我是Python的新手并尝试运行Invensense提供的演示程序。它们提供了一个Python客户端，它应该采用COM流量并操纵图形。该演示似乎开箱即用，我不确定我安装的pyserial是否有问题。要求是python2.7，pyserial和pygame。 pyserial可执行文件serialwin32.py抛出此错误：
Traceback (most recent call last):
.......
File "C:\Python27\lib\site-packages\serial\serialwin32.py", line 47, in open
if port.upper().startswith('COM') and int(port[3:]) > 8:
AttributeError: 'int' object has no attribute 'upper'
使用来自用户101的输入（不知道如何在系统中感谢你 - 但感谢！）
port = str(self.name)
此错误已解决。然而，总是如此情况下，当窗口似乎拒绝访问时，下一个错误会显示更多行：
File "C:\Python27\lib\site-packages\serial\serialwin32.py", line 66, in open
raise SerialException("could not open port %r: %r" % (self.portstr, ctypes.WinError()))
serial.serialutil.SerialException: could not open port 'COM6': WindowsError(5, 'Access is denied.')
部分代码参考似乎是：
self.hComPort = win32.CreateFile(port,
win32.GENERIC_READ | win32.GENERIC_WRITE,
0, # exclusive access
None, # no security
win32.OPEN_EXISTING,
win32.FILE_ATTRIBUTE_NORMAL | win32.FILE_FLAG_OVERLAPPED,
0)
if self.hComPort == win32.INVALID_HANDLE_VALUE:
self.hComPort = None # 'cause __del__ is called anyway
raise SerialException("could not open port %r: %r" % (self.portstr, ctypes.WinError()))
完整的代码摘录。
问题：
1）任何想法如何通过这个错误？
2）我的猜测:-（这可能是一个特权问题，但对python来说是新手我不知道如果Windows 10认为它在保护我的话会如何解决......
3）我同意我根本不需要修改pyserial（很多人都有可能尝试过）所以我怀疑还有其他一些问题。但是，我很无能，所以我也在这里发布客户端python代码。
----------客户端应用程序需要pyserial，pygame ----------
#!/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(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.
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
class debug_packet (object):
# body of packet is a debug string
def __init__(self,l):
sss = []
for c in l[3:21]:
if ord(c) != 0:
sss.append(c)
self.s = "".join(sss)
def display(self):
sys.stdout.write(self.s)
class data_packet (object):
def __init__(self, l):
self.data = [0,0,0,0,0,0,0,0,0]
self.type = ord(l[2])
if self.type == 0: # accel
self.data[0] = four_bytes(l[3],l[4],l[5],l[6]) * 1.0 / (1<<16)
self.data[1] = four_bytes(l[7],l[8],l[9],l[10]) * 1.0 / (1<<16)
self.data[2] = four_bytes(l[11],l[12],l[13],l[14]) * 1.0 / (1<<16)
elif self.type == 1: # gyro
self.data[0] = four_bytes(l[3],l[4],l[5],l[6]) * 1.0 / (1<<16)
self.data[1] = four_bytes(l[7],l[8],l[9],l[10]) * 1.0 / (1<<16)
self.data[2] = four_bytes(l[11],l[12],l[13],l[14]) * 1.0 / (1<<16)
elif self.type == 2: # compass
self.data[0] = four_bytes(l[3],l[4],l[5],l[6]) * 1.0 / (1<<16)
self.data[1] = four_bytes(l[7],l[8],l[9],l[10]) * 1.0 / (1<<16)
self.data[2] = four_bytes(l[11],l[12],l[13],l[14]) * 1.0 / (1<<16)
elif self.type == 3: # quat
self.data[0] = four_bytes(l[3],l[4],l[5],l[6]) * 1.0 / (1<<30)
self.data[1] = four_bytes(l[7],l[8],l[9],l[10]) * 1.0 / (1<<30)
self.data[2] = four_bytes(l[11],l[12],l[13],l[14]) * 1.0 / (1<<30)
self.data[3] = four_bytes(l[15],l[16],l[17],l[18]) * 1.0 / (1<<30)
elif self.type == 4: # euler
self.data[0] = four_bytes(l[3],l[4],l[5],l[6]) * 1.0 / (1<<16)
self.data[1] = four_bytes(l[7],l[8],l[9],l[10]) * 1.0 / (1<<16)
self.data[2] = four_bytes(l[11],l[12],l[13],l[14]) * 1.0 / (1<<16)
elif self.type == 5: # rot
self.data[0] = two_bytes(l[3],l[4]) * 1.0 / (1<<14)
self.data[1] = two_bytes(l[5],l[6]) * 1.0 / (1<<14)
self.data[2] = two_bytes(l[7],l[8]) * 1.0 / (1<<14)
self.data[3] = two_bytes(l[9],l[10]) * 1.0 / (1<<14)
self.data[4] = two_bytes(l[11],l[12]) * 1.0 / (1<<14)
