我在Raspberry Pi(Python脚本)和Arduino nano/uno之间的串行通信有一些问题。我用USB端口连接两个设备,当我直接从arduino IDE串行监视器发送命令时,arduino草图始终正确响应:
<Arduino is ready>
<MSG:GDI,RESPONSE:EMD-1707-1993,Time:7>
<MSG:GDI,RESPONSE:EMD-1707-1993,Time:23>
<MSG:GDI,RESPONSE:EMD-1707-1993,Time:26>
<MSG:GDI,RESPONSE:EMD-1707-1993,Time:30>
<MSG:GDI,RESPONSE:EMD-1707-1993,Time:34>
<MSG:GDI,RESPONSE:EMD-1707-1993,Time:38>
但是,当我运行python脚本,并且他发送相同的命令时,草图以随机方式响应。在
覆盆子终端:
^{pr2}$Arduino串行监视器:
<Arduino is ready>
MGIRSPi35
Mi代码为:
Arduino素描:
#include <EEPROM.h>
#define DEVICE_BAUD_RATE 9600
#define EEPROM_SIZE 1024
#define ID_PREFIX "EMD-"
#define MSG_START_CHAR '<'
#define MSG_END_CHAR '>'
#define MSG_GET_DEVICE_ID "GDI"
const byte buffSize = 40;
char inputBuffer[buffSize];
byte bytesRecvd = 0;
boolean readInProgress = false;
boolean newMsg = false;
char cmd[buffSize] = {0};
int pin = 0;
int value = 0;
unsigned long curMillis;
void setup() {
if(getDeviceId() == "") {
setDeviceId();
}
Serial.begin(DEVICE_BAUD_RATE);
while(!Serial) {
;
}
Serial.println("<Arduino is ready>");
}
void loop() {
curMillis = millis();
readMsg();
processCommand();
}
void readMsg() {
if(Serial.available() > 0) {
char x = Serial.read();
if(x == MSG_END_CHAR) {
readInProgress = false;
newMsg = true;
inputBuffer[bytesRecvd] = 0;
strcpy(cmd, inputBuffer);
}
if(readInProgress) {
inputBuffer[bytesRecvd] = x;
bytesRecvd++;
if(bytesRecvd == buffSize) {
bytesRecvd = buffSize - 1;
}
}
if(x == MSG_START_CHAR) {
bytesRecvd = 0;
readInProgress = true;
}
}
}
void processCommand() {
if(strcmp(cmd, MSG_GET_DEVICE_ID) == 0) {
sendMsg(getDeviceId());
} else {
sendMsg("Command Not Found");
}
}
void sendMsg(String response) {
if(newMsg) {
newMsg = false;
Serial.print("<MSG:");
Serial.print(cmd);
Serial.print(",RESPONSE:");
Serial.print(response);
Serial.print(",Time:");
Serial.print(curMillis >> 9);
Serial.println(">");
}
}
String getDeviceId() {
String id = "";
for(int i=0; i<EEPROM_SIZE; i++) {
int value = EEPROM.read(i);
if(value == 0xFF) {
return id;
}
id += char(value);
}
return id;
}
void setDeviceId() {
randomSeed(analogRead(0));
String id = ID_PREFIX + String(random(1000, 10000)) + "-" + String(random(1000, 10000));
for(int i=0; i<EEPROM_SIZE; i++) {
EEPROM.write(i, i<id.length() ? id.charAt(i) : 0xFF);
}
}
Python脚本:
#!/usr/bin/python
import os
import serial
MSG_START_CHAR = '<'
MSG_END_CHAR = '>'
MSG_GET_DEVICE_ID = 'GDI'
def read_from_device(serial_connection):
response = ""
current_char = "z"
while ord(current_char) != MSG_START_CHAR:
current_char = serial_connection.read()
while ord(current_char) != MSG_START_CHAR:
if ord(current_char) != MSG_START_CHAR:
response = response + current_char
current_char = serial_connection.read()
return(response)
def write_to_device(serial_connection, msg):
cmd = MSG_START_CHAR + msg + MSG_END_CHAR
print(cmd)
serial_connection.write(cmd)
with serial.Serial('/dev/ttyACM0', 9600, timeout=10) as serial_connection:
waiting_for_reply = False
if waiting_for_reply == False:
print('Sending {0} command to device...'.format(MSG_GET_DEVICE_ID))
write_to_device(serial_connection, MSG_GET_DEVICE_ID)
waiting_for_reply = True
if waiting_for_reply == True:
while serial_connection.inWaiting() == 0:
pass
response = read_from_device(serial_connection)
print('Reply Received: {0}'.format(response))
waiting_for_reply = False
serial_connection.close()
问题是你在比较一个int和一个字符串。在函数read_from_device中,这行:
current_char
是一个字符串。在ord(current_char)
是一个整数(实际上是一个字符串的ASCII值)。在MSG_START_CHAR
是一个字符串。在因此比较的是int和string。这将始终为False,因此while循环将永远不会退出。最终Arduino不再有字符了,此时您将对空字符串执行
ord()
。这是不允许的,所以你在那一点上得到了回溯。在你根本不需要ord函数。在Python中,您只需直接处理字符串。在
试试这个:
^{pr2}$有一件事我不知道:Arduino正在发送单字节字符。在Python3中(如果您使用的是这个),所有字符都是unicode。我不知道序列库会怎么处理。在
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