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+# nxt.system module -- LEGO Mindstorms NXT system telegrams
+# 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.
+
+'Use for communications regarding the NXT filesystem and such ***ADVANCED USERS ONLY***'
+
+def _create(opcode):
+ 'Create a simple system telegram'
+ from telegram import Telegram
+ return Telegram(False, opcode)
+
+def _create_with_file(opcode, fname):
+ tgram = _create(opcode)
+ tgram.add_filename(fname)
+ return tgram
+
+def _create_with_handle(opcode, handle):
+ tgram = _create(opcode)
+ tgram.add_u8(handle)
+ return tgram
+
+def open_read(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_open_read(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u32()
+ return (handle, n_bytes)
+
+def open_write(opcode, fname, n_bytes):
+ tgram = _create_with_file(opcode, fname)
+ tgram.add_u32(n_bytes)
+ return tgram
+
+def _parse_open_write(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ return handle
+
+def read(opcode, handle, n_bytes):
+ tgram = _create_with_handle(opcode, handle)
+ tgram.add_u16(n_bytes)
+ return tgram
+
+def _parse_read(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u16()
+ data = tgram.parse_string()
+ return (handle, n_bytes, data)
+
+def write(opcode, handle, data):
+ tgram = _create_with_handle(opcode, handle)
+ tgram.add_string(len(data), data)
+ return tgram
+
+def _parse_write(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u16()
+ return (handle, n_bytes)
+
+def close(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def _parse_close(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ return handle
+
+def delete(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_delete(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ fname = tgram.parse_string()
+ return (handle, fname)
+
+def find_first(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_find(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ fname = tgram.parse_string(20)
+ n_bytes = tgram.parse_u32()
+ return (handle, fname, n_bytes)
+
+def find_next(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def get_firmware_version(opcode):
+ return _create(opcode)
+
+def _parse_get_firmware_version(tgram):
+ tgram.check_status()
+ prot_minor = tgram.parse_u8()
+ prot_major = tgram.parse_u8()
+ prot_version = (prot_major, prot_minor)
+ fw_minor = tgram.parse_u8()
+ fw_major = tgram.parse_u8()
+ fw_version = (fw_major, fw_minor)
+ return (prot_version, fw_version)
+
+def open_write_linear(opcode, fname, n_bytes):
+ tgram = _create_with_file(opcode, fname)
+ tgram.add_u32(n_bytes)
+ return tgram
+
+def open_read_linear(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_open_read_linear(tgram):
+ tgram.check_status()
+ n_bytes = tgram.parse_u32()
+ return n_bytes
+
+def open_write_data(opcode, fname, n_bytes):
+ tgram = _create_with_file(opcode, fname)
+ tgram.add_u32(n_bytes)
+ return tgram
+
+def open_append_data(opcode, fname):
+ return _create_with_file(opcode, fname)
+
+def _parse_open_append_data(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ n_bytes = tgram.parse_u32()
+ return (handle, n_bytes)
+
+def request_first_module(opcode, mname):
+ return _create_with_file(opcode, mname)
+
+def _parse_request_module(tgram):
+ tgram.check_status()
+ handle = tgram.parse_u8()
+ mname = tgram.parse_string(20)
+ mod_id = tgram.parse_u32()
+ mod_size = tgram.parse_u32()
+ mod_iomap_size = tgram.parse_u16()
+ return (handle, mname, mod_id, mod_size, mod_iomap_size)
+
+def request_next_module(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def close_module_handle(opcode, handle):
+ return _create_with_handle(opcode, handle)
+
+def read_io_map(opcode, mod_id, offset, n_bytes):
+ tgram = _create(opcode)
+ tgram.add_u32(mod_id)
+ tgram.add_u16(offset)
+ tgram.add_u16(n_bytes)
+ return tgram
+
+def _parse_read_io_map(tgram):
+ tgram.check_status()
+ mod_id = tgram.parse_u32()
+ n_bytes = tgram.parse_u16()
+ contents = tgram.parse_string()
+ return (mod_id, n_bytes, contents)
+
+def write_io_map(opcode, mod_id, offset, content):
+ tgram = _create(opcode)
+ tgram.add_u32(mod_id)
+ tgram.add_u16(offset)
+ tgram.add_u16(len(content))
+ tgram.add_string(len(content), content)
+ return tgram
+
+def _parse_write_io_map(tgram):
+ tgram.check_status()
+ mod_id = tgram.parse_u32()
+ n_bytes = tgram.parse_u16()
+ return (mod_id, n_bytes)
+
+def boot(opcode):
+ # Note: this command is USB only (no Bluetooth)
+ tgram = _create(opcode)
+ tgram.add_string(19, "Let's dance: SAMBA\0")
+ return tgram
+
+def _parse_boot(tgram):
+ tgram.check_status()
+ resp = tgram.parse_string()
+ # Resp should be 'Yes\0'
+ return resp
+
+def set_brick_name(opcode, bname):
+ tgram = _create(opcode)
+ if len(bname) > 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),
+}