summaryrefslogtreecommitdiff
path: root/PyFantom/pyfantom.py
blob: 46367b1d54cd1ed99cd5d3838d403413066669f0 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
"""NXT Fantom driver wrapper."""
from ctypes import c_int, c_uint, c_ushort, c_ubyte, c_char_p, byref, POINTER
import ctypes.util
import platform
import collections

# Check platform.
if platform.system() == 'Darwin':
    import sys
    if sys.maxsize > 2**32:
        raise RuntimeError("fantom drivers not available in 64 bit mode.\n"
                "You can run python in 32 bit mode using:\n"
                "arch -i386 python2.6\n")
    libpath = '/Library/Frameworks/Fantom.framework/Fantom'
    #libpath = ctypes.util.find_library('Fantom')
else:
    raise RuntimeError('unsupported platform')

# Load library.
dll = ctypes.cdll.LoadLibrary(libpath)
dll.nFANTOM100_createNXTIterator.argtypes = [c_ushort, c_uint, POINTER(c_int)]
dll.nFANTOM100_createNXTIterator.restype = c_uint
dll.nFANTOM100_destroyNXTIterator.argtypes = [c_int, POINTER(c_int)]
dll.nFANTOM100_destroyNXTIterator.restype = None
dll.nFANTOM100_iNXTIterator_advance.argtypes = [c_uint, POINTER(c_int)]
dll.nFANTOM100_iNXTIterator_advance.restype = None
dll.nFANTOM100_iNXTIterator_getNXT.argtypes = [c_uint, POINTER(c_int)]
dll.nFANTOM100_iNXTIterator_getNXT.restype = c_uint
dll.nFANTOM100_iNXTIterator_getName.argtypes = [c_uint, c_char_p,
        POINTER(c_int)]
dll.nFANTOM100_iNXTIterator_getName.restype = None
dll.nFANTOM100_createNXT.argtypes = [c_char_p, POINTER(c_int), c_ushort]
dll.nFANTOM100_createNXT.restype = c_uint
dll.nFANTOM100_destroyNXT.argtypes = [c_uint, POINTER(c_int)]
dll.nFANTOM100_destroyNXT.restype = None
dll.nFANTOM100_iNXT_getFirmwareVersion.argtypes = [c_uint, POINTER(c_ubyte),
        POINTER(c_ubyte), POINTER(c_ubyte), POINTER(c_ubyte), POINTER(c_int)]
dll.nFANTOM100_iNXT_getFirmwareVersion.argtypes = None
dll.nFANTOM100_iNXT_getDeviceInfo.argtypes = [c_uint, c_char_p,
        POINTER(c_ubyte), POINTER(c_ubyte), POINTER(c_uint), POINTER(c_int)]
dll.nFANTOM100_iNXT_write.argtypes = [c_uint, c_char_p, c_uint,
        POINTER(c_int)]
dll.nFANTOM100_iNXT_write.restype = c_uint
dll.nFANTOM100_iNXT_read.argtypes = [c_uint, c_char_p, c_uint,
        POINTER(c_int)]
dll.nFANTOM100_iNXT_read.restype = c_uint
dll.nFANTOM100_iNXT_getDeviceInfo.restype = None
dll.nFANTOM100_iNXT_getResourceString.argtypes = [c_uint, c_char_p,
        POINTER(c_int)]
dll.nFANTOM100_iNXT_getResourceString.restype = None

class FantomException(RuntimeError):
    """Exception thrown on Fantom library error."""
    pass

class Status:
    """Status codes used by Fantom library."""

    # Status codes. {{{
    Success = 0
    Offset = -142000
    PairingFailed = Offset - 5
    BluetoothSearchFailed = Offset - 6
    SystemLibraryNotFound = Offset - 7
    UnpairingFailed = Offset - 8
    InvalidFilename = Offset - 9
    InvalidIteratorDereference = Offset - 10
    LockOperationFailed = Offset - 11
    SizeUnknown = Offset - 12
    DuplicateOpen = Offset - 13
    EmptyFile = Offset - 14
    FirmwareDownloadFailed = Offset - 15
    PortNotFound = Offset - 16
    NoMoreItemsFound = Offset - 17
    TooManyUnconfiguredDevices = Offset - 18
    CommandMismatch = Offset - 19
    IllegalOperation = Offset - 20
    BluetoothCacheUpdateFailed = Offset - 21
    NonNXTDeviceSelected = Offset - 22
    RetryConnection = Offset - 23
    PowerCycleNXT = Offset - 24
    FeatureNotImplemented = Offset - 99
    FWIllegalHandle = Offset - 189
    FWIllegalFileName = Offset - 190
    FWOutOfBounds = Offset - 191
    FWModuleNotFound = Offset - 192
    FWFileExists = Offset - 193
    FWFileIsFull = Offset - 194
    FWAppendNotPossible = Offset - 195
    FWNoWriteBuffers = Offset - 196
    FWFileIsBusy = Offset - 197
    FWUndefinedError = Offset - 198
    FWNoLinearSpace = Offset - 199
    FWHandleAlreadyClosed = Offset - 200
    FWFileNotFound = Offset - 201
    FWNotLinearFile = Offset - 202
    FWEndOfFile = Offset - 203
    FWEndOfFileExpected = Offset - 204
    FWNoMoreFiles = Offset - 205
    FWNoSpace = Offset - 206
    FWNoMoreHandles = Offset - 207
    FWUnknownErrorCode = Offset - 208
    # }}}

