<reponame>BradyHammond/ioflo
"""
Asynchronous (nonblocking) serial io

"""
from __future__ import absolute_import, division, print_function

import sys
import os
import errno
from collections import deque

# Import ioflo libs
from ...aid.sixing import *
from ...aid.consoling import getConsole

console = getConsole()

class ConsoleNb(object):
    """
    Class to manage non blocking io on serial console.

    Opens non blocking read file descriptor on console
    Use instance method close to close file descriptor
    Use instance methods getline & put to read & write to console
    Needs os module
    """

    def __init__(self):
        """Initialization method for instance.

        """
        self.fd = None #console file descriptor needs to be opened

    def open(self, port='', canonical=True):
        """
        Opens fd on terminal console in non blocking mode.

        port is the serial port device path name
        or if '' then use os.ctermid() which
        returns path name of console usually '/dev/tty'

        canonical sets the mode for the port. Canonical means no characters
        available until a newline

        os.O_NONBLOCK makes non blocking io
        os.O_RDWR allows both read and write.
        os.O_NOCTTY don't make this the controlling terminal of the process
        O_NOCTTY is only for cross platform portability BSD never makes it the
        controlling terminal

        Don't use print at same time since it will mess up non blocking reads.

        Default is canonical mode so no characters available until newline
        need to add code to enable  non canonical mode

        It appears that canonical mode only applies to the console. For other
        serial ports the characters are available immediately
        """
        if not port:
            port = os.ctermid() #default to console

        try:
            self.fd = os.open(port, os.O_NONBLOCK | os.O_RDWR | os.O_NOCTTY)
        except OSError as ex:
            console.terse("os.error = {0}\n".format(ex))
            return False
        return True

    def close(self):
        """Closes fd.

        """
        if self.fd:
            os.close(self.fd)
            self.fd = None

    def getLine(self,bs = 80):
        """Gets nonblocking line from console up to bs characters including newline.

           Returns empty string if no characters available else returns line.
           In canonical mode no chars available until newline is entered.
        """
        line = ''
        try:
            line = os.read(self.fd, bs)
        except OSError as ex1:  #if no chars available generates exception
            try: #need to catch correct exception
                errno = ex1.args[0] #if args not sequence get TypeError
                if errno == 35:
                    pass #No characters available
                else:
                    raise #re raise exception ex1
            except TypeError as ex2:  #catch args[0] mismatch above
                raise ex1 #ignore TypeError, re-raise exception ex1

        return line

    def put(self, data = '\n'):
        """Writes data string to console.

        """
        return(os.write(self.fd, data))

class DeviceNb(object):
    """
    Class to manage non blocking IO on serial device port.

    Opens non blocking read file descriptor on serial port
    Use instance method close to close file descriptor
    Use instance methods get & put to read & write to serial device
    Needs os module
    """

    def __init__(self, port=None, speed=9600, bs=1024):
        """
        Initialization method for instance.

        port = serial device port path string
        speed = serial port speed in bps
        bs = buffer size for reads
        """
        self.fd = None #serial device port file descriptor, must be opened first
        self.port = port or os.ctermid() #default to console
        self.speed = speed or 9600
        self.bs = bs or 1024
        self.opened = False

    def open(self, port=None, speed=None, bs=None):
        """
        Opens fd on serial port in non blocking mode.

        port is the serial port device path name or
        if '' then use os.ctermid() which
        returns path name of console usually '/dev/tty'

        os.O_NONBLOCK makes non blocking io
        os.O_RDWR allows both read and write.
        os.O_NOCTTY don't make this the controlling terminal of the process
        O_NOCTTY is only for cross platform portability BSD never makes it the
        controlling terminal

        Don't use print and console at same time since it will mess up non blocking reads.

