From a79dc637d60b33032e951f5338fdd9b6a47a5b46 Mon Sep 17 00:00:00 2001 From: Tat-Chee Wan (USM) Date: Fri, 3 Jun 2011 12:09:02 +0800 Subject: removed nxt-python-fantom hack, it is committed upstream --- nxt-python-2.1.0.tar.gz | Bin 49769 -> 0 bytes nxt-python-fantom/.project | 11 - nxt-python-fantom/LICENSE | 674 ----------------------- nxt-python-fantom/MANIFEST.in | 4 - nxt-python-fantom/PKG-INFO | 168 ------ nxt-python-fantom/README | 169 ------ nxt-python-fantom/examples/alpharex.py | 151 ------ nxt-python-fantom/examples/cnc.py | 53 -- nxt-python-fantom/examples/latency.py | 23 - nxt-python-fantom/examples/mary.py | 45 -- nxt-python-fantom/examples/message_test.py | 15 - nxt-python-fantom/examples/spin.py | 14 - nxt-python-fantom/examples/test_sensors.py | 11 - nxt-python-fantom/install.bat | 11 - nxt-python-fantom/nxt/__init__.py | 17 - nxt-python-fantom/nxt/bluesock.py | 82 --- nxt-python-fantom/nxt/brick.py | 226 -------- nxt-python-fantom/nxt/direct.py | 216 -------- nxt-python-fantom/nxt/error.py | 87 --- nxt-python-fantom/nxt/fantomglue.py | 211 ------- nxt-python-fantom/nxt/lightblueglue.py | 53 -- nxt-python-fantom/nxt/locator.py | 57 -- nxt-python-fantom/nxt/motor.py | 431 --------------- nxt-python-fantom/nxt/pyusbglue.py | 82 --- nxt-python-fantom/nxt/sensor/__init__.py | 50 -- nxt-python-fantom/nxt/sensor/analog.py | 41 -- nxt-python-fantom/nxt/sensor/common.py | 67 --- nxt-python-fantom/nxt/sensor/digital.py | 227 -------- nxt-python-fantom/nxt/sensor/generic.py | 154 ------ nxt-python-fantom/nxt/sensor/hitechnic.py | 611 --------------------- nxt-python-fantom/nxt/sensor/mindsensors.py | 815 ---------------------------- nxt-python-fantom/nxt/system.py | 297 ---------- nxt-python-fantom/nxt/telegram.py | 118 ---- nxt-python-fantom/nxt/usbsock.py | 133 ----- nxt-python-fantom/nxt/utils.py | 33 -- nxt-python-fantom/scripts/nxt_filer | 142 ----- nxt-python-fantom/scripts/nxt_push | 47 -- nxt-python-fantom/scripts/nxt_test | 33 -- nxt-python-fantom/scripts/pyenv-nxt_test | 3 - nxt-python-fantom/scripts/pyenv-syspython | 3 - nxt-python-fantom/setup.py | 23 - 41 files changed, 5608 deletions(-) delete mode 100644 nxt-python-2.1.0.tar.gz delete mode 100644 nxt-python-fantom/.project delete mode 100644 nxt-python-fantom/LICENSE delete mode 100644 nxt-python-fantom/MANIFEST.in delete mode 100644 nxt-python-fantom/PKG-INFO delete mode 100644 nxt-python-fantom/README delete mode 100644 nxt-python-fantom/examples/alpharex.py delete mode 100644 nxt-python-fantom/examples/cnc.py delete mode 100644 nxt-python-fantom/examples/latency.py delete mode 100644 nxt-python-fantom/examples/mary.py delete mode 100644 nxt-python-fantom/examples/message_test.py delete mode 100644 nxt-python-fantom/examples/spin.py delete mode 100644 nxt-python-fantom/examples/test_sensors.py delete mode 100644 nxt-python-fantom/install.bat delete mode 100644 nxt-python-fantom/nxt/__init__.py delete mode 100644 nxt-python-fantom/nxt/bluesock.py delete mode 100644 nxt-python-fantom/nxt/brick.py delete mode 100644 nxt-python-fantom/nxt/direct.py delete mode 100644 nxt-python-fantom/nxt/error.py delete mode 100644 nxt-python-fantom/nxt/fantomglue.py delete mode 100644 nxt-python-fantom/nxt/lightblueglue.py delete mode 100644 nxt-python-fantom/nxt/locator.py delete mode 100644 nxt-python-fantom/nxt/motor.py delete mode 100644 nxt-python-fantom/nxt/pyusbglue.py delete mode 100644 nxt-python-fantom/nxt/sensor/__init__.py delete mode 100644 nxt-python-fantom/nxt/sensor/analog.py delete mode 100644 nxt-python-fantom/nxt/sensor/common.py delete mode 100644 nxt-python-fantom/nxt/sensor/digital.py delete mode 100644 nxt-python-fantom/nxt/sensor/generic.py delete mode 100644 nxt-python-fantom/nxt/sensor/hitechnic.py delete mode 100644 nxt-python-fantom/nxt/sensor/mindsensors.py delete mode 100644 nxt-python-fantom/nxt/system.py delete mode 100644 nxt-python-fantom/nxt/telegram.py delete mode 100644 nxt-python-fantom/nxt/usbsock.py delete mode 100644 nxt-python-fantom/nxt/utils.py delete mode 100644 nxt-python-fantom/scripts/nxt_filer delete mode 100644 nxt-python-fantom/scripts/nxt_push delete mode 100644 nxt-python-fantom/scripts/nxt_test delete mode 100755 nxt-python-fantom/scripts/pyenv-nxt_test delete mode 100755 nxt-python-fantom/scripts/pyenv-syspython delete mode 100644 nxt-python-fantom/setup.py diff --git a/nxt-python-2.1.0.tar.gz b/nxt-python-2.1.0.tar.gz deleted file mode 100644 index 014132b..0000000 Binary files a/nxt-python-2.1.0.tar.gz and /dev/null differ diff --git a/nxt-python-fantom/.project b/nxt-python-fantom/.project deleted file mode 100644 index 1b06536..0000000 --- a/nxt-python-fantom/.project +++ /dev/null @@ -1,11 +0,0 @@ - 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It is safest -to attach them to the start of each source file to most effectively -state the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - 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. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/nxt-python-fantom/MANIFEST.in b/nxt-python-fantom/MANIFEST.in deleted file mode 100644 index 9dd36e1..0000000 --- a/nxt-python-fantom/MANIFEST.in +++ /dev/null @@ -1,4 +0,0 @@ -include docs/*.html *.url *.css *.txt -include README LICENSE install.bat MANIFEST.in -include examples/*.py -exclude arduino/* diff --git a/nxt-python-fantom/PKG-INFO b/nxt-python-fantom/PKG-INFO deleted file mode 100644 index 1e0e361..0000000 --- a/nxt-python-fantom/PKG-INFO +++ /dev/null @@ -1,168 +0,0 @@ -Metadata-Version: 1.0 -Name: nxt-python -Version: 2.1.0 -Summary: LEGO Mindstorms NXT Control Package -Home-page: http://code.google.com/p/nxt-python/ -Author: Marcus Wanner -Author-email: marcusw@cox.net -License: Gnu GPL v3 -Description: NXT-Python is a package for controlling a LEGO NXT robot using the Python - programming language. It can communicate using either USB or Bluetooth. It is - available under the Gnu GPL license. It is based on NXT_Python, where releases - halted in May 2007. - - Requirements: - - * Python 2.6 (http://www.python.org) - And at least one comm library: - * Bluetooth communications: - Linux/Windows: PyBluez (http://code.google.com/p/pybluez/) - (package python-bluez in deb-based linuxes) - Mac: LightBlue (http://lightblue.sourceforge.net/) - * USB communications: - PyUSB (http://sourceforge.net/projects/pyusb/) - - Installation (if using source package): - - * Untar/unzip source package - * In package directory, run "python setup.py install" (as root), or if - under windows, double-click install.bat. - * To use USB on Linux as non-superuser, at a root terminal type: - groupadd lego - usermod -a -G lego [username] - echo 'BUS=="usb", SYSFS{idVendor}=="0694", GROUP="lego", MODE="0660"' \ - > /etc/udev/rules.d/70-lego.rules - - Getting Started: - - Take a look at the examples directory. Feel free to copy that code into your - scripts and don't be afraid to experiment! If you are having trouble with - something, you may find the solution in the docstrings (for example, - help('nxt.sensor.Ultrasonic')) or even in the source code (especially for - digital sensors). - - Notes/FAQ: - (I have tried to put the most important stuff first, but it would be a good - idea to read the whole section. In any case, read it all the way through - before asking for help. Thanks!) - - -=-=-About v2-=-=- - This version is part of the 2.x series of releases. Programs designed for - NXT_Python or for the 1.x series of nxt-python will not work with this version. - If you are trying to get an old program to work, it most likely needs a 1.x - series release, which can be downloaded from the nxt-python downloads page at - googlecode. New projects should use a 2.x series release (hint: this is one!) - due to the new features and API improvements. Converting old projects is - somewhat difficult and not officially supported, though as always you're - welcome to ask for help. - -=-=-Problems and Their Solutions-=-=- - Support for a number of sensors has not been tested at all, due to lack of - hardware. I have started a project to test this code, but the going is slow - and I have decided to go ahead and release rather than waiting several more - months. If you have a problem with a digital sensor, see the troubleshooting - guide below and don't forget to report your trouble! - The Synchronized Motor support has not been extensively tested for accuracy. - It seems to mostly work well but the accuracy of the braking function and the - closeness of the two motors to each other have not been assesed. - NXT-Python has not been tested and may not work with custom nxt firmware - versions (if you don't know what that means, you don't need to worry about it). - However, if the firmware uses the standard USB/BT communications protocol, - everything should more or less work. NXT-Python has been tested with bricks - using LEGO firmware version up to 1.29 and is compatible with protocol version - 1.124 (used by most if not all of the official firmwares). It has also been - reported working with LeJOS. - -=-=-If you co'd the SVN...-=-=- - The Arduino directory of an svn checkout (not included with release - packages) contains a digital sensor unit test system called nxtduemu. It is - intended for developers and advanced users who are looking to experiment with - sensors and the digital sensor framework and classes. See Arduino/README for - more info and usage instructions. - - Specific Stability Status: - nxt.brick, nxt.telegram, nxt.direct, and nxt.system: - Hardly changed since NXT_Python; very, very stable. - USB Communication System (nxt.usbsock) - On Linux: Very stable and extensively tested. - On Windows: Somewhat tested; seems to work pretty well. - On Mac: Should be working, though I have not heard either way. - BlueTooth Communication System (nxt.bluesock, nxt.lightblueglue) - On Linux: Stable; well tested. - On Windows: Stable; working last I checked. - On Mac: Reported working. - nxt.locator: - Stable, somewhat tested. One developer reported problems. - nxt.motor: - Stable except for Synchronized Motor support, which is experimental at - this stage and has not been extensively tested. - nxt.sensor: - Code not specific to a particular sensor is well tested and working - great. More than half of the sensor classes were last reported working; - the rest have not to my knowlege been tested and were written blindly - from the manuacturers' specifications. - nxt.error: - If there's a problem with this one, I'm gonna cry. - - Contact: - - NXT-Python's Head Developer: - Marcus Wanner (marcusw@cox.net) - The support and development mailing list: - http://groups.google.com/group/nxt-python - Report bugs and suggest new features at: - http://code.google.com/p/nxt-python/issues/list - - Thanks to: - - Doug Lau for writing NXT_Python, our starting point. - rhn for creating what would become v2, making lots of smaller changes, and - reviewing tons of code. - mindsensors.com (esp. Ryan Kneip) for helping out with the code for a lot of - their sensors and expanding the sensors covered by the type checking - database. - HiTechnic for providing identification information for their sensors. I note - that they have now included this information in their website. ;) - Linus Atorf, Samuel Leeman-Munk, melducky, Simon Levy, Steve Castellotti, - Paulo Vieira, zonedabone, migpics, and anyone else I forgot for various - fixes and additions. - All our users for their interest and support! - - - - Troubleshooting Digital Sensors (don't read unless you have problems): - If you are getting errors, strange behavor, or incorrect values from a digital - sensor, chances are that there is a bug in our code. Follow these instructions - to try and find out what's wrong: - 1. Test the sensor with a different access library to make sure it's working - right. - 2. Check your code again. There are some weird "features" in the interfaces - of some of the sensors; make sure you are doing things right. - 3. Locate the sensor class's source code in nxt-python. It should be - somewhere in nxt/sensor/.py, under the heading "class SensorName( - BaseDigitalSensor):". Read