diff options
Diffstat (limited to 'pybot/baseboard.py')
| -rw-r--r--[-rwxr-xr-x] | pybot/baseboard.py | 129 |
1 files changed, 48 insertions, 81 deletions
diff --git a/pybot/baseboard.py b/pybot/baseboard.py index fe5bba5..7ae28f6 100755..100644 --- a/pybot/baseboard.py +++ b/pybot/baseboard.py @@ -3,6 +3,7 @@ # # Baseboard abstraction for USB4butia # +# Copyright (c) 2012-2013 Alan Aguiar alanjas@hotmail.com # Copyright (c) 2012-2013 Butiá Team butia@fing.edu.uy # Butia is a free and open robotic platform # www.fing.edu.uy/inco/proyectos/butia @@ -23,25 +24,25 @@ NULL_BYTE = 0x00 -DEFAULT_PACKET_SIZE = 0x04 -GET_USER_MODULES_SIZE_COMMAND = 0x05 -GET_USER_MODULE_LINE_COMMAND = 0x06 -GET_HANDLER_SIZE_COMMAND = 0x0A -GET_HANDLER_TYPE_COMMAND = 0x0B -ADMIN_HANDLER_SEND_COMMAND = 0x00 -CLOSEALL_BASE_BOARD_COMMAND = 0x07 -SWITCH_TO_BOOT_BASE_BOARD_COMMAND = 0x09 -RESET_BASE_BOARD_COMMAND = 0xFF - -ADMIN_MODULE_IN_ENDPOINT = 0x01 -ADMIN_MODULE_OUT_ENDPOINT = 0x81 -GET_USER_MODULE_LINE_PACKET_SIZE = 0x05 -GET_LINES_RESPONSE_PACKET_SIZE = 5 -GET_LINE_RESPONSE_PACKET_SIZE = 12 -GET_HANDLER_TYPE_PACKET_SIZE = 5 -GET_HANDLER_RESPONSE_PACKET_SIZE = 5 -CLOSEALL_BASE_BOARD_RESPONSE_PACKET_SIZE = 5 +ADMIN_MODULE_IN_ENDPOINT = 0x01 +ADMIN_MODULE_OUT_ENDPOINT = 0x81 + +DEFAULT_PACKET_SIZE = 0x04 +GET_USER_MODULES_SIZE_COMMAND = 0x05 +GET_USER_MODULE_LINE_COMMAND = 0x06 +GET_HANDLER_SIZE_COMMAND = 0x0A +GET_HANDLER_TYPE_COMMAND = 0x0B +ADMIN_HANDLER_SEND_COMMAND = 0x00 +CLOSEALL_COMMAND = 0x07 +CLOSEALL_RESPONSE_PACKET_SIZE = 0x05 +SWITCH_TO_BOOT_BASE_BOARD_COMMAND = 0x09 +RESET_BASE_BOARD_COMMAND = 0xFF +GET_USER_MODULE_LINE_PACKET_SIZE = 0x05 +GET_LINES_RESPONSE_PACKET_SIZE = 0x05 +GET_LINE_RESPONSE_PACKET_SIZE = 0x0C +GET_HANDLER_TYPE_PACKET_SIZE = 0x05 +GET_HANDLER_RESPONSE_PACKET_SIZE = 0x05 ERROR = -1 @@ -54,6 +55,10 @@ class Baseboard(): self.devices = {} self.openables_loaded = [] + def _debug(self, message, err=''): + if self.debug: + print message, err + def open_baseboard(self): """ Open the baseboard @@ -91,6 +96,13 @@ class Baseboard(): if not(name in self.openables_loaded): self.openables_loaded.append(name) + def remove_openable_loaded(self, name): + """ + Remove the name of device that was opened + """ + if name in self.openables_loaded: + self.openables_loaded.remove(name) + def get_openables_loaded(self): """ Get the list of modules that was openened (no pnp) @@ -109,12 +121,12 @@ class Baseboard(): """ self.listi[number] = name - def get_listi(self): + def get_listi(self, force=False): """ Get the listi: the list of modules present in the board that can be opened (or pnp module opens) """ - if (self.listi == {}): + if (self.listi == {}) or force: self.generate_listi() return self.listi @@ -127,12 +139,10 @@ class Baseboard(): try: s = self.get_user_modules_size() for m in range(s): - name = self.get_user_module_line(m) - self.listi[m] = name + self.listi[m] = self.get_user_module_line(m) except: self.listi = {} - if self.debug: - print 'error listi' + self._debug('ERROR:baseboard listi') def get_device_handler(self, name): """ @@ -156,90 +166,58 @@ class Baseboard(): """ Get the size of the list of user modules (listi) """ - w = [] - w.append(ADMIN_HANDLER_SEND_COMMAND) - w.append(DEFAULT_PACKET_SIZE) - w.append(NULL_BYTE) + w = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, NULL_BYTE] w.append(GET_USER_MODULES_SIZE_COMMAND) self.dev.write(w) - raw = self.dev.read(GET_USER_MODULE_LINE_PACKET_SIZE) - - if self.debug: - print 'baseboard:get_user_modules_size return', raw - + self._debug('baseboard:get_user_modules_size', raw) return raw[4] def get_user_module_line(self, index): """ Get the name of device with index: index (listi) """ - w = [] - w.append(ADMIN_HANDLER_SEND_COMMAND) - w.append(GET_USER_MODULE_LINE_PACKET_SIZE) - w.append(NULL_BYTE) + w = [ADMIN_HANDLER_SEND_COMMAND, GET_USER_MODULE_LINE_PACKET_SIZE, NULL_BYTE] w.append(GET_USER_MODULE_LINE_COMMAND) w.append(index) self.dev.write(w) - raw = self.dev.read(GET_LINE_RESPONSE_PACKET_SIZE) - - if self.debug: - print 'baseboard:get_user_module_line return', raw - + self._debug('baseboard:get_user_module_line', raw) c = raw[4:len(raw)] t = '' for e in c: if not(e == NULL_BYTE): t = t + chr(e) - return t def get_handler_size(self): """ Get the number of handlers opened """ - w = [] - w.append(ADMIN_HANDLER_SEND_COMMAND) - w.append(DEFAULT_PACKET_SIZE) - w.append(NULL_BYTE) + w = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, NULL_BYTE] w.append(GET_HANDLER_SIZE_COMMAND) self.dev.write(w) - raw = self.dev.read(GET_HANDLER_RESPONSE_PACKET_SIZE) - - if self.debug: - print 'baseboard:get_handler_size return', raw - + self._debug('baseboard:get_handler_size', raw) return raw[4] def get_handler_type(self, index): """ Get the type of the handler: index (return listi index) """ - w = [] - w.append(ADMIN_HANDLER_SEND_COMMAND) - w.append(GET_HANDLER_TYPE_PACKET_SIZE) - w.append(NULL_BYTE) + w = [ADMIN_HANDLER_SEND_COMMAND, GET_HANDLER_TYPE_PACKET_SIZE, NULL_BYTE] w.append(GET_HANDLER_TYPE_COMMAND) w.append(index) self.dev.write(w) - raw = self.dev.read(GET_HANDLER_RESPONSE_PACKET_SIZE) - - if self.debug: - print 'baseboard:get_handler_type return', raw - + self._debug('baseboard:get_handler_type', raw) return raw[4] def switch_to_bootloader(self): """ Admin module command to switch to bootloader """ - w = [] - w.append(ADMIN_HANDLER_SEND_COMMAND) - w.append(DEFAULT_PACKET_SIZE) - w.append(NULL_BYTE) + w = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, NULL_BYTE] w.append(SWITCH_TO_BOOT_BASE_BOARD_COMMAND) self.dev.write(w) @@ -247,10 +225,7 @@ class Baseboard(): """ Admin module command to reset the board """ - w = [] - w.append(ADMIN_HANDLER_SEND_COMMAND) - w.append(DEFAULT_PACKET_SIZE) - w.append(NULL_BYTE) + w = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, NULL_BYTE] w.append(RESET_BASE_BOARD_COMMAND) self.dev.write(w) @@ -258,18 +233,10 @@ class Baseboard(): """ Admin module command to force close all opened modules """ - w = [] - w.append(ADMIN_HANDLER_SEND_COMMAND) - w.append(DEFAULT_PACKET_SIZE) - w.append(NULL_BYTE) - w.append(CLOSEALL_BASE_BOARD_COMMAND) + w = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, NULL_BYTE] + w.append(CLOSEALL_COMMAND) self.dev.write(w) - - raw = self.dev.read(CLOSEALL_BASE_BOARD_RESPONSE_PACKET_SIZE) - - if self.debug: - print 'baseboard:force_close_all return', raw - + raw = self.dev.read(CLOSEALL_RESPONSE_PACKET_SIZE) + self._debug('baseboard:force_close_all', raw) return raw[4] - |