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())
@@ -50,8 +44,6 @@ class ArduinoGUI:
         self.load_configurations()
 
         # Start the communication thread
-        self.lsp_communication_tread = threading.Thread(target=self.lsp_communication_loop)
-        self.lsp_communication_tread.start()
         self.communication_thread = threading.Thread(target=self.communication_loop)
         self.communication_thread.start()
 
@@ -169,6 +161,8 @@ 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")
@@ -253,6 +247,38 @@ class ArduinoGUI:
         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
+                        pass
+            else:
+                for i in range(256):
+                    port = f'/dev/ttyS{i}'
+                    if (port not in used_ports) and (serPort == None):
+                        serPort = port
+                        pass
+                for i in range(256):
+                    port = f'/dev/ttyUSB{i}'
+                    if (port not in used_ports) and (serPort == None):
+                        serPort = port
+                        pass
+            
+            if serPort != None:
+                self.ser = serial.Serial(serPort, 9600, 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:
             try:
@@ -411,20 +437,42 @@ class ArduinoGUI:
                             
                             self.csv_writer.writerow([formatted_time, formatted_angle, formatted_setpoint, formatted_torque, formatted_output])
 
+                except Exception as e:
+                    print(e)
 
+
+            if self.ser:                
+                if self.ser.in_waiting:
+                    try:
+                        command = self.ser.read(1).decode(errors='ignore').strip()
+                        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
+                        if command == 'w':
+                            self.tare_angle()
+                        if command == 'u':
+                            time.sleep(5)
+                            string = self.ser.read_until(b"u")
+                            outCommand = F"u{string}u\n"
+                            self.arduino.write(outCommand.encode())
+                            time.sleep(0.1)
+
+                        self.ser.read_all()
+                    except Exception as e:
+                        print(e)
+                #self.ser.write(b'Hallo\n')   
+            else :
+                try:
+                    pass
+                    self.connect_lsp()
                 except Exception as e:
                     print(e)
 
             time.sleep(0.1)
 
-    def lsp_communication_loop(self):
-        while self.running:
-            if self.ser:
-                if self.ser.in_waiting:
-                    command = self.ser.readline
-                    self.ser.write(command)
-
-
     def send_pid_parameters(self):
         if self.selected_pid in self.pid_params:
             pid_values = self.pid_params[self.selected_pid]
@@ -444,6 +492,8 @@ class ArduinoGUI:
         self.running = False
         if self.arduino:
             self.arduino.close()
+        if self.ser:
+            self.ser.close()
         self.root.quit()
         self.root.destroy()