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authorTat-Chee Wan (USM)2011-03-02 08:17:05 +0800
committerTat-Chee Wan (USM)2011-03-02 08:17:05 +0800
commit1b81593dc78daf9eab6acc02255f6f9e14b93d09 (patch)
tree192ef3aaf93f884f12079ae0b9932abc3a924f02
parent96da3f913a2b6dc561bec9a3d109147230adef83 (diff)
wip
Template module for pyFantom with some cleanup
-rw-r--r--FantomModule/FantomModule.cpp113
-rw-r--r--FantomModule/FantomModule.h11
2 files changed, 100 insertions, 24 deletions
diff --git a/FantomModule/FantomModule.cpp b/FantomModule/FantomModule.cpp
index 1c5fbcc..456caa7 100644
--- a/FantomModule/FantomModule.cpp
+++ b/FantomModule/FantomModule.cpp
@@ -6,11 +6,8 @@
* Copyright 2011 TC Wan. All rights reserved.
*
* Based on code from Fantom Driver 1.0.2f0 Example
- * Copyright 2006,
- * National Instruments Corporation.
- * All rights reserved.
- *
- * Originated: 10 March 2006
+ * Copyright 2006, National Instruments Corporation.
+ * All rights reserved. Originated: 10 March 2006
*
*/
@@ -21,7 +18,9 @@
static PyMethodDef FantomMethods[] = {
{"finddevices", fantom_finddevices, METH_VARARGS,
- "Find a NXT Device"},
+ "Discover NXT Devices (BT Discovery)"},
+ {"find_bricks", fantom_find_bricks, METH_VARARGS,
+ "Find and Create NXT Devices (BT & USB)"},
{"socket", fantom_socket, METH_VARARGS,
"Create a Socket for a NXT Brick"},
{"connect", fantom_connect, METH_VARARGS,
@@ -43,13 +42,18 @@ initfantom(void)
extern "C" PyObject *fantom_finddevices(PyObject *py_self, PyObject *py_args)
{
- FantomModule *fantomObject;
- fantomObject = new FantomModule;
- PyObject *list = fantomObject->finddevices(py_self,py_args);
- delete fantomObject;
+ PyObject *list = FantomModule::finddevices(py_self,py_args);
- return list;
+ return list; // of resource names
+}
+
+extern "C" PyObject *fantom_find_bricks(PyObject *py_self, PyObject *py_args)
+{
+
+ PyObject *list = FantomModule::find_bricks(py_self,py_args);
+
+ return list; // of FantomModule objects
}
extern "C" PyObject *fantom_socket(PyObject *py_self, PyObject *py_args)
@@ -93,7 +97,10 @@ extern "C" PyObject *fantom_close(PyObject *py_self, PyObject *py_args)
FantomModule *fantomObject;
// FIXME: Retrieve FantomObject from PyObject variable
- return fantomObject->close(py_self,py_args);
+ PyObject *status;
+ status = fantomObject->close(py_self,py_args);
+ delete fantomObject;
+ return status;
}
PyObject *FantomModule::finddevices(PyObject *py_self, PyObject *py_args)
@@ -108,18 +115,69 @@ PyObject *FantomModule::finddevices(PyObject *py_self, PyObject *py_args)
PyObject *list = NULL;
nFANTOM100::iNXTIterator* nxtIteratorPtr;
+ nFANTOM100::tStatus status;
// Create an NXT iterator object which is used to find all accessible NXT devices.
- nxtIteratorPtr = nFANTOM100::iNXT::createNXTIterator(useBT, FANTOM_BT_TIMEOUTSEC, status);
+ nxtIteratorPtr = nFANTOM100::iNXT::createNXTIterator(useBT, (useBT ? FANTOM_BT_TIMEOUTSEC : 0), status);
// Creating the NXT iterator object could fail, better check status before dereferencing a
// potentially NULL pointer.
- if( status.isNotFatal())
+ while (status.isNotFatal())
{
ViChar nxtName[FANTOM_NXTNAME_LEN];
nxtIteratorPtr->getName(nxtName, status);
- if( status.isNotFatal())
+ if (status.isNotFatal())
{
+ // Split nxtName into NXT ID (h) and NXT Name (n)
+ // return as [(h,n),...]
+ // FIXME: Append to Python list
+ /*
+ return Py_BuildValue("i", sts);
+ */
+ }
+ nxtIteratorPtr->advance(status);
+
+ }
+ // Destroy the NXT iterator object which we no longer need
+ nFANTOM100::iNXT::destroyNXTIterator( nxtIteratorPtr );
+ return list;
+
+}
+
+PyObject *FantomModule::find_bricks(PyObject *py_self, PyObject *py_args)
+{
+ const char *host, *name;
+ if (!PyArg_ParseTuple(py_args, "ss", &host, &name))
+ return NULL;
+
+ ViBoolean useBT;
+ useBT = false;
+
+ PyObject *list = NULL;
+
+
+ nFANTOM100::iNXTIterator* nxtIteratorPtr;
+ nFANTOM100::tStatus status;
+
+ // Create an NXT iterator object which is used to find all accessible NXT devices.
+ nxtIteratorPtr = nFANTOM100::iNXT::createNXTIterator(useBT, (useBT ? FANTOM_BT_TIMEOUTSEC : 0), status);
+
+ // Creating the NXT iterator object could fail, better check status before dereferencing a
+ // potentially NULL pointer.
+ while (status.isNotFatal())
+ {
+ ViChar nxtName[FANTOM_NXTNAME_LEN];
+ nFANTOM100::iNXT* aNXT = NULL;
+ nxtIteratorPtr->getName(nxtName, status);
+ aNXT = nxtIteratorPtr->getNXT(status);
+ if (status.isNotFatal())
+ {
+ FantomModule *aFantomObject = new FantomModule;
+ aFantomObject->nxtPtr = aNXT;
+ if (strlcpy(aFantomObject->pairedResourceName, nxtName,FANTOM_NXTNAME_LEN) >= FANTOM_NXTNAME_LEN)
+ // Exceeded Name Length
+ exit;
+
// FIXME: Append to Python list
/*
return Py_BuildValue("i", sts);
@@ -137,7 +195,7 @@ PyObject *FantomModule::finddevices(PyObject *py_self, PyObject *py_args)
PyObject *FantomModule::socket(PyObject *py_self, PyObject *py_args)
{
// Internal class object setup
- iNXT = NULL;
+ nxtPtr = NULL;
}
@@ -150,9 +208,11 @@ PyObject *FantomModule::connect(PyObject *py_self, PyObject *py_args)
ViConstString passkey[FANTOM_NXTNAME_LEN] = { FANTOM_NXT_PASSKEY };
// FIXME: Retrieve PyObject's proto setting
+ nFANTOM100::tStatus status;
+ const char *proto;
ViBoolean useBT;
useBT = strcmp(proto, FANTOM_BT) ? true : false;
- if (useBT)
+ if (useBT and !nFANTOM100::iNXT::isPaired((ViConstString)resourceName,status))
nFANTOM100::iNXT::pairBluetooth((ViConstString) resourceName, (ViConstString) passkey, (ViChar *) pairedResourceName, status);
if (status.isNotFatal())
@@ -165,6 +225,7 @@ PyObject *FantomModule::send(PyObject *py_self, PyObject *py_args)
{
ViByte bufferPtr[FANTOM_DATA_BUFLEN];
ViUInt32 numberOfBytes;
+ nFANTOM100::tStatus status;
nxtPtr->write(bufferPtr, numberOfBytes, status);
}
@@ -174,24 +235,38 @@ PyObject *FantomModule::recv(PyObject *py_self, PyObject *py_args)
ViByte bufferPtr[FANTOM_DATA_BUFLEN];
ViUInt32 numberOfBytes;
ViUInt32 bytesRead;
+ nFANTOM100::tStatus status;
bytesRead = nxtPtr->read(bufferPtr, numberOfBytes, status);
}
PyObject *FantomModule::close(PyObject *py_self, PyObject *py_args)
{
- nFANTOM100::iNXT::destroyNXT(nxtPtr);
+ if (nxtPtr)
+ nFANTOM100::iNXT::destroyNXT(nxtPtr);
+ nxtPtr = NULL;
+
// FIXME: Retrieve resource String
ViConstString resourceName[FANTOM_NXTNAME_LEN];
// FIXME: Retrieve PyObject's proto setting
+ nFANTOM100::tStatus status;
+ const char *proto;
ViBoolean useBT;
useBT = strcmp(proto, FANTOM_BT) ? true : false;
- if (useBT)
+ if (useBT and nFANTOM100::iNXT::isPaired((ViConstString)resourceName,status))
nFANTOM100::iNXT::unpairBluetooth((ViConstString) resourceName, status); // No Effect on Mac OSX
// FIXME: Set PyObject socket to None
}
+FantomModule::~FantomModule()
+{
+ if (nxtPtr)
+ nFANTOM100::iNXT::destroyNXT(nxtPtr);
+ nxtPtr = NULL;
+
+}
+
// Skeleton functions from Xcode
void FantomModule::HelloWorld(const char * s)
{
diff --git a/FantomModule/FantomModule.h b/FantomModule/FantomModule.h
index 16818be..ff3a1de 100644
--- a/FantomModule/FantomModule.h
+++ b/FantomModule/FantomModule.h
@@ -17,7 +17,7 @@
#define FANTOM_BT "BT"
#define FANTOM_USB "USB"
-#define FANTOM_BT_TIMEOUTSEC 2
+#define FANTOM_BT_TIMEOUTSEC 5
#define FANTOM_NXTNAME_LEN 256
#define FANTOM_DATA_BUFLEN 256
#define FANTOM_NXT_PASSKEY "1234"
@@ -27,7 +27,8 @@
extern "C" PyMODINIT_FUNC initfantom(void);
-extern "C" PyObject *fantom_finddevices(PyObject *py_self, PyObject *py_args);
+extern "C" PyObject *fantom_finddevices(PyObject *py_self, PyObject *py_args); // BT Discovery function
+extern "C" PyObject *fantom_find_bricks(PyObject *py_self, PyObject *py_args); // BT & USB function
extern "C" PyObject *fantom_socket(PyObject *py_self, PyObject *py_args);
extern "C" PyObject *fantom_connect(PyObject *py_self, PyObject *py_args);
extern "C" PyObject *fantom_send(PyObject *py_self, PyObject *py_args);
@@ -36,18 +37,18 @@ extern "C" PyObject *fantom_close(PyObject *py_self, PyObject *py_args);
class FantomModule
{
- nFANTOM100::tStatus status;
nFANTOM100::iNXT* nxtPtr;
ViChar pairedResourceName[FANTOM_NXTNAME_LEN];
public:
- PyObject *finddevices(PyObject *py_self, PyObject *py_args);
+ static PyObject *finddevices(PyObject *py_self, PyObject *py_args);
+ static PyObject *find_bricks(PyObject *py_self, PyObject *py_args);
PyObject *socket(PyObject *py_self, PyObject *py_args);
PyObject *connect(PyObject *py_self, PyObject *py_args);
PyObject *send(PyObject *py_self, PyObject *py_args);
PyObject *recv(PyObject *py_self, PyObject *py_args);
PyObject *close(PyObject *py_self, PyObject *py_args);
-
+ ~FantomModule();
void HelloWorld(const char *);
};