~scirocco22/rpyutils/trunk : revision 2

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#!/usr/bin/env python3

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# coding=UTF-8

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'''

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rpyterm - Control your RP6 robot

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This program is free software: you can redistribute it and/or modify

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it under the terms of the GNU General Public License as published by

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the Free Software Foundation, either version 3 of the License, or

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(at your option) any later version.

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This program is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

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GNU General Public License for more details.

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You should have received a copy of the GNU General Public License

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along with this program. If not, see <http://www.gnu.org/licenses/>.

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'''

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"""rpyutils by Maximilian Mühlbauer <rpyutils@t-online.de>"""

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import serial

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import sys

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import os

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import getopt

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import fcntl

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import time

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import curses

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import signal

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import gettext

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import readline

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from rpyutils.translation import _

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def quit(signum, frame): #Strg+C abfangen. Ideen, wie man curses beenden kann?

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pass

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signal.signal(signal.SIGINT, quit)#signal "connecten"

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VERSION = "0.1"

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print(_("Robby pyTerm version ")+VERSION) #immer version ausgeben

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print("")

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print("This program comes with ABSOLUTELY NO WARRANTY; for details please visit http://www.gnu.org/licenses/gpl.html")

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print("This is free software, and you are welcome to redistribute it under certain conditions; visit http://www.gnu.org/licenses/gpl.html for details.")

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print("")

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def getargs(argv): #funktion, um parameter auszulesen

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global port #port ist global

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port = "/dev/ttyUSB0" #standard-port

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try: #optionen versuchen

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opts, args = getopt.getopt(argv, "d:", ["device="]) #optionen auslesen

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except getopt.GetoptError: #falsche option?

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print("Wrong option.")

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for opt, arg in opts: #wenn optionen

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if opt in ("-d", "--device"): #device

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print(arg)

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port = arg #port auf device setzen

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getargs(sys.argv[1:])#1.arg (rpyTerm.py) nicht

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# make stdin a non-blocking file

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fd = sys.stdin.fileno()

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fl = fcntl.fcntl(fd, fcntl.F_GETFL)

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fcntl.fcntl(fd, fcntl.F_SETFL, fl |os.O_NONBLOCK)

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pipe_name = '/tmp/pypipe' #pipe zwischen robby auslesen und prog

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def robbytopipe():

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pipeout = os.open(pipe_name, os.O_WRONLY)#pipe öffnen

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try: #Port öffnen

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ser = serial.Serial(

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port=port, #Port

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baudrate=38400, #baud

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timeout=1, #timeout

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parity=serial.PARITY_NONE, #keine Parität

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stopbits=serial.STOPBITS_ONE, #ein stopbit

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bytesize=serial.EIGHTBITS #acht bits

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)

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except: #Port existiert nicht

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print(port+_(": No such a device."))

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exit(2)

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time.sleep(0.5)#reset

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ser.setRTS(0) #rts aus

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while True:

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s = ser.read(1)#char von robby lesen &

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os.write(pipeout, s)#ueber pipe weiterleiten

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def termtorobby(pid):

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histfile = "rpyTermhistory" #history fuer session in datei speichern

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rpyUtilsdir = ".rpyUtils"#verstecktes verzeichnis

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histpath = os.environ['HOME']+ os.sep +rpyUtilsdir + os.sep + histfile #linux: ~/.rpyUtils/rpyTermhistory

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if not os.path.exists(os.environ['HOME']+ os.sep+rpyUtilsdir): #verzeichnis existiert nicht?

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os.mkdir(os.environ['HOME']+ os.sep+rpyUtilsdir)#anlegen

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if not os.path.isfile(histpath):

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f = open(histpath, "a")

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f.close()

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histcounter = 0

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hist = open(histpath, "r")

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for line in hist:

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histcounter = histcounter + 1

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hist.close()

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readline.read_history_file(histpath)

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ser = serial.Serial(#serial port zu robby oeffnen

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port=port, #Port

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baudrate=38400, #baud

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timeout=1, #timeout

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parity=serial.PARITY_NONE, #keine

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stopbits=serial.STOPBITS_ONE, #ein stopbit

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bytesize=serial.EIGHTBITS #acht bits

