From 5b5271e98c6d7f0ffea9d6b3fbf2cec43d283d64 Mon Sep 17 00:00:00 2001 From: Tat-Chee Wan (USM) Date: Tue, 1 Mar 2011 09:10:13 +0800 Subject: Imported nxt-python baseline (v2.1.0) --- nxt-python-fantom/nxt/__init__.py | 17 + nxt-python-fantom/nxt/bluesock.py | 78 +++ nxt-python-fantom/nxt/brick.py | 225 ++++++++ nxt-python-fantom/nxt/direct.py | 216 ++++++++ nxt-python-fantom/nxt/error.py | 87 +++ nxt-python-fantom/nxt/lightblueglue.py | 53 ++ nxt-python-fantom/nxt/locator.py | 57 ++ nxt-python-fantom/nxt/motor.py | 431 +++++++++++++++ nxt-python-fantom/nxt/sensor/__init__.py | 50 ++ nxt-python-fantom/nxt/sensor/analog.py | 41 ++ nxt-python-fantom/nxt/sensor/common.py | 67 +++ nxt-python-fantom/nxt/sensor/digital.py | 227 ++++++++ nxt-python-fantom/nxt/sensor/generic.py | 154 ++++++ nxt-python-fantom/nxt/sensor/hitechnic.py | 611 +++++++++++++++++++++ nxt-python-fantom/nxt/sensor/mindsensors.py | 815 ++++++++++++++++++++++++++++ nxt-python-fantom/nxt/system.py | 297 ++++++++++ nxt-python-fantom/nxt/telegram.py | 118 ++++ nxt-python-fantom/nxt/usbsock.py | 82 +++ nxt-python-fantom/nxt/utils.py | 33 ++ 19 files changed, 3659 insertions(+) create mode 100644 nxt-python-fantom/nxt/__init__.py create mode 100644 nxt-python-fantom/nxt/bluesock.py create mode 100644 nxt-python-fantom/nxt/brick.py create mode 100644 nxt-python-fantom/nxt/direct.py create mode 100644 nxt-python-fantom/nxt/error.py create mode 100644 nxt-python-fantom/nxt/lightblueglue.py create mode 100644 nxt-python-fantom/nxt/locator.py create mode 100644 nxt-python-fantom/nxt/motor.py create mode 100644 nxt-python-fantom/nxt/sensor/__init__.py create mode 100644 nxt-python-fantom/nxt/sensor/analog.py create mode 100644 nxt-python-fantom/nxt/sensor/common.py create mode 100644 nxt-python-fantom/nxt/sensor/digital.py create mode 100644 nxt-python-fantom/nxt/sensor/generic.py create mode 100644 nxt-python-fantom/nxt/sensor/hitechnic.py create mode 100644 nxt-python-fantom/nxt/sensor/mindsensors.py create mode 100644 nxt-python-fantom/nxt/system.py create mode 100644 nxt-python-fantom/nxt/telegram.py create mode 100644 nxt-python-fantom/nxt/usbsock.py create mode 100644 nxt-python-fantom/nxt/utils.py (limited to 'nxt-python-fantom/nxt') diff --git a/nxt-python-fantom/nxt/__init__.py b/nxt-python-fantom/nxt/__init__.py new file mode 100644 index 0000000..01be052 --- /dev/null +++ b/nxt-python-fantom/nxt/__init__.py @@ -0,0 +1,17 @@ +# nxt.__init__ module -- LEGO Mindstorms NXT python package +# Copyright (C) 2006 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner +# +# 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 3 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. + +from .locator import find_one_brick +from .motor import * +from .sensor import * diff --git a/nxt-python-fantom/nxt/bluesock.py b/nxt-python-fantom/nxt/bluesock.py new file mode 100644 index 0000000..c57894d --- /dev/null +++ b/nxt-python-fantom/nxt/bluesock.py @@ -0,0 +1,78 @@ +# nxt.bluesock module -- Bluetooth socket communication with LEGO Minstorms NXT +# Copyright (C) 2006, 2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner +# +# 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 3 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. + +try: + import bluetooth +except ImportError: + import lightblueglue as bluetooth +import os +from .brick import Brick + +class BlueSock(object): + + bsize = 118 # Bluetooth socket block size + PORT = 1 # Standard NXT rfcomm port + + def __init__(self, host): + self.host = host + self.sock = None + self.debug = False + + def __str__(self): + return 'Bluetooth (%s)' % self.host + + def connect(self): + if self.debug: + print 'Connecting via Bluetooth...' + sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM) + sock.connect((self.host, BlueSock.PORT)) + self.sock = sock + if self.debug: + print 'Connected.' + return Brick(self) + + def close(self): + if self.debug: + print 'Closing Bluetooth connection...' + self.sock.close() + if self.debug: + print 'Bluetooth connection closed.' + + def send(self, data): + if self.debug: + print 'Send:', + print ':'.join('%02x' % ord(c) for c in data) + l0 = len(data) & 0xFF + l1 = (len(data) >> 8) & 0xFF + d = chr(l0) + chr(l1) + data + self.sock.send(d) + + def recv(self): + data = self.sock.recv(2) + l0 = ord(data[0]) + l1 = ord(data[1]) + plen = l0 + (l1 << 8) + data = self.sock.recv(plen) + if self.debug: + print 'Recv:', + print ':'.join('%02x' % ord(c) for c in data) + return data + +def _check_brick(arg, value): + return arg is None or arg == value + +def find_bricks(host=None, name=None): + for h, n in bluetooth.discover_devices(lookup_names=True): + if _check_brick(host, h) and _check_brick(name, n): + yield BlueSock(h) diff --git a/nxt-python-fantom/nxt/brick.py b/nxt-python-fantom/nxt/brick.py new file mode 100644 index 0000000..740ccbd --- /dev/null +++ b/nxt-python-fantom/nxt/brick.py @@ -0,0 +1,225 @@ +# nxt.brick module -- Classes to represent LEGO Mindstorms NXT bricks +# Copyright (C) 2006 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, rhn +# Copyright (C) 2010 rhn, Marcus Wanner, zonedabone +# +# 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 3 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. + +from time import sleep +from threading import Lock +from .error import FileNotFound, ModuleNotFound +from .telegram import OPCODES, Telegram +from .sensor import get_sensor + +def _make_poller(opcode, poll_func, parse_func): + def poll(self, *args, **kwargs): + ogram = poll_func(opcode, *args, **kwargs) + with self.lock: + self.sock.send(str(ogram)) + igram = Telegram(opcode=opcode, pkt=self.sock.recv()) + return parse_func(igram) + return poll + +class _Meta(type): + 'Metaclass which adds one method for each telegram opcode' + + def __init__(cls, name, bases, dict): + super(_Meta, cls).__init__(name, bases, dict) + for opcode in OPCODES: + poll_func, parse_func = OPCODES[opcode] + m = _make_poller(opcode, poll_func, parse_func) + setattr(cls, poll_func.__name__, m) + + +class FileFinder(object): + 'A generator to find files on a NXT brick.' + + def __init__(self, brick, pattern): + self.brick = brick + self.pattern = pattern + self.handle = None + + def _close(self): + if self.handle is not None: + self.brick.close(self.handle) + self.handle = None + + def __del__(self): + self._close() + + def __iter__(self): + results = [] + self.handle, fname, size = self.brick.find_first(self.pattern) + results.append((fname, size)) + while True: + try: + handle, fname, size = self.brick.find_next(self.handle) + results.append((fname, size)) + except FileNotFound: + self._close() + break + for result in results: + yield result + + +def File(brick, name, mode='r', size=None): + """Opens a file for reading/writing. Mode is 'r' or 'w'. If mode is 'w', + size must be provided. + """ + if mode == 'w': + if size is not None: + return FileWriter(brick, name, size) + else: + return ValueError('Size not specified') + elif mode == 'r': + return FileReader(brick, name) + else: + return ValueError('Mode ' + str(mode) + ' not supported') + + +class FileReader(object): + """Context manager to read a file on a NXT brick. Do use the iterator or + the read() method, but not both at the same time! + The iterator returns strings of an arbitrary (short) length. + """ + + def __init__(self, brick, fname): + self.brick = brick + self.handle, self.size = brick.open_read(fname) + + def read(self, bytes=None): + if bytes is not None: + remaining = bytes + else: + remaining = self.size + bsize = self.brick.sock.bsize + data = [] + while remaining > 0: + handle, bsize, buffer_ = self.brick.read(self.handle, + min(bsize, remaining)) + remaining -= len(buffer_) + data.append(buffer_) + return ''.join(data) + + def close(self): + if self.handle is not None: + self.brick.close(self.handle) + self.handle = None + + def __del__(self): + self.close() + + def __enter__(self): + return self + + def __exit__(self, etp, value, tb): + self.close() + + def __iter__(self): + rem = self.size + bsize = self.brick.sock.bsize + while rem > 0: + handle, bsize, data = self.brick.read(self.handle, + min(bsize, rem)) + yield data + rem -= len(data) + + +class FileWriter(object): + "Object to write to a file on a NXT brick" + + def __init__(self, brick, fname, size): + self.brick = brick + self.handle = self.brick.open_write(fname, size) + self._position = 0 + self.size = size + + def __del__(self): + self.close() + + def close(self): + if self.handle is not None: + self.brick.close(self.handle) + self.handle = None + + def tell(self): + return self._position + + def write(self, data): + remaining = len(data) + if remaining > self.size - self._position: + raise ValueError('Data will not fit into remaining space') + bsize = self.brick.sock.bsize + data_position = 0 + + while remaining > 0: + batch_size = min(bsize, remaining) + next_data_position = data_position + batch_size + buffer_ = data[data_position:next_data_position] + + handle, size = self.brick.write(self.handle, buffer_) + + self._position += batch_size + data_position = next_data_position + remaining -= batch_size + + +class ModuleFinder(object): + 'Iterator to lookup modules on a NXT brick' + + def __init__(self, brick, pattern): + self.brick = brick + self.pattern = pattern + self.handle = None + + def _close(self): + if self.handle: + self.brick.close(self.handle) + self.handle = None + + def __del__(self): + self._close() + + def __iter__(self): + self.handle, mname, mid, msize, miomap_size = \ + self.brick.request_first_module(self.pattern) + yield (mname, mid, msize, miomap_size) + while True: + try: + handle, mname, mid, msize, miomap_size = \ + self.brick.request_next_module( + self.handle) + yield (mname, mid, msize, miomap_size) + except ModuleNotFound: + self._close() + break + + +class Brick(object): #TODO: this begs to have explicit methods + 'Main object for NXT Control' + + __metaclass__ = _Meta + + def __init__(self, sock): + self.sock = sock + self.lock = Lock() + + def play_tone_and_wait(self, frequency, duration): + self.play_tone(frequency, duration) + sleep(duration / 1000.0) + + def __del__(self): + self.sock.close() + + find_files = FileFinder + find_modules = ModuleFinder + open_file = File + get_sensor = get_sensor diff --git a/nxt-python-fantom/nxt/direct.py b/nxt-python-fantom/nxt/direct.py new file mode 100644 index 0000000..50b7f2a --- /dev/null +++ b/nxt-python-fantom/nxt/direct.py @@ -0,0 +1,216 @@ +# nxt.direct module -- LEGO Mindstorms NXT direct telegrams +# Copyright (C) 2006, 2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner +# +# 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 3 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. + +'Use for direct communication with the NXT ***EXTREMELY ADVANCED USERS ONLY***' + +def _create(opcode): + 'Create a simple direct telegram' + from telegram import Telegram + return Telegram(True, opcode) + +def start_program(opcode, fname): + tgram = _create(opcode) + tgram.add_filename(fname) + return tgram + +def _parse_simple(tgram): + tgram.check_status() + +def stop_program(opcode): + return _create(opcode) + +def play_sound_file(opcode, loop, fname): + tgram = _create(opcode) + tgram.add_u8(loop) + tgram.add_filename(fname) + return tgram + +def play_tone(opcode, frequency, duration): + 'Play a tone at frequency (Hz) for duration (ms)' + tgram = _create(opcode) + tgram.add_u16(frequency) + tgram.add_u16(duration) + return tgram + +def set_output_state(opcode, port, power, mode, regulation, turn_ratio, + run_state, tacho_limit): + tgram = _create(opcode) + tgram.add_u8(port) + tgram.add_s8(power) + tgram.add_u8(mode) + tgram.add_u8(regulation) + tgram.add_s8(turn_ratio) + tgram.add_u8(run_state) + tgram.add_u32(tacho_limit) + return tgram + +def set_input_mode(opcode, port, sensor_type, sensor_mode): + tgram = _create(opcode) + tgram.add_u8(port) + tgram.add_u8(sensor_type) + tgram.add_u8(sensor_mode) + return tgram + +def get_output_state(opcode, port): + tgram = _create(opcode) + tgram.add_u8(port) + return tgram + +def _parse_get_output_state(tgram): + tgram.check_status() + port = tgram.parse_u8() + power = tgram.parse_s8() + mode = tgram.parse_u8() + regulation = tgram.parse_u8() + turn_ratio = tgram.parse_s8() + run_state = tgram.parse_u8() + tacho_limit = tgram.parse_u32() + tacho_count = tgram.parse_s32() + block_tacho_count = tgram.parse_s32() + rotation_count = tgram.parse_s32() + return (port, power, mode, regulation, turn_ratio, run_state, + tacho_limit, tacho_count, block_tacho_count, rotation_count) + +def get_input_values(opcode, port): + tgram = _create(opcode) + tgram.add_u8(port) + return tgram + +def _parse_get_input_values(tgram): + tgram.check_status() + port = tgram.parse_u8() + valid = tgram.parse_u8() + calibrated = tgram.parse_u8() + sensor_type = tgram.parse_u8() + sensor_mode = tgram.parse_u8() + raw_ad_value = tgram.parse_u16() + normalized_ad_value = tgram.parse_u16() + scaled_value = tgram.parse_s16() + calibrated_value = tgram.parse_s16() + return (port, valid, calibrated, sensor_type, sensor_mode, raw_ad_value, + normalized_ad_value, scaled_value, calibrated_value) + +def reset_input_scaled_value(opcode, port): + tgram = _create(opcode) + tgram.add_u8(port) + return tgram + +def message_write(opcode, inbox, message): + tgram = _create(opcode) + tgram.add_u8(inbox) + tgram.add_u8(len(message) + 1) + tgram.add_string(len(message), message) + tgram.add_u8(0) + return tgram + +def reset_motor_position(opcode, port, relative): + tgram = _create(opcode) + tgram.add_u8(port) + tgram.add_u8(relative) + return tgram + +def get_battery_level(opcode): + return _create(opcode) + +def _parse_get_battery_level(tgram): + tgram.check_status() + millivolts = tgram.parse_u16() + return millivolts + +def stop_sound_playback(opcode): + return _create(opcode) + +def keep_alive(opcode): + return _create(opcode) + +def _parse_keep_alive(tgram): + tgram.check_status() + sleep_time = tgram.parse_u32() + return sleep_time + +def ls_get_status(opcode, port): + 'Get status of low-speed sensor (ultrasonic)' + tgram = _create(opcode) + tgram.add_u8(port) + return tgram + +def _parse_ls_get_status(tgram): + tgram.check_status() + n_bytes = tgram.parse_u8() + return n_bytes + +def ls_write(opcode, port, tx_data, rx_bytes): + 'Write a low-speed command to a sensor (ultrasonic)' + tgram = _create(opcode) + tgram.add_u8(port) + tgram.add_u8(len(tx_data)) + tgram.add_u8(rx_bytes) + tgram.add_string(len(tx_data), tx_data) + return tgram + +def ls_read(opcode, port): + 'Read a low-speed sensor value (ultrasonic)' + tgram = _create(opcode) + tgram.add_u8(port) + return tgram + +def _parse_ls_read(tgram): + tgram.check_status() + n_bytes = tgram.parse_u8() + contents = tgram.parse_string() + return contents[:n_bytes] + +def get_current_program_name(opcode): + return _create(opcode) + +def _parse_get_current_program_name(tgram): + tgram.check_status() + fname = tgram.parse_string() + return fname + +def message_read(opcode, remote_inbox, local_inbox, remove): + tgram = _create(opcode) + tgram.add_u8(remote_inbox) + tgram.add_u8(local_inbox) + tgram.add_u8(remove) + return tgram + +def _parse_message_read(tgram): + tgram.check_status() + local_inbox = tgram.parse_u8() + n_bytes = tgram.parse_u8() + message = tgram.parse_string() + return (local_inbox, message[:n_bytes]) + +OPCODES = { + 0x00: (start_program, _parse_simple), + 0x01: (stop_program, _parse_simple), + 0x02: (play_sound_file, _parse_simple), + 0x03: (play_tone, _parse_simple), + 0x04: (set_output_state, _parse_simple), + 0x05: (set_input_mode, _parse_simple), + 0x06: (get_output_state, _parse_get_output_state), + 0x07: (get_input_values, _parse_get_input_values), + 0x08: (reset_input_scaled_value, _parse_simple), + 0x09: (message_write, _parse_simple), + 0x0A: (reset_motor_position, _parse_simple), + 0x0B: (get_battery_level, _parse_get_battery_level), + 0x0C: (stop_sound_playback, _parse_simple), + 0x0D: (keep_alive, _parse_keep_alive), + 0x0E: (ls_get_status, _parse_ls_get_status), + 0x0F: (ls_write, _parse_simple), + 0x10: (ls_read, _parse_ls_read), + 0x11: (get_current_program_name, _parse_get_current_program_name), + 0x13: (message_read, _parse_message_read), +} diff --git a/nxt-python-fantom/nxt/error.py b/nxt-python-fantom/nxt/error.py new file mode 100644 index 0000000..3d14497 --- /dev/null +++ b/nxt-python-fantom/nxt/error.py @@ -0,0 +1,87 @@ +# nxt.error module -- LEGO Mindstorms NXT error handling +# Copyright (C) 2006, 2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner +# +# 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 3 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. + +'Declarations for the errors' + +class ProtocolError(Exception): + pass + +class SysProtError(ProtocolError): + pass + +class FileExistsError(SysProtError): + pass + +class FileNotFound(SysProtError): + pass + +class ModuleNotFound(SysProtError): + pass + +class DirProtError(ProtocolError): + pass + +class I2CError(DirProtError): + pass + +class I2CPendingError(I2CError): + pass + +CODES = { + 0x00: None, + 0x20: I2CPendingError('Pending communication transaction in progress'), + 0x40: DirProtError('Specified mailbox queue is empty'), + 0x81: SysProtError('No more handles'), + 0x82: SysProtError('No space'), + 0x83: SysProtError('No more files'), + 0x84: SysProtError('End of file expected'), + 0x85: SysProtError('End of file'), + 0x86: SysProtError('Not a linear file'), + 0x87: FileNotFound('File not found'), + 0x88: SysProtError('Handle already closed'), + 0x89: SysProtError('No linear space'), + 0x8A: SysProtError('Undefined error'), + 0x8B: SysProtError('File is busy'), + 0x8C: SysProtError('No write buffers'), + 0x8D: SysProtError('Append not possible'), + 0x8E: SysProtError('File is full'), + 0x8F: FileExistsError('File exists'), + 0x90: ModuleNotFound('Module not found'), + 0x91: SysProtError('Out of bounds'), + 0x92: SysProtError('Illegal file name'), + 0x93: SysProtError('Illegal handle'), + 0xBD: DirProtError('Request failed (i.e. specified file not found)'), + 0xBE: DirProtError('Unknown command opcode'), + 0xBF: DirProtError('Insane packet'), + 0xC0: DirProtError('Data contains out-of-range values'), + 0xDD: DirProtError('Communication bus error'), + 0xDE: DirProtError('No free memory in communication buffer'), + 0xDF: DirProtError('Specified channel/connection is not valid'), + 0xE0: I2CError('Specified channel/connection not configured or busy'), + 0xEC: DirProtError('No active program'), + 0xED: DirProtError('Illegal size specified'), + 0xEE: DirProtError('Illegal mailbox queue ID specified'), + 0xEF: DirProtError('Attempted to access invalid field of a structure'), + 0xF0: DirProtError('Bad input or output specified'), + 0xFB: DirProtError('Insufficient memory available'), + 0xFF: DirProtError('Bad arguments'), +} + +def