本文介绍了运行Invensense演示python客户端时出现serialwin32.py和serialutil.py错误的处理方法，对大家解决问题具有一定的参考价值，需要的朋友们下面随着小编来一起学习吧！
问题描述
美好的日子，我是 Python 新手，正在尝试运行 Invensense 提供的演示.(9 轴 MPU9250 连接 STM32F407G 探索板，我使用了从 Invensense 网站下载的 motion_driver_6.12 中的代码和 python 客户端.)整个python部分是python2.7、pysearil、pygame.我在Stackoverflow中搜索了我的问题，但具体情况有点不同，大多数解决方案对我来说都没用.首先，我展示我的问题.
Good days, I'm new to python and trying to run a demo provided by Invensense.(9-axis MPU9250 connects a STM32F407G discovery board, I used code and python client in motion_driver_6.12 which downloaded from Invensense website.)the whole python part are python2.7, pysearil, pygame.I searched my issues in Stackoverflow, but the specific situations are a little different, and most of the solutions are useless for me.First, I show my issues.
UART连接PC，通过cmd.exe运行Invensense的python客户端，pygame窗口短暂出现又消失，出现如下错误
UART connects the PC, run Invensense's python client through cmd.exe, pygame window appears briefly and disappear and I get the following error
D:\motion_driver_6.12\eMPL-pythonclient>python eMPL-client.py 7
Traceback (most recent call last):
File "eMPL-client.py", line 273, in <module>
def four_bytes(d1, d2, d3, d4):
File "eMPL-client.py", line 12, in __init__
File "C:\Python27\lib\site-packages\serial\serialwin32.py", line 31, in
__init__
super(Serial, self).__init__(*args, **kwargs)
File "C:\Python27\lib\site-packages\serial\serialutil.py", line 218, in
__init__
self.port = port
File "C:\Python27\lib\site-packages\serial\serialutil.py", line 264, in port
raise ValueError('"port" must be None or a string, not
{}'.format(type(port)))
ValueError: "port" must be None or a string, not <type 'int'>
第二，通过类似的问题，我到现在为止做了什么:
Second, through the similar questions, what I have done until now:
- 打开文件serialwin32.py".将
port = self.name更改为port = str(self.name).它不起作用，错误消息相同. - 使用pyserial2.7卸载pyserial3.3(最新版本).错误信息消失了，但 Pygmae 现在只是坐在那里，黑屏.旧答案说Invensense 告诉我这意味着它已连接并等待数据".
- open the file "serialwin32.py" .Change
port = self.nametoport = str(self.name). It doesn't work, same error messages. - uninstall the pyserial3.3(the lastest version), using a pyserial2.7. The error meesages were gone but Pygmae now just sits there with a black screen.The old answer said "Invensense tells me that means it is connected and waiting for data".
----------------后面是eMPL-client.py，第21行和第273行标记-----
----------------followed is eMPL-client.py, line 21 and line 273 are marked-----
#!/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:
//*********************line 21 __init__ begins********************//
def __init__(self, port, quat_delegate=None, debug_delegate=None, data_delegate=None ):
self.s = serial.Serial(port,115200)
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(self,a):
self.s.write(a)
def close(self):
self.s.close()
def write_log(self,fname):
f = open(fname,'w')
for p in self.packets:
f.write(p.logfile_line())
f.close()
# =========== PACKET DELEGATES ==========
class packet_delegate(object):
def loop(self,event):
print "generic packet_delegate loop w/event",event
def dispatch(self,p):
print "generic packet_delegate dispatched",p
class empty_packet_delegate(packet_delegate):
def loop(self,event):
pass
def dispatch(self,p):
pass
class cube_packet_viewer (packet_delegate):
def __init__(self):
self.screen = Screen(480,400,scale=1.5)
self.cube = Cube(30,60,10)
self.q = Quaternion(1,0,0,0)
self.previous = None # previous quaternion
self.latest = None # latest packet (get in dispatch, use in loop)
def loop(self,event):
packet = self.latest
if packet:
q = packet.to_q().normalized()
self.cube.erase(self.screen)
self.cube.draw(self.screen,q)
pygame.display.flip()
self.latest = None
def dispatch(self,p):
if isinstance(p,quat_packet):
self.latest = p
class debug_packet_viewer (packet_delegate):
def loop(self,event):
pass
def dispatch(self,p):
assert isinstance(p,debug_packet);
p.display()
class data_packet_viewer (packet_delegate):
def loop(self,event):
pass
def dispatch(self,p):
assert isinstance(p,data_packet);
p.display()
# =============== PACKETS =================
# For 16-bit signed integers.
def two_bytes(d1,d2):
d = ord(d1)*256 + ord(d2)
if d > 32767:
