Python 机器人控制器代码：加载时出错
我用串口写了一个简单的串口控制器——实际上，它更像是Frankstein代码，是其他人写的，我拼凑起来的。请随意嘲笑我的无能，但任何指导都将不胜感激。它在我的Linux运行回溯（Python2.6）上运行良好，但当我尝试在Raspberry Pi（Python2.7）上运行它时，会出现以下错误：Python 机器人控制器代码：加载时出错,python,multithreading,serial-port,raspberry-pi,Python,Multithreading,Serial Port,Raspberry Pi,我用串口写了一个简单的串口控制器——实际上，它更像是Frankstein代码，是其他人写的，我拼凑起来的。请随意嘲笑我的无能，但任何指导都将不胜感激。它在我的Linux运行回溯（Python2.6）上运行良好，但当我尝试在Raspberry Pi（Python2.7）上运行它时，会出现以下错误： Traceback (most recent call last):Exception in thread Thread-2: Traceback (most recent call last):
Traceback (most recent call last):Exception in thread Thread-2:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 551, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 504, in run
self.__target(*self.__args, **self.__kwargs)
File "/home/pi/Zombie Python 1.2 (Modified for Pi) (from Adapt 1.7).py", line 147, in rx
self.ser = serial.Serial('/dev/ttyUSB0', 9600, timeout=1, bytesize=8, stopbits=1)
File "/usr/local/lib/python2.7/dist-packages/serial/serialutil.py", line 260, in __init__
self.open()
File "/usr/local/lib/python2.7/dist-packages/serial/serialposix.py", line 276, in open
raise SerialException("could not open port %s: %s" % (self._port, msg))
SerialException: could not open port /dev/ttyUSB0: [Errno 2] No such file or directory: '/dev/ttyUSB0'
File "/home/pi/Zombie Python 1.2 (Modified for Pi) (from Adapt 1.7).py", line 185, in <module>
client = ThreadedClient(root)
File "/home/pi/Zombie Python 1.2 (Modified for Pi) (from Adapt 1.7).py", line 113, in __init__
self.periodicCall()
File "/home/pi/Zombie Python 1.2 (Modified for Pi) (from Adapt 1.7).py", line 119, in periodicCall
self.gui.processIncoming()
AttributeError: GuiPart instance has no attribute 'processIncoming'
Traceback（最近一次调用last）：线程2中的异常：
回溯（最近一次呼叫最后一次）：
文件“/usr/lib/python2.7/threading.py”，第551行，在引导程序内部
self.run（）
文件“/usr/lib/python2.7/threading.py”，第504行，正在运行
自我目标（*自我参数，**自我参数）
rx中第147行的文件“/home/pi/Zombie Python 1.2（针对pi进行了修改）（来自Adapt 1.7.py）”
self.ser=serial.serial（'/dev/ttyUSB0'，9600，超时=1，字节大小=8，停止位=1）
文件“/usr/local/lib/python2.7/dist packages/serial/serialutil.py”，第260行，在__
self.open（）
文件“/usr/local/lib/python2.7/dist packages/serial/serialposix.py”，第276行，打开
raise SerialException（“无法打开端口%s:%s”%（self.\u port，msg））
SerialException:无法打开端口/dev/ttyUSB0:[Errno 2]没有这样的文件或目录：'/dev/ttyUSB0'
文件“/home/pi/Zombie Python 1.2（针对pi进行了修改）（来自Adapt 1.7.py）”，第185行，在
client=ThreadedClient（root）
文件“/home/pi/Zombie Python 1.2（针对pi进行了修改）（来自Adapt 1.7.py）”，第113行，在__
self.periodicCall（）
文件“/home/pi/Zombie Python 1.2（针对pi进行了修改）（来自Adapt 1.7.py）”，第119行，在periodicCall中
self.gui.processIncoming（）
AttributeError:GuiPart实例没有属性“processIncoming”
import Tkinter
import time
import threading
import random
import Queue
import serial
import readline
#import xbee
import sys
x=""
class GuiPart:
def __init__(self, master, queue, endApplication):
self.sonar = Tkinter.StringVar() # Feeds sonar sensor data to label
self.lm = Tkinter.StringVar() # Feeds left motor speed to label
self.rm = Tkinter.StringVar() # Feeds right motor speed to label
self.queue = queue
# Set up the GUI
frame1 = Tkinter.Frame(master, bd=200) #Setup frame.
frame1.bind("<Key>", key) # Allow frame to handle keypresses.
frame1.focus_set() #Set focus of frame so that keypresses activate event.
frame1.pack() #Show it.
#Button
console = Tkinter.Button(frame1, text='Close', command=endApplication)
console.pack()
# Add more GUI stuff here
self.lm.set(0) # Initializes left motor label
self.rm.set(0) # Initializes right motor label
self.sonar.set(0) # Initializes sonar label
#Sonar label
sonarLbl = Tkinter.Label(frame1, textvariable=self.sonar)
sonarLbl.pack()
#Right motor label
rmLbl = Tkinter.Label(frame1, text="Left Motor Speed: ", textvariable=self.rm)
rmLbl.pack()
#Left motor label
lmLbl = Tkinter.Label(frame1, textvariable=self.lm)
lmLbl.pack()
def key(self, event):
#print "pressed", repr(event.char)
#self.sonar = repr(event.char) <------ This should be the line to handle keypresses
global x
x = repr(event.char)
def processIncoming(self):
"""
Handle all the messages currently in the queue (if any).