        Raw mode

        def setraw(fd, when=TCSAFLUSH):
        Put terminal into a raw mode.
        mode = tcgetattr(fd)
        mode[IFLAG] = mode[IFLAG] & ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)
        mode[OFLAG] = mode[OFLAG] & ~(OPOST)
        mode[CFLAG] = mode[CFLAG] & ~(CSIZE | PARENB)
        mode[CFLAG] = mode[CFLAG] | CS8
        mode[LFLAG] = mode[LFLAG] & ~(ECHO | ICANON | IEXTEN | ISIG)
        mode[CC][VMIN] = 1
        mode[CC][VTIME] = 0
        tcsetattr(fd, when, mode)


        # set up raw mode / no echo / binary
        cflag |=  (TERMIOS.CLOCAL|TERMIOS.CREAD)
        lflag &= ~(TERMIOS.ICANON|TERMIOS.ECHO|TERMIOS.ECHOE|TERMIOS.ECHOK|TERMIOS.ECHONL|
                     TERMIOS.ISIG|TERMIOS.IEXTEN) #|TERMIOS.ECHOPRT
        for flag in ('ECHOCTL', 'ECHOKE'): # netbsd workaround for Erk
            if hasattr(TERMIOS, flag):
                lflag &= ~getattr(TERMIOS, flag)

        oflag &= ~(TERMIOS.OPOST)
        iflag &= ~(TERMIOS.INLCR|TERMIOS.IGNCR|TERMIOS.ICRNL|TERMIOS.IGNBRK)
        if hasattr(TERMIOS, 'IUCLC'):
            iflag &= ~TERMIOS.IUCLC
        if hasattr(TERMIOS, 'PARMRK'):
            iflag &= ~TERMIOS.PARMRK

        """
        if port is not None:
            self.port = port
        if speed is not None:
            self.speed = speed
        if bs is not None:
            self.bs = bs

        self.fd = os.open(self.port, os.O_NONBLOCK | os.O_RDWR | os.O_NOCTTY)

        system = platform.system()

        if (system == 'Darwin') or (system == 'Linux'): #use termios to set values
            import termios

            iflag, oflag, cflag, lflag, ispeed, ospeed, cc = range(7)

            settings = termios.tcgetattr(self.fd)
            #print(settings)

            settings[lflag] = (settings[lflag] & ~termios.ICANON)

            settings[lflag] = (settings[lflag] & ~termios.ECHO) # no echo

            #ignore carriage returns on input
            #settings[iflag] = (settings[iflag] | (termios.IGNCR)) #ignore cr

            # 8N1 8bit word no parity one stop bit nohardware handshake ctsrts
            # to set size have to mask out(clear) CSIZE bits and or in size
            settings[cflag] = ((settings[cflag] & ~termios.CSIZE) | termios.CS8)
            # no parity clear PARENB
            settings[cflag] = (settings[cflag] & ~termios.PARENB)
            #one stop bit clear CSTOPB
            settings[cflag] = (settings[cflag] & ~termios.CSTOPB)
            #no hardware handshake clear crtscts
            settings[cflag] = (settings[cflag] & ~termios.CRTSCTS)

            # in linux the speed flag does not equal value so always set it
            speedattr = "B{0}".format(self.speed)  # convert numeric speed to attribute name string
            speed = getattr(termios, speedattr)
            settings[ispeed] = speed
            settings[ospeed] = speed

            termios.tcsetattr(self.fd, termios.TCSANOW, settings)
            #print(settings)

        self.opened = True

    def reopen(self):
        """
        Idempotently open serial device port
        """
        self.close()
        return self.open()

    def close(self):
        """Closes fd.

        """
        if self.fd:
            os.close(self.fd)
            self.fd = None
            self.opened = False

    def receive(self):
        """
        Reads nonblocking characters from serial device up to bs characters
        Returns empty bytes if no characters available else returns all available.
        In canonical mode no chars are available until newline is entered.
        """
        data = b''
        try:
            data = os.read(self.fd, self.bs)  #if no chars available generates exception
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                pass #No characters available
            else:
                raise #re raise exception ex1

        return data

    def send(self, data=b'\n'):
        """
        Writes data bytes to serial device port.
        Returns number of bytes sent
        """
        try:
            count = os.write(self.fd, data)
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                count = 0  # buffer full can't write
            else:
                raise #re raise exception ex1

        return count


class SerialNb(object):
    """
    Class to manage non blocking IO on serial device port using pyserial

