update notice - update robot.py

5 files changed, 8 insertions, 345 deletions

diff --git a/activity.py b/activity.py
index 5c8d17d..852283a 100755
--- a/activity.py
+++ b/activity.py
@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # FollowMe Butia
-# Copyright (C) 2010, 2011, 2012
+# Copyright (C) 2010-2013
 # This program was created to use with the robot Butia.
 # Butia is a project from Facultad de Ingenieria - Uruguay
 # Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
diff --git a/butiaAPI.py b/butiaAPI.py
deleted file mode 100755
index 94332c8..0000000
--- a/butiaAPI.py
+++ /dev/null
@@ -1,326 +0,0 @@
-#! /usr/bin/env python
-# -*- coding: utf-8 -*-
-# 
-# ButiaAPI
-# Copyright (c) 2009, 2010, 2011, 2012 Butiá Team butia@fing.edu.uy 
-# Butia is a free open plataform for robotics projects
-# www.fing.edu.uy/inco/proyectos/butia
-# Facultad de Ingenieria - Universidad de la República - Uruguay
-#
-# Implements abstractions for the comunications with the bobot-server
-#
-# 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
-# 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 socket
-import string
-import math
-import threading
-
-ERROR_SENSOR_READ = -1
-
-BUTIA_1 = 20
-
-BOBOT_HOST = 'localhost'
-BOBOT_PORT = 2009
-
-class robot:
-    
-
-    def __init__(self, host = BOBOT_HOST, port = BOBOT_PORT):
-        """
-        init the robot class
-        """
-        self.lock = threading.Lock()
-        self.host = host
-        self.port = port
-        self.client = None
-        self.fclient = None
-        self.ver = BUTIA_1
-        self.reconnect()
-        self.getVersion()
-
-       
-    def doCommand(self, msg):
-        """
-        Executes a command in butia.
-        @param msg message to be executed
-        """
-        msg = msg +'\n'
-        ret = ERROR_SENSOR_READ
-        self.lock.acquire()
-        try:     
-            self.client.send(msg) 
-            ret = self.fclient.readline()
-            ret = ret[:-1]
-        except:
-            ret = ERROR_SENSOR_READ # Doesn't return here to release the lock
-        self.lock.release()
-        
-        if ((ret == 'nil value') or (ret == None) or (ret == 'fail') or (ret == 'missing driver')):
-            ret = ERROR_SENSOR_READ
-        return ret
-          
-    # connect o reconnect the bobot
-    def reconnect(self):
-        self.close()
-        try:
-            self.client = socket.socket()
-            self.client.connect((self.host, self.port))  
-            self.fclient = self.client.makefile()
-            msg = 'INIT'
-            #bobot server instance is running, but we have to check for new or remove hardware
-            self.doCommand(msg)
-        except:
-            return ERROR_SENSOR_READ
-        return 0
-
-    # ask bobot for refresh is state of devices connected
-    def refresh(self):
-        if (self.ver == BUTIA_1) or (self.ver == ERROR_SENSOR_READ):
-            msg = 'INIT'
-        else:
-            msg = 'REFRESH'
-        return self.doCommand(msg)
-
-    # close the comunication with the bobot
-    def close(self):
-        try:
-            if self.fclient != None:
-                self.fclient.close()
-                self.fclient = None
-            if self.client != None:
-                self.client.close()
-                self.client = None
-        except:
-            return ERROR_SENSOR_READ
-        return 0
-
-    #######################################################################
-    ### Operations to the principal module
-    #######################################################################
-
-
-    # call the module 'modulename'
-    def callModule(self, modulename, function , params = ''):
-        msg = 'CALL ' + modulename + ' ' + function
-        if params != '' :
-            msg += ' ' + params
-        ret = self.doCommand(msg)
-        try:
-            ret = int(ret)
-        except:
-            ret = ERROR_SENSOR_READ
-        return ret
-
-    # Close bobot service
-    def closeService(self):
-        msg = 'QUIT'
-        return self.doCommand(msg)
-
-    #######################################################################
-    ### Useful functions 
-    #######################################################################
-
-    # returns if the module_name is present
-    def isPresent(self, module_name):
-        module_list = self.get_modules_list()
-        return (module_name in module_list)
-
-    # returns a list of modules
-    def get_modules_list(self):
-        msg = 'LIST'
-        l = []
-        ret = self.doCommand(msg)
-        if not (ret == '' or ret == ERROR_SENSOR_READ):
-            l = ret.split(',')
-        return l
-
-    # loopBack: send a message to butia and wait to recibe the same
-    def loopBack(self, data):
-        msg = 'lback send ' + data
-        ret = self.doCommand(msg)
-        if ret != -1 :
-            msg = 'CALL lback read'
-            return self.doCommand(msg)
-        else:
-            return ERROR_SENSOR_READ
-            
-
-    #######################################################################
-    ### Operations for motores.lua driver
-    #######################################################################
-
-    def set2MotorSpeed(self, leftSense = '0', leftSpeed = '0', rightSense = '0', rightSpeed = '0'):
-        msg = leftSense + ' ' + leftSpeed + ' ' + rightSense + ' ' + rightSpeed
-        if self.ver == BUTIA_1:
-            return self.callModule('motores', 'setvel2mtr', msg)
-        else:
-            return self.callModule('motors', 'setvel2mtr', msg)
-     
-    def setMotorSpeed(self, idMotor = '0', sense = '0', speed = '0'):
-        msg = idMotor + ' ' + sense + ' ' + speed
-        if self.ver == BUTIA_1:
-            return self.callModule('motores', 'setvelmtr', msg)
-        else:
-            return self.callModule('motors', 'setvelmtr', msg)
-
-    #######################################################################
-    ### Operations for ax.lua driver
-    #######################################################################
-
-    def wheel_mode(self, idMotor = '0'):
-        msg = idMotor
-        if self.ver == BUTIA_1:
-            return self.callModule('ax', 'wheel_mode', msg) ##TODO implement
-        else:
-            return self.callModule('ax', 'wheel_mode', msg)
-     
