atlas_ec.py 文件源码

def connect(self):
        try:
            if self.device_id is None:
                # Try to find pH device id automatically
                devices = list_devices.get_ftdi_device_list()

                # Check if any atlas devices are connected to device
                if len(devices) == 0:
                  raise IOError("No atlas device found on system")

                for device in devices:
                    # Extract id
                    device_id = (device.split("FTDI:FT230X Basic UART:"))[1]

                    # Check if device is ph sensor
                    with AtlasDevice(device_id) as atlas_device:
                        atlas_device.send_cmd("i") # get device information
                        time.sleep(1)
                        lines = atlas_device.read_lines()
                        if len(lines) == 0:
                            continue
                        if "EC" in lines[0]:
                            self.device_id = device_id
                            rospy.loginfo("Automatically found device id: {}".format(device_id))

            self.device = AtlasDevice(self.device_id)
            self.device.send_cmd("C,0") # turn off continuous mode
            time.sleep(1)
            self.device.flush()
            rospy.loginfo("Connected to AtlasEc")

        except Exception as e:
            rospy.logwarn("Failed to connect to AtlasEc. Error: {}".format(e))
            pass