any comments for instructions on certain things. - - If you get to here and are still having a problem, you can either go ahead and - report it now or continue to try and find and fix the problem and then report - it (or not report it at all, but that wouldn't be very nice...). - Python experience required beyond this point. - - 4. Get the sensor's specifications from the manufacturer's website. Make - sure it includes a table of I2C registers and instructions for using them. - 5. Pick one of the following depending on what the problem is: - ####Errors: - Cause: We screwed up. - Solution: Check the line mentioned in the error for incorrect syntax or - other problem. A bit of python experience and maybe some googling is needed - here. - ####Strange Behavior (in sensors with modes/commands): - Cause: nxt-python's command enumerations are incorrect. - Solution: Verify them using the sensor's specs, and correct any problems. - See "Incorrect Values" for more. - ####Incorrect Values: - Cause: nxt-python is processing the value wrong. - Solution: Check what goes on in the sampling method against what the spec - says should be done. If there is an inconsistency, try to fix it. - Cause: nxt-python has an incorrect register number or type in I2C_ADDRESS. - Solution: Verify the address (the number) and the string (the struct format - string). To verify the address, use the spec. To verify the struct format, you - wil -Platform: UNKNOWN diff --git a/nxt-python-fantom/README b/nxt-python-fantom/README deleted file mode 100644 index 5d9a214..0000000 --- a/nxt-python-fantom/README +++ /dev/null @@ -1,169 +0,0 @@ -NXT-Python is a package for controlling a LEGO NXT robot using the Python -programming language. It can communicate using either USB or Bluetooth. It is -available under the Gnu GPL license. It is based on NXT_Python, where releases -halted in May 2007. - -Requirements: - - * Python 2.6 (http://www.python.org) - And at least one comm library: - * Bluetooth communications: - Linux/Windows: PyBluez (http://code.google.com/p/pybluez/) - (package python-bluez in deb-based linuxes) - Mac: LightBlue (http://lightblue.sourceforge.net/) - * USB communications: - PyUSB (http://sourceforge.net/projects/pyusb/) - -Installation (if using source package): - - * Untar/unzip source package - * In package directory, run "python setup.py install" (as root), or if - under windows, double-click install.bat. - * To use USB on Linux as non-superuser, at a root terminal type: - groupadd lego - usermod -a -G lego [username] - echo 'BUS=="usb", SYSFS{idVendor}=="0694", GROUP="lego", MODE="0660"' \ - > /etc/udev/rules.d/70-lego.rules - -Getting Started: - - Take a look at the examples directory. Feel free to copy that code into your -scripts and don't be afraid to experiment! If you are having trouble with -something, you may find the solution in the docstrings (for example, -help('nxt.sensor.Ultrasonic')) or even in the source code (especially for -digital sensors). - -Notes/FAQ: - (I have tried to put the most important stuff first, but it would be a good - idea to read the whole section. In any case, read it all the way through - before asking for help. Thanks!) - - -=-=-About v2-=-=- - This version is part of the 2.x series of releases. Programs designed for -NXT_Python or for the 1.x series of nxt-python will not work with this version. -If you are trying to get an old program to work, it most likely needs a 1.x -series release, which can be downloaded from the nxt-python downloads page at -googlecode. New projects should use a 2.x series release (hint: this is one!) -due to the new features and API improvements. Converting old projects is -somewhat difficult and not officially supported, though as always you're -welcome to ask for help. - -=-=-Problems and Their Solutions-=-=- - Support for a number of sensors has not been tested at all, due to lack of -hardware. I have started a project to test this code, but the going is slow -and I have decided to go ahead and release rather than waiting several more -months. If you have a problem with a digital sensor, see the troubleshooting -guide below and don't forget to report your trouble! - The Synchronized Motor support has not been extensively tested for accuracy. -It seems to mostly work well but the accuracy of the braking function and the -closeness of the two motors to each other have not been assesed. - NXT-Python has not been tested and may not work with custom nxt firmware -versions (if you don't know what that means, you don't need to worry about it). -However, if the firmware uses the standard USB/BT communications protocol, -everything should more or less work. NXT-Python has been tested with bricks -using LEGO firmware version up to 1.29 and is compatible with protocol version -1.124 (used by most if not all of the official firmwares). It has also been -reported working with LeJOS. - -=-=-If you co'd the SVN...-=-=- - The Arduino directory of an svn checkout (not included with release -packages) contains a digital sensor unit test system called nxtduemu. It is -intended for developers and advanced users who are looking to experiment with -sensors and the digital sensor framework and classes. See Arduino/README for -more info and usage instructions. - -Specific Stability Status: - nxt.brick, nxt.telegram, nxt.direct, and nxt.system: - Hardly changed since NXT_Python; very, very stable. - USB Communication System (nxt.usbsock) - On Linux: Very stable and extensively tested. - On Windows: Somewhat tested; seems to work pretty well. - On Mac: Should be working, though I have not heard either way. - BlueTooth Communication System (nxt.bluesock, nxt.lightblueglue) - On Linux: Stable; well tested. - On Windows: Stable; working last I checked. - On Mac: Reported working. - nxt.locator: - Stable, somewhat tested. One developer reported problems. - nxt.motor: - Stable except for Synchronized Motor support, which is experimental at - this stage and has not been extensively tested. - nxt.sensor: - Code not specific to a particular sensor is well tested and working - great. More than half of the sensor classes were last reported working; - the rest have not to my knowlege been tested and were written blindly - from the manuacturers' specifications. - nxt.error: - If there's a problem with this one, I'm gonna cry. - -Contact: - - NXT-Python's Head Developer: - Marcus Wanner (marcusw@cox.net) - The support and development mailing list: - http://groups.google.com/group/nxt-python - Report bugs and suggest new features at: - http://code.google.com/p/nxt-python/issues/list - -Thanks to: - - Doug Lau for writing NXT_Python, our starting point. - rhn for creating what would become v2, making lots of smaller changes, and - reviewing tons of code. - mindsensors.com (esp. Ryan Kneip) for helping out with the code for a lot of - their sensors and expanding the sensors covered by the type checking - database. - HiTechnic for providing identification information for their sensors. I note - that they have now included this information in their website. ;) - Linus Atorf, Samuel Leeman-Munk, melducky, Simon Levy, Steve Castellotti, - Paulo Vieira, zonedabone, migpics, and anyone else I forgot for various - fixes and additions. - All our users for their interest and support! - - - -Troubleshooting Digital Sensors (don't read unless you have problems): -If you are getting errors, strange behavor, or incorrect values from a digital -sensor, chances are that there is a bug in our code. Follow these instructions -to try and find out what's wrong: - 1. Test the sensor with a different access library to make sure it's working -right. - 2. Check your code again. There are some weird "features" in the interfaces -of some of the sensors; make sure you are doing things right. - 3. Locate the sensor class's source code in nxt-python. It should be -somewhere in nxt/sensor/.py, under the heading "class SensorName( -BaseDigitalSensor):". Read any comments for instructions on certain things. - -If you get to here and are still having a problem, you can either go ahead and -report it now or continue to try and find and fix the problem and then report -it (or not report it at all, but that wouldn't be very nice...). -Python experience required beyond this point. - - 4. Get the sensor's specifications from the manufacturer's website. Make -sure it includes a table of I2C registers and instructions for using them. - 5. Pick one of the following depending on what the problem is: -####Errors: - Cause: We screwed up. - Solution: Check the line mentioned in the error for incorrect syntax or -other problem. A bit of python experience and maybe some googling is needed -here. -####Strange Behavior (in sensors with modes/commands): - Cause: nxt-python's command enumerations are incorrect. - Solution: Verify them using the sensor's specs, and correct any problems. - See "Incorrect Values" for more. -####Incorrect Values: - Cause: nxt-python is processing the value wrong. - Solution: Check what goes on in the sampling method against what the spec -says should be done. If there is an inconsistency, try to fix it. - Cause: nxt-python has an incorrect register number or type in I2C_ADDRESS. - Solution: Verify the address (the number) and the string (the struct format -string). To verify the address, use the spec. To verify the struct format, you -will need to read this: or have experience with struct. -Read the spec for the sensor to determine how the given value should be read, -then start at the sample method and read through it, checking for problems as -you go. If it seems right, go back to the I2C_ADDRESS chunk (near the top of the -class) and make sure that the correct struct format string is being used. The -most common problem here is values that are off by plus or minus 128 or 32768 -because of an incorrect signed/unsigned setting. This can be fixed by switching -the case (as in upper or lower) of the letter in the string. Other problems -could include the wrong size (B, H, or L) being used, or, in the two latter -ones, the wrong byte order (< or >). As always, common sense required. diff --git a/nxt-python-fantom/examples/alpharex.py b/nxt-python-fantom/examples/alpharex.py deleted file mode 100644 index 13c5979..0000000 --- a/nxt-python-fantom/examples/alpharex.py +++ /dev/null @@ -1,151 +0,0 @@ -r'''Alpha Rex API - - A high-level, object-oriented programming interface to Lego MINDSTORMS - NXT's "Alpha Rex" model (see [1] for assembling instructions), along with a - small collection of functions demonstrating obvious usage scenarios. - - 1. http://www.active-robots.com/products/mindstorms4schools/building-instructions.shtml -''' - -from time import sleep - -from nxt.brick import Brick -from nxt.locator import find_one_brick -from nxt.motor import Motor, PORT_A, PORT_B, PORT_C -from nxt.sensor import Light, Sound, Touch, Ultrasonic -from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4 - - -FORTH = 100 -BACK = -100 - - -class AlphaRex(object): - r'''A high-level controller for the Alpha Rex model. - - This class implements methods for the most obvious actions performable - by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples. - Additionally, it also allows direct access to the robot's components - through public attributes. - ''' - def __init__(self, brick='NXT'): - r'''Creates a new Alpha Rex controller. - - brick - Either an nxt.brick.Brick object, or an NXT brick's name as a - string. If omitted, a Brick named 'NXT' is looked up. - ''' - if isinstance(brick, basestring): - brick = find_one_brick(name=brick) - - self.brick = brick - self.arms = Motor(brick, PORT_A) - self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)] - - self.touch = Touch(brick, PORT_1) - self.sound = Sound(brick, PORT_2) - self.light = Light(brick, PORT_3) - self.ultrasonic = Ultrasonic(brick, PORT_4) - - def echolocate(self): - r'''Reads the Ultrasonic sensor's output. - ''' - return self.ultrasonic.get_sample() - - def feel(self): - r'''Reads the Touch sensor's output. - ''' - return self.touch.get_sample() - - def