check_status(status): + if status: + ex = CODES.get(status) + if ex: + raise ex + else: + raise ProtocolError, status diff --git a/nxt-python-fantom/nxt/lightblueglue.py b/nxt-python-fantom/nxt/lightblueglue.py new file mode 100644 index 0000000..f2ab92f --- /dev/null +++ b/nxt-python-fantom/nxt/lightblueglue.py @@ -0,0 +1,53 @@ +# bluetooth.py module -- Glue code from NXT_Python to Lightblue, allowing +# NXT_Python to run on Mac without modification. Supports subset of +# PyBluez/bluetooth.py used by NXT_Python. +# +# Copyright (C) 2007 Simon D. Levy +# +# 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 3 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. + +import lightblue + +RFCOMM=11 + +def discover_devices(lookup_names=False): # parameter is ignored + pairs = [] + d = lightblue.finddevices() + for p in d: + h = p[0] + n = p[1] + pairs.append((h, n)) + return pairs + +class BluetoothSocket: + + def __init__(self, proto = RFCOMM, _sock=None): + if _sock is None: + _sock = lightblue.socket(proto) + self._sock = _sock + self._proto = proto + + def connect(self, addrport): + addr, port = addrport + self._sock.connect( (addr, port )) + + def send(self, data): + return self._sock.send( data ) + + def recv(self, numbytes): + return self._sock.recv( numbytes ) + + def close(self): + return self._sock.close() + +class BluetoothError(IOError): + pass + diff --git a/nxt-python-fantom/nxt/locator.py b/nxt-python-fantom/nxt/locator.py new file mode 100644 index 0000000..4adc680 --- /dev/null +++ b/nxt-python-fantom/nxt/locator.py @@ -0,0 +1,57 @@ +# nxt.locator module -- Locate LEGO Minstorms NXT bricks via USB or Bluetooth +# Copyright (C) 2006, 2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner +# +# 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 3 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. + +class BrickNotFoundError(Exception): + pass + +class NoBackendError(Exception): + pass + +def find_bricks(host=None, name=None, silent=False): + """Used by find_one_brick to look for bricks ***ADVANCED USERS ONLY***""" + + try: + import usbsock + usb_available = True + socks = usbsock.find_bricks(host, name) + for s in socks: + yield s + except ImportError: + usb_available = False + import sys + if not silent: print >>sys.stderr, "USB module unavailable, not searching there" + + try: + import bluesock + try: + socks = bluesock.find_bricks(host, name) + for s in socks: + yield s + except (bluesock.bluetooth.BluetoothError, IOError): #for cases such as no adapter, bluetooth throws IOError, not BluetoothError + pass + except ImportError: + import sys + if not silent: print >>sys.stderr, "Bluetooth module unavailable, not searching there" + if not usb_available: + raise NoBackendError("Neither USB nor Bluetooth could be used! Did you install PyUSB or PyBluez?") + + +def find_one_brick(host=None, name=None, silent=False): + """Use to find one brick. After it returns a usbsock object or a bluesock +object, it automatically connects to it. The host and name args limit +the search to a given MAC or brick name. Set silent to True to stop +nxt-python from printing anything during the search.""" + for s in find_bricks(host, name, silent): + return s.connect() + raise BrickNotFoundError diff --git a/nxt-python-fantom/nxt/motor.py b/nxt-python-fantom/nxt/motor.py new file mode 100644 index 0000000..f29a5a5 --- /dev/null +++ b/nxt-python-fantom/nxt/motor.py @@ -0,0 +1,431 @@ +# nxt.motor module -- Class to control LEGO Mindstorms NXT motors +# Copyright (C) 2006 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, rhn +# Copyright (C) 2010 rhn +# +# 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 3 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. + +"""Use for motor control""" + +import time +import warnings + +PORT_A = 0x00 +PORT_B = 0x01 +PORT_C = 0x02 +PORT_ALL = 0xFF + +MODE_IDLE = 0x00 +MODE_MOTOR_ON = 0x01 +MODE_BRAKE = 0x02 +MODE_REGULATED = 0x04 + +REGULATION_IDLE = 0x00 +REGULATION_MOTOR_SPEED = 0x01 +REGULATION_MOTOR_SYNC = 0x02 + +RUN_STATE_IDLE = 0x00 +RUN_STATE_RAMP_UP = 0x10 +RUN_STATE_RUNNING = 0x20 +RUN_STATE_RAMP_DOWN = 0x40 + +LIMIT_RUN_FOREVER = 0 + +class BlockedException(Exception): + pass + +class OutputState(object): + """An object holding the internal state of a motor, not including rotation + counters. + """ + def __init__(self, values): + (self.power, self.mode, self.regulation, + self.turn_ratio, self.run_state, self.tacho_limit) = values + + def to_list(self): + """Returns a list of properties that can be used with set_output_state. + """ + return [self.power, self.mode, self.regulation, + self.turn_ratio, self.run_state, self.tacho_limit] + + def __str__(self): + modes = [] + if self.mode & MODE_MOTOR_ON: + modes.append('on') + if self.mode & MODE_BRAKE: + modes.append('brake') + if self.mode & MODE_REGULATED: + modes.append('regulated') + if not modes: + modes.append('idle') + mode = '&'.join(modes) + regulation = 'regulation: ' + \ + ['idle', 'speed', 'sync'][self.regulation] + run_state = 'run state: ' + {0: 'idle', 0x10: 'ramp_up', + 0x20: 'running', 0x40: 'ramp_down'}[self.run_state] + return ', '.join([mode, regulation, str(self.turn_ratio), run_state] + [str(self.tacho_limit)]) + + +class TachoInfo: + """An object containing the information about the rotation of a motor""" + def __init__(self, values): + self.tacho_count, self.block_tacho_count, self.rotation_count = values + + def get_target(self, tacho_limit, direction): + """Returns a TachoInfo object which corresponds to tacho state after + moving for tacho_limit ticks. Direction can be 1 (add) or -1 (subtract) + """ + # TODO: adjust other fields + if abs(direction) != 1: + raise ValueError('Invalid direction') + new_tacho = self.tacho_count + direction * tacho_limit + return TachoInfo([new_tacho, None, None]) + + def is_greater(self, target, direction): + return direction * (self.tacho_count - target.tacho_count) > 0 + + def is_near(self, target, threshold): + difference = abs(target.tacho_count - self.tacho_count) + return difference < threshold + + def __str__(self): + return str((self.tacho_count, self.block_tacho_count, + self.rotation_count)) + + +class SynchronizedTacho(object): + def __init__(self, leader_tacho, follower_tacho): + self.leader_tacho = leader_tacho + self.follower_tacho = follower_tacho + + def get_target(self, tacho_limit, direction): + """This method will leave follower's target as None""" + leader_tacho = self.leader_tacho.get_target(tacho_limit, direction) + return SynchronizedTacho(leader_tacho, None) + + def is_greater(self, other, direction): + return self.leader_tacho.is_greater(other.leader_tacho, direction) + + def is_near(self, other, threshold): + return self.leader_tacho.is_near(other.leader_tacho, threshold) + + def __str__(self): + if self.follower_tacho is not None: + t2 = str(self.follower_tacho.tacho_count) + else: + t2 = 'None' + t1 = str(self.leader_tacho.tacho_count) + return 'tacho: ' + t1 + ' ' + t2 + + +def get_tacho_and_state(values): + """A convenience function. values is the list of values from + get_output_state. Returns both OutputState and TachoInfo. + """ + return OutputState(values[1:7]), TachoInfo(values[7:]) + + +class BaseMotor(object): + """Base class for motors""" + debug = 0 + def _debug_out(self, message): + if self.debug: + print message + + def turn(self, power, tacho_units, brake=True, timeout=1, emulate=True): + """Use this to turn a motor. The motor will not stop until it turns the + desired distance. Accuracy is much better over a USB connection than + with bluetooth... + power is a value between -127 and 128 (an absolute value greater than + 64 is recommended) + tacho_units is the number of degrees to turn the motor. values smaller + than 50 are not recommended and may have strange results. + brake is whether or not to hold the motor after the function exits + (either by reaching the distance or throwing an exception). + timeout is the number of seconds after which a BlockedException is + raised if the motor doesn't turn + emulate is a boolean value. If set to False, the motor is aware of the + tacho limit. If True, a run() function equivalent is used. + Warning: motors remember their positions and not using emulate + may lead to strange behavior, especially with synced motors + """ + + tacho_limit = tacho_units + + if tacho_limit < 0: + raise ValueError, "tacho_units must be greater than 0!" + + if self.method == 'bluetooth': + threshold = 70 + elif self.method == 'usb': + threshold = 5 + else: + threshold = 30 #compromise + + tacho = self.get_tacho() + state = self._get_new_state() + + # Update modifiers even if they aren't used, might have been changed + state.power = power + if not emulate: + state.tacho_limit = tacho_limit + + self._debug_out('Updating motor information...') + self._set_state(state) + + direction = 1 if power > 0 else -1 + self._debug_out('tachocount: ' + str(tacho)) + current_time = time.time() + tacho_target = tacho.get_target(tacho_limit, direction) + + blocked = False + try: + while True: + time.sleep(self._eta(tacho, tacho_target, power) / 2) + + if not blocked: # if still blocked, don't reset the counter + last_tacho = tacho + last_time = current_time + + tacho = self.get_tacho() + current_time = time.time() + blocked = self._is_blocked(tacho, last_tacho, direction) + if blocked: + self._debug_out(('not advancing', last_tacho, tacho)) + # the motor can be