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+# 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),
+}