self.data[5] = two_bytes(l[13],l[14]) * 1.0 / (1<<14)
self.data[6] = two_bytes(l[15],l[16]) * 1.0 / (1<<14)
self.data[7] = two_bytes(l[17],l[18]) * 1.0 / (1<<14)
self.data[8] = two_bytes(l[19],l[20]) * 1.0 / (1<<14)
elif self.type == 6: # heading
self.data[0] = four_bytes(l[3],l[4],l[5],l[6]) * 1.0 / (1<<16)
else: # unsupported
pass
def display(self):
if self.type == 0:
print 'accel: %7.3f %7.3f %7.3f' % \
(self.data[0], self.data[1], self.data[2])
elif self.type == 1:
print 'gyro: %9.5f %9.5f %9.5f' % \
(self.data[0], self.data[1], self.data[2])
elif self.type == 2:
print 'compass: %7.4f %7.4f %7.4f' % \
(self.data[0], self.data[1], self.data[2])
elif self.type == 3:
print 'quat: %7.4f %7.4f %7.4f %7.4f' % \
(self.data[0], self.data[1], self.data[2], self.data[3])
elif self.type == 4:
print 'euler: %7.4f %7.4f %7.4f' % \
(self.data[0], self.data[1], self.data[2])
elif self.type == 5:
print 'rotation matrix: \n%7.3f %7.3f %7.3f\n%7.3f %7.3f %7.3f\n%7.3f %7.3f %7.3f' % \
(self.data[0], self.data[1], self.data[2], self.data[3], \
self.data[4], self.data[5], self.data[6], self.data[7], \
self.data[8])
elif self.type == 6:
print 'heading: %7.4f' % self.data[0]
else:
print 'what?'
class quat_packet (object):
def __init__(self, l):
self.l = l
self.q0 = four_bytes(l[3],l[4],l[5],l[6]) * 1.0 / (1<<30)
self.q1 = four_bytes(l[7],l[8],l[9],l[10]) * 1.0 / (1<<30)
self.q2 = four_bytes(l[11],l[12],l[13],l[14]) * 1.0 / (1<<30)
self.q3 = four_bytes(l[15],l[16],l[17],l[18]) * 1.0 / (1<<30)
def display_raw(self):
l = self.l
print "".join(
[ str(ord(l[0])), " "] + \
[ str(ord(l[1])), " "] + \
[ str(ord(a)).ljust(4) for a in
[ l[2], l[3], l[4], l[5], l[6], l[7], l[8], l[9], l[10] ] ] + \
[ str(ord(a)).ljust(4) for a in
[ l[8], l[9], l[10] , l[11], l[12], l[13]] ]
)
def display(self):
if 1:
print "qs " + " ".join([str(s).ljust(15) for s in
[ self.q0, self.q1, self.q2, self.q3 ]])
if 0:
euler0, euler1, euler2 = self.to_q().get_euler()
print "eulers " + " ".join([str(s).ljust(15) for s in
[ euler0, euler1, euler2 ]])
if 0:
euler0, euler1, euler2 = self.to_q().get_euler()
print "eulers " + " ".join([str(s).ljust(15) for s in
[ (euler0 * 180.0 / 3.14159) - 90 ]])
def to_q(self):
return Quaternion(self.q0, self.q1, self.q2, self.q3)
# =============== MAIN ======================
if __name__ == "__main__":
if len(sys.argv) == 2:
comport = int(sys.argv[1]) - 1
else:
print "usage: " + sys.argv[0] + " port"
sys.exit(-1)
pygame.init()
viewer = cube_packet_viewer()
debug = debug_packet_viewer()
data = data_packet_viewer()
reader = eMPL_packet_reader(comport,
quat_delegate = viewer,
debug_delegate = debug,
data_delegate = data)
while 1:
event = pygame.event.poll()
# TODO: Allow exit via keystroke.
if event.type == pygame.QUIT:
viewer.close()
break
if event.type == pygame.KEYDOWN:
reader.write(pygame.key.name(event.key))
reader.read()
viewer.loop(event)
debug.loop(event)
data.loop(event)
# TODO: If system load is too high, increase this sleep time.
pygame.time.delay(0)
---------------- pyserial下面的完整文件-----------
#! python
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):
super(SerialBase, self).__init__()
self._port_handle = None
self._overlapped_read = None
self._overlapped_write = None
SerialBase.__init__(self, *args, **kwargs)
def open(self):
"""\
Open port with current settings. This may throw a SerialException
if the port cannot be opened.
