[driver/python] Added base of serial driver in python

.gitignore

 .*.sw*
 build
 docs
+.*.sw*
+__pycache__
+*.egg-info
+*.pick
+*.tif
+*.ply
+*.pyc
+output

python/seatrac_usbl/SeatracSerial.py

+import serial
+import asyncio
+import time
+import threading
+
+class SeatracSerial:
+
+    def __init__(self, device, baudrate=115200):
+        self.serial = serial.Serial(device, baudrate)
+        self.serial.bytesize = serial.EIGHTBITS
+        self.serial.parity   = serial.PARITY_NONE
+        self.serial.stopbits = serial.STOPBITS_TWO
+        self.serial.rtscts   = False
+        self.serial.dsrdtr   = False
+        self.serial.timeout  = 1e-3
+
+        self.running = False
+        self.thread  = None
+    
+    async def run(self):
+        self.running = True
+        while self.running:
+            part = self.serial.read(1024)
+            while len(part) > 0:
+                print(part)
+                part = self.serial.read(1024)
+            await asyncio.sleep(0.05)
+
+    def start(self, background=False):
+        self.serial.flush()
+
+        if background:
+            self.thread = threading.Thread(target=lambda : asyncio.run(self.run()))
+            self.thread.start()
+        else:
+            asyncio.run(self.run())
+    
+    def stop(self):
+        self.running = False
+        if self.thread is not None:
+            self.thread.join()
+
+
+

python/seatrac_usbl/__init__.py

+from .SeatracSerial import SeatracSerial

python/setup.py

+from setuptools import setup, find_packages
+
+setup(name='seatrac_usbl',
+      version='0.1',
+      description='Interface for the Blueprint Seatrac USBL',
+      author='Pierre Narvor',
+      author_email='pierre.narvor@ensta-bretagne.fr',
+      licence='confidential',
+      packages=find_packages(include=['seatrac_usbl']),
+      install_requires=[
+        'numpy',
+        'matplotlib',
+        'pyserial',
+      ],
+      zip_safe=False)
+
+

python/tests/async_serial.py

+#! /usr/bin/python3
+
+import asyncio
+import serial
+
+s = serial.Serial('/dev/narval_usbl', 115200)
+s.bytesize = serial.EIGHTBITS
+s.parity   = serial.PARITY_NONE
+s.stopbits = serial.STOPBITS_TWO
+s.rtscts   = False
+s.dsrdtr   = False
+s.timeout  = 1e-1
+
+s.flush()
+
+readSize = 1024
+async def read_until():
+    
+    part = s.read(256)
+    while len(part) > 0:
+        print(part)
+        part = s.read(256)
+    await asyncio.sleep(0.01)
+
+
+async def start():
+    await asyncio.gather(read_until())
+
+asyncio.run(start())
+

python/tests/seatrac_serial.py

+#! /usr/bin/python3
+
+from seatrac_usbl import SeatracSerial
+
+serial = SeatracSerial('/dev/narval_usbl')
+serial.start(background=True)