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Diffstat (limited to 'pybot/com_chotox.py')
| -rw-r--r-- | pybot/com_chotox.py | 273 |
1 files changed, 273 insertions, 0 deletions
diff --git a/pybot/com_chotox.py b/pybot/com_chotox.py new file mode 100644 index 0000000..92a34bf --- /dev/null +++ b/pybot/com_chotox.py @@ -0,0 +1,273 @@ +#! /usr/bin/env python +# -*- coding: utf-8 -*- +# +# Chotox utility for debug +# +# 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 +# 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 + + +import os +import imp +import inspect +from functions import ButiaFunctions +import random + +ERROR = -1 + +class Chotox(ButiaFunctions): + + def __init__(self, debug=False, get_modules=True, chotox=False): + self._debug_flag = debug + self._hotplug = [] + self._openables = [] + self._drivers_loaded = {} + self._get_all_drivers() + self.devices = {0:'admin', 2:'button', 4:'grey', 5:'distanc', 7:'pnp'} + self._openables_loaded = ['admin', 'pnp'] + if get_modules: + self.getModulesList(refresh=False) + + def _debug(self, message, err=''): + if self._debug_flag: + print message, err + + def getButiaCount(self): + """ + Gets the number of boards detected + """ + return 1 + + def getModulesList(self, normal=True, refresh=True): + """ + Get the list of modules loaded in the board + """ + self._debug('=Listing Devices') + modules = [] + self._debug('===board', 0) + for i in range(12): + if self.devices.has_key(i): + module_name = self.devices[i] + elif i < 7: + module_name = 'port' + if self.devices.has_key(i) or (i < 7): + complete_name = module_name + ':' + str(i) + modules.append(complete_name) + self._debug('=====module ' + module_name + (9 - len(module_name)) * ' ' + complete_name) + + return modules + + def _get_all_drivers(self): + """ + Load the drivers for the differents devices + """ + # current folder + path_drivers = os.path.join(os.path.dirname(__file__), 'drivers') + self._debug('Searching drivers in: ', str(path_drivers)) + # normal drivers + tmp = os.listdir(path_drivers) + tmp.sort() + for d in tmp: + if d.endswith('.py'): + name = d.replace('.py', '') + self._openables.append(name) + self._get_driver(path_drivers, name) + # hotplug drivers + path = os.path.join(path_drivers, 'hotplug') + tmp = os.listdir(path) + tmp.sort() + for d in tmp: + if d.endswith('.py'): + name = d.replace('.py', '') + self._hotplug.append(name) + self._get_driver(path, name) + + def _get_driver(self, path, driver): + """ + Get a specify driver + """ + self._debug('Loading driver %s...' % driver) + abs_path = os.path.abspath(os.path.join(path, driver + '.py')) + try: + self._drivers_loaded[driver] = imp.load_source(driver, abs_path) + except: + self._debug('ERROR:usb4butia:_get_driver cannot load %s' % driver, abs_path) + + def callModule(self, modulename, board_number, number, function, params = [], ret_type = int): + """ + Call one function: function for module: modulename in board: board_name + with handler: number (only if the module is pnp, else, the parameter is + None) with parameteres: params + """ + self._open_or_validate(modulename, board_number) + + #print modulename, function + + if modulename == 'butia' and function == 'getVolt': + return 10.5 + elif modulename == 'motors' and function == 'getType': + return 1 + + if function == 'getValue': + if modulename == 'button': + return random.randrange(0, 2) + elif modulename == 'grey' or modulename == 'distanc': + return random.randrange(0, 65536) + else: + return ERROR + elif function == 'getVersion': + if modulename == 'admin': + return 6 + else: + return 1 + else: + return ERROR + + def refresh(self): + """ + Search for connected USB4Butia boards and open it + """ + pass + + def close(self): + """ + Closes all open baseboards + """ + pass + + def moduleOpen(self, mod): + """ + Open the module mod + """ + split = self._split_module(mod) + modulename = split[1] + b = int(split[2]) + if len(self._bb) < (b + 1): + return ERROR + board = self._bb[b] + return self._open_or_validate(modulename, board) + + def _open_or_validate(self, modulename, board): + """ + Open o check if modulename module is open in board: board + """ + if modulename in self._openables: + if modulename in self._openables_loaded: + return self._get_handler(modulename) + else: + m = self._max_handler() + m = m + 1 + self.devices[m] = modulename + self._openables_loaded.append(modulename) + return m + return ERROR + + def moduleClose(self, mod): + """ + Close the module mod + """ + split = self._split_module(mod) + modulename = split[1] + if modulename in self._openables: + b = int(split[2]) + if len(self._bb) < (b + 1): + return ERROR + board = self._bb[b] + if modulename in board.get_openables_loaded(): + number = board.get_device_handler(modulename) + try: + res = board.devices[number].moduleClose() + if res == 1: + board.remove_openable_loaded(modulename) + return res + except Exception, err: + self._debug('ERROR:usb4butia:moduleClose', err) + return ERROR + else: + self._debug('cannot close no opened module') + return ERROR + else: + self._debug('cannot close no openable module') + return ERROR + + def getListi(self, board_number=0): + listi = ['admin', 'pnp', 'port', 'ax', 'button', 'hackp', 'motors', 'butia', 'led'] + listi = listi + ['grey', 'light', 'res', 'volt', 'temp', 'distanc'] + return listi + + def _split_module(self, mbn): + """ + Split a modulename: module@board:port to (number, modulename, board) + """ + board = '0' + number = '0' + if mbn.count('@') > 0: + modulename, bn = mbn.split('@') + if bn.count(':') > 0: + board, number = bn.split(':') + else: + board = bn + else: + if mbn.count(':') > 0: + modulename, number = mbn.split(':') + else: + modulename = mbn + return (number, modulename, board) + + def describe(self, mod): + """ + Describe the functions of a modulename + """ + split = self._split_module(mod) + mod = split[1] + funcs = [] + d = {} + if self._drivers_loaded.has_key(mod): + driver = self._drivers_loaded[mod] + a = dir(driver) + flag = False + for p in a: + if p == '__package__': + flag = True + if flag: + funcs.append(p) + funcs.remove('__package__') + for f in funcs: + h = getattr(driver, f) + i = inspect.getargspec(h) + parameters = i[0] + if 'dev' in parameters: + parameters.remove('dev') + d[f] = parameters + return d + + def _get_handler(self, name): + for e in self.devices: + if self.devices[e] == name: + return e + return ERROR + + def _max_handler(self): + m = ERROR + for e in self.devices: + if e > m: + m = e + return m + + |