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uartSend.py
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#! /usr/bin/python3
# from textwrap import indentsudo
import serial
import struct
import os
import time
# import serial_asyncio
# import asyncio
import binascii
from servo.Servo import *
from QRcode.QRcode import *
# from servo.Adafruit_PCA9685 import *
SERVO0_0m=262
SERVO0_0l=235
SERVO0_0r=290
SERVO0_1=70
SERVO0_2=20
SERVO0_3=118
SERVO1_0=5
SERVO1_1=300
SERVO1_2=150
SERVO2_0=260
SERVO2_1=90
SERVO2_2=180
SERVO2_3=0
SERVO3_0=195
SERVO3_1=220
SERVO3_2=120
SERVO0=4
SERVO1=1
SERVO2=2
SERVO3=3
SERVO0_SET=[0,0,0]
SERVO0_SET[0]=SERVO0_0l
SERVO0_SET[1]=SERVO0_0m
SERVO0_SET[2]=SERVO0_0r
SET_1=[0,0,0]
SET_1[0]=SERVO0_2
SET_1[1]=SERVO0_1
SET_1[2]=SERVO0_3
# class OutputProtocol(asyncio.Protocol):
# def __init__(self) -> None:
# super().__init__()
# # self.readin=""
# self.transport = None
# def connection_made(self, transport):
# self.transport = transport
# self.buf = bytes()
# print('port opened', transport)
# transport.serial.rts = False # You can manipulate Serial object via transport
# # transport.write(b'I,R123.32,T1235555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555\n') # Write serial data via transport
# # def data_received(self, data):
# # print('data received', repr(data),data.decode("ascii"))
# # # self.readin+=data.decode("utf-8")
# # if b'\n' in self.readin:
# # print(self.readin)
# # self.readin=""
# def data_received(self, data):
# """Store characters until a newline is received.
# """
# self.buf += data
# print(f'Reader received: {data.decode()}')
# if b'\n' in self.buf:
# lines = self.buf.split(b'\n')
# self.buf = lines[-1] # whatever was left over
# for line in lines[:-1]:
# print(f'Reader received: {line.decode()}')
# # self.msgs_recvd += 1
# # if self.msgs_recvd == 4:
# # self.transport.close()
# def data_decode(self):
# pass
# def data_write(self,data):
# self.transport.write(data) # Write serial data via
# print(data)
# def connection_lost(self, exc):
# print('port closed')
# self.transport.loop.stop()
# def pause_writing(self):
# print('pause writing')
# print(self.transport.get_write_buffer_size())
# def resume_writing(self):
# print(self.transport.get_write_buffer_size())
# print('resume writing')
class uartSerial():
def __init__(self,portx="/dev/ttyACM1",bps=115200) -> None:
self.buf = bytes()
try:
#端口，GNU / Linux上的/ dev / ttyUSB0 等 或 Windows上的 COM3 等
# portx="/dev/ttyUSB0"
# #波特率，标准值之一：50,75,110,134,150,200,300,600,1200,1800,2400,4800,9600,19200,38400,57600,115200
# bps=115200
#超时设置,None：永远等待操作，0为立即返回请求结果，其他值为等待超时时间(单位为秒）
timex=1
# if not add this time, the pi will not contain the message doesn't be accepted by the arduino
# 打开串口，并得到串口对象
self.ser=serial.Serial(portx,bps,timeout=timex)
if self.ser.is_open:
print("open serial",self.ser.name)
else:
print("serial open failed")
exit(0)
except:
print("err when ini serial output")
self.currentReadinData=""
self.serialIn=""
self.NthInstruction=0
self.finishInstruction=0
pass
def send(self,value):
try:
# 写数据
result=self.ser.write(value)
# result=self.ser.write(struct.pack('>BB',id,value))
print("写总字节数:",result,"写入内容",value)
except Exception as e:
print("---err---",e)
def receive(self):
# data= self.ser.readlines()
indata=""
indata= self.ser.readline()
print(indata)
# if indata!=[]:
# indata=indata[0]
# else:
# indata=""
if indata!="":
self.currentReadinData= indata[:-1].decode()
print('in waiting',self.ser.in_waiting)
indata=self.ser.read(self.ser.in_waiting)
self.currentReadinData+=indata[:-1].decode()
print('readin',self.currentReadinData)
# print(self.currentReadinData)
return self.currentReadinData
else:
print("No readin from serial")
raise ""
# self.buf += data
# print(f'Reader received: {data.decode()}')
# if b'\n' in self.buf:
# lines = self.buf.split(b'\n')
# self.buf = lines[-1] # whatever was left over
# for line in lines[:-1]:
# print(f'Reader received: {line.decode()}')
# return data
def formatReadin(self):
self.serialInfos=[]
self.receive()
print(self.currentReadinData)
while(self.currentReadinData.find('!')==-1):
self.receive()
self.serialIn+=self.currentReadinData
lastidx=0
idx=self.serialIn.find('!')