hear(self): - r'''Reads the Sound sensor's output. - ''' - return self.sound.get_sample() - - def say(self, line, times=1): - r'''Plays a sound file named (line + '.rso'), which is expected to be - stored in the brick. The file is played (times) times. - - line - The name of a sound file stored in the brick. - - times - How many times the sound file will be played before this method - returns. - ''' - for i in range(0, times): - self.brick.play_sound_file(False, line + '.rso') - sleep(1) - - def see(self): - r'''Reads the Light sensor's output. - ''' - return self.light.get_sample() - - def walk(self, secs, power=FORTH): - r'''Simultaneously activates the leg motors, causing Alpha Rex to walk. - - secs - How long the motors will rotate. - - power - The strength effected by the motors. Positive values will cause - Alpha Rex to walk forward, while negative values will cause it - to walk backwards. If you are unsure about how much force to - apply, the special values FORTH and BACK provide reasonable - defaults. If omitted, FORTH is used. - ''' - for motor in self.legs: - motor.run(power=power) - - sleep(secs) - - for motor in self.legs: - motor.idle() - - def wave(self, secs, power=100): - r'''Make Alpha Rex move its arms. - - secs - How long the arms' motor will rotate. - - power - The strength effected by the motor. If omitted, (100) is used. - ''' - self.arms.run(power=power) - sleep(secs) - self.arms.idle() - - -def wave_and_talk(): - r'''Connects to a nearby Alpha Rex, then commands it to wave its arms and - play the sound file 'Object.rso'. - ''' - robot = AlphaRex() - robot.wave(1) - robot.say('Object') - - -def walk_forth_and_back(): - r'''Connects to a nearby Alpha Rex, then commands it to walk forward and - then backwards. - ''' - robot = AlphaRex() - robot.walk(10, FORTH) - robot.walk(10, BACK) - - -def walk_to_object(): - r'''Connects to a nearby Alpha Rex, then commands it to walk until it - approaches an obstacle, then stop and say 'Object' three times. - ''' - robot = AlphaRex() - while robot.echolocate() > 10: - robot.walk(1, FORTH) - - robot.say('Object', 3) - - -if __name__ == '__main__': - walk_to_object() - diff --git a/nxt-python-fantom/examples/cnc.py b/nxt-python-fantom/examples/cnc.py deleted file mode 100644 index 456cf92..0000000 --- a/nxt-python-fantom/examples/cnc.py +++ /dev/null @@ -1,53 +0,0 @@ -#Script to control a NXT 2-axis CNC "Pancake maker" -#Illustrates controlling more than one motor at the same time without trying to -#sync them. Uses the thread module. -#Written 2/3/11 by Marcus Wanner -# -#For more info and warnings see: -#http://groups.google.com/group/nxt-python/browse_thread/thread/f6ef0865ae768ef - -import nxt, thread, time -b = nxt.find_one_brick(name = 'MyNXT') -mx = nxt.Motor(b, nxt.PORT_A) -my = nxt.Motor(b, nxt.PORT_B) -motors = [mx, my] - -def turnmotor(m, power, degrees): - m.turn(power, degrees) - -#here are the instructions... -#the first value is the time to start the instruction -#the second is the axis (0 for x, 1 for y) -#the third is the power -#the fourth is the degrees -#it's probably not a good idea to run simultaneous turn -#functions on a single motor, so be careful with this -instructions = ( - [0, 0, 80, 180], - [0, 1, -40, 1080], - [1, 0, -80, 180], - [2, 0, 80, 180], - [3, 1, 100, 360], - [3, 0, -100, 360], -) -#how long from start until the last instruction is ended -length = 5 - -def runinstruction(i): - motorid, speed, degrees = i - #THIS IS THE IMPORTANT PART! - thread.start_new_thread( - turnmotor, - (motors[motorid], speed, degrees)) - -#main loop -seconds = 0 -while 1: - print "Tick %d" % seconds - for i in instructions: - if i[0] == seconds: - runinstruction(i[1:]) - seconds = seconds + 1 - if seconds >= length: - break - time.sleep(1) diff --git a/nxt-python-fantom/examples/latency.py b/nxt-python-fantom/examples/latency.py deleted file mode 100644 index b4b1f26..0000000 --- a/nxt-python-fantom/examples/latency.py +++ /dev/null @@ -1,23 +0,0 @@ -#!/usr/bin/env python - -import time -import nxt.locator -from nxt.sensor import * - -b = nxt.locator.find_one_brick() - -#Touch sensor latency test -touch = Touch(b, PORT_1) -start = time.time() -for i in range(100): - touch.get_sample() -stop = time.time() -print 'touch latency: %s ms' % (1000 * (stop - start) / 100.0) - -#Ultrasonic sensor latency test -ultrasonic = Ultrasonic(b, PORT_4) -start = time.time() -for i in range(100): - ultrasonic.get_sample() -stop = time.time() -print 'ultrasonic latency: %s ms' % (1000 * (stop - start) / 100.0) diff --git a/nxt-python-fantom/examples/mary.py b/nxt-python-fantom/examples/mary.py deleted file mode 100644 index 907cc23..0000000 --- a/nxt-python-fantom/examples/mary.py +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python -# -# Converted from mary.rb found in ruby_nxt package -# Plays "Mary Had A Little Lamb" -# Author: Christopher Continanza - -from time import sleep -import nxt.locator - -FREQ_C = 523 -FREQ_D = 587 -FREQ_E = 659 -FREQ_G = 784 - -b = nxt.locator.find_one_brick() - -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_C, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_E, 500) -sleep(0.5) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_D, 500) -sleep(0.5) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_G, 500) -b.play_tone_and_wait(FREQ_G, 500) -sleep(0.5) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_C, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_E, 500) -b.play_tone_and_wait(FREQ_D, 500) -b.play_tone_and_wait(FREQ_C, 750) diff --git a/nxt-python-fantom/examples/message_test.py b/nxt-python-fantom/examples/message_test.py deleted file mode 100644 index c2fbda7..0000000 --- a/nxt-python-fantom/examples/message_test.py +++ /dev/null @@ -1,15 +0,0 @@ -#!/usr/bin/env python - -#During this test you need to run any program on the brick -#which doesn't use the messaging system. Most programs fit -#this requirement. - -import nxt.locator - -b = nxt.locator.find_one_brick() -for box in range(10): - b.message_write(box, 'message test %d' % box) -for box in range(10): - local_box, message = b.message_read(box, box, True) - print local_box, message -print 'Test succeeded!' diff --git a/nxt-python-fantom/examples/spin.py b/nxt-python-fantom/examples/spin.py deleted file mode 100644 index fc7cb2c..0000000 --- a/nxt-python-fantom/examples/spin.py +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python - -import nxt.locator -from nxt.motor import * - -def spin_around(b): - m_left = Motor(b, PORT_B) - m_left.turn(100, 360) - m_right = Motor(b, PORT_C) - m_right.turn(-100, 360) - -b = nxt.locator.find_one_brick() -spin_around(b) - diff --git a/nxt-python-fantom/examples/test_sensors.py b/nxt-python-fantom/examples/test_sensors.py deleted file mode 100644 index 4c8d249..0000000 --- a/nxt-python-fantom/examples/test_sensors.py +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env python - -import nxt.locator -from nxt.sensor import * - -b = nxt.locator.find_one_brick() - -print 'Touch:', Touch(b, PORT_1).get_sample() -print 'Sound:', Sound(b, PORT_2).get_sample() -print 'Light:', Light(b, PORT_3).get_sample() -print 'Ultrasonic:', Ultrasonic(b, PORT_4).get_sample() diff --git a/nxt-python-fantom/install.bat b/nxt-python-fantom/install.bat deleted file mode 100644 index afa7bfc..0000000 --- a/nxt-python-fantom/install.bat +++ /dev/null @@ -1,11 +0,0 @@ -@echo off -@call setup.py install -if errorlevel 1 goto error -goto end -:error -echo -=-=-=-=-=-=-=-=-=-=- -echo There was an error during the installation. -echo Please check the above text for more information. -pause -:end -@echo on diff --git a/nxt-python-fantom/nxt/__init__.py b/nxt-python-fantom/nxt/__init__.py deleted file mode 100644 index 01be052..0000000 --- a/nxt-python-fantom/nxt/__init__.py +++ /dev/null @@ -1,17 +0,0 @@ -# nxt.__init__ module -- LEGO Mindstorms NXT python package -# 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. - -from .locator import find_one_brick -from .motor import * -from .sensor import * diff --git a/nxt-python-fantom/nxt/bluesock.py b/nxt-python-fantom/nxt/bluesock.py deleted file mode 100644 index 99917f2..0000000 --- a/nxt-python-fantom/nxt/bluesock.py +++ /dev/null @@ -1,82 +0,0 @@ -# nxt.bluesock module -- Bluetooth 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. - -try: - import fantomglue as bluetooth -except ImportError: - try: - import bluetooth - except ImportError: - import lightblueglue as bluetooth - -import os -from .brick import Brick - -class BlueSock(object): - - bsize = 118 # Bluetooth socket block size - PORT = 1 # Standard NXT rfcomm port - - def __init__(self, host): - self.host = host - self.sock = None - self.debug = False - - def __str__(self): - return 'Bluetooth (%s)' % self.host - - def connect(self): - if self.debug: - print 'Connecting via Bluetooth...' - sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM) - sock.connect((self.host, BlueSock.PORT)) - self.sock = sock - if self.debug: - print 'Connected.' - return Brick(self) - - def close(self): - if self.debug: - print 'Closing Bluetooth connection...' - self.sock.close() - if self.debug: - print 'Bluetooth connection closed.' - - def send(self, data): - if self.debug: - print 'Send:', - print ':'.join('%02x' % ord(c) for c in data) - l0 = len(data) & 0xFF - l1 = (len(data) >> 8) & 0xFF - d = chr(l0) + chr(l1) + data - self.sock.send(d) - - def recv(self): - data = self.sock.recv(2) - l0 = ord(data[0]) - l1 = ord(data[1]) - plen = l0 + (l1 << 8) - data = self.sock.recv(plen) - if self.debug: - print 'Recv:', - print ':'.join('%02x' % ord(c) for c in data) - return data - -def _check_brick(arg, value): - return arg is None or arg == value - -def find_bricks(host=None, name=None): - for h, n in bluetooth.discover_devices(lookup_names=True): - if _check_brick(host, h) and _check_brick(name, n): - yield BlueSock(h) diff --git a/nxt-python-fantom/nxt/brick.py b/nxt-python-fantom/nxt/brick.py deleted file mode 100644 index 240ba27..0000000 --- a/nxt-python-fantom/nxt/brick.py +++ /dev/null @@ -1,226 +0,0 @@ -# nxt.brick module -- Classes to represent LEGO Mindstorms NXT bricks -# Copyright (C) 2006 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, rhn -# Copyright (C) 2010 rhn, Marcus Wanner, zonedabone -# -# 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. - -from time import sleep -from threading import Lock -from .error import FileNotFound, ModuleNotFound -from .telegram import OPCODES, Telegram -from .sensor import get_sensor - -def _make_poller(opcode, poll_func, parse_func): - def poll(self, *args, **kwargs): - ogram = poll_func(opcode, *args, **kwargs) - with self.lock: - self.sock.send(str(ogram)) - igram = Telegram(opcode=opcode, pkt=self.sock.recv()) - return parse_func(igram) - return poll - -class _Meta(type): - 'Metaclass which adds one method for each telegram opcode' - - def __init__(cls, name, bases, dict): - super(_Meta, cls).__init__(name, bases, dict) - for opcode in OPCODES: - poll_func, parse_func = OPCODES[opcode] - m = _make_poller(opcode, poll_func, parse_func) - setattr(cls, poll_func.