motor commands over serial

motor.py

#!/usr/bin/env python

# python 3

from serial import Serial
import time
import argparse
from threading import Thread

class Command():
    """docstring for Command"""
    def __init__(self, delay, cmd):
        self.cmd = cmd
        self.delay = delay

    def has_callback(self):
        if b'setpoint' in self.cmd:
            return True
        else:
            return False



command_set = [
    Command(3.0,  b'filter set h\r\n'),
    Command(3.0,  b'filter set a\r\n'),
    Command(3.0,  b'filter set a\r\n'),
    ]


def readline(com):
    eol = b'\r\n'
    leneol = len(eol)
    line = bytearray()
    while True:
        c = com.read(1)
        if c:
            line += c
            if line[-leneol:] == eol:
                break
        else:
            break
    if len(line) > 0:
        print(line.decode())
    return bytes(line)


def drainInput(com):
    length = len(readline(com))
    while length > 0:
        length = len(readline(com))



def runner():
    com = Serial()
    com.port = 'COM7'
    com.baudrate = 115200
    com.timeout = 0
    com.open()


    count = 0
    while count < 1000:
        print('\r\nLoop {}'.format(count))
        count += 1

        for c in command_set:
            com.write(c.cmd)
            print(c.cmd)
            drainInput(com)
            time.sleep(c.delay)

    com.close()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description='loop serial commands')
    runner()