d -= 65536
return d
# For 32-bit signed integers.
//**************************273 begins*********************************//
def four_bytes(d1, d2, d3, d4):
d = ord(d1)*(1<<24) + ord(d2)*(1<<16) + ord(d3)*(1<<8) + ord(d4)
if d > 2147483648:
d-= 4294967296
return d
----------------后面是serialutil.py(version 3.3) from line1 to line272, 218 和 264 标记-------------
----------------followed is serialutil.py(version 3.3) from line1 to line272, 218 and 264 are marked-------------
#! python
#
# Base class and support functions used by various backends.
#
# This file is part of pySerial. https://github.com/pyserial/pyserial
# (C) 2001-2016 Chris Liechti <[email protected]>
#
# SPDX-License-Identifier: BSD-3-Clause
import io
import time
# ``memoryview`` was introduced in Python 2.7 and ``bytes(some_memoryview)``
# isn't returning the contents (very unfortunate). Therefore we need special
# cases and test for it. Ensure that there is a ``memoryview`` object for older
# Python versions. This is easier than making every test dependent on its
# existence.
try:
memoryview
except (NameError, AttributeError):
# implementation does not matter as we do not really use it.
# it just must not inherit from something else we might care for.
class memoryview(object): # pylint: disable=redefined-builtin,invalid-name
pass
try:
unicode
except (NameError, AttributeError):
unicode = str # for Python 3, pylint: disable=redefined-builtin,invalid-name
try:
basestring
except (NameError, AttributeError):
basestring = (str,) # for Python 3, pylint: disable=redefined-builtin,invalid-name
# "for byte in data" fails for python3 as it returns ints instead of bytes
def iterbytes(b):
"""Iterate over bytes, returning bytes instead of ints (python3)"""
if isinstance(b, memoryview):
b = b.tobytes()
i = 0
while True:
a = b[i:i + 1]
i += 1
if a:
yield a
else:
break
# all Python versions prior 3.x convert ``str([17])`` to '[17]' instead of '\x11'
# so a simple ``bytes(sequence)`` doesn't work for all versions
def to_bytes(seq):
"""convert a sequence to a bytes type"""
if isinstance(seq, bytes):
return seq
elif isinstance(seq, bytearray):
return bytes(seq)
elif isinstance(seq, memoryview):
return seq.tobytes()
elif isinstance(seq, unicode):
raise TypeError('unicode strings are not supported, please encode to bytes: {!r}'.format(seq))
else:
# handle list of integers and bytes (one or more items) for Python 2 and 3
return bytes(bytearray(seq))
# create control bytes
XON = to_bytes([17])
XOFF = to_bytes([19])
CR = to_bytes([13])
LF = to_bytes([10])
PARITY_NONE, PARITY_EVEN, PARITY_ODD, PARITY_MARK, PARITY_SPACE = 'N', 'E', 'O', 'M', 'S'
STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO = (1, 1.5, 2)
FIVEBITS, SIXBITS, SEVENBITS, EIGHTBITS = (5, 6, 7, 8)
PARITY_NAMES = {
PARITY_NONE: 'None',
PARITY_EVEN: 'Even',
PARITY_ODD: 'Odd',
PARITY_MARK: 'Mark',
PARITY_SPACE: 'Space',
}
class SerialException(IOError):
"""Base class for serial port related exceptions."""
class SerialTimeoutException(SerialException):
"""Write timeouts give an exception"""
writeTimeoutError = SerialTimeoutException('Write timeout')
portNotOpenError = SerialException('Attempting to use a port that is not open')
class Timeout(object):
"""\
Abstraction for timeout operations. Using time.monotonic() if available
or time.time() in all other cases.
The class can also be initialized with 0 or None, in order to support
non-blocking and fully blocking I/O operations. The attributes
is_non_blocking and is_infinite are set accordingly.
