mirror of
https://github.com/modelec/modelec-marcel-ROS.git
synced 2026-01-18 16:47:43 +01:00
91 lines
2.6 KiB
Python
91 lines
2.6 KiB
Python
import serial
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import threading
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import time
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import curses
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SERIAL_PORT = '/dev/USB_ODO'
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BAUDRATE = 115200
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stop_thread = False
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def read_serial(ser, log_lines, log_lock):
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"""Thread de lecture du port série"""
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global stop_thread
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while not stop_thread:
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if ser.in_waiting:
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try:
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line = ser.readline().decode(errors='ignore').strip()
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if line:
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with log_lock:
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log_lines.append(line)
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if len(log_lines) > 1000:
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log_lines.pop(0)
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except Exception as e:
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with log_lock:
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log_lines.append(f"[Erreur série] {e}")
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time.sleep(0.05)
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def curses_main(stdscr):
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global stop_thread
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curses.curs_set(1)
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stdscr.nodelay(True)
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stdscr.timeout(100)
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log_lines = []
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log_lock = threading.Lock()
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with serial.Serial(SERIAL_PORT, BAUDRATE, timeout=1) as ser:
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time.sleep(2)
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reader_thread = threading.Thread(target=read_serial, args=(ser, log_lines, log_lock), daemon=True)
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reader_thread.start()
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user_input = ""
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while True:
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stdscr.clear()
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h, w = stdscr.getmaxyx()
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log_height = h - 2
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# Display log lines
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with log_lock:
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visible_logs = log_lines[-log_height:]
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for i, line in enumerate(visible_logs):
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stdscr.addnstr(i, 0, line, w - 1)
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# Input line
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stdscr.addstr(log_height, 0, "-" * (w - 1))
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stdscr.addstr(log_height + 1, 0, f"Commande >>> {user_input}")
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stdscr.refresh()
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try:
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ch = stdscr.get_wch()
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except curses.error:
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ch = None
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if ch is None:
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continue
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# Handle input
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if isinstance(ch, str):
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if ch in ("\n", "\r"):
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cmd = user_input.strip()
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if cmd.lower() in ("exit", "quit"):
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stop_thread = True
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break
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if cmd:
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ser.write((cmd + "\n").encode())
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user_input = ""
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elif ch in ("\b", "\x7f"): # Backspace compatibility
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user_input = user_input[:-1]
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elif ch.isprintable():
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user_input += ch
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elif ch == curses.KEY_BACKSPACE:
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user_input = user_input[:-1]
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elif ch == 27: # ESC
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stop_thread = True
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break
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stop_thread = True
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reader_thread.join(timeout=1)
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curses.wrapper(curses_main)
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