LSP Kommunikation verbessert.

main.py

@@ -11,6 +11,7 @@ import threading
 import time
 import numpy as np
 import csv
+import os
 
 class ArduinoGUI:
     def __init__(self, root):
@@ -19,14 +20,7 @@ class ArduinoGUI:
         self.root.title("PRG 342 GUI")
         self.root.attributes('-fullscreen', True)  # Setzt das Fenster in den Vollbildmodus
 
-        self.ser = serial.Serial(
-            port='/dev/serial0',
-            baudrate=192000,
-            parity=serial.PARITY_NONE,
-            stopbits=serial.STOPBITS_ONE,
-            bytesize=serial.EIGHTBITS,
-            timeout=1
-        )
+        self.ser = None
 
         self.arduino = None
         self.ports = list(serial.tools.list_ports.comports())
@@ -169,6 +163,8 @@ class ArduinoGUI:
         self.current_angle = 0
         self.current_torque = 0
         self.analogInput = 0
+        self.currentSetpoint = 0
+        self.currentOutput = 0
 
         self.angle_label_var = customtkinter.StringVar()
         self.angle_label_var.set("Drehwinkel: 0")
@@ -252,6 +248,35 @@ class ArduinoGUI:
                 messagebox.showerror("Fehler", str(e))
         else:
             messagebox.showwarning("Warnung", "Bitte einen COM-Port auswählen")
+            
+    def connect_lsp(self):
+        try:
+            ports = serial.tools.list_ports.comports()
+            used_ports = [port.device for port in ports]
+            
+            serPort = None
+            
+            if os.name == 'nt':
+                for i in range(1, 257):
+                    port = f'(COM{i}'
+                    if (port not in used_ports) and (serPort == None):
+                        serPort = port
+            else:
+                for i in range(256):
+                    port = f'/dev/ttyS{i}'
+                    if (port not in used_ports) and (serPort == None):
+                        serPort = port
+                for i in range(256):
+                    port = f'/dev/ttyUSB{i}'
+                    if (port not in used_ports) and (serPort == None):
+                        serPort = port
+            
+            if serPort != None:
+                self.ser = serial.Serial(serPort, 19200, timeout=1)
+                print(F"Slave Port bereit an {serPort}")
+        except Exception as e:
+            print(F"Fehler beim Öffnen des Slave Ports an {serPort}")
+            pass
 
     def set_setpoint(self):
         if self.arduino:
@@ -419,10 +444,25 @@ class ArduinoGUI:
 
     def lsp_communication_loop(self):
         while self.running:
-            if self.ser:
+            if self.ser:                
                 if self.ser.in_waiting:
-                    command = self.ser.readline
-                    self.ser.write(command)
+                    try:
+                        command = self.ser.readline().decode(errors='ignore')
+                        print(command)
+                        if command == 'a':
+                            message = f"{self.current_angle};{self.current_torque};{self.analogInput};{self.currentSetpoint};{self.currentOutput}\n"
+                            self.ser.write(message.encode())
+                        while self.ser.out_waiting:
+                            pass
+                    except Exception as e:
+                        print(e)
+                #self.ser.write(b'Hallo\n')   
+            else :
+                try:
+                    pass
+                    self.connect_lsp()
+                except Exception as e:
+                    print(e)
 
 
     def send_pid_parameters(self):
@@ -444,6 +484,8 @@ class ArduinoGUI:
         self.running = False
         if self.arduino:
             self.arduino.close()
+        if self.ser:
+            self.ser.close()
         self.root.quit()
         self.root.destroy()