diff --git a/base/SensorSender/SensorSender.sdf b/base/SensorSender/SensorSender.sdf
index fa0a7e7..5dbdab8 100644
Binary files a/base/SensorSender/SensorSender.sdf and b/base/SensorSender/SensorSender.sdf differ
diff --git a/base/SensorSender/SensorSender.v12.suo b/base/SensorSender/SensorSender.v12.suo
index 3918cfb..187e156 100644
Binary files a/base/SensorSender/SensorSender.v12.suo and b/base/SensorSender/SensorSender.v12.suo differ
diff --git a/base/usstgui/.vs/usstgui/v14/.suo b/base/usstgui/.vs/usstgui/v14/.suo
index ff3321b..198bf7c 100644
Binary files a/base/usstgui/.vs/usstgui/v14/.suo and b/base/usstgui/.vs/usstgui/v14/.suo differ
diff --git a/base/usstgui/usstgui/Windows/ArmStatus.xaml b/base/usstgui/usstgui/Windows/ArmStatus.xaml
index 1937d5b..0bfcfcc 100644
--- a/base/usstgui/usstgui/Windows/ArmStatus.xaml
+++ b/base/usstgui/usstgui/Windows/ArmStatus.xaml
@@ -37,7 +37,6 @@
-
diff --git a/base/usstgui/usstgui/Windows/ArmStatus.xaml.cs b/base/usstgui/usstgui/Windows/ArmStatus.xaml.cs
index 78645aa..e590fab 100644
--- a/base/usstgui/usstgui/Windows/ArmStatus.xaml.cs
+++ b/base/usstgui/usstgui/Windows/ArmStatus.xaml.cs
@@ -186,7 +186,7 @@ private void updateArmDrawing()
}
double m_stepSize;
- private void ArmDrawing_KeyDown(object sender, KeyEventArgs e)
+ /*private void ArmDrawing_KeyDown(object sender, KeyEventArgs e)
{
switch (e.Key) {
// wasd controls for when using the figure
@@ -230,6 +230,6 @@ private void ArmDrawing_KeyDown(object sender, KeyEventArgs e)
{
ArmDrawing.Children.Clear();
}
- }
+ }*/
}
}
diff --git a/base/usstgui/usstgui/Windows/DrillStatus.xaml b/base/usstgui/usstgui/Windows/DrillStatus.xaml
index 2bc6fa5..c92405c 100644
--- a/base/usstgui/usstgui/Windows/DrillStatus.xaml
+++ b/base/usstgui/usstgui/Windows/DrillStatus.xaml
@@ -27,8 +27,8 @@
-
-
+
+
diff --git a/base/usstgui/usstgui/Windows/NavStatus.xaml.cs b/base/usstgui/usstgui/Windows/NavStatus.xaml.cs
index f8adceb..719ece3 100644
--- a/base/usstgui/usstgui/Windows/NavStatus.xaml.cs
+++ b/base/usstgui/usstgui/Windows/NavStatus.xaml.cs
@@ -32,7 +32,7 @@ public NavStatus()
MessageBox.Show("No internet connection available, going to CacheOnly mode.");
}
- MainMap.MapProvider = GMapProviders.OpenStreetMap;
+ MainMap.MapProvider = GMapProviders.GoogleHybridMap;
MainMap.Position = new PointLatLng(52.132452, -106.628350);
// Add rover icon to list
@@ -229,11 +229,11 @@ public static string GetDelta(GeoAngle[] A, GeoAngle[] B)
public void UpdateRoverPosition(double lat, double lng, double hdg)
{
- WaypointStorage rover = PointsList.Items.GetItemAt(0) as WaypointStorage;
+ /*WaypointStorage rover = PointsList.Items.GetItemAt(0) as WaypointStorage;
RoverMarker roverIcon = rover.Marker.Shape as RoverMarker;
roverIcon.MarkerArrowHeading(hdg);
rover.UpdatePosDD(lat, lng);
- rover.Marker.Position = new PointLatLng(rover.Lat.DecimalDegrees, rover.Lng.DecimalDegrees);
+ rover.Marker.Position = new PointLatLng(rover.Lat.DecimalDegrees, rover.Lng.DecimalDegrees);*/
}
private void CenterMap_Click(object sender, RoutedEventArgs e)
diff --git a/rover/python/miniterm.py b/rover/python/miniterm.py
new file mode 100644
index 0000000..635ce56
--- /dev/null
+++ b/rover/python/miniterm.py
@@ -0,0 +1,694 @@
+#!/usr/bin/env python
+
+# Very simple serial terminal
+# (C)2002-2011 Chris Liechti
+
+# Input characters are sent directly (only LF -> CR/LF/CRLF translation is
+# done), received characters are displayed as is (or escaped trough pythons
+# repr, useful for debug purposes)
+
+
+import sys, os, serial, threading
