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#!/usr/bin/env python
"""
# Copyright (C) 2008-2009 Michael Buesch <mb@bu3sch.de>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License version 3
# as published by the Free Software Foundation.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
"""
import getopt
import sys
try:
from serial.serialposix import *
except ImportError:
print "ERROR: pyserial module not available."
print "On Debian Linux please do: apt-get install python-serial"
sys.exit(1)
from PyQt4.QtCore import *
from PyQt4.QtGui import *
# Serial communication port configuration
CONFIG_BAUDRATE = 38400
CONFIG_BYTESIZE = 8
CONFIG_PARITY = PARITY_NONE
CONFIG_STOPBITS = 1
# The size of one message
MSG_SIZE = 12
MSG_PAYLOAD_SIZE = 8
# Message IDs
MSG_INVALID = 0
MSG_ERROR = 1
MSG_LOGMESSAGE = 2
MSG_PING = 3
MSG_PONG = 4
MSG_GET_CURRENT_PRESSURE = 5
MSG_CURRENT_PRESSURE = 6
MSG_GET_DESIRED_PRESSURE = 7
MSG_DESIRED_PRESSURE = 8
MSG_SET_DESIRED_PRESSURE = 9
MSG_GET_HYSTERESIS = 10
MSG_HYSTERESIS = 11
MSG_SET_HYSTERESIS = 12
MSG_GET_CONFIG_FLAGS = 13
MSG_CONFIG_FLAGS = 14
MSG_SET_CONFIG_FLAGS = 15
MSG_SET_VALVE = 16
MSG_RESTARTED = 17
MSG_SHUTDOWN = 18
MSG_TURNON = 19
# Message error codes
MSG_ERR_NONE = 0 # No error
MSG_ERR_CHKSUM = 1 # Checksum error
MSG_ERR_NOCMD = 2 # Unknown command
MSG_ERR_BUSY = 3 # Busy
MSG_ERR_INVAL = 4 # Invalid argument
MSG_ERR_NOREPLY = -1 # internal. Not sent over wire.
# Message flags
MSG_FLAG_REQ_ERRCODE = 0
# Config flags
CFG_FLAG_AUTOADJUST_ENABLE = 0
def usage():
print "Pressure control - remote configuration"
print ""
print "Copyright (C) 2008 Michael Buesch <mb@bu3sch.de>"
print "Licensed under the GNU/GPL version 3"
print ""
print "Usage: pctl-remote [OPTIONS] /dev/ttyS0"
print ""
print "-h|--help Print this help text"
print "-p|--noping Don't initially ping the device"
print "-f|--nofetch Don't initially fetch the device state"
def parseArgs():
global opt_ttyfile
global opt_noping
global opt_nofetch
if len(sys.argv) < 2:
usage()
sys.exit(1)
opt_ttyfile = sys.argv[-1]
opt_noping = 0
opt_nofetch = 0
try:
(opts, args) = getopt.getopt(sys.argv[1:-1],
"hpf",
[ "help", "noping", "nofetch" ])
except getopt.GetoptError:
usage()
sys.exit(1)
for (o, v) in opts:
if o in ("-h", "--help"):
usage()
sys.exit(0)
if o in ("-p", "--noping"):
opt_noping = 1
if o in ("-f", "--nofetch"):
opt_nofetch = 1
class RemoteProtocol(QObject):
def __init__(self, ttyfile):
QObject.__init__(self)
global remote
remote = self
self.serial = Serial(ttyfile, CONFIG_BAUDRATE,
CONFIG_BYTESIZE, CONFIG_PARITY,
CONFIG_STOPBITS)
self.serial.flushInput()
self.devRestarted = False
self.pollTimer = QTimer(self)
self.connect(self.pollTimer, SIGNAL("timeout()"), self.poll)
self.pollTimer.start(50)
if not opt_noping:
reply = self.sendMessageSyncReply(MSG_PING, 0, "", MSG_PONG)
if reply:
mainwnd.centralWidget().log.hostLog(
"PING->PONG success. Device is alife.\n")
else:
mainwnd.centralWidget().log.hostLog(
"Communication with device failed. "+\
"No reply to PING request.")
