#!/usr/bin/python



#?eMPL_client.py

#?A?PC?application?for?use?with?embedded?MotionApps.

#?Copyright?2012?InvenSense?Inc.?All?Rights?Reserved.



import?serial?sys?time?string?pygame

from?ponycube?import?*



class?eMPL_packet_reader:

????def?__init__（self?port?quat_delegate=None?debug_delegate=None?data_delegate=None?）:

????????self.s?=?serial.Serial（port115200）

????????self.s.setTimeout（0.1）

????????self.s.setWriteTimeout（0.2）

#?TODO:?Will?this?break?anything?

????????????##Client?attempts?to?write?to?eMPL.

????????????#try:

????????????#self.s.write（“\n“）

????????????#except?serial.serialutil.SerialTimeoutException:

????????????#pass?#?write?will?timeout?if?umpl?app?is?already?started.



????????if?quat_delegate:

????????????self.quat_delegate?=?quat_delegate

????????else:

????????????self.quat_delegate?=?empty_packet_delegate（）



????????if?debug_delegate:

????????????self.debug_delegate?=?debug_delegate

????????else:

????????????self.debug_delegate?=?empty_packet_delegate（）



????????if?data_delegate:

????????????self.data_delegate?=?data_delegate

????????else:

????????????self.data_delegate?=?empty_packet_delegate（）



????????self.packets?=?[]

????????self.length?=?0

????????self.previous?=?None



????def?read（self）:

????????NUM_BYTES?=?23

????????p?=?None

????????while?self.s.inWaiting（）?>=?NUM_BYTES:

????????????rs?=?self.s.read（NUM_BYTES）

????????????if?ord（rs[0]）?==?ord（‘$‘）:

????????????????pkt_code?=?ord（rs[1]）

????????????????if?pkt_code?==?1:

????????????????????d?=?debug_packet（rs）

????????????????????self.debug_delegate.dispatch（d）

????????????????elif?pkt_code?==?2:

????????????????????p?=?quat_packet（rs）

????????????????????self.quat_delegate.dispatch（p）?

????????????????elif?pkt_code?==?3:

????????????????????d?=?data_packet（rs）

????????????????????self.data_delegate.dispatch（d）

????????????????else:

????????????????????print?“no?handler?for?pkt_code“pkt_code

????????????else:

????????????????c?=?‘?‘

????????????????print?“serial?misaligned!“

????????????????while?not?ord（c）?==?ord（‘$‘）:

????????????????????c?=?self.s.read（1）

????????????????self.s.read（NUM_BYTES-1）



????def?write（selfa）:

????????self.s.write（a）



????def?close（self）:

????????self.s.close（）



????def?write_log（selffname）:

????????f?=?open（fname‘w‘）

????????for?p?in?self.packets:

????????????f.write（p.logfile_line（））

????????f.close（）



#?===========??PACKET?DELEGATES??==========



class?packet_delegate（object）:

????def?loop（selfevent）:

????????print?“generic?packet_delegate?loop?w/event“event

????def?dispatch（selfp）:

????????print?“generic?packet_delegate?dispatched“p



class?empty_packet_delegate（packet_delegate）:

????def?loop（selfevent）:

????????pass

????def?dispatch（selfp）:

????????pass



class?cube_packet_viewer?（packet_delegate）:

????def?__init__（self）:

????????self.sc

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????10846??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\eMPL-client.py
?????文件???????71651??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\euclid.py
?????文件???????94360??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\euclid.pyc
?????文件????????5921??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\ponycube.py
?????文件????????9815??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\ponycube.pyc
?????文件??????????76??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\python╔╧╬╗╗·╦╡├≈.txt
?????文件?????6438912??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pygame-1.9.2a0.win32-py2.7.msi
?????文件??????116289??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6.tar.gz
?????文件?????????521??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\python??╦╡├≈.txt
?????文件???????13700??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\CHANGES.txt
?????文件????????2850??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\LICENSE.txt
?????文件?????????968??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\MANIFEST.in
?????文件????????1399??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\PKG-INFO
?????文件????????1237??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\README.txt
?????文件????????3215??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\setup.py
?????文件????????5896??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\appendix.rst
?????文件????????6524??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\conf.py
?????文件???????14262??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\examples.rst
?????文件?????????979??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\index.rst
?????文件????????2997??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\Makefile
?????文件????????4310??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\pyparallel.rst
?????文件????????7050??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\pyserial.png
?????文件????????3803??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\pyserial.rst
?????文件???????29114??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\pyserial_api.rst
?????文件????????3353??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\documentation\shortintro.rst
?????文件????????2169??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\examples\enhancedserial.py
?????文件???????16973??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\examples\port_publisher.py
?????文件????????1054??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\examples\port_publisher.sh
?????文件????????6685??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\examples\rfc2217_server.py
?????文件?????????762??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\examples\scan.py
?????文件?????????481??2020-07-29?10:47??╣┘╖╜Python╔╧╬╗╗·\╨Φ╥??▓╫?╡─python??\pyserial-2.6\examples\scanlinux.py
............此處省略37個文件信息