up to 80+ degrees in either direction from target when using bluetooth + if current_time - last_time > timeout: + if tacho.is_near(tacho_target, threshold): + break + else: + raise BlockedException("Blocked!") + else: + self._debug_out(('advancing', last_tacho, tacho)) + if tacho.is_near(tacho_target, threshold) or tacho.is_greater(tacho_target, direction): + break + finally: + if brake: + self.brake() + else: + self.idle() + + +class Motor(BaseMotor): + def __init__(self, brick, port): + self.brick = brick + self.port = port + self._read_state() + self.sync = 0 + self.turn_ratio = 0 + if str(type(self.brick.sock)) == "": + self.method = 'bluetooth' + elif str(type(self.brick.sock)) == "": + self.method = 'usb' + else: + print "Warning: Socket object does not of a known type." + print "The name is: " + str(type(self.brick.sock)) + print "Please report this problem to the developers!" + print "For now, turn() accuracy will not be optimal." + print "Continuing happily..." + self.method = None + + def _set_state(self, state): + self._debug_out('Setting brick output state...') + list_state = [self.port] + state.to_list() + self.brick.set_output_state(*list_state) + self._debug_out(state) + self._state = state + self._debug_out('State set.') + + def _read_state(self): + self._debug_out('Getting brick output state...') + values = self.brick.get_output_state(self.port) + self._debug_out('State got.') + self._state, tacho = get_tacho_and_state(values) + return self._state, tacho + + #def get_tacho_and_state here would allow tacho manipulation + + def _get_state(self): + """Returns a copy of the current motor state for manipulation.""" + return OutputState(self._state.to_list()) + + def _get_new_state(self): + state = self._get_state() + if self.sync: + state.mode = MODE_MOTOR_ON | MODE_REGULATED + state.regulation = REGULATION_MOTOR_SYNC + state.turn_ratio = self.turn_ratio + else: + state.mode = MODE_MOTOR_ON | MODE_REGULATED + state.regulation = REGULATION_MOTOR_SPEED + state.run_state = RUN_STATE_RUNNING + state.tacho_limit = LIMIT_RUN_FOREVER + return state + + def get_tacho(self): + return self._read_state()[1] + + def reset_position(self, relative): + """Resets the counters. Relative can be True or False""" + self.brick.reset_motor_position(self.port, relative) + + def run(self, power=100, regulated=False): + '''Tells the motor to run continuously. If regulated is True, then the + synchronization starts working. + ''' + state = self._get_new_state() + state.power = power + if not regulated: + state.mode = MODE_MOTOR_ON + self._set_state(state) + + def brake(self): + """Holds the motor in place""" + state = self._get_new_state() + state.power = 0 + state.mode = MODE_MOTOR_ON | MODE_BRAKE | MODE_REGULATED + self._set_state(state) + + def idle(self): + '''Tells the motor to stop whatever it's doing. It also desyncs it''' + state = self._get_new_state() + state.power = 0 + state.mode = MODE_IDLE + state.regulation = REGULATION_IDLE + state.run_state = RUN_STATE_IDLE + self._set_state(state) + + def weak_turn(self, power, tacho_units): + """Tries to turn a motor for the specified distance. This function + returns immediately, and it's not guaranteed that the motor turns that + distance. This is an interface to use tacho_limit without + REGULATION_MODE_SPEED + """ + tacho_limit = tacho_units + tacho = self.get_tacho() + state = self._get_new_state() + + # Update modifiers even if they aren't used, might have been changed + state.mode = MODE_MOTOR_ON + state.regulation = REGULATION_IDLE + state.power = power + state.tacho_limit = tacho_limit + + self._debug_out('Updating motor information...') + self._set_state(state) + + def _eta(self, current, target, power): + """Returns time in seconds. Do not trust it too much""" + tacho = abs(current.tacho_count - target.tacho_count) + return (float(tacho) / abs(power)) / 5 + + def _is_blocked(self, tacho, last_tacho, direction): + """Returns if any of the engines is blocked""" + return direction * (last_tacho.tacho_count - tacho.tacho_count) >= 0 + + +class SynchronizedMotors(BaseMotor): + """The object used to make two motors run in sync. Many objects may be + present at the same time but they can't be used at the same time. + Warning! Movement methods reset tacho counter. + THIS CODE IS EXPERIMENTAL!!! + """ + def __init__(self, leader, follower, turn_ratio): + """Turn ratio can be >= 0 only! If you want to have it reversed, + change motor order. + """ + if follower.brick != leader.brick: + raise ValueError('motors belong to different bricks') + self.leader = leader + self.follower = follower + self.method = self.leader.method #being from the same brick, they both have the same com method. + + if turn_ratio < 0: + raise ValueError('Turn ratio <0. Change motor order instead!') + + if self.leader.port == self.follower.port: + raise ValueError("The same motor passed twice") + elif self.leader.port > self.follower.port: + self.turn_ratio = turn_ratio + else: + self._debug_out('reversed') + self.turn_ratio = -turn_ratio + + def _get_new_state(self): + return self.leader._get_new_state() + + def _set_state(self, state): + self.leader._set_state(state) + self.follower._set_state(state) + + def get_tacho(self): + leadertacho = self.leader.get_tacho() + followertacho = self.follower.get_tacho() + return SynchronizedTacho(leadertacho, followertacho) + + def reset_position(self, relative): + """Resets the counters. Relative can be True or False""" + self.leader.reset_position(relative) + self.follower.reset_position(relative) + + def _enable(self): # This works as expected. I'm not sure why. + #self._disable() + self.reset_position(True) + self.leader.sync = True + self.follower.sync = True + self.leader.turn_ratio = self.turn_ratio + self.follower.turn_ratio = self.turn_ratio + + def _disable(self): # This works as expected. (tacho is reset ok) + self.leader.sync = False + self.follower.sync = False + #self.reset_position(True) + self.leader.idle() + self.follower.idle() + #self.reset_position(True) + + def run(self, power=100): + """Warning! After calling this method, make sure to call idle. The + motors are reported to behave wildly otherwise. + """ + self._enable() + self.leader.run(power, True) + self.follower.run(power, True) + + def brake(self): + self._disable() # reset the counters + self._enable() + self.leader.brake() # brake both motors at the same time + self.follower.brake() + self._disable() # now brake as usual + self.leader.brake() + self.follower.brake() + + def idle(self): + self._disable() + + def turn(self, power, tacho_units, brake=True, timeout=1): + self._enable() + # non-emulation is a nightmare, tacho is being counted differently + try: + if power < 0: + self.leader, self.follower = self.follower, self.leader + BaseMotor.turn(self, power, tacho_units, brake, timeout, emulate=True) + finally: + if power < 0: + self.leader, self.follower = self.follower, self.leader + + def _eta(self, tacho, target, power): + return self.leader._eta(tacho.leader_tacho, target.leader_tacho, power) + + def _is_blocked(self, tacho, last_tacho, direction): + # no need to check both, they're synced + return self.leader._is_blocked(tacho.leader_tacho, last_tacho.leader_tacho, direction) diff --git a/nxt-python-fantom/nxt/sensor/__init__.py b/nxt-python-fantom/nxt/sensor/__init__.py new file mode 100644 index 0000000..8f2a337 --- /dev/null +++ b/nxt-python-fantom/nxt/sensor/__init__.py @@ -0,0 +1,50 @@ +# nxt.sensor module -- Classes to read LEGO Mindstorms NXT sensors +# Copyright (C) 2006,2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn +# Copyright (C) 2010 Marcus Wanner +# +# 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 3 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. + +from .common import * +from .analog import BaseAnalogSensor +from .digital import BaseDigitalSensor, find_class +from .generic import Touch, Light, Sound, Ultrasonic, Color20 +import mindsensors +MSSumoEyes = mindsensors.SumoEyes +MSCompassv2 = mindsensors.Compassv2 +MSDIST = mindsensors.DIST +MSRTC = mindsensors.RTC +MSACCL = mindsensors.ACCL +MSServo = mindsensors.Servo +MSMTRMUX = mindsensors.MTRMUX +MSLineLeader = mindsensors.LineLeader +MSMMX = mindsensors.MMX +MSPS2 = mindsensors.PS2 +MSHID = mindsensors.HID +import hitechnic +HTCompass = hitechnic.Compass +HTAccelerometer = hitechnic.Accelerometer +HTGyro = hitechnic.Gyro +HTColorv2 = hitechnic.Colorv2 +HTEOPD = hitechnic.EOPD +HTIRReceiver = hitechnic.IRReceiver +HTIRSeekerv2 = hitechnic.IRSeekerv2 +HTPrototype = hitechnic.Prototype + + +def get_sensor(brick, port): + """Tries to detect the sensor type and return the correct sensor +object. Does not work for sensors with no identification information (such as +all analog sensors or the MindSensors RTC. + """ + base_sensor = BaseDigitalSensor(brick, port, False) + info = base_sensor.get_sensor_info() + return find_class(info)(brick, port, check_compatible=False) diff --git a/nxt-python-fantom/nxt/sensor/analog.py b/nxt-python-fantom/nxt/sensor/analog.py new file mode 100644 index 0000000..e8d9b7b --- /dev/null +++ b/nxt-python-fantom/nxt/sensor/analog.py @@ -0,0 +1,41 @@ +# nxt.sensor.analog module -- submodule for use with analog sensors +# Copyright (C) 2006,2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn +# +# 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 3 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. + +from common