Minor changes

1 files changed, 28 insertions, 21 deletions

diff --git a/usv_driver.py b/usv_driver.py
index 5cb1167..bdf8656 100755
--- a/usv_driver.py
+++ b/usv_driver.py
@@ -8,27 +8,40 @@ class Usv(object):
     def __init__(self, device, baudrate, json_file):
         self._serial_port = serial.Serial(device,
                 baudrate=baudrate,
-                timeout=10)
+                timeout=0.8)
 
         # force a clean prompt
-        self._serial_port.write(b"\r")
-        self._read_until_prompt()
+        #self._serial_port.write(b"\r")
+        self._read_until_prompt("\r")
         #print("cleaned prompt")
         with open(json_file) as fhandle:
             self.json_params = json.load(fhandle)
 
 
-    def _read_until_prompt(self):
+    def _read_until_prompt(self, outbuf):
         # match on "\n=>"
-        prompt = False
-        inbuf = []
-        while not prompt:
-            inbuf.append(self._serial_port.read(1))
-            if len(inbuf) > 2:
-                if inbuf[-3] == b"\n" and \
-                        inbuf[-2] == b"=" and inbuf[-1] == b">":
-                    prompt = True
-        return inbuf
+        self._serial_port.write(outbuf.encode())
+        
+        inbuf = self._serial_port.read(100)
+        sbuf = inbuf.decode("utf-8") 
+
+        #prompt = False
+        #inbuf = []
+        #while not prompt:
+        #    pending = self._serial_port.read(1)
+        #    if len(pending) == 0:
+        #        self._serial_port.write(b"\r")
+        #    else:
+        #        inbuf.append(pending)
+        #        print(pending)
+        #if len(sbuf) > 2:
+        #    if sbuf[-3] == "\n" and \
+        #        sbuf[-2] == "=" and sbuf[-1] == ">":
+        #        return sbuf
+        #    else:
+        #        sbuf = self._read_until_prompt(outbuf)
+                
+        return sbuf
     
     def get_parameters(self):
         # [{'name': 'acvoltsin', 'index': 1}, 
@@ -36,16 +49,10 @@ class Usv(object):
 
         for parameter in self.json_params:
             outbuf = "d %s\r" % parameter['num']
-            self._serial_port.write(outbuf.encode())
-            inbuf = self._read_until_prompt()
+            inbuf = self._read_until_prompt(outbuf)
             
-            sbuf = ""
-            for char in inbuf:
-                sbuf += char.decode("utf-8")
-            #print("-->%s<--" % sbuf)
-
             regex = parameter['regex']
-            match = re.search(regex, sbuf, re.MULTILINE)
+            match = re.search(regex, inbuf, re.MULTILINE)
             
             if match:
                 name = parameter['name']