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# nxt.ipsock module -- Server socket communication with LEGO Minstorms NXT
# Copyright (C) 2011 zonedaobne, 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 socket
from nxt.brick import Brick
class IpSock(object):
def __init__(self, host, port):
self.host = host
self.port = port
self.sock = None
self.debug = False
def __str__(self):
return 'Server (%s)' % self.host
def connect(self):
if self.debug:
print 'Connecting via Server...'
sock = socket.socket (socket.AF_INET, socket.SOCK_STREAM)
sock.connect((self.host, self.port))
#TODO: sasl authentication here?
self.sock = sock
if self.debug:
print 'Connected.'
self.send('\x98')
self.type = 'ip'+self.recv()
return Brick(self)
def close(self):
if self.debug:
print 'Closing Server connection...'
self.sock.send('\x99')
self.sock.close()
if self.debug:
print 'Server connection closed.'
def send(self, data):
if self.debug:
print 'Send:',
print ':'.join('%02x' % ord(c) for c in data)
self.sock.send(data)
def recv(self):
data = self.sock.recv(1024)
if self.debug:
print 'Recv:',
print ':'.join('%02x' % ord(c) for c in data)
return data
#TODO: add a find_bricks method and a corresponding broadcast system to nxt_server?
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