"""
while self.queue.qsize():
try:
msg = self.queue.get(0)
# Check contents of message and do what it says
# As a test, we simply print it
# Below is where I will parse the "msg" variable, splitting
# it (msg.rsplit) to pull out sensor data and update labels.
lm, rm, sonar, mknt = msg.rsplit(",")
lm = "Left Motor Speed: "+lm
rm = "Right Motor Speed: "+rm
sonar = "Sonar: "+sonar+" CMs away"
self.sonar.set(sonar) # Setting the labels with latest sensor info.
self.lm.set(lm) # Setting the labels with latest sensor info.
self.rm.set(rm) # Setting the labels with latest sensor info.
except Queue.Empty:
pass
class ThreadedClient:
"""
Launch the main part of the GUI and the worker thread. periodicCall and
endApplication could reside in the GUI part, but putting them here
means that you have all the thread controls in a single place.
"""
def __init__(self, master):
"""
Start the GUI and the asynchronous threads. We are in the main
(original) thread of the application, which will later be used by
the GUI. We spawn a new thread for the worker.
"""
self.master = master
# Create the queue
self.queue = Queue.Queue()
# Set up the GUI part
self.gui = GuiPart(master, self.queue, self.endApplication)
# Set up the thread to do asynchronous I/O
# More can be made if necessary
self.running = 1
self.thread1 = threading.Thread(target=self.workerThread1)
self.thread1.start()
#Start receiving thread.
self.rx = threading.Thread(target=self.rx)
self.rx.start()
# Start the periodic call in the GUI to check if the queue contains
# anything
self.periodicCall()
def periodicCall(self):
"""
Check every 100 ms if there is something new in the queue.
"""
self.gui.processIncoming()
if not self.running:
# This is the brutal stop of the system. You may want to do
# some cleanup before actually shutting it down.
import sys
sys.exit(1)
self.master.after(100, self.periodicCall)
def workerThread1(self):
"""
This is where we handle the asynchronous I/O. For example, it may be
a 'select()'.
One important thing to remember is that the thread has to yield
control.
"""
while self.running:
# To simulate asynchronous I/O, we create a random number at
# random intervals. Replace the following 2 lines with the real
# thing.
time.sleep(rand.random() * 0.3)
msg = rand.random()
#self.queue.put(msg)
# Continuously read and print packets
def rx(self):
global x
self.ser = serial.Serial('/dev/ttyUSB0', 9600, timeout=1, bytesize=8, stopbits=1)
self.ser.flush()
while(1):
response = str(self.ser.readline())
# Send movement codes.
if x == "'a'" or x == "'A'": # or "'A'": # Turn left.
self.ser.write('4')
elif x == "'w'" or x == "'W'": #Go forward.
self.ser.write("3")
elif x == "'d'" or x == "'D'": #Turn right.
self.ser.write("2")
elif x == "'s'" or x == "'S'": #Go back.
self.ser.write("1")
elif x == "'x'" or x == "'X'": #Stop.
self.ser.write("5")
elif x == "'1'": #Raise speed.
self.ser.write("7")
elif x == "'2'": #Lower speed.
self.ser.write("6")
x = ""
if len(response) > 10:
self.ser.flushInput() #If you don't flush the buffer, then it'll try to read out all
#the sensor readings, so the reaction time will be extrordinary.
time.sleep(.1)# This scales back the CPU usage.
self.queue.put(response)
def endApplication(self):
print "Closing"
self.running = 0
self.ser.close()
sys.exit(1)
rand = random.Random()
root = Tkinter.Tk()
client = ThreadedClient(root)
root.mainloop()
导入Tkinter
导入时间
导入线程
随机输入
导入队列
导入序列号
导入读线
#导入xbee
导入系统
x=“”
类GuiPart：
定义初始化（self、master、queue、endApplication）：
self.sonar=Tkinter.StringVar（）#将声纳传感器数据提供给标签
self.lm=Tkinter.StringVar（）#将左电机转速输入标签
self.rm=Tkinter.StringVar（）#为标签提供正确的电机转速
self.queue=队列
#设置GUI
frame1=Tkinter.Frame（主控，bd=200）#设置帧。
框架1.绑定（“，键）#允许框架处理按键。
frame1.focus_set（）#设置帧的焦点，以便按键激活事件。
frame1.pack（）#显示它。
#钮扣
console=Tkinter.Button（frame1，text='Close'，command=endApplication）
console.pack（）
#在这里添加更多GUI内容
self.lm.set（0）#初始化左电机标签
self.rm.set（0）#初始化右电机标签
self.sonar.set（0）#初始化声纳标签
#声纳标签
sonarLbl=Tkinter.Label（frame1，textvariable=self.sonar）
sonarLbl.pack（）
#右马达标签
rmLbl=Tkinter.Label（frame1，text=“左电机转速：”，textvariable=self.rm）
rmLbl.pack（）
#左马达标签
lmLbl=Tkinter.Label（frame1，textvariable=self.lm）
lmLbl.pack（）
def键（自身、事件）：
#打印“按下”，报告（event.char）
#self.sonar=repr（event.char）10：
self.ser.flushInput（）#如果不刷新缓冲区，它将尝试读取所有数据
#传感器读数，因此反应时间将异常。
time.sleep（.1）#这会降低CPU使用率。
self.queue.put（响应）
def端应用程序（自身）：
打印“结束”
self.running=0
self.ser.close（）
系统出口（1）
rand=random.random（）
root=Tkinter.Tk（）
client=ThreadedClient（root）
root.mainloop（）
self.guiGuiPartGuiPartprocessIncomingself.guiGuiPartprocessIncomingdef key(self, event):
GuiPartkey（）processIncoming（）AttributeError: GuiPart instance has no attribute 'processIncoming'
在代码段中，显示在行上方
def key(self, event):
GuiPart