#!/usr/bin/python3

#-*- coding: utf-8 -*-

# Script interpreter for custom commands

import csv

from pathlib import Path

from time import sleep

class Script(object):

_data=["$"]

_hash=["#"]

_home=["HOME"]

_go=["GO"]

_wait=["WAIT",{0}]

def __init__(self,filepath,callback):

self.file=Path(filepath) # Script location

#self._dir=None # Directory of filename

self.commands=None

self.callback=callback

self.use_pwm=True

self.cmds=["GO","#","WAIT","HOME","OFFSET","$"]

#self.cfgs={"UNITS":["DEGREES","POSITION"],"TIME":["S","MS"],"PORT":None}

pass

@DeprecationWarning("Use run() instead")

def open(self):

with open(str(self.file),newline='') as f:

self.commands=csv.reader(f,delimiter=",")

for each in self.commands:

print(each)

return self.commands

def saveL(self,line):

if type(line) == tuple or type(line) == list:

try:

with open(self.file, 'w', newline='') as f:

writer = csv.writer(f)

writer.writerows(line)

return True

except:

return False

else:

return False

pass

def configure(self):

pass

def run(self):

servos=None

with open(str(self.file),newline='') as f:

self.commands=csv.reader(f,delimiter=",")

for arg in self.commands:

if str(arg[0]).startswith(self.cmds[1]): # (#) Do nothing

continue

else:

if str(arg[0]).startswith(self.cmds[0]): # (GO) to position with servos

del arg[0]

servos=arg

continue

elif str(arg[0]).startswith(self.cmds[5]): # ($) Get positions and "set" them

del arg[0]

for s,p in zip(servos,arg):

self.callback(s,p,self.use_pwm)

elif str(arg[0]).startswith(self.cmds[3]): # Go (HOME)

self.callback(home=True)

elif str(arg[0]).startswith(self.cmds[2]): # (WAIT) before next command

sleep(int(arg[1])/1000)

#self.callback(wait=arg[1])

pass

@property

def filename(self):

return self.file

@filename.setter

def filename(self,name):

self.file=Path(name)

if self.file.is_file() == False:

return False

pass

pass