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+# fantom.py module -- Glue code from NXT_Python to Fantom, allowing
+# NXT_Python to run on Mac without modification. Supports subset of
+# PyBluez/bluetooth.py used by NXT_Python.
+#
+# Copyright (C) 2011 Tat-Chee Wan
+#
+# 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 pyfantom
+
+USB_BUFSIZE = 64
+
+RFCOMM=11 # lightblue const
+FANTOM_BT = RFCOMM # For compatibilty with lightblue
+FANTOM_USB = 0
+
+# Bluetooth Iterator
+def discover_devices(lookup_names=False): # parameter is ignored
+ pairs = []
+ for d in pyfantom.NXTIterator(True):
+ # h: host, n: name
+ h = d.get_resource_string()
+ nxt = d.get_nxt()
+ device_info = nxt.get_device_info()
+ n = device_info.name
+ del nxt
+ pairs.append((h, n))
+ return pairs
+
+class BluetoothSocket:
+
+ def __init__(self, proto = FANTOM_BT, _sock=None):
+ # We instantiate a NXT object only when we connect if none supplied
+ self._sock = _sock
+ self._proto = proto
+ self.debug = True
+
+ def __str__(self):
+ return 'FantomGlue BT (%s)' % self.device_name()
+
+ def device_name(self):
+ devinfo = self._sock.get_device_info()
+ return devinfo.name
+
+ def connect(self, addrport):
+ addr, port = addrport
+ if self._sock is None:
+ # Port is ignored
+ paired_addr = pair_bluetooth(addr)
+ if self.debug:
+ print "BT Paired Addr: ", paired_addr
+ self._sock = pyfantom.NXT(paired_addr)
+
+ def send(self, data):
+ return self._sock.write( data )
+
+ def recv(self, numbytes):
+ return self._sock.read( numbytes )
+
+ def close(self):
+ if self._sock is not None:
+ self._sock.close()
+ self._sock = None
+
+ #def __del__(self):
+ # """Destroy interface."""
+ # if self._sock is not None:
+ # del self._sock
+ # if self.debug:
+ # print "NXT object deleted"
+ # else:
+ # if self.debug:
+ # print "No NXT Object when calling __del__ for BluetoothSocket"
+
+class BluetoothError(IOError):
+ pass
+
+def _check_brick(arg, value):
+ return arg is None or arg == value
+
+
+def find_devices(lookup_names=False): # parameter is ignored
+ devicelist = []
+ for d in pyfantom.NXTIterator(False):
+ #name = d.get_name()
+ #addr = d.get_resource_string()
+ #print "NXT addr: ", addr
+ nxt = d.get_nxt()
+ devicelist.append(nxt)
+ return devicelist
+
+# FIXME: The semantics of find_devices is different from discover_devices
+#
+# # h: host, n: name
+# hostmatched = None
+# namematched = None
+# h = d.get_resource_string()
+# nxt = d.get_nxt()
+# device_info = nxt.get_device_info()
+# n = device_info.name
+# if _check_brick(host, h) and _check_brick(name, n):
+# yield nxt
+# else:
+# del nxt # Does not match criteria
+
+class USBSocket:
+
+ def __init__(self, device=None):
+ # We instantiate a NXT object only when we connect if none supplied
+ # FIXME: The addr is not passed in, so we can't actually create a NXT object later
+ #self.device = device
+ self._sock = device
+ self.debug = True
+
+ def __str__(self):
+ return 'FantomGlue USB (%s)' % self.device_name()
+
+ def device_name(self):
+ devinfo = self._sock.get_device_info()
+ return devinfo.name
+
+ def connect(self):
+ if self._sock is None:
+ # Port is ignored
+ if self.debug:
+ print "No NXT object assigned"
+ self._sock = pyfantom.NXT(addr) # FIXME: No address!
+ else:
+ if self.debug:
+ print "Using existing NXT object"
+
+ def send(self, data):
+ return self._sock.write( data )
+
+ def recv(self, numbytes):
+ return self._sock.read( numbytes )
+
+ #def poll_command(self, numbytes):
+ # I'm not sure if this is specific to Direct Command Processing
+ # Or if it refers to any data transmission
+ #print "Bytes Available:", self._sock.bytes_available()
+ #return self._sock.read_buffer( numbytes, 0 )
+
+ def close(self):
+ if self._sock is not None:
+ self._sock.close()
+ self._sock = None
+
+ #def __del__(self):
+ # """Destroy interface."""
+ # if self._sock is not None:
+ # del self._sock
+ # if self.debug:
+ # print "NXT object deleted"
+ # else:
+ # if self.debug:
+ # print "No NXT Object when calling __del__ for USBSocket"
+
+if __name__ == '__main__':
+ #get_info = False
+ get_info = True
+ write_read = True
+ for i in find_devices():
+ if get_info:
+ print " firmware version:", i.get_firmware_version()
+ print " get device info:", i.get_device_info()
+ rs = i.get_resource_string()
+ print " resource string:", rs
+ if write_read:
+ nxt = USBSocket(i)
+ nxt.connect()
+ import struct
+ # Write VERSION SYS_CMD.
+ # Query:
+ # SYS_CMD: 0x01
+ # VERSION: 0x88
+ cmd = struct.pack('2B', 0x01, 0x88)
+ r = nxt.send(cmd)
+ print "wrote", r
+ # Response:
+ # REPLY_CMD: 0x02
+ # VERSION: 0x88
+ # SUCCESS: 0x00
+ # PROTOCOL_VERSION minor
+ # PROTOCOL_VERSION major
+ # FIRMWARE_VERSION minor
+ # FIRMWARE_VERSION major
+ #rep = nxt.recv(USB_BUFSIZE) # Doesn't work if it exceeds buffer content length (exception)
+ #rep = nxt.recv(7) # Works, since reply is 7 bytes
+ rep = nxt.recv(5) # Works, read length < remaining buffer content length
+ print "read", struct.unpack('%dB' % len(rep), rep)
+ rep = nxt.recv(5) # Works, remaining buffer content length is non-zero
+ print "read", struct.unpack('%dB' % len(rep), rep)
+ rep = nxt.recv(1) # Doesn't work if no bytes are in read buffer
+ # Same thing, without response.
+ #cmd = struct.pack('2B', 0x81, 0x88)
+ #r = nxt.send(cmd)
+ #print "wrote", r
+ #rep = nxt.recv(USB_BUFSIZE)
+ #rep = nxt.recv(7)
+ #print "read", struct.unpack('%dB' % len(rep), rep)
+ nxt.close()
+ del nxt