    # Text description. {{{
    description = {
            Success: "No error",
            PairingFailed: "Bluetooth pairing operation failed.",
            BluetoothSearchFailed: "Bluetooth search failed.",
            SystemLibraryNotFound: "System library not found.",
            UnpairingFailed: "Bluetooth unpairing operation failed.",
            InvalidFilename: "Invalid filename specified.",
            InvalidIteratorDereference: "Invalid iterator dereference.",
            LockOperationFailed: "Resource locking operation failed.",
            SizeUnknown: "Could not determine the requested size.",
            DuplicateOpen: "Cannot open two objects at once.",
            EmptyFile: "File is empty.",
            FirmwareDownloadFailed: "Firmware download failed.",
            PortNotFound: "Could not locate virtual serial port.",
            NoMoreItemsFound: "No more items found.",
            TooManyUnconfiguredDevices: "Too many unconfigured devices.",
            CommandMismatch: "Command mismatch in firmware response.",
            IllegalOperation: "Illegal operation.",
            BluetoothCacheUpdateFailed: "Could not update local Bluetooth"
            " cache with new name.",
            NonNXTDeviceSelected: "Selected device is not an NXT.",
            RetryConnection: "Communication error.  Retry the operation.",
            PowerCycleNXT: "Could not connect to NXT.  Turn the NXT off and"
            " then back on before continuing.",
            FeatureNotImplemented: "This feature is not yet implemented.",
            FWIllegalHandle: "Firmware reported an illegal handle.",
            FWIllegalFileName: "Firmware reported an illegal file name.",
            FWOutOfBounds: "Firmware reported an out of bounds reference.",
            FWModuleNotFound: "Firmware could not find module.",
            FWFileExists: "Firmware reported that the file already exists.",
            FWFileIsFull: "Firmware reported that the file is full.",
            FWAppendNotPossible: "Firmware reported the append operation is"
            " not possible.",
            FWNoWriteBuffers: "Firmware has no write buffers available.",
            FWFileIsBusy: "Firmware reported that file is busy.",
            FWUndefinedError: "Firmware reported the undefined error.",
            FWNoLinearSpace: "Firmware reported that no linear space is"
            " available.",
            FWHandleAlreadyClosed: "Firmware reported that handle has already"
            " been closed.",
            FWFileNotFound: "Firmware could not find file.",
            FWNotLinearFile: "Firmware reported that the requested file is"
            " not linear.",
            FWEndOfFile: "Firmware reached the end of the file.",
            FWEndOfFileExpected: "Firmware expected an end of file.",
            FWNoMoreFiles: "Firmware cannot handle more files.",
            FWNoSpace: "Firmware reported the NXT is out of space.",
            FWNoMoreHandles: "Firmware could not create a handle.",
            FWUnknownErrorCode: "Firmware reported an unknown error code.",
            }
    # }}}

    @staticmethod
    def check(status):
        """Check status, raise on error."""
        if status.value < Status.Success:
            if status.value in Status.description:
                description = Status.description[status.value]
            else:
                description = 'error %d' % status.value
            raise FantomException(description)

class NXTIterator:
    """Interface to an iterator, to find connected NXT."""

    def __init__(self, search_bluetooth, bluetooth_search_timeout_s=5):
        """Initialize iterator."""
        self.search_bluetooth = search_bluetooth
        self.bluetooth_search_timeout_s = bluetooth_search_timeout_s
        self.handle = None
        self.stop = False

    def __iter__(self):
        """Return the iterator object itself."""
        return self

    def next(self):
        """Implement the iterator protocol."""
        if self.stop:
            raise StopIteration()
        # Find first, or find next.
        status = c_int(0)
        if self.handle is None:
            handle = dll.nFANTOM100_createNXTIterator(self.search_bluetooth,
                    self.bluetooth_search_timeout_s, byref(status))
        else:
            handle = self.handle
            dll.nFANTOM100_iNXTIterator_advance(handle, byref(status))
        # Check result.
        if status.value == Status.NoMoreItemsFound:
            self.stop = True
            raise StopIteration()
        Status.check(status)
        self.handle = handle
        # Return itself (not part of the protocol, but it has get_nxt and
        # get_name).
        return self

