simAGV/helper/SerialPort.py

import binascii
import re
import time

import serial
from time import sleep
import threading
class SerialPort(object):

    def __init__(self,Name,BaudRate,timeout=0.1):
        # 串口通信同步锁
        self.lockSend=threading.Lock()
        self.ser = None
        self.encoding = '' # 编码格式
        try:
            self.ser = serial.Serial(Name, BaudRate, timeout=timeout,)
        except Exception as e:
            print('serialserialserial',str(e))
 
    # 发送的指令'00 01 00 00 23 ...'
    def send_cmd_hex(self,cmd,readCount=0):
        try:
            self.lockSend.acquire()
            data=None
            cmd = bytes.fromhex(cmd) #  将发送的
            retry_times = 0  # 默认读取一次
            self.ser.flushInput()
            self.ser.write(cmd)
            time.sleep(0.2)
            while retry_times ==0:
                count = self.ser.inWaiting() #获取接收缓存区的字节数
                retry_times += 1
                if(readCount==0):
                    data = self.ser.readall()
                    if data == None:
                        continue
                    else:
                        break
                else:
                    if(readCount==1):
                        data = self.ser.read(count)
                    else:
                        data = self.ser.read(readCount)
                    if data == None:
                        continue
                    else:
                        break
                #sleep(0.002)
            # self.ser.flushInput()
            #print('ggggggggggg::',data)  # b'\x01\x03\x04\x00\x00\x00\x00\xfa3'
            return data
        except Exception as e:
            raise e
        except OSError as e:
            raise e
        finally:
            self.lockSend.release()

    # 发送给的指令 #~000~qst~start~@，对字符串进行转换成byte类型再发送传给
    def send_cmd(self,cmd,readCount=0):
        try:
            self.lockSend.acquire()
            data=None
            if self.encoding:
                cmd = cmd.encode(self.encoding)
            else:
                cmd = cmd.encode()

            retry_times = 0  # 默认读取一次
            self.ser.flushInput()
            self.ser.write(cmd)
            time.sleep(0.2)
            while retry_times ==0:
                count = self.ser.inWaiting() #获取接收缓存区的字节数
                retry_times += 1
                if(readCount==0):
                    data = self.ser.readall()

                    if self.encoding:
                        data = data.decode(self.encoding)
                    else:
                        data = data.decode()

                    if data == None:
                        continue
                    else:
                        break
                else:
                    if(readCount==1):
                    	data = self.ser.read(count)
                    else:
                        data = self.ser.read(readCount)
                    if data == None:
                        continue
                    else:
                        break
                #sleep(0.002)
            # self.ser.flushInput()
            print('ggggggggggg::',data)
            return data.replace("\r\n", '')
        except Exception as e:
            raise e
        except OSError as e:
            raise e
        finally:
            self.lockSend.release()

    def Read(self,readCount=0):
        try:
            self.lockSend.acquire()
            data=None
            while True:    
                count = self.ser.inWaiting() #获取接收缓存区的字节数
                if(readCount==0):
                    data = self.ser.readall()
                    if data == None:    
                        continue  
                    else:  
                        break  
                else:
                    if(readCount==1):
                    	data = self.ser.read(count)
                    else:
                        data = self.ser.read(readCount)
                    if data == None:    
                        continue  
                    else:  
                        break  
                #sleep(0.002)
            # self.ser.flushInput()
            return data
        except Exception as e:
            raise e
        except OSError as e:
            raise e
        finally:
            self.lockSend.release()

    def ReadAll(self,readCount=0):
        try:
            self.lockSend.acquire()
            data=None
            while True:    
                #count = self.ser.inWaiting() #获取接收缓存区的字节数
                if(readCount==0):
                    data = self.ser.readall()    
                    if data == None:    
                        continue  
                    else:  
                        break  
                else:
                    data = self.ser.read(readCount)    
                    if data == None:    
                        continue  
                    else:  
                        break  
                #sleep(0.002)
            #self.ser.flushInput()
            return data
        except Exception as e:
            raise e
        except OSError as e:
            raise e
        finally:
            self.lockSend.release()

    def FlushInput(self):  #清空缓存
        try:
            self.lockSend.acquire()
            self.ser.flushInput()
        except Exception as e:
            raise e
        except OSError as e:
            raise e
        finally:
            self.lockSend.release()

    def Write(self,data):
        try:
            self.lockSend.acquire()
            self.ser.flushInput()
            self.ser.write(data)
        except Exception as e:
            raise e
        except OSError as e:
            raise e
        finally:
            self.lockSend.release()

    def Close(self):
        try:
            self.ser.close()
        except Exception as e:
            print('serialClose:',e)




if __name__ == "__main__":

    # sp = SerialPort.SerialPort('/dev/ttyS0',115200)
    # while True:
    #     #cmd=input('输入发送：')
    #     sp.Write('#~000~qst~lock0~@\r\n'.encode())
    #     #print("发送："+cmd)
    #     d = sp.Read()
    #     print("接收："+bytes.decode(d))


    # import SerialPort
    ser = SerialPort('com1', 9600)
    # ser = SerialPort('/dev/ttyUSB0', 9600)
    print('rrrrrrrrrrrrrrrrrrrrrrrrrrrr:::::',ser)
    cmd = "01 03 12 07 00 14 F1 7C"
    data = ser.send_cmd_hex(cmd)
    print('ssssssssssssssssssssssssssssssssssssssss:::',data)