From 5b5271e98c6d7f0ffea9d6b3fbf2cec43d283d64 Mon Sep 17 00:00:00 2001 From: Tat-Chee Wan (USM) Date: Tue, 1 Mar 2011 09:10:13 +0800 Subject: Imported nxt-python baseline (v2.1.0) --- nxt-python-fantom/nxt/direct.py | 216 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 216 insertions(+) create mode 100644 nxt-python-fantom/nxt/direct.py (limited to 'nxt-python-fantom/nxt/direct.py') diff --git a/nxt-python-fantom/nxt/direct.py b/nxt-python-fantom/nxt/direct.py new file mode 100644 index 0000000..50b7f2a --- /dev/null +++ b/nxt-python-fantom/nxt/direct.py @@ -0,0 +1,216 @@ +# 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), +} -- cgit v1.2.3