Created man function

littlebot_base/scripts/littlebot_fake.py

@@ -6,62 +6,67 @@
 @author: nestor
 """
 
-import base64
 import serial
 import sys
+import threading
 
 import littlebot_protocol_pb2 as LittlebotProtocol
 
-serial_port = sys.argv[1]
+# Define global start and end characters
+START_CHARACTER = b'<'
+END_CHARACTER = b'>'
 
-ser = serial.Serial(serial_port, baudrate=115200)  # open serial port
+def serial_configuration(serial_port):
+    serial_port = sys.argv[1]
 
-start_character = b'<'
-end_character = b'>'
+    # Open serial port
+    return serial.Serial(serial_port, baudrate=115200)  # open serial port
 
-# Create a new TodoList
-littlebot_msg_protocol = LittlebotProtocol.LittlebotProtocol()
+def send_message(ser, msg):
+    left_motor = msg.motor_interface.add(side=LittlebotProtocol.MotorSide.Value("LEFT"))
+    left_motor.status_velocity = 10
+    left_motor.status_position = 20
 
-left_motor = littlebot_msg_protocol.motor_interface.add()
-left_motor.side = LittlebotProtocol.MotorSide.Value("LEFT")
-left_motor.status_velocity = 10
-left_motor.status_position = 20
-left_motor.command_velocity = 30
+    encoded_data = START_CHARACTER + msg.SerializeToString() + END_CHARACTER
+    ser.write(encoded_data)
 
-right_motor = littlebot_msg_protocol.motor_interface.add()
-right_motor.side = LittlebotProtocol.MotorSide.Value("RIGHT")
-right_motor.status_velocity = 40
-right_motor.status_position = 50
-right_motor.command_velocity = 60
+    threading.Timer(1, send_message, args=(ser, msg)).start()
 
-print(littlebot_msg_protocol)
+def receive_message_callback(encoded_data_received):
+    print(f"Encoded data received: {encoded_data_received}")
 
-# Serialize the TodoList and send it over the serial port
-encoded_data = start_character + littlebot_msg_protocol.SerializeToString() + end_character
-ser.write(encoded_data)
-print(f"Encoded data sent: {encoded_data}\n")
 
-ser.flush()
+def read_from_serial(ser, callback):
+    while True:
+        data = ser.read()
+        if data == START_CHARACTER:
+            encoded_data_received = ser.read_until(END_CHARACTER)
+            callback(encoded_data_received)
 
-littlebot_msg_protocol2 = LittlebotProtocol.LittlebotProtocol()
+def main():
+    if len(sys.argv) < 2:
+        print("Usage: python littlebot_fake.py <serial_port>")
+        sys.exit(1)
 
-# Read the encoded data from the serial port
-data = ser.read()
-if data == start_character:
-    encoded_data_received = ser.read_until(end_character)
+    serial_port = sys.argv[1]
+    ser = serial_configuration(serial_port)
 
-# Debugging print
-print(f"Encoded data received: {encoded_data_received}")
+    littlebot_msg_protocol = LittlebotProtocol.LittlebotProtocol()
 
-# Parse the decoded data into a TodoList
-try:
-    littlebot_msg_protocol2.ParseFromString(encoded_data_received[:-1])
-    print(littlebot_msg_protocol2)
-except Exception as e:
-    print(f"Failed to parse the message: {e}")
+    # Send a message
+    send_message(ser, littlebot_msg_protocol)
 
+    # Start a thread to read from the serial port and call the callback function
+    read_thread = threading.Thread(target=read_from_serial, args=(ser, receive_message_callback))
+    read_thread.daemon = True
+    read_thread.start()
 
-if left_motor.side == False:
-    print("Right motor side is LEFT")
+    # Keep the main thread alive
+    try:
+        while True:
+            pass
+    except KeyboardInterrupt:
+        ser.close()
 
-ser.close()
+if __name__ == "__main__":
+    main()