+try:
+ from serial.tools.list_ports import comports
+except ImportError:
+ comports = None
+
+EXITCHARCTER = serial.to_bytes([0x1d]) # GS/CTRL+]
+MENUCHARACTER = serial.to_bytes([0x14]) # Menu: CTRL+T
+
+DEFAULT_PORT = None
+DEFAULT_BAUDRATE = 9600
+DEFAULT_RTS = None
+DEFAULT_DTR = None
+
+
+def key_description(character):
+ """generate a readable description for a key"""
+ ascii_code = ord(character)
+ if ascii_code < 32:
+ return 'Ctrl+%c' % (ord('@') + ascii_code)
+ else:
+ return repr(character)
+
+
+# help text, starts with blank line! it's a function so that the current values
+# for the shortcut keys is used and not the value at program start
+def get_help_text():
+ return """
+--- pySerial (%(version)s) - miniterm - help
+---
+--- %(exit)-8s Exit program
+--- %(menu)-8s Menu escape key, followed by:
+--- Menu keys:
+--- %(itself)-7s Send the menu character itself to remote
+--- %(exchar)-7s Send the exit character itself to remote
+--- %(info)-7s Show info
+--- %(upload)-7s Upload file (prompt will be shown)
+--- Toggles:
+--- %(rts)-7s RTS %(echo)-7s local echo
+--- %(dtr)-7s DTR %(break)-7s BREAK
+--- %(lfm)-7s line feed %(repr)-7s Cycle repr mode
+---
+--- Port settings (%(menu)s followed by the following):
+--- p change port
+--- 7 8 set data bits
+--- n e o s m change parity (None, Even, Odd, Space, Mark)
+--- 1 2 3 set stop bits (1, 2, 1.5)
+--- b change baud rate
+--- x X disable/enable software flow control
+--- r R disable/enable hardware flow control
+""" % {
+ 'version': getattr(serial, 'VERSION', 'unknown version'),
+ 'exit': key_description(EXITCHARCTER),
+ 'menu': key_description(MENUCHARACTER),
+ 'rts': key_description('\x12'),
+ 'repr': key_description('\x01'),
+ 'dtr': key_description('\x04'),
+ 'lfm': key_description('\x0c'),
+ 'break': key_description('\x02'),
+ 'echo': key_description('\x05'),
+ 'info': key_description('\x09'),
+ 'upload': key_description('\x15'),
+ 'itself': key_description(MENUCHARACTER),
+ 'exchar': key_description(EXITCHARCTER),
+}
+
+if sys.version_info >= (3, 0):
+ def character(b):
+ return b.decode('latin1')
+else:
+ def character(b):
+ return b
+
+LF = serial.to_bytes([10])
+CR = serial.to_bytes([13])
+CRLF = serial.to_bytes([13, 10])
+
+X00 = serial.to_bytes([0])
+X0E = serial.to_bytes([0x0e])
+
+# first choose a platform dependant way to read single characters from the console
+global console
+
+if os.name == 'nt':
+ import msvcrt
+ class Console(object):
+ def __init__(self):
+ pass
+
+ def setup(self):
+ pass # Do nothing for 'nt'
+
+ def cleanup(self):
+ pass # Do nothing for 'nt'
+
+ def getkey(self):
+ while True:
+ z = msvcrt.getch()
+ if z == X00 or z == X0E: # functions keys, ignore
+ msvcrt.getch()
+ else:
+ if z == CR:
+ return LF
+ return z
+
+ console = Console()
+
+elif os.name == 'posix':
+ import termios, sys, os
+ class Console(object):
+ def __init__(self):
+ self.fd = sys.stdin.fileno()
+ self.old = None
+
+ def setup(self):
+ self.old = termios.tcgetattr(self.fd)
+ new = termios.tcgetattr(self.fd)
+ new[3] = new[3] & ~termios.ICANON & ~termios.ECHO & ~termios.ISIG
+ new[6][termios.VMIN] = 1
+ new[6][termios.VTIME] = 0
+ termios.tcsetattr(self.fd, termios.TCSANOW, new)
+
+ def getkey(self):
+ c = os.read(self.fd, 1)
+ return c
+
+ def cleanup(self):
+ if self.old is not None:
+ termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old)
+
+ console = Console()
+
+ def cleanup_console():
+ console.cleanup()
+
+ sys.exitfunc = cleanup_console # terminal modes have to be restored on exit...