def poll(self):
if self.serial.inWaiting() >= MSG_SIZE:
self.parseMessage(self.serial.read(MSG_SIZE))
if self.devRestarted:
if mainwnd.centralWidget().fetchState():
mainwnd.centralWidget().log.hostLog(self.tr("Device rebooted\n"))
self.devRestarted = False
def checksumMessage(self, msg):
calc_crc = self.__crc16_update_buffer(0xFFFF, msg[0:-2])
calc_crc ^= 0xFFFF
want_crc = (ord(msg[-2]) | (ord(msg[-1]) << 8))
if calc_crc != want_crc:
text = self.tr("ERROR: message CRC mismatch\n")
mainwnd.centralWidget().log.hostLog(text)
self.serial.flushInput()
return False
return True
def parseMessage(self, msg):
if not self.checksumMessage(msg):
return
id = ord(msg[0])
mainwnd.statusBar().showMessage(self.tr("Received message %u" % id))
if (id == MSG_LOGMESSAGE):
str = self.getPayload(msg).rstrip('\0')
mainwnd.centralWidget().log.addText(str)
if (id == MSG_CURRENT_PRESSURE):
mainwnd.centralWidget().parseCurrentPressureMsg(msg)
if (id == MSG_RESTARTED):
self.devRestarted = True
def getPayload(self, msg):
return msg[2:-2]
def sendMessage(self, id, flags, payload):
"""Send a message"""
assert(len(payload) <= MSG_PAYLOAD_SIZE)
# Create the header
msg = "%c%c" % (id, flags)
# Add the payload
msg += payload
# Pad the payload up to the constant size
i = MSG_PAYLOAD_SIZE - len(payload)
while i:
msg += '\0'
i -= 1
# Calculate the CRC
crc = self.__crc16_update_buffer(0xFFFF, msg)
crc ^= 0xFFFF
# Add the CRC to the message
msg += "%c%c" % ((crc & 0xFF), ((crc >> 8) & 0xFF))
# Send the message
assert(len(msg) == MSG_SIZE)
self.serial.write(msg)
mainwnd.statusBar().showMessage(self.tr("Sent message %u" % id))
def sendMessageSyncReply(self, id, flags, payload, replyId):
"""Send a message and synchronously wait for the reply."""
self.pollTimer.stop()
self.sendMessage(id, flags, payload)
timeout = QDateTime.currentDateTime().addSecs(1)
while True:
if QDateTime.currentDateTime() >= timeout:
msg = None
break
if self.serial.inWaiting() < MSG_SIZE:
QThread.msleep(1)
continue
msg = self.serial.read(MSG_SIZE)
if not self.checksumMessage(msg):
continue
msgid = ord(msg[0])
if msgid == replyId:
break
# This is not a reply to our message.
self.parseMessage(msg)
self.pollTimer.start()
return msg
def sendMessageSyncError(self, id, flags, payload):
"""Sends a message and synchronously waits for the MSG_ERROR reply."""
flags |= (1 << MSG_FLAG_REQ_ERRCODE)
reply = self.sendMessageSyncReply(id, flags, payload, MSG_ERROR)
if not reply:
return MSG_ERR_NOREPLY
return ord(self.getPayload(reply)[0])
def configFlagsFetch(self):
reply = self.sendMessageSyncReply(MSG_GET_CONFIG_FLAGS, 0, "",
MSG_CONFIG_FLAGS)
if not reply:
return None
reply = remote.getPayload(reply)
flags = ord(reply[0]) | (ord(reply[1]) << 8) | \
(ord(reply[2]) << 16) | (ord(reply[3]) << 24)
return flags
def configFlagsSet(self, flags):
data = "%c%c%c%c" % ((flags & 0xFF), ((flags >> 8) & 0xFF),
((flags >> 16) & 0xFF), ((flags >> 24) & 0xFF))
err = self.sendMessageSyncError(MSG_SET_CONFIG_FLAGS, 0, data)
return err
def setValve(self, valveNr, state):
data = "%c%c" % (valveNr, (state != 0))
i = 5 # Retry a few times
while i != 0:
err = self.sendMessageSyncError(MSG_SET_VALVE, 0, data)
if err == MSG_ERR_NONE:
break
i -= 1
return err
def __crc16_update_buffer(self, crc, buf):
for c in buf:
crc ^= ord(c)
for i in range(0, 8):
if crc & 1:
crc = (crc >> 1) ^ 0xA001
else:
crc = (crc >> 1)
return crc
class StatusBar(QStatusBar):
def showMessage(self, msg):
QStatusBar.showMessage(self, msg, 3000)
class LogBrowser(QTextEdit):
def __init__(self, parent=None):
QTextEdit.__init__(self, parent)
self.needTimeStamp = True
self.setReadOnly(1)
self.hostLog(self.tr("Pressure Control logging started\n"));
def addText(self, text):
if self.needTimeStamp:
self.needTimeStamp = False
date = QDateTime.currentDateTime()
