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Diffstat (limited to 'nxt_plugin/nxt/bluesock.py')
-rw-r--r-- | nxt_plugin/nxt/bluesock.py | 79 |
1 files changed, 79 insertions, 0 deletions
diff --git a/nxt_plugin/nxt/bluesock.py b/nxt_plugin/nxt/bluesock.py new file mode 100644 index 0000000..6af38cb --- /dev/null +++ b/nxt_plugin/nxt/bluesock.py @@ -0,0 +1,79 @@ +# 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 bluetooth +except ImportError: + import lightblueglue as bluetooth +from nxt.brick import Brick + +class BlueSock(object): + + bsize = 118 # Bluetooth socket block size + PORT = 1 # Standard NXT rfcomm port + + type = 'bluetooth' + + 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) |