+
+else:
+ raise NotImplementedError("Sorry no implementation for your platform (%s) available." % sys.platform)
+
+
+def dump_port_list():
+ if comports:
+ sys.stderr.write('\n--- Available ports:\n')
+ for port, desc, hwid in sorted(comports()):
+ #~ sys.stderr.write('--- %-20s %s [%s]\n' % (port, desc, hwid))
+ sys.stderr.write('--- %-20s %s\n' % (port, desc))
+
+
+CONVERT_CRLF = 2
+CONVERT_CR = 1
+CONVERT_LF = 0
+NEWLINE_CONVERISON_MAP = (LF, CR, CRLF)
+LF_MODES = ('LF', 'CR', 'CR/LF')
+
+REPR_MODES = ('raw', 'some control', 'all control', 'hex')
+
+class Miniterm(object):
+ def __init__(self, port, baudrate, parity, rtscts, xonxoff, echo=False, convert_outgoing=CONVERT_CRLF, repr_mode=0):
+ try:
+ self.serial = serial.serial_for_url(port, baudrate, parity=parity, rtscts=rtscts, xonxoff=xonxoff, timeout=1)
+ except AttributeError:
+ # happens when the installed pyserial is older than 2.5. use the
+ # Serial class directly then.
+ self.serial = serial.Serial(port, baudrate, parity=parity, rtscts=rtscts, xonxoff=xonxoff, timeout=1)
+ self.echo = echo
+ self.repr_mode = repr_mode
+ self.convert_outgoing = convert_outgoing
+ self.newline = NEWLINE_CONVERISON_MAP[self.convert_outgoing]
+ self.dtr_state = True
+ self.rts_state = True
+ self.break_state = False
+
+ def _start_reader(self):
+ """Start reader thread"""
+ self._reader_alive = True
+ # start serial->console thread
+ self.receiver_thread = threading.Thread(target=self.reader)
+ self.receiver_thread.setDaemon(True)
+ self.receiver_thread.start()
+
+ def _stop_reader(self):
+ """Stop reader thread only, wait for clean exit of thread"""
+ self._reader_alive = False
+ self.receiver_thread.join()
+
+
+ def start(self):
+ self.alive = True
+ self._start_reader()
+ # enter console->serial loop
+ self.transmitter_thread = threading.Thread(target=self.writer)
+ self.transmitter_thread.setDaemon(True)
+ self.transmitter_thread.start()
+
+ def stop(self):
+ self.alive = False
+
+ def join(self, transmit_only=False):
+ self.transmitter_thread.join()
+ if not transmit_only:
+ self.receiver_thread.join()
+
+ def dump_port_settings(self):
+ sys.stderr.write("\n--- Settings: %s %s,%s,%s,%s\n" % (
+ self.serial.portstr,
+ self.serial.baudrate,
+ self.serial.bytesize,
+ self.serial.parity,
+ self.serial.stopbits))
+ sys.stderr.write('--- RTS: %-8s DTR: %-8s BREAK: %-8s\n' % (
+ (self.rts_state and 'active' or 'inactive'),
+ (self.dtr_state and 'active' or 'inactive'),
+ (self.break_state and 'active' or 'inactive')))
+ try:
+ sys.stderr.write('--- CTS: %-8s DSR: %-8s RI: %-8s CD: %-8s\n' % (
+ (self.serial.getCTS() and 'active' or 'inactive'),
+ (self.serial.getDSR() and 'active' or 'inactive'),
+ (self.serial.getRI() and 'active' or 'inactive'),
+ (self.serial.getCD() and 'active' or 'inactive')))
+ except serial.SerialException:
+ # on RFC 2217 ports it can happen to no modem state notification was
+ # yet received. ignore this error.
