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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# 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
# 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
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
class Baseboard():
def __init__(self, dev, debug=False):
self.dev = dev
self.debug = debug
self.listi = {}
self.devices = {}
self.openables_loaded = []
def _debug(self, message, err=''):
if self.debug:
print message, err
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 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)
"""
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, force=False):
"""
Get the listi: the list of modules present in the board that can be
opened (or pnp module opens)
"""
if (self.listi == {}) or force:
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):
self.listi[m] = self.get_user_module_line(m)
except:
self.listi = {}
self._debug('ERROR:baseboard 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 = [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)
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 = [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)
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 = [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)
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 = [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)
self._debug('baseboard:get_handler_type', raw)
return raw[4]
def switch_to_bootloader(self):
"""
Admin module command to switch to bootloader
"""
w = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, 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 = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, 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 = [ADMIN_HANDLER_SEND_COMMAND, DEFAULT_PACKET_SIZE, NULL_BYTE]
w.append(CLOSEALL_COMMAND)
self.dev.write(w)
raw = self.dev.read(CLOSEALL_RESPONSE_PACKET_SIZE)
self._debug('baseboard:force_close_all', raw)
return raw[4]
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