    Opens non blocking read file descriptor on serial port
    Use instance method close to close file descriptor
    Use instance methods get & put to read & write to serial device
    Needs os module
    """

    def __init__(self, port=None, speed=9600, bs=1024):
        """
        Initialization method for instance.

        port = serial device port path string
        speed = serial port speed in bps
        bs = buffer size for reads


        """
        self.serial = None  # Serial instance
        self.port = port or os.ctermid() #default to console
        self.speed = speed or 9600
        self.bs = bs or 1024
        self.opened = False

    def open(self, port=None, speed=None, bs=None):
        """
        Opens fd on serial port in non blocking mode.

        port is the serial port device path name or
        if None then use os.ctermid() which returns path name of console
        usually '/dev/tty'
        """
        if port is not None:
            self.port = port
        if speed is not None:
            self.speed = speed
        if bs is not None:
            self.bs = bs

        import serial  # import pyserial
        self.serial = serial.Serial(port=self.port,
                                    baudrate=self.speed,
                                    timeout=0,
                                    writeTimeout=0)
        #self.serial.nonblocking()
        self.serial.reset_input_buffer()
        self.opened = True

    def reopen(self):
        """
        Idempotently open serial device port
        """
        self.close()
        return self.open()

    def close(self):
        """
        Closes .serial
        """
        if self.serial:
            self.serial.reset_output_buffer()
            self.serial.close()
            self.serial = None
            self.opened = False

    def receive(self):
        """
        Reads nonblocking characters from serial device up to bs characters
        Returns empty bytes if no characters available else returns all available.
        In canonical mode no chars are available until newline is entered.
        """
        data = b''
        try:
            data = self.serial.read(self.bs)  #if no chars available generates exception
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                pass #No characters available
            else:
                raise #re raise exception ex1

        return data

    def send(self, data=b'\n'):
        """
        Writes data bytes to serial device port.
        Returns number of bytes sent
        """
        try:
            count = self.serial.write(data)
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                count = 0  # buffer full can't write
            else:
                raise #re raise exception ex1

        return count

class Driver(object):
    """
    Nonblocking Serial Device Port Driver
    """

    def __init__(self,
                 name=u'',
                 uid=0,
                 port=None,
                 speed=9600,
                 bs=1024,
                 server=None):
        """
        Initialization method for instance.

        Parameters:
            name = user friendly name for driver
            uid = unique identifier for driver
            port = serial device port path string
            speed = serial port speed in bps
            canonical = canonical mode True or False
            bs = buffer size for reads
            server = serial port device server if any

        Attributes:
           name = user friendly name for driver
           uid = unique identifier for driver
           server = serial device server nonblocking
           txes = deque of data bytes to send
           rxbs = bytearray of data bytes received

        """
        self.name = name
        self.uid = uid

        if not server:
            try:
                import serial
                self.server = SerialNb(port=port,
                                       speed=speed,
                                       bs=bs)

            except ImportError as  ex:
                console.terse("Error: importing pyserial\n{0}\n".format(ex))
                self.server = DeviceNb(port=port,
                                       speed=speed,
                                       bs=bs)
        else:
            self.server = server

        self.txes = deque()  # deque of data to send
        self.rxbs = bytearray()  # byte array of data received

    def serviceReceives(self):
        """
        Service receives until no more
        """
        while self.server.opened:
            data = self.server.receive()  # bytes
            if not data:
                break
            self.rxbs.extend(data)

    def serviceReceiveOnce(self):
        '''
        Retrieve from server only one reception
        '''
        if self.server.opened:
            data = self.server.receive()
            if data:
                self.rxbs.extend(data)

    def clearRxbs(self):
        """
        Clear .rxbs
        """
        del self.rxbs[:]

    def scan(self, start):
        """
        Returns offset of given start byte in self.rxbs
        Returns None if start is not given or not found
        If strip then remove any bytes before offset
        """
        offset = self.rxbs.find(start)
        if offset < 0:
            return None
        return offset

    def tx(self, data):
        '''
        Queue data onto .txes
        '''
        self.txes.append(data)