+ pass
+ sys.stderr.write('--- software flow control: %s\n' % (self.serial.xonxoff and 'active' or 'inactive'))
+ sys.stderr.write('--- hardware flow control: %s\n' % (self.serial.rtscts and 'active' or 'inactive'))
+ sys.stderr.write('--- data escaping: %s linefeed: %s\n' % (
+ REPR_MODES[self.repr_mode],
+ LF_MODES[self.convert_outgoing]))
+
+ def reader(self):
+ """loop and copy serial->console"""
+ try:
+ while self.alive and self._reader_alive:
+ data = character(self.serial.read(1))
+
+ if self.repr_mode == 0:
+ # direct output, just have to care about newline setting
+ if data == '\r' and self.convert_outgoing == CONVERT_CR:
+ sys.stdout.write('\n')
+ else:
+ sys.stdout.write(data)
+ elif self.repr_mode == 1:
+ # escape non-printable, let pass newlines
+ if self.convert_outgoing == CONVERT_CRLF and data in '\r\n':
+ if data == '\n':
+ sys.stdout.write('\n')
+ elif data == '\r':
+ pass
+ elif data == '\n' and self.convert_outgoing == CONVERT_LF:
+ sys.stdout.write('\n')
+ elif data == '\r' and self.convert_outgoing == CONVERT_CR:
+ sys.stdout.write('\n')
+ else:
+ sys.stdout.write(repr(data)[1:-1])
+ elif self.repr_mode == 2:
+ # escape all non-printable, including newline
+ sys.stdout.write(repr(data)[1:-1])
+ elif self.repr_mode == 3:
+ # escape everything (hexdump)
+ for c in data:
+ sys.stdout.write("%s " % c.encode('hex'))
+ sys.stdout.flush()
+ except serial.SerialException, e:
+ self.alive = False
+ # would be nice if the console reader could be interruptted at this
+ # point...
+ raise
+
+
+ def writer(self):
+ """\
+ Loop and copy console->serial until EXITCHARCTER character is
+ found. When MENUCHARACTER is found, interpret the next key
+ locally.
+ """
+ menu_active = False
+ try:
+ while self.alive:
+ try:
+ b = console.getkey()
+ except KeyboardInterrupt:
+ b = serial.to_bytes([3])
+ c = character(b)
+ if menu_active:
+ if c == MENUCHARACTER or c == EXITCHARCTER: # Menu character again/exit char -> send itself
+ self.serial.write(b) # send character
+ if self.echo:
+ sys.stdout.write(c)
+ elif c == '\x15': # CTRL+U -> upload file
+ sys.stderr.write('\n--- File to upload: ')
+ sys.stderr.flush()
+ console.cleanup()
+ filename = sys.stdin.readline().rstrip('\r\n')
+ if filename:
+ try:
+ file = open(filename, 'r')
+ sys.stderr.write('--- Sending file %s ---\n' % filename)
+ while True:
+ line = file.readline().rstrip('\r\n')
+ if not line:
+ break
+ self.serial.write(line)
+ self.serial.write('\r\n')
+ # Wait for output buffer to drain.
+ self.serial.flush()
+ sys.stderr.write('.') # Progress indicator.
