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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# Device 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
OPEN_COMMAND = 0x00
CLOSE_COMMAND = 0x01
HEADER_PACKET_SIZE = 0x06
ADMIN_HANDLER_SEND_COMMAND = 0x00
OPEN_RESPONSE_PACKET_SIZE = 5
CLOSE_RESPONSE_PACKET_SIZE = 2
READ_HEADER_SIZE = 3
MAX_BYTES = 64
ERROR = -1
class Device():
def __init__(self, baseboard, name, handler=None):
self.baseboard = baseboard
self.name = name
self.handler = handler
if not(self.handler == None):
self.handler_tosend = self.handler * 8
self.functions = {}
self.debug = False
def add_functions(self, func_list):
"""
Add the functions to current device
"""
for f in func_list:
self.functions[f['name']] = f
def module_send(self, call, params_length, params):
"""
Send to the device the specifiy call and parameters
"""
if len(params) == 1:
if type(params[0]) == str:
params = to_ord(params[0])
send_packet_length = 0x04 + len(params)
w = []
w.append(self.handler_tosend)
w.append(send_packet_length)
w.append(NULL_BYTE)
w.append(call)
for p in params:
w.append(p)
self.baseboard.dev.write(w)
def module_read(self):
"""
Read the device data
"""
raw = self.baseboard.dev.read(MAX_BYTES)
if self.debug:
print 'device:module_rad return', raw
if raw[1] == 5:
if raw[4] == 255:
return -1
else:
return raw[4]
elif raw[1] == 6:
return raw[4] + raw[5] * 256
else:
ret = ''
for r in raw[4:]:
if not(r == 0):
ret = ret + chr(r)
return ret
def module_open(self):
"""
Open this device. Return the handler
"""
module_name = to_ord(self.name)
module_name.append(0)
open_packet_length = HEADER_PACKET_SIZE + len(module_name)
module_in_endpoint = 0x01
module_out_endpoint = 0x01
w = []
w.append(ADMIN_HANDLER_SEND_COMMAND)
w.append(open_packet_length)
w.append(NULL_BYTE)
w.append(OPEN_COMMAND)
w.append(module_in_endpoint)
w.append(module_out_endpoint)
w = w + module_name
self.baseboard.dev.write(w)
raw = self.baseboard.dev.read(OPEN_RESPONSE_PACKET_SIZE)
if self.debug:
print 'device:module_open return', raw
h = raw[4]
self.handler = h
self.handler_tosend = self.handler * 8
return h
def has_function(self, func):
"""
Check if this device has func function
"""
return self.functions.has_key(func)
def call_function(self, func, params):
"""
Call specify func function with params parameters
"""
self.module_send(self.functions[func]['call'], self.functions[func]['params'], params)
return self.module_read()
def to_ord(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
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