    def _serviceOneTx(self):
        """
        Handle one tx data
        """
        data = self.txes.popleft()
        count = self.server.send(data)
        if count < len(data):  # put back unsent portion
            self.txes.appendleft(data[count:])
            return False  # blocked
        console.profuse("{0}: Sent: {1}\n".format(self.name, data))
        return True  # send more

    def serviceTxes(self):
        """
        Service txes data
        """
        while self.txes and self.server.opened:
            again = self._serviceOneTx()
            if not again:
                break  # blocked try again later

    def serviceTxOnce(self):
        '''
        Service one data on the .txes deque to send through device
        '''
        if self.txes and self.server.opened:
            self._serviceOneTx()


"""
Asynchronous (nonblocking) serial io

"""
from __future__ import absolute_import, division, print_function

import sys
import os
import errno
from collections import deque

# Import ioflo libs
from ...aid.sixing import *
from ...aid.consoling import getConsole

console = getConsole()

class ConsoleNb(object):
    """
    Class to manage non blocking io on serial console.

    Opens non blocking read file descriptor on console
    Use instance method close to close file descriptor
    Use instance methods getline & put to read & write to console
    Needs os module
    """

    def __init__(self):
        """Initialization method for instance.

        """
        self.fd = None #console file descriptor needs to be opened

    def open(self, port='', canonical=True):
        """
        Opens fd on terminal console in non blocking mode.

        port is the serial port device path name
        or if '' then use os.ctermid() which
        returns path name of console usually '/dev/tty'

        canonical sets the mode for the port. Canonical means no characters
        available until a newline

        os.O_NONBLOCK makes non blocking io
        os.O_RDWR allows both read and write.
        os.O_NOCTTY don't make this the controlling terminal of the process
        O_NOCTTY is only for cross platform portability BSD never makes it the
        controlling terminal

        Don't use print at same time since it will mess up non blocking reads.

        Default is canonical mode so no characters available until newline
        need to add code to enable  non canonical mode

        It appears that canonical mode only applies to the console. For other
        serial ports the characters are available immediately
        """
        if not port:
            port = os.ctermid() #default to console

        try:
            self.fd = os.open(port, os.O_NONBLOCK | os.O_RDWR | os.O_NOCTTY)
        except OSError as ex:
            console.terse("os.error = {0}\n".format(ex))
            return False
        return True

    def close(self):
        """Closes fd.

        """
        if self.fd:
            os.close(self.fd)
            self.fd = None

    def getLine(self,bs = 80):
        """Gets nonblocking line from console up to bs characters including newline.

           Returns empty string if no characters available else returns line.
           In canonical mode no chars available until newline is entered.
        """
        line = ''
        try:
            line = os.read(self.fd, bs)
        except OSError as ex1:  #if no chars available generates exception
            try: #need to catch correct exception
                errno = ex1.args[0] #if args not sequence get TypeError
                if errno == 35:
                    pass #No characters available
                else:
                    raise #re raise exception ex1
            except TypeError as ex2:  #catch args[0] mismatch above
                raise ex1 #ignore TypeError, re-raise exception ex1

        return line

    def put(self, data = '\n'):
        """Writes data string to console.

        """
        return(os.write(self.fd, data))

class DeviceNb(object):
    """
    Class to manage non blocking IO on serial device port.

    Opens non blocking read file descriptor on serial port
    Use instance method close to close file descriptor
    Use instance methods get & put to read & write to serial device
    Needs os module
    """

    def __init__(self, port=None, speed=9600, bs=1024):
        """
        Initialization method for instance.

        port = serial device port path string
        speed = serial port speed in bps
        bs = buffer size for reads
        """
        self.fd = None #serial device port file descriptor, must be opened first
        self.port = port or os.ctermid() #default to console
        self.speed = speed or 9600
        self.bs = bs or 1024
        self.opened = False

    def open(self, port=None, speed=None, bs=None):
        """
        Opens fd on serial port in non blocking mode.

        port is the serial port device path name or
        if '' then use os.ctermid() which
        returns path name of console usually '/dev/tty'

        os.O_NONBLOCK makes non blocking io
        os.O_RDWR allows both read and write.
        os.O_NOCTTY don't make this the controlling terminal of the process
        O_NOCTTY is only for cross platform portability BSD never makes it the
        controlling terminal

        Don't use print and console at same time since it will mess up non blocking reads.