import * + + +class RawReading: # can be converted to the old version + """A pseudo-structure holding the raw sensor values as returned by the NXT + brick. + """ + def __init__(self, values): + (self.port, self.valid, self.calibrated, self.sensor_type, self.mode, + self.raw_ad_value, self.normalized_ad_value, self.scaled_value, + self.calibrated_value) = values + + def __repr__(self): + return str((self.port, self.valid, self.calibrated, self.sensor_type, self.mode, + self.raw_ad_value, self.normalized_ad_value, self.scaled_value, + self.calibrated_value)) + + +class BaseAnalogSensor(Sensor): + """Object for analog sensors.""" + def get_input_values(self): + """Returns the raw sensor values as returned by the NXT brick.""" + return RawReading(self.brick.get_input_values(self.port)) + + def reset_input_scaled_value(self): + self.brick.reset_input_scaled_value() + diff --git a/nxt-python-fantom/nxt/sensor/common.py b/nxt-python-fantom/nxt/sensor/common.py new file mode 100644 index 0000000..5afd6c8 --- /dev/null +++ b/nxt-python-fantom/nxt/sensor/common.py @@ -0,0 +1,67 @@ +# nxt.sensor.common module -- submodule with stuff useful in all sensors +# Copyright (C) 2006,2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn +# +# 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 3 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. + +PORT_1 = 0x00 +PORT_2 = 0x01 +PORT_3 = 0x02 +PORT_4 = 0x03 + +class Type(object): + 'Namespace for enumeration of the type of sensor' + # NOTE: just a namespace (enumeration) + NO_SENSOR = 0x00 + SWITCH = 0x01 # Touch sensor + TEMPERATURE = 0x02 + REFLECTION = 0x03 + ANGLE = 0x04 + LIGHT_ACTIVE = 0x05 # Light sensor (illuminated) + LIGHT_INACTIVE = 0x06 # Light sensor (ambient) + SOUND_DB = 0x07 # Sound sensor (unadjusted) + SOUND_DBA = 0x08 # Sound sensor (adjusted) + CUSTOM = 0x09 + LOW_SPEED = 0x0A + LOW_SPEED_9V = 0x0B # Low-speed I2C (Ultrasonic sensor) + HIGH_SPEED = 0x0C #Possibly other mode for I2C; may be used by future sensors. + COLORFULL = 0x0D #NXT 2.0 color sensor in full color mode (color sensor mode) + COLORRED = 0x0E #NXT 2.0 color sensor with red light on (light sensor mode) + COLORGREEN = 0x0F #NXT 2.0 color sensor with green light on (light sensor mode) + COLORBLUE = 0x10 #NXT 2.0 color sensor in with blue light on (light sensor mode) + COLORNONE = 0x11 #NXT 2.0 color sensor in with light off (light sensor mode) + COLOREXIT = 0x12 #NXT 2.0 color sensor internal state (not sure what this is for yet) + + +class Mode(object): + 'Namespace for enumeration of the mode of sensor' + # NOTE: just a namespace (enumeration) + RAW = 0x00 + BOOLEAN = 0x20 + TRANSITION_CNT = 0x40 + PERIOD_COUNTER = 0x60 + PCT_FULL_SCALE = 0x80 + CELSIUS = 0xA0 + FAHRENHEIT = 0xC0 + ANGLE_STEPS = 0xE0 + MASK = 0xE0 + MASK_SLOPE = 0x1F # Why isn't this slope thing documented? + + +class Sensor(object): + 'Main sensor object' + + def __init__(self, brick, port): + self.brick = brick + self.port = port + + def set_input_mode(self, type_, mode): + self.brick.set_input_mode(self.port, type_, mode) diff --git a/nxt-python-fantom/nxt/sensor/digital.py b/nxt-python-fantom/nxt/sensor/digital.py new file mode 100644 index 0000000..dbc730f --- /dev/null +++ b/nxt-python-fantom/nxt/sensor/digital.py @@ -0,0 +1,227 @@ +# nxt.sensor module -- Classes to read LEGO Mindstorms NXT sensors +# Copyright (C) 2006,2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn +# Copyright (C) 2010,2011 Marcus Wanner +# +# 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 3 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. + +from nxt.error import I2CError, I2CPendingError, DirProtError + +from common import * +from time import sleep, time +import struct + + +class SensorInfo: + def __init__(self, version, product_id, sensor_type): + self.version = version + self.product_id = product_id + self.sensor_type = sensor_type + + def clarifybinary(self, instr, label): + outstr = '' + outstr += (label + ': `' + instr + '`\n') + for char in instr: + outstr += (hex(ord(char))+', ') + outstr += ('\n') + return outstr + + def __str__(self): + outstr = '' + outstr += (self.clarifybinary(str(self.version), 'Version')) + outstr += (self.clarifybinary(str(self.product_id), 'Product ID')) + outstr += (self.clarifybinary(str(self.sensor_type), 'Type')) + return outstr + +class BaseDigitalSensor(Sensor): + """Object for digital sensors. I2C_ADDRESS is the dictionary storing name + to i2c address mappings. It should be updated in every subclass. When + subclassing this class, make sure to call add_compatible_sensor to add + compatible sensor data. + """ + I2C_DEV = 0x02 + I2C_ADDRESS = {'version': (0x00, '8s'), + 'product_id': (0x08, '8s'), + 'sensor_type': (0x10, '8s'), +# 'factory_zero': (0x11, 1), # is this really correct? + 'factory_scale_factor': (0x12, 'B'), + 'factory_scale_divisor': (0x13, 'B'), + } + + def __init__(self, brick, port, check_compatible=True): + """Creates a BaseDigitalSensor. If check_compatible is True, queries + the sensor for its name, and if a wrong sensor class was used, prints + a warning. + """ + super(BaseDigitalSensor, self).__init__(brick, port) + self.set_input_mode(Type.LOW_SPEED_9V, Mode.RAW) + self.last_poll = time() + self.poll_delay = 0.01 + sleep(0.1) # Give I2C time to initialize + #Don't do type checking if this class has no compatible sensors listed. + try: self.compatible_sensors + except AttributeError: check_compatible = False + if check_compatible: + sensor = self.get_sensor_info() + if not sensor in self.compatible_sensors: + print ('WARNING: Wrong sensor class chosen for sensor ' + + str(sensor.product_id) + ' on port ' + str(port) + '. ' + """ +You may be using the wrong type of sensor or may have connected the cable +incorrectly. If you are sure you're using the correct sensor class for the +sensor, this message is likely in error and you should disregard it and file a +bug report, including the output of get_sensor_info(). This message can be +suppressed by passing "check_compatible=False" when creating the sensor object.""") + + def _ls_get_status(self, n_bytes): + for n in range(10): + try: + b = self.brick.ls_get_status(self.port) + if b >= n_bytes: + return b + except I2CPendingError: + pass + raise I2CError, 'ls_get_status timeout' + + def _i2c_command(self, address, value, format): + """Writes an i2c value to the given address. value must be a string. value is + a tuple of values corresponding to the given format. + """ + value = struct.pack(format, *value) + msg = chr(self.I2C_DEV) + chr(address) + value + if self.last_poll+self.poll_delay > time(): + diff = time() - self.last_poll + sleep(self.poll_delay - diff) + self.last_poll = time() + self.brick.ls_write(self.port, msg, 0) + + def _i2c_query(self, address, format): + """Reads an i2c value from given address, and returns a value unpacked + according to the given format. Format is the same as in the struct + module. See http://docs.python.org/library/struct.html#format-strings + """ + n_bytes = struct.calcsize(format) + msg = chr(self.I2C_DEV) + chr(address) + if self.last_poll+self.poll_delay > time(): + diff = time() - self.last_poll + sleep(self.poll_delay - diff) + self.last_poll = time() + self.brick.ls_write(self.port, msg, n_bytes) + try: + self._ls_get_status(n_bytes) + finally: + #we should clear the buffer no matter what happens + data = self.brick.ls_read(self.port) + if len(data) < n_bytes: + raise I2CError, 'Read failure: Not enough bytes' + data = struct.unpack(format, data[-n_bytes:]) + return data + + def read_value(self, name): + """Reads a value from the sensor. Name must be a string found in + self.I2C_ADDRESS dictionary. Entries in self.I2C_ADDRESS are in the + name: (address, format) form, with format as in the struct module. + Be careful on unpacking single variables - struct module puts them in + tuples containing only one element. + """ + address, fmt = self.I2C_ADDRESS[name] + for n in range(3): + try: + return self._i2c_query(address, fmt) + except DirProtError: + pass + raise I2CError, "read_value timeout" + + def write_value(self, name, value): + """Writes value to the sensor. Name must be a string found in + self.I2C_ADDRESS dictionary. Entries in self.I2C_ADDRESS are in the + name: (address, format) form, with format as in the struct module. + value is a tuple of values corresponding to the format from + self.I2C_ADDRESS dictionary. + """ + address, fmt = self.I2C_ADDRESS[name] + self._i2c_command(address, value, fmt) + + def get_sensor_info(self): + version = self.read_value('version')[0].split('\0')[0] + product_id = self.read_value('product_id')[0].split('\0')[0] + sensor_type = self.read_value('sensor_type')[0].split('\0')[0] + return SensorInfo(version, product_id, sensor_type) + + @classmethod + def add_compatible_sensor(cls, version, product_id, sensor_type): + """Adds an entry in the compatibility table for the sensor. If version + is None, then it's the default class for this model. If product_id is + None, then this is the default class for this vendor. + """ + try: + cls.compatible_sensors + except AttributeError: + cls.compatible_sensors = [] + finally: + cls.compatible_sensors.append(SCompatibility(version, product_id, + sensor_type)) + add_mapping(cls, version, product_id, sensor_type) + + +class SCompatibility(SensorInfo): + """An object that helps manage the sensor mappings""" + def __eq__(self, other): + if self.product_id