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+# 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.
+
+USB_BUFSIZE = 64
+
+try:
+ import fantomglue as usb
+except ImportError:
+ import pyusbglue as usb
+
+from nxt.brick import Brick
+
+class USBSock(object):
+ 'Object for USB connection to NXT'
+
+ bsize = 60 # USB socket block size
+
+ def __init__(self, device):
+ self.sock = usb.USBSocket(device)
+ self.debug = True
+
+ def __str__(self):
+ return 'USB (%s)' % (self.sock.device_name())
+
+ def connect(self):
+ 'Use to connect to NXT.'
+ if self.debug:
+ print 'Connecting via USB...'
+ self.sock.connect()
+ return Brick(self)
+
+ def close(self):
+ 'Use to close the connection.'
+ if self.debug:
+ print 'Closing USB connection...'
+ self.sock.close()
+ 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.sock.send(data)
+
+ def recv(self):
+ 'Use to recieve raw data over USB connection ***ADVANCED USERS ONLY***'
+ data = self.sock.recv(USB_BUFSIZE) # FIXME: This will cause an exception since we cannot read more than the actual buffer contents
+ 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 _check_brick(arg, value):
+ return arg is None or arg == value
+
+def find_bricks(host=None, name=None):
+ get_info = False
+ 'Use to look for NXTs connected by USB only. ***ADVANCED USERS ONLY***'
+ for d in usb.find_devices(lookup_names=True):
+ if get_info:
+ print " firmware version:", d.get_firmware_version()
+ print " get device info:", d.get_device_info()
+ rs = d.get_resource_string()
+ print " resource string:", rs
+ # FIXME: probably should check host and name
+ yield USBSock(d)
+
+if __name__ == '__main__':
+ write_read = True
+ socks = find_bricks()
+ for s in socks:
+ print s.sock
+ brick = s.connect()
+ if write_read:
+ import struct
+ # Write VERSION SYS_CMD.
+ # Query:
+ # SYS_CMD: 0x01
+ # VERSION: 0x88
+ cmd = struct.pack('2B', 0x01, 0x88)
+ #brick.sock.send(cmd)
+ #s.send(cmd)
+ s.sock.send(cmd)
+ print "wrote", len(cmd)
+ # Response:
+ # REPLY_CMD: 0x02
+ # VERSION: 0x88
+ # SUCCESS: 0x00
+ # PROTOCOL_VERSION minor
+ # PROTOCOL_VERSION major
+ # FIRMWARE_VERSION minor
+ # FIRMWARE_VERSION major
+ #rep = brick.sock.recv()
+ #rep = s.recv()
+ rep = s.sock.recv(7)
+ print "read", struct.unpack('%dB' % len(rep), rep)
+ # Same thing, without response.
+ #cmd = struct.pack('2B', 0x81, 0x88)
+ #brick.sock.send(cmd)
+ #print "wrote", cmd
+ #rep = brick.sock.recv()
+ #print "read", struct.unpack('%dB' % len(rep), rep)
+ del brick
+