        Raw mode

        def setraw(fd, when=TCSAFLUSH):
        Put terminal into a raw mode.
        mode = tcgetattr(fd)
        mode[IFLAG] = mode[IFLAG] & ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)
        mode[OFLAG] = mode[OFLAG] & ~(OPOST)
        mode[CFLAG] = mode[CFLAG] & ~(CSIZE | PARENB)
        mode[CFLAG] = mode[CFLAG] | CS8
        mode[LFLAG] = mode[LFLAG] & ~(ECHO | ICANON | IEXTEN | ISIG)
        mode[CC][VMIN] = 1
        mode[CC][VTIME] = 0
        tcsetattr(fd, when, mode)


        # set up raw mode / no echo / binary
        cflag |=  (TERMIOS.CLOCAL|TERMIOS.CREAD)
        lflag &= ~(TERMIOS.ICANON|TERMIOS.ECHO|TERMIOS.ECHOE|TERMIOS.ECHOK|TERMIOS.ECHONL|
                     TERMIOS.ISIG|TERMIOS.IEXTEN) #|TERMIOS.ECHOPRT
        for flag in ('ECHOCTL', 'ECHOKE'): # netbsd workaround for Erk
            if hasattr(TERMIOS, flag):
                lflag &= ~getattr(TERMIOS, flag)

        oflag &= ~(TERMIOS.OPOST)
        iflag &= ~(TERMIOS.INLCR|TERMIOS.IGNCR|TERMIOS.ICRNL|TERMIOS.IGNBRK)
        if hasattr(TERMIOS, 'IUCLC'):
            iflag &= ~TERMIOS.IUCLC
        if hasattr(TERMIOS, 'PARMRK'):
            iflag &= ~TERMIOS.PARMRK

        """
        if port is not None:
            self.port = port
        if speed is not None:
            self.speed = speed
        if bs is not None:
            self.bs = bs

        self.fd = os.open(self.port, os.O_NONBLOCK | os.O_RDWR | os.O_NOCTTY)

        system = platform.system()

        if (system == 'Darwin') or (system == 'Linux'): #use termios to set values
            import termios

            iflag, oflag, cflag, lflag, ispeed, ospeed, cc = range(7)

            settings = termios.tcgetattr(self.fd)
            #print(settings)

            settings[lflag] = (settings[lflag] & ~termios.ICANON)

            settings[lflag] = (settings[lflag] & ~termios.ECHO) # no echo

            #ignore carriage returns on input
            #settings[iflag] = (settings[iflag] | (termios.IGNCR)) #ignore cr

            # 8N1 8bit word no parity one stop bit nohardware handshake ctsrts
            # to set size have to mask out(clear) CSIZE bits and or in size
            settings[cflag] = ((settings[cflag] & ~termios.CSIZE) | termios.CS8)
            # no parity clear PARENB
            settings[cflag] = (settings[cflag] & ~termios.PARENB)
            #one stop bit clear CSTOPB
            settings[cflag] = (settings[cflag] & ~termios.CSTOPB)
            #no hardware handshake clear crtscts
            settings[cflag] = (settings[cflag] & ~termios.CRTSCTS)

            # in linux the speed flag does not equal value so always set it
            speedattr = "B{0}".format(self.speed)  # convert numeric speed to attribute name string
            speed = getattr(termios, speedattr)
            settings[ispeed] = speed
            settings[ospeed] = speed

            termios.tcsetattr(self.fd, termios.TCSANOW, settings)
            #print(settings)

        self.opened = True

    def reopen(self):
        """
        Idempotently open serial device port
        """
        self.close()
        return self.open()

    def close(self):
        """Closes fd.