"""
if hasattr(time, 'monotonic'):
# Timeout implementation with time.monotonic(). This function is only
# supported by Python 3.3 and above. It returns a time in seconds
# (float) just as time.time(), but is not affected by system clock
# adjustments.
TIME = time.monotonic
else:
# Timeout implementation with time.time(). This is compatible with all
# Python versions but has issues if the clock is adjusted while the
# timeout is running.
TIME = time.time
def __init__(self, duration):
"""Initialize a timeout with given duration"""
self.is_infinite = (duration is None)
self.is_non_blocking = (duration == 0)
self.duration = duration
if duration is not None:
self.target_time = self.TIME() + duration
else:
self.target_time = None
def expired(self):
"""Return a boolean, telling if the timeout has expired"""
return self.target_time is not None and self.time_left() <= 0
def time_left(self):
"""Return how many seconds are left until the timeout expires"""
if self.is_non_blocking:
return 0
elif self.is_infinite:
return None
else:
delta = self.target_time - self.TIME()
if delta > self.duration:
# clock jumped, recalculate
self.target_time = self.TIME() + self.duration
return self.duration
else:
return max(0, delta)
def restart(self, duration):
"""\
Restart a timeout, only supported if a timeout was already set up
before.
"""
self.duration = duration
self.target_time = self.TIME() + duration
class SerialBase(io.RawIOBase):
"""\
Serial port base class. Provides __init__ function and properties to
get/set port settings.
"""
# default values, may be overridden in subclasses that do not support all values
BAUDRATES = (50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800,
9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000,
576000, 921600, 1000000, 1152000, 1500000, 2000000, 2500000,
3000000, 3500000, 4000000)
BYTESIZES = (FIVEBITS, SIXBITS, SEVENBITS, EIGHTBITS)
PARITIES = (PARITY_NONE, PARITY_EVEN, PARITY_ODD, PARITY_MARK, PARITY_SPACE)
STOPBITS = (STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO)
def __init__(self,
port=None,
baudrate=9600,
bytesize=EIGHTBITS,
parity=PARITY_NONE,
stopbits=STOPBITS_ONE,
timeout=None,
xonxoff=False,
rtscts=False,
write_timeout=None,
dsrdtr=False,
inter_byte_timeout=None,
exclusive=None,
**kwargs):
"""\
Initialize comm port object. If a "port" is given, then the port will be
opened immediately. Otherwise a Serial port object in closed state
is returned.
"""
self.is_open = False
self.portstr = None
self.name = None
# correct values are assigned below through properties
self._port = None
self._baudrate = None
self._bytesize = None
self._parity = None
self._stopbits = None
self._timeout = None
self._write_timeout = None
self._xonxoff = None
self._rtscts = None
self._dsrdtr = None
self._inter_byte_timeout = None
self._rs485_mode = None # disabled by default
self._rts_state = True
self._dtr_state = True
self._break_state = False
self._exclusive = None
# assign values using get/set methods using the properties feature
//**************218**************//
self.port = port
//**************218**************//
self.baudrate = baudrate
self.bytesize = bytesize
self.parity = parity
self.stopbits = stopbits
self.timeout = timeout
self.write_timeout = write_timeout
self.xonxoff = xonxoff
self.rtscts = rtscts
self.dsrdtr = dsrdtr
self.inter_byte_timeout = inter_byte_timeout
self.exclusive = exclusive
# watch for backward compatible kwargs
if 'writeTimeout' in kwargs:
self.write_timeout = kwargs.pop('writeTimeout')
if 'interCharTimeout' in kwargs:
self.inter_byte_timeout = kwargs.pop('interCharTimeout')
if kwargs:
raise ValueError('unexpected keyword arguments: {!r}'.format(kwargs))
if port is not None:
self.open()
# - - - - - - - - - - - - - - - - - - - - - - - -
# to be implemented by subclasses:
# def open(self):
# def close(self):
# - - - - - - - - - - - - - - - - - - - - - - - -
@property
def port(self):
"""\
Get the current port setting. The value that was passed on init or using
setPort() is passed back.
"""
return self._port
@port.setter
def port(self, port):
"""\
Change the port.
