The python/raspi side in arduino communication

Python_comms.py

## How it was with Serial

        if(not commands.empty()):
            command=commands.get()
            if(args.verbosity>0):
                print("DISPATCHER: sending to Arduino: "+command)
            start=time.time()
            arduino.write(command)

            # wait until we get OK back
            response=''
            ack=False
            while not ack:
                response=arduino.readline()
                if (len(response)>0):
                    ack=True

            end=time.time()
            print('Response to {} took {:G} millis'.format(response.strip(),(end-start)*1000))


## How it is with SoftSerial

    while True:
        if(not commands.empty()):
            command=commands.get()
            if(args.verbosity>0):
                print("DISPATCHER: sending to Arduino: "+command)
            start=time.time()
            arduino.write(command+'|')

            # wait until we get OK back
            response=''
            ack=False
            while not ack:
                response=arduino.readline()
                if (len(response)>0):
                    ack=True

            end=time.time()
            print('Response {} to {} took {:G} millis'.format(response,command,(end-start)*1000))