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Diffstat (limited to 'pybot/baseboard.py')
| -rwxr-xr-x | pybot/baseboard.py | 275 |
1 files changed, 275 insertions, 0 deletions
diff --git a/pybot/baseboard.py b/pybot/baseboard.py new file mode 100755 index 0000000..fe5bba5 --- /dev/null +++ b/pybot/baseboard.py @@ -0,0 +1,275 @@ +#! /usr/bin/env python +# -*- coding: utf-8 -*- +# +# Baseboard abstraction for USB4butia +# +# 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 +# Facultad de Ingeniería - Universidad de la República - Uruguay +# +# 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 + + +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 + +ERROR = -1 + +class Baseboard(): + + def __init__(self, dev, debug=False): + self.dev = dev + self.debug = debug + self.listi = {} + self.devices = {} + self.openables_loaded = [] + + def open_baseboard(self): + """ + Open the baseboard + """ + self.dev.open_device() + + def close_baseboard(self): + """ + Close the baseboard + """ + self.dev.close_device() + + def get_info(self): + """ + Get baseboard info: manufacture.. + """ + return self.dev.get_info() + + def add_device(self, handler, device): + """ + Add a device with handler: handler to the dictionary + """ + self.devices[handler] = device + + def reset_device_list(self): + """ + Cleans the device dictionary + """ + self.devices = {} + + def add_openable_loaded(self, name): + """ + Add the name of device that was opened to prevent open twice + """ + if not(name in self.openables_loaded): + self.openables_loaded.append(name) + + def get_openables_loaded(self): + """ + Get the list of modules that was openened (no pnp) + """ + return self.openables_loaded + + def reset_openables_loaded(self): + """ + Reset the list of openables modules + """ + self.openables_loaded = [] + + def add_to_listi(self, number, name): + """ + Add a device to listi + """ + self.listi[number] = name + + def get_listi(self): + """ + Get the listi: the list of modules present in the board that can be + opened (or pnp module opens) + """ + if (self.listi == {}): + self.generate_listi() + return self.listi + + def generate_listi(self): + """ + Generate the listi: the list of modules present in the board that can be + opened (or pnp module opens) + """ + self.listi = {} + try: + s = self.get_user_modules_size() + for m in range(s): + name = self.get_user_module_line(m) + self.listi[m] = name + except: + self.listi = {} + if self.debug: + print 'error listi' + + def get_device_handler(self, name): + """ + Get the handler of device with name: name + """ + for e in self.devices: + if self.devices[e].name == name: + return e + return ERROR + + def get_device_name(self, handler): + """ + Get the name of device with handler: handler + """ + if self.devices.has_key(handler): + return self.devices[handler].name + else: + return '' + + def get_user_modules_size(self): + """ + 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.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 + + 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.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 + + 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.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 + + 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.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 + + 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.append(SWITCH_TO_BOOT_BASE_BOARD_COMMAND) + self.dev.write(w) + + def reset(self): + """ + Admin module command to reset the board + """ + w = [] + w.append(ADMIN_HANDLER_SEND_COMMAND) + w.append(DEFAULT_PACKET_SIZE) + w.append(NULL_BYTE) + w.append(RESET_BASE_BOARD_COMMAND) + self.dev.write(w) + + def force_close_all(self): + """ + 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) + self.dev.write(w) + + raw = self.dev.read(CLOSEALL_BASE_BOARD_RESPONSE_PACKET_SIZE) + + if self.debug: + print 'baseboard:force_close_all return', raw + + return raw[4] + + |