How can I improve PySerial read speed

问题

I'm currently building a machine that uses an Arduino Mega2560 as its main controller. The Arduino is connected to over serial, gets a command, executes it and spits out a bunch of measurement data every 1ms. I have a Raspberry Pi running Python to give the user a nice GUI to send the command, and to present the data in a readable form.

The problem I face: the Arduino is able to spit out 15 byte of data each millisecond (so that's only 15kbyte/s), but the code I'm running can only cope with about 15 byte each 10 milliseconds, so 1.5kB/s.

When I run cat /dev/ttyACM0 > somefile, I nicely see all datapoints.

I have the following slimmed down Python code

# Reset Arduino by starting serial
microprocBusy = True
serialPort = serial.Serial("/dev/ttyACM0", baudrate=460800, timeout=0)
time.sleep(0.22);
serialPort.setDTR(False);
time.sleep(0.22);
serialPort.setDTR(True);
time.sleep(0.10);

logfile = open(logfilenamePrefix + "_" + datetime.datetime.now().isoformat() + '.txt', 'a')

# Bootloader has some timeout, we need to wait for that
serialPort.flushInput()
while(serialPort.inWaiting() == 0):
    time.sleep(0.05)

# Wait for welcome message
time.sleep(0.1)
logfile.write(serialPort.readline().decode('ascii'))
logfile.flush()

# Send command
serialPort.write((command + '\n').encode('ascii'))

# Now, receive data
while(True):
    incomingData = serialPort.readline().decode('ascii')
    logfile.write(incomingData)
    logfile.flush() 

    if(incomingData[:5] == "FATAL" or incomingData[:6] == "HALTED" or incomingData[:5] == "RESET"):
        break;
    elif(incomingData[:6] == "RESULT"):
            resultData = incomingData;

logfile.flush()

When I run this, the first ~350 datapoints come in, then I see some mangled data and miss about 2000 datapoints, after which I see another 350 or so datapoints. The CPU usage is at 100% during the process

What is going wrong? Is PySerial poorly optimized, or is there some mistake in my code I missed? I could just run cat /dev/ttyACM0 > somefile from Python and then read that file, but that's not really a nice solution, is it?

Thanks a lot :)

回答1:

I've switched from PySerial to PyTTY, which solves my problem. Just plugging it into this code (with some small changes, like replacing serialPort.inWaiting() == 0 by serialPort.peek() == b'' for example) makes my code able to handle the datastream and not get above 50% CPU usage, which means it is at least 10x as fast. I'm still using PySerial to set the DTR lines though.

So, I guess the answer to the question is that indeed PySerial is indeed poorly optimised.

回答2:

I realize that this is an old thread, but it has been viewed 3000 times as of this writing and I would hate for someone to be turned off of pySerial on just this encounter.

I believe the most likely culprit for the author's problem is the implicit parsing that is going on between reads:

incomingData = serialPort.readline().decode('ascii')

The readline() method is telling pyserial to parse to the next line. You are also doing a decode() in the middle of your receive cycle. All of this is occurring right in the middle of your stream.

A better approach might look like this:

waiting = port.in_waiting  # find num of bytes currently waiting in hardware
buffer += [chr(c) for c in port.read(waiting)] # read them, convert to ascii

# ...keep accumulating the buffer for as long as is reasonable...

processSerialData(buffer)  # whatever processing needs to happen, split your
                           # lines, log, or whatever else *after* you get
                           # your data

回答3:

A very good solution to this can be found here.

The author states:

The code below gives me 790 kB/sec while replacing the code with pyserial's readline method gives me just 170kB/sec.

This solution also avoids having 100 % CPU usage.

class ReadLine:
    def __init__(self, s):
        self.buf = bytearray()
        self.s = s

    def readline(self):
        i = self.buf.find(b"\n")
        if i >= 0:
            r = self.buf[:i+1]
            self.buf = self.buf[i+1:]
            return r
        while True:
            i = max(1, min(2048, self.s.in_waiting))
            data = self.s.read(i)
            i = data.find(b"\n")
            if i >= 0:
                r = self.buf + data[:i+1]
                self.buf[0:] = data[i+1:]
                return r
            else:
                self.buf.extend(data)

ser = serial.Serial('COM7', 9600)
rl = ReadLine(ser)

while True:

    print(rl.readline())

来源：https://stackoverflow.com/questions/29557353/how-can-i-improve-pyserial-read-speed

标签

python

arduino

raspberry-pi

pyserial