"""
if self._port is None:
raise SerialException("Port must be configured before it can be used.")
if self.is_open:
raise SerialException("Port is already open.")
# the "\\.\COMx" format is required for devices other than COM1-COM8
# not all versions of windows seem to support this properly
# so that the first few ports are used with the DOS device name
str port = self.name
try:
if port.upper().startswith('COM') and int(port[3:]) > 8:
port = '\\\\.\\' + port
except ValueError:
# for like COMnotanumber
pass
self._port_handle = win32.CreateFile(
port,
win32.GENERIC_READ | win32.GENERIC_WRITE,
0, # exclusive access
None, # no security
win32.OPEN_EXISTING,
win32.FILE_ATTRIBUTE_NORMAL | win32.FILE_FLAG_OVERLAPPED,
0)
if self._port_handle == win32.INVALID_HANDLE_VALUE:
self._port_handle = None # 'cause __del__ is called anyway
raise SerialException("could not open port %r: %r" % (self.portstr, ctypes.WinError()))
try:
self._overlapped_read = win32.OVERLAPPED()
self._overlapped_read.hEvent = win32.CreateEvent(None, 1, 0, None)
self._overlapped_write = win32.OVERLAPPED()
#~ self._overlapped_write.hEvent = win32.CreateEvent(None, 1, 0, None)
self._overlapped_write.hEvent = win32.CreateEvent(None, 0, 0, None)
# Setup a 4k buffer
win32.SetupComm(self._port_handle, 4096, 4096)
# Save original timeout values:
self._orgTimeouts = win32.COMMTIMEOUTS()
win32.GetCommTimeouts(self._port_handle, ctypes.byref(self._orgTimeouts))
self._reconfigure_port()
# Clear buffers:
# Remove anything that was there
win32.PurgeComm(
self._port_handle,
win32.PURGE_TXCLEAR | win32.PURGE_TXABORT |
win32.PURGE_RXCLEAR | win32.PURGE_RXABORT)
except:
try:
self._close()
except:
# ignore any exception when closing the port
# also to keep original exception that happened when setting up
pass
self._port_handle = None
raise
else:
self.is_open = True
----------- ####删除文件的剩余空间------
答案 0 :(得分：1)
要回答1）因为这依赖于可用的硬件，所以测试代码完全可能在其编写的环境中工作，但在您的环境中不起作用 - 如果您在Windows上可能很有可能这是在Linux上编写的。代码使用端口0 - 不知道如何映射到COM1等。
2）在Windows上，COM端口曾经有DOS名称，如COM1，COM2 - 即一个字符串，而不是一个int（它们不像TCP / IP端口号）。最近在Windows中有\\。\ COMnotanumber格式，允许更通用的名称，我见过这些由USB转串口转换器使用。在serialutil.py中快速查看了pyserial SerialBase的源代码，它有点奇怪的IMO，因为只有在通过调用self.port（portname）使用显式端口设置时才会设置AFAICT self.name。您可能想尝试使用serport = Serial（0）初始化串行端口实例，然后显式调用serport.port（'COM1'）（或者您的端口名称而不是COM1）。
答案 1 :(得分：1)
您可能使用了错误的serialwin32.py版本。我有相同的错误消息，直到我尝试了不同的版本。我在这里使用2.7 https://pypi.python.org/pypi/pyserial/2.7。然后我只需键入“empl-client.py 8＆＃39;并且错误消息消失了。我也没有为嵌入式MotionApps＆＃39;安装驱动程序。设备。所以，我在motion_driver_6.12文件夹中找到了eMPL_CDC.inf，并通过设备管理器安装了它。
现在我遇到的问题是嵌入式MotionApps设备在Windows中不断连接和重新连接。 Pygame现在正在运行，但只是坐在那里黑屏。 Invensense告诉我，这意味着它已连接并等待数据。
看起来I2C总线上有数据，如果端口保持连接，也许它可能会起作用。虽然端口断开时数据从总线上消失，但可能整个程序正在重置。实际上代码中有一个msp430_reset（）函数，看起来就像是在调用它。
答案 2 :(得分：1)
在pySerial 3.x中删除了使用数字作为端口的可能性。请改用设备名称（字符串），例如"/dev/ttyS0"，"COM4"等。
这些数字在操作系统中并不一致，有时甚至不包括所有设备。您可以使用serial.tools.list_port模块枚举大多数操作系统上实际可用的串行端口。