.attach( label, a, a + 1, 1, 2 )
adj = gtk.Adjustment( 0, 0, self.MAX_CHANNEL_VALUE, 1, 0, 0 )
control = gtk.VScale( adj )
control.set_draw_value( False )
control.set_inverted( True )
control.set_size_request( -1, 200 )
control.set_sensitive( False )
table.attach( control, a, a + 1, 0, 1 )
self.controls.append( control )
# motors frame
frame = gtk.Frame( "Motors" )
frame.set_shadow_type( gtk.SHADOW_IN )
hbox.pack_start( frame )
table = gtk.Table( 2, self.NUM_MOTORS )
table.set_border_width( 25 )
table.set_row_spacings( 10 )
table.set_col_spacings( 15 )
frame.add( table )
# add motor controls
self.motors = []
for a in range( self.NUM_MOTORS ):
label = gtk.Label( a + 1 )
table.attach( label, a, a + 1, 1, 2 )
adj = gtk.Adjustment( 0, 0, self.MAX_CHANNEL_VALUE, 1, 0, 0 )
control = gtk.VScale( adj )
control.set_draw_value( False )
control.set_inverted( True )
control.set_size_request( -1, 200 )
table.attach( control, a, a + 1, 0, 1 )
control.connect( "value-changed", self.on_motor_change, a )
self.motors.append( control )
# info frame
frame = gtk.Frame( "Info" )
hbox.pack_start( frame )
vbox = gtk.VBox()
vbox.set_border_width( 10 )
frame.add( vbox )
self.add_info( vbox, True, "USB Device:" )
self.add_info( vbox, False, self.SERIAL_DEVICE )
self.add_info( vbox )
if( self.link_error is not None ):
self.add_info( vbox, True, "USB Error:" )
label = gtk.Label( self.link_error )
label.set_line_wrap( True )
label.set_size_request( 150, -1 )
vbox.pack_start( label, False )
else:
pass
vbox.pack_start( gtk.Label( "" ) )
# show it
self.window.show_all()
def on_motor_change( self, widget, motor ):
self.motor_values[ motor ] = int( widget.get_value() )
self.write_serial()
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( 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 ):
# serial problem?
if self.link is None: return
# 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 write_serial( self ):
# serial problem?
if self.link is None: return
# construct message
bytes = bytearray()
bytes.extend( struct.pack( "h", -1 ) )
for i in range( self.NUM_MOTORS ):
bytes.extend( struct.pack( "h", self.motor_values[ i ] ) )
# send
self.link.write( bytes )
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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