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Line 54... Line 54...
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class MkMsg:
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class MkMsg:
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    def __init__(self, msg=None, address=None, cmd=None, data=None):
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    def __init__(self, msg=None, address=None, cmd=None, data=None):
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        if (msg != None):
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        if (msg != None):
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            # Create instance based on received message
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            # Create instance based on received message
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            self.parse(msg)
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            self.parseUartLine(msg)
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        elif (address != None and cmd != None and data != None):
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        elif (address != None and cmd != None and data != None):
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            # Create instance based on address, command and data
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            # Create instance based on address, command and data
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            self.address = address
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            self.address = address
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            self.cmd = cmd
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            self.cmd = cmd
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            self.data = data
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            self.data = data
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        else:
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        else:
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            # Cannot create instance
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            # Cannot create instance
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            raise InvalidArguments
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            raise InvalidArguments
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    def generateMsg(self):
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    def generateUartLine(self):
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        msg = ""
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        msg = ""
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        msg += crc1 + crc2
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        msg += crc1 + crc2
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        msg += '\r'
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        msg += '\r'
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        return msg
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        return msg
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    def parse(self, msg):
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    def parseUartLine(self, msg):
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        if len(msg)<6:
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        if len(msg)<6:
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            raise InvalidMsg()
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            raise InvalidMsg()
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        if (msg[0] != '#'):
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        if (msg[0] != '#'):
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        self.serPort = None
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        self.serPort = None
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        self.printDebugMsg = printDebugMsg
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        self.printDebugMsg = printDebugMsg
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        msg = MkMsg(address=0, cmd='v', data=[])
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        msg = MkMsg(address=0, cmd='v', data=[])
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        self.getVersionMsgLn = msg.generateMsg()
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        self.getVersionMsgLn = msg.generateUartLine()
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        msg = MkMsg(address=0, cmd='d', data=[500])
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        msg = MkMsg(address=0, cmd='d', data=[500])
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        self.getDebugMsgLn = msg.generateMsg()
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        self.getDebugMsgLn = msg.generateUartLine()
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        return msg
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        return msg
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    def sendNCRedirectUartFromFC(self):
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    def sendNCRedirectUartFromFC(self):
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        self.serPort.flushInput()
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        self.serPort.flushInput()
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        msg = MkMsg(address=MkComm.ADDRESS_NC, cmd='u', data=[0])
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        msg = MkMsg(address=MkComm.ADDRESS_NC, cmd='u', data=[0])
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        self.sendLn(msg.generateMsg())
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        self.sendLn(msg.generateUartLine())
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        time.sleep(.5)
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        time.sleep(.5)
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        # No reply expected...  
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        # No reply expected...  
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    def sendSettings(self, settings):
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    def sendSettings(self, settings):
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        msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='s', data=settings)
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        msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='s', data=settings)
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        self.sendLn(msg.generateMsg())
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        self.sendLn(msg.generateUartLine())
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        time.sleep(1)
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        time.sleep(1)
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        msg = self.waitForMsg('S')
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        msg = self.waitForMsg('S')
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        return msg
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        return msg
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    def getSettingsMsg(self, index=0xFF):
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    def getSettingsMsg(self, index=0xFF):
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        self.serPort.flushInput()
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        self.serPort.flushInput()
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        msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='q', data=[index])
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        msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='q', data=[index])
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        self.sendLn(msg.generateMsg())
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        self.sendLn(msg.generateUartLine())
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        msg = self.waitForMsg('Q')
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        msg = self.waitForMsg('Q')
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        msg = SettingsMsg(msg)
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        msg = SettingsMsg(msg)
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        return msg
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        return msg
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        msg = VersionMsg(msg)
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        msg = VersionMsg(msg)
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        return msg
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        return msg
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    def setMotorTest(self, motorSpeeds):
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    def setMotorTest(self, motorSpeeds):
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        msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='t', data=motorSpeeds)
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        msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='t', data=motorSpeeds)
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        self.sendLn(msg.generateMsg())
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        self.sendLn(msg.generateUartLine())
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    def doVibrationTest(self, nbSamples, channel):
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    def doVibrationTest(self, nbSamples, channel):
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        data = []
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        data = []
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        for i in range(0,(min(nbSamples,1000)/50)):
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        for i in range(0,(min(nbSamples,1000)/50)):
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          msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='f', data=[channel, i])
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          msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='f', data=[channel, i])
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          self.sendLn(msg.generateMsg())
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          self.sendLn(msg.generateUartLine())
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          msg = self.waitForMsg('F')
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          msg = self.waitForMsg('F')
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          msg = VibrationDataMsg(msg)
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          msg = VibrationDataMsg(msg)