Serial API Client
Overview
The script is designed to interact with a serial device, allowing users to send commands and receive responses over a specified serial port. It utilizes the pyserial library for serial communication and includes logging for monitoring the process. This might be a program you want to run on a computer, such as a laptop, connected to the robot.
Functions
The script provides a simple command-line interface for interacting with a serial device.
It allows users to send commands and receive responses, with logging to track the communication process.
The use of command-line arguments makes it flexible for different serial configurations and commands.
Example
#!/usr/bin/env python
"""
A script to interact with a serial device. It sends data entered by the user and
displays the response from the device.
"""
import serial
import time
import argparse
import logging
import sys
def handshake(device: serial.Serial):
"""
This function tries to get a handshake over an open port. It takes a serial connection as an argument
"""
logging.info("Attempting a handshake")
while True:
try:
# Send data
device.write(("@HLWD_\r").encode())
tic = time.time()
# Read response
incoming_data = device.read_until(b'\r').decode().strip()
toc = time.time()
logging.info(f"Received: {incoming_data} ({1000*(toc-tic):.3f}ms)")
# Check for #ACK_, exit the handshake loop received
if incoming_data == "#ACK_":
logging.info("Handshake received ACK.")
break
time.sleep(0.05)
except KeyboardInterrupt:
# Quit if CTRL-C received
logging.info("Exiting...")
sys.exit()
except Exception as e:
logging.error(f"Error: {e}")
def setup_logging():
""" Set up the logging format. """
logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
def parse_arguments():
""" Parse command line arguments. """
parser = argparse.ArgumentParser(description="Interact with a serial device.")
parser.add_argument("--port", default="/dev/pts/5", help="Serial port to connect to.")
parser.add_argument("--baud", type=int, default=115200, help="Baud rate for the serial connection.")
parser.add_argument("--timeout", type=float, default=0.5, help="Read timeout for the serial connection.")
parser.add_argument("--cmd", type=str, default=None, help="Command to send to the device.")
return parser.parse_args()
def main():
""" Main function to run the script. """
setup_logging()
args = parse_arguments()
try:
# Initialize the serial connection
device = serial.Serial(args.port, args.baud, timeout=args.timeout)
except serial.SerialException as e:
logging.error(f"Failed to open serial port: {e}")
sys.exit(1)
logging.info(f"Open serial device: port={args.port}, baud={args.baud}, timeout={args.timeout}")
handshake(device)
while True:
try:
# Get user input
if args.cmd is None:
data_to_send = input("Enter data to send: ")
else:
data_to_send = args.cmd
logging.info(f"Sending: {args.cmd}")
# Send data
device.write((data_to_send + '\r').encode())
tic = time.time()
# Read response
incoming_data = device.read_until(b'\r').decode().strip()
toc = time.time()
logging.info(f"Received: {incoming_data} ({1000*(toc-tic):.3f}ms)")
time.sleep(0.5)
except KeyboardInterrupt:
# Quit if CTRL-C received
logging.info("Exiting...")
break
except Exception as e:
logging.error(f"Error: {e}")
if __name__ == "__main__":
main()