1 files changed, 118 insertions, 0 deletions
diff --git a/nxt_plugin/nxt/fantomsock.py b/nxt_plugin/nxt/fantomsock.py
new file mode 100644
index 0000000..f528e58
--- /dev/null
+++ b/nxt_plugin/nxt/fantomsock.py
@@ -0,0 +1,118 @@
+# fantomsock.py module -- NXT_Python socket wrapper for pyfantom (Mac)
+#
+# Copyright (C) 2011  Tat-Chee Wan, 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.
+
+import pyfantom
+from nxt.brick import Brick
+
+USB_BUFSIZE = 64
+BT_BUFSIZE = 1024 #"arbitrary"
+FANTOMSOCK_DEBUG = False
+
+
+class BluetoothSocket:
+    bsize = BT_BUFSIZE - 4        # Bluetooth socket block size
+
+    '''recv() method is currently reported broken'''
+    def __init__(self, _sock=None):
+        # We instantiate a NXT object only when we connect if none supplied
+        self._sock = _sock
+        self.debug = FANTOMSOCK_DEBUG
+
+    def __str__(self):
+        return 'FantomSock BT (%s)' % self.device_name()
+
+    def device_name(self):
+        devinfo = self._sock.get_device_info()
+        return devinfo.name
+
+    def connect(self, addrport=None):
+        if self._sock is None:
+            if self.debug:
+                print "No NXT object assigned"
+            assert addrport is not None
+            # Port is ignored
+            addr, port = addrport
+            paired_addr = pair_bluetooth(addr)
+            if self.debug:
+                print "BT Paired Addr: ", paired_addr
+            self._sock = pyfantom.NXT(paired_addr)
+        else:
+            if self.debug:
+                print "Using existing NXT object"
+        return Brick(self)
+    
+    def send(self, data):
+        return self._sock.write(data)
+
+    def recv(self, numbytes=BT_BUFSIZE):
+        '''currently reported broken'''
+        return self._sock.read(numbytes)
+    
+    def close(self):
+        if self._sock is not None:
+            self._sock.close()
+            self._sock = None
+
+
+class USBSocket:
+    bsize = USB_BUFSIZE - 4        # USB socket block size
+
+    def __init__(self, device=None):
+        self._sock = device
+        self.debug = FANTOMSOCK_DEBUG
+
+    def __str__(self):
+        return 'FantomSock USB (%s)' % self.device_name()
+
+    def device_name(self):
+        devinfo = self._sock.get_device_info()
+        return devinfo.name
+
+    def connect(self, addrport=None):
+        if self._sock is None:
+            if self.debug:
+                print "No NXT object assigned"
+            assert addrport is not None
+            # Port is ignored
+            addr, port = addrport
+            self._sock = pyfantom.NXT(addr)
+        else:
+            if self.debug:
+                print "Using existing NXT object"
+        return Brick(self)
+    
+    def send(self, data):
+        return self._sock.write(data)
+
+    def recv(self, numbytes=USB_BUFSIZE):
+        return self._sock.read(numbytes)
+
+    def close(self):
+        if self._sock is not None:
+            self._sock.close()
+            self._sock = None
+
+
+def find_bricks(host=None, name=None, useBT=False):
+    for d in pyfantom.NXTIterator(useBT):
+        nxt = d.get_nxt()
+        if host or name:
+            info = nxt.get_device_info()
+        if ((host and not info.bluetooth_address == host) or
+            (name and not info.name == name)): #name or host doesn't match
+            continue
+        if useBT:
+            yield BluetoothSocket(nxt)
+        else:
+            yield USBSocket(nxt)