aboutsummaryrefslogtreecommitdiff
path: root/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py
diff options
context:
space:
mode:
Diffstat (limited to 'AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py')
-rw-r--r--AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py82
1 files changed, 82 insertions, 0 deletions
diff --git a/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py
new file mode 100644
index 0000000..1856a10
--- /dev/null
+++ b/AT91SAM7S256/armdebug/nxt-python-fantom/nxt/usbsock.py
@@ -0,0 +1,82 @@
+# nxt.usbsock module -- USB socket communication with LEGO Minstorms NXT
+# 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.
+
+import usb
+from nxt.brick import Brick
+
+ID_VENDOR_LEGO = 0x0694
+ID_PRODUCT_NXT = 0x0002
+
+class USBSock(object):
+ 'Object for USB connection to NXT'
+
+ bsize = 60 # USB socket block size
+
+ def __init__(self, device):
+ self.device = device
+ self.handle = None
+ self.debug = False
+
+ def __str__(self):
+ return 'USB (%s)' % (self.device.filename)
+
+ def connect(self):
+ 'Use to connect to NXT.'
+ if self.debug:
+ print 'Connecting via USB...'
+ config = self.device.configurations[0]
+ iface = config.interfaces[0][0]
+ self.blk_out, self.blk_in = iface.endpoints
+ self.handle = self.device.open()
+ self.handle.setConfiguration(1)
+ self.handle.claimInterface(0)
+ self.handle.reset()
+ if self.debug:
+ print 'Connected.'
+ return Brick(self)
+
+ def close(self):
+ 'Use to close the connection.'
+ if self.debug:
+ print 'Closing USB connection...'
+ self.device = None
+ self.handle = None
+ self.blk_out = None
+ self.blk_in = None
+ if self.debug:
+ print 'USB connection closed.'
+
+ def send(self, data):
+ 'Use to send raw data over USB connection ***ADVANCED USERS ONLY***'
+ if self.debug:
+ print 'Send:',
+ print ':'.join('%02x' % ord(c) for c in data)
+ self.handle.bulkWrite(self.blk_out.address, data)
+
+ def recv(self):
+ 'Use to recieve raw data over USB connection ***ADVANCED USERS ONLY***'
+ data = self.handle.bulkRead(self.blk_in.address, 64)
+ if self.debug:
+ print 'Recv:',
+ print ':'.join('%02x' % (c & 0xFF) for c in data)
+ # NOTE: bulkRead returns a tuple of ints ... make it sane
+ return ''.join(chr(d & 0xFF) for d in data)
+
+def find_bricks(host=None, name=None):
+ 'Use to look for NXTs connected by USB only. ***ADVANCED USERS ONLY***'
+ # FIXME: probably should check host and name
+ for bus in usb.busses():
+ for device in bus.devices:
+ if device.idVendor == ID_VENDOR_LEGO and device.idProduct == ID_PRODUCT_NXT:
+ yield USBSock(device)