wrapper_client.py 文件源码

def __init__(self, bus_addr=1, com_port=None, baud=115200):
        super(PjonPiperClient, self).__init__()
        self._pipe = None
        self._bus_addr = bus_addr
        self._serial_baud = baud
        self._piper_client_stdin_queue = Queue()
        self._piper_client_stdout_queue = Queue()
        self._receiver_function = self.dummy_receiver
        self._error_function = self.dummy_error
        self._last_watchdog_poll_ts = 0
        self._piper_stdout_watchdog_timeout = 0
        self._piper_stdout_last_received_ts = 0


        if sys.platform == 'win32':
            self._startupinfo = subprocess.STARTUPINFO()
            self._startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW
            self._startupinfo.wShowWindow = subprocess.SW_HIDE
            self._pjon_piper_path = os.path.join(self.get_self_path(), 'pjon_piper_bin', 'win', 'PJON-piper.exe')
        elif sys.platform == 'linux2':
            #os.setpgrp()
            if(self.is_arm_platform()):
                if self.is_raspberry():
                    self._pjon_piper_path = os.path.join(self.get_self_path(), 'pjon_piper_bin', 'rpi',
                                                         'pjon_piper')
                    #print(self._pjon_piper_path)
                else:
                    NotImplementedError("Only Linux on Raspberry is supported")
            else:
                raise NotImplementedError("this version of Linux is not supported yet")
        else:
            raise NotImplementedError("platform not supported; currently provided support only for: win32")

        if sys.platform == 'win32':
            self._pipier_client_subproc_cmd = "%s %s %s %s\n" % (self._pjon_piper_path, com_port.strip(), baud, bus_addr)
        elif sys.platform == 'linux2':
            self._pipier_client_subproc_cmd = [self._pjon_piper_path, com_port.strip(), str(baud), str(bus_addr)]
        if com_port is None:
            raise ComPortUndefinedExc("missing com_port kwarg: serial port name is required")

        available_coms = self.get_coms()
        if com_port not in available_coms:
            raise ComPortNotAvailableExc("com port %s is not available in this system; available ports are: %s" % (com_port, str(available_coms)))
        else:
            log.info("COM OK: %s" % com_port)

        self._pipier_client_watchdog = WatchDog(suproc_command=self._pipier_client_subproc_cmd,
                                                stdin_queue=self._piper_client_stdin_queue,
                                                stdout_queue=self._piper_client_stdout_queue,
                                                parent = self)

        self._packets_processor = ReceivedPacketsProcessor(self)

        atexit.register(self.stop_client)

           # TODO:
            # 3. implement periodic checks if com is available
            #   if not: restart watchdog (can be a permanent restart; no state machine required)