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#Copyright (c) 2012, Tony Forster, Ian Daniher, Walter Bender
#
# 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
from gettext import gettext as _
from plugins.plugin import Plugin
from WeDoMore import WeDo, scan_for_devices, UNAVAILABLE
from TurtleArt.tapalette import make_palette
from TurtleArt.taconstants import XO1, XO15
from TurtleArt.talogo import primitive_dictionary
import logging
_logger = logging.getLogger('turtleart-activity WeDo plugin')
class Wedo_plugin(Plugin):
def __init__(self, parent):
''' Scan for WeDo devices '''
self.WeDos = []
device_list = scan_for_devices()
for i, dev in enumerate(device_list):
self.WeDos.append(WeDo(device=dev))
self.WeDos[-1].number = i
self._parent = parent
if len(self.WeDos) == 0:
self._status = False # no WeDo devices found
self.active_wedo = None
else:
self._status = True
self.active_wedo = 0
def setup(self):
''' Setup palettes '''
palette = make_palette('WeDo', colors=["#FF6060", "#A06060"],
help_string=_('Palette of WeDo blocks'))
primitive_dictionary['wedoselect'] = self.wedo_select
palette.add_block('wedoselect',
style='basic-style-1arg',
default = 1,
label=_('WeDo'),
help_string=_('set current WeDo device'),
prim_name = 'wedoselect')
self._parent.lc.def_prim(
'wedoselect', 1,
lambda self, n: primitive_dictionary['wedoselect'](n))
primitive_dictionary['wedocount'] = self.wedo_count
palette.add_block('wedogetcount',
style='box-style',
label=_('number of WeDos'),
help_string=_('number of WeDo devices'),
prim_name = 'wedocount')
self._parent.lc.def_prim(
'wedocount', 0, lambda self: primitive_dictionary['wedocount']())
primitive_dictionary['wedotilt'] = self.wedo_gettilt
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._parent.lc.def_prim(
'wedotilt', 0, lambda self: primitive_dictionary['wedotilt']())
primitive_dictionary['wedodistance'] = self.wedo_getdistance
palette.add_block('wedodistance',
style='box-style',
label=_('distance'),
help_string=_('distance sensor output'),
value_block=True,
prim_name = 'wedodistance')
self._parent.lc.def_prim(
'wedodistance', 0,
lambda self: primitive_dictionary['wedodistance']())
primitive_dictionary['wedogetMotorA'] = self.wedo_getmotora
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._parent.lc.def_prim(
'wedogetMotorA', 0,
lambda self: primitive_dictionary['wedogetMotorA']())
primitive_dictionary['wedogetMotorB'] = self.wedo_getmotorb
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._parent.lc.def_prim(
'wedogetMotorB', 0,
lambda self: primitive_dictionary['wedogetMotorB']())
primitive_dictionary['wedosetMotorA'] = self.wedo_setmotora
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._parent.lc.def_prim(
'wedosetMotorA', 1,
lambda self, a: primitive_dictionary['wedosetMotorA'](a))
primitive_dictionary['wedosetMotorB'] = self.wedo_setmotorb
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._parent.lc.def_prim(
'wedosetMotorB', 1,
lambda self, b: primitive_dictionary['wedosetMotorB'](b))
def wedo_select(self, i):
''' Select current device '''
if self.wedo_count() == 0:
self.active_wedo = None
self._parent.showlabel(
'status', _('WeDo is unavailable'))
return
if type(i) == unicode:
i = str(i.encode('ascii', 'replace'))
if type(i) == float or type(i) == str:
i = int(i)
if type(i) != int:
i = 1
if i < 0:
i = -i
if i < 0 or i > self.wedo_count() - 1:
self._parent.showlabel(
'status', _('WeDo %d is unavailable; defaulting to 1') % (i))
i -= 1 # Userspace counts from 1; internally, we count from 0
if i > self.wedo_count() - 1:
i = 0
self.active_wedo = i
def wedo_count(self):
''' How many devices are available? '''
n = len(self.WeDos)
for wedo in self.WeDos:
if wedo.dev is None:
n -= 1
return n
def wedo_find(self):
''' Find an available device '''
for wedo in self.WeDos:
if wedo.dev is not None:
return self.WeDos.index(wedo)
return None
def wedo_gettilt(self):
if self.active_wedo is None:
self.active_wedo = self.wedo_find()
if self.active_wedo is None:
self._parent.showlabel('status', _('WeDo is unavailable'))
return -1
tilt = self.WeDos[self.active_wedo].getTilt()
if tilt == UNAVAILABLE:
# Should we look for tilt on another WeDo?
self._parent.showlabel(
'status', _('%s is unavailable on WeDo %d') % (
_('tilt'), self.active_wedo + 1))
return -1
else:
return tilt
def wedo_getdistance(self):
if self.active_wedo is None:
self.active_wedo = self.wedo_find()
if self.active_wedo is None:
self._parent.showlabel('status', _('WeDo is unavailable'))
return 0
distance = self.WeDos[self.active_wedo].getDistance()
if distance == UNAVAILABLE:
# Should we look for distance on another WeDo?
self._parent.showlabel(
'status', _('%s is unavailable on WeDo %d') % (
_('distance'), self.active_wedo + 1))
return 0
else:
return distance
def wedo_getmotora(self):
if self.active_wedo is None:
self.active_wedo = self.wedo_find()
if self.active_wedo is None:
self._parent.showlabel('status', _('WeDo is unavailable'))
return 0
speed = self.WeDos[self.active_wedo].getMotorA()
if speed == UNAVAILABLE:
self._parent.showlabel(
'status', _('%s is unavailable on WeDo %d') % (
_('Motor A'), self.active_wedo + 1))
return 0
else:
return speed
def wedo_getmotorb(self):
if self.active_wedo is None:
self.active_wedo = self.wedo_find()
if self.active_wedo is None:
self._parent.showlabel('status', _('WeDo is unavailable'))
return 0
speed = self.WeDos[self.active_wedo].getMotorB()
if speed == UNAVAILABLE:
self._parent.showlabel(
'status', _('%s is unavailable on WeDo %d') % (
_('Motor B'), self.active_wedo + 1))
return 0
else:
return speed
def wedo_setmotora(self, speed):
if self.active_wedo is None:
self.active_wedo = self.wedo_find()
if self.active_wedo is None:
self._parent.showlabel('status', _('WeDo is unavailable'))
return
status = self.WeDos[self.active_wedo].setMotorA(speed)
if status == UNAVAILABLE:
self._parent.showlabel(
'status', _('%s is unavailable on WeDo %d') % (
_('Motor A'), self.active_wedo + 1))
def wedo_setmotorb(self, speed):
if self.active_wedo is None:
self.active_wedo = self.wedo_find()
if self.active_wedo is None:
self._parent.showlabel('status', _('WeDo is unavailable'))
return
status = self.WeDos[self.active_wedo].setMotorB(speed)
if status == UNAVAILABLE:
self._parent.showlabel(
'status', _('%s is unavailable on WeDo %d') % (
_('Motor B'), self.active_wedo + 1))
def start(self):
''' Each time program starts, scan for devices and reset status '''
for wedo in self.WeDos:
wedo.dev = None
self.active_wedo = None
device_list = scan_for_devices()
if len(device_list) > 0:
self.status = True
if self.active_wedo is None:
self.active_wedo = 0
else:
self.status = False
for i, dev in enumerate(device_list):
if i < len(self.WeDos):
self.WeDos[i].dev = dev
self.WeDos[i].number = i
status = self.WeDos[i].init_device() # Reinitial device
if status == UNAVAILABLE:
self._parent.showlabel('status', _('WeDo is unavailable'))
else:
self.WeDos.append(WeDo(device=dev))
self.WeDos[i].number = i
def stop(self):
if self._status:
for wedo in self.WeDos:
if wedo.dev is not None:
wedo.setMotors(0, 0)
def goto_background(self):
pass
def return_to_foreground(self):
pass
def quit(self):
if self._status:
for wedo in self.WeDos:
if wedo.dev is not None:
wedo.setMotors(0, 0)
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