import firmata

class TAArduino(object):
    def __init__(self, dev='/dev/ttyUSB0', baud=115200):
        object.__init__(self)
        self._dev = dev
        self._baud = baud
        self._arduino = None # Do not initialize this now

        self.HIGH = firmata.HIGH
        self.LOW = firmata.LOW
        self.INPUT = firmata.INPUT
        self.OUTPUT = firmata.OUTPUT
        self.PWM = firmata.PWM
        self.SERVO = firmata.SERVO

    def _check_init(self):
        if self._arduino is None:
            self._arduino = firmata.Arduino(port = self._dev, \
                baudrate=self._baud)
        self._arduino.parse()

    def delay(self, secs):
        # Do not use this. The firmata module uses time.sleep() to
        # implement this, which breaks gtk+ (unresponsive window)
        self._check_init()
        self._arduino.delay(secs)

    def pin_mode(self, pin, mode):
        self._check_init()
        self._arduino.pin_mode(int(pin), mode)

    def analog_write(self, pin, value):
        self._check_init()
        self._arduino.analog_write(int(pin), int(value))

    def digital_write(self, pin, value):
        self._check_init()
        self._arduino.digital_write(int(pin), value)

    def analog_read(self, pin):
        self._check_init()
        self._arduino.parse()  #XXX: Not sure why I have to do this here.
        return self._arduino.analog_read(int(pin))

    def digital_read(self, pin):
        self._check_init()
        return self._arduino.digital_read(int(pin))