        """
        if self.fd:
            os.close(self.fd)
            self.fd = None
            self.opened = False

    def receive(self):
        """
        Reads nonblocking characters from serial device up to bs characters
        Returns empty bytes if no characters available else returns all available.
        In canonical mode no chars are available until newline is entered.
        """
        data = b''
        try:
            data = os.read(self.fd, self.bs)  #if no chars available generates exception
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                pass #No characters available
            else:
                raise #re raise exception ex1

        return data

    def send(self, data=b'\n'):
        """
        Writes data bytes to serial device port.
        Returns number of bytes sent
        """
        try:
            count = os.write(self.fd, data)
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                count = 0  # buffer full can't write
            else:
                raise #re raise exception ex1

        return count


class SerialNb(object):
    """
    Class to manage non blocking IO on serial device port using pyserial

    Opens non blocking read file descriptor on serial port
    Use instance method close to close file descriptor
    Use instance methods get & put to read & write to serial device
    Needs os module
    """

    def __init__(self, port=None, speed=9600, bs=1024):
        """
        Initialization method for instance.

        port = serial device port path string
        speed = serial port speed in bps
        bs = buffer size for reads


        """
        self.serial = None  # Serial instance
        self.port = port or os.ctermid() #default to console
        self.speed = speed or 9600
        self.bs = bs or 1024
        self.opened = False

    def open(self, port=None, speed=None, bs=None):
        """
        Opens fd on serial port in non blocking mode.

        port is the serial port device path name or
        if None then use os.ctermid() which returns path name of console
        usually '/dev/tty'
        """
        if port is not None:
            self.port = port
        if speed is not None:
            self.speed = speed
        if bs is not None:
            self.bs = bs

        import serial  # import pyserial
        self.serial = serial.Serial(port=self.port,
                                    baudrate=self.speed,
                                    timeout=0,
                                    writeTimeout=0)
        #self.serial.nonblocking()
        self.serial.reset_input_buffer()
        self.opened = True

    def reopen(self):
        """
        Idempotently open serial device port
        """
        self.close()
        return self.open()

    def close(self):
        """
        Closes .serial
        """
        if self.serial:
            self.serial.reset_output_buffer()
            self.serial.close()
            self.serial = None
            self.opened = False

    def receive(self):
        """
        Reads nonblocking characters from serial device up to bs characters
        Returns empty bytes if no characters available else returns all available.
        In canonical mode no chars are available until newline is entered.
        """
        data = b''
        try:
            data = self.serial.read(self.bs)  #if no chars available generates exception
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                pass #No characters available
            else:
                raise #re raise exception ex1

        return data

    def send(self, data=b'\n'):
        """
        Writes data bytes to serial device port.
        Returns number of bytes sent
        """
        try:
            count = self.serial.write(data)
        except OSError as ex1:  # ex1 is the target instance of the exception
            if ex1.errno == errno.EAGAIN: #BSD 35, Linux 11
                count = 0  # buffer full can't write
            else:
                raise #re raise exception ex1

        return count

class Driver(object):
    """
    Nonblocking Serial Device Port Driver
    """

    def __init__(self,
                 name=u'',
                 uid=0,
                 port=None,
                 speed=9600,
                 bs=1024,
                 server=None):
        """
        Initialization method for instance.

        Parameters:
            name = user friendly name for driver
            uid = unique identifier for driver
            port = serial device port path string
            speed = serial port speed in bps
            canonical = canonical mode True or False
            bs = buffer size for reads
            server = serial port device server if any

        Attributes:
           name = user friendly name for driver
           uid = unique identifier for driver
           server = serial device server nonblocking
           txes = deque of data bytes to send
           rxbs = bytearray of data bytes received

