Fixed #11 by changing how PlotWindow methods are overridden.

Added documentation for ARCOS SAY command.
The send_command method of the ARCOS Client now accepts bytes objects
as well as strings.

docs/source/conf.py

@@ -67,9 +67,9 @@ def __getattr__(cls, name):
 # built documents.
 #
 # The short X.Y version.
-version = '1.3.4'
+version = '1.3.5'
 # The full version, including alpha/beta/rc tags.
-release = '1.3.4'
+release = '1.3.5'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

soar/__init__.py

@@ -15,13 +15,13 @@
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #
 # soar/__init__.py
-""" Soar (Snakes on a Robot) v1.3.4
+""" Soar (Snakes on a Robot) v1.3.5
 
 An extensible Python framework for both simulating and interacting with robots.
 
 Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
 """
-__version__ = '1.3.4'
+__version__ = '1.3.5'
 blerb = 'Soar (Snakes on a Robot) v' + __version__ + ': A Python robotics framework.\n' \
                                                      'https://github.com/arantonitis/soar\n\n' \
                                                      'Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.'

soar/client.py

@@ -93,6 +93,7 @@ def tk_wrap(*args, **kwargs):
         return_val = gui.synchronous_future(func, *args, after_idle=True, **kwargs)
         if isinstance(return_val, Exception):  # If the function returned an exception, raise it
             raise return_val
+        return return_val
     return tk_wrap
 
 
@@ -266,12 +267,15 @@ def __init__(self, title='Plotting Window', visible=True):
                 plots.append(self)
 
             def __getattribute__(self, name):
-                attr = PlotWindow.__getattribute__(self, name)  # Call base class method to avoid infinite recursion
-                # Wrap class methods so that they run in the Tk mainloop, if not already running in it
-                if callable(attr) and current_thread() != main_thread():
-                    return tkinter_execute(return_exceptions(attr))
-                else:
+                if current_thread() != main_thread():  # If not on the main thread
+                    # Force accessing the attribute to run on the main thread
+                    attr = tkinter_execute(return_exceptions(PlotWindow.__getattribute__))(self, name)
+                    # If the attribute is callable, wrap it so that it runs on the main thread
+                    if callable(attr):
+                        return tkinter_execute(return_exceptions(attr))
                     return attr
+                else:
+                    return PlotWindow.__getattribute__(self, name)
         else:
             def __init__(self, title='Plotting Window', visible=True):
                 # Ensure the window is not visible, and add the plot to the global list

soar/gui/plot_window.py

@@ -6,8 +6,11 @@
     Unlike use of the :func:`soar.hooks.tkinter_hook`, use of this module will not force brain methods to run on the
     main thread alongside Soar's GUI event loop.
 
-    `PlotWindow` is wrapped by the client if it is imported by a Soar brain. This wrapper ensures that the proper mode
-    (GUI or headless) is enforced, despite what the brain might pass to the constructor.
+    However, methods of `PlotWindow` *will* run on the main thread, regardless of what thread the other brain methods
+    run in.
+
+    `PlotWindow` is wrapped by the client to ensure that the proper mode (GUI or headless) is enforced regardless
+    of the arguments passed to the constructor by the brain methods.
 
     The client will also ensure that, if logging is occurring, any `PlotWindow` objects will have their image data
     included in the log whenever the controller is shut down.

soar/robot/arcos.py

@@ -39,9 +39,10 @@
 DHEAD = 13  #: Turn at `SETRV` speed relative to current heading; (+) counterclockwise or (-) clockwise degrees.
 SAY = 15
 """ Play up to 20 duration, tone sound pairs through User Control panel piezo speaker.
-The argument is a string consisting of duration, tone pair bytes. Duration is in 20 millisecond increments.
-A value of 0 means silence. The values 1-127 are the corresponding MIDI notes. The remaining values are frequencies
-computed as `tone - 127*32` equivalent frequencies from 1-4096, in 32Hz increments.
+The argument is a string whose first byte must be the number of (duration, tone) pairs to play, followed by each (duration, tone) pair.
+Duration is in 20 millisecond increments.
+A value of 0 means silence. The values 1-127 are the corresponding MIDI notes, with 60 being middle C. The remaining values are frequencies
+computed as `(tone - 127)*32`, ranging from 1-4096 in 32Hz increments.
 """
 CONFIG = 18  #: Request a configuration SIP.
 ENCODER = 19  #: Request a single (1), a continuous stream (>1), or stop (0) encoder SIPS.
@@ -332,6 +333,7 @@ def send_command(self, code, data=None):
         Args:
             code: The command code. Must be in :data:`soar.robot.arcos.command_types`.
             data (optional): The associated command argument, assumed to be of the correct type.
+                For commands that take a string argument, a `bytes` object may also be used.
 
         Raises:
             `Timeout`: If the write timeout of the port was exceeded.
@@ -347,7 +349,7 @@ def send_command(self, code, data=None):
             b = [data & 0xff, (data >> 8) & 0xff]
             self.send_packet(code, arg_type, *b)
         else:  # command_types[code] == str
-            b = [ord(c) for c in data]  # Convert the string to bytes and add a null terminator
+            b = list(bytes(data))
             b.append(0)
             arg_type = 0x2b
             self.send_packet(code, arg_type, *b)