54 lines
1.4 KiB
Python
54 lines
1.4 KiB
Python
class aip_parser:
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def digitalWrite(self, args):
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if len(args) != 2:
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return
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self.robot.digitalWrite(*map(int, args))
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def analogWrite(self, args):
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if len(args) != 2:
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return
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self.robot.analogWrite(*map(int, args))
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cmds = {
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"dw" : digitalWrite,
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"aw" : analogWrite
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}
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def __init__(self, stdin, stdout, robot):
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self.stdin = stdin
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self.stdout = stdout
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self.cmd_buff = ""
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self.robot = robot
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def poll(self):
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c=self.stdout.read(1)
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if not c:
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return False
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try:
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print(c.decode(), end='')
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except UnicodeDecodeError:
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pass
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if len(self.cmd_buff)==0:
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if c != b'$':
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return True
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self.cmd_buff = "_"
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else:
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if c == b';':
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self.parse_line()
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else:
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try:
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self.cmd_buff += c.decode()
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except UnicodeDecodeError:
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pass
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return True
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def parse_line(self):
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cmd = self.cmd_buff[1:].split(',')
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cmdFct = self.cmds.get(cmd[0])
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if cmdFct:
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cmdFct(self, cmd[1:])
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self.cmd_buff = ""
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def send_pin_state(self):
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for ind, p in enumerate(self.robot.pins):
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self.stdin.write(bytes(f"${ind},{p};", "utf-8")) |