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)

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ser.setRTS(0) #rts aus

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time.sleep(0.2) #anderem prog zeit lassen

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pipein = open(pipe_name, "r")#pipe oeffnen

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fl = fcntl.fcntl(pipein, fcntl.F_GETFL)#pipein

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fcntl.fcntl(pipein, fcntl.F_SETFL, fl |os.O_NONBLOCK)#nonblocking machen

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stdscr = curses.initscr()#start

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curses.noecho()# Keine Anzeige gedrückter Tasten

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curses.cbreak()# Kein line-buffer -> kann eingreifen

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stdscr.keypad(1)# Escape-Sequenzen aktivieren

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# Farben

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curses.start_color()

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curses.init_pair(1, curses.COLOR_GREEN, curses.COLOR_BLUE)

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curses.init_pair(2, curses.COLOR_GREEN, curses.COLOR_WHITE)

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curses.init_pair(3, curses.COLOR_BLACK, curses.COLOR_WHITE)

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# Fenster und Hintergrundfarben

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stdscr.bkgd(curses.color_pair(1))

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stdscr.refresh()

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termy, termx = stdscr.getmaxyx() #groesse von terminalfenster ermitteln

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win = curses.newwin((termy-4), termx, 0, 0)#groesse: max. breite, unten 4 uebrig lassen

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win.bkgd(curses.color_pair(2))

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win.box()

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win.refresh()

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win2 = curses.newwin(4, termx, (termy-4), 0)#groesse: max. breite, vier unterste zeilen

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win2.box()

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win2.bkgd(curses.color_pair(3))

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win2.keypad(1) #fuer key_up etc

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win.refresh()

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win2.timeout(0)#non-blocking lesen: keine daten -> -1

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win2.refresh()

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win2.addstr(1, 2, _("Please Enter your command (help for a list of built-in commands): "))

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win2.addstr(2, 2, "")

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win2.refresh()

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pad_height = 10000

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pad = curses.newpad(pad_height, 1000)#pad fuer term

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maxy, maxx = win.getmaxyx()#groesse von win1 ermitteln

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# Wir merken uns, wo wir sind -> scrollen

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line_start = 1

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col_start = 1

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i=2 #pad bei 2.Zeile anfangen

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zeile = ">> " #von robby : >> am anfang, z.B.( >> [RP6BOOT] )

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line = "" #von tastatur: leerer string

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pad.addstr(1, 2, _("Robby pyTerm version ")+str(VERSION)) #begruessung

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pad.refresh(line_start, col_start, 1, 1, maxy-2, maxx-2) #pad updaten

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exit = 0 #bei 1 exit

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cur_histcounter = histcounter

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while True and exit == 0:

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try:

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read = pipein.read(1)#IOError wenn keine Daten

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zeile += read#Byte dem String anfügen

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if read == "\n":#EOL

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pad.addstr(i, 2, zeile)#aufs pad schreiben

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line_start = i-maxy+4

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pad.refresh(line_start, col_start, 1, 1, maxy-2, maxx-2)#pad, wenn noetig, verschieben

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i=i+1

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zeile = ">> "#zeile leeren

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except IOError:

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pass #nop()

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if i > pad_height -2:

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pad.erase()

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i = 0

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char = win2.getch() #user-input einlesen

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if char != -1: #char wartet!

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if char == curses.KEY_BACKSPACE: #127:#loeschtaste

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win2.delch()#char loeschen

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line = line[0:(len(line)-1)]#von line letzten char loeschen

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win2.clear()

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win2.box()

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win2.addstr(1, 2, _("Please Enter your command (help for a list of built-in commands): "))

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win2.addstr(2, 2, line)

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win2.refresh() #refreshen

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elif char == curses.KEY_UP:

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cur_histcounter = cur_histcounter - 1

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win2.clear()

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win2.box()

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win2.addstr(1, 2, _("Please Enter your command (help for a list of built-in commands): "))

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line = readline.get_history_item(cur_histcounter)

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#print(cur_histcounter)

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if(line == None):

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curses.beep()

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line = ""

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cur_histcounter = cur_histcounter + 1

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win2.addstr(2, 2, line)

