Web   ·   Wiki   ·   Activities   ·   Blog   ·   Lists   ·   Chat   ·   Meeting   ·   Bugs   ·   Git   ·   Translate   ·   Archive   ·   People   ·   Donate
summaryrefslogtreecommitdiffstats
path: root/butiaAPI.py
diff options
context:
space:
mode:
Diffstat (limited to 'butiaAPI.py')
-rwxr-xr-xbutiaAPI.py326
1 files changed, 0 insertions, 326 deletions
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)
-
generated by cgit v0.9.1 at 2024-05-06 17:05:38 (GMT)