fyserial.py 文件源码

def __init__(self, port='/dev/ttyAMA0', baudrate=115200, verbose=True, connected=None):
        self.verbose = verbose
        self.version = None

        self.connectedCV = threading.Condition()
        self.responseQueue = queue.Queue()
        self.port = serial.Serial(port, baudrate=baudrate)
        self._transactionLock = threading.Lock()

        self.tx = self.transmitThreadClass(self.port, verbose=self.verbose)
        self.rx = self.receiverThreadClass(self.port, callback=self._receive, verbose=self.verbose)
        self.rx.start()
        self.tx.start()

        if connected is None:
            self.connected = True
            self.connected = self._testForExistingConnection()
        else:
            self.connected = connected
        if self.verbose:
            if self.connected:
                print("Already connected to gimbal, version %s" % self.version)
            else:
                print("Waiting for gimbal to power on")