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win2.refresh() #refreshen

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elif char == curses.KEY_DOWN:

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cur_histcounter = cur_histcounter + 1

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win2.clear()

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win2.box()

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win2.addstr(1, 2, _("Please Enter your command (help for a list of built-in commands): "))

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line = readline.get_history_item(cur_histcounter)

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#print(cur_histcounter)

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if(line == None):

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curses.beep()

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line = ""

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cur_histcounter = cur_histcounter - 1

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win2.addstr(2, 2, line)

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win2.refresh() #refreshen

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elif char == curses.KEY_NPAGE: #bild auf

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try:

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page += 1

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except NameError:

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page = i-maxy+4

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page += 1

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line_start = page

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if line_start > i-maxy+4:

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line_start = i-maxy+4

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curses.beep()

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pad.refresh(line_start, col_start, 1, 1, maxy-2, maxx-2)

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elif char == curses.KEY_PPAGE: #bild ab

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try:

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page -= 1

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except NameError:

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page = i-maxy+4

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page -= 1

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line_start = page

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if line_start < 0:

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line_start = 0

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curses.beep()

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pad.refresh(line_start, col_start, 1, 1, maxy-2, maxx-2)

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elif char == curses.KEY_END:

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del page

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line_start = i-maxy+4

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pad.refresh(line_start, col_start, 1, 1, maxy-2, maxx-2)

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elif char == 10: #enter

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histcounter = histcounter +1

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cur_histcounter = histcounter

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readline.add_history(line)

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if(line == "help"):#hilfe ausgeben

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pad.addstr(i, 2, _("+--------------------------------------------------+"))

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i= i+1

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pad.addstr(i, 2, _("| pyTerm help |"))

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i= i+1

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pad.addstr(i, 2, _("| Built-in Commands: |"))

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i= i+1

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pad.addstr(i, 2, _("| exit: Exit pyTerm |"))

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i= i+1

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pad.addstr(i, 2, _("| reset: Reset RP6 |"))

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i= i+1

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pad.addstr(i, 2, _("| start: Start Program on RP6 |"))

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i= i+1

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pad.addstr(i, 2, _("| Keys: |"))

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i= i+1

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pad.addstr(i, 2, _("| PageUp: Scroll up in Term |"))

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i= i+1

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pad.addstr(i, 2, _("| PageDown: Scroll down in Term |"))

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i= i+1

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pad.addstr(i, 2, _("| End: stop scrolling |"))

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i= i+1

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pad.addstr(i, 2, _("+--------------------------------------------------+"))

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elif line == "exit": #ende

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exit = 1 #endlosschleife verlassen

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os.kill(pid, signal.SIGTERM) #child (robbytopipe) killen

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elif line == "reset": #robby-reset

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ser.setRTS(1) #rts ein

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time.sleep(0.1) #kurz warten

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ser.setRTS(0) #rts aus

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elif line == "start":

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try:

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ser.write(bytes('s', encoding='ascii'))#

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ser.write(bytes("\x0A", encoding='ascii'))

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except:#python 2.6 fallback

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ser.write('s')

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ser.write("\x0A")

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else:

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pad.addstr(i, 2, "# "+line) #befehl auf pad schreiben

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try:

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ser.write(bytes(line, encoding='ascii'))#

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ser.write(bytes("\x0A", encoding='ascii'))

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except:#python 2.6 fallback

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ser.write(line)

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ser.write("\x0A")

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line_start = i-maxy+4

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pad.refresh(line_start, col_start, 1, 1, maxy-2, maxx-2)

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i = i+1

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win2.clear()

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win2.box()

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win2.addstr(1, 2, _("Please Enter your command (help for a list of built-in commands): "))

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win2.addstr(2, 2, "")

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win2.refresh()

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line = ""

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elif char > 31 and char < 127:

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win2.addch(char)

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line += chr(char)

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win2.refresh()

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curses.nocbreak()

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stdscr.keypad(0)

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curses.echo()

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curses.endwin()

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readline.write_history_file(histpath)

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if not os.path.exists(pipe_name):

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os.mkfifo(pipe_name)

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pid = os.fork()

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if pid != 0:

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termtorobby(pid)

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else:

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robbytopipe()