is None: + return self.product_id == other.product_id + elif self.version is None: + return (self.product_id == other.product_id and + self.sensor_type == other.sensor_type) + else: + return (self.version == other.version and + self.product_id == other.product_id and + self.sensor_type == other.sensor_type) + +sensor_mappings = {} + + +def add_mapping(cls, version, product_id, sensor_type): + "None means any other value" + if product_id not in sensor_mappings: + sensor_mappings[product_id] = {} + models = sensor_mappings[product_id] + + if sensor_type is None: + if sensor_type in models: + raise ValueError('Already registered!') + models[sensor_type] = cls + return + + if sensor_type not in models: + models[sensor_type] = {} + versions = models[sensor_type] + + if version in versions: + raise ValueError('Already registered!') + else: + versions[version] = cls + + +class SearchError(Exception): + pass + + +def find_class(info): + """Returns an appropriate class for the given SensorInfo""" + dic = sensor_mappings + for val, msg in zip((info.product_id, info.sensor_type, info.version), + ('Vendor', 'Model', 'Version')): + if val in dic: + dic = dic[val] + elif None in dic: + dic = dic[None] + else: + raise SearchError(msg + ' not found') + return dic[info.sensor_type][None] diff --git a/nxt-python-fantom/nxt/sensor/generic.py b/nxt-python-fantom/nxt/sensor/generic.py new file mode 100644 index 0000000..b3d792f --- /dev/null +++ b/nxt-python-fantom/nxt/sensor/generic.py @@ -0,0 +1,154 @@ +# nxt.sensor.generic module -- Classes to read LEGO Mindstorms NXT sensors +# Copyright (C) 2006,2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn +# Copyright (C) 2010 melducky, Marcus Wanner +# +# 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 3 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. + +from .common import * +from .digital import BaseDigitalSensor +from .analog import BaseAnalogSensor + + +class Touch(BaseAnalogSensor): + """The LEGO touch sensor""" + + def __init__(self, brick, port): + super(Touch, self).__init__(brick, port) + self.set_input_mode(Type.SWITCH, Mode.BOOLEAN) + + def is_pressed(self): + return bool(self.get_input_values().scaled_value) + + get_sample = is_pressed + + +class Light(BaseAnalogSensor): + """Object for light sensors. It automatically turns off light when it's not + used. + """ + def __init__(self, brick, port, illuminated=True): + super(Light, self).__init__(brick, port) + + def set_illuminated(self, active): + if active: + type_ = Type.LIGHT_ACTIVE + else: + type_ = Type.LIGHT_INACTIVE + self.set_input_mode(type_, Mode.RAW) + + def get_lightness(self): + return self.get_input_values().scaled_value + + get_sample = get_lightness + + +class Sound(BaseAnalogSensor): + 'Object for sound sensors' + + def __init__(self, brick, port, adjusted=True): + super(Sound, self).__init__(brick, port) + self.set_adjusted(adjusted) + + def set_adjusted(self, active): + if active: + type_ = Type.SOUND_DBA + else: + type_ = Type.SOUND_DB + self.set_input_mode(type_, Mode.RAW) + + def get_loudness(self): + return self.get_input_values().scaled_value + + get_sample = get_loudness + + +class Ultrasonic(BaseDigitalSensor): + """Object for ultrasonic sensors""" + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({'measurement_units': (0x14, '7s'), + 'continuous_measurement_interval': (0x40, 'B'), + 'command': (0x41, 'B'), + 'measurement_byte_0': (0x42, 'B'), + 'measurements': (0x42, '8B'), + 'actual_scale_factor': (0x51, 'B'), + 'actual_scale_divisor': (0x52, 'B'), + }) + + class Commands: + 'These are for passing to command()' + OFF = 0x00 + SINGLE_SHOT = 0x01 + CONTINUOUS_MEASUREMENT = 0x02 + EVENT_CAPTURE = 0x03 #Optimize results when other Ultrasonic sensors running + REQUEST_WARM_RESET = 0x04 + + def __init__(self, brick, port, check_compatible=True): + super(Ultrasonic, self).__init__(brick, port, check_compatible) + self.set_input_mode(Type.LOW_SPEED_9V, Mode.RAW) + + def get_distance(self): + 'Function to get data from the ultrasonic sensor' + return self.read_value('measurement_byte_0')[0] + + get_sample = get_distance + + def get_measurement_units(self): + return self.read_value('measurement_units')[0].split('\0')[0] + + def get_all_measurements(self): + "Returns all the past readings in measurement_byte_0 through 7" + return self.read_value('measurements') + + def get_measurement_no(self, number): + "Returns measurement_byte_number" + if not 0 <= number < 8: + raise ValueError('Measurements are numbered 0 to 7, not ' + str(number)) + base_address, format = self.I2C_ADDRESS['measurement_byte_0'] + return self._i2c_query(base_address + number, format)[0] + + def command(self, command): + self.write_value('command', (command, )) + + def get_interval(self): + 'Get the sample interval for continuous measurement mode -- Unknown units' + return self.read_value('continuous_measurement_interval') + + def set_interval(self, interval): + """Set the sample interval for continuous measurement mode. +Unknown units; default is 1""" + self.write_value('continuous_measurement_interval', interval) + +Ultrasonic.add_compatible_sensor(None, 'LEGO', 'Sonar') #Tested with version 'V1.0' + + +class Color20(BaseAnalogSensor): + def __init__(self, brick, port): + super(Color20, self).__init__(brick, port) + self.set_light_color(Type.COLORFULL) + + def set_light_color(self, color): + """color should be one of the COLOR* Type namespace values, e.g. Type.COLORBLUE""" + self.set_input_mode(color, Mode.RAW) + + def get_light_color(self): + """Returns one of the COLOR* Type namespace values, e.g. Type.COLORRED""" + return self.get_input_values().sensor_type + + def get_reflected_light(self, color): + self.set_light_color(color) + return self.get_input_values().scaled_value + + def get_color(self): + self.get_reflected_light(Type.COLORFULL) + return self.get_input_values().scaled_value + + get_sample = get_color diff --git a/nxt-python-fantom/nxt/sensor/hitechnic.py b/nxt-python-fantom/nxt/sensor/hitechnic.py new file mode 100644 index 0000000..d2bd8ec --- /dev/null +++ b/nxt-python-fantom/nxt/sensor/hitechnic.py @@ -0,0 +1,611 @@ +# nxt.sensor.hitechnic module -- Classes to read HiTechnic sensors +# Copyright (C) 2006,2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn +# Copyright (C) 2010 rhn, Marcus Wanner, melducky, Samuel Leeman-Munk +# Copyright (C) 2011 jerradgenson, Marcus Wanner +# +# 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 3 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. + +from .common import * +from .digital import BaseDigitalSensor +from .analog import BaseAnalogSensor + + +class Compass(BaseDigitalSensor): + """Hitechnic compass sensor.""" + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({'mode': (0x41, 'B'), + 'heading': (0x42, 'B'), + 'adder' : (0x43, 'B'), + }) + + class Modes: + MEASUREMENT = 0x00 + CALIBRATION = 0x43 + CALIBRATION_FAILED = 0x02 + + def get_heading(self): + """Returns heading from North in degrees.""" + + two_degree_heading = self.read_value('heading')[0] + adder = self.read_value('adder')[0] + heading = two_degree_heading * 2 + adder + + return heading + + get_sample = get_heading + + def get_relative_heading(self,target=0): + rheading = self.get_sample()-target + if rheading > 180: + rheading -= 360 + elif rheading < -180: + rheading += 360 + return rheading + + def is_in_range(self,minval,maxval): + """This deserves a little explanation: +if max > min, it's straightforward, but +if min > max, it switches the values of max and min +and returns true if heading is NOT between the new max and min + """ + if minval > maxval: + (maxval,minval) = (minval,maxval) + inverted = True + else: + inverted = False + heading = self.get_sample() + in_range = (heading > minval) and (heading < maxval) + #an xor handles the reversal + #a faster, more compact way of saying + #if !reversed return in_range + #if reversed return !in_range + return bool(inverted) ^ bool(in_range) + + def get_mode(self): + return self.read_value('mode')[0] + + def set_mode(self, mode): + if mode != self.Modes.MEASUREMENT and \ + mode != self.Modes.CALIBRATION: + raise ValueError('Invalid mode specified: ' + str(mode)) + self.write_value('mode', (mode, )) + +Compass.add_compatible_sensor(None, 'HiTechnc', 'Compass ') #Tested with version '\xfdV1.23 ' +Compass.add_compatible_sensor(None, 'HITECHNC', 'Compass ') #Tested with version '\xfdV2.1 ' + + +class Accelerometer(BaseDigitalSensor): + 'Object for Accelerometer sensors. Thanks to Paulo Vieira.' + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({'x_axis_high': (0x42, 'b'), + 'y_axis_high': (0x43, 'b'), + 'z_axis_high': (0x44, 'b'), + 'xyz_short': (0x42, '3b'), + 'all_data': (0x42, '3b3B') + }) + + class Acceleration: + def __init__(self, x, y, z): + self.x, self.y, self.z = x, y, z + + def __init__(self, brick, port, check_compatible=True): + super(Accelerometer, self).