__name__, m) - - -class FileFinder(object): - 'A generator to find files on a NXT brick.' - - def __init__(self, brick, pattern): - self.brick = brick - self.pattern = pattern - self.handle = None - - def _close(self): - if self.handle is not None: - self.brick.close(self.handle) - self.handle = None - - def __del__(self): - self._close() - - def __iter__(self): - results = [] - self.handle, fname, size = self.brick.find_first(self.pattern) - results.append((fname, size)) - while True: - try: - handle, fname, size = self.brick.find_next(self.handle) - results.append((fname, size)) - except FileNotFound: - self._close() - break - for result in results: - yield result - - -def File(brick, name, mode='r', size=None): - """Opens a file for reading/writing. Mode is 'r' or 'w'. If mode is 'w', - size must be provided. - """ - if mode == 'w': - if size is not None: - return FileWriter(brick, name, size) - else: - return ValueError('Size not specified') - elif mode == 'r': - return FileReader(brick, name) - else: - return ValueError('Mode ' + str(mode) + ' not supported') - - -class FileReader(object): - """Context manager to read a file on a NXT brick. Do use the iterator or - the read() method, but not both at the same time! - The iterator returns strings of an arbitrary (short) length. - """ - - def __init__(self, brick, fname): - self.brick = brick - self.handle, self.size = brick.open_read(fname) - - def read(self, bytes=None): - if bytes is not None: - remaining = bytes - else: - remaining = self.size - bsize = self.brick.sock.bsize - data = [] - while remaining > 0: - handle, bsize, buffer_ = self.brick.read(self.handle, - min(bsize, remaining)) - remaining -= len(buffer_) - data.append(buffer_) - return ''.join(data) - - def close(self): - if self.handle is not None: - self.brick.close(self.handle) - self.handle = None - - def __del__(self): - self.close() - - def __enter__(self): - return self - - def __exit__(self, etp, value, tb): - self.close() - - def __iter__(self): - rem = self.size - bsize = self.brick.sock.bsize - while rem > 0: - handle, bsize, data = self.brick.read(self.handle, - min(bsize, rem)) - yield data - rem -= len(data) - - -class FileWriter(object): - "Object to write to a file on a NXT brick" - - def __init__(self, brick, fname, size): - self.brick = brick - self.handle = self.brick.open_write(fname, size) - self._position = 0 - self.size = size - - def __del__(self): - self.close() - - def close(self): - if self.handle is not None: - self.brick.close(self.handle) - self.handle = None - - def tell(self): - return self._position - - def write(self, data): - remaining = len(data) - if remaining > self.size - self._position: - raise ValueError('Data will not fit into remaining space') - bsize = self.brick.sock.bsize - data_position = 0 - - while remaining > 0: - batch_size = min(bsize, remaining) - next_data_position = data_position + batch_size - buffer_ = data[data_position:next_data_position] - - handle, size = self.brick.write(self.handle, buffer_) - - self._position += batch_size - data_position = next_data_position - remaining -= batch_size - - -class ModuleFinder(object): - 'Iterator to lookup modules on a NXT brick' - - def __init__(self, brick, pattern): - self.brick = brick - self.pattern = pattern - self.handle = None - - def _close(self): - if self.handle: - self.brick.close(self.handle) - self.handle = None - - def __del__(self): - self._close() - - def __iter__(self): - self.handle, mname, mid, msize, miomap_size = \ - self.brick.request_first_module(self.pattern) - yield (mname, mid, msize, miomap_size) - while True: - try: - handle, mname, mid, msize, miomap_size = \ - self.brick.request_next_module( - self.handle) - yield (mname, mid, msize, miomap_size) - except ModuleNotFound: - self._close() - break - - -class Brick(object): #TODO: this begs to have explicit methods - 'Main object for NXT Control' - - __metaclass__ = _Meta - - def __init__(self, sock): - self.sock = sock - self.lock = Lock() - - def play_tone_and_wait(self, frequency, duration): - self.play_tone(frequency, duration) - sleep(duration / 1000.0) - - def __del__(self): - print "Deleting Brick" - self.sock.close() - - find_files = FileFinder - find_modules = ModuleFinder - open_file = File - get_sensor = get_sensor diff --git a/nxt-python-fantom/nxt/direct.py b/nxt-python-fantom/nxt/direct.py deleted file mode 100644 index 50b7f2a..0000000 --- a/nxt-python-fantom/nxt/direct.py +++ /dev/null @@ -1,216 +0,0 @@ -# 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), -} diff --git a/nxt-python-fantom/nxt/error.py b/nxt-python-fantom/nxt/error.py deleted file mode 100644 index 3d14497..0000000 --- a/nxt-python-fantom/nxt/error.py +++ /dev/null @@ -1,87 +0,0 @@ -# nxt.error module -- LEGO Mindstorms NXT error handling -# 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. - -'Declarations for the errors' - -class ProtocolError(Exception): - pass - -class SysProtError(ProtocolError): - pass - -class FileExistsError(SysProtError): - pass - -class FileNotFound(SysProtError): - pass - -class ModuleNotFound(SysProtError): - pass - -class DirProtError(ProtocolError): - pass - -class I2CError(DirProtError): - pass - -class I2CPendingError(I2CError): - pass - -CODES = { - 0x00: None, - 0x20: I2CPendingError('Pending communication transaction in progress'), - 0x40: DirProtError('Specified mailbox queue is empty'), - 0x81: SysProtError('No more handles'), - 0x82: SysProtError('No space'), - 0x83: SysProtError('No more files'), - 0x84: SysProtError('End of file expected'), - 0x85: SysProtError('End of file'), - 0x86: SysProtError('Not a linear file'), - 0x87: FileNotFound('File not found'), - 0x88: SysProtError('Handle already closed'), - 0x89: SysProtError('No linear space'), - 0x8A: SysProtError('Undefined error'), - 0x8B: SysProtError('File is busy'), - 0x8C: SysProtError('No write buffers'), - 0x8D: SysProtError('Append not possible'), - 0x8E: SysProtError('File is full'), - 0x8F: FileExistsError('File exists'), - 0x90: ModuleNotFound('Module not found'), - 0x91: SysProtError('Out of bounds'), - 0x92: SysProtError('Illegal file name'), - 0x93: SysProtError('Illegal handle'), - 0xBD: DirProtError('Request failed (i.e. specified file not found)'), - 0xBE: DirProtError('Unknown command opcode'), - 0xBF: DirProtError('Insane packet'), - 0xC0: DirProtError('Data contains out-of-range values'), - 0xDD: DirProtError('Communication bus error'), - 0xDE: DirProtError('No free memory in communication buffer'), - 0xDF: DirProtError('Specified channel/connection is not valid'), - 0xE0: I2CError('Specified channel/connection not configured or busy'), - 0xEC: DirProtError('No active program'), - 0xED: DirProtError('Illegal size specified'), - 0xEE: DirProtError('Illegal mailbox queue ID specified'), - 0xEF: DirProtError('Attempted to access invalid field of a structure'), - 0xF0: DirProtError('Bad input or output specified'), - 0xFB: DirProtError('Insufficient memory available'), - 0xFF: DirProtError('Bad arguments'), -} - -def check_status(status): - if status: - ex = CODES.get(status) - if ex: - raise ex - else: - raise ProtocolError, status diff --git a/nxt-python-fantom/nxt/fantomglue.py b/nxt-python-fantom/nxt/fantomglue.py deleted file mode 100644 index 697655f..0000000 --- a/nxt-python-fantom/nxt/fantomglue.py +++ /dev/null @@ -1,211 +0,0 @@ -# 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 diff --git a/nxt-python-fantom/nxt/lightblueglue.py b/nxt-python-fantom/nxt/lightblueglue.py deleted file mode 100644 index f2ab92f..0000000 --- a/nxt-python-fantom/nxt/lightblueglue.py +++ /dev/null @@ -1,53 +0,0 @@ -# bluetooth.py module -- Glue code from NXT_Python to Lightblue, allowing -# NXT_Python to run on Mac without modification. Supports subset of -# PyBluez/bluetooth.py used by NXT_Python. -# -# Copyright (C) 2007 Simon D. Levy -# -# 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 lightblue - -RFCOMM=11 - -def discover_devices(lookup_names=False): # parameter is ignored - pairs = [] - d = lightblue.finddevices() - for p in d: - h = p[0] - n = p[1] - pairs.append((h, n)) - return pairs - -class BluetoothSocket: - - def __init__(self, proto = RFCOMM, _sock=None): - if _sock is None: - _sock = lightblue.socket(proto) - self._sock = _sock - self._proto = proto - - def connect(self, addrport): - addr, port = addrport - self._sock.connect( (addr, port )) - - def send(self, data): - return self._sock.send( data ) - - def recv(self, numbytes): - return self._sock.recv( numbytes ) - - def close(self): - return self._sock.close() - -class BluetoothError(IOError): - pass - diff --git a/nxt-python-fantom/nxt/locator.py b/nxt-python-fantom/nxt/locator.py deleted file mode 100644 index 4adc680..0000000 --- a/nxt-python-fantom/nxt/locator.py +++ /dev/null @@ -1,57 +0,0 @@ -# nxt.locator module -- Locate LEGO Minstorms NXT bricks via USB or Bluetooth -# 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. - -class BrickNotFoundError(Exception): - pass - -class NoBackendError(Exception): - pass - -def find_bricks(host=None, name=None, silent=False): - """Used by find_one_brick to look for bricks ***ADVANCED USERS ONLY***""" - - try: - import usbsock - usb_available = True - socks = usbsock.find_bricks(host, name) - for s in socks: - yield s - except ImportError: - usb_available = False - import sys - if not silent: print >>sys.stderr, "USB module unavailable, not searching there" - - try: - import bluesock - try: - socks = bluesock.find_bricks(host, name) - for s in socks: - yield s - except (bluesock.bluetooth.BluetoothError, IOError): #for cases such as no adapter, bluetooth throws IOError, not BluetoothError - pass - except ImportError: - import sys - if not silent: print >>sys.stderr, "Bluetooth module unavailable, not searching there" - if not usb_available: - raise NoBackendError("Neither USB nor Bluetooth could be used! Did you install PyUSB or PyBluez?") - - -def find_one_brick(host=None, name=None, silent=False): - """Use to find one brick. After it returns a usbsock object or a bluesock -object, it automatically connects to it. The host and name args limit -the search to a given MAC or brick name. Set silent to True to stop -nxt-python from printing anything during the search.""" - for s in find_bricks(host, name, silent): - return s.connect() - raise BrickNotFoundError diff --git a/nxt-python-fantom/nxt/motor.py b/nxt-python-fantom/nxt/motor.py deleted file mode 100644 index f29a5a5..0000000 --- a/nxt-python-fantom/nxt/motor.py +++ /dev/null @@ -1,431 +0,0 @@ -# nxt.motor module -- Class to control LEGO Mindstorms NXT motors -# Copyright (C) 2006 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, rhn -# Copyright (C) 2010 rhn -# -# 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 motor control""" - -import time -import warnings - -PORT_A = 0x00 -PORT_B = 0x01 -PORT_C = 0x02 -PORT_ALL = 0xFF - -MODE_IDLE = 0x00 -MODE_MOTOR_ON = 0x01 -MODE_BRAKE = 0x02 -MODE_REGULATED = 0x04 - -REGULATION_IDLE = 0x00 -REGULATION_MOTOR_SPEED = 0x01 -REGULATION_MOTOR_SYNC = 0x02 - -RUN_STATE_IDLE = 0x00 -RUN_STATE_RAMP_UP = 0x10 -RUN_STATE_RUNNING = 0x20 -RUN_STATE_RAMP_DOWN = 0x40 - -LIMIT_RUN_FOREVER = 0 - -class BlockedException(Exception): - pass - -class OutputState(object): - """An object holding the internal state of a motor, not including rotation - counters. - """ - def __init__(self, values): - (self.power, self.mode, self.regulation, - self.turn_ratio, self.run_state, self.tacho_limit) = values - - def to_list(self): - """Returns a list of properties that can be used with set_output_state. - """ - return [self.power, self.mode, self.regulation, - self.turn_ratio, self.run_state, self.tacho_limit] - - def __str__(self): - modes = [] - if self.mode & MODE_MOTOR_ON: - modes.append('on') - if self.mode & MODE_BRAKE: - modes.append('brake') - if self.mode & MODE_REGULATED: - modes.append('regulated') - if not modes: - modes.append('idle') - mode = '&'.join(modes) - regulation = 'regulation: ' + \ - ['idle', 'speed', 'sync'][self.regulation] - run_state = 'run state: ' + {0: 'idle', 0x10: 'ramp_up', - 0x20: 'running', 0x40: 'ramp_down'}[self.run_state] - return ', '.join([mode, regulation, str(self.turn_ratio), run_state] + [str(self.tacho_limit)]) - - -class TachoInfo: - """An object containing the information about the rotation of a motor""" - def __init__(self, values): - self.tacho_count, self.block_tacho_count, self.rotation_count = values - - def get_target(self, tacho_limit, direction): - """Returns a TachoInfo object which corresponds to tacho state after - moving for tacho_limit ticks. Direction can be 1 (add) or -1 (subtract) - """ - # TODO: adjust other fields - if abs(direction) != 1: - raise ValueError('Invalid direction') - new_tacho = self.tacho_count + direction * tacho_limit - return TachoInfo([new_tacho, None, None]) - - def is_greater(self, target, direction): - return direction * (self.tacho_count - target.tacho_count) > 0 - - def is_near(self, target, threshold): - difference = abs(target.tacho_count - self.tacho_count) - return difference < threshold - - def __str__(self): - return str((self.tacho_count, self.block_tacho_count, - self.rotation_count)) - - -class SynchronizedTacho(object): - def __init__(self, leader_tacho, follower_tacho): - self.leader_tacho = leader_tacho - self.follower_tacho = follower_tacho - - def get_target(self, tacho_limit, direction): - """This method will leave follower's target as None""" - leader_tacho = self.leader_tacho.get_target(tacho_limit, direction) - return SynchronizedTacho(leader_tacho, None) - - def is_greater(self, other, direction): - return self.leader_tacho.is_greater(other.leader_tacho, direction) - - def is_near(self, other, threshold): - return self.leader_tacho.is_near(other.leader_tacho, threshold) - - def __str__(self): - if self.follower_tacho is not None: - t2 = str(self.follower_tacho.tacho_count) - else: - t2 = 'None' - t1 = str(self.leader_tacho.tacho_count) - return 'tacho: ' + t1 + ' ' + t2 - - -def get_tacho_and_state(values): - """A convenience function. values is the list of values from - get_output_state. Returns both OutputState and TachoInfo. - """ - return OutputState(values[1:7]), TachoInfo(values[7:]) - - -class BaseMotor(object): - """Base class for motors""" - debug = 0 - def _debug_out(self, message): - if self.debug: - print message - - def turn(self, power, tacho_units, brake=True, timeout=1, emulate=True): - """Use this to turn a motor. The motor will not stop until it turns the - desired distance. Accuracy is much better over a USB connection than - with bluetooth... - power is a value between -127 and 128 (an absolute value greater than - 64 is recommended) - tacho_units is the number of degrees to turn the motor. values smaller - than 50 are not recommended and may have strange results. - brake is whether or not to hold the motor after the function exits - (either by reaching the distance or throwing an exception). - timeout is the number of seconds after which a BlockedException is - raised if the motor doesn't turn - emulate is a boolean value. If set to False, the motor is aware of the - tacho limit. If True, a run() function equivalent is used. - Warning: motors remember their positions and not using emulate - may lead to strange behavior, especially with synced motors - """ - - tacho_limit = tacho_units - - if tacho_limit < 0: - raise ValueError, "tacho_units must be greater than 0!" - - if self.method == 'bluetooth': - threshold = 70 - elif self.method == 'usb': - threshold = 5 - else: - threshold = 30 #compromise - - tacho = self.get_tacho() - state = self._get_new_state() - - # Update modifiers even if they aren't used, might have been changed - state.power = power - if not emulate: - state.tacho_limit = tacho_limit - - self._debug_out('Updating motor information...') - self._set_state(state) - - direction = 1 if power > 0 else -1 - self._debug_out('tachocount: ' + str(tacho)) - current_time = time.time() - tacho_target = tacho.get_target(tacho_limit, direction) - - blocked = False - try: - while True: - time.sleep(self._eta(tacho, tacho_target, power) / 2) - - if not blocked: # if still blocked, don't reset the counter - last_tacho = tacho - last_time = current_time - - tacho = self.get_tacho() - current_time = time.time() - blocked = self._is_blocked(tacho, last_tacho, direction) - if blocked: - self._debug_out(('not advancing', last_tacho, tacho)) - # the motor can be up to 80+ degrees in either direction from target when using bluetooth - if current_time - last_time > timeout: - if tacho.is_near(tacho_target, threshold): - break - else: - raise BlockedException("Blocked!") - else: - self._debug_out(('advancing', last_tacho, tacho)) - if tacho.is_near(tacho_target, threshold) or tacho.is_greater(tacho_target, direction): - break - finally: - if brake: - self.brake() - else: - self.idle() - - -class Motor(BaseMotor): - def __init__(self, brick, port): - self.brick = brick - self.port = port - self._read_state() - self.sync = 0 - self.turn_ratio = 0 - if str(type(self.brick.sock)) == "": - self.method = 'bluetooth' - elif str(type(self.brick.sock)) == "": - self.method = 'usb' - else: - print "Warning: Socket object does not of a known type." - print "The name is: " + str(type(self.brick.sock)) - print "Please report this problem to the developers!" - print "For now, turn() accuracy will not be optimal." - print "Continuing happily..." - self.method = None - - def _set_state(self, state): - self._debug_out('Setting brick output state...') - list_state = [self.port] + state.to_list() - self.brick.set_output_state(*list_state) - self._debug_out(state) - self._state = state - self._debug_out('State set.') - - def _read_state(self): - self._debug_out('Getting brick output state...') - values = self.brick.get_output_state(self.port) - self._debug_out('State got.') - self._state, tacho = get_tacho_and_state(values) - return self._state, tacho - - #def get_tacho_and_state here would allow tacho manipulation - - def _get_state(self): - """Returns a copy of the current motor state for manipulation.""" - return OutputState(self._state.to_list()) - - def _get_new_state(self): - state = self._get_state() - if self.sync: - state.mode = MODE_MOTOR_ON | MODE_REGULATED - state.regulation = REGULATION_MOTOR_SYNC - state.turn_ratio = self.turn_ratio - else: - state.mode = MODE_MOTOR_ON | MODE_REGULATED - state.regulation = REGULATION_MOTOR_SPEED - state.run_state = RUN_STATE_RUNNING - state.tacho_limit = LIMIT_RUN_FOREVER - return state - - def get_tacho(self): - return self._read_state()[1] - - def reset_position(self, relative): - """Resets the counters. Relative can be True or False""" - self.brick.reset_motor_position(self.port, relative) - - def run(self, power=100, regulated=False): - '''Tells the motor to run continuously. If regulated is True, then the - synchronization starts working. - ''' - state = self._get_new_state() - state.power = power - if not regulated: - state.mode = MODE_MOTOR_ON - self._set_state(state) - - def brake(self): - """Holds the motor in place""" - state = self._get_new_state() - state.power = 0 - state.mode = MODE_MOTOR_ON | MODE_BRAKE | MODE_REGULATED - self._set_state(state) - - def idle(self): - '''Tells the motor to stop whatever it's doing. It also desyncs it''' - state = self._get_new_state() - state.power = 0 - state.mode = MODE_IDLE - state.regulation = REGULATION_IDLE - state.run_state = RUN_STATE_IDLE - self._set_state(state) - - def weak_turn(self, power, tacho_units): - """Tries to turn a motor for the specified distance. This function - returns immediately, and it's not guaranteed that the motor turns that - distance. This is an interface to use tacho_limit without - REGULATION_MODE_SPEED - """ - tacho_limit = tacho_units - tacho = self.get_tacho() - state = self._get_new_state() - - # Update modifiers even if they aren't used, might have been changed - state.mode = MODE_MOTOR_ON - state.regulation = REGULATION_IDLE - state.power = power - state.tacho_limit = tacho_limit - - self._debug_out('Updating motor information...') - self._set_state(state) - - def _eta(self, current, target, power): - """Returns time in seconds. Do not trust it too much""" - tacho = abs(current.tacho_count - target.tacho_count) - return (float(tacho) / abs(power)) / 5 - - def _is_blocked(self, tacho, last_tacho, direction): - """Returns if any of the engines is blocked""" - return direction * (last_tacho.tacho_count - tacho.tacho_count) >= 0 - - -class SynchronizedMotors(BaseMotor): - """The object used to make two motors run in sync. Many objects may be - present at the same time but they can't be used at the same time. - Warning! Movement methods reset tacho counter. - THIS CODE IS EXPERIMENTAL!!! - """ - def __init__(self, leader, follower, turn_ratio): - """Turn ratio can be >= 0 only! If you want to have it reversed, - change motor order. - """ - if follower.brick != leader.brick: - raise ValueError('motors belong to different bricks') - self.leader = leader - self.follower = follower - self.method = self.leader.method #being from the same brick, they both have the same com method. - - if turn_ratio < 0: - raise ValueError('Turn ratio <0. Change motor order instead!') - - if self.leader.port == self.follower.port: - raise ValueError("The same motor passed twice") - elif self.leader.port > self.follower.port: - self.turn_ratio = turn_ratio - else: - self._debug_out('reversed') - self.turn_ratio = -turn_ratio - - def _get_new_state(self): - return self.leader._get_new_state() - - def _set_state(self, state): - self.leader._set_state(state) - self.follower._set_state(state) - - def get_tacho(self): - leadertacho = self.leader.get_tacho() - followertacho = self.follower.get_tacho() - return SynchronizedTacho(leadertacho, followertacho) - - def reset_position(self, relative): - """Resets the counters. Relative can be True or False""" - self.leader.reset_position(relative) - self.follower.reset_position(relative) - - def _enable(self): # This works as expected. I'm not sure why. - #self._disable() - self.reset_position(True) - self.leader.sync = True - self.follower.sync = True - self.leader.turn_ratio = self.turn_ratio - self.follower.turn_ratio = self.turn_ratio - - def _disable(self): # This works as expected. (tacho is reset ok) - self.leader.sync = False - self.follower.sync = False - #self.reset_position(True) - self.leader.idle() - self.follower.idle() - #self.reset_position(True) - - def run(self, power=100): - """Warning! After calling this method, make sure to call idle. The - motors are reported to behave wildly otherwise. - """ - self._enable() - self.leader.run(power, True) - self.follower.run(power, True) - - def brake(self): - self._disable() # reset the counters - self._enable() - self.leader.brake() # brake both motors at the same time - self.follower.brake() - self._disable() # now brake as usual - self.leader.brake() - self.follower.brake() - - def idle(self): - self._disable() - - def turn(self, power, tacho_units, brake=True, timeout=1): - self._enable() - # non-emulation is a nightmare, tacho is being counted differently - try: - if power < 0: - self.leader, self.follower = self.follower, self.leader - BaseMotor.turn(self, power, tacho_units, brake, timeout, emulate=True) - finally: - if power < 0: - self.leader, self.follower = self.follower, self.leader - - def _eta(self, tacho, target, power): - return self.leader._eta(tacho.leader_tacho, target.leader_tacho, power) - - def _is_blocked(self, tacho, last_tacho, direction): - # no need to check both, they're synced - return self.leader._is_blocked(tacho.leader_tacho, last_tacho.leader_tacho, direction) diff --git a/nxt-python-fantom/nxt/pyusbglue.py b/nxt-python-fantom/nxt/pyusbglue.py deleted file mode 100644 index b140dfe..0000000 --- a/nxt-python-fantom/nxt/pyusbglue.py +++ /dev/null @@ -1,82 +0,0 @@ -# pyusbglue.py module -- Glue code from NXT_Python to libusb for USB access. -# -# 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 usb - -USB_BUFSIZE = 64 - -ID_VENDOR_LEGO = 0x0694 -ID_PRODUCT_NXT = 0x0002 - -class USBSocket: - bsize = 60 # USB socket block size - - def __init__(self, device): - self.device = device - self.handle = None - self.debug = False - - def device_name(self): - return self.device.filename - - def connect(self): - 'Use to connect to NXT.' - if self.debug: - print 'PyUSB Connecting...' - 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.' - - 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, numbytes): - 'Use to recieve raw data over USB connection ***ADVANCED USERS ONLY***' - data = self.handle.bulkRead(self.blk_in.address, numbytes) - 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_devices(lookup_names=False): # parameter is ignored - devicelist = [] - for bus in usb.busses(): - for device in bus.devices: - if device.idVendor == ID_VENDOR_LEGO and device.idProduct == ID_PRODUCT_NXT: - devicelist.append(device) - return devicelist - - diff --git a/nxt-python-fantom/nxt/sensor/__init__.py b/nxt-python-fantom/nxt/sensor/__init__.py deleted file mode 100644 index 8f2a337..0000000 --- a/nxt-python-fantom/nxt/sensor/__init__.py +++ /dev/null @@ -1,50 +0,0 @@ -# nxt.sensor module -- Classes to read LEGO Mindstorms NXT sensors -# Copyright (C) 2006,2007 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn -# Copyright (C) 2010 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. - -from .common import * -from .analog import BaseAnalogSensor -from .digital import BaseDigitalSensor, find_class -from .generic import Touch, Light, Sound, Ultrasonic, Color20 -import mindsensors -MSSumoEyes = mindsensors.SumoEyes -MSCompassv2 = mindsensors.Compassv2 -MSDIST = mindsensors.DIST -MSRTC = mindsensors.RTC -MSACCL = mindsensors.ACCL -MSServo = mindsensors.Servo -MSMTRMUX = mindsensors.MTRMUX -MSLineLeader = mindsensors.LineLeader -MSMMX = mindsensors.MMX -MSPS2 = mindsensors.PS2 -MSHID = mindsensors.HID -import hitechnic -HTCompass = hitechnic.Compass -HTAccelerometer = hitechnic.Accelerometer -HTGyro = hitechnic.Gyro -HTColorv2 = hitechnic.Colorv2 -HTEOPD = hitechnic.EOPD -HTIRReceiver = hitechnic.IRReceiver -HTIRSeekerv2 = hitechnic.IRSeekerv2 -HTPrototype = hitechnic.Prototype - - -def get_sensor(brick, port): - """Tries to detect the sensor type and return the correct sensor -object. Does not work for sensors with no identification information (such as -all analog sensors or the MindSensors RTC. - """ - base_sensor = BaseDigitalSensor(brick, port, False) - info = base_sensor.get_sensor_info() - return find_class(info)(brick, port, check_compatible=False) diff --git a/nxt-python-fantom/nxt/sensor/analog.py b/nxt-python-fantom/nxt/sensor/analog.py deleted file mode 100644 index e8d9b7b..0000000 --- a/nxt-python-fantom/nxt/sensor/analog.py +++ /dev/null @@ -1,41 +0,0 @@ -# nxt.sensor.analog module -- submodule for use with analog sensors -# Copyright (C) 2006,2007 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn -# -# 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. - -from common import * - - -class RawReading: # can be converted to the old version - """A pseudo-structure holding the raw sensor values as returned by the NXT - brick. - """ - def __init__(self, values): - (self.port, self.valid, self.calibrated, self.sensor_type, self.mode, - self.raw_ad_value, self.normalized_ad_value, self.scaled_value, - self.calibrated_value) = values - - def __repr__(self): - return str((self.port, self.valid, self.calibrated, self.sensor_type, self.mode, - self.raw_ad_value, self.normalized_ad_value, self.scaled_value, - self.calibrated_value)) - - -class BaseAnalogSensor(Sensor): - """Object for analog sensors.""" - def get_input_values(self): - """Returns the raw sensor values as returned by the NXT brick.""" - return RawReading(self.brick.get_input_values(self.port)) - - def reset_input_scaled_value(self): - self.brick.reset_input_scaled_value() - diff --git a/nxt-python-fantom/nxt/sensor/common.py b/nxt-python-fantom/nxt/sensor/common.py deleted file mode 100644 index 5afd6c8..0000000 --- a/nxt-python-fantom/nxt/sensor/common.py +++ /dev/null @@ -1,67 +0,0 @@ -# nxt.sensor.common module -- submodule with stuff useful in all sensors -# Copyright (C) 2006,2007 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn -# -# 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. - -PORT_1 = 0x00 -PORT_2 = 0x01 -PORT_3 = 0x02 -PORT_4 = 0x03 - -class Type(object): - 'Namespace for enumeration of the type of sensor' - # NOTE: just a namespace (enumeration) - NO_SENSOR = 0x00 - SWITCH = 0x01 # Touch sensor - TEMPERATURE = 0x02 - REFLECTION = 0x03 - ANGLE = 0x04 - LIGHT_ACTIVE = 0x05 # Light sensor (illuminated) - LIGHT_INACTIVE = 0x06 # Light sensor (ambient) - SOUND_DB = 0x07 # Sound sensor (unadjusted) - SOUND_DBA = 0x08 # Sound sensor (adjusted) - CUSTOM = 0x09 - LOW_SPEED = 0x0A - LOW_SPEED_9V = 0x0B # Low-speed I2C (Ultrasonic sensor) - HIGH_SPEED = 0x0C #Possibly other mode for I2C; may be used by future sensors. - COLORFULL = 0x0D #NXT 2.0 color sensor in full color mode (color sensor mode) - COLORRED = 0x0E #NXT 2.0 color sensor with red light on (light sensor mode) - COLORGREEN = 0x0F #NXT 2.0 color sensor with green light on (light sensor mode) - COLORBLUE = 0x10 #NXT 2.0 color sensor in with blue light on (light sensor mode) - COLORNONE = 0x11 #NXT 2.0 color sensor in with light off (light sensor mode) - COLOREXIT = 0x12 #NXT 2.0 color sensor internal state (not sure what this is for yet) - - -class Mode(object): - 'Namespace for enumeration of the mode of sensor' - # NOTE: just a namespace (enumeration) - RAW = 0x00 - BOOLEAN = 0x20 - TRANSITION_CNT = 0x40 - PERIOD_COUNTER = 0x60 - PCT_FULL_SCALE = 0x80 - CELSIUS = 0xA0 - FAHRENHEIT = 0xC0 - ANGLE_STEPS = 0xE0 - MASK = 0xE0 - MASK_SLOPE = 0x1F # Why isn't this slope thing documented? - - -class Sensor(object): - 'Main sensor object' - - def __init__(self, brick, port): - self.brick = brick - self.port = port - - def set_input_mode(self, type_, mode): - self.brick.set_input_mode(self.port, type_, mode) diff --git a/nxt-python-fantom/nxt/sensor/digital.py b/nxt-python-fantom/nxt/sensor/digital.py deleted file mode 100644 index dbc730f..0000000 --- a/nxt-python-fantom/nxt/sensor/digital.py +++ /dev/null @@ -1,227 +0,0 @@ -# nxt.sensor module -- Classes to read LEGO Mindstorms NXT sensors -# Copyright (C) 2006,2007 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn -# Copyright (C) 2010,2011 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. - -from nxt.error import I2CError, I2CPendingError, DirProtError - -from common import * -from time import sleep, time -import struct - - -class SensorInfo: - def __init__(self, version, product_id, sensor_type): - self.version = version - self.product_id = product_id - self.sensor_type = sensor_type - - def clarifybinary(self, instr, label): - outstr = '' - outstr += (label + ': `' + instr + '`\n') - for char in instr: - outstr += (hex(ord(char))+', ') - outstr += ('\n') - return outstr - - def __str__(self): - outstr = '' - outstr += (self.clarifybinary(str(self.version), 'Version')) - outstr += (self.clarifybinary(str(self.product_id), 'Product ID')) - outstr += (self.clarifybinary(str(self.sensor_type), 'Type')) - return outstr - -class BaseDigitalSensor(Sensor): - """Object for digital sensors. I2C_ADDRESS is the dictionary storing name - to i2c address mappings. It should be updated in every subclass. When - subclassing this class, make sure to call add_compatible_sensor to add - compatible sensor data. - """ - I2C_DEV = 0x02 - I2C_ADDRESS = {'version': (0x00, '8s'), - 'product_id': (0x08, '8s'), - 'sensor_type': (0x10, '8s'), -# 'factory_zero': (0x11, 1), # is this really correct? - 'factory_scale_factor': (0x12, 'B'), - 'factory_scale_divisor': (0x13, 'B'), - } - - def __init__(self, brick, port, check_compatible=True): - """Creates a BaseDigitalSensor. If check_compatible is True, queries - the sensor for its name, and if a wrong sensor class was used, prints - a warning. - """ - super(BaseDigitalSensor, self).__init__(brick, port) - self.set_input_mode(Type.LOW_SPEED_9V, Mode.RAW) - self.last_poll = time() - self.poll_delay = 0.01 - sleep(0.1) # Give I2C time to initialize - #Don't do type checking if this class has no compatible sensors listed. - try: self.compatible_sensors - except AttributeError: check_compatible = False - if check_compatible: - sensor = self.get_sensor_info() - if not sensor in self.compatible_sensors: - print ('WARNING: Wrong sensor class chosen for sensor ' + - str(sensor.product_id) + ' on port ' + str(port) + '. ' + """ -You may be using the wrong type of sensor or may have connected the cable -incorrectly. If you are sure you're using the correct sensor class for the -sensor, this message is likely in error and you should disregard it and file a -bug report, including the output of get_sensor_info(). This message can be -suppressed by passing "check_compatible=False" when creating the sensor object.""") - - def _ls_get_status(self, n_bytes): - for n in range(10): - try: - b = self.brick.ls_get_status(self.port) - if b >= n_bytes: - return b - except I2CPendingError: - pass - raise I2CError, 'ls_get_status timeout' - - def _i2c_command(self, address, value, format): - """Writes an i2c value to the given address. value must be a string. value is - a tuple of values corresponding to the given format. - """ - value = struct.pack(format, *value) - msg = chr(self.I2C_DEV) + chr(address) + value - if self.last_poll+self.poll_delay > time(): - diff = time() - self.last_poll - sleep(self.poll_delay - diff) - self.last_poll = time() - self.brick.ls_write(self.port, msg, 0) - - def _i2c_query(self, address, format): - """Reads an i2c value from given address, and returns a value unpacked - according to the given format. Format is the same as in the struct - module. See http://docs.python.org/library/struct.html#format-strings - """ - n_bytes = struct.calcsize(format) - msg = chr(self.I2C_DEV) + chr(address) - if self.last_poll+self.poll_delay > time(): - diff = time() - self.last_poll - sleep(self.poll_delay - diff) - self.last_poll = time() - self.brick.ls_write(self.port, msg, n_bytes) - try: - self._ls_get_status(n_bytes) - finally: - #we should clear the buffer no matter what happens - data = self.brick.ls_read(self.port) - if len(data) < n_bytes: - raise I2CError, 'Read failure: Not enough bytes' - data = struct.unpack(format, data[-n_bytes:]) - return data - - def read_value(self, name): - """Reads a value from the sensor. Name must be a string found in - self.I2C_ADDRESS dictionary. Entries in self.I2C_ADDRESS are in the - name: (address, format) form, with format as in the struct module. - Be careful on unpacking single variables - struct module puts them in - tuples containing only one element. - """ - address, fmt = self.I2C_ADDRESS[name] - for n in range(3): - try: - return self._i2c_query(address, fmt) - except DirProtError: - pass - raise I2CError, "read_value timeout" - - def write_value(self, name, value): - """Writes value to the sensor. Name must be a string found in - self.I2C_ADDRESS dictionary. Entries in self.I2C_ADDRESS are in the - name: (address, format) form, with format as in the struct module. - value is a tuple of values corresponding to the format from - self.I2C_ADDRESS dictionary. - """ - address, fmt = self.I2C_ADDRESS[name] - self._i2c_command(address, value, fmt) - - def get_sensor_info(self): - version = self.read_value('version')[0].split('\0')[0] - product_id = self.read_value('product_id')[0].split('\0')[0] - sensor_type = self.read_value('sensor_type')[0].split('\0')[0] - return SensorInfo(version, product_id, sensor_type) - - @classmethod - def add_compatible_sensor(cls, version, product_id, sensor_type): - """Adds an entry in the compatibility table for the sensor. If version - is None, then it's the default class for this model. If product_id is - None, then this is the default class for this vendor. - """ - try: - cls.compatible_sensors - except AttributeError: - cls.compatible_sensors = [] - finally: - cls.compatible_sensors.append(SCompatibility(version, product_id, - sensor_type)) - add_mapping(cls, version, product_id, sensor_type) - - -class SCompatibility(SensorInfo): - """An object that helps manage the sensor mappings""" - def __eq__(self, other): - if self.product_id is None: - return self.product_id == other.product_id - elif self.version is None: - return (self.product_id == other.product_id and - self.sensor_type == other.sensor_type) - else: - return (self.version == other.version and - self.product_id == other.product_id and - self.sensor_type == other.sensor_type) - -sensor_mappings = {} - - -def add_mapping(cls, version, product_id, sensor_type): - "None means any other value" - if product_id not in sensor_mappings: - sensor_mappings[product_id] = {} - models = sensor_mappings[product_id] - - if sensor_type is None: - if sensor_type in models: - raise ValueError('Already registered!') - models[sensor_type] = cls - return - - if sensor_type not in models: - models[sensor_type] = {} - versions = models[sensor_type] - - if version in versions: - raise ValueError('Already registered!') - else: - versions[version] = cls - - -class SearchError(Exception): - pass - - -def find_class(info): - """Returns an appropriate class for the given SensorInfo""" - dic = sensor_mappings - for val, msg in zip((info.product_id, info.sensor_type, info.version), - ('Vendor', 'Model', 'Version')): - if val in dic: - dic = dic[val] - elif None in dic: - dic = dic[None] - else: - raise SearchError(msg + ' not found') - return dic[info.sensor_type][None] diff --git a/nxt-python-fantom/nxt/sensor/generic.py b/nxt-python-fantom/nxt/sensor/generic.py deleted file mode 100644 index b3d792f..0000000 --- a/nxt-python-fantom/nxt/sensor/generic.py +++ /dev/null @@ -1,154 +0,0 @@ -# nxt.sensor.generic module -- Classes to read LEGO Mindstorms NXT sensors -# Copyright (C) 2006,2007 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn -# Copyright (C) 2010 melducky, 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. - -from .common import * -from .digital import BaseDigitalSensor -from .analog import BaseAnalogSensor - - -class Touch(BaseAnalogSensor): - """The LEGO touch sensor""" - - def __init__(self, brick, port): - super(Touch, self).