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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# Device 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
OPEN_COMMAND = 0x00
CLOSE_COMMAND = 0x01
HEADER_PACKET_SIZE = 0x06
ADMIN_HANDLER_SEND_COMMAND = 0x00
OPEN_RESPONSE_PACKET_SIZE = 5
CLOSE_RESPONSE_PACKET_SIZE = 5
READ_HEADER_SIZE = 3
MAX_BYTES = 64
ERROR = -1
class Device():
def __init__(self, baseboard, name, handler=None, func=None):
self.baseboard = baseboard
self.name = name
self.handler = handler
self.shifted = None
if not(self.handler == None):
self.shifted = self.handler * 8
self.functions = func
self.debug = False
def _debug(self, message, err=''):
if self.debug:
print message, err
def send(self, msg):
"""
Send to the device the specifiy call and parameters
"""
w = [self.shifted, 0x03 + len(msg), NULL_BYTE] + msg
self.baseboard.dev.write(w)
def read(self, lenght):
"""
Read the device data
"""
raw = self.baseboard.dev.read(0x03 + lenght)
return raw[3:]
def module_open(self):
"""
Open this device. Return the handler
"""
module_name = self.to_ord(self.name)
module_name.append(NULL_BYTE)
w = [ADMIN_HANDLER_SEND_COMMAND]
w.append(HEADER_PACKET_SIZE + len(module_name))
w.append(NULL_BYTE)
w.append(OPEN_COMMAND)
w.append(0x01)
w.append(0x01)
self.baseboard.dev.write(w + module_name)
raw = self.baseboard.dev.read(OPEN_RESPONSE_PACKET_SIZE)
self._debug('device:module_open', raw)
if not(raw[4] == 255):
self.handler = raw[4]
self.shifted = self.handler * 8
return self.handler
else:
self._debug('device:module_open:cannot open module:', self.name)
return 255
def module_close(self):
w = [ADMIN_HANDLER_SEND_COMMAND, 0x05, NULL_BYTE, CLOSE_COMMAND, self.handler]
self.baseboard.dev.write(w)
raw = self.baseboard.dev.read(CLOSE_RESPONSE_PACKET_SIZE)
return raw[4]
def has_function(self, func):
"""
Check if this device has func function
"""
return hasattr(self.functions, func)
def call_function(self, func, params):
"""
Call specify func function with params parameters
"""
f = getattr(self.functions, func)
if func == 'send':
return f(self, params)
else:
par = []
for e in params:
par.append(int(e))
if func == 'sendPacket':
return f(self, par)
else:
return f(self, *par)
def to_ord(self, string):
"""
Useful function to convert characters into ordinal Unicode
"""
s = []
for l in string:
o = ord(l)
if not(o == 0):
s.append(o)
return s
def to_text(self, raw):
"""
Useful function to convert ordinal Unicode into text
"""
ret = ''
for r in raw:
if not(r == 0):
ret = ret + chr(r)
return ret
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