RobotKernal-UESTC/Code/MowingRobot/pibot_ros/pypibot/transport/transport.py

import sys
sys.path.append("..")
import pypibot
from pypibot import log
from pypibot import assistant

import serial
import threading
import struct
import time
from dataholder import MessageID, BoardDataDict
FIX_HEAD = 0x5a

class Recstate():
    WAITING_HD = 0
    WAITING_MSG_ID = 1
    RECEIVE_LEN = 2
    RECEIVE_PACKAGE = 3
    RECEIVE_CHECK = 4

def checksum(d):
    sum = 0
    if assistant.is_python3():
        for i in d:
            sum += i
            sum = sum&0xff
    else:
        for i in d:
            sum += ord(i)
            sum = sum&0xff
    return sum


class Transport:
    def __init__(self, port, baudrate=921600):
        self._Port = port
        self._Baudrate = baudrate
        self._KeepRunning = False
        self.receive_state = Recstate.WAITING_HD
        self.rev_msg = []
        self.rev_data = []
        self.wait_event = threading.Event()

    def getDataHolder(self):
        return BoardDataDict

    def start(self):
        try:
            self._Serial = serial.Serial(port=self._Port, baudrate=self._Baudrate, timeout=0.2)
            self._KeepRunning = True
            self._ReceiverThread = threading.Thread(target=self._Listen)
            self._ReceiverThread.setDaemon(True)
            self._ReceiverThread.start()
            return True
        except:
            return False

    def Stop(self):
        self._KeepRunning = False
        time.sleep(0.1)
        self._Serial.close()

    def _Listen(self):
        while self._KeepRunning:
            if self.receiveFiniteStates(self._Serial.read()):
                self.packageAnalysis()

    def receiveFiniteStates(self, s):
        if len(s) == 0:
            return  False
        val = s[0]
        val_int = val
        if not assistant.is_python3():
            val_int = ord(val)

        if self.receive_state == Recstate.WAITING_HD:
            if val_int == FIX_HEAD:
                log.trace('got head')
                self.rev_msg = []
                self.rev_data =[]
                self.rev_msg.append(val)
                self.receive_state = Recstate.WAITING_MSG_ID
        elif self.receive_state == Recstate.WAITING_MSG_ID:
            log.trace('got msg id')
            self.rev_msg.append(val)
            self.receive_state = Recstate.RECEIVE_LEN
        elif self.receive_state == Recstate.RECEIVE_LEN:
            log.trace('got len:%d', val_int)
            self.rev_msg.append(val)
            if val_int == 0:
                self.receive_state = Recstate.RECEIVE_CHECK
            else:
                self.receive_state = Recstate.RECEIVE_PACKAGE
        elif self.receive_state == Recstate.RECEIVE_PACKAGE:
            # if assistant.is_python3(): 
            #     self.rev_data.append((chr(val)).encode('latin1'))
            # else:
            self.rev_data.append(val)
            r = False
            if assistant.is_python3(): 
                r = len(self.rev_data) == int(self.rev_msg[-1])
            else:
                r = len(self.rev_data) == ord(self.rev_msg[-1])
            
            if r:
                self.rev_msg.extend(self.rev_data)
                self.receive_state = Recstate.RECEIVE_CHECK
        elif self.receive_state == Recstate.RECEIVE_CHECK:
            log.trace('got check')
            self.receive_state = Recstate.WAITING_HD
            if val_int == checksum(self.rev_msg):
                log.trace('got a complete message')
                return True
        else:
            self.receive_state = Recstate.WAITING_HD

        # continue receiving
        return False

    def packageAnalysis(self):
        if assistant.is_python3(): 
            in_msg_id = int(self.rev_msg[1])
        else:
            in_msg_id = ord(self.rev_msg[1])
        if assistant.is_python3(): 
            log.debug("recv body:" + " ".join("{:02x}".format(c) for c in self.rev_data))
            r = BoardDataDict[in_msg_id].unpack(bytes(self.rev_data))
        else:
            log.debug("recv body:" + " ".join("{:02x}".format(ord(c)) for c in self.rev_data))
            r = BoardDataDict[in_msg_id].unpack(''.join(self.rev_data))
        if r:
            self.res_id = in_msg_id
            if in_msg_id<100:
                self.set_response()
            else:#notify
                log.debug('msg %d'%self.rev_msg[4],'data incoming')
                pass
        else:
            log.debug ('error unpacking pkg')

    def request(self, id, timeout=0.5):
        if not self.write(id):
            log.debug ('Serial send error!')
            return False
        if self.wait_for_response(timeout):
            if id == self.res_id:
                log.trace ('OK')
            else:
                log.error ('Got unmatched response!')
        else:
            log.error ('Request got no response!')
            return False
        # clear response
        self.res_id = None
        return True

    def write(self, id):
        cmd = self.make_command(id)
        if assistant.is_python3():
            log.d("write:" + " ".join("{:02x}".format(c) for c in cmd))
        else:
            log.d("write:" + " ".join("{:02x}".format(ord(c)) for c in cmd))
        self._Serial.write(cmd)
        return True

    def wait_for_response(self, timeout):
        self.wait_event.clear()
        return self.wait_event.wait(timeout)

    def set_response(self):
        self.wait_event.set()

    def make_command(self, id):
        #print(DataDict[id])
        data = BoardDataDict[id].pack()
        l = [FIX_HEAD, id, len(data)]
        head = struct.pack("3B", *l)
        body = head + data
        
        if assistant.is_python3():
            return body + chr(checksum(body)).encode('latin1')
        else:
            return body + chr(checksum(body))


if __name__ == '__main__':

    mboard = Transport('com10')
    if not mboard.start():
        import sys
        sys.exit()

    p = mboard.request(MessageID.ID_GET_VERSION)
    log.i("result=%s"%p)
    print('Version =[',mboard.getDataHolder()[MessageID.ID_GET_VERSION].version.decode(), mboard.getDataHolder()[MessageID.ID_GET_VERSION].build_time.decode(),"]\r\n")