__init__(brick, port) - self.set_input_mode(Type.SWITCH, Mode.BOOLEAN) - - def is_pressed(self): - return bool(self.get_input_values().scaled_value) - - get_sample = is_pressed - - -class Light(BaseAnalogSensor): - """Object for light sensors. It automatically turns off light when it's not - used. - """ - def __init__(self, brick, port, illuminated=True): - super(Light, self).__init__(brick, port) - - def set_illuminated(self, active): - if active: - type_ = Type.LIGHT_ACTIVE - else: - type_ = Type.LIGHT_INACTIVE - self.set_input_mode(type_, Mode.RAW) - - def get_lightness(self): - return self.get_input_values().scaled_value - - get_sample = get_lightness - - -class Sound(BaseAnalogSensor): - 'Object for sound sensors' - - def __init__(self, brick, port, adjusted=True): - super(Sound, self).__init__(brick, port) - self.set_adjusted(adjusted) - - def set_adjusted(self, active): - if active: - type_ = Type.SOUND_DBA - else: - type_ = Type.SOUND_DB - self.set_input_mode(type_, Mode.RAW) - - def get_loudness(self): - return self.get_input_values().scaled_value - - get_sample = get_loudness - - -class Ultrasonic(BaseDigitalSensor): - """Object for ultrasonic sensors""" - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({'measurement_units': (0x14, '7s'), - 'continuous_measurement_interval': (0x40, 'B'), - 'command': (0x41, 'B'), - 'measurement_byte_0': (0x42, 'B'), - 'measurements': (0x42, '8B'), - 'actual_scale_factor': (0x51, 'B'), - 'actual_scale_divisor': (0x52, 'B'), - }) - - class Commands: - 'These are for passing to command()' - OFF = 0x00 - SINGLE_SHOT = 0x01 - CONTINUOUS_MEASUREMENT = 0x02 - EVENT_CAPTURE = 0x03 #Optimize results when other Ultrasonic sensors running - REQUEST_WARM_RESET = 0x04 - - def __init__(self, brick, port, check_compatible=True): - super(Ultrasonic, self).__init__(brick, port, check_compatible) - self.set_input_mode(Type.LOW_SPEED_9V, Mode.RAW) - - def get_distance(self): - 'Function to get data from the ultrasonic sensor' - return self.read_value('measurement_byte_0')[0] - - get_sample = get_distance - - def get_measurement_units(self): - return self.read_value('measurement_units')[0].split('\0')[0] - - def get_all_measurements(self): - "Returns all the past readings in measurement_byte_0 through 7" - return self.read_value('measurements') - - def get_measurement_no(self, number): - "Returns measurement_byte_number" - if not 0 <= number < 8: - raise ValueError('Measurements are numbered 0 to 7, not ' + str(number)) - base_address, format = self.I2C_ADDRESS['measurement_byte_0'] - return self._i2c_query(base_address + number, format)[0] - - def command(self, command): - self.write_value('command', (command, )) - - def get_interval(self): - 'Get the sample interval for continuous measurement mode -- Unknown units' - return self.read_value('continuous_measurement_interval') - - def set_interval(self, interval): - """Set the sample interval for continuous measurement mode. -Unknown units; default is 1""" - self.write_value('continuous_measurement_interval', interval) - -Ultrasonic.add_compatible_sensor(None, 'LEGO', 'Sonar') #Tested with version 'V1.0' - - -class Color20(BaseAnalogSensor): - def __init__(self, brick, port): - super(Color20, self).__init__(brick, port) - self.set_light_color(Type.COLORFULL) - - def set_light_color(self, color): - """color should be one of the COLOR* Type namespace values, e.g. Type.COLORBLUE""" - self.set_input_mode(color, Mode.RAW) - - def get_light_color(self): - """Returns one of the COLOR* Type namespace values, e.g. Type.COLORRED""" - return self.get_input_values().sensor_type - - def get_reflected_light(self, color): - self.set_light_color(color) - return self.get_input_values().scaled_value - - def get_color(self): - self.get_reflected_light(Type.COLORFULL) - return self.get_input_values().scaled_value - - get_sample = get_color diff --git a/nxt-python-fantom/nxt/sensor/hitechnic.py b/nxt-python-fantom/nxt/sensor/hitechnic.py deleted file mode 100644 index 3c152d3..0000000 --- a/nxt-python-fantom/nxt/sensor/hitechnic.py +++ /dev/null @@ -1,611 +0,0 @@ -# nxt.sensor.hitechnic module -- Classes to read HiTechnic sensors -# Copyright (C) 2006,2007 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn -# Copyright (C) 2010 rhn, Marcus Wanner, melducky, Samuel Leeman-Munk -# Copyright (C) 2011 jerradgenson, 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. - -from .common import * -from .digital import BaseDigitalSensor -from .analog import BaseAnalogSensor - - -class Compass(BaseDigitalSensor): - """Hitechnic compass sensor.""" - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({'mode': (0x41, 'B'), - 'heading': (0x42, 'B'), - 'adder' : (0x43, 'B'), - }) - - class Modes: - MEASUREMENT = 0x00 - CALIBRATION = 0x43 - CALIBRATION_FAILED = 0x02 - - def get_heading(self): - """Returns heading from North in degrees.""" - - two_degree_heading = self.read_value('heading')[0] - adder = self.read_value('adder')[0] - heading = two_degree_heading * 2 + adder - - return heading - - get_sample = get_heading - - def get_relative_heading(self,target=0): - rheading = self.get_sample()-target - if rheading > 180: - rheading -= 360 - elif rheading < -180: - rheading += 360 - return rheading - - def is_in_range(self,minval,maxval): - """This deserves a little explanation: -if max > min, it's straightforward, but -if min > max, it switches the values of max and min -and returns true if heading is NOT between the new max and min - """ - if minval > maxval: - (maxval,minval) = (minval,maxval) - inverted = True - else: - inverted = False - heading = self.get_sample() - in_range = (heading > minval) and (heading < maxval) - #an xor handles the reversal - #a faster, more compact way of saying - #if !reversed return in_range - #if reversed return !in_range - return bool(inverted) ^ bool(in_range) - - def get_mode(self): - return self.read_value('mode')[0] - - def set_mode(self, mode): - if mode != self.Modes.MEASUREMENT and \ - mode != self.Modes.CALIBRATION: - raise ValueError('Invalid mode specified: ' + str(mode)) - self.write_value('mode', (mode, )) - -Compass.add_compatible_sensor(None, 'HiTechnc', 'Compass ') #Tested with version '\xfdV1.23 ' -Compass.add_compatible_sensor(None, 'HITECHNC', 'Compass ') #Tested with version '\xfdV2.1 ' - - -class Accelerometer(BaseDigitalSensor): - 'Object for Accelerometer sensors. Thanks to Paulo Vieira.' - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({'x_axis_high': (0x42, 'b'), - 'y_axis_high': (0x43, 'b'), - 'z_axis_high': (0x44, 'b'), - 'xyz_short': (0x42, '3b'), - 'all_data': (0x42, '3b3B') - }) - - class Acceleration: - def __init__(self, x, y, z): - self.x, self.y, self.z = x, y, z - - def __init__(self, brick, port, check_compatible=True): - super(Accelerometer, self).__init__(brick, port, check_compatible) - - def get_acceleration(self): - """Returns the acceleration along x, y, z axes. Units are unknown to me. - """ - xh, yh, zh, xl, yl, zl = self.read_value('all_data') - x = xh << 2 + xl - y = yh << 2 + yl - z = zh << 2 + yl - return self.Acceleration(x, y, z) - - get_sample = get_acceleration - -Accelerometer.add_compatible_sensor(None, 'HiTechnc', 'Accel. ') -Accelerometer.add_compatible_sensor(None, 'HITECHNC', 'Accel. ') #Tested with version '\xfdV1.1 ' - - -class IRReceiver(BaseDigitalSensor): - """Object for HiTechnic IRReceiver sensors for use with LEGO Power Functions IR -Remotes. Coded to HiTechnic's specs for the sensor but not tested. Please report -whether this worked for you or not! - """ - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({ - 'm1A': (0x42, 'b'), - 'm1B': (0x43, 'b'), - 'm2A': (0x44, 'b'), - 'm2B': (0x45, 'b'), - 'm3A': (0x46, 'b'), - 'm3B': (0x47, 'b'), - 'm4A': (0x48, 'b'), - 'm4B': (0x49, 'b'), - 'all_data': (0x42, '8b') - }) - - class SpeedReading: - def __init__(self, m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B): - self.m1A, self.m1B, self.m2A, self.m2B, self.m3A, self.m3B, self.m4A, self.m4B = m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B - self.channel_1 = (m1A, m1B) - self.channel_2 = (m2A, m2B) - self.channel_3 = (m3A, m3B) - self.channel_4 = (m4A, m4B) - - def __init__(self, brick, port, check_compatible=True): - super(IRReceiver, self).__init__(brick, port, check_compatible) - - def get_speeds(self): - """Returns the motor speeds for motors A and B on channels 1-4. -Values are -128, -100, -86, -72, -58, -44, -30, -16, 0, 16, 30, 44, 58, 72, 86 -and 100. -128 specifies motor brake mode. Note that no motors are actually -being controlled here! - """ - m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B = self.read_value('all_data') - return self.SpeedReading(m1A, m1B, m2A, m2B, m3A, m3B, m4A, m4B) - - get_sample = get_speeds - -IRReceiver.add_compatible_sensor(None, 'HiTechnc', 'IRRecv ') -IRReceiver.add_compatible_sensor(None, 'HITECHNC', 'IRRecv ') - - -class IRSeekerv2(BaseDigitalSensor): - """Object for HiTechnic IRSeeker sensors. Coded to HiTechnic's specs for the sensor -but not tested. Please report whether this worked for you or not! - """ - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({ - 'dspmode': (0x41, 'B'), - 'DC_direction': (0x42, 'B'), - 'DC_sensor_1': (0x43, 'B'), - 'DC_sensor_2': (0x44, 'B'), - 'DC_sensor_3': (0x45, 'B'), - 'DC_sensor_4': (0x46, 'B'), - 'DC_sensor_5': (0x47, 'B'), - 'DC_sensor_mean': (0x48, 'B'), - 'all_DC': (0x42, '7B'), - 'AC_direction': (0x49, 'B'), - 'AC_sensor_1': (0x4A, 'B'), - 'AC_sensor_2': (0x4B, 'B'), - 'AC_sensor_3': (0x4C, 'B'), - 'AC_sensor_4': (0x4D, 'B'), - 'AC_sensor_5': (0x4E, 'B'), - 'all_AC': (0x49, '6B') - }) - I2C_DEV = 0x10 #different from standard 0x02 - - class DSPModes: - #Modes for modulated (AC) data. - AC_DSP_1200Hz = 0x00 - AC_DSP_600Hz = 0x01 - - class _data: - def get_dir_brightness(self, direction): - "Gets the brightness of a given direction (1-9)." - if direction%2 == 1: #if it's an odd number - exec("val = self.sensor_%d" % ((direction-1)/2+1)) - else: - exec("val = (self.sensor_%d+self.sensor_%d)/2" % (direction/2, (direction/2)+1)) - return val - - class DCData(_data): - def __init__(self, direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean): - self.direction, self.sensor_1, self.sensor_2, self.sensor_3, self.sensor_4, self.sensor_5, self.sensor_mean = direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean - - class ACData(_data): - def __init__(self, direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5): - self.direction, self.sensor_1, self.sensor_2, self.sensor_3, self.sensor_4, self.sensor_5 = direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5 - - - def __init__(self, brick, port, check_compatible=True): - super(IRSeekerv2, self).__init__(brick, port, check_compatible) - - def get_dc_values(self): - """Returns the unmodulated (DC) values. - """ - direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean = self.read_value('all_DC') - return self.DCData(direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5, sensor_mean) - - def get_ac_values(self): - """Returns the modulated (AC) values. 