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#! /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
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