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#!/usr/bin/env python3 # # Working with threading and pySerial # # This file is part of pySerial. https://github.com/pyserial/pyserial # (C) 2015-2016 Chris Liechti <cliechti@gmx.net> # # SPDX-License-Identifier: BSD-3-Clause """\ Support threading with serial ports. """ from __future__ import absolute_import import serial import threading class Protocol(object): """\ Protocol as used by the ReaderThread. This base class provides empty implementations of all methods. """ def connection_made(self, transport): """Called when reader thread is started""" def data_received(self, data): """Called with snippets received from the serial port""" def connection_lost(self, exc): """\ Called when the serial port is closed or the reader loop terminated otherwise. """ if isinstance(exc, Exception): raise exc class Packetizer(Protocol): """ Read binary packets from serial port. Packets are expected to be terminated with a TERMINATOR byte (null byte by default). The class also keeps track of the transport. """ TERMINATOR = b'\0' def __init__(self): self.buffer = bytearray() self.transport = None def connection_made(self, transport): """Store transport""" self.transport = transport def connection_lost(self, exc): """Forget transport""" self.transport = None super(Packetizer, self).connection_lost(exc) def data_received(self, data): """Buffer received data, find TERMINATOR, call handle_packet""" self.buffer.extend(data) while self.TERMINATOR in self.buffer: packet, self.buffer = self.buffer.split(self.TERMINATOR, 1) self.handle_packet(packet) def handle_packet(self, packet): """Process packets - to be overridden by subclassing""" raise NotImplementedError('please implement functionality in handle_packet') class FramedPacket(Protocol): """ Read binary packets. Packets are expected to have a start and stop marker. The class also keeps track of the transport. """ START = b'(' STOP = b')' def __init__(self): self.packet = bytearray() self.in_packet = False self.transport = None def connection_made(self, transport): """Store transport""" self.transport = transport def connection_lost(self, exc): """Forget transport""" self.transport = None self.in_packet = False del self.packet[:] super(FramedPacket, self).connection_lost(exc) def data_received(self, data): """Find data enclosed in START/STOP, call handle_packet""" for byte in serial.iterbytes(data): if byte == self.START: self.in_packet = True elif byte == self.STOP: self.in_packet = False self.handle_packet(bytes(self.packet)) # make read-only copy del self.packet[:] elif self.in_packet: self.packet.extend(byte) else: self.handle_out_of_packet_data(byte) def handle_packet(self, packet): """Process packets - to be overridden by subclassing""" raise NotImplementedError('please implement functionality in handle_packet') def handle_out_of_packet_data(self, data): """Process data that is received outside of packets""" pass class LineReader(Packetizer): """ Read and write (Unicode) lines from/to serial port. The encoding is applied. """ TERMINATOR = b'\r\n' ENCODING = 'utf-8' UNICODE_HANDLING = 'replace' def handle_packet(self, packet): self.handle_line(packet.decode(self.ENCODING, self.UNICODE_HANDLING)) def handle_line(self, line): """Process one line - to be overridden by subclassing""" raise NotImplementedError('please implement functionality in handle_line') def write_line(self, text): """ Write text to the transport. ``text`` is a Unicode string and the encoding is applied before sending ans also the newline is append. """ # + is not the best choice but bytes does not support % or .format in py3 and we want a single write call self.transport.write(text.encode(self.ENCODING, self.UNICODE_HANDLING) + self.TERMINATOR) class ReaderThread(threading.Thread): """\ Implement a serial port read loop and dispatch to a Protocol instance (like the asyncio.Protocol) but do it with threads. Calls to close() will close the serial port but it is also possible to just stop() this thread and continue the serial port instance otherwise. """ def __init__(self, serial_instance, protocol_factory): """\ Initialize thread. Note that the serial_instance' timeout is set to one second! Other settings are not changed. """ super(ReaderThread, self).__init__() self.daemon = True self.serial = serial_instance self.protocol_factory = protocol_factory self.alive = True self._lock = threading.Lock() self._connection_made = threading.Event() self.protocol = None def stop(self): """Stop the reader thread""" self.alive = False if hasattr(self.serial, 'cancel_read'): self.serial.cancel_read() self.join(2) def run(self): """Reader loop""" if not hasattr(self.serial, 'cancel_read'): self.serial.timeout = 1 self.protocol = self.protocol_factory() try: self.protocol.connection_made(self) except Exception as e: self.alive = False self.protocol.connection_lost(e) self._connection_made.set() return error = None self._connection_made.set() while self.alive and self.serial.is_open: try: # read all that is there or wait for one byte (blocking) data = self.serial.read(self.serial.in_waiting or 1) except serial.SerialException as e: # probably some I/O problem such as disconnected USB serial # adapters -> exit error = e break else: if data: # make a separated try-except for called user code try: self.protocol.data_received(data) except Exception as e: error = e break self.alive = False self.protocol.connection_lost(error) self.protocol = None def write(self, data): """Thread safe writing (uses lock)""" with self._lock: return self.serial.write(data) def close(self): """Close the serial port and exit reader thread (uses lock)""" # use the lock to let other threads finish writing with self._lock: # first stop reading, so that closing can be done on idle port self.stop() self.serial.close() def connect(self): """ Wait until connection is set up and return the transport and protocol instances. """ if self.alive: self._connection_made.wait() if not self.alive: raise RuntimeError('connection_lost already called') return (self, self.protocol) else: raise RuntimeError('already stopped') # - - context manager, returns protocol def __enter__(self): """\ Enter context handler. May raise RuntimeError in case the connection could not be created. """ self.start() self._connection_made.wait() if not self.alive: raise RuntimeError('connection_lost already called') return self.protocol def __exit__(self, exc_type, exc_val, exc_tb): """Leave context: close port""" self.close() # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # test if __name__ == '__main__': # pylint: disable=wrong-import-position import sys import time import traceback #~ PORT = 'spy:///dev/ttyUSB0' PORT = 'loop://' class PrintLines(LineReader): def connection_made(self, transport): super(PrintLines, self).connection_made(transport) sys.stdout.write('port opened\n') self.write_line('hello world') def handle_line(self, data): sys.stdout.write('line received: {!r}\n'.format(data)) def connection_lost(self, exc): if exc: traceback.print_exc(exc) sys.stdout.write('port closed\n') ser = serial.serial_for_url(PORT, baudrate=115200, timeout=1) with ReaderThread(ser, PrintLines) as protocol: protocol.write_line('hello') time.sleep(2) # alternative usage ser = serial.serial_for_url(PORT, baudrate=115200, timeout=1) t = ReaderThread(ser, PrintLines) t.start() transport, protocol = t.connect() protocol.write_line('hello') time.sleep(2) t.close()