__init__(brick, port, check_compatible) + + def get_acceleration(self): + """Returns the acceleration along x, y, z axes. Units are unknown to me. + """ + xh, yh, zh, xl, yl, zl = self.read_value('all_data') + x = xh << 2 + xl + y = yh << 2 + yl + z = zh << 2 + yl + return self.Acceleration(x, y, z) + + get_sample = get_acceleration + +Accelerometer.add_compatible_sensor(None, 'HiTechnc', 'Accel. ') +Accelerometer.add_compatible_sensor(None, 'HITECHNC', 'Accel. ') #Tested with version '\xfdV1.1 ' + + +class IRReceiver(BaseDigitalSensor): + """Object for HiTechnic IRReceiver sensors for use with LEGO Power Functions IR +Remotes. Coded to HiTechnic's specs for the sensor but not tested. Please report +whether this worked for you or not! + """ + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({ + 'm1A': (0x42, 'b'), + 'm1B': (0x43, 'b'), + 'm2A': (0x44, 'b'), + 'm2B': (0x45, 'b'), + 'm3A': (0x46, 'b'), + 'm3B': (0x47, 'b'), + 'm4A': (0x48, 'b'), + 'm4B': (0x49, 'b'), + 'all_data': (0x42, '8b') + }) + + class SpeedReading: + def __init__(self, m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B): + self.m1A, self.m1B, self.m2A, self.m2B, self.m3A, self.m3B, self.m4A, self.m4B = m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B + self.channel_1 = (m1A, m1B) + self.channel_2 = (m2A, m2B) + self.channel_3 = (m3A, m3B) + self.channel_4 = (m4A, m4B) + + def __init__(self, brick, port, check_compatible=True): + super(IRReceiver, self).__init__(brick, port, check_compatible) + + def get_speeds(self): + """Returns the motor speeds for motors A and B on channels 1-4. +Values are -128, -100, -86, -72, -58, -44, -30, -16, 0, 16, 30, 44, 58, 72, 86 +and 100. -128 specifies motor brake mode. Note that no motors are actually +being controlled here! + """ + m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B = self.read_value('all_data') + return self.SpeedReading(m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B) + + get_sample = get_speeds + +IRReceiver.add_compatible_sensor(None, 'HiTechnc', 'IRRecv ') +IRReceiver.add_compatible_sensor(None, 'HITECHNC', 'IRRecv ') + + +class IRSeekerv2(BaseDigitalSensor): + """Object for HiTechnic IRSeeker sensors. Coded to HiTechnic's specs for the sensor +but not tested. Please report whether this worked for you or not! + """ + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({ + 'dspmode': (0x41, 'B'), + 'DC_direction': (0x42, 'B'), + 'DC_sensor_1': (0x43, 'B'), + 'DC_sensor_2': (0x44, 'B'), + 'DC_sensor_3': (0x45, 'B'), + 'DC_sensor_4': (0x46, 'B'), + 'DC_sensor_5': (0x47, 'B'), + 'DC_sensor_mean': (0x48, 'B'), + 'all_DC': (0x42, '7B'), + 'AC_direction': (0x49, 'B'), + 'AC_sensor_1': (0x4A, 'B'), + 'AC_sensor_2': (0x4B, 'B'), + 'AC_sensor_3': (0x4C, 'B'), + 'AC_sensor_4': (0x4D, 'B'), + 'AC_sensor_5': (0x4E, 'B'), + 'all_AC': (0x49, '6B') + }) + I2C_DEV = 0x10 #different from standard 0x02 + + class DSPModes: + #Modes for modulated (AC) data. + AC_DSP_1200Hz = 0x00 + AC_DSP_600Hz = 0x01 + + class _data: + def get_dir_brightness(self, direction): + "Gets the brightness of a given direction (1-9)." + if direction%2 == 1: #if it's an odd number + exec("val = self.sensor_%d" % ((direction-1)/2+1)) + else: + exec("val = (self.sensor_%d+self.sensor_%d)/2" % (direction/2, (direction/2)+1)) + return val + + class DCData(_data): + def __init__(self, direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean): + self.direction, self.sensor_1, self.sensor_2, self.sensor_3, self.sensor_4, self.sensor_5, self.sensor_mean = direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean + + class ACData(_data): + def __init__(self, direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5): + self.direction, self.sensor_1, self.sensor_2, self.sensor_3, self.sensor_4, self.sensor_5 = direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5 + + + def __init__(self, brick, port, check_compatible=True): + super(IRSeekerv2, self).__init__(brick, port, check_compatible) + + def get_dc_values(self): + """Returns the unmodulated (DC) values. + """ + direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean = self.read_value('all_DC') + return self.DCData(direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean) + + def get_ac_values(self): + """Returns the modulated (AC) values. 600Hz and 1200Hz modes can be selected +between by using the set_dsp_mode() function. + """ + direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5 = self.read_value('all_AC') + return self.ACData(direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5) + + def get_dsp_mode(self): + return self.read_value('dspmode')[0] + + def set_dsp_mode(self, mode): + self.write_value('dspmode', (mode, )) + + get_sample = get_ac_values + +IRSeekerv2.add_compatible_sensor(None, 'HiTechnc', 'NewIRDir') +IRSeekerv2.add_compatible_sensor(None, 'HITECHNC', 'NewIRDir') + + +class EOPD(BaseAnalogSensor): + """Object for HiTechnic Electro-Optical Proximity Detection sensors. + """ + + # To be divided by processed value. + _SCALE_CONSTANT = 250 + + # Maximum distance the sensor can detect. + _MAX_DISTANCE = 1023 + + def __init__(self, brick, port): + super(EOPD, self).__init__(brick, port) + from math import sqrt + self.sqrt = sqrt + + def set_range_long(self): + ''' Choose this mode to increase the sensitivity + of the EOPD sensor by approximately 4x. May + cause sensor overload. + ''' + + self.set_input_mode(Type.LIGHT_ACTIVE, Mode.RAW) + + def set_range_short(self): + ''' Choose this mode to prevent the EOPD sensor from + being overloaded by white objects. + ''' + + self.set_input_mode(Type.LIGHT_INACTIVE, Mode.RAW) + + def get_raw_value(self): + '''Unscaled value read from sensor.''' + + return self._MAX_DISTANCE - self.get_input_values().raw_ad_value + + def get_processed_value(self): + '''Derived from the square root of the raw value.''' + + return self.sqrt(self.get_raw_value()) + + def get_scaled_value(self): + ''' Returns a value that will scale linearly as distance + from target changes. This is the method that should + generally be called to get EOPD sensor data. + ''' + + try: + result = self._SCALE_CONSTANT / self.get_processed_value() + return result + + except ZeroDivisionError: + return self._SCALE_CONSTANT + + get_sample = get_scaled_value + + +class Colorv2(BaseDigitalSensor): + """Object for HiTechnic Color v2 Sensors. Coded to HiTechnic's specs for the sensor +but not tested. Please report whether this worked for you or not!""" + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({ + 'mode': (0x41, 'B'), + 'number': (0x42, 'B'), + 'red': (0x43, 'B'), + 'green': (0x44, 'B'), + 'blue': (0x45, 'B'), + 'white': (0x46, 'B'), + 'index': (0x47, 'B'), + 'normred': (0x48, 'B'), + 'normgreen': (0x49, 'B'), + 'normblue': (0x4A, 'B'), + 'all_data': (0x42, '9B'), + 'rawred': (0x42, 'l'), + 'm1mode': (0x44, 'B'), + 'm1power': (0x45, 'b'), + 'm2power': (0x46, 'b'), + 'm2mode': (0x47, 'B'), + 'm2enctarget': (0x48, '>l'), + 'm1enccurrent': (0x4c, '>l'), + 'm2enccurrent': (0x50, '>l'), + 'batteryvoltage': (0x54, '2B'), + 'm1gearratio': (0x56, 'b'), + 'm1pid': (0x57, '3B'), + 'm2gearratio': (0x5a, 'b'), + 'm2pid': (0x5b, '3B'), + }) + + class PID_Data(): + def __init__(self, p, i, d): + self.p, self.i, self.d = p, i, d + + def __init__(self, brick, port, check_compatible=True): + super(MotorCon, self).__init__(brick, port, check_compatible) + + def set_enc_target(self, mot, val): + """Set the encoder target (-2147483648-2147483647) for a motor + """ + self.write_value('m%denctarget'%mot, (val, )) + + def get_enc_target(self, mot): + """Get the encoder target for a motor + """ + return self.read_value('m%denctarget'%mot)[0] + + def get_enc_current(self, mot): + """Get the current encoder value for a motor + """ + return self.read_value('m%denccurrent'%mot)[0] + + def set_mode(self, mot, mode): + """Set the mode for a motor. This value is a bit mask and you can +find details about it in the sensor's documentation. + """ + self.write_value('m%dmode'%mot, (mode, )) + + def get_mode(self, mot): + """Get the mode for a motor. This value is a bit mask and you can +find details about it in the sensor's documentation. + """ + return self.read_value('m%dmode'%mot)[0] + + def set_power(self, mot, power): + """Set the power (-100-100) for a motor + """ + self.write_value('m%dpower'%mot, (power, )) + + def get_power(self, mot): + """Get the power for a motor + """ + return self.read_value('m%dpower'%mot)[0] + + def set_gear_ratio(self, mot, ratio): + """Set the gear ratio for a motor + """ + self.write_value('m%dgearratio'%mot, (ratio, )) + + def get_gear_ratio(self, mot): + """Get the gear ratio for a motor + """ + return self.read_value('m%dgearratio'%mot)[0] + + def set_pid(self, mot, piddata): + """Set the PID coefficients for a motor. Takes data in +MotorCon.PID_Data(p, i, d) format. + """ + self.write_value('m%dpid'%mot, (piddata.p, piddata.i, piddata.d)) + + def get_pid(self, mot): + """Get the PID coefficients for a motor. Returns a PID_Data() object. + """ + p, i, d = self.read_value('m%dpid'%mot) + return self.PID_Data(p, i, d) + + def get_battery_voltage(self): + """Gets the battery voltage (in millivolts/20) + """ + high, low = self.read_value('bateryvoltage')[0] + return high << 2 + low + +MotorCon.add_compatible_sensor(None, 'HiTechnc', 'MotorCon') diff --git a/nxt-python-fantom/nxt/sensor/mindsensors.py b/nxt-python-fantom/nxt/sensor/mindsensors.py new file mode 100644 index 0000000..de6c7ee --- /dev/null +++ b/nxt-python-fantom/nxt/sensor/mindsensors.py @@ -0,0 +1,815 @@ +# nxt.sensor.mindsensors module -- Classes implementing Mindsensors sensors +# Copyright (C) 2006,2007 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn +# Copyright (C) 2010 Marcus Wanner, MindSensors +# +# 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 3 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. + + +from .common import * +from .digital import BaseDigitalSensor, SensorInfo +from .analog import BaseAnalogSensor + + +class SumoEyes(BaseAnalogSensor): + """The class to control Mindsensors Sumo sensor. Warning: long range not + working for my sensor. + """ + #range: 5-10cm + class Reading: + """Contains the reading of SumoEyes sensor. left and right can be True or + False. If True, then there is something there, if False, then it's empty + there. + """ + def __init__(self, raw_reading): + self.raw = raw_reading + val = raw_reading.normalized_ad_value # FIXME: make it rely on raw_ad_value + right = 600 < val < 700 + both = 700 <= val < 900 + left = 300 < val < 400 + self.left = left or both + self.right = right or both + + def __str__(self): + return '(left: ' + str(self.left) + ', right: ' + str(self.right) + ')' + + def __init__(self, brick, port, long_range=False): + super(SumoEyes, self).