    def get_nxt(self):
        """Get the NXT instance."""
        if self.handle is None or self.stop:
            raise FantomException('invalid iterator')
        status = c_int(0)
        handle = dll.nFANTOM100_iNXTIterator_getNXT(self.handle, byref(status))
        Status.check(status)
        return NXT(handle)

    def get_name(self):
        """Get the NXT resource name."""
        if self.handle is None or self.stop:
            raise FantomException('invalid iterator')
        status = c_int(0)
        name = ctypes.create_string_buffer(256)
        dll.nFANTOM100_iNXTIterator_getName(self.handle, name, byref(status))
        Status.check(status)
        return name.value

    get_resource_string = get_name

    def __del__(self):
        """Destroy iterator."""
        if self.handle is not None:
            status = c_int(0)
            dll.nFANTOM100_destroyNXTIterator(self.handle, byref(status))

class NXT:
    """Interface to the NXT brick."""

    DeviceInfo = collections.namedtuple('DeviceInfo',
            'name bluetooth_address signal_strength available_flash')

    def __init__(self, name_or_handle):
        """Initialize interface."""
        if isinstance(name_or_handle, basestring):
            status = c_int(0)
            handle = dll.nFANTOM100_createNXT(name_or_handle, byref(status),
                    True)
            Status.check(status)
            self.handle = handle
        else:
            self.handle = name_or_handle

    def get_firmware_version(self):
        """Get protocol and firmware versions installed on this NXT."""
        status = c_int(0)
        protocol_major = c_ubyte(0)
        protocol_minor = c_ubyte(0)
        firmware_major = c_ubyte(0)
        firmware_minor = c_ubyte(0)
        dll.nFANTOM100_iNXT_getFirmwareVersion(self.handle,
                byref(protocol_major), byref(protocol_minor),
                byref(firmware_major), byref(firmware_minor),
                byref(status))
        Status.check(status)
        return (protocol_major.value, protocol_minor.value,
                firmware_major.value, firmware_minor.value)

    def write(self, data):
        """Write, in a generic fashion, to this NXT."""
        status = c_int(0)
        data_buffer = ctypes.create_string_buffer(data)
        ret = dll.nFANTOM100_iNXT_write(self.handle, data_buffer, len(data),
                byref(status))
        Status.check(status)
        return ret

    def read(self, length):
        """Read, in a generic fashion, from this NXT."""
        status = c_int(0)
        data_buffer = ctypes.create_string_buffer(length)
        ret = dll.nFANTOM100_iNXT_write(self.handle, data_buffer, length,
                byref(status))
        Status.check(status)
        assert ret <= length
        return data_buffer.raw[0:ret]

    def get_device_info(self):
        """Get basic information about this NXT."""
        status = c_int(0)
        name = ctypes.create_string_buffer(16)
        bluetooth_address = (c_ubyte * 7)()
        signal_strength = (c_ubyte * 4)()
        available_flash = c_uint(0)
        dll.nFANTOM100_iNXT_getDeviceInfo(self.handle, name,
                bluetooth_address, signal_strength, byref(available_flash),
                byref(status))
        return self.DeviceInfo(
                name = name.value,
                bluetooth_address = ':'.join('%02x' % c
                    for c in bluetooth_address[0:5]),
                signal_strength = tuple(c for c in signal_strength),
                available_flash = available_flash.value,
                )

    def get_resource_string(self):
        """Get the NXT resource name."""
        status = c_int(0)
        name = ctypes.create_string_buffer(256)
        dll.nFANTOM100_iNXT_getResourceString(self.handle, name,
                byref(status))
        Status.check(status)
        return name.value

    def __del__(self):
        """Destroy interface."""
        if self.handle is not None:
            status = c_int(0)
            dll.nFANTOM100_destroyNXT(self.handle, byref(status))

if __name__ == '__main__':
    get_info = False
    write_read = True
    for i in NXTIterator(False):
        if get_info:
            print "name:", i.get_name()
            print "resource string:", i.get_resource_string()
            print "get_nxt:"
            nxt = i.get_nxt()
            print " firmware version:", nxt.get_firmware_version()
            print " get device info:", nxt.get_device_info()
            rs = nxt.get_resource_string()
            print " resource string:", rs
            del nxt
            print "NXT():"
            nxt = NXT(rs)
            print " resource string:", nxt.get_resource_string()
            del nxt
        if write_read:
            nxt = i.get_nxt()
            import struct
            # Write VERSION SYS_CMD.
            # Query:
            #  SYS_CMD: 0x01
            #  VERSION: 0x88
            cmd = struct.pack('2B', 0x01, 0x88)
            r = nxt.write(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.read(7)
            print "read", struct.unpack('%dB' % len(rep), rep)
            # Same thing, without response.
            cmd = struct.pack('2B', 0x81, 0x88)
            r = nxt.write(cmd)
            print "wrote", r
            rep = nxt.read(7)
            print struct.unpack('%dB' % len(rep), rep)
            del nxt