"""
//*************************line 263**********************//
if port is not None and not isinstance(port, basestring):
raise ValueError('"port" must be None or a string, not {}'.format(type(port)))
was_open = self.is_open
if was_open:
self.close()
self.portstr = port
self._port = port
self.name = self.portstr
if was_open:
self.open()
-------------后面是serialwin32.py(3.3版)，标记31---------------------------------
-------------followed is serialwin32.py(version 3.3), 31 is marked-----------------------------------------
#! python
#
# backend for Windows ("win32" incl. 32/64 bit support)
#
# (C) 2001-2015 Chris Liechti <[email protected]>
#
# This file is part of pySerial. https://github.com/pyserial/pyserial
# SPDX-License-Identifier: BSD-3-Clause
#
# Initial patch to use ctypes by Giovanni Bajo <[email protected]>
# pylint: disable=invalid-name,too-few-public-methods
import ctypes
import time
from serial import win32
import serial
from serial.serialutil import SerialBase, SerialException, to_bytes, portNotOpenError, writeTimeoutError
class Serial(SerialBase):
"""Serial port implementation for Win32 based on ctypes."""
BAUDRATES = (50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800,
9600, 19200, 38400, 57600, 115200)
def __init__(self, *args, **kwargs):
self._port_handle = None
self._overlapped_read = None
self._overlapped_write = None
//**************31**************//
super(Serial, self).__init__(*args, **kwargs)
//**************31**************//
问题:
- 有什么想法可以解决这个错误吗?
- 有人使用过带有 STM32F407G 探索板的 MPU9250 吗?有什么建议吗?
- Stackoverflow 上的两个相关问题
- 问题一:访问pyserial serialwin32.py 有属性错误立>
- 问题二:访问 Invensense Motion Driver 6.12 STM32演示 python 不起作用
推荐答案
上网找了这个 Github 存储库 似乎与您正在使用的代码相对应.eMPL-client.py 似乎与较新版本的 pyserial 不兼容.具体来说，__main__ 例程 需要数字端口标识符，但 pyserial 3.3 serial.Serial 需要文本端口标识符.我没有测试这个的设置，但您可以尝试以下操作.
Looking online, I found this Github repo that appears to correspond to the code you are working with. It appears eMPL-client.py is incompatible with newer versions of pyserial. Specifically, the __main__ routine requires numeric port identifiers, but the pyserial 3.3 serial.Serial requires textual port identifiers. I do not have the setup to test this, but you can try the following.
- 安装 Python 2.7 的全新副本，这是
eMPL-client.py的目标.这与 pyserial 2.7 无关. - 在新副本中，安装 pyserial 2.7 和其他依赖项.根据 源，pyserial 2.7 使用数字作为端口.Pyserial 3.3 使用端口名称，因此端口必须是字符串"错误.
- Install a fresh copy of Python 2.7, which is what
eMPL-client.pytargets. This is unrelated to pyserial 2.7. - In the fresh copy, install pyserial 2.7 and the other dependencies. Per the source, pyserial 2.7 uses numbers for ports. Pyserial 3.3 uses names for ports, whence the "port must be a string" error.
这应该能让您克服初始错误，这类似于您链接的问题的此答案.那时，可能是时候拔出示波器并确保电路板正在生成信号.如果是，请检查速度/波特率/奇偶校验.我看到 源 运行115200bps；如果您的硬件支持，不妨试试 57600.
That should get you past the initial error, which is similar to this answer to the question you linked. At that point, it's probably time to pull out your oscilloscope and make sure the board is generating signals. If so, check the speed/baud/parity. I see that the source runs at 115200bps; maybe try 57600 instead, if your hardware supports it.
要在 pyserial 3.3 中使用 eMPL-client.py，请在 eMPL-client.py 中查找以下行:
To use eMPL-client.py with pyserial 3.3, in eMPL-client.py, look for the lines:
if __name__ == "__main__":
if len(sys.argv) == 2:
comport = int(sys.argv[1]) - 1 #### This is the line that triggers the issue
else:
print "usage: " + sys.argv[0] + " port"
sys.exit(-1)
将 #### 标记的行更改为
comport = sys.argv[1]
(确保缩进相同！)
然后，在cmd.exe中，运行
python eMPL-client.py COM7
使用字符串端口名称，例如 COM7，而不是端口号，例如 7.
with the string port name, e.g., COM7, instead of a port number, e.g., 7.
这篇关于运行Invensense演示python客户端时出现serialwin32.py和serialutil.py错误的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持！