__init__(brick, port) + self.set_long_range(long_range) + + def set_long_range(self, val): + """Sets if the sensor should operate in long range mode (12 inches) or + the short range mode (6 in). val should be True or False. + """ + if val: + type_ = Type.LIGHT_INACTIVE + else: + type_ = Type.LIGHT_ACTIVE + self.set_input_mode(type_, Mode.RAW) + + def get_sample(self): + """Returns the processed meaningful values of the sensor""" + return self.Reading(self.get_input_values()) + + +class Compassv2(BaseDigitalSensor): + """Class for the now-discontinued CMPS-Nx sensor. Also works with v1.1 sensors. +Note that when using a v1.x sensor, some of the commands are not supported! +To determine your sensor's version, use get_sensor_info().version""" + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({'command': (0x41, '> 4 + return str(gs3) + str(gs2) + + def get_minutes(self): + gm = self.read_value('minutes')[0] + gm2 = gm & 0xf + gm3 = gm & 0x70 + gm3 = gm3 >> 4 + return str(gm3) + str(gm2) + + def get_hours(self): + gh = self.read_value('hours')[0] + gh2 = gh & 0xf + gh3 = gh & 0x30 + gh3 = gh3 >> 4 + return str(gh3) + str(gh2) + + def get_day(self): + gwd = self.read_value('day')[0] + gwd = gwd & 0x07 + return gwd + + def get_month(self): + gmo = self.read_value('month')[0] + gmo2 = gmo & 0xf + gmo3 = gmo & 0x10 + gmo3 = gmo3 >> 4 + return str(gmo3) + str(gmo2) + + def get_year(self): + """Last two digits (10 for 2010)""" + gy = self.read_value('year')[0] + gy2 = gy & 0xf + gy3 = gy & 0xF0 + gy3 = gy3 >> 4 + return str(gy3) + str(gy2) + + def get_date(self): + gd = self.read_value('date')[0] + gd2 = gd & 0xf + gd3 = gd & 0x60 + gd3 = gd3 >> 4 + return str(gd3) + str(gd2) + + def hour_mode(self, mode): + """Writes mode bit and re-enters hours, which is required""" + if mode == 12 or 24: + hm = self.read_value('hours')[0] + hm2 = hm & 0x40 + hm2 = hm2 >> 6 + if mode == 12 and hm2 == 0: #12_HOUR = 1 + hm3 = hm + 64 + self.write_value('hours', (hm3, )) + elif mode == 24 and hm2 == 1: #24_HOUR = 0 + hm3 = hm - 64 + self.write_value('hours', (hm3, )) + else: + print 'That mode is already selected!' + else: + raise ValueError('Must be 12 or 24!') + + def get_mer(self): + mer = self.read_value('hours')[0] + mer2 = mer & 0x40 + mer2 = mer2 >> 6 + if mer2 == 1: + mer3 = mer & 0x20 + mer3 = mer3 >> 0x10 + return mer3 + else: + print 'Cannot get mer! In 24-hour mode!' + + def get_sample(self): + """Returns a struct_time() tuple which can be processed by the time module.""" + import time + return time.struct_time(( + int(self.get_year())+2000, + int(self.get_month()), + int(self.get_date()), + int(self.get_hours()), + int(self.get_minutes()), + int(self.get_seconds()), + int(self.get_day()), + 0, #Should be the Julian Day, but computing that is hard. + 0 #No daylight savings time to worry about here. + )) + + +class ACCL(BaseDigitalSensor): + """Class for Accelerometer sensor""" + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({'sensitivity': (0x19, 'B'), + 'command': (0x41, 'B'), + 'x_tilt': (0x42, 'b'), + 'y_tilt': (0x43, 'b'), + 'z_tilt': (0x44, 'b'), + 'all_tilt': (0x42, '3b'), + + 'x_accel': (0x45, '> bit_num + return value + + def get_tasks(self, motor_number): + addressname = 'tasks_running_m' + str(motor_number) + return self.read_value(addressname)[0] + + def set_pid(self, pid, target, value): + addressname = str(pid) + '_' + str(target) + self.write_value(addressname, (value, )) + + def set_pass_count(self, value): + self.write_value('pass_count', (value, )) + + def set_tolerance(self, value): + self.write_value('tolerance', (value, )) + +MMX.add_compatible_sensor(None, 'mndsnsrs', 'NxTMMX') #Tested with version 'V1.01' + + +class HID(BaseDigitalSensor): + """Class for Human Interface Device sensors. +These are connected to a computer and look like a keyboard to it.""" + I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() + I2C_ADDRESS.update({'command' : (0x41, ' 15: + print "Warning! Brick name %s will be truncated to %s!" % (bname, bname[0:15]) + bname = bname[0:15] + elif len(bname) < 15: + bname += '\x00' * (15-len(bname)) #fill the extra chars with nulls + tgram.add_string(len(bname), bname) + return tgram + +def _parse_set_brick_name(tgram): + tgram.check_status() + +def get_device_info(opcode): + return _create(opcode) + +def _parse_get_device_info(tgram): + tgram.check_status() + name = tgram.parse_string(15) + a0 = tgram.parse_u8() + a1 = tgram.parse_u8() + a2 = tgram.parse_u8() + a3 = tgram.parse_u8() + a4 = tgram.parse_u8() + a5 = tgram.parse_u8() + a6 = tgram.parse_u8() + # FIXME: what is a6 for? + address = '%02X:%02X:%02X:%02X:%02X:%02X' % (a0, a1, a2, a3, a4, a5) + signal_strength = tgram.parse_u32() + user_flash = tgram.parse_u32() + return (name, address, signal_strength, user_flash) + +def delete_user_flash(opcode): + return _create(opcode) + +def _parse_delete_user_flash(tgram): + tgram.check_status() + +def poll_command_length(opcode, buf_num): + tgram = _create(opcode) + tgram.add_u8(buf_num) + return tgram + +def _parse_poll_command_length(tgram): + buf_num = tgram.parse_u8() + tgram.check_status() + n_bytes = tgram.parse_u8() + return (buf_num, n_bytes) + +def poll_command(opcode, buf_num, n_bytes): + tgram = _create(opcode) + tgram.add_u8(buf_num) + tgram.add_u8(n_bytes) + return tgram + +def _parse_poll_command(tgram): + buf_num = tgram.parse_u8() + tgram.check_status() + n_bytes = tgram.parse_u8() + command = tgram.parse_string() + return (buf_num, n_bytes, command) + +def bluetooth_factory_reset(opcode): + # Note: this command is USB only (no Bluetooth) + return _create(opcode) + +def _parse_bluetooth_factory_reset(tgram): + tgram.check_status() + +OPCODES = { + 0x80: (open_read, _parse_open_read), + 0x81: (open_write, _parse_open_write), + 0x82: (read, _parse_read), + 0x83: (write, _parse_write), + 0x84: (close, _parse_close), + 0x85: (delete, _parse_delete), + 0x86: (find_first, _parse_find), + 0x87: (find_next, _parse_find), + 0x88: (get_firmware_version, _parse_get_firmware_version), + 0x89: (open_write_linear, _parse_open_write), + 0x8A: (open_read_linear, _parse_open_read_linear), + 0x8B: (open_write_data, _parse_open_write), + 0x8C: (open_append_data, _parse_open_append_data), + 0x90: (request_first_module, _parse_request_module), + 0x91: (request_next_module, _parse_request_module), + 0x92: (close_module_handle, _parse_close), + 0x94: (read_io_map, _parse_read_io_map), + 0x95: (write_io_map, _parse_write_io_map), + 0x97: (boot, _parse_boot), + 0x98: (set_brick_name, _parse_set_brick_name), + 0x9B: (get_device_info, _parse_get_device_info), + 0xA0: (delete_user_flash, _parse_delete_user_flash), + 0xA1: (poll_command_length, _parse_poll_command_length), + 0xA2: (poll_command, _parse_poll_command), + 0xA4: (bluetooth_factory_reset, _parse_bluetooth_factory_reset), +} diff --git a/nxt-python-fantom/nxt/telegram.py b/nxt-python-fantom/nxt/telegram.py new file mode 100644 index 0000000..1fc5b3e --- /dev/null +++ b/nxt-python-fantom/nxt/telegram.py @@ -0,0 +1,118 @@ +# nxt.telegram module -- LEGO Mindstorms NXT telegram formatting and parsing +# Copyright (C) 2006 Douglas P Lau +# Copyright (C) 2009 Marcus Wanner +# +# 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 3 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. + +'Used by nxt.system for sending telegrams to the NXT' + +from cStringIO import StringIO +from struct import pack, unpack +import nxt.error + +class InvalidReplyError(Exception): + pass + +class InvalidOpcodeError(Exception): + pass + +class Telegram(object): + + TYPE = 0 # type byte offset + CODE = 1 # code byte offset + DATA = 2 # data byte offset + + TYPE_NOT_DIRECT = 0x01 # system vs. direct type + TYPE_REPLY = 0x02 # reply type (from NXT brick) + TYPE_REPLY_NOT_REQUIRED = 0x80 # reply not required flag + + def __init__(self, direct=False, opcode=0, reply_req=True, pkt=None): + if pkt: + self.pkt = StringIO(pkt) + self.typ = self.parse_u8() + self.opcode = self.parse_u8() + if not self.is_reply(): + raise InvalidReplyError + if self.opcode != opcode: + raise InvalidOpcodeError, self.opcode + else: + self.pkt = StringIO() + typ = 0 + if not direct: + typ |= Telegram.TYPE_NOT_DIRECT + if not reply_req: + typ |= Telegram.TYPE_REPLY_NOT_REQUIRED + self.add_u8(typ) + self.add_u8(opcode) + + def __str__(self): + return self.pkt.getvalue() + + def is_reply(self): + return self.typ == Telegram.TYPE_REPLY + + def add_string(self, n_bytes, v): + self.pkt.write(pack('%ds' % n_bytes, v)) + + def add_filename(self, fname): + self.pkt.write(pack('20s', fname)) + + def add_s8(self, v): + self.pkt.write(pack('