print("idx",idx)
while(idx!=-1):
self.serialInfos+=[self.serialIn[lastidx:idx+1]]
lastidx=idx
self.serialIn=self.serialIn[idx:]
print(self.serialInfos)
# def sendBatch(self,id_num,values):
# try:
# # 写数据
# for i in range(id_num):
# result=self.ser.write(struct.pack('>BB',values[i*2],values[i*2+1]))
# print("写总字节数:",result,struct.pack('>BB',values[i*2],values[i*2+1]))
# except Exception as e:
# print("---err---",e)
# def sendBatch_V(self,id_num,values):
# try:
# # 写数据
# for i in range(id_num):
# result=self.ser.write(struct.pack('>BB',int(values[i*2]),int(values[i*2+1]/3.3*255)))
# print("写总字节数:",result,struct.pack('>BB',int(values[i*2]),int(values[i*2+1]/3.3*255)),int(values[i*2+1]/3.3*255))
# except Exception as e:
# print("---err---",e)
def close(self):
self.ser.close()#关闭串口
def sendInstruction(self,vx=-999,vy=-999,vw=-999,ms=-999,height=-999,mode=-999,order=-999):
self.finishInstruction=0
self.NthInstruction+=1
self.send(b'I%2.1f,X%2.1f,Y%2.1f,W%2.1f,T%2.1f,O%2.1f,N%2.1f,P%2.1f!'%(self.NthInstruction,vx,vy,vw,ms,height,order,mode))
while(self.receive().find('K')==-1):
pass
# if
# self.finishInstruction=1
self.receive()
if __name__=='__main__':
ServoControl(SERVO0_0l,SERVO0)
ServoControl(SERVO1_0,SERVO1)
ServoControl(SERVO2_0,SERVO2)
ServoControl(SERVO3_0,SERVO3)
ser=uartSerial(portx=os.popen("ls /dev/ttyACM*").readlines()[0][:-1])
for i in range(5):
# time.sleep(1)
print("wait for %2d s"%(i))
ser.receive()
# print(ser.receive())
print("----------------------------------")
ser.sendInstruction(height=10)
print("-------------start---------------------")
# ser.sendInstruction(0.2,0.2,0,3000)
# ser.sendInstruction(height=-10)
#ser.sendInstruction(order=123321)
# ser.sendInstruction(0,0,3.14,5000)
ser.sendInstruction(0,0.2,0,3000)
ser.sendInstruction(0.2,0,0,1800)
QRposTO(SERVO0_0l,0)
ser.sendInstruction(height=-75)#75
# ServoControl(SERVO0_0l,SERVO0)
# ServoControl(SERVO1_0,SERVO1)
# ServoControl(SERVO2_0,SERVO2)
# ServoControl(SERVO3_0,SERVO3)
catch_picture("0.jpg")
squ=QRScan("0.jpg")
print(squ)
squ=squ[:3]+squ[4:]
ser.sendInstruction(order=int(squ))
QRposRE(SERVO0_2,0)
for i in range(SERVO0_2,SERVO0_0m,1):
ServoControl(i,SERVO0)
time.sleep(0.02)
ser.sendInstruction(height=75)
ser.sendInstruction(0.2,0,0,7500)
ser.sendInstruction(0,0.2,0,2000)
ser.sendInstruction(0,-0.2,0,5000)
for i in range(SERVO0_0m,SERVO0_2,-1):
ServoControl(i,SERVO0)
time.sleep(0.02)
current_color=0
i=0
while i<3:
catch_picture("1.jpg")
current_color=classify_color()
print(current_color)
if current_color!=int(squ[i]):
pass
else:
setPlaceAngel0(SERVO0_SET[i],SERVO0_2)
setCatchAngel0(SERVO0_SET[i],SERVO0_2)
i+=1
# setPlaceAngel0(SERVO0_SET[i],SERVO0_2)
# if i!=2:
# setCatchAngel0(SERVO0_SET[i],SERVO0_2)
# else:
# setRecognize(SERVO0_0r,SERVO0_1)
# i+=1
ser.close()