600Hz and 1200Hz modes can be selected -between by using the set_dsp_mode() function. - """ - direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5 = self.read_value('all_AC') - return self.ACData(direction, sensor_1, sensor_2, sensor_3, sensor_4, sensor_5) - - def get_dsp_mode(self): - return self.read_value('dspmode')[0] - - def set_dsp_mode(self, mode): - self.write_value('dspmode', (mode, )) - - get_sample = get_ac_values - -IRSeekerv2.add_compatible_sensor(None, 'HiTechnc', 'NewIRDir') -IRSeekerv2.add_compatible_sensor(None, 'HITECHNC', 'NewIRDir') - - -class EOPD(BaseAnalogSensor): - """Object for HiTechnic Electro-Optical Proximity Detection sensors. - """ - - # To be divided by processed value. - _SCALE_CONSTANT = 250 - - # Maximum distance the sensor can detect. - _MAX_DISTANCE = 1023 - - def __init__(self, brick, port): - super(EOPD, self).__init__(brick, port) - from math import sqrt - self.sqrt = sqrt - - def set_range_long(self): - ''' Choose this mode to increase the sensitivity - of the EOPD sensor by approximately 4x. May - cause sensor overload. - ''' - - self.set_input_mode(Type.LIGHT_ACTIVE, Mode.RAW) - - def set_range_short(self): - ''' Choose this mode to prevent the EOPD sensor from - being overloaded by white objects. - ''' - - self.set_input_mode(Type.LIGHT_INACTIVE, Mode.RAW) - - def get_raw_value(self): - '''Unscaled value read from sensor.''' - - return self._MAX_DISTANCE - self.get_input_values().raw_ad_value - - def get_processed_value(self): - '''Derived from the square root of the raw value.''' - - return self.sqrt(self.get_raw_value()) - - def get_scaled_value(self): - ''' Returns a value that will scale linearly as distance - from target changes. This is the method that should - generally be called to get EOPD sensor data. - ''' - - try: - result = self._SCALE_CONSTANT / self.get_processed_value() - return result - - except ZeroDivisionError: - return self._SCALE_CONSTANT - - get_sample = get_scaled_value - - -class Colorv2(BaseDigitalSensor): - """Object for HiTechnic Color v2 Sensors. Coded to HiTechnic's specs for the sensor -but not tested. Please report whether this worked for you or not!""" - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({ - 'mode': (0x41, 'B'), - 'number': (0x42, 'B'), - 'red': (0x43, 'B'), - 'green': (0x44, 'B'), - 'blue': (0x45, 'B'), - 'white': (0x46, 'B'), - 'index': (0x47, 'B'), - 'normred': (0x48, 'B'), - 'normgreen': (0x49, 'B'), - 'normblue': (0x4A, 'B'), - 'all_data': (0x42, '9B'), - 'rawred': (0x42, 'l'), - 'm1mode': (0x44, 'B'), - 'm1power': (0x45, 'b'), - 'm2power': (0x46, 'b'), - 'm2mode': (0x47, 'B'), - 'm2enctarget': (0x48, '>l'), - 'm1enccurrent': (0x4c, '>l'), - 'm2enccurrent': (0x50, '>l'), - 'batteryvoltage': (0x54, '2B'), - 'm1gearratio': (0x56, 'b'), - 'm1pid': (0x57, '3B'), - 'm2gearratio': (0x5a, 'b'), - 'm2pid': (0x5b, '3B'), - }) - - class PID_Data(): - def __init__(self, p, i, d): - self.p, self.i, self.d = p, i, d - - def __init__(self, brick, port, check_compatible=True): - super(MotorCon, self).__init__(brick, port, check_compatible) - - def set_enc_target(self, mot, val): - """Set the encoder target (-2147483648-2147483647) for a motor - """ - self.write_value('m%denctarget'%mot, (val, )) - - def get_enc_target(self, mot): - """Get the encoder target for a motor - """ - return self.read_value('m%denctarget'%mot)[0] - - def get_enc_current(self, mot): - """Get the current encoder value for a motor - """ - return self.read_value('m%denccurrent'%mot)[0] - - def set_mode(self, mot, mode): - """Set the mode for a motor. This value is a bit mask and you can -find details about it in the sensor's documentation. - """ - self.write_value('m%dmode'%mot, (mode, )) - - def get_mode(self, mot): - """Get the mode for a motor. This value is a bit mask and you can -find details about it in the sensor's documentation. - """ - return self.read_value('m%dmode'%mot)[0] - - def set_power(self, mot, power): - """Set the power (-100-100) for a motor - """ - self.write_value('m%dpower'%mot, (power, )) - - def get_power(self, mot): - """Get the power for a motor - """ - return self.read_value('m%dpower'%mot)[0] - - def set_gear_ratio(self, mot, ratio): - """Set the gear ratio for a motor - """ - self.write_value('m%dgearratio'%mot, (ratio, )) - - def get_gear_ratio(self, mot): - """Get the gear ratio for a motor - """ - return self.read_value('m%dgearratio'%mot)[0] - - def set_pid(self, mot, piddata): - """Set the PID coefficients for a motor. Takes data in -MotorCon.PID_Data(p, i, d) format. - """ - self.write_value('m%dpid'%mot, (piddata.p, piddata.i, piddata.d)) - - def get_pid(self, mot): - """Get the PID coefficients for a motor. Returns a PID_Data() object. - """ - p, i, d = self.read_value('m%dpid'%mot) - return self.PID_Data(p, i, d) - - def get_battery_voltage(self): - """Gets the battery voltage (in millivolts/20) - """ - high, low = self.read_value('bateryvoltage')[0] - return high << 2 + low - -MotorCon.add_compatible_sensor(None, 'HiTechnc', 'MotorCon') diff --git a/nxt-python-fantom/nxt/sensor/mindsensors.py b/nxt-python-fantom/nxt/sensor/mindsensors.py deleted file mode 100644 index de6c7ee..0000000 --- a/nxt-python-fantom/nxt/sensor/mindsensors.py +++ /dev/null @@ -1,815 +0,0 @@ -# nxt.sensor.mindsensors module -- Classes implementing Mindsensors sensors -# Copyright (C) 2006,2007 Douglas P Lau -# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn -# Copyright (C) 2010 Marcus Wanner, MindSensors -# -# 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. - - -from .common import * -from .digital import BaseDigitalSensor, SensorInfo -from .analog import BaseAnalogSensor - - -class SumoEyes(BaseAnalogSensor): - """The class to control Mindsensors Sumo sensor. Warning: long range not - working for my sensor. - """ - #range: 5-10cm - class Reading: - """Contains the reading of SumoEyes sensor. left and right can be True or - False. If True, then there is something there, if False, then it's empty - there. - """ - def __init__(self, raw_reading): - self.raw = raw_reading - val = raw_reading.normalized_ad_value # FIXME: make it rely on raw_ad_value - right = 600 < val < 700 - both = 700 <= val < 900 - left = 300 < val < 400 - self.left = left or both - self.right = right or both - - def __str__(self): - return '(left: ' + str(self.left) + ', right: ' + str(self.right) + ')' - - def __init__(self, brick, port, long_range=False): - super(SumoEyes, self).__init__(brick, port) - self.set_long_range(long_range) - - def set_long_range(self, val): - """Sets if the sensor should operate in long range mode (12 inches) or - the short range mode (6 in). val should be True or False. - """ - if val: - type_ = Type.LIGHT_INACTIVE - else: - type_ = Type.LIGHT_ACTIVE - self.set_input_mode(type_, Mode.RAW) - - def get_sample(self): - """Returns the processed meaningful values of the sensor""" - return self.Reading(self.get_input_values()) - - -class Compassv2(BaseDigitalSensor): - """Class for the now-discontinued CMPS-Nx sensor. Also works with v1.1 sensors. -Note that when using a v1.x sensor, some of the commands are not supported! -To determine your sensor's version, use get_sensor_info().version""" - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({'command': (0x41, '> 4 - return str(gs3) + str(gs2) - - def get_minutes(self): - gm = self.read_value('minutes')[0] - gm2 = gm & 0xf - gm3 = gm & 0x70 - gm3 = gm3 >> 4 - return str(gm3) + str(gm2) - - def get_hours(self): - gh = self.read_value('hours')[0] - gh2 = gh & 0xf - gh3 = gh & 0x30 - gh3 = gh3 >> 4 - return str(gh3) + str(gh2) - - def get_day(self): - gwd = self.read_value('day')[0] - gwd = gwd & 0x07 - return gwd - - def get_month(self): - gmo = self.read_value('month')[0] - gmo2 = gmo & 0xf - gmo3 = gmo & 0x10 - gmo3 = gmo3 >> 4 - return str(gmo3) + str(gmo2) - - def get_year(self): - """Last two digits (10 for 2010)""" - gy = self.read_value('year')[0] - gy2 = gy & 0xf - gy3 = gy & 0xF0 - gy3 = gy3 >> 4 - return str(gy3) + str(gy2) - - def get_date(self): - gd = self.read_value('date')[0] - gd2 = gd & 0xf - gd3 = gd & 0x60 - gd3 = gd3 >> 4 - return str(gd3) + str(gd2) - - def hour_mode(self, mode): - """Writes mode bit and re-enters hours, which is required""" - if mode == 12 or 24: - hm = self.read_value('hours')[0] - hm2 = hm & 0x40 - hm2 = hm2 >> 6 - if mode == 12 and hm2 == 0: #12_HOUR = 1 - hm3 = hm + 64 - self.write_value('hours', (hm3, )) - elif mode == 24 and hm2 == 1: #24_HOUR = 0 - hm3 = hm - 64 - self.write_value('hours', (hm3, )) - else: - print 'That mode is already selected!' - else: - raise ValueError('Must be 12 or 24!') - - def get_mer(self): - mer = self.read_value('hours')[0] - mer2 = mer & 0x40 - mer2 = mer2 >> 6 - if mer2 == 1: - mer3 = mer & 0x20 - mer3 = mer3 >> 0x10 - return mer3 - else: - print 'Cannot get mer! In 24-hour mode!' - - def get_sample(self): - """Returns a struct_time() tuple which can be processed by the time module.""" - import time - return time.struct_time(( - int(self.get_year())+2000, - int(self.get_month()), - int(self.get_date()), - int(self.get_hours()), - int(self.get_minutes()), - int(self.get_seconds()), - int(self.get_day()), - 0, #Should be the Julian Day, but computing that is hard. - 0 #No daylight savings time to worry about here. - )) - - -class ACCL(BaseDigitalSensor): - """Class for Accelerometer sensor""" - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({'sensitivity': (0x19, 'B'), - 'command': (0x41, 'B'), - 'x_tilt': (0x42, 'b'), - 'y_tilt': (0x43, 'b'), - 'z_tilt': (0x44, 'b'), - 'all_tilt': (0x42, '3b'), - - 'x_accel': (0x45, '> bit_num - return value - - def get_tasks(self, motor_number): - addressname = 'tasks_running_m' + str(motor_number) - return self.read_value(addressname)[0] - - def set_pid(self, pid, target, value): - addressname = str(pid) + '_' + str(target) - self.write_value(addressname, (value, )) - - def set_pass_count(self, value): - self.write_value('pass_count', (value, )) - - def set_tolerance(self, value): - self.write_value('tolerance', (value, )) - -MMX.add_compatible_sensor(None, 'mndsnsrs', 'NxTMMX') #Tested with version 'V1.01' - - -class HID(BaseDigitalSensor): - """Class for Human Interface Device sensors. -These are connected to a computer and look like a keyboard to it.""" - I2C_ADDRESS = BaseDigitalSensor.I2C_ADDRESS.copy() - I2C_ADDRESS.update({'command' : (0x41, ' 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), -} diff --git a/nxt-python-fantom/nxt/telegram.py b/nxt-python-fantom/nxt/telegram.py deleted file mode 100644 index 1fc5b3e..0000000 --- a/nxt-python-fantom/nxt/telegram.py +++ /dev/null @@ -1,118 +0,0 @@ -# nxt.telegram module -- LEGO Mindstorms NXT telegram formatting and parsing -# 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. - -'Used by nxt.system for sending telegrams to the NXT' - -from cStringIO import StringIO -from struct import pack, unpack -import nxt.error - -class InvalidReplyError(Exception): - pass - -class InvalidOpcodeError(Exception): - pass - -class Telegram(object): - - TYPE = 0 # type byte offset - CODE = 1 # code byte offset - DATA = 2 # data byte offset - - TYPE_NOT_DIRECT = 0x01 # system vs. direct type - TYPE_REPLY = 0x02 # reply type (from NXT brick) - TYPE_REPLY_NOT_REQUIRED = 0x80 # reply not required flag - - def __init__(self, direct=False, opcode=0, reply_req=True, pkt=None): - if pkt: - self.pkt = StringIO(pkt) - self.typ = self.parse_u8() - self.opcode = self.parse_u8() - if not self.is_reply(): - raise InvalidReplyError - if self.opcode != opcode: - raise InvalidOpcodeError, self.opcode - else: - self.pkt = StringIO() - typ = 0 - if not direct: - typ |= Telegram.TYPE_NOT_DIRECT - if not reply_req: - typ |= Telegram.TYPE_REPLY_NOT_REQUIRED - self.add_u8(typ) - self.add_u8(opcode) - - def __str__(self): - return self.pkt.getvalue() - - def is_reply(self): - return self.typ == Telegram.TYPE_REPLY - - def add_string(self, n_bytes, v): - self.pkt.write(pack('%ds' % n_bytes, v)) - - def add_filename(self, fname): - self.pkt.write(pack('20s', fname)) - - def add_s8(self, v): - self.pkt.write(pack('