+ sys.stderr.write('\n--- File %s sent ---\n' % filename)
+ except IOError, e:
+ sys.stderr.write('--- ERROR opening file %s: %s ---\n' % (filename, e))
+ console.setup()
+ elif c in '\x08hH?': # CTRL+H, h, H, ? -> Show help
+ sys.stderr.write(get_help_text())
+ elif c == '\x12': # CTRL+R -> Toggle RTS
+ self.rts_state = not self.rts_state
+ self.serial.setRTS(self.rts_state)
+ sys.stderr.write('--- RTS %s ---\n' % (self.rts_state and 'active' or 'inactive'))
+ elif c == '\x04': # CTRL+D -> Toggle DTR
+ self.dtr_state = not self.dtr_state
+ self.serial.setDTR(self.dtr_state)
+ sys.stderr.write('--- DTR %s ---\n' % (self.dtr_state and 'active' or 'inactive'))
+ elif c == '\x02': # CTRL+B -> toggle BREAK condition
+ self.break_state = not self.break_state
+ self.serial.setBreak(self.break_state)
+ sys.stderr.write('--- BREAK %s ---\n' % (self.break_state and 'active' or 'inactive'))
+ elif c == '\x05': # CTRL+E -> toggle local echo
+ self.echo = not self.echo
+ sys.stderr.write('--- local echo %s ---\n' % (self.echo and 'active' or 'inactive'))
+ elif c == '\x09': # CTRL+I -> info
+ self.dump_port_settings()
+ elif c == '\x01': # CTRL+A -> cycle escape mode
+ self.repr_mode += 1
+ if self.repr_mode > 3:
+ self.repr_mode = 0
+ sys.stderr.write('--- escape data: %s ---\n' % (
+ REPR_MODES[self.repr_mode],
+ ))
+ elif c == '\x0c': # CTRL+L -> cycle linefeed mode
+ self.convert_outgoing += 1
+ if self.convert_outgoing > 2:
+ self.convert_outgoing = 0
+ self.newline = NEWLINE_CONVERISON_MAP[self.convert_outgoing]
+ sys.stderr.write('--- line feed %s ---\n' % (
+ LF_MODES[self.convert_outgoing],
+ ))
+ elif c in 'pP': # P -> change port
+ dump_port_list()
+ sys.stderr.write('--- Enter port name: ')
+ sys.stderr.flush()
+ console.cleanup()
+ try:
+ port = sys.stdin.readline().strip()
+ except KeyboardInterrupt:
+ port = None
+ console.setup()
+ if port and port != self.serial.port:
+ # reader thread needs to be shut down
+ self._stop_reader()
+ # save settings
+ settings = self.serial.getSettingsDict()
+ try:
+ try:
+ new_serial = serial.serial_for_url(port, do_not_open=True)
+ except AttributeError:
+ # happens when the installed pyserial is older than 2.5. use the
+ # Serial class directly then.
+ new_serial = serial.Serial()
+ new_serial.port = port
+ # restore settings and open
+ new_serial.applySettingsDict(settings)
+ new_serial.open()
+ new_serial.setRTS(self.rts_state)
+ new_serial.setDTR(self.dtr_state)
+ new_serial.setBreak(self.break_state)
+ except Exception, e:
+ sys.stderr.write('--- ERROR opening new port: %s ---\n' % (e,))
+ new_serial.close()
+ else:
+ self.serial.close()
+ self.serial = new_serial
+ sys.stderr.write('--- Port changed to: %s ---\n' % (self.serial.port,))
+ # and restart the reader thread
+ self._start_reader()
+ elif c in 'bB': # B -> change baudrate
+ sys.stderr.write('\n--- Baudrate: ')
+ sys.stderr.flush()
+ console.cleanup()
+ backup = self.serial.baudrate
+ try:
+ self.serial.baudrate = int(sys.stdin.readline().strip())
+ except ValueError, e:
+ sys.stderr.write('--- ERROR setting baudrate: %s ---\n' % (e,))
+ self.serial.baudrate = backup
+ else:
+ self.dump_port_settings()
+ console.setup()
+ elif c == '8': # 8 -> change to 8 bits
+ self.serial.bytesize = serial.EIGHTBITS
+ self.dump_port_settings()
+ elif c == '7': # 7 -> change to 8 bits
+ self.serial.bytesize = serial.SEVENBITS
+ self.dump_port_settings()
+ elif c in 'eE': # E -> change to even parity
+ self.serial.parity = serial.PARITY_EVEN
+ self.dump_port_settings()
+ elif c in 'oO': # O -> change to odd parity
+ self.serial.parity = serial.PARITY_ODD
+ self.dump_port_settings()
+ elif c in 'mM': # M -> change to mark parity
+ self.serial.parity = serial.PARITY_MARK
+ self.dump_port_settings()
