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
|
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# Copyright (c) 2011, 2012 Ian Daniher
# Copyright (c) 2012 Tony Forster, Walter Bender, Alan Aguiar
# Copyright (c) 2013 Alan Aguiar
#
# 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 2 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.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
import os
import sys
sys.path.insert(0, os.path.abspath('./plugins/wedo_plugin'))
from TurtleArt.tapalette import make_palette
from TurtleArt.tapalette import palette_name_to_index
from TurtleArt.tapalette import special_block_colors
from TurtleArt.tapalette import palette_blocks
from TurtleArt.talogo import logoerror
from TurtleArt.taprimitive import Primitive, ArgSlot
from TurtleArt.tatype import TYPE_INT, TYPE_NUMBER
from plugins.plugin import Plugin
from wedo import WeDo, scan_for_devices, UNAVAILABLE
from gettext import gettext as _
COLOR_NOTPRESENT = ["#A0A0A0","#808080"]
COLOR_PRESENT = ["#FF6060", "#A06060"]
ERROR_NO_NUMBER = _("The parameter must be a integer, not '%s'")
ERROR_SPEED = _('Motor speed must be an integer between -100 and 100')
WEDO_FOUND = _('WeDo found %s bricks')
WEDO_NOT_FOUND = _('WeDo not found')
INDEX_NOT_FOUND = _('WeDo number %s was not found')
ERROR = -1
class Wedo_plugin(Plugin):
def __init__(self, parent):
Plugin.__init__(self)
self.tw = parent
self.WeDos = []
self.active_wedo = 0
def setup(self):
palette = make_palette('wedo', COLOR_NOTPRESENT, _('Palette of WeDo blocks'),
translation=_('wedo'))
palette.add_block('wedorefresh',
style='basic-style',
label=_('refresh WeDo'),
prim_name='wedorefresh',
help_string=_('Search for a connected WeDo.'))
self.tw.lc.def_prim('wedorefresh', 0,
Primitive(self.refresh))
special_block_colors['wedorefresh'] = COLOR_PRESENT[:]
palette.add_block('wedoselect',
style='basic-style-1arg',
default = 1,
label=_('WeDo'),
help_string=_('set current WeDo device'),
prim_name = 'wedoselect')
self.tw.lc.def_prim('wedoselect', 1,
Primitive(self.select, arg_descs=[ArgSlot(TYPE_NUMBER)]))
palette.add_block('wedogetcount',
style='box-style',
label=_('number of WeDos'),
help_string=_('number of WeDo devices'),
prim_name = 'wedocount')
self.tw.lc.def_prim('wedocount', 0,
Primitive(self.count, TYPE_INT))
palette.add_block('tilt',
style='box-style',
label=_('tilt'),
help_string=_('tilt sensor output: (-1 == no tilt,\
0 == tilt forward, 3 == tilt back, 1 == tilt left, 2 == tilt right)'),
value_block=True,
prim_name = 'wedotilt')
self.tw.lc.def_prim('wedotilt', 0,
Primitive(self.getTilt, TYPE_INT))
palette.add_block('wedodistance',
style='box-style',
label=_('distance'),
help_string=_('distance sensor output'),
value_block=True,
prim_name = 'wedodistance')
self.tw.lc.def_prim('wedodistance', 0,
Primitive(self.getDistance, TYPE_INT))
palette.add_block('wedogetMotorA',
style='box-style',
label=_('Motor A'),
help_string=_('returns the current value of Motor A'),
value_block=True,
prim_name = 'wedogetMotorA')
self.tw.lc.def_prim('wedogetMotorA', 0,
Primitive(self.getMotorA, TYPE_INT))
palette.add_block('wedogetMotorB',
style='box-style',
label=_('Motor B'),
help_string=_('returns the current value of Motor B'),
value_block=True,
prim_name = 'wedogetMotorB')
self.tw.lc.def_prim('wedogetMotorB', 0,
Primitive(self.getMotorB, TYPE_INT))
palette.add_block('wedosetMotorA',
style = 'basic-style-1arg',
label = _('Motor A'),
default = 30,
prim_name = 'wedosetMotorA',
help_string = _('set the value for Motor A'))
self.tw.lc.def_prim('wedosetMotorA', 1,
Primitive(self.setMotorA, arg_descs=[ArgSlot(TYPE_NUMBER)]))
palette.add_block('wedosetMotorB',
style = 'basic-style-1arg',
label = _('Motor B'),
default = 30,
prim_name = 'wedosetMotorB',
help_string = _('set the value for Motor B'))
self.tw.lc.def_prim('wedosetMotorB', 1,
Primitive(self.setMotorB, arg_descs=[ArgSlot(TYPE_NUMBER)]))
############################### Turtle signals ############################
def stop(self):
self.stop_all()
def quit(self):
self.stop_all()
################################# Primitives ##############################
def refresh(self):
self.wedo_find()
self.change_color_blocks()
if self.WeDos:
n = self.count()
self.tw.showlabel('print', WEDO_FOUND % int(n))
else:
self.tw.showlabel('print', WEDO_NOT_FOUND)
def select(self, i):
''' Select current device '''
if self.count() == 0:
raise logoerror(WEDO_NOT_FOUND)
try:
t = int(i)
t = t - 1
except:
raise logoerror(ERROR_NO_NUMBER % i)
if (t < self.count()) and (t >= 0):
self.active_wedo = t
else:
raise logoerror(INDEX_NOT_FOUND % (t + 1))
def count(self):
''' How many devices are available? '''
return len(self.WeDos)
def getTilt(self):
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
if wedo.tilt == UNAVAILABLE:
return ERROR
return wedo.tilt
else:
return ERROR
def getDistance(self):
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
if wedo.distance == UNAVAILABLE:
return ERROR
return wedo.distance
else:
return ERROR
def getMotorA(self):
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
return wedo.motor_a
else:
return ERROR
def getMotorB(self):
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
return wedo.motor_b
else:
return ERROR
def setMotorA(self, speed):
try:
speed = int(speed)
except:
raise logoerror(ERROR_SPEED)
if speed > 100 or speed < -100:
raise logoerror(ERROR_SPEED)
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
wedo.motor_a = speed
def setMotorB(self, speed):
try:
speed = int(speed)
except:
raise logoerror(ERROR_SPEED)
if speed > 100 or speed < -100:
raise logoerror(ERROR_SPEED)
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
wedo.motor_b = speed
############################### Useful functions ##########################
def wedo_find(self):
for wedo in self.WeDos:
wedo.dev = None
self.active_wedo = 0
self.WeDos = []
for dev in scan_for_devices():
w = WeDo(dev)
self.WeDos.append(w)
def stop_all(self):
for wedo in self.WeDos:
wedo.motor_a = 0
wedo.motor_b = 0
def change_color_blocks(self):
index = palette_name_to_index('wedo')
if (index is not None):
wedo_blocks = palette_blocks[index]
for block in self.tw.block_list.list:
if block.type in ['proto', 'block']:
if block.name in wedo_blocks:
if (self.WeDos) or (block.name == 'wedorefresh'):
special_block_colors[block.name] = COLOR_PRESENT[:]
else:
special_block_colors[block.name] = COLOR_NOTPRESENT[:]
block.refresh()
self.tw.regenerate_palette(index)
|
