Dev/u8 array

pyharp/device.py

@@ -97,6 +97,7 @@ def disconnect(self) -> None:
         self._ser.close()
 
     def read_who_am_i(self) -> int:
+        self.log.debug("Requesting whoami.")
         address = CommonRegisters.WHO_AM_I
 
         reply: ReplyHarpMessage = self.send(
@@ -271,6 +272,7 @@ def reset_device(self):
     def send(self, message_bytes: bytearray, dump: bool = True) -> ReplyHarpMessage:
         """Send a harp message; return the device's reply."""
         #print(f"Sending: {repr(message_bytes)}")
+        self.log.debug(f"sent: {repr(message_bytes)}")
         self._ser.write(message_bytes)
 
         # TODO: handle case where read is None
@@ -305,4 +307,4 @@ def get_events(self) -> list[ReplyHarpMessage]:
 
     def event_count(self) -> int:
         """Get the number of events in the event queue."""
-        return self._ser.event_q.qsize()
+        return self._ser.event_q.qsize()

pyharp/harp_serial.py

@@ -48,10 +48,13 @@ def __init__(self, serial_port: str, **kwargs):
             self._ser,
             partial(HarpSerialProtocol, self._read_q),
         )
+        self._reader.daemon = True
+        self._reader.name = f"{serial_port}_harp_serial_reader_worker"
         self._reader.start()
         transport, protocol = self._reader.connect()
 
         self._parse_thread = threading.Thread(
+            name=f"{serial_port}_harp_serial_parse_worker",
             target=self.parse_harp_msgs_threaded,
             daemon=True,
         )

pyharp/messages.py

@@ -159,6 +159,9 @@ def WriteU32(address: int, value: int) -> WriteU32HarpMessage:
     def WriteS32(address: int, value: int) -> WriteS32HarpMessage:
         return WriteS32HarpMessage(address, value)
 
+    def WriteS32Array(address: int, value: list[int]) -> WriteS32HarpMessage:
+        return WriteS32ArrayHarpMessage(address, value)
+
     @staticmethod
     def parse(frame: bytearray) -> ReplyHarpMessage:
         return ReplyHarpMessage(frame)
@@ -291,6 +294,9 @@ class ReadU32HarpMessage(ReadHarpMessage):
     def __init__(self, address: int):
         super().__init__(PayloadType.U32, address)
 
+class ReadS32HarpMessage(ReadHarpMessage):
+    def __init__(self, address: int):
+        super().__init__(PayloadType.S32, address)
 
 class ReadS32HarpMessage(ReadHarpMessage):
     def __init__(self, address: int):
@@ -423,3 +429,29 @@ def __init__(self, address: int, value: int | List[int]):
     @property
     def payload(self) -> int | List[int]:
         return int.from_bytes(self._frame[5:9], byteorder="little", signed=True)
+
+
+class WriteU8ArrayMessage(WriteHarpMessage):
+    def __init__(self, address: int, data_format, value: Union[list, tuple]):
+        self.data_format = data_format
+        packed_data = struct.pack(self.data_format, *value)
+        super().__init__(PayloadType.U8, packed_data, address,
+                         offset=(len(packed_data)-1))
+
+    @property
+    def payload(self) -> List[int]:
+        return struct.unpack('{self.data_format}', self._frame[5:4*self.payload_count])[0]
+
+
+class WriteS32ArrayHarpMessage(WriteHarpMessage):
+    def __init__(self, address: int, value: int):
+        self.payload_count = len(value)
+        super().__init__(
+            PayloadType.S32,
+            struct.pack('<{len(value)l', *value),
+            address, offset=(4*self.payload_count - 1))
+
+
+    @property
+    def payload(self) -> int:
+        return struct.unpack('<{self.payload_count}l', self._frame[5:4*self.payload_count])[0]