Remove message encoding in wiregrid_tiltsensor agent (#764)

* debug the wiregrid_tiltsensor agent

* add argument type in make_parser

* changing argument device to encoded

socs/agents/wiregrid_tiltsensor/agent.py

@@ -31,7 +31,7 @@ def __init__(self, agent, ip, port, sensor_type=None):
         self.take_data = False
 
         self.ip = ip
-        self.port = port
+        self.port = int(port)
         self.sensor_type = sensor_type
         self.tiltsensor = connect(self.ip, self.port, self.sensor_type)
         self.pm = Pacemaker(2, quantize=True)

socs/agents/wiregrid_tiltsensor/drivers/dwl.py

@@ -126,7 +126,7 @@ def __conn(self, tcp_ip=None, tcp_port=None, timeout=None):
                 "Aborted DWL._conn() due to no "
                 "TCP port specified")
         elif tcp_ip is not None and tcp_port is not None:
-            self.ser = mx.Serial_TCPServer((tcp_ip, tcp_port), timeout)
+            self.ser = mx.Serial_TCPServer((tcp_ip, tcp_port), timeout, encoded=False)
             self.tcp_ip = tcp_ip
             self.tcp_port = int(tcp_port)
             self.using_tcp = True

socs/agents/wiregrid_tiltsensor/drivers/sherborne.py

@@ -79,7 +79,7 @@ def __conn(self, tcp_ip, tcp_port, timeout):
                 "Aborted Sherborne._conn() due to no TCP IP or "
                 "TCP port specified")
         elif tcp_ip is not None and tcp_port is not None:
-            self.ser = mx.Serial_TCPServer((tcp_ip, tcp_port), timeout)
+            self.ser = mx.Serial_TCPServer((tcp_ip, tcp_port), timeout, encoded=False)
             self.tcp_ip = tcp_ip
             self.tcp_port = int(tcp_port)
             self.using_tcp = True

socs/common/moxa_serial.py

@@ -52,11 +52,14 @@ class Serial_TCPServer(object):
     Args:
         port (tuple): (IP addr, TCP port)
         timeout (float): Timeout for reading from the moxa box
+        encoded (bool): Encode/decode messages before/after sending/receiving if True.
+                        Send messages unmodified if False. Defaults to True.
 
     """
 
-    def __init__(self, port, timeout=MOXA_DEFAULT_TIMEOUT):
+    def __init__(self, port, timeout=MOXA_DEFAULT_TIMEOUT, encoded=True):
         self.port = port
+        self.encoded = encoded
 
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
         self.sock.setblocking(0)
@@ -88,7 +91,10 @@ def readexactly(self, n):
                 pass
         # Flush the message out if you got everything
         if len(msg) == n:
-            msg = self.sock.recv(n).decode()
+            if self.encoded:
+                msg = self.sock.recv(n).decode()
+            else:
+                msg = self.sock.recv(n)
         # Otherwise tell nothing and leave the data in the buffer
         else:
             msg = ''
@@ -193,7 +199,10 @@ def write(self, msg):
                 needed.
 
         """
-        self.sock.send(msg.encode())
+        if self.encoded:
+            self.sock.send(msg.encode())
+        else:
+            self.sock.send(msg)
 
     def writeread(self, msg):
         self.flushInput()