text = date.toString("[hh:mm:ss] ") + text
self.insertPlainText(text)
if text[-1] in QString("\r\n"):
self.needTimeStamp = True
# Scroll to the end of the log
vScroll = self.verticalScrollBar()
vScroll.setValue(vScroll.maximum())
def hostLog(self, text):
if not self.needTimeStamp:
self.addText("\n")
self.addText("Info: ")
self.addText(text)
class MainWidget(QWidget):
def __init__(self, parent=None):
QWidget.__init__(self, parent)
self.initialized = False
layout = QVBoxLayout()
h = QHBoxLayout()
label = QLabel(self.tr("Current pressure:"), self)
h.addWidget(label)
self.curPressure = QLCDNumber(self)
self.curPressure.setSegmentStyle(QLCDNumber.Flat)
self.curPressure.setNumDigits(4)
self.curPressure.display(QString("0.00"))
h.addWidget(self.curPressure)
label = QLabel(self.tr("Bar"), self)
h.addWidget(label)
h.addStretch()
layout.addLayout(h)
h = QHBoxLayout()
label = QLabel(self.tr("Hysteresis:"), self)
h.addWidget(label)
self.hystSpin = QDoubleSpinBox(self)
self.hystSpin.setMinimum(0.1)
self.hystSpin.setMaximum(8)
self.hystSpin.setSingleStep(0.1)
self.hystSpin.setSuffix(self.tr(" Bar"))
self.connect(self.hystSpin, SIGNAL("valueChanged(double)"),
self.desiredHysteresisChanged)
h.addWidget(self.hystSpin)
h.addStretch()
layout.addLayout(h)
h = QHBoxLayout()
label = QLabel(self.tr("Desired pressure:"), self)
h.addWidget(label)
self.pressureSpin = QDoubleSpinBox(self)
self.pressureSpin.setMinimum(1)
self.pressureSpin.setMaximum(8)
self.pressureSpin.setSingleStep(0.1)
self.pressureSpin.setSuffix(self.tr(" Bar"))
self.connect(self.pressureSpin, SIGNAL("valueChanged(double)"),
self.desiredPressureChanged)
h.addWidget(self.pressureSpin)
self.autoCheckbox = QCheckBox(self.tr("Automatically adjust pressure"), self)
self.connect(self.autoCheckbox, SIGNAL("stateChanged(int)"),
self.autoadjustChanged)
h.addWidget(self.autoCheckbox)
h.addStretch()
layout.addLayout(h)
h = QHBoxLayout()
self.inButton = QPushButton(self.tr("IN-Valve"), self)
self.connect(self.inButton, SIGNAL("pressed()"),
self.inValvePressed)
self.connect(self.inButton, SIGNAL("released()"),
self.inValveReleased)
h.addWidget(self.inButton)
self.outButton = QPushButton(self.tr("OUT-Valve"), self)
h.addWidget(self.outButton)
self.connect(self.outButton, SIGNAL("pressed()"),
self.outValvePressed)
self.connect(self.outButton, SIGNAL("released()"),
self.outValveReleased)
layout.addLayout(h)
self.log = LogBrowser(self)
layout.addWidget(self.log)
self.autoadjustChanged(Qt.Unchecked)
self.setLayout(layout)
def initializeState(self):
if not opt_nofetch:
if not self.fetchState():
self.log.hostLog(
"Failed to fetch active configuration "+\
"from device.")
error = remote.sendMessageSyncError(MSG_TURNON, 0, "")
if error:
self.log.hostLog("Failed to turn on device")
else:
self.log.hostLog("Device turned on")
self.initialized = True
def shutdown(self):
if self.initialized:
error = remote.sendMessageSyncError(MSG_SHUTDOWN, 0, "")
if error != MSG_ERR_NONE:
QMessageBox.critical(self,
"Pressure Control",
"Failed to shutdown device")
def fetchState(self):
# Get the current pressure
reply = remote.sendMessageSyncReply(MSG_GET_CURRENT_PRESSURE, 0, "",
MSG_CURRENT_PRESSURE)
if not reply:
print "Failed to fetch current pressure. No reply."
return False
self.parseCurrentPressureMsg(reply)
# Get the desired pressure
reply = remote.sendMessageSyncReply(MSG_GET_DESIRED_PRESSURE, 0, "",
MSG_DESIRED_PRESSURE)
if not reply:
print "Failed to fetch desired pressure. No reply."
return False
reply = remote.getPayload(reply)
mbar = ord(reply[0]) | (ord(reply[1]) << 8)
self.pressureSpin.setValue(float(mbar) / 1000)
# Get the hysteresis
reply = remote.sendMessageSyncReply(MSG_GET_HYSTERESIS, 0, "",
MSG_HYSTERESIS)
if not reply:
print "Failed to fetch hysteresis. No reply."