-    def joint_mode(self, idMotor = '0', min = '0', max = '1023'):
-        msg = idMotor + ' ' + min + ' ' + max
-        if self.ver == BUTIA_1:
-            return self.callModule('ax', 'joint_mode', msg) ##TODO implement
-        else:
-            return self.callModule('ax', 'joint_mode', msg)
-
-	def set_speed(self, idMotor = '0', speed = '0'):
-		msg = idMotor + ' ' + speed 
-        if self.ver == BUTIA_1:
-            return self.callModule('ax', 'set_speed', msg) ##TODO implement
-        else:
-            return self.callModule('ax', 'set_speed', msg)
-
-    def set_position(self, idMotor = '0', pos = '0'):
-        msg = idMotor + ' ' + pos
-        if self.ver == BUTIA_1:
-            return self.callModule('ax', 'set_position', msg) ##TODO implement
-        else:
-            return self.callModule('ax', 'set_position', msg)
-
-    def get_position(self, idMotor = '0'):
-        msg = idMotor
-        if self.ver == BUTIA_1:
-            return self.callModule('ax', 'get_position', msg) ##TODO implement
-        else:
-            return self.callModule('ax', 'get_position', msg)
-
-
-
-    #######################################################################
-    ### Operations for butia.lua driver
-    #######################################################################
-
-    def ping(self):
-        return self.callModule('placa', 'ping')
-
-    # returns the approximate charge of the battery        
-    def getBatteryCharge(self):
-        return self.callModule('butia', 'get_volt')
-
-    # returns the firmware version 
-    def getVersion(self):
-        ver = self.callModule('butia', 'read_ver')
-        if not(ver == ERROR_SENSOR_READ):
-            self.ver = ver
-        return ver
-    
-    # set de motor idMotor on determinate angle
-    def setPosition(self, idMotor = 0, angle = 0):
-        msg = str(idMotor) + ' ' + str(angle)
-        return self.callModule('placa', 'setPosicion' , msg )
-    
-    # return the value of button: 1 if pressed, 0 otherwise
-    def getButton(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('boton' + str(number), 'getValue')
-        else:
-            return self.callModule('button:' + str(number), 'getValue')
-
-    # return the value en ambient light sensor
-    def getAmbientLight(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('luz' + str(number), 'getValue')
-        else:
-            return self.callModule('light:' + str(number), 'getValue')
-
-    # return the value of the distance sensor
-    def getDistance(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('dist' + str(number), 'getValue')
-        else:
-            return self.callModule('distanc:' + str(number), 'getValue')
-    
-    # return the value of the grayscale sensor
-    def getGrayScale(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('grises' + str(number), 'getValue')
-        else:
-            return self.callModule('grey:' + str(number), 'getValue')
-
-    # return the value of the temperature sensor
-    def getTemperature(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('temp' + str(number), 'getValue')
-        else:
-            return self.callModule('temp:' + str(number), 'getValue')
-
-    # return the value of the vibration sensor
-    def getVibration(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('vibra' + str(number), 'getValue')
-        else:
-            return self.callModule('vibra:' + str(number), 'getValue')
-
-    # return the value of the resistance sensor
-    def getResistance(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('resist' + str(number), 'getValue') #TODO implement
-        else:
-            return self.callModule('resist:' + str(number), 'getValue')
-
-    # return the value of the tilt sensor
-    def getTilt(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('tilt' + str(number), 'getValue')
-        else:
-            return self.callModule('tilt:' + str(number), 'getValue')
-
-    # FIXME: the name of the module and the function...
-    # return the value of the capacitive touch sensor
-    def getCapacitive(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('capacitive' + str(number), 'getValue')
-        else:
-            return self.callModule('capacitive:' + str(number), 'getValue')
-
-    # return the value of the magnetic induction sensor
-    def getMagneticInduction(self, number=''):
-        if self.ver == BUTIA_1:
-            return self.callModule('magnet' + self.aux + str(number), 'getValue')
-        else:
-            return self.callModule('magnet:' + self.aux + str(number), 'getValue')
-
-    # set the led intensity
-    def setLed(self, nivel = 255, number= ''):
-        if self.ver == BUTIA_1:
-            return self.callModule('led' + self.aux + str(number), 'setLight', str(math.trunc(nivel)))
-        else:
-            return self.callModule('led:' + self.aux + str(number), 'setLight', str(math.trunc(nivel)))
-
-    # FIXME: check the lenght of text?
-    # write a text in LCD display
-    def writeLCD(self, text):
-        text = str(text)
-        text = text.replace(' ', '_')
-        self.callModule('display', 'escribir' , text)
-
diff --git a/followme.py b/followme.py
index f791412..9399431 100755
--- a/followme.py
+++ b/followme.py
@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # FollowMe Butia - FollowMe
-# Copyright (C) 2010, 2011, 2012
+# Copyright (C) 2010-2013
 # This program was created to use with the robot Butia.
 # Butia is a project from Facultad de Ingenieria - Uruguay
 # Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
diff --git a/main.py b/main.py
index c260a54..45547d7 100755
--- a/main.py
+++ b/main.py
@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # FollowMe Butia - Main
-# Copyright (C) 2010, 2011, 2012
+# Copyright (C) 2010-2013
 # This program was created to use with the robot Butia.
 # Butia is a project from Facultad de Ingenieria - Uruguay
 # Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
diff --git a/robot.py b/robot.py
index ab76693..deb52cd 100755
--- a/robot.py
+++ b/robot.py
@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # FollowMe Butia - Robot
-# Copyright (C) 2010, 2011, 2012
+# Copyright (C) 2010-2013
 # This program was created to use with the robot Butia.
 # Butia is a project from Facultad de Ingenieria - Uruguay
 # Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
@@ -28,7 +28,7 @@
 