+ elif c in 'sS': # S -> change to space parity
+ self.serial.parity = serial.PARITY_SPACE
+ self.dump_port_settings()
+ elif c in 'nN': # N -> change to no parity
+ self.serial.parity = serial.PARITY_NONE
+ self.dump_port_settings()
+ elif c == '1': # 1 -> change to 1 stop bits
+ self.serial.stopbits = serial.STOPBITS_ONE
+ self.dump_port_settings()
+ elif c == '2': # 2 -> change to 2 stop bits
+ self.serial.stopbits = serial.STOPBITS_TWO
+ self.dump_port_settings()
+ elif c == '3': # 3 -> change to 1.5 stop bits
+ self.serial.stopbits = serial.STOPBITS_ONE_POINT_FIVE
+ self.dump_port_settings()
+ elif c in 'xX': # X -> change software flow control
+ self.serial.xonxoff = (c == 'X')
+ self.dump_port_settings()
+ elif c in 'rR': # R -> change hardware flow control
+ self.serial.rtscts = (c == 'R')
+ self.dump_port_settings()
+ else:
+ sys.stderr.write('--- unknown menu character %s --\n' % key_description(c))
+ menu_active = False
+ elif c == MENUCHARACTER: # next char will be for menu
+ menu_active = True
+ elif c == EXITCHARCTER:
+ self.stop()
+ break # exit app
+ elif c == '\n':
+ self.serial.write(self.newline) # send newline character(s)
+ if self.echo:
+ sys.stdout.write(c) # local echo is a real newline in any case
+ sys.stdout.flush()
+ else:
+ self.serial.write(b) # send byte
+ if self.echo:
+ sys.stdout.write(c)
+ sys.stdout.flush()
+ except:
+ self.alive = False
+ raise
+
+def main():
+ import optparse
+
+ parser = optparse.OptionParser(
+ usage = "%prog [options] [port [baudrate]]",
+ description = "Miniterm - A simple terminal program for the serial port."
+ )
+
+ group = optparse.OptionGroup(parser, "Port settings")
+
+ group.add_option("-p", "--port",
+ dest = "port",
+ help = "port, a number or a device name. (deprecated option, use parameter instead)",
+ default = DEFAULT_PORT
+ )
+
+ group.add_option("-b", "--baud",
+ dest = "baudrate",
+ action = "store",
+ type = 'int',
+ help = "set baud rate, default %default",
+ default = DEFAULT_BAUDRATE
+ )
+
+ group.add_option("--parity",
+ dest = "parity",
+ action = "store",
+ help = "set parity, one of [N, E, O, S, M], default=N",
+ default = 'N'
+ )
+
+ group.add_option("--rtscts",
+ dest = "rtscts",
+ action = "store_true",
+ help = "enable RTS/CTS flow control (default off)",
+ default = False
+ )
+
+ group.add_option("--xonxoff",
+ dest = "xonxoff",
+ action = "store_true",
+ help = "enable software flow control (default off)",
+ default = False
+ )
+
+ group.add_option("--rts",
+ dest = "rts_state",
+ action = "store",
+ type = 'int',
+ help = "set initial RTS line state (possible values: 0, 1)",
+ default = DEFAULT_RTS
+ )
+
+ group.add_option("--dtr",
+ dest = "dtr_state",
+ action = "store",
+ type = 'int',
+ help = "set initial DTR line state (possible values: 0, 1)",
+ default = DEFAULT_DTR
+ )
+
+ parser.add_option_group(group)
+
+ group = optparse.OptionGroup(parser, "Data handling")
+
+ group.add_option("-e", "--echo",
+ dest = "echo",
+ action = "store_true",
+ help = "enable local echo (default off)",
+ default = False
+ )
+
+ group.add_option("--cr",
+ dest = "cr",
+ action = "store_true",
+ help = "do not send CR+LF, send CR only",
+ default = False
+ )
+
+ group.add_option("--lf",
+ dest = "lf",
+ action = "store_true",
+ help = "do not send CR+LF, send LF only",
+ default = False
+ )
+
+ group.add_option("-D", "--debug",
+ dest = "repr_mode",
+ action = "count",
+ help = """debug received data (escape non-printable chars)
+--debug can be given multiple times:
+0: just print what is received
+1: escape non-printable characters, do newlines as unusual
+2: escape non-printable characters, newlines too
+3: hex dump everything""",
+ default = 0
+ )
+
+ parser.add_option_group(group)
+
+
+ group = optparse.OptionGroup(parser, "Hotkeys")
