In [2]:

    

%load_ext coconut
# Coconut introduces nice functional macros and better map, filter, reduce, etc.
import PyCmdMessenger
from toolz.curried import *
op = operator
from copy import copy, deepcopy
import sys

from typing import *


    

In [6]:

    

# Initialize an ArduinoBoard instance.  This is where you specify baud rate and
# serial timeout.  If you are using a non ATmega328 board, you might also need
# to set the data sizes (bytes for integers, longs, floats, and doubles).  
arduino = PyCmdMessenger.ArduinoBoard("COM10",baud_rate=115200, enable_dtr=False)

# List of command names (and formats for their associated arguments). These must
# be in the same order as in the sketch.
COMMANDS = [["kMotorOn","ssi"],
            ["kMotorStayOn", "ss"],
            ["kMotorOff","s"],
            ["kStatus","s*"],
            ["kAck","s*"],
            ["kError","s*"],
            ["kLogging", "s*"]]

# Initialize the messenger
c = PyCmdMessenger.CmdMessenger(arduino,COMMANDS)


    

    




Connecting to arduino on COM10... done.

In [22]:

    

from typing import *
from toolz.sandbox.core import unzip
from toolz.curried import *
cmd = PyCmdMessenger

def listen(Messenger: cmd.PyCmdMessenger.CmdMessenger, messageIdentifier: Text, *rest, arg_format: Text = None, tries: int = 250) -> Any:
    """ Listens for a specific type of response message"""
    try:
        assert any([messageIdentifier in command for command in Messenger.commands])
        pass
    except:
        raise ValueError("Message identifier must be a valid command identifier for the Messenger")
    while True:
        if arg_format is not None:
            message = Messenger.receive(arg_formats=arg_format)
        else:
            message = Messenger.receive()

        if type(message) in [list, tuple] and message is not None:
            if message[0] == messageIdentifier:
                return message
            else:
                continue


# def getLogs(Messenger: cmd.PyCmdMessenger.CmdMessenger) -> Text:
#     """Yields the logs from the CmdMessenger"""
#     while True:
#         yield from listen(Messenger, "kLogging")


def sendCommand(Messenger: cmd.PyCmdMessenger, messageIdentifier: Text, *args) -> Any:
    """Sends a command and returns the response"""
    Messenger.send(messageIdentifier, *args)
    if messageIdentifier in [command for command in list(unzip(COMMANDS)[0])]:
        response = listen(Messenger, "kAck", "s*")
    else:
        response = listen(Messenger, "kError", "s*")
    return response


    

In [11]:

    

# Send
# c.send("MotorOn","A", "F", 9999)
c.send("kStatus")
# Receive. Should give ["my_name_is",["Bob"],TIME_RECIEVED]
msg = c.receive(arg_formats="s*")
print(msg)


    

    




('kAck', ['A', 'OFF', 'B', 'OFF'], 1501600343.9261568)

In [12]:

    

c.send("kMotorStayOn", "A", "F")


    

In [13]:

    

c.send("kMotorOff","A")


    

In [25]:

    

msg = sendCommand(c, "kMotorStayOn", "A", "F")


    

In [34]:

    

dir(arduino)


    

    
Out[34]:





['__class__',
 '__delattr__',
 '__dict__',
 '__dir__',
 '__doc__',
 '__eq__',
 '__format__',
 '__ge__',
 '__getattribute__',
 '__gt__',
 '__hash__',
 '__init__',
 '__init_subclass__',
 '__le__',
 '__lt__',
 '__module__',
 '__ne__',
 '__new__',
 '__reduce__',
 '__reduce_ex__',
 '__repr__',
 '__setattr__',
 '__sizeof__',
 '__str__',
 '__subclasshook__',
 '__weakref__',
 '_is_connected',
 'baud_rate',
 'close',
 'comm',
 'connected',
 'device',
 'double_bytes',
 'double_max',
 'double_min',
 'double_type',
 'dtr',
 'enable_dtr',
 'float_bytes',
 'float_max',
 'float_min',
 'float_type',
 'int_bytes',
 'int_max',
 'int_min',
 'int_type',
 'long_bytes',
 'long_max',
 'long_min',
 'long_type',
 'open',
 'read',
 'readline',
 'settle_time',
 'timeout',
 'unsigned_int_max',
 'unsigned_int_min',
 'unsigned_int_type',
 'unsigned_long_max',
 'unsigned_long_min',
 'unsigned_long_type',
 'write']

In [36]:

    

type(arduino)


    

    
Out[36]:





PyCmdMessenger.arduino.ArduinoBoard

In [37]:

    

arduino.close()


    

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