        """
        self.name = name
        self.uid = uid

        if not server:
            try:
                import serial
                self.server = SerialNb(port=port,
                                       speed=speed,
                                       bs=bs)

            except ImportError as  ex:
                console.terse("Error: importing pyserial\n{0}\n".format(ex))
                self.server = DeviceNb(port=port,
                                       speed=speed,
                                       bs=bs)
        else:
            self.server = server

        self.txes = deque()  # deque of data to send
        self.rxbs = bytearray()  # byte array of data received

    def serviceReceives(self):
        """
        Service receives until no more
        """
        while self.server.opened:
            data = self.server.receive()  # bytes
            if not data:
                break
            self.rxbs.extend(data)

    def serviceReceiveOnce(self):
        '''
        Retrieve from server only one reception
        '''
        if self.server.opened:
            data = self.server.receive()
            if data:
                self.rxbs.extend(data)

    def clearRxbs(self):
        """
        Clear .rxbs
        """
        del self.rxbs[:]

    def scan(self, start):
        """
        Returns offset of given start byte in self.rxbs
        Returns None if start is not given or not found
        If strip then remove any bytes before offset
        """
        offset = self.rxbs.find(start)
        if offset < 0:
            return None
        return offset

    def tx(self, data):
        '''
        Queue data onto .txes
        '''
        self.txes.append(data)

    def _serviceOneTx(self):
        """
        Handle one tx data
        """
        data = self.txes.popleft()
        count = self.server.send(data)
        if count < len(data):  # put back unsent portion
            self.txes.appendleft(data[count:])
            return False  # blocked
        console.profuse("{0}: Sent: {1}\n".format(self.name, data))
        return True  # send more

    def serviceTxes(self):
        """
        Service txes data
        """
        while self.txes and self.server.opened:
            again = self._serviceOneTx()
            if not again:
                break  # blocked try again later

