50 lines
1.4 KiB
Python
Executable File
50 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import sys
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import time
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import select
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda # noqa: E402
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setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
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unsetcolor = "\033[00m"
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if __name__ == "__main__":
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while True:
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try:
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port_number = int(os.getenv("PORT", "0"))
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claim = os.getenv("CLAIM") is not None
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serials = Panda.list()
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if os.getenv("SERIAL"):
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serials = [x for x in serials if x == os.getenv("SERIAL")]
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pandas = list([Panda(x, claim=claim) for x in serials])
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if not len(pandas):
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sys.exit("no pandas found")
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if os.getenv("BAUD") is not None:
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for panda in pandas:
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panda.set_uart_baud(port_number, int(os.getenv("BAUD"))) # type: ignore
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while True:
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for i, panda in enumerate(pandas):
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while True:
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ret = panda.serial_read(port_number)
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if len(ret) > 0:
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sys.stdout.write(setcolor[i] + ret.decode('ascii') + unsetcolor)
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sys.stdout.flush()
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else:
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break
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if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
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ln = sys.stdin.readline()
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if claim:
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panda.serial_write(port_number, ln)
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time.sleep(0.01)
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except Exception:
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print("panda disconnected!")
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time.sleep(0.5)
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