@小鱼 uart2serial程序分享，利用linux的poll机制实现。
#!/usr/bin/env python3
import os
import pty
import socket
import select
import argparse
parser = argparse.ArgumentParser(description='Creates a virtual pty for a remote tcp/udp socket')
parser.add_argument('port', type=int)
parser.add_argument('uart_name', type=str)
args = parser.parse_args()
lport = args.port
luser_name = args.uart_name
def restart_laser_driver_ros2():
"""
Restart YdLaser Driver With Ros2!
1.LifeCycle
2.Restart Laser SubProcess
"""
pass
def main():
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.bind(('0.0.0.0', lport))
s.listen(5)
master, slave = pty.openpty()
if os.path.exists(luser_name): os.remove(luser_name)
os.symlink(os.ttyname(slave),luser_name)
print(f"UART2SOCKET:{lport}->{luser_name}")
mypoll = select.poll()
mypoll.register(master, select.POLLIN)
try:
while True:
client,client_address = s.accept()
mypoll.register(client.fileno(), select.POLLIN)
print(s.fileno(),client,master)
print('PTY: Opened {} for {}:{}'.format(os.ttyname(slave), '0.0.0.0', lport))
is_connect = True
while is_connect:
fdlist = mypoll.poll(256)
for fd,event in fdlist:
data = os.read(fd, 256)
write_fd = client.fileno() if fd == master else master
if len(data)==0:
is_connect = False
break
os.write(write_fd, data)
print(fd, event,data)
mypoll.unregister(client.fileno())
finally:
s.close()
os.close(master)
os.close(slave)
os.remove(luser_name)
if __name__ == "__main__":
main()