    def serviceTxOnce(self):
        '''
        Service one data on the .txes deque to send through device
        '''
        if self.txes and self.server.opened:
            self._serviceOneTx()
Asynchronous (nonblocking) serial io # Import ioflo libs Class to manage non blocking io on serial console.      Opens non blocking read file descriptor on console     Use instance method close to close file descriptor     Use instance methods getline & put to read & write to console     Needs os module Initialization method for instance. #console file descriptor needs to be opened Opens fd on terminal console in non blocking mode.          port is the serial port device path name         or if '' then use os.ctermid() which         returns path name of console usually '/dev/tty'          canonical sets the mode for the port. Canonical means no characters         available until a newline          os.O_NONBLOCK makes non blocking io         os.O_RDWR allows both read and write.         os.O_NOCTTY don't make this the controlling terminal of the process         O_NOCTTY is only for cross platform portability BSD never makes it the         controlling terminal          Don't use print at same time since it will mess up non blocking reads.          Default is canonical mode so no characters available until newline         need to add code to enable  non canonical mode          It appears that canonical mode only applies to the console. For other         serial ports the characters are available immediately #default to console Closes fd. Gets nonblocking line from console up to bs characters including newline.             Returns empty string if no characters available else returns line.            In canonical mode no chars available until newline is entered. #if no chars available generates exception #need to catch correct exception #if args not sequence get TypeError #No characters available #re raise exception ex1 #catch args[0] mismatch above #ignore TypeError, re-raise exception ex1 Writes data string to console. Class to manage non blocking IO on serial device port.      Opens non blocking read file descriptor on serial port     Use instance method close to close file descriptor     Use instance methods get & put to read & write to serial device     Needs os module Initialization method for instance.          port = serial device port path string         speed = serial port speed in bps         bs = buffer size for reads #serial device port file descriptor, must be opened first #default to console Opens fd on serial port in non blocking mode.          port is the serial port device path name or         if '' then use os.ctermid() which         returns path name of console usually '/dev/tty'          os.O_NONBLOCK makes non blocking io         os.O_RDWR allows both read and write.         os.O_NOCTTY don't make this the controlling terminal of the process         O_NOCTTY is only for cross platform portability BSD never makes it the         controlling terminal          Don't use print and console at same time since it will mess up non blocking reads.          Raw mode          def setraw(fd, when=TCSAFLUSH):         Put terminal into a raw mode.         mode = tcgetattr(fd)         mode[IFLAG] = mode[IFLAG] & ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)         mode[OFLAG] = mode[OFLAG] & ~(OPOST)         mode[CFLAG] = mode[CFLAG] & ~(CSIZE | PARENB)         mode[CFLAG] = mode[CFLAG] | CS8         mode[LFLAG] = mode[LFLAG] & ~(ECHO | ICANON | IEXTEN | ISIG)         mode[CC][VMIN] = 1         mode[CC][VTIME] = 0         tcsetattr(fd, when, mode)           # set up raw mode / no echo / binary         cflag |=  (TERMIOS.CLOCAL|TERMIOS.CREAD)         lflag &= ~(TERMIOS.ICANON|TERMIOS.ECHO|TERMIOS.ECHOE|TERMIOS.ECHOK|TERMIOS.ECHONL|                      TERMIOS.ISIG|TERMIOS.IEXTEN) #|TERMIOS.ECHOPRT         for flag in ('ECHOCTL', 'ECHOKE'): # netbsd workaround for Erk             if hasattr(TERMIOS, flag):                 lflag &= ~getattr(TERMIOS, flag)          oflag &= ~(TERMIOS.OPOST)         iflag &= ~(TERMIOS.INLCR|TERMIOS.IGNCR|TERMIOS.ICRNL|TERMIOS.IGNBRK)         if hasattr(TERMIOS, 'IUCLC'):             iflag &= ~TERMIOS.IUCLC         if hasattr(TERMIOS, 'PARMRK'):             iflag &= ~TERMIOS.PARMRK #use termios to set values #print(settings) # no echo #ignore carriage returns on input #settings[iflag] = (settings[iflag] | (termios.IGNCR)) #ignore cr # 8N1 8bit word no parity one stop bit nohardware handshake ctsrts # to set size have to mask out(clear) CSIZE bits and or in size # no parity clear PARENB #one stop bit clear CSTOPB #no hardware handshake clear crtscts # in linux the speed flag does not equal value so always set it # convert numeric speed to attribute name string #print(settings) Idempotently open serial device port Closes fd. Reads nonblocking characters from serial device up to bs characters         Returns empty bytes if no characters available else returns all available.         In canonical mode no chars are available until newline is entered. #if no chars available generates exception # ex1 is the target instance of the exception #BSD 35, Linux 11 #No characters available #re raise exception ex1 Writes data bytes to serial device port.         Returns number of bytes sent # ex1 is the target instance of the exception #BSD 35, Linux 11 # buffer full can't write #re raise exception ex1 Class to manage non blocking IO on serial device port using pyserial      Opens non blocking read file descriptor on serial port     Use instance method close to close file descriptor     Use instance methods get & put to read & write to serial device     Needs os module Initialization method for instance.          port = serial device port path string         speed = serial port speed in bps         bs = buffer size for reads # Serial instance #default to console Opens fd on serial port in non blocking mode.          port is the serial port device path name or         if None then use os.ctermid() which returns path name of console         usually '/dev/tty' # import pyserial #self.serial.nonblocking() Idempotently open serial device port Closes .serial Reads nonblocking characters from serial device up to bs characters         Returns empty bytes if no characters available else returns all available.         In canonical mode no chars are available until newline is entered. #if no chars available generates exception # ex1 is the target instance of the exception #BSD 35, Linux 11 #No characters available #re raise exception ex1 Writes data bytes to serial device port.         Returns number of bytes sent # ex1 is the target instance of the exception #BSD 35, Linux 11 # buffer full can't write #re raise exception ex1 Nonblocking Serial Device Port Driver Initialization method for instance.          Parameters:             name = user friendly name for driver             uid = unique identifier for driver             port = serial device port path string             speed = serial port speed in bps             canonical = canonical mode True or False             bs = buffer size for reads             server = serial port device server if any          Attributes:            name = user friendly name for driver            uid = unique identifier for driver            server = serial device server nonblocking            txes = deque of data bytes to send            rxbs = bytearray of data bytes received # deque of data to send # byte array of data received Service receives until no more # bytes Retrieve from server only one reception Clear .rxbs Returns offset of given start byte in self.rxbs         Returns None if start is not given or not found         If strip then remove any bytes before offset Queue data onto .txes Handle one tx data # put back unsent portion # blocked # send more Service txes data # blocked try again later Service one data on the .txes deque to send through device