# io-hub - Modular Input/Output. {{{ # # Copyright (C) 2011 Nicolas Schodet # # APBTeam: # Web: http://apbteam.org/ # Email: team AT apbteam DOT org # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # # }}} import proto, time __all__ = [ 'Proto', 'ProtoRobospierre', 'ProtoGuybrush' ] class Proto: def __init__ (self, file, time = time.time, **param): self.proto = proto.Proto (file, time, 0.1) self.async = False self.param = param self.send_param () def send_param (self): pass def reset (self): self.proto.send ('z') self.proto.send ('z') def fsm_debug (self): self.proto.send ('f') def pwm_set (self, index, value): self.proto.send ('w', 'Bh', index, value) def pwm_set_timed (self, index, value, time, rest_value): self.proto.send ('w', 'BhHh', index, value, time, rest_value) def goto (self, x, y, backward): self.proto.send ('m', 'hhB', x, y, backward) def output (self, mask, action): m = { 'clear': 0, 'set': 1, 'toggle': 2 } if action in m: action = m[action] self.proto.send ('o', 'Lb', mask, action) def output_transient (self, mask, duration): self.proto.send ('o', 'LH', mask, duration) def close (self): self.reset () self.proto.wait (lambda: True) self.proto.file.close () def fileno (self): return self.proto.fileno () class ProtoRobospierre (Proto): def clamp_move (self, pos): self.proto.send ('c', 'B', pos) def clamp_move_element (self, from_, to): self.proto.send ('c', 'BB', from_, to) def drop (self, order): if order == 'drop_clear': self.proto.send ('d', 'B', 0x00) elif order == 'drop_forward': self.proto.send ('d', 'B', 0x01) elif order == 'drop_backward': self.proto.send ('d', 'B', 0x02) else: raise ValueError def door (self, pos, open_): self.proto.send ('d', 'BB', pos, (0, 1)[open_]) def clamp_openclose (self, open_): self.proto.send ('d', 'BB', 0xff, (0, 1)[open_]) class ProtoGuybrush (Proto): def tree_detected(self): self.proto.send('t') def stop_tree_approach(self): self.proto.send('s') def empty_tree(self): self.proto.send('e') def robot_is_back(self): self.proto.send('r') def unblock_bottom_clamp(self): self.proto.send('u')