return False
reply = remote.getPayload(reply)
mbar = ord(reply[0]) | (ord(reply[1]) << 8)
self.hystSpin.setValue(float(mbar) / 1000)
# Get the config flags
flags = remote.configFlagsFetch()
if flags == None:
print "Failed to fetch config flags. No reply."
return False
if flags & (1 << CFG_FLAG_AUTOADJUST_ENABLE):
self.autoCheckbox.setCheckState(Qt.Checked)
return True
def parseCurrentPressureMsg(self, msg):
msg = remote.getPayload(msg)
mbar = ord(msg[0]) | (ord(msg[1]) << 8)
self.curPressure.display(QString("%.2f" % (float(mbar) / 1000)))
def desiredPressureChanged(self, value):
if not self.initialized:
return
mbar = int(value * 1000)
data = "%c%c" % ((mbar & 0xFF), ((mbar >> 8) & 0xFF))
err = remote.sendMessageSyncError(MSG_SET_DESIRED_PRESSURE, 0, data)
if err != MSG_ERR_NONE:
self.log.hostLog(self.tr("Failed to change pressure. Error=%u\n" % err))
def desiredHysteresisChanged(self, value):
if not self.initialized:
return
mbar = int(value * 1000)
data = "%c%c" % ((mbar & 0xFF), ((mbar >> 8) & 0xFF))
err = remote.sendMessageSyncError(MSG_SET_HYSTERESIS, 0, data)
if err != MSG_ERR_NONE:
self.log.hostLog(self.tr("Failed to change hysteresis. Error=%u\n" % err))
def autoadjustChanged(self, state):
self.inButton.setEnabled(state == Qt.Unchecked)
self.outButton.setEnabled(state == Qt.Unchecked)
if not self.initialized:
return
flags = remote.configFlagsFetch()
if flags == None:
self.log.hostLog(self.tr("Failed to fetch config flags\n"))
return
if state == Qt.Checked:
flags |= (1 << CFG_FLAG_AUTOADJUST_ENABLE)
else:
flags &= ~(1 << CFG_FLAG_AUTOADJUST_ENABLE)
err = remote.configFlagsSet(flags)
if err != MSG_ERR_NONE:
self.log.hostLog(self.tr("Failed to set config flags\n"))
def inValvePressed(self):
err = remote.setValve(0, 1)
if err != MSG_ERR_NONE:
self.log.hostLog(self.tr("Failed to switch valve 0 ON\n"))
def inValveReleased(self):
err = remote.setValve(0, 0)
if err != MSG_ERR_NONE:
self.log.hostLog(self.tr("Failed to switch valve 0 OFF\n"))
def outValvePressed(self):
err = remote.setValve(1, 1)
if err != MSG_ERR_NONE:
self.log.hostLog(self.tr("Failed to switch valve 1 ON\n"))
def outValveReleased(self):
err = remote.setValve(1, 0)
if err != MSG_ERR_NONE:
self.log.hostLog(self.tr("Failed to switch valve 1 OFF\n"))
class MainWindow(QMainWindow):
def __init__(self, parent=None):
QMainWindow.__init__(self, parent)
self.setWindowTitle(self.tr("Pneumatic pressure control"))
mb = QMenuBar(self)
ctlmen = QMenu(self.tr("Control"), mb)
ctlmen.addAction(self.tr("Exit"), self.close)
mb.addMenu(ctlmen)
helpmen = QMenu(self.tr("Help"), mb)
helpmen.addAction(self.tr("About"), self.about)
mb.addMenu(helpmen)
self.setMenuBar(mb)
self.setStatusBar(StatusBar())
self.setCentralWidget(MainWidget())
self.resize(400, 350)
def initializeState(self):
self.centralWidget().initializeState()
def shutdown(self):
self.centralWidget().shutdown()
def about(self):
QMessageBox.information(self, self.tr("About"),
self.tr("Pneumatic pressure control\n"
"Copyright (c) 2008 Michael Buesch"))
def main():
global remote
global mainwnd
global app
mainwnd = None
app = QApplication(sys.argv)
parseArgs()
mainwnd = MainWindow()
remote = RemoteProtocol(opt_ttyfile)
mainwnd.initializeState()
mainwnd.show()
result = app.exec_()
mainwnd.shutdown()
exit(result)
if __name__ == "__main__":
try:
main()
except SerialException, e:
print "[Serial error] %s" % e.message
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