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# 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)
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