+
+ group.add_option("--exit-char",
+ dest = "exit_char",
+ action = "store",
+ type = 'int',
+ help = "ASCII code of special character that is used to exit the application",
+ default = 0x1d
+ )
+
+ group.add_option("--menu-char",
+ dest = "menu_char",
+ action = "store",
+ type = 'int',
+ help = "ASCII code of special character that is used to control miniterm (menu)",
+ default = 0x14
+ )
+
+ parser.add_option_group(group)
+
+ group = optparse.OptionGroup(parser, "Diagnostics")
+
+ group.add_option("-q", "--quiet",
+ dest = "quiet",
+ action = "store_true",
+ help = "suppress non-error messages",
+ default = False
+ )
+
+ parser.add_option_group(group)
+
+
+ (options, args) = parser.parse_args()
+
+ options.parity = options.parity.upper()
+ if options.parity not in 'NEOSM':
+ parser.error("invalid parity")
+
+ if options.cr and options.lf:
+ parser.error("only one of --cr or --lf can be specified")
+
+ if options.menu_char == options.exit_char:
+ parser.error('--exit-char can not be the same as --menu-char')
+
+ global EXITCHARCTER, MENUCHARACTER
+ EXITCHARCTER = chr(options.exit_char)
+ MENUCHARACTER = chr(options.menu_char)
+
+ port = options.port
+ baudrate = options.baudrate
+ if args:
+ if options.port is not None:
+ parser.error("no arguments are allowed, options only when --port is given")
+ port = args.pop(0)
+ if args:
+ try:
+ baudrate = int(args[0])
+ except ValueError:
+ parser.error("baud rate must be a number, not %r" % args[0])
+ args.pop(0)
+ if args:
+ parser.error("too many arguments")
+ else:
+ # no port given on command line -> ask user now
+ if port is None:
+ dump_port_list()
+ port = raw_input('Enter port name:')
+
+ convert_outgoing = CONVERT_CRLF
+ if options.cr:
+ convert_outgoing = CONVERT_CR
+ elif options.lf:
+ convert_outgoing = CONVERT_LF
+
+ try:
+ miniterm = Miniterm(
+ port,
+ baudrate,
+ options.parity,
+ rtscts=options.rtscts,
+ xonxoff=options.xonxoff,
+ echo=options.echo,
+ convert_outgoing=convert_outgoing,
+ repr_mode=options.repr_mode,
+ )
+ except serial.SerialException, e:
+ sys.stderr.write("could not open port %r: %s\n" % (port, e))
+ sys.exit(1)
+
+ if not options.quiet:
+ sys.stderr.write('--- Miniterm on %s: %d,%s,%s,%s ---\n' % (
+ miniterm.serial.portstr,
+ miniterm.serial.baudrate,
+ miniterm.serial.bytesize,
+ miniterm.serial.parity,
+ miniterm.serial.stopbits,
+ ))
+ sys.stderr.write('--- Quit: %s | Menu: %s | Help: %s followed by %s ---\n' % (
+ key_description(EXITCHARCTER),
+ key_description(MENUCHARACTER),
+ key_description(MENUCHARACTER),
+ key_description('\x08'),
+ ))
+
+ if options.dtr_state is not None:
+ if not options.quiet:
+ sys.stderr.write('--- forcing DTR %s\n' % (options.dtr_state and 'active' or 'inactive'))
+ miniterm.serial.setDTR(options.dtr_state)
+ miniterm.dtr_state = options.dtr_state
+ if options.rts_state is not None:
+ if not options.quiet:
+ sys.stderr.write('--- forcing RTS %s\n' % (options.rts_state and 'active' or 'inactive'))
+ miniterm.serial.setRTS(options.rts_state)
+ miniterm.rts_state = options.rts_state
+
+ console.setup()
+ miniterm.start()
+ try:
+ miniterm.join(True)
+ except KeyboardInterrupt:
+ pass
+ if not options.quiet:
+ sys.stderr.write("\n--- exit ---\n")
+ miniterm.join()
+ #~ console.cleanup()
+
+# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+if __name__ == '__main__':
+ main()
diff --git a/rover/python/roverprocess/pyGPSserver.py b/rover/python/roverprocess/pyGPSserver.py
index 722be04..74c25b4 100644
--- a/rover/python/roverprocess/pyGPSserver.py
+++ b/rover/python/roverprocess/pyGPSserver.py
@@ -54,7 +54,7 @@ def readGPS_NMEA():
data = str(p.lat) + ' ' + str(p.lng)
except:
- raise
+ print "Serial Error"
if data:
sent = sock.sendto(data, address)