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authorTat-Chee Wan (USM)2011-03-02 08:18:58 +0800
committerTat-Chee Wan (USM)2011-03-02 08:18:58 +0800
commitc1e52f2ea3e04a8e6b68905d4638f6b1289f751f (patch)
treedde8c6597658d1c9e8c7ce5d9e65de7e4a5416d2 /AT91SAM7S256
parenta85e78c4532ad1e9d7c8282334280db5e700b7f0 (diff)
parent1b81593dc78daf9eab6acc02255f6f9e14b93d09 (diff)
Merge branch 'master' of ssh://svc.cs.usm.my/~/gitrepo-bare/armdebug
Diffstat (limited to 'AT91SAM7S256')
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp199
-rw-r--r--AT91SAM7S256/armdebug/FantomModule/FantomModule.h19
2 files changed, 187 insertions, 31 deletions
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp b/AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp
index ff2c6cd..456caa7 100644
--- a/AT91SAM7S256/armdebug/FantomModule/FantomModule.cpp
+++ b/AT91SAM7S256/armdebug/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,
@@ -43,32 +42,65 @@ 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)
{
+
+ // Create a FantomModule object, which has not been connected to an actual NXT yet
+ FantomModule *fantomObject;
+ fantomObject = new FantomModule;
+
+ // FIXME: Attach fantomObject to PyObject variable.
+ fantomObject->socket(py_self,py_args); // Internal object setup
+
}
extern "C" PyObject *fantom_connect(PyObject *py_self, PyObject *py_args)
{
+ FantomModule *fantomObject;
+ // FIXME: Retrieve FantomObject from PyObject variable
+
+ return fantomObject->connect(py_self,py_args);
}
extern "C" PyObject *fantom_send(PyObject *py_self, PyObject *py_args)
{
+ FantomModule *fantomObject;
+ // FIXME: Retrieve FantomObject from PyObject variable
+
+ return fantomObject->send(py_self,py_args);
}
extern "C" PyObject *fantom_recv(PyObject *py_self, PyObject *py_args)
{
+ FantomModule *fantomObject;
+ // FIXME: Retrieve FantomObject from PyObject variable
+
+ return fantomObject->recv(py_self,py_args);
}
extern "C" PyObject *fantom_close(PyObject *py_self, PyObject *py_args)
{
+ FantomModule *fantomObject;
+ // FIXME: Retrieve FantomObject from PyObject variable
+
+ PyObject *status;
+ status = fantomObject->close(py_self,py_args);
+ delete fantomObject;
+ return status;
}
PyObject *FantomModule::finddevices(PyObject *py_self, PyObject *py_args)
@@ -80,45 +112,162 @@ PyObject *FantomModule::finddevices(PyObject *py_self, PyObject *py_args)
ViBoolean useBT;
useBT = strcmp(proto, FANTOM_BT) ? true : false;
-/*
- const char *command;
- int sts;
+ 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];
+ nxtIteratorPtr->getName(nxtName, status);
+ 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;
- if (!PyArg_ParseTuple(py_args, "s", &command))
+}
+
+PyObject *FantomModule::find_bricks(PyObject *py_self, PyObject *py_args)
+{
+ const char *host, *name;
+ if (!PyArg_ParseTuple(py_args, "ss", &host, &name))
return NULL;
- sts = system(command);
- return Py_BuildValue("i", sts);
-*/
+
+ 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, 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];
+ nFANTOM100::iNXT* aNXT = NULL;
nxtIteratorPtr->getName(nxtName, status);
- if( status.isNotFatal())
+ 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);
+ */
}
nxtIteratorPtr->advance(status);
}
// Destroy the NXT iterator object which we no longer need
nFANTOM100::iNXT::destroyNXTIterator( nxtIteratorPtr );
+ return list;
}
PyObject *FantomModule::socket(PyObject *py_self, PyObject *py_args)
{
- // Create an NXT object for the first NXT that was found. Note that if a NXT is found
- // over BT, the computer and the NXT must be paired before an NXT object can be
- // created. This can be done programatically using the iNXT::pairBluetooth method.
- // nxtPtr = nxtIteratorPtr->getNXT( status );
+ // Internal class object setup
+ nxtPtr = NULL;
+
+}
+
+PyObject *FantomModule::connect(PyObject *py_self, PyObject *py_args)
+{
+ // If a NXT is found over BT, the computer and the NXT must be paired before an NXT object can be
+ // created. This can be done programatically using the iNXT::pairBluetooth method.
+ // FIXME: Retrieve resource String
+ ViConstString resourceName[FANTOM_NXTNAME_LEN];
+ 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 and !nFANTOM100::iNXT::isPaired((ViConstString)resourceName,status))
+ nFANTOM100::iNXT::pairBluetooth((ViConstString) resourceName, (ViConstString) passkey, (ViChar *) pairedResourceName, status);
+
+ if (status.isNotFatal())
+ {
+ nxtPtr = nFANTOM100::iNXT::createNXT((ViConstString) resourceName, status, false);
+ }
+}
+
+PyObject *FantomModule::send(PyObject *py_self, PyObject *py_args)
+{
+ ViByte bufferPtr[FANTOM_DATA_BUFLEN];
+ ViUInt32 numberOfBytes;
+ nFANTOM100::tStatus status;
+
+ nxtPtr->write(bufferPtr, numberOfBytes, status);
+}
+
+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)
+{
+ 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 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)
{
FantomModulePriv *theObj = new FantomModulePriv;
diff --git a/AT91SAM7S256/armdebug/FantomModule/FantomModule.h b/AT91SAM7S256/armdebug/FantomModule/FantomModule.h
index 4266d04..ff3a1de 100644
--- a/AT91SAM7S256/armdebug/FantomModule/FantomModule.h
+++ b/AT91SAM7S256/armdebug/FantomModule/FantomModule.h
@@ -17,15 +17,18 @@
#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"
/* The classes below are exported */
#pragma GCC visibility push(default)
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);
@@ -34,14 +37,18 @@ extern "C" PyObject *fantom_close(PyObject *py_self, PyObject *py_args);
class FantomModule
{
- nFANTOM100::tStatus status;
- nFANTOM100::iNXTIterator* nxtIteratorPtr;
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 *);
};