 import time
 import commands
-import butiaAPI
+from pybot import usb4butia
 import subprocess
 from gettext import gettext as _
 
@@ -45,19 +45,8 @@ class Robot(object):
     def bobot_launch(self):
 
         print 'Initialising butia...'
-        output = commands.getoutput('ps -ax | grep lua')
-        if 'bobot-server' in output:
-            print 'bobot is alive!'
-        else:
-            try:
-                print 'creating bobot'
-                self.bobot = subprocess.Popen(['./lua', 'bobot-server.lua'], cwd='./lib/support')
-            except:
-                print 'ERROR creating bobot'
-
-        time.sleep(1)
 
-        self.butia = butiaAPI.robot()
+        self.butia = usb4butia.USB4Butia()
 
         self.modules = self.butia.get_modules_list()
 
@@ -131,8 +120,8 @@ class Robot(object):
                 vel_actual = (0, 600, 0, 900)
 
 
-        self.butia.set2MotorSpeed(str(vel_actual[0]), str(vel_actual[1]), str(vel_actual[2]), str(vel_actual[3]))
+        self.butia.set2MotorSpeed(vel_actual[0], vel_actual[1], vel_actual[2], vel_actual[3])
 
     def stop_robot(self):
-        self.butia.set2MotorSpeed('0', '0', '0', '